Multi-degree-of-freedom ankle joint training device

Abstract

The invention discloses a multi-degree-of-freedom ankle joint training device which comprises a supporting base, a shank supporting assembly and a sole supporting training assembly, the shank supporting assembly and the sole supporting training assembly are arranged above a supporting shell and used for supporting an ankle joint to shake along the supporting base in a reciprocating mode, and a fixed supporting rod is arranged on the periphery of the supporting base. A sliding supporting shaft which slides back and forth along the front end and the rear end of the supporting base is arranged between the two sides of the supporting base in a penetrating mode, and a supporting rod assembly which swings along with the sliding supporting shaft is arranged above the supporting base and located between the two ends of the sliding supporting shaft and the fixed supporting rods on the two sides of the rear end of the supporting base. The shank supporting assembly and the sole supporting training assembly are arranged between the rear end of the supporting shell and the upper portion of the sliding supporting shaft in a swinging mode through the supporting rod assembly. According to the ankle joint training device, the requirements of multi-directional training treatment such as inward and outward turning, adduction and abduction actions of the ankle joint training device can be met, and meanwhile, the safety and comfort of the ankle joint training device can be ensured, so that a patient can enjoy high-quality experience in the rehabilitation training process.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation, and particularly to a multi-degree-of-freedom ankle joint training device. Background Art

[0002] The ankle joint is an important joint of the lower limb, and its function is crucial in daily activities such as walking, running, and jumping. However, the incidence of ankle joint injuries is relatively high, especially in athletes and the elderly population. Common injuries include sprains, ligament tears, and fractures, which usually require a long period of rehabilitation treatment to recover normal function. Traditional ankle joint rehabilitation methods mainly rely on physical therapy, manual manipulation, and passive movement. These methods are often inefficient and limited by the experience and skills of therapists, making it difficult to provide personalized training programs. In addition, many rehabilitation devices have defects in structural design and function, such as complexity, inconvenience in use, and lack of adaptability, which make patients feel uncomfortable or unsafe when using them. Nowadays, most foreign ankle joint rehabilitation devices only provide simple movements such as plantar flexion and dorsiflexion, lacking support for multi-directional (such as inversion and eversion) movements of the ankle joint, and the rehabilitation effect is limited. At the same time, many foreign devices do not have real-time feedback and automatic adjustment functions, and cannot adjust the training according to the patient's real-time state, so the rehabilitation process is relatively passive. The safety protection mechanism of some domestic devices is relatively simple and cannot effectively detect abnormal situations during movement, which may cause secondary injuries during the rehabilitation process.

[0003] A Chinese patent with the title of "Ankle Joint Rehabilitation Robot" has been published. The publication number is CN116158938A. This ankle joint rehabilitation robot can assist patients with ankle-foot dysfunction in rehabilitation training, can adjust the driving torque of the drive motor according to the muscle strength of the patient's ankle joint, and realize an intelligent rehabilitation process, enabling patients to train anytime and anywhere without being affected by the region and environment. However, this ankle joint rehabilitation robot has certain disadvantages: 1) The degree of freedom is insufficient, and it cannot provide various degrees of freedom of movement for patients to rehabilitate; 2) There is no safety protection mechanism and it cannot automatically stop running when detecting abnormal movements, unable to ensure the safety of patients; 3) There is no real-time monitoring and automatic adjustment function, and it cannot dynamically optimize the exercise intensity and range according to the patient's state. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom ankle joint training device. The ankle joint training device of the present invention can meet the multi-directional training and treatment needs such as inversion and eversion, adduction and abduction movements of the ankle joint training device, and at the same time can ensure its safety and comfort, so that patients can enjoy a high-quality experience during the rehabilitation training process. To achieve the above purpose, the present invention adopts the following technical effects:

[0005] According to one aspect of the present invention, a multi-degree-of-freedom ankle joint training device is provided. The ankle joint training device includes a support base, a calf support assembly disposed above the support housing and used for supporting the ankle joint to swing reciprocally along the support base, and a sole support training assembly. A fixed support rod is disposed around the support base. A sliding support shaft that slides back and forth along the front and rear ends of the support base is disposed through between the two sides of the support base. Above the support base and between the two ends of the sliding support shaft and the fixed support rods on both sides of the rear end of the support base, there is a support rod assembly that swings with the sliding support shaft. The calf support assembly and the sole support training assembly are swingably disposed between the rear end of the support housing and the upper part between the two ends of the sliding support shaft through the support rod assembly.

