An intelligent ankle pump device and method for astronaut exercise

Abstract

The present application relates to the technical field of passive exercise physiotherapy, and specifically discloses an intelligent ankle pump device and method for astronauts to exercise, which comprises a rack, an ankle pump movement unit, a swing driving unit, and a foot fixing unit. The weight of the astronaut's foot when naturally drooping is used to drive the foot pressure pushing piece to slide downward, so as to automatically extend the telescopic ankle pump movement piece and make it contact with the eccentric swing piece. At the same time, the linkage trigger piece synchronously drives the side turning foot fixing piece to turn inward and press and fix the instep. The eccentric swing piece rotates and is limited by the eccentricity, which is converted into the periodic circumferential deflection of the spherical joint in the ball sleeve. In combination with the continuous downward pressure of the foot, the foot supporting plate drives the two feet to accurately complete the multi-dimensional trajectories such as dorsiflexion, plantar flexion and side turning, simulates the real stress of the ankle joint, provides weight-bearing rehabilitation stimulation for the astronauts with reduced proprioception and decreased muscle coordination after returning, speeds up the neural re-adaptation to the gravity environment, and improves the targeted physiotherapy and rehabilitation effect.

Description

Technical Field

[0001] This invention relates to the field of passive exercise and physiotherapy technology, and more specifically, to an intelligent ankle pump device and method for astronaut exercise. Background Technology

[0002] Ankle pump exercises are a fundamental rehabilitation method to promote venous return in the lower limbs and rebuild the pump function of the calf muscles. After astronauts return to Earth from long-term weightlessness, they generally experience decreased proprioception, decreased muscle coordination, and vestibular readaptation disorders. Weight-bearing ankle pump training during the ground rehabilitation period is necessary to accelerate readaptation to gravity.

[0003] Existing ankle pump devices mostly limit the movement trajectory to dorsiflexion and plantarflexion in a single sagittal plane, lacking the ability to simulate multidimensional complex movements such as lateral rollover and circumferential swing. They cannot reproduce the inversion, eversion, and circumferential complex deflection of the ankle joint during walking, and are difficult to effectively stimulate the degeneration of proprioception and neuromuscular coordination caused by weightlessness in astronauts. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, this invention proposes an intelligent ankle pump device and method for astronaut exercise.

[0005] The objective of this invention can be achieved through the following technical solutions: A smart ankle pump device for astronaut exercise includes: A frame, on which a cover is installed; An ankle pump motion unit is provided in two sets and symmetrically distributed on both sides of the cover, including a foot support plate and a ball joint provided at the lower end of the foot support plate. A telescopic ankle pump motion component is provided inside the ball joint, and a foot pressure pushing component adapted to the telescopic ankle pump motion component is provided on the foot support plate. The swing drive unit, which is disposed within the housing, includes a ball sleeve adapted to the ball joint, an eccentric swing member adapted to the telescopic ankle pump motion component, and a drive component for driving the eccentric swing member. The foot pressure pusher moves downward to drive the telescopic ankle pump motion component to extend and contact the eccentric swing member, thereby triggering the ball joint to deflect within the ball sleeve. The foot fixation unit is mounted on the foot support plate and includes side-flipping foot fixation members symmetrically distributed on both sides of the foot support plate and a linkage trigger member located on the back of the foot support plate. When the foot pressure pusher moves downward, the linkage trigger member synchronously drives the side-flipping foot fixation members on both sides to flip inward to press and fix the instep.

[0006] As a further aspect of the present invention: a support is provided at the end of the frame away from the cover, and support legs are symmetrically arranged on both sides of the support.

[0007] As a further aspect of the present invention: the foot support plate is provided with surrounding plates on both sides and the bottom, and the foot support plate is provided with an opening at the top.

[0008] As a further aspect of the present invention: the telescopic ankle pump motion component includes a telescopic frame slidably embedded in a ball joint, the lower end of the telescopic frame is provided with a rocking disc adapted to the eccentric rocking component, and a spring is provided between the telescopic frame and the bottom of the ball joint.

[0009] As a further embodiment of the present invention: the foot pressure pushing component includes a sliding strip that is inclined and slidably embedded in the foot support plate and a connecting column that is vertically fixed on the rocking plate. The sliding strip is provided with a heel support plate, and a pushing column is provided at one end of the sliding strip facing downwards from the connecting column. A pushing plate adapted to the pushing column is provided at the upper end of the connecting column.

[0010] As a further aspect of the present invention: the eccentric rocker includes a sleeve fixed to the cover, a turntable is rotatably embedded in the sleeve, an eccentric rocker arm is fixed at the upper end of the turntable, and a top ball adapted to the rocker plate is provided at the end of the eccentric rocker arm away from the turntable.

[0011] As a further aspect of the present invention: the driving component includes transmission gear discs symmetrically and rotatably arranged on both sides inside the housing and meshing with each other, and a drive motor fixed on the frame. A transmission disc is also rotatably mounted on the frame. The transmission disc is connected to the output end of the drive motor by a second transmission belt. An intermediate gear is coaxially fixed on the transmission disc, and the intermediate gear meshes with one of the transmission gear discs. A drive shaft is coaxially fixed on both sides of the transmission gear discs, and a first transmission belt connects the drive shaft to the turntable on the same side.

[0012] As a further aspect of the present invention: the side-flipping foot fixation component includes mounting slots symmetrically opened on both sides of the foot support plate, a pivot pin is provided in the mounting slot, and a foot pressure plate is rotatably mounted on the pivot pin, with the center of gravity of the foot pressure plate located on the side of the pivot pin away from the center of the foot support plate.

[0013] As a further aspect of the present invention: the linkage trigger includes an air chamber fixed to the back of the footrest, with piston plates symmetrically slidably arranged on both sides inside the air chamber, and a telescopic rod that moves through the air chamber fixed on the piston plate. A push plate that abuts against the corresponding instep pressure plate is fixed to the extended end of the telescopic rod; an air bladder adapted to the foot pressure pusher is provided at the bottom of the footrest, and an air passage communicating with the air bladder is opened inside the footrest. An air tube is connected to the end of the air passage away from the air bladder, and an air nozzle is provided in the center of the air chamber. Both air tubes on both sides are connected to the air nozzle.

