CN219166989U - Ankle pump exercise training device - Google Patents

Abstract

The utility model provides an ankle pump movement training device, which overcomes the limitation of ankle pump movement simulation through an improved electromechanical driving structure and assists a user to safely and effectively complete ankle pump movement. Comprising the following steps: an ankle positioning mechanism for providing a securement structure for the ankle, heel and sole portions; a plantar rotation mechanism for forming a controlled rotation support structure at the heel portion of the ankle positioning mechanism; a base for forming a rigid housing of the electromechanical component accommodation space and providing a fixed moving track; and the sole supporting mechanism is used for forming a supporting structure which is matched with the sole rotating mechanism and moves along the fixed moving track in a controlled way. The electromechanical structure with two control dimensions of movement and rotation is provided, the effective control of three degrees of freedom of movement is realized, and meanwhile, one independent rotation control dimension additionally provided forms an independent degree of freedom of movement, so that the electromechanical structure can adapt to individual movement characteristics of a user and improve the action experience of the user in a targeted manner. Complex ankle pump motion simulation can be achieved.

Description

Ankle pump exercise training device

Technical Field

The utility model relates to the technical field of rehabilitation and health care, in particular to an ankle pump exercise training device.

Background

The ankle pump movement means that the ankle joint is driven to move through the contraction of the lower limb muscles, so that the lower limb muscles play a role like a pump, and the blood and lymph circulation of the lower limb is promoted. Ankle pump exercise plays a vital role in maintaining cardiopulmonary function of long-term bedridden patients, recovering functions of patients after lower limb operation, and preventing cardiovascular and cerebrovascular hidden diseases for sub-healthy people who sit for a long time. Can obviously promote the swelling of lower limbs to subside and prevent deep vein thrombosis. The above group often lacks ankle pump motor awareness or active motor ability. Injury is easily caused by natural follow-up movement.

The electromechanical control technology in the prior art has universality and is beneficial to forming a complex control process. The memory is used to store the program code of the electromechanical control process, the processor is used to process the program code to form a control signal, and the control signal directly or through power amplification drives the motor to drive the executing mechanism to complete the target action. The electromechanical driving structure and the electromechanical control technology can meet the motion expectations of ankle pumps of applicable people. The formation of an electromechanical driving structure capable of reproducing the details of the motion of a real ankle pump is a key to realizing the motion simulation of the ankle pump.

Disclosure of Invention

In view of the foregoing, embodiments of the present utility model provide an ankle pump exercise training device that overcomes the limitations of ankle pump motion simulation by an improved electromechanical drive structure, and assists a user in safely and effectively completing ankle pump exercises.

The ankle pump exercise training device of the embodiment of the utility model comprises an electromechanical action structure, wherein the electromechanical action structure comprises:

an ankle positioning mechanism for providing a securement structure for the ankle, heel and sole portions;

a plantar rotation mechanism for forming a controlled rotation support structure at the heel portion of the ankle positioning mechanism;

a base for forming a rigid housing of the electromechanical component accommodation space and providing a fixed moving track;

and the sole supporting mechanism is used for forming a supporting structure which is matched with the sole rotating mechanism and moves along the fixed moving track in a controlled way.

In an embodiment of the present utility model, the method further includes:

and the back extension adjusting mechanism is used for forming a supporting structure for controlling the tension of the adjusting structure on the toe palm part of the ankle positioning mechanism.

In an embodiment of the utility model, the back extension adjusting mechanism comprises a third driving motor and an elastic energy storage component which form traction connection, wherein the third driving motor is fixed on one rotating side of the limited rotating structure, and the elastic energy storage component is fixed on one relatively fixed side of the limited rotating structure.

In an embodiment of the utility model, the plantar support mechanism comprises a first driving motor and a first matching structure in transmission connection with an output shaft of the first driving motor, and the first matching structure is driven by the first driving motor to move along a fixed moving track.

In one embodiment of the present utility model, the ankle positioning means includes an ankle securing structure for securing a single foot, and a limited rotation structure for providing a toe portion in the ankle securing structure.

In one embodiment of the present utility model, the base includes a supporting structure, and a first driving motor accommodating space, a fixed moving track and an open moving space above the fixed moving track are formed on the supporting structure.

