Rhythm physiotherapy robot

Abstract

The invention discloses a rhythm physical therapy robot which comprises a bed body, a foot support, a rhythm plate, an elastic supporting piece, a driving mechanism and a steady state maintaining structure, the foot support is fixedly arranged on the bed body, the rhythm plate is supported on the foot support, the elastic supporting piece is used for supporting and positioning the rhythm plate on the foot support, and the driving mechanism is used for driving the rhythm plate to rotate. The driving mechanism is used for pushing the rhythm plate to move towards the offset position; one end of the steady state keeping structure is positioned relative to the foot support, and the other end is connected with the rhythm plate and used for applying acting force to the rhythm plate to move towards the bed tail; when the rhythm plate is located at the initial position, the steady state maintaining structure exerts the first acting force larger than zero relative to the rhythm plate, the motion consistency of the rhythm plate and the driving mechanism can be improved, vibration of the rhythm plate is restrained, noise is lowered, and the translational motion stability is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of physiotherapy robots, and particularly relates to a rhythm physiotherapy robot with foot rhythm physiotherapy function. BACKGROUND

[0002] With the acceleration of modern life pace, many people have sub-health state of spirit and body. Research shows that physical vibration therapy can relax blood and speed up blood circulation, and has obvious effect on relieving physical fatigue and mental stress of sub-health patients. As one of the physical vibration therapies, foot vibration physiotherapy transmits vibration from the feet to the whole body to achieve vibration of the whole body and achieve the purpose of relieving fatigue.

[0003] An existing foot rhythm physiotherapy robot mainly drives the swing of a rhythm plate to drive the swing of the feet, so as to transmit the rhythm to the whole body. However, when the existing foot physiotherapy mechanism drives the swing of the feet, the movement is concentrated in the rotation of the ankle, and the movement cannot be effectively transmitted to the joints of the whole body, resulting in poor physiotherapy effect. Moreover, the swing movement causes the ankle to twist, and long-term high-frequency movement has a certain damage to the ankle joint.

[0004] Another improved foot rhythm physiotherapy device sets a rhythm support which is arranged in translation, and a rhythm plate is fixed on the rhythm support. When in use, the foot is fixed close to the rhythm plate, and the rhythm plate is driven to reciprocate in translation by driving the rhythm support to reciprocate along the guide rail. However, the movement frequency of the foot rhythm physiotherapy device is usually higher than 15 Hz, and the overall structure of the rhythm support and the rhythm plate is large in size and mass. In the overall reciprocating movement, the inertia is large, and large noise and vibration are generated during high-frequency reciprocation, resulting in poor user experience.

[0005] Therefore, it is necessary to improve the prior art to overcome the defects in the prior art. SUMMARY

[0006] Therefore, the technical problem to be solved by the present application is the low movement transmission efficiency, large vibration and noise of the existing physiotherapy robot.

[0007] To solve the above technical problems, the present application provides a rhythm physiotherapy robot, comprising: a bed body comprising an opposite bed tail and a bed head; a foot support fixedly arranged at the bed tail; a rhythm plate supported on the foot support, the rhythm plate being capable of reciprocating between an initial position and a bias position closer to the bed head relative to the initial position relative to the foot support, the rhythm plate having a first surface for interacting with the feet; a plurality of elastic supports, each of the elastic supports has one end fixedly connected to the outer edge of the beat plate and the other end fixedly connected to the foot support; a driving mechanism, including a beat motor fixedly arranged on the foot support, the beat motor being configured to push the beat plate to move towards the bias position; a steady-state maintaining structure, the steady-state maintaining structure itself having elasticity, one end of the steady-state maintaining structure being positioned relative to the foot support and the other end of the steady-state maintaining structure being connected to the beat plate, the steady-state maintaining structure being configured to apply a force to the beat plate towards the direction of the bed tail; when the beat plate is located at the initial position, the steady-state maintaining structure applies a first force greater than zero to the beat plate, when the beat plate is located at the bias position, the steady-state maintaining structure applies a second force to the beat plate, the elastic supports apply a third force to the beat plate, the second force is greater than the first force, and the first, second and third forces are all towards the direction of the bed tail.

[0008] In one embodiment, the beat plate includes a plate body and a matching structure arranged on the plate body, the matching structure is fixedly arranged on the side of the plate body opposite to the first surface, and the matching structure cooperates with the driving mechanism to push the plate body to move towards the bias position.

