CN206508195U - Pound one's back robot - Google Patents

Pound one's back robot Download PDF

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Publication number
CN206508195U
CN206508195U CN201620339861.7U CN201620339861U CN206508195U CN 206508195 U CN206508195 U CN 206508195U CN 201620339861 U CN201620339861 U CN 201620339861U CN 206508195 U CN206508195 U CN 206508195U
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gear
tup
support
hammer
thick stick
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赵燕江
黄磊
李易达
王瑞雪
武文强
胡海龙
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Abstract

捶背机器人,其组成包括:椅子、底座、锤头纵向移动机构、锤头横向移动机构、锤头摆动机构。通过升降台和丝杠的啮合机构,可以实现锤头的上下运动;锤头与锤柄采用弹簧连接,可以使人体后背受力更加平稳柔和;两旋向双头螺柱,可以使两个导向滑板同时向中间或两边运动,实现锤头和锤柄横向分离或靠近运动;锤柄底端的圆柱销与两啮合齿轮的上齿轮偏心连接,实现锤头和锤柄的前后捶打运动。

The back-beating robot comprises: a chair, a base, a hammer head longitudinal movement mechanism, a hammer head lateral movement mechanism, and a hammer head swing mechanism. The up and down movement of the hammer head can be realized through the meshing mechanism of the lifting platform and the lead screw; the hammer head and the hammer handle are connected by a spring, which can make the force on the back of the human body more stable and soft; The guide slide moves to the middle or both sides at the same time to realize the lateral separation or close movement of the hammer head and hammer handle; the cylindrical pin at the bottom of the hammer handle is eccentrically connected with the upper gears of the two meshing gears to realize the front and back beating movement of the hammer head and hammer handle.

Description

捶背机器人back-beating robot

技术领域technical field

本实用新型涉及一种捶背机器人,属于理疗器械领域。The utility model relates to a back-beating robot, which belongs to the field of physiotherapy equipment.

背景技术Background technique

随着医学模式的转变,人们对天然疗法的追求显著增加,按摩捶背椅、按摩捶背床等医疗器械发展迅速,然而传统的按摩椅、按摩床均为被动型,按摩方式均为从下往上用力,被按摩者依靠自身的体重实施按摩,需要被按摩者调整自身肌肉去“寻找”按摩压力点,被按摩部位处于自身体重的压迫之下,无法放松地接受按摩;除此之外,传统的按摩椅、按摩床按摩手法单一,不能完成模仿专家的按摩动作,一般达不到治疗效果。针对传统的按摩椅、按摩床的缺点,捶背机器人可以根据人体穴位,进行智能敲击,也可以自定义敲击,同时也能完成一系列简单的按摩。With the transformation of the medical model, people's pursuit of natural therapy has increased significantly, and medical equipment such as massage back chairs and massage back beds have developed rapidly. However, traditional massage chairs and massage beds are passive, and the massage methods are all from the bottom Pushing upwards, the person being massaged relies on his own body weight to perform the massage, and the person being massaged needs to adjust his own muscles to "find" the massage pressure point. The massaged part is under the pressure of his own body weight and cannot receive the massage in a relaxed manner; in addition , Traditional massage chairs and massage tables have a single massage technique and cannot complete the massage movements imitating experts, and generally fail to achieve therapeutic effects. For the shortcomings of traditional massage chairs and massage beds, the back-beating robot can perform intelligent tapping according to the acupuncture points of the human body, or customize the tapping, and can also complete a series of simple massages at the same time.

发明内容Contents of the invention

针对上述问题,本实用新型提出一种捶背机器人,以防止捶背过程中出现难以定位捶背的现象,另外所设计的锤头与锤柄的弹簧连接机构,可以有效地实现背部受力平缓柔和,减小了捶背过程中力度大小不均带来的不适感。In view of the above problems, the utility model proposes a back-beating robot to prevent the phenomenon that it is difficult to locate the back-beating during the back-beating process. In addition, the designed spring connection mechanism between the hammer head and the hammer handle can effectively realize the gentle force on the back Soft, which reduces the discomfort caused by uneven strength during the back beating process.