In an embodiment of the utility model, the plantar rotation mechanism comprises a second driving motor, a second matching structure in transmission connection with the second driving motor, and a third matching structure fixedly connected with the second driving motor, wherein the second matching structure is fixedly connected with the heel part of the ankle fixing structure, and the third matching structure is matched and connected with the first matching structure.

In an embodiment of the present utility model, a rotary encoder is disposed corresponding to the driving motor in the electromechanical actuating structure.

In an embodiment of the present utility model, a pressure sensor is disposed in a pressure-bearing area of the ankle positioning mechanism.

In one embodiment of the utility model, the ankle pump exercise training devices are configured in pairs.

The ankle pump exercise training device provided by the embodiment of the utility model firstly provides an electromechanical structure with two control dimensions of movement and rotation, realizes effective control of three degrees of freedom of movement, and expands the flexibility of movement of the ankle in the determined movement direction. The motion difference of different users can be fully applied. Meanwhile, an independent rotation control dimension is additionally provided to form independent motion freedom degree, so that the motion characteristic of a user individual can be adapted, and the user action experience can be improved in a targeted manner. Complex ankle pump motion simulation can be achieved.

Drawings

Fig. 1 is a schematic diagram of an ankle pump exercise training device according to an embodiment of the present utility model.

FIG. 2 is a schematic side view of a base in an electromechanical motion configuration of an ankle pump exercise training device according to one embodiment of the present utility model.

FIG. 3 is a schematic cross-sectional front view of a base in an electromechanical motion structure of an ankle pump exercise training device according to an embodiment of the present utility model.

FIG. 4 is a schematic side view in cross-section of an electromechanical motion structure of an ankle pump exercise training device according to an embodiment of the present utility model.

Fig. 5 is a schematic diagram showing the coordination structure of the ankle positioning mechanism, the plantar rotation mechanism and the dorsal extension adjustment mechanism in the electromechanical action structure of the ankle pump exercise training device according to an embodiment of the present utility model.

Fig. 6 is a schematic rear view showing the combination of the ankle positioning mechanism and the plantar rotation mechanism in the electromechanical action structure of the ankle pump exercise training device according to the embodiment of the present utility model.

Detailed Description

The present utility model will be further described with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

An ankle pump exercise training device according to an embodiment of the present utility model is shown in fig. 1, and in fig. 1, includes:

the electromechanical control module 200 is configured to respond to a user's requirement according to a preset motion strategy, form an electromechanical control signal sequence, and control the corresponding action mechanism to act.

The electromechanical actuating structure 100 is used for forming an actuating mechanism for supporting the joints of the lower limbs at the ankle part, and driving the ankle to move or follow the ankle to move according to the control signal sequence.

Those skilled in the art will appreciate that ankle pump exercises include a variety of exercise states, with different exercise states having significant differences in participation in muscle groups, muscle exercise intensity, exercise posture, and the like. For example, when plantar flexed (toe stretched), the triceps calf muscle contracts and shortens, and the tibialis anterior relaxes and stretches; when the back is stretched (colluded toe), the tibialis anterior muscle is contracted and shortened, and the triceps calf muscle is relaxed and stretched. Blood and lymph fluid are squeezed back when the muscles contract, and fresh blood is replenished when the muscles relax. By simply bending and stretching the ankle, the blood circulation of the whole lower limb can be effectively promoted.

The diversity of the simulated motion state is a key evaluation index for the motion effectiveness of the ankle pump motion training device. The actual ankle pump movements during plantarflexion (toe tightening) and dorsal extension (toe hooking) can be broken down into motion states including, but not limited to, ankle rotation, sole stepping, toe standing, toe hooking, sole lifting, etc., each motion state involving stretching of a set of muscle tendons. The electromechanical action structure can form an independent structural technical scheme aiming at the simulation motion diversity. The ankle pump movement training device provided by the embodiment of the utility model combines the prior art to form a hardware configuration environment for driving the electric signal to generate a data processing process while providing an electromechanical action structure for performing ankle pump movement simulation through the electric signal driving mechanical structure. The realization of a specific preset motion strategy and a motion effect in the ankle pump motion simulation process is ensured.

As shown in fig. 1, in one embodiment of the present utility model, the electromechanical actuation structure 100 includes the following actuation mechanisms:

ankle positioning mechanism 110 provides a securement structure for the ankle, heel, and sole portion.

