CN113977565A - Muscle relaxing and massaging manipulator - Google Patents
Muscle relaxing and massaging manipulator Download PDFInfo
- Publication number
- CN113977565A CN113977565A CN202111141745.6A CN202111141745A CN113977565A CN 113977565 A CN113977565 A CN 113977565A CN 202111141745 A CN202111141745 A CN 202111141745A CN 113977565 A CN113977565 A CN 113977565A
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- relaxing
- massage
- tendon
- muscle
- adjusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
Abstract
A tendon-relaxing massage manipulator comprises a tendon-relaxing head, a tendon-relaxing adjusting mechanism and a tendon-relaxing mechanical arm, wherein the tendon-relaxing head is installed on the tendon-relaxing adjusting mechanism, the tendon-relaxing adjusting mechanism is installed on the tendon-relaxing mechanical arm, the tendon-relaxing head comprises a tendon-relaxing massage head and a vertebra feeler, the vertebra feeler is installed on the tendon-relaxing massage head, the tendon-relaxing massage head is installed on the tendon-relaxing adjusting mechanism in a lifting mode, the positions of the tendon-relaxing head and the tendon-relaxing adjusting mechanism are adjusted through the tendon-relaxing mechanical arm, the tendon-relaxing head is moved to an acupoint corresponding to a patient, the tendon-relaxing head is finely adjusted through the tendon-relaxing adjusting mechanism, the tendon-relaxing head is perpendicular to the acupoint of the patient, the position of the spine of the patient is conveniently touched through the vertebra feeler, the position of the acupoint to be massaged by the tendon-relaxing massage manipulator is determined according to the position of the spine of the patient, the manipulator is simple in structure and high in massage precision, improve the curative effect of tuina.
Description
Technical Field
The invention belongs to the technical field of scoliosis correctors, and particularly relates to a tendon-relaxing massage manipulator.
Background
The invention is based on the theory of 'muscle and bone balance' in traditional Chinese medicine. If the muscles are askew, the bones are not correct, if the muscles are soft, the bones are correct, and many patients with muscle injuries can have back diseases, such as: thoracic vertebra fissure, ankylosing spondylitis, lumbar and dorsal myofascitis, lumbar muscle strain, and prolapse of lumbar intervertebral disc. And the symptoms are passed by the bladder meridian of foot taiyang, the tendon relaxing and massaging manipulator can play the roles of relaxing muscles and tendons, activating collaterals, promoting blood circulation, removing blood stasis, and regulating tendons and restoring, and the problem of tendon distortion (soft tissue injury and spasm) is solved, so that the aim of clinical treatment is fulfilled.
At present, no equipment for relaxing tendons and dredging collaterals of the bladder channel region on the back is available in the market, and the liberated doctors have clinical significance and social value in labor force.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a tendon relaxing manipulator, which can determine the position of the bladder meridian corresponding to the acupuncture point according to the position of the spine, thereby achieving automatic manipulation of the bladder meridian.
In order to solve the technical problems, the invention adopts the technical scheme that
The utility model provides a muscle relaxing massage manipulator, includes muscle relaxing head, muscle relaxing adjustment mechanism and muscle relaxing arm, and muscle relaxing head installs on muscle relaxing adjustment mechanism, and muscle relaxing adjustment mechanism installs at muscle relaxing arm, and muscle relaxing head is including muscle relaxing massage head and vertebra sounding appearance, and vertebra sounding appearance installs on muscle relaxing massage head, and muscle relaxing massage head liftable formula is installed on muscle relaxing adjustment mechanism.
Furthermore, loose muscle adjustment mechanism is including adjusting power spare, regulation driving medium and regulation head, adjusts power spare fixed mounting on the arm of loosing muscle, and the regulation driving medium is installed in adjusting power spare, adjusts head and regulation driving medium fixed connection, and the head of loosing muscle is installed on the regulation head.
Furthermore, adjust power spare including adjusting installation casing, motor power and power shaft, the power shaft rotates to be installed in adjusting the installation casing, and motor power is connected with the power shaft, is equipped with driven adjustment groove on adjusting the installation casing, adjusts driving medium slidable mounting in driven adjustment groove to make the regulation driving medium rotate.
Furthermore, the adjusting transmission part comprises a transmission shaft, a transmission gear and a transmission gear ring, the transmission gear ring is fixedly arranged in the adjusting installation shell, a power gear is fixedly arranged on the power shaft, the transmission gear is respectively engaged with the transmission gear ring and the power gear to form an adjusting planetary gear train, and the transmission shaft is fixedly connected with the transmission gear and is slidably arranged in the driven adjusting groove.
