Ankle joint rehabilitation training device

Abstract

The embodiment of the utility model provides an ankle joint rehabilitation training device, which comprises an equipment main body, an ankle joint rehabilitation training device and an ankle joint rehabilitation training device, the transmission mechanism is arranged on the equipment main body in a manner of swinging up and down; the training mechanism is arranged on the transmission mechanism and comprises a pair of swingable foot support assemblies and leg fixing assemblies corresponding to the positions of the foot support assemblies; the two opposite side faces, away from a preset position of the equipment body, of the transmission mechanism are each provided with one set of foot supporting assembly and one set of leg fixing assembly. Through the training mechanism, the double functions of single-foot training and double-foot synchronous training are achieved, the switching process of left and right training modes is simplified, and the overall comfort of equipment use is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of limb joint rehabilitation, and particularly relates to an ankle joint rehabilitation training mechanism. BACKGROUND

[0002] The ankle joint bears most of the weight of the human body and is one of the joints most prone to movement injury in daily activities. Diseases of the nervous system or skeletal muscle system such as stroke, sports injury, traffic accident, etc. can all cause ankle joint dysfunction. A large number of clinical studies and rehabilitation medicine theories show that through passive and active flexion and extension rehabilitation training of the ankle joint, the proprioception of the affected joint can be enhanced, the limb reflex can be enhanced, active movement can be induced, muscle atrophy can be prevented, and joint mobility can be improved; the reorganization of the nervous system and motor relearning can also be promoted, and the lost function of the ankle joint can gradually recover.

[0003] In the related art, an ankle joint rehabilitation training device is disclosed in an application No. CN113813566 B, in which two power output parts are symmetrically arranged, so that bilateral output of power can be achieved, thereby enabling passive and active flexion training of the left or right ankle joint. However, the rehabilitation training device in the related art has the problem that the left and right limb training is inconvenient to switch, which requires adjustment of the position of the display screen, the left and right positions of the device, and the left and right positions of the seat during the switching process, and has poor practicability, which affects the use experience of the patient. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present disclosure is to provide an ankle joint rehabilitation training mechanism to solve the problems in the related art.

[0005] The first aspect of the present disclosure provides an ankle joint rehabilitation training device, which comprises:

[0006] a device main body;

[0007] a transmission mechanism capable of swinging up and down on the device main body;

[0008] a training mechanism provided on the transmission mechanism, comprising a pair of swingable foot support assemblies and leg fixing assemblies corresponding to the positions of each foot support assembly; the transmission mechanism is provided with a set of foot support assemblies and leg fixing assemblies on the opposite sides of a predetermined position away from the device main body.

[0009] In the embodiments of the first aspect, the transmission mechanism comprises:

[0010] a rotating shell having opposite rotating and swinging ends, the rotating end being arranged close to the device main body;

[0011] A rotating assembly is arranged in the rotating housing and is connected in sequence from the rotating end to the swinging end with a driving motor, a speed reducer, a torque sensor and a reversing device; the reversing device is connected to a pair of the foot supporting assemblies and swings the pair of the foot supporting assemblies according to the driving force of the driving motor.

[0012] In an embodiment of the first aspect, the transmission mechanism further comprises a connecting seat arranged between the speed reducer and the reversing device, the connecting seat is hollow inside to form an installation space, the torque sensor is arranged in the installation space and is connected to the speed reducer and the reversing device respectively.

[0013] In an embodiment of the first aspect, the foot supporting assembly comprises one of the following:

[0014] 1) a foot plate and an adjustable buckle, two ends of the adjustable buckle are arranged to be fixed to opposite sides of the foot plate respectively;

[0015] 2) a foot plate, fixed side plates arranged on opposite sides of the foot plate respectively and an adjustable buckle, two ends of the adjustable buckle are arranged to be fixed to the fixed side plates on the two sides respectively;

[0016] 3) a foot plate, fixed side plates arranged on opposite sides of the foot plate respectively and at least two adjustable buckles, two ends of one of the adjustable buckles are arranged to be fixed to the fixed side plates on the two sides respectively, and two ends of the other adjustable buckle are arranged to be fixed to opposite sides of the foot plate respectively.

[0017] In an embodiment of the first aspect, the training mechanism further comprises a conversion piece; each of the leg fixing assemblies comprises:

[0018] a pair of leg pads and a leg binding belt for binding the leg to the leg pad, one end of each of the leg pads is hingedly connected to a position on the conversion piece.

[0019] In an embodiment of the first aspect, further comprising:

[0020] a leg adjusting mechanism fixedly connected to the leg fixing assemblies and connected to the transmission mechanism in a relative rotating manner to adjust the angle of the leg fixing assemblies.

[0021] In an embodiment of the first aspect, the transmission mechanism is provided with an arc-shaped toothed disc extending in the rotating direction of the leg adjusting mechanism; the leg adjusting mechanism comprises a mechanism housing and a locking assembly.

[0022] the mechanism housing comprises a containing space for containing the locking assembly and a pair of through holes formed in a pair of side walls and penetrating the containing space;

[0023] the locking assembly comprises:

[0024] a pin member telescopically arranged along a preset direction; a tooth end of the pin member is formed in the extension direction of the pin member for engaging with the arc-shaped tooth disc, and a pair of first rotating shaft portions are arranged on the side wall surface of the pin member opposite to each other and corresponding to the pair of through holes;

[0025] a pair of cams; each cam comprises a second rotating shaft portion rotatably coupled to the first rotating shaft portion; a protruding portion is arranged on the side edge of each cam; a contact portion is arranged along the rotating path of the cam for abutting with the protruding portion;

[0026] each cam further comprises a connecting portion penetrating through the through hole to the outside of the mechanism housing, and a gap is formed between the connecting portion and the through hole in the preset direction for the movement of the connecting portion;

[0027] wherein the rotating path of the cam comprises a locking position at which the contact portion abuts with the contact portion to allow the pin member to extend to the arc-shaped tooth disc for engagement;

[0028] a reset spring is sleeved on the pin member, and the two ends of the reset spring are respectively in abutment with the inner bottom wall of the mechanism housing and the connecting portion between the first rotating shaft portion and the second rotating shaft portion, and the reset spring is in a compressed state when the cam rotates to the locking position;

[0029] an operating member is fixedly connected with the pair of connecting portions outside the mechanism housing for receiving operation to drive the rotation of the pair of cams.

[0030] In an embodiment of the first aspect, a human-computer interaction mechanism is further included and arranged on the device body.

