CN219375360U - Rocker type upper limb rehabilitation training device - Google Patents
Rocker type upper limb rehabilitation training device Download PDFInfo
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- CN219375360U CN219375360U CN202222972094.1U CN202222972094U CN219375360U CN 219375360 U CN219375360 U CN 219375360U CN 202222972094 U CN202222972094 U CN 202222972094U CN 219375360 U CN219375360 U CN 219375360U
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- rocker
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- rotating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The application provides a rocker-type upper limbs rehabilitation training device, include: the device comprises a base, a first rotating seat, a second rotating seat, a first motor, a second motor and a rocker; the base is provided with a bearing seat which is arranged oppositely, the first rotating seat is rotationally connected with the bearing seat, the second rotating seat is arranged in the first rotating seat, the second rotating seat is rotationally connected with the first rotating seat, the first motor is installed on the base, the second motor is installed on the first rotating seat, the bottom of the rocker is connected with the second rotating seat, and the top of the rocker is connected with an upper limb connecting piece. The utility model provides a rocker-type upper limbs rehabilitation training device can carry out the rehabilitation training of systemization to patient's upper limbs, it can provide the rehabilitation training along arbitrary direction in the three-dimensional space, can guarantee simultaneously that accuracy, uniformity and the variety of completion action, it is extensive to be suitable for patient crowd, can reach good rehabilitation training effect.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a rocker type upper limb rehabilitation training device.
Background
Rehabilitation robots were studied beginning in the 80 s of the last century. Prior to 1990, this was mainly studied in europe and america and japan. The study of rehabilitation robots has entered a full-scale development period after 1990. Internationally, research and development of rehabilitation robots are increasingly automated and intelligent.
At present, most of upper limb rehabilitation training devices only perform rehabilitation training on one plane, the rehabilitation training of the upper limb rehabilitation training devices in a three-dimensional space is limited by each plane, and movement in the three-dimensional space cannot be realized, so that the rehabilitation effect is poor.
Disclosure of Invention
The purpose of the application is to provide a rocker type upper limb rehabilitation training device, so as to solve the defects and shortcomings in the prior art.
The utility model provides a rocker-type upper limbs rehabilitation training device, include: the device comprises a base, a first rotating seat, a second rotating seat, a first motor, a second motor and a rocker;
the base is provided with bearing seats which are oppositely arranged, the opposite ends of the first rotating seat are respectively connected with the bearing seats through first rotating shafts in a rotating mode, the second rotating seat is arranged in the first rotating seat, the opposite ends of the second rotating seat are respectively connected with the first rotating seat through second rotating shafts in a rotating mode, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, the first motor is mounted on the base and is connected with the first rotating shaft through a first transmission part in a driving mode, the second motor is mounted on the first rotating seat and is connected with the second rotating shaft through a second transmission part in a driving mode, the bottom of the rocker is connected with the second rotating seat, and the top of the rocker is connected with an upper limb connecting piece.
Compared with the prior art, the rocker type upper limb rehabilitation training device can carry out systematic rehabilitation training on the upper limb of a patient, can provide rehabilitation training along any direction in a three-dimensional space, can ensure accuracy, consistency and diversity of finishing actions, is suitable for a wide range of patient groups, and can achieve a good rehabilitation training effect.
In a preferred or alternative embodiment, the rocker type upper limb rehabilitation training device further comprises a control unit, wherein the control unit is electrically connected to the first motor and the second motor respectively, and the control unit is used for controlling the operation of the first motor and the second motor.
In a preferred or alternative embodiment, the control unit includes a first angle sensor, a second angle sensor and a controller, wherein the first angle sensor is connected to the first rotating shaft and is used for detecting a deflection angle of the first rotating seat, the second angle sensor is connected to the second rotating shaft and is used for detecting a deflection angle of the second rotating seat, and the controller is respectively and electrically connected to the first angle sensor, the second angle sensor, the first motor and the second motor.
