Ankle joint rehabilitation robot

Abstract

The application belongs to the technical field of medical equipment, and particularly relates to an ankle joint rehabilitation robot, which comprises a fixed support frame, the surface of the fixed support frame is fixedly provided with a control bin, a driving motor is fixedly connected to the surface of the control bin, a shoe sole is arranged on one side of the control bin, an ankle joint support plate is fixedly connected with the surface of the shoe sole, a fixed bandage is fixedly arranged on the surface of the shoe sole, and a lower leg supporting plate is arranged between the fixed support frame and the control bin. The driving motor drives the shoe sole to move, and the movement of the shoe sole enables the ankle joint of a patient to flex and extend, so that the flexion and extension frequency of the ankle joint of the patient per day and the muscle strength of the patient can be conveniently recorded, the driving torque of the driving motor can be adjusted according to the muscle strength of the ankle joint of the patient, an intelligent rehabilitation process is realized, and the patient can train at any time and anywhere without being affected by regions and environments.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical equipment, in particular to an ankle joint rehabilitation robot. BACKGROUND

[0002] The ankle joint is composed of the joint surface of the lower end of the tibia and fibula and the trochlea of the talus, so it is also called the talocrural joint. After surgery for ankle joint injury, ankle joint rehabilitation needs to be performed through means.

[0003] For the existing related technology, the inventor believes that the following defects often exist: after surgery for ankle joint injury, a long time is needed for recovery, but most of the existing devices cannot meet the requirements of ankle joint rehabilitation training through the cognition of the structure of the human ankle joint and the analysis of the movement law of the ankle joint, and most of the devices are large in size and difficult to move.

[0004] Therefore, the present application provides an ankle joint rehabilitation robot. SUMMARY

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art.

[0006] The technical scheme adopted by the present application to solve its technical problems is: the ankle joint rehabilitation robot comprises:

[0007] A fixed support frame, the surface of the fixed support frame is fixedly installed with a control bin;

[0008] A drive motor, the drive motor is fixedly connected to the surface of the control bin;

[0009] A shoe sole, the shoe sole is arranged on one side of the control bin;

[0010] An ankle joint support plate, the ankle joint support plate is fixedly connected with the surface of the shoe sole;

[0011] A fixed bandage, the fixed bandage is fixedly installed on the surface of the shoe sole;

[0012] A calf supporting plate, the calf supporting plate is arranged between the fixed support frame and the control bin;

[0013] A calf bandage, the calf bandage is fixedly installed on the surface of the calf supporting plate; the patient places the leg on the robot, fixes the foot using the fixed bandage, fixes the calf using the calf bandage, then starts the drive motor, the drive motor drives the shoe sole to move, when the shoe sole moves, the ankle joint of the patient is flexed and extended, the number of flexion and extension movements of the ankle joint of the patient every day can be conveniently recorded, the driving torque of the drive motor can be adjusted according to the muscle strength of the ankle joint of the patient, the intelligent rehabilitation process is realized, and the patient can train at any time and anywhere without being affected by the region and the environment.

[0014] Preferably, a conduit is fixedly mounted on the surface of the ankle joint support plate, a guide rod is fixedly mounted on the surface of the conduit, a cooling plate is slidably mounted on the surface of the guide rod, the cooling plate is a semiconductor cooling plate, the cooling surface of the cooling plate faces the conduit, a spring is fixedly mounted on the surface of the cooling plate, the other end of the spring is fixedly connected to the surface of the guide rod, and the end of the conduit away from the cooling plate faces the ankle; when the patient performs rehabilitation activities within three days after surgery, the cooling plate is activated, and the cooled air flows along the conduit towards the ankle. After an ankle sprain, local vascular exudation increases, and the tension in the soft tissue gradually increases, causing swelling and pain symptoms. At this time, using cold air therapy can inhibit vasodilation, reduce swelling, and relieve pain. Furthermore, the spring can ensure that the cooling plate and the conduit are tightly pressed together, enhancing the cooling effect.

[0015] Preferably, a second conduit is fixedly installed on the surface of the ankle joint support plate, the heat dissipation surface of the cooling plate faces the second conduit, an electromagnet is installed inside the second conduit, and a magnetic block is installed inside the cooling plate. The electromagnet and the magnetic block will attract each other. When the patient performs rehabilitation more than three days after surgery, the cooling plate and electromagnet are activated. The magnetic force of the electromagnet attracts the magnetic block inside the cooling plate, causing the cooling plate to move and come into contact with the second conduit. The heat dissipation surface of the cooling plate emits heat, which flows along the second conduit to the patient's ankle joint. Since the swelling and pain symptoms are relatively stable three days after surgery, hot compress therapy can be used to accelerate blood circulation and promote further repair of the injury.

