CN111449916A - Weight reduction module for lower limb rehabilitation training equipment - Google Patents

Weight reduction module for lower limb rehabilitation training equipment Download PDF

Info

Publication number
CN111449916A
CN111449916A CN202010372558.8A CN202010372558A CN111449916A CN 111449916 A CN111449916 A CN 111449916A CN 202010372558 A CN202010372558 A CN 202010372558A CN 111449916 A CN111449916 A CN 111449916A
Authority
CN
China
Prior art keywords
pulley
swinging
connecting rod
rotating shaft
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010372558.8A
Other languages
Chinese (zh)
Inventor
邢金秋
都吉良
黄日新
许广艳
程熙冉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Yikang Medical Equipment Industrial Co ltd
Original Assignee
Guangzhou Yikang Medical Equipment Industrial Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Yikang Medical Equipment Industrial Co ltd filed Critical Guangzhou Yikang Medical Equipment Industrial Co ltd
Priority to CN202010372558.8A priority Critical patent/CN111449916A/en
Publication of CN111449916A publication Critical patent/CN111449916A/en
Pending legal-status Critical Current

Links

Images

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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Landscapes

  • 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)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a weight reduction module for lower limb rehabilitation training equipment, which comprises a traction rope, a servo motor, a winch, a fixed pulley block, a first rotating shaft and a swinging rod, wherein one end of the traction rope is connected with a harness, the servo motor is arranged on a fixed frame and connected with a speed reducer, the swinging rod is vertically arranged on the fixed frame, one end of the swinging rod is fixed on the first rotating shaft, the swing pulley of setting on the swinging arms free end, the cam, set up the second pivot on the mount perpendicularly, set up in mount top and a pot head establish the last connecting rod in the second pivot, set up in mount below and a pot head establish the last connecting rod of second pivot, buffer spring, the capstan winch is connected on the speed reducer, the cam sets up in mount below and with the coaxial follow-up of first pivot, the free end and the cam edge contact of lower connecting rod, buffer spring sets up between last connecting rod free end and mount, the other end of haulage rope is convoluteed on the capstan winch after walking around swing pulley and fixed pulley group in order. The invention has simple structure, convenient operation and high follow-up property.

