Auxiliary ankle pump exercise trainer and use method thereof

Abstract

The invention discloses an auxiliary ankle pump exercise trainer and a using method thereof.The auxiliary ankle pump exercise trainer comprises a box body, the box body is a rectangular box with an opening in a single face, a shell assembly is movably connected into the box body, a cavity is formed in the shell assembly, a pedal is embedded into the cavity, two sets of empty grooves are formed in the pedal, and the two sets of empty grooves are communicated with the shell assembly. A connecting rod is detachably connected to the side face of the pedal plate, a moving plate is further arranged in the box body, a groove is formed in the moving plate in the vertical direction, a reciprocating motor is arranged on the side face of the moving plate and used for driving the moving plate to move horizontally, and the connecting rod extends into the box body and sequentially penetrates through the shell assembly and the groove of the moving plate. A connecting plate is detachably connected to the side face of the moving plate, a sliding piece assembly is arranged on the side face of the connecting plate, the sliding piece assembly comprises a stirring groove, a stirring rod is movably connected into the stirring groove, one end of the stirring rod is fixedly connected with the shell assembly, and a patient can be helped to achieve surrounding movement in ankle movement through cooperation of the stirring rod and the connecting rod.

Description

Technical Field

[0001] The present invention relates to the technical field of medical appliances, and more particularly to an auxiliary ankle pump exercise trainer and its usage method. Background Art

[0002] Venous thrombosis is a series of vascular diseases formed due to slow venous blood flow, hypercoagulability of blood, and damage to the venous vessel wall. The detachment of a thrombus can cause blood vessel obstruction and even more serious complications such as pulmonary embolism, cerebral embolism, myocardial infarction, etc. Larger emboli may completely block the blood supply vessels of important organs, leading to organ ischemia and hypoxia. The incidence of deep vein thrombosis (DVT) in the lower extremities ranges from 88 to 112 cases per 100,000 people and increases with age; within 10 years after the first event, the incidence of recurrent venous thromboembolism (VTE) ranges from 20% to 36%. In the early prevention of lower extremity thrombosis, doctors recommend performing ankle pump exercises (referring to the patient alternately performing plantar flexion, dorsiflexion, and circumduction of the ankle). Ankle pump exercise promotes blood circulation and lymphatic return in the lower extremities through the movement of the ankle joint, like a pump. It can not only prevent and eliminate lower extremity pain and postoperative swelling, but also greatly prevent deep vein thrombosis in the lower extremities, and is also crucial for the functional recovery of patients' lower extremities after surgery. Clinically, it is often applied to patients after lower extremity surgery, those with long-term bed rest, and those with high blood viscosity, with good effects and wide application. Most of the currently used ankle pump exercise trainers have simple structures, can only rotate in a fixed direction, or are too large and inconvenient for bedridden patients to use. In addition, the existing ankle pump exercise trainers can at most perform flips in four directions: up, down, left, and right. Although they can achieve plantar flexion and dorsiflexion movements, they cannot perform circumduction of the ankle, that is, with the ankle joint as the center, the toes make a 360-degree outward loop. Summary of the Invention

[0003] The present invention mainly provides an auxiliary ankle pump exercise trainer to solve the problems in the prior art that the ankle pump exercise trainer cannot be used for bedridden patients and has a single and fixed movement direction and cannot perform circumduction of the ankle.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an auxiliary ankle pump exercise trainer, including a box body, the box body is open on one side, and a shell assembly is movably connected to the inside of the box body, the shell assembly has a cavity inside, a foot pedal is embedded in the cavity, two groups of empty grooves are opened on the foot pedal, and a connecting rod is detachably connected to the side of the foot pedal. A movable plate is also provided inside the box body, a groove is opened in the vertical direction on the movable plate, a reciprocating motor is provided on the side of the movable plate for driving the movable plate to move horizontally, the connecting rod extends into the box body and passes through the grooves of the shell assembly and the movable plate in sequence, a connecting plate is detachably connected to the side of the movable plate, a sliding plate assembly is provided on the side of the connecting plate, the sliding plate assembly includes a toggle groove, a toggle rod is movably connected in the toggle groove, and one end of the toggle rod is fixedly connected to the shell assembly.