[0014] This invention discloses a method for using the aforementioned intelligent ankle pump device for astronaut exercise, comprising the following steps: Step 1: The astronaut lies flat and places both feet into the footrests on both sides, with the feet hanging down naturally; Step 2: Press down on the foot pressure pusher, which drives the telescopic ankle pump to extend and contact the eccentric rocker. At the same time, the linkage trigger drives the side-flipping foot fixation component to flip inward, pressing and fixing the instep. Step 3: Start the drive unit to drive the eccentric rocker to move, causing the ball joint to rotate periodically within the ball sleeve, so that the foot support plate can drive the feet to perform ankle pump movements. Step 4: After training, turn off the drive mechanism, lift your feet to reset the foot pressure pusher, retract the telescopic ankle pump, and flip the side-rolling foot fixation device outward to open it. Take out both feet.

[0015] The beneficial effects of this invention are: For astronauts' ground rehabilitation training scenarios, the weight of the astronaut's feet when they are naturally hanging down is used as the driving force for the foot pressure pusher to slide down. This drives the telescopic ankle pump to automatically extend and contact the eccentric rocker to cause the foot support plate to deflect. At the same time, the linkage triggering device synchronously activates the side-flipping foot fixation device to flip inward and press and fix the instep. Using the astronaut's own weight to press down on the foot pressure pusher, the telescopic ankle pump motion component automatically extends downward and contacts the eccentric rocker component. Through the eccentric limiting cooperation between the eccentric rocker component and the telescopic ankle pump motion component, the rotational motion of the eccentric rocker component is converted into the periodic circumferential deflection of the ball joint within the ball sleeve. The periodic motion of the eccentric rocker component, combined with the continuous downward pressure generated by the foot's own weight, enables the foot support plate to drive both feet to accurately complete multi-dimensional trajectories such as dorsiflexion, plantarflexion, and lateral rollover. This effectively simulates the real force state of the ankle joint during walking. It can provide astronauts who have experienced weightlessness in space and are returning to Earth, facing reduced proprioception and decreased muscle coordination, with more proprioceptive feedback for weight-bearing physical therapy rehabilitation stimulation. This accelerates their vestibular and motor nerves' readaptation to Earth's gravity environment and improves the targeting and rehabilitation effect of exercise physical therapy. The telescopic ankle pump is normally housed within a ball joint. It is only triggered to extend and contact the eccentric rocker when the foot pressure pusher moves downward, ensuring that the footrest can maintain a free posture when the foot is placed in. The side-flipping foot fixation devices on both sides of the footrest remain open outward in the initial state, providing sufficient space for the foot to be placed in and avoiding scratching the foot. When the astronaut presses down on the foot pressure pusher, the side-flipping foot fixation devices are synchronously driven to flip from an outward position to an inward position to press the instep through the linkage trigger device. During the ankle pump movement, the weight of the foot always maintains the downward position of the foot pressure pusher, thereby continuously locking the pressing state of the side-flipping foot fixation devices. This effectively prevents the foot from accidentally detaching from the footrest during high-frequency or large-amplitude swings, improving the reliability of the physiotherapy process. Attached Figure Description

[0016] The invention will now be further described with reference to the accompanying drawings.

[0017] Figure 1This is a three-dimensional structural diagram of an intelligent ankle pump device for astronaut exercise according to the present invention; Figure 2 This is a three-dimensional structural schematic diagram of an intelligent ankle pump device for astronaut exercise according to the present invention from another perspective. Figure 3 This is a three-dimensional sectional view of the ankle pump motion unit and the swing drive unit in an intelligent ankle pump device for astronaut exercise according to the present invention. Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the drive component in an intelligent ankle pump device for astronaut exercise according to the present invention; Figure 6 This is a schematic diagram of the drive component in an intelligent ankle pump device for astronaut exercise according to the present invention from another perspective. Figure 7 This is a schematic diagram of the internal structure of the ankle pump motion unit and the swing drive unit in an intelligent ankle pump device for astronaut exercise according to the present invention. Figure 8 for Figure 7 Enlarged view at point B in the middle; Figure 9 This is a schematic diagram of the internal structure of the ankle pump motion unit and the swing drive unit in an intelligent ankle pump device for astronaut exercise according to the present invention, from another perspective. Figure 10 for Figure 9 Enlarged view at point C; Figure 11 This is a schematic diagram of the foot support plate in an intelligent ankle pump device for astronaut exercise according to the present invention; Figure 12 This is a schematic diagram of the foot support plate in an intelligent ankle pump device for astronaut exercise according to the present invention from another perspective; Figure 13 This is a schematic diagram of the internal structure of the foot fixation unit in an intelligent ankle pump device for astronaut training according to the present invention. Figure 14 for Figure 13 Enlarged view at point D; Figure 15 This is a schematic diagram of the internal structure of the air chamber in an intelligent ankle pump device for astronaut training according to the present invention.

