CN203001777U - Novel family combination exercise machine - Google Patents
Novel family combination exercise machine Download PDFInfo
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- CN203001777U CN203001777U CN 201220710478 CN201220710478U CN203001777U CN 203001777 U CN203001777 U CN 203001777U CN 201220710478 CN201220710478 CN 201220710478 CN 201220710478 U CN201220710478 U CN 201220710478U CN 203001777 U CN203001777 U CN 203001777U
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- 230000005484 gravity Effects 0.000 abstract description 3
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 210000004247 hand Anatomy 0.000 description 14
- 230000009471 action Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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Abstract
本实用新型公开了一种新型家庭组合健身器,它主要由座椅(5)及其调平机构(12)、蝴蝶机(6)、脚蹬杆(4)、下拉杆(7)、支架(9)以及滑轮组(13)组成,支架(9)的底部设有底座(14),顶部设有顶架(8),脚蹬杆(4)安装在底座(14)上并实现90度旋转,蝴蝶机(6)安装在顶架(8)上,下拉杆(7)挂装在顶架(8)上,座椅(5)及其调平机构(12)安装在支架(9)的中下部,下拉杆(7)、蝴蝶机(6)、脚蹬杆(4)以及调平机构(12)通过钢丝绳及滑轮组(13)连接在一起。本实用新型新型家庭组合健身器利用滑轮组(13)将使用者自身重力转换为运动阻力,无需配重,可以实现多种运动功能而各种功能又互不干涉,使用者可以根据个人要求无级调整运动强度,而且安全可靠、占地面积小、使用方法简单。
The utility model discloses a novel family combination fitness device, which is mainly composed of a seat (5) and its leveling mechanism (12), a butterfly machine (6), a pedal rod (4), a pull down rod (7), a bracket (9) and a pulley block (13), the bottom of the bracket (9) is provided with a base (14), the top is provided with a top frame (8), and the pedal rod (4) is installed on the base (14) and realizes 90 degree rotation , the butterfly machine (6) is installed on the top frame (8), the lower rod (7) is hung on the top frame (8), the seat (5) and its leveling mechanism (12) are installed on the bracket (9) In the lower part, the pull bar (7), the butterfly machine (6), the pedal bar (4) and the leveling mechanism (12) are connected together by a wire rope and a pulley block (13). The utility model family combination fitness device utilizes the pulley block (13) to convert the user's own gravity into motion resistance, without counterweight, and can realize various motion functions without interfering with each other. It can adjust the exercise intensity, and it is safe and reliable, occupies a small area, and is easy to use.
Description
技术领域technical field
本实用新型属于家庭健身器材技术领域,具体是一种新型家庭组合健身器。The utility model belongs to the technical field of home fitness equipment, in particular to a novel family combined fitness equipment.
背景技术Background technique
随着人们生活水平的提高以及全民健身运动的推广,越来越多的人利用健身器材来锻炼身体。市场上健身器材品种繁多,功能各异。有单功能的,有多功能的,有室外的,有室内的,而室内健身器主要用在健身房、家庭、办公室及医院等场合。目前,用于室内的多功能健身器价格比较的昂贵,多数在3000~6000元;同时,以配重块作为运动阻力,锻炼时配重块相互撞击,产生很大噪音,因而这些多功能健身器难以在普通家庭中推广。Along with the raising of people's living standard and the popularization of national fitness campaign, increasing people utilize fitness equipment to exercise. There are many types of fitness equipment on the market with different functions. There are single-function ones, multi-functional ones, outdoor ones, and indoor ones, and indoor fitness equipment is mainly used in gyms, homes, offices and hospitals. At present, the price of multifunctional fitness equipment used indoors is relatively expensive, most of which are 3,000 to 6,000 yuan; at the same time, the counterweights are used as exercise resistance, and the counterweights collide with each other during exercise, resulting in a lot of noise. Devices are difficult to promote in ordinary families.
