Training device for ankle joint rehabilitation

Abstract

The invention discloses a training device for ankle joint rehabilitation, and the device comprises a leg fixing housing which is provided with a leg wearing channel penetrating through the upper and lower ends of the leg fixing housing; the top end of the foot placement shell is open and communicates with a lower cavity opening of the leg wearing channel, and the top end of the foot placement shell is rotationally connected with the bottom end of the leg fixing shell so that horizontal rotation of the foot placement shell can be achieved; the driving mechanism is fixed to the leg fixing shell, and the driving end of the driving mechanism is in transmission connection with the foot containing shell and used for driving the foot containing shell to rotate horizontally, so that rotation of the ankle joint on the horizontal plane is achieved; and the pedal plate mechanism is arranged in the foot placing shell and is used for realizing front-back and left-right swinging of the ankle joint. According to the device, rehabilitation training actions of the whole ankle joint can be achieved, the purpose of training related muscles is achieved, and then the problems that an existing ankle joint rehabilitation instrument is low in rehabilitation efficiency and poor in treatment effect can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a training device for ankle joint rehabilitation. Background Art

[0002] The ankle joint is one of the weight-bearing joints of the human body and the hub of contact between the human body and the ground, which can help the human body complete a series of daily movements. The lack of strength, stability and coordination of the ankle joint muscles make the ankle joint very vulnerable to injury in daily life. The ankle joint is not easy to heal after being injured, and it is easy to form swelling and chronic pain. People with sports injuries, the elderly, and patients with hemiplegia caused by cardiovascular and cerebrovascular diseases are all common patients with ankle injuries. Ankle injuries not only affect the normal life and work of patients, but if the treatment is not timely or thorough, it is also easy to cause secondary sprains, causing ankle dysfunction, and may even affect walking function.

[0003] The ankle joint rehabilitation device is suitable for improving joint stiffness and preventing muscle atrophy of the relevant leg muscle groups. At the same time, it can also improve muscle strength and joint mobility, increase the strength of the muscle groups around the joints, improve joint function, and carry out muscle function training.

[0004] After ankle surgery or chronic injury, the flexion and extension activities are mostly limited. However, existing ankle rehabilitation equipment usually includes a main unit and a footboard, which are connected by a rotating shaft. The main unit is used to control the rotation of the footboard to drive the ankle flexion and extension for rehabilitation training. However, the solution to the ankle flexion and extension activities is only to simply increase the flexion and extension activities of the ankle joint, and its ankle rehabilitation efficiency is low and the treatment effect is poor. Summary of the invention

[0005] In view of this, the present invention provides a training device for ankle joint rehabilitation to solve the problems of low rehabilitation efficiency and poor treatment effect of existing ankle joint rehabilitation equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A training device for ankle joint rehabilitation, comprising:

[0008] A leg fixing shell, wherein the leg fixing shell has a leg wearing channel running through the upper and lower ends thereof;

[0009] A foot placement shell, the top end of which is open and communicates with the lower cavity of the leg wearing channel, and the top end of the foot placement shell is rotatably connected to the bottom end of the leg fixing shell to achieve horizontal rotation of the foot placement shell;

[0010] A driving mechanism, wherein the driving mechanism is fixed to the leg fixing housing, and a driving end of the driving mechanism is transmission-connected to the foot placement housing, and is used to drive the foot placement housing to rotate horizontally, thereby realizing the rotation of the ankle joint in the horizontal plane;

[0011] A pedal mechanism is arranged inside the foot placement shell and is used to realize the front-back and left-right swinging of the ankle joint.

[0012] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a training device for ankle joint rehabilitation. When in use, the patient extends his legs into the leg fixing shell and steps on the foot pedal mechanism. At this time, the leg fixing shell limits and fixes the patient's legs to prevent the legs from shaking. When it is necessary to stretch the muscles required for the ankle joint to rotate in the horizontal plane, the driving mechanism drives the foot placement shell to rotate horizontally, thereby realizing the rotation of the ankle joint in the horizontal plane to perform stretching rehabilitation training on the associated muscles. In addition, the foot pedal mechanism can also be used to realize the ankle joint in the coronal plane (front and back) and sagittal plane (left and right) active swing rehabilitation training.

[0013] Therefore, the device can realize the rehabilitation training movement of the entire ankle joint and achieve the purpose of training related muscles, thereby solving the problems of low rehabilitation efficiency and poor treatment effect of existing ankle joint rehabilitation equipment.