[0005] Preferably, the shell assembly includes an upper shell and a lower shell, the upper shell includes an upper arc plate and an upper rear baffle, the lower shell includes a lower arc plate and a lower rear baffle, a semicircular groove is provided on the upper rear baffle of the upper shell, a card slot is provided on the lower rear baffle of the lower shell, and the upper shell and the lower shell are detachably connected.

[0006] Preferably, the connecting rod passes through the semicircular groove of the upper shell and the groove of the movable plate, and one end of the shifting rod is fixedly connected to the slot of the lower shell.

[0007] Preferably, one end of the connecting rod away from the foot pedal is fixedly connected with a hemisphere, and the cross-section of the hemisphere is larger than the cross-section of the groove of the movable plate.

[0008] Preferably, the box body is provided with a plurality of threaded holes at an edge of one side of the opening, a plurality of fixing plates are threadedly connected in the plurality of threaded holes, and the plurality of fixing plates are elastically connected to the housing assembly via springs.

[0009] Preferably, a rotating shaft is disposed on the side of the shell assembly, a hole cooperating with the rotating shaft is opened on the side of the box body, and the shell assembly is rotatably connected to the box body through the rotating shaft.

[0010] Preferably, the upper shell and the lower shell are both provided with connection holes, and the upper arc plate and the lower arc plate of the upper shell and the lower shell are detachably connected by bolts.

[0011] Preferably, a boss is provided on the side of the movable plate, and the side of the boss is fixedly connected to the output end of the reciprocating motor.

[0012] Preferably, the outer circumference of the connecting rod is provided with an external thread, and the foot pedal is provided with a thread groove cooperating with the connecting rod, and the connecting rod and the foot pedal are detachably connected through thread cooperation.

[0013] In addition, the present invention also discloses a method for using the above-mentioned auxiliary ankle pump exercise trainer, which comprises the following steps: S1. First, place the box at the end of the bed with the opening facing the patient, then fix the patient's ankle in the groove of the foot pedal with a strap, and turn on the reciprocating motor located on the side of the boss on the moving plate; S2. When it is necessary to perform ankle joint flipping exercise alone, the connecting plate on the side of the moving plate is removed, and the housing assembly is locked by the damping shaft. Then the reciprocating motor is started to drive the moving plate to perform horizontal reciprocating motion to drive the connecting rod to move left and right to flip the foot pedal. The patient's foot is bound to the foot pedal and can perform flipping movement synchronously. S3. When it is necessary to perform ankle dorsiflexion exercise alone, the connecting rod is removed, and then the reciprocating motor is turned on to drive the moving plate to perform reciprocating linear motion, and the housing assembly is turned upside down by the lever to drive the patient's ankle to perform ankle dorsiflexion exercise, or the housing assembly is manually turned over to drive; S4. When the patient gradually adapts to unidirectional ankle movement, the reciprocating motor can be started. The reciprocating motor drives the connecting rod to flip the foot pedal left and right. At the same time, the slide assembly, driven by the moving plate, makes reciprocating linear motion to drive the lever to move up and down, and finally drives the shell assembly to flip up and down. Through the synchronous coordination of left and right flipping and up and down flipping, the patient's ankle can achieve multi-directional surrounding movement.

