Sole rhythm mechanism and rehabilitation physiotherapy robot

Abstract

The invention discloses a sole rhythm mechanism and a rehabilitation physiotherapy robot, the sole rhythm mechanism comprises a fixed frame body, a movable frame body and a driving assembly, the movable frame body is mounted on the fixed frame body in a manner of being capable of translating in the transverse direction, and the movable frame body comprises a foot support; the foot support comprises a first plate body extending in the vertical direction, a second plate body extending in the transverse direction and a limiting structure arranged on the first plate body, the first plate body is used for placing a foot, the second plate body is used for supporting an ankle, and the limiting structure is used for limiting the foot on the first plate body; the driving assembly is arranged on the fixed frame body and is in driving connection with the movable frame body. The movable frame body can horizontally move in the transverse direction, the feet and the ankles can be driven to conduct outward moderate stretching and inward moderate pressing relative to the legs, physical therapy relaxation of the feet and the ankles of a user can be achieved, horizontal movement can be transmitted to leg joints, physical therapy relaxation of the legs of the user can be achieved in an auxiliary mode, and the physical therapy effect is good. Therefore, the overall physical therapy effect from the legs to the soles of the user is better.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation therapy robots, and in particular to a plantar rhythm mechanism and a rehabilitation therapy robot. Background Art

[0002] Studies have shown that physical vibration therapy can relax muscles and promote blood circulation, and has a significant effect on relieving physical fatigue and mental tension in sub-healthy patients. As one of the physical vibration therapies, foot vibration therapy transmits vibration from the feet to the whole body to achieve the purpose of relieving fatigue.

[0003] For this reason, there are physiotherapy mechanisms on the market that can achieve foot swinging massage. The physiotherapy mechanism mainly drives the foot to swing to achieve the purpose of relaxing the foot. However, when the existing foot physiotherapy mechanism drives the foot to swing, the movement is generally only concentrated on the ankle rotation, and the movement cannot be transmitted to the joints of the whole body, resulting in poor physiotherapy effect and failure to deeply relax the user. Summary of the invention

[0004] The main purpose of the present invention is to provide a foot rhythmic mechanism and a rehabilitation therapy robot, aiming to solve the problem of poor therapeutic effect of the physiotherapy method of swinging the feet in traditional foot therapy mechanisms.

[0005] To achieve the above-mentioned purpose, the present invention provides a foot rhythm mechanism, comprising:

[0006] Fixed frame;

[0007] A movable frame is installed on the fixed frame in a lateral translational manner, the movable frame includes a foot support, the foot support includes a first plate extending vertically, a second plate extending horizontally, and a limiting structure provided on the first plate, the first plate is used for placing the foot, the second plate is used for supporting the ankle, and the limiting structure is used for limiting the foot at the first plate; and,

[0008] The driving assembly is arranged on the fixed frame and is drivingly connected to the movable frame.

[0009] Optionally, the driving assembly comprises:

[0010] A driver, disposed on the fixed frame and having an output shaft rotatably disposed around an axis extending in the longitudinal direction;

[0011] An eccentric member, comprising a first shaft portion and a second shaft portion connected in sequence along the longitudinal direction, wherein the first shaft portion and the second shaft portion are respectively elongated along the longitudinal direction, and a central axis of the first shaft portion is parallel to a central axis of the second shaft portion, and the first shaft portion is coaxially connected to the output shaft;

[0012] A swinging member, wherein a first shaft hole is penetrated at one lateral end of the swinging member along the longitudinal direction, the first shaft hole is used for the second shaft portion to be rotatably mounted, and a second shaft hole is penetrated at the other lateral end of the swinging member along the longitudinal direction;

[0013] A connecting member is fixedly mounted on the second plate body, wherein the connecting member is provided with a third axial hole in the longitudinal direction corresponding to the second axial hole; and

[0014] The connecting shaft is sequentially passed through the second shaft hole and the third shaft hole so that the swinging member can be rotatably mounted on the connecting member.

[0015] Optionally, the driving assembly is suspended on a side of the second plate body that is vertically opposite to the first plate body.

[0016] Optionally, the driving assembly further includes:

[0017] A self-aligning bearing installed between the first shaft hole and the second shaft portion;

[0018] a deep groove bearing installed between the second shaft hole and the connecting shaft; and,

[0019] A gasket is provided at least corresponding to the second axial hole and the third axial hole, and is sandwiched between the connecting member and the swinging member.

