Ankle pump exercise device

Abstract

The invention discloses an ankle pump exercise device which comprises a base connected with a bed body. The multi-degree-of-freedom transmission assembly is movably connected with the base, and the multi-degree-of-freedom transmission assembly is in transmission connection with an ankle joint fixing assembly; an arc-shaped rail is arranged at the connecting position of the base and the multi-degree-of-freedom transmission assembly, and the multi-degree-of-freedom transmission assembly can move along the arc-shaped rail The ankle joint fixing assemblies on the two sides conduct inward and outward rotation movement and / or inward and outward turning movement and / or dorsiflexion movement through the multi-degree-of-freedom transmission assembly. The device is medical auxiliary equipment which assists or replaces artificial ankle pump movement by simulating ankle joint movement, and promotes blood circulation and lymphatic reflux of lower limbs in a mechanical mode, so that complications such as deep venous thrombosis (DVT) and the like are prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation devices, and in particular to an ankle pump exercise device. Background Art

[0002] Currently, a wide variety of ankle rehabilitation robots are under development both domestically and internationally, each with its own unique characteristics. Based on their performance, they can be categorized into two types: platform-based and wearable. Wearable ankle rehabilitation robots are primarily used to assist patients in the late stages of ankle rehabilitation with gait training, allowing them to correct ankle posture and train joint muscles while walking with assistance. Platform-based ankle rehabilitation robots are primarily targeted at patients in the early and mid-stages of rehabilitation, providing ankle movement rehabilitation while in a sitting or lying position. Platform-based rehabilitation robots are larger in size and are often used on a platform.

[0003] Drawing inspiration from the human muscle-tendon unit, Guo Sheng of Beijing Jiaotong University designed an ankle orthosis with passive spring energy storage. Through the control of an intelligent clutch based on a ratchet-pawl mechanism, the passive spring stores and releases energy, thereby reducing the body's energy costs. This device is completely passive; unlike conventional ankle-foot exoskeletons, all functions are performed mechanically. Liu Quan's team at Wuhan University of Technology designed a pneumatic muscle-driven, multi-degree-of-freedom parallel flexible ankle rehabilitation robot. Taking into account the nonlinearity and hysteresis of the pneumatic muscle actuator, they proposed an adaptive backstepping sliding mode controller that performs online assessment of the robot system's overall uncertainty, thereby adapting the pneumatic muscle's control rate. Liu Ya et al. in China proposed a multi-motion mode ankle rehabilitation robot based on a 2-UPU / RPU parallel mechanism. The platform consists of a fixed platform, two motion platforms, two UPU branches, and one RPU branch. This ensures that the robot's center of rotation coincides with the ankle's center of motion, preventing secondary injury during rehabilitation. Sandro Mihradi from abroad designed a lower limb rehabilitation device called Rehab-bot, whose mechanical structure consists of a six-bar linkage mechanism. It mainly focuses on using introduction control to develop the patient's muscle training ability, easily generates isometric resistance, and emphasizes progressive resistance training.

[0004] See also Figure 1 As shown, the prior art discloses an ankle joint rehabilitation robot, which includes a robot base, a six-degree-of-freedom robotic arm, a six-dimensional force sensor, a foot rest, a leg rest and a control system; the six-degree-of-freedom robotic arm is installed on the base, the six-dimensional force sensor is installed at the end of the six-degree-of-freedom robotic arm, and the foot rest is installed on the six-dimensional force sensor; a limit and constraint structure is installed on the foot rest; the height and angle of the leg rest are adjustable, one end is placed on the ground, and the other end is bound to the patient's calf; the robot control system can collect six-dimensional force sensor data and control the robotic arm to realize various modes of ankle joint rehabilitation training.