[0016] Preferably, a wrapping block is fixedly installed on the surface of the ankle joint support plate. The wrapping block has a hollow structure and is connected to conduit one and conduit two. When heat or cold air enters the hollow structure of the wrapping block, it can achieve the effect of making the heat or cold air more uniform, improving the rehabilitation effect. In addition, the wrapping block can better wrap the patient's ankle joint, further improving the rehabilitation effect.

[0017] Preferably, the surface of the wrapping block has air holes, and the surface of the fixed support frame is fixedly equipped with a compression bracket, with the end of the compression bracket away from the fixed support frame abutting against the wrapping block; during the movement of the shoe sole driven by the drive motor, the bottom of the wrapping block will continuously come into contact with the compression bracket, thereby causing the heat or cold air inside the wrapping block to be ejected from the air holes, providing a more uniform hot or cold compress effect on the ankle joint, further improving the repair of the ankle joint after surgery.

[0018] Preferably, an agitator block with a hollow structure is fixedly installed on the surface of the calf support plate. The drive motor is a dual-axis motor, and a pressure plate is fixedly installed on the output shaft surface of the drive motor on the side away from the wrapping block. A fixing plate is fixedly installed on the surface of the control compartment, and an elastic block, which is a hollow rubber block with elasticity, is fixedly installed on the surface of the elastic block. An air pipe communicating with the agitator block is fixedly installed on the surface of the elastic block, and a vent valve is fixedly installed on the surface of the agitator block. A one-way valve (not shown in the figure) for air intake is provided on the inner wall of the elastic block. The output shaft of the drive motor on the side furthest from the wrapping block rotates the pressure plate. During the rotation of the pressure plate, it squeezes the elastic block. The air inside the elastic block, after being squeezed, enters the agitator block along the air tube, causing the agitator block to fluctuate and massage the patient's lower leg, relieving the patient's lower leg fatigue and preventing the patient from fatigued due to resting their lower leg on the calf support for a long time. When the air in the elastic block has completely entered the agitator block, the weight of the lower leg squeezes the agitator block, and the air is ejected from the air release valve, thus achieving a repeated massage effect and improving the comfort of the massage.

[0019] Preferably, an air intake component is fixedly installed on the heat dissipation surface of the cooling plate, and the other end of the air intake component is connected to the interior of the agitator; when rehabilitation is performed in winter, some of the heat from the heat dissipation surface of the cooling plate will enter the agitator through the air intake component, keeping the agitator in a warm state and improving the patient's comfort during rehabilitation.

[0020] Preferably, a blocking block is slidably installed on the inner wall of the section of the air tube located inside the agitator block. A connecting rod is fixedly installed on the surface of the blocking block, and multiple sets of movable rings are fixedly installed on the surface of the connecting rod. Multiple air ports are opened on the surface of the air tube, and all air ports are blocked by the blocking block and movable rings. A reset strip is fixedly installed on the surface of the blocking block, and the other end of the reset strip is fixed to the inner wall of the air tube. When the elastic block is compressed, gas enters the air tube, passes through multiple movable rings, and reaches the blocking block, pushing the blocking block to move. When the blocking block moves, it squeezes the reset strip. When the blocking block moves, it drives the multiple sets of movable rings to move through the connecting rod. When the blocking block and movable rings move, they no longer block the air ports, and the gas blows evenly onto the agitator block, thereby making the agitator block vibrate evenly and improving the comfort during massage. When the elastic block is not compressed, the reset strip drives the blocking block to reset.

[0021] Preferably, the inner wall of the agitator is fixedly equipped with multiple sets of protrusions, and the lower surface of the protrusions is fixedly equipped with magnetic plates. The block and the movable ring are magnetic, and the magnetic plates attract each other when they are close to the block and the movable ring. An internal cavity is formed inside the protrusion, and a set of elastic plates is fixedly installed on the inner wall of the internal cavity. A counterweight ball is set inside the internal cavity. When the block and the movable ring move, the magnetic force of the block and the movable ring attracts the magnetic plates on the surface of the multiple sets of protrusions. The magnetic plates drive the protrusions to twist, further massaging the patient's calf and further reducing the fatigue of the patient's legs. During the movement of the protrusions, the counterweight ball in the internal cavity will squeeze the elastic plates. When the counterweight ball is released from the squeeze of the elastic plates, the elastic plates return to their original position. When the elastic plates return to their original position, the protrusions will vibrate slightly, further enhancing the massage effect on the calf.

