Rhythmical physiotherapy robot

Abstract

This application discloses a rhythmic physiotherapy robot, including a bed, a foot support, a rhythmic plate, an elastic support, a drive mechanism, and a steady-state holding structure. The foot support is fixedly mounted on the bed, and the rhythmic plate is supported on the foot support. The elastic support is used to support and position the rhythmic plate on the foot support, and the drive mechanism is used to push the rhythmic plate to move to an offset position. One end of the steady-state holding structure is positioned relative to the foot support, and the other end is connected to the rhythmic plate, which is used to apply a force to the rhythmic plate towards the foot of the bed. When the rhythmic plate is in the initial position, the steady-state holding structure applies a first force greater than zero relative to the rhythmic plate, which can improve the consistency of movement between the rhythmic plate and the drive mechanism, suppress the vibration of the rhythmic plate, reduce noise, and improve the stability of translational movement.

Description

Technical Field

[0001] This application belongs to the field of physiotherapy robot technology, specifically relating to a rhythmic physiotherapy robot with foot rhythmic physiotherapy function. Background Technology

[0002] With the fast pace of modern life, many people experience sub-health conditions, both mentally and physically. Studies have shown that physical vibration therapy can relax muscles and improve blood circulation, significantly relieving physical fatigue and mental stress in sub-health patients. Foot vibration therapy, as one type of physical vibration therapy, transmits vibrations from the feet to the whole body to achieve whole-body vibration and relieve fatigue.

[0003] An existing foot-based rhythmic therapy robot primarily works by swinging a rhythmic plate, which in turn moves the foot, transmitting the rhythm throughout the body. However, when existing foot therapy devices move the foot, the movement is concentrated at the ankle, failing to effectively transmit the movement to all joints, resulting in poor therapeutic effects. Moreover, the swinging motion causes ankle twisting, and prolonged high-frequency movements can cause damage to the ankle joint.

[0004] Another improved foot rhythmic therapy device uses a translationally movable rhythmic support with a rhythmic plate fixed to it. During use, the foot is held firmly against the rhythmic plate, and the support reciprocates along a guide rail, causing the rhythmic plate to reciprocate. However, the movement frequency of these foot rhythmic therapy devices is typically higher than 15Hz. The overall structure of the support and plate is large in size and mass, resulting in significant inertia during reciprocating motion. This leads to considerable noise and vibration at high frequencies, resulting in a poor user experience.

[0005] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0006] Therefore, this application aims to solve the technical problems of low efficiency in transmitting foot rhythmic motions, and high vibration and noise in existing physiotherapy robots.

[0007] To address the aforementioned technical problems, this application provides a rhythmic physiotherapy robot, comprising:

[0008] The bed frame, including the opposite foot and headboard;

[0009] A foot support is fixedly installed at the foot of the bed;

[0010] A rhythmic plate, supported on the footrest, is movable relative to the footrest between an initial position and an offset position closer to the headboard relative to the initial position, and the rhythmic plate has a first surface for interacting with the feet.

[0011] a resilient support member, one end of which is fixedly connected to the outer edge of the beat plate, and the other end of which is fixedly connected to the foot support;

[0012] a driving mechanism, which includes a beat motor fixedly arranged on the foot support, and which is used to push the beat plate to move to the bias position;

[0013] a steady-state maintaining structure, which is resilient by itself, one end of which is positioned relative to the foot support, and the other end of which is connected to the beat plate, and which is used to apply an action force to the beat plate in the direction of the bed tail;

[0014] when the beat plate is located at the initial position, the steady-state maintaining structure applies a first action 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 action force to the beat plate, the resilient support member applies a third action force to the beat plate, the second action force is greater than the first action force, and the first, second and third action forces are all in the direction of the bed tail.

[0015] 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 to the bias position.

[0016] In one embodiment, the plate body includes a positioning portion arranged on the same side as the matching structure, and the positioning portion is fixedly connected to the other end of the steady-state maintaining structure.

[0017] In one embodiment, the number of the positioning portions is plural, and the positioning portions are symmetrically distributed on both sides of the matching structure, and the interaction force between the steady-state maintaining structure and each positioning portion is substantially equal.

[0018] In one embodiment, the positioning portions are distributed on the upper side and the lower side of the matching structure, and the positioning portions on the upper side are symmetrically arranged with the positioning portions on the lower side.

