Motion limiting structure and rehabilitation robot
By introducing an elastic triggering assembly into the motion limit structure of the rehabilitation robot, priority is given to impacting the contacts and early triggering of the press switch, the problem that moving parts cannot trigger the press switch in advance in the prior art is solved, and a larger rotation angle and a longer service life are achieved.
Patent Information
- Application Number
- CN202421526593.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-06-28
AI Technical Summary
When the moving parts reach the limit position, the existing rehabilitation robot cannot effectively trigger the press switch in advance, resulting in limited rotation angle of the moving parts and cannot meet the requirements of triggering the stroke switch 2.5° in advance.
A motion limiting structure is designed, including a fixing member, a rotating member, a pressing switch and a trigger mechanism. By installing the elastic trigger assembly on the rotating member, the elastic trigger assembly is used to strike the contacts first, and the advance triggering of the press switch is realized, and the ultimate position of the rotating member is buffered through the compression of the elastic trigger assembly.
The press switch is effectively triggered in advance. The rotation angle of the rotating member is not affected by the length of the contact in the press switch, which meets the requirements of triggering the stroke switch 2.5° in advance. It also extends the service life of the motion limit structure through the buffering effect of the elastic trigger assembly.
Smart Images
Figure CN222917775U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of rehabilitation robots, in particular to a motion limiting structure and a rehabilitation robot. Background Art
[0002] In existing rehabilitation robots, in order to stop moving parts at the limit position, a travel switch is arranged in the rehabilitation robot. The travel switch is triggered by the moving part colliding with it, and the inclined contact on the travel switch swings to achieve a certain control purpose. During the process from the moving part contacting the contact until it stops, the moving part needs to always contact the contact. The total length of the contact of the currently used travel switch is about 4 mm. Since one end of the contact is installed inside the travel switch housing and the contact is inclined, when triggering the travel switch, in order to ensure that the moving part can trigger the contact and the moving part will not hit the travel switch housing, a certain distance needs to be set between the contact point and the travel switch housing. This will result in a relatively small distance that the moving part is allowed to move relative to the contact during the process from the moving part contacting the contact until it stops moving, and it cannot meet the requirement of triggering the travel switch 2.5° in advance. Summary of the Utility Model
[0003] The purpose of the utility model is to provide a motion limiting structure and a rehabilitation robot, which can effectively trigger the push switch in advance, and the rotation angle of the rotating part after triggering is not affected by the length of the contact in the push switch, and it is easy to meet the requirement of triggering the travel switch 2.5° in advance.
[0004] To achieve the above purpose, the utility model provides the following technical solutions:
[0005] In the first aspect, the utility model provides a motion limiting structure, including a fixed part, a rotating part, a push switch and a triggering mechanism;
[0006] The fixed part and the rotating part are rotationally matched. The fixed part has a first mechanical limiting surface. The push switch is installed on the fixed part. The push switch has a contact, and the contact protrudes from the first mechanical limiting surface and has a degree of freedom of movement in a direction perpendicular to the first mechanical limiting surface. The length of the contact protruding from the first mechanical limiting surface is less than the ultimate pressing length of the contact and greater than the pressing length when the contact is triggered.
[0007] The rotating part has a second mechanical limiting surface for abutting against the first mechanical limiting surface. The triggering mechanism is installed on the rotating part. The triggering mechanism includes an elastic triggering component protruding from the second mechanical limiting surface, and the elastic triggering component is used for abutting against the first mechanical limiting surface after triggering the contact.
[0008] Further, the triggering mechanism further includes a fixing plate, a guiding post, and the elastic triggering assembly;
[0009] The fixing plate is connected to the rotating member, and both the guiding post and the elastic triggering assembly are connected to the fixing plate;
[0010] The elastic triggering assembly has a floating amount relative to the fixing plate along the extending direction of the guiding post, and the elastic triggering assembly has a guiding hole for the guiding post to extend into it.
[0011] Further, the elastic triggering assembly includes a spring and a pressing block for abutting against the first mechanical limiting surface after triggering the contact head. The pressing block protrudes from the second mechanical limiting surface, and the protruding length is less than the ultimate compression length of the spring. Two ends of the spring are respectively connected to the fixing plate and the pressing block. The pressing block has the guiding hole, and the guiding post is located in the space surrounded by the spring.