[0022] Preferably, a positioning shaft is fixedly installed on the surface of the pressure plate, and a roller is rotatably installed on the surface of the positioning shaft. During the process of the pressure plate being driven by the motor shaft of the drive motor, the roller contacts and squeezes the elastic block. The roller rotates on the surface of the positioning shaft, which avoids the pressure plate directly contacting the elastic block, reduces friction, and thus avoids damage to the elastic block caused by long-term squeezing by the pressure plate.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. The ankle rehabilitation robot of the present invention allows the patient to place their leg on the robot, fix their foot with a foot strap, and fix their lower leg with a calf strap. Then, the drive motor is activated, which drives the sole of the shoe to move. The movement of the sole causes the patient's ankle joint to flex and extend. This allows for easy recording of the number of ankle joint flexion and extension movements and muscle strength of the patient each day. The drive torque of the drive motor can be adjusted according to the muscle strength of the patient's ankle joint, realizing an intelligent rehabilitation process. This allows the patient to train anytime and anywhere, without being affected by location or environment.

[0025] 2. The ankle joint rehabilitation robot of the present invention, when the patient performs rehabilitation activities within three days after surgery, activates the cooling plate. The cooled air flows along the duct to the ankle. After an ankle sprain, local vascular exudation increases, and the tension in the soft tissue gradually increases, causing swelling and pain symptoms in the patient. At this time, the use of cold air therapy can inhibit vasodilation, reduce swelling, and relieve pain. In addition, the spring can make the cooling plate tightly press against the duct, improving the cooling effect. Attached Figure Description

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] Figure 1 This is a perspective view of the entire invention;

[0028] Figure 2This is a schematic diagram of the structure of the wrapping block in this invention;

[0029] Figure 3 This is a schematic diagram of the structure of catheter two in this invention;

[0030] Figure 4 This is a schematic diagram of the calf support plate in this invention;

[0031] Figure 5 This is a schematic diagram of the structure of the agitator block in this invention;

[0032] Figure 6 This is a cross-sectional view of the trachea in this invention;

[0033] Figure 7 This is the present invention. Figure 6 Schematic diagram of the structure at point A;

[0034] Figure 8 This is a schematic diagram of the trachea structure in this invention;

[0035] Figure 9 This is a schematic diagram of the counterweight ball in this invention;

[0036] Figure 10 This is a schematic diagram of the roller structure in Embodiment 2.

[0037] In the diagram: 1. Fixed support frame; 2. Control compartment; 3. Drive motor; 4. Ankle joint support plate; 5. Shoe sole; 6. Fixing strap; 7. Lower leg support plate; 8. Lower leg strap; 9. Tube 1; 10. Guide rod; 11. Cooling plate; 12. Spring; 13. Tube 2; 14. Electromagnet; 15. Wrapping block; 16. Compression bracket; 17. Air hole; 18. Agitator block; 19. Pressure plate; 20. Fixing plate; 21. Elastic block; 22. Air tube; 23. Air intake component; 24. Block; 25. Connecting rod; 26. Movable ring; 27. Air inlet; 28. Protrusion; 29. ​​Positioning shaft; 30. Roller; 31. Air release valve; 32. Internal cavity; 33. Elastic plate; 34. Counterweight ball. Detailed Implementation

[0038] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0039] Example 1

[0040] like Figures 1 to 9 As shown, an ankle joint rehabilitation robot according to an embodiment of the present invention includes:

[0041] A fixed support frame 1 is provided, and a control compartment 2 is fixedly mounted on the surface of the fixed support frame 1.

