CN109044730A - Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot - Google Patents
Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot Download PDFInfo
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- CN109044730A CN109044730A CN201810837868.5A CN201810837868A CN109044730A CN 109044730 A CN109044730 A CN 109044730A CN 201810837868 A CN201810837868 A CN 201810837868A CN 109044730 A CN109044730 A CN 109044730A
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- 238000012549 training Methods 0.000 title claims abstract description 127
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 74
- 230000035876 healing Effects 0.000 title claims abstract description 40
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000010009 beating Methods 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 17
- 238000011084 recovery Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 210000005036 nerve Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007472 neurodevelopment Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot is disclosed, comprising: elevating mechanism；Pitching shaft, first end are rotatably set on elevating mechanism；Rotating box, first side are connected in the second end of pitching shaft；Drive shaft, including two shaft parts, the first shaft part are rotatably arranged on rotating box, and the second end of the second shaft part is slidably inserted in the first end of the first shaft part；Training institution, including the scissor pair being set on the second shaft part, pusher and bidirectional electric push rod, scissor pair includes two scissor arms, be respectively equipped with sliding slot in two respective first ends of scissor arms, bidirectional electric push rod is fixed on the second shaft part, screwed respectively on the end of two telescopic rods of bidirectional electric push rod can up and down turn to be inserted into or be detached from sliding slot threaded, pusher is set between two shaft parts, and respectively second end is equipped with wrist fixing sleeve to two scissor arms.The robot is applied widely, and training effect is good, substantially increases Patient Experience.
Description
Technical field
The present invention relates to intelligent rehabilitation technical field of medical equipment, more particularly, to a kind of patient's horizontal-vertical double-purpose formula shoulder
Joint rehabilitation training medical robot.
Background technique
Rehabilitation training is an important means of medical science of recovery therapy, mainly restores patient's suffering limb by this method of training
Normal self-care function, makes the rehabilitation of handicapped person's physiology and psychology as far as possible with trained method, reaches therapeutic effect.With
The development of social progress and medicine, rehabilitation engineering receive universal attention.In current method of rehabilitation, health is moved
Refreshment white silk is one of effective method.Upper limb is important bodily fuctions' unit of people's production and living, and upper limb disorder, especially
It is that the dysfunction of shoulder joint takes place frequently, since shoulder joint carries the movement of entire human body arm, so that shoulder joint is for people
Movable and its important, and the quick recovery of the multiple Shoulder joint of modern society of body, needs by related recovery training appliance for recovery
It could effectively carry out.
Existing shoulder joint rehabilitation trainer structure function is more single, so that the selection of training mode and training method
On more single, can not be according to different patients the case where, and the different rehabilitation stages suitably train so that existing
Training aids trains smaller scope of application, and undertrained comprehensive, training effect is not good enough, and intelligence degree is not high, affects trouble
The usage experience of person.
Summary of the invention
In view of this, there is a variety of training modes and training form, energy the purpose of the present invention is to provide applied widely
It is enough to the comprehensive rehabilitation training of the carry out such as the muscle of shoulder joint and nerve, thus greatly improve healing and training shoulder joint level and
Effect, and patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot of Patient Experience is substantially increased, it is existing to solve
The problem of technology.
A kind of patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot is provided according to the present invention, comprising:
Elevating mechanism；
Pitching shaft, first end are rotatably set on the elevating mechanism；
Rotating box, is rectangular parallelepiped structure, and first side is fixedly connected in the second end of the pitching shaft；
Drive shaft, including the first shaft part and the second shaft part, first shaft part are rotatably arranged on the rotating box, institute
The first end for stating the first shaft part exposes the second side of the rotating box, and the second end of first shaft part exposes the rotating box
Third side, the second side and third side are oppositely arranged and parallel to each other, the second side and third side point
Not adjacent and vertical with the first side, the second end of second shaft part is slidably inserted in the first of first shaft part
On end；
Training institution, including scissor is secondary, pusher and bidirectional electric push rod, the scissor pair include first be used cooperatively
Scissor arms and the second scissor arms, first scissor arms and the second scissor arms are rotatably set to second shaft part through sharing shaft
First end end on, be respectively equipped with sliding slot in first scissor arms and the respective first end of the second scissor arms, it is described double
The second end of second shaft part, the end of two telescopic rods of the bidirectional electric push rod are fixed on to the outer cylinder of electric pushrod
On be respectively equipped with threaded hole, screwed threaded on each threaded hole, each threaded turn up and down, to be inserted into
In corresponding sliding slot or it is detached from sliding slot, one end of the pusher is connected on the end face of the first end of first shaft part,
The other end is connected on the end face of the first end of second shaft part, and the pusher drives second shaft part relatively described the
One shaft part reciprocatingly slides,
Respectively second end is equipped with wrist fixing sleeve for first scissor arms and the second scissor arms, and the wrist fixing sleeve can
Rotation is set in corresponding scissor arms.