实用新型内容Utility model content
本实用新型所要解决的技术问题是提供一种安全可靠,功能组合科学、合理、巧妙,占地面积小、价格便宜、噪音小、美观舒适、使用方法简单的新型家庭组合健身器。The technical problem to be solved by the utility model is to provide a new type of family combination fitness device which is safe and reliable, has scientific, reasonable and ingenious function combination, occupies a small area, is cheap, has low noise, is beautiful and comfortable, and is easy to use.
本实用新型以如下技术方案解决上述技术问题:The utility model solves the above technical problems with the following technical solutions:
本实用新型新型家庭组合健身器,它主要由座椅5及其调平机构12、蝴蝶机6、脚蹬杆4、下拉杆7及支架9组成,支架9的底部设有底座14,顶部设有顶架8,脚蹬杆4安装在底座14上并实现90度旋转,蝴蝶机6安装在顶架8上,下拉杆7挂装在顶架8上,座椅5及其调平机构12安装在支架9的中下部,下拉杆7、蝴蝶机6、脚蹬杆4以及调平机构12通过钢丝绳和滑轮组13连接在一起。The utility model is a new family combination fitness device, which is mainly composed of a
本实用新型新型家庭组合健身器,所述的调平机构12包括用于安放座椅5的座椅底座22、安装在座椅底座22下方的座椅架连杆23及座椅支架21,座椅底座22的一端与座椅支架21前端形成铰接,另一端与座椅架连杆23形成铰接,座椅支架21中部经连接轴11与支架9形成铰接,座椅架连杆23与座椅架10形成铰接,支架9与座椅架10固定连接,座椅底座22、座椅架连杆23、座椅支架21和支架9共同组成平行四边形机构。The utility model is a new family combined fitness device, the
本实用新型新型家庭组合健身器,所述的座椅5的前下方设有与座椅底座22连接的脚踏板3,脚踏板3的下方设有安装在底座14上的脚踏止回器2。The utility model is a new family combination fitness device, the front and lower part of the
本实用新型采用的滑轮组结构包括19个滑轮和4条钢丝绳,1号滑轮28、2号滑轮29、3号滑轮30由下至上依次安装在脚蹬杆4上,16号滑轮49、17号滑轮50、18号滑轮51、19号滑轮52由后至前依次安装在底座14上,11号滑轮42和12号滑轮43并排安装在支架9上,7号滑轮37、9号滑轮40、10号滑轮41安装在顶架8上,8号滑轮38安装在蝴蝶机支架16上,4号滑轮31、5号滑轮32、6号滑轮34、13号滑轮44以及14号滑轮46通过钢丝绳悬挂在半空,4号滑轮31与5号滑轮32通过滑轮外壳连接在一起,15号滑轮48安装在座椅支架21后端的滑槽上,并通过松紧螺栓固定15号滑轮48;4号钢丝绳47一端固定连接在脚蹬杆4上,另一端依次绕过1号滑轮28、2号滑轮29、3号滑轮30、19号滑轮52、18号滑轮51、4号滑轮31、17号滑轮50、15号滑轮48以及16号滑轮49,最后固定连接在14号滑轮46的钢丝夹头上;1号钢丝绳33一端固定连接在6号滑轮34的钢丝夹头上,另一端绕过5号滑轮32,最后固定连接在13号滑轮44的钢丝夹头上;2号钢丝绳35一端固定连接在下拉杆7上,另一端依次绕过7号滑轮37、9号滑轮40、8号滑轮38、6号滑轮34、10号滑轮41以及13号滑轮44,最后固定连接在顶架8上,在下拉杆7与7号滑轮37之间的2号钢丝绳35上安装有限位卡片36以防止2号钢丝绳35被拉出;3号钢丝绳45一端固定连接在蝴蝶机扇形连杆18上的万向夹头39上,另一端依次绕过12号滑轮43、14号滑轮46以及11号滑轮42,最后固定连接在蝴蝶机扇形连杆18上的万向夹头39上。The pulley block structure that the utility model adopts comprises 19 pulleys and 4 wire ropes, No. 1
本实用新型新型家庭组合健身器,所述的蝴蝶机6是通过两个万向夹头39与钢丝绳连接的,所述万向夹头39由夹头壳体24、紧定螺钉25、夹头圆柱26及夹头底座27构成,夹头壳体24的一端为开孔端,另一端为开槽端;夹头底座27的下部与蝴蝶机扇形连杆18固定连接,上部穿过夹头圆柱26的中部并形成铰接,夹头圆柱26的两端与夹头壳体24的开槽端形成铰接,夹头壳体24的开孔端用于接入钢丝绳并由紧定螺钉25锁紧。The utility model is a new family combination fitness device, the
本实用新型与现有技术相比具有以下优点:Compared with the prior art, the utility model has the following advantages:
1.采用滑轮组将自身重力转换为运动阻力,无配重,结构组成简单,制造成本低,噪音小,占地面积小,适合家庭使用。1. Using a pulley block to convert its own gravity into motion resistance, without counterweight, simple structure, low manufacturing cost, low noise, small footprint, suitable for home use.
