79results about How to "Improve biomimicry" patented technology

Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle relates to lower limb exoskeleton clothes and solve problems of poor flexibility, undesirable bionic performance and low coordinating degree with human bodies of present lower limb exoskeleton robots. The bionic flexible wearable lower limb exoskeleton clothes comprise a left leg and a right leg and further a suspension vest, wherein the left leg and the right left are individually provided with a hip part driving system, a knee part driving system and a foot part driving system; each hip part driving system is formed by hip joint antexion driving pneumatic artificial muscle, hip joint rear extension pneumatic artificial muscle, a hip joint antexion flexible rope, a hip joint rear extension belt, a hip joint rear extension transition connection flexible rope and a thigh binding belt; and each knee driving system is formed by knee joint antexion driving pneumatic artificial muscle, knee joint rear extension pneumatic artificial muscle, a knee joint antexion belt, a knee joint rear extension flexible rope, a knee joint antexion transition connection flexible rope and a shank binding belt. The bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle is suitable for people wearing.

The invention discloses a lower-limb exoskeleton robot with four-connecting-rod knee joints. The lower-limb exoskeleton robot comprises hip joints, the knee joints and ankle joints; one ends of the hip joints are connected with waist connecting pieces, the other ends of the hip joints are connected with the knee joints through thigh supporting pieces, and the hip joints are connected with the ankle joints through shank supporting pieces; the knee joints comprise knee joint upper supporting blocks, knee joint lower supporting blocks, first knee joint swing plates and second knee joint swing plates; the knee joint upper supporting blocks and the knee joint lower supporting blocks are hinged through the first knee joint swing plates and the second knee joint swing plates correspondingly to form four-connecting-rod structures; and first sliding grooves used for adjusting the length of the shank supporting pieces are formed in the knee joint lower supporting blocks. The ankle joints of lower-limb exoskeletons are in active linear driving and passive auxiliary mechanism modes, the auxiliary supporting capacity to the ankle joints is effectively improved, and a wearer can be helped to walk more conveniently.

The invention relates to the field of biomimetic robots, in particular to a lower jaw masticatory robot based on pneumatic artificial muscle. The lower jaw masticatory robot is good in softness and compact in structure. According to the technical scheme, the lower jaw masticatory robot based on the pneumatic artificial muscle comprises a support, a vertical plate of the support is fixedly provided with an upper jaw fixed platform, and a lower jaw movable platform is arranged between the upper jaw fixed platform and a base plate of the support; a temporalis mechanism and a wing muscle mechanism are connected between the support and the lower jaw movable platform; a masseter mechanism is arranged between the upper jaw fixed platform and the lower jaw movable platform; and the temporalis mechanism, the masseter mechanism and the wing muscle mechanism each comprise the pneumatic muscle, the pneumatic muscle is connected with pneumatic circuits through gas circuits, and the pneumatic circuits are electrically connected with a control system. The lower jaw masticatory robot based on the pneumatic artificial muscle is provided.

The invention relates to a machine jellyfish, in particular to a machine jellyfish driven by an embedded type cylindrical motor. The problem that an existing bionic jellyfish robot is limited in moving range, small in effective water spraying size and small in driving force and is not suitable for a complex water flow environment in nature is solved. A mechanical abdominal cavity end cover, a sleeve and a bottom disc base of the machine jellyfish are in sealing connection from top to bottom in sequence. A cylindrical traveling wave ultrasonic motor is arranged on the bottom disc base. A transmission cam is located in the middle of the cylindrical traveling wave ultrasonic motor. A plurality of piezoelectric ceramic pieces are evenly distributed on the outer cylinder wall of the cylindrical traveling wave ultrasonic motor. A plurality of rectangular bosses which are arrayed vertically are evenly distributed on the inner cylinder wall of the cylindrical traveling wave ultrasonic motor. The other end of each arm pushing force rod is connected with a multi-joint arm. Each arm pushing force rod and the sleeve are connected through a pushing force rod guiding flange. An auxiliary spring is arranged between each pushing force guiding flange and an arm pushing force rod close to one side of a double-idler-wheel part. The machine jellyfish is used for unmanned underwater carrying.