In a preferred or alternative embodiment, the upper limb connector is detachably connected to the rocker.
In a preferred or alternative embodiment, the rocker is of telescopic construction.
In a preferred or alternative embodiment, the rocker comprises a base, an electric push rod fixed on the base and a connecting pipe connected to an output shaft of the electric push rod, wherein the base is connected with the second rotating seat, and the top of the connecting pipe is connected with the upper limb connecting piece.
In a preferred or alternative embodiment, the rocker type upper limb rehabilitation training device further includes a first buffer and a second buffer, the first buffer is used for providing a first elastic buffer force for the first rotating seat when the first rotating seat rotates, and the second buffer is used for providing a second elastic buffer force for the second rotating seat when the second rotating seat rotates.
In a preferred or alternative embodiment, the first transmission part comprises a first driving gear and a first driven gear which are meshed, the first driving gear is sleeved on the output shaft of the first motor, and the first driven gear is fixed with the first rotating shaft.
In a preferred or alternative embodiment, the second transmission part comprises a second driving gear and a second driven gear which are meshed, the second driving gear is sleeved on the output shaft of the second motor, and the second driven gear is fixed with the second rotating shaft.
In a preferred or alternative embodiment, the first rotating seat and the second rotating seat are both in annular structures, the first rotating seat is sleeved on the outer side of the second rotating seat, the second rotating shaft is connected with the inner wall of the first rotating seat and the outer wall of the second rotating seat, and the rocker is installed at the center of the second rotating seat.
For a better understanding and implementation, the present application is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a perspective view of a rocker type upper limb rehabilitation training device according to the present application;
FIG. 2 is an enlarged schematic view of FIG. 1 at A;
FIG. 3 is a partial perspective view of a rocker-type upper limb rehabilitation training device of the present application;
FIG. 4 is a partial perspective view of another view of the rocker-type upper limb rehabilitation training device of the present application;
FIG. 5 is a partial schematic view of a swing arm upper limb rehabilitation training device according to the present application from one perspective;
FIG. 6 is a partial schematic view of another view of a rocker-type upper limb rehabilitation training device of the present application;
FIG. 7 is a schematic view of the structure of the rocker and upper limb connector of the present application;
reference numerals:
1. a base; 11. a bearing seat; 2. a first rotary base; 21. a first rotating shaft; 3. a second rotating seat; 31. a second rotating shaft; 4. a first motor; 41. a first transmission member; 411. a first drive gear; 412. a first driven gear; 42. a first motor base; 5. a second motor; 51. a second transmission member; 511. a second drive gear; 512. a second driven gear; 52. the second motor base; 6. a rocker; 60. an upper limb connector; 61. a base; 62. an electric push rod; 63. a connecting pipe; 71. a first angle sensor; 72. a second angle sensor; 81. a first buffer; 82. and a second buffer.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that in the description of the present application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, i.e., features defining "first," "second," may explicitly or implicitly include one or more such features. Furthermore, unless otherwise indicated, the meaning of "a plurality" is two or more.
It should be noted that, in the description of the present application, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "hollow" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Please refer to fig. 1 to 7, fig. 1 is a perspective view of the rocker-type upper limb rehabilitation training device of the present application, fig. 2 is an enlarged schematic diagram of a portion a in fig. 1, fig. 3 is a partial perspective view of a view angle of the rocker-type upper limb rehabilitation training device of the present application, fig. 4 is a partial perspective view of another view angle of the rocker-type upper limb rehabilitation training device of the present application, fig. 5 is a partial schematic diagram of a view angle of the rocker-type upper limb rehabilitation training device of the present application, fig. 6 is a partial schematic diagram of another view angle of the rocker-type upper limb rehabilitation training device of the present application, and fig. 7 is a structural schematic diagram of a rocker and an upper limb connecting member of the present application. Wherein the second swivel and rocker are removed in both fig. 3 and 4.