[0018] In the picture: 100. Frame; 110. Housing; 120. Support; 130. Support leg; 200. Ankle pump motion unit; 210. Foot support plate; 211. Surrounding plate; 212. Opening; 220. Ball joint; 230. Telescopic ankle pump motion component; 231. Telescopic frame; 232. Swing plate; 233. Spring; 240. Foot pressure pusher; 241. Slide bar; 242. Heel support plate; 243. Pushing column; 244. Connecting column; 245. Pushing plate; 300. Swing drive unit; 310. Ball sleeve; 320. Eccentric swing component; 321. Sleeve; 322. Turntable; 323. Eccentric swing rod; 324. Top ball; 325. First transmission belt; 330. Drive component; 331. Transmission gear plate; 332. Drive shaft; 333. Intermediate gear; 334. Transmission disc; 335. Drive motor; 336. Second transmission belt; 400. Foot fixation unit; 410. Side-flipping foot fixation component; 411. Mounting slot; 412. Turning pin; 413. Foot instep pressure plate; 420. Linkage trigger; 421. Air chamber; 422. Piston plate; 423. Telescopic rod; 424. Push plate; 425. Airbag; 426. Airway; 427. Air tube; 428. Air nozzle. Detailed Implementation

[0019] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0020] Please see Figure 1 and Figure 2 The present invention discloses an intelligent ankle pump device for astronaut exercise, including a frame 100, an ankle pump motion unit 200, a swing drive unit 300, and a foot fixation unit 400; a cover 110 is provided on the frame 100; Please see Figure 3 and Figure 4 The ankle pump motion unit 200 is provided in two sets and symmetrically distributed on both sides of the cover 110, including a foot support plate 210 and a ball joint 220 provided at the lower end of the foot support plate 210. A telescopic ankle pump motion component 230 is provided inside the ball joint 220, and a foot pressure pushing component 240 adapted to the telescopic ankle pump motion component 230 is provided on the foot support plate 210. The swing drive unit 300 is disposed inside the housing 110 and includes a ball sleeve 310 adapted to the ball joint 220, an eccentric swing member 320 adapted to the telescopic ankle pump motion member 230, and a drive member 330 for driving the eccentric swing member 320. The foot pressure push member 240 drives the telescopic ankle pump motion member 230 to extend and contact the eccentric swing member 320, thereby triggering the ball joint 220 to deflect within the ball sleeve 310. The foot fixing unit 400 is disposed on the foot support plate 210, including side-flipping foot fixing members 410 symmetrically distributed on both sides of the foot support plate 210 and a linkage trigger member 420 disposed on the back side of the foot support plate 210; when the foot pressure pushing member 240 moves downward, the linkage trigger member 420 synchronously drives the side-flipping foot fixing members 410 on both sides to flip inward to press and fix the instep.

[0021] Specifically, the ball joint 220 at the bottom of the foot support plate 210 is movably embedded within the ball sleeve 310, allowing the foot support plate 210 to rotate at any angle relative to the ball sleeve 310. During ankle pump exercise therapy, the astronaut places both feet on the foot support plates 210 on both sides, with the feet hanging naturally along the foot support plates 210 and pressing against the foot pressure pusher 240. The weight of the feet applies a downward pushing force to the foot pressure pusher 240, thereby pushing the foot pressure pusher 240 down. The sliding foot pressure pusher 240 pushes the telescopic ankle pump motion component 230 inside the ball joint 220 downward and contacts the eccentric rocker 320. Due to the eccentric limiting effect of the eccentric rocker 320 on the telescopic ankle pump motion component 230, the ball joint 220 deflects within the ball sleeve 310. Then, the eccentric rocker 320 is driven to move by the drive component 330, which can drive the foot support plate 210 to produce periodic circumferential deflection, thereby driving the astronaut's feet to perform ankle pump movements. In the initial state, the side-flipping foot fixing parts 410 on both sides of the foot support plate 210 are in an outward-flipping open position, so as not to affect the normal placement of the foot into the foot support plate 210; when the astronaut's foot presses down on the foot pressure pusher 240, the downward movement of the foot pressure pusher 240 triggers the side-flipping foot fixing parts 410 on both sides of the foot support plate 210 to flip inward through the linkage trigger 420, thereby pressing and fixing the instep and preventing the foot from separating from the foot support plate 210 during ankle pump movement.

[0022] It should be noted that, for the ground rehabilitation training scenario of astronauts, the weight of the astronaut's feet when they are naturally hanging down is used as the driving force for the foot pressure pusher 240 to slide down, which drives the telescopic ankle pump movement component 230 to automatically extend and contact the eccentric swing component 320 to drive the foot support plate 210 to deflect. At the same time, the side-flipping foot fixation component 410 is activated synchronously through the linkage trigger component 420 to flip inward and press and fix the instep. By utilizing the astronaut's own weight to press down on the foot pressure pusher 240, the telescopic ankle pump motion component 230 is automatically extended downward and comes into contact with the eccentric rocker component 320. Through the eccentric limiting cooperation between the eccentric rocker component 320 and the telescopic ankle pump motion component 230, the rotational motion of the eccentric rocker component 320 is converted into the periodic circumferential deflection of the ball joint 220 within the ball sleeve 310. The periodic motion of the eccentric rocker component 320, combined with the continuous downward pressure generated by the foot's own weight, enables the foot support plate 210 to drive both feet to accurately complete multi-dimensional trajectories such as dorsiflexion, plantarflexion, and lateral rotation. This effectively simulates the real force state of the ankle joint during walking and can provide astronauts who have experienced weightlessness in space and are returning to Earth, facing reduced proprioception and decreased muscle coordination with more proprioceptive feedback-based weight-bearing physical therapy rehabilitation stimulation. This accelerates their vestibular and motor nerve readaptation to Earth's gravity environment and improves the targeting and rehabilitation effect of exercise physical therapy. The telescopic ankle pump motion component 230 is normally stored within the ball joint 220. It is only triggered to extend and contact the eccentric swing component 320 when the foot pressure push component 240 descends, ensuring that the foot support plate 210 can maintain a free posture when the foot is placed in. The side-flipping foot fixation components 410 on both sides of the foot support plate 210 remain open outward in the initial state, providing sufficient space for the foot to be placed in and avoiding scratching the foot. When the astronaut presses down on the foot pressure push component 240, the side-flipping foot fixation component 410 is synchronously driven to flip from an outward posture to an inward posture to press the instep through the linkage trigger component 420. During the ankle pump movement, the weight of the foot always maintains the downward position of the foot pressure push component 240, thereby continuously locking the pressing state of the side-flipping foot fixation component 410, effectively preventing the foot from accidentally disengaging from the foot support plate 210 during high-frequency or large-amplitude swings, and improving the reliability of the physiotherapy process.