Description

Weight reduction module for lower limb rehabilitation training equipment
Technical Field
The present invention relates to a lower limb rehabilitation training device, and more particularly, to a device for hanging and pulling a harness of a user in the lower limb rehabilitation training device.
Background
In the current common lower limb rehabilitation training equipment, in order to ensure that the weight of a user is reduced and the posture of the body is regulated, a harness which is hung at the bottom end of a traction rope and is convenient for the user to wear is usually arranged, and the height of the harness from the ground is changed by adjusting the length of the traction rope. When training, therapist can tighten up the haulage rope earlier according to user's health and rehabilitation training's plan, promotes the harness, reduces the gravity that user's low limbs bore, and when rehabilitation training, when user's gesture changes, the gravity of applying at the low limbs can change thereupon, also needs therapist in time to adjust the length of haulage rope, just can ensure that the gravity of applying on the low limbs accords with rehabilitation training's requirement.
The common device for adjusting the length of the traction rope is a linear motor or an air cylinder, the traction rope is driven by the motion of a piston rod of the linear motor or the air cylinder, the harness is pulled to move up and down, and weight reduction adjustment is achieved. By adopting the weight reduction mode, in the rehabilitation training process of a user, people are required to monitor and operate all the time, the operation is mistakenly carried out, the operation is limited by the experience of an operator and the matching default degree, the traction force for weight reduction can not be accurately controlled, the operation has larger error, and the training effect is limited.
Disclosure of Invention
The invention aims to provide a weight reduction module for lower limb rehabilitation training equipment, which can effectively adjust the length of a traction rope, has strong follow-up property and is simple and convenient to operate.
The technical solution of the invention is as follows: a weight reduction module for lower limb rehabilitation training equipment comprises a traction rope with one end connected with a harness, and further comprises a servo motor driving mechanism arranged on a fixed frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffer connecting rod group and a buffer spring, wherein the servo motor driving mechanism comprises a servo motor connected on a speed reducer, the winch is connected on the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixed frame, a swinging rod with one end fixed on the first rotating shaft, and a swinging pulley arranged on the free end of the swinging rod, the cam is arranged below the fixed frame and coaxially follows the first rotating shaft, the buffer connecting rod group comprises a second rotating shaft vertically arranged on the fixed frame, an upper connecting rod arranged above the fixed frame and one end sleeved on the second rotating shaft, a lower connecting rod arranged below the fixed frame and one end sleeved on the second rotating shaft, and the free end of the lower connecting rod is contacted with the, the buffer spring is arranged between the free end of the upper connecting rod and the fixing frame, and the other end of the traction rope sequentially bypasses the swinging pulley and the fixed pulley group and then is wound on the winch.
The other end of the hauling rope is wound on the winch, the length of the hauling rope can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor, and the feedback is more timely. Under the action of the pulling force of the buffer spring, the upper connecting rod can rotate towards one direction by taking the second rotating shaft as the shaft, the lower connecting rod is driven to rotate towards the same direction by taking the second rotating shaft as the shaft, so that the edge of the lower connecting rod is attached to the outer edge of the cam, the whole device is in a balanced state, when the traction rope on one side of the harness is pulled downwards or loosened upwards, under the action of the pulling force and the elastic force of the buffer spring, the swinging pulley can swing along with the traction rope, the first rotating shaft is driven to rotate, the cam below the fixing frame can also be driven to rotate, the edge of the cam can push the lower connecting rod to rotate, the upper connecting rod is driven to move, the length change of the traction rope can be consumed by the rotation of the swinging pulley at the moment, the winch does not need to be started, the operation of the servo motor is.
And a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever. The outer edge of the cam can be sufficiently contacted by the lower catch lever in order to transmit torque efficiently.
The fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley. The change of the traction force is detected through the torque sensor, so that data output is used for controlling the servo motor, the programmed operation is favorably realized, and a hardware basis is provided for accurate control.
A direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley. The direction-changing fixed pulley can change the motion direction of the traction rope so as to adjust the cutting-in direction of the traction rope and the force-measuring movable pulley and further control the force-measuring accuracy.
And an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor. The angle sensor can measure the cam rotation angle data, so that the output is used for controlling the servo motor, the programmable operation is facilitated, and a hardware basis is provided for accurate control.
The fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley. The direction of the traction rope wound on the winch can be adjusted through the positions of the first fixed pulley and the second fixed pulley, the accuracy of the stress direction is ensured, and the interference is reduced.
The invention has the advantages that: simple structure, convenient operation can realize the size of traction force on the automatic adjustment haulage rope to a certain extent, and the follow-up nature is high, and convenient further transformation realizes automated control.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a perspective schematic view of an embodiment of the present invention;
1. the device comprises a fixed frame, 2, a harness, 3, a traction rope, 4, a servo motor, 5, a speed reducer, 6, a winch, 7, a first fixed pulley, 8, a second fixed pulley, 9, a swinging pulley, 10, a swinging rod, 11, a first rotating shaft, 12, a cam, 13, a second rotating shaft, 14, an upper connecting rod, 15, a lower connecting rod, 16, a buffer spring, 17, a torque sensor, 18, a force measuring movable pulley, 19, a direction changing fixed pulley, 20, an angle sensor, 21, a lower stop lever, 22 and a through hole.
Detailed Description
Examples
Referring to fig. 1-2, a weight reduction module for lower limb rehabilitation training equipment comprises a traction rope 3 with one end connected with a harness 2, and further comprises a servo motor driving mechanism, a winch 6, a fixed pulley block, a swinging pulley block, a cam 12, a buffer connecting rod group and a buffer spring 16 which are arranged on a fixed frame 1, wherein the servo motor driving mechanism comprises a servo motor 4 connected with a speed reducer 5, the winch 6 is connected with the speed reducer 5, the swinging pulley block comprises a first rotating shaft 11 vertically arranged on the fixed frame 1, a swinging rod 10 with one end fixed on the first rotating shaft 11 and a swinging pulley 9 arranged on the free end of the swinging rod 10, the cam 12 is arranged below the fixed frame 1 and coaxially follows the first rotating shaft 11, the buffer connecting rod group comprises a second rotating shaft 13 vertically arranged on the fixed frame 1, an upper connecting rod 14 arranged above the fixed frame 1 and with one end sleeved on the second rotating shaft 13, The lower connecting rod 15 is arranged below the fixed frame 1, one end of the lower connecting rod is sleeved on the second rotating shaft 13, a lower stop lever 21 which is in contact with the edge of the cam 12 is arranged at the free end of the lower connecting rod 15, the buffer spring 16 is arranged between the free end of the upper connecting rod 14 and the fixed frame 1, a force measuring movable pulley 18 with a torque sensor 17 is arranged on the fixed frame 1, and the output of the torque sensor 17 is used for being connected with the servo motor 4. A direction-changing fixed pulley 19 is arranged between the force-measuring movable pulley 18 and the swinging pulley 9, an angle sensor 20 which is coaxially following with the cam 12 is arranged on the first rotating shaft 11, and the output of the angle sensor 20 is used for connecting the servo motor 4. The fixed pulley group comprises a first fixed pulley 7 and a second fixed pulley 8 which are oppositely arranged, and the other end of the traction rope 3 is wound on the winch 6 after passing through a through hole 22 on the fixed frame 1 and sequentially passing around the force measuring movable pulley 18, the direction changing fixed pulley 19, the swinging pulley 9, the first fixed pulley 7 and the second fixed pulley 7.
The other end of the hauling rope 3 is wound on the winch 6, the length of the hauling rope 3 can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor 4, and the feedback is more timely. Under the action of the pulling force of the buffer spring 16, the upper connecting rod 14 can rotate towards one direction by taking the second rotating shaft 13 as an axis, the lower connecting rod 15 is driven to rotate towards the same direction by taking the second rotating shaft 13 as an axis, so that the lower stop lever 21 on the free end of the lower connecting rod 15 is tightly attached to the outer edge of the cam 12, the whole device is in a balanced state, when the traction rope 3 on one side of the harness 2 is pulled downwards or loosened upwards, the swinging pulley 9 can swing along with the traction rope 3 under the action of the pulling force and the elastic force of the buffer spring 16, so that the first rotating shaft 11 is driven to rotate, the cam 12 below the fixed frame 1 can also be driven to rotate, the edge can push the lower connecting rod 15 to rotate, so as to drive the upper connecting rod 14 to move, at the moment, the length change of the traction rope 3 can be consumed by the rotation of the swinging pulley 9, the winch 6 is not required to be started, so that the operation, the operation is convenient. When haulage rope 3 is pulled, moment sensor 17 can detect the change of traction force to output data can be used to servo motor 4's control, if drive servo motor 4 clockwise or anticlockwise rotation, makes capstan winch 6 tighten up or release haulage rope 3, reconciles with changing self-adaptation according to traction force, thereby the simplified operation reduces the inconvenience of manpower control. The angle sensor 20 can also measure the rotation angle data of the cam 12, thereby outputting data, being used for controlling the servo motor 4, also being beneficial to realizing programmed operation and providing a hardware basis for precise control.
The direction of the traction rope 3 can be adjusted by the positions of the direction-changing fixed pulley 19, the first fixed pulley 7 and the second fixed pulley 8, so that the accurate stress direction of the winch 6 is ensured, and the interference is reduced.
The above detailed description is specific to one possible embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims (6)