[0009] In one embodiment, the plate body includes a positioning part arranged on the same side as the matching structure, and the positioning part is fixedly connected to the other end of the steady-state maintaining structure.

[0010] In one embodiment, the number of the positioning parts is multiple, and the positioning parts are symmetrically distributed on both sides of the matching structure, and the interaction force between the steady-state maintaining structure and each of the positioning parts is substantially equal.

[0011] In one embodiment, the positioning parts are distributed on the upper side and the lower side of the matching structure, and the positioning parts on the upper side are symmetrically arranged with the positioning parts on the lower side.

[0012] In one embodiment, the steady-state maintaining structure includes an elastic band, both ends of the elastic band are fixedly connected to two symmetric positioning parts respectively, a middle segment of the elastic band passes around the outer periphery of the beat motor, or the foot support includes a positioning rod, and the elastic band passes around the positioning rod.

[0013] In one embodiment, the steady-state maintaining structure includes a plurality of elastic columns, the elastic columns are arranged along a direction perpendicular to the first surface, one end of each of the elastic columns is fixedly connected to the positioning part, and the other end of each of the elastic columns is fixedly connected to the foot support.

[0014] In an embodiment, the driving mechanism comprises eccentric mechanisms driven by the rhythm motor, the eccentric mechanisms comprise eccentric shafts and bearings sleeved on the eccentric shafts, and the matching structures comprise matching surfaces abutting against the bearings.

[0015] In an embodiment, the rhythm motor comprises a motor body and a rotating shaft penetrating through the motor body, first and second ends of the rotating shaft respectively protruding from two ends of the motor body, the number of the eccentric mechanisms is two, the two eccentric mechanisms are respectively arranged at the first and second ends of the rotating shaft, and the number of the matching structures is two, the two matching structures being respectively arranged corresponding to the two eccentric mechanisms.

[0016] In an embodiment, the rhythm motor comprises a motor body and a rotating shaft penetrating through the motor body, one end of the rotating shaft protruding from the motor body to output rotary power, the eccentric mechanism is arranged at the output end of the rotating shaft, and the number of the matching structures is one, the one matching structure being in abutting cooperation with the eccentric mechanism.

[0017] In an embodiment, the foot support comprises left and right foot receiving areas formed in the first surface, and the projections of the two matching structures on the first surface respectively fall within the ranges of the left and right foot receiving areas.

[0018] In an embodiment, the foot support comprises a frame arranged around the outer periphery of the rhythm plate, and the outer ends of the elastic supports are fixedly connected to the frame; the number of the elastic supports is multiple, and the elastic supports are arranged at intervals in the circumferential direction of the rhythm plate.

[0019] In an embodiment, the elastic support comprises hollow first and second ring bodies connected to each other, the axes of the first and second ring bodies are perpendicular to each other, the first ring body is fixedly connected to the frame, and the second ring body is fixedly connected to the rhythm plate.

[0020] The technical scheme provided in the application has the following advantages: The rhythmic therapy robot provided in this application features a rhythmic plate supported and positioned on a footrest by elastic support members. A drive mechanism is used to move the rhythmic plate to an offset position. The rhythmic plate performs translational motion rather than oscillation, which improves the efficiency of rhythmic transmission to the whole body. Since the main moving part is the rhythmic plate, the moment of inertia is low, thus greatly reducing the vibration and noise caused by reciprocating motion. Moreover, the elastic support members not only support the rhythmic plate but also provide an elastic force to help the rhythmic plate return to its initial position. Combined with a steady-state holding structure, the horizontal movement stability of the rhythmic plate is maintained during reciprocating motion, reducing vibration and prompting the rhythmic plate to return to its initial position. During the return process, the consistency of motion between the rhythmic plate and the drive mechanism is improved, the gap between the rhythmic plate and the drive mechanism is suppressed, noise is reduced, and the stability of translational motion is improved. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A three-dimensional structural schematic diagram of the rhythmic physiotherapy robot provided in the embodiments of this application; Figure 2 for Figure 1 A three-dimensional schematic diagram of the internal structure of the foot rhythm mechanism of the rhythmic therapy robot shown; Figure 3 for Figure 1 A three-dimensional schematic diagram of the internal structure of the foot rhythm mechanism of the rhythmic therapy robot shown from another perspective; Figure 4 This is a schematic cross-sectional view of the rhythmic physiotherapy robot provided in the embodiments of this application, passing through the rhythmic motor shaft. Figure 5 for Figure 4 An enlarged structural diagram of region A in the cross-sectional structural schematic diagram shown; Figure 6 This is a three-dimensional structural diagram of the elastic support member provided in the embodiments of this application. Detailed Implementation

[0023] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence.