Preferably, the pusher is selected as electric pushrod, and the tail end of the outer cylinder of the electric pushrod is connected through the first connecting plate
In on the end face of the first shaft part first end, the second connecting plate of end of the telescopic rod of the electric pushrod is connected to described
On the end face of the first end of two shaft parts.
Preferably, the elevating mechanism includes pedestal, lifting platform, lifting electric putter and guider, the lifting electric
The tail end of the outer cylinder of push rod is fixedly connected on the pedestal, and the end of the telescopic rod of the lifting electric putter is fixedly connected on
On the bottom surface of the lifting platform,
The guider is arranged in parallel with lifting electric putter interval pre-determined distance, which includes guide cylinder
And guide rod, the tail end of the guide cylinder are fixedly connected on the pedestal, the end of telescopic rod is fixedly connected on the pedestal
Bottom surface on.
It preferably, further include the pitching motor being installed on the lifting platform and pitching clutch,
The pitching motor is connect through the pitching clutch with the pitching rotating shaft transmission, wherein the pitching motor
Shaft connect with the power input shaft of the pitching clutch, the power output shaft of the pitching clutch and the pitching turn
The first end of axis connects.
It preferably, further include the driving motor being installed on the third side wall of the rotating box, and driving clutch,
The driving motor is sequentially connected through the second end of the driving clutch and first shaft part, wherein described
The power output shaft of driving motor is connect with the power input shaft of the driving clutch, the power output of the driving clutch
Axis is connect with the second end of the drive shaft.
Preferably, mounting bracket is fixed on the third side wall of the rotating box, the driving motor is through installation branch
Frame is fixed on the rotating box.
Preferably, first scissor arms and the second scissor arms are respectively connected with elastic component, the elastic component in second end
Both ends be connected in first scissor arms and the second scissor arms.
Preferably, the elastic component is selected as stretch cord, and the both ends of the stretch cord are quick-detachable respectively to be connected to institute
It states in the first scissor arms and the second scissor arms.
Preferably, first scissor arms and the second scissor arms respectively include the drive rod each other in same plane
Portion, connection bar portion and execution bar portion, the connection with the driving bar portion and execution bar portion respectively of the both ends of the connection bar portion, institute
It states driving bar portion and executes bar portion and be set parallel to each other,
The sliding slot is set in the driving bar portion, and is extended along the length direction of the driving bar portion,
Wherein, it is additionally provided with beating bar portion on the end for executing bar portion, which is used for the shoulder joint to patient
Beating massage is carried out, described one end for patting bar portion is connected in the execution bar portion, and the relatively described execution bar portion of the other end is curved
Folding, the common plane where the relatively described driving bar portion of the beating bar portion, connection bar portion and execution bar portion tilt predetermined angle
Setting.
Preferably, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end direction
The threaded portion and polished rod portion that second end is set gradually, the handwheel that screws are set on the end of the threaded portion,
Wherein, the threaded portion is for screwing the threaded rod in the screw thread of the corresponding telescopic rod of the bidirectional electric push rod
In hole, the polished rod portion is for being inserted into corresponding scissor arms sliding slot.
The utility model has the advantages that
Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot in the present invention, can as needed to patient into
The training of row various modes and form, patient can select the horizontal training mode of patient and the vertical instruction of patient according to different training requirements
Practice mode both of which, and selection carries out passive exercise or active training, a variety of training actions can be made in training, from
And the comprehensive training of a variety of training methods is carried out to patient.The recovery exercising robot is applied widely, and intelligence degree is high,
Can the comprehensive rehabilitation training of carry out such as muscle to shoulder joint and nerve, to greatly improve the level of healing and training shoulder joint
And effect, and substantially increase Patient Experience.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from.
Fig. 1-2 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint doctor according to an embodiment of the present invention with different view
Treat the schematic perspective view of robot.
Fig. 3 shows bowing for patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
View.
Fig. 4 shows the portion the A structural schematic diagram in Fig. 1.
Fig. 5 shows the portion the B structural schematic diagram in Fig. 2.
Fig. 6-7 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint doctor according to an embodiment of the present invention with different view
Treat the schematic perspective view of the elevating mechanism of robot.
Fig. 8-9 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint doctor according to an embodiment of the present invention with different view
Treat the schematic perspective view of the pitching shaft of robot.
Figure 10-11 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of first mounting bracket of medical robot.
Figure 12-13 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of the rotating box of medical robot.
Figure 14-15 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of first shaft part of the drive shaft of medical robot.
Figure 16-17 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of second shaft part of the drive shaft of medical robot.
Figure 18-19 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of first scissor arms of the drive shaft of medical robot.
Figure 20-21 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of second scissor arms of the drive shaft of medical robot.
Figure 22-23 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of the fixed plate of medical robot.
Figure 24 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic perspective view of first connecting plate.
Figure 25 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic perspective view of second connecting plate.
Figure 26-27 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint according to an embodiment of the present invention with different view
The schematic perspective view of the bidirectional electric push rod of medical robot.
Figure 28 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic perspective view of threaded rod.