[0023] In one embodiment, please refer to Figure 2 The frame 100 is provided with a support 120 at the end away from the cover 110, and the support 120 is provided with symmetrical support legs 130 on both sides; Specifically, when performing ankle pump exercises, the ankle pump device can be placed at the foot of the bed. The astronaut lies flat on the bed, puts his legs on the leg support bar 130, and then puts his feet on the foot support plate 210. The leg support bar 130 supports the astronaut's legs, preventing his legs from being suspended in the air for a long time, causing soreness and affecting the force on his feet.

[0024] It is worth noting that by setting a support 120 at the rear end of the frame 100 and symmetrically distributed leg support bars 130 on both sides, the structure allows astronauts to carry out ankle pump training in a supine position during the bed recovery period after returning to Earth. Their legs are naturally placed on the leg support bars 130 without the need for sitting or standing. This body position adaptation not only fits the bed rest restrictions of astronauts in the early stage of recovery on the ground, but also avoids the extra physical exertion caused by body position changes, thus expanding the application scenarios and ease of use of the device. The leg support bar 130 provides stable support for the astronaut's lower legs, effectively solving the problems of muscle soreness and joint discomfort caused by prolonged leg suspension during training. More importantly, this support function smoothly transfers the weight of the legs to the frame 100, allowing the astronaut's feet to hang naturally on the foot support plate 210 in a relaxed posture. This ensures that the weight of the feet can be fully and stably applied to the foot pressure pusher 240 without being affected by leg muscle tension or body position deviation. This provides a stable foundation for the reliable extension of the telescopic ankle pump motion component 230, the precise contact of the eccentric swing component 320, and the effective triggering of the side-rolling foot fixation component 410. The symmetrically arranged leg support bars 130 on both sides independently support the left and right legs, so that the feet maintain a symmetrical and consistent initial posture when placed into the corresponding foot support plates 210. During ankle pump exercises, this support constraint effectively restricts the lateral movement of the hip and knee joints, and avoids the positional drift of the feet relative to the foot support plates 210 caused by limb swaying. Combined with the continuous downward pressure generated by the weight of the feet, the periodic circumferential deflection of the ball joint 220 within the ball sleeve 310 can strictly follow the preset trajectory, ensuring that multi-dimensional movements such as dorsiflexion, plantarflexion and lateral roll accurately reproduce the real force state of the ankle joint during walking, and enhance the rehabilitation stimulation effect on the astronaut's proprioception and vestibular function. In the absence of effective leg support, astronauts often unconsciously engage their hip or lower back muscles to compensate for the lack of effective leg support in order to maintain stable contact between their feet and the footrest 210. This not only distracts them from training but may also lead to fatigue accumulation in non-target muscle groups. The rigid support provided by the leg support bar 130 completely eliminates this compensatory need, allowing all the mechanical energy generated by the ankle pump movement to act entirely on the muscles and vascular pump system around the ankle joint. This ensures the targeting and purity of the physical therapy stimulation, thereby maximizing the training cycle's effect on the reconstruction of calf muscle pump function and venous blood return, and accelerating the full recovery of lower limb motor function after returning to Earth.

[0025] Further, please refer to Figure 11 The foot support plate 210 is provided with surrounding plates 211 on both sides and bottom, and the foot support plate 210 is provided with an opening 212 at the top; Specifically, the astronaut's feet are restricted by the side and bottom panels 211, and the instep is pressed and fixed by the side-flipping foot fixation device 410 to prevent the feet from coming out during ankle pump movement; the opening 212 above the foot support plate 210 allows the feet to enter and exit the foot support plate 210 vertically.

[0026] It should be noted that by setting up surrounding plates 211 on both sides and bottom of the foot support plate 210 to form a U-shaped enclosed space, the astronaut's feet are three-dimensionally restricted in the lateral and heel directions. During the high-frequency swinging of the ankle pump, this structure effectively restricts the foot's movement and lateral sliding within the plane of the foot support plate 210. Combined with the vertical pressure of the instep by the side-flipping foot fixation component 410, it ensures that the sole of the foot always remains in effective contact with the bearing surface of the foot support plate 210, preventing the foot from accidentally slipping out during complex multi-dimensional swinging trajectories. The opening 212 is located at the top of the foot support plate 210, allowing the astronaut's foot to be placed directly from top to bottom vertically into the enclosed space. This foot entry direction is completely consistent with the natural hanging posture of the legs when lying flat. Compared with traditional rehabilitation shoes and boots that need to be put on sideways or slid in front and behind, this avoids the scraping and squeezing of the foot and the edge of the support plate 211 during the process of putting on and taking off the shoes. It is especially suitable for astronauts whose feet may have slight edema or skin sensitivity after returning to space, reducing the discomfort of wearing them. In the initial stage before the foot presses down on the foot pressure pusher 240, the side-flipping foot fixation member 410 is in the outward-folded open state. At this time, the enclosure 211 only provides lateral and bottom restraint, and the top opening 212 remains completely open. Astronauts can freely put their feet in and fine-tune them to the most comfortable posture. After the foot's center of gravity sinks and triggers the linkage, the side-flipping foot fixation member 410 closes inward to complete the locking. This ensures positioning accuracy and provides a tolerant window for foot adjustment. Unlike fully enclosed shoe covers or strap-type fixation devices, the semi-open structure composed of side and bottom panels 211 exposes most of the back and toes of the foot to the external environment, which is conducive to heat dissipation and sweating of the foot skin during training and avoids stuffiness or skin maceration caused by prolonged physical therapy. At the same time, the open structure allows medical staff or astronauts to observe the foot's position, the pressure position of the side-rolling foot fixation device 410, and the blood circulation status of the foot in real time, providing an intuitive visual channel for safety monitoring during training.