2.采用平行四边形机构,使座椅在运动过程中始终保持水平,运动者在运动过程中更加舒适;巧妙地利用支架、座椅组成四边形机构,使得器械构造紧凑、简洁。2. The parallelogram mechanism is adopted to keep the seat level during the exercise, making the athlete more comfortable during the exercise; the quadrilateral mechanism is cleverly used by the bracket and the seat to make the equipment compact and simple.
3.调节锻炼力量的方式简单,无级调节,调节范围大,适应不同要求的人群训练。3. The way to adjust the exercise strength is simple, stepless adjustment, and the adjustment range is large, which is suitable for the training of people with different requirements.
4.本实用新型采用万向夹头,使钢丝的连接更加方便、快捷、美观、安全可靠,使各部件运动流畅,保证钢丝绳有较长的使用寿命。4. The utility model adopts the universal chuck, which makes the connection of the steel wire more convenient, fast, beautiful, safe and reliable, makes the movement of each part smooth, and ensures the long service life of the steel wire rope.
附图说明Description of drawings
图1是本实用新型新型家庭组合健身器的结构示意图。Fig. 1 is the structural representation of the utility model new family combination fitness equipment.
图2是蝴蝶机的结构示意图。Figure 2 is a schematic diagram of the structure of the butterfly machine.
图3是调平机构的结构示意图。Fig. 3 is a structural schematic diagram of the leveling mechanism.
图4是万向夹头的结构示意图。Figure 4 is a schematic structural view of the universal chuck.
图5是滑轮组连接示意图。Figure 5 is a schematic diagram of the connection of the block of pulleys.
图6是图5的左视示意图。FIG. 6 is a schematic left view of FIG. 5 .
图7是滑轮位置示意图。Figure 7 is a schematic diagram of the position of the pulley.
图中:1——脚蹬架,2——脚踏止回器,3——脚踏板,4——脚蹬杆,5——座椅,6——蝴蝶机,7——下拉杆,8——顶架,9——支架,10——座椅架,11——连接轴,12——调平机构,13——滑轮组,14——底座,15——蝴蝶机把手,16——蝴蝶机支架,17——蝴蝶机固定杆,18——蝴蝶机扇形连杆,19——蝴蝶机推杆,20——推杆把手,21——座椅支架,22——座椅底座,23——座椅架连杆,24——夹头壳体,25——紧定螺母,26——夹头圆柱,27——夹头底座,281——号滑轮,292——号滑轮,303——号滑轮,31——4号滑轮,32——5号滑轮,33——1号钢丝绳,34——6号滑轮,35——2号钢丝绳,36——限位卡片,37——7号滑轮,38——8号滑轮,39——万向夹头,40——9号滑轮,41——10号滑轮,42——11号滑轮,43——12号滑轮,44——13号滑轮,45——3号钢丝绳,46——14号滑轮,47——4号钢丝绳,48——15号滑轮,49——16号滑轮,50——17号滑轮,51——18号滑轮,52——19号滑轮。