Furthermore, the muscle-relaxing massage head comprises a muscle-relaxing lifting component, a muscle-relaxing mounting head and a muscle-relaxing massage piece, the muscle-relaxing massage piece is rotatably mounted in the muscle-relaxing mounting head, and the muscle-relaxing mounting head is mounted on the muscle-relaxing adjusting mechanism in a lifting mode through the muscle-relaxing lifting component.
Further, be formed with the installation cavity in the installation head of muscle relaxation, muscle relaxation massage piece rotates to be installed in the installation cavity, and muscle relaxation massage piece includes massage gyro wheel, massage motor, and massage gyro wheel rotates to be installed in the installation cavity, and massage motor is connected with massage gyro wheel.
Furthermore, the end face of the installation cavity is fixedly connected with a massage leather surface, and the middle part of the massage leather surface is fixedly connected with a pressure sensor.
Further, vertebra sounding appearance includes dead lever and sounding appearance, and sounding appearance passes through dead lever fixed connection on the muscle massage head that loosens, and the horizontal migration direction slope setting of the relative muscle arm that loosens of dead lever.
Furthermore, the muscle-loosening mechanical arm comprises a horizontal moving mechanism, a mechanical arm telescopic mechanism and a height adjusting mechanism, wherein the height adjusting mechanism is fixedly installed on the horizontal moving mechanism, and the mechanical arm telescopic mechanism is fixedly installed on the height adjusting mechanism.
Furthermore, the mechanical arm telescopic mechanism and the height adjusting mechanism are consistent in structure and respectively comprise an outer sleeve, an inner sleeve, a driving screw rod and a driving sliding block, the outer sleeve is sleeved outside the inner sleeve, the driving screw rod is rotatably installed in the inner sleeve, a sliding block groove is formed in the side wall of the inner sleeve, the driving sliding block is fixedly connected with the inner wall of the outer sleeve through the sliding block groove, and the driving sliding block is matched with the driving screw rod.
The manipulator has the advantages that the positions of the muscle relaxing head and the muscle relaxing adjusting mechanism are adjusted through the muscle relaxing mechanical arm, the muscle relaxing head is moved to the corresponding acupuncture point of a patient, the muscle relaxing head is finely adjusted through the muscle relaxing adjusting mechanism, the muscle relaxing head is perpendicular to the acupuncture point of the patient, the position of the spine of the patient is conveniently touched through the manipulator through the spine feeler gauge, and therefore the position of the acupuncture point to be massaged of the muscle relaxing head is determined according to the position of the spine of the patient.
Drawings
Fig. 1 is a schematic structural view of the present manipulator.
Fig. 2 is a schematic half-section view of the tendon loosening head.
Fig. 3 is a partial enlarged view at a.
Fig. 4 is a schematic structural view of the massage roller.
Figure 5 is a schematic view of the inner sleeve.
Reference numerals: the muscle relaxing and massaging device comprises a muscle relaxing head 1, a muscle relaxing adjusting mechanism 2, a muscle relaxing and massaging head 3, a spine contact probe 4, an adjusting power part 5, an adjusting transmission part 6, an adjusting head 7, an adjusting and mounting shell 8, a power motor 9, a power shaft 10, a transmission shaft 12, a transmission gear 13, a transmission gear ring 14, a power gear 15, a muscle relaxing lifting component 16, a muscle relaxing mounting head 17, a muscle relaxing and massaging part 18, a mounting cavity 19, a massaging roller 20, a massaging motor 21, a massaging leather surface 22, a pressure sensor 23, a fixed rod 24, a contact probe 25, a horizontal moving mechanism 26, a mechanical arm telescoping mechanism 27, a height adjusting mechanism 28, an outer sleeve 29, an inner sleeve 30, a driving screw rod 31, a driving slide block 32, a sliding block groove 33, a massaging column 34, a pressing wheel 35, a translation track 35, a translation motor 36 and a translation slide block mechanism 37.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A tendon relaxing massage manipulator comprises a tendon relaxing head 1, a tendon relaxing adjusting mechanism 2 and a tendon relaxing mechanical arm, wherein the tendon relaxing head 1 is installed on the tendon relaxing adjusting mechanism 2, the tendon relaxing adjusting mechanism 2 is installed on the tendon relaxing mechanical arm, the tendon relaxing head 1 comprises a tendon relaxing massage head 3 and a vertebra sounding instrument 4, the vertebra sounding instrument 4 is installed on the tendon relaxing massage head 3, the tendon relaxing massage head 3 is installed on the tendon relaxing adjusting mechanism 2 in a lifting mode, the positions of the tendon relaxing head 1 and the tendon relaxing adjusting mechanism 2 are adjusted through the tendon relaxing mechanical arm, the tendon relaxing head 1 is moved to an acupoint corresponding to a patient, the tendon relaxing head 1 is finely adjusted through the tendon relaxing adjusting mechanism 2, the tendon relaxing head 1 is perpendicular to the acupoint of the patient, the position of the spine of the patient is conveniently probed through the vertebra sounding instrument 4, and therefore the position of the acupoint to be massaged by the tendon relaxing massage manipulator is determined according to the position of the patient, the manipulator has simple structure and high massage precision, and improves the massage curative effect.