It will be appreciated by those skilled in the art that a reliable fixed support for the ankle may be obtained using conventional foot support structures for skates, slippers, recreational shoes or rowing machines, and conventional binding structures such as laces, buckles and straps.

The plantar rotation mechanism 120 is used to form a support structure for controlled rotation at the heel portion of the ankle positioning mechanism.

The ankle positioning mechanism can rotate relative to the fixed reference by setting the motor fixed reference through the driving motor and forming fixed connection between the ankle positioning mechanism and the motor output shaft through the accessory.

And a base 130 for forming a rigid housing of the electromechanical component accommodation space and providing a fixed moving track.

The ankle movement restriction is formed by arranging the fixed movement track on the rigid shell, and considering that most of applicable people are patients or sedentary people with small movement amount, the movement restriction is to restrict the ankle rotation and ankle swing which are too complicated in the ankle pump movement in order to prevent the movement risk. The rigid housing also serves to form a stable, fixed foundation.

The sole support mechanism 140 is used for forming a support structure which is matched with the sole rotating mechanism and moves along a fixed moving track in a controlled way.

Controlled movement along a fixed movement path provides additional movement control dimensions for limited ankle pump movement, as well as a movement support for the plantar rotation mechanism, on the basis of the plantar rotation mechanism forming a rotational support for ankle positioning mechanism 110.

The driving motor is adopted, the motor is fixed by setting a motor fixed reference, the motor output shaft and the plantar rotating mechanism are fixedly connected through a transmission accessory, the plantar rotating mechanism can be controlled to move along a fixed moving track, and the ankle positioning mechanism can relatively move.

In the embodiment of the utility model, the ankle positioning mechanism 110 points to the sole rotation mechanism 120, and the rotation direction is consistent with the fixed movement track.

According to the ankle pump movement training device, the fixed movement direction is determined in the ankle pump movement through the electromechanical movement structure, the rotation and movement two movement mechanisms are formed on the movement direction, the electromechanical structure with two control dimensions is provided, effective control of three movement degrees of freedom is achieved, and the movement flexibility of the ankle in the determined movement direction is expanded. The motion difference of different users can be fully applied.

As shown in fig. 1, in an embodiment of the utility model, the method further includes:

the dorsal extension adjustment mechanism 150 is used to form a support structure for the controlled adjustment of structural tension at the ball portion of the ankle positioning mechanism.

The joints of the sole part are more, and independent actions related to the physiological habit of the movement of a user exist when the sole is involved in the actions of stepping, standing on the tiptoe, hooking the toe, lifting the sole and the like, and specific structure targeted matching is needed.

By adopting the driving motor, the traction connection between the motor output shaft and the energy storage device can be established by setting the motor fixing reference, so that the local structural tension of the ankle positioning mechanism can be changed.

According to the ankle pump exercise training device, the independent motion degrees of freedom are formed through the back extension adjusting mechanism, so that the individual motion characteristics of a user can be adapted, and the user action experience is improved in a targeted manner. Meanwhile, as an additionally provided independent rotation control dimension, the further optimization of the electromechanical control process in ankle pump motion simulation can be met. Effectively promote venous return of lower limbs, prevent deep venous thrombosis of lower limbs, and strengthen muscle strength and muscle mass of lower limbs. Further increases physical activity and energy consumption, and improves indexes such as blood pressure, blood sugar, blood fat, body fat and the like.

As shown in fig. 1, in one embodiment of the present utility model, the electromechanical control module 200 includes:

and a memory 210 for storing program codes and control data corresponding to the preset motion strategy.

The processor 220 is configured to form an electromechanical control signal sequence of a preset motion strategy according to a user requirement, and control the corresponding motion mechanism to act.

The processor may employ a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) Field programmable gate array, a MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or an PLC (Programmable Logic Controller) minimum system including I/O.

A control panel 230 for receiving user demand-formed exercise strategy selection and parameter configuration data.

Control panels include, but are not limited to, a conventional keyboard, touch screen, or switch buttons.

The pressure sensor 240 is configured to collect pressure change signals of different ankle parts, and form feedback data for adjusting a preset motion strategy.

The pressure sensors can be independently arranged, linearly arranged or arranged in a matrix mode according to the pressure-bearing structural characteristics of the ankle positioning mechanism, and a parallel acquisition structure of different parts of the same type of signals is formed. To better obtain plantar pressure variation feedback.