[0005] However, after careful analysis of the structure of the prior art, it is not difficult to find that the prior art has the following shortcomings:

[0006] 1. Most of them adopt specially designed parallel structures, with low modularity and weak adaptability;

[0007] 2. Due to individual differences among patients, the existing three-degree-of-freedom parallel mechanism cannot be flexibly adjusted due to its fixed size;

[0008] 3. Insufficient flexibility in posture adjustment, especially poor adaptability for bedridden patients;

[0009] 4. The lack of muscle tension assessment function makes it difficult to effectively control the rehabilitation process.

[0010] Therefore, based on the above technical problems, technicians in this field urgently need to develop an ankle pump exercise device. Summary of the Invention

[0011] The purpose of the present invention is to provide an ankle pump exercise device, which can solve the comfort problem of the user during ankle joint rehabilitation in a coma state, lateral position or lying flat position, and meet the requirements of multi-degree-of-freedom rehabilitation training.

[0012] The ankle pump exercise device of the present invention can be fixed to a bed and adapted to the railings of the bed to achieve assembly and fixation with the bed;

[0013] The device comprises:

[0014] a base connected to the bed; and

[0015] a multi-degree-of-freedom transmission assembly movably connected to the base, wherein the multi-degree-of-freedom transmission assembly is in driving connection with an ankle joint fixation assembly;

[0016] A curved track is provided at the connection position between the base and the multi-degree-of-freedom transmission assembly, and the multi-degree-of-freedom transmission assembly can move along the curved track;

[0017] The ankle joint fixation components on both sides perform internal and external rotation movement and / or internal and external eversion movement and / or dorsiflexion movement through the multi-degree-of-freedom transmission component.

[0018] Furthermore, the base has mounting grooves on both sides, and the mounting grooves are passed through binding belts and are fixed to the railings of the bed body through the binding belts;

[0019] The base has a surface that cooperates with the multi-degree-of-freedom transmission assembly and is an arc-shaped surface, and the arc-shaped track is processed on the arc-shaped surface;

[0020] The multi-degree-of-freedom transmission assembly is slidably connected to the arc track via a ball head, and a pin is provided at a position where the ball head cooperates with the inner wall of the arc track.

[0021] Furthermore, the multi-degree-of-freedom transmission assembly includes:

[0022] An internal and external rotation motion structure, wherein the internal and external rotation motion structure is movably connected to the base via the ball head;

[0023] An internal-external rotation motion structure is provided at a power output end of the internal-external rotation motion structure, and the internal-external rotation motion structure is driven to move by an internal-external rotation drive motor;

[0024] A dorsiflexion motion structure is provided at a power output end of the inside-outside movement structure, and the inside-outside movement structure is driven to move by an inside-outside drive motor;

[0025] The ankle joint fixation assembly is arranged at the power output end of the dorsiflexion motion structure, and the dorsiflexion motion structure drives the transmission gear set to move through the dorsiflexion drive motor to drive the ankle joint fixation assembly to move.

[0026] Furthermore, the internal and external rotation motion structure includes:

[0027] An internal / external rotation drive motor bracket, wherein the lower end of the internal / external rotation drive motor bracket is connected to the ball head via a connecting rod, and a mounting groove for mounting the internal / external rotation drive motor is formed inside the internal / external rotation drive motor bracket;

[0028] The internal / external rotation drive motor is installed in the installation slot of the internal / external rotation drive motor bracket;

[0029] The power output end of the internal and external rotation drive motor is connected to the internal and external rotation motion structure through a spline to drive the internal and external rotation motion structure, the dorsiflexion motion structure and the ankle joint fixing assembly to perform internal and external rotation motion.

[0030] Furthermore, the inside-outside eversion motion structure includes:

[0031] An inside-out drive motor bracket is provided at an upper end of the inside-out rotation drive motor bracket in a direction perpendicular to the inside-out rotation drive motor bracket, and a power output end of the inside-out rotation drive motor is connected to the inside-out drive motor bracket via a spline;

[0032] The inside-out drive motor is installed in the installation slot of the inside-out drive motor bracket;

[0033] The power output end of the inside-outside-outside driving motor is connected to the dorsiflexion motion structure through a spline to drive the dorsiflexion motion structure and the ankle joint fixing assembly to perform inside-outside-outside motion.