[0006] In a further preferred embodiment of the above solution, the calf support assembly includes an arc support cylinder for supporting and covering the calf. The support rod assembly includes a calf joint, a pair of rear connecting rods symmetrically disposed on the fixed support rods on both sides of the rear end of the support base, and front connecting rods disposed on both sides of the middle of the support base and at the two ends of the sliding support shaft. The two ends of the sliding support shaft are respectively connected to the lower ends of the front connecting rods. The tops of the pair of rear connecting rods are rotationally connected to the upper ends of the front connecting rods through the calf joint. The two sides of the sole support training assembly are rotationally connected between the tops of the front connecting rods above both sides of the support base. The arc support cylinder is fixed to the calf joint along the extending direction of the calf joint.

[0007] In a further preferred embodiment of the above solution, the sole support training assembly includes a knee joint support frame, a first motor, a second motor, and a sole support plate disposed directly in front of the knee joint support frame and capable of swinging back and forth. The rear side wall of the sole support plate is drivingly connected to the front side wall of the knee joint support frame. Pin shaft holes are disposed on both sides of the middle of the knee joint support frame. The two sides of the middle of the knee joint support frame are rotationally connected between the side walls of the tops of the front connecting rods above both sides of the support base through pin shafts penetrating through the pin shaft holes. A first motor drivingly connected to the pin shaft is disposed on the outer side of the middle of the knee joint support frame. The output shaft of the second motor extends upward and is drivingly connected to the sole support plate.

[0008] In a further preferred embodiment of the above solution, a sole upper support rod and a sole lower support rod are respectively disposed on the two downward sides of the sole support plate. The two side walls at the upper end of the knee joint support frame and the front side walls at both ends of the sole upper support rod are respectively connected through sole upper support tubes. The two side walls at the lower end of the knee joint support frame and the front side walls at both ends of the sole lower support rod are respectively connected through sole lower support tubes. The output shaft of the second motor extends upward through and out of the sole lower support rod and is drivingly connected to the lower end of the sole support plate. The upper end of the sole support plate is rotationally connected to the middle of the sole upper support rod.

[0009] Further preferably, in the middle of the top end of the plantar support rod, a fixed support block extending along the direction of the knee joint support frame is provided, and a rotating support shaft is provided on the lower surface of the fixed support block. The upper end of the plantar support plate is rotatably connected to the fixed support block through the rotating support shaft.

[0010] Further preferably, a heating support pad is provided on the surface of the plantar support plate.

[0011] Further preferably, on the outer wall of the bottom of the arc support cylinder, a support base with a circular arc-shaped surface is provided. A fixed perforation is transversely provided between the two sides of the support base. The support base is connected to the calf joints above the two sides of the support shell through a support belt passing through the fixed perforation.

[0012] Further preferably, an airbag is provided on the inner wall of the arc support cylinder.

[0013] Further preferably, a sliding channel for the sliding support shaft to slide is provided between the two sides of the support base, extending from the front end to the rear end of the support base. The sliding channel extends obliquely from the bottom ends of the two sides at the front end of the support base to the top ends of the two sides at the rear end.

[0014] Further preferably, the rear connecting rod has a vertical rod portion and an inclined rod portion. A pair of vertical rod portions are respectively vertically provided on the fixed support rods on both sides of the rear end of the support base. The calf joint gradually extends downward obliquely from the top end of the inclined rod portion to the rear side wall of the top end of the front connecting rod; an inclined rod portion inclined towards the front end of the support base is respectively provided at the top end of each vertical rod portion. An intermediate beam is transversely provided at the transition connection between the top ends of the pair of vertical rod portions and the bottom ends of the pair of inclined rod portions. Leg blocking belts are respectively provided between the pair of inclined rod portions above the intermediate beam.

