CN108379044A - A kind of orthopaedics limbs massage apparatus - Google Patents
A kind of orthopaedics limbs massage apparatus Download PDFInfo
- Publication number
- CN108379044A CN108379044A CN201810143245.8A CN201810143245A CN108379044A CN 108379044 A CN108379044 A CN 108379044A CN 201810143245 A CN201810143245 A CN 201810143245A CN 108379044 A CN108379044 A CN 108379044A
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- knuckle
- gear
- cord hole
- eccentric wheel
- hinged
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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
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
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- Health & Medical Sciences (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)
- Dermatology (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention belongs to technical field of medical equipment,Relate generally to a kind of orthopaedics limbs massage apparatus,Including palm model,Palm model rear end is equipped with mounting cylinder,The mounting cylinder includes the driving device mounting cylinder being fixedly connected,Branch sleeve and eccentric wheel mounting bracket,Bandage is equipped with outside the driving device mounting cylinder,Palm model front end is equipped with finger model,The finger model includes first knuckle and second knuckle,The second cord hole and the first installation cavity are offered in the palm model,Moving device is installed inside first installation cavity,Eccentric stiffener is installed on the eccentric wheel mounting bracket,The eccentric stiffener includes camshaft,Eccentric wheel and driven sprocket,Driving device is installed in the driving device mounting cylinder,Transmission chain is equipped between the driving device and driven sprocket,It is used,It is convenient to carry,Labor intensity is relatively low,Massage force with and can be adjusted,Suitable for promoting the use of.
Description
Technical field
The invention belongs to technical field of medical equipment, and in particular to a kind of orthopaedics limbs massage apparatus.
Background technology
It at present since people are busy with one's work, often works for a long time, either manual work person or computer
Working people, often all in the working condition of excess load.Manual work person mainly completes work by both hands, for a long time
DOMS can be led to by making mechanical movement, and cybraian is also the same, often maintains a posture that can make local blood supply insufficiency,
Trick, waist are ached, and the generation of orthopaedic disease can be easily lead to for a long time by going down.Some middle-aged and the old pass through to take exercises
A promoting blood circulation ball can be often taken to play in the hand, often activity arm is very helpful to preventing disease of old people, but for some spies
Different the elderly, such as trick are not agile enough, and arm motion can seem special painstaking, they are with greater need for artificial arm-massage
Or arm-massage is automated to realize the blood circulation of arm, achieve the purpose that exercise.Existing artificial arm-massage mode master
To be by massaging arm muscles so that arm muscles loosen, and alleviate arm pain, but are pressed in this artificial arm
The defects such as that there are massage forces and massage position is uneven for mode of rubbing, working efficiency is low, while manual massage can increase service
The burden of person, normal time massage can cause server's muscle part DOMS to influence other people health.
Invention content
The problem of based on being mentioned in above-mentioned background technology, the present invention provides a kind of orthopaedics limbs massage apparatus, it uses,
It is convenient to carry, and labor intensity is relatively low, and massage force is uniform and can be adjusted, suitable for promoting the use of.
The technical solution adopted by the present invention is as follows：
A kind of orthopaedics limbs massage apparatus, including palm model, palm model rear end are equipped with mounting cylinder, the installation
Cylinder includes the driving device mounting cylinder, branch sleeve and the eccentric wheel mounting bracket that are fixedly connected, outside the driving device mounting cylinder
Equipped with bandage, the eccentric wheel mounting bracket is between driving device mounting cylinder and branch sleeve, palm model front end peace
Equipped with finger model, the finger model includes first knuckle and second knuckle, and the first knuckle is hinged on palm model,
The second knuckle is hinged on first knuckle free end, and the first cord hole, institute are offered in the first knuckle and second knuckle
It states palm model side and thumb model is installed, offer the second cord hole and the first installation cavity in the palm model, described
Moving device is installed, the moving device includes traveling roller and reversing transmission mechanism, the commutation transmission inside one installation cavity
Mechanism is sequentially connected with traveling roller, and the reversing transmission mechanism is fixedly connected with traveling traction rope and commutation traction rope, the company
Female connector cylinder is equipped with commutation regulating device, and the commutation regulating device is connected by the traction rope that commutates with reversing transmission mechanism transmission
It connects, eccentric stiffener is installed on the eccentric wheel mounting bracket, the eccentric stiffener includes camshaft, eccentric wheel and driven chain
Wheel, the camshaft are installed on eccentric wheel mounting bracket, and the eccentric wheel is adjustable to be mounted on camshaft, described driven
Sprocket wheel is fixedly installed on camshaft, and wire casing is offered on the eccentric wheel, and driving device mounting cylinder bottom is equipped with
Main rope is drawn, main restrict of the traction is equipped with solid rope clamp outside driving device mounting cylinder, in first cord hole and the second cord hole
It is equipped with finger joint traction rope, the finger joint traction rope is connect with the main rope connection other end is drawn with second knuckle with one end, described
Traveling traction rope is connected with main rope is drawn, and the main rope of traction is arranged in wire casing, is equipped in the driving device mounting cylinder
Driving device is equipped with transmission chain between the driving device and driven sprocket；
Such structure design is rotated by driving device band movable eccentric wheel, and eccentric wheel is arranged in when rotating in wire casing
The main rope of traction shift, be fixed on outside driving device mounting cylinder by solid rope clamp due to drawing main rope one end, the other end
Finger joint traction rope and traveling traction rope are connected, main rope is drawn in migration process and pulls on finger joint traction rope and traveling traction rope,
First knuckle and second knuckle movement is driven to realize that pawl holds action when finger joint traction rope is involved, traveling traction rope leads to when being involved
It crosses reversing transmission mechanism and drives the rotation of traveling roller, orthopaedics limbs massage apparatus is driven to be moved on limbs.