[0020] Optionally, the fixed frame includes a bottom frame, the bottom frame is arranged on a side of the second plate body facing away from the first plate body in the vertical direction, and the second plate body is supported on the bottom frame;

[0021] One of the second plate and the base frame is provided with a sliding groove extending in the transverse direction, and the other is provided with a sliding protrusion, the sliding protrusion is slidably connected with the sliding groove, and the sliding matching part between the sliding protrusion and the sliding groove is dovetail-shaped;

[0022] Wherein, the length of the slide groove is not less than the maximum translation distance of the foot support in the lateral direction.

[0023] Optionally, the first plate body and the second plate body are obtained by bending a plate.

[0024] Optionally, the periphery of the first plate body and / or the second plate body is partially bent to form a first flange; and / or,

[0025] The first plate and / or the second plate are partially hollowed out; and / or,

[0026] The foot support further includes at least two reinforcing ribs, and the two reinforcing ribs are cross-fixed on a side of the first plate body facing away from the second plate body.

[0027] Optionally, the fixed frame includes:

[0028] a bottom frame, the bottom frame being arranged on a side of the second plate body facing away from the first plate body in a vertical direction; and

[0029] A leg bracket is spaced apart and arranged on a side of the second plate body away from the first plate body in the transverse direction;

[0030] Wherein, the leg bracket and the second plate body are both supported on the base frame, and the vertical height of the leg bracket is not higher than the vertical height of the second plate body.

[0031] Optionally, the foot support further comprises a third plate, the third plate is detachably connected between the second plate and the base frame, and the second plate and / or the third plate is at least partially bent at a side edge close to the leg support in a lateral direction to form a second flange;

[0032] When the driving assembly drives the foot support to translate in a lateral direction, the second flange is spaced apart from the side edge of the leg support.

[0033] In addition, in order to achieve the above-mentioned purpose, the present invention provides a rehabilitation therapy robot, the rehabilitation therapy robot includes a plantar rhythmic mechanism, and the plantar rhythmic mechanism includes:

[0034] Fixed frame;

[0035] A movable frame is installed on the fixed frame in a lateral translational manner, the movable frame includes a foot support, the foot support includes a first plate extending vertically, a second plate extending horizontally, and a limiting structure provided on the first plate, the first plate is used for placing the foot, the second plate is used for supporting the ankle, and the limiting structure is used for limiting the foot at the first plate; and,

[0036] The driving assembly is arranged on the fixed frame and is drivingly connected to the movable frame.

[0037] In the technical solution provided by the present invention, the sole rhythm mechanism can realize the physical therapy function when the user is lying flat. Part of the fixed frame can be used to fix the user's legs; the first plate in the foot support can be used to fix the user's feet, and the second plate can support the user's ankles; because the movable frame can move horizontally relative to the fixed frame as a whole, it can also drive the foot and ankle to be moderately stretched outward and pressed inward relative to the leg, which can not only achieve physical therapy relaxation for the user's feet and ankles, but also transmit the translational movement to the leg joints, assisting in achieving physical therapy relaxation for the user's legs, so that the overall physical therapy effect from the user's legs to the soles of the feet is better, and the physical therapy comfort is significantly improved, which helps to improve the product's use quality and the user's experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0039] Figure 1 A three-dimensional schematic diagram of an embodiment of the plantar rhythm mechanism provided by the present invention;

[0040] Figure 2 for Figure 1 A three-dimensional schematic diagram of the mid-foot rhythmic mechanism from another perspective;

[0041] Figure 3 for Figure 1 A schematic side view of the mid-foot rhythmic mechanism;

[0042] Figure 4 for Figure 1 A three-dimensional schematic diagram of the middle drive assembly;

[0043] Figure 5 for Figure 4 Schematic diagram of the main structure of the mid-drive component;

[0044] Figure 6 for Figure 4 Schematic diagram of the cross-sectional structure of the drive assembly.