[0012] Further, the plane where the first mechanical limiting surface is located and the plane where the second mechanical limiting surface is located intersect at the rotation axis of the rotating member.
[0013] Further, both the triggering mechanism and the second mechanical limiting surface are located on the side of the rotating member facing the fixed member, and the first mechanical limiting surface and the pressing switch are both located on the side of the fixed member facing the rotating member.
[0014] Further, the fixed member is provided with a first limiting block extending around the axis of the rotating member. Both end faces of the first limiting block along its own extending direction are the first mechanical limiting surfaces, and the pressing switches are arranged at both ends of the first limiting block along its own extending direction. Among the pressing switch and the first mechanical limiting surface at the same end of the first limiting block, the contact head of the pressing switch protrudes from the first mechanical limiting surface.
[0015] Further, a second limiting block is provided on the rotating member. The second limiting block is located on one side of the first limiting block along the extending direction of the first limiting block;
[0016] The second limiting block has the second mechanical limiting surface arranged facing the first mechanical limiting surface at one end facing the first limiting block, and the elastic triggering assembly is installed in the second limiting block.
[0017] Further, a third limiting block is further provided on the rotating member. The third limiting block is located on the other side of the first limiting block along the extending direction of the first limiting block;
[0018] The third limiting block has a second mechanical limiting surface facing the first mechanical limiting surface at the other end of the first limiting block, and the elastic trigger assembly is installed in the third limiting block.
[0019] In a second aspect, the present utility model further provides a rehabilitation robot, including a training rack and the motion limiting structure described in the above solution, and the motion limiting structure is installed on the training rack.
[0020] Further, the training rack includes a fixed rack, a swing rack, a motor, and a foot bracket. The outer shell of the motor is the fixed part in the motion limiting structure, and the outer shell of the foot bracket is the rotating part in the motion limiting structure;
[0021] Both ends of the swing rack are rotatably matched with the fixed rack and the outer shell of the foot bracket respectively. The motor is arranged between the swing rack and the foot bracket to drive the foot bracket to rotate relative to the swing rack.
[0022] The motion limiting structure and the rehabilitation robot provided by the present utility model can produce the following beneficial effects:
[0023] When using the above motion limiting structure, the rotating part rotates relative to the fixed part. When the rotating part is about to reach the limit position, the elastic trigger assembly first impacts the contact head, causing the contact head to move in a direction perpendicular to the first mechanical limiting surface, realizing the triggering of the push switch. Subsequently, the rotating part can continue to rotate without being affected by the length of the contact head in the push switch. During this process, the elastic trigger assembly is compressed to play a buffering role until the second mechanical limiting surface abuts against the first mechanical limiting surface, realizing the final mechanical limit of the rotating part.
[0024] Compared with the prior art, in the motion limiting structure provided by the first aspect of the present utility model, through the cooperation of the push switch, the elastic trigger assembly, and the two mechanical limiting surfaces, the push switch can be effectively triggered in advance. After triggering, the rotation angle of the rotating part is not affected by the length of the contact head in the push switch, and it is easy to meet the requirement of triggering the travel switch 2.5° in advance. Description of the Drawings
[0025] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0026] Figure 1 It is a three-dimensional structure diagram when a rotating part cooperates with a trigger mechanism provided by an embodiment of the present utility model;
[0027] Figure 2 A three-dimensional structure diagram when a fixing member cooperates with a push switch provided by an embodiment of the present utility model;
[0028] Figure 3 A three-dimensional structure diagram when a rotating member, a triggering mechanism, a first limiting block and a push switch cooperate provided by an embodiment of the present utility model;
[0029] Figure 4 A three-dimensional structure diagram of a push switch provided by an embodiment of the present utility model;
[0030] Figure 5 A front view when a fixing member cooperates with a push switch provided by an embodiment of the present utility model;
[0031] Figure 6 is Figure 5 a partial enlarged view of part A of;
[0032] Figure 7 A three-dimensional structure diagram of a rehabilitation robot provided by an embodiment of the present utility model;
[0033] Figure 8 A front view of a partial structure of a rehabilitation robot provided by an embodiment of the present utility model.