Figure 29 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic perspective view of arm fixation set.
Figure 30 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic diagram of control system.
In figure: elevating mechanism 1, pedestal 11, lifting platform 12, fixed plate 121, the first mounting bracket 122, lifting electric putter
13, guider 14, pitching shaft 2, rotating box 3, first shaft hole 31, the second axis hole 32, the second mounting bracket 33, the first shaft part
41, sliding eye 411, boss portion 412, the second shaft part 42, traveller portion 421, planar portions 422, training institution 5, the first scissor arms 51,
Second scissor arms 52, sliding slot 5011, connection bar portion 502, execute bar portion 503, pat bar portion 504, cushion driving bar portion 501
505, bidirectional electric push rod 53, push-and-pull motor 531, shared shaft 54, wrist fixing sleeve 55, supporting bracket 551, binding strip 552, bullet
Property part 56, threaded 57, threaded portion 571, polished rod portion 572, screw handle 573, pusher 58, the first connecting plate 581, second connect
Fishplate bar 582, pitching motor 61, pitching clutch 62, driving motor 63, driving clutch 64, the first encoder 71, second coding
Device 72, third encoder 73, processor 74, wireless data transmission module 75, wireless data receipt modules 76, exterior terminal 100.
Specific embodiment
The various embodiments that the present invention will be described in more detail that hereinafter reference will be made to the drawings.In various figures, identical element
It is indicated using same or similar appended drawing reference.For the sake of clarity, the various pieces in attached drawing are not necessarily to scale.
As shown in Fig. 1 to Figure 30, a kind of patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot, including elevator
Structure 1, pitching shaft 2, rotating box 3, drive shaft and training institution 5.Pitching shaft 2, first end are rotatably set to the lifting
In mechanism 1；Rotating box 3, is rectangular parallelepiped structure, and first side is fixedly connected in the second end of the pitching shaft 2；Driving
Axis, including the first shaft part 41 and the second shaft part 42, first shaft part 41 are rotatably arranged on the rotating box 3, and described
The first end of one shaft part 41 exposes the second side of the rotating box 3, and the second end of first shaft part 41 exposes the rotation
The third side of case 3, the second side and third side are oppositely arranged and parallel to each other, the second side and third side
Adjacent and vertical with the first side respectively, the second end of second shaft part 42 is slidably inserted in first shaft part 41
First end on.Training institution 5 is set on the second shaft part 42 of drive shaft and executes rehabilitation exercise motion, to the shoulder joint of patient
Carry out rehabilitation training.
With reference to Fig. 6 and Fig. 7, the elevating mechanism 1 includes pedestal 11, lifting platform 12, lifting electric putter 13 and guider
14, the tail end of the outer cylinder of the lifting electric putter 13 is fixedly connected on the pedestal 11, and the end of telescopic rod is fixedly connected
In on the bottom surface of the lifting platform 12.The guider 14 is with the lifting electric putter 13 interval pre-determined distance parallel to be set
It sets, which includes guide cylinder and guide rod, and the tail end of the guide cylinder is fixedly connected on the pedestal 11, telescopic rod
End be fixedly connected on the bottom surface of the pedestal 11.In the embodiment, lifting electric putter 13 and guider 14 are set vertically
In on pedestal 11, and it is vertically arranged respectively with pitching shaft 2.Counterbore there are four being set on pedestal 11, for fixing the bottom through bolt
Seat 11, to realize the fixation of entire robot.
Further, fixed plate 121 is additionally provided on lifting platform 12, fixed plate 121 is the T-shaped structure stood upside down comprising
Bottom plate and the vertical plate being connected on bottom plate, bottom plate are fixed on lifting platform 12, and it can also be spiral shell that specific fixed form, which can be welding,
The fixed mode of bolt.The first mounting bracket 122 has been bolted in fixed plate 121.
The robot further includes the pitching motor 61 and pitching clutch being installed in first mounting bracket 122
62.Fixed plate 121 is equipped with bearing, and the first end of pitching motor 61 is fixedly connected in the inner ring of the bearing.The pitching electricity
Machine 61 is sequentially connected through the pitching clutch 62 with the pitching shaft 2, wherein the power output shaft of the pitching motor 61
It is connect with the power input shaft of the pitching clutch 62, the power output shaft of the pitching clutch 62 and the pitching shaft
2 first end connection.In the embodiment, the power output shaft of the pitching motor 61 and the power of the pitching clutch 62 are defeated
Enter and connected between axis through shaft coupling, between the power output shaft of the pitching clutch 62 and the first end of the pitching shaft 2
It is connected through shaft coupling.Pitching clutch 62 is specifically selected as electromagnetic clutch, and pitching motor 61 is chosen as watching for included deceleration mechanism
Take motor or stepper motor.
It, can be axially on the end face of 2 second end of pitching shaft in order to mitigate the quality of pitching shaft 2 in the embodiment
Open up tunneling hole.
