CN201019940Y - Automatic rehabilitation health care bed - Google Patents

Automatic rehabilitation health care bed Download PDF

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Publication number
CN201019940Y
CN201019940Y CNU2007200789022U CN200720078902U CN201019940Y CN 201019940 Y CN201019940 Y CN 201019940Y CN U2007200789022 U CNU2007200789022 U CN U2007200789022U CN 200720078902 U CN200720078902 U CN 200720078902U CN 201019940 Y CN201019940 Y CN 201019940Y
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CN
China
Prior art keywords
support
screw mandrel
standing
bent leg
rod
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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.)
Expired - Fee Related
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CNU2007200789022U
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Chinese (zh)
Inventor
陈岳林
卢崇
Original Assignee
陈岳林
卢崇
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Priority to CNU2007200789022U priority Critical patent/CN201019940Y/en
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Publication of CN201019940Y publication Critical patent/CN201019940Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model discloses an automatic rehabilitating health bed used for the self-nursing by a bedridden patient. The bed comprises a left turning bracket and a right turning bracket enabling the patient to turn left and right; the left turning bracket and the right turning bracket are controlled by the driving device of a lead screw driven by a motor, and provided with a rising bracket and a leg bending bracket allowing the patient to rise from the bed and sit or lean, and lift the thighs and bend the shanks; the rising bracket and the leg bending bracket are controlled by the driving device of a lead screw driven by a motor; and a moveable stool is arranged at the bottom of the left turning bracket and the right turning bracket for the patient to relieve himself on bed. All the motors of the utility model are respectively connected with a wire control device or a remote control device which uses a single-chip microcomputer as the main CPU, and sets the movement frequency to realize the circulating movement of the legs and the waist, the side turning and the movement of the stool bracket.

