CN111658437A - Wearable lumbar vertebra rehabilitation training device - Google Patents
Wearable lumbar vertebra rehabilitation training device Download PDFInfo
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- CN111658437A CN111658437A CN202010619075.3A CN202010619075A CN111658437A CN 111658437 A CN111658437 A CN 111658437A CN 202010619075 A CN202010619075 A CN 202010619075A CN 111658437 A CN111658437 A CN 111658437A
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- 230000007246 mechanism Effects 0.000 claims description 23
- 239000004677 Nylon Substances 0.000 claims description 8
- 229920001778 nylon Polymers 0.000 claims description 8
- 239000004744 fabric Substances 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000008602 contraction Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 201000005671 spondyloarthropathy Diseases 0.000 description 3
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000035900 sweating Effects 0.000 description 1
- 210000002385 vertebral artery Anatomy 0.000 description 1
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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
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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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)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a wearable lumbar vertebra rehabilitation training device which comprises a driving motor, a driving gear coaxially connected with an output shaft of the driving motor, an arc-shaped rack externally meshed with the driving gear, a rotary traction belt fixed at two ends of the arc-shaped rack, a lower waist surrounding ring, an upper waist surrounding ring, a first electric push rod, a second electric push rod, a third electric push rod, a split hooke hinge and a support rod. The waist of the patient can perform semi-rotation rehabilitation training in a vertical plane by driving the rotary traction belt to move; the lower waist-surrounding ring and the upper waist-surrounding ring are driven to move through the extension/contraction of the first electric push rod, the second electric push rod and the third electric push rod, so that the waist of a patient can be subjected to upper/lower stretching rehabilitation training, front/back swinging rehabilitation training and left/right swinging rehabilitation training. The waist rehabilitation training device is comfortable, convenient, simple in structure, low in cost, safe and reliable and suitable for being used at home.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a wearable lumbar vertebra rehabilitation training device.
Background
The spondylopathy is a common orthopedic disease and always poses a great threat to national health, and the lumbar spondylosis accounts for a great proportion of the spondylopathy in the group of spondylopathy patients. Reasonable and reliable traction can relieve the pain of the waist, is helpful for reducing or eliminating the compression of the lumbar on the vertebral artery, promotes blood circulation, and is helpful for improving and coordinating the internal and external balance of the damaged lumbar so as to gradually restore the lumbar to a healthy state. Through surveying the service conditions of people of all ages and the patients with lumbar spondylosis caused by different factors, compared with other types of rehabilitation training devices with similar functions, the traction lumbar vertebra-like rehabilitation training device has the advantages that the treatment result achieved by the traction lumbar vertebra-like rehabilitation training device is obvious, the application range of the traction lumbar vertebra-like rehabilitation training device is wide, the traction lumbar vertebra-like rehabilitation training device is convenient to use, the patients do not need to go to hospitals frequently for treatment, and the time and the energy of the patients are greatly saved.
The existing traction lumbar rehabilitation training devices mainly comprise traction beds, wearable hydraulic drive stretching traction devices, wearable pneumatic drive stretching traction devices and the like. However, these traction lumbar rehabilitation training devices can only realize the upper and lower rehabilitation training movement of the waist, and have the advantages of single effect, large volume, complex structure, high cost and incapability of realizing the household use.
Disclosure of Invention
The invention aims to overcome the defects that only up-and-down waist rehabilitation training movement can be realized, the effect is single, the size is large, the structure is complex, the cost is high, and the household use cannot be realized in the prior art, and provides a lumbar vertebra rehabilitation training device which can realize up-and-down waist rehabilitation training movement, can realize semi-rotation, left/right waist swinging and front/back waist swinging of a waist in a vertical plane, and has small size and simple structure.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a wearing formula lumbar vertebrae rehabilitation training device which characterized in that: comprises a twisting training mechanism and a swinging training mechanism; the wriggling training mechanism includes: the device comprises a rack, an arc-shaped slideway fixed on the rack, an arc-shaped rack connected in a sliding manner along the arc-shaped slideway, a driving motor installed on the rack, and a driving gear coaxially connected with an output shaft of the driving motor; the arc-shaped rack is externally meshed with the driving gear; rotary traction belts are fixed at two ends of the arc-shaped rack;
the swing training mechanism includes: the waist-protecting device comprises an upper waist-surrounding ring, a lower waist-surrounding ring and at least three telescopic mechanisms which are hinged between the upper waist-surrounding ring and the lower waist-surrounding ring in parallel; the twisting training mechanism is fixedly connected with the lower waist-surrounding ring through a supporting rod.
