Intelligent ankle rehabilitation assistive device

Abstract

An intelligent ankle rehabilitation assistive device, comprising a boot sole (1) and a boot upper (2), and further comprising an inner sleeve (3) and a rotation drive system (6). The inner sleeve (3) comprises a foot sleeve and a leg sleeve. The foot sleeve is fixed to the boot sole (1), and the leg sleeve is fixed to the boot upper (2). The boot upper (2) is hingedly connected to the boot sole (1), and the rotation drive system (6) is connected to both the boot upper (2) and the boot sole (1). The rehabilitation assistive device can automatically adjust angles according to the patient's control and features an overpressure alarm function, thereby assisting in improving the patient's rehabilitation efficiency.

Description

Smart ankle rehabilitation assistive device Technical Field

[0001] The present invention relates to a rehabilitation assistive device, in particular to an intelligent ankle rehabilitation assistive device, belonging to the technical field of ankle rehabilitation assistive protective devices. Background Art

[0002] The ankle joint is one of the most important parts of the human body during movement. Due to its special anatomical structure, the incidence of injury is extremely high. In daily life and sports, it is easy to cause damage to the ankle joint and its surrounding tissues and Achilles tendon. There are several different stages in the treatment and rehabilitation process of Achilles tendon injury. In the early stage after Achilles tendon repair surgery, braking and fixation are required. After that, the ankle joint should be adjusted from the 45° plantar flexion position to the neutral position by about 3° per day according to the required angle to complete the traction and stretching process of the Achilles tendon. In the initial stage of walking, the weight of the affected foot should be controlled to not exceed 20 kg.

[0003] The current common practice is to first fix the brace to the plantar flexion position, adjust the secondary shaping brace after surgery and add layered root pads to the Achilles tendon to complete the plantar flexion fixation, and then manually withdraw a layer of pads every day for adjustment, and complete the stretching and lengthening of the Achilles tendon to the neutral position within 15 days. During the subsequent walking period with the affected foot on the ground, you should actively remind yourself to avoid bearing more than 20 kilograms. This process is complicated, troublesome and difficult to operate. In many cases, patients cannot adjust the position correctly and in time, and medical staff are required to operate and handle it. If there is a problem with the adjustment or it is not timely, it will cause secondary injuries to the patient. Therefore, there is an urgent need for an intelligent ankle rehabilitation aid that can be automatically adjusted by patients.

[0004] Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent ankle rehabilitation aid to solve the technical problems in the prior art. It can automatically adjust the angle according to the patient's control and has an overpressure alarm function to help improve the patient's rehabilitation efficiency.

[0006] The present invention provides an intelligent ankle rehabilitation aid, including a boot sole and a boot shaft, an inner sleeve and a rotation drive system, the inner sleeve including a foot sleeve and a leg sleeve, the foot sleeve is fixed on the boot sole, the leg sleeve is fixed on the boot shaft, the boot shaft is hingedly connected to the boot sole, and the rotation drive system is respectively connected to the boot shaft and the boot sole.

[0007] In the aforementioned intelligent ankle rehabilitation aid, preferably, the boot sole includes a boot sole body, a boot sole rotating articulated shaft seat and a boot sole driving articulated seat, and a boot sole rotating articulated shaft seat is formed on both sides of the rear end of the boot sole body, and the boot sole driving articulated seat is formed in the middle position of the rear end of the boot sole body. A pressure sensor, a buzzer and a boot sole support block are installed at the bottom of the boot sole body; and a boot shaft driving articulated seat is formed in the middle part of the rear side of the boot shaft.

[0008] In the aforementioned intelligent ankle rehabilitation aid, preferably, a first mounting groove is provided at the front end of the bottom of the boot sole body, a second mounting groove is provided in the middle, and a third mounting groove is provided at the rear end. The pressure sensor is installed in the first mounting groove, and a sensor clamping block is provided in the first mounting groove. The buzzer is fixed in the second mounting groove, and the boot sole support block is plugged into the third mounting groove.