[0015] In summary, the present invention adopts the above technical solutions, and the present invention has the following technical effects:

[0016] (1) The training device of the present invention can perform various movements such as plantar flexion, dorsiflexion, inversion, and eversion, and the movement range is controlled within the natural movement range of the ankle joint. Thereby, rehabilitation training of the ankle joint part is realized, greatly improving the efficiency of rehabilitation training, and being able to provide a personalized and comfortable training experience for patients; the training device can ensure safety during use, and the overall design helps to accelerate the recovery of ankle joint function and improve the quality of life of patients.

[0017] (2) Through in-depth analysis of the movement mechanism and muscle cooperation of the human ankle joint, the training device of the present application ensures that the training device can accurately reproduce the normal movement pattern of the ankle joint on the movement path, while ensuring its safety and comfort, so that patients can enjoy a high-quality experience during the rehabilitation training process, can help patients regain the normal operation of the ankle joint, and provide all-round and efficient rehabilitation exercise support. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom ankle joint training device of the present invention;

[0019] Figure 2 is a schematic diagram of the installation structure of the calf support assembly of the present invention;

[0020] Figure 3 is an exploded installation schematic diagram of the right side of the calf support assembly of the present invention;

[0021] Figure 4 is a schematic diagram of the structure of the first embodiment of the sole support training assembly of the present invention;

[0022] Figure 5 is a schematic diagram of the structure of the second embodiment of the sole support training assembly of the present invention;

[0023] In the drawings, support base 1, calf support assembly 2, sole support training assembly 3, support rod assembly 4, support rod assembly 4, fixed support rod 10, sliding support shaft 11, support rod assembly 4, rear connecting rod 20, vertical rod portion 20a, inclined rod portion 20b, middle beam 20c, leg blocking belt 20d, front connecting rod 30, sliding channel 110;

[0024] Arc support cylinder 200, support base 200a, fixed perforation 200b, fixed perforation 200b, support belt 200c, airbag 200d, knee joint support frame 300, first motor 301, second motor 302, sole support plate 303, pin shaft hole 300a, upper sole support rod 304, lower sole support rod 305, upper sole support tube 306, upper sliding adjustment rod 306a, lower sole support tube 307, lower sliding adjustment rod 307a, fixed support block 308, rotating support shaft 309, heating support pad 310. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following preferred embodiments are cited with reference to the accompanying drawings to further elaborate on the present invention. However, it should be noted that many details listed in the specification are only for enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0026] Combined Figure 1 and Figure 2 As shown, a multi-degree-of-freedom ankle joint training device according to the present invention, the ankle joint training device includes a support base 1, a calf support assembly 2 disposed above the support housing 1 and used to support the ankle joint to swing back and forth along the support base 1, and a sole support training assembly 3. A fixed support rod 10 is horizontally disposed on the periphery of the support base 1. A sliding support shaft 11 that slides back and forth along the front and rear ends of the support base 1 is horizontally penetrated between the left and right sides of the support base 1. Above the support base 1 and between the two ends of the sliding support shaft 11 and the fixed support rods 10 on both sides of the rear end of the support base 1, a support rod assembly 4 that swings with the sliding support shaft 11 is provided. The calf support assembly 2 and the sole support training assembly 3 are swingably disposed between the rear end of the support housing 1 and the upper part between the two ends of the sliding support shaft 11 through the support rod assembly 4; the support base 1 is hollow and made of metal or lightweight alloy material to reduce the weight of the device, facilitate the movement and carrying of patients. The bottom of the support base 1 is designed with an anti-slip rubber pad to ensure the stability of the device under various ground conditions; in the present invention, the calf support assembly 2 and the sole support training assembly 3 are supported on the fixed support rods 10 surrounding the support rod assembly 4 through the sliding support shaft 11 and the support rod assembly 4. When the calf of the patient is placed on the calf support assembly 2 and the sole is placed on the sole support training assembly 3 and pushed, when the sliding support shaft 11 slides back and forth along the front and rear ends in the support base 1, ankle joint and calf stretching training are completed.