In the figure: 1—pedal frame, 2—pedal backstop, 3—pedal, 4—pedal rod, 5—seat, 6—butterfly machine, 7—lower rod , 8—top frame, 9—bracket, 10—seat frame, 11—connecting shaft, 12—leveling mechanism, 13—pulley block, 14—base, 15—handle of butterfly machine, 16 ——butterfly machine bracket, 17——butterfly machine fixing rod, 18——butterfly machine fan-shaped connecting rod, 19——butterfly machine push rod, 20——push rod handle, 21——seat bracket, 22——seat Base, 23——seat frame connecting rod, 24——clamp shell, 25——set nut, 26—— chuck cylinder, 27—— chuck base, 281—— pulley, 292—— Pulley, 303--No. pulley, 31--No. 4 pulley, 32--No. 5 pulley, 33--No. 1 steel wire rope, 34--No. 6 pulley, 35--No. 2 steel wire rope, 36--limit card, 37——No. 7 pulley, 38——No. 8 pulley, 39——Universal chuck, 40——No. 9 pulley, 41——No. 10 pulley, 42——No. 11 pulley, 43——No. 12 pulley, 44——No. 13 pulley, 45——No. 3 wire rope, 46——No. 14 pulley, 47——No. 4 wire rope, 48——No. 15 pulley, 49——No. 16 pulley, 50——No. 17 pulley, 51 - No. 18 pulley, 52 - No. 19 pulley.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本实用新型进行详细说明。The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图1所示,本实用新型新型家庭组合健身器主要由座椅5及其调平机构12、蝴蝶机6、脚蹬杆4、下拉杆7及支架9组成,所述的支架9为焊接结构,满足所需强度要求,支架9的底部通过螺栓连接底座14,顶部设有顶架8,脚蹬杆4安装在底座14上,蝴蝶机6安装在顶架8上,下拉杆7挂装在顶架8上,座椅5及其调平机构12安装在支架9的中下部,下拉杆7、蝴蝶机6、脚蹬杆4以及调平机构12通过钢丝绳和滑轮组13连接在一起。As shown in Figure 1, the utility model new family combination fitness device is mainly made up of
如图2所示,蝴蝶机6包括两个蝴蝶机固定杆17、蝴蝶机固定杆17下方的蝴蝶机支架16、蝴蝶机支架16两边的蝴蝶机扇形连杆18及蝴蝶机推杆19,两个蝴蝶机固定杆17通过螺栓固定连接在顶架8上,蝴蝶机支架16的上部与两个蝴蝶机固定杆17形成铰接,蝴蝶机支架16的下部与两边的蝴蝶机扇形连杆18形成铰接,蝴蝶机推杆19与蝴蝶机扇形连杆18通过螺钉固定连接,蝴蝶机推杆19的上部设有蝴蝶机把手15,下部设有推杆把手20。As shown in Figure 2, the
如图3所示,调平机构12包括用于安放座椅5的座椅底座22、安装在座椅底座22下方的座椅架连杆23及座椅支架21,座椅底座22的一端与座椅支架21前端通过螺栓形成铰接,另一端与座椅架连杆23通过螺栓及深沟球轴承形成铰接,座椅支架21中部通过连接轴11及轴套与支架9形成铰接,座椅架连杆23与座椅架10通过螺栓形成铰接,支架9与座椅架10通过螺栓固定连接,座椅底座22、座椅架连杆23、座椅支架21和支架9共同组成平行四边形机构。调平机构12工作时利用平行四边形的平行原理实现调平的目的。As shown in Figure 3, the