Further, the reversing transmission mechanism includes sliding rail, tooth plate, clutch reversing frame and gear set, the rail tips
It is hinged on the chamber top of the first installation cavity, first installation cavity offers loose slot in sliding rail bottom end, and sliding rail bottom end card is set
In in loose slot, the loose slot is equipped with support spring in sliding rail rear end, and the sliding rail is the C-shaped tubular structure in cross section,
The tooth plate be equipped with the matched sliding card column of sliding rail, the sliding card column active card is in the sliding rail, inside the sliding rail
It is equipped with the first limit spring in sliding card column upper end, the traveling traction rope is fixedly connected on active card across the first limit spring
On column, the gear set includes the gear mandrel being mounted on palm model, and gear mandrel both ends are mounted on the first biography
Moving gear, is arranged that there are two casings on the gear mandrel, and two casing one end is all provided with ratchet, the other end is respectively equipped with second
Transmission gear and third transmission gear, the third driving wheel are engaged with tooth plate, and the outer diameter of first transmission gear is less than the
The outer diameter of three transmission gears, two ratchet are the cylinder-like structure of one end open, and two ratchet is all provided with ring in inner wall and sets
There is the ratchet direction on ratchet and two ratchets on the contrary, first transmission gear is driven spine close to concentric be equipped in ratchet one end
Column, the spine column are equipped with pawl mounting groove, and pawl and pawl and pawl mounting groove slot bottom are hinged in the pawl mounting groove
Between the second limit spring is installed, the pawl direction installed on the two transmissions spine column is on the contrary, the clutch reversing is set up in
Between tooth plate and the second transmission gear, the clutch reversing frame includes clutch rack and tumbler gear, the tumbler gear and tooth plate
With the separable engagement of the second transmission gear；
Such structure design, when tumbler gear is detached with tooth plate and the second transmission gear, traveling traction rope band moving teeth
Plate is slided along sliding rail, and tooth plate drives the rotation of third transmission gear, the ratchet wheel being connect with third transmission gear, ratchet to block spine
Pawl drives the rotation of spine column, and since spine column is fixed on the first transmission gear, the first transmission gear follows rotation when spine column rotates,
That is, third transmission gear can drive first transmission gear of third transmission gear one end to rotate when rotating, and then drive traveling roller
Rotation, the ratchet that third transmission gear is connect when turning round with third transmission gear turn round simultaneously, and ratchet will be unable to block pawl, the
First transmission gear of three transmission gear one end is not rotating, and traveling roller stops therewith；
When tumbler gear is engaged with tooth plate and the second transmission gear, tooth plate is moved under the action of tumbler gear and third
Transmission gear is detached from, and traveling traction rope band moving tooth plate is slided along sliding rail, and tooth plate drives the second driving cog to rotate by tumbler gear
Dynamic, the rotation of third rotate gear is reversed on the contrary, with the when the rotation direction of the second transmission gear is detached from tumbler gear at this time
The ratchet wheel of two transmission gears connection, ratchet block pawl and drive the rotation of spine column, and the first transmission gear follows when spine column rotates
Rotation, that is, the second transmission gear can drive first transmission gear of second transmission gear one end to rotate when rotating, and then drive row
The rotation direction of traveling roller is on the contrary, the second transmission gear when being detached from into rotation direction and the tumbler gear of roller rotation and traveling roller
The ratchet being connect with the second transmission gear when revolution turns round simultaneously, and ratchet will be unable to block pawl, second transmission gear one end
First transmission gear is not rotating, and traveling roller stops therewith.
Further, the clutch rack includes the first U-shaped frame and the second U-shaped frame, and the tumbler gear is installed on the second U-shaped frame
On, second U-shaped frame bottom end is fixed with two links, and first U-shaped frame top is equipped in link corresponding position to be connected
Access slot, the link bottom end are equipped with limited block, link and are arranged in link slot, first U-shaped frame and the second U-shaped frame it
Between be connected with tension spring, the width dimensions of the limited block are less than the width dimensions of link slot, and first U-shaped frame is opened in link slot
Mouthful end is equipped with block, offers third cord hole and the 4th cord hole on the block, in the 4th cord hole position in first U-shaped frame
Corresponding first via, described commutation traction rope one end is fixed on limited block, the other end is pierced by again from third cord hole by the 4th
Cord hole, which is penetrated, to be pierced by palm model through the first via and is connect with regulating device；
Such structure design, regulating device pull commutation traction rope one end when adjusting, and commutation adjusting rope is another
One end will follow movement, that is, commutation adjusting rope pulls limited block to drive the second U-shaped frame to rise by link, makes tumbler gear
Rising is engaged with the second transmission gear and tooth plate, when regulating mechanism unclamps commutation traction rope, the second U-shaped frame under the action of tension spring
Decline, tumbler gear is detached with the second transmission gear with tooth plate.
Further, the regulating device includes adjustment seat, and the adjustment seat front end offers pull rod mounting groove, bottom end opens up
There are containing cavities, top to offer trigger mounting groove, regulating mechanism is installed in the kerve mounting groove, in the trigger mounting groove
Cocking mechanism is installed, the regulating mechanism includes adjusting rod, pole socket and first rotating shaft, and the first rotating shaft is arranged in adjustment seat
On, the pole socket fixation is set in first rotating shaft, and the adjusting rod is fixedly mounted on pole socket, and the first rotating shaft is in storage
Intracavitary is equipped with the first adjustment gear, and the second shaft is equipped in the containing cavities, and second shaft is equipped with second and adjusts tooth
Wheel and winding roll, second adjustment gear and the transmission engagement of the first adjustment gear, the winding roll are located at the second adjustment gear
Lower end, the adjustment seat offer the second via in containing cavities front end, and the adjusting traction rope is fixed on volume across the second via
On drum, the cocking mechanism includes positive stop hook, mandril and tabletting, and the positive stop hook is hinged in trigger mounting groove, the limit
Position hook includes the contact platform set on rear end and the hook set on front end, and the mandril is threaded through in contact platform upper end in adjustment seat,
The mandril penetrates one end in pull rod mounting groove and is arranged with third limit spring, mandril bottom end equipped with spring retainer piece, the pressure
Piece is mounted at the top of mandril；
Such structure design, first rotating shaft is rotated when pulling adjusting rod drives second to adjust tooth by the first adjustment gear
Wheel rotation, winding roll follow rotation to wind commutation traction rope, the commutation traction rope other end are made to pull limited block,
Until adjusting rod is caught in positive stop hook and tumbler gear is made to be engaged with the second transmission gear and tooth plate；Pressing tabletting makes general who has surrendered under mandril
It contacts platform and pushes limitation of the hook rising releasing to adjusting rod, the revolution of adjusting rod return winding roll is unclamped commutation traction rope, can be made
Tumbler gear is detached from tooth plate and the second transmission gear.