[0027] In the present invention, as Figure 1 , Figure 2 and Figure 3 shown, the calf support assembly 2 includes an arc support cylinder 200 for supporting and covering the calf. The upper surface of the arc support cylinder 200 is open along the axial direction. The support rod assembly 4 includes a calf joint 12, a pair of rear connecting rods 20 symmetrically disposed on the fixed support rods 10 on both sides of the rear end of the support base 1, and front connecting rods 30 disposed on both sides of the middle of the support base 1 and at the two ends of the sliding support shaft 11. The two ends of the sliding support shaft 11 are respectively connected to the lower ends of the front connecting rods 30. The tops of the pair of rear connecting rods 20 are rotatably connected to the upper ends of the front connecting rods 30 through the calf joint 12. The two sides of the sole support training assembly 3 are rotatably connected between the tops of the front connecting rods 30 above both sides of the support base 1. The arc support cylinder 200 is fixed to the calf joint 12 along the extending direction of the calf joint 12; in the present invention, a sliding channel 110 for the sliding support shaft 11 to slide is provided between the two sides of the support base 1 and extends from the front end of the support base 1 to the rear end. The sliding channel 110 extends obliquely from the bottom ends of both sides of the front end of the support base 1 to the top ends of both sides of the rear end. In the present invention, as Figure 2 and Figure 3As shown, a support base 200a with an arc-shaped surface is provided on the bottom outer wall of the arc support cylinder 200. A fixing perforation 200b is transversely provided between both sides of the support base 200a. The support base 200a is connected to the lower leg joints 12 above both sides of the support shell 1 through a support belt 200c passing through the fixing perforation 200b, so that the arc support cylinder 200 can perform up and down buffering movement on two parallel lower leg joints 12 through the support belt 200c.

[0028] The rear connecting rod 20 has a vertical rod portion 20a and an inclined rod portion 20b. A pair of vertical rod portions 20a are respectively vertically provided on the fixing support rods 10 fixed to both sides at the rear end of the support base 1. The lower leg joint 12 gradually extends downward from the top end of the inclined rod portion 20b to the rear side wall at the top end of the front connecting rod 30; An inclined rod portion 20b inclined toward the front end direction of the support base 1 is respectively provided at the top end of each vertical rod portion 20a. An intermediate beam 20c is transversely provided at the transition connection between the top ends of a pair of vertical rod portions 20a and the bottom ends of a pair of inclined rod portions 20b. A leg blocking belt 20d is respectively provided between a pair of inclined rod portions 20b above the intermediate beam 20c. The arc support cylinder 200 is inclined above the support shell 1 through the inclined lower leg joints 12 on the rear connecting rod 20 and the front connecting rod 30. When the arc support cylinder 200 and the front connecting rod 30 are interlocked with each other, the rear connecting rod 20 always remains fixed, and the rear connecting rod 20 and the front connecting rod 30 can operate independently of each other, thereby improving the stability of the rehabilitation process. In the present invention, during the training of the leg and ankle joints, the thigh is supported on the intermediate beam 20c and the leg blocking belt 20d, the sole of the lower leg is placed in the arc support cylinder 200, and when the sole is placed on the sole support training component 3 and the sole support training component 3 is pushed, the sole support training component 3 drives the sliding support shaft 11 to slide in the front-rear direction transversely provided in the support base 1 through the front connecting rod 30. The upper end of the front connecting rod 30 rotates around the front end of the lower leg joint 12, and the lower end of the front connecting rod 30 swings back and forth with the sliding support shaft 11, thereby completing the leg stretching training; wherein, the height of the vertical rod portion 20a and the inclined rod portion 20b can be set to a length adjustment state and have a multi-gear adjustment function, which is suitable for patients with different heights and leg lengths. The arc support cylinder 200 and the leg blocking belt 20d provide comfortable support for fitting the legs and avoid discomfort during long-term use.

[0029] In the present invention, as Figure 2 and Figure 3As shown, an airbag 200d is provided on the inner wall of the arc support cylinder 200. The airbag 200a can support the massage training process of the device. The airbag 200a is made of a soft and wear-resistant material, providing a comfortable use experience. The outside of the airbag 200d is tightly connected to the bracket by means of Velcro and maintains a stable position with two freely movable mechanical modules. By using an air pump to inflate or deflate, a gentle massage pressure is provided for the patient's calf, promoting blood circulation and preventing the formation of deep vein thrombosis.