With reference to Figure 12 and Figure 13, first shaft hole 31 is offered in the first side of rotating box 3, is equipped with axis in first shaft hole 31
It holds, the outer ring of the bearing is fixed on the first side wall of rotating box 3, and inner ring is fixedly connected with the second end of pitching shaft 2, specifically
Connection type can be clamping.The second axis hole 32, the extending direction of the second axis hole 32 and first shaft hole 31 are also provided on rotating box 3
Vertically, the second axis hole 32 is through hole, and the second side of the 32 autorotation case 3 of the second axis hole is penetrated through to third side.The
The both ends of two axis holes 32 are separately installed with bearing, form bearing pair, and the first shaft part 41 of drive shaft is supported in the bearing to upper, and
It can be rotated through the bearing to case 3 is relatively rotated.
Training institution 5, including scissor is secondary, pusher 58 and bidirectional electric push rod 53, the scissor pair include being used cooperatively
The first scissor arms 51 and the second scissor arms 52, first scissor arms 51 and the second scissor arms 52 can be rotated through sharing shaft 54
On the end of the first end of second shaft part 42, first scissor arms 51 and the respective first end of the second scissor arms 52
On be respectively equipped with sliding slot 5011, the outer cylinder of the bidirectional electric push rod 53 is fixed on the second end of second shaft end, described double
It is respectively equipped with threaded hole on the end of two telescopic rods of electric pushrod 53, has screwed threaded on each threaded hole
57, each about 57 turn of threaded, to be inserted into corresponding sliding slot 5011 or be detached from sliding slot 5011, the promotion
One end of device 58 is connected on the end face of the first end of first shaft part 41, and the other end is connected to the of second shaft part 42
On the end face of one end.In the embodiment, the pusher is selected as electric pushrod, and the tail end of the outer cylinder of the electric pushrod connects through first
Fishplate bar is connected on the end face of the first shaft part first end, the second connecting plate of end connection of the telescopic rod of the electric pushrod
In on the end face of the first end of second shaft part.
First scissor arms 51 and the respective second end of the second scissor arms 52 are equipped with wrist fixing sleeve 55, and the wrist is solid
Surely set 55 is rotatably set in corresponding scissor arms.Threaded 57 is arranged in parallel with shared shaft 54.
Referring to figs. 18 to Figure 21, specifically, the first scissor arms 51 and the second scissor arms 52 substantially symmetrical structure.Two are cut
Yoke respectively includes driving bar portion 501, connection bar portion 502 and execution bar portion 503 each other in same plane, the connection
The connection with the driving bar portion 501 and execution bar portion 503 respectively of the both ends of bar portion 502, the driving bar portion 501 and execution bar
Portion 503 is set parallel to each other.The sliding slot 5011 is set in the driving bar portion 501, and along the length of the driving bar portion 501
Direction is spent to extend.Wherein, it is described execute bar portion 503 end on be additionally provided with pat bar portion 504, the beating bar portion 504 for pair
The shoulder joint of patient carries out beating massage, and described one end for patting bar portion 504 is connected in the execution bar portion 503, the other end
The relatively described execution bar portion 503 is bent, the relatively described driving bar portion 501 of the beating bar portion 504, connection bar portion 502 and execution
Common plane inclination predetermined angle setting where bar portion 503.The sliding slot 5011 is set in the driving bar portion 501, and edge
It is described driving bar portion 501 length direction extend.
In the embodiment, pusher 58 and bidirectional electric push rod 53 are located at the opposite sides of the second shaft part 42, pat
Bar portion 504 is directed away from the direction bending of pusher 58.Wherein, beating bar portion 504 and the angle α executed between bar portion 503 are
120 ° -155 °, it is selected as 150 ° herein.Further, the bottom for patting bar portion 504 is equipped with cushion 505, which can
It is made of such as medical grade rubber material, for realizing the shoulder joint flexible contact with patient.Wrist fixing sleeve 55, which is set to, pats bar
In portion 504.
Further, it is separately connected in the execution bar portion 503 of first scissor arms 51 and the second scissor arms 52 flexible
Part 56, the both ends of the elastic component 56 are connected in first scissor arms 51 and the second scissor arms 52.The elastic component 56
For stretch cord, for providing load force when patient's active training.Distinguish quick-detachable connection in the both ends of the stretch cord
In in first scissor arms 51 and the second scissor arms 52, specific quick release connection type can be to snap connection, can also
For hook connection.
With reference to Figure 28, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end court
The threaded portion 571 and polished rod portion 572 set gradually to second end screws handle 573 on the end of threaded portion 571, wherein
The threaded portion 571 is used to screw the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod 53, institute
Polished rod portion 572 is stated for being inserted into the sliding slot 5011 of corresponding scissor arms.