[0045] Description of Figure Numbers:

[0046] 100 fixed frame; 110 base frame; 120 leg bracket; 200 movable frame; 211 first plate; 212 second plate; 213 limiting structure; 214 first flange; 215 reinforcing rib; 216 third plate; 217 second flange; 300 driving assembly; 310 driver; 311 output shaft; 320 eccentric member; 321 first shaft portion; 322 second shaft portion; 330 swing member; 331 first shaft hole; 332 second shaft hole; 340 connecting member; 341 third shaft hole; 350 connecting shaft; 360 self-aligning bearing; 370 deep groove bearing; 380 gasket; 410 slide groove; 420 slide protrusion.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] See also Figures 1 to 6 The present invention provides a plantar rhythmic mechanism and a rehabilitation therapy robot to which the mechanism can be applied.

[0052] Among them, the sole rhythm mechanism is mainly used to perform physical therapy on the soles of the user's feet. It can be understood that the sole rhythm mechanism can be used alone or in conjunction with other mechanisms, such as a leg rhythm mechanism. Specifically, when the sole rhythm mechanism is used in conjunction with, for example, a leg rhythm mechanism, a hip rhythm mechanism, and a back rhythm mechanism, they can together constitute products such as rehabilitation therapy robots, allowing users to perform targeted or coordinated physical therapy on various parts of the body.

[0053] It should be noted that, for ease of understanding, in the following embodiments, the foot rhythm mechanism is described as having two substantially perpendicular vertical, horizontal and longitudinal directions. When the foot rhythm mechanism is put into use, the vertical direction may correspond to the direction of gravity, with an upper side and a lower side; the horizontal and longitudinal directions are any two substantially perpendicular directions on a horizontal plane. The horizontal plane is also a plane that is substantially perpendicular to the direction of gravity.

[0054] Specifically Figures 1 to 6 Taking the structure shown as an example, the plantar rhythm mechanism includes a fixed frame 100, a movable frame 200 and a driving assembly 300. The movable frame 200 is installed on the fixed frame 100 in a translatable manner in the horizontal direction, and the movable frame 200 includes a foot support, which includes a first plate 211 extending vertically, a second plate 212 extending in the horizontal direction, and a limiting structure 213 provided on the first plate 211. The first plate 211 is used for placing the foot, the second plate 212 is used for supporting the ankle, and the limiting structure 213 is used for limiting the foot at the first plate 211; the driving assembly 300 is provided on the fixed frame 100 and is drivingly connected to the movable frame 200.

[0055] In the technical solution provided by the present invention, the plantar rhythm mechanism can realize the physical therapy function when the user is lying flat. Among them, part of the frame in the fixed frame 100 can be used to fix the user's legs; the first plate 211 in the foot support can be used to fix the user's feet, and the second plate 212 can support the user's ankles; because the movable frame 200 can move horizontally relative to the fixed frame 100 as a whole, it can also drive the feet and ankles to be appropriately stretched outward and pressed inward relative to the legs, which can not only achieve physical therapy relaxation for the user's feet and ankles, but also transmit the translational movement to the leg joints, assisting in achieving physical therapy relaxation at the user's legs, so that the overall physical therapy effect from the user's legs to the soles of the feet is better, and the physical therapy comfort is significantly improved; in addition, when the user performs translational rhythmic movements in a lying posture, because the user's body is lying flat, the direction of the driving force applied to the feet to drive the feet to perform rhythmic movements is crossed and not colinear or parallel with the direction of the gravity to which the user is subjected, so that only the friction between the body and the second plate 212 needs to be overcome, and the driving torque can be set to be small, which helps to improve the product's use quality and the user's use experience on the basis of energy saving.

[0056] When the plantar rhythmic mechanism is used alone, the fixed frame can be directly placed on a platform such as the ground; when the plantar rhythmic mechanism is used in a rehabilitation therapy robot, the fixed frame can be fixedly connected to the bottom support structure of the rehabilitation therapy robot, or fixedly connected to the leg rhythmic mechanism adjacent to the plantar rhythmic mechanism.