[0014] Furthermore, the leg fixing housing comprises:

[0015] A rear shell, one side of which is open, and the driving mechanism is fixed on the rear shell;

[0016] The front shell is arranged on the open side of the rear shell in an openable and closable manner through a connecting rod, and the space after the front shell and the rear shell are buckled together is the leg wearing channel.

[0017] The beneficial effect of adopting the above technical solution is: when worn, the front shell is opened to facilitate the patient to wear it, and then the front shell is buckled on the back shell, thereby limiting the patient's legs in the leg wearing channel, avoiding the ankle joint from being disturbed by leg movement factors during rehabilitation training.

[0018] Furthermore, the connecting rod includes two upper connecting rods and two lower connecting rods, the two sides of the top of the front shell are respectively hingedly connected to one end of the two upper connecting rods, the two sides of the bottom of the front shell are respectively hingedly connected to one end of the two lower connecting rods, the other end of the upper connecting rod is hingedly connected to the outer side wall of the rear shell, and the other end of the lower connecting rod is hingedly connected to the outer side wall of the rear shell.

[0019] The beneficial effect of adopting the above technical solution is that the front shell can be stably opened and closed through the upper connecting rod and the lower connecting rod.

[0020] Furthermore, guide grooves are provided on both outer side walls of the rear shell, and guide rods are connected to the two upper connecting rods, and the two guide rods are slidably plugged into the two guide grooves respectively.

[0021] The beneficial effect of adopting the above technical solution is that when the front shell is opened and closed, the guide rod can slide in the guide groove, thereby realizing that the front shell can be opened and closed accurately.

[0022] Furthermore, the guide rod is respectively provided with a first locking slot and a second locking slot, and the two side walls of the rear shell are provided with sliding pins, which can be respectively plugged into the first locking slot and the second locking slot to respectively lock the opening and closing states of the front shell.

[0023] The beneficial effect of the above technical solution is that the sliding latch is plugged into the first locking slot and the second locking slot to lock the front shell after opening and closing, thereby facilitating the patient's wearing of the leg and limiting the position after wearing.

[0024] Furthermore, a horizontal rotating guide ring is fixed on the top of the foot placement shell, an arc guide groove is provided on the top surface of the horizontal rotating guide ring, an arc guide block is fixed on the bottom of the rear shell, the arc guide block is slidably connected with the arc guide groove, and the driving mechanism includes:

[0025] a first motor, wherein the first motor is fixed on the inner wall of the rear housing;

[0026] A driving gear, wherein the driving gear is sleeved on a driving end of the first motor;

[0027] An arc-shaped rack is fixed on the outer side wall of the horizontal rotating guide ring, and the driving gear is meshed and transmission-connected with the arc-shaped rack.

[0028] The beneficial effects of the above technical solution are as follows: the driving gear on the first motor meshes with the arc-shaped rack, which can drive the horizontal rotating guide ring to rotate on the horizontal plane, thereby realizing the horizontal rotation of the foot placement shell, and finally realizing the rotation of the ankle joint on the horizontal plane, and realizing the stretching rehabilitation training of the muscles associated with the ankle joint. The cooperation of the arc-shaped guide groove and the arc-shaped guide block realizes the precise rotation of the ankle joint on the horizontal plane.

[0029] Furthermore, a second motor is fixed on the open side of the foot placement shell, and a driving end of the second motor is fixedly connected to the horizontal rotating guide ring for adjusting the angle between the foot placement shell and the leg fixing shell.

[0030] The beneficial effect of adopting the above technical solution is: it is convenient for patients to adjust the angle between the foot placement shell and the leg fixing shell through the second motor according to comfort, thereby improving the comfort experience of wearing the device.

[0031] Furthermore, the pedal mechanism comprises:

[0032] A foot pedal, the foot pedal is located in the foot placement shell and below the leg wearing channel;

[0033] A heel lifting mechanism, the heel lifting mechanism is fixed to the inner bottom surface of the foot placement shell, and the telescopic end of the heel lifting mechanism is connected to the bottom end surface of the foot pedal near the heel;

[0034] The sole lifting mechanism is two foot lifting mechanisms arranged side by side and both are fixed on the inner bottom surface of the foot placement shell. The telescopic ends of the two foot lifting mechanisms are connected to the bottom end surface of the pedal close to the sole of the foot.