The rotary encoder 250 is used for collecting the rotating speed signal of the motor output shaft in the action mechanism and forming feedback data for adjusting the preset motion strategy.

The control signal forms the desired rotational speed and power of the motor. The working state of the motor can be evaluated through the real-time rotating speed fed back by the rotary encoder, and then the adjustment of the output power, the action frequency, the action amplitude or the action angle in a preset motion strategy is formed.

According to the ankle pump motion training device, an electromechanical control structure is formed, so that the motion freedom degree and the control dimension formed by the electromechanical motion structure are effectively utilized, and a control-acquisition-feedback integral hardware architecture is built for building the ankle pump motion in an active mode, a passive mode and a follow-up mode.

As shown in fig. 1, in an embodiment of the present utility model, an electromechanical control module includes: further comprises:

a universal communication interface 260 for communicating data with other ankle pump exercise training devices.

Types of universal communication interfaces that may be employed include, but are not limited to, USB interfaces or COM interfaces.

The wireless communication module 270 is configured to form a wireless communication link with other data terminals.

The types employed by the wireless communication module include, but are not limited to, WIFI or bluetooth.

Processor 220 is also operative to control the establishment and data exchange of the general communication interface and the wireless communication link.

The processor can form a traditional master-slave communication mode to transmit data by utilizing the universal communication interface, and a traditional peer-to-peer communication mode to transmit data by utilizing the wireless communication module.

The base of the electromechanical motion structure of the ankle pump exercise training device according to an embodiment of the present utility model is shown in fig. 2 and 3. Wherein: the base includes a support structure on which a first driving motor accommodation space, a fixed moving track, and an open moving space above the fixed moving track are formed.

Specifically, referring to fig. 2 and 3, the base 130 includes a pair of hollow rectangular boxes 131, a rear end plate 132, a bottom end plate 133 and an arc-shaped baffle 134, which are axially symmetrically arranged in parallel, the rear end plate 132 is vertically fixed to the rear ends of the two rectangular boxes 131, the bottom end plate 133 is horizontally fixed to the bottoms of the two rectangular boxes 131, and the rear end plate 132 and the adjacent ends of the bottom end plate form an integral connection rib 135. The arc-shaped baffle 134 is flattened into a rectangle, the arc-shaped baffle is axially and vertically fixed with the rectangular box bodies 131, and two ends of the arc-shaped baffle are fixed on the adjacent side walls of the two rectangular box bodies 131. The arc baffle 134 and the rear end plates 132 and the bottom end plates at both sides of the integral connecting rib 135 enclose a transverse cavity 136, and adjacent side walls of the rectangular box 131 in the projection range of the inner walls of the transverse cavity to the rectangular box 131 at both sides are eliminated to form transverse through holes 137 symmetrical to the transverse cavity 136. The sole support mechanism in the electromechanical motion structure of the ankle pump exercise training device according to an embodiment of the present utility model is shown in fig. 3 and 4. Referring to fig. 3 and 4, a fixed moving track is axisymmetrically arranged on the adjacent side walls between the rectangular boxes 131 and above the transverse cavity 136, the fixed moving track is a minor arc through hole 141, and the arc center of the minor arc through hole 141 is located at the front upper part of the adjacent side walls and is located at one side of the arc far from the transverse cavity 136. The relative hole wall pitch in the extension direction in the minor-arc through holes 141 remains uniform.

The base configuration of the training device can ensure the placement stability. The whole weight is close to the whole connecting edge, the moving track is in a bad arc shape, and the moving track can be kept stable after standing for 90 degrees along the whole connecting edge, so that the device is beneficial to being suitable for sitting and lying.

In the electromechanical action structure of the ankle pump exercise training device, the plantar support mechanism comprises a first driving motor and a first matching structure in transmission connection with an output shaft of the first driving motor, and the first matching structure is driven by the first driving motor to move along a fixed moving track.