Description

Self-rehabilitation health-care bed
(1) technical field
This utility model relates to medical care bed, and is particularly a kind of self-rehabilitation health-care bed.
(2) background technology
At present, for inconvenient activity, can't take care of oneself, need family to look after or stay for a long time the hemiplegic patient of institute, be to be unable to leave the bed to a great extent throughout the year.Have various nursing bed patients to use for this reason, with realize that patient stands up, bent lower limb and about rollover, and most nursing bed be by the nursing staff by hand control realize the standing up of nursing bed, bent lower limb and about the function of turning on one's side.According to theory medically, the paralytic needs simple motion: as keep good position, postural change, bed to go up moving training, play that a seat is trained etc., the action at these each positions is that present nursing bed can't be accomplished.
(3) utility model content
The purpose of this utility model provided a kind of can allow patient's Autonomous Control, can realize standing up, bent lower limb and about action such as rollover self-rehabilitation health-care bed.
Can realize the self-rehabilitation health-care bed of above-mentioned purpose, comprise on the bedstead stand up support, stand up support and bent leg support and respectively control stand up support, the drive mechanism of the support of standing up, the motion of bent leg support, different is: stand up support and be contained in the left and right support that turns on the bedstead waist longeron for vertical hinge, left and right turn over support longitudinally before and after both sides be respectively that laterally hinge is contained in left and right stand up support and the bent leg support that turns on the support; Stand up frame transmission mechanism and be respectively a left and right frame transmission mechanism that turns over, a left and right frame transmission mechanism that turns over is fixed on the left and right bedstead that turns over frame bottom; A stand up frame transmission mechanism is positioned at the frame bottom and being connected with the left and right support that turns over respectively of standing up; Bent leg support drive mechanism is positioned at bent leg support bottom and is connected with the left and right support that turns over respectively.This utility model is self-rehabilitation health-care bed to be the multifunctional recovery health care bed that collection left and rightly turns over, stands up, bent lower limb is one.
The described left and right identical drive mechanism of two covers that turns over support comprises motor, screw mandrel, nut, the left and right support rod that turns over respectively, the driven by motor screw mandrel, nut and screw mandrel suit, a left and right end and the nut that turns over support rod is hinged, and the left and right other end that turns over support rod is hinged in the left and right frame bottom of turning over.A kind of layout preferably is: screw mandrel is provided with above oblique in the export-oriented bedstead of bedstead in horizontal vertical, and motor is arranged on the bedstead of screw mandrel upper end, and screw mandrel and the left and right support rod that turns over are in the described same horizontal vertical.
Describedly comprise drive motors, screw mandrel respectively, have the sleeve of female thread, the support rod of standing up, the rack rod of standing up at stand up frame transmission mechanism of left and right two of turning on the support, the driven by motor screw mandrel, telescopic female end and screw mandrel interlock, the telescopic other end is hinged with an end of the rack rod of standing up, the stand up end of the other end and the support rod of standing up of rack rod is hinged, and the other end of the support rod of standing up is hinged in the frame bottom of standing up.A kind of layout preferably is: screw mandrel is horizontally disposed with at longitudinal direction, motor is arranged on the left and right of screw mandrel outer end and turns on the support, the stand up other end of support rod is hinged in the position of frame bottom near hinge point of standing up, and screw mandrel, sleeve, the rack rod of standing up, the support rod of standing up are in together in same vertical vertical plane.
Describedly comprise drive motors, screw mandrel, nut, bent leg support push rod, bent leg support connecting rod respectively at left and right two bent leg support drive mechanisms that turn on the support, the driven by motor screw mandrel, nut and screw mandrel interlock, one end of nut and bent leg support connecting rod is hinged, the other end of bent leg support connecting rod and an end of bent leg support pull bar are hinged, and the other end of bent leg support pull bar is hinged in bent leg support bottom.A kind of layout preferably is: screw mandrel is horizontally disposed with at longitudinal direction, motor is arranged on the left and right of screw mandrel the inner and turns on the support, the other end of bent leg support pull bar is hinged in close free-ended position, bent leg support bottom, and screw mandrel, bent leg support connecting rod, bent leg support pull bar are in same vertical vertical plane.
This utility model also is provided with mobile toilet frame, the left and right frame bottom of turning at toilet chord position bedstead middle part between the support of standing up, bent leg support, the toilet frame transmission mechanism comprises motor, screw mandrel, nut, the screw mandrel of driven by motor, nut and screw mandrel suit, nut also are connected with the toilet frame; Left and right turn over corresponding with toilet offers convenient mouthful on the support, be hinged with down the velar plate that makes things convenient for that turns on the convenient mouth.
Of the present utility modelly left and rightly turn over support, the initiating terminal and the clearing end of the support of standing up, bent leg support, mobile toilet frame be equipped with travel switch, travel switch by circuit respectively with left and rightly turn over the carriage drive motor, the carriage drive motor of standing up, bent leg support drive motors, mobile toilet frame drive motors be connected.
Above-mentionedly left and rightly turn over the carriage drive motor, the carriage drive motor of standing up, bent leg support drive motors, mobile toilet frame drive motors be connected with wire-controlled apparatus or remote control unit respectively, patient can handle each support motion voluntarily by wire-controlled apparatus or remote control unit and change the position of self.