[0019] In one embodiment, the steady-state maintaining structure includes an elastic band, two ends of the elastic band are fixedly connected to two symmetric positioning portions 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.

[0020] In an embodiment, the steady-state maintaining structure comprises 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 is fixedly connected to the foot support.

[0021] In an embodiment, the driving mechanism comprises an eccentric mechanism driven by the rhythm motor, the eccentric mechanism comprises an eccentric shaft and a bearing sleeved on the eccentric shaft, and the matching structure comprises a matching surface in abutment with the bearing. In an embodiment, the matching surface is configured as a plane or a curved surface matching a motion track of an outer ring of the bearing.

[0022] In an embodiment, the rhythm 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 extend from two ends of the motor body, the number of the eccentric mechanisms is two, and the two eccentric mechanisms are arranged at the first end and the second end of the rotating shaft respectively, and the number of the matching structures is two, and the two matching structures are arranged correspondingly with the two eccentric mechanisms respectively.

[0023] 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 extends from the motor body to output a rotating power, the eccentric mechanism is arranged at the output end of the rotating shaft, and the number of the matching structures is one, and the matching structure is in abutment with the eccentric mechanism.

[0024] In an embodiment, the foot support comprises a left foot receiving area and a right foot receiving area formed in the first surface, and projections of the two matching structures on the first surface respectively fall within the range of the left foot receiving area and the right foot receiving area.

[0025] In an embodiment, the foot support comprises a frame arranged around the outer periphery of the rhythm plate, and the outer end of the elastic support is 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.

[0026] In an embodiment, the elastic support comprises a hollow first ring body and a hollow second ring body connected to each other, the axis of the first ring body and the axis of 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 rhythm plate.

[0027] The technical scheme provided in the application has the following advantages:

[0028] The beat physiotherapy robot provided in the application, the beat plate is supported and positioned on the foot support through the elastic support, the driving mechanism is used for pushing the beat plate to move to the bias position, the beat plate is in translational motion instead of swing, the efficiency of beat transmission to the whole body is improved, since the main moving part is the beat plate, the motion inertia is low, and the vibration and noise brought by reciprocating motion are also greatly reduced; moreover, the elastic support can not only support the beat plate, but also provide elastic force for assisting the beat plate to reset to the initial position, further combined with the steady state maintaining structure, the stability of the horizontal movement of the beat plate is maintained during the reciprocating movement of the beat plate, the beat plate is reduced, the beat plate is reset to the initial position, the motion consistency of the beat plate and the driving mechanism is improved during the reset process, the gap between the beat plate and the driving mechanism is inhibited, the noise is reduced, and the translational motion stability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 The beat physiotherapy robot provided in the application, the beat plate is supported and positioned on the foot support through the elastic support, the driving mechanism is used for pushing the beat plate to move to the bias position, the beat plate is in translational motion instead of swing, the efficiency of beat transmission to the whole body is improved, since the main moving part is the beat plate, the motion inertia is low, and the vibration and noise brought by reciprocating motion are also greatly reduced; moreover, the elastic support can not only support the beat plate, but also provide elastic force for assisting the beat plate to reset to the initial position, further combined with the steady state maintaining structure, the stability of the horizontal movement of the beat plate is maintained during the reciprocating movement of the beat plate, the beat plate is reduced, the beat plate is reset to the initial position, the motion consistency of the beat plate and the driving mechanism is improved during the reset process, the gap between the beat plate and the driving mechanism is inhibited, the noise is reduced, and the translational motion stability is improved.

[0031] Figure 2 For Figure 1 The internal structure of the foot beat mechanism of the beat physiotherapy robot shown in the figure is shown in the figure.

[0032] Figure 3 For Figure 1 The internal structure of the foot beat mechanism of the beat physiotherapy robot shown in the figure is shown in the figure.

[0033] Figure 4 The beat physiotherapy robot provided in the application, the beat plate is supported and positioned on the foot support through the elastic support, the driving mechanism is used for pushing the beat plate to move to the bias position, the beat plate is in translational motion instead of swing, the efficiency of beat transmission to the whole body is improved, since the main moving part is the beat plate, the motion inertia is low, and the vibration and noise brought by reciprocating motion are also greatly reduced; moreover, the elastic support can not only support the beat plate, but also provide elastic force for assisting the beat plate to reset to the initial position, further combined with the steady state maintaining structure, the stability of the horizontal movement of the beat plate is maintained during the reciprocating movement of the beat plate, the beat plate is reduced, the beat plate is reset to the initial position, the motion consistency of the beat plate and the driving mechanism is improved during the reset process, the gap between the beat plate and the driving mechanism is inhibited, the noise is reduced, and the translational motion stability is improved.

