Tandem three-degree-of-freedom ankle joint rehabilitation mechanism

Abstract

The utility model relates to the technical field of rehabilitation medical instruments, in particular to a series connection three-degree-of-freedom ankle joint rehabilitation mechanism which comprises a base, a thigh supporting mechanism, an adduction and abduction mechanism, an introversion and extroversion mechanism, a dorsiflexion and plantar flexion mechanism and a limiting device. Compared with the prior art, the structure is simple, the manufacturing and assembling processes are relatively simple, so that the weight is light, the driving power required by each joint module can be reduced, the energy consumption is reduced, the energy efficiency of the system is improved, the joints of the series connection structure are connected in sequence, the motion range is generally large, the posture control capability is more flexible, and the reliability is high. And different rehabilitation training modes and movement tracks can be more flexibly adapted.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of rehabilitation medical apparatus and instruments, concretely to a series three degrees of freedom ankle joint rehabilitation mechanism. BACKGROUND

[0002] Ankle joint is a key part in human body weight and movement, damage is common in sports trauma, postoperative sequelae and nervous system diseases, and recovery of its function is crucial for the reconstruction of action ability. Traditional artificial rehabilitation method is time-consuming and laborious and is difficult to standardize, especially when responding to the needs of different patients and rehabilitation stages. Ankle joint rehabilitation robot provides multi-degree of freedom, accurate control rehabilitation training through intelligent equipment, which can adjust the training intensity according to the recovery progress of patients, and monitor and evaluate joint movement data in real time. This equipment improves the rehabilitation efficiency, personalized scheme provides better service for patients, and reduces the burden of medical staff.

[0003] ①The existing ankle joint rehabilitation robot is mostly parallel mechanism, which has advantages in rigidity and precision, but has certain deficiencies in motion space, control difficulty, manufacturing and maintenance cost, flexibility, etc., especially in the application of rehabilitation training, which may affect its actual effect and use convenience.

[0004] ②The existing ankle joint rehabilitation device usually adopts motor direct drive gear or synchronous belt transmission to drive the patient's foot for rehabilitation training. However, in the rehabilitation process, the patient often needs to adjust the rotation angle of the device according to the rehabilitation progress to help the ankle gradually adapt to different amplitude of movement, but the rotation angle of the existing device is usually fixed and difficult to adjust flexibly.

[0005] ③The current limiting device generally adopts mechanical limiting, but the angle of this limiting method cannot be flexibly adjusted according to the needs of different patients, which limits the possibility of personalized rehabilitation.

[0006] ④Because the height and leg length of patients are different, the thigh support mechanism in the existing ankle joint rehabilitation device usually needs to be adjusted manually, which is complicated and inconvenient to operate. INVENTION CONTENTS

[0007] The utility model aims at providing a series three degrees of freedom ankle joint rehabilitation mechanism to solve the problems in the above background technology.

[0008] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0009] A series three degrees of freedom ankle joint rehabilitation mechanism, comprising:

[0010] A base, the base is provided with a thigh support mechanism, and the thigh support mechanism is used for supporting the leg of a user;

[0011] A medial-lateral mechanism is arranged on the base and is used to drive the ankle joint to perform medial-lateral movement;

[0012] A varus-valgus mechanism is arranged on the medial-lateral mechanism and is used to drive the ankle joint to perform varus-valgus movement;

[0013] A dorsiflexion-plantarflexion mechanism is arranged on the varus-valgus mechanism and is used to place the user's foot and drive the ankle joint to perform dorsiflexion-plantarflexion movement;

[0014] A plantar pressure sensor is arranged on the dorsiflexion-plantarflexion mechanism and is used to detect and collect the tensile force signal at the foot plate;

[0015] A limiting device is arranged on the medial-lateral mechanism, the varus-valgus mechanism and the dorsiflexion-plantarflexion mechanism, respectively, and is used to limit the rotation angle of the medial-lateral mechanism, the varus-valgus mechanism and the dorsiflexion-plantarflexion mechanism, respectively.

[0016] Preferably, the thigh supporting mechanism comprises a limiting switch arranged on the base, an electric push rod arranged on the limiting switch, and a movable guide rod arranged on the electric push rod, wherein the movable guide rod is used to support the leg, and the limiting switch is used to control the electric push rod to drive the movable guide rod to move so as to adapt to different leg lengths.