The invention relates to a parallel type ankle rehabilitation training apparatus. The parallel type ankle rehabilitation training apparatus comprises a thigh support base, a thigh support base internal rod, a thigh support base external rod, a shank connection sleeve, a sole support plate, a base plate, a first retractable moving branch chain, a second retractable moving branch chain, a fixed lifting lug, a sole support plate lifting lug and a rope, wherein static frames of the first and second moving branch chains are fixedly connected with the base plate; retractable ends of both the first and second moving branch chains are connected with the sole support plate by spherical hinges; and the fixed lifting lug and the sole support plate lifting lug are connected by the rope. By adopting a 2-PSS / S type parallel mechanism, two rotational degrees of freedom can be realized, and as an ankle is the rotation center of the apparatus, movements such as back extension or plantar flexion, and introversion or extroversion of the ankle can be really done. The parallel type ankle rehabilitation training apparatus has a high-rigidity structure and high bearing capacity, and can effectively reduce the burden of a damaged ankle; main movements of the ankle can be really simulated by using a simple structure, so that the bio-imitability is high; and a driving link is static, and the dynamic property is high.

The invention aims to provide a mechanism for simulating the jumping of frog rear legs. The mechanism comprises a body mechanism, a thigh mechanism, a shank mechanism and a sole mechanism, wherein the body mechanism comprises a left side body supporting plate and a right side body supporting plate; the thigh mechanism comprises a left side thigh supporting plate, a right side thigh supporting plate and a thigh fixing plate; the shank mechanism comprises a shank rotating mechanism, a shank reset mechanism and a shank telescopic mechanism; the sole mechanism comprises two sole seats. According to the mechanism provided by the invention, a four-connecting rod mechanism is formed in a way that connecting rods are replaced by ropes, the design is carried out by utilizing a connecting rod principle, the simulation degree of the frog rear legs is increased, and high simulation performance is realized; the flexibility of legs is enhanced, and the effects of jumping and buffering are increased.

The invention discloses a dolphin click simulating underwater acoustic communication method based on time-frequency spectrum translation. At a transmitting end, the time-frequency spectrum contour curve of a real dolphin whistle signal is translated in the vertical direction for loading digital information; signal combination is performed based on a modulated contour curve for obtaining a bionic communication signal; and an original whistle signal is added in front of the bionic communication signal as a synchronization signal, thereby forming a transmission signal frame. At the receiving end, the starting position of the bionic communication signal is determined through synchronization signal correlation; multiplication filtering and Fourier transform information demodulation or modulation are performed on the received bionic communication signal, thereby realizing information decoding. The bionic communication method has no specific requirement for characteristic and number of real dolphin whistle signal sample, and the combined coding signal accords with the characteristic of the dolphin whistle signal. Therefore the dolphin click simulating underwater acoustic communication method has high concealing performance.

The invention discloses a vibration absorbing type underwater four-foot wall-climbing robot. The robot comprises a body part and mechanical legs which are separately arranged at both sides of the body part in a row. The robot further comprises a control system for controlling the work of the mechanical leg, every mechanical leg comprises a leg assembly and a vibration absorbing device arranged at the tail end of the leg assembly; the leg assembly comprises a base body, a thigh, a shank and a tail leg; the base body is matched with the body part in the manner of rotating in a cross plane, and the thigh is matched with the base body in the manner of rotating in a vertical plane; the shank is matched with the thigh in the manner of rotating in the vertical plane, and the tail leg is matched with the shank in the manner of rotating in the vertical plane; the vibration absorbing device can be matched with the tail leg in the manner of rotating around own axial line. The vibration absorbing type underwater four-foot wall-climbing robot has high bionic effect and can realize the barrier-free movement in multiple directions, improve the movement performance of the underwater robot, and greatly improve the working efficiency of the underwater robot.

The invention discloses a six-freedom-degree chewing force control and monitoring system aiming at solving the problem that in the prior art, because the stress situation of all parts of teeth cannotbe monitored or controlled in the chewing process and accordingly the accuracy rate of chewing simulation is low, credibility of the chewing simulation result is low. According to the six-freedom-degree chewing force control and monitoring system, by achieving the six-freedom-degree movement of a mandibular movement platform and vertical movement of a maxillary installation platform, the chewing movement of human oral cavities is more accurately simulated, the stress situation of all the parts of the teeth is automatically monitored and controlled in the chewing process in real time, and therefore the accuracy rate of chewing simulation is increased, and the result credibility of chewing dental department detection can be high. The six-freedom-degree chewing force control and monitoring system is suitable for the technical field of parallel robots.