[0034] Reference numerals: 1 - fixing member; 11 - first mechanical limiting surface; 12 - first limiting block; 2 - rotating member; 21 - second mechanical limiting surface; 22 - second limiting block; 23 - third limiting block; 3 - push switch; 31 - contact; 4 - triggering mechanism; 41 - elastic triggering assembly; 411 - spring; 412 - pressing block; 4121 - guiding hole; 42 - fixing plate; 43 - guiding column; 5 - training rack; 51 - fixing frame; 52 - swinging frame. Detailed implementation manners
[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0036] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0037] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0038] The following will describe in detail the specific embodiments of the present utility model in conjunction with the drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present utility model and are not used to limit the present utility model.
[0039] An embodiment of the first aspect of the present utility model is to provide a motion limiting structure, as Figures 1 to 4 shown, including a fixing member 1, a rotating member 2, a push switch 3, and a triggering mechanism 4;
[0040] The fixing member 1 and the rotating member 2 are rotationally matched. The fixing member 1 has a first mechanical limiting surface 11. The push switch 3 is installed on the fixing member 1. The push switch 3 has a contact 31. The contact 31 protrudes from the first mechanical limiting surface 11 and has a degree of freedom of movement in a direction perpendicular to the first mechanical limiting surface 11. The length of the contact 31 protruding from the first mechanical limiting surface 11 is less than the limit pressing length of the contact 31 and greater than the pressing length when the contact 31 is triggered.
[0041] The rotating member 2 has a second mechanical limiting surface 21 for abutting against the first mechanical limiting surface 11. The triggering mechanism 4 is installed on the rotating member 2. The triggering mechanism 4 includes an elastic triggering assembly 41 protruding from the second mechanical limiting surface 21. The elastic triggering assembly 41 is used to abut against the first mechanical limiting surface 11 after triggering the contact 31.
[0042] Referring to Figure 3 shown, when using the above-mentioned motion limiting structure, the rotating member 2 rotates relative to the fixing member 1, that is to say Figure 3The first mechanical limit surface 11 in it remains stationary, and the rotating member 2 rotates relative to the first mechanical limit surface 11. When the rotating member 2 is about to reach the limit position, the elastic trigger assembly 41 preferentially impacts the contact 31, causing the contact 31 to move in a direction perpendicular to the first mechanical limit surface 11, thereby triggering the push switch 3. Subsequently, the rotating member 2 can continue to rotate without being affected by the length of the contact 31 in the push switch 3. During this process, the elastic trigger assembly 41 is compressed to play a buffering role until the second mechanical limit surface 21 abuts against the first mechanical limit surface 11, achieving the final mechanical limit of the rotating member 2.
[0043] In the motion limit structure provided by the above embodiment, the push switch 3 can be triggered in advance through the elastic trigger assembly 41. After the push switch 3 is triggered, the rotating member 2 can continue to rotate to compress the elastic trigger assembly 41, and the rotation angle of the rotating member 2 is not affected by the length of the contact 31 in the push switch 3, which is easy to meet the requirement of triggering the travel switch 2.5° in advance.
[0044] It can be understood that the force forcing the elastic trigger assembly 41 to be compressed should be greater than the triggering force when the contact 31 is triggered, so that after the elastic trigger assembly 41 contacts the contact 31, it can preferentially squeeze the contact 31, causing the contact 31 to be triggered to move preferentially in a direction perpendicular to the first mechanical limit surface 11. When the elastic trigger assembly 41 contacts the first mechanical limit surface 11, the elastic trigger assembly 41 is compressed under the extrusion of the first mechanical limit surface 11.
[0045] In a more preferred embodiment, the elastic force of the elastic trigger assembly 41 is much greater than the triggering force when the contact 31 is triggered.
[0046] In an alternative embodiment, as Figure 4 shown, the trigger mechanism 4 further includes a fixing plate 42, a guide post 43, and an elastic trigger assembly 41, where:
[0047] The fixing plate 42 can be connected to the rotating member 2 through connecting parts such as screws, and both the guide post 43 and the elastic trigger assembly 41 are connected to the fixing plate 42;
[0048] The elastic trigger assembly 41 has a floating amount relative to the fixing plate 42 along the extension direction of the guide post 43, and the elastic trigger assembly 41 has a guide hole 4121 for the guide post 43 to extend into it.