Described wire-controlled apparatus or remote control unit employing single-chip microcomputer are realized human computer conversation's operation as host CPU by liquid crystal display and keyboard interface, behind the setting kinematic parameter, can realize the descontinuous motion and the continuous iterative motion of each support.
When setting kinematic parameter, to protect the just left and right support that turns over when turning on one's side respectively, two stand up support and two bent leg support stop motions; When the left and right support that turns over when being in initial state, two supports of standing up can be synchronized with the movement, and two bent leg supports can be synchronized with the movement or alternating movement.
Advantage of the present utility model:
1, this utility model has solved on the whole that the paralytic takes care of oneself and the rehabilitation problem, has realized that patient can solve independently, automatically to drain motion, problems such as treatment, study, work, diet.
2, the realization for rollover body actuating mechanism is keep left the motor drives screw mandrel of right both sides and pull bar motion, promotes the left and right support that stands up respectively around its rotation, and angle of rotation can design and be 60 degree to the maximum, realizes the action to both sides rollover body.
3, the stand up realization of support actuating mechanism is driven by motor sleeve, connecting rod and pull bar motion by the head of a bed left and right sides, promotes simultaneously respectively to stand up support around its rotation, and the angle of rotation maximum of design can be 85 degree.
4, bent leg support is driven by driven by motor leading screw, pull bar and pivots, and realizes the compound motion of motion or alternating movement simultaneously up and down of shank and thigh, and the angle maximum of lifting foot can be 30 degree.
5, moving of toilet frame travelled longitudinally by driven by motor toilet frame leading screw, and mobile toilet frame is to the outer of bedstead or turn back in the bedstead, can allow patient need not leave the bed, disobey the outer people problem of relieving oneself of settling a dispute by the parties concerned themselves.
6, the motor control of above-mentioned each support adopts single-chip microcomputer as host CPU, and liquid crystal display and keyboard interface are realized man-machine interaction, adopts closed loop control in the control.Realize the shuttling movement of shank by setting motion frequency, the moving of the shuttling movement of waist and rollover body and toilet frame.
In a word, the self-rehabilitation health-care bed paralytic of being based upon of this utility model takes care of oneself and the rehabilitation consideration, in conjunction with the microcomputerized control technology, design and a kind ofly can allow stroke patient, hemiplegia, paraplegia, fracture, waist are handicapped, stupor, major operation, and the patient that other is sat nest, stands up difficulty, defecation can not be nursed is autonomous fully, the service system of automatization, for improving patient's quality of life and reducing the expense of nursing, very big effect is arranged.This utility model can solve patient defecation problem and discharging and ward free from extraneous odour in bed automatically, and flushing dries up; Sit up, lie on one's side, stand up, lift actions such as lower limb, shank, ankle motion, take exercise for patient provides active therapeutic, blood circulation promoting, the physical function that improves patient recovers, massage and health care and have a rest in bed, work, learn, dining etc.
(4) description of drawings:
Fig. 1 is the front view of a kind of embodiment of this utility model.
Fig. 2 is the right view of Fig. 1 embodiment.
Fig. 3 is the left view of Fig. 1 embodiment.
Fig. 4 is the vertical view of Fig. 1 embodiment.
Fig. 5 is the upward view of Fig. 1 embodiment.
Figure number sign: 1, bedstead; 2, support is turned on a left side; 3, support is turned on the right side; 4, the support of standing up; 5, bent leg support; 6, toilet frame; 7, motor; 8, screw mandrel; 9, nut; 10, the left and right support rod that turns over; 11, sleeve; 12, the support rod of standing up; 13, the rack rod of standing up; 14, bent leg support pull bar; 15, bent leg support connecting rod; 16, convenient mouthful.
(5) specific embodiment:
This utility model is self-rehabilitation health-care bed based on single bed, rectangle bedstead 1 is vertically placed with the direction of the head of a bed-tailstock, as shown in Figure 4, the left side of bedstead 1 is the head of a bed, the right side of bedstead 1 is a tailstock, according to the direction of the head of a bed to tailstock, and the two parts that equate about the longeron at bedstead 1 middle part is divided into bedstead 1, these two parts are installed respectively is that support 2 is turned on the left side that coincide with it and support 3 is turned on the right side, and a left side is turned over inner side edge that support 2, the right side turn over support 3 and cut with scissors respectively and be contained on the longeron.
What the left and right head that turns over support 2,3 head of a bed directions to waist scope was settled is the support 4 of standing up that coincide with it, and at the waist location place, as Fig. 4, shown in Figure 5, the inner side edge of two supports 4 of standing up cuts with scissors respectively and is contained on the left and right crossbeam that turns over support 2,3; Left and rightly turn over support 2,3 tailstock directions and left and right what turn over that support 2,3 shank scopes settle is the bent leg support 5 that coincide with it, bent leg support 5 is two parts support of middle part hinge dress, position at thigh root, as shown in Figure 4, the inner side edge of two bent leg supports 5 cuts with scissors respectively and is contained on the left and right crossbeam that turns over support 2,3.Stand up between support 4 and the bent leg support 5, left and right the turning at bedstead 1 middle part offer circular convenient mouthful 16 on the support 2,3.
Support 4, bent leg support 5 and the left and right initial state of turning over support 2,3 of standing up overlaps with the horizontal plane of bedstead 1.