[0027] Further, please refer to Figure 7 and Figure 8 The telescopic ankle pump motion component 230 includes a telescopic frame 231 slidably embedded in a ball joint 220. The lower end of the telescopic frame 231 is provided with a rocking disc 232 adapted to the eccentric rocking component 320. A spring 233 is provided between the telescopic frame 231 and the bottom of the ball joint 220. Specifically, in the initial state, due to the elastic force of the spring 233, the telescopic frame 231 always slides upward and retracts into the ball joint 220, at which time the rocking disk 232 separates from the eccentric rocking component 320. When the foot presses down, the foot pressure pusher 240 pushes the telescopic frame 231 to slide downward along the ball joint 220 and extend, the spring 233 is compressed, the rocker plate 232 moves downward and contacts the eccentric rocker 320, so as to drive the ball joint 220 to deflect relative to the ball sleeve 310.

[0028] It is worth noting that, in the initial state, the elastic force of the spring 233 drives the telescopic frame 231 to slide upward and retract into the ball joint 220, keeping the rocker plate 232 and the eccentric rocker 320 separated. In this way, during non-use periods, the footrest 210 can be in a completely free floating state, making it easy for astronauts to easily put their feet into the space enclosed by the enclosure 211 without having to overcome any resistance from the telescopic frame 231 or interference from the eccentric rocker 320. This effectively avoids the problem of obstruction or malfunction of moving parts when the feet are not in place, improving the smoothness and safety of operation before wearing. When the foot naturally presses down on the foot-pressing pusher 240, the foot's own weight overcomes the preload of the spring 233, pushing the telescopic frame 231 to slide downwards along the ball joint 220. At the same time, the spring 233 is compressed and stores energy. During this process, the foot's gravity provides both the triggering power and simultaneously completes the potential energy storage of the spring 233. The swing disk 232 descends to contact the eccentric swing member 320, and a rigid surface contact coupling is established between the two. The rotational motion of the eccentric swing member 320 can be transmitted to the telescopic frame 231 without delay, thereby driving the ball joint 220 to produce a precise deflection response within the ball sleeve 310. By presetting the stiffness coefficient of spring 233 and the sliding stroke of telescopic frame 231, the triggering mechanism can adapt to astronauts of different weights or different downward loads. The foot weight must reach the pre-pressure threshold of spring 233 before the telescopic frame 231 can be pushed out, thus avoiding unintended triggering caused by slight accidental contact (such as a momentary sweep of the foot). Once the foot weight is stably acting on the foot pressure pusher 240, the telescopic frame 231 is reliably held in the downward position. The compression force of spring 233 continuously provides contact reaction force, ensuring that the swing disk 232 and the eccentric swing member 320 remain in close contact throughout the training cycle, avoiding the risk of contact separation due to vibration during the movement. When the astronaut finishes training and lifts his feet, the downward pressure on the foot pressure pusher 240 is removed, the spring 233 quickly releases the compressive potential energy, pushes the telescopic frame 231 upward and retracts into the ball joint 220, the swing plate 232 automatically separates from the eccentric swing member 320 and restores the initial distance, so that the foot support plate 210 returns to the free floating state. The side-flipping foot fixing member 410 unlocks in time and flips outward, so that the astronaut can directly lift his feet upward along the opening 212.

[0029] Furthermore, please refer to Figure 9 and Figure 10The foot pressure pushing member 240 includes a sliding strip 241 that is inclined and slidably embedded in the foot support plate 210 and a connecting column 244 that is vertically fixed on the rocking plate 232. The sliding strip 241 is provided with a heel support plate 242. One end of the sliding strip 241 facing downwards is provided with a pushing column 243. The upper end of the connecting column 244 is provided with a pushing plate 245 that is adapted to the pushing column 243. Specifically, when the astronaut's foot is placed into the foot support plate 210 through the opening 212, the foot hangs down naturally, the heel is attached to the heel support plate 242 and pushes the slide bar 241 to slide downwards at an angle. The push column 243 and the push plate 245 slide relative to each other in the horizontal direction. The push column 243 generates a vertical downward component force on the push plate 245, thereby pushing the push plate 245 and the connecting column 244 downwards, which in turn drives the entire telescopic ankle pump moving component 230 to extend and contact the eccentric rocker component 320.

[0030] It should be noted that the slider 241 is obliquely and slidably embedded in the foot support plate 210, and a heel support plate 242 is set on its upper end. Astronauts only need to put their feet in through the opening 212, and the heels will automatically fall into the heel support plate 242 to complete the positioning. At the same time, the weight of the feet generates a component force along the oblique direction of the slider 241, pushing the slider 241 to slide obliquely downward. The push column 243 is fixed to the lower end of the slider 241, and the push plate 245 is fixed to the upper end of the connecting column 244. The two form an oblique sliding fit relationship. When the slider 241 slides down along the oblique direction, the push column 243 generates a horizontal relative sliding on the surface of the push plate 245, and generates a thrust that drives the push plate 245 to slide vertically downward. In practical applications, by setting the tilt angle of the slider 241 and the preload of the spring 233, the correspondence between the heel pressure and the extension of the telescopic frame 231 can be precisely matched. This allows the foot's weight to easily drive the push column 243 to push the push plate 245 downwards to overcome the resistance of the spring 233 and complete the full extension of the telescopic frame 231. The greater the foot's weight, the greater the vertical component force generated by the push column 243 on the push plate 245, ensuring that the extension of the telescopic frame 231 remains stable during training and is not disturbed by slight foot swaying or movement vibrations. This ensures that the contact pressure between the swing plate 232 and the eccentric swing component 320 remains sufficient.

[0031] In yet another embodiment, please refer to Figure 7 and Figure 8 The eccentric rocker 320 includes a sleeve 321 fixed on the cover 110, a turntable 322 is rotatably embedded in the sleeve 321, an eccentric rocker arm 323 is fixed at the upper end of the turntable 322, and a top ball 324 adapted to the rocker plate 232 is provided at the end of the eccentric rocker arm 323 away from the turntable 322. Specifically, the turntable 322 is driven to rotate continuously within the sleeve 321 by the drive component 330, which in turn causes the top ball 324 at the end of the eccentric swing rod 323 to rotate circumferentially around the turntable 322. When the foot pressure pusher 240 drives the telescopic ankle pump motion component 230 to extend downward, the swing disk 232 contacts the offset top ball 324. Since the center of the swing disk 232 is suspended and the outer edge area is in contact with the top ball 324, the side of the swing disk 232 away from the top ball 324 tilts downward, thereby causing the entire foot support plate 210 to shift away from the top ball 324. Subsequently, the drive component 330 drives the top ball 324 to rotate continuously, which can continuously change the deflection angle of the swing disk 232, thereby realizing the continuous circumferential deflection of the foot support plate 210 to drive the astronaut's foot to perform ankle pump movement.