[0034] Furthermore, the dorsiflexion movement structure includes:

[0035] a dorsiflexion gearbox, wherein the inside-out drive motor is connected to a side wall of the dorsiflexion gearbox via a spline;

[0036] The transmission gear set integrated into the dorsiflexion gearbox; and

[0037] The dorsiflexion drive motor is driven by the transmission gear set.

[0038] Furthermore, the transmission gear set includes:

[0039] An active bevel gear mounted on the power output end of the dorsiflexion drive motor;

[0040] a driven bevel gear meshing with the driving bevel gear and driven to rotate by the driving bevel gear;

[0041] a driving gear coaxially arranged with the driven bevel gear and rotating synchronously with the driven bevel gear; and

[0042] a driven gear meshing with the driving gear and driven to rotate by the driving gear;

[0043] The ankle joint fixation assembly has a driven rack rod meshed with the driven gear, and the dorsiflexion drive motor drives the driven rack rod to move through the transmission gear set to drive the ankle joint fixation assembly to move.

[0044] Furthermore, the ankle joint fixation assembly is divided into a foot support structure and a leg support structure;

[0045] The heel position of the foot support structure is connected to the driven rack rod, and the driven rack rod is matched with the driven gear and one end thereof is processed with a rack portion, and the rack portion is meshed with the driven gear;

[0046] A mounting ear is provided at the upper end of the dorsiflexion gear box, and the foot support structure is rotatably connected to the mounting ear through a mounting plate and rotation.

[0047] In the above technical solution, the ankle pump exercise device provided by the present invention has the following beneficial effects:

[0048] The device of the present invention can solve the comfort problem of the user during ankle joint rehabilitation in a comatose state, a lateral position, or a flat lying position, and meet the requirements of multi-degree-of-freedom rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0050] Figure 1 A schematic diagram of the structure of the ankle pump exercise device in use according to an embodiment of the present invention;

[0051] Figure 2 An exploded view of the structure of an ankle pump exercise device provided by an embodiment of the present invention;

[0052] Figure 3 An enlarged structural diagram of a transmission gear set of an ankle pump exercise device provided by an embodiment of the present invention;

[0053] Figure 4 A front view of a transmission gear set of an ankle pump exercise device provided by an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of the driving positions of three groups of motion structures of the ankle pump exercise device provided by an embodiment of the present invention;

[0055] Figure 6 A side view of an ankle pump exercise device provided by an embodiment of the present invention;

[0056] Figure 7 Schematic diagram of the matching structure of the ball head and arc track of the ankle pump exercise device provided by an embodiment of the present invention.

[0057] Description of reference numerals:

[0058] 100, device; 200, bed;

[0059] 10. Overall outer shell box;

[0060] 1. Base; 3. Internal and external rotation movement structure; 4. Internal and external valgus movement structure; 5. Dorsiflexion movement structure; 6. Foot support structure; 7. Leg support structure; 8. Spline;

[0061] 101. Mounting slot; 102. Binding strap; 103. Arc-shaped surface; 104. Arc-shaped track;

[0062] 201, connecting rod; 202, ball head; 203, pin;

[0063] 301, internal and external rotation drive motor bracket; 302, internal and external rotation drive motor;

[0064] 401, inside-out drive motor bracket; 402, inside-out drive motor;

[0065] 501, dorsiflexion gearbox; 502, mounting ear; 503, dorsiflexion drive motor; 504, driving bevel gear; 505, driven bevel gear; 506, driving gear; 507, driven gear;

[0066] 701. Driven rack rod; 702. Mounting plate; 703. Rack portion. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0068] See also Figures 1 to 7 As shown;

[0069] This embodiment discloses an ankle pump exercise device, wherein the device 100 can be fixed to a bed 200 and adapted to the railings of the bed 200 to achieve assembly and fixation with the bed 200;