[0009] In the aforementioned intelligent ankle rehabilitation aid, preferably, a groove is formed at the bottom of the sole body, and a flap is hingedly installed at the rear end of the groove through a flap hinge shaft, the pressure sensor is fixed at the front end of the groove, the buzzer is fixed at the middle part of the groove, the sole support block is fixed at the rear end of the bottom surface of the sole body, a protrusion is provided on the flap, the protrusion is opposite to the pressure sensor, and a rear end of the flap is formed with a boss extending backward, and the boss is used to limit the flap to prevent the flap from separating from the sole body.

[0010] In the aforementioned intelligent ankle rehabilitation aid, preferably, the rotation drive system includes a screw-driven articulated shaft, a screw-connected articulated head, a motor articulated frame, a through-type screw motor and a motor articulated frame articulated shaft, the screw-connected articulated head is articulatedly connected to the sole-driven articulated seat through the screw-driven articulated shaft, the motor articulated frame and the boot-driven articulated seat are articulatedly connected through the motor articulated frame articulated shaft, the through-type screw motor is fixed on the motor articulated frame, and one end of the screw on the through-type screw motor is fixedly connected to the screw-connected articulated head.

[0011] In the aforementioned intelligent ankle rehabilitation aid, preferably, the rotation drive system includes an electric cylinder drive articulated shaft, an electric cylinder articulated frame, an electric cylinder and an electric cylinder articulated frame articulated shaft, the electric cylinder articulated frame is hingedly connected to the boot shaft drive articulated seat through the electric cylinder articulated frame articulated shaft, the electric cylinder is fixed on the electric cylinder articulated frame, and the end of the piston rod on the electric cylinder is articulatedly connected to the boot sole drive articulated seat through the electric cylinder drive articulated shaft.

[0012] In the aforementioned intelligent ankle rehabilitation aid, preferably, the rotation drive system includes a driven pulley, a transmission belt, a driving pulley, a reduction motor output shaft, a reduction motor mounting bracket, a reduction motor, a fixed shaft and a bearing, the driven pulley is tightly connected to the fixed shaft and the boot sole rotation hinge shaft seat, the bearing is provided between the fixed shaft and the boot shaft rotation hinge shaft seat, the reduction motor mounting bracket is fixed on the rear side wall of the boot shaft, the reduction motor is fixedly mounted on the reduction motor mounting bracket, the driving pulley is mounted on the reduction motor output shaft, and the driving pulley and the driven pulley are connected through the transmission belt.

[0013] In the aforementioned intelligent ankle rehabilitation aid, preferably, the rotation drive system also includes a split wired power supply and control box, the split wired power supply and control box includes an electric control box body, an electric control box fixing belt and a wiring plug, and a boot wiring socket is provided on the boot, and the wiring plug is plugged into the boot wiring socket.

[0014] In the aforementioned intelligent ankle rehabilitation aid, preferably, the rotation drive system includes an integral wireless power supply and control box, which is fixedly mounted on the outside of the side wall of the boot shaft, and the integral wireless power supply and control box is wirelessly connected to the smart terminal via Bluetooth or WiFi signals.

[0015] In the aforementioned intelligent ankle rehabilitation aid, preferably, the inner sheath includes a sheath body, a plurality of sheath cavities are distributed in the sheath body, and a sheath inner cavity heating wire is provided in the sheath inner cavity.

[0016] In the aforementioned intelligent ankle rehabilitation assistive device, preferably, the inner sheath includes a sheath body, a plurality of sheath cavities are distributed in the sheath body, and the sheath cavities are connected to the outer gas cylinder of the device through an air pipe and a solenoid valve.