如图1所示,座椅5的前下方设有与座椅底座22连接的脚踏板3,脚踏板3的下方设有安装在底座14上的脚踏止回器2。脚蹬杆4与脚蹬架1铰接并实现90旋转范围,脚蹬架1焊接在底座14上。As shown in FIG. 1 , a
如图4所示,万向夹头39由夹头壳体24、紧定螺钉25、夹头圆柱26及夹头底座27构成,夹头壳体24的一端为开孔端,另一端为开槽端;夹头底座27的下部与蝴蝶机扇形连杆18固定连接,上部穿过夹头圆柱26的中部并形成铰接,使夹头圆柱26可绕夹头底座27水平旋转,夹头圆柱26的两端与夹头壳体24的开槽端铰接,使夹头壳体24可绕夹头圆柱26旋转,夹头壳体24的开孔端用于接入钢丝绳并由紧定螺钉25锁紧,蝴蝶机6是通过两个万向夹头39与钢丝绳连接,当蝴蝶机工作时,夹头可随钢丝绳所受拉力方向自动调节。As shown in Figure 4, the
本实用新型所述的底座14为焊接结构,满足所需强度要求,脚踏止回器2用于限制脚踏板3向下运动的距离,保护调平机构12。The
所述的座椅5大小适用于大部分人群。座椅5连接在座椅底座22上。The size of the
所述的座椅架10为焊接结构,满足所需强度要求,通过螺栓固定连接在支架9上。The
所述的顶架8为焊接结构,满足所需强度要求,通过螺栓固定连接在支架9上。The
所述的脚蹬架1焊接在底座14上,用于将脚蹬杆4铰链连接在底座14上,该结构允许脚蹬杆4背向使用者旋转最大至90度,而有效地防止因拉力使其向使用者方向旋转造成伤害。The
所述的滑轮组13将使用者自身重力转换为运动阻力,从而代替一般健身器配重的作用。滑轮组13包括19个滑轮和4条钢丝绳,其安装位置如图7所示,1号滑轮28、2号滑轮29、3号滑轮30由下至上依次安装在脚蹬杆4上,16号滑轮49、17号滑轮50、18号滑轮51、19号滑轮52由后至前依次安装在底座14上,11号滑轮42和12号滑轮43并排安装在支架9上,7号滑轮37、9号滑轮40、10号滑轮41安装在顶架8上,8号滑轮38安装在蝴蝶机支架16上,4号滑轮31、5号滑轮32、6号滑轮34、13号滑轮44以及14号滑轮46通过钢丝绳悬挂在半空,4号滑轮31与5号滑轮32通过滑轮外壳连接在一起,15号滑轮48安装在座椅支架21后端的滑槽上,并通过松紧螺栓固定15号滑轮48。其连接结构如图5所示,4号钢丝绳47一端固定连接在脚蹬杆4上,另一端依次绕过1号滑轮28、2号滑轮29、3号滑轮30、19号滑轮52、18号滑轮51、4号滑轮31、17号滑轮50、15号滑轮48以及16号滑轮49,最后固定连接在14号滑轮46的钢丝夹头上;1号钢丝绳33一端固定连接在6号滑轮34的钢丝夹头上,另一端绕过5号滑轮32,最后固定连接在13号滑轮44的钢丝夹头上;2号钢丝绳35一端固定连接在下拉杆7上,另一端依次绕过7号滑轮37、9号滑轮40、8号滑轮38、6号滑轮34、10号滑轮41以及13号滑轮44,最后固定连接在顶架8上,在下拉杆7与7号滑轮37之间的2号钢丝绳35上安装有限位卡片36以防止2号钢丝绳35被拉出;3号钢丝绳45一端固定连接在蝴蝶机扇形连杆18上的万向夹头39上,另一端依次绕过12号滑轮43、14号滑轮46以及11号滑轮42,最后固定连接在蝴蝶机扇形连杆18上的万向夹头39上。The
本实用新型通过拧松用于固定15号滑轮48的松紧螺栓的螺母,可以任意调节15号滑轮48在滑槽上的位置,从而改变座椅支架21后端所受力矩,达到无级调节的目的。The utility model can arbitrarily adjust the position of the No. 15
本实用新型可以实现至少12种健身动作,锻炼者在使用健身器的过程中,可以实现颈部、肩部、手臂、胸部、背部、腰腹及腿部肌肉的全面训练。The utility model can realize at least 12 kinds of body-building actions, and the exerciser can realize comprehensive training of the muscles of the neck, shoulders, arms, chest, back, waist, abdomen and legs during the process of using the body-building apparatus.