Specifically, as shown in connection with fig. 2 and 3, the plantar support mechanism 140 includes two sets, are respectively axisymmetrically disposed in the two rectangular cases 131. Referring to fig. 3 and 4, the plantar support mechanism 140 includes a first driving motor 142, a first conductive gear 143, a second conductive gear 144, a third conductive gear 145, a fourth conductive gear 146, a conductive link 147, and a timing belt 148, the first driving motor 142 is fixed in the transverse cavity and is coaxial with the transverse cavity 136, an adjacent side wall of the motor output shaft 142a pointing to the rectangular box 131 is fixed with the first conductive gear 143 at an end of the output shaft 142a after extending out of the transverse through hole 137 of the transverse cavity 136, and the first conductive gear 143 rotates with the output shaft 142 a. The second and third conductive gears 144 and 145 are respectively disposed at outer sides of both ends of the minor arc through hole 141, and both ends of a fixed central shaft of the second and third conductive gears 144 and 145 are rotatably fixed on opposite sidewalls of the rectangular case 131. The fixed central shaft of the fourth conductive gear 146 is located at the arc center of the minor arc through hole 141, and two ends of the fixed central shaft are rotatably fixed on opposite side walls of the rectangular box 131. The fixed end of the conductive connecting rod 147 comprises a through hole, the fixed central shaft of the fourth conductive gear 146 passes through the through hole, the fixed end of the conductive connecting rod 147 is fixed on the wheel surface (or the fixed central shaft) of the fourth conductive gear 146, and rotates along with the fourth conductive gear 146, and the moving end of the conductive connecting rod 147 is positioned in the range of the opposite hole wall of the extension direction of the minor arc through hole 141. A timing belt 148 sequentially forms a closed path around the outer circumferences of the first, second, third and fourth conductive gears 143, 144, 145 and 146 and maintains tension, and the inner wall of the belt is provided with gear teeth engaged with the respective conductive gears. The fixed central axes of the first, second, third and fourth conductive gears 143, 144, 145 and 146 are parallel and the teeth lie on the same plane.

As shown in fig. 2, a synchronizing link 149 is further included for the compliant conductive link 147 to be adapted to be secured to the plantar rotation mechanism 120. Both ends of the synchronizing link 149 are respectively fixed to the moving ends of the conducting links 147 of the two sets of plantar support mechanisms 140. The synchronizing link 149 rotates with the fourth conductive gear 146, and the conductive link 147 drives the synchronizing link 149 to move in the minor arc through hole 141.

The synchronizing link 149 includes a pair of parallel mating stubs 149a, the mating stubs 149a being vertically fixed to the side walls of the synchronizing link 149, the mating stubs 149a being co-extensive with the conductive links 147.

In practice, the two sets of plantar support mechanisms 140 are controlled simultaneously. The first driving motor 142 outputs rotational power to the first conductive gear 143, and transmits driving force to the fourth conductive gear 146 through the synchronous gear belt 148 to drive the conductive connecting rod 147 to swing along the extension track of the minor arc through hole 141, and the conductive connecting rods 147 on two sides drive the synchronous connecting rod 149 to move in the minor arc through hole 141, so as to provide a given synthetic movement direction of x and y movement degrees of freedom.

According to the ankle pump exercise training device, two sets of plantar support mechanisms are used for providing enough controlled power output on a moving track and forming driving redundancy. The gear ratio transmitted to the rape is used to optimize the moving speed and moving accuracy. The ankle support structure is ensured to be separated from the main body base, and the flexibility of application of a user is realized.

An ankle positioning mechanism, a plantar rotation mechanism and a dorsal extension adjustment mechanism combined in an electromechanical action structure of an ankle pump exercise training device according to an embodiment of the present utility model are shown in fig. 5. The ankle positioning mechanism includes an ankle securing structure that secures a single foot, and a limited rotation structure of a toe portion is provided in the ankle securing structure.

Specifically, in fig. 5, the ankle positioning mechanism 110 includes a heel supporting plate 111, a sole supporting plate 112 and a sole supporting plate 113, wherein the heel supporting plate 111 and the sole supporting plate 112 are fixedly connected by a telescopic structure 114, and the sole supporting plate 112 and the sole supporting plate 113 are fixedly connected by a hinge structure 115. The rear end of the top of the heel support plate 111 is provided with a flexible upper 111a covering the heel and ankle portions, and both ends of the flexible upper 111a are provided with buckles, velcro or laces which are matched with each other for fixing the heel and ankle at the top of the heel support plate 111. The top front end of the toe portion support plate 113 is provided with a flexible upper 113a covering the toes for accommodating and fixing the toes between the flexible upper 113a and the toe portion support plate 113.