[0017] Compared to existing technologies, the present invention includes a boot sole, a boot shaft, an inner sheath, and a rotational drive system. The inner sheath includes a foot sheath and a leg sheath, which are secured to the boot sole and the leg sheath to the boot shaft. The boot shaft is hingedly connected to the boot sole, and the rotational drive system is connected to the boot shaft and the boot sole, respectively. The present invention, through the configuration of the drive system, can change the angle between the boot sole and the boot shaft without manual adjustment, ensuring the accuracy of each adjustment. This not only reduces the burden on medical staff but also prevents secondary damage to patients caused by manual adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a front view of embodiment 1 of the present invention;

[0019] FIG2 is a top view of embodiment 1 of the present invention;

[0020] FIG3 is a schematic diagram of an AA cross-sectional view of FIG2 ;

[0021] Figure 4 is a schematic diagram of a half-section structure of a boot sole with a flap;

[0022] FIG5 is an axonometric view of embodiment 1 of the present invention;

[0023] FIG6 is a schematic structural diagram of Example 1 of the present invention when the deflection angle between the sole and the boot shaft is -45°;

[0024] FIG7 is a front view of embodiment 2 of the present invention;

[0025] FIG8 is an axonometric view of embodiment 2 of the present invention;

[0026] FIG9 is a schematic structural diagram of Example 2 of the present invention when the deflection angle between the sole and the boot shaft is -45°;

[0027] Figure 10 is an axonometric view of the split wired power supply and control box;

[0028] FIG11 is a front view of Example 3 of the present invention;

[0029] FIG12 is a partial BB cross-sectional view of FIG11;

[0030] FIG13 is a schematic diagram of a rear axonometric view of a third embodiment of the present invention when the deflection angle between the sole and the shaft is 0°;

[0031] FIG14 is a schematic diagram of a rear axonometric view of a third embodiment of the present invention when the deflection angle between the sole and the boot shaft is -45°;

[0032] FIG15 is a schematic diagram showing the orientation of the calf and foot of the present invention.

[0033] Explanation of the reference numerals: 1-sole; 101-sole rotation hinge seat; 102-sole and boot shaft rotation hinge axis; 103-sole drive hinge seat; 111-sole body; 112-pressure sensor; 113-sensor pressing block; 114-buzzer; 115-sole support block; 121-groove; 122-flap; 123-elastic support block; 124-flap hinge axis; 126-bump; 127-boss; 2-boot shaft; 202-boot shaft rotation hinge seat; 203-boot shaft drive hinge seat; 204-boot shaft wiring seat; 3-inner sheath; 301-sheath body; 302-sheath inner cavity; 303-sheath inner cavity heating wire; 4-boot shaft strap; 5-sole strap; 6-rotation drive system; 611-screw drive Articulated shaft; 612-screw connecting articulated head; 613-screw; 615-motor articulated frame; 616-through-type screw motor; 617-motor articulated frame articulated shaft; 621-electric cylinder drive articulated shaft; 623-piston rod; 625-electric cylinder articulated frame; 626-electric cylinder; 627-electric cylinder articulated frame articulated shaft; 631-driven pulley; 632-transmission belt; 633-driving pulley; 634-reduction motor output shaft; 635-reduction motor mounting frame; 636-reduction motor; 637-driven pulley fastening screw; 638-fixed shaft; 639-bearing; 7-split wired power supply and control box; 701-electric control box body; 702-electric control box fixing belt; 703-wiring plug; 8-integrated wireless power supply and control box. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] Embodiment 1 of the present invention: As shown in Figures 1 to 6, an intelligent ankle rehabilitation aid comprises a boot sole 1, a boot shaft 2, an inner cover 3 and a rotation drive system 6. The inner cover 3 comprises a foot cover and a leg cover. The foot cover is fixed to the boot sole 1 by a boot sole strap 5 provided on the boot sole 1, and the leg cover is fixed to the boot shaft 2 by a boot shaft strap 4 provided on the boot shaft 2. The boot shaft 2 is hingedly connected to the boot sole 1, and the rotation drive system 6 is respectively connected to the boot shaft 2 and the boot sole 1; through the drive of the rotation drive system 6, automatic rotation between the boot sole 1 and the boot shaft 2 can be achieved without manual adjustment, and the accuracy of each adjustment angle can be guaranteed.