Further, the telescopic mechanism includes: the mounting seats are respectively fixed on the outer sides of the upper waist-surrounding ring and the lower waist-surrounding ring in an equilateral triangle array; the fixed end and the telescopic end are hinged to a first electric push rod, a second electric push rod and a third electric push rod on the mounting seat through split type hooke hinges.
Further, the upper waist-surrounding ring and the lower waist-surrounding ring both comprise a rigid supporting part and a flexible connecting part fixedly connected to the end part of the rigid supporting part.
Furthermore, the flexible connecting part is two parts which are mutually overlapped, and the two parts of flexible connecting parts are overlapped through nylon buckles arranged at the mutual butt joint positions of the two parts of flexible connecting parts.
Further, the flexible connecting part adopts flexible fabric.
Furthermore, the supporting rod is fixed on the arc-shaped slideway and the lower waist-surrounding ring through the mounting seat; the upper end and the lower end of the supporting rod are provided with a central hollow structure.
Furthermore, a sliding groove used for limiting the rotary traction belt is arranged on the arc-shaped sliding way.
Further, the arc-shaped rack slides along the arc-shaped slide way through the sliding block.
Furthermore, a protective cover is arranged outside the driving motor, the driving gear and the arc-shaped slide way.
Still further, the rigid support portion has a lightening hole thereon.
The wearable lumbar vertebra rehabilitation training device has the beneficial effects that:
1. the driving gear is driven by the driving motor to move, the arc-shaped rack is driven to move, the rotary traction belt is driven to move, and the arc-shaped slideway is relatively fixed with the lower waist-surrounding ring through the supporting rod. When the rotary traction belt moves to drive the upper part of the waist to move, the crotch of a patient is fixed, relative dislocation exists, and semi-rotary rehabilitation training of the waist of the patient in a vertical plane can be realized.
2. When the first electric push rod, the second electric push rod and the third electric push rod extend/contract simultaneously, the upper waist-surrounding ring and the lower waist-surrounding ring can be driven to move up and down, and the waist of a patient can be subjected to up/down stretching rehabilitation training; when the first electric push rod and the second electric push rod extend and retract, the waist of the patient can be subjected to rehabilitation training of swinging left and right; when the third electric push rod stretches and retracts and the first electric push rod and the second electric push rod move oppositely, the waist of the patient can be subjected to rehabilitation training of swinging forwards and backwards.
3. The fixed ends and the telescopic ends of the first electric push rod, the second electric push rod and the third electric push rod are hinged with the upper waist surrounding ring and the lower waist surrounding ring through split Hooke hinges, so that the transmission precision of the first electric push rod, the second electric push rod and the third electric push rod is improved, and the load capacity of the upper waist surrounding ring and the lower waist surrounding ring is enhanced.
4. The invention has the advantages of low manufacturing cost, simple structure, safety and reliability, and is suitable for household popularization and use.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a block diagram of a twist training mechanism in an embodiment of the present invention;
FIG. 3 is a block diagram of a swing training mechanism in an embodiment of the present invention;
FIG. 4 is a structural view of the upper waist ring in the embodiment of the present invention;
fig. 5 is a structural view of the lower waist ring in the embodiment of the present invention.