[0070] The apparatus 100 comprises:

[0071] A base 1 connected to the bed 200; and

[0072] A multi-degree-of-freedom transmission assembly movably connected to the base 1, wherein the multi-degree-of-freedom transmission assembly is in driving connection with the ankle joint fixation assembly;

[0073] An arc track 104 is provided at the connection position between the base 1 and the multi-degree-of-freedom transmission assembly, and the multi-degree-of-freedom transmission assembly can move along the arc track 104;

[0074] The ankle joint fixation components on both sides perform internal and external rotation and / or internal and external eversion and / or dorsiflexion through a multi-degree-of-freedom transmission component.

[0075] Specifically, this embodiment discloses an ankle pump exercise device suitable for bedridden patients. The device is secured to the railings of a bed 200 via a base 1. By alternating between lying in bed, the device, driven by an internal multi-degree-of-freedom transmission assembly, allows patients to perform various exercises, such as the aforementioned internal and external rotation, internal and external eversion, and dorsiflexion. The multi-degree-of-freedom transmission assembly of this embodiment can move along the curved track of the base, further increasing the range of motion and the number of exercises.

[0076] Preferably, both sides of the base 1 of this embodiment have mounting grooves 101, and binding straps 102 pass through the mounting grooves 101 and are fixed to the railings of the bed 200 through the binding straps 102; one side of the base 1 that cooperates with the multi-degree-of-freedom transmission component is an arcuate surface 103, and the arcuate surface 103 is processed with an arcuate track 104; the multi-degree-of-freedom transmission component is slidably connected to the arcuate track 104 through a ball head 202, and a pin shaft 203 is set at the position where the ball head 202 cooperates with the inner wall of the arcuate track 104.

[0077] First, this embodiment further defines the structure of the base 1, which is a polygonal base as a whole. A curved surface 103 is provided on the side that cooperates with the multi-degree-of-freedom transmission assembly, and a curved track 104 is machined on the curved surface 103. The multi-degree-of-freedom transmission assembly is slidably connected to the curved track 104 via a ball head 02. Mounting slots 101 are provided on both sides of the base 1 of this embodiment, and the bottom of the base 1 is a flat structure that can fit snugly against the foot of the bed 200. At the same time, the binding straps 102 on both sides and the mounting slots 101 are used to connect the base 1 to the railing of the bed 200. As a preferred embodiment, the ball head 202 of this embodiment is provided with a pin 203. The cooperation between the pin 203 and the inner wall of the curved track 104 prevents the ball head 202 from rotating, so that it can only move along the curved track 104.

[0078] Preferably, the multi-degree-of-freedom transmission assembly of this embodiment includes:

[0079] The internal and external rotation motion structure 3 is movably connected to the base 1 via the ball head 202;

[0080] An internal-external rotation motion structure 4 is provided at the power output end of the internal-external rotation motion structure 3, and the internal-external rotation motion structure 3 is driven by the internal-external rotation drive motor 302 to drive the internal-external rotation motion structure 4 to move;

[0081] The dorsiflexion motion structure 5 is provided at the power output end of the inside-outside-outside motion structure 4, and the inside-outside-outside motion structure 4 drives the dorsiflexion motion structure 5 to move via the inside-outside-outside drive motor 402;

[0082] The ankle joint fixation assembly is arranged at the power output end of the dorsiflexion motion structure 5 , and the dorsiflexion motion structure 5 drives the transmission gear set to move through the dorsiflexion drive motor 503 to drive the ankle joint fixation assembly to move.