[0031] The human-computer interaction mechanism comprises an interaction module and an interaction support; the interaction module is arranged on the end of the interaction support away from the device body, and the interaction module and the interaction support are hingedly connected through a damping hinge to allow the interaction module to rotate relative to the interaction support.

[0032] In an embodiment of the first aspect, the device body further comprises a base and an electrical cabinet arranged on the base in sequence; the interaction support is arranged on the electrical cabinet, and one end of the transmission mechanism is hingedly connected with the electrical cabinet.

[0033] In an embodiment of the first aspect, a handrail is arranged on the side of the device body away from the transmission mechanism.

[0034] The ankle joint rehabilitation training device provided by the present disclosure has the advantages that the training mechanism in the present disclosure not only meets the dual functions of single-leg training and double-leg synchronous training, but also simplifies the switching process of left and right training modes, and improves the overall comfort of device use. The device of the present disclosure not only improves the rehabilitation effect, but also provides patients with a more convenient and comfortable training experience. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A structure schematic diagram of a first perspective view of an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0036] Figure 2 A structure schematic diagram of a front view of an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0037] Figure 3 A structure schematic diagram of a front side view of an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0038] Figure 4 A structure schematic diagram of a training mechanism connecting a leg adjusting mechanism in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0039] Figure 5 A structure schematic diagram of a foot supporting device in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0040] Figure 6 A structure schematic diagram of a leg fixing assembly in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0041] Figure 7 A structure schematic diagram of a transmission mechanism connecting the leg adjusting mechanism in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0042] Figure 8 A structure schematic diagram of the leg fixing assembly connecting the leg adjusting mechanism in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0043] Figure 9 A structure schematic diagram of the leg adjusting mechanism in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0044] Figure 10 A structure schematic diagram of the leg adjusting mechanism in an ankle joint rehabilitation training device in another embodiment of the present disclosure is shown.

[0045] Figure 11 A structure schematic diagram of a locking assembly in an ankle joint rehabilitation training device in an embodiment of the present disclosure is shown.

[0046] Figure 12 An exploded view of the transmission assembly in an ankle rehabilitation training device according to an embodiment of the present disclosure is shown.

[0047] Figure 13 A connection structure on the right side of the commutator in an ankle rehabilitation training device according to an embodiment of the present disclosure is shown.

[0048] Figure 14 A connection structure of the first angle on both sides of the commutator in an ankle rehabilitation training device according to an embodiment of the present disclosure is shown.

[0049] Figure 15 A connection structure of the second angle on both sides of the commutator in an ankle rehabilitation training device according to an embodiment of the present disclosure is shown.

[0050] Reference signs:

[0051] Device main body 1000; interaction module 1100; damping hinge 1120; interaction support 1200; foot pad 1300; handrail 1400; base 1500; electrical cabinet 1600;

[0052] Transmission mechanism 2000; transmission housing 2100; drive motor 2200; speed reducer 2300; torque sensor 2400; commutator 2500; transmission shaft 2510; pulley 2520; output shaft 2530; flange bearing 2540; rotating part 2550; left rotating part 2551; right rotating part 2552; dial 2560; fixed side plate 2570; arc-shaped tooth disc 2580; potentiometer 2590; potentiometer limiting part 2591; pulley 25100; connecting seat 2600;

[0053] Training mechanism 3000; foot support assembly 3100; foot pedal 3110; adjustable buckle 3120; heel support strip 3130; leg fixing assembly 3200; leg pad 3210; leg strap 3220; conversion part 3300;

[0054] Leg adjusting mechanism 4000; through hole 4100; mechanism housing 4200; locking assembly 4300; pin 4310; cam 4320; abutment 4331; stopper 4332; return spring 4340; operating part 4400 DETAILED DESCRIPTION

[0055] The advantages and features of the present disclosure will become apparent from specific examples which are given as thorough and complete descriptions of the present disclosure. It will be obvious to those of ordinary skill in the art that various alternatives to the examples can be practiced without departing from the spirit and scope of the present disclosure. The present disclosure is not intended to be limited to the examples described herein but is to be accorded the full scope that the art appreciates from the multiple different embodiments and examples taught herein.

[0056] The embodiments of the present disclosure will be described in detail by referring to the attached drawings, so that those skilled in the art can easily implement the present disclosure. The present disclosure can be embodied in various different forms, and is not limited to the embodiments described herein.

[0057] In the present disclosure, the expressions of "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics expressed in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Also, the specific features, structures, materials or characteristics expressed can be combined in any one or a set of embodiments or examples in a suitable manner. In addition, the different embodiments or examples expressed in the present disclosure and the features of the different embodiments or examples can be combined and integrated by those skilled in the art without contradiction.

[0058] In addition, the terms "first", "second", etc. are used only for the purpose of explanation and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the present disclosure, the meaning of "a set" is two or more, unless specifically limited.

[0059] In order to clearly explain the present disclosure, devices irrelevant to the explanation are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the specification.

[0060] Throughout the specification, when it is said that a device is "connected" to another device, it includes not only the case of "direct connection" but also the case of "indirect connection" in which other elements are interposed therebetween. In addition, when it is said that a device "includes" a certain constituent element, unless specifically stated to the contrary, other constituent elements are not excluded but it means that other constituent elements can be further included.

[0061] Although the terms first, second, etc. are used herein to refer to various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first interface and a second interface, etc. are distinguished from each other. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including" specify the presence of stated features, steps, operations, elements, modules, items, components, and / or groups thereof but do not preclude the presence or addition of one or more other features, steps, operations, elements, modules, items, components, and / or groups thereof. As used herein, the terms "or" and "and / or" are construed to be inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". This exception occurs only when the combination of elements, functions, steps or operations are inherently mutually exclusive by their nature.

[0062] The professional terms used herein are only used to refer to specific embodiments and are not intended to limit the disclosure. The singular form used herein, unless the context clearly indicates otherwise, also includes the plural form. The meaning of "comprising" used in the specification is to specify the particular features, regions, integers, steps, operations, elements and / or components, and not to exclude the presence or addition of other features, regions, integers, steps, operations, elements and / or components.

[0063] Although not defined differently, all terms including technical terms and scientific terms used herein have the same meaning as that generally understood by a person skilled in the art to which the disclosure belongs. The terms defined in a commonly used dictionary are additionally interpreted to have a meaning consistent with the relevant technical literature and the currently prompted message, unless defined, and should not be overly interpreted as an ideal or very formal meaning.

[0064] In the related art, as disclosed in the invention with application number CN113813566 B, a kind of ankle rehabilitation training equipment is disclosed, by the symmetry of two power output parts, so it can realize the bilateral output of power, to realize the passive flexion and extension training of left or right ankle joint. But the rehabilitation training equipment in the related art has the problem of inconvenient switching of left and right limb training, which leads to the necessity of adjusting the position of display screen, the left and right position of equipment and the left and right position of seat during switching process, poor practicability, affecting the use experience of patients.

[0065] In the present disclosure, to solve the above problems, the training mechanism not only meets the dual functions of single foot training and double foot synchronous training, but also simplifies the switching process of left and right training methods, improves the overall comfort of equipment use.

[0066] Figure 1 A schematic structural diagram showing a first perspective of an ankle joint rehabilitation training device according to one embodiment of the present disclosure.

[0067] Figure 2 A schematic front view of the structure of an ankle joint rehabilitation training device in one embodiment of the present disclosure is shown.

[0068] Figure 3 A schematic cross-sectional view of a frontal side view of an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0069] Among them, an ankle joint rehabilitation training device is provided in one embodiment of the present disclosure, such as Figure 1 、 Figure 2 as well as Figure 3 As shown in the example, the ankle joint rehabilitation training device includes:

[0070] a device body 1000;

[0071] a transmission mechanism 2000 , which is mounted on the device body 1000 and can swing up and down;

[0072] A training mechanism 3000 is provided on the transmission mechanism 2000, comprising a pair of foot support assemblies 3100 and a leg fixing assembly 3200 corresponding to the position of each foot support assembly 3100; a group of the foot support assembly 3100 and the leg fixing assembly 3200 are respectively provided on two opposite sides of a preset position of the transmission mechanism 2000 away from the equipment body 1000.

[0073] Specifically, in Figure 1 In this example, the transmission mechanism 2000 is provided on the device body 1000 so as to be driven Figure 1 In the example, the training mechanism 3000 is arranged on the transmission mechanism 2000. Figure 3 In this example, the training mechanism 3000 is disposed at one end of the transmission mechanism 2000 away from the device body 1000. Figure 2 In the example, the foot support assembly 3100 and the leg fixing assembly 3200 in the training mechanism 3000 are respectively arranged on opposite sides of the preset position of the transmission mechanism 2000. Figure 1 When the direction indicated by the arrow a is swung in the example, the transmission mechanism 2000 drives the training mechanism 3000 connected thereto to swing synchronously in the up and down directions indicated by the arrow a. Optionally, the training mechanism 3000 can be installed in a preset position on the transmission mechanism 2000 and can be adjusted according to actual conditions or user needs. Figure 1 as well asFigure 3 The figure is only a schematic diagram of this embodiment, and the training device set at other preset positions on the transmission mechanism 2000 should also be included in the protection scope of this application.

[0074] Optional, in Figure 1 as well as Figure 2 In the example, the footrest assembly 3100 in the training mechanism 3000 is used to place the patient's feet, and is fixed by the leg fixing assembly 3200 corresponding to the footrest assembly 3100, so as to drive the patient's leg that needs rehabilitation training to move along the direction indicated by the arrow a to complete the rehabilitation training. Among them, by setting a pair of footrest assemblies 3100, the problem in the related art that it is not possible to meet the requirements of bipedal synchronous training or that single-foot training is more troublesome can be solved. The user can choose the bipedal training mode according to needs, that is, tie both legs to the corresponding footrest assembly 3100 and the leg fixing assembly 3200 corresponding to the footrest assembly 3100. It is also possible to place the corresponding leg on the training mechanism 3000 according to the ankle joint that needs to be trained, and let the training mechanism 3000 drive the training.

[0075] Figure 4 A structural schematic diagram showing the connection between the training mechanism 3000 and the leg adjustment mechanism 4000 in an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0076] exist Figure 4 In the example, the footrest assembly 3100 is respectively arranged on opposite sides of the transmission mechanism 2000, and the leg fixing assembly 3200 is arranged at a position corresponding to the footrest assembly 3100; the footrest assembly 3100 is arranged below the leg fixing assembly 3200, so that the patient can place the foot that needs rehabilitation training on the corresponding leg rest assembly and then fix the leg through the leg fixing assembly 3200.

[0077] Optionally, the process of the patient training with the ankle joint rehabilitation training device is as follows: after the patient places the leg that needs rehabilitation on the training mechanism 3000 and fixes it firmly, the transmission mechanism 2000 drives the training device along the Figure 1 When the component in direction a shown in the figure rises, the distance component between the training mechanism 3000 and the patient is increased, thereby allowing the patient to transition from a flexed knee position to a straight knee position. When the training mechanism 3000 is gradually lowered by the transmission mechanism 2000, the distance component between the training mechanism 3000 and the patient is decreased, thereby allowing the patient to gradually transition from a straight knee position to a flexed knee position. This arrangement compensates for changes in the patient's ankle joint position, reducing the distance the patient's leg travels when transitioning between flexed and straight knee positions without requiring significant adjustments to the patient's posture. This significantly improves the patient's comfort during rehabilitation training and accelerates the recovery process.

[0078] Figure 5 Figure 1 shows a schematic view of a foot support device in an ankle rehabilitation device according to an embodiment of the present disclosure.

[0079] In Figure 5 In some embodiments, the foot support assembly 3100 includes a foot plate 3110, two fixed side plates 2570 disposed on opposite sides of the foot plate 3110, and at least two adjustable buckles 3120. One of the adjustable buckles 3120 has two ends for being fixed to the two fixed side plates 2570 respectively, and the other adjustable buckle 3120 has two ends for being fixed to opposite sides of the foot plate 3110 respectively.

[0080] Specifically, one of the adjustable buckles 3120 has two ends for being fixed to the two fixed side plates 2570 respectively, and the other adjustable buckle 3120 has two ends for being fixed to opposite sides of the foot plate 3110 respectively. The adjustable buckles 3120 can be fixed to the fixed side plates 2570 or the foot plate 3110 by bolts and nuts. The design of multiple adjustable buckles 3120 can provide more adjustment options, so that the foot support assembly 3100 can better adapt to different foot shapes and use habits of different users. At the same time, the fixed side plates 2570 can further enhance the stability and safety of the foot plate 3110.

[0081] Optionally, as Figure 5 As shown in the example, the adjustable buckles 3120 arranged in high and low staggered manner can achieve better fastening effect. The adjustable buckles 3120 are arranged close to the same end of the foot plate 3110. In another embodiment, the foot plate 3110 can further be provided with a heel support strip 3130 opposite to the end provided with the adjustable buckles 3120, so as to fix the patient's foot in the space formed by the adjustable buckles 3120, the fixed side plates 2570 on opposite sides, and the foot support strip. The width of the heel support strip 3130 can be set according to actual use, and can also be selected to be installed or not installed according to the needs of the patient. Although a schematic view of the foot support assembly 3100 without the heel support strip 3130 is not shown, the foot support assembly 3100 without the heel support strip 3130 should also be included in the protection scope of the present application.

[0082] The length and position of the adjustable buckles 3120 in any of the above embodiments can be adjusted according to the needs of the user to adapt to different foot shapes and use habits. The adjustable buckles 3120 can be adjusted by rotation or sliding, and fixed in the desired position by bolts and nuts.

[0083] It can be understood that Figure 5The two adjustable buckles 3120 arranged on the middle part of the foot support assembly 3100 for connecting and fixing the fixed side plates 2570 and the foot plate 3110 are optional. In other embodiments, the number and arrangement of the adjustable buckles 3120 can be changed.

[0084] In another embodiment, the foot support assembly 3100 can include a foot plate 3110 and an adjustable buckle 3120, and the two ends of the adjustable buckle 3120 are arranged for fixing on the opposite sides of the foot plate 3110.

[0085] Specifically, the adjustable buckle 3120 can be fixed on the opposite sides of the foot plate 3110 by screwing. The user can adjust the position of the adjustable buckle 3120 according to the needs of different foot shapes and comfort requirements. The foot plate 3110 can be made of anti-slip material to increase safety. When only one adjustable buckle 3120 is arranged, the width of the adjustable buckle 3120 should meet the requirement that it is not easy to fall off after being worn by the patient. In combination Figure 4 For example, in order to facilitate the installation of the foot support assembly 3100 on the opposite sides of the transmission mechanism, a fixed side plate 2570 is arranged on the side of the transmission mechanism 2000 corresponding to the installation of the foot plate 3110, so as to install the foot support assembly 3100.

[0086] Optionally, in some examples, a heel support strip 3130 can also be arranged on one end of the foot plate 3110 for placing the heel, so as to block the heel of the user. The two sides of the heel support strip 3130 are fixed on the two fixed side plates 2570, respectively, and the height of the heel support strip 3130 can be adjusted according to the needs.

[0087] In another embodiment, the foot support assembly 3100 can include a foot plate 3110, fixed side plates 2570 arranged on the opposite sides of the foot plate 3110, and an adjustable buckle 3120. The two ends of the adjustable buckle 3120 are arranged for fixing on the two fixed side plates 2570, respectively.

[0088] Specifically, the fixed side plates 2570 are arranged on the opposite sides of the foot plate 3110, and the two ends of the adjustable buckle 3120 are fixed on the two fixed side plates 2570, respectively. A heel support strip 3130 can also be arranged on one end of the foot plate 3110 for placing the heel, so as to block the heel of the user. The two sides of the heel support strip 3130 are fixed on the two fixed side plates 2570, respectively, and the height of the heel support strip 3130 can be adjusted according to the user's preference and needs. In Figure 5 For example, the fixed side plates 2570 have a height difference, and the fixed side plate 2570 with a higher height is used in combination with the transmission mechanism for fixing the foot support assembly 3100.

[0089] In another embodiment, the height of the fixed side plate 2570 can be set according to actual conditions, and the height of the fixed side plate 2570 fixed to the transmission mechanism can be set to be lower than the height of the fixed side plate 2570 on the opposite side. The different heights of the fixed side plate 2570 are not shown in the above, but should be included in the protection scope of the present application. The height and width of the fixed side plate 2570 can also be adjusted according to actual needs to ensure that the foot pedal 3110 does not shake during use.

[0090] Figure 6 The structure of the leg fixing assembly 3200 in the ankle rehabilitation training device is shown in an embodiment of the present disclosure.

[0091] Optionally, the training mechanism 3000 further comprises a conversion piece 3300; each leg fixing assembly 3200 comprises:

[0092] A pair of leg pads 3210 and leg straps 3220 for binding the legs to the leg pads 3210; one end of each leg pad 3210 is hinged to a position on the conversion piece 3300.

[0093] Specifically, in Figure 6 In an example, the leg fixing assembly 3200 is fixed to opposite sides of the conversion piece 3300. The conversion piece 3300 can be a long strip-shaped or rectangular base for connecting and supporting two leg fixing assemblies 3200. The conversion piece 3300 is provided with two hinge points, respectively located on opposite sides of the conversion piece 3300, for connecting one end of the two leg pads 3210. The two hinge points can ensure that the leg fixing assembly 3200 can rotate freely around the hinge points to adapt to the leg movements of different patients. In Figure 6 In an example, the leg fixing assembly 3200 for fixing the left leg of the patient can rotate relative to the conversion piece 3300 in the direction indicated by arrow b1. The leg fixing assembly 3200 for fixing the left leg of the patient can rotate relative to the conversion piece 3300 in the direction indicated by arrow b2. The rotation angle of the leg fixing assembly 3200 can be adjusted according to the training condition of the patient or the use feeling of the patient.

[0094] In some embodiments, one end of the leg pad 3210 can be hinged to the conversion piece 3300 by a rotating shaft connection, for example, the leg pad 3210 is provided with a rotating shaft structure that can be relatively rotatably fitted on the conversion piece 3300, so that the leg pad 3210 can rotate forward and backward around the rotating shaft to adapt to the leg movements of different patients. Optionally, the leg pad 3210 can be made of soft material to provide comfortable support and protection. For example, materials such as foam, rubber or memory foam can be used.

[0095] Each leg pad 3210 is provided with a pair of leg straps 3220 for securing the user's legs to the leg pad 3210. The leg straps 3220 can be fastened with Velcro, buckles, or other adjustable fastening methods to ensure that the legs are firmly fixed to the leg pad 3210 while being convenient for the user to quickly put on and take off. The length and width of the leg straps 3220 can be adjusted according to actual needs to accommodate the leg sizes of different users. Figure 6 In this example, the leg strap 3220 is fastened to the buckle provided at one end of the leg pad 3210 away from the hinge point to tighten the patient's legs.

[0096] Figure 7 A schematic structural diagram showing the connection between the transmission mechanism 2000 and the leg adjustment mechanism 4000 in an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0097] Optionally, also include:

[0098] A leg adjustment mechanism 4000 is fixedly connected to the leg fixing assembly 3200 and is relatively rotatably connected to the transmission mechanism 2000 to adjust the angle of the leg fixing assembly 3200.

[0099] Specifically, if Figure 7 As shown in the example, a rotating member 2550 is provided at one end of the transmission mechanism 2000 away from the device body 1000, and both ends of the rotating member 2550 are rotatably connected to the transmission mechanism 2000. Figure 7 In this example, the rotating member 2550 drives the leg adjustment mechanism 4000 fixed on the rotating member 2550 to rotate along the c direction. Figure 7 In the example, the rotating member 2550 includes a left rotating member 2551 fixed to the left side of the transmission mechanism 2000 and a right rotating member 2552 fixed to the right side of the transmission mechanism 2000. The joint between the left rotating member 2551 and the right rotating member 2552 is fixed by a fixing member. The fixing member can be a bolt, nut, buckle or other connecting member to ensure that the left rotating member 2551 and the right rotating member 2552 will not separate during the rotation process; or in other embodiments, the rotating member 2550 can also be an integrally formed structure. In some embodiments, the rotating member 2550 is driven to rotate along the c direction, driving the leg adjustment mechanism 4000 to rotate together, thereby realizing ankle joint rehabilitation training. The leg adjustment mechanism 4000 can be adjusted by the patient himself along the c direction to adjust the distance between it and the foot support assembly 3100 to ensure comfortable wearing.

[0100] Figure 8Fig. 3 shows a schematic view of the structure of the leg fixing assembly 3200 connecting the leg adjusting mechanism 4000 in an ankle rehabilitation training device according to an embodiment of the present disclosure.

[0101] Specifically, in order to adapt to different patients, therefore, in Figure 8 In an example, the leg fixing assembly 3200 is fixed above the leg adjusting mechanism 4000 by the conversion piece 3300. A stepped mounting area is arranged above the leg adjusting mechanism 4000 for mounting the conversion piece 3300. When the patient needs to adjust the position of the leg fixing assembly 3200, the position of the leg adjusting assembly can be adjusted by adjusting the leg adjusting mechanism 4000 to rotate along the direction c relative to the transmission mechanism 2000, so as to adjust the position of the leg adjusting assembly.

[0102] Figure 9 Fig. 4 shows a schematic view of the structure of the leg adjusting mechanism 4000 in an ankle rehabilitation training device according to an embodiment of the present disclosure.

[0103] Figure 10 Fig. 5 shows a schematic view of the structure of the leg adjusting mechanism 4000 in an ankle rehabilitation training device according to another embodiment of the present disclosure.

[0104] Figure 11 Fig. 6 shows a schematic view of the structure of the locking assembly 4300 in an ankle rehabilitation training device according to an embodiment of the present disclosure.

[0105] Optionally, the transmission mechanism 2000 is provided with an arc-shaped tooth disc 2580 extending along the rotation direction of the leg adjusting mechanism 4000; the leg adjusting mechanism 4000 comprises a mechanism housing 4200 and a locking assembly 4300.

[0106] Specifically, in order to adapt to different patients, therefore, in Figure 7 In an example, an arc-shaped tooth disc 2580 is arranged along the rotation path on the transmission mechanism 2000, and the leg adjusting mechanism 4000 is engaged with the arc-shaped tooth disc 2580 to rotate along the direction c on the arc-shaped tooth disc 2580. The tooth shape design of the arc-shaped tooth disc 2580 can ensure the precise engagement with the leg adjusting mechanism 4000, so as to realize the precise positioning of the leg adjusting mechanism 4000 and lock the leg fixing assembly 3200 at the required adjusted position.

[0107] Optionally, the mechanism housing 4200 comprises a containing space for containing the locking assembly 4300, and a pair of through holes 4100 are formed through the containing space on a pair of side walls.

[0108] In Figure 9In an example, the mechanism housing 4200 includes a receiving space for receiving the locking assembly 4300. The design of the receiving space should ensure that the locking assembly 4300 can move freely in the mechanism housing 4200 while providing sufficient space to avoid interference. In Figure 9 or Figure 10 In an example, the mechanism housing 4200 is provided with a through hole 4100 on the opposite side, so that the locking assembly 4300 partially passes through the through hole 4100 to be operated by the patient.

[0109] In Figure 9 , Figure 10 and Figure 11 In an example, the locking assembly 4300 includes a pin 4310, a pair of cams 4320, a reset spring 4340, and an operating member 4400.

[0110] The pin 4310 is telescopically arranged along the preset direction; the pin 4310 is provided with a tooth end on the extension direction of the pin 4310 for engaging the arc-shaped tooth disc 2580, and a pair of first rotating shaft portions are arranged on the side wall surface of the pin 4310 in a one-to-one correspondence with the pair of through holes 4100.

[0111] Each cam 4320 includes a second rotating shaft portion rotatably coupled to the first rotating shaft portion; and a contact portion is protruded on the side edge of each cam 4320. A contact-receiving portion 4331 is arranged along the rotating path of the cam 4320 for abutting with the contact portion.

[0112] As Figure 10 shown, the rotation of each cam 4320 also includes a rotating portion, which respectively passes through one of the through holes 4100 to the outside of the mechanism housing 4200, and a gap is formed between each rotating portion and the through hole 4100 in the preset direction for the movement of the rotating portion.

[0113] The rotating path of the cam 4320 includes a position where the contact portion abuts against the contact-receiving portion 4331 to form a locking position of the pin 4310 extending out of the arc-shaped tooth disc 2580 to engage, i.e., the rotating position of the cam 4320 as Figure 9 shown. Specifically, the contact portion of the cam 4320 is blocked by the contact-receiving portion 4331 during the upward rotation, and the contact portion continuously presses the contact-receiving portion 4331 during the continuous rotation, so that the contact portion moves downward due to the contact between the inclined surface of the contact portion and the contact-receiving portion 4331, i.e., the cam 4320 moves downward, which drives the pin 4310 to move downward, so that the tooth end of the pin 4310 engages with the arc-shaped tooth disc 2580 to lock the position of the leg fixing assembly.

[0114] The return spring 4340 is sleeved on the pin 4310, and its two ends are respectively used to abut against the inner bottom wall of the mechanism housing 4200 and the connecting part between the first rotating shaft part and the second rotating shaft part, and is in a compressed state when the cam 4320 rotates to the locking position to stabilize the locking position, and when the cam 4320 leaves the locking position (that is, the interference force between the interfering part and the interfered part 4331 is released), the elastic restoring force can be used to reset the pin 4310 upward, thereby releasing the engagement between the tooth end and the arc-shaped toothed disc 2580, and the leg fixing assembly 3200 can be adjusted by the leg adjustment mechanism 4000.

[0115] The operating member 4400 is fixedly connected to a pair of the adapter parts outside the mechanism housing 4200 for receiving operation to drive the rotation of the pair of cams 4320, that is, it can be operated to rotate to drive the cams 4320 to switch between the locked position and the unlocked position.

[0116] Specifically, one end of the pin 4310 provided with a tooth end is engaged with the arc-shaped toothed disk 2580, and the tooth marks of the tooth end match the arc-shaped toothed disk 2580, so that the pin 4310 can rotate on the arc-shaped toothed disk 2580. The pin 4310 is also provided with a first rotating shaft portion at one end away from the tooth end to combine with the second rotating shaft portion of the cam 4320. In some embodiments, the first rotating shaft portion is two pin rods extending from the two side walls of the pin 4310 toward the through hole 4100, and the second rotating shaft portion is a through hole corresponding to the pin rod, and the first rotating shaft portion passes through the second rotating shaft portion, so that the cam 4320 can rotate relative to the first rotating shaft portion. In another embodiment, as Figure 11 As shown in the example, the first rotating shaft portion is a through portion of the pin 4310 provided along the direction of the through hole 4100. Corresponding to the first rotating shaft portion, the second rotating shaft portion of the cam 4320 is also a through portion that passes through the cam 4320. A pin passes through the through holes of the first rotating shaft portion and the second rotating shaft portion to connect the two together. The diameter of the pin should be slightly smaller than the diameter of the through hole to ensure that the cam 4320 can rotate freely. In another embodiment, the first rotating shaft portion is a through portion of the pin 4310 provided along the direction of the through hole 4100, and the second rotating shaft portion is a pin rod extending toward the first rotating shaft portion. The second rotating shaft portion is inserted into the first rotating shaft portion so that the cam 4320 can be combined with the pin 4310 for relative rotation. The above combination method of the first rotating shaft portion and the second rotating shaft portion should also be included in the protection scope of this application.

[0117] Optional, such as Figure 11As shown in the example, each of the cams 4320 has a convex interference portion on its side edge; an interference portion 4331 is provided along the rotation path of the cam 4320 for press-fitting with the interference portion, and the interference portion, the interference portion 4331 and the stopper 4332 act in combination to limit the maximum stroke of the pin 4310. The interference portion 4331 is provided on the inner wall of the mechanism housing 4200, corresponding to the interference portion of the cam 4320. The interference portion 4331 can be a protrusion fixed on the inner wall of the mechanism housing 4200 to ensure that the interference portion press-fits with the cam 4320 when it rotates. Figure 9 In this example, the resisted portion 4331 is respectively a top plate that the resisting portion of the cam 4320 can resist when the pin rod moves upward, and a stopper 4332 that the pin 4310 can resist when it moves downward.

[0118] At Figure 9 As shown in , the top plate is arranged on the inner top wall of the mechanism housing 4200, and a through hole is provided at the preset position of the pin 4310. The stopper 4332 passes through the through hole and extends toward the inner wall of the mechanism housing 4200 so that the interference portion can be restricted by the interference portion 4331. In some embodiments, the stopper 4332 can also be an outwardly extending protrusion formed by the pin rod and the preset position, and the protrusion can interfere with the interference portion. In another embodiment, the stopper 4332 can extend to the inner walls on opposite sides of the mechanism housing 4200, or to the inner wall on either side. There is no limitation on the form of the stopper 4332. The stopper 4332 is used to limit the rotation of the cam 4320.

[0119] Optionally, the cam 4320 is further provided with a transition portion toward the through hole 4100. Figure 10 As shown, the adapter portion can partially pass through the through hole 4100 to be combined with the operating member 4400. Figure 10 In this embodiment, the size of the through hole 4100 should satisfy the range of motion of the adapter, so that a gap is formed between the adapter and the through hole 4100 in the predetermined direction for the adapter to move. In another embodiment, not shown, the adapter does not pass through the through hole 4100, and the connecting portion of the operating member 4400 passes through the through hole 4100 to connect with the adapter. The connection method between the operating member 4400 and the cam 4320 can be set according to actual usage. All of the above connection methods between the adapter and the operating member 4400 are included in the scope of protection of this application.

[0120] Optionally, in some embodiments, in order to facilitate the patient to rotate the cam 4320 through the operating member 4400, the operating member 4400 may be configured as follows: Figure 8 The example shows a "U-shaped" armrest 1400. In other embodiments, the unlocking ticket number operating member 4400 can also be configured as a single-sided handle, which the patient pulls up or down simultaneously to drive the cam 4320 to move. The configuration of the operating member 4400 can be set according to user preference or actual conditions and is not limited in this application.

[0121] exist Figure 9 In this example, the operating member 4400 is driven to rotate in the direction indicated by d, so as to drive the cam 4320 to rotate and rotate in the through hole 4100 along the direction indicated by d. Figure 10 The pin is also provided with a return spring 4340, with both ends respectively contacting the inner bottom wall of the mechanism housing 4200 and the connection portion between the first rotating shaft portion and the second rotating shaft portion. Figure 9 The example shows the locked state of the locking assembly 4300. When the locking assembly 4300 is in the locked state, the contact portion of the cam 4320 contacts the inner top wall of the mechanism housing 4200, and the return spring 4340 contacts the inner bottom wall of the mechanism housing 4200. At this time, if the locking assembly 4300 is released from the locked state, the operating member 4400 drives the cam 4320 along the inner top wall of the mechanism housing 4200. Figure 9 The cam 4320 moves in the opposite direction of d shown in the figure, and the contact portion of the cam 4320 gradually stops contacting the inner top wall. When the cam 4320 completely stops contacting the inner top wall, the elastic force of the return spring 4340 drives the pin 4310 to move upward. When the cam 4320 rotates to the stop member 4332, it is limited by the stop member 4332 and no longer rotates.

[0122] Figure 12 An exploded schematic diagram of the transmission assembly in an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0123] Figure 13 A schematic diagram of the connection structure on the right side of the commutator 2500 in an ankle joint rehabilitation training device according to an embodiment of the present disclosure is shown.

[0124] Figure 14 A schematic diagram of the connection structure of the first angle on both sides of the commutator 2500 in an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0125] Figure 15 A schematic diagram of the connection structure of the second angle on both sides of the commutator 2500 in an ankle joint rehabilitation training device according to one embodiment of the present disclosure is shown.

[0126] Optionally, Figure 3 In an example, the transmission mechanism 2000 comprises:

[0127] a rotating shell 2100 having opposite rotating end and swinging end, the rotating end is arranged close to the device body 1000;

[0128] a rotating assembly arranged in the rotating shell 2100, sequentially connected with a drive motor 2200, a speed reducer 2300, a torque sensor 2400 and a reversing device 2500 from the rotating end to the swinging end; the reversing device 2500 is connected with a pair of foot support assemblies 3100, and forms swinging of the pair of foot support assemblies 3100 according to the driving force of the drive motor 2200.

[0129] Specifically, in Figure 3 In an example, the transmission assembly sequentially comprises the drive motor 2200, the speed reducer 2300, the torque sensor 2400 and the reversing device 2500 from the rotating end to the swinging end, the drive motor 2200 provides power to the reversing device 2500 through the speed reducer 2300 and the torque sensor 2400, thereby driving the foot support assembly 3100 connected with the reversing device 2500 to rotate. The drive motor 2200 can be a direct current motor or a stepping motor, which can provide sufficient torque to drive the swinging of the foot support assembly 3100. The speed reducer 2300 is located between the drive motor 2200 and the torque sensor 2400, which is used to reduce the rotating speed of the motor and increase the torque, to ensure the smooth swinging of the foot support assembly 3100. The speed reducer 2300 can be a planetary gear reducer 2300 or a worm gear reducer 2300, and the specific type is selected according to actual needs. The torque sensor 2400 is used to detect the torque change in the transmission process, to ensure the safety and stability of the system. The torque sensor 2400 can monitor the torque value in real time and feedback and adjust through a control system. The reversing device 2500 is used to transmit the driving force of the drive motor 2200 to a pair of foot support assemblies 3100, to realize the synchronous swinging of the foot support assemblies 3100. The design of the reversing device 2500 should ensure that it can accurately transmit the driving force to realize the synchronous movement of the foot support assemblies 3100.

[0130] In Figure 13 In an example, the opposite ends of the reversing device 2500 are transmission shafts 2510, the transmission shafts 2510 are connected with belt pulleys 2520, rotating parts 2550, dials 2560, flange bearings 2540 and output shafts 2530, wherein the output shafts 2530 sequentially pass through the belt pulleys 2520, the rotating parts 2550, the dials 2560 and the flange bearings 2540, one end of the output shaft 2530 is connected with the transmission shaft 2510, and the other end is connected with a fixed side plate 2570 of the foot support assembly 3100.

[0131] As Figure 14 In an example, the flange bearing 2540 is actually located between the belt disc 2520 and the rotating member 2550; the flange bearing 2540 enables the sleeved rotating member 2550 to be driven without the shaft 2530. The Figure 14 In an example, only one of the two rotating shafts is provided with the belt disc 2520, and a pulley 25100 is arranged on the side of the transmission mechanism 2000 corresponding to the belt disc 2520, such as Figure 15 In an example, the belt passes through the belt disc 2520 and the pulley 25100, and Figure 14 In an example, the pulley 25100 is connected to a potentiometer 2590, which is connected to the pulley 25100 and moves synchronously with the pulley 25100 through mechanical linkage (such as connecting rods, gears, etc.). The resistance value of the potentiometer 2590 changes with the rotation angle of the pulley 25100, thereby outputting a corresponding electrical signal. The potentiometer 2590 is used to detect the rotation angle of the pulley 25100, thereby indirectly detecting the movement parameters of the footrest assembly 3100. The output signal of the potentiometer 2590 can be used to control the system, realizing accurate control and monitoring of the training process. In order to limit the potentiometer 2590, a potentiometer limiting piece 2591 is also arranged at a preset limiting position.

[0132] Optionally, in Figure 12 In an example, the transmission mechanism 2000 further includes a connecting seat 2600 arranged between the speed reducer 2300 and the commutator 2500. The connecting seat 2600 is hollow inside to form an installation space, and the torque sensor 2400 is arranged in the installation space and connected to the speed reducer 2300 and the commutator 2500, respectively.

[0133] Specifically, the connecting seat 2600 is hollow inside to form an installation space for installing the torque sensor 2400. The connecting seat 2600 can be made of metal (such as aluminum alloy, stainless steel) or high-strength plastic material to ensure its durability and stability in long-term use. The connecting seat 2600 is used to fix and support the torque sensor 2400, ensuring its stability and accuracy during operation.

[0134] Optionally, in Figure 1 , Figure 2 and Figure 3 In an example, the device body 1000 further includes a human-computer interaction mechanism arranged on the device body 1000.

[0135] The human-computer interaction mechanism 1100 comprises an interaction module 1100 and an interaction support 1200; the interaction module 1100 is arranged at one end of the interaction support 1200 away from the device body 1000, and the interaction module 1100 and the interaction support 1200 are hinged through a damping hinge 1120, so that the interaction module 1100 can rotate relative to the interaction support 1200.

[0136] Optionally, the damping hinge 1120 has a certain damping effect, which can slow down the rotation speed of the interaction module 1100, and ensure the stability and safety of the interaction module 1100 during rotation. The damping hinge 1120 can be made of metal (such as stainless steel, aluminum alloy) or high-strength plastic material, so as to ensure the durability and stability of the damping hinge 1120 during long-term use. The damping element can be a hydraulic damper or a spring damper, and the specific type is selected according to actual needs.

[0137] Further, the interaction module 1100 can comprise a touch screen, and the patient can perform various rehabilitation training games on the touch screen. Of course, the patient can also watch video and audio during training through the touch screen, so as to alleviate the fatigue during training and enhance the interest of training. Of course, the interaction module 1100 can also be a display screen with a keyboard operation, which is within the protection scope of the present patent, and will not be described in detail here.

[0138] Further, the interaction module 1100 can comprise a control panel with keys for the patient to operate, so as to realize various interactive training functions. For example, the control panel can be operated to control the operation of the transmission mechanism 2000, so as to realize the lifting movement of the transmission mechanism 2000, which is a scheme that can be realized by the present embodiment.

[0139] Optionally, in Figure 1 , Figure 2 and Figure 3 Examples, the device body 1000 further comprises a base 1500 and an electrical cabinet 1600 arranged on the base 1500 in sequence; the support is arranged on the electrical cabinet 1600, and one end of the rotating mechanism is hinged to the electrical cabinet 1600.

[0140] Specifically, the electrical cabinet 1600 can be provided with a control device for controlling the adjusting assembly. The control device can comprise an electrical panel and various control modules or control components, which are within the protection scope of the present patent, and will not be described in detail here.

[0141] Further, the electrical cabinet 1600 is provided with a signal connection and / or an electrical connection to a control device, at least one information input interface and at least one information output interface for the patient to input and output data and the like. It is worth mentioning that the information input interface can include, for example, a USB interface, and the information output interface can include, for example, a printer, which is not limited herein and can be specifically set according to actual use requirements.