[0057] The specific form of the fixing frame is not limited, and may be, but not limited to, a seat, a plate, a frame, or a box. Figures 1 to 6As shown, the fixed frame may include a base frame 110 and a leg support 120. The base frame 110 is arranged on a side of the second plate body 212 facing away from the first plate body 211 in the vertical direction; the leg support 120 is arranged at intervals on a side of the second plate body 212 away from the first plate body 211 in the horizontal direction; wherein the leg support 120 and the second plate body 212 are both supported on the base frame 110. It can be understood that the base frame 110 extends generally along the horizontal plane, and the movable support is arranged at the vertical upper end of the base frame 110, so as to achieve better support for the user's foot and ankle under the support of the base frame 110. The leg support 120 is at least partially arranged at the vertical upper end of the base frame 110, and the leg support 120 is located on one side of the lateral side of the movable support, so that when the user uses the foot rhythm mechanism in a lying posture, the leg support 120 and the foot support are adapted to the shape of the legs, ankles and feet and naturally stretched out.

[0058] The height of the leg support 120 relative to the base frame 110 is the first height, and the height of the second plate 212 relative to the base frame 110 is the second height, and the first height is generally not higher than the second height. In this way, when the user uses the foot rhythm mechanism in a lying position, the support height of the leg support 120 for the leg and the support height of the second plate 212 for the ankle naturally adapt to the shape of the leg to the ankle, which is more ergonomic and ensures that the user lies flat in a state close to zero gravity as much as possible, which is more conducive to enhancing the physical therapy effect and improving the physical therapy comfort.

[0059] It should be noted that, in a further solution, the leg support 120 is movable and adjustable relative to the base frame 110, and / or the second plate 212 is movable and adjustable relative to the base frame 110, that is, the first height and / or the second height can be flexibly adjusted, so that the leg support 120 and the second plate 212 are more suitable for different leg features of different users, increasing application flexibility. Of course, the movable adjustment of the leg support 120 relative to the base frame 110, and / or the movable adjustment of the second plate 212 relative to the base frame 110 is not limited, and can be, but not limited to, translational driving by the driver 310, or elastic adaptation by an elastic structure, etc.

[0060] The movable bracket as a whole can be translated laterally relative to the fixed bracket, and specifically can be translated back and forth laterally in the direction close to and away from the legs. Among them, the movement stroke and reciprocating motion frequency of the movable bracket need to be limited within a reasonable range so as to better meet the user's foot therapy needs. If the movement stroke and frequency of the movable bracket exceed the user's foot therapy needs, on the one hand, it is easy to cause excessive setting of the plantar rhythm mechanism, which is not conducive to energy saving and consumption reduction; on the other hand, it is easy to cause excessive stretching and pressing of the foot, causing human injury. On the contrary, if the movement stroke of the movable bracket is lower than the user's foot therapy needs, it is easy to weaken the therapy effect and reduce the quality of therapy. Specifically in one application, for example, the movement stroke of the movable bracket can be set within the range of 1mm to 6mm; the reciprocating motion frequency can be set within the range of 1.0Hz to 50Hz.

[0061] Therefore, in practical application, the driving assembly 300 can be set to drive the movable frame 200 to translate in the lateral direction, with a first limit position farthest from the leg support 120 and a second limit position closest to the leg support 120. In the process of moving to the first limit position, try to make sure that there is no interference block in the same direction between the movable frame 200 and the base frame 110; conversely, try to make sure that there is no interference block in the same direction between the movable frame 200 and the leg support 120 during the movement to the second limit position. In this way, it can be ensured that there will be no collision with the fixed frame 100 during the entire translation process of the movable frame 200. On the one hand, it helps to form an excessive collision force during the collision process, and when the collision force is transmitted to the user's foot and leg joints, it causes vibration damage to the user's foot and leg joints; on the other hand, it helps to reduce the noise during the translation process of the movable frame 200, so that the translation of the movable frame 200 remains silent, and improves the user's comfort in physical therapy.

[0062] Specifically, in one embodiment, the foot support further includes a third plate 216, which is detachably connected between the second plate 212 and the base frame 110, and the second plate 212 and / or the third plate 216 are at least partially bent at the side edge near the leg support 120 in the horizontal direction to form a second flange 217; when the driving assembly 300 drives the foot support to translate in the horizontal direction, the second flange 217 is spaced from the side edge of the leg support 120. The vertical projection of the third plate 216 is generally larger than the vertical projection of the second plate 212, so as to increase the support stability of the second plate 212 on the base frame 110. The second plate 212 and the third plate 216 can be integrally formed, or can be detachably or non-detachably connected after being separately formed. When connected and fixed, the third plate 216 and the base frame 110 are movable in the horizontal direction. In this way, the shaping of the first plate 211 and the second plate 212 and the active cooperation between the third plate 216 and the bottom frame 110 can be made independent of each other. The side edge of the second plate 212 and / or the third plate 216 closest to the leg support 120 is partially bent to form a second flange 217 .