[0014] Beneficial effects of the present invention: 1. The lever and connecting rod of the present invention can be freely disassembled according to the needs of the patient, and single-direction rehabilitation training can be performed according to the patient's rehabilitation situation, and the gradual transition from single-direction to multi-direction rehabilitation training can be achieved, realizing the transformation from simple to complex; 2. Patients can set different toggle slot limits according to their own rehabilitation training requirements, so that the operating range of the ankle pump exercise trainer can be adjusted according to the patient's wishes and condition; 3. The present invention is driven by a single linear motor source, and compared with the prior art, it has a simple structure and low cost; 4. The needle of the present invention can be used for bedridden patients who are unable to exert force on their legs. The structure of the present application is driven by a motor and does not require the patient to actively exert force on the ankle; 5. The present invention can help patients achieve circumferential motion in foot and ankle movements by cooperating with the lever and the connecting rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments; Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 is an exploded view of the present invention; Figure 3 is a rear view of the present invention; Figure 4 It is a parabolic view of the present invention; Figure 5 is a schematic diagram of a sliding block of the present invention; Figure 6 It is a schematic diagram of the upper and lower shells of the present invention; In the figure: 1, fixed plate; 2, spring; 3, upper shell; 4, lower shell; 5, rotating shaft; 6, foot pedal; 7, lever; 8, connecting plate; 9, slide assembly, 10, hemisphere; 11, movable plate; 12, box; 3-1, connecting hole; 3-2, cavity; 3-3, semicircular groove; 4-1, card slot; 6-1, empty slot; 6-2, connecting rod; 9-1, toggle slot; 11-1, groove; 11-2, boss; 12-1, threaded hole; 12-2, hole. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] like Figure 1-6As shown, an auxiliary ankle pump exercise trainer includes a box body 12, the box body 12 is open on one side, a shell assembly is movably connected inside the box body 12, a cavity 3-2 is provided inside the shell assembly, a foot pedal 6 is embedded in the cavity 3-2, two groups of empty grooves 6-1 are provided on the foot pedal 6, a connecting rod 6-2 is detachably connected to the side of the foot pedal 6, a moving plate 11 is also provided inside the box body 12, a groove 11-1 is provided on the moving plate 11 in the vertical direction, and a reciprocating motor is provided on the side of the moving plate 11 for driving the moving plate 1 1 moves horizontally, the connecting rod 6-2 extends into the box body 12 and passes through the grooves 11-1 of the shell assembly and the moving plate 11 in sequence, the side of the moving plate 11 is detachably connected with a connecting plate 8, the side of the connecting plate 8 is provided with a slide assembly 9, the slide assembly 9 includes a toggle groove 9-1, the toggle groove 9-1 is movably connected with a toggle rod 7, one end of the toggle rod 7 is fixedly connected to the shell assembly, in this embodiment, one side of the box body 12 is open when in use, the patient fixes the ankle through the opening through the straps in the two groups of empty grooves 6-1 of the footboard 6, the footboard 6 is embedded The shell assembly is inside the shell assembly, and the side of the shell assembly is movably connected to the box body 12. This embodiment can be hinged or a rotating shaft with damping. When the patient only needs to move the ankle left and right, the shell assembly and the box body 12 can be locked by the damping rotating shaft, so that the shell assembly cannot rotate, so as to avoid the shell assembly from tilting and rotating when the foot pedal 6 inside the shell assembly rotates; the shell assembly is rotated inside the box body 12 by hinges or rotating shafts, so as to realize the up and down movement of the patient's ankle; the back side of the foot pedal 6, that is, the side away from the patient, is vertically detachable with a connecting rod 6-2, and the connecting rod 6 -2 penetrates the shell assembly and extends into the box body 12 and penetrates the groove 11-1 on the moving plate 11 inside the box body 12. The groove 11-1 is vertically arranged, and the connecting rod 6-2 can move up and down in the groove 11-1. A reciprocating motor is arranged on the side of the moving plate 11 to drive the moving plate 11 to reciprocate horizontally. When the motor is driven, the moving plate 11 reciprocates left and right to drive the connecting rod 6-2 to reciprocate left and right, thereby driving the foot pedal 6 inside the shell assembly to rotate left and right. Because the patient's foot is bound to the foot pedal 6, the patient's foot can rotate left and right. Figure 1As shown, a connecting plate 8 is connected to the side of the movable plate 11 away from the motor through a thread, and a slide assembly 9 is arranged on the side of the connecting plate 8 away from the movable plate 11. The slide assembly 9 includes a toggle groove 9-1 arranged on the connecting plate 8, and the toggle groove 9-1 is an arc-shaped track groove. A toggle rod 7 is movably connected in the toggle groove 9-1, and one end of the toggle rod 7 away from the toggle groove 9-1 is fixedly connected to the shell assembly. When in use, the movable plate 11 drives the toggle rod 7 to move during reciprocating motion, but because the toggle rod 7 is fixedly connected to the shell assembly, when the toggle assembly 9 moves horizontally, since the toggle groove 9-1 on the slide assembly 9 is a curved groove, and because the toggle rod 7 is stuck in the slot 4-3 of the lower shell 4, the toggle rod 7 can only swing up and down. Specifically, one end of the toggle rod 7 is fixedly connected to the slot 4-3 and the other end is arranged in the toggle groove 9-1. When the movable plate 11 moves, it pushes the slide assembly 9 to move, and the toggle groove 9-1 on the slide assembly 9 is The lever 7 is pressed downward to drive the shell assembly to tilt, and the toggle groove 9-1 is reset to drive the lever 7 to return to the correct position to drive the shell assembly to return to the correct position, so that the rotating shaft 5 swings up and down, and finally drives the shell assembly to flip forward and backward to realize the up and down movement of the patient's ankle; when in use, the moving plate first moves horizontally, and then drives the patient's foot to flip to one side, and at the same time, the lever 7 reaches the low point in the toggle groove 9-1 to make the patient's ankle move downward and perform a semicircular ring movement, and then the reciprocating motor drives the moving plate 11 to reset, drive the patient's ankle to rotate, and the lever 7 rotates in the arc track groove to reach the high point, and the patient's ankle synchronously performs a semicircular ring movement, and the two cooperate to achieve a surrounding movement in the ankle movement. The lever 7 and the connecting rod 6-2 in this embodiment are both detachable, and when in use, they can transition from single-direction movement to multi-angle movement according to the patient's condition.