As Fig. 1, Fig. 2, shown in Figure 3, left and right two sets of transmission mechanism that turn over support 2,3 are installed on left and right between support 4 and the bent leg support 5 of standing up respectively and turn on the bedstead 1 of support 2,3 bottoms, and are in the horizontal vertical plane.Left and right support 2,3 drive mechanisms that turn over comprise motor 7, screw mandrel 8, nut 9, the left and right support rod 10 that turns over, turning over a frame transmission mechanism with a side left and right is example: inwardly the top is tilting by bedstead 1 edge bottom for screw mandrel 8, its upper end is connected with motor 7, connect with a left and right end dumpling that turns over support rod 10 with the nut 9 of screw mandrel 8 suits, the left and right other end dumpling that turns over support rod 10 is connected in left and right support 2,3 bottoms of turning over.Motor 7 drives screw mandrels 8 and rotates, and nut 9 moves along screw mandrel 8, drives left and rightly to turn over that support rod 10 is done to move and the compound motion of swing, promotes the left and right support 2,3 of turning over and rotate around articulated axle, and the angle of rotation maximum can reach 60 and spend, the turn on one's side action of body of realization; Opposite side left and right turns over support 2,3 is finished same rollover body under the promotion of identical drive mechanism action.When the left and right support 2,3 of turning over when doing the rollover action, the support 4 of standing up, bent leg support 5 are in initial state, and stir synchronously with the left and right support 2,3 that turns over.
As Fig. 1, shown in Figure 5, the drive mechanism of two supports 4 of standing up is installed on the left and right of support 4 bottoms of standing up respectively and turns on the support 2,3, and is in vertical vertical plane at support 4 middle parts of standing up.Stand up to prop up a frame transmission mechanism and comprise motor 7, screw mandrel 8, sleeve 11 with inner bolt hole, the rack rod 13 of standing up, the support rod 12 of standing up, frame transmission mechanism of standing up with a side is an example: screw mandrel 8 inwardly is horizontally disposed with by bedstead 1 head of a bed, motor 7 is connected with screw mandrel 8 in head of a bed position, the termination of sleeve 11 inner bolt holes and screw mandrel 8 suits, the other end of sleeve 11 connects with an end dumpling of the rack rod 13 of standing up, the stand up end dumpling of the other end and the support rod 12 of standing up of rack rod 13 connects, and the other end dumpling of the support rod 12 of standing up is connected in the position of the bottom of the support 4 of standing up near articulated axle.Motor 7 drives screw mandrels 8 and rotates, and sleeve 11 moves along screw mandrel 8, drives the rack rod 13 of standing up and promotes to stand up that support rod 12 is done to move and the compound motion of swing, and the support 4 of promoting to stand up rotate around articulated axle, and the angle of rotation maximum can reach 85 degree, the action that realization is stood up; The support 4 of standing up of opposite side is finished the same action of standing up under the promotion of identical drive mechanism.
As Fig. 1, shown in Figure 5, the drive mechanism of two bent leg supports 5 is installed on the left and right of bent leg support 5 bottoms respectively and turns on the support 2,3, and is in vertical vertical plane at bent leg support 5 middle parts.Bent leg support 5 comprises two parts support of mutual hinge dress, corresponding respectively the thigh and the shank of human body.Bent leg support drive mechanism comprises motor 7, screw mandrel 8, nut 9, bent leg support connecting rod 15, bent leg support pull bar 14, bent leg support drive mechanism with a side is an example: screw mandrel 8 inwardly is horizontally disposed with by bedstead 1 tailstock, its the inner is connected with motor 7, nut 9 and screw mandrel 8 suits, nut 9 connects with an end dumpling of bent leg support connecting rod 15, the other end of bent leg support connecting rod 15 and an end dumpling of bent leg support pull bar 14 connect, and the other end dumpling of bent leg support pull bar 14 is connected in the bottom of bent leg support 4 near free-ended position.Motor 7 drives screw mandrel 8 and rotates, nut 9 moves along screw mandrel 8, drive the bent leg support pull bar 14 of bent leg support connecting rod 15 promotions and make compound motion mobile and swing, promote bent leg support 5 and rotate, realize moving up and down and crooked compound motion of shank and thigh around two articulated axles; The bent leg support 5 of opposite side is finished same bent lower limb action under the promotion of identical drive mechanism.
As Fig. 1, Fig. 2, Fig. 3, Fig. 5, shown in, mobile toilet frame 6 drive mechanisms are positioned on the left and right bedstead 1 that turns over support 2,3 bottoms, mobile toilet frame 6 drive mechanisms comprise motor 7, screw mandrel 8, nut 9, toilet frame frame, walking guide rail, screw mandrel 8 inwardly is horizontally disposed with from tailstock, its the inner is connected with motor 7, nut 9 and screw mandrel 8 suits, toilet frame frame bottom is connected with nut 9, the walking guide rail is positioned at the both sides of screw mandrel 8, road wheel on the toilet frame frame is seated on the walking guide rail, and the walking guide rail is through left and right convenient mouthful 16 of turning on the support 2,3.Motor 7 drives leading screw 8 and travels longitudinally, and driving toilet frame 6 is to tailstock or turn back to convenient mouthful 16 below.
All self-rehabilitation health-care bed motors of this utility model are connected with wire-controlled apparatus or remote control unit respectively by circuit, wire-controlled apparatus or remote control unit adopt single-chip microcomputer as host CPU, realize the shuttling movement of shank by setting motion frequency, the moving of the shuttling movement of waist and rollover body and toilet frame.As the independently moving that left and right sides stands up, the bent lower limb motion of this moment and the motion of standing up can not be carried out; About stir and do to be in when stopping, the bent lower limb motion and the athleticism of standing up are handled and are carried out, wherein bent lower limb motion synchronous operation simultaneously also can the alternate cycles operation, but the synchronous operation simultaneously of standing up to move.
Stand up support 4, bent leg support, toilet frame 6 and left and right motion initiating terminal and the motion clearing end that turns over support 2,3 all is provided with travel switch, restriction exceeds the outer action of screw mandrel 8 stroke range, travel switch links to each other with each motor 7 by circuit, when travel switch is subjected to clashing into, can make the motor 7 of work stop operating or reverse.