基本技术方案是:The basic technical scheme is:

捶背机器人,其特征在于,所述的捶背机器人是由椅子、底座、锤头纵向移动机构、锤头横向移动机构、锤头摆动机构,其特征在于,所述的锤头纵向移动机构的丝杠固定于底座上,锤头横向移动机构固定于锤头纵向移动机构的两支撑板上,锤头摆动机构与锤头横向移动机构连接。Beat the back robot, it is characterized in that, described back beat robot is made of chair, base, tup longitudinal movement mechanism, tup transverse movement mechanism, tup swing mechanism, it is characterized in that, described tup longitudinal movement mechanism The leading screw is fixed on the base, the hammer head transverse movement mechanism is fixed on the two support plates of the hammer head longitudinal movement mechanism, and the hammer head swing mechanism is connected with the hammer head transverse movement mechanism.

作为优选的技术方案,所述的锤头纵向移动机构是由丝杠、竖直导杠一、竖直导杠二、丝杠电机、升降滑台、支撑板一、支撑板二组成;丝杠安装在底座上,竖直导杠一与竖直导杠二固联在底座上,丝杠电机与丝杠连接,并安装在底座上。As a preferred technical solution, the hammerhead longitudinal movement mechanism is composed of a lead screw, a vertical guide rod one, a vertical guide rod two, a lead screw motor, a lifting slide table, a support plate one, and a support plate two; the lead screw Installed on the base, the first vertical guide rod and the second vertical guide rod are fixedly connected on the base, and the lead screw motor is connected with the lead screw and installed on the base.

作为优选的技术方案,所述的锤头横向移动机构是由横向导杠一、横向导杠二、花键、齿轮支撑一、齿轮支撑二、齿轮支撑三、齿轮支撑四、滑块一、滑块二、两旋向双头螺柱、螺柱驱动电机组成;横向导杠一、横向导杠二与两旋向双头螺柱均固定于支撑板一和支撑板二上,花键通过轴承与支撑板一、支撑板二和齿轮支撑一、二、三、四连接,齿轮支撑一和齿轮支撑二焊接在滑块一上,齿轮支撑三和齿轮支撑四焊接在滑块二上,滑块一和滑块二分别安装在两旋向双头螺柱的两侧,横向导杠二穿过滑块一和滑块二;螺柱驱动电机与两旋向双头螺柱连接。As a preferred technical solution, the hammer head lateral movement mechanism is composed of a horizontal guide bar one, a horizontal guide bar two, a spline, a gear support one, a gear support two, a gear support three, a gear support four, a slider one, a slider Block 2, two helical double-ended studs, and a stud drive motor; the first horizontal guide bar, the second horizontal guide bar, and the two helical double-ended studs are all fixed on the first support plate and the second support plate, and the splines pass through the bearings Connect with support plate 1, support plate 2 and gear support 1, 2, 3, 4, gear support 1 and gear support 2 are welded on slider 1, gear support 3 and gear support 4 are welded on slider 2, slider The first slide block and the second slide block are respectively installed on two sides of the double-ended studs in the two directions of rotation, and the second horizontal guide bar passes through the first slide block and the second slide block;

作为优选的技术方案,所述的锤头摆动机构是由齿轮一、带有偏心连接栓头的齿轮二、齿轮三、带有偏心连接栓头的齿轮四、花键电机、锤柄一、锤柄二、锤头一、锤头二组成;所述的齿轮一与齿轮二啮合,齿轮三与齿轮四啮合;花键电机与花键连接,花键穿过齿轮一和齿轮三,齿轮一安装在齿轮支撑一和齿轮支撑二上,齿轮三安装在齿轮支撑三和齿轮支撑四上;齿轮二安装在齿轮支撑一上,齿轮四安装在齿轮支撑四上;捶柄中间部位开槽,上端带有弹簧,锤柄一和锤柄二分别铰联在带有偏心连接栓头的齿轮二和齿轮四上,横向导杠一穿过两锤柄的中间槽;锤头一和锤头二分别通过弹簧与锤柄一和锤柄二连接。As a preferred technical solution, the hammer head swing mechanism is composed of gear one, gear two with eccentric connection bolt head, gear three, gear four with eccentric connection bolt head, spline motor, hammer handle one, hammer Handle 2, hammer head 1, and hammer head 2 are composed; the gear 1 meshes with gear 2, and the gear 3 meshes with gear 4; the spline motor is connected with the spline, the spline passes through the gear 1 and gear 3, and the gear 1 is installed On gear support 1 and gear support 2, gear 3 is installed on gear support 3 and gear support 4; gear 2 is installed on gear support 1, and gear 4 is installed on gear support 4; There is a spring, hammer handle 1 and hammer handle 2 are respectively hinged on gear 2 and gear 4 with eccentric connection bolt heads, horizontal guide bar 1 passes through the middle groove of the two hammer handles; hammer head 1 and hammer head 2 respectively pass through Spring is connected with hammer handle one and hammer handle two.