1. The utility model provides a lower limbs rehabilitation training equipment is with subtracting heavy module, includes the haulage rope of harness is connected to one end, its characterized in that: the device also comprises a servo motor driving mechanism arranged on the fixed frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffering connecting rod group and a buffering spring, wherein the servo motor driving mechanism comprises a servo motor connected to the speed reducer, the winch is connected to the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixed frame, a swinging rod with one end fixed on the first rotating shaft and a swinging pulley arranged on the free end of the swinging rod, the cam is arranged below the fixed frame and coaxially follows the first rotating shaft, the buffering connecting rod group comprises a second rotating shaft vertically arranged on the fixed frame, an upper connecting rod arranged above the fixed frame and one end sleeved on the second rotating shaft, a lower connecting rod arranged below the fixed frame and one end sleeved on the second rotating shaft, the free end of the lower connecting rod is contacted with the edge of the cam, and the buffering spring is arranged between the free, and the other end of the traction rope sequentially bypasses the swinging pulley and the fixed pulley block and then is wound on the winch.
2. The weight reduction module for the lower limb rehabilitation training device as recited in claim 1, wherein: and a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever.
3. The weight reduction module for the lower limb rehabilitation training device according to claim 1 or 2, characterized in that: the fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley.
4. The weight reduction module for the lower limb rehabilitation training device as recited in claim 3, characterized in that: a direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley.
5. The weight reduction module for the lower limb rehabilitation training device as recited in claim 4, wherein: and an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor.
6. The weight reduction module for the lower limb rehabilitation training device as recited in claim 4, wherein: the fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley.
CN202010372558.8A 2020-05-06 2020-05-06 Weight reduction module for lower limb rehabilitation training equipment Pending CN111449916A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010372558.8A CN111449916A (en) 2020-05-06 2020-05-06 Weight reduction module for lower limb rehabilitation training equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010372558.8A CN111449916A (en) 2020-05-06 2020-05-06 Weight reduction module for lower limb rehabilitation training equipment