Further, regulating tank is offered on the eccentric wheel, the camshaft is arranged in regulating tank and penetrates adjusting
Groove portion is divided into and adjusts the matched tetragonous rod structure of well width, and the eccentric wheel is equipped with multiple card hole groups, the card hole group packet
Two card holes for being located at regulating tank both ends are included, the camshaft is fixed with magnetic steel ingot, the magnetic in eccentric wheel side
The positioning column to match with card hole group is fixed on bloom, the positioning column is arranged in card hole, the magnetic steel ingot and bias
The magnetic connection of wheel；
Such structure design can be such that eccentric wheel is detached soon with magnet steel by external force, at this time can be along adjusting by eccentric wheel
Slot adjusts the position of eccentric wheel, then will be caught in positioning column in corresponding card hole makes eccentric wheel be again coupled to soon with magnet steel, can be right
The eccentricity of eccentric wheel is adjusted.
Further, the driving device includes power supply, small-sized driving motor and retarder, the small-sized driving motor with subtract
Fast device is sequentially connected, and the output shaft of the retarder is equipped with drive sprocket, and the drive sprocket and driven sprocket pass through transmission
Chain drive connects；
Such structure design reduces the velocity of rotation of eccentric wheel by retarder, extends the use of orthopaedics limbs massage
Service life, while avoiding bringing discomfort to user due to orthopaedics limbs massage apparatus massage speed.
Further, the first cord hole on the first knuckle is through-hole, and the first cord hole on the second knuckle is blind hole,
First cord hole is the lower part of hinge joint, and the finger joint traction rope in the first cord hole with second knuckle in connecting；
Such structure design, finger joint traction rope are connected to inside second knuckle, and it is preferable to involve effect, while avoiding drawing
Rope is exposed to outside second knuckle, and when massage brings discomfort to user.
Further, palm model rear end is equipped with main cord hole, and second cord hole is connected in main cord hole one end with main cord hole, institute
State finger joint traction rope one end be fixed on second knuckle, the other end respectively through the second cord hole converge in main cord hole with draw main rope
Connection
Such structure design, each finger joint traction rope are equipped with independent cord hole, finger joint traction rope are avoided to influence each other.
Further, palm model front end and first knuckle front end offer hinged groove, the first knuckle rear end
It is equipped with finger joint connecting pole with second knuckle rear end, the articulated connection column of the first segment finger joint is in being hinged on palm in hinged groove
On model and articulated manner is hinged for axis, and the articulated shaft of the first knuckle and palm model hinged place is in articulated connection column
Both sides are equipped with the first torsional spring, and the both ends of first torsional spring are connect with first knuckle and palm model respectively, and described second refers to
Articulated connection column on section in being hinged on first knuckle in the hinged groove of first knuckle front end and articulated manner is hinged for axis,
The articulated shaft of the second knuckle and first knuckle hinged place is equipped with the second torsional spring in the both sides of articulated connection column, and described second
The both ends of torsional spring are connect with first knuckle and second knuckle respectively, and the rigidity of first torsional spring is more than the rigidity of the second torsional spring；
Such structure design, after finger joint traction rope pulls first knuckle and a second knuckle pawl of completion to hold action,
After first knuckle and second knuckle lose the pulling force of finger joint traction rope, under the action of the first torsional spring and the second torsional spring, first
Finger joint and second knuckle are voluntarily unfolded, and the rigidity of the first torsional spring is more than the rigidity of the second torsional spring, the second knuckle when grasping
Stroke will be greater than the stroke of first knuckle, and the orthopaedics limbs massaging action made improves the experience of user closer to manual massage
Effect.
Further, it is protected outside the palm model and finger model and is covered with layer of silica gel；Such structure design, can be improved
Massage comfort and aesthetic measure.
Beneficial effects of the present invention are as follows：
1, finger joint model can be made by driving device, the main rope of traction and finger joint traction rope equipped with palm model and finger model
Realize that pawl is held, finger movement can massage limbs when simulation is massaged；
2, main rope is drawn to be fastened in the wire casing outside eccentric wheel, it can by adjusting position of the eccentric wheel on camshaft
Eccentricity is adjusted, the displacement for drawing main rope when eccentric wheel rotation is adjusted, and then changes the stroke that finger joint model pawl holds action, is made
Massage force and massage apparatus displacement can be adjusted；
3, it draws main rope and is also associated with moving device, in massage processes, moving device can under the action of drawing main rope
Palm model is driven to be moved；Since the displacement that eccentric wheel draws main rope in rotation is constant, by drawing main rope
The displacement of the moving device of drive is constant, and orthopaedics limbs massage apparatus can be made to carry out homogeneously kneaded to limbs；
4, the moving direction of moving device is adjusted by reversing transmission mechanism, orthopaedics limbs massage apparatus is made to use
Cheng Zhongke is moved back and forth on limbs, mitigates user's burden；
5, light small and exquisite, it is easy to use and carry, it is minimum to using physical demands in massage processes, it is negative to alleviate user
Load, suitable for promoting the use of.