本发明的有益效果是:The beneficial effects of the present invention are:

1. 本实用新型通过使用锤头纵向移动机构和锤头横向移动机构,实现了捶背的精确定位,避免了盲目的捶打;1. The utility model realizes the precise positioning of beating the back by using the hammer head longitudinal movement mechanism and the hammer head transverse movement mechanism, and avoids blind beating;

2.本实用新型通过使锤头与锤柄之间通过弹簧连接,可以有效地实现背部受力平缓柔和,减小了捶背过程中力度大小不均带来的不适感。;2. The utility model can effectively realize gentle and gentle force on the back by connecting the hammer head and hammer handle through a spring, which reduces the discomfort caused by uneven force in the process of beating the back. ;

3.本实用新型所采用的两旋向双头螺柱,在调节两旋向双头螺柱时,可以使两个滑块同时向中间挤压或者同时向两端分离,轻易的实现了捶背的横向定位,结构简单可靠。3. The two-rotation double-ended stud used in the utility model, when adjusting the two-rotation double-ended stud, can make the two sliders squeeze to the middle at the same time or separate from both ends at the same time, which easily realizes hammering. The lateral positioning of the back is simple and reliable in structure.

附图说明Description of drawings

附图 1,本实用新型的整体结构示意图1;Accompanying drawing 1, the overall structure schematic diagram 1 of the utility model;

附图 2,本实用新型的整体结构示意图2;Accompanying drawing 2, the overall structure schematic diagram 2 of the present utility model;

附图 3,本实用新型的内部结构示意图。Accompanying drawing 3, the internal structure diagram of the utility model.

图中:1、椅子,2、螺柱驱动电机,3、底座,4丝杠,5、丝杠电机,6、花键,7、升降滑台,8、花键电机,9-1、锤头一,9-2、锤头二,10-1、弹簧一,10-2、弹簧二,11-1、齿轮一,11-2、带有偏心栓柱的齿轮二,11-2、齿轮三,11-2、带有偏心栓柱的齿轮四,13-1、滑块一,13-2、滑块二,14、横向导向光杠一,15、两旋向双头螺柱,16、横向导向光杠二,17-1、锤柄一,17-2、锤柄二,18-1、竖直导杠一,18-2、竖直导杠二,19-1支撑板一,19-2支撑板二,20-1齿轮支撑一,20-2齿轮支撑二,21-1齿轮支撑三,21-2齿轮支撑四。In the figure: 1, chair, 2, stud drive motor, 3, base, 4 lead screw, 5, lead screw motor, 6, spline, 7, lifting slide table, 8, spline motor, 9-1, hammer Head one, 9-2, hammerhead two, 10-1, spring one, 10-2, spring two, 11-1, gear one, 11-2, gear two with eccentric bolt post, 11-2, gear Three, 11-2, gear four with eccentric bolt post, 13-1, slide block one, 13-2, slide block two, 14, horizontal guiding light rod one, 15, two helical double-ended studs, 16 2. Horizontal guide light bar two, 17-1, hammer handle one, 17-2, hammer handle two, 18-1, vertical guide bar one, 18-2, vertical guide bar two, 19-1 support plate one, 19-2 support plate two, 20-1 gear support one, 20-2 gear support two, 21-1 gear support three, 21-2 gear support four.