The invention discloses a flexible bionic tail fin with embedded drive joints and multiple motion modes, relates to a tail fin and aims to solve the problems that according to an existing underwater bionic tail fin pushing device, structure is complex, maintenance and replacement costs are high, the motion mode is single, and the bionic effect is far from the natural actual fish swimming effect. The flexible bionic tail fin comprises a flexible bionic skin, an elastic clamping frame, a first piezoelectric fiber composite drive joint and N second piezoelectric fiber composite drive joints. The elastic clamping frame, the first piezoelectric fiber composite drive joint and the N second piezoelectric fiber composite drive joints are embedded in the flexible bionic skin, the first piezoelectric fiber composite drive joint and the N second piezoelectric fiber composite drive joints are detachably connected to the elastic clamping frame respectively, and the first piezoelectric fiber composite drive joint is arranged in the middle of the flexible bionic skin axially and horizontally. The flexible bionic tail fin belongs to the field of fish-simulation underwater pushing devices.

The invention provides a motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot. The motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot comprises a drivingpart and an executing part; the driving part includes a shoulder rotating motor, elbow flexion and extension pneumatic muscle, wrist flexion and extension pneumatic muscle; the executing part includesa seat, a shoulder part and upper limb mechanical arms; the seat includes an upper seat back, a lower seat back, a seat back height adjustment mechanism, handholding handles, a seat cushion, a seat cushion height adjustment mechanism and a bottom moving support; the shoulder part includes a shoulder part motor fixing mechanism and a motor rotating mechanism; the shoulder part motor fixing mechanism is fixedly connected with the upper end of the seat back of the seat in an adjustable mode, and a rotating mechanism is fixedly connected with the mechanical arms; and the upper limb mechanical arms include upper arms, small arms and hand part fixing mechanisms, and the upper arms include upper arm fixing mechanisms. According to the motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot, the horizontal rotation of a left arm or a right arm around a shoulder joint can be realized, the three-free-degree movement of the flexion and extension of a elbow part and the flexionand extension of a wrist part can be achieved, safety is high, bionic performance is high, weight is light, the cost is low, and the application range is wide.

The invention relates to a four-freedom artificial knee joint used in collision protection test, belonging to the passenger protection technique. The invention comprises: a thigh module, a main moving module, an auxiliary moving module, a calf module and four cables. Wherein, said modules are assembled and via rubber block, spring and cables to realize the motion mechanics and physical property of Europe passenger artificial knee joint, while it adds two freedom degrees that rotating forwards and backwards, to realize more functions out of the EEVC artificial knee joint. And the added two freedom degrees meet the physical properties of America THOR face-collision artificial knee joint. The invention has high biological imitation, and it can apply the collision tests in complex conditions.

Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle relates to lower limb exoskeleton clothes and solve problems of poor flexibility, undesirable bionic performance and low coordinating degree with human bodies of present lower limb exoskeleton robots. The bionic flexible wearable lower limb exoskeleton clothes comprise a left leg and a right leg and further a suspension vest, wherein the left leg and the right left are individually provided with a hip part driving system, a knee part driving system and a foot part driving system; each hip part driving system is formed by hip joint antexion driving pneumatic artificial muscle, hip joint rear extension pneumatic artificial muscle, a hip joint antexion flexible rope, a hip joint rear extension belt, a hip joint rear extension transition connection flexible rope and a thigh binding belt; and each knee driving system is formed by knee joint antexion driving pneumatic artificial muscle, knee joint rear extension pneumatic artificial muscle, a knee joint antexion belt, a knee joint rear extension flexible rope, a knee joint antexion transition connection flexible rope and a shank binding belt. The bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle is suitable for people wearing.