[0032] It is worth noting that the turntable 322 rotates continuously within the sleeve 321, causing the ball 324 at the end of the eccentric swing rod 323 to rotate circumferentially around the axis of the turntable 322. When the swing disk 232 descends and contacts the offset ball 324, since the point of action of the ball 324 is located in the eccentric outer region of the swing disk 232 rather than the center, the offset force generates a certain overturning moment, causing the side of the swing disk 232 away from the ball 324 to tilt downwards, thereby driving the entire footplate 210 to deflect in a direction away from the ball 324. As the ball 324 continues to move circumferentially, its point of action constantly changes its orientation, and the tilting direction of the swing disk 232 changes synchronously, thus converting a single continuous rotation input into a continuous circumferential swing output of the footplate 210 in space, simulating the multidimensional trajectory of dorsiflexion-plantarflexion-inversion and eversion required for the complex movement of the ankle joint. The top ball 324 adopts a spherical structure and forms a point contact relationship with the bottom surface of the swing disk 232. During the eccentric rotation, the contact point between the top ball 324 and the swing disk 232 rolls naturally on the bottom surface of the swing disk 232 with the change of the swing posture, always maintaining good follow-up fit. At the same time, the point contact method can absorb the instantaneous impact load generated by foot swaying or vibration during the movement, making the start, stop and turn of the ankle pump movement smoother and gentler, effectively reducing the unexpected vibration transmitted to the astronaut's feet and improving training comfort. The eccentricity of the eccentric pendulum 323 (i.e. the radius of rotation of the ball 324) determines the deflection amplitude of the swing disk 232, thereby controlling the swing angle range of the foot support plate 210. By pre-setting different eccentricity specifications for the eccentric pendulum 323 in the design, or by setting an adjustable eccentricity mechanism on the turntable 322, it can adapt to the different training needs of astronauts in the early stage of rehabilitation (small amplitude micro-movement) and the later stage of recovery (large amplitude full range of activities).

[0033] Further, please refer to Figure 5 , Figure 6 and Figure 8The driving component 330 includes transmission gear disks 331 symmetrically rotatably disposed on both sides inside the housing 110 and meshing with each other, and a drive motor 335 fixed on the frame 100. A transmission disk 334 is also rotatably mounted on the frame 100. A second transmission belt 336 is connected to the output end of the transmission disk 334 and the drive motor 335. An intermediate gear 333 is coaxially fixed on the transmission disk 334. The intermediate gear 333 meshes with one of the transmission gear disks 331. A drive shaft 332 is coaxially fixed on both sides of the transmission gear disks 331. A first transmission belt 325 is connected between the drive shaft 332 and the turntable 322 on the same side. Specifically, the drive motor 335 drives the transmission disk 334 and the intermediate gear 333 to rotate synchronously via the second transmission belt 336. The intermediate gear 333 meshes with one of the transmission gear disks 331, and the two sets of transmission gear disks 331 mesh with each other, so that the two sets of transmission gear disks 331 and the corresponding drive shaft 332 rotate synchronously in opposite directions. Then, the drive shaft 332 drives the corresponding turntable 322 to rotate via the first transmission belt 325, so as to realize the circumferential rotation of the eccentric rocker arm 323 and the top ball 324. The radius of the transmission disk 334 is larger than the radius of the output shaft of the drive motor 335, while the radius of the intermediate gear 333 is smaller than the radius of the transmission disk 334 and the transmission gear disk 331. In this way, through multi-stage transmission reduction ratio, the output power of the drive motor 335 is transmitted to the two sets of footrests 210 and reduced in speed and increased in torque.

[0034] It should be noted that the two sets of transmission gear discs 331 are symmetrically rotated on both sides inside the cover 110 and mesh with each other. The drive motor 335 drives one set of transmission gear discs 331 to rotate through the intermediate gear 333, while the other set achieves synchronous reverse rotation through meshing. The output shaft of the drive motor 335 drives the transmission disc 334 via the second transmission belt 336. The transmission disc 334 coaxially drives the intermediate gear 333, which in turn meshes with the transmission gear disc 331. Finally, the drive shaft 332 and the first transmission belt 325 drive the turntable 322. In this multi-stage transmission chain, the radius of the transmission disc 334 is larger than the radius of the output shaft of the drive motor 335, and the radius of the intermediate gear 333 is smaller than the radius of the transmission disc 334 and the transmission gear disc 331, forming a two-stage reduction and torque increase. This converts the high-speed, low-torque output of the drive motor 335 into the low-speed, high-torque drive required by the turntable 322, effectively meeting the requirements of the ankle pump movement for smooth, high-torque oscillation. The drive motor 335 and the transmission disk 334, as well as the drive shaft 332 and the turntable 322, are all connected by a transmission belt, which can effectively absorb the torque fluctuations and high-frequency vibrations during the start-up and stop of the drive motor 335 and during operation, reduce the mechanical noise and high-frequency vibrations transmitted to the astronaut's feet, and improve the comfort of the physiotherapy process. In practical applications, by setting the radius ratio of the transmission disc 334 to the output shaft of the drive motor 335, and the tooth ratio of the intermediate gear 333 to the transmission gear disc 331, the distribution ratio of the two-stage reduction can be flexibly set, thereby precisely controlling the final speed and output torque of the turntable 322. This allows the same drive architecture to adapt to the different needs of different rehabilitation stages for swing frequency and load size. In early rehabilitation, a larger reduction ratio can be used to obtain a smoother, higher torque low-frequency swing, while in later recovery, the reduction ratio can be appropriately reduced to increase the swing frequency and strengthen neuromuscular stimulation.