Muscle relaxing adjustment mechanism 2 is including adjusting power spare 5, adjust driving medium 6 and regulation head 7, adjust 5 fixed mounting of power spare on the muscle relaxing arm, adjust driving medium 6 and install in adjusting power spare 5, adjust head 7 and 6 fixed connection of adjusting driving medium, muscle relaxing head 1 is installed on adjusting head 7, adjust head 7 through adjusting power spare 5, thereby change the angle and the relative height between muscle relaxing massage head 3 and the vertical face, be convenient for make muscle relaxing massage head 3's the angle of massage perpendicular to acupuncture point, and can change the massage dynamics according to the demand.
Adjust power component 5 including adjusting installation casing 8, motor power 9 and power shaft 10, power shaft 10 rotates and installs in adjusting installation casing 8, motor power 9 is connected with power shaft 10, it is equipped with driven adjustment groove 11 on the installation casing 8 to adjust, in this embodiment, driven adjustment groove 11 is arc, adjust 6 slidable mounting of driving medium in driven adjustment groove 11, so that adjust driving medium 6 and rotate, change the relative angle between loose muscle massage head 3 and the vertical face, make the massage in-process, loose muscle massage head 3 is perpendicular and user's acupuncture point all the time.
The adjusting transmission part 6 comprises a transmission shaft 12, a transmission gear 13 and a transmission gear ring 14, the transmission gear ring 14 is fixedly installed in the adjusting installation shell 8, a power gear 15 is fixedly installed on the power shaft 10, the transmission gear 13 is respectively meshed with the transmission gear ring 14 and the power gear 15 to form an adjusting planetary gear train, the transmission shaft 12 is fixedly connected with the transmission gear 13 and is installed in the driven adjusting groove 11 in a sliding mode, and the angle between the opposite vertical surfaces of the tendon-releasing massage head 3 is changed through the planetary gear train so as to enable the tendon-releasing massage head to be perpendicular to acupuncture points of a user.
The muscle relaxing massage head 3 comprises a muscle relaxing lifting component 16, a muscle relaxing mounting head 17 and a muscle relaxing massage piece 18, the muscle relaxing massage piece 18 is rotatably mounted in the muscle relaxing mounting head 17, the muscle relaxing mounting head 17 is mounted on the adjusting mounting shell 8 through the muscle relaxing lifting component 16 in a liftable mode, the relative height of the muscle relaxing massage piece 18 is adjusted through the muscle relaxing lifting component 16, and therefore the massage force of the muscle relaxing massage piece 18 is adjusted.
The muscle relaxing mounting head 17 is internally provided with a mounting cavity 19, the muscle relaxing massage piece 18 is rotatably mounted in the mounting cavity 19, the muscle relaxing massage piece 18 comprises a massage roller 20 and a massage motor 21, the massage roller 20 is rotatably mounted in the mounting cavity 19, the massage motor 21 is connected with the massage roller 20, and the massage roller 20 is driven to rotate by the massage motor 21, so that the massage on the acupuncture points of a user is realized.
In this embodiment, three massage columns 34 are uniformly connected to the side wall of the massage roller 20, the massage columns 34 press the acupuncture points of the user in the process of rotating the massage roller 20, and in order to prevent the massage columns 34 from damaging the massage leather surface 22, a pressing wheel 35 is rotatably mounted at the end of the massage columns 34.
Fixedly connected with massage leather facing 22 on the terminal surface of installation cavity 19, the middle part fixedly connected with pressure sensor 23 of massage leather facing 22, through the setting of massage leather facing 22, prevent that massage gyro wheel 20 from direct and user contact, be convenient for clean the massage face to through pressure sensor 23's setting, be convenient for respond to the peak pressure of pressing, be convenient for adjust pressure according to the patient's demand.