[0035] The beneficial effects of adopting the above technical solution are: when it is necessary to realize the rotation of the ankle joint in the frontal plane (front and back), the forward and backward up and down movement of the pedal can be realized by the cooperation of the heel lifting mechanism and the two sole lifting mechanisms; when it is necessary to realize the rotation of the ankle joint in the sagittal plane (left and right), the left and right up and down movement of the pedal can be realized by the cooperation of the two sole lifting mechanisms.

[0036] Furthermore, the heel lifting mechanism comprises:

[0037] A first fixing plate, wherein the first fixing plate is fixed to the inner bottom surface of the foot placement shell, and two first rotating shaft rods are rotatably connected to the first fixing plate, and one end of the two first rotating shaft rods is hinged to a first hinge rod;

[0038] A first hinge seat, each of which is hingedly connected to the two first hinge rods, a slider is hingedly connected to the first hinge seat, and the slider is slidably connected to a guide rail on the bottom end surface of the foot pedal;

[0039] A third motor, wherein the third motors are two in number and are respectively connected to the two first rotating shafts through first transmission members fixed on the inner bottom surface of the foot placement shell;

[0040] The two sole lifting mechanisms each include:

[0041] A second fixing plate, the second fixing plate is fixed on the inner bottom surface of the foot placement shell, the second fixing plate is rotatably connected to two second rotating shaft rods, and one end of the two second rotating shaft rods is hinged to a second hinge rod;

[0042] A second hinged seat, each of which is hingedly connected to the two second hinged rods, a third hinged seat is hingedly connected to the second hinged seat, and the third hinged seat is fixedly connected to the bottom end surface of the footrest;

[0043] The fourth motor, there are two of the fourth motors, which are respectively connected to the two second rotating shaft rods through second transmission members fixed on the inner bottom surface of the foot placement shell.

[0044] The beneficial effects of adopting the above technical scheme are: the third motor can drive the first articulated rod to swing up and down, realize the up and down movement of the first articulated seat, and then realize the up and down movement of the heel of the foot pedal; the fourth motor can drive the second articulated rod to swing up and down, realize the up and down movement of the second articulated seat, and then realize the up and down movement of the forefoot of the foot pedal, so as to cooperate with the up and down movement of the heel of the foot pedal to realize the forward and backward swinging rehabilitation training of the ankle joint; of course, the fourth motors of the two sole lifting mechanisms can respectively realize different up and down amplitude movements of the two second articulated seats, thereby realizing the left and right swinging rehabilitation training of the ankle joint.

[0045] In addition, the sliding cooperation between the slider and the guide rail, as well as the provision of a third hinged seat, enable the foot pedal to be finely adjusted in front and back positions, so that the relative position of the foot pedal and the leg wearing channel can be adjusted according to the patient's wearing comfort.

[0046] Furthermore, the first transmission member and the second transmission member have the same structure, and the first transmission member includes:

[0047] A worm, wherein the worm is fixedly connected to a driving end of the third motor;

[0048] A turbine seat, the turbine seat is fixed on the inner bottom surface of the foot placement shell, a turbine is mounted on the turbine seat, the worm is meshedly connected with the turbine, and a driving bevel gear is fixed on the axle of the turbine;

[0049] A driven bevel gear is sleeved on the other end of the first rotating shaft and is meshedly connected with the driving bevel gear.

[0050] The beneficial effect of adopting the above technical solution is that the third motor drives the worm to rotate, the worm drives the turbine to rotate, the turbine drives the driving bevel gear on the turbine seat to rotate, and then drives the driven bevel gear to rotate, so as to realize the rotation of the first rotating shaft rod. Therefore, the device adopts worm transmission and bevel gear transmission to realize the rotation of the motor-driven rotating shaft rod, and then realizes the up and down movement of the corresponding articulated seat. The structure is simple and adopts a universal modular design. It is applicable not only to the heel lifting mechanism but also to the sole lifting mechanism, which greatly reduces the complexity of the device structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0052] Figure 1 This is a schematic structural diagram of a training device for ankle joint rehabilitation provided by the present invention.

[0053] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of local A in the middle.

[0054] Figure 3 for Figure 1 Schematic diagram of the side structure.

[0055] Figure 4 for Figure 3 Schematic diagram of the enlarged structure of part B in the middle.

[0056] Figure 5 This is a schematic diagram with the front shell opened.

[0057] Figure 6 It is a schematic diagram of the cooperation among the first motor, the driving gear and the arc-shaped rack.