The embodiment of the application provides a rocker-type upper limbs rehabilitation training device, include: base 1, first roating seat 2, second roating seat 3, first motor 4, second motor 5, rocker 6 and control unit.
The base 1 is provided with bearing seats 11 which are oppositely arranged, two opposite ends of the first rotating seat 2 are respectively connected with the bearing seats 11 through first rotating shafts 21 in a rotating mode, the second rotating seat 3 is arranged in the first rotating seat 2, two opposite ends of the second rotating seat 3 are respectively connected with the first rotating seat 2 through second rotating shafts 31 in a rotating mode, the axis of the first rotating shaft 21 is perpendicular to the axis of the second rotating shaft 31, the first motor 4 is mounted on the base 1 and is connected with the first rotating shaft 21 through a first transmission part 41 in a driving mode, the second motor 5 is mounted on the first rotating seat 2 and is connected with the second rotating shaft 31 through a second transmission part 51 in a driving mode, the bottom of the rocker 6 is connected with the second rotating seat 3, the top of the rocker 6 is connected with an upper limb connecting piece 60, and the upper limb connecting piece 60 can fix upper limbs of a patient or support upper limbs of the patient, so that training is conducted.
According to the technical scheme, the rocker type upper limb rehabilitation training device drives the second rotating seat 3 to axially rotate around the second rotating shaft 31 through the second motor 5, so that the rocker 6 connected to the second rotating seat 3 can axially rotate around the second rotating shaft 31, and meanwhile, the first rotating seat 2 is driven by the first motor 4 to axially rotate around the first rotating shaft 21, and the second rotating seat 3 is rotationally connected to the first rotating seat 2 through the second rotating shaft 31, and the axes of the first rotating shaft 21 and the second rotating shaft 31 are perpendicular, so that the rocker 6 can also axially rotate around the first rotating shaft 21. By means of the mutual co-operation of the first swivel mount 2 and the second swivel mount 3, the rocker 6 is thereby made rotatable in the axial direction about the first swivel axis 21 and the second swivel axis 31, i.e. the rocker 6 is always rotated about an axis lying on a horizontal plane. It can be seen that the rocker 6 of the upper limb rehabilitation robot can drive the upper limb connecting piece 60 to move along any direction in the three-dimensional space, so that the patient can simulate more life states and improve the comfort under the circumstance of multi-dimensional and multi-scene, and the rehabilitation effect of the upper limb rehabilitation training device can be improved.
Through the cooperative movement of the above components, the movement track of the upper limb connecting member 60 is similar to a semicircular curved surface, so that the upper limb connecting member 60 can drive the upper limb of the patient to realize the training of a plurality of joints during the movement, for example: shoulder abduction/adduction/lifting/lowering, elbow joint flexion/extension, forearm pronation/eversion, wrist flexion/extension, finger flexion/extension, etc., wherein single joint training or combined training of multiple joints can be achieved by setting the motion track of the upper limb connector 60, complex motions are achieved, and simple daily functional actions such as table wiping, water holding, etc. are completed.
When the rocker type upper limb rehabilitation training device is used for rehabilitation training, the rocker type upper limb rehabilitation training device is placed on the ground, a patient sits on an adjacent seat, the upper limb of the patient holds up the upper limb connecting piece 60, or the upper limb of the patient is fixed on the upper limb connecting piece 60 according to the needs of the patient, and at the moment, the rocker 6 can be driven to rotate in multiple directions by starting the first motor 4 and the second motor 5, so that the upper limb of the patient is driven to perform corresponding movement.