[0018] Preferably, the shell assembly includes an upper shell 3 and a lower shell 4, the upper shell 3 includes an upper arc plate and an upper rear baffle, the lower shell 4 includes a lower arc plate and a lower rear baffle, a semicircular groove 3-3 is provided on the upper rear baffle of the upper shell 3, and a card slot 4-3 is provided on the lower rear baffle of the lower shell 4, and the upper shell 3 and the lower shell 4 are detachably connected, such as Figure 6 As shown, the structures of the upper shell 3 and the lower shell 4 in this embodiment are semicircular arc panels and the sides of the semicircular arc panels are provided with rectangular plates. When in use, the semicircular arc plates are combined by bolts to form a cylinder, and a cavity 3-2 is formed inside the cylindrical part. The rectangular plates on the sides of the upper and lower shells are combined to form a whole, and the foot pedal 6 can perform multi-angle movement in the cavity 3-2.

[0019] Preferably, the connecting rod 6-2 passes through the semicircular groove 3-3 of the upper shell 3 and the groove 11-1 of the movable plate 11, and one end of the lever 7 is fixedly connected to the card slot 4-3 of the lower shell 4. In this embodiment, the connecting rod 6-2 is perpendicular to the pedal 6 and extends into the box 12 and passes through the semicircular groove 3-3 of the upper shell 3 and the groove 11-1 on the movable plate in sequence. Figure 6 As shown, the semicircular groove 3-3 is a semicircular arc shape, and the connecting rod 6-2 can be adjusted left and right in the semicircular groove 3-3, thereby driving the foot pedal 6 to deflect and rotate left and right. At the same time, a square block is provided at the end of the lever 7 away from the slide assembly 9, and the square block just cooperates with the slot 4-3 on the lower shell 4. When in use, it can be fixedly connected by a mortise and tenon structure or a threaded connection. When the slide assembly 9 moves left and right following the moving plate 11, the lever 7 cannot move due to the connection with the shell assembly. The lever applies an eccentric force to the shell assembly to tilt the shell assembly and then realizes up and down rotation in the box body 12 through the rotating shaft 5.

[0020] Preferably, the end of the connecting rod 6-2 away from the foot pedal 6 is fixedly connected to a hemisphere 10, and the cross-section of the hemisphere 10 is larger than the cross-section of the groove 11-1 of the movable plate 11. This embodiment prevents the connecting rod 6-2 of the foot pedal 6 from derailing when sliding in the groove 11-1 on the movable plate 11.

[0021] Preferably, the box body 12 is provided with a plurality of threaded holes 12-1 at the edge of one side of the opening, and a plurality of fixing plates 1 are threadedly connected to the inner threads of the plurality of threaded holes 12-1. The plurality of fixing plates 1 are elastically connected to the shell assembly through springs 2. In this embodiment, the shell assembly is installed inside the box body 12 through the fixing plates 1 when in use. The shell assembly will perform movements such as flipping up and down and rotating left and right when in use. Therefore, the fixing plates 1 are elastically connected to the training device through the springs 2 to ensure that the shell assembly will not detach from the box body or be unable to rotate.