Description of the drawings
The present invention can be further illustrated by the nonlimiting examples that attached drawing provides：
Fig. 1 is a kind of structural schematic diagram one of orthopaedics limbs massage apparatus embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram two of orthopaedics limbs massage apparatus embodiment of the present invention；
Fig. 3 is the cross-sectional view of palm model in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Fig. 4 is the detonation configuration structural schematic diagram of moving device in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of orthopaedics limbs massage apparatus embodiment middle gear group of the present invention；
Fig. 6 is that vertical section structure shows at reversing transmission mechanism ratchet in a kind of orthopaedics limbs massage apparatus embodiment of the present invention
It is intended to；
Enlarged structure schematic diagram in Fig. 7 Fig. 6 at A；
Enlarged structure schematic diagram in Fig. 8 Fig. 7 at B；
The structural schematic diagram one of members in Fig. 9 Fig. 5；
The structural schematic diagram two of members in Figure 10 Fig. 5；
Figure 11 is clutch reversing frame structural schematic diagram in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Figure 12 is the structural schematic diagram of clutch reversing frame longitudinal section in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Enlarged structure schematic diagram in Figure 13 Figure 12 at C；
Figure 14 is the structural schematic diagram one of regulating device longitudinal section in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Figure 15 is the structural schematic diagram two of regulating device longitudinal section in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Figure 16 is the structural schematic diagram of members in Figure 14；
Figure 17 is the enlarged structure schematic diagram at D in Figure 16；
Figure 18 is the structural schematic diagram of eccentric wheel in a kind of orthopaedics limbs massage apparatus embodiment of the present invention；
Main element symbol description is as follows：
Palm model 1, hinged groove 11, the second cord hole 12, the first installation cavity 13, finger model 2, thumb model 21, first
Finger joint 221, second knuckle 222, the first cord hole 23, mounting cylinder 3, bandage 31, branch sleeve 32, driving device mounting cylinder 33, partially
Heart wheel mounting bracket 34, wire fixing clamp 37, the main rope 38 of traction, regulating device 4, adjustment seat 41,42 containing cavities 43 of pull rod mounting groove, trigger
Mounting groove 44, the second via 45, moving device 5, traveling roller 51, sliding rail 52, gear mandrel 531, casing 532, spine column 533, spine
Wheel 534, ratchet 5341, the second transmission gear 535, third transmission gear 536, pawl mounting groove 5361, pawl 537, second limit
Position spring 538, the first transmission gear 539, clutch reversing frame 54, the first U-shaped frame 541, link slot 5411, the second U-shaped frame 542,
Tumbler gear 543, link 544, limited block 5441, third cord hole 5412, the 4th cord hole 5413, tension spring 545, tooth plate 55, partially
Concentric mechanism 6, camshaft 61, eccentric wheel 62, regulating tank 63, card hole 64, magnetic steel ingot 65, driven sprocket 66, wire casing 67, transmission chain
7, cocking mechanism 8, positive stop hook 81, hook 811, contact platform 812, mandril 82, tabletting 83, regulating mechanism 9, pole socket 91, adjusting rod
92, first rotating shaft 93, the first adjustment gear 94, the second shaft 95, the second adjustment gear 96, winding roll 97.
Specific implementation mode
In order to make those skilled in the art that the present invention may be better understood, with reference to the accompanying drawings and examples to this hair
Bright technical solution further illustrates.
As shown in Fig. 1~18, a kind of orthopaedics limbs massage apparatus of the invention, including palm model 1, after palm model 1
End is equipped with mounting cylinder 3, and mounting cylinder 3 includes driving device mounting cylinder 33, branch sleeve 32 and the eccentric wheel mounting bracket being fixedly connected
34,33 outside of driving device mounting cylinder is equipped with bandage 31, and eccentric wheel mounting bracket 34 is located at driving device mounting cylinder 33 and connector sleeve
Between cylinder 32,1 front end of palm model is equipped with finger model 2, and finger model 2 includes first knuckle 221 and second knuckle 222,
First knuckle 221 is hinged on palm model 1, and second knuckle 222 is hinged on 221 free end of first knuckle, 221 He of first knuckle
The first cord hole 23 is offered in second knuckle 222,1 side of palm model is equipped with thumb model 21, is opened up in palm model 1
There are the second cord hole 12 and the first installation cavity 13, moving device 5 is installed inside first installation cavity 13, moving device 5 includes advancing
Roller 51 and reversing transmission mechanism, reversing transmission mechanism are sequentially connected with traveling roller 51, and reversing transmission mechanism is fixedly connected with traveling
Traction rope and commutation traction rope, branch sleeve 32 are equipped with commutation regulating device 4, and commutation regulating device 4 passes through the traction rope that commutates
It is sequentially connected with reversing transmission mechanism, eccentric stiffener 6 is installed on eccentric wheel mounting bracket 34, eccentric stiffener 6 includes camshaft
61, eccentric wheel 62 and driven sprocket 66, camshaft 61 are installed on eccentric wheel mounting bracket 34, and eccentric wheel 62 is adjustable to be mounted on
On camshaft 61, driven sprocket 66 is fixedly installed on camshaft 61, and wire casing 67, driving device are offered on eccentric wheel 62
33 bottom of mounting cylinder is equipped with the main rope 38 of traction, draws main rope 38 and is equipped with solid rope clamp 37 in 33 outside of driving device mounting cylinder, the
Finger joint traction rope is equipped in one cord hole 23 and the second cord hole 12, finger joint traction rope connect the other end with one end with main rope 38 is drawn
It is connect with second knuckle 222, traveling traction rope is connect with main rope 38 is drawn, and is drawn main rope 38 and is arranged in wire casing 67, driving dress
It sets and driving device is installed in mounting cylinder 33, transmission chain 7 is equipped between driving device and driven sprocket 66；
When in use, this massage apparatus is bundled at wrist using bandage 31, finger is enable easily to contact regulating mechanism
4, then length is pierced by according to what actual use situation adjusted that the main rope of traction traction 38 is pierced by 33 one end of driving device mounting cylinder simultaneously
Main rope 38 will be drawn using wire fixing clamp to fix, and is adjusted the initial grasping state of finger model 2, is then opened the power supply of driving motor
Switch makes driving motor work be rotated with movable eccentric wheel 62 by transmission chain 7, and eccentric wheel 62 is arranged in when rotating in wire casing 67
It draws main rope 38 to shift, traction rope 38 pulls finger joint traction rope and traveling traction rope, finger joint traction rope to drive when being involved
First knuckle 21 and the movement of second knuckle 22 realize that pawl holds action, are driven by reversing transmission mechanism when traveling traction rope is involved
Traveling roller 51 rotates, and orthopaedics limbs massage apparatus is driven to be moved on limbs.
