1241909 五、發明說明（1) 【發明所屬之技術領域] 本發明係一種阻力引導動力式上肢訓練器，特別是指 一種利用控制單元可以設宏& 士 $由 /丄丄 乃j疋夺日 土一 ^ 又疋叉力感應器之受力大小、移動 ί度及距離，了針對不同狀況之復健者設定不同參數= 式，進而達到最佳的復健效果。 、 【先前技術】 六人二ΐ:般上肢殘障或中風之人士，其上肢則因無法施 進行拉伸訓練等復健：：；些；；器# ’以對於上肢部位 丄 < 動作，使其上肢得以恢復力量及動 笪二進：應付曰常生活周遭需要運用到力量之動作；而該 室復健器材之結構，如新型公告第563536號「復健裝置」 2 ί::不’其主要在於主架上具有-基板，該基板適當 =把設有_可固定復健者之座椅，而該基板於該座椅前 之兩側分別設有一向上延伸之支臂，以供該支撐裝置滑 言^該支撐裝置附帶-只供復健者胸部觸抵之靠塾，並於 ft墊之兩側分別設有一支撐於復健者前臂之支撐桿，且 各支撐桿可調整彼間的距離，以適用於不同體型之復健者 ^該支撐裝置係以各該支撐桿之外側滑設於該主架之二 内，而該動力裝置係以一連接構件與該支撐裝置連接 ，以供該動力裝置帶動該支撐裝置於該主架之二支臂間上 ^ :移動，帶動復健者之手部得以上、下作伸展復健帶動 :·，上述該等復健裝置，由於係利用動力裝置帶動支撐 =置上、下移動，而牵引復健者之上肢移動。然而，復健 之上肢並無法自行施力，故無法針對復健者之手部進行1241909 V. Description of the invention (1) [Technical field to which the invention belongs] The present invention is a resistance-guided power-type upper limb training device, and particularly refers to a control unit that can be used to set macros & 士 $ 由 / 丄 丄 乃 j 疋 取 日The soil strength, movement, and distance of the fork force sensor are different. Different parameters are set for the rehabilitation person in different situations to achieve the best rehabilitation effect. [Previous technique] Six people and two people: People with general upper limb disabilities or strokes whose upper limbs can not perform stretching training and other rehabilitation :: some; Its upper limbs can recover strength and become dysprosium: cope with the movements that need to use strength around the daily life; and the structure of the rehabilitation equipment in the room, such as the new announcement No. 563536 "rehabilitation device" 2 ί :: 不 '其The main reason is that the main frame has-a base plate, which is suitable to set a seat for the rehabilitation person, and the base plate is provided with an upwardly extending arm on both sides of the seat in front of the seat for the support. Sliding device ^ This support device is attached-only for the backrest of the rehabilitation person's chest, and there are support rods on the two sides of the ft pad to support the forearm of the rehabilitation person, and each support rod can be adjusted between The distance is suitable for the rehabilitation of different body shapes. ^ The support device is slidably arranged inside the main frame two outside of each support rod, and the power device is connected with the support device by a connecting member for The power device drives the support device to the main The upper arm between the two arms of the frame ^: movement, which drives the rehabilitation hand to stretch up and down. Rehabilitation drive: · The above rehabilitation devices use the power device to drive the support = set up and down to move , While traction rehabilitation upper limbs move. However, the rehabilitation of the upper extremity cannot exert force on its own, so it cannot be performed on the hand of the rehabilitation person.