In the figure, the device comprises a frame 1, a frame 2, an arc-shaped slideway 3, a driving motor 4, a driving gear 5, an arc-shaped rack 6, a rotary traction belt 7, a sliding block 8, a supporting rod 9, an upper waist-surrounding ring 10, a lower waist-surrounding ring 11, a rigid supporting part 12, a flexible connecting part 13, a nylon buckle 14, a first electric push rod 15, a second electric push rod 16, a third electric push rod 17, a split Hooke hinge 18, a protective cover 19, a mounting seat 20 and a lightening hole.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The embodiment of the wearable lumbar rehabilitation training device shown in fig. 1 and 5 of the invention is characterized in that: comprises a twisting training mechanism and a swinging training mechanism; the wriggling training mechanism includes: the device comprises a rack 1, an arc-shaped slideway 2 fixed on the rack 1, an arc-shaped rack 5 connected with the arc-shaped slideway 2 in a sliding way, a driving motor 3 arranged on the rack 1, and a driving gear 4 coaxially connected with an output shaft of the driving motor 3; the arc-shaped rack 5 is externally meshed with the driving gear 4; the two ends of the arc-shaped rack 5 are fixed with rotary traction belts 6. The drive gear 4 is driven to move through the program control drive motor 3, the arc-shaped rack 5 is driven to move, the rotary traction belt 6 drives the upper part of the waist to move, the crotch of a patient is not moved, relative dislocation exists, and semi-rotary rehabilitation training of the waist of the patient in a vertical plane can be achieved.
As shown in fig. 3, the swing training mechanism includes: the waist-protecting device comprises an upper waist-surrounding ring 9, a lower waist-surrounding ring 10 and at least three telescopic mechanisms which are hinged between the upper waist-surrounding ring 9 and the lower waist-surrounding ring 10 in parallel; the twisting training mechanism is fixedly connected with the lower waist-surrounding ring 10 through a support rod 8. The telescopic machanism includes: the mounting seats 19 are respectively fixed on the outer sides of the upper waist-surrounding ring 9 and the lower waist-surrounding ring 10 in an equilateral triangle array; the fixed end and the telescopic end are hinged to a first electric push rod 14, a second electric push rod 15 and a third electric push rod 16 on a mounting seat 19 through split Hooke hinges 17. The upper loincloth ring 9, the lower loincloth ring 10, the split Hooke hinge 17, the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 form a 3-UPU parallel configuration, when the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 extend/contract simultaneously, the upper loincloth ring 9 and the lower loincloth ring 10 can be driven to move up and down, and the waist of a patient can be subjected to upper/lower stretching rehabilitation training; when the first electric push rod 14 and the second electric push rod 15 extend and retract one, the waist of the patient can be subjected to rehabilitation training of swinging left/right; when the third electric push rod 16 stretches and retracts and the first electric push rod 14 and the second electric push rod 15 do opposite movement, the waist of the patient can be subjected to rehabilitation training of swinging forwards and backwards.
Referring to fig. 3, the fixed end and the telescopic end are hinged to a first electric push rod 14, a second electric push rod 15 and a third electric push rod 16 on a mounting seat 19 through a split hooke joint 17. The fixed ends and the telescopic ends of the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 are respectively hinged to the upper waist surrounding ring 9 and the lower waist surrounding ring 10 by adopting a split Hooke hinge 17, so that the transmission precision of the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 is improved, and the load capacity of the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 is enhanced.
As shown in fig. 1, the support rod 8 is fixed on the arc-shaped slideway 2 and the lower waist-surrounding ring 10 through a mounting seat 19; the two ends of the arc slideway 2 and the lower waist ring 10 are respectively fixed with a support bar 8 through bolts. In order to increase the stability of the supporting rod 8, avoid the supporting rod 8 to rock, with the upper and lower both ends of the supporting rod 8 all set up thick, the supporting rod 8 is satisfying under the condition that can bear the weight of wrench movement training mechanism, the upper and lower both ends of the supporting rod 8 set up to central hollow out construction to alleviate weight, save material.
As shown in fig. 2, in order to make the rotating traction belt 6 better slide along the arc-shaped slideway 2, the arc-shaped slideway 2 is provided with a sliding groove for limiting the rotating traction belt 6. The arc-shaped rack 5 slides along the arc-shaped slideway 2 through the sliding block 7, so that the arc-shaped rack 5 can better slide along the arc-shaped slideway 2.
As shown in fig. 4 and 5, in order to enable the upper loincloth ring 9 and the lower loincloth ring 10 to better support the movement of the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16, each of the upper loincloth ring 9 and the lower loincloth ring 10 comprises a rigid support part 11 and a flexible connecting part 12 fixedly connected to the end of the rigid support part 11, the flexible connecting part 12 is two parts which are overlapped with each other, the two parts of the flexible connecting part 12 are overlapped by a nylon fastener 13 arranged at the joint of the two parts, and preferably, the flexible connecting part 12 is made of flexible fabric. The upper waist ring 9 is fixed to the lower part of the waist of the patient by a nylon fastener 13, and the lower waist ring 10 is fixed to the crotch of the patient by the nylon fastener 13.