[0083] Furthermore, this embodiment further defines the composition of the multi-degree-of-freedom transmission assembly, which is divided into an internal and external rotation motion structure 3, an internal and external valgus motion structure 4, and a dorsiflexion motion structure 5. Specifically, the internal and external rotation motion structure 3 of this embodiment is slidably connected to the base 1 via a ball head 202, and this sliding connection can drive the entire multi-degree-of-freedom transmission assembly and the corresponding ankle joint fixation assembly to move along the arc track 104. Secondly, the internal and external rotation motion structure 3 of this embodiment is connected to the internal and external valgus motion structure 4, which can drive the internal and external valgus motion structure 4 and other structures and the ankle joint fixation assembly to perform internal and external rotation motion. Similarly, the internal and external valgus motion structure 4 of this embodiment is connected to the dorsiflexion motion structure 5 to drive the dorsiflexion motion structure 5 and the ankle joint fixation assembly to perform internal and external valgus motion. Finally, the dorsiflexion motion structure 5 drives the dorsiflexion motion structure 5 to move, thereby forming a multi-degree-of-freedom training requirement.

[0084] Preferably, the internal and external rotation motion structure 3 of this embodiment includes:

[0085] The internal and external rotation drive motor bracket 301, the lower end of the internal and external rotation drive motor bracket 301 is connected to the ball head 202 through the connecting rod 201, and the internal and external rotation drive motor bracket 301 is formed with a mounting groove for mounting the internal and external rotation drive motor 302;

[0086] An internal / external rotation drive motor 302 installed in a mounting slot of an internal / external rotation drive motor bracket 301;

[0087] The power output end of the internal and external rotation drive motor 302 is connected to the internal and external rotation motion structure 4 through the spline 8 to drive the internal and external rotation motion structure 4, the dorsiflexion motion structure 5 and the ankle joint fixation assembly to perform internal and external rotation motion.

[0088] First, this embodiment further defines the internal and external rotation motion structure 3. The internal and external rotation drive motor bracket 301 of this embodiment slides with the arc track 104 through the ball head 202 at the lower end of the connecting rod. At the same time, the internal and external rotation drive motor 302 is installed inside the internal and external rotation drive motor bracket 301, and its power output end passes through the upper end of the internal and external rotation drive motor bracket 301 and extends to the outside. The power output end of the internal and external rotation drive motor 302 of this embodiment is connected to the internal and external rotation motion structure 4 through the spline 8 to drive the internal and external rotation motion structure 4 and all structures connected to it to perform internal and external rotation motion together.

[0089] Preferably, the inward-outward movement structure 4 of this embodiment includes:

[0090] The inside-out drive motor bracket 401 is arranged at the upper end of the inside-out drive motor bracket 301 in a direction perpendicular to the inside-out rotation drive motor bracket 301, and the power output end of the inside-out rotation drive motor 302 is connected to the inside-out drive motor bracket 401 via a spline 8;

[0091] An inside-out drive motor 402 mounted in a mounting slot of an inside-out drive motor bracket 401;

[0092] The power output end of the inversion and varus drive motor 402 is connected to the dorsiflexion motion structure 5 through the spline 8 to drive the dorsiflexion motion structure 5 and the ankle joint fixation assembly to perform inversion and varus motion.

[0093] Similarly, similar to the above-mentioned internal and external rotation motion structure 3, this embodiment further limits the structural composition of the internal and external varus motion structure 4, which integrates the internal and external varus drive motor 402 through the internal and external varus drive motor bracket 401, and the internal and external varus drive motor bracket 401 of this embodiment is connected to the internal and external rotation drive motor 302 through a spline 8. When the internal and external rotation drive motor 302 drives the internal and external varus drive motor bracket 401 to move, the entire internal and external varus motion structure 4 and the structures and components connected thereto move; similarly, the internal and external varus drive motor 402 of this embodiment is connected to the dorsiflexion motion structure 5 through the spline 8 to drive the dorsiflexion motion structure 5 and the ankle joint fixation component connected thereto to move.

[0094] Preferably, the dorsiflexion movement structure 5 of this embodiment includes:

[0095] Dorsiflexion gearbox 501, inside-out drive motor 402 is connected to the side wall of dorsiflexion gearbox 501 via spline 8;

[0096] A transmission gear set integrated into the dorsiflexion gearbox 501; and

[0097] The dorsiflexion drive motor 503 is driven by the transmission gear set.