[0036] In this embodiment, the boot sole 1 includes a boot sole body 111, a boot sole rotating articulated shaft seat 101 and a boot sole driving articulated shaft seat 103. A boot sole rotating articulated shaft seat 101 is formed on both sides of the rear end of the boot sole body 111. The boot sole rotating articulated shaft seats 101 on both sides of the boot sole body 111 are arranged opposite to each other. Two boot shaft rotating articulated shaft seats 202 are formed at the lower end of the boot shaft 2. The boot shaft rotating articulated shaft seat 202 is hingedly connected to the boot shaft rotating articulated shaft 102 through the boot sole. A boot sole driving articulated seat 103 is formed in the middle position of the rear end of the boot sole body 111. A pressure sensor 112, a buzzer 114 and a boot sole support block 115 are installed at the bottom of the boot sole body 111; a boot shaft driving articulated seat 203 is formed in the middle part of the rear side of the boot shaft 2.

[0037] A boot sole drive articulated seat 103 and a boot shaft drive articulated seat 203 are provided for installing a rotation drive system 6. A pressure sensor 112 is provided to detect whether the load borne by the patient's forefoot when touching the ground exceeds a set value. When the set value is exceeded, an alarm signal is issued through a buzzer 114 to remind the patient to move the load borne by the forefoot to the sole support block 115 at the rear of the sole body 111, so as to avoid the forefoot being subjected to a force exceeding the required load and causing injury.

[0038] Regarding the setting method of the pressure sensor 112, the buzzer 114 and the sole support block 115, this embodiment provides two installation methods, please refer to Figure 3. One structure is to open a first installation groove at the front end of the bottom of the sole body 111, open a second installation groove at the middle position of the bottom of the sole body 111, and open a third installation groove at the rear end of the bottom of the sole body 111. The pressure sensor 112 is installed in the first installation groove, and a sensor clamping block 113 is provided in the first installation groove. The buzzer 114 is fixed in the second installation groove, and the sole support block 115 is plugged into the third installation groove.

[0039] In this installation method, the greater the force exerted by the patient's forefoot, the greater the squeezing force of the sensor pressing block 113 on the pressure sensor 112. When the squeezing force exerted by the sensor pressing block 113 on the pressure sensor 112 exceeds the preset value, it means that the load borne by the patient's forefoot on the ground exceeds the set value, and the buzzer 114 will sound an alarm to remind the patient. It should be noted that although the sensor pressing block 113 can move within the first mounting groove, it will not detach from the first mounting groove. In addition, the lower end of the sensor pressing block 113 is always located outside the first mounting groove. Similarly, the lower end of the sole support block 115 is also always located outside the third mounting groove.

[0040] Please refer to Figure 4 for another structure. A groove 121 is formed at the bottom of the sole body 111, and a flap 122 is hingedly installed at the rear end of the groove 121 through a flap hinge shaft 124. The pressure sensor 112 is fixed at the front end of the groove 121, and the buzzer 114 is fixed in the middle of the groove 121. The sole support block 115 is fixed at the rear end of the bottom surface of the sole body 111. A protrusion 126 is provided on the flap 122, and the protrusion 126 is opposite to the pressure sensor 112. A rear end of the flap 122 is formed with a backward extending boss 127, which is used to limit the flap 122 to prevent the flap 122 from separating from the sole body 111; a number of elastic support blocks 123 are provided at the bottom of the flap 122.

[0041] In this structure, one end of the flap 122 where the protrusion 126 is provided is the movable end. When the flap 122 is installed, the protrusion 126 thereon contacts the pressure sensor 112. When the patient exerts force on the forefoot, the front end of the flap 122 will move toward the inside of the groove 121. At the same time, the pressure exerted by the protrusion 126 on the pressure sensor 112 will change. When the pressure exceeds the preset value, the buzzer 114 will sound an alarm to remind the patient.