[0030] In the present invention, Figure 1 and Figure 4As shown, the plantar support training component 3 includes a knee joint support frame 300, a first motor 301, a second motor 302, and a plantar support plate 303 disposed directly in front of the knee joint support frame 300 and capable of swinging back and forth. The rear side wall of the plantar support plate 303 is drivingly connected to the front side wall of the knee joint support frame 300. Pin shaft holes 300a are provided on both sides of the middle of the knee joint support frame 300. The two sides of the middle of the knee joint support frame 300 are rotatably connected between the top side walls of the front connecting rods 30 above both sides of the support base 1 through pin shafts passing through the pin shaft holes 300a. A first motor 303 drivingly connected to the pin shaft is provided on the outer side of the middle of the knee joint support frame 300. The output shaft of the second motor 302 extends upward and is drivingly connected to the plantar support plate 303; in the present invention, the models of the first motor 301 and the second motor 302 are RoboMaster M2006 P36 DC brushless reduction motors. This motor is not designed for three-phase permanent magnet DC brushless motors, ensuring high-speed rotation and powerful power output, while achieving a compact size and light weight. The reduction ratio of the RoboMaster M2006 P36 DC brushless reduction motor is 1:36, which can output extremely high torque and provide strong power support for the ankle-foot rehabilitation robot. Synchronously, by adopting a high reduction ratio, precise control of movement is achieved, making the actions of the robot more delicate and smooth. In addition, the output shaft of this motor adopts a D-shaped style with threaded holes, which not only facilitates docking with different devices but also enhances the stability and reliability of the connection. In addition to excellent performance and unique design, the RoboMaster M2006P36 DC brushless reduction motor also has the characteristics of high reliability and long service life. The high-efficiency performance of the training device significantly reduces energy consumption, thus helping users save energy expenses. Moreover, the motor has a small volume, reliable operation, and a long service life.In the present invention, a sole upper support rod 304 and a sole lower support rod 305 are respectively arranged on the two downward sides of the sole support plate 303. The two side walls at the upper end of the knee joint support frame 300 are respectively connected to the front side walls at both ends of the sole upper support rod 304 through sole upper support tubes 306. The two side walls at the lower end of the knee joint support frame 300 are respectively connected to the front side walls at both ends of the sole lower support rod 305 through sole lower support tubes 307. The output shaft of the second motor 302 extends upward through the sole lower support rod 305 and is in transmission connection with the lower end of the sole support plate 303. The upper end of the sole support plate 303 is rotatably connected to the middle part of the sole upper support rod 304; in the middle of the top end of the sole upper support rod 304, a fixed support block 308 extending along the direction of the knee joint support frame 300 is arranged. A rotating support shaft 309 is arranged on the lower surface of the fixed support block 308. The upper end of the sole support plate 303 is rotatably connected to the fixed support block 308 through the rotating support shaft 309; on the surface of the sole support plate 303, a heating support pad 310 is arranged, which can maintain the warmth of the foot in a cold environment, promote blood circulation, and accelerate the rehabilitation process; at the same time, the user can select insoles with different thicknesses and softness according to the foot shape to increase the height of the heating support pad and improve the comfort of the patient during the training process.