[0098] The transmission gear set of this embodiment includes: a driving bevel gear 504 installed at the power output end of the dorsiflexion drive motor 503; a driven bevel gear 505 meshing with the driving bevel gear 504 and driven to rotate by the driving bevel gear 504; a driving gear 506 coaxially arranged with the driven bevel gear 505 and rotating synchronously with the driven bevel gear 505; and a driven gear 507 meshing with the driving gear 506 and driven to rotate by the driving gear 506;

[0099] The ankle joint fixation assembly has a driven rack rod 701 meshing with the driven gear 507 . The dorsiflexion drive motor 503 drives the driven rack rod 701 to move through the transmission gear set to drive the ankle joint fixation assembly to move.

[0100] Preferably, the ankle joint fixation assembly of this embodiment is divided into a foot support structure 6 and a leg support structure 7;

[0101] The heel position of the foot support structure 6 is connected to a driven rack rod 701, and the driven rack rod 701 is matched with the driven gear 507 and one end is processed with a rack portion 703, and the rack portion 703 is engaged with the driven gear 507; a mounting ear 502 is provided at the upper end of the dorsiflexion gear box 501, and the foot support structure 6 is rotatably connected to the mounting ear 502 through the mounting plate 702 and the rotation.

[0102] This embodiment uses three sets of motors to coordinate driving, meeting the requirements of multi-degree-of-freedom movement while maintaining an error rate of less than 5%, avoiding overload damage, and achieving 360° full-circle rehabilitation of the ankle joint; covering all physiological activity ranges of the ankle joint to meet complex rehabilitation needs; the device of this embodiment adopts a gear transmission structure, which is more stable. Through precise biomechanical mapping + micro-optimization of the electromechanical system + lightweight adaptive structure, it solves the impossible triangle of "precision, safety, and universality" in ankle joint rehabilitation, and provides a standardized solution for automated rehabilitation.

[0103] In the above technical solution, the ankle pump exercise device provided by the present invention has the following beneficial effects:

[0104] The device of the present invention can solve the comfort problem of the user during ankle joint rehabilitation in a comatose state, a lateral position, or a flat lying position, and meet the requirements of multi-degree-of-freedom rehabilitation training.

[0105] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. Ankle pump exercise device, characterized in that, The device (100) can be fixed to a bed (200) and adapted to a railing of the bed (200) to achieve assembly and fixation with the bed (200); The device (100) comprises: A base (1), the base (1) being connected to the bed (200); and A multi-degree-of-freedom transmission assembly movably connected to the base (1), wherein the multi-degree-of-freedom transmission assembly is in transmission connection with an ankle joint fixing assembly; An arc track (104) is provided at a connection position between the base (1) and the multi-degree-of-freedom transmission assembly, and the multi-degree-of-freedom transmission assembly is capable of moving along the arc track (104); The ankle joint fixation components on both sides perform internal and external rotation movement and / or internal and external eversion movement and / or dorsiflexion movement through the multi-degree-of-freedom transmission component.

2. The ankle pump exercise device according to claim 1, characterized in that Both sides of the base (1) are provided with mounting grooves (101), and the mounting grooves (101) are passed through binding belts (102) and are fixed to the railings of the bed body (200) by the binding belts (102); The base (1) has a surface that cooperates with the multi-degree-of-freedom transmission assembly as an arc-shaped surface (103), and the arc-shaped track (104) is processed on the arc-shaped surface (103); The multi-degree-of-freedom transmission assembly is slidably connected to the arc track (104) via a ball head (202), and a pin shaft (203) is provided at a position where the ball head (202) cooperates with the inner wall of the arc track (104).