Publications (1)

Publication Number Publication Date
CN111449916A true CN111449916A (en) 2020-07-28

Family

ID=71671247

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010372558.8A Pending CN111449916A (en) 2020-05-06 2020-05-06 Weight reduction module for lower limb rehabilitation training equipment

Country Status (1)

Country Link
CN (1) CN111449916A (en)

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6267711B1 (en) * 1998-07-09 2001-07-31 Robert Sylvester Hinds Elastic cord exercise assembly
JP3120613U (en) * 2006-01-30 2006-04-13 ▲ゆう▼明陽 Lumbar and leg exercise equipment
CN101518490A (en) * 2009-03-26 2009-09-02 上海大学 Active partial body weight support treadmill training device and active partial body weight support treadmill training method
US20110230808A1 (en) * 2010-03-22 2011-09-22 Andrew Lisowski Traction exercise apparatus
US20120302930A1 (en) * 2011-05-26 2012-11-29 Jeff Winternheimer Traction bed
CN202892805U (en) * 2012-11-08 2013-04-24 广州一康医疗设备实业有限公司 Rehabilitation training weight-reducing device
US20140206503A1 (en) * 2013-01-22 2014-07-24 Gorbel, Inc. Medical rehab lift system and method with horizontal and vertical force sensing and motion control
CN105919706A (en) * 2016-05-30 2016-09-07 哈尔滨天愈康复医疗机器人有限公司 Cervical traction rehabilitation robot and rotating platform mechanism thereof
US20160296408A1 (en) * 2013-11-01 2016-10-13 Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Ve Ticaret Limited Sirketi Weight balancing mechanism
CN106137674A (en) * 2015-04-08 2016-11-23 陕西科技大学 A kind of lower limb rehabilitation training ESD
CN106535852A (en) * 2014-07-09 2017-03-22 浩康股份公司 Apparatus for gait training
CN108245380A (en) * 2018-03-13 2018-07-06 西安交通大学 A kind of human body lower limbs recovery exercising robot
CN109528452A (en) * 2017-09-21 2019-03-29 丰田自动车株式会社 Load mitigation device
CN212326875U (en) * 2020-05-06 2021-01-12 广州一康医疗设备实业有限公司 Weight reduction module for lower limb rehabilitation training equipment