In this embodiment, the control unit is electrically connected to the first motor 4 and the second motor 5, respectively, and is used for controlling the operation of the first motor 4 and the second motor 5. Specifically, the rocker type upper limb rehabilitation training device disclosed by the embodiment of the application mainly has two rehabilitation training modes for a rehabilitation engineer to select according to the actual condition of a patient. The first is a passive training mode, which is particularly suitable for patients who completely lose the exercise ability, specifically, the control unit drives the first motor 4 and the second motor 5 according to a preset program, so that the rocker 6 moves from an initial position to a preset position, thereby driving the upper limbs of the patients to perform corresponding movements, and completing a rehabilitation training task. The second is an active training mode, which is suitable for a patient with partial movement capability, specifically, the patient applies force to the upper limb connecting piece 60 to drive the rocker 6 to start moving from the initial position, at this time, the control unit controls the first motor 4 and the second motor 5 to output preset moment according to feedback of the upper limb action of the patient, and the preset moment can enable the rocker 6 to return to the initial position, so that the rocker 6 has a tendency of returning to the initial position at this time, thereby enabling the patient to receive a certain resistance in the process of driving the rocker 6, being beneficial to exercising the upper limb muscles of the patient, and completing a rehabilitation training task when the patient drives the rocker 6 to move to the target position. It should be noted that the preset torque may be adjusted by controlling the output torques of the first motor 4 and the second motor 5 by the control unit according to the actual situation, and in this embodiment, the initial position of the rocker 6 is the position where the rocker 6 is in the vertical state.
The rocker type upper limb rehabilitation training device can carry out systematic rehabilitation training on the upper limb of a patient, can provide rehabilitation training along any direction in a three-dimensional space, can ensure accuracy, consistency and diversity of finishing actions, is widely applicable to patient crowds, and can achieve good rehabilitation training effects.
Specifically, the control unit of the present embodiment includes a first angle sensor 71, a second angle sensor 72, and a controller, where the first angle sensor 71 is connected to the first rotating shaft 21 and is used for detecting a deflection angle of the first rotating seat 2, the second angle sensor 72 is connected to the second rotating shaft 31 and is used for detecting a deflection angle of the second rotating seat 3, and the controller is respectively and electrically connected to the first angle sensor 71, the second angle sensor 72, the first motor 4 and the second motor 5. Thus, the controller may receive the angle data of the first and second angle sensors 71 and 72, process the angle data to determine the current position of the rocker 6, transmit the adjustment signal to the first and second motors 4 and 5, control the rotational speeds, the number of rotations, and the output torque of the first and second motors 4 and 5 so that the rocker 6 may move to a preset position, and the movement speed, the movement amplitude, and the force during movement of the rocker 6 are all determined by the first and second motors 4 and 5. In the present embodiment, the controller is a computer with a CPU, however, the controller is not limited thereto, and those skilled in the art can select other suitable structures, such as a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application SpecificIntegrated Circuit, ASIC), etc., according to the teachings of the present application.
In the present embodiment, the first motor 4 and the second motor 5 are both servo motors.
Preferably, in this embodiment, the upper limb connector 60 is detachably connected with the rocker 6, so that different upper limb connectors 60 can be replaced conveniently, and different application scenarios can be adapted. The detachable connection between the upper limb connecting member 60 and the rocker 6 can be appropriately designed according to practical needs, for example, a female head of a quick-release connector can be arranged at the top of the rocker 6, a male head of the quick-release connector is arranged on the upper limb connecting member 60, and the rocker 6 is detachably connected with the upper limb connecting member 60 through the female head and the male head of the quick-release connector. Of course, the upper limb connecting member 60 and the rocker 6 can be detachably connected by means of a snap-fit or screw-threaded connection, which is not limited to this example.
The structure of the upper limb connecting member 60 may be appropriately designed according to actual needs, for example, the upper limb connecting member 60 may include a grip and an arm support, the grip is swingably connected with the top of the rocker 6, the arm support is rotatably connected to the grip, the grip is convenient for a patient to hold, the arm support may support the arm of the patient, when the rocker 6 rotates, the grip may swing to a certain position, so as to improve the holding comfort, and the arm support may rotate relative to the grip, so that the arm of the patient may be continuously supported to avoid falling out when the rocker 6 rotates. In this embodiment, the upper limb connector 60 is a ball-shaped handle, which is convenient for the patient to hold.