[0042] Drive motor 3, which is fixedly connected to the surface of control compartment 2;

[0043] The sole 5 is located on one side of the control compartment 2;

[0044] Ankle joint support plate 4, which is fixedly connected to the surface of the shoe sole 5;

[0045] A fixing strap 6 is fixedly installed on the surface of the shoe sole 5;

[0046] Lower leg support plate 7, which is located between the fixed support frame 1 and the control compartment 2;

[0047] The calf strap 8 is fixedly installed on the surface of the calf support plate 7. The patient places their leg on the robot, uses the fixing strap 6 to fix the foot, and uses the calf strap 8 to fix the lower leg. Then, the drive motor 3 is started, and the drive motor 3 drives the shoe sole 5 to move. When the shoe sole 5 moves, it causes the patient's ankle joint to flex and extend. This allows for easy recording of the number of ankle joint flexion and extension movements and muscle strength of the patient each day. The driving torque of the drive motor 3 can be adjusted according to the muscle strength of the patient's ankle joint to realize an intelligent rehabilitation process, so that the patient can train anytime and anywhere, without being affected by location and environment.

[0048] The ankle joint support plate 4 has a conduit 9 fixedly mounted on its surface, a guide rod 10 fixedly mounted on its surface, and a cooling element 11 slidably mounted on its surface. The cooling element 11 is a semiconductor cooling element, with its cooling surface facing the conduit 9. A spring 12 is fixedly mounted on the surface of the cooling element 11, and the other end of the spring 12 is fixedly connected to the surface of the guide rod 10. The end of the conduit 9 away from the cooling element 11 faces the ankle. When the patient performs rehabilitation activities within three days after surgery, the cooling element 11 is activated. The cooled air from the cooling element 11 flows along the conduit 9 towards the ankle. After an ankle sprain, local vascular exudation increases, and the tension in the soft tissue gradually increases, causing swelling and pain. At this time, using cold air therapy can inhibit vasodilation, reduce swelling, and relieve pain. Furthermore, the spring 12 can ensure that the cooling element 11 and the conduit 9 are tightly pressed together, enhancing the cooling effect.

[0049] The ankle joint support plate 4 has a second conduit 13 fixedly installed on its surface. The heat dissipation surface of the cooling plate 11 faces the second conduit 13. An electromagnet 14 is installed inside the second conduit 13, and a magnetic block is installed inside the cooling plate 11. The electromagnet 14 and the magnetic block attract each other. When the patient undergoes rehabilitation more than three days after surgery, the cooling plate 11 and the electromagnet 14 are activated. The magnetic force of the electromagnet 14 attracts the magnetic block inside the cooling plate 11, causing the cooling plate 11 to move and come into contact with the second conduit 13. The heat dissipation surface of the cooling plate 11 emits heat, which flows along the second conduit 13 to the patient's ankle joint. Since the swelling and pain symptoms are relatively stable three days after surgery, hot compress therapy can be used to accelerate blood circulation and promote further repair of the injury.

[0050] The ankle joint support plate 4 has a wrapping block 15 fixedly installed on its surface. The wrapping block 15 has a hollow structure and is connected to the first conduit 9 and the second conduit 13. When heat or cold air enters the hollow structure of the wrapping block 15, it can achieve the effect of making the heat or cold air more uniform, improving the rehabilitation effect. In addition, the wrapping block 15 can better wrap the patient's ankle joint, further improving the rehabilitation effect.

[0051] The surface of the wrapping block 15 is provided with air holes 17, and the surface of the fixed support frame 1 is fixedly installed with a compression bracket 16. The end of the compression bracket 16 away from the fixed support frame 1 abuts against the wrapping block 15. During the movement, the drive motor 3 drives the sole 5 to continuously bring the bottom of the wrapping block 15 into contact with the compression bracket 16, so that the heat or cold air inside the wrapping block 15 is sprayed out from the air holes 17, providing a more uniform hot or cold compress effect on the ankle joint, and further improving the repair of the ankle joint after surgery.

[0052] The calf support plate 7 has a hollow agitator block 18 fixedly mounted on its surface. The drive motor 3 is a dual-axis motor. A pressure plate 19 is fixedly mounted on the output shaft of the drive motor 3 on the side away from the wrapping block 15. A fixing plate 20 is fixedly mounted on the surface of the control chamber 2. An elastic block 21, which is a hollow rubber block, is fixedly mounted on the surface of the fixing plate 20. An air pipe 22 connected to the agitator block 18 is fixedly mounted on the surface of the elastic block 21. A vent valve 31 is fixedly mounted on the surface of the agitator block 18. A one-way valve (not shown in the figure) for air intake is provided on the inner wall of the elastic block 21. (As shown); The output shaft of the drive motor 3 on the side away from the wrapping block 15 drives the pressure plate 19 to rotate. During the rotation of the pressure plate 19, it will squeeze the elastic block 21. After the elastic block 21 is squeezed, the air inside it will enter the agitator block 18 along the air tube 22, causing the agitator block 18 to fluctuate and massage the patient's lower leg, relieving the patient's lower leg fatigue and preventing the patient from resting their lower leg on the lower leg support 7 for a long time. When the air in the elastic block 21 has completely entered the agitator block 18, the weight of the lower leg squeezes the agitator block 18, and the air is ejected from the vent valve 31, thereby achieving the effect of repeated massage and improving the comfort of the massage.