[0017] Preferably, the medial-lateral mechanism comprises a joint module one arranged on the base, a joint shaft one arranged on the joint module one, a medial-lateral bottom plate connected with the joint shaft one through the limiting device, and a support plate one and a support plate two arranged at two ends of the medial-lateral bottom plate, respectively.

[0018] Preferably, the varus-valgus mechanism comprises a joint module two arranged on the support plate two, a joint shaft two arranged on the joint module two, a varus-valgus swing rod one arranged at the other end of the joint shaft two, a varus-valgus support rod arranged on the varus-valgus swing rod one, and a varus-valgus swing rod two arranged at the other end of the varus-valgus support rod, wherein the varus-valgus swing rod two is connected with the support plate one through the limiting device.

[0019] Preferably, the dorsiflexion-plantarflexion mechanism comprises side plate one and side plate two arranged on the varus-valgus support rod, joint module three arranged on the side plate two, joint shaft three arranged on the joint module three, dorsiflexion-plantarflexion swing rod one arranged on the joint shaft three, foot pedal arranged on the dorsiflexion-plantarflexion swing rod one, and dorsiflexion-plantarflexion swing rod two arranged on the foot pedal and connected with the side plate one through the limiting device, and the plantar pressure sensor is arranged on the foot pedal.

[0020] Preferably, the joint module three is used for driving the foot pedal to rotate, so that the foot placed on the foot pedal is driven to perform the dorsiflexion-plantarflexion movement, the joint module two is used for driving the varus-valgus support rod to rotate, so that the foot pedal drives the foot to perform the varus-valgus movement, and the joint module one is used for driving the adduction-abduction bottom plate to rotate, so that the foot pedal drives the foot to perform the adduction-abduction movement.

[0021] Preferably, the central axes of the joint shaft one, the joint shaft two and the joint shaft three are perpendicular to each other.

[0022] Preferably, the limiting device comprises a rotating shaft, induction sheet one and induction sheet two arranged on the rotating shaft, photosensitive switch one arranged on the induction sheet one, and photosensitive switch two arranged on the induction sheet two, and notches are arranged on the induction sheet one and the induction sheet two.

[0023] Preferably, the rotating shafts of the three limiting devices are arranged on the joint shaft one, the support plate one and the side plate one respectively.

[0024] Preferably, when the joint module one drives the joint shaft one to drive the corresponding rotating shaft to rotate, the induction sheet one is rotated to the notch on the induction sheet one detected by the photosensitive switch one, the joint module one stops, when the joint module one drives the joint shaft one to drive the rotating shaft to rotate reversely, the induction sheet two is rotated to the notch on the induction sheet two detected by the photosensitive switch two, the joint module one stops, so as to limit the rotation angle of the adduction-abduction movement of the foot pedal, when the joint module two drives the corresponding rotating shaft on the varus-valgus swing rod two to rotate, the rotation angle of the varus-valgus movement of the foot pedal is limited through the corresponding photosensitive switch one and photosensitive switch two, and when the joint module three drives the corresponding rotating shaft on the dorsiflexion-plantarflexion swing rod two to rotate, the rotation angle of the dorsiflexion-plantarflexion movement of the foot pedal is limited through the corresponding photosensitive switch one and photosensitive switch two.

[0025] Compared with the prior art, the device has the advantages that:

[0026] The utility model discloses a base, thigh support mechanism, adduction and abduction mechanism, internal and external turning mechanism, dorsiflexion and plantarflexion mechanism, limiting device, through the setting of above -mentioned parts has realized:

[0027] 1. By the setting of series structure, usually more simple than parallel structure, less spare parts, design is more intuitive, and the manufacturing and assembly process are relatively simple, which not only makes the utility model lighter in weight, but also can reduce the driving power required by each joint module, reduce energy consumption, thereby improving the energy efficiency of the system, since each joint of the series structure is connected in turn, the motion range is usually larger, and the posture control ability is more flexible, and it is more flexible to adapt to different rehabilitation training modes and motion trajectories.