[0058] Figure 7 for Figure 6 Schematic diagram of the enlarged structure of local C in the middle.

[0059] Figure 8 A schematic diagram of the structure of a heel lifting mechanism and a sole lifting mechanism arranged inside a foot placement shell.

[0060] Fig. 9 for Figure 8 Schematic diagram of the enlarged structure of local D in the middle.

[0061] Fig.10 It is a schematic diagram of the structure of the heel lifting mechanism and the sole lifting mechanism.

[0062] Fig.11 for Fig.10 Schematic diagram of the top view structure.

[0063] Fig.12 It is a schematic structural diagram of the first transmission member. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] See also Figure 1-Figure 12 As shown, the embodiment of the present invention discloses a training device for ankle joint rehabilitation, comprising:

[0066] A leg fixing shell 1, wherein the leg fixing shell 1 has a leg wearing channel 101 running through the upper and lower ends thereof;

[0067] The foot placement shell 2 has an open top and is connected to the lower cavity of the leg wearing channel 101. The top of the foot placement shell 2 is rotatably connected to the bottom of the leg fixing shell 1 to achieve horizontal rotation of the foot placement shell 2.

[0068] The driving mechanism 4 is fixed on the leg fixing shell 1, and the driving end of the driving mechanism 4 is transmission-connected with the foot placement shell 2, and is used to drive the foot placement shell 2 to rotate horizontally, thereby realizing the rotation of the ankle joint in the horizontal plane;

[0069] The pedal mechanism 5 is arranged inside the foot placement shell 2 and is used to realize the front-back and left-right swinging of the ankle joint.

[0070] The leg fixing housing 1 comprises:

[0071] A rear shell 11, one side of the rear shell 11 is open, and the driving mechanism 4 is fixed on the rear shell 11;

[0072] The front shell 12 is arranged on the open side of the rear shell 11 through the connecting rod 13, and the space after the front shell 12 and the rear shell 11 are buckled together is the leg wearing channel 101. Therefore, before wearing, the front shell 12 is opened, and when the ankle joint and the leg are placed, the front shell 12 is buckled and fixed with the rear shell 11 through the connecting rod 13, thereby fixing the patient's leg.

[0073] Specifically, the connecting rod 13 includes two upper connecting rods 131 and two lower connecting rods 132. The top sides of the front shell 12 are respectively hingedly connected to one end of the two upper connecting rods 131, the bottom sides of the front shell 12 are respectively hingedly connected to one end of the two lower connecting rods 132, the other end of the upper connecting rod 131 is hingedly connected to the outer side wall of the rear shell 11, and the other end of the lower connecting rod 132 is hingedly connected to the outer side wall of the rear shell 11. In this embodiment, the upper connecting rod 131 and the lower connecting rod 132 are used to support the front shell 12 to improve the stability of the front shell 12 when opening and closing.

[0074] See also Figure 5 In order to enable the front shell 12 to be opened and closed in a predetermined manner, guide grooves 111 are provided on both outer side walls of the rear shell 11, and guide rods 1311 are connected to the two upper connecting rods 131, and the two guide rods 1311 are respectively slidably plugged into the two guide grooves 111. The guide grooves 111 and the guide rods 1311 are both arc-shaped structures that cooperate with each other, so that the front shell 12 can be opened and closed accurately through the plug-in sliding cooperation guidance of the guide rods 1311 and the guide grooves 111.

[0075] In some other embodiments, the guide rod 1311 is provided with a first locking slot 13111 and a second locking slot 13112, and the two side walls of the rear shell 11 are provided with a sliding latch 14, which can be respectively plugged into the first locking slot 13111 and the second locking slot 13112 to respectively lock the opening and closing states of the front shell 12. In this way, by providing an easy-to-operate sliding latch 14, the fixing operation of the front shell 12 can be quickly achieved.

[0076] In another embodiment of the present invention, a horizontal rotating guide ring 6 is fixed to the top of the foot placement housing 2, an arc guide groove 61 is provided on the top surface of the horizontal rotating guide ring 6, an arc guide block 7 is fixed to the bottom of the rear shell 11, and the arc guide block 7 is slidably connected to the arc guide groove 61, and the driving mechanism 4 includes:

[0077] A first motor 41, the first motor 41 is fixed on the inner wall of the rear housing 11;

[0078] A driving gear 42, wherein the driving gear 42 is sleeved on a driving end of the first motor 41;

[0079] The arc-shaped rack 43 is fixed on the outer side wall of the horizontally rotating guide ring 6, and the driving gear 42 is meshed and transmission-connected with the arc-shaped rack 43.