[0035] Furthermore, please refer to Figure 11 and Figure 12 The side-flipping foot fixing component 410 includes mounting slots 411 symmetrically opened on both sides of the foot support plate 210. A pivot pin 412 is provided in the mounting slot 411. A foot pressure plate 413 is rotatably mounted on the pivot pin 412. The center of gravity of the foot pressure plate 413 is located on the side of the pivot pin 412 away from the center of the foot support plate 210. Please see Figure 12 , Figure 13 , Figure 14 and Figure 15 The linkage trigger 420 includes an air chamber 421 fixed to the back of the foot support plate 210. Piston plates 422 are symmetrically slidably arranged on both sides of the air chamber 421. A telescopic rod 423 that moves through the air chamber 421 is fixed on the piston plate 422. A push plate 424 that abuts against the corresponding instep pressure plate 413 is fixed at the extended end of the telescopic rod 423. An air bladder 425 adapted to the foot pressure pusher 240 is provided at the bottom of the foot support plate 210. An air passage 426 communicating with the air bladder 425 is opened in the foot support plate 210. An air tube 427 is connected to the end of the air passage 426 away from the air bladder 425. An air nozzle 428 is provided in the center of the air chamber 421. Both sides of the air tube 427 are connected to the air nozzle 428.

[0036] Specifically, since the center of gravity of the dorsalis pressure plate 413 is located on the side of the pivot pin 412 away from the center of the foot support plate 210, in the initial state, the dorsalis pressure plate 413 is always in an outwardly flipped-out posture, so as not to affect the normal entry of the foot into the foot support plate 210. When the foot enters the foot support plate 210 and naturally hangs down, pushing the foot pressure pusher 240, it compresses the airbag 425, causing the gas in the airbag 425 to enter the air tube 427 through the air passage 426. Then, the gas in the airbags 425 on both sides converges into the air chamber 421 through the air nozzle 428, thereby pushing the piston plates 422 on both sides to slide away from each other, causing the telescopic rods 423 on both sides to extend synchronously. The push plate 424 pushes the lower end of the foot instep pressure plate 413 on both sides to flip outward, so that the upper end of the foot instep pressure plate 413 rotates inward around the pivot pin 412 to press and fix the instep.

[0037] It is worth noting that the center of gravity of the instep pressure plate 413 is located in the outer region of the pivot pin 412, away from the center of the foot support plate 210. In the initial state without external force constraint, the instep pressure plate 413 always maintains the outward flipped-out posture by its own gravity torque, so that the two sides of the foot support plate 210 remain completely open, and no additional operation is required before the foot is inserted. After the training is completed, as the air pressure in the airbag 425 is released and the push plate 424 is retracted, the instep pressure plate 413 automatically returns to the eversion state under the action of gravity, preparing for the next foot insertion. The power source of the linkage trigger 420 is directly taken from the squeezing force on the airbag 425 when the foot presses down on the foot pressure pusher 240. This squeezing force causes the gas inside the airbag 425 to converge into the air chamber 421 through the air passage 426, air tube 427, and air nozzle 428. The air nozzle 428 in the center of the air chamber 421 simultaneously injects the compressed gas generated by the airbags 425 on both sides into the air chamber 421. The gas pressure acts evenly on the inner end face of the piston plates 422 on both sides, pushing the two piston plates 422 to slide in opposite directions at the same time. Then, through the telescopic rod 423 and the push plate 424, the lower end of the foot instep pressure plate 413 on both sides is pushed outward to keep the pressing position and force of the foot instep pressure plate 413 on the instep symmetrical from left to right. The closed pneumatic circuit, consisting of airbag 425, airway 426, air tube 427 and air chamber 421, has a constant total amount of gas inside. During training, as the foot support plate 210 swings circumferentially, the airbag 425 is subjected to slight periodic compression and release, and the air pressure in the air chamber 421 fluctuates slightly accordingly, but the overall average pressure remains stable. It can absorb some energy through the compressibility of the gas when the foot swings and generates instantaneous impact, and then release it slowly, thereby applying dynamic and compliant adjustment to the pressing pressure of the instep pressure plate 413. It will not cause excessive pressure on the instep due to a sudden increase in air pressure, nor will it cause the fixation to loosen due to pressure fluctuations. As astronauts may unconsciously increase the pressure of their feet during training, the airbag 425 is subjected to stronger compression, and the air pressure inside the air chamber 421 increases accordingly. The piston plate 422 receives greater driving force, which further pushes the instep pressure plate 413 inward through the push plate 424, causing the pressure on the instep to increase synchronously. This positive feedback characteristic ensures that when the training intensity increases (accompanied by greater foot force), the foot fixation force automatically strengthens, effectively coping with the increase in centrifugal force and inertial force during high-intensity swinging; conversely, when astronauts need to relax briefly, the downward pressure on the feet decreases, and the fixation force automatically weakens, avoiding continuous high pressure from affecting blood circulation in the instep.

[0038] The present invention also provides a method for using the above-mentioned intelligent ankle pump device for astronaut exercise, comprising the following steps: Step 1: The astronaut lies flat and places both feet into the footrests 210 on both sides, with the feet hanging down naturally; Step 2: Press down on the foot pressure pusher 240, drive the telescopic ankle pump moving part 230 to extend and contact the eccentric swinging part 320, and at the same time drive the side-flipping foot fixing part 410 to flip inward through the linkage trigger part 420 to press and fix the instep. Step 3: Start the drive component 330, drive the eccentric rocker component 320 to move, and drive the ball joint 220 to generate periodic circumferential deflection within the ball sleeve 310, so that the foot support plate 210 drives the two feet to perform ankle pump movements. Step 4: Training ends. Turn off the drive unit 330, lift the foot to reset the foot pressure pusher 240, retract the telescopic ankle pump movement unit 230, and flip the side-rolling foot fixation unit 410 outward to open and remove both feet.