Vertebra sounding appearance 4 includes dead lever 24 and sounding appearance 25, and sounding appearance 25 passes through dead lever 24 fixed connection on the muscle massage head 3 that loosens, and the horizontal migration direction slope setting of the relative muscle manipulator that loosens of dead lever 24 promptly, and dead lever 24 is the slope setting of horizontal migration mechanism 26 relatively for sounding appearance 25 is located the front end of muscle massage head 3 that loosens, and the position of the sounding appearance 25 of being convenient for to the vertebra is judged in advance and the position is revised.
In this embodiment, the structure of the sounding instrument 25 is the same as that of the B-type ultrasonic examination device, the handle of the ultrasonic detector is moved on the back of the user to detect the position of the spine, whether a position difference exists between the handle of the ultrasonic detector and the spine is judged through a system program, and the position difference is corrected according to requirements, so that the sounding instrument 25 is always positioned right above the spine of the patient, the position accuracy of the muscle relaxing massage head 3 is improved, and the massage effect is improved.
The muscle relaxing mechanical arm comprises a horizontal moving mechanism 26, a mechanical arm telescopic mechanism 27 and a height adjusting mechanism 28, the height adjusting mechanism 28 is fixedly installed on the horizontal moving mechanism 26, the mechanical arm telescopic mechanism 27 is fixedly installed on the height adjusting mechanism 28, and the initial position of the muscle relaxing massage head 3 is adjusted through the horizontal moving mechanism 26, the mechanical arm telescopic mechanism 27 and the height adjusting mechanism 28.
The loose rib lifting assembly 16, the mechanical arm telescopic mechanism 27 and the height adjusting mechanism 28 are consistent in structure and respectively comprise an outer sleeve 29, an inner sleeve 30, a driving screw rod 31 and a driving slide block 32, the outer sleeve 29 is sleeved on the outer side of the inner sleeve 30, the driving screw rod 31 is rotatably installed in the inner sleeve 30, a slide block groove 33 is formed in the side wall of the inner sleeve 30, the driving slide block 32 is fixedly connected with the inner wall of the outer sleeve 29 through the slide block groove 33, the driving slide block 32 is matched with the driving screw rod 31, and in the specific implementation process, a slide rail slide block mechanism is connected between the driving slide block 32 and the slide block groove 33, so that the moving precision is improved.
The horizontal moving mechanism 26 comprises a translation track 35, a translation motor 36 and a translation screw rod sliding block mechanism 37, the height adjusting mechanism 28 is connected with the translation screw rod sliding block mechanism 37, the translation motor 36 drives the translation screw rod sliding block mechanism 37 to move, and the translation track 35 guides the moving direction of the height adjusting mechanism 28.
The working principle of the scheme is as follows;
(1) the muscle relaxing massage head 3 is moved to the initial position of the massage through a horizontal moving mechanism 26, a mechanical arm stretching mechanism 27 and a height adjusting mechanism 28;
(2) the horizontal moving mechanism 26 drives the whole manipulator to move, the spine penetrometer 4 inspects the spine of the patient, and if the position of the spine penetrometer 4 needs to be corrected, the spine penetrometer is corrected through the mechanical arm telescopic mechanism 27;
(3) the muscle relaxing lifting assembly 16 is adjusted according to the requirements of the patient, so that the massage force of the massage roller wheel on the patient is adjusted, the relative angle between the adjusting head 7 and the vertical surface is adjusted through the adjusting power piece 5 and the adjusting transmission piece 6, the adjusting head 7 is guaranteed to be perpendicular to the acupuncture points of the user, and the muscle relaxing massage head 3 is guaranteed to be perpendicular to the acupuncture points of the user.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the terms corresponding to the reference numerals in the figures are used more herein, the possibility of using other terms is not excluded; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. The utility model provides a muscle relaxing massage manipulator, a serial communication port, including muscle relaxing head (1), muscle relaxing adjustment mechanism (2) and muscle relaxing arm, muscle relaxing head (1) is installed on muscle relaxing adjustment mechanism (2), muscle relaxing adjustment mechanism (2) are installed at muscle relaxing arm, muscle relaxing head (1) is including muscle relaxing massage head (3) and vertebra sounding appearance (4), vertebra sounding appearance (4) are installed on muscle relaxing massage head (3), muscle relaxing massage head (3) liftable formula is installed on muscle relaxing adjustment mechanism (2).