具体实施方式detailed description

本实用新型结构示意图如图1、图2、图3所示。捶背机器人组成包括:椅子(1)、底座(3)、锤头纵向移动机构、锤头横向移动机构、锤头摆动机构;锤头纵向移动机构的丝杠(4)固定于底座(3)上, 锤头横向移动机构固定于锤头纵向移动机构的两支撑板上,锤头摆动机构与锤头纵向移动机构连接。The structure diagram of the utility model is shown in Fig. 1 , Fig. 2 and Fig. 3 . The back-beating robot consists of: chair (1), base (3), hammer head longitudinal movement mechanism, hammer head lateral movement mechanism, hammer head swing mechanism; the screw (4) of the hammer head longitudinal movement mechanism is fixed on the base (3) Above, the hammer head transverse movement mechanism is fixed on the two support plates of the hammer head longitudinal movement mechanism, and the hammer head swing mechanism is connected with the hammer head longitudinal movement mechanism.

锤头纵向移动机构是由丝杠(4)、竖直导杠一(18-1)、竖直导杠二(18-2)、丝杠电机(5)、升降滑台(7)、支撑板一(19-1)、支撑板二(19-2)组成;丝杠(4)固定于底座(3)上,竖直导杠一(18-1)与竖直导杠二(18-2)固联在底座(3)上,丝杠电机(5)与丝杠(4)连接,并安装在底座(3)上。丝杠(4)随着丝杠电机(5)的转动,通过升降台(7)与丝杠(4)的啮合传动,升降台(7)上升。The vertical movement mechanism of the hammer head is composed of a lead screw (4), a vertical guide rod one (18-1), a vertical guide rod two (18-2), a lead screw motor (5), a lifting slide table (7), a support Plate one (19-1), support plate two (19-2); lead screw (4) is fixed on the base (3), vertical guide bar one (18-1) and vertical guide bar two (18- 2) Fixedly connected to the base (3), the lead screw motor (5) is connected to the lead screw (4) and installed on the base (3). As the lead screw (4) rotates with the lead screw motor (5), the lift table (7) rises through the engagement transmission of the lift table (7) and the lead screw (4).

锤头横向移动机构是由横向导杠一(16)、横向导杠二(14)、花键(6)、齿轮支撑一(20-1)、齿轮支撑二(20-2)、齿轮支撑三(21-1)、齿轮支撑四(21-2)、滑块一(13-1)、滑块二(13-2)、两旋向双头螺柱(15)、螺柱驱动电机(2)组成;横向导杠一(16)、横向导杠二(14)与两旋向双头螺柱(15)均固定于支撑板一(19-1)和支撑板二(19-2)上,花键(6)通过轴承与支撑板一(19-1)、支撑板二(19-2)和齿轮支撑一(20-1)、齿轮支撑二(20-2)、齿轮支撑三(21-1)、齿轮支撑四(21-2)连接,齿轮支撑一(20-1)和齿轮支撑二(20-2)焊接在滑块一(13-1)上,齿轮支撑三(21-1)和齿轮支撑四(21-2)焊接在滑块二(13-2)上,滑块一(13-1)和滑块二(13-2)分别安装在两旋向双头螺柱(15)的两侧,横向导杠二(14)穿过滑块一(13-1)和滑块二(13-2)上;螺柱驱动电机(2)与两旋向双头螺柱(15)连接。The hammer head lateral movement mechanism is composed of the first horizontal guide rod (16), the second horizontal guide rod (14), the spline (6), the first gear support (20-1), the second gear support (20-2), the third gear support (21-1), gear support four (21-2), slider one (13-1), slider two (13-2), two-rotation studs (15), stud drive motor (2 ) composition; the first horizontal guide bar (16), the second horizontal guide bar (14) and the two helical studs (15) are all fixed on the first support plate (19-1) and the second support plate (19-2) , the spline (6) passes through the bearing and support plate one (19-1), support plate two (19-2) and gear support one (20-1), gear support two (20-2), gear support three (21 -1), gear support four (21-2) connection, gear support one (20-1) and gear support two (20-2) are welded on slider one (13-1), gear support three (21-1 ) and gear support four (21-2) are welded on slider two (13-2), and slider one (13-1) and slider two (13-2) are respectively installed on two helical studs ( 15) on both sides, the horizontal guide bar two (14) passes through the slide block one (13-1) and the slide block two (13-2); the stud drive motor (2) is connected with the two helical double-ended studs ( 15) Connect.