[0034] Figure 5 For Figure 4 The internal structure of the foot beat mechanism of the beat physiotherapy robot shown in the figure is shown in the figure.

[0035] Figure 6 The beat physiotherapy robot provided in the application, the beat plate is supported and positioned on the foot support through the elastic support, the driving mechanism is used for pushing the beat plate to move to the bias position, the beat plate is in translational motion instead of swing, the efficiency of beat transmission to the whole body is improved, since the main moving part is the beat plate, the motion inertia is low, and the vibration and noise brought by reciprocating motion are also greatly reduced; moreover, the elastic support can not only support the beat plate, but also provide elastic force for assisting the beat plate to reset to the initial position, further combined with the steady state maintaining structure, the stability of the horizontal movement of the beat plate is maintained during the reciprocating movement of the beat plate, the beat plate is reduced, the beat plate is reset to the initial position, the motion consistency of the beat plate and the driving mechanism is improved during the reset process, the gap between the beat plate and the driving mechanism is inhibited, the noise is reduced, and the translational motion stability is improved. DETAILED DESCRIPTION

[0036] The technical solutions of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0038] In the present application, the orientation words such as "up, down, top, bottom" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, vertical or gravity direction of the component itself; similarly, for the convenience of understanding and description, "inner, outer" refers to the inner and outer relative to the contour of the component itself, but the above orientation words are not used to limit the present application.

[0039] 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.

[0040] The bed body 10 is used for the user to lie down to support the user. The opposite bed head 12 and the 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 the foot bottom of the user, and the foot bottom rhythmic mechanism 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.

[0041] The rhythmic physiotherapy robot 100 further comprises 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 relative 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.

[0042] In a specific implementation scenario, the rhythmic physiotherapy robot can also include other physiotherapy mechanisms, such as leg rhythmic mechanism, hip rhythmic mechanism and 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 carry out targeted or cooperative physiotherapy on each part of the body.

[0043] The foot bottom pulsation mechanism comprises a foot support 20, a pulsation plate 30, an elastic support 40, a steady-state maintaining structure 50 and a driving mechanism 60.

[0044] Specifically, the foot support 20 is fixedly arranged at the bed tail 14, and the pulsation plate 30 is supported on the foot support 20. The pulsation plate 30 has a first surface 311 for interacting with the foot, 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. In this way, when a user lies on the bed body 10, the foot bottom is opposite to the first surface 311.

[0045] The foot bottom pulsation mechanism further comprises an ankle positioning structure for assisting the positioning of the foot. Please continue to see Figure 1 The ankle positioning structure comprises a first positioning plate 22 and a second positioning plate 23. The number of the first positioning plate 22 is two, and the second positioning plate 23 is located between the two first positioning plates 22. The left first positioning plate 22 and the second positioning plate 23 are arranged at intervals to form a space for positioning the left foot, and the right first positioning plate 22 and the second positioning plate 23 are arranged at intervals to form a space for positioning the right foot. In a specific implementation, when a user lies on the bed body 10, the two ankles are respectively placed in the corresponding gaps between the first positioning plate 22 and the second positioning plate 23, thereby assisting the positioning of the ankles.

[0046] The pulsation plate 30 can reciprocate relative to the foot support 20 between an initial position and a bias position. The bias position is closer to the bed head 12 relative to the initial position. The driving mechanism 60 is used to drive the pulsation plate 30 to move from the initial position to the bias position, and the elastic support 40 and the steady-state maintaining structure 50 jointly act to reset the pulsation plate 30 to the initial position. In the initial position and the bias position, the first surfaces 311 of the pulsation plate 30 in the two states are substantially parallel to each other. In other words, the reciprocating movement of the pulsation plate 30 is a translation relative to the bed body 10. The action of the translational pulsation plate on the foot bottom is to reciprocally push, and almost no torsional moment is generated, so that the movement can be better transmitted to each joint of the whole body.