[0080] In this embodiment, the leg fixing shell 1 is stationary, and the foot placement shell 2 can rotate horizontally. Specifically, the first motor 41 drives the driving gear 42 to rotate, and the driving gear 42 drives the arc rack 43 to move, thereby realizing the rotation of the foot placement shell 2 on the horizontal plane, thereby realizing the rotation of the ankle joint on the horizontal plane, and stretching rehabilitation training for the related muscles can be performed to promote the rehabilitation effect.

[0081] In another embodiment of the present invention, a second motor 8 is fixed on the open side of the foot placement shell 2, and the driving end of the second motor 8 is fixedly connected to the horizontal rotating guide ring 6, which is used to adjust the angle between the foot placement shell 2 and the leg fixing shell 1. In this way, the comfort of the patient can be improved.

[0082] In another embodiment of the present invention, the pedal mechanism 5 comprises:

[0083] A foot pedal 51, the foot pedal 51 is located in the foot placement housing 2 and below the leg wearing channel 101;

[0084] A heel lifting mechanism 52, the heel lifting mechanism 52 is fixed to the inner bottom surface of the foot placement shell 2, and the telescopic end of the heel lifting mechanism 52 is connected to the bottom end surface of the foot pedal 51 near the heel;

[0085] The foot lifting mechanism 53 is two foot lifting mechanisms 53 arranged side by side and both are fixed on the inner bottom surface of the foot placement shell 2. The telescopic ends of the two foot lifting mechanisms 53 are connected to the bottom end surface of the foot pedal 51 near the sole of the foot.

[0086] In a specific embodiment, the heel lifting mechanism 52 includes:

[0087] A first fixing plate 511, the first fixing plate 511 is fixed on the inner bottom surface of the foot placement shell 2, and two first rotating shaft rods 512 are rotatably connected to the first fixing plate 511, and one end of the two first rotating shaft rods 512 is hinged to a first hinge rod 513;

[0088] A first hinge seat 514, each of the first hinge seats 514 is hingedly connected to the two first hinge rods 513, a slider 515 is hingedly connected to the first hinge seat 514, and the slider 515 is slidably connected to a guide rail 516 on the bottom end surface of the footrest 51;

[0089] The third motor 517 includes two third motors 517, which are respectively connected to the two first rotating shafts 512 through first transmission members 518 fixed on the inner bottom surface of the foot placement shell 2;

[0090] The two sole lifting mechanisms 53 each include:

[0091] A second fixing plate 531, the second fixing plate 531 is fixed on the inner bottom surface of the foot placement shell 2, and two second rotating shaft rods 532 are rotatably connected to the second fixing plate 531, and one end of the two second rotating shaft rods 532 is hinged to a second hinge rod 533;

[0092] A second hinge seat 534, each of the second hinge seats 534 is hingedly connected to the two second hinge rods 533, a third hinge seat 535 is hingedly connected to the second hinge seat 534, and the third hinge seat 535 is fixedly connected to the bottom end surface of the footrest 51;

[0093] The fourth motor 536 , there are two fourth motors 536 , which are respectively connected to the two second rotating shafts 532 through second transmission members 537 fixed on the inner bottom surface of the foot placement shell 2 .

[0094] The first transmission member 518 and the second transmission member 537 have the same structure. The first transmission member 518 includes:

[0095] A worm 5181, the worm 5181 is fixedly connected to a driving end of the third motor 517;

[0096] The turbine seat 5182 is fixed on the inner bottom surface of the foot placement shell 2, a turbine 5183 is installed on the turbine seat 5182, the worm 5181 is meshedly connected with the turbine 5183, and a driving bevel gear 5184 is fixed on the axle of the turbine 5183;

[0097] The driven bevel gear 5185 is sleeved on the other end of the first rotating shaft 512 , and the driven bevel gear 5185 is meshed and connected with the driving bevel gear 5184 .