In order to increase the comfort of the patient, the part of the inner surface of the rigid supporting part 11, which is in contact with the human body, can be covered with a layer of leather or fabric, so that the friction force between the human body and the upper and lower waist-surrounding rings 9 and 10 is improved on one hand, and the damage caused by the friction between the human clothes and the rigid material is avoided on the other hand.
As shown in fig. 4 and 5, the rigid support 11 has lightening holes 20, and in order to lighten the weight of the upper and lower loincloth rings 9 and 10, the rigid support 11 is provided with lightening holes 20, the rigid support 11 can be made of steel, aluminum alloy or hard plastics, and the lightening holes 20 also increase the air permeability between the rigid support 11 and the human body and reduce the sweating of the trainee.
Referring to fig. 1, in order to make the rehabilitation training device safer and more beautiful, a protective cover 18 is provided outside the driving motor 3, the driving gear 4 and the arc-shaped slide 2.
When in use, the lower waist ring 10 is fixed on the crotch of a patient, and the rotary traction belt 6 is equivalently fixed on the upper part of the waist of the patient; the driving motor 3 is controlled by a program to drive the driving gear 4 to move and drive the arc-shaped rack 5 to move, so as to drive the rotary traction belt 6 to move, and the arc-shaped slideway 2 is relatively fixed with the lower waist-surrounding ring 10 through the supporting rod 8. The patient's crotch is fixed when rotatory traction band 6 motion drives waist upper portion motion, has relative dislocation, consequently can realize the half-rotation rehabilitation training of patient's waist in the vertical plane.
The upper waist-surrounding ring 9, the lower waist-surrounding ring 10, the split Hooke's hinge 17, the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 form a 3-UPU parallel configuration, the lower waist-surrounding ring 10 is fixed on the crotch of the patient through the nylon fastener 13, and the upper waist-surrounding ring 9 is fixed on the lower waist of the patient through the nylon fastener 13. The upper waist-surrounding ring 9 and the lower waist-surrounding ring 10 can be tightly attached to the waist of a patient, the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 are distributed in an equilateral triangle array, and when the first electric push rod 14, the second electric push rod 15 and the third electric push rod 16 are controlled to simultaneously extend/contract by a program by applying the working principle of a 3-UPU parallel configuration, the upper waist-surrounding ring 9 and the lower waist-surrounding ring 10 can be driven to move up and down, so that the waist of the patient can be subjected to up/down stretching rehabilitation training; the first electric push rod 14 and the second electric push rod 15 are controlled by a program to extend or retract one, so that the waist of the patient can perform rehabilitation training of swinging left/right; the third electric push rod 16 is controlled to stretch and contract through a program, so that when the first electric push rod 14 and the second electric push rod 15 do opposite movement, the waist of the patient can be subjected to rehabilitation training of swinging forwards and backwards.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. The utility model provides a wearing formula lumbar vertebrae rehabilitation training device which characterized in that: comprises a twisting training mechanism and a swinging training mechanism; the wriggling training mechanism includes: the device comprises a rack (1), an arc-shaped slide way (2) fixed on the rack (1), an arc-shaped rack (5) connected with the arc-shaped slide way (2) in a sliding way, a driving motor (3) arranged on the rack (1), and a driving gear (4) coaxially connected with an output shaft of the driving motor (3); the arc-shaped rack (5) is externally meshed with the driving gear (4); rotary traction belts (6) are fixed at two ends of the arc-shaped rack (5);
the swing training mechanism includes: the waist-protecting belt comprises an upper waist-surrounding ring (9), a lower waist-surrounding ring (10) and at least three telescopic mechanisms which are hinged between the upper waist-surrounding ring (9) and the lower waist-surrounding ring (10) in parallel;
the twisting training mechanism is fixedly connected with the lower waist-surrounding ring (10) through a support rod (8).