[0025] In the present application, the orientation words such as "upper", "lower", "top", "bottom" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, perpendicular or gravity direction of the components themselves; similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0026] The present embodiment provides a rhythmic physiotherapy robot. Please refer to Figure 1 , Figure 2 and Figure 3 , the rhythmic physiotherapy robot 100 includes a bed body 10 and a foot bottom rhythmic mechanism.

[0027] The bed body 10 is used for the user to lie down to support the user. The opposite bed head 12 and bed tail 14 of the bed body 10, when the user lies on the bed body 10, the foot is located on one side of the bed tail 14, and the head is located on one side of the bed head 12. The foot bottom rhythmic mechanism is mainly used for physiotherapy of the foot bottom of the user, and is arranged at one end of the bed tail 14 of the bed body 10 and acts on the foot of the user to transmit the rhythm to the whole body.

[0028] The rhythmic physiotherapy robot 100 further includes a base 11 supporting the bed body 10, and the base 11 supports the bed body 10 away from the ground. In some embodiments, the base 11 can also adjust the angle of supporting the bed body 10. For example, the base 11 supports the bed body 10 inclined to the horizontal plane, and the bed tail 14 is lower than the bed head 12, of course, the bed tail 14 can also be higher than the bed head 12.

[0029] In a specific implementation scenario, the rhythmic physiotherapy robot can also include other physiotherapy mechanisms, such as a leg rhythmic mechanism, a hip rhythmic mechanism and a back rhythmic mechanism. When the foot bottom rhythmic mechanism is used in cooperation with, for example, the leg rhythmic mechanism, the hip rhythmic mechanism and the back rhythmic mechanism, a whole body rehabilitation physiotherapy robot product can be formed, which is used for the user to perform targeted or cooperative physiotherapy on each part of the body.

[0030] The foot bottom rhythmic mechanism includes a foot support 20, a rhythmic plate 30, an elastic support 40, a steady-state maintaining structure 50 and a driving mechanism 60.

[0031] Specifically, the foot support 20 is fixedly arranged at the foot end 14, and the rhythm plate 30 is supportedly arranged on the foot support 20. The rhythm plate 30 has a first surface 311 for interacting with the feet, and the first surface 311 is substantially perpendicular to the support surface of the bed body 10. The length extension direction of the bed body 10 is substantially perpendicular to the first surface 311. Thus, when the user lies on the bed body 10, the soles of the feet are opposite to the first surface 311.

[0032] The foot bottom rhythm mechanism further comprises an ankle positioning structure for assisting the positioning of the feet. Please continue to see Figure 1 The ankle positioning structure comprises a first positioning plate 22 and a second positioning plate 23. The first positioning plate 22 is in a number of two, and the second positioning plate 23 is located between the two first positioning plates 22. The first positioning plate 22 on the left side is arranged in a spaced manner with the second positioning plate 23 to form a space for positioning the left foot. The first positioning plate 22 on the right side is arranged in a spaced manner with the second positioning plate 23 to form a space for positioning the right foot. In a specific implementation, when the user lies on the bed body 10, the two ankles of the feet are respectively placed in the corresponding gaps between the first positioning plate 22 and the second positioning plate 23 to achieve the assisted positioning of the ankles.

[0033] The rhythm plate 30 can reciprocate relative to the foot support 20 between an initial position and a biased position. The biased position is closer to the head end 12 relative to the initial position. The driving mechanism 60 is used to drive the rhythm plate 30 to move from the initial position to the biased position. The elastic support 40 and the steady-state maintaining structure 50 jointly act to reset the rhythm plate 30 to the initial position. In the initial position and the biased position, the first surfaces 311 of the rhythm plate 30 in the two states are substantially parallel to each other. In other words, the reciprocating movement of the rhythm plate 30 is a translation relative to the bed body 10. The action of the translational rhythm plate on the soles of the feet is to reciprocally push, and almost no torque is generated, so that the movement can be better transmitted to each joint of the whole body.