[0028] 2. Each joint module closely integrates the motor, transmission mechanism, control system and sensor in one module, the structure is more compact, the complexity of external transmission device is reduced, closed-loop control is realized through the built-in sensor, accurate motion control and feedback are provided, high positioning accuracy and motion smoothness are ensured, and the response speed, stability and working efficiency of the system are improved, and the system is easy to maintain and operate, and has higher adaptability.

[0029] 3. The limiting device includes a photosensitive switch, first, it detects the position through a non-contact mode, reduces mechanical wear and failure rate, and improves the durability and stability of the system, second, the photosensitive switch has fast response speed, can quickly detect the over-limit action and timely transmit the signal to the control system, triggers the power-off operation, ensures safety, in addition, the photosensitive switch has simple structure, convenient installation, flexible debugging, can accurately set the limiting angle range, adapts to different rehabilitation training needs, and improves the reliability and safety of the equipment.

[0030] 4. The thigh support mechanism adopts electric push rod adjustment design, realizes automatic adjustment, simplifies the operation process, can quickly and accurately adjust the support angle, and improves the use convenience and adaptability of the equipment. Meanwhile, the design reduces the workload of manual adjustment, improves the efficiency of rehabilitation training and the comfort of patients, and is suitable for patients with different body shapes and needs. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is the structural schematic diagram of the utility model;

[0032] Figure 2 It is the structural schematic diagram of the thigh support mechanism of the utility model;

[0033] Figure 3 It is the structural schematic diagram of the adduction and abduction mechanism of the utility model;

[0034] Figure 4 It is the structural schematic diagram of the internal and external turning mechanism of the utility model;

[0035] Figure 5 It is a structure schematic view of the dorsiflexion and plantarflexion mechanism of the utility model.

[0036] Figure 6 It is a structure schematic view of the limiting device of the utility model.

[0037] In the figure: 1, base; 2, thigh support mechanism; 201, limit switch; 202, electric push rod; 203, movable guide rod; 3, adduction and abduction mechanism; 301, joint module one; 302, joint shaft one; 303, adduction and abduction bottom plate; 304, support plate one; 305, support plate two; 4, inversion and eversion mechanism; 401, joint module two; 402, joint shaft two; 403, inversion and eversion swing rod one; 404, inversion and eversion support rod; 405, inversion and eversion swing rod two; 5, dorsiflexion and plantarflexion mechanism; 501, side plate one; 502, side plate two; 503, joint module three; 504, joint shaft three; 505, dorsiflexion and plantarflexion swing rod one; 506, foot pedal; 507, dorsiflexion and plantarflexion swing rod two; 6, limiting device; 601, rotating shaft; 602, induction sheet one; 603, induction sheet two; 604, photosensitive switch one; 605, photosensitive switch two; 7, plantar pressure sensor. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0039] Please refer to Figures 1 to 6 The utility model provides a technical scheme:

[0040] A series three-degree-of-freedom ankle joint rehabilitation mechanism, comprising:

[0041] The base 1, the adductor-abductor mechanism 3, the varus-valgus mechanism 4, the dorsiflexion-plantarflexion mechanism 5, the plantar pressure sensor 7, the limiting device 6, wherein the limiting device 6 is provided with three groups, which are respectively arranged on the adductor-abductor mechanism 3, the varus-valgus mechanism 4 and the dorsiflexion-plantarflexion mechanism 5, the limiting device 6 comprises a rotating shaft 601, an inductive sheet one 602, an inductive sheet two 603, a photosensitive switch one 604, a photosensitive switch two 605 and a notch, the inductive sheet one 602 is arranged on the rotating shaft 601, the inductive sheet one 602 is fixedly connected with the rotating shaft 601 in a welding manner, the inductive sheet two 603 is also arranged on the rotating shaft 601, the inductive sheet two 603 is fixedly connected with the rotating shaft 601 in a welding manner, the photosensitive switch one 604 is arranged on the inductive sheet one 602, the photosensitive switch two 605 is arranged on the inductive sheet two 603, the inductive sheet one 602 and the inductive sheet two 603 are provided with notches, and the diameter of the rotating shaft can be reasonably selected according to actual use.

[0042] The base 1, the base 1 is provided with the thigh support mechanism 2, the thigh support mechanism 2 is used for supporting the leg of the user, the thigh support mechanism 2 comprises a limiting switch 201, an electric push rod 202 and a movable guide rod 203, the limiting switch 201 is arranged on the base 1, the limiting switch 201 is fixedly connected with the base 1 in a screw setting manner, the electric push rod 202 is arranged on the limiting switch 201, the electric push rod 202 is fixedly connected with the limiting switch 201 in a screw setting manner, the movable guide rod 203 is arranged on the electric push rod 202, the movable guide rod 203 is fixedly connected with the electric push rod 202 in a screw setting manner, the top of the movable guide rod 203 is provided with an arc-shaped groove, which is convenient for placing the leg of the user, the movable guide rod 203 is used for supporting the leg, and the limiting switch 201 is used for controlling the electric push rod 202 to drive the movable guide rod 203 to move, so as to adapt to the legs of different lengths.

[0043] The inner-outer extension mechanism 3 is arranged on the base 1, and is used to drive the ankle joint to perform the inner-outer extension movement. The inner-outer extension mechanism 3 comprises a joint module one 301, a joint shaft one 302, an inner-outer extension bottom plate 303, a support plate one 304 and a support plate two 305. The joint module one 301 is arranged on the base 1 and is fixedly connected with the base 1 by arranging bolts and connecting sleeves. The joint shaft one 302 is arranged on the joint module one 301 and is inserted into the joint module one 301. The joint shaft one 302 is fixedly connected with the joint module one 301 by arranging screws. The other end of the joint shaft one 302 is fixedly connected with the rotating shaft 601 of the corresponding limiting device 6 by arranging a shaft coupling. The inner-outer extension bottom plate 303 is arranged on the rotating shaft 601 and is fixedly connected with the rotating shaft 601 by arranging screws or welding. The support plate one 304 and the support plate two 305 are arranged at the two ends of the inner-outer extension bottom plate 303 respectively and are fixedly connected with the two ends of the inner-outer extension bottom plate 303 by arranging bolts. The joint module one 301 is used to drive the joint shaft one 302 to drive the corresponding rotating shaft 601, so that the rotating shaft 601 drives the inner-outer extension bottom plate 303 to rotate. When the joint module one 301 drives the joint shaft one 302 to drive the corresponding rotating shaft 601 to rotate, the sensing sheet one 602 is rotated to the gap on the sensing sheet one 602 which is detected by the photosensitive switch one 604, the joint module one 301 stops. When the joint module one 301 drives the joint shaft one 302 to drive the rotating shaft 601 to rotate reversely, the sensing sheet two 603 is rotated to the gap on the sensing sheet two 603 which is detected by the photosensitive switch two 605, the joint module one 301 stops, so as to limit the rotation angle of the inner-outer extension movement of the foot pedal 506. In the initial state, the rotation angle of the inner-outer extension movement is designed first, and then the limiting angle range is slightly larger than the rotation angle. Once the rotation angle of the inner-outer extension mechanism 3 exceeds the predetermined range, the photosensitive switch one 604 or the photosensitive switch two 605 detects the gap, so that the joint module one 301 is powered off to avoid secondary injury. An outer shell is arranged on the joint module one 301 to protect the joint module one 301. The corresponding photosensitive switch one 604 and the photosensitive switch two 605 of the inner-outer extension mechanism 3 are fixedly connected with the joint module by arranging screws.