2. The wearable lumbar rehabilitation training device of claim 1, wherein: the telescopic mechanism comprises: the installation seats (19) are respectively fixed on the outer sides of the upper waist-surrounding ring (9) and the lower waist-surrounding ring (10) in an equilateral triangle array; the fixed end and the telescopic end are hinged to a first electric push rod (14), a second electric push rod (15) and a third electric push rod (16) on the mounting seat (19) through split Hooke hinges (17).
3. The wearable lumbar rehabilitation training device of claim 1, wherein: the upper waist-surrounding ring (9) and the lower waist-surrounding ring (10) both comprise a rigid supporting part (11) and a flexible connecting part (12) fixedly connected to the end part of the rigid supporting part (11).
4. The wearable lumbar rehabilitation training device of claim 3, wherein: the flexible connecting part (12) is two parts which are mutually overlapped, and the two parts of flexible connecting parts (12) are overlapped through nylon buckles (13) arranged at the mutual butt joint positions of the two parts.
5. The wearable lumbar rehabilitation training device of claim 3, wherein: the flexible connecting part (12) adopts flexible fabric.
6. The wearable lumbar rehabilitation training device of claim 2, wherein: the supporting rod (8) is fixed on the arc-shaped slideway (2) and the lower waist-surrounding ring (10) through the mounting seat (19); the upper end and the lower end of the supporting rod (8) are arranged to be of a central hollow structure.
7. The wearable lumbar rehabilitation training device of claim 1, wherein: the arc-shaped slideway (2) is provided with a sliding groove used for limiting the rotary traction belt (6).
8. The wearable lumbar rehabilitation training device of claim 1, wherein: the arc-shaped rack (5) slides along the arc-shaped slide way (2) through a sliding block (7).
9. The wearable lumbar rehabilitation training device of claim 1, wherein: and a protective cover (18) is arranged outside the driving motor (3), the driving gear (4) and the arc-shaped slide way (2).
10. The wearable lumbar rehabilitation training device of claim 3, wherein: the rigid supporting part (11) is provided with a lightening hole (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010619075.3A CN111658437A (en) | 2020-07-01 | 2020-07-01 | Wearable lumbar vertebra rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010619075.3A CN111658437A (en) | 2020-07-01 | 2020-07-01 | Wearable lumbar vertebra rehabilitation training device |
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| Publication Number | Publication Date |
|---|---|
| CN111658437A true CN111658437A (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010619075.3A Pending CN111658437A (en) | 2020-07-01 | 2020-07-01 | Wearable lumbar vertebra rehabilitation training device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957670A (en) * | 2021-02-04 | 2021-06-15 | 东莞职业技术学院 | Standing type waist and abdomen twisting device |
| CN115212077A (en) * | 2022-08-12 | 2022-10-21 | 燕山大学 | Truck rehabilitation training robot with self-aligning function |
-
2020
- 2020-07-01 CN CN202010619075.3A patent/CN111658437A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957670A (en) * | 2021-02-04 | 2021-06-15 | 东莞职业技术学院 | Standing type waist and abdomen twisting device |
| CN115212077A (en) * | 2022-08-12 | 2022-10-21 | 燕山大学 | Truck rehabilitation training robot with self-aligning function |
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Inventor after: Wang Hongbo Inventor after: Hou Chao Inventor after: Hu Xinyu Inventor after: Hao Mingyang Inventor after: Wang Sibo Inventor after: Yu Haoyang Inventor after: Guan Bo Inventor after: Shi Shaohua Inventor before: Wang Hongbo Inventor before: Hu Xinyu Inventor before: Hao Mingyang Inventor before: Wang Sibo Inventor before: Yu Haoyang Inventor before: Guan Bo Inventor before: Shi Shaohua |
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Effective date of registration: 20201127 Address after: 063200 C4 Training Building of New Town Big Data Industrial Park, Caofeidian District, Tangshan City, Hebei Province Applicant after: Tangshan Hairong Robot Application Technology Research Institute Applicant after: Tangshan Hairong Intelligent Robot Technology Co.,Ltd. Address before: 063200 C4 Training Building of New Town Big Data Industrial Park, Caofeidian District, Tangshan City, Hebei Province Applicant before: Tangshan Hairong Robot Application Technology Research Institute |
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