Further, which further includes the driving motor 63 being installed on the rotating box 3, and is driven
Dynamic clutch 64.The driving motor 63 is sequentially connected through the second end of the driving clutch 64 and first shaft part 41,
Wherein, the power output shaft of the driving motor 63 with it is described driving clutch 64 power input shaft connect, it is described drive from
The power output shaft of clutch 64 is connect with the second end of first shaft part 41.It is fixed on the third side wall of the rotating box 3
Second mounting bracket 33, the driving motor 63 are fixed on the third side wall of the rotating box 3 through second mounting bracket 33
On.In the embodiment, passed through between the power output shaft of the driving motor 63 and the power input shaft of the driving clutch 64
Shaft coupling connection connects between the power output shaft of the driving clutch 64 and the second end of first shaft part 41 through shaft coupling
It connects.Driving clutch 64 is specifically selected as electromagnetic clutch, driving motor 63 be chosen as included deceleration mechanism servo motor or
Stepper motor.
In the embodiment, the first mounting bracket 122 is identical with second mounting bracket 33 its structure, and only there are areas in size
Not, specific size difference is different according to the model of motor.
With reference to figs. 14 to Figure 17, in the embodiment, circular sliding is offered on the end face of the first end of the first shaft part 41
Hole 411, second end are equipped with boss portion 412, and the boss portion 412 is used to limit and be exposed to the third side of the rotating box 3
Face.The second end of second shaft part 42 is equipped with traveller portion 421, and first end is equipped with planar portions 422, traveller portion 421 and sliding eye
411 geomery matches, and is slidably inserted in sliding eye 411, and planar portions 422 are for fixing bidirectional electric push rod
53.Wherein, the shared shaft 54 of the first scissor arms 51 and the second scissor arms 52 is set to the end head of plane, bidirectional electric push rod 53
Outer cylinder be fixed in planar portions 422 through its fixing seat, and be located at and share between shaft 54 and the second sidewall of rotating box.It is two-way
Electric pushrod 53 is specifically chosen as bidirectional electric push rod, stretches out so that two telescopic rod can be synchronized towards two sides.
In the embodiment, along the extending direction of connection bar portion 502, the distance that shaft 54 arrives driving bar portion 501 is shared, with
It is 1:1.5-1:3.5 that shaft 54, which is shared, to the ratio between the distance between bar portion 503 is executed, such as is selected as 1:2, so that training airplane
When the bidirectional electric push rod 53 of structure 5 is within the scope of compared with little trick, two biggish movable amplitudes of scissor arms can be realized, realization is cut
The quick response of yoke, and make the structure of the recovery exercising robot more compact.
By the switching of 62 clutch mode of pitching clutch, it can be achieved that pitching motor 61 separated with the transmission of pitching shaft or
Person's transmission connection.When pitching clutch 62 is in the binding pattern of power input shaft and power output shaft, 61 band of pitching motor
Dynamic pitching shaft rotation, patient can carry out passive rehabilitation training at this time；Conversely, patient can carry out initiative rehabilitation training, at this time
Initiative rehabilitation is trained for the rehabilitation training of heavy load, the rehabilitation training suitable for the advanced training stage.
By drive 64 clutch mode of clutch switching, it can be achieved that driving motor 63 separated with the transmission of drive shaft or
Transmission connection.When driving clutch 64 to be in the binding pattern of power input shaft and power output shaft, driving motor 63 is driven
Drive shaft turns, patient can carry out passive rehabilitation training at this time；Conversely, patient can carry out initiative rehabilitation training.
Wrist fixing sleeve 55 includes supporting bracket 551 and binding strip 552,551 semicircular configurations of supporting bracket, binding strip 552
One end be connected on an end of support end, the other end of binding strip 552 is equipped with the son patch of velcro, supporting bracket 551
The other end be equipped with the female patch of velcro, the bondage to patients wrist portion is realized by the cooperation that primary and secondary pastes.Supporting bracket 551
It can be made of medical grade plastic materials, medical grade rubber material is equipped in inner ring, for realizing the flexible contact with wrist portion.Support
With its opposite periphery wall that is open equipped with shaft in support 551, which is rotatably plugged in the beating bar portion of corresponding scissor arms
On 504 lateral surface, and the shaft coaxial arrangement of two supporting brackets 551, the shaft of the supporting bracket 551 and two scissor arms
It is arranged substantially perpendicular to each other to share shaft 54.