The invention discloses a dual-body underwater vehicle propelled by mixing bionic swing and propellers, and relates to a dual-body structural underwater vehicle propelled by combining bionic swing andthe propellers. The dual-body underwater vehicle propelled by mixing bionic swing and the propellers is used for solving the problems that limitations exist in advantages of an existing bionic underwater vehicle and a propeller type underwater vehicle and an existing underwater vehicle propelled by combining bionic and gliding has low speed of floating upward and sinking downward and low flexibility of turning. According to the technical scheme, the dual-body underwater vehicle propelled by combining bionic swing and the propellers is characterized in that bionic swing type and the propellertype propelling are combined, bionic swing type propelling in the horizontal direction is realized through swing of a tail fin, and minor radius turning is realized; rapid floating upward and sinkingdownward are realized in the vertical direction through two front and rear propellers in the middle; and rotational inertia is increased through a dual-body structure of the vehicle, so that rotational resistance is larger when the vehicle is subjected to water flow disturbance, and capacity of resisting disturbance is improved. A detecting device carried by the dual-body underwater vehicle propelled by combining bionic swing and the propellers can be used in fields such as underwater environment detection and underwater target detection.

The invention discloses a corium tissue bionic sponge preparation method. The mass percent of silk protein in a corium tissue bionic sponge is 10%-95%, the mass percent of collagen is 5%-90%, a silk protein solution and a collagen solution are mixed and steamed through steam to form a film, then the film is soaked in a mixed aqueous solution of 1-(3-dimethylamino propyl)-3-ethyl-carbodiimide hydrochloride and N-hydroxy succinimide, and the corium tissue bionic sponge is prepared through the drying process and other processes. The corium tissue bionic sponge has the corium tissue bionic performance in the aspect of microstructure, mechanical property and molecular structure, can easily improve the performance of inhibiting scar formation and promoting functional corium tissue regeneration, and provides a new method for solving the problem of pathologic scars.

The invention relates to a parallel-connection ectoskeleton knee joint in the technical field of rehabilitation engineering. The parallel-connection ectoskeleton knee joint is characterized by comprising a first thigh support frame, a second thigh support frame, a first connecting plate, a second connecting plate, a thigh coat and a leg coat, wherein the first thigh support frame and the first connecting plate are fixedly connected; the second thigh support frame and the second connecting plate are fixedly connected; the thigh coat is fixed on the first thigh support frame and the second thighsupport frame; the leg coat is located below the thigh coat. The parallel ectoskeleton knee joint further comprises a first movement branched chain and a second movement branched chain, wherein the first movement branched chain is provided with a first connection rod; the second movement branched chain is provided with a second connection rod; the first connection rod and the second connection rod are movably connected via a turning pair; both ends of the first connecting plate and both ends of the second connecting plate are respectively fixed on the first movement branched chain and the second movement branched chain; and the leg coat and the turning pair are fixedly connected. The invention has good rigidity, high bearing capacity and high bio-imitability and can satisfy the requirements of users with different sizes of the knee joints.

The invention belongs to the technical field of robots and discloses a chewing force composite test robot. A problem of a single function caused by a failure of transverse chewing movement in the prior art is solved. The robot comprises a static platform. An upper jaw movement platform and a mandibular movement platform are up-down correspondingly arranged on the static platform. The upper jaw movement platform comprises an upper jaw installation platform wherein an upper jaw tooth model is installed. A ball pair connection pushing force rod is hinged to an upper end ball of the upper jaw installation platform. One end of the ball pair connection pushing force rod is hinged to the upper jaw installation platform. The other end of the ball pair connection pushing force rod is connected witha universal joint of the upper end of the static platform. Two shaft connection pushing force rods are arranged on the upper jaw installation platform. One end of each shaft connection pushing forcerod is connected with the upper jaw installation platform. The other end of each shaft connection pushing force rod is hinged to a pushing rod installation sleeve on the static platform. The pushing rod installation sleeve sleeves a rotation shaft of the lower end of the static platform.

The invention relates to the field of rehabilitation exoskeleton robots, in particular to a bidirectional driving ankle rehabilitation training exoskeleton, which has the advantages of simple structure, high bionic performance, easy driving, good movement effect and the like, can effectively help a wearer to carry out ankle rehabilitation training, can be easily mounted on the lower limb foot andthe lower leg part of the wearer through a foot sleeve and a calf sleeve, can carry out bidirectional driving through a first driving device and a second driving device on both sides of the calf sleeve, and provides two activities of plantar flexion and dorsiflexion of the foot for the wearer during walking, so that the power consumption of calf muscles of the wearer during walking is greatly reduced to assist the wearer in rehabilitation training, and the ankle walking function is recovered as soon as possible; and meanwhile, the first driving device and the second driving device carry out bidirectional driving ankle rehabilitation training, and the exoskeleton mechanism has high bionic performance, the walking process of the human body is optimized, and the compliance between the wearerand an orthosis robot.