[0053] The cooling plate 11 has an air intake component 23 fixedly installed on its heat dissipation surface, and the other end of the air intake component 23 is connected to the interior of the agitator block 18. When rehabilitation is performed in winter, some of the heat from the heat dissipation surface of the cooling plate 11 will enter the agitator block 18 through the air intake component 23, so that the agitator block 18 is in a warm state, improving the patient's comfort during rehabilitation.

[0054] In this configuration, a blocking block 24 is slidably installed on the inner wall of the section of the air pipe 22 located within the agitator block 18. A connecting rod 25 is fixedly installed on the surface of the blocking block 24, and multiple sets of movable rings 26 are fixedly installed on the surface of the connecting rod 25. Multiple air ports 27 are opened on the surface of the air pipe 22, and all air ports 27 are blocked by the blocking block 24 and the movable rings 26. A reset strip is fixedly installed on the surface of the blocking block 24, and the other end of the reset strip is fixed to the inner wall of the air pipe 22. The elastic block 21 is subjected to compressed gas. Entering the trachea 22, the gas passes through multiple movable rings 26 and reaches the block 24, pushing the block 24 to move. When the block 24 moves, it squeezes the reset strip. When the block 24 moves, it drives multiple sets of movable rings 26 to move through the connecting rod 25. When the block 24 and the movable rings 26 move, they no longer block the air inlet 27. The gas blows evenly onto the agitator 18, causing the agitator 18 to vibrate evenly, improving the comfort during the massage. When the elastic block 21 is no longer squeezed, the reset strip drives the block 24 to reset.

[0055] The inner wall of the agitator 18 is fixedly fitted with multiple sets of protrusions 28, and a magnetic plate is fixedly fitted on the lower surface of each protrusion 28. The block 24 and the movable ring 26 are magnetic, and the magnetic plate attracts each other when it is close to the block 24 and the movable ring 26. An internal cavity 32 is formed inside each protrusion 28, and a set of elastic plates 33 is fixedly fitted on the inner wall of the internal cavity 32. A counterweight ball 34 is disposed inside the internal cavity 32. When the block 24 and the movable ring 26 move, the block 24... The magnetic force of the movable ring 26 attracts the magnetic plates on the surface of multiple sets of protrusions 28. The magnetic plates cause the protrusions 28 to twist, further massaging the patient's calf and reducing leg fatigue. During the movement of the protrusions 28, the counterweight ball 34 in the internal cavity 32 will squeeze the elastic sheet 33. When the counterweight ball 34 is released from the squeeze of the elastic sheet 33, the elastic sheet 33 returns to its original position. When the elastic sheet 33 returns to its original position, the protrusions 28 will vibrate slightly, further enhancing the massage effect on the calf.

[0056] Example 2

[0057] like Figure 10 As shown in the first embodiment, another embodiment of the present invention is as follows: a positioning shaft 29 is fixedly installed on the surface of the pressure plate 19, and a roller 30 is rotatably installed on the surface of the positioning shaft 29; during the process of the motor shaft of the drive motor 3 driving the pressure plate 19 to move, the roller 30 contacts and squeezes the elastic block 21, and the roller 30 rotates on the surface of the positioning shaft 29, which avoids the pressure plate 19 from directly contacting the elastic block 21, reduces the friction, and thus avoids the elastic block 21 from being damaged by the pressure plate 19 for a long time.