[0042] Furthermore, the rotation drive system 6 includes a screw-driven articulated shaft 611, a screw-connected articulated head 612, a motor articulated frame 615, a through-type screw motor 616 and a motor articulated frame articulated shaft 617. The screw-connected articulated head 612 is articulatedly connected to the sole-driven articulated seat 103 through the screw-driven articulated shaft 611, the motor articulated frame 615 is articulatedly connected to the boot shaft-driven articulated seat 203 through the motor articulated frame articulated shaft 617, the through-type screw motor 616 is fixed on the motor articulated frame 615, and one end of the screw 613 on the through-type screw motor 616 is fixedly connected to the screw-connected articulated head 612.

[0043] When the angle between the boot shaft 2 and the sole 1 needs to be adjusted, the through-screw motor 616 receives the command and begins operating. The screw 613 on the through-screw motor 616 moves a preset distance and then stops, changing the distance between the screw-driven articulation axis 611 and the motor articulation axis 617, thereby changing the angle of the connected sole 1 and boot shaft 2. As shown in Figure 15, the rotation angle between the sole 1 and the boot shaft 2 ranges from -45° to +15°, with 0° being the angle when the sole 1 and the boot shaft 2 are perpendicular.

[0044] It should be noted here that the through-type screw motor 616 can also be replaced by a motor and a driven gear. The inner wall of the driven gear has a thread, and the driven gear is threadedly connected to the screw 613. The motor articulated frame 615 has a driven gear limiting structure, and the output shaft of the motor has a driving gear, which is engaged with the driven gear. When the motor drives the driven gear to rotate, the driven gear is limited, so it will change the position of the screw 613 when it rotates, thereby realizing angle adjustment.

[0045] Preferably, the inner sheath 3 includes a sheath body 301, within which are distributed a plurality of sheath cavities 302, each of which contains a sheath inner cavity heating wire 303. When the load exceeds the required value, the buzzer 114 sounds an alarm and the sheath inner cavity heating wire 303 is energized to operate. The air enclosed in the sheath inner cavity 302 expands due to the heat, compressing the feet and legs of the human body. Alternatively, if the entire treatment period is long and the protective gear needs to be worn for a long time, and the human skin and muscle tissue feel uncomfortable, the sheath inner cavity heating wire 303 is energized to operate. The air enclosed in the sheath inner cavity 302 expands due to the heat, and after inflation, it compresses the feet and legs of the human body, serving as a warning and alleviating the overload.

[0046] It should be noted that other technical solutions that can expand the sheath cavity 302 can also be applied to the present invention. For example, a gas cylinder is set outside the protective gear, and the gas cylinder is connected to the sheath cavity 302 using a gas pipe and a solenoid valve. When the load exceeds the requirement, the buzzer 114 alarms and the solenoid valve is controlled to open. The gas in the small gas cylinder is passed into the sheath cavity 302, causing the sheath cavity 302 to expand and compress the human feet and legs. After inflation, the pressure on the human feet and legs will serve as a warning and reduce the overload.

[0047] Furthermore, the rotation drive system 6 also includes a power supply and a control system. In this embodiment, two optional power supply and control systems are provided:

[0048] The first power supply and control system includes a separate wired power supply and control box 7. Referring to Figure 10 , the separate wired power supply and control box 7 comprises an electrical control box body 701, an electrical control box securing strap 702, and a wiring plug 703. The boot 2 is provided with a boot socket 204, and the wiring plug 703 plugs into the boot socket 204. The electrical control box securing strap 702 allows the separate wired power supply and control box 7 to be worn around the waist or elsewhere on the body.