[0049] During use, when the elastic trigger assembly 41 contacts the first mechanical limit surface 11, the first mechanical limit surface 11 squeezes the elastic trigger assembly 41, so that the part of the elastic trigger assembly 41 protruding from the second mechanical limit surface 21 can be compressed to be flush with the second mechanical limit surface 21. During this process, the guide post 43 extends into the guide hole 4121, and the guide post 43 can play a guiding role in the movement of the elastic trigger assembly 41.
[0050] In an alternative embodiment, as Figure 4 shown, the elastic trigger assembly 41 includes a spring 411 and a pressing block 412 for abutting against the first mechanical limit surface 11 after triggering the contact 31. The pressing block 412 protrudes from the second mechanical limit surface 21, and the protruding length is less than the ultimate compression length of the spring 411. Both ends of the spring 411 are connected to the fixing plate 42 and the pressing block 412 respectively. The pressing block 412 has a guiding hole 4121, and the guiding column 43 is located in the space surrounded by the spring 411.
[0051] When the pressing block 412 contacts the contact 31, the pressing block 412 preferentially forces the contact 31 to move in a direction perpendicular to the first mechanical limit surface 11 under the elastic force of the spring 411 until the pressing block 412 contacts the first mechanical limit surface 11. At this time, the first mechanical limit surface 11 squeezes the spring 411 through the pressing block 412, and the spring 411 is compressed. At the same time, the guiding column 43 extends into the guiding hole 4121 to guide the pressing block 412 until the end surface of the pressing block 412 protruding from the second mechanical limit surface 21 is flush with the second mechanical limit surface 21, and the second mechanical limit surface 21 contacts the first mechanical limit surface 11, realizing the final mechanical limit of the rotating member 2.
[0052] In an alternative embodiment, the plane where the first mechanical limit surface 11 is located and the plane where the second mechanical limit surface 21 is located intersect at the rotation axis of the rotating member 2.
[0053] The above setting enables the pressure exerted by the second mechanical limit surface 21 on the first mechanical limit surface 11 to be along the tangent direction of the rotating member 2 when the rotating member 2 rotates to the limit position, thereby avoiding the radial force on the rotating member 2 and ensuring the service life of the rotating member 2.
[0054] In an alternative embodiment, both the trigger mechanism 4 and the second mechanical limit surface 21 are located on the side of the rotating member 2 facing the fixing member 1, and both the first mechanical limit surface 11 and the push button switch 3 are located on the side of the fixing member 1 facing the rotating member 2.
[0055] The above setting enables neither the trigger mechanism 4 nor the second mechanical limit surface 21 to protrude from the rotating member 2 along the radial direction of the rotating member 2, and neither the first mechanical limit surface 11 nor the push button switch 3 to protrude from the fixing member 1 along the radial direction of the rotating member 2, facilitating the hiding and non-exposure of the trigger mechanism 4, the second mechanical limit surface 21, the first mechanical limit surface 11, and the push button switch 3.
[0056] In an alternative embodiment, as Figure 2As shown, the fixing member 1 is provided with a first limiting block 12 extending around the axis of the rotating member 2. Both end faces of the first limiting block 12 along its extending direction are first mechanical limiting surfaces 11, and pressing switches 3 are provided at both ends of the first limiting block 12 along its extending direction. Among the pressing switch 3 and the first mechanical limiting surface 11 at the same end of the first limiting block 12, the contact 31 of the pressing switch 3 protrudes from the first mechanical limiting surface 11.
[0057] The above setting can facilitate the fixing member 1 to perform two-way limiting on the rotation of the rotating member 2.
[0058] In an alternative embodiment, as Figure 1 shown, the rotating member 2 is provided with a second limiting block 22. The second limiting block 22 is located on one side of the first limiting block 12 along the extending direction of the first limiting block 12; the second limiting block 22 has a second mechanical limiting surface 21 arranged facing the first mechanical limiting surface 11 at one end facing the first limiting block 12, and an elastic trigger assembly 41 is installed in the second limiting block 22.
[0059] When the second mechanical limiting surface 21 on the second limiting block 22 contacts the first mechanical limiting surface 11 at one end of the first limiting block 12, the rotating member 2 is limited to the first extreme position.