[0058] Working principle: The patient places their leg on the robot, securing the foot with the fixation strap 6 and the lower leg with the calf strap 8. Then, the drive motor 3 is activated, causing the sole 5 to move. This movement of the sole 5 induces flexion and extension movements of the patient's ankle joint. This allows for easy recording of the number of ankle flexion and extension movements and muscle strength each day. The driving torque of the drive motor 3 can be adjusted based on the patient's ankle muscle strength, achieving an intelligent rehabilitation process. This allows patients to train anytime, anywhere, without being affected by location or environment. During rehabilitation activities within three days post-surgery, the cooling plate 11 is activated. The cooled air from the cooling plate 11 flows along the conduit 9 towards the ankle, causing ankle twisting... After injury, increased local vascular exudation and gradually increased tension in the soft tissues can cause swelling and pain. At this time, cooling therapy can inhibit vasodilation, reduce swelling, and relieve pain. Furthermore, spring 12 ensures that the cooling plate 11 is firmly pressed against the conduit 9, enhancing the cooling effect. When the patient begins rehabilitation more than three days post-surgery, the cooling plate 11 and electromagnet 14 are activated. The magnetic force of electromagnet 14 attracts the magnetic block within the cooling plate 11, causing it to move and press against the conduit 13. The heat dissipation surface of the cooling plate 11 emits heat, which flows along the conduit 13 towards the patient's ankle joint. Since the swelling and pain are relatively stable three days post-surgery, hot compresses can be used to accelerate blood circulation and promote further repair of the injury. When heat or cold air enters the hollow structure of the wrapping block 15, it can achieve a more uniform effect, improving the rehabilitation effect. Furthermore, the wrapping block 15 can better wrap the patient's ankle joint, further enhancing the rehabilitation effect. During movement, the drive motor 3 drives the sole 5, causing the bottom of the wrapping block 15 to continuously contact the compression bracket 16, thus causing the heat or cold air inside the wrapping block 15 to be ejected from the air holes 17, providing a more uniform hot or cold compress effect on the ankle joint, further improving postoperative ankle joint repair. The output shaft of the drive motor 3 on the side furthest from the wrapping block 15 drives the pressure plate 19 to rotate. During the rotation of the pressure plate 19, it compresses the elastic block 21, which... When block 21 is compressed, the air inside it enters the agitator block 18 through the air tube 22, causing the agitator block 18 to fluctuate and massage the patient's lower leg, relieving fatigue and preventing the patient from resting their lower leg on the calf support 7 for a long time. When all the air in the elastic block 21 has entered the agitator block 18, the weight of the lower leg compresses the agitator block 18, and the air is ejected from the vent valve 31, thus achieving a repeated massage effect and improving the comfort of the massage. In winter, some of the heat from the heat dissipation surface of the cooling plate 11 enters the agitator block 18 through the air intake 23, keeping the agitator block 18 warm and improving the patient's comfort during rehabilitation.When the elastic block 21 is compressed, gas enters the air tube 22, passes through multiple movable rings 26, and reaches the block 24, pushing the block 24 to move. When the block 24 moves, it compresses the reset strip. The movement of the block 24, via the connecting rod 25, drives multiple sets of movable rings 26 to move. When the block 24 and movable rings 26 move, they no longer block the air inlet 27, and the gas evenly blows onto the agitator 18, causing it to vibrate evenly and improving the comfort of the massage. When the elastic block 21 is no longer compressed, the reset strip drives the block 24 to reset. Multiple sets of protrusions 28 are fixedly installed on the inner wall of the agitator 18. A magnetic plate is fixedly installed on the lower surface of each protrusion 28. The block 24 and movable rings 26 are magnetic; when the magnetic plate approaches the block 24 and movable rings 26, they attract each other. An internal cavity 32 is formed inside each protrusion 28, and a set of elastic plates 33 are fixedly installed on the inner wall of the internal cavity 32. The internal cavity 32 is equipped with a counterweight ball 34. When the block 24 and the movable ring 26 move, the magnetic force of the block 24 and the movable ring 26 attracts the magnetic plates on the surface of multiple sets of protrusions 28. The magnetic plates cause the protrusions 28 to twist, further massaging the patient's calf and reducing leg fatigue. During the movement of the protrusions 28, the counterweight ball 34 in the internal cavity 32 will squeeze the elastic plate 33. When the counterweight ball 34 is released from squeezing the elastic plate 33, the elastic plate 33 returns to its original position. When the elastic plate 33 returns to its original position, the protrusions 28 vibrate slightly, further enhancing the massage effect on the calf. During the movement of the pressure plate 19 driven by the motor shaft of the drive motor 3, the roller 30 contacts and squeezes the elastic block 21. The roller 30 rotates on the surface of the positioning shaft 29, avoiding direct contact between the pressure plate 19 and the elastic block 21, reducing friction, and thus preventing the elastic block 21 from being damaged by long-term squeezing by the pressure plate 19.