[0098] The method of use of the present invention is as follows:

[0099] 1. Wearing method: slide the sliding latch 14 out of the second locking slot 13112 so that the latch is no longer inserted into the second locking slot 13112, and then pull the front shell 12 upwards. The front shell 12 opens under the action of the upper connecting rod 131 and the lower connecting rod 132, and the sliding latch 14 is inserted into the first locking slot 13111 to lock the front shell 12 in the open state. After the patient's legs and feet are placed, slide the sliding latch 14 out of the first locking slot 13111, press the front shell 12 downward, and the front shell 12 returns to its original position and re-fastens on the rear shell 11, and then the sliding latch 14 is again inserted into the second locking slot 13112 to lock the front shell 12 in the fastened state.

[0100] 2. Afterwards, the wearing angle between the foot placement shell 2 and the leg fixing shell 1 can be adjusted by the second motor 8 according to the patient's comfort, so that the patient can recover in a comfortable state.

[0101] 3. When the muscles associated with the ankle joint in the horizontal plane need to be stretched and rehabilitated, the driving gear on the first motor drives the arc-shaped rack to move, thereby driving the horizontal rotating guide ring to rotate in the horizontal plane, thereby realizing the horizontal rotation of the foot placement shell, and finally realizing the rotation of the ankle joint in the horizontal plane, thereby realizing the stretching and rehabilitative training of the muscles associated with the ankle joint.

[0102] 4. When it is necessary to realize the rotation of the ankle joint in the frontal plane (front and back), the forward and backward movement of the pedal can be realized by the cooperation of the heel lifting mechanism and the two sole lifting mechanisms; when it is necessary to realize the rotation of the ankle joint in the sagittal plane (left and right), the left and right movement of the pedal can be realized by the cooperation of the two sole lifting mechanisms.

[0103] The invention fixes the legs by clamping the legs, thereby limiting the ankle joint from being affected by other factors, and enables the ankle joint to rotate horizontally by placing the feet on the horizontal rotating guide ring on the housing. The heel lifting mechanism and two sole lifting mechanisms drive the foot pedals to achieve the movement of the ankle joint in the coronal plane and the sagittal plane, so as to implement rehabilitation training.

[0104] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0105] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A training device for ankle joint rehabilitation, characterized in that: include: A leg fixing shell (1), wherein the leg fixing shell (1) has a leg wearing channel (101) penetrating the upper and lower ends thereof; A foot placement shell (2), the top end of the foot placement shell (2) is open and the opening is connected to the lower cavity of the leg wearing channel (101), and the top end of the foot placement shell (2) is rotatably connected to the bottom end of the leg fixing shell (1) to achieve horizontal rotation of the foot placement shell (2); A driving mechanism (4), wherein the driving mechanism (4) is fixed on the leg fixing shell (1), and a driving end of the driving mechanism (4) is drivingly connected to the foot placement shell (2) for driving the foot placement shell (2) to rotate horizontally, thereby realizing the rotation of the ankle joint in the horizontal plane; A foot pedal mechanism (5) is arranged inside the foot placement shell (2) and is used to realize the front-back and left-right swinging of the ankle joint.

2. The ankle joint rehabilitation training device according to claim 1, characterized in that: The leg fixing housing (1) comprises: A rear shell (11), one side of the rear shell (11) being open, and the driving mechanism (4) being fixed on the rear shell (11); A front shell (12), wherein the front shell (12) is arranged on the open side of the rear shell (11) in an openable and closable manner via a connecting rod (13), and the space after the front shell (12) and the rear shell (11) are buckled together is the leg wearing channel (101).

3. The ankle joint rehabilitation training device according to claim 2, characterized in that: The connecting rod (13) comprises two upper connecting rods (131) and two lower connecting rods (132); the top two sides of the front shell (12) are respectively hingedly connected to one end of the two upper connecting rods (131); the bottom two sides of the front shell (12) are respectively hingedly connected to one end of the two lower connecting rods (132); the other end of the upper connecting rod (131) is hingedly connected to the outer side wall of the rear shell (11); and the other end of the lower connecting rod (132) is hingedly connected to the outer side wall of the rear shell (11).

4. The ankle joint rehabilitation training device according to claim 3, characterized in that: Guide grooves (111) are provided on both outer side walls of the rear shell (11), and guide rods (1311) are connected to the two upper connecting rods (131), and the two guide rods (1311) are respectively slidably plugged into the two guide grooves (111).

5. The ankle joint rehabilitation training device according to claim 4, characterized in that: The guide rod (1311) is respectively provided with a first locking slot (13111) and a second locking slot (13112), and both side walls of the rear shell (11) are provided with a sliding latch (14), and the sliding latch (14) can be respectively plugged into the first locking slot (13111) and the second locking slot (13112) to respectively lock the opening and closing states of the front shell (12).