[0047] The elastic support 40 is used to support and position the pulsation plate 30 on the foot support 20. The elastic support 40 itself has a certain hardness and can support the pulsation plate 30. In the initial position, the elastic support 40 can stably support the pulsation plate 30 above the foot support 20. The elastic support 40 itself has a certain elasticity, and when the driving mechanism 60 drives the pulsation plate 30 to the biased position, the elastic support 40 produces a bending elastic deformation, so that the pulsation plate 30 has a tendency to return to the initial position. Specifically, one end of the elastic support 40 is fixedly connected to the outer edge of the pulsation 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 pulsation 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 pulsation plate 30.

[0048] The driving mechanism 60 includes a pulsation motor 61 fixedly arranged on the foot support 20, which is used to drive the pulsation plate 30 to move to the biased position. Specifically, the foot support 20 includes a support frame 25, and the pulsation motor 61 is fixedly arranged on the support frame 25. The support frame 25 is used to position the pulsation motor 61 at a certain height, so as to facilitate the transmission cooperation between the pulsation motor 61 and the pulsation plate 30.

[0049] 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 pulsation plate 30, which is used to apply an action force to the pulsation plate 30 in the direction of the bed tail 14. The steady-state maintaining structure 50 continuously makes the pulsation plate 30 have a tendency to move to the initial position, which helps the pulsation plate 30 to return to the initial position.

[0050] When the pulsation plate 30 is in the initial position, the steady-state maintaining structure 50 applies a first action force greater than zero to the pulsation plate 30; when the pulsation plate 30 is in the biased position, the steady-state maintaining structure 50 applies a second action force to the pulsation plate 30, and the elastic support 40 applies a third action force to the pulsation 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 toward 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 pulsation plate 30 returning to the initial position.

[0051] In the initial position, the steady-state maintaining structure 50 exerts a first action force greater than zero on the rhythmic plate 30, which can cause the rhythmic plate 30 to have a tendency to move towards the driving mechanism 60, making the positioning of the rhythmic plate 30 in the initial position more reliable and reducing vibration and noise. During the resetting process from the biased position to the initial position, the steady-state maintaining structure 50 causes the rhythmic plate 30 to follow the resetting movement of the driving mechanism 60, which can suppress the jitter of the rhythmic plate 30 during movement and improve the stability of reciprocating movement, and at the same time, can keep the rhythmic plate 30 synchronized with the driving mechanism 60 and suppress the clearance between the rhythmic plate 30 and the driving mechanism 60 to reduce the vibration and noise caused thereby.

[0052] The rhythmic physiotherapy robot provided in the present application supports and positions the rhythmic plate on the foot support through the elastic support, and the driving mechanism is used to push the rhythmic plate to move towards the biased position. The rhythmic plate is in translational movement 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, and the vibration and noise caused by reciprocating movement are also greatly reduced. Moreover, the elastic support not only supports the rhythmic plate but also provides elastic force to assist the resetting of the rhythmic plate to the initial position. In combination with the steady-state maintaining structure, the stability of the horizontal movement of the rhythmic plate is maintained during the reciprocating movement of the rhythmic plate, the jitter of the rhythmic plate is reduced, the rhythmic plate is caused to reset to the initial position, and the rhythmic plate is caused to move synchronously with the driving mechanism during the resetting process to suppress the clearance between the rhythmic plate and the driving mechanism, reduce noise, and improve the stability of translational movement.

[0053] In order to achieve the ideal rhythmic physiotherapy effect, the rhythmic frequency is usually higher than 15 Hz, and high-frequency reciprocating translation brings great difficulty to the design of the moving part. In order to improve the reliability of the structure, in specific embodiments, please refer to Figure 2 , the rhythmic plate 30 includes a plate body 31 and a cooperation structure 33 arranged on the plate body 31. The cooperation structure 33 is fixedly arranged on one side of the plate body 31 opposite to the first surface 311. The cooperation structure 33 cooperates with the driving mechanism 60 to push the plate body 31 to move towards the biased position. Taking the first surface 311 as the front face of the rhythmic plate 30, the cooperation structure 33 is arranged on the back face of the rhythmic plate 30. In this embodiment, the cooperation structure 33 directly interacts with the driving mechanism 60 to realize the pushing of the plate body 31. The cooperation structure 33 is a fixed structure, and the driving mechanism 60 is a power part. The cooperation structure 33 receives the action force of the driving mechanism 60, and the structure is simple and stable. Specifically, the cooperation structure 33 adopts a hard plastic structure or a hard resin structure, which can guarantee a certain wear resistance.