Claims (9)

1. self-rehabilitation health-care bed, comprise on the bedstead stand up support, stand up support and bent leg support, and respectively control stand up support, the drive mechanism of support and the bent leg support motion of standing up, it is characterized in that: stand up support and be contained in the left and right support (2,3) that turns over of bedstead (1) longitudinal middle part for hinge, left and right turn over support (2,3) longitudinally before and after both sides be not that laterally hinge is contained in left and right support of standing up (4) and the bent leg support (5) that turns on the support (2,3); Stand up frame transmission mechanism and be respectively a left and right frame transmission mechanism that turns over, a left and right frame transmission mechanism that turns over is fixed on the left and right bedstead (1) that turns over support (2,3) bottom; Standing up to prop up a frame transmission mechanism is positioned at the support of standing up (4) bottom and is separately fixed at left and right turning on the support (2,3); Bent leg support drive mechanism is positioned at bent leg support (5) bottom and is separately fixed at left and right turning on the support (2,3).
2. according to claim 1 self-rehabilitation health-care bed, it is characterized in that:
1., a left and right frame transmission mechanism that turns over comprises motor (7), screw mandrel (8), nut (9), the left and right support rod (10) that turns over, motor (7) drives screw mandrel (8), nut (9) and screw mandrel (8) suit, a left and right end and the nut (9) that turns over support rod (10) is hinged, and the left and right other end that turns over support rod (10) is hinged in left and right support (2, the 3) bottom of turning over;
2., stand up that frame transmission mechanism comprises motor (7), screw mandrel (8), has the sleeve (11) of female thread, the support rod of standing up (12), the rack rod of standing up (13), motor (7) drives screw mandrel (8), the female end of sleeve (11) and screw mandrel (8) interlock, the other end of sleeve (11) is hinged with (13) one ends of the rack rod of standing up, the stand up end of the other end and the support rod (12) of standing up of rack rod (13) is hinged, and the other end of the support rod of standing up (12) is hinged in the bottom of the support of standing up (4);
3., bent leg support drive mechanism comprises motor (7), screw mandrel (8), nut (9), bent leg support pull bar (14), bent leg support connecting rod (15), screw mandrel (8) by driven by motor is horizontally disposed with at longitudinal direction, nut (9) interlocks with screw mandrel (8), nut (9) is hinged with an end of bent leg support connecting rod (15), the other end of bent leg support connecting rod (15) and an end of bent leg support pull bar (14) are hinged, and the other end of bent leg support pull bar (14) is hinged in the free-ended bottom of bent leg support (5).
3. according to claim 2 self-rehabilitation health-care bed, it is characterized in that: described left and right carriage drive screw mandrel (8) ecto-entad in horizontal vertical that turns over is provided with above oblique, motor (7) is connected with screw mandrel (8) upper end, and the left and right support rod (10) that turns over is in the described horizontal vertical.
4. according to claim 2 self-rehabilitation health-care bed, it is characterized in that: the carriage drive screw mandrel (8) of standing up is horizontally disposed with at longitudinal direction, motor (7) is arranged on the left and right of screw mandrel (8) outer end and turns on the support (2,3), the stand up other end of support rod (12) is hinged in the position of the support of standing up (4) bottom near hinge point, and screw mandrel (8), sleeve (11), the rack rod of standing up (13), the support rod of standing up (12) are in same vertical vertical plane.
5. according to claim 2 self-rehabilitation health-care bed, it is characterized in that: bent leg support drives screw mandrel (8) and is horizontally disposed with at longitudinal direction, motor (7) is arranged on inner left and right the turning on the support (2,3) of screw mandrel (8), the other end of bent leg support pull bar (14) is hinged in close free-ended position, bent leg support (5) bottom, and screw mandrel (8), bent leg support connecting rod (15), bent leg support pull bar (14) are in together in the same fore-and-aft plane.
6. described any self-rehabilitation health-care bed according to claim 1~5, it is characterized in that: also comprise mobile toilet frame (6), and the drive mechanism of control toilet frame (6) motion, toilet frame (6) is positioned at left and right support (2, the 3) bottom of turning at bedstead (1) middle part between support of standing up (4) and the bent leg support (5); The toilet frame transmission mechanism comprises motor (7), screw mandrel (8), nut (9), and motor (7) drives screw mandrel (8), and the nut (9) of screw mandrel (8) suit is connected with toilet frame (6); Left and right turn over corresponding with toilet frame (6) offers convenient mouthful (16) on the support (2,3), be hinged with down the velar plate that makes things convenient for that turns on convenient mouthful (16).
7. according to claim 6 self-rehabilitation health-care bed, it is characterized in that: left and right initiating terminal and the clearing end that turns over support (2,3), the support of standing up (4), bent leg support (5), toilet frame (6) is equipped with travel switch, and travel switch is connected with the left and right drive motors (7) that turns over support (2,3), the support of standing up (4), bent leg support (5), toilet frame (6) respectively by circuit.
8. according to claim 7 self-rehabilitation health-care bed, it is characterized in that: the left and right drive motors (7) that turns over support (2,3), the support of standing up (4), bent leg support (5), toilet frame (6) is connected with wire-controlled apparatus or remote control unit respectively by circuit.
9. according to claim 8 self-rehabilitation health-care bed, it is characterized in that: wire-controlled apparatus or remote control unit adopt single-chip microcomputer as host CPU, realize human computer conversation's operation by liquid crystal display and keyboard interface.
CNU2007200789022U 2007-03-23 2007-03-23 Automatic rehabilitation health care bed Expired - Fee Related CN201019940Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007200789022U CN201019940Y (en) 2007-03-23 2007-03-23 Automatic rehabilitation health care bed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007200789022U CN201019940Y (en) 2007-03-23 2007-03-23 Automatic rehabilitation health care bed