[0060] In an alternative embodiment, as Figure 1 shown, the rotating member 2 is further provided with a third limiting block 23. The third limiting block 23 is located on the other side of the first limiting block 12 along the extending direction of the first limiting block 12; the third limiting block 23 has a second mechanical limiting surface 21 arranged facing the first mechanical limiting surface 11 at the other end facing the first limiting block 12, and an elastic trigger assembly 41 is installed in the third limiting block 23.
[0061] When the second mechanical limiting surface 21 on the third limiting block 23 contacts the first mechanical limiting surface 11 at the other end of the first limiting block 12, the rotating member 2 is limited to the second extreme position.
[0062] The settings of the second limiting block 22, the third limiting block 23 and the first limiting block 12 can limit the rotating member 2 at the two extreme positions of the rotation path of the rotating member 2 respectively.
[0063] In addition, the pressing switch 3 can be directly purchased. In a specific embodiment, as Figure 5 and Figure 6 shown, the pressing switch 3 is a purchased push-button travel switch, and the total length of the contact 31 is about 2.6 mm, where the first 0.8 mm of pressing is the non-triggering distance d 1 , in order to ensure that the travel switch housing will not hit the travel switch housing after hitting the mechanical limit, the end of the travel switch housing should be at least a certain distance d away from the first mechanical limiting surface 11 2, the remaining contact length is less than 1.8 mm. According to the arc length formula and the application scenario, the maximum rotational touch angle at this time is 1.7°. However, the actual usage scenario requires the pressing switch 3 to be triggered 2.5° in advance. The remaining 0.8° can be supplemented by the length of the elastic trigger component 41 protruding from the second mechanical limit surface 21. For example, let the length of the elastic trigger component 41 protruding from the second mechanical limit surface 21 be 2 mm. After the elastic trigger component 41 abuts against the first mechanical limit surface 11, the elastic trigger component 41 can continue to be pressed by 2 mm. During this process, the rotation angle of the rotating member 2 is greater than 0.8°, and when added to 1.7°, it is greater than 2.5°, meeting the requirement of triggering the pressing switch 3 2.5° in advance.
[0064] In an alternative embodiment, the length of the elastic trigger component 41 protruding from the second mechanical limit surface 21 is 0.8 - 3.3 mm, and specifically can be 0.8 mm, 0.9 mm, 1.0 mm, 1.5 mm, 2.0 mm, 2.5 mm or 3.3 mm.
[0065] In an alternative embodiment, as Figure 7 and Figure 8 shown, an embodiment of the second aspect of the present invention provides a rehabilitation robot. The rehabilitation robot provided by the embodiment of the second aspect of the present invention includes a training frame 5 and the above-mentioned motion limiting structure, and the motion limiting structure is installed on the training frame 5.
[0066] The rehabilitation robot provided by the second aspect of the present invention has the motion limiting structure provided by the embodiment of the first aspect of the present invention, and thus has all the beneficial effects of the motion limiting structure provided by the embodiment of the first aspect of the present invention.
[0067] In an alternative embodiment, as Figure 7 and Figure 8 shown, the training frame 5 includes a fixed frame 51, a swing frame 52, a motor and a foot bracket. The outer shell of the motor is the fixed member 1 in the motion limiting structure, and the outer shell of the foot bracket is the rotating member 2 in the motion limiting structure; both ends of the swing frame 52 are rotatably matched with the fixed frame 51 and the outer shell of the foot bracket respectively, and the motor is arranged between the swing frame 52 and the foot bracket to drive the foot bracket to rotate relative to the swing frame 52.
[0068] When the motor drives the outer shell of the foot bracket to rotate relative to the swing frame 52, the outer shell of the foot bracket rotates relative to the outer shell of the motor, and the elastic trigger component 41 on the outer shell of the foot bracket can trigger the pressing switch 3 on the outer shell of the motor. Subsequently, the second mechanical limit surface 21 on the outer shell of the foot bracket can contact the first mechanical limit surface 11 to achieve the final mechanical limit of the outer shell of the foot bracket.