[0054] In specific embodiments, please refer to Figure 3 , Figure 4 and Figure 5As shown, the drive mechanism 60 includes an eccentric mechanism 63 driven by a rhythmic motor 61. The eccentric mechanism 63 includes an eccentric shaft 631 and a bearing 632 sleeved on the eccentric shaft. The mating structure 33 includes a mating surface that abuts against the bearing 632. Specifically, the rhythmic motor 61 includes a motor body 611 and a rotating shaft 612 for outputting rotational power. The eccentric shaft 631 is fixedly mounted on the output end of the rotating shaft 612. The eccentric shaft 631 includes an eccentric section that is eccentrically positioned relative to the rotating shaft 612. The bearing 632 is sleeved on the eccentric section of the eccentric shaft 631, thereby eccentrically positioning the bearing 632 and the axis of the rotating shaft 612. The bearing 632 includes an inner ring and an outer ring coaxially arranged, with balls disposed between the inner and outer rings. The inner ring is fixedly sleeved on the eccentric section, and the outer surface of the outer ring abuts against the mating structure 33.

[0055] The bearing 632 rotates eccentrically driven by the shaft 612. During this motion, the bearing 632 abuts against the periodically pushing plate 31 with the mating structure 33. To improve the stability of the pushing motion of the rhythmic plate and suppress wear on the mating structure, thus enhancing the stability of the foot rhythmic motion throughout its entire lifecycle, in one specific embodiment, the mating surface of the mating structure 33 is constructed as a curved surface. Typically, the outer surface of the bearing 632 is cylindrical, and the mating surface of the mating structure 33 is also constructed as a curved surface matching the movement trajectory of the outer contour of the bearing 632. Thus, the process of the bearing 632 eccentrically rotating towards the mating structure 33 is a surface contact, reducing wear on the mating structure 33. The pushing action on the mating structure 33 is a surface interaction, resulting in more stable movement of the rhythmic plate. In another embodiment, the mating surface of the mating structure 33 is planar. In practical applications, when the bearing 632 abuts against the mating structure 33, the contact surface of the mating structure 33 experiences slight wear, forming a curved surface that matches the movement trajectory of the bearing 632, resulting in a closer fit between the two shapes.

[0056] For a specific embodiment, please refer to [link / reference]. Figure 4 The rhythmic motor 61 is a through-core motor, with a rotating shaft 612 passing through the motor body 611. The rotating shaft 612 includes a first end and a second end extending from both ends of the motor body 611. Correspondingly, there are two eccentric mechanisms 63, which are respectively located at the first and second ends of the rotating shaft 612 and are driven to rotate synchronously by the rotating shaft 612. There are also two mating structures 33, which are respectively arranged corresponding to the two eccentric mechanisms 63. The rhythmic motor uses a through-core motor, with an eccentric mechanism connected to each end of the rotating shaft, which respectively engages with the two mating structures. The rhythmic plate has two force-bearing surfaces, which are spaced apart, improving the stability of the rhythmic plate's movement and reducing the likelihood of swaying.

[0057] The foot support 20 comprises left and right foot receiving areas formed on the first surface 311, and the projections of the two engaging structures 33 on the first surface fall within the scope of the left and right foot receiving areas respectively. In other words, one of the engaging structures 33 is arranged on the back of the left foot receiving area, and the other engaging structure 33 is arranged on the back of the right foot receiving area, so as to ensure that the forces received by the two foot receiving areas are balanced, and the stability of the movement is ensured.

[0058] In order to further improve the stability of the reciprocating movement of the beat plate, in a specific embodiment, as shown in Figure 4 The plate body 31 comprises a positioning portion 35 connected with the steady-state maintaining structure 50, the positioning portion 35 acts as a force receiving structure of the plate body 31, and the steady-state maintaining structure 50 pulls the plate body 31 through the positioning portion 35, so as to promote the plate body 31 to abut against the driving mechanism 60. The positioning portion 35 is arranged on the same side as the engaging structure 33, and the other end of the positioning portion 35 is fixedly connected with the steady-state maintaining structure.

[0059] Preferably, the number of the positioning portions 35 is multiple, and the positioning portions 35 are symmetrically distributed on both sides of the engaging structure 33 in pairs. In this case, the number of the positioning portions 35 is even, and each pair of the positioning portions 35 is symmetrically distributed on both sides of the engaging structure 33.