Figure 30 shows patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to an embodiment of the present invention
The schematic diagram of control system.As shown in figure 30, which includes processor 74, wireless data transmission module 75, without line number
According to receiving module 76, driving motor 63, pitching motor 61, driving clutch 64, pitching clutch 62, push-and-pull motor 531, first
Encoder 71, second encoder 72 and third encoder 73.Processor 74, wireless data transmission module 75 and wireless data receive
Module 76 is set in rotating box 3, access hole can be opened up on rotating box 3, the maintenance for electric-controlled parts.In the embodiment, push-and-pull
Motor 531 is the driving device of bidirectional electric push rod 53, and number is one, the transmission which passes through its own
Mechanism is driven, and drives two telescopic rods flexible.First encoder 71 is installed on bidirectional electric push rod 53, for measuring push-and-pull
The revolving speed of motor 531 and corner.Second encoder 72 is installed on driving motor 63, for measuring the revolving speed of driving motor 63
And corner.Third encoder 73 is installed on pitching motor 61, for measuring the revolving speed and corner of pitching motor 61.Wireless data
Transmitting module 75, wireless data receipt modules 76, driving motor 63, pitching motor 61, driving clutch 64, pitching clutch
62, motor 531, the first encoder 71, second encoder 72 and third encoder 73 is pushed and pulled to be electrically connected with processor 74 respectively,
Wireless data transmission module 75 and wireless data receipt modules 76 are electrically connected with exterior terminal 100 respectively, and processor 74 is through nothing
Line data transmission module 75 and wireless data receipt modules 76 and exterior terminal 100 realize wireless telecommunications.The exterior terminal 100 can
For the communication apparatus of any achievable wireless telecommunications such as mobile phone and tablet computer.First encoder 71, which receives, comes from motor
Revolving speed and angular signal, and be transmitted to processor 74, processor 74 obtains the displacement of the telescopic rod of electric pushrod after being computed
And speed signal.Second encoder 72 receives revolving speed and angular signal from driving motor 63, and is transmitted to processor 74, locates
Reason device 74 obtains the revolving speed and rotational angle signal of driving motor 63 after being computed.Third encoder 73, which receives, comes from pitching motor
61 revolving speed and angular signal, and it is transmitted to processor 74, processor 74 obtains the revolving speed of pitching motor 61 and turns after being computed
Dynamic angle signal, thus angular speed when controlling pitch angle and pitch rotation.Processor 74 is received from exterior terminal 100
Control instruction, control driving motor 63, driving clutch 64, push-and-pull motor 531 are made deliberate action, are handled in action process
Device 74 receives the relevant parameter from the first encoder 71, second encoder 72 and third encoder 73 simultaneously, and processor 74 is right
After the received information of institute makes integrated treatment analysis, constantly adjusts, make deliberate action according to the requirement of external control instruction.
In the embodiment, the APP of the recovery exercising robot can be installed in exterior terminal 100, and by operation APP come
Control recovery exercising robot movement.In the interface APP, the horizontal training mode of patient and trouble are equipped with by the training posture of patient
The vertical training mode both of which of person is equipped with active training the mode option according to main passive exercise situation and passive exercise mode is selected
, passive exercise the mode option is divided into the swing of simple shear yoke, the rotation of double shear yoke, the swing of double shear yoke and shoulder joint again and is patted
The options such as massage.Simple shear yoke swing option is for a scissor arms around shared shaft 54 under the promotion of bidirectional electric push rod 53
It swings, it is that two scissor arms are locked that double shear yoke, which rotates option, and only drive shaft drives training structure unitary rotation, double shear yoke
Swinging option is that two scissor arms are swung under the promotion of bidirectional electric push rod 53 around shared shaft 54 respectively.Shoulder joint is patted
Massage option be pusher 58 constantly it is overhanging it is interior it is over beat corresponding two shoulder joint, to promote the blood circulation of shoulder joint,
Promote neurodevelopment, reduces shoulder joint Muscle tensility.In addition, the grade of rehabilitation training is additionally provided in the interface APP, according to patient's
Severity is set as multistage, such as sets gradually six grades, i.e. primary rehabilitation training extremely to weak according to improving oneself for severity
Six grades of rehabilitation training options, the rehabilitation training of each rank correspond to different 5 operating frequency of training institution and movement range, with
Patient profiles are adapted.Primary rehabilitation training option is the training option of lowermost level, this grade of option is suitable for almost without actively
The severe patient of Training Capability.Patient selects to train training mode and training grade accordingly as needed.For example, for almost
Severe patient without active Training Capability is needed at this time since its muscle can not independently make movement using passive exercise mode, and
Corresponding selection primary rehabilitation training option, carries out the training that situation is adaptable therewith to patient.External mobile terminal can be by auxiliary
The person of helping others, such as medical staff manipulate, and certainly can also be manipulated by sufferers themselves.It, can be according to need about the specific setting of APP
It carries out, no longer repeats one by one herein.
The recovery exercising robot can be realized the training of various modes and diversified forms, as specific training method side
Method can be adjusted as required.When patient is hemiplegia etc. and can not stand, or training finishes when loosening, and trouble can be used
The horizontal training mode of person, specific horizontal posture can be to lie on the back and prostrate, and when prostrate, which can carry out shoulder joint, pats massage and loosen, and carry out
Shoulder joint is patted massage and is loosened and can first pass through bidirectional electric push rod and adjust the distance between beating bar portion in two scissor arms
Matched to the distance between two shoulder joint of patient, then by drive shaft turns to two shoulder joint alternately pat by
It rubs, or the secondary two pairs of two shoulder joint progress of entire scissor is pushed and pulled by pusher while patting massage；When horizontal training mode,
Sleeping lie at below rotating box 3 of patient is in shoulder at suitable position, and pitching motor 61 drives pitching shaft 2 to drive entire instruction
White silk mechanism 5 bows towards patient goes to predetermined angle, to realize the rehabilitation training of patient, such as active training and passive exercise.