[0049] The pressure sensor 112, buzzer 114, through-type screw motor 616, sheath inner cavity heating wire 303 and solenoid valve are all electrically connected to the boot terminal block 204. A battery module and a PLC programmable controller are provided in the electric control box body 701. The battery module is electrically connected to the PLC programmable controller. A control button is provided on the electric control box body 701, and the working state of the rotation drive system 6 can be controlled by the control button.

[0050] The second power supply and control system includes an integrated wireless power supply and control box 8. Referring to Figure 13 , the integrated wireless power supply and control box 8 is fixedly mounted on the outside of the sidewall of the boot 2 and is wirelessly connected to a smart terminal via Bluetooth or Wi-Fi signals. The integrated wireless power supply and control box 8 is equipped with a battery module, a wireless signal transceiver module, and a programmable logic controller (PLC). The pressure sensor 112, buzzer 114, through-type lead screw motor 616, sheath inner cavity heating wire 303, battery module, wireless signal transceiver module, and solenoid valve are all electrically connected to the PLC. The smart terminal can be a mobile phone, desktop computer, laptop computer, or iPad. The operating status of the rotation drive system 6 can be controlled via the smart terminal.

[0051] The operating principle of this embodiment is as follows: When using the boots, the patient first loosens the boot straps 4 and sole straps 5, inserts the foot into the inner sheath 3, and then secures the leg with the boot straps 4 and the foot with the sole straps 5. To adjust the angle between the boot 2 and sole 1, the patient can do so using the control buttons on the electrical control box 701 attached to the patient's body. Each adjustment is performed according to a preset program, and the PLC programmable controller controls the operating time of the through-type lead screw motor 616 to increase or decrease the angle between the boot 2 and sole 1 by 3°. It should be noted that if an integrated wireless power supply and control box 8 is used, control is required using a smart terminal.

[0052] The through-type screw motor 616 starts working after receiving the control instruction from the PLC programmable controller. The through-type screw motor 616 drives the screw 613 to move a preset distance, so that the distance between the screw-driven articulated shaft 611 and the motor articulated frame articulated shaft 617 changes, thereby driving the angle of the boot sole 1 and boot shaft 2 connected thereto to change.

[0053] When the patient's forefoot touches the ground, pressure sensor 112 measures the load on the patient's forefoot in real time. When the load exceeds a preset value, the PLC programmable controller controls buzzer 114 to sound an alarm. Simultaneously, the PLC controls the operation of the sheath's inner cavity heating wire 303 or solenoid valve, causing the sheath's inner cavity to expand and compress the patient's foot and leg. This inflation compresses the foot and leg, providing a warning and mitigating any overload. When the patient shifts the load onto the sole support block 115, the PLC detects that the forefoot load is less than a preset value and controls the sheath's inner cavity heating wire 303 or solenoid valve to stop operating.

[0054] Embodiment 2 of the present invention, the difference between this embodiment and embodiment 1 is only that the structure of the rotation drive system 6 is different, as shown in Figures 7, 8 and 9. In this embodiment, the rotation drive system 6 includes an electric cylinder drive articulated shaft 621, an electric cylinder articulated frame 625, an electric cylinder 626 and an electric cylinder articulated frame articulated shaft 627. The electric cylinder articulated frame 625 is hingedly connected to the boot shaft drive articulated seat 203 through the electric cylinder articulated frame articulated shaft 627. The electric cylinder 626 is fixed on the electric cylinder articulated frame 625. The end of the piston rod 623 on the electric cylinder 626 is articulatedly connected to the boot sole drive articulated seat 103 through the electric cylinder drive articulated shaft 621.

[0055] The electric cylinder 626 is electrically connected to the power supply and control system. When the electric cylinder 626 receives an action instruction from the PLC programmable controller, the electric cylinder 626 drives the piston rod 623 to move, causing the distance between the electric cylinder driving articulated shaft 621 and the electric cylinder articulated frame articulated shaft 627 to change, thereby driving the boot sole 1 and boot shaft 2 connected thereto to rotate.