第6頁 1241909 五、發明說明（2) 施力等復健訓練，因此其功效相當有限 爰此，本發明人鑑於習知復健裝置具有上述種種之缺 失，因此乃潛心加以研穿，廿妳夕^峒上 所 並經夕次试作及改良，遂得以 百創出本發明。 【發明内容】 本發明之目的係在提供 力大小、移動速度、距離及 力訓練及伸展彎曲動作之復 ’作不同之施力訓練，亦可 健’進而達到最佳之復健效 引導動力式上肢訓練器尤其 肌肉病變之病人復健訓練。 一種可以設定受力感應器之受 不同之訓練模式，作為上肢施 健’並可針對不同上肢障礙者 分別獨立移動，進行上肢之復 果及多變化訓練功效，本阻力 適用於中風、脊髏損傷、神經 其特徵在於；基座，其設有槽道；移動裝置，設於基 坐，槽道内，該移動裝置上並設有第一滑塊，該第一滑塊 =第二滑執上作滑動，而第一滑塊上則設有握把，另第一 ’月塊岫端係透過球形接頭連接至受力感應器，又移動裝置 之底部係連設第二有滑塊，該第二滑塊係供貫穿接設於導 螺桿上’並於第二滑軌上作滑移；控制單元，其設置於基 座上’以設定受力感應器之受力大小、移動速度、距離及 训練模式，當受力感應器承受達到所設定之阻力值時，則 會控制導螺桿轉動，以帶動滑塊作等速直線移動。 【實施方式】 首先，請參閱第一圖所示，本發明主要包括有基座 (1)、移動裝置（2)及控制單元（3)，其中：Page 6 1241909 V. Description of the invention (2) Rehabilitation training such as exerting force, so its effectiveness is quite limited. In view of this, the inventor has studied the rehabilitation device with all the above-mentioned shortcomings, so I will study it with great concentration. Xi ^ 峒 shangsuo, and through the trial and improvement of Xi, then was able to create the invention. [Summary of the invention] The purpose of the present invention is to provide the strength, movement speed, distance and strength training and stretching and bending movements of the complex 'different force training, can also be healthy' and then achieve the best rehabilitation effect. Rehabilitation training for upper limb trainers, especially for patients with muscular lesions. A kind of training mode that can set the force sensor to be used as an exercise for the upper limbs, and can move independently for people with different upper limb disorders to perform upper limb rehabilitation and multi-variable training effects. This resistance is suitable for strokes and spinal injuries. The nerve is characterized in that: the base is provided with a channel; the mobile device is provided in the base seat and the channel, and the mobile device is provided with a first slider, and the first slider = the second slider Slide, while the first slider is provided with a grip, the other end of the first 'lunar block is connected to the force sensor through a ball joint, and the bottom of the mobile device is provided with a second slider, the second The slider is provided for penetrating through the lead screw and sliding on the second slide rail; the control unit is arranged on the base to set the force magnitude, moving speed, distance and training of the force sensor In the training mode, when the force sensor reaches the set resistance value, it will control the lead screw to rotate, so as to drive the slider to move at a constant linear speed. [Embodiment] First, referring to the first figure, the present invention mainly includes a base (1), a mobile device (2), and a control unit (3), of which:
1241909 五、發明說明（3) "一"' " -- 基座（1)，設有二相對之槽道（11)。 移動裝置（2)，如第二圖所示，其為由χ — γ向之線性平 ^構成，係設於基座（1)之槽道（11)内，該移動裝置（2)上 设有可縱向滑移之第一滑塊（21)，該第一滑塊（21)於第一 /月執（2 1 1 )上作滑動，又第一滑塊（2丨）上設有握把（2 2 )， 另第一滑塊（21)前端透過一球形接頭（212)而連接至一受 =感應器（23)，利用該球形接頭（212)使受力感應器（23) 確之水平推、拉力，又移動裝置（2)之底部設有 二二，向移動之調整座（24)，該調整座（24)二側設有第一 兀) ’且移動裝置⑴之底部係連設有第二滑塊 導螺:二^ ΐ供貫穿接設於-導引板(251 )及 9 乂干 苐一滑塊（25)之底部係可於第二滑執 導螺桿（26)二端*置處分別言史有極限開關 ==?'Γ(261)係可受到一馬達(28)之帶動。另於 柩接處及伸縮處分収有第二、三鎖定元件（2m2) 控制單元（3)，設置於基座（1)上，該控制 設定有被動模式及主動模式，以設 ^ 氧=;、距離及不同之钏練模式，，受力感應 二滑塊（25)移動。 便導螺杯（26)上之第 使用時’如第二、三圖所示，上臂 1241909 五、發明說明（4) 可握著握把（22) ’將前臂置放於承置座（29)上，並調整二 承置座（29)之伸展長度及其相對之夾角，再旋緊第二、三 鎖定元件（291)及（ 292 )，以配合不同復健者之體型使用， 當調整二手之間的距離時，則可調整該二調整座（2 4 )作橫 向之移動，然後旋緊第一鎖定元件（241)，即可調整出不 同之二手間距’當復健者欲作上肢施力之施力復健時，則 I經由控制單元（3)選擇不同之復健之訓練模式，並根據 復健，左、右二手不同程度之施力力量進行設定，如施力 之力量大時，則可設定受力感應器（23)之承受力量較大， 移動速度快及距離長，反之，施力之力量小時，則受力 應器（23j之承受力量宜較小，矛多動速度慢及距離短，當受 力感應器（23)之受力設定參數完成後，復健者之雙手可 一 ：塊(21)上之握把(22) ’然後開始進行復健訓 練模式分：說：：丨：兹就控制單元⑶所設定之復健訓 一、主動模式； !·單側訓練一由上肢訓練器主動之單側牽引。 之罩ίI於復健者之上肢完全無法施力時，可針對復健者 乍二練，完全由導螺桿⑽^ 健訓練。 