6. An ankle joint rehabilitation training device according to any one of claims 2 to 5, characterized in that: A horizontal rotating guide ring (6) is fixed on the top of the foot placement shell (2), and an arc-shaped guide groove (61) is provided on the top surface of the horizontal rotating guide ring (6). An arc-shaped guide block (7) is fixed on the bottom of the rear shell (11), and the arc-shaped guide block (7) is slidably connected to the arc-shaped guide groove (61). The driving mechanism (4) comprises: A first motor (41), the first motor (41) being fixed on the inner wall of the rear housing (11); A driving gear (42), wherein the driving gear (42) is sleeved on a driving end of the first motor (41); An arc-shaped rack (43) is fixed on the outer side wall of the horizontal rotating guide ring (6), and the driving gear (42) is meshed and transmission-connected with the arc-shaped rack (43).

7. The ankle joint rehabilitation training device according to claim 6, characterized in that: A second motor (8) is fixed on the open side of the foot placement shell (2), and the driving end of the second motor (8) is fixedly connected to the horizontal rotating guide ring (6) for adjusting the angle between the foot placement shell (2) and the leg fixing shell (1).

8. An ankle joint rehabilitation training device according to any one of claims 1-5 and 7, characterized in that: The foot pedal mechanism (5) comprises: A foot pedal (51), the foot pedal (51) being located inside the foot placement housing (2) and below the leg wearing channel (101); A heel lifting mechanism (52), the heel lifting mechanism (52) being fixed on the inner bottom surface of the foot placement shell (2), and the telescopic end of the heel lifting mechanism (52) being connected to the bottom end surface of the foot pedal (51) near the heel; A foot lifting mechanism (53), wherein two foot lifting mechanisms (53) are arranged side by side and are both fixed on the inner bottom surface of the foot placement shell (2); the telescopic ends of the two foot lifting mechanisms (53) are both connected to the bottom end surface of the foot pedal (51) near the sole of the foot.

9. The ankle joint rehabilitation training device according to claim 8, characterized in that: The heel lifting mechanism (52) comprises: A first fixing plate (511), the first fixing plate (511) being fixed on the inner bottom surface of the foot placement shell (2), the first fixing plate (511) being rotatably connected to two first rotating shaft rods (512), one end of each of the two first rotating shaft rods (512) being hinged to a first hinge rod (513); A first hinge seat (514), each of the first hinge seats (514) being hingedly connected to the two first hinge rods (513), a slider (515) being hingedly connected to the first hinge seat (514), and the slider (515) being slidably connected to a guide rail (516) on the bottom end surface of the footrest (51); A third motor (517), wherein the third motor (517) is two in number and is respectively connected to the two first rotating shafts (512) via a first transmission member (518) fixed on the inner bottom surface of the foot placement shell (2); The two sole lifting mechanisms (53) each comprise: A second fixing plate (531), the second fixing plate (531) being fixed on the inner bottom surface of the foot placement shell (2), the second fixing plate (531) being rotatably connected to two second rotating shaft rods (532), one end of each of the two second rotating shaft rods (532) being hinged to a second hinge rod (533); A second hinge seat (534), wherein each of the second hinge seats (534) is hingedly connected to the two second hinge rods (533), a third hinge seat (535) is hingedly connected to the second hinge seat (534), and the third hinge seat (535) is fixedly connected to the bottom end surface of the footrest (51); The fourth motor (536) is two in number and is respectively connected to the two second rotating shafts (532) via a second transmission member (537) fixed on the inner bottom surface of the foot placement shell (2).

10. The ankle joint rehabilitation training device according to claim 9, characterized in that: The first transmission member (518) and the second transmission member (537) have the same structure. The first transmission member (518) comprises: A worm (5181), wherein the worm (5181) is fixedly connected to a driving end of the third motor (517); A turbine seat (5182), the turbine seat (5182) being fixed on the inner bottom surface of the foot placement shell (2), a turbine (5183) being mounted on the turbine seat (5182), the worm (5181) being meshingly connected with the turbine (5183), and a driving bevel gear (5184) being fixed on the wheel shaft of the turbine (5183); A driven bevel gear (5185), wherein the driven bevel gear (5185) is sleeved on the other end of the first rotating shaft (512), and the driven bevel gear (5185) is meshingly connected with the driving bevel gear (5184).

Images