The movement of massage apparatus, as shown in Fig. 3~10, reversing transmission mechanism includes sliding rail 52, tooth plate 55, clutch reversing frame
54 and gear set, 52 top of sliding rail be hinged on the chamber top of the first installation cavity 13, the first installation cavity 13 is offered in 52 bottom end of sliding rail
Loose slot, 52 bottom end of sliding rail are arranged in loose slot, and loose slot is equipped with support spring in 52 rear end of sliding rail, and sliding rail 52 is cross section
C-shaped tubular structure, tooth plate 55 is equipped with is set to sliding rail 52 with 52 matched sliding card column of sliding rail, sliding card column active card
It is interior, it is equipped with the first limit spring in sliding card column upper end inside sliding rail 52, traveling traction rope passes through the first limit spring to fix company
It is connected in activity card column, gear set includes the gear mandrel 531 being mounted on palm model 1, and 531 both ends of gear mandrel are respectively mounted
There is the first transmission gear 539, be arranged on gear mandrel 531 there are two casing 532, two casings, 532 one end is all provided with ratchet 334, another
One end is respectively equipped with the second transmission gear 535 and third transmission gear 536, and third driving wheel 536 is engaged with tooth plate 55, and first passes
The outer diameter of moving gear 535 is less than the outer diameter of third transmission gear 536, and two ratchets 334 are the cylinder-like structure of one end open, and two
Ratchet 534 is all provided with 5341 direction of ratchet being equipped on ratchet 5341 and two ratchets 534 on the contrary, the first transmission gear in inner wall
539 are driven spine column 533 close to concentric be equipped in 536 one end of ratchet, and spine column 533 is equipped with pawl mounting groove 5361, pawl installation
It is hinged with pawl 537 in slot 5361 and the second limit spring 538 is installed between 5361 slot bottom of pawl 537 and pawl mounting groove,
537 direction of pawl installed on two transmission spine columns 533 is on the contrary, clutch reversing frame 54 is set to tooth plate 55 and the second transmission gear 535
Between, clutch reversing frame 54 includes clutch rack and tumbler gear 543, tumbler gear 543 and tooth plate 55 and the second transmission gear 535
Separable engagement；
In use, it when tumbler gear 543 is detached with tooth plate 55 and the second transmission gear 535, is led by advancing
Messenger band moving tooth plate 55 drives third transmission gear 536 to rotate clockwise along 52 upward sliding of sliding rail, tooth plate 55, is driven with third
The ratchet 534 that gear 536 connects rotates clockwise, ratchet 5341 blocks pawl 537 and spine column 533 is driven to rotate clockwise, due to
Spine column 533 is fixed on the first transmission gear 539, and the first transmission gear 539 will also rotate clockwise when spine column 533 rotates, that is,
Third transmission gear 536 can drive first transmission gear 539 of 536 one end of third transmission gear to turn clockwise when rotating clockwise
It is dynamic, and then driving traveling roller 51 to rotate counterclockwise makes massage apparatus retreat；Tooth plate 55 is in the first limit when traveling traction rope return
The spine being connect with third transmission gear 536 when drive third transmission gear 536 rotates counterclockwise is moved down under the action of spring
Wheel 534 rotates counterclockwise simultaneously, and ratchet 5341 will be unable to block pawl 537, first driving cog of 536 one end of third transmission gear
Wheel 539 is not rotating, and traveling roller 51 stops therewith, and when tooth plate 55 rises, traveling roller 51 rotates counterclockwise drive massage and sets again
It is standby to continue to retreat；
When tumbler gear 543 is engaged with tooth plate 55 and the second transmission gear 535, tumbler gear 543 be caught in tooth plate 55 with
Between second transmission gear 535, so that sliding rail 52 is moved tooth plate 55 and be detached from third transmission gear 536, traveling traction rope band moving teeth
For plate 55 along 52 upward sliding of sliding rail, tooth plate 55, which drives tumbler gear 543 to rotate clockwise, makes the second transmission gear 535 turn counterclockwise
Dynamic, the ratchet 534 being connect with the second transmission gear 535 rotates counterclockwise, ratchet 5341 blocks pawl 537 and drives spine column 533 inverse
Hour hands rotate, and spine column 533 drives the first transmission gear 539 to rotate counterclockwise when rotating, that is, when the second transmission gear 535 rotates
First transmission gear 539 of 535 one end of the second transmission gear can be driven to rotate counterclockwise, and then traveling roller 51 is driven to turn clockwise
It is dynamic, drive massage apparatus to advance, tooth plate 55 declines the spine being connect with the second transmission gear 535 when the revolution of the second transmission gear 535
Wheel 534 turns round simultaneously, and ratchet 5341 will be unable to block pawl 537, first transmission gear 539 of 535 one end of the second transmission gear
It is not rotating, traveling roller 51 stops therewith, and when tooth plate 55 rises again, traveling roller 51 drives massage apparatus to advance again.