[0056] Embodiment 3 of the present invention, the difference between this embodiment and embodiment 1 is only that the structure of the rotation drive system 6 is different, as shown in Figures 11, 12, 13 and 14, in this embodiment, the rotation drive system 6 includes a driven pulley 631, a transmission belt 632, a driving pulley 633, a reduction motor output shaft 634, a reduction motor mounting bracket 635, a reduction motor 636, a fixed shaft 638 and a bearing 639, and the fixed shaft 638 is fixedly connected to the shoe sole rotation hinge shaft seat 101 Then, the driven pulley 631 is fixed to the end of the fixed shaft 638 by the driven pulley fastening screw 637, and a bearing 639 is provided between the fixed shaft 638 and the boot shaft rotating hinge shaft seat 202. The reduction motor mounting frame 635 is fixed on the rear side wall of the boot shaft 2, and the reduction motor 636 is fixedly installed on the reduction motor mounting frame 635. The driving pulley 633 is installed on the reduction motor output shaft 634, and the driving pulley 633 is connected to the driven pulley 631 through a transmission belt 632.

[0057] The reduction motor 636 is electrically connected to the power supply and control system. When the reduction motor 636 receives an action instruction from the PLC programmable controller, the reduction motor output shaft 634 of the reduction motor 636 drives the driving pulley 633 to rotate a preset angle, and the driven pulley 631 is fixedly connected to the sole 1, thereby driving the angle between the sole 1 and the boot shaft 2 to change.

[0058] The above three embodiments of the present invention can all achieve automatic adjustment for patients without the need for staff operation. They have the advantages of safety, reliability, simple operation, self-locking and alarm, so that patients can minimize the impact on their normal life during the rehabilitation stage, reduce complex, frequent and tedious adjustment processes, improve rehabilitation efficiency, reduce the labor of medical staff, and improve the satisfaction of patients' needs for accurate rehabilitation.

[0059] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the scope of implementation of the present invention is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present invention.

Claims

1. An intelligent ankle rehabilitation assistive device, comprising a boot sole (1) and a boot shaft (2), characterized in that: The invention also includes an inner shield (3) and a rotation drive system (6), wherein the inner shield (3) includes a foot shield and a leg shield, wherein the foot shield is fixed on the boot sole (1), and the leg shield is fixed on the boot shaft (2), wherein the boot shaft (2) is hingedly connected to the boot sole (1), and the rotation drive system (6) is respectively connected to the boot shaft (2) and the boot sole (1).

2. The intelligent ankle rehabilitation assistive device according to claim 1, characterized in that: The boot sole (1) comprises a boot sole body (111), a boot sole rotating hinged shaft seat (101) and a boot sole driving hinged seat (103); a boot sole rotating hinged shaft seat (101) is formed on both sides of the rear end of the boot sole body (111); the boot sole driving hinged seat (103) is formed in the middle position of the rear end of the boot sole body (111); a pressure sensor (112), a buzzer (114) and a boot sole supporting block (115) are installed at the bottom of the boot sole body (111); and a boot shaft driving hinged seat (203) is formed in the middle of the rear side of the boot shaft (2).

3. The intelligent ankle rehabilitation device according to claim 2, characterized in that: The bottom of the shoe sole body (111) is provided with a first mounting groove at the front end, a second mounting groove is provided at the middle position, and a third mounting groove is provided at the rear end. The pressure sensor (112) is installed in the first mounting groove, and a sensor pressing block (113) is provided in the first mounting groove. The buzzer (114) is fixed in the second mounting groove, and the shoe sole support block (115) is plug-connected to the third mounting groove.

4. The intelligent ankle rehabilitation assistive device according to claim 2, characterized in that: A groove (121) is formed at the bottom of the sole body (111), and a flap (122) is hingedly installed at the rear end of the groove (121) through a flap hinge shaft (124). The pressure sensor (112) is fixed at the front end of the groove (121), and the buzzer (114) is fixed in the middle of the groove (121). The sole support block (115) is fixed at the rear end of the bottom surface of the sole body (111). A protrusion (126) is provided on the flap (122), and the protrusion (126) is opposite to the pressure sensor (112). A rear end of the flap (122) is formed with a boss (127) extending backward, and the boss (127) is used to limit the flap (122) to prevent the flap (122) from separating from the sole body (111).