[0060] For example, the beat motor is a single-sided output motor, and the number of the eccentric mechanism and the engaging structure is one. The number of the positioning portions 35 can be set to two, and the two positioning portions 35 are arranged on the upper and lower sides of the engaging structure 33 and are symmetric about the center of the engaging structure 33. Of course, the number of the positioning portions 35 can also be set to Figure 2 As shown in the embodiment, the number of the positioning portions 35 is four, two of which are arranged on the upper side of the engaging structure, and the other two are arranged on the lower side of the engaging structure.

[0061] In Figure 2In the shown embodiment, the rhythm motor 61 is a core-penetrating motor, the number of eccentric mechanisms 63 and the number of matching structures 33 are both two, and the number of positioning portions 35 is four. The center line of the two positioning portions 35 is taken as a boundary, the two positioning portions 35 are located above the center line of the two matching structures 33, the other two positioning portions 35 are located below the center line of the two matching structures 33, and the positioning portions 35 are symmetrically distributed about the center line of the two matching structures 33. In this way, the interaction force points between the steady-state maintaining structure and the rhythm plate and the interaction force points between the rhythm plate and the driving mechanism are relatively balanced, the steady-state maintaining structure pulls the rhythm plate by the same distance during the movement of the driving mechanism to the bias position, so that the rhythm plate is smoothly pushed, the driving force of the driving mechanism disappears during the movement of the rhythm plate from the bias position to the initial position, the rhythm plate is reset following the driving mechanism under the pulling force of the steady-state maintaining structure, the reset process is more stable, and the shaking and noise are inhibited.

[0062] Further, the interaction force of the steady-state maintaining structure 50 with each positioning portion 35 is substantially equal. The interaction force of the positioning portion with the steady-state maintaining structure 50 is equal, which further guarantees the force balance of the rhythm plate and improves the stability of the movement.

[0063] In specific embodiments, please refer to Figure 2 and Figure 3 The steady-state maintaining structure 50 includes an elastic belt 51, both ends of the elastic belt 51 are fixedly connected with the two symmetric positioning portions 35 respectively, and the middle segment of the elastic belt 51 passes around the outer periphery of the rhythm motor 61 and tightly matches the part of the outer periphery of the rhythm motor 61 to realize the positioning of the elastic belt 51. During the reciprocating movement of the rhythm plate 30, the elastic belt 51 is elastically deformed to pull the rhythm plate 30 to keep the rhythm plate 30 in contact with the eccentric mechanism 63. In this example, the number of elastic belts 51 is two, and the number of positioning portions 35 is four, and the two ends of each elastic belt 51 are fixed with two symmetric positioning portions 35 respectively. Of course, the number of elastic belts 51 can be only one, and the number of positioning portions 35 is two, and the two ends of the elastic belt 51 are fixedly connected with the two positioning portions 35 respectively.

[0064] In order to facilitate the installation of the elastic belt 51, in specific embodiments, the foot support 20 includes two fixed plates 26 for fixing the rhythm motor 61 on the support frame 25. The two fixed plates 26 are arranged on the two end faces of the rhythm motor 61 respectively, each fixed plate 26 is fixedly connected with the end face of the rhythm 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 rhythm motor 61 away from the support frame 25, and there is a gap between the rhythm motor 61 and the support frame 25, so that the elastic belt 51 can pass through the gap and be arranged on the outer surface of the rhythm motor 61. At the same time, the fixed plate 26 clamps and fixes the rhythm motor 61, which can improve the reliability of the fixation of the rhythm motor 61.

[0065] In other embodiments, the fixing of the elastic band can also be directly realized by the foot support 20. Specifically, the foot support 20 comprises a positioning rod (not shown) arranged in parallel to the rotating shaft 612 of the rhythm motor 61, and the middle section of the elastic band 51 is wrapped around the positioning rod and tightly fitted with the outer periphery of the positioning rod to realize the positioning of the elastic band.

[0066] In other embodiments, the steady-state maintaining structure 50 comprises a plurality of elastic columns arranged in a direction perpendicular to the first surface, one end of each of the elastic columns is fixedly connected to the positioning part 35, and the other end is fixedly connected to the foot support 20. The elastic columns can provide a pulling force parallel to the rhythm direction to make the movement of the rhythm plate 30 more stable. In this example, the distribution of the positioning part 35 is the same as that of the above-mentioned embodiments, i.e., symmetrically distributed on both sides of the matching structure 33. The elastic columns are arranged in one-to-one correspondence with the positioning part 35, and the axis direction of the elastic columns is substantially perpendicular to the positioning part 35.