Publications (1)

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CN201019940Y true CN201019940Y (en) 2008-02-13

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Application Number Title Priority Date Filing Date
CNU2007200789022U Expired - Fee Related CN201019940Y (en) 2007-03-23 2007-03-23 Automatic rehabilitation health care bed

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102302405A (en) * 2011-07-08 2012-01-04 中国人民解放军理工大学工程兵工程学院 Limb rehabilitation training device
CN102670368A (en) * 2012-05-09 2012-09-19 北京航空航天大学 Bed-chair integration robot based on omnidirectional mobile chassis
CN103693375A (en) * 2013-12-23 2014-04-02 广州达意隆包装机械股份有限公司 Flat belt conveying mechanism for membrane packer

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102302405A (en) * 2011-07-08 2012-01-04 中国人民解放军理工大学工程兵工程学院 Limb rehabilitation training device
CN102302405B (en) * 2011-07-08 2013-06-05 中国人民解放军理工大学工程兵工程学院 Limb rehabilitation training device
CN102670368A (en) * 2012-05-09 2012-09-19 北京航空航天大学 Bed-chair integration robot based on omnidirectional mobile chassis
CN103693375A (en) * 2013-12-23 2014-04-02 广州达意隆包装机械股份有限公司 Flat belt conveying mechanism for membrane packer
CN103693375B (en) * 2013-12-23 2016-03-02 广州达意隆包装机械股份有限公司 A kind of flat belt conveying mechanism of film chartered plane

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Granted publication date: 20080213