對復健者之上肢進行伸展彎曲動作之復 可為同 自行轉 牛+ ^ ^側训練一由上肢訓練器主動之雙側牽引， 步或父替型態。 針對復健者之雙手作訓練，同樣由導螺桿（2 6 )1241909 V. Description of the invention (3) " 一 " '-The base (1) is provided with two opposite channels (11). The mobile device (2), as shown in the second figure, is composed of a linear flat surface in the direction of χ-γ, and is arranged in the channel (11) of the base (1). The mobile device (2) is provided with There is a first slider (21) that can slide longitudinally. The first slider (21) slides on the first / monthly holder (2 1 1), and a grip is provided on the first slider (2 丨). Connect (2 2) and the front end of the first slider (21) to a receiving sensor (23) through a ball joint (212), and use the ball joint (212) to make the force sensor (23) confirm Horizontal pushing, pulling force, and the bottom of the moving device (2) is provided with two two, an adjustment seat (24) that moves in the direction, the two sides of the adjusting seat (24) are provided with the first one) 'and the bottom of the moving device is A second slide guide screw is connected: two ^ ΐ for penetrating connection to the-guide plate (251) and 9 乂 dry 苐 one slide (25) bottom is connected to the second slide guide screw (26) two Terminals are placed at the limit of history, respectively ==? 'Γ (261) can be driven by a motor (28). In addition, the second and third locking elements (2m2) control unit (3) is received at the joint and telescopic position, and is set on the base (1). The control has a passive mode and an active mode to set ^ oxygen =; , Distance and different training modes, the force sensing two sliders (25) move. When using the cap on the guide screw cup (26), as shown in the second and third figures, the upper arm 1241909 V. Description of the invention (4) The grip can be held (22) 'Place the forearm on the receiving seat (29 ), And adjust the extension length of the two receiving seats (29) and their relative angles, and then tighten the second and third locking elements (291) and (292), to match the shape of different rehabilitation people, when adjusting When the distance between second-hand is used, the two adjusting seats (2 4) can be adjusted to move laterally, and then the first locking element (241) is tightened to adjust different second-hand distances. When the force is applied for rehabilitation, I select a different rehabilitation training mode via the control unit (3), and set the left and right second-hand different degrees of force according to the rehabilitation. When the force is applied, the force sensor (23) can be set to have a large bearing force, and the moving speed is fast and the distance is long. On the other hand, when the force is small, the force responder (23j should have a small bearing force and more spears). Slow speed and short distance, when the force setting parameters of the force sensor (23) are completed, rehabilitation The two hands can be one: the grip (22) on the block (21), and then start the rehabilitation training mode points: say: 丨: Here are the rehabilitation training set by the control unit ⑶, active mode;! · Unilateral training-Active unilateral traction by the upper limb trainer. When the upper limb of the rehabilitation person is unable to exert force at all, he can train the rehabilitation person for the second time and completely train with the lead screw. The upper limbs can perform the stretching and bending movements. The training can be the same as the self-turning cow + ^ ^ side training-active bilateral traction by the upper limb trainer, step or parent replacement type. For the rehabilitation of the hands of the rehabilitation, the same By lead screw (2 6)