[0034] The elastic support 40 is used to support and position the rhythm plate 30 on the foot support 20. The elastic support 40 itself has a certain hardness and can support the rhythm plate 30. In the initial position, the elastic support 40 can stably support the rhythm plate 30 on the foot support 20. The elastic support 40 itself has a certain elasticity. When the driving mechanism 60 drives the rhythm plate 30 to the biased position, the elastic support 40 is elastically deformed to make the rhythm plate 30 have a tendency to reset to the initial position. Specifically, one end of the elastic support 40 is fixedly connected to the outer edge of the rhythm plate 30, and the other end of the elastic support 40 is fixedly connected to the foot support 20. With the center of the plate surface of the rhythm plate 30 as "inside" and the outer edge of the plate surface as "outside", the outer end of the elastic support 40 is fixedly connected to the foot support 20, and the inner end of the elastic support 40 is fixedly connected to the outer edge of the rhythm plate 30.

[0035] The driving mechanism 60 comprises a rhythm motor 61 fixedly arranged on the foot support 20, and the rhythm motor 61 is used to push the rhythm plate 30 to move to the biased position. Specifically, the foot support 20 comprises a support frame 25, and the rhythm motor 61 is fixedly arranged on the support frame 25, and the support frame 25 is used to position the rhythm motor 61 at a certain height, so as to facilitate the transmission cooperation between the rhythm motor 61 and the rhythm plate 30.

[0036] The steady-state maintaining structure 50 itself has elasticity, one end of the steady-state maintaining structure 50 is positioned relative to the foot support 20, and the other end is connected to the rhythm plate 30, and is used to apply an action force to the rhythm plate 30 in the direction of the bed tail 14. The steady-state maintaining structure 50 continuously makes the rhythm plate 30 have a tendency to move to the initial position, which helps the rhythm plate 30 to reset to the initial position.

[0037] When the rhythm plate 30 is located at the initial position, the steady-state maintaining structure 50 applies a first action force greater than zero to the rhythm plate 30; when the rhythm plate 30 is located at the biased position, the steady-state maintaining structure 50 applies a second action force to the rhythm plate 30, and the elastic support 40 applies a third action force to the rhythm plate 30. Among them, the second action force is greater than the first action force, and the directions of the first action force, the second action force and the third action force are all towards the bed tail 14. The directions of the first action force and the second action force are substantially parallel to the extension direction of the bed body 10, which can improve the translational stability of the rhythm plate 30 to reset to the initial position.

[0038] In the initial position, the steady-state maintaining structure 50 applies a first action force greater than zero to the rhythm plate 30, which can make the rhythm plate 30 have a tendency to move to the driving mechanism 60, so that the positioning of the rhythm plate 30 in the initial position is more reliable, and the vibration and noise are reduced. During the resetting process from the biased position to the initial position, the steady-state maintaining structure 50 promotes the rhythm plate 30 to reset movement following the driving mechanism 60, which can suppress the shaking of the rhythm plate 30 during movement, improve the stability of reciprocating motion, and at the same time, can make the rhythm plate 30 and the driving mechanism 60 keep synchronization, and suppress the cooperation gap between the rhythm plate 30 and the driving mechanism 60 to reduce the vibration and noise generated thereby.

[0039] The rhythm therapy robot provided in the application, the rhythm plate is supported and positioned on the foot support through the elastic support, the driving mechanism is used for pushing the rhythm plate to move to the bias position, the rhythm plate is in translational motion instead of swing, the efficiency of the rhythm transmission to the whole body is improved, since the main moving part is the rhythm plate, the motion inertia is low, and the vibration and noise brought by the reciprocating motion are also greatly reduced; moreover, the elastic support can not only support the rhythm plate, but also provide the elastic force for assisting the rhythm plate to reset to the initial position, further combined with the steady-state maintaining structure, the stability of the horizontal movement of the rhythm plate is maintained during the reciprocating motion of the rhythm plate, the shaking of the rhythm plate is reduced, the rhythm plate can also be reset to the initial position, the rhythm plate is moved synchronously with the driving mechanism during the resetting process, the gap between the rhythm plate and the driving mechanism is inhibited, the noise is reduced, and the translational motion stability is improved.