[0039] The specific embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A smart ankle pump device for astronaut exercise, characterized in that, include: A frame (100) on which a cover (110) is provided; An ankle pump motion unit (200) is provided in two sets and symmetrically distributed on both sides of the cover (110), including a foot support plate (210) and a ball joint (220) provided at the lower end of the foot support plate (210). A telescopic ankle pump motion component (230) is provided inside the ball joint (220), and a foot pressure pushing component (240) adapted to the telescopic ankle pump motion component (230) is provided on the foot support plate (210). The swing drive unit (300), which is disposed within the housing (110), includes a ball sleeve (310) adapted to the ball joint (220), an eccentric swing member (320) adapted to the telescopic ankle pump motion member (230), and a drive member (330) for driving the eccentric swing member (320). The foot pressure push member (240) drives the telescopic ankle pump motion member (230) to extend and contact the eccentric swing member (320) to trigger the ball joint (220) to deflect within the ball sleeve (310). The foot fixing unit (400) is disposed on the foot support plate (210) and includes side-flipping foot fixing members (410) symmetrically distributed on both sides of the foot support plate (210) and a linkage trigger member (420) disposed on the back side of the foot support plate (210); when the foot pressure push member (240) moves downward, the linkage trigger member (420) synchronously drives the side-flipping foot fixing members (410) on both sides to flip inward to press and fix the instep.

2. The intelligent ankle pump device for astronaut exercise according to claim 1, characterized in that, A bracket (120) is provided at one end of the frame (100) away from the cover (110), and support rods (130) are symmetrically arranged on both sides of the bracket (120).

3. The intelligent ankle pump device for astronaut exercise according to claim 1, characterized in that, The foot support plate (210) is provided with a surrounding plate (211) on both sides and the bottom, and the foot support plate (210) is provided with an opening (212) at the top.

4. The intelligent ankle pump device for astronaut exercise according to claim 1, characterized in that, The telescopic ankle pump motion component (230) includes a telescopic frame (231) slidably embedded in a ball joint (220), and a rocking disc (232) adapted to the eccentric rocking component (320) is provided at the lower end of the telescopic frame (231). A spring (233) is provided between the telescopic frame (231) and the bottom of the ball joint (220).

5. The intelligent ankle pump device for astronaut exercise according to claim 4, characterized in that, The foot pressure pusher (240) includes a slide bar (241) that is inclined and slidably embedded in the foot support plate (210) and a connecting post (244) that is vertically fixed on the rocker plate (232). The slide bar (241) is provided with a heel support plate (242). One end of the slide bar (241) facing downwards is provided with a pusher post (243). The upper end of the connecting post (244) is provided with a pusher plate (245) that is adapted to the pusher post (243).

6. The intelligent ankle pump device for astronaut exercise according to claim 4, characterized in that, The eccentric rocker (320) includes a sleeve (321) fixed on the cover (110), a turntable (322) is rotatably embedded in the sleeve (321), an eccentric rocker arm (323) is fixed at the upper end of the turntable (322), and a top ball (324) adapted to the rocker plate (232) is provided at the end of the eccentric rocker arm (323) away from the turntable (322).

7. The intelligent ankle pump device for astronaut exercise according to claim 6, characterized in that, The drive unit (330) includes a transmission gear disk (331) symmetrically rotatably disposed on both sides inside the cover (110) and meshing with each other, and a drive motor (335) fixed on the frame (100). A transmission disk (334) is also rotatably mounted on the frame (100). The transmission disk (334) is connected to the output end of the drive motor (335) by a second transmission belt (336). An intermediate gear (333) is coaxially fixed on the transmission disk (334). The intermediate gear (333) meshes with one of the transmission gear disks (331). A drive shaft (332) is coaxially fixed on both sides of the transmission gear disk (331). A first transmission belt (325) is connected between the drive shaft (332) and the turntable (322) on the same side.

8. The intelligent ankle pump device for astronaut exercise according to claim 1, characterized in that, The side-flipping foot fixation component (410) includes mounting slots (411) symmetrically opened on both sides of the foot support plate (210). A pivot pin (412) is provided in the mounting slot (411). A dorsal pressure plate (413) is rotatably mounted on the pivot pin (412). The center of gravity of the dorsal pressure plate (413) is located on the side of the pivot pin (412) away from the center of the foot support plate (210).

9. A smart ankle pump device for astronaut exercise according to claim 8, characterized in that, The linkage trigger (420) includes an air chamber (421) fixed to the back of the foot support plate (210). Piston plates (422) are symmetrically slidably arranged on both sides of the air chamber (421). A telescopic rod (423) that moves through the air chamber (421) is fixed on the piston plate (422). A push plate (424) that abuts against the corresponding instep pressure plate (413) is fixed at the extended end of the telescopic rod (423). An air bladder (425) adapted to the foot pressure pusher (240) is provided at the bottom of the foot support plate (210). An air passage (426) communicating with the air bladder (425) is opened in the foot support plate (210). An air tube (427) is connected to the end of the air passage (426) away from the air bladder (425). An air nozzle (428) is provided in the center of the air chamber (421). Both sides of the air tube (427) are connected to the air nozzle (428).

10. A method of using the intelligent ankle pump device for astronaut training as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: The astronaut lies flat and places both feet into the footrests (210) on both sides, with the feet hanging down naturally; Step 2: Press down on the foot pressure pusher (240), drive the telescopic ankle pump motion component (230) to extend and contact the eccentric swing component (320), and at the same time drive the side-flipping foot fixation component (410) to flip inward through the linkage trigger component (420) to press and fix the instep; Step 3: Start the drive unit (330) to drive the eccentric rocker (320) to move, causing the ball joint (220) to rotate periodically in the ball sleeve (310), so that the foot support plate (210) drives the two feet to perform ankle pumping movements; Step 4: After training, turn off the drive unit (330), lift your feet to reset the foot pressure pusher (240), retract the telescopic ankle pump movement unit (230), and turn the side-rolling foot fixation unit (410) outward to open and remove both feet.

Images