[0063] Under normal circumstances, the second flange 217 is configured not to abut against the adjacent side edges between the legs during the entire translational travel of the movable frame 200, and to maintain a gap, thereby ensuring that when in the above-mentioned second extreme position, no interference collision occurs between the movable frame 200 and the leg support 120.

[0064] Of course, when the second flange 217 is driven to come abnormally close to and abut the adjacent side edge of the leg support 120, the setting of the flange can, on the one hand, help increase the facing area between the movable frame 200 and the leg support 120, so that even if a collision occurs, stress concentration can be minimized; on the other hand, it can help increase the elastic deformation capacity of the portion of the movable frame 200 that faces the leg support 120, so that even if a collision occurs, part of the collision force can be offset by elastic deformation.

[0065] The first plate 211 extends vertically and is mounted on the second plate 212, and is close to a side edge of the second plate 212 away from the leg support 120. The first plate 211 is adapted to the shape and size of the user's foot, so that when the user's foot is supported on the first plate 211, the first plate 211 forms a sufficient board surface to contact the foot.

[0066] The specific form of the limiting structure 213 is not limited, and can be, but not limited to, a structure such as a strap, a hoop, etc. The limiting structure 213 can limit and fix the foot on the first plate 211, so that when the user is completely relaxed, the foot can still be in contact with the first plate 211, and can be driven by the first plate 211 to be stretched and pressed in the horizontal direction.

[0067] It should be noted that in order to improve the comfort of the first plate 211 and the limiting structure 213 on the foot, in a further solution, the first plate 211 and / or the limiting structure 213 may be made of elastic material at least on the surface in contact with the foot, or be provided with an elastic material layer, so that the placement of the foot on the first plate 211 and the foot when limited by the limiting structure 213 are more comfortable.

[0068] In addition, in one application, the relative angle between the first plate body 211 and the second plate body 212 can be set to be constant. In this case, the first plate body 211 and the second plate body 212 can be obtained by integral molding, or they can be detachably or non-detachably connected after separate molding. When the first plate body 211 and the second plate body 212 are integrally molded, specifically, the first plate body 211 and the second plate body 212 can be obtained by bending a plate. The plate can be a metal plate, or it can be made of a polymer material with sufficient structural strength. The first plate body 211 and the second plate body 212 are obtained by bending the same plate, so that the first plate body 211 and the second plate body 212 have uniformity in structural strength, and it helps to simplify the processing of the first plate body 211 and the second plate body 212.

[0069] In another application, the relative angle between the first plate 211 and the second plate 212 can be set to be movable and adjustable. In this case, the second plate 212 is fixed to the base frame 110 directly or indirectly through the third plate 216, and is fixed by default; and the first plate 211 can be set to have one side edge rotatably connected to the second plate 212, so that the other side edge of the first plate 211 can be rotated in the direction of approaching and moving away from the second plate 212, and then the angle between the first plate 211 and the second plate 212 can be adjusted. It should be noted that the rotation process of the first plate 211 relative to the second plate 212 can be performed before the driving assembly 300 drives the movable frame 200 to translate relative to the fixed frame 100, and the angle between the first plate 211 and the second plate 212 is maintained at the target angle and then the angle is locked, and the subsequent translation rhythm is performed at the locked target angle. In this way, by adjusting the angle between the first plate 211 and the second plate 212, the sole and ankle of the user can be rotated to any desired target angle. On the one hand, it is adapted to the different foot conditions of different users; on the other hand, it allows the user to perform translational rhythmic therapy in any posture, increasing the richness of the therapy operation.

[0070] In view of the above, the first plate body 211 and the second plate body 212 are generally formed by forming a plate with a smaller thickness. In order to increase the structural strength of the first plate body 211 and the second plate body 212, in one embodiment, the periphery of the first plate body 211 and / or the second plate body 212 is partially bent to form a first flange 214. The number of the first flanges 214 is adapted to the specific shape of the first plate body 211 and / or the second plate body 212. For example, when the first plate body 211 and / or the second plate body 212 is specifically rectangular, the first flanges 214 are set to four corresponding to the four side edges of the first plate body 211 and / or the second plate body 212. The thickness of the first flange 214 can be adjusted arbitrarily according to actual needs.