Moving direction controls, and as shown in Figure 13~17, clutch rack includes the first U-shaped frame 541 and the second U-shaped frame 542, commutation
Gear 543 is installed in the second U-shaped frame 542, and 542 bottom end of the second U-shaped frame is fixed with two links 544, the first U-shaped frame 542
Top is equipped with link slot 5411 in 544 corresponding position of link, and 544 bottom end of link is equipped with limited block 5441, link 544 is worn
In link slot 5411, tension spring 545, the width of limited block 5441 are connected between the first U-shaped frame 541 and the second U-shaped frame 542
Size is less than the width dimensions of link slot 5411, and the first U-shaped frame 541 is equipped with block in 5411 open end of link slot, is opened on block
Equipped with third cord hole 5412 and the 4th cord hole 5413, in corresponding first mistake in 5413 position of the 4th cord hole in the first U-shaped frame 541
Hole, commutation traction rope one end is fixed on limited block 5441, the other end is pierced by again from third cord hole 5412 by the 4th cord hole 5413
It penetrates and is pierced by palm model 1 through the first via and is connect with regulating device 4；Regulating device 4 includes adjustment seat 41,41 front end of adjustment seat
Offer pull rod mounting groove 42, bottom end offers containing cavities 43, top offers trigger mounting groove 44, peace in kerve mounting groove 42
Equipped with regulating mechanism 9, cocking mechanism 8 is installed in trigger mounting groove 44, regulating mechanism 9 includes adjusting rod 92, pole socket 91 and the
One shaft 93, first rotating shaft 93 are arranged in adjustment seat 41, and the fixation of pole socket 91 is set in first rotating shaft 93, and adjusting rod 92 is fixed
On pole socket 91, first rotating shaft 93 is equipped with second in being equipped with the first adjustment gear 94 in containing cavities 43 in containing cavities 43
Shaft 95, the second shaft 95 are equipped with the second adjustment gear 96 and winding roll 97, the second adjustment gear 96 and the first adjustment gear
96 transmission engagements, winding roll 97 are located at 96 lower end of the second adjustment gear, and adjustment seat 41 offers the second mistake in 43 front end of containing cavities
Hole 45 adjusts traction rope and is fixed on winding roll 97 across the second via 45, and cocking mechanism 8 includes positive stop hook 81,82 and of mandril
Tabletting 83, positive stop hook 81 are hinged in trigger mounting groove 44, and positive stop hook 81 includes set on the contact platform 812 of rear end and set on front end
Hook 811, mandril 82 is threaded through in contact platform 812 upper end in adjustment seat 41, and mandril 82 penetrates one end in pull rod mounting groove 42
Third limit spring, 82 bottom end of mandril are arranged with equipped with spring retainer piece, tabletting 83 is mounted on 82 top of mandril；
In use, when needing that massage machine is made to advance, when pulling adjusting rod 92 rotation of first rotating shaft 93 pass through the
One adjustment gear 94 drives the rotation of the second adjustment gear 96, winding roll 97 to follow rotation to wind commutation traction rope, make to change
Limited block 5441 is pulled to the traction rope other end, commutation adjusting rope pulls limited block 5441 to be driven by link 544
Second U-shaped frame 542 rises, and so that the rising of tumbler gear 543 is engaged with the second transmission gear 535 and tooth plate 55, tooth plate 55 and second
Transmission gear 535 is sequentially connected, is detached from third transmission gear 536；When needing that massage machine is made to retreat, pressing tabletting 83 makes top
82 times generals who has surrendered of bar contact platform 812 and push limitation of the 811 rising releasing of hook to adjusting rod 92, and 92 return winding roll 92 of adjusting rod returns
Turn to unclamp commutation traction rope, second U-shaped frame 542 declines under the action of tension spring 545, tumbler gear 543 and the second transmission gear
535 detach with tooth plate 55, and tooth plate 55 and the second transmission gear 535 are detached from, are sequentially connected with third transmission gear 536.
The adjusting of massage force offers regulating tank 63 as shown in figure 18 on eccentric wheel 62, camshaft 61 is arranged in tune
It is to be equipped with more with the matched tetragonous rod structure of 63 width of regulating tank, eccentric wheel 62 to save in slot 63 and penetrate 63 part of regulating tank
A card hole group, card hole group include being located at two card holes 64 at 63 both ends of regulating tank, and camshaft 61 is in 62 side of eccentric wheel
It is fixed with magnetic steel ingot 65, the positioning column to match with card hole group is fixed on magnetic steel ingot 65, positioning column is arranged in card hole 64
Interior, magnetic steel ingot 65 is connect with 62 magnetism of eccentric wheel；
When adjusting, eccentric wheel 62 can be made to be detached with magnet steel fast 65 by external force, it at this time can be along regulating tank by eccentric wheel 62
63 adjust the position of eccentric wheel 62, then will be caught in positioning column in corresponding card hole 64 makes eccentric wheel 62 connect again with magnet steel fast 65
It connects, the eccentricity for completing eccentric wheel 62 is adjusted.
A kind of orthopaedics limbs massage apparatus provided by the invention is described in detail above.The explanation of specific embodiment
It is merely used to help understand the method and its core concept of the present invention.It should be pointed out that for the ordinary skill people of the art
Member for, without departing from the principle of the present invention, can with several improvements and modifications are made to the present invention, these improve and
Modification is also fallen within the protection scope of the claims of the present invention.