锤头摆动机构是由齿轮一(11-1)、带有偏心连接栓头的齿轮二(11-2)、齿轮三(12-1)、带有偏心连接栓头的齿轮四(12-2)、花键电机(8)、锤柄一(17-1)、锤柄二(17-2)、锤头一(9-1)、锤头二(9-2)组成;所述的齿轮一(11-1)与齿轮二(11-2)啮合,齿轮三(12-1)与齿轮四(12-2)啮合;花键电机(8)与花键(6)连接,花键(6)穿过齿轮一(11-1)和齿轮三(12-1),齿轮一(11-1)安装在齿轮支撑一(20-1)和齿轮支撑二(20-2)上,齿轮三(12-1)安装在齿轮支撑三(21-1)和齿轮支撑四(21-2)上;齿轮二安装在齿轮支撑一(20-1)上,齿轮四(12-2)安装在齿轮支撑四(21-2)上;捶柄中间部位开槽,上端带有弹簧,锤锤柄一(17-1)和锤柄二(17-2)分别铰联在带有偏心连接栓头的齿轮二(11-2)和齿轮四(12-2)上,横向导杠一(16)穿过两锤柄的中间槽;锤头一(9-1)和锤头二(9-2)分别通过弹簧与锤柄一(17-1)和锤柄二(17-2)连接。The hammer head swing mechanism is composed of gear one (11-1), gear two (11-2) with eccentric connection bolt head, gear three (12-1), gear four (12-2) with eccentric connection bolt head ), spline motor (8), hammer handle one (17-1), hammer handle two (17-2), hammer head one (9-1), hammer head two (9-2); the gear One (11-1) meshes with gear two (11-2), and gear three (12-1) meshes with gear four (12-2); the spline motor (8) is connected with the spline (6), and the spline ( 6) Through gear one (11-1) and gear three (12-1), gear one (11-1) is installed on gear support one (20-1) and gear support two (20-2), gear three (12-1) is installed on gear support three (21-1) and gear support four (21-2); gear two is installed on gear support one (20-1), and gear four (12-2) is installed on gear On the support four (21-2); the middle part of the hammer handle is slotted, and the upper end has a spring, and the hammer handle one (17-1) and hammer handle two (17-2) are respectively hinged on the On gear 2 (11-2) and gear 4 (12-2), horizontal guide bar 1 (16) passes through the middle groove of the two hammer handles; hammer head 1 (9-1) and hammer head 2 (9-2) Connect with hammer handle one (17-1) and hammer handle two (17-2) by spring respectively.

本实用新型在使用时的过程如下:The process of the utility model in use is as follows:

在使用前,先将定位捶背机器人归于原始位置,及升降滑台(7)处于最低端状态,滑块一(13-1)和滑块二(13-2)处于最远距离状态。Before use, return the positioning back-beating robot to the original position, and the elevating slide table (7) is in the lowest end state, and slide block one (13-1) and slide block two (13-2) are in the farthest state.

使用时,可以实现多种运动方式:When in use, a variety of movement modes can be realized:

实施方式一:丝杠电机(5)驱动丝杠(4),升降滑台(7)在与丝杠(4)啮合运动下,通过升降滑台(7)的向上运动,实现锤头(9)的上下运动。Embodiment 1: The lead screw motor (5) drives the lead screw (4), and the lifting slide (7) moves upward through the upward movement of the lift slide (7) under the meshing motion with the lead screw (4) to realize the hammerhead (9 ) up and down movement.

实施方式二:螺柱电机(2)通过驱动两旋向双头螺柱(15)动作,使滑块一(13-1)和滑块二(13-2)横向接近或分离,此时,可以实现锤头(9)的横向运动。Embodiment 2: The stud motor (2) drives the two rotating double-ended studs (15) to make the slider 1 (13-1) and the slider 2 (13-2) approach or separate laterally. At this time, Lateral movement of the hammer head (9) can be realized.