[0071] And / or in one embodiment, the first plate 211 and / or the second plate 212 are partially hollowed out. By hollowing out the first plate 211 and / or the second plate 212, the material of the first plate 211 and / or the second plate 212 is lighter, and the driving assembly 300 consumes less power when driving the movable frame 200, which is more helpful to save energy consumption.

[0072] And / or in one embodiment, the foot support further includes at least two reinforcing ribs 215, and the two reinforcing ribs 215 are cross-fixed on the side of the first plate 211 facing away from the second plate 212. Taking the two reinforcing ribs 215 shown in the drawings as an example, the two reinforcing ribs 215 can be respectively extended and arranged along the two diagonal lines of the first plate 211, thereby improving the structural strength of the entire first plate 211.

[0073] In view of the above one or more embodiments, there are many specific solutions for the drive assembly 300 to achieve the above purpose, for example, it can only include a power device with linear output; or include a power device with linear output or rotation output, and a transmission assembly. The transmission assembly can achieve the purpose of reversing, speed regulation, adaptive installation, etc. according to actual needs.

[0074] As specifically Figures 1 to 6In the structure shown, the driving assembly 300 includes a driver 310, an eccentric member 320, a swing member 330, a connecting member 340 and a connecting shaft 350. The driver 310 is arranged on the fixed frame 100 and has an output shaft 311 rotatably arranged around an axis extending in the longitudinal direction; the eccentric member 320 includes a first shaft portion 321 and a second shaft portion 322 connected in sequence in the longitudinal direction, the first shaft portion 321 and the second shaft portion 322 are respectively extended in an elongated shape in the longitudinal direction, and the central axis of the first shaft portion 321 is parallel to the central axis of the second shaft portion 322, and the first shaft portion 321 is coaxially connected to the output shaft 311; the lateral axis of the swing member 330 ... A first axial hole 331 is longitudinally penetrated toward one end, and the first axial hole 331 is used for rotatable installation of the second shaft portion 322. A second axial hole 332 is longitudinally penetrated at the other lateral end of the swinging member 330; the connecting member 340 is fixedly installed on the second plate body 212, and a third axial hole 341 is longitudinally penetrated at the connecting member 340 corresponding to the second axial hole 332; the connecting shaft 350 is sequentially penetrated through the second axial hole 332 and the third axial hole 341, so that the swinging member 330 is rotatably installed on the connecting member 340.

[0075] Specifically, the driving assembly 300 can be placed at the vertical upper end of the second plate 212. However, in order to reduce the impact on the legs and ankles, the driving assembly 300 can be suspended on one longitudinal side of the second plate 212, or the driving assembly 300 can be suspended on the side of the second plate 212 facing away from the first plate 211 in the vertical direction, that is, the vertical lower end of the second plate 212.

[0076] The driver 310 may be a motor. The main body of the driver 310 may be directly fixed on the fixing frame, for example, fixed on the leg support 120; or the main body of the driver 310 may be indirectly fixed on the fixing frame through a mounting bracket.

[0077] The eccentric member 320 is roughly in the shape of a circular shaft. The first shaft portion 321 and the second shaft portion 322 can be integrally formed, or can be detachably or non-detachably connected after being separately formed. The first shaft portion 321 is coaxially mounted with the output shaft 311 of the driver 310, and specifically, a slot can be provided in one of the first shaft portion 321 and the output shaft 311, and the other can be inserted in the slot. Alternatively, the coaxial connection between the first shaft portion 321 and the output shaft 311 can be achieved through a coupling. In this way, when the output shaft 311 rotates, the first shaft portion 321 is driven to rotate around its own central axis. The central axis of the second shaft portion 322 and the central axis of the first shaft portion 321 are not colinear but parallel. Therefore, when the first shaft portion 321 rotates around its own central axis, the second shaft portion 322 is synchronously driven to revolve around the central axis of the first shaft portion 321, that is, eccentric rotation is performed.