[0031] In the present invention, as Figures 1 to 4As shown, during leg and ankle joint training, after the patient lies down, the thigh is supported on the middle beam 20c and the leg belt 20d, the sole of the calf is placed in the arc support cylinder 200, and the sole support plate 303 is used to fix and support the sole of the foot and perform ankle training. The knee joint support frame 300 is a circular ring, the upper sole support rod 304 is a downward curved arc rod, and the surface of the lower sole support rod 305 is an arc-shaped concave shape, and the upper end of the sole support plate 303 is tilted toward the rear end; when the sole of the foot is placed on the sole support plate 303 and the sole support plate 303 is pushed, the sole support plate 303 is The front connecting rod 30 drives the sliding support shaft 11 to be laterally arranged in the support base 1 and slide along the front and rear directions through the upper support tube 306 on the sole, the knee joint support frame 300 and the lower support tube 307 on the sole. The upper end of the front connecting rod 30 rotates around the front end of the calf joint 12, and the lower end of the front connecting rod 30 swings back and forth with the sliding support shaft 11, thereby completing the leg extension training; at the same time, the first motor 301 is arranged on the middle side of the knee joint support frame 300, and when the output shaft of the first motor 301 rotates, it drives the knee joint support frame 300 to support both sides of the base 1 The top of the front connecting rod 30 is taken as the center, and the top of the front connecting rod 30 is rotated back and forth in the front and rear directions (reciprocating flipping), so that the entire plantar support training component 3 is flipped back and forth along the front and rear directions. The second motor 302 is fixed to the middle of the bottom end of the under-plantar support rod 305 and the output shaft is transmission-connected to the middle of the lower end of the plantar support plate 303. When the output shaft of the second motor 302 rotates, it drives the plantar support plate 303 to rotate back and forth between the upper plantar support rod 304 and the under-plantar support rod 305 and along the left and right sides with the rotating support shaft 309 as the center, so that the foot The bottom support training component 3 can perform limited angle or semicircular reciprocating motion in a specific direction under the drive of the first motor 301 and the second motor 302. The user can adjust the angle of inversion and inversion by controlling the rotation angle of the motor. In this way, it can be adjusted according to the needs of the rehabilitation doctor or the user to achieve the inversion and adduction and abduction movements of the ankle joint training device, and meet the multi-directional training and treatment needs of the patient's ankle joint inversion and eversion; when the patient tries to actively plantar flex, the device will provide appropriate auxiliary force according to the patient's movement direction, so that the patient can complete the movement more easily. This function can enhance the patient's sense of participation and promote the recovery of autonomous function.

[0032] In the embodiment of the present invention, the upper support tube 306 and the lower support tube 307 are retractable support tubes. Figure 5As shown, an upper sliding adjustment rod 306a is sleeved inside the front end of the sole upper support tube 306. The front end of the sole upper support tube 306 is connected to the front side walls at both ends of the sole upper support rod 304 through the upper sliding adjustment rod 306a. A lower sliding adjustment rod 307a is sleeved inside the front end of the sole lower support tube 307. The front end of the sole lower support tube 307 is connected to the front side walls at both ends of the sole lower support rod 305 through the lower sliding adjustment rod 307a. After adjusting the lengths of the sole upper support tube 306 and the sole lower support tube 307, the sole support plate 303 is made to approach or move away from the knee joint support frame 300; thereby adjusting the moving distance of the sole support plate 303 to adapt to the training of patients of different heights. The present invention can accurately simulate the natural movement path of the ankle joint, including dorsiflexion and plantar flexion movements, inversion and eversion movements, and adduction and abduction movements; in the present invention, a flexible connection band 303a for binding the instep can be provided between both sides of the sole support plate 303, and specifically, it can be connected between both sides of the sole support plate 303 by using a nylon fastener, which can be adjusted according to the different sizes of the patient's legs to ensure the fixation and comfort of the leg during movement.

[0033] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom ankle joint training device, characterized in that: The ankle joint training device comprises a support base (1), a calf support assembly (2) and a plantar support training assembly (3) arranged above the support shell (1) and used to support the ankle joint to swing back and forth along the support base (1); a fixed support rod (10) is arranged on the periphery of the support base (1); a sliding support shaft (11) is arranged between the two sides of the support base (1) and slides back and forth along the front and rear ends of the support base; a support rod assembly (4) is arranged above the support base (1) and between the two ends of the sliding support shaft (11) and the fixed support rods (10) on both sides of the rear end of the support base (1) and swings with the sliding support shaft (11); the calf support assembly (2) and the plantar support training assembly (3) are swingably arranged between the rear end of the support shell (1) and above the sliding support shaft (11) through the support rod assembly (4).

2. A multi-degree-of-freedom ankle joint training device according to claim 1, characterized in that: The calf support assembly (2) comprises an arc support tube (200) for supporting and covering the calf, the support rod assembly (4) comprises a calf joint (12), a pair of rear connecting rods (20) symmetrically arranged on the fixed support rods (10) on both sides of the rear end of the support base (1), and a front connecting rod (30) arranged on both sides of the middle part of the support base (1) and located at the two end portions of the sliding support shaft (11), the two ends of the sliding support shaft (11) are respectively connected to the lower end of the front connecting rod (30), the top ends of the pair of rear connecting rods (20) are rotatably connected to the upper end of the front connecting rod (30) through the calf joint (12), the two sides of the plantar support training assembly (3) are rotatably connected between the top ends of the front connecting rod (30) above the two sides of the support base (1), and the arc support tube (200) is fixed on the calf joint (12) along the extension direction of the calf joint (12).