The invention discloses a multi-cell co-culture model based on fiber hydrogel and a preparation method of the model. The multi-cell co-culture model comprises a multi-layer oriented nanofiber membraneand GelMA hydrogel which is poured into the multi-layer oriented nanofiber membrane to form gel and is of a three-dimensional porous structure. The multi-layer oriented nanofiber membrane can be prepared by utilizing an electrostatic spinning technology. By using the multi-cell co-culture model, a cell is inoculated on the multi-layer directional nanofiber membrane, a second cell is inoculated onthe upper surface of a fiber hydrogel stent, and a third cell is inoculated below the fiber hydrogel stent, so that in-vitro co-culture of various cells is realized. The multi-cell co-culture model not only can realize co-culture of multiple cells, but also has good mechanical properties and high bionic properties, and can provide structures and properties of extracellular matrixes capable of simulating natural tissues for the multiple cultured cells.

The invention provides a novel butterfly-like flapping wing air vehicle which comprises a main trunk framework, a power mechanism, a transmission mechanism, a steering mechanism, wings, a power supplysystem and a flight control system. The power mechanism is arranged at the front end of the main trunk framework; the transmission mechanism is in transmission connection with the power mechanism; the wings comprise a left wing and a right wing which are symmetrically distributed on two sides of the main trunk framework and are connected with the transmission mechanism; the power mechanism is used for driving the left wing and the right wing to do flapping wing motion through the transmission mechanism; the steering mechanism is arranged at the back end of the main trunk framework; the powersupply system is connected to the back end of the steering mechanism and is electrically connected with the flight control system; the flight control system is fixed onto the main trunk framework; andthe power mechanism and the steering mechanism are electrically connected with the flight control system. According to the novel butterfly-like flapping wing air vehicle provided by the invention, adouble-wing symmetry driven flapping wing structure is realized, and the air vehicle can fly forwards, steer and pitch through controlling the rotating speed of the power mechanism and a swinging angle of the steering mechanism.

A segmental-appendage-free robot comprises an outer framework and electromagnetic two-way drive units. The outer framework comprises a spine, ribs, a main connecting column, magnetic suspensions, an auxiliary connecting column and a bottom board. The main connecting column is arranged at one end of the spine, the auxiliary connecting column is arranged at the other end of the spine, and a cylindrical structure is formed by the spine and the ribs. Each electromagnetic two-way drive unit comprises a coil, a coil support, a nail column, a reducing spiral spring and a cover barrel, and the coil is wound around a coil winding column. The two electromagnetic two-way drive units are arranged and arranged on the two magnetic suspensions. An electromagnetic drive trunk unit is formed through each electromagnetic two-way drive unit and the outer framework. The electromagnetic drive trunk units are sequentially connected. The adjacent electromagnetic drive trunk units on the same side are connected. By the adoption of the robot, an electromagnetic drive manner is simple, efficient and easy to control, the electromagnetic acting distance is effectively prolonged through electromagnetic telescopic body design adopting a leakage flux principle, and through two-way telescopic design, the acting distance is further prolonged, and a moving effect is further improved.

The invention discloses a fire blast driven rigid-flexible coupling frog-imitating robot, and belongs to the field of soft jumping robots. The problems that the jumping posture and the landing direction of an existing soft bouncing robot are uncontrollable, and landing is unstable are solved. The explosion energy release principle of hydrogen and oxygen is applied, energy release is achieved in the mode that the soft explosion cavity and rigid piston type constraint are combined, chemical energy can be converted into mechanical energy in a short time, the large instantaneous acceleration of the robot can be achieved, and meanwhile through rigid piston type constraint, the expansion direction of the soft body burning and explosion cavity is controlled, so that the jumping direction and posture of the robot are controlled. The fire blast driven rigid-flexible coupling frog-imitating robot is suitable for the technical field of bionic robots.