1241909 五、發明說明（5) 動，以帶動移動裝置（2)移動。 a·如為同步型熊， b 一 該 二第二滑塊（25)於J _况^二側之導螺桿（26)轉動時， 滑塊 (二；2型態，如第五圖…是ί Γ =(27)上—前一後交互移動。 一 被動模式； 1 ·單側訓練〜單側設定 當復健者之單手椐# : L= 呆作。 始進行推動或拉動，使第一滑把(22)，開 移動，則受力感應器（23)透過球頭^ ^(211)上 釗筮一、、吾祕，Ο 1、 饮呼K 1 Z )精確的感受 到弟/月塊（21)之推力或拉力，當推力或拉力读糾μ α 11 (23) ^ ^ lfL ^ # ^i，J ^ ^ ί ί ^ 而使導螺^元（3)ΐ制馬達（28)帶動導螺桿（26)轉動， 移動，並“第亡；ί(;5::(動252Π二滑執(27)上開始 、第一 π塊（25) ▼動整組移動裝置（2)於導螺 2(26)上移動，該第二滑塊（25)於導螺桿（26)上之移 ^，可由控制單元（3)依復健者之上肢長度做預先設定，已 在此設定之移動範圍内，受力感應器（23)將依其感受之推 或拉力而令第一滑塊（2 5)向則或向後移行，藉使復健者 之手部前、後來回伸展彎曲復健，並可同時達到上肢之施 力復健訓練。如果第二滑塊因故障超出所設定之距離時^ 其會在導螺桿（2 6 )之二端碰觸到極限開關（2 6 1 )，而停止 導螺桿（26)繼續轉動。 7 2·雙侧訓練一雙側設定阻力值，雙侧操作，可為同步 1^· 第10頁 1241909 五、發明說明（6) 或交替型態。 、复健者之雙手分別握住第一滑塊（21 )上之握把（22)， 以進彳I推動或拉動，當受力感應器（2 3 )感受到所設定之阻 力值時’將使第二滑塊（25)於第二滑軌（27)上往前或往後 移動 乂使设健者之上肢前、後來回伸展、彎曲復健。 a•如為同步型態，則是該二第二滑塊（25)於第二滑軌 (27)上同步前、後移動。 b·如為交替型態，則是該二第二滑塊（25)於第二滑執 (27)上一前一後交互移動。 雙側訓練模式又可分為； I ·又側動作獨立模式；可依復健者之上肢具有不同 之鼽=值做分別設定，任一側之受力達到設定值，即可使 導螺扣（2 6 )上之第二滑塊（2 5 )於第二滑軌（2 7 )上開始移動 ，而達到最佳之雙側上肢獨立或交替動作訓練效果。 Π·雙側動作同步模式；可針對復 適當之阻力值，在此模式下，復健者雙手之推力或拉力必 須同時達到該側所設定之阻力值，導螺桿（26)上之第二滑 塊（25)才會於第二滑執（27)上開始移動，以進行動作同步 之上肢復健訓練。 3.協助式型態—單側設定阻力值，另側不設阻力值。 ::健者其中一手不設定阻力值’而另—手設定阻力值， 定阻力值之手’隨同已設定阻力值手㈣，而達到 =同步或交替）之復健訓練’其對單侧手完全不能活 動者k供理想之雙側復健運動，有助於雙側上肢之協調運1241909 V. Description of the invention (5) to move the mobile device (2). a · If it is a synchronous bear, b—When the two second sliders (25) are rotated on the two sides of the lead screw (26), the slider (two; 2 type, as shown in the fifth figure ... is ί Γ = (27) up-forward and backward interactive movement. A passive mode; 1 · unilateral training ~ unilateral setting when the rehabilitation person's one hand 椐 #: L = idle. Start pushing or pulling, so that the first Once the slider (22) is moved, the force sensor (23) passes through the ball head ^ ^ (211) Zhao Zhaoyi, Wu Mi, 〇 1, Yinhu K 1 Z) accurately feel the brother / The thrust or pull of the lunar block (21), when the thrust or pull reads μ α 11 (23) ^ ^ lfL ^ # ^ i, J ^ ^ ί ^ ^ and the guide screw ^ element (3) controls the motor (28 ) Drive the lead screw (26) to rotate, move, and "Die ;; (5 :: (moving 252Π starting from the second slide (27), the first π block (25) ▼ moving the entire group of mobile devices (2) Move on the guide screw 2 (26). The movement of the second slider (25) on the guide screw (26) ^ can be preset by the control unit (3) according to the length of the upper limb of the rehabilitation person, which has been set here. Within the moving range, the force sensor (23) will make the first slider according to the pushing or pulling force it feels. 2 5) Move backwards or backwards, so that the hand of the rehabilitation person can stretch back and forth to flex and recover, and at the same time can reach the rehabilitation training of the upper limbs. If the second slider exceeds the set distance due to the failure Time ^ It will touch the limit switch (2 6 1) at the two ends of the lead screw (2 6), and stop the lead screw (26) to continue to rotate. 7 2 · Double-sided training-Set the resistance value on both sides, both sides The operation can be synchronized 1 ^ · Page 10 1241909 V. Description of the invention (6) or alternate type. The two hands of the rehabilitation person respectively hold the grips (22) on the first slider (21) to I push or pull, when the force sensor (2 3) feels the set resistance value, 'the second slider (25) will move forward or backward on the second slide rail (27) 乂The upper limbs of the exerciser are stretched back and forth forward and backward to flex and rehabilitate. A • If it is synchronized, the two second sliders (25) move forward and backward synchronously on the second slide rail (27). b. If it is an alternating pattern, the second and second sliders (25) move on the