As shown in fig. 5, the telescopic structure 114 includes an adjusting plate 114a fixed to the front end of the heel support plate 111 and an adjusting deep groove 114b formed in the rear end of the sole support plate 112, and the adjusting plate 114a and the adjusting deep groove 114b are contoured to match each other. The bottom surface of the adjusting plate 114a is provided with positioning blind holes 114c at equal intervals along the extending direction, the bottom of the rear end of the sole supporting plate 112 is provided with a positioning pin hole 114d, the adjusting deep groove 114b is provided with a positioning pin 114e, and the positioning pin 114e is elastically fixed in the positioning pin hole 114d and can move in and out of the positioning pin hole 114d under the constraint of an elastic spring. The positioning pin 114e and the different positioning blind holes 114c are matched and fixed to adjust the overall length of the ankle positioning mechanism 110 to adapt to the physiological needs of users.

As shown in fig. 5, the hinge structure 115 is provided on top of the front end of the sole support plate 112 and the rear end of the sole support plate 113, and the front end of the sole support plate 112 and the rear end of the sole support plate 113 are attached. The junction position allows the sole support plate 113 to rotate upward, but the sole support plate 113 cannot rotate downward after being flush with the sole support plate 112 due to the front end of the sole support plate 112 and the rear end of the sole support plate 113 being in contact.

The ankle pump exercise training device of the embodiment of the utility model provides an adaptive fixing structure for the ankle. While providing a functional active support structure for the flexibility and physiological functions of the toes. The stability and flexibility of the fixation of each movable joint below the ankle joint are ensured.

The back extension adjusting mechanism in the electromechanical action structure of the ankle pump exercise training device comprises a third driving motor and an elastic energy storage component which are connected in a traction mode, wherein the third driving motor is fixed on one rotating side of the limited rotating structure, and the elastic energy storage component is fixed on one relatively fixed side of the limited rotating structure.

Specifically, as shown in fig. 5, in an embodiment of the present utility model, the back extension adjusting mechanism 150 includes a third driving motor 151, a pair of upright springs 152 and a pair of fixing protrusions 153, a motor groove 154 is formed at the bottom of the front end of the sole portion supporting plate 113, a housing of the third driving motor 151 is fixed in the motor groove 154, two ends of the third driving motor 151 extend out of an output shaft, an axial direction of the output shaft is perpendicular to an extending direction of the sole portion supporting plate 113, two end portions of the output shaft are respectively coaxially fixed with traction wheels 155, a part of edges of the traction wheels 155 protrudes out of the bottom of the sole portion supporting plate 113, and a circumferential tread of the traction wheels 155 is a cambered surface with a middle lower than two sides. A pair of fixing protrusions 153 are axisymmetrically fixed to both sides of the front end bottom of the sole portion support plate 112. The front end of each column spring 152 is secured to the tread of the ipsilateral traction wheel 155 by a low expansion cable. The rear end of each column spring 152 is fixed to the same-side fixing protrusion 153 by a low-extension cable. The low-ductility cable is made of organic materials such as ultra-high molecular weight polyethylene fibers and Aramid fibers. The traction wheel 155 is controlled to rotate by the third driving motor 151, so that the tension of the upright spring 152 can be changed, and the tension of the muscle group overcoming the tension of the upright spring 152 when the toes participate in the foot hooking action can be further changed.

According to the ankle pump exercise training device, the training pertinence of toe actions in the real ankle pump exercise is achieved through the back extension adjusting mechanism. The adaptability of the motion strategy in the follow-up mode control is guaranteed by the adaptive structure of the toe behavior recognition degree, and the motion simulation quality of the ankle pump is effectively improved.

An ankle positioning mechanism and a sole rotation mechanism in an electromechanical motion structure of an ankle pump exercise training device according to an embodiment of the present utility model are combined as shown in fig. 6. The plantar rotation mechanism comprises a second driving motor, a second matching structure in transmission connection with the second driving motor, and a third matching structure in fixed connection with the second driving motor, the second matching structure is fixedly connected with the heel part of the ankle fixing structure, and the third matching structure is matched and connected with the first matching structure.