Preferably, in this embodiment, the rocker 6 is of a telescopic structure, and the rocker 6 is electrically connected to the control unit, and the control unit is further configured to control the telescopic movement of the rocker 6. By setting the rocker 6 as a telescopic rocker 6, the rocker 6 can drive the upper limb connecting piece 60 to move along the axial direction of the rocker 6 when being telescopic, so that the movement range of the upper limb connecting piece 60 is increased, and in a passive training mode, the control unit can drive the rocker 6 to stretch according to a preset program so as to change the length of the rocker 6, so that the upper limb connecting piece 60 is driven to move along the axial direction of the rocker 6.
Specifically, in this embodiment, the rocker 6 includes a base 61, an electric push rod 62 fixed on the base 61, and a connection pipe 63 connected to an output shaft of the electric push rod 62, where the base 61 is connected to the second rotating base 3, the top of the connection pipe 63 is connected to the upper limb connector 60, the electric push rod 62 is electrically connected to the control unit, specifically, the electric push rod 62 is electrically connected to a controller of the control unit, and when the electric push rod is started, the connection pipe 63 can be driven to extend or retract, so as to drive the upper limb connector 60 to move along the axial direction of the rocker 6. When the first motor 4, the second motor 5 and the electric push rod 62 are mutually matched, the upper limb connecting piece 60 can be driven to realize movement along the X axis, the Y axis and the Z axis in a three-dimensional space.
In this embodiment, the first motor 4 is fixed above the base 1 through the first motor base 42, the second motor 5 is fixed at the bottom of the second rotating base 3 through the second motor base 52, the first transmission component 41 includes a first driving gear 411 and a first driven gear 412 that are meshed, the first driving gear 411 is sleeved on an output shaft of the first motor 4, and the first driven gear 412 is fixed with the first rotating shaft 21, so that the first motor 4 drives the first rotating shaft 21 to rotate, and then drives the first rotating base 2 to rotate. The second transmission part 51 includes a second driving gear 511 and a second driven gear 512 that are meshed, the second driving gear 511 is sleeved on the output shaft of the second motor 5, and the second driven gear 512 is fixed with the second rotating shaft 31, so as to realize that the second motor 5 drives the second rotating shaft 31 to rotate, and further drives the second rotating seat 3 to rotate.
Preferably, the rocker type upper limb rehabilitation training device of the present embodiment further includes a first buffer 81 and a second buffer 82, where the first buffer 81 is configured to provide a first elastic buffer force to the first rotating seat 2 when the first rotating seat 2 rotates, and the second buffer 82 is configured to provide a second elastic buffer force to the second rotating seat 3 when the second rotating seat 3 rotates. The first elastic buffering power and the second elastic buffering power can play a role in buffering and decelerating the first rotary seat 2 and the second rotary seat 3, so that the rotating speed is prevented from being too high, the comfort of a patient during training is improved, meanwhile, in an active training mode, the patient still needs to overcome the elastic buffering power brought by the buffer, and the training effect is improved. Specifically, in this embodiment, the first buffers 81 and the second buffers 82 are oil pressure buffers, the fixed ends of the first buffers 81 are disposed on the bearing seat 11, the movable ends of the first buffers 81 are abutted to the bottom of the first rotary seat 2, the first buffers 81 are disposed in four and two-by-two distributed on opposite sides of the first rotary seat 2, the fixed ends of the second buffers 82 are disposed on the second motor seat 52, the movable ends of the second buffers 82 are abutted to the bottom of the second rotary seat 3, and the second buffers 82 are disposed in four and two-by-two distributed on opposite sides of the second rotary seat 3, thereby improving the use effect of the buffers and being beneficial to guaranteeing the balance of the whole structure.