second slider (27) one by one and one after the other. The bilateral training mode can be divided into; Independent mode; it can be set separately according to the different values of upper limbs of the rehabilitation person. The force on either side reaches the set value, and the second slider (2 5) on the guide screw (2 6) can be made. Start to move on the second slide rail (2 7), and achieve the best bilateral upper limb independent or alternating movement training effect. Π · Bilateral movement synchronization mode; it can target the appropriate resistance value. The push or pull of the athlete's hands must simultaneously reach the resistance value set on that side, and the second slider (25) on the lead screw (26) will start to move on the second slider (27) to perform the action Synchronized upper limb rehabilitation training. 3. Assisted Type—Set the resistance value on one side and no resistance value on the other side. :: One of the healthy people does not set the resistance value 'and the other-the hand sets the resistance value, the hand that sets the resistance value' follows the set resistance value hand, and reaches = synchronization or alternation) 's rehabilitation training', which is for unilateral hands People who are completely inactive can provide ideal bilateral rehabilitation exercises, which will help coordinate the upper limbs.
第11頁 1241909 五、發明說明（7) 動訓練。 本發明另一實施例，如 上設有二相對之橫向槽道（ f " 不，/、中該基座（1 ) 設置於其上，提供復健者可以)’以供整組之移動裝置⑴ 彎曲訓練。 達到&向之施力訓練及伸展 本發明又一實施例，如 上設有二相對之斜向槽道(丄七圖所不…該基座⑴ 1置於苴上，摇批1你土（11B) ’以供整組之移動裝置（2) 汉置X共上，梃供復健者可 彎曲訓練。 τ以達到斜向之施力訓練及伸展 本發明再一實施例，如第 ^ ^ ^ ^ 可樞設於一支撐架（Α)上， "^ ^ 中該基座（1) ⑻，利用壓紅之作動伸出u⑴底部枢接有-壓缸 ϋ ί 則從0。到60。，共計有六個不同傾 斜角ίί變化選擇，以供作不同角度之復健訓練使用。、 心明已製成貫物，如附件所示，其確實可以達 上述之功效目的。 故由以上說明可知’本發明實施例確實具有下列之 點： 1 ·本發明之任一動作均為等速直線運動，於復健訓練 中不易使肌肉受傷，尤其適用於中風、脊髓損傷、神經肌 肉病變之病人。 ^ 2 ·本發明可針對不同上肢障礙者，設定受力感應器之 受力大小、移動速度及距離、模式，進而達到最佳的復健 效果。Page 11 1241909 V. Description of the invention (7) Dynamic training. In another embodiment of the present invention, two opposite lateral channels are provided as above (f " no, /, the base (1) is provided on it, and the rehabilitation can be provided) 'for the entire group of mobile devices弯曲 Bend training. To achieve & force training and stretching in another embodiment of the present invention, there are two opposite diagonal channels as described above (not shown in the seventh picture ... the base ⑴ 1 is placed on the ，, and the shaker 1 is soil) ( 11B) 'For the entire group of mobile devices (2) Chinese set X co-up, 梃 for rehabilitation training bend. Τ to achieve oblique force training and stretching Another embodiment of the present invention, such as the first ^ ^ ^ ^ Can be pivotally mounted on a support frame (Α), " ^ ^ the base (1) ⑻, which is extended by the action of pressing red ⑴ the bottom is pivoted with-pressure cylinder ϋ from 0. to 60 There are a total of six different inclination angles to choose from for rehabilitation training at different angles. Xinming has been made into an object, as shown in the attachment, which can indeed achieve the above-mentioned efficacy. Therefore, from the above It can be seen from the description that the embodiments of the present invention do have the following points: 1. Any of the actions of the present invention is a constant-speed linear motion, which is not easy to cause muscle injury during rehabilitation training, and is particularly suitable for stroke, spinal cord injury, and neuromuscular diseases. Patients. ^ 2 · The present invention can be used to set the force of the force sensor for people with different upper limb disorders. Size, speed and distance of movement, patterns, and thus to achieve the best effect of rehabilitation.