[0040] In order to achieve the ideal rhythm therapy effect, the rhythm frequency is usually higher than 15HZ, and the high-frequency reciprocating translation brings great difficulty to the design of the moving part. In order to improve the reliability of the structure, in the specific embodiment, please refer to Figure 2 , the rhythm plate 30 includes a plate body 31 and a matching structure 33 arranged on the plate body 31, the matching structure 33 is fixedly arranged on one side of the plate body 31 opposite to the first surface 311, and the matching structure 33 cooperates with the driving mechanism 60 to push the plate body 31 to move to the bias position. Taking the first surface 311 as the front face of the rhythm plate 30, then the matching structure 33 is arranged on the back face of the rhythm plate 30. In this embodiment, the matching structure 33 directly interacts with the driving mechanism 60 to realize the pushing of the plate body 31, the matching structure 33 is a fixed structure, the driving mechanism 60 is a power part, the matching structure 33 receives the acting force of the driving mechanism 60, and the structure is simple and stable. Specifically, the matching structure 33 adopts a hard plastic structure or a hard resin structure, which can guarantee a certain wear resistance.

[0041] In the specific embodiment, please refer to Figure 3 , Figure 4 and Figure 5 , the driving mechanism 60 includes an eccentric mechanism 63 driven by a rhythm motor 61, the eccentric mechanism 63 includes an eccentric shaft 631 and a bearing 632 sleeved on the eccentric shaft, and the matching structure 33 includes a matching surface abutting against the bearing 632. Specifically, the rhythm motor 61 includes a motor body 611 and a rotating shaft 612 for outputting rotary power, and the eccentric shaft 631 is fixedly arranged on the output end of the rotating shaft 612. The eccentric shaft 631 includes an eccentric segment arranged eccentrically relative to the rotating shaft 612, and the bearing 632 is sleeved on the eccentric segment of the eccentric shaft 631, so that the bearing 632 is arranged eccentrically relative to the axis line of the rotating shaft 612. The bearing 632 includes an inner ring and an outer ring arranged coaxially, and the inner ring and the outer ring are provided with balls therebetween, the inner ring is fixedly sleeved on the eccentric segment, and the outer side surface of the outer ring abuts against the matching structure 33.

[0042] The bearing 632 is driven by the rotating shaft 612 to make eccentric rotation, and in the process of movement, the bearing 632 and the matching structure 33 abut the push plate 31 periodically. In order to improve the stability of the push of the beat plate and inhibit the wear of the matching structure, and improve the stability of the whole life cycle of the beat movement of the foot beat mechanism. In a specific embodiment, the matching surface of the matching structure 33 is configured as a curved surface. Generally, the outer surface of the bearing 632 is a cylindrical surface, and the matching surface of the matching structure 33 is also configured as a curved surface matching the movement track of the outer contour of the bearing 632. In this way, the process of eccentric rotation of the bearing 632 close to the matching structure 33 is a surface contact, which can reduce the wear of the matching structure 33, and the pushing action of the matching structure 33 is a surface interaction push, and the beat plate movement is more stable. In another embodiment, the matching surface of the matching structure 33 is a plane. In actual use scenarios, when the bearing 632 is in contact with the matching structure 33, the contact surface of the matching structure 33 is slightly worn to form a curved surface matching the movement track of the bearing 632, and the shapes are more closely matched.

[0043] In a specific embodiment, please continue to refer to Figure 4 The beat motor 61 is a core-penetrating motor, the rotating shaft 612 penetrates the motor body 611, and the rotating shaft 612 includes a first end and a second end respectively extending from two ends of the motor body 611. Correspondingly, the number of eccentric mechanisms 63 is two, and the two eccentric mechanisms 63 are respectively arranged at the first end and the second end of the rotating shaft 612 and are driven to rotate synchronously by the rotating shaft 612. The number of matching structures 33 is also two, and they are respectively arranged corresponding to the two eccentric mechanisms 63. The beat motor adopts a core-penetrating motor, and the two ends of the rotating shaft are connected with one eccentric mechanism respectively, and are respectively pushed and matched with two matching structures. The force acting surface of the beat plate is two and is spaced, which can improve the stability of the beat plate movement and is not easy to occur.

[0044] The foot support 20 includes a left foot receiving area and a right foot receiving area formed in the first surface 311, and the projections of the two matching structures 33 on the first surface fall within the range of the left foot receiving area and the right foot receiving area respectively. In other words, one of the matching structures 33 is arranged on the back of the left foot receiving area, and the other matching structure 33 is arranged on the back of the right foot receiving area, so as to ensure that the force received by the two foot receiving areas is balanced and the movement is stable.