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6267711B1 (en) * 1998-07-09 2001-07-31 Robert Sylvester Hinds Elastic cord exercise assembly
JP3120613U (en) * 2006-01-30 2006-04-13 ▲ゆう▼明陽 Lumbar and leg exercise equipment
CN101518490A (en) * 2009-03-26 2009-09-02 上海大学 Active partial body weight support treadmill training device and active partial body weight support treadmill training method
US20110230808A1 (en) * 2010-03-22 2011-09-22 Andrew Lisowski Traction exercise apparatus
US20120302930A1 (en) * 2011-05-26 2012-11-29 Jeff Winternheimer Traction bed
CN202892805U (en) * 2012-11-08 2013-04-24 广州一康医疗设备实业有限公司 Rehabilitation training weight-reducing device
US20140206503A1 (en) * 2013-01-22 2014-07-24 Gorbel, Inc. Medical rehab lift system and method with horizontal and vertical force sensing and motion control
US20160296408A1 (en) * 2013-11-01 2016-10-13 Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Ve Ticaret Limited Sirketi Weight balancing mechanism
CN106535852A (en) * 2014-07-09 2017-03-22 浩康股份公司 Apparatus for gait training
CN106137674A (en) * 2015-04-08 2016-11-23 陕西科技大学 A kind of lower limb rehabilitation training ESD
CN105919706A (en) * 2016-05-30 2016-09-07 哈尔滨天愈康复医疗机器人有限公司 Cervical traction rehabilitation robot and rotating platform mechanism thereof
CN109528452A (en) * 2017-09-21 2019-03-29 丰田自动车株式会社 Load mitigation device
CN108245380A (en) * 2018-03-13 2018-07-06 西安交通大学 A kind of human body lower limbs recovery exercising robot
CN212326875U (en) * 2020-05-06 2021-01-12 广州一康医疗设备实业有限公司 Weight reduction module for lower limb rehabilitation training equipment

Similar Documents

Publication Publication Date Title
CN101395989B (en) End effector of apple picking robot
US9375325B2 (en) Exoskeleton arm having an actuator
CN212326875U (en) Weight reduction module for lower limb rehabilitation training equipment
CN105644783A (en) Flapping wing robot capable of automatically adjusting flapping amplitude values of left wing and right wing
CN101518490A (en) Active partial body weight support treadmill training device and active partial body weight support treadmill training method
CN100351056C (en) Linkage mechanism of drive-free self-adapting artificial hand
CN107546033B (en) Annular coil winding machine
CN105563514A (en) Mechanical hand device
CN105580561A (en) Self-adaption under-actuation picking tail end executing device and method
CN108942886A (en) A kind of underwater robot flexible grabbing device and its method
WO2007058751A3 (en) Recoil auger with clutch bearing
CN111449916A (en) Weight reduction module for lower limb rehabilitation training equipment
CN209507465U (en) A kind of electric clothes airing machine electric machine spacing protective device
CN104474668B (en) Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof
CN112338946A (en) Friction roller type grabbing and loading device and method
CN110179626B (en) Upper limb rehabilitation training device and method
CN211377800U (en) Novel motor-driven linear module
CN104565246B (en) Automatic tractor belt tension controller
CN208618318U (en) A kind of machine core and its banister that mechanical speed change is adjusted
CN1597025A (en) Servo electric machine resistance device
CN207841645U (en) A kind of timber branch removal device
CN205129886U (en) Imitative people underactuated manipulator based on 3D printing technique
CN107150729A (en) One kind automation step-by-step movement becomes born of the same parents' robot capable of climbing trees
CN207337729U (en) A kind of high school physics lever principle experimental provision
CN108126322B (en) Wrist joint of rehabilitation robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination