Ankle-toe joint dorsal extension and plantar flexion training device

Abstract

An ankle joint dorsal stretching and plantar flexion training device comprises a base (100) and a leg support (200) above the base, and a foot support (230) is rotatably connected to the tail end of the leg support (200) through a foot supporting plate (232) of the foot support and supported on the base; a supporting plate (410) is arranged outside the foot supporting plate (232), the lower end of the supporting plate (410) is hinged to the heel portion of the foot supporting plate (232), and an elastic component (420) capable of being compressed and rebounded is arranged between the upper end of the supporting plate and the front sole of the foot supporting plate (232). And during use, the limitation of the back extension angle can be kept or released. The ankle joint dorsal extension and plantar flexion training device is large in foot freedom degree, more comfortable, more beneficial to ankle joint exercise, capable of conducting anti-spasm training and capable of integrating passive or power-assisted or active modes and the like as soon as possible when a patient is in a lying position, and early rehabilitation of the patient is effectively promoted.

Description

Technical Field

[0001] The utility model relates to a medical device, in particular to an ankle-toe joint dorsiflexion and plantar flexion training device. Background Art

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. However, China, like many other countries in the world, faces the same challenges as a rapidly aging society. Many elderly people suffer from neurological and cerebrovascular diseases, and the incidence of these conditions is increasing annually. Among stroke patients, approximately 70% to 80% experience varying degrees of lower limb motor impairment.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robotics has enabled patients with lower limb movement disorders to undergo scientific and effective rehabilitation training through weight reduction and repeated training of a standardized normal physiological gait, ultimately restoring their ability to walk. However, clinical practice has shown that this training model is less effective for patients with muscle strength below level 3 or for restoring limb function in patients with Parkinson's disease. Exoskeleton systems, based on bionic principles and with structures close to anatomy, can organically integrate robotic technology with rehabilitation therapy, assisting patients with specific joint training and improving physical function. However, only 55% of patients who undergo rehabilitation therapy regain the ability to walk.

[0004] Patients with neurological or cerebrovascular diseases often suffer from hip fractures due to abnormal gait, making it difficult to recover lower limb motor function. Hip fractures are also the most common lower limb fractures in the elderly. To improve patients' walking ability, surgery is the main method for treating elderly hip fractures, but only 40% to 60% of patients' functional activity recovers to pre-fracture levels after surgery. There are no reports on the use of robotic lower limb rehabilitation training in patients after internal fixation of hip fractures.

[0005] To better help patients with lower limb dysfunction recover their pre-standing strength, achieve the feasibility of lower limb walking training, and ultimately promote the recovery of lower limb walking function, literature reports suggest that experts have designed two-degree-of-freedom and three-combination-degree-of-freedom lower limb rehabilitation robots to address these issues. This training model involves core muscle group training in a recumbent position. While this training approach can promote safe and early lower limb rehabilitation, it still has drawbacks. Training with two-degree-of-freedom lower limb rehabilitation robots is essentially a passive hip and knee training model that fails to consider the ankle joint's inherent range of motion and training status. Foot training plays a crucial role in lower limb functional rehabilitation. While three-degree-of-freedom lower limb rehabilitation robots are designed to accommodate rehabilitation exercises for the thigh, calf, and ankle joints, their drive system utilizes only hydraulics and lacks resistance training, making it difficult to restore lower limb strength.

[0006] In order to develop a lower limb rehabilitation training device that can be used for patients with lower limb dysfunction caused by nervous system damage or hip fracture, or patients with both stroke and hip fracture, to perform multi-joint, multi-activity, anti-spasm, and resistance training for the lower limbs, the applicant, whose application number is CN202210340685.9 and whose invention name is "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine," has also designed an intelligent multifunctional lower limb rehabilitation training all-in-one machine. However, during further research and development, it was discovered that the all-in-one machine had the following defects:

[0007] 1) Training can only be performed under power. In clinical applications, it is found that passive training mode can only be used for a short time, and active training mode is the best way to promote patients to better restore limb function and physical and mental health.

[0008] 2) During internal and external rotation training of the hip and knee joints, the range of motion is small and the degree of freedom is insufficient. During internal and external rotation training, the ankle cannot plantar flex and can only passively perform internal and external rotation under dorsiflexion, which prevents the muscles from moving in a free and relaxed state. Therefore, it is easy to damage the muscles and ligaments, and there is a possibility of causing tension in the ankle muscles.

[0009] 3) The angle of the foot is fixed, and it is not possible to relax the lower limbs by relaxing the foot with the help of the device, nor can the device be used for anti-spasmodic operations.

[0010] 4) The feet do not have enough freedom to perform simulated gait training in a supine position. Utility Model Content

[0011] The technical problem to be solved by this application is to provide an ankle and toe joint dorsiflexion and plantar flexion training device that has a large degree of foot freedom, is more comfortable, is more beneficial to ankle and toe joint training, can perform anti-spasm training, and can perform passive, assisted or active exercises as early as possible in the supine position, thereby effectively promoting the early recovery of patients.

[0012] In order to solve the above technical problems, the utility model provides an ankle-toe joint dorsiextension and plantar flexion training device, comprising a base, a leg support above the base, and a foot support rotatably connected to the end of the leg support through its foot support plate and supported on the base; it is characterized in that a support plate is provided outside the foot support plate, the lower end of the support plate is hinged to the heel of the foot support plate, and a compressible and rebound elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate.

[0013] The connecting piece of the heel of the foot support plate and the leg support is rotatably connected through a foot hinge shaft; in the initial state, the connection between the two is limited to a state where the foot support plate is dorsiflexed at -5°; this dorsiflexion angle limit can be maintained or loosened during use.

[0014] A accommodating hole is provided in the foot hinge axis, and a pressing column in the form of a pressing pen is provided on the connecting piece which can slide inward and outward. The pressing column can extend into or out of the accommodating hole, thereby achieving the limitation and unlocking of the dorsiflexion of the foot support plate by -5°.

[0015] An encapsulation shell is used between the foot support plate and the support plate to encapsulate the elastic component.

[0016] The elastic component is a spring or a hydraulic rod.

[0017] On both sides of the end of the base, outside the support plate, a vertical connecting plate is extended horizontally, and the front of each corresponding support frame is connected to the outer side of the vertical connecting plate for rotation forward and backward; a circular arc track is fixedly extended forward from the outer edge of each vertical connecting plate, the track groove is facing upward, and a return spring is built into the lowest point; a rigid vertical sliding rod is extended vertically forward from both sides of the support frame, and the outer end of each vertical sliding rod is limited to slide in the circular arc track on the same side; the tops of the two support frames are connected and are detachably connected to the support plate;

[0018] One end of a pull rope is connected to the outer side of the bottom of the support frame or the same position on the top where the two support frames are connected. The other end of the pull rope extends along the base and is finally detachably connected to a positioning position or a hanging ring on the side of the base.

[0019] The rear of each vertical connecting plate is connected to a hydraulic rod connecting seat, from which a hydraulic rod extends and is connected to the supporting frame.

[0020] The circular track is a quarter of a circle.

[0021] The support frame includes a triangular bracket; each triangular bracket is composed of a main support rod, a support rod and a bottom connecting rod; the main support rod is located on the inner side, close to the vertical connecting plate, and is rotatably connected to the vertical connecting plate through a rotating shaft; the upper end of the support rod is sleeved on the outside of the main support rod to allow it to extend and retract; the bottom connecting rod is fixedly connected between the bottom of the main support rod and the support rod.

[0022] On the outside of each vertical connecting plate, a support frame shell is used to protect the arc track, vertical sliding rod and the lower part of the main support rod; the top and bottom ends of the support frame shell are respectively provided with narrow openings for the main support rod to swing back and forth; the support rod and the bottom connecting rod are located outside the support frame shell.

[0023] The pull rope passes through a narrow opening at the bottom end of the support frame shell and is connected to the main support rod.

[0024] The heel area of ​​the foot support plate is provided with a pressure sensor, and the pressure sensor is electrically connected to a pressure display screen, and the pressure display screen is exposed on the side of the foot support plate.

[0025] It also includes a control panel, which has a built-in power supply or can be connected to a power supply and is provided with a control display screen and control buttons; the two foot hinge shafts are respectively equipped with motors for automatic dorsiextension and plantar flexion training, and the two motors are synchronously controlled by the control panel.

[0026] The main body of the foot support plate is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad and is provided with a detachable instep strap. The heel is connected to a heel support with a memory foam pad; the foot memory foam pad is also equipped with a replaceable openable and closable pressure plate.

[0027] Compared with the prior art, the beneficial effects of the present invention are mainly:

[0028] 1. The utility model adopts an elastic component to support the forefoot of the foot support plate of the foot bracket, and the heel can be rotatably connected. The foot will not be fixed at a certain angle, but can change the angle and rebound as you step on it. This increases the freedom of the foot, allowing free dorsiflexion and plantar flexion, and the ankle joint is more relaxed, which not only avoids sports injuries but also greatly improves the training effect. When conducting rehabilitation training for the lower limbs, with the participation of this device, the ankle pump training mode for preventing deep vein thrombosis of the lower limbs can be better carried out.

[0029] The structure's rebound assist also allows for easy lower limb muscle relaxation. This method implements Traditional Chinese Medicine's "Li Wu Jing" relaxation training, providing patients with a comfortable experience and lower limb muscle relaxation. This method, also a meridian-regulating therapy, can unclog the meridians and promote blood circulation, further effectively preventing deep vein thrombosis in the lower extremities. In clinical practice, it has been found that assisting patients with lower limb overall exercise while recumbent can promote rapid recovery of muscle strength and tone through manual manipulation.

[0030] 2. The device of the present invention facilitates anti-spasm treatment because the foot bracket is hinged to the support plate. In particular, in the further optimized technical solution, a design of -5° dorsiflexion of the foot is adopted in the initial state. Staying at this angle for a certain period of time can relieve foot spasms for patients, and the unlocking of the initial state is very convenient.

[0031] 3. It adopts a combination of rigidity and flexibility. The support frame can be tilted forward by pulling the rope by hand, and the support frame can rebound after releasing the tension, realizing the manual assistance of plantar flexion and dorsiextension exercise process, allowing patients to use their healthy limbs to actively assist the affected limb in training, greatly improving the training effect and shortening the recovery time.

[0032] 4. After knee surgery, many elderly people have poor compliance with independent ankle pump training. The motor of this device can be used for passive training instead of active training. Rehabilitation training can be started as early as possible, which can also prevent deep vein thrombosis in the lower limbs.

[0033] 5. The device of this utility model is based on the applicant's successful experience in various manual treatments and integrates multiple functional training modes into one device. This device is also small and easy to carry, making it very convenient for medical staff, caregivers, and patients themselves to operate. It also has an ingenious and simple structure and low cost.

[0034] 6. The ankle-toe joint dorsiflexion and plantar flexion training device of the present invention can be an independent device specifically for this training, or it can be integrated into a multifunctional lower limb rehabilitation training device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a three-dimensional schematic diagram of the ankle-toe joint dorsiextension and plantar flexion training device of the present invention.

[0036] Figure 2 It is a front sectional view of the ankle-toe joint dorsiextension and plantar flexion training device of the present invention.

[0037] Figure 3 The utility model is a partial cross-sectional schematic diagram of the connection between the foot support and the leg support of the ankle and toe joint dorsiflexion and plantar flexion training device.

[0038] Figure 4 The utility model is a structural schematic diagram showing that a second motor for plantar flexion and dorsiflexion is installed at the foot support plate.

[0039] Figure 5 The utility model is a three-dimensional schematic diagram of the ankle-toe joint dorsiextension and plantar flexion training device integrated into a multifunctional lower limb rehabilitation training device. DETAILED DESCRIPTION

[0040] The technical solutions of the preferred embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0041] like Figure 1-4As shown, the present invention is a rigid-flexible fusion ankle-toe joint dorsiflexion and plantar flexion training device, which has a base 100 and a leg support 200. The most basic structure includes: a foot support 230 is rotatably connected to the end of the leg support 200 through its foot support plate 232 and supported on the base; a support plate 410 is provided outside the foot support plate 232, the lower end of the support plate 410 is hinged to the heel of the foot support plate 232, and a compressible and resilient elastic component 420 is provided between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod. In this embodiment, 9 hydraulic rods are preferably used in a circular distribution. An encapsulation shell 421 is used between the foot support plate 232 and the support plate 410 to encapsulate the elastic component 420. In its initial, natural position, the hydraulic rod is stretched. The elastic component at the bottom of the footrest allows the foot to move freely and comfortably after being placed in the footrest, allowing for dynamic and comfortable adjustment based on the desired range of motion of the ankle joint. Repeatedly moving the footrest and releasing the footrest compresses and releases the elastic component, allowing for ankle dorsiflexion and plantar flexion training. The restoring force of the elastic component makes training easier.

[0042] The heel of the foot support plate 232 is rotatably connected to the calf support connecting rod 223 of the calf support 220 via a foot hinge shaft 430. In the initial state, the connection between the two is limited to a state where the foot support plate is in a -5° dorsiflexion position. This dorsiflexion angle limit can be maintained or loosened during use, and a pen-like pressing structure is used to achieve the releasable function. A accommodating hole is provided in the foot hinge shaft 430, and a pen-like pressing column 440 is provided on the connecting member 223 so as to slide inward and outward. When the pressing column 440 is pressed, it passes through the calf support connecting rod 223 and extends into the foot hinge shaft 430, locking the two together, forming the initial state where the foot support plate is in a -5° dorsiflexion position. When the pressing column 440 is pressed again, it will rebound and escape from the foot hinge shaft 430, remaining only in the calf support connecting rod 223, thereby loosening the foot support plate in a -5° dorsiflexion position. Fixing the foot support plate in a -5° dorsiflexion position can prevent spasms. When the patient has lower limb contracture or lower limb spasticity, the foot support plate can be fixed at -5° dorsiflexion (to adjust this degree, ensure that there is no fracture or soft tissue injury in the ankle joint).

[0043] The main body of the foot support plate 232 is a foot-shaped hollow metal plate covered with a memory foam pad 2327, equipped with a detachable instep strap 2328, and a heel support 2329 with a memory foam pad connected to the heel. It is also equipped with an openable pressure plate 23271 to facilitate the installation and replacement of the memory foam pad 2327. The heel area of ​​the foot support plate 232 is equipped with a pressure sensor 233, which can be placed below the memory foam pad 2327. The pressure sensor is electrically connected to a pressure display 234, which is exposed on the side of the foot support plate.

[0044] For those who are unable to actively perform dorsiflexion and plantar flexion training, the present invention has motors 720 built into the two hinge shafts 430 connected to the connecting rod 223 of the leg support at the heel of the foot support plate 232. Figure 4 The two motors are synchronously controlled to rotate forward and reverse on a control panel to perform passive dorsiflexion and plantar flexion training. The control panel has a built-in power supply or can be connected to a power supply and has a control display and control buttons.

[0045] The device of the present invention can also be provided with a structure for manually assisting dorsiflexion and plantar flexion training. A support frame 510 is provided on each side of the support plate 232. The tops of the two support frames are connected and detachably connected to the support plate 410. Figure 2 As shown. As a preferred embodiment of this embodiment, a triangular support frame can be used, for example: the support frame 510 includes triangular supports on both sides; each triangular support frame is composed of a main support rod 550, a support rod 560 and a bottom connecting rod 570; the main support rod 550 is located on the inner side, close to the vertical connecting plate 130, and is rotatably connected to the vertical connecting plate 130 through a rotating shaft 580; the upper end of the support rod 560 is sleeved outside the main support rod 540; the bottom connecting rod 560 is fixedly connected between the bottom of the main support rod 550 and the support rod 560; the top end of the main support rod 550 is connected in an arc shape to form a bow-shaped support frame, which is detachably connected to the support plate 410 at the top end of the bow-shaped support frame. When the main support rod is set as a telescopic rod, it can be extended and retracted up and down on the triangular support, and is used for calf raising exercises.

[0046] In order to allow the support frame to fall forward and return to its original position under manual assistance, the preferred structure is:

[0047] On both sides of the end of the base, near the support frame 510, a vertical connecting plate 130 extends horizontally, and the inner side of the support frame 510 is connected to the outer side of the vertical connecting plate 130 in a rotatable manner forward and backward, specifically through a rotating shaft 580; a circular arc track 131 is fixedly extended forward from the outer edge of each vertical connecting plate 130, preferably a quarter arc, with the track groove facing upward, and a return spring (not shown in the figure) is built into its lowest point; a rigid vertical sliding rod 540 is extended vertically forward from the telescopic rod 550 on both sides of the support frame 510, and the outer end of each vertical sliding rod is limited to slide in the circular arc track 131 at the corresponding position; in order to hold the support frame more firmly and restore the support frame to a vertical state more forcefully, a hydraulic rod connecting seat 132 is connected to the back of each vertical connecting plate 130, and a hydraulic rod 133 extends from it and is connected to the main support rod 550 of the support frame 510. In the initial state without external force, the support frame is upright, the outer end of the vertical slide bar 540 is at the top of the circular track 131, and the spring is in a free state; when the user's foot is actively or passively or assisted in plantar flexion training, the foot support plate 232 and the support plate 410 are pressed toward the support frame 510, the telescopic rod 550 and the support frame 510 fall forward, and the outer end of the vertical slide bar 540 slides down in the circular track 131, squeezing the reset spring; when the plantar flexion force is withdrawn, the restoring force of the reset spring and the hydraulic rod pushes the outer end of the vertical slide bar 540 upward to upright the support frame 510 again.

[0048] like Figure 1-3 As shown, on the outside of each vertical connecting plate 130, a support frame shell 501 is used to protect the lower part of the arc track 131, the vertical sliding rod 540 and the main support rod 550; the top and bottom ends of the support frame shell 501 are respectively provided with narrow openings for the main support rod 550 to swing back and forth; the support rod 560 and the bottom connecting rod 570 are located outside the support frame shell 501.

[0049] In order to assist in plantar flexion and dorsiextension training, it is necessary to autonomously control the tilting of the support frame. This can be done by simply connecting pull ropes on both sides of the bottom of the support frame, extending to a position where the two ends of the base can be pulled by hand. When pulled, the support frame can tilt forward, and the tension is released, and the support frame returns to an upright position. A pair of internal and external rotation training pull ropes 530 are respectively inserted upward from the narrow openings at the bottom of the support frame shell 501 on both sides, and can be directly connected to the bottom of the main support rod. In this way, when both hands pull the pull ropes 530 at the same time, the support frame will tilt forward. When the tension is released, the support frame will rebound under the action of the return force of the hydraulic rod 133 and the return spring of the arc track 131, thereby realizing the pull rope-controlled assisted plantar flexion and dorsiextension training.

[0050] Taking the left lower limb as an example, the working process of the ankle-toe joint dorsiflexion and plantar flexion training device of the present invention is as follows:

[0051] The patient lies supine, and the training device is placed parallel to the patient's affected limb. The affected limb is placed in the leg and foot supports of the device, and the device is adjusted according to the size and length of the affected limb.

[0052] When the patient has lower limb contracture or lower limb spasticity, the foot support plate of the ankle joint training device can be fixed at -5° dorsiflexion (to adjust this degree, ensure that there is no ankle fracture or soft tissue injury) to relieve lower limb spasticity;

[0053] During passive training, operate the control panel to activate the corresponding motor 720, and passively perform dorsiflexion and plantar flexion training on the left lower limb ankle as the footrest rotates in dorsiflexion and plantar flexion. This method is suitable for passive exercise when there is no assistance, and for patients undergoing passive training 6 hours after lower limb surgery or 24 hours after stabilization of a stroke or paraplegia.

[0054] When performing assisted training, the motor is stopped and the training is performed manually and autonomously. At this time, the patient can step down on the foot support plate with the healthy right foot to plantar flex the left ankle joint. After the healthy right foot releases the foot support plate, the elastic component 234 at the sole of the foot support plate, the return spring of the support frame, and the rebound force of the hydraulic rod 133 promote the dorsiflexion training of the left ankle joint. If both lower limbs are unable to step on the foot support plate, the support frame can be tilted forward by pulling the pull rope 530 with both hands. When the pulling force is released, the support frame will rebound under the action of the return force of the hydraulic rod 133 and the return spring of the arc track 131, thereby achieving assisted plantar flexion and dorsiflexion training controlled by the pull rope.

[0055] Active training is the most recommended training program for rehabilitation training. During active training, the elastic component 234 of the foot support plate, the return spring of the support frame, and the rebound force of the hydraulic rod 133 keep the left ankle joint in a dorsiflexed state. At this time, only a small amount of force is required from the toes to press on the foot support plate to achieve plantar flexion training of the ankle and toe joints. When the toes are relaxed and no force is applied, the rebound effect promotes dorsiflexion training of the ankle and toe joints.

[0056] Lower limb relaxation training: keep the left lower limb in an extended position and place the foot in a free position; continue to keep the left lower limb in an extended position, with the foot support plate in plantar flexion. The two support frames are connected at the top and detachably connected to the support plate 410. The toes of the left foot step downward on the foot support plate quickly and forcefully at a radius of 5-10° for 1-2 minutes (20-30 times / minute back and forth). Through the rebound force, the ankle joint is subjected to rapid dorsiflexion and plantar flexion movement, which can drive the rapid vibration of the front and back muscle groups of the entire lower limb. Through the support frame, the left foot is quickly swung 5-10° to the left and outward for 1-2 minutes (20-30 times / minute back and forth) to achieve rapid vibration of the internal and external muscle groups of the left lower limb. These two actions realize the lower limb relaxation treatment of traditional Chinese medicine.

[0057] The ankle-toe joint dorsiflexion and plantar flexion training device of the present invention can be an independent device specifically for the above training, or it can be integrated into a multifunctional lower limb rehabilitation training device as the ankle-toe joint dorsiflexion and plantar flexion training mechanism. Figure 5 The leg support 200 is composed of a thigh support 210 and a calf support 220, and the connecting member 223 is a connecting rod of the calf support.

Claims

1. An ankle-toe joint dorsiflexion and plantar flexion training device, comprising a base (100), a leg support (200) above the base, a foot support (230) rotatably connected to the end of the leg support (200) through its foot support plate (232) and supported on the base; characterized in that: A support plate (410) is provided outside the foot support plate (232), the lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and a compressible and rebound elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232).

2. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 1, characterized in that: The heel of the foot support plate (232) is rotatably connected to the connector (223) of the leg support (200) via a foot hinge shaft (430); in an initial state, the connection between the two is limited to a state where the foot support plate is extended at -5°; this extension angle limit can be maintained or loosened during use.

3. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 2, characterized in that: A receiving hole is provided in the foot hinge shaft (430), and a pen-like pressing column (440) is provided on the connecting member (223) so as to slide inward and outward. The pressing column (440) can be extended into or out of the receiving hole, thereby achieving the limitation and unlocking of the dorsiflexion of the foot support plate at -5°.

4. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 1, characterized in that: An encapsulation shell (421) is used between the foot support plate (232) and the support plate (410) to encapsulate the elastic component (420).

5. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 1, characterized in that: The elastic component (420) is a spring or a hydraulic rod.

6. The ankle-toe joint dorsiflexion and plantar flexion training device according to any one of claims 1 to 5, characterized in that: On both sides of the end of the base, outside the support plate (410), a vertical connecting plate (130) is extended horizontally, and the inner side of each corresponding support frame (510) is connected to the outer side of the vertical connecting plate (130) in a forward and backward rotation manner; from the outer edge of each vertical connecting plate (130), a circular arc track (131) is fixedly extended forward, with the track groove facing upward, and a return spring is built into the lowest point; from both sides of the support frame (510), a rigid vertical sliding rod (540) is extended vertically forward, and the outer end of each vertical sliding rod is limited to slide in the circular arc track (131) on the same side; the tops of the two support frames are connected and are detachably connected to the support plate (410); One end of a pull rope (530) is connected to the outer side of the bottom of the support frame, and the other end of the pull rope (530) extends along the base and is finally detachably connected to a positioning position or a hanging ring on the side of the base.

7. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 6, characterized in that: A hydraulic rod connection seat (132) is connected to the rear of each vertical connection plate (130), and a hydraulic rod (133) extends from the hydraulic rod connection seat and is connected to the support frame (510).

8. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 6, characterized in that: The circular arc track (131) is a quarter circular arc.

9. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 6, characterized in that: The support frame (510) includes a triangular support; each triangular support is composed of a main support rod (550), a support rod (560) and a bottom connecting rod (570); the main support rod (550) is located on the inner side, close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is sleeved outside the main support rod (540) to allow it to extend and retract; the bottom connecting rod (560) is fixedly connected between the bottom of the main support rod (550) and the support rod (560).

10. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 9, characterized in that: On the outside of each vertical connecting plate (130), a support frame shell (501) is used to protect the arc track (131), the vertical sliding rod (540) and the lower part of the main support rod (550); the top and bottom ends of the support frame shell (501) are respectively provided with narrow openings for the main support rod (550) to swing back and forth; the support rod (560) and the bottom connecting rod (570) are located outside the support frame shell (501).

11. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 10, characterized in that: The pull rope (630) passes through the narrow opening at the bottom end of the support frame shell (501) and is connected to the main support rod (550).

12. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 1, characterized in that: The heel area of ​​the foot support plate (232) is provided with a pressure sensor (233), and the pressure sensor is electrically connected to a pressure display screen (234), and the pressure display screen is exposed on the side of the foot support plate.

13. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 2, characterized in that: The device further comprises a control panel (700), which has a built-in power supply or is connectable to a power supply and is provided with a control display screen and control buttons; the two foot hinge shafts (430) are respectively equipped with motors (720) for automatic dorsiflexion and plantar flexion training, and the two motors are synchronously controlled by the control panel (700).

14. The ankle-toe joint dorsiflexion and plantar flexion training device according to claim 1, characterized in that: The main body of the foot support plate (232) is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad (2327), provided with a detachable instep strap (2328), and a heel support (2329) with a memory foam pad connected to the heel; the foot memory foam pad (2327) is also equipped with a replaceable openable and closable pressure plate (23271).

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