[0045] In order to further improve the stability of the beat plate reciprocating movement, in a specific embodiment, please refer to Figure 4As shown, the plate 31 includes a positioning part 35 connected to the stable holding structure 50. The positioning part 35 acts as a force-bearing structure for the stable holding structure 50 to act on the plate 31. The stable holding structure 50 pulls the plate 31 through the positioning part 35, causing the plate 31 to come into contact with the drive mechanism 60. The positioning part 35 is disposed on the same side as the mating structure 33, and the other end of the positioning part 35 is fixedly connected to the stable holding structure.

[0046] Preferably, there are multiple positioning parts 35, which are symmetrically distributed in pairs on both sides of the mating structure 33. Here, "symmetrically distributed in pairs" means that the number of positioning parts 35 is even, and they are arranged in pairs, with each pair of positioning parts 35 symmetrically distributed on both sides of the mating structure 33.

[0047] For example, the rhythmic motor is a single-sided output motor, with one eccentric mechanism and one mating structure. The number of positioning parts 35 can be set to two, with the two positioning parts 35 respectively disposed on the upper and lower sides of the mating structure 33, and symmetrical about the center of the mating structure 33. Of course, the number of positioning parts 35 can also be set to... Figure 2 The four embodiments shown in the examples are arranged such that two are located on the upper side of the mating structure and two are located on the lower side of the mating structure.

[0048] exist Figure 2 In the illustrated embodiment, the rhythmic motor 61 is a through-core motor, and there are two eccentric mechanisms 63 and two mating structures 33, as well as four positioning parts 35. Two positioning parts 35 are located above the center line of the two mating structures 33, and the other two are located below the center line of the two mating structures 33, with the positioning parts 35 symmetrically distributed about the center line of the two mating structures 33. Thus, the interaction force points between the steady-state holding structure and the rhythmic plate are relatively balanced with the interaction force points between the rhythmic plate and the driving mechanism. During the process of the driving mechanism pushing the rhythmic plate to the offset position, the steady-state holding structure pulls the rhythmic plate at the same distance, ensuring smooth pushing. During the process of the rhythmic plate moving from the offset position to the initial position, the pushing force of the driving mechanism disappears, and under the pulling force of the steady-state holding structure, the rhythmic plate follows the driving mechanism to reset, resulting in a smoother reset process and suppressing vibration and noise.

[0049] Furthermore, the interaction forces between the steady-state holding structure 50 and each positioning part 35 are essentially equal. The equal forces exerted on the positioning parts by the steady-state holding structure 50 further ensure the force balance of the rhythm plate and improve the smoothness of the movement.

[0050] For a specific embodiment, please refer to Figure 2 and Figure 3The steady-state maintaining structure 50 includes elastic belts 51, two ends of each of which are fixedly connected with two symmetrical positioning portions 35 respectively, and the middle section of each of the elastic belts 51 passes around the outer periphery of the pulsation motor 61 and is in close cooperation with part of the outer periphery of the pulsation motor 61 to realize the positioning of the elastic belts 51. During the reciprocating movement of the pulsation plate 30, the elastic belts 51 are elastically deformed to pull the pulsation plate 30 to keep it in abutting cooperation with the eccentric mechanism 63. In the example, the number of the elastic belts 51 is two, and correspondingly, the number of the positioning portions 35 is four, and the two ends of each of the elastic belts 51 are fixed with two symmetrical positioning portions 35 respectively. Of course, the number of the elastic belts 51 can be only one, and correspondingly, the number of the positioning portions 35 is two, and the two ends of the elastic belt 51 are fixedly connected with the two positioning portions 35 respectively.

[0051] In order to facilitate the installation of the elastic belts 51, in a specific embodiment, the foot support 20 includes two fixed plates 26 for fixing the pulsation motor 61 on the support frame 25. The two fixed plates 26 are arranged on the two end faces of the pulsation motor 61 respectively, each of the fixed plates 26 is fixedly connected with the end face of the pulsation motor 61, and the lower edge of the fixed plate 26 is fixedly connected with the support frame 25 after being bent. The two fixed plates 26 support the pulsation motor 61 away from the support frame 25, and there is a gap between the pulsation motor 61 and the support frame 25, and the elastic belts 51 can pass through the gap to be arranged on the outer surface of the pulsation motor 61. At the same time, the fixed plates 26 clamp and fix the pulsation motor 61, which can improve the reliability of the fixation of the pulsation motor 61.