[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A motion limiting structure, characterized in that: It comprises a fixing part (1), a rotating part (2), a pressing switch (3) and a trigger mechanism (4); The fixed part (1) and the rotating part (2) are rotatably matched, the fixed part (1) has a first mechanical limit surface (11), the push switch (3) is installed on the fixed part (1), the push switch (3) has a contact (31), the contact (31) protrudes from the first mechanical limit surface (11) and has a degree of freedom of movement in a direction perpendicular to the first mechanical limit surface (11), and the length of the contact (31) protruding from the first mechanical limit surface (11) is less than the limit pressing length of the contact (31) and greater than the pressing length of the contact (31) when it is triggered; The rotating member (2) has a second mechanical limit surface (21) for abutting against the first mechanical limit surface (11); the trigger mechanism (4) is installed on the rotating member (2); the trigger mechanism (4) comprises an elastic trigger component (41) protruding from the second mechanical limit surface (21); the elastic trigger component (41) is used to abut against the first mechanical limit surface (11) after triggering the contact (31).
2. The motion limiting structure according to claim 1, characterized in that: The trigger mechanism (4) further comprises a fixing plate (42), a guide column (43) and the elastic trigger component (41); The fixed plate (42) is connected to the rotating member (2), and the guide column (43) and the elastic trigger component (41) are both connected to the fixed plate (42); The elastic trigger component (41) has a floating amount relative to the fixed plate (42) along the extension direction of the guide column (43), and the elastic trigger component (41) has a guide hole (4121) for the guide column (43) to extend into.
3. The motion limiting structure according to claim 2, characterized in that: The elastic trigger component (41) comprises a spring (411) and a pressure block (412) for abutting against the first mechanical limit surface (11) after triggering the contact (31); the pressure block (412) protrudes from the second mechanical limit surface (21), and the protruding length is less than the maximum compression length of the spring (411); the two ends of the spring (411) are respectively connected to the fixing plate (42) and the pressure block (412); the pressure block (412) has the guide hole (4121), and the guide column (43) is located in the space surrounded by the spring (411).
4. The motion limiting structure according to claim 1, characterized in that: The plane where the first mechanical limit surface (11) is located and the plane where the second mechanical limit surface (21) is located intersect at the rotation axis of the rotating member (2).
5. The motion limiting structure according to claim 1, characterized in that: The trigger mechanism (4) and the second mechanical limit surface (21) are both located on the side of the rotating member (2) facing the fixed member (1), and the first mechanical limit surface (11) and the push switch (3) are both located on the side of the fixed member (1) facing the rotating member (2).
6. The motion limiting structure according to claim 1, characterized in that: The fixed member (1) is provided with a first limit block (12) extending around the axis of the rotating member (2); both end surfaces of the first limit block (12) along its own extension direction are first mechanical limit surfaces (11); and both ends of the first limit block (12) along its own extension direction are provided with the push switch (3); in the push switch (3) and the first mechanical limit surface (11) located at the same end of the first limit block (12), the contact (31) of the push switch (3) protrudes from the first mechanical limit surface (11).
7. The motion limiting structure according to claim 6, characterized in that: The rotating member (2) is provided with a second limit block (22), and the second limit block (22) is located on one side of the first limit block (12) along the extension direction of the first limit block (12); The second limit block (22) comprises the second mechanical limit surface (21) arranged facing the first mechanical limit surface (11) at one end of the first limit block (12), and the elastic trigger component (41) is installed in the second limit block (22).
8. The motion limiting structure according to claim 7, characterized in that: The rotating member (2) is also provided with a third limit block (23), and the third limit block (23) is located on the other side of the first limit block (12) along the extension direction of the first limit block (12); The third limit block (23) has the second mechanical limit surface (21) arranged facing the first mechanical limit surface (11) at the other end of the first limit block (12), and the elastic trigger component (41) is installed in the third limit block (23).
9. A rehabilitation robot, characterized in that: It comprises a training frame (5) and a motion limiting structure according to any one of claims 1 to 8, wherein the motion limiting structure is installed on the training frame (5).
10. The rehabilitation robot according to claim 9, characterized in that: The training frame (5) comprises a fixed frame (51), a swing frame (52), a motor and a foot support frame, the outer shell of the motor is the fixed part (1) in the motion limiting structure, and the outer shell of the foot support frame is the rotating part (2) in the motion limiting structure; The two ends of the swing frame (52) are respectively rotatably matched with the fixed frame (51) and the outer shell of the foot bracket, and the motor is arranged between the swing frame (52) and the outer shell of the foot bracket to drive the foot bracket to rotate relative to the swing frame (52).