[0022] Preferably, a rotating shaft 5 is provided on the side of the shell assembly, and a hole 12-2 cooperating with the rotating shaft 5 is opened on the side of the box 12. The shell assembly is rotatably connected to the box 12 through the rotating shaft 5. In this embodiment, the side of the shell assembly is rotatably connected to the box 12 through the rotating shaft 5, so that the shell assembly can be flipped synchronously when the foot pedal 6 is flipped up and down.

[0023] Preferably, connecting holes 3-1 are provided on both the upper shell 3 and the lower shell 4, and the upper arc plate and the lower arc plate of the upper shell 3 and the lower shell 4 are detachably connected by bolts. In this embodiment, bolt holes are provided at corresponding positions on the upper shell 3 and the lower shell 4, and the upper shell 3 and the lower shell 4 are detachably connected by bolts.

[0024] Preferably, a boss 11-2 is provided on the side of the moving plate 11. The side of the boss 11-2 is fixedly connected to the output end of the reciprocating motor. The boss 11-2 is used to connect with the reciprocating motor. If the reciprocating motor directly pushes the moving plate 11 to move alone, there may be structural instability or the moving plate may break.

[0025] Preferably, an external thread is provided on the outer periphery of the connecting rod 6-2. A threaded groove is provided on the foot pedal 6 for cooperating with the connecting rod 6-2. The connecting rod 6-2 and the foot pedal 6 are detachably connected by screw thread cooperation. In this embodiment, it is preferably to realize the detachable connection between the connecting rod 6-2 and the foot pedal 6 through screw thread cooperation. However, at the same time, the detachable connection can also be realized by fastening with nuts and bolts or by using a clamping method.

[0026] In addition, the present invention also discloses a usage method of the above-mentioned auxiliary ankle pump exercise trainer, including the following steps: S1. First, place the box body 12 at the end of the bed with the opening facing the patient. Then, fix the patient's ankle in the groove 6-11 of the foot pedal 6 through a strap, and turn on the reciprocating motor on the side of the boss 11-2 on the moving plate 11. S2. When it is necessary to perform ankle inversion movement alone, disassemble the connecting plate on the side of the moving plate 11, and lock the housing assembly through a damping rotating shaft. Then, start the reciprocating motor to drive the moving plate to perform reciprocating movement in the horizontal direction, driving the connecting rod 6-2 to move left and right, so that the foot pedal 6 flips. The patient's foot is bound to the foot pedal 6 and can perform the flipping movement synchronously. S3. When it is necessary to perform ankle dorsiflexion movement alone, remove the connecting rod 6-2. Then, turn on the reciprocating motor to drive the moving plate 11 to perform reciprocating linear movement, drive the housing assembly to flip up and down through the dial rod 7, drive the patient's ankle to perform ankle dorsiflexion movement, or drive it by manually flipping the housing assembly. S4. When the patient gradually adapts to the single-direction ankle movement, the reciprocating motor can be started. The reciprocating motor drives the connecting rod 6-2 to make the foot pedal 6 flip left and right. At the same time, the sliding piece assembly 9 drives the dial rod 7 to move up and down under the drive of the moving plate 11, and finally drives the housing assembly to perform up and down flipping movement. Through the synchronous cooperation of left and right flipping and up and down flipping, the patient's ankle realizes multi-directional circular movement.

[0027] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An auxiliary ankle pump exercise trainer, characterized in that: The invention comprises a box body (12), wherein the box body (12) is open on one side, a shell assembly is movably connected inside the box body (12), a cavity (3-2) is provided inside the shell assembly, a foot pedal (6) is embedded in the cavity (3-2), two groups of empty grooves (6-1) are provided on the foot pedal (6), a connecting rod (6-2) is detachably connected to the side of the foot pedal (6), a movable plate (11) is further provided inside the box body (12), a groove (11-1) is provided on the movable plate (11) in a vertical direction, and the movable plate A reciprocating motor is arranged on the side of the housing (11) for driving the movable plate (11) to move horizontally, the connecting rod (6-2) extends into the box body (12) and passes through the housing assembly and the groove (11-1) of the movable plate (11) in sequence, the movable plate (11) is detachably connected to a connecting plate (8) on the side, the connecting plate (8) is provided with a slide assembly (9) on the side, the slide assembly (9) includes a toggle groove (9-1), a toggle rod (7) is movably connected in the toggle groove (9-1), and one end of the toggle rod (7) is fixedly connected to the housing assembly.