When needing two shoulder joint to patient while carrying out passive exercise, selected under passive exercise mode by exterior terminal 100
Double shear yoke rotate option, will be threaded in corresponding sliding slot 5011 under two threadeds 57, so that two scissor arms be locked,
Then by two wrists difference bondage of the right-hand man of patient in two wrist fixing sleeves 55, exterior terminal 100 is sent accordingly
Control instruction, processor 74 receives control driving clutch 64 after control instruction and is attracted so that driving motor 63 and drive shaft
Transmission connection, processor 74 control driving motor 63 and drive what drive shaft made predetermined angle to carry out back rotation, drive entire training airplane
Structure 55 rotates, and two scissor arms drive two arms to make steer direction disc type intersection respectively and swing, to realize to patient two
The intersection turn training of shoulder joint；When needing the shoulder joint to patient to be respectively trained, can lead to a wrist bondage only
In in corresponding wrist fixing sleeve 55, is driven by drive shaft and training is curled up 360 ° to shoulder joint progress.When selection double shear yoke
When swinging option, two scissor arms are turned in horizontal plane, are locked two scissor arms by two threadeds 57, then by two
In in wrist fixing sleeve 55, two scissor arms carry out scissor movement in the horizontal plane for a wrist bondage, to carry out to shoulder joint
Training is received in outer pendulum.When selecting simple shear yoke to swing option, patient is located at before training institution 5 and faces training institution 5,
Control drive shaft drives two scissor arms to turn in vertical plane, by threaded 57 by the scissor arms locking of one, top, then
By shoulder joint wrist bondage to be trained in the arm fixation set of a scissor arms on top, bidirectional electric push rod 53 drives shoulder
Rotation training before joint carries out；Meanwhile when before patient is located at training institution 5 and back to training institution 5, by wrist bondage in
In the arm fixation set of one scissor arms of lower part, the back spin training of shoulder joint can be carried out at this time.
When using exterior terminal 100 select active training mode when, driving clutch 64 separate, by two threadeds 57 with
Two scissor arms separation, and two scissor arms are connected into upper elastic member 56, the active training of patient, such as two can be carried out at this time
The intersection turn training of outer pendulum and the interior steer direction disc type of receiving training and two shoulder joint of the shoulder joint under load force.
It can be as needed to patient's shoulder joint using patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot
The training for carrying out various modes and mode, no longer repeats one by one herein.
Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot in the present invention, can as needed to patient into
The training of row various modes and form, patient can select the horizontal training mode of patient and the vertical instruction of patient according to different training requirements
Practice mode both of which, and selection carries out passive exercise or active training, a variety of training actions can be made in training, from
And the comprehensive training of a variety of training methods is carried out to patient.The recovery exercising robot is applied widely, and intelligence degree is high,
Can the comprehensive rehabilitation training of carry out such as muscle to shoulder joint and nerve, to greatly improve the level of healing and training shoulder joint
And effect, and substantially increase Patient Experience.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Finally, it should be noted that obviously, the above embodiment is merely an example for clearly illustrating the present invention, and simultaneously
The non-restriction to embodiment.For those of ordinary skill in the art, it can also do on the basis of the above description
Other various forms of variations or variation out.There is no necessity and possibility to exhaust all the enbodiments.And thus drawn
The obvious changes or variations that Shen goes out are still in the protection scope of this invention.
Claims (10)
1. a kind of patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot characterized by comprising
Elevating mechanism；
Pitching shaft, first end are rotatably set on the elevating mechanism；
Rotating box, is rectangular parallelepiped structure, and first side is fixedly connected in the second end of the pitching shaft；
Drive shaft, including the first shaft part and the second shaft part, first shaft part are rotatably arranged on the rotating box, and described
The first end of one shaft part exposes the second side of the rotating box, and the second end of first shaft part exposes the of the rotating box
Three sides, the second side and third side are oppositely arranged and parallel to each other, the second side and third side respectively with
The first side is adjacent and vertical, and the second end of second shaft part is slidably inserted in the first end of first shaft part
On；
Training institution, including scissor is secondary, pusher and bidirectional electric push rod, the scissor pair include the first scissor being used cooperatively
Arm and the second scissor arms, first scissor arms and the second scissor arms be rotatably set to second shaft part through sharing shaft the
On the end of one end, sliding slot, the two-way electricity are respectively equipped in first scissor arms and the respective first end of the second scissor arms
The outer cylinder of dynamic push rod is fixed on the second end of second shaft part, divides on the end of two telescopic rods of the bidirectional electric push rod
Not She You threaded hole, threaded, each threaded turn up and down, to be inserted into correspondence have been screwed on each threaded hole
Sliding slot in or be detached from sliding slot, one end of the pusher is connected on the end face of the first end of first shaft part, another
On the end face for holding the first end for being connected to second shaft part, the pusher drives the relatively described first axle of the second shaft part
Section reciprocatingly slides,
Respectively second end is equipped with wrist fixing sleeve for first scissor arms and the second scissor arms, and the wrist fixing sleeve can be rotated
In corresponding scissor arms.
2. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1, which is characterized in that institute
It states pusher and is selected as electric pushrod, the tail end of the outer cylinder of the electric pushrod is connected to first shaft part first through the first connecting plate
On the end face at end, the second connecting plate of end of the telescopic rod of the electric pushrod is connected to the end of the first end of second shaft part
On face.
3. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1, which is characterized in that institute
Stating elevating mechanism includes pedestal, lifting platform, lifting electric putter and guider, and the tail end of the outer cylinder of the lifting electric putter is solid
Surely it is connected on the pedestal, the end of the telescopic rod of the lifting electric putter is fixedly connected on the bottom surface of the lifting platform
On,
The guider is arranged in parallel with lifting electric putter interval pre-determined distance, which includes guide cylinder and lead
To bar, the tail end of the guide cylinder is fixedly connected on the pedestal, and the end of telescopic rod is fixedly connected on the bottom of the pedestal
On face.
4. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 2, which is characterized in that also
Including the pitching motor and pitching clutch being installed on the lifting platform,
The pitching motor is connect through the pitching clutch with the pitching rotating shaft transmission, wherein the pitching motor turns
Axis is connect with the power input shaft of the pitching clutch, the power output shaft of the pitching clutch and the pitching shaft
First end connection.
5. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1, which is characterized in that also
Including the driving motor being installed on the third side wall of the rotating box, and clutch is driven,
The driving motor is sequentially connected through the second end of the driving clutch and first shaft part, wherein the driving
The power output shaft of motor with it is described driving clutch power input shaft connect, it is described driving clutch power output shaft and
The second end of the drive shaft connects.
6. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 5, which is characterized in that institute
It states and is fixed with mounting bracket on the third side wall of rotating box, the driving motor is fixed on the rotating box through the mounting bracket
On.
7. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1, which is characterized in that institute
It states the first scissor arms and the second scissor arms and is respectively connected with elastic component in second end, the both ends of the elastic component are connected to institute
It states in the first scissor arms and the second scissor arms.
8. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 7, which is characterized in that institute
It states elastic component and is selected as stretch cord, the both ends of the stretch cord are quick-detachable respectively to be connected to first scissor arms and second
In scissor arms.
9. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1-8, special
Sign is that first scissor arms and the second scissor arms respectively include driving bar portion, connecting rod each other in same plane
Portion and execution bar portion, the connection with the driving bar portion and execution bar portion respectively of the both ends of the connection bar portion, the drive rod
Portion and execution bar portion are set parallel to each other,
The sliding slot is set in the driving bar portion, and is extended along the length direction of the driving bar portion,
Wherein, it is additionally provided with beating bar portion on the end for executing bar portion, which is used to carry out the shoulder joint of patient
Massage is patted, described one end for patting bar portion is connected in the execution bar portion, the relatively described execution bar portion bending of the other end, institute
It states the common plane where patting the relatively described driving bar portion of bar portion, connection bar portion and executing bar portion and tilts predetermined angle setting.
10. patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot according to claim 1-8, special
Sign is, the threaded rod includes the body of rod and screws handwheel, the body of rod include axially from first end towards second end according to
The threaded portion and polished rod portion of secondary setting, the handwheel that screws are set on the end of the threaded portion,
Wherein, the threaded portion is for screwing the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod
Interior, the polished rod portion is for being inserted into corresponding scissor arms sliding slot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837868.5A CN109044730B (en) | 2018-07-26 | 2018-07-26 | Vertical and horizontal dual-purpose shoulder joint rehabilitation training medical robot for patient |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837868.5A CN109044730B (en) | 2018-07-26 | 2018-07-26 | Vertical and horizontal dual-purpose shoulder joint rehabilitation training medical robot for patient |
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| CN109044730B CN109044730B (en) | 2020-07-24 |
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| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN207384450U (en) * | 2017-03-13 | 2018-05-22 | 北京蝶禾谊安信息技术有限公司 | A kind of detection connector of torque and lumbar vertebra rehabilitation machine people |
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| JP2004516908A (en) * | 2001-01-11 | 2004-06-10 | オーペーエーデー アー・ゲー | Shoulder joint treatment and training device |
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| US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| DE102013006020A1 (en) * | 2013-04-09 | 2014-10-09 | Rudolf Frei | Pulling device with a flexible soul and training device with such a pulling device |
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| CN109044730B (en) | 2020-07-24 |
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Effective date of registration: 20200629 Address after: 314001 room 565, 5 / F, building 2, Lianchuang building, 883 Guangyi Road, Nanhu District, Jiaxing City, Zhejiang Province Applicant after: Jiaxing meinianda Health Management Co., Ltd Address before: 450000 No. 15 weir four, Jinshui District, Zhengzhou, Henan, No. 2066, room 5. Applicant before: Zhang Jianhua |
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