实施方式三:花键电机(8)通过驱动花键(6)动作,花键(6)带动齿轮一(12-1)和齿轮三(13-1)运动,带有偏心连接栓头的齿轮二(12-2)和齿轮四(13-2)发生啮合动作,此时可实现锤头(9)前后捶打运动Embodiment 3: The spline motor (8) drives the spline (6) to move, and the spline (6) drives gear one (12-1) and gear three (13-1) to move, and the gear with the eccentrically connected bolt head Gear 2 (12-2) meshes with gear 4 (13-2), and the hammer head (9) can beat back and forth at this time

实施方式一、实施方式二、实施方式三配合动作,可以完成不同定位的捶背要求。Embodiment 1, Embodiment 2, and Embodiment 3 cooperate with actions to complete back-beating requirements in different positions.

以上显示和描述了本实用新型的基本原理和主要特征。本实用新型不受上述实施例的限制,上述实施例和说明书描述的只是发明的原理,在不脱离本实用新型的精神和范围的前提下,本实用新型还会有各种变化和改进,这些发明和改进都落入要求保护的本实用新型范围内。The basic principles and main features of the present utility model have been shown and described above. The utility model is not limited by the above-mentioned embodiments, and what the above-mentioned embodiments and description describe is only the principle of the invention. Under the premise of not departing from the spirit and scope of the utility model, the utility model also has various changes and improvements. These Inventions and improvements all fall within the scope of the claimed utility model.

Claims (3)

1. pound one's back robot, its composition includes:Chair, base, tup longitudinal moving mechanism, tup transverse moving mechanism, tup Swing mechanism, it is characterised in that the leading screw of described tup longitudinal moving mechanism is fixed on base, tup transverse moving mechanism It is fixed in two supporting plates of tup longitudinal moving mechanism, tup swing mechanism is connected with tup transverse moving mechanism;Described Tup longitudinal moving mechanism is by leading screw, vertical lead thick stick one, vertical leads thick stick two, spindle motor, lifting sliding table, supporting plate one, branch Fagging two is constituted;Leading screw is arranged on base, and thick stick one is led vertically and is connected firmly with leading thick stick two vertically on base, spindle motor and leading screw Connection, and on base.
2. the robot according to claim 1 that pounds one's back, it is characterised in that described tup transverse moving mechanism is by transverse direction Leading thick stick one, horizontal thick stick two, spline, the gear of leading supports one, gear support two, gear support three, gear to support four, sliding block one, slide Block two, two rotation direction studs, stud motor composition;Laterally lead thick stick one, transverse direction leads thick stick two and two rotation direction studs are equal Be fixed in supporting plate one and supporting plate two, spline by bearing and supporting plate one, supporting plate two and gear support one, two, three, Four connections, gear support one and gear support two are welded on sliding block one, and gear support three and gear support four are welded on sliding block On two, sliding block one and sliding block two are separately mounted to the both sides of two rotation direction studs, laterally lead thick stick two through sliding block one and sliding block Two;Stud motor is connected with two rotation direction studs.
3. the robot according to claim 1 or 2 that pounds one's back, it is characterised in that described tup swing mechanism is by gear First, gear two, gear three with eccentric coupling bar head, the gear four with eccentric coupling bar head, spline motor, hammer handle one, Hammer handle two, tup one, tup two are constituted;Described gear one is engaged with gear two, and gear three is engaged with gear four;Spline motor It is connected with spline, spline passes through gear one and gear three, gear one is arranged in gear support one and gear support two, gear three In gear support three and gear support four;Gear two is arranged in gear support one, and gear four is supported installed in gear On four;Handle middle part fluting is beaten, upper end carries spring, and hammer handle one and hammer handle two are cut with scissors respectively to be associated in eccentric coupling bar head On gear two and gear four, the medial launder that thick stick one passes through two hammer handles is laterally led;Tup one and tup two pass through spring and hammer respectively Handle one and hammer handle two are connected.
CN201620339861.7U 2016-04-21 2016-04-21 Pound one's back robot Expired - Fee Related CN206508195U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105853135A (en) * 2016-04-21 2016-08-17 哈尔滨理工大学 Back pounding robot
CN110496035A (en) * 2019-09-16 2019-11-26 湖南信息职业技术学院 A kind of massage bed waist message structure for simulating manpower push type

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105853135A (en) * 2016-04-21 2016-08-17 哈尔滨理工大学 Back pounding robot
CN110496035A (en) * 2019-09-16 2019-11-26 湖南信息职业技术学院 A kind of massage bed waist message structure for simulating manpower push type

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