2. The auxiliary ankle pump exercise trainer according to claim 1, characterized in that: The shell assembly comprises an upper shell (3) and a lower shell (4); the upper shell (3) comprises an upper arc plate and an upper rear baffle plate; the lower shell (4) comprises a lower arc plate and a lower rear baffle plate; a semicircular groove (3-3) is provided on the upper rear baffle plate of the upper shell (3); a clamping groove (4-3) is provided on the lower rear baffle plate of the lower shell (4); and the upper shell (3) and the lower shell (4) are detachably connected.

3. The auxiliary ankle pump exercise trainer according to claim 2, characterized in that: The connecting rod (6-2) sequentially penetrates the semicircular groove (3-3) of the upper shell (3) and the groove (11-1) of the movable plate (11), and one end of the shifting rod (7) is fixedly connected to the clamping groove (4-3) of the lower shell (4).

4. The auxiliary ankle pump exercise trainer according to claim 3, characterized in that: One end of the connecting rod (6-2) away from the foot pedal (6) is fixedly connected to a hemispherical body (10), and the cross section of the hemispherical body (10) is larger than the cross section of the groove (11-1) of the movable plate (11).

5. The auxiliary ankle pump exercise trainer according to claim 2, characterized in that: The box body (12) is provided with a plurality of threaded holes (12-1) at an edge position on one side of the opening, the plurality of threaded holes (12-1) are internally threadedly connected to a plurality of fixing plates (1), and the plurality of fixing plates (1) are elastically connected to the housing assembly via springs (2).

6. The auxiliary ankle pump exercise trainer according to claim 1, characterized in that: A rotating shaft (5) is arranged on the side of the shell component, a hole (12-2) matching the rotating shaft (5) is opened on the side of the box body (12), and the shell component is rotatably connected to the box body (12) via the rotating shaft (5).

7. The auxiliary ankle pump exercise trainer according to claim 1, characterized in that: The upper shell (3) and the lower shell (4) are both provided with connection holes (3-1), and the upper arc plates and the lower arc plates of the upper shell (3) and the lower shell (4) are detachably connected via bolts.

8. The auxiliary ankle pump exercise trainer according to claim 1, characterized in that: A boss (11-2) is provided on the side of the movable plate (11), and the side of the boss (11-2) is fixedly connected to the output end of the reciprocating motor.

9. The auxiliary ankle pump exercise trainer according to claim 6, characterized in that: The outer circumference of the connecting rod (6-2) is provided with an external thread, and the foot pedal (6) is provided with a thread groove that cooperates with the connecting rod (6-2). The connecting rod (6-2) and the foot pedal (6) are detachably connected through thread cooperation.

10. A method for using an auxiliary ankle pump exercise trainer according to any one of claims 1 to 9, characterized in that: The steps include: S1. First, place the box (12) at the end of the bed with the opening facing the patient, then fix the patient's ankle in the groove (6-11) of the foot pedal (6) by means of a strap, and turn on the reciprocating motor located on the side of the boss (11-2) on the movable plate (11); S2. When it is necessary to perform ankle joint flipping movement alone, the connecting plate on the side of the movable plate (11) is removed, and the housing assembly is locked by the damping shaft. Then, the reciprocating motor is started to drive the movable plate to perform horizontal reciprocating movement, thereby driving the connecting rod (6-2) to move left and right to flip the foot pedal (6). The patient's foot is bound to the foot pedal (6) and can perform flipping movement synchronously. S3. When it is necessary to perform ankle dorsiflexion exercise alone, the connecting rod (6-2) is removed, and then the reciprocating motor is turned on to drive the moving plate (11) to perform reciprocating linear motion, and the housing assembly is driven to flip up and down through the lever (7), so as to drive the patient's ankle to perform ankle dorsiflexion exercise, or the housing assembly is driven by manually flipping the housing assembly; S4. When the patient gradually adapts to the unidirectional ankle movement, the reciprocating motor can be started. The reciprocating motor drives the connecting rod (6-2) to make the foot pedal (6) flip left and right. At the same time, the slide assembly (9) is driven by the moving plate (11) to make a reciprocating linear motion to drive the lever (7) to move up and down, and finally drives the shell assembly to flip up and down. Through the synchronous coordination of left and right flipping and up and down flipping, the patient's ankle can achieve multi-directional surrounding movement.

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