[0078] The swing member 330 is generally in the shape of a rod or a plate extending in the transverse direction. The second shaft portion 322 can be directly rotatably mounted on the first shaft hole 331. Alternatively, the second shaft portion 322 can be indirectly rotatably mounted on the first shaft hole 331 through any suitable bearing or other structure. The bearing can be, but is not limited to, a self-aligning bearing 360, which is more suitable for the revolution of the second shaft portion 322 relative to the first shaft portion 321.

[0079] The connecting member 340 is fixedly connected to the movable frame 200, and specifically can be fixedly connected to the second plate 212 and / or the third plate 216. The connecting member 340 is provided with a third shaft hole 341 at a position corresponding to the second shaft hole 332. However, when the connecting member 340 includes two plate structures disposed on both sides of the swinging member 330 in the longitudinal direction, two third shaft holes 341 are provided correspondingly.

[0080] The connecting shaft 350 is sequentially inserted into the second shaft hole 332 and the third shaft hole 341. Similarly to the above, the connecting shaft 350 can be directly rotatably mounted on the second shaft hole 332 and the third shaft hole 341. Alternatively, the connecting shaft 350 can be indirectly rotatably mounted on the second shaft hole 332 and the third shaft hole 341 through any suitable bearing or other structure. The bearing can be, but is not limited to, a deep groove bearing 370, which is more suitable for the swing member 330 to rotate relative to the connecting shaft 350.

[0081] In addition, the drive assembly 300 may also include a gasket 380, which is arranged at least corresponding to the second shaft hole 332 and the third shaft hole 341, and is clamped between the connecting member 340 and the swinging member 330, which helps to increase the connection tightness and stability between the connecting member 340 and the swinging member 330.

[0082] In view of the above, when the second shaft portion 322 rotates eccentrically, it is equivalent to having an outer convex portion and an inner concave portion. When the outer convex portion rotates to abut against the hole wall of the first shaft hole 331 close to the second shaft hole 332, the swing member 330, the connecting member 340 and the movable frame 200 are driven to translate in a lateral direction away from the leg support 120; conversely, when the outer convex portion rotates to abut against the hole wall of the first shaft hole 331 away from the second shaft hole 332, the swing member 330, the connecting member 340 and the movable frame 200 are driven to translate in a lateral direction toward the leg support 120. When the outer protrusion rotates to abut against the upper end hole wall of the first shaft hole 331, it drives the swinging member 330 to form a section of the first shaft hole 331 and swing upward relative to a section of the second shaft hole 332 without any lateral displacement; when the outer protrusion rotates to abut against the lower end hole wall of the first shaft hole 331, it drives the swinging member 330 to form a section of the first shaft hole 331 and swing downward relative to a section of the second shaft hole 332 without any lateral displacement.

[0083] In addition, based on the above, the movable frame 200 can be translated relative to the fixed frame 100 in the horizontal direction, so for the movable fit between the movable frame 200 and the fixed frame 100, the two can be sliding fit or rolling fit. Taking the sliding fit as an example, in one embodiment, as described above, the fixed frame 100 includes a base frame 110, the base frame 110 is arranged on the side of the second plate 212 facing away from the first plate 211 in the vertical direction, and the second plate 212 is supported on the base frame 110; one of the second plate 212 and the base frame 110 is provided with a sliding groove 410 extending in the horizontal direction, and the other is provided with a sliding protrusion 420, the sliding protrusion 420 is slidably connected with the sliding groove 410, and the sliding fit between the sliding protrusion 420 and the sliding groove 410 is dovetail-shaped; wherein, the length of the sliding groove 410 is not less than the maximum translation distance of the foot support in the horizontal direction. The sliding connection of the protrusion 420 and the groove 410 can accurately guide the translational movement of the movable frame 200 relative to the fixed frame 100. In addition, since the groove 410 and the protrusion 420 are dovetail-shaped, they can limit each other in the vertical direction to prevent the groove 410 and the protrusion 420 from being separated vertically, and thus prevent the movable frame 200 from being separated vertically relative to the fixed frame 100. The length of the groove 410 is not less than the maximum translation distance of the foot support in the horizontal direction, that is, no matter whether the movable frame 200 is in the first extreme position or the second extreme position mentioned above, the groove 410 and the protrusion 420 always maintain a sliding connection to prevent the groove 410 and the protrusion 420 from being separated horizontally, and thus prevent the movable frame 200 from being separated horizontally relative to the fixed frame 100.