Preferably, the first rotating seat 2 and the second rotating seat 3 are both in annular structures, the first rotating seat 2 is sleeved on the outer side of the second rotating seat 3, the second rotating shaft 31 is connected with the inner wall of the first rotating seat 2 and the outer wall of the second rotating seat 3, and the rocker 6 is mounted at the center of the second rotating seat 3, so that the whole structure is compact, the mounting space is saved, and the stability of the rocker 6 during mounting and moving is improved.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application.
Claims (10)
1. A rocker type upper limb rehabilitation training device, comprising:
the device comprises a base, a first rotating seat, a second rotating seat, a first motor, a second motor and a rocker;
the base is provided with bearing seats which are oppositely arranged, the opposite ends of the first rotating seat are respectively connected with the bearing seats through first rotating shafts in a rotating mode, the second rotating seat is arranged in the first rotating seat, the opposite ends of the second rotating seat are respectively connected with the first rotating seat through second rotating shafts in a rotating mode, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, the first motor is mounted on the base and is connected with the first rotating shaft through a first transmission part in a driving mode, the second motor is mounted on the first rotating seat and is connected with the second rotating shaft through a second transmission part in a driving mode, the bottom of the rocker is connected with the second rotating seat, and the top of the rocker is connected with an upper limb connecting piece.
2. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the motor control device further comprises a control unit, wherein the control unit is electrically connected with the first motor and the second motor respectively and is used for controlling the operation of the first motor and the second motor.
3. The rocker type upper limb rehabilitation training device according to claim 2, wherein:
the control unit comprises a first angle sensor, a second angle sensor and a controller, wherein the first angle sensor is connected to the first rotating shaft and used for detecting the deflection angle of the first rotating seat, the second angle sensor is connected to the second rotating shaft and used for detecting the deflection angle of the second rotating seat, and the controller is respectively and electrically connected to the first angle sensor, the second angle sensor, the first motor and the second motor.
4. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the upper limb connecting piece is detachably connected with the rocker.
5. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the rocker is of a telescopic structure.
6. The rocker-type upper limb rehabilitation training device according to claim 5, wherein:
the rocker comprises a base, an electric push rod fixed on the base and a connecting pipe connected with an output shaft of the electric push rod, wherein the base is connected with the second rotating seat, and the top of the connecting pipe is connected with the upper limb connecting piece.
7. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the rotary seat is characterized by further comprising a first buffer and a second buffer, wherein the first buffer is used for providing a first elastic buffer force for the first rotary seat when the first rotary seat rotates, and the second buffer is used for providing a second elastic buffer force for the second rotary seat when the second rotary seat rotates.
8. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the first transmission part comprises a first driving gear and a first driven gear which are meshed, the first driving gear is sleeved on an output shaft of the first motor, and the first driven gear is fixed with the first rotating shaft.
9. The rocker type upper limb rehabilitation training device according to claim 1, wherein:
the second transmission part comprises a second driving gear and a second driven gear which are meshed, the second driving gear is sleeved on an output shaft of the second motor, and the second driven gear is fixed with the second rotating shaft.
10. The rocker type upper limb rehabilitation training device according to any one of claims 1 to 9, wherein:
the first rotating seat and the second rotating seat are of annular structures, the first rotating seat is sleeved on the outer side of the second rotating seat, the second rotating shaft is connected with the inner wall of the first rotating seat and the outer wall of the second rotating seat, and the rocker is installed at the center of the second rotating seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222972094.1U CN219375360U (en) | 2022-11-08 | 2022-11-08 | Rocker type upper limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222972094.1U CN219375360U (en) | 2022-11-08 | 2022-11-08 | Rocker type upper limb rehabilitation training device |
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| Publication Number | Publication Date |
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| CN219375360U true CN219375360U (en) | 2023-07-21 |
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| CN202222972094.1U Active CN219375360U (en) | 2022-11-08 | 2022-11-08 | Rocker type upper limb rehabilitation training device |
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| CN (1) | CN219375360U (en) |
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2022
- 2022-11-08 CN CN202222972094.1U patent/CN219375360U/en active Active
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