[0142] Optionally, the base 1500 can be a square plate structure, which can be preferably made of high-strength metal material, but is not limited thereto. The foot pad 1300 can be provided with a plurality of universal wheels, and at least one universal wheel is mounted at each corner of the base 1500. The universal wheels are used to drive the entire device main body 1000 to move. In some embodiments, the universal wheels can adopt a quick-release structure, and therefore a fixing member is also provided. In this way, when the device main body 1000 needs to be operated, the universal wheels can be detached from the base 1500, so that the fixing member can be supported at a predetermined position on the ground to fix the device main body 1000. Of course, in some embodiments, the universal wheels can also adopt a folding structure, and when the device main body 1000 needs to be operated, the universal wheels can be folded inside the base 1500, so that the fixing member can be supported on the ground. That is to say, as long as the lowest end of the universal wheels is higher than the lowest end of the fixing member, so that the fixing member can play a supporting and fixing effect, any structure form is within the protection scope of the present patent. Further, the foot pad 1300 can also be directly provided as a plurality of foot cups that can be detachably assembled at the lower end of the base 1500. When the device main body 1000 is moved to a specified position, the universal wheels can be detached or folded from the base 1500, and the foot cups are assembled at the lower end of the base 1500 to fix the device main body 1000. It is worth mentioning that the diameter of the foot cup gradually increases from the base 1500 to the ground, which can greatly improve the stability during the fixing process, but is not limited thereto.

[0143] Optionally, in Figure 3 In an example, the device main body 1000 is provided with a handrail 1400 on the side away from the transmission mechanism 2000.

[0144] Specifically, the handrail 1400 is used for the patient to hold or move the training device.

[0145] The above embodiments are only illustrative of the principles and effects of the present disclosure, and are not intended to limit the present disclosure. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present disclosure. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present disclosure shall still be covered by the protection scope of the present disclosure.

Claims

1. An ankle joint rehabilitation training device, characterized in that: include: - Equipment body; a transmission mechanism, which is mounted on the device body and can swing up and down; A training mechanism is provided on the transmission mechanism, comprising a pair of swingable footrest assemblies and a leg fixing assembly corresponding to the position of each footrest assembly; a group of the footrest assemblies and leg fixing assemblies are respectively provided on two opposite sides of a preset position of the transmission mechanism away from the equipment body.

2. The ankle joint rehabilitation training device according to claim 1, characterized in that: The transmission mechanism comprises: a rotating housing having a rotating end and a swinging end opposite to each other, wherein the rotating end is disposed near the device body; A rotating assembly is arranged in the rotating shell, and is sequentially driven and connected to a driving motor, a reducer, a torque sensor and a commutator along the rotating end to the swinging end; the commutator is connected to a pair of the footrest assemblies, and the pair of footrest assemblies are swung according to the driving force of the driving motor.

3. The ankle joint rehabilitation training device according to claim 2, characterized in that: The transmission mechanism also includes a connecting seat, which is arranged between the reducer and the commutator. The interior of the connecting seat is hollow to form an installation space. The torque sensor is arranged in the installation space and is respectively connected to the reducer and the commutator.

4. The ankle joint rehabilitation training device according to claim 1, characterized in that: The footrest assembly includes one of the following: 1) A footrest and an adjustable handle; the two ends of the adjustable handle are respectively fixed to opposite sides of the footrest; 2) a footrest, fixed side panels provided on opposite sides of the footrest, and an adjustable handle; the ends of the adjustable handle are respectively fixed to the fixed side panels on both sides; 3) A footrest, fixed side panels provided on opposite sides of the footrest, and at least two adjustable buckles; the two ends of one adjustable buckle are respectively fixed to the fixed side panels on both sides, and the two ends of the other adjustable buckle are respectively fixed to opposite sides of the footrest.

5. The ankle joint rehabilitation training device according to claim 1, characterized in that: The training mechanism further includes a conversion member; each of the leg fixing components includes: Leg pads are arranged in pairs and leg straps are used to bind the legs to the leg pads; one end of each leg pad is hinged to a position on the conversion member.

6. The ankle joint rehabilitation training device according to claim 1, characterized in that: Also includes: A leg adjustment mechanism is fixedly connected to the leg fixing assembly and is relatively rotatably connected to the transmission mechanism so as to be able to adjust the angle of the leg fixing assembly.

7. The ankle joint rehabilitation training device according to claim 6, characterized in that: The transmission mechanism is provided with an arc-shaped gear wheel extending along the rotation direction of the leg adjustment mechanism; the leg adjustment mechanism includes a mechanism housing and a locking assembly; The mechanism housing comprises: an accommodating space for accommodating the locking assembly, and a pair of through holes penetrating the accommodating space are formed on a pair of side walls; The locking assembly comprises: a pin member, telescopically arranged along a preset direction; a tooth end is formed on the upper side of the pin member in the extending direction for engagement with the arc-shaped toothed disc, and a pair of first rotating shaft portions are extended from opposite side walls of the pin member, the positions of which correspond one to one to the pair of through holes; A pair of cams; each cam includes: a second shaft portion rotatably coupled to the first shaft portion; a side edge of each cam is provided with a convex abutment portion; and a resisting portion provided along the rotation path of the cam for pressurizing and engaging with the abutment portion; The cam rotation each cam also includes a transfer portion, each of which is provided with a through hole to the outside of the mechanism housing, and a gap is formed between each of the transfer portion and the through hole in the preset direction for the transfer portion to move; The rotation path of the cam includes: causing the abutting portion to abut against the abutting portion to form a locking position in which the pin extends toward the arc-shaped toothed disc to engage; a return spring, sleeved on the pin, with its two ends respectively abutting against the inner bottom wall of the mechanism housing and the connecting portion between the first rotating shaft portion and the second rotating shaft portion, and being in a compressed state when the cam rotates to the locking position; An operating member is fixedly connected to the pair of adapter parts outside the mechanism housing and is used to receive an operation to drive the rotation of the pair of cams.

8. The ankle joint rehabilitation training device according to claim 1, characterized in that: It also includes a human-computer interaction mechanism, which is provided on the device body; The human-computer interaction mechanism includes: an interaction module and an interaction bracket; the interaction module is arranged at one end of the interaction bracket away from the device body, and the interaction module and the interaction bracket are hinged by a damping hinge so that the interaction module can rotate relative to the interaction bracket.

9. The ankle joint rehabilitation training device according to claim 8, characterized in that: The equipment body also includes a base and an electrical cabinet arranged on the base in sequence; the interactive bracket is arranged on the electrical cabinet, and one end of the transmission mechanism is hinged to the electrical cabinet.

10. The ankle joint rehabilitation training device according to claim 1, characterized in that: A handrail is provided on one side of the equipment body facing away from the transmission mechanism.

Images