[0084] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A foot rhythm mechanism, characterized in that: include: Fixed frame; A movable frame is installed on the fixed frame in a lateral translational manner, the movable frame includes a foot support, the foot support includes a first plate extending vertically, a second plate extending horizontally, and a limiting structure provided on the first plate, the first plate is used for placing the foot, the second plate is used for supporting the ankle, and the limiting structure is used for limiting the foot at the first plate; and, The driving assembly is arranged on the fixed frame and is drivingly connected to the movable frame.

2. The foot rhythm mechanism according to claim 1, characterized in that: The drive assembly comprises: A driver, disposed on the fixed frame and having an output shaft rotatably disposed around an axis extending in the longitudinal direction; An eccentric member, comprising a first shaft portion and a second shaft portion connected in sequence along the longitudinal direction, wherein the first shaft portion and the second shaft portion are respectively elongated along the longitudinal direction, and a central axis of the first shaft portion is parallel to a central axis of the second shaft portion, and the first shaft portion is coaxially connected to the output shaft; A swinging member, wherein a first shaft hole is penetrated at one lateral end of the swinging member along the longitudinal direction, the first shaft hole is used for the second shaft portion to be rotatably mounted, and a second shaft hole is penetrated at the other lateral end of the swinging member along the longitudinal direction; A connecting member is fixedly mounted on the second plate body, wherein the connecting member is provided with a third axial hole in the longitudinal direction corresponding to the second axial hole; and The connecting shaft is sequentially passed through the second shaft hole and the third shaft hole so that the swinging member can be rotatably mounted on the connecting member.

3. The foot rhythm mechanism according to claim 2, characterized in that: The driving assembly is suspended on a side of the second plate body facing away from the first plate body in the vertical direction.

4. The foot rhythm mechanism according to claim 2, characterized in that: The drive assembly also includes: A self-aligning bearing installed between the first shaft hole and the second shaft portion; a deep groove bearing installed between the second shaft hole and the connecting shaft; and, A gasket is provided at least corresponding to the second axial hole and the third axial hole, and is sandwiched between the connecting member and the swinging member.

5. The foot rhythm mechanism according to claim 1, characterized in that: The fixed frame includes a bottom frame, the bottom frame is arranged on a side of the second plate body facing away from the first plate body in the vertical direction, and the second plate body is supported on the bottom frame; One of the second plate and the base frame is provided with a sliding groove extending in the transverse direction, and the other is provided with a sliding protrusion, the sliding protrusion is slidably connected with the sliding groove, and the sliding matching part between the sliding protrusion and the sliding groove is dovetail-shaped; Wherein, the length of the slide groove is not less than the maximum translation distance of the foot support in the lateral direction.

6. The foot rhythm mechanism according to claim 1, characterized in that: The first plate body and the second plate body are obtained by bending a plate.

7. The foot rhythm mechanism according to claim 6, characterized in that: The periphery of the first plate body and / or the second plate body is partially bent to form a first flange; and / or, The first plate and / or the second plate are partially hollowed out; and / or, The foot support further includes at least two reinforcing ribs, and the two reinforcing ribs are cross-fixed on a side of the first plate body facing away from the second plate body.

8. The foot rhythm mechanism according to claim 1, characterized in that: The fixed frame comprises: a bottom frame, the bottom frame being arranged on a side of the second plate body facing away from the first plate body in a vertical direction; and A leg bracket is spaced apart and arranged on a side of the second plate body away from the first plate body in the transverse direction; Wherein, the leg bracket and the second plate body are both supported on the base frame, and the vertical height of the leg bracket is not higher than the vertical height of the second plate body.

9. The foot rhythm mechanism according to claim 8, characterized in that: The foot support further comprises a third plate, which is detachably connected between the second plate and the bottom frame, and the second plate and / or the third plate are at least partially bent at a side edge close to the leg support in a lateral direction to form a second flange; When the driving assembly drives the foot support to translate in a lateral direction, the second flange is spaced apart from the side edge of the leg support.

10. A rehabilitation therapy robot, characterized in that: It comprises the plantar rhythm mechanism as described in any one of claims 1 to 9.

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