坐姿直臂下拉动作:背向座椅5坐下,正手推住下拉杆7,双手与肩同宽,手臂伸直。背部保持不动,腹肌收缩吸气。与此同时用手下拉下拉杆7,保持手臂伸展肢部(或轻度弯曲)。动作完成时呼气,然后缓慢复位。Sitting straight arm pull-down action: Sit with your back to the
坐姿颈后下拉动作:背对健身器坐下,双腿平放,双手宽握距正握下拉杆7。吸气,下拉下拉杆7至颈后,下拉时肘部向后,动作完成时呼气。Pull-down movement behind the neck in a sitting posture: Sit with your back to the fitness machine, put your legs flat, and hold the pull-down bar with a wide grip and a
坐姿双臂平拉动作:面向蝴蝶机6靠背坐下,双臂张开,双手握住蝴蝶机把手15。吸气,肘部用力向后,在动作始末是肩胛骨向脊柱靠拢,动作完成时呼气。Sitting position with both arms pulled horizontally: Sit with the back facing the
坐姿收服下拉动作:背向座椅5靠背坐下,双手握住下拉杆7,双脚自然放于脚踏板3。吸气,蜷身,使胸部向大腿靠近,动作结束时呼气。Pull-down action in a sitting posture: sit with your back facing the
窄握胸前下拉动作:面向(或背向)座椅5坐下,双手窄握(约肩宽一半)下拉杆7。吸气,下拉下拉杆7使其向胸上部靠近,挺胸,上身稍向后倾,动作完成时呼气。Chest pull-down action with a narrow grip: Sit facing (or facing away from) the
坐姿蝴蝶机夹胸动作:背向座椅5坐下,肘部弯曲平举,双手抓住蝴蝶机把手15。吸气,同时用肘或手推动蝴蝶机推杆19向内侧旋转,动作完成时呼气。Sitting butterfly machine chest clamping action: Sit with your back to the
坐姿小腿伸屈动作:将双腿抬高,脚踏在脚蹬杆4上,双手自然放在膝关节或者握住推杆把手20。吸气,双腿向前蹬出,动作完成时呼气。Stretching and flexing movements of the calf in a sitting position: Raise both legs, step on the
坐姿正握腕前推(高低位)动作:背向座椅5坐下,双手握住蝴蝶机推杆19最下端(此为低位)。吸气,双手用力前推至手臂伸直,动作完成后呼气。Sitting upright with wrists pushed forward (high and low positions): Sit with your back to
坐姿反握腕前推(高低位)动作:背向座椅5坐下,双手握住蝴蝶机推杆19最下端(此为低位)。吸气,双手用力前推至手臂伸直,动作完成后呼气。Seated reverse grip and wrist push forward (high and low positions): Sit with your back to the
坐姿躬身划船动作:背向座椅5坐下,双手握住蝴蝶机推杆19顶部,躬身向前。Sitting bow rowing action: sit with your back to the
引体向上动作:背向座椅5坐下,双手正握或反握住下拉杆7,双手与肩同宽,进行引体上下拉伸运动。Pull-up action: Sit down with your back to the
锻炼时座椅支架21后端受到向下的拉力,调平机构12开始工作,利用平行四边形原理,使座椅底座22在运动过程中与水平的支架9保持平行,使座椅底座22及座椅5在运动过程中始终保持水平。Seat support 21 rear end is subjected to downward pulling force during exercise, and leveling
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103007489A (en) * | 2012-12-20 | 2013-04-03 | 广西大学 | New family combination fitness equipment |
CN107029391A (en) * | 2017-04-07 | 2017-08-11 | 陈允安 | Multifunctional body-building mobile platform |
CN111840905A (en) * | 2020-07-30 | 2020-10-30 | 李艾丽 | Intelligent fitness device with rehabilitation exercise function |
CN113367935A (en) * | 2021-06-04 | 2021-09-10 | 北方民族大学 | Flexible driving knee joint rehabilitation robot |
-
2012
- 2012-12-20 CN CN 201220710478 patent/CN203001777U/en not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103007489A (en) * | 2012-12-20 | 2013-04-03 | 广西大学 | New family combination fitness equipment |
CN107029391A (en) * | 2017-04-07 | 2017-08-11 | 陈允安 | Multifunctional body-building mobile platform |
CN111840905A (en) * | 2020-07-30 | 2020-10-30 | 李艾丽 | Intelligent fitness device with rehabilitation exercise function |
CN113367935A (en) * | 2021-06-04 | 2021-09-10 | 北方民族大学 | Flexible driving knee joint rehabilitation robot |
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