3. A multi-degree-of-freedom ankle joint training device according to claim 2, characterized in that: The plantar support training component (3) comprises a knee joint support frame (300), a first motor (301), a second motor (302) and a plantar support plate (303) arranged in front of the knee joint support frame (300) and capable of swinging forward and backward. The rear side wall of the plantar support plate (303) is transmission-connected to the front side wall of the knee joint support frame (300). Pin shaft holes (300a) are arranged on both sides of the middle part of the knee joint support frame (300). The two sides of the middle part of the knee joint support frame (300) are rotationally connected to the top side walls of the front connecting rod (30) above both sides of the support base (1) through pin shafts penetrating through the pin shaft holes (300a). The first motor (303) transmission-connected to the pin shaft is arranged on the outer side of the middle part of the knee joint support frame (300). The output shaft of the second motor (302) extends upward and is transmission-connected to the plantar support plate (303).

4. A multi-degree-of-freedom ankle joint training device according to claim 2, characterized in that: An upper plantar support rod (304) and a lower plantar support rod (305) are respectively arranged on the two downward sides of the plantar support plate (303); the side walls on both sides of the upper end of the knee joint support frame (300) are connected to the front side walls at both ends of the upper plantar support rod (304) through upper plantar support tubes (306); the side walls on both sides of the lower end of the knee joint support frame (300) are connected to the front side walls at both ends of the lower plantar support rod (305) through lower plantar support tubes (307); the output shaft of the second motor (302) extends upward through the lower plantar support rod (305) and is transmission-connected to the lower end of the plantar support plate (303); the upper end of the plantar support plate (303) is rotatably connected to the middle part of the upper plantar support rod (304).

5. A multi-degree-of-freedom ankle joint training device according to claim 4, characterized in that: A fixed support block (308) extending in the direction of the knee joint support frame (300) is arranged at the middle of the top end of the sole support rod (304), and a rotating support shaft (309) is arranged on the lower surface of the fixed support block (308). The upper end of the sole support plate (303) is rotatably connected to the fixed support block (308) via the rotating support shaft (309).

6. A multi-degree-of-freedom ankle joint training device according to claim 5, characterized in that: A heating support pad (310) is provided on the surface of the sole support plate (303).

7. The multi-degree-of-freedom ankle joint training device according to claim 2, characterized in that: A support base (200a) having an arc-shaped surface is arranged on the bottom outer wall of the arc support tube (200), and a fixing through hole (200b) is arranged transversely between the two sides of the support base (200a). The support base (200a) is connected to the calf joints (12) above the two sides of the support shell (1) via a support belt (200c) passing through the fixing through hole (200b).

8. A multi-degree-of-freedom ankle joint training device according to claim 2 or 7, characterized in that: An air bag (200d) is arranged on the inner wall of the arc support tube (200).

9. A multi-degree-of-freedom ankle joint training device according to claim 2 or 7, characterized in that: A sliding channel (110) is provided between the two sides of the support base (1) and extends from the front end of the support base (1) to the rear end and is used for the sliding support shaft (11) to slide. The sliding channel (110) extends obliquely from the bottom ends on both sides of the front end of the support base (1) to the top ends on both sides of the rear end.

10. The multi-degree-of-freedom ankle joint training device according to claim 7, characterized in that: The rear connecting rod (20) comprises a vertical rod portion (20a) and an inclined rod portion (20b), and a pair of vertical rod portions (20a) are respectively arranged vertically on the fixed supporting rods (10) on both sides of the rear end of the supporting base (1), and the calf joint (12) gradually extends downward from the top of the inclined rod portion (20b) to the rear side wall of the top of the front connecting rod (30); an inclined rod portion (20b) inclined toward the front end of the supporting base (1) is respectively arranged at the top of each vertical rod portion (20a), and an intermediate beam (20c) is transversely arranged at the transition connection between the top of the pair of vertical rod portions (20a) and the bottom of the pair of inclined rod portions (20b), and a leg guard belt (20d) is respectively arranged between the pair of inclined rod portions (20b) above the intermediate beam (20c).

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