3. The ankle pump exercise device according to claim 2, characterized in that The multi-degree-of-freedom transmission assembly comprises: An internal and external rotation motion structure (3), wherein the internal and external rotation motion structure (3) is movably connected to the base (1) via the ball head (202); an internal-external rotation motion structure (4) provided at a power output end of the internal-external rotation motion structure (3), wherein the internal-external rotation motion structure (3) drives the internal-external rotation motion structure (4) to move via an internal-external rotation drive motor (302); a dorsiflexion motion structure (5) provided at a power output end of the inside-outside-side-side motion structure (4), wherein the inside-outside-side-side motion structure (4) drives the dorsiflexion motion structure (5) to move via the inside-outside-side-side driving motor (402); The ankle joint fixation component is arranged at the power output end of the dorsiflexion motion structure (5), and the dorsiflexion motion structure (5) drives the transmission gear set to move via the dorsiflexion drive motor (503) to drive the ankle joint fixation component to move.

4. The ankle pump exercise device according to claim 3, characterized in that The internal and external rotation motion structure (3) comprises: an internal / external rotation drive motor bracket (301), wherein the lower end of the internal / external rotation drive motor bracket (301) is connected to the ball head (202) via a connecting rod (201), and a mounting groove for mounting the internal / external rotation drive motor (302) is formed inside the internal / external rotation drive motor bracket (301); The internal and external rotation drive motor (302) is installed in the installation slot of the internal and external rotation drive motor bracket (301); The power output end of the internal and external rotation drive motor (302) is connected to the internal and external rotation motion structure (4) through a spline (8) to drive the internal and external rotation motion structure (4), the dorsiflexion motion structure (5) and the ankle joint fixation component to perform internal and external rotation motion.

5. The ankle pump exercise device according to claim 4, characterized in that The inside-outside eversion motion structure (4) comprises: an inside-out drive motor bracket (401), the inside-out drive motor bracket (401) being arranged at the upper end of the inside-out rotation drive motor bracket (301) in a direction perpendicular to the inside-out rotation drive motor bracket (301), and the power output end of the inside-out rotation drive motor (302) being connected to the inside-out drive motor bracket (401) via a spline (8); The inside-out drive motor (402) is installed in the installation slot of the inside-out drive motor bracket (401); The power output end of the inside-outside-outside drive motor (402) is connected to the dorsiflexion motion structure (5) via a spline (8) to drive the dorsiflexion motion structure (5) and the ankle joint fixation assembly to perform inside-outside-outside motion.

6. The ankle pump exercise device according to claim 5, characterized in that The dorsiflexion movement structure (5) comprises: a dorsiflexion gearbox (501), wherein the inside-out drive motor (402) is connected to the side wall of the dorsiflexion gearbox (501) via a spline (8); The transmission gear set integrated into the dorsiflexion gear box (501); and The dorsiflexion drive motor (503) is driven by the transmission gear set.

7. The ankle pump exercise device according to claim 6, characterized in that The transmission gear set includes: an active bevel gear (504) mounted on a power output end of the dorsiflexion drive motor (503); a driven bevel gear (505) meshing with the driving bevel gear (504) and driven to rotate by the driving bevel gear (504); a driving gear (506) coaxially arranged with the driven bevel gear (505) and rotating synchronously with the driven bevel gear (505); and a driven gear (507) meshing with the driving gear (506) and driven to rotate by the driving gear (506); The ankle joint fixation assembly has a driven rack rod (701) meshed with the driven gear (507), and the dorsiflexion drive motor (503) drives the driven rack rod (701) to move through the transmission gear set to drive the ankle joint fixation assembly to move.

8. The ankle pump exercise device according to claim 7, characterized in that The ankle joint fixation assembly is divided into a foot support structure (6) and a leg support structure (7); The heel position of the foot support structure (6) is connected to the driven rack rod (701), and the driven rack rod (701) is matched with the driven gear (507) and one end thereof is processed with a rack portion (703), and the rack portion (703) is meshed with the driven gear (507); A mounting ear (502) is provided at the upper end of the dorsiflexion gear box (501), and the foot support structure (6) is rotatably connected to the mounting ear (502) via a mounting plate (702).

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