1241909 發明說明（8) 3. 本 上肢之關 常之上肢 4. 本 有效復健 才可使第 提高復健 故其復健 之運動模 病人 綜上 效，且於 先者，故 出專利申 發明可 節活動 肌肉張 發明可 因素， 二滑塊 者主動 效果極 式，因 達到上 度訓練 力功能 提供[ 鼓勵復 於第二 參與之 佳。對 此本發 肢肌力 及上肢 (不正 主動參 健者必 滑執上 動機， 功能極 明可以 訓練、上肢動作功能訓練、 推拉力測量，以及降低不正 常姿勢或動作）。 與】及【重複練習】之兩大 須達到所設定之施力標準， 移動，進行伸展彎曲訓練， 確實達到有效復健之目的， I之病患亦能提供上肢適用 適用在各種上肢障礙之復健 所述，本發明 同類產品中更 本發明當能符 請，懇請早曰 確實可以達到預期之使用目的及功 未見有相同發明特徵公知、公用在 合發明專利之申請要件，爰依法提 審結’並賜准專利，實深任感荷。 第13頁 1241909 圖式簡單說明 【圖式說明】 第一圖為本發明之立體示意圖。 第二圖為本發明之組合剖視圖。 第 二 圖為本發 明之 結 構（上視）示意圖。 第 四 圖為本發 明之 作 動 不意 圖。 第 五 圖為本發 明之 交 替 作動 示意圖。 第 六 圖為本發 明另 一 實 施例 之示意圖。 第 七 圖為本發 明又 一 實 施例 之示意圖。 第 八 圖為本發 明再 一 實 施例. 之示意圖。 附 件 為本發明 所製 成 之 實物 相片。 [ 圖 式符號說 明】 (1) 基 座 (11) 槽 道 (11A) 橫 向 槽 道 (11B) 斜 向 槽 道 (2) 移 動 裝 置 (21) 第 一 滑 塊 (211) 第 一 滑 執 (212) 球 形 接 頭 (22) 握 把 (23) 受 力 感 應 器 (24) 調 整 座 (241) 第 —"― 鎖 定 元 件 (25) 第 二 滑 塊 (251) 導 引 板 (26) 導 螺 桿 (261) 極 限 開 關 (27) 第 二 滑 軌 (28) 馬 達 (29) 承 置 座 (291) 第 二 鎖 定 元 件 ( 29 2 ) 第 -—** 鎖 定元 件（3) 控 制 單 元 (A) 支 撐 架 (B) 壓 缸1241909 Description of the invention (8) 3. The upper limbs are usually the upper limbs. 4. The effective rehabilitation can make the first comprehensive improvement of the rehabilitation model and the rehabilitation of the patients with exercise models. The muscles that can be active can be stretched, and the active effect of the two sliders is extremely extreme, because the function of the upper training power is provided [encouraging recovery is better than the second participation. In this case, the limb muscle strength and upper limbs (improper active participants must slip on their motives, function can be trained, upper limb motor function training, push-pull force measurement, and reduce abnormal posture or movement). And] and [repeated practice] The two major requirements must meet the set force application standards, move, and perform stretching and bending training, and indeed achieve the purpose of effective rehabilitation, I patients can also provide upper limbs suitable for rehabilitation of various upper limb disorders As mentioned above, the invention of the same kind of product of the present invention should be able to comply with the request, and I hope that the intended purpose of use can be achieved as early as possible. And given a quasi-patent, I feel deeply responsible. Page 13 1241909 Brief description of the drawings [Illustration of the drawings] The first figure is a schematic perspective view of the present invention. The second figure is a combined sectional view of the present invention. The second figure is a schematic view of the structure (viewed from above) of the present invention. The fourth picture is the intention of the invention. The fifth figure is a schematic diagram of the alternate operation of the present invention. The sixth diagram is a schematic diagram of another embodiment of the present invention. The seventh diagram is a schematic diagram of another embodiment of the present invention. The eighth figure is a schematic diagram of another embodiment of the present invention. Attachments are physical photos made by the present invention. [Symbol description] (1) Base (11) Channel (11A) Horizontal channel (11B) Inclined channel (2) Moving device (21) First slider (211) First slider (212) ) Ball joint (22) Grip (23) Force sensor (24) Adjusting seat (241) No.-"Locking element (25) Second slider (251) Guide plate (26) Lead screw (261 ) Limit switch (27) Second slide rail (28) Motor (29) Mount (291) Second lock element (29 2) No.-** Lock element (3) Control unit (A) Support frame (B ) Pressure cylinder
第14頁Page 14