5. The intelligent ankle rehabilitation assistive device according to claim 2, characterized in that: The rotation drive system (6) includes a screw-driven articulated shaft (611), a screw-connected articulated head (612), a motor articulated frame (615), a through-type screw motor (616) and a motor articulated frame articulated shaft (617); the screw-connected articulated head (612) is articulatedly connected to the sole drive articulated seat (103) via the screw-driven articulated shaft (611); the motor articulated frame (615) is articulatedly connected to the boot shaft drive articulated seat (203) via the motor articulated frame articulated shaft (617); the through-type screw motor (616) is fixedly mounted on the motor articulated frame (615); and one end of the screw (613) on the through-type screw motor (616) is fixedly connected to the screw-connected articulated head (612).

6. The intelligent ankle rehabilitation assistive device according to claim 2, characterized in that: The rotation drive system (6) includes an electric cylinder driven articulated shaft (621), an electric cylinder articulated frame (625), an electric cylinder (626) and an electric cylinder articulated frame articulated shaft (627); the electric cylinder articulated frame (625) is articulatedly connected to the boot shaft driven articulated seat (203) via the electric cylinder articulated frame articulated shaft (627); the electric cylinder (626) is fixed on the electric cylinder articulated frame (625); and the end of the piston rod (623) on the electric cylinder (626) is articulatedly connected to the boot sole driven articulated seat (103) via the electric cylinder driven articulated shaft (621).

7. The intelligent ankle rehabilitation assistive device according to claim 2, characterized in that: The rotation drive system (6) includes a driven pulley (631), a transmission belt (632), a driving pulley (633), a reduction motor output shaft (634), a reduction motor mounting frame (635), a reduction motor (636), a fixed shaft (638) and a bearing (639); the driven pulley (631) is tightly connected to the fixed shaft (638) and the boot sole rotation hinge shaft seat (101); the bearing (639) is provided between the fixed shaft (638) and the boot shaft rotation hinge shaft seat (202); the reduction motor mounting frame (635) is fixedly mounted on the rear side wall of the boot shaft (2); the reduction motor (636) is fixedly mounted on the reduction motor mounting frame (635); the driving pulley (633) is mounted on the reduction motor output shaft (634); the driving pulley (633) and the driven pulley (631) are connected via the transmission belt (632).

8. The intelligent ankle rehabilitation assistive device according to claim 1, characterized in that: The rotation drive system (6) further comprises a split wired power supply and control box (7), the split wired power supply and control box (7) comprising an electric control box body (701), an electric control box fixing belt (702) and a wiring plug (703), the boot (2) being provided with a boot wiring seat (204), the wiring plug (703) being plug-connected to the boot wiring seat (204).

9. The intelligent ankle rehabilitation assistive device according to claim 1, characterized in that: The rotation drive system (6) includes an integral wireless power supply and control box (8), which is fixedly mounted on the outer side of the side wall of the boot (2), and is wirelessly connected to the smart terminal via a Bluetooth or WiFi signal.

10. The intelligent ankle rehabilitation assistive device according to claim 1, characterized in that: The inner sheath (3) comprises a sheath body (301), a plurality of sheath inner cavities (302) are distributed in the sheath body (301), and a sheath inner cavity heating wire (303) is provided in the sheath inner cavity (302).

11. The intelligent ankle rehabilitation device according to claim 1, characterized in that: The inner sheath (3) comprises a sheath body (301), wherein a plurality of sheath inner cavities (302) are distributed in the sheath body (301), and the sheath inner cavities (302) are connected to the outer gas cylinder of the protective gear through an air pipe and a solenoid valve.

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