[0052] In other embodiments, the fixation of the elastic belts can also be directly realized by the foot support 20. Specifically, the foot support 20 includes a positioning rod (not shown), which is arranged parallel to the rotating shaft 612 of the pulsation motor 61, and the middle section of the elastic belt 51 passes around the positioning rod and is in close cooperation with the outer periphery of the positioning rod to realize the positioning of the elastic belt.

[0053] In other embodiments, the steady-state maintaining structure 50 includes a plurality of elastic columns, which are arranged along the direction perpendicular to the first surface, one end of each of the elastic columns is fixedly connected with the positioning portion 35, and the other end is fixedly connected with the foot support 20. The elastic columns can provide a pull-back force parallel to the pulsation direction to make the movement of the pulsation plate 30 more stable. In the example, the distribution of the positioning portions 35 is the same as that of the above-mentioned embodiments, i.e., the positioning portions 35 are symmetrically distributed on the two sides of the cooperation structure 33, and the elastic columns are arranged in one-to-one correspondence with the positioning portions 35, and the axial direction of the elastic columns is substantially perpendicular to the positioning portions 35.

[0054] In order to ensure the stability of the support of the pulsation plate, please refer to Figure 3The foot support 20 comprises a frame 21 arranged around the outer periphery of the rhythm plate 30, the rhythm plate 30 is arranged in the frame 21, and the outer periphery of the rhythm plate 30 is connected with the frame 21 through the elastic support 40. The number of the elastic support 40 is multiple, and the elastic support 40 is distributed at intervals around the outer periphery of the rhythm plate 30. The outer end of each elastic support 40 is fixedly connected to the inner side of the frame 21, so as to position the rhythm plate 30 in the circumferential direction. Preferably, the elastic support 40 is distributed at intervals around the outer periphery of the rhythm plate 30, so as to provide uniform support, positioning and resetting force in the circumferential direction. In specific embodiments, please refer to Figure 3 The number of the elastic support 40 is four, and the rhythm plate 30 is substantially square. The four elastic supports are arranged at the four corner positions of the rhythm plate 30. Please refer to Figure 2 Two elastic supports 40 are respectively connected to the two ends of the upper edge of the rhythm plate 30, and the other two elastic supports 40 are respectively connected to the two ends of the lower edge of the rhythm plate 30. Of course, in other embodiments, two elastic supports 40 can also be respectively connected to the two ends of the left side edge of the rhythm plate 30, and the other two elastic supports 40 are respectively connected to the two ends of the right side edge of the rhythm plate 30.

[0055] Specifically, please refer to Figure 6 The elastic support 40 is an integral structure, and the first ring body 41 and the second ring body 43 are hollow inside. The hollow cavities improve the elastic deformation capacity of the elastic support 40. Moreover, since the axis directions of the hollow cavities of the first ring body 41 and the second ring body 43 are perpendicular to each other, the elastic deformation and resetting capacity of the elastic support 40 in the direction perpendicular to the first surface 311 is guaranteed.

[0056] In other embodiments, the elastic support can also be a ring sleeve structure surrounding the outer edge of the rhythm plate 30. The inner edge of the elastic support is fixedly connected to the outer edge of the rhythm plate 30, the outer edge of the elastic support is fixedly connected to the inner edge of the frame 21, and the elastic support is located in the spacing space between the rhythm plate 30 and the frame 21. The elastic support can be made of rubber or plastic material. The elastic support has elastic deformation and resetting capacity (restoring to the initial position) in the direction perpendicular to the first surface 311, and provides support force to the rhythm plate 30 in the direction parallel to the first surface 311, so that the initial position of the rhythm plate 30 is stably supported in the frame 21. The specific shape of the elastic support can be various, which is not listed here.

[0057] In the above embodiment, the "first surface" is the side surface of the rhythm plate 30 facing the head 12. The first surface 311 is generally planar, but it is not excluded that the first surface 311 has a concave-convex structure or a hollow structure in part.

[0058] In another embodiment, the rhythm motor is a single-sided output motor, the rhythm motor includes a motor body and a rotating shaft penetrating through the motor body, one end of the rotating shaft extends from the motor body to output rotary power, the number of the eccentric mechanism and the matching structure is one, the eccentric mechanism is arranged at the output end of the rotating shaft, and the eccentric mechanism is in abutting engagement with the matching structure. Wherein, the eccentric mechanism and the matching structure can refer to the structure of the above embodiment, which will not be repeated here.

[0059] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, those skilled in the art can make other different forms of changes or modifications without creative labor, which should all belong to the protection scope of the present application.