[0067] In order to ensure the stability of the support of the rhythm plate, please refer to Figure 3 The 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 to the frame 21 through the elastic support 40. The number of the elastic support 40 is multiple, and the elastic supports 40 are distributed at intervals on 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, thereby positioning the rhythm plate 30 in the circumferential direction. Preferably, the elastic supports 40 are substantially uniformly distributed on the outer periphery of the rhythm plate 30, thereby providing uniform support, positioning and resetting forces in the circumferential direction. In specific embodiments, please refer to Figure 3 The number of the elastic supports 40 is four, and the rhythm plate 30 is substantially square-shaped, and 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 frame of the rhythm plate 30, and the other two elastic supports 40 are respectively connected to the two ends of the lower edge frame of the rhythm plate 30. Of course, in other embodiments, the two elastic supports 40 can also be respectively connected to the two ends of the left side edge frame of the rhythm plate 30, and the other two elastic supports 40 are respectively connected to the two ends of the right side edge frame of the rhythm plate 30.

[0068] Specifically, please refer to Figure 6As shown, the elastic support 40 is a structure including a hollow first ring body 41 and a hollow second ring body 43 connected with each other, the axes of the first ring body 41 and the second ring body 43 are perpendicular to each other, the first ring body 41 is fixedly connected with the frame 21, and the second ring body 43 is fixedly connected with the pulsation plate 30. The elastic support 40 is an integral structure, and the first ring body 41 and the second ring body 43 are hollow. The hollow cavities improve the elastic deformation capacity of the elastic support 40. Since the axes 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 ensured.

[0069] In other embodiments, the elastic support can also be a ring sleeve structure surrounding the outer edge of the pulsation plate 30. The inner edge of the elastic support is fixedly connected with the outer edge of the pulsation plate 30, the outer edge of the elastic support is fixedly connected with the inner edge of the frame 21, and the elastic support is located in the spacing space between the pulsation 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 pulsation plate 30 in the direction parallel to the first surface 311, so that the pulsation plate 30 in the initial position is stably supported in the frame 21. The specific shape of the elastic support can be various, which is not listed here.

[0070] In the above embodiments, the first surface is the side surface of the pulsation plate 30 facing the headboard 12. The first surface 311 is generally a plane, but it is not excluded that the first surface 311 has a concave-convex structure or a hollow structure in part.

[0071] In another embodiment, the pulsation motor is a single-sided output motor. The pulsation 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 rotating 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 is in contact with the matching structure. The eccentric mechanism and the matching structure can refer to the structures of the above embodiments, which are not described here.

[0072] Obviously, the above-described embodiments are only some of the embodiments of the present application, not all. 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 scope of protection 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 be relative the foot support in initial position and the bias position of closer to the bed head of relative initial position between translation, the rhythm board has first surface for interacting with 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 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 the foot support, and the other end is connected the rhythm board, is used for to the rhythm board the action force of moving towards the bed tail direction is applied, when the rhythm board is located initial position, the stable state keeps structure relative the rhythm board applies first action force greater than zero, when the rhythm board is located the bias position, the stable state keeps structure relative the rhythm board applies second action force, the elastic support applies third action force to the rhythm board, the second action force is greater than the first action force, the first action force, the second action force, the 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 positioning portion is fixedly connected to the other end of the stable state keeping structure. The number of the positioning portions is multiple, and the positioning portions are symmetrically distributed on both sides of the matching structure, and the interaction force between the stable state keeping structure and each positioning portion is substantially equal. The positioning portions are distributed on the upper side and the lower side of the matching structure, and the positioning portions on the upper side are symmetrically arranged with the positioning portions on the lower side. The stable state keeping structure includes an elastic belt, both ends of the elastic belt are fixedly connected to the symmetrically arranged two positioning portions respectively, a middle segment of the elastic belt passes around an outer periphery of the rhythm motor, or the foot support includes a positioning rod, and the elastic belt passes around the positioning rod. The stable state keeping structure includes multiple elastic columns, the elastic columns are arranged along a direction perpendicular to the first surface, one end of each elastic column is fixedly connected to the positioning portion, and the other end of each 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 movement 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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