The invention discloses a bionic fishtail based on a gear connecting rod mechanism. The bionic fishtail comprises a driving part, a rod piece, a gear, a connecting piece and a hinge hole; the drivingpart comprises a waterproof motor, a worm gear and a worm; the rod piece comprises a crank, a first-stage rocker upper part, a first-stage rocker lower part, a second-stage rocker upper part, a second-stage rocker lower part, a connecting rod, a tail fin connecting piece and a tail fin; the connecting piece comprises a fish body support, a fixed rotating shaft and a movable rotating shaft; the waterproof motor is fixed on the fish body support at the tail end of the bionic fish body, the waterproof motor is connected with the worm, and the worm is matched with the worm gear; power is providedfor the whole mechanism through the waterproof motor; swing of the first-stage rocker is achieved, a relative rotation angle between the crank and the first-stage rocker is generated through a gear transmission ratio; relative swing of the second-stage rocker relative to the first-stage rocker is achieved, relative swing of the third-stage rocker relative to the second-stage rocker is achieved through the gear transmission ratio, and the functions of variable-speed linear swimming and variable-curvature steering are achieved by controlling the speed and amplitude of left-right swing and single-side swing controlled by the waterproof motor.

The invention discloses an intelligent mosquito repelling and capturing device. The device comprises a mosquito detection module, a mosquito capturing module, a mosquito repelling module and a power supply module, wherein the mosquito capturing module comprises bionic human body silica gel, carbon fiber heating sheets, a mosquito trapping diffuser, an exhaust fan and a mosquito storage chamber; the surface of the upper portion of the mosquito trapping diffuser is wrapped with a layer of bionic human body silica gel; the carbon fiber heating sheets are uniformly distributed between the mosquitotrapping diffuser and the bionic human body silica gel; the lower portion of the mosquito trapping diffuser is sleeved with the mosquito storage chamber, and the exhaust fan is arranged between the mosquito trapping diffuser and the mosquito storage chamber so as to suck in mosquitoes on the surface of the bionic human body silica gel; the mosquito repelling module comprises a mosquito repellingdiffuser and an orange light source, the mosquito repelling diffuser is arranged on the mosquito capturing diffuser, and the orange light source is arranged on the surface of the mosquito repelling diffuser. By the adoption of the intelligent mosquito repellent device, mosquito repelling and mosquito capturing modes can be automatically switched, the bionic degree is improved, and the intelligentmosquito repelling and capturing device has the advantages of being good in mosquito repelling and capturing effect, low in using cost and wide in application range.

The invention discloses a preparation method of a dermal tissue bionic porous scaffold. The preparation method comprises the steps of: mixing a fibroin solution with alginic acid solution, then performing water vapor evaporation to form a membrane, incubating protein / alginic acid polymeric membrane in a calcium chloride aqueous solution, and finally drying to prepare the dermal tissue bionic porous scaffold. The dermal tissue bionic porous scaffold material disclosed by the invention can effectively promote wound repair and inhibit scar formation, and has a very good curative effect on open wounds including burn wounds and the like.

The invention discloses a foot end design method of a bionic robot. The foot end of a cat is simulated, an automatic perception control system which mainly comprises a touch sensor, an A / D converter,a DSP, a D / A converter, a driver and an execution mechanism is related to, the touch sensor is mounted in the foot end of the robot, when the robot walks on different pavements, the touch sensor sendsa signal to the DSP via the A / D converter, the DSP analyzes and processes information from the touch sensor in the foot end and transmits the information to the driver via the D / A converter, the driver drives the execution mechanism to change the shape of the foot end, so that the foot end of the robot can walk on different pavements as the cat, and the walking stability of the robot is improved.

The invention relates to a parallel type ankle rehabilitation training apparatus. The parallel type ankle rehabilitation training apparatus comprises a thigh support base, a thigh support base internal rod, a thigh support base external rod, a shank connection sleeve, a sole support plate, a base plate, a first retractable moving branch chain, a second retractable moving branch chain, a fixed lifting lug, a sole support plate lifting lug and a rope, wherein static frames of the first and second moving branch chains are fixedly connected with the base plate; retractable ends of both the first and second moving branch chains are connected with the sole support plate by spherical hinges; and the fixed lifting lug and the sole support plate lifting lug are connected by the rope. By adopting a2-PSS / S type parallel mechanism, two rotational degrees of freedom can be realized, and as an ankle is the rotation center of the apparatus, movements such as back extension or plantar flexion, and introversion or extroversion of the ankle can be really done. The parallel type ankle rehabilitation training apparatus has a high-rigidity structure and high bearing capacity, and can effectively reduce the burden of a damaged ankle; main movements of the ankle can be really simulated by using a simple structure, so that the bio-imitability is high; and a driving link is static, and the dynamic property is high.