Claims (9)
1. a kind of orthopaedics limbs massage apparatus, including palm model (1), it is characterised in that：Palm model (1) rear end is equipped with
Mounting cylinder (3), the mounting cylinder (3) include the driving device mounting cylinder (33), branch sleeve (32) and eccentric wheel being fixedly connected
Mounting bracket (34), the eccentric wheel mounting bracket (34) is located between driving device mounting cylinder (33) and branch sleeve (32), described
Palm model (1) front end is equipped with finger model (2), and the finger model (2) includes first knuckle (221) and second knuckle
(222), the first knuckle (221) is hinged on palm model (1), and the second knuckle (222) is hinged on first knuckle
(221) the first cord hole (23), the palm mould are offered in free end, the first knuckle (221) and second knuckle (222)
Type (1) side is equipped with thumb model (21), and the second cord hole (12) and the first installation cavity are offered in the palm model (1)
(13), moving device (5) is installed inside first installation cavity (13), the moving device (5) include traveling roller (51) and
Reversing transmission mechanism, the reversing transmission mechanism are sequentially connected with traveling roller (51), and the reversing transmission mechanism is fixedly connected with
Traveling traction rope and commutation traction rope, the branch sleeve (32) are equipped with commutation regulating device (4), the commutation regulating device
(4) it is sequentially connected with reversing transmission mechanism by the traction rope that commutates, eccentric stiffener is installed on the eccentric wheel mounting bracket (34)
(6), the eccentric stiffener (6) includes camshaft (61), eccentric wheel (62) and driven sprocket (66), the camshaft (61)
It is installed on eccentric wheel mounting bracket (34), the eccentric wheel (62) is adjustable to be mounted on camshaft (61), the driven chain
Wheel (66) is fixedly installed on camshaft (61), and wire casing (67), the driving device peace are offered on the eccentric wheel (62)
Fitted tube (33) bottom is equipped with the main rope (38) of traction, and the main rope (38) of traction is equipped with solid outside driving device mounting cylinder (33)
It is equipped with finger joint traction rope, the finger joint traction rope and one in rope clamp (37), first cord hole (23) and the second cord hole (12)
End connect the other end with the main rope (38) of traction and is connect with second knuckle (222), and the traveling traction rope connects with main rope (38) is drawn
It connects, the main rope (38) of traction is arranged in wire casing (67), is equipped with driving device in the driving device mounting cylinder (33), institute
It states and is equipped with transmission chain (7) between driving device and driven sprocket (66).
2. a kind of orthopaedics limbs massage apparatus according to claim 1, it is characterised in that：The reversing transmission mechanism includes
Sliding rail (52), tooth plate (55), clutch reversing frame (54) and gear set, sliding rail (52) top are hinged on the first installation cavity (13)
Chamber top, first installation cavity (13) offers loose slot in sliding rail (52) lower end, and sliding rail (52) bottom end is arranged in work
In dynamic slot, the loose slot is equipped with support spring in sliding rail (52) rear end, and the sliding rail (52) is the C-shaped tubulose knot in cross section
Structure, the tooth plate (55) is equipped with is set to sliding rail (52) with the matched sliding card column of sliding rail (52), the sliding card column active card
Interior, the sliding rail (52) is internal to be equipped with the first limit spring in sliding card column upper end, and the traveling traction rope passes through the first limit
Spring is fixedly connected in activity card column, and the gear set includes the gear mandrel (531) being mounted on palm model (1), institute
State gear mandrel (531) both ends and be mounted on the first transmission gear (539), be arranged on the gear mandrel (531) there are two set
It manages (532), described two casing (532) one end is all provided with ratchet (334), the other end is respectively equipped with the second transmission gear (535) and the
Three transmission gears (536), the third driving wheel (536) are engaged with tooth plate (55), the outer diameter of first transmission gear (535)
Less than the outer diameter of third transmission gear (536), two ratchet (334) is the cylinder-like structure of one end open, two spine
Wheel (534) is all provided with ratchet (5341) direction being equipped on ratchet (5341) and two ratchets (534) on the contrary, described the in inner wall
One transmission gear (539) is driven spine column (533) close to concentric be equipped in ratchet (536) one end, and the spine column (533) is equipped with spine
Pawl mounting groove (5361) is hinged with pawl (537) in the pawl mounting groove (5361) and pawl (537) and pawl mounting groove
(5361) the second limit spring (538), pawl (537) side installed on the two transmission spine column (533) are installed between slot bottom
To on the contrary, the clutch reversing frame (54) be set between tooth plate (55) and the second transmission gear (535), the clutch reversing frame
(54) include clutch rack and tumbler gear (543), the tumbler gear (543) and tooth plate (55) and the second transmission gear (535)
Separable engagement.
3. a kind of orthopaedics limbs massage apparatus according to claim 2, it is characterised in that：The clutch rack includes the first U
Shape frame (541) and the second U-shaped frame (542), the tumbler gear (543) are installed in the second U-shaped frame (542), second U-shaped
Frame (542) bottom end is fixed with two links (544), and the first U-shaped frame (542) top is in link (544) corresponding position
Equipped with link slot (5411), link (544) bottom end is equipped with limited block (5441), link (544) is arranged in link slot
(5411) in, tension spring (545), the limited block are connected between first U-shaped frame (541) and the second U-shaped frame (542)
(5441) width dimensions are less than the width dimensions of link slot (5411), and first U-shaped frame (541) is opened in link slot (5411)
Mouth end is equipped with block, and third cord hole (5412) and the 4th cord hole (5413), first U-shaped frame are offered on the block
(541) on limited block is fixed in corresponding first via in the 4th cord hole (5413) position, described commutation traction rope one end
(5441) on, the other end is pierced by be penetrated by the 4th cord hole (5413) again from third cord hole (5412) and is pierced by palm mould through the first via
Type (1) is connect with regulating device (4).