[0059] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0060] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ankle joint rehabilitation robot, characterized in that: include: A fixed support frame (1) is provided, on the surface of which a control compartment (2) is fixedly mounted; A drive motor (3) is fixedly connected to the surface of the control compartment (2); The sole (5) is located on one side of the control compartment (2); Ankle joint support plate (4), wherein the ankle joint support plate (4) is fixedly connected to the surface of the sole (5); A fixing strap (6) is fixedly installed on the surface of the sole (5); Lower leg support plate (7), which is located between the fixed support frame (1) and the control compartment (2); Lower leg strap (8), the lower leg strap (8) is fixedly installed on the surface of the lower leg support plate (7); A conduit 1 (9) is fixedly installed on the surface of the ankle joint support plate (4). A guide rod (10) is fixedly installed on the surface of the conduit 1 (9). A cooling chip (11) is slidably installed on the surface of the guide rod (10). The cooling chip (11) is a semiconductor cooling chip (11). The cooling surface of the cooling chip (11) faces the conduit 1 (9). A spring (12) is fixedly installed on the surface of the cooling chip (11). The other end of the spring (12) is fixedly connected to the surface of the guide rod (10). The end of the conduit 1 (9) away from the cooling chip (11) faces the ankle. The ankle joint support plate (4) is fixedly installed with a second conduit (13), the heat dissipation surface of the cooling plate (11) faces the second conduit (13), an electromagnet (14) is provided inside the second conduit (13), and a magnetic block is provided inside the cooling plate (11). The electromagnet (14) and the magnetic block will attract each other. The ankle joint support plate (4) is fixedly mounted with a wrapping block (15), which has a hollow structure and is connected to the first conduit (9) and the second conduit (13). The surface of the package block (15) is provided with air holes (17), and the surface of the fixed support frame (1) is fixedly installed with a compression bracket (16), and the end of the compression bracket (16) away from the fixed support frame (1) abuts against the package block (15).

2. The ankle joint rehabilitation robot according to claim 1, characterized in that: A thumping block (18) is fixedly installed on the surface of the calf support plate (7). The thumping block (18) has a hollow structure. The drive motor (3) is a dual-axis motor. A pressure plate (19) is fixedly installed on the output shaft surface of the drive motor (3) on the side away from the wrapping block (15). A fixing plate (20) is fixedly installed on the surface of the control chamber (2). An elastic block (21) is fixedly installed on the surface of the fixing plate (20). The elastic block (21) is an elastic hollow rubber block. An air pipe (22) connected to the thumping block (18) is fixedly installed on the surface of the elastic block (21). A vent valve (31) is fixedly installed on the surface of the thumping block (18). A one-way valve for air intake is provided on the inner wall of the elastic block (21).

3. The ankle joint rehabilitation robot according to claim 2, characterized in that: The heat dissipation surface of the cooling chip (11) is fixedly equipped with an air intake component (23), and the other end of the air intake component (23) is connected to the interior of the agitator block (18).

4. The ankle joint rehabilitation robot according to claim 3, characterized in that: A blocking block (24) is slidably installed on the inner wall of a section of the air tube (22) located inside the agitator (18). A connecting rod (25) is fixedly installed on the surface of the blocking block (24). Multiple sets of movable rings (26) are fixedly installed on the surface of the connecting rod (25). Multiple air ports (27) are opened on the surface of the air tube (22). All air ports (27) are blocked by the blocking block (24) and the movable rings (26). A reset strip is fixedly installed on the surface of the blocking block (24). The other end of the reset strip is fixed to the inner wall of the air tube (22).

5. An ankle joint rehabilitation robot according to claim 4, characterized in that: The inner wall of the agitator (18) is fixedly equipped with multiple sets of protrusions (28), and a magnetic plate is fixedly installed on the lower surface of the protrusions (28). The block (24) and the movable ring (26) are magnetic. When the magnetic plate is close to the block (24) and the movable ring (26), they attract each other. The protrusion (28) has an internal cavity (32). The inner wall of the internal cavity (32) is fixedly equipped with a set of elastic plates (33), and a counterweight ball (34) is provided inside the internal cavity (32).

6. The ankle joint rehabilitation robot according to claim 2, characterized in that: A positioning shaft (29) is fixedly installed on the surface of the pressure plate (19), and a roller (30) is rotatably installed on the surface of the positioning shaft (29).

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