Specifically, in an embodiment of the utility model, referring to fig. 5 and 6, the plantar rotation mechanism 120 includes a second drive motor 121, a pair of T-shaped fixing plates 122 and an adapting block 123, wherein the second drive motor 121 is located below the heel support plate 111 and spaced apart from the heel support plate 111, the output shaft extends from both ends of the motor, and the axis of the output shaft is perpendicular to the extending axis of the heel support plate 111. A pair of T-shaped fixing plates 122 are axisymmetrically fixed on both side end surfaces of the heel supporting plate 111, the horizontal portions of the T-shaped fixing plates 122 are fixed on the heel supporting plate 111, the ends of the vertical portions of the fixing plates 122 are fixed on the same-side output shaft of the driving motor 121, and the T-shaped fixing plates 122 rotate with the output shaft of the second driving motor 121. The adapting block 123 is fixed on the second driving motor 121 casing, the bottom of the adapting block 123 forms two fixing surfaces 123a with inclined angles, and each fixing surface 123a includes an adapting blind hole 124 matched with the adapting short rod 149a on the synchronizing link 149.

In practical application, the second driving motor 121 is connected with the synchronous connecting rod 149 of the sole supporting mechanism by the adapting stop block 123 to form a rotation reference of the second driving motor 121, and the output shaft of the second driving motor 121 drives the sole rotating mechanism 120 to rotate in a controlled manner, so as to form a force vector change of the supported foot. Meanwhile, the hinge structure 115 and the back stretching adjusting mechanism 150 are matched to form the balance tension of the toe supporting flat plate 113, and the third driving motor 151 of the back stretching adjusting mechanism 150 adjusts the balance tension and acts on the toe standing or foot hooking action.

As shown in fig. 5, in one embodiment of the present utility model, an insole 116 is provided on top of the heel support plate 111, the sole support plate 112, and the sole support plate 113 of the ankle positioning mechanism 110, and a pressure sensor 240 is provided between the insole 116 and the heel support plate 111, the sole support plate 112, and the sole support plate 113.

In one embodiment of the present utility model, a rotary encoder is provided corresponding to each driving motor for collecting the rotation speed of the output shaft.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims (10)

1. An ankle pump athletic training device comprising an electromechanical motion structure, wherein the electromechanical motion structure comprises:

an ankle positioning mechanism for providing a securement structure for the ankle, heel and sole portions;

a plantar rotation mechanism for forming a controlled rotation support structure at the heel portion of the ankle positioning mechanism;

a base for forming a rigid housing of the electromechanical component accommodation space and providing a fixed moving track;

and the sole supporting mechanism is used for forming a supporting structure which is matched with the sole rotating mechanism and moves along the fixed moving track in a controlled way.

2. The ankle pump athletic training device of claim 1, further comprising:

and the back extension adjusting mechanism is used for forming a supporting structure for controlling the tension of the adjusting structure on the toe palm part of the ankle positioning mechanism.

3. The ankle pump athletic training apparatus of claim 2, wherein the dorsi-extension adjustment mechanism includes a third drive motor and an elastic energy storage member forming a traction connection therebetween, the third drive motor being secured to a rotatable side of the constrained rotatable structure, the elastic energy storage member being secured to a relatively fixed side of the constrained rotatable structure.

4. The ankle pump athletic training device of claim 1, wherein the plantar support mechanism comprises a first drive motor, a first mating structure in driving connection with an output shaft of the first drive motor, and the first mating structure is driven by the first drive motor to move along a fixed movement track.

5. The ankle pump athletic training apparatus of claim 1, wherein the ankle positioning mechanism includes an ankle securing structure to secure a single foot, and a limited rotation structure of a toe portion is provided in the ankle securing structure.

6. The ankle pump athletic training device of claim 1, wherein the base includes a support structure on which the first drive motor receiving space, the fixed movement track, and the open movement space above the fixed movement track are formed.

7. The ankle pump athletic training device of claim 1, wherein the plantar rotation mechanism includes a second drive motor, a second mating structure drivingly connected to the second drive motor, a third mating structure fixedly connected to the second drive motor, the second mating structure fixedly connected to the heel portion of the ankle securing structure, the third mating structure matingly connected to the first mating structure.

8. The ankle pump exercise training device according to claim 1, wherein a rotary encoder is provided corresponding to the drive motor in the electromechanical action structure.

9. The ankle pump athletic training device of claim 1, wherein the pressure bearing area of the ankle positioning mechanism is provided with a pressure sensor.

10. The ankle pump exercise training device of claim 1, wherein the ankle pump exercise training device is configured in pairs.

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