4. a kind of orthopaedics limbs massage apparatus according to claim 3, it is characterised in that：The regulating device (4) includes
Adjustment seat (41), adjustment seat (41) front end offers pull rod mounting groove (42), bottom end offers containing cavities (43), top is opened
Equipped with trigger mounting groove (44), regulating mechanism (9) is installed in the kerve mounting groove (42), the trigger mounting groove (44) is interior
Cocking mechanism (8) is installed, the regulating mechanism (9) includes adjusting rod (92), pole socket (91) and first rotating shaft (93), and described
One shaft (93) is arranged in adjustment seat (41), and pole socket (91) fixation is set in first rotating shaft (93), the adjusting rod
(92) it being fixedly mounted on pole socket (91), the first rotating shaft (93) is equipped with the first adjustment gear (94) in the containing cavities (43),
The second shaft (95) is equipped in the containing cavities (43), second shaft (95) is equipped with the second adjustment gear (96) and volume
Drum (97), second adjustment gear (96) and the first adjustment gear (96) transmission engagement, the winding roll (97) are located at the
Two adjustment gears (96) lower end, the adjustment seat (41) offer the second via (45), the adjusting in containing cavities (43) front end
Traction rope is fixed on across the second via (45) on winding roll (97), and the cocking mechanism (8) includes positive stop hook (81), mandril
(82) it is hinged in trigger mounting groove (44) with tabletting (83), the positive stop hook (81), positive stop hook (81) rear end is equipped with and connects
Platform (812) is touched, the mandril (82) is threaded through in contact platform (812) upper end in adjustment seat (41), and the mandril (82) penetrates drawing
Bar mounting groove (42) interior one end is arranged with third limit spring, mandril (82) bottom end is equipped with spring retainer piece, the tabletting (83)
At the top of mandril (82).
5. a kind of orthopaedics limbs massage apparatus according to claim 4, it is characterised in that：It is opened up on the eccentric wheel (62)
There is regulating tank (63), the camshaft (61), which is arranged in regulating tank (63) and penetrates regulating tank (63), is and adjusting partly
The matched tetragonous rod structure of slot (63) width, the eccentric wheel (62) are equipped with multiple card hole groups, and the card hole group includes difference
Two card holes (64) positioned at regulating tank (63) both ends, the camshaft (61) are fixed with magnet steel in eccentric wheel (62) side
Block (65) is fixed with the positioning column to match with card hole group on the magnetic steel ingot (65), and the positioning column is arranged in card hole
(64) in, the magnetic steel ingot (65) connect with eccentric wheel (62) magnetism.
6. a kind of orthopaedics limbs massage apparatus according to claim 5, it is characterised in that：The driving device includes electricity
Source, small-sized driving motor and retarder, the small-sized driving motor are sequentially connected with retarder, on the output shaft of the retarder
Equipped with drive sprocket, the drive sprocket and driven sprocket (66) are sequentially connected by transmission chain (7).
7. a kind of orthopaedics limbs massage apparatus according to claim 6, it is characterised in that：On the first knuckle (221)
The first cord hole (23) be through-hole, the first cord hole (23) on the second knuckle (222) is blind hole, the finger joint traction rope in
It is connect with second knuckle (222) in first cord hole (23).
8. a kind of orthopaedics limbs massage apparatus according to claim 7, it is characterised in that：Palm model (1) rear end is equipped with
Main cord hole, second cord hole (12) are connected in main cord hole one end with main cord hole, and finger joint traction rope one end is fixed on second
In finger joint (222), the other end converges in main cord hole through the second cord hole (12) connect with the main rope (38) of traction respectively.
9. a kind of orthopaedics limbs massage apparatus according to claim 8, it is characterised in that：Palm model (1) front end
Offer hinged groove (11) with first knuckle (221) front end, first knuckle (221) rear end with after second knuckle (222)
End is equipped with finger joint connecting pole, and the articulated connection column of the first segment finger joint (21) in hinged groove (11) in being hinged on palm model
(1) on and articulated manner is hinged for axis, and the articulated shaft of the first knuckle (221) and palm model (1) hinged place is in hingedly connecting
The both sides for connecing column are equipped with the first torsional spring, and the both ends of first torsional spring connect with first knuckle (221) and palm model (1) respectively
It connects, hinged groove (11) of the articulated connection column on the second knuckle (222) in first knuckle (221) front end is interior to be hinged on first
In finger joint (221) and articulated manner is hinged for axis, the articulated shaft of the second knuckle (222) and first knuckle (221) hinged place
Be equipped with the second torsional spring in the both sides of articulated connection column, the both ends of second torsional spring respectively with first knuckle (221) and second
Finger joint (222) connects, and the rigidity of first torsional spring is more than the rigidity of the second torsional spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810143245.8A CN108379044B (en) | 2018-02-11 | 2018-02-11 | A kind of orthopaedics limbs massage apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810143245.8A CN108379044B (en) | 2018-02-11 | 2018-02-11 | A kind of orthopaedics limbs massage apparatus |
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| CN108379044B CN108379044B (en) | 2019-06-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890360A (en) * | 2020-07-10 | 2020-11-06 | 重庆工程职业技术学院 | Automatic massage manipulator and control system thereof |
| CN114259383A (en) * | 2021-12-23 | 2022-04-01 | 华中科技大学 | Hand exoskeleton device with under-actuated traction function |
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| CN114259383A (en) * | 2021-12-23 | 2022-04-01 | 华中科技大学 | Hand exoskeleton device with under-actuated traction function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108379044B (en) | 2019-06-28 |
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Effective date of registration: 20201222 Address after: 402460 7-4, building 30, 218 Changlong Avenue, Changzhou street, Rongchang District, Chongqing Patentee after: Chongqing HUAZHIGUANG Environmental Protection Technology Co.,Ltd. Address before: 439 Xuanhua Road, Yongchuan District, Chongqing 402160 Patentee before: AFFILIATED YONGCHUAN HOSPITAL OF CHONGQING MEDICAL University |
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Application publication date: 20180810 Assignee: Chongqing Lexiang agriculture (Group) Co.,Ltd. Assignor: Chongqing HUAZHIGUANG Environmental Protection Technology Co.,Ltd. Contract record no.: X2021980013297 Denomination of invention: An orthopedic limb massage equipment Granted publication date: 20190628 License type: Common License Record date: 20211129 |
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