Claims

1. A rhythmic physiotherapy robot, characterized in that, The utility model relates to a bed body, including opposite bed tail and bed head, foot support is fixedly arranged in the bed tail, the rhythm board is supported in the foot support, the rhythm board can reciprocate between the initial position and the bias position of the bed head relative to the foot support, the rhythm board has the first surface for interacting with the foot, the elastic support is used for supporting and positioning the rhythm board in the foot support, one end of the elastic support is fixedly connected the outer edge of the rhythm board, the other end of the elastic support is fixedly connected the foot support, the drive mechanism includes the rhythm motor fixedly arranged in the foot support, and the rhythm motor is used for promoting the rhythm board to move towards the bias position, the stable state keeps structure, the stable state keeps structure has elasticity, one end of the stable state keeps structure is positioned relative to the foot support, and the other end is connected the rhythm board, is used for the action force of moving towards the bed tail direction to the rhythm board, when the rhythm board is located in the initial position, the stable state keeps structure exerts the first action force greater than zero relative to the rhythm board, when the rhythm board is located in the bias position, the stable state keeps structure exerts the second action force relative to the rhythm board, the elastic support exerts the third action force to the rhythm board, the second action force is greater than the first action force, and the first, second, third action force all are towards the bed tail direction. The rhythm board includes a board body and a matching structure arranged on the board body, the matching structure is fixedly arranged on a side of the board body opposite to the first surface, and the matching structure cooperates with the drive mechanism to drive the board body to move to the bias position. The board body includes a positioning portion arranged on the same side as the matching structure, and the other end of the stable state keeping structure is fixedly connected to the positioning portion. The number of the positioning portions is multiple, and the positioning portions are symmetrically distributed on both sides of the matching structure. The stable state keeping structure includes a plurality of elastic columns arranged along a direction perpendicular to the first surface, one end of the elastic column is fixedly connected to the positioning portion, and the other end of the elastic column is fixedly connected to the foot support. The drive mechanism includes an eccentric mechanism driven by the rhythm motor, the eccentric mechanism includes an eccentric shaft and a bearing sleeved on the eccentric shaft, and the matching structure includes a matching surface abutting against the bearing. The matching surface is configured as a plane or a curved surface matching a motion track of an outer ring of the bearing. ​ ​ 2. The rhythmic therapy robot of claim 1, wherein, ​ 3. The rhythmic therapy robot of claim 2, wherein, ​ 4. The locomotion physiotherapy robot of claim 3, wherein, ​ 5. The rhythmic therapy robot of claim 3, wherein, ​ 6. The rhythmic therapy robot of claim 3, wherein, ​ 7. The rhythmic therapy robot of claim 3, wherein, ​ 8. The rhythmic therapy robot of claim 2, wherein, ​ 9. The rhythmic therapy robot of claim 8, wherein, ​ 10. The rhythmic therapy robot of claim 8, wherein, The beat motor comprises a motor body and a rotating shaft penetrating through the motor body, a first end and a second end of the rotating shaft respectively extending from two ends of the motor body, the number of the eccentric mechanisms is two, and two eccentric mechanisms are respectively arranged at the first end and the second end of the rotating shaft.

11. The rhythmic therapy robot of claim 8, wherein, The beat motor comprises a motor body and a rotating shaft penetrating through the motor body, a first end and a second end of the rotating shaft respectively extending from two ends of the motor body, the number of the eccentric mechanisms is two, and two eccentric mechanisms are respectively arranged at the first end and the second end of the rotating shaft.

12. The rhythmic therapy robot of claim 2, wherein, The foot support comprises a left foot receiving area and a right foot receiving area formed in the first surface, and the projections of the two cooperation structures on the first surface respectively fall within the range of the left foot receiving area and the right foot receiving area.

13. The rhythmic therapy robot of claim 1, wherein, The foot support comprises a frame arranged around the outer periphery of the beat plate, and the outer ends of the elastic supports are fixedly connected to the frame; the number of the elastic supports is multiple, and the elastic supports are arranged at intervals in the circumferential direction of the beat plate.

14. The rhythmic therapy robot of claim 13, wherein, The elastic support comprises a hollow first ring body and a hollow second ring body connected to each other, the axes of the first ring body and the second ring body are perpendicular to each other, the first ring body is fixedly connected to the frame, and the second ring body is fixedly connected to the beat plate.

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