2. The manipulator for muscle relaxing massage according to claim 1, wherein the muscle relaxing adjusting mechanism (2) comprises an adjusting power member (5), an adjusting transmission member (6) and an adjusting head (7), the adjusting power member (5) is fixedly installed on the muscle relaxing mechanical arm, the adjusting transmission member (6) is installed in the adjusting power member (5), the adjusting head (7) is fixedly connected with the adjusting transmission member (6), and the muscle relaxing head (1) is installed on the adjusting head (7).
3. The muscle relaxing massage manipulator as claimed in claim 2, wherein the adjusting power member (5) comprises an adjusting installation housing (8), a power motor (9) and a power shaft (10), the power shaft (10) is rotatably installed in the adjusting installation housing (8), the power motor (9) is connected with the power shaft (10), a driven adjusting groove (11) is formed in the adjusting installation housing (8), and the adjusting transmission member (6) is slidably installed in the driven adjusting groove (11) to enable the adjusting transmission member (6) to rotate.
4. A muscle relaxing manipulator according to claim 3, wherein the adjusting transmission member (6) comprises a transmission shaft (12), a transmission gear (13) and a transmission gear ring (14), the transmission gear ring (14) is fixedly installed in the adjusting installation shell (8), a power gear (15) is fixedly installed on the power shaft (10), the transmission gear (13) is respectively engaged with the transmission gear ring (14) and the power gear (15) to form an adjusting planetary gear train, and the transmission shaft (12) is fixedly connected with the transmission gear (13) and is slidably installed in the driven adjusting groove (11).
5. The tendon-relaxing massage manipulator as claimed in claim 1, wherein the tendon-relaxing massage head (3) comprises a tendon-relaxing lifting component (16), a tendon-relaxing mounting head (17) and a tendon-relaxing massage member (18), the tendon-relaxing massage member (18) is rotatably mounted in the tendon-relaxing mounting head (17), and the tendon-relaxing mounting head (17) is mounted on the tendon-relaxing adjusting mechanism (2) in a liftable manner through the tendon-relaxing lifting component (16).
6. The muscle-relaxing massage manipulator as claimed in claim 5, wherein a mounting cavity (19) is formed in the muscle-relaxing mounting head (17), the muscle-relaxing massage member (18) is rotatably mounted in the mounting cavity (19), the muscle-relaxing massage member (18) comprises a massage roller (20) and a massage motor (21), the massage roller (20) is rotatably mounted in the mounting cavity (19), and the massage motor (21) is connected with the massage roller (20).
7. The manipulator according to claim 5, characterized in that the end surface of the installation cavity (19) is fixedly connected with a massage leather surface (22), and the middle part of the massage leather surface (22) is fixedly connected with a pressure sensor (23).
8. The mechanical hand for muscle relaxing massage as claimed in claim 1, wherein the spine feeler (4) comprises a fixing rod (24) and a feeler (25), the feeler (25) is fixedly connected to the muscle relaxing massage head (3) through the fixing rod (24), and the fixing rod (24) is disposed obliquely with respect to the horizontal moving direction of the muscle relaxing mechanical arm.
9. The tendon-relaxing massage manipulator according to claim 1, wherein the tendon-relaxing mechanical arm comprises a horizontal moving mechanism (26), a mechanical arm stretching mechanism (27) and a height adjusting mechanism (28), the height adjusting mechanism (28) is fixedly installed on the horizontal moving mechanism (26), and the mechanical arm stretching mechanism (27) is fixedly installed on the height adjusting mechanism (28).
10. The muscle relaxing massage manipulator as claimed in claim 1, wherein the mechanical arm telescoping mechanism (27) and the height adjusting mechanism (28) are consistent in structure and each comprise an outer sleeve (29), an inner sleeve (30), a driving screw rod (31) and a driving slider (32), the outer sleeve (29) is sleeved on the outer side of the inner sleeve (30), the driving screw rod (31) is rotatably installed in the inner sleeve (30), a slider groove (33) is formed in the side wall of the inner sleeve (30), the driving slider (32) is fixedly connected with the inner wall of the outer sleeve (29) through the slider groove (33), and the driving slider (32) is matched with the driving screw rod (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111141745.6A CN113977565A (en) | 2021-09-28 | 2021-09-28 | Muscle relaxing and massaging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111141745.6A CN113977565A (en) | 2021-09-28 | 2021-09-28 | Muscle relaxing and massaging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113977565A true CN113977565A (en) | 2022-01-28 |
Family
ID=79737008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111141745.6A Pending CN113977565A (en) | 2021-09-28 | 2021-09-28 | Muscle relaxing and massaging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113977565A (en) |
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2021
- 2021-09-28 CN CN202111141745.6A patent/CN113977565A/en active Pending
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