[0044] The inversion-eversion mechanism 4 is arranged on the adduction-abduction mechanism 3, and is used to drive the ankle joint to perform inversion-eversion movement. The inversion-eversion mechanism 4 comprises a joint shaft two 402, a joint module two 401, an inversion-eversion swing rod one 403, an inversion-eversion support rod 404 and an inversion-eversion swing rod two 405. The joint module two 401 is arranged on the support plate two 305 and is fixedly connected with the support plate two 305 by screws. The joint shaft two 402 is inserted into the joint module two 401 and is fixedly connected with the joint module two 401 by screws. The joint shaft two 402 penetrates through the support plate two 305. The inversion-eversion swing rod one 403 is arranged at one end of the joint shaft two 402 penetrating through the support plate two 305 and is fixedly connected with the one end of the joint shaft two 402 penetrating through the support plate two 305 by a coupling. The inversion-eversion support rod 404 is arranged on the inversion-eversion swing rod one 403 and is fixedly connected with the inversion-eversion swing rod one 403 by screws. The inversion-eversion swing rod two 405 is arranged at the other end of the inversion-eversion support rod 404 and is fixedly connected with the other end of the inversion-eversion support rod 404 by screws. The corresponding rotation shaft 601 of the inversion-eversion mechanism 4 penetrates through the inversion-eversion swing rod two 405 and the support plate one 304 in sequence. The rotation shaft 601 is fixedly connected with the inversion-eversion swing rod two 405 by interference fit or welding. The rotation shaft 601 is also rotatably connected with the support plate one 304 by a bearing. The joint module two 401 is used to drive the inversion-eversion support rod 404 to rotate. When the joint module two 401 drives the joint shaft two 402 to rotate the corresponding rotation shaft 601, so that the induction sheet one 602 is rotated to the gap on the induction sheet one 602 is detected by the photosensitive switch one 604, the joint module two 401 stops. When the joint module two 401 drives the joint shaft two 402 to reversely rotate the rotation shaft 601, so that the induction sheet two 603 is rotated to the gap on the induction sheet two 603 is detected by the photosensitive switch two 605, the joint module two 401 stops. Thus, the rotation angle of the inversion-eversion support rod 404 of the foot pedal 506 is limited, and the rotation angle of the inversion-eversion movement is also limited. In the initial state, the rotation angle of the inversion-eversion movement is designed first, and then the limiting angle range is slightly larger than the rotation angle. Once the rotation angle of the inversion-eversion mechanism 4 exceeds the predetermined range, the photosensitive switch one 604 or the photosensitive switch two 605 detects the opening, so that the joint module two 401 is powered off, thereby avoiding secondary injury. The corresponding photosensitive switch one 604 and the photosensitive switch two 605 of the inversion-eversion mechanism 4 are fixedly connected with the support plate one 304 by screws.

[0045] The dorsiflexion and plantarflexion mechanism 5 is arranged on the inversion and eversion mechanism 4, and is used for placing the user's foot and driving the ankle joint to perform the dorsiflexion and plantarflexion movement. The dorsiflexion and plantarflexion mechanism 5 comprises a side plate one 501, a side plate two 502, a joint shaft three 504, a joint module three 503, a dorsiflexion and plantarflexion swing rod one 505, a foot pedal 506 and a dorsiflexion and plantarflexion swing rod two 507. The side plate one 501 and the side plate two 502 are arranged on the inversion and eversion support rod 404, and are fixedly connected with the inversion and eversion support rod 404 by means of arranging bolts and the like. The joint module three 503 is arranged on the side plate two 502, and is fixedly connected with the side plate two 502 by means of arranging screws and the like. The joint shaft three 504 is arranged on the joint module three 503, and is fixedly connected with the joint module three 503 by means of arranging screws and the like. The joint shaft three 504 penetrates through the side plate two 502. The dorsiflexion and plantarflexion swing rod one 505 is arranged on the joint shaft three 504, and is fixedly connected with the joint shaft three 504 by means of arranging screws and the like. The foot pedal 506 is arranged on the dorsiflexion and plantarflexion swing rod one 505, and is fixedly connected with the dorsiflexion and plantarflexion swing rod one 505 by means of arranging screws and the like. The dorsiflexion and plantarflexion swing rod two 507 is arranged on the foot pedal 506, and is fixedly connected with the foot pedal 506 by means of arranging screws and the like. The corresponding rotation shaft 601 of the dorsiflexion and plantarflexion mechanism 5 penetrates through the dorsiflexion and plantarflexion swing rod two 507 and the side plate one 501 in sequence. The rotation shaft 601 is fixedly connected with the dorsiflexion and plantarflexion swing rod two 507 by means of interference fit or welding and the like. The rotation shaft 601 is further rotatably connected with the side plate one 501 by means of arranging a bearing. The joint module three 503 is used for driving the foot pedal 506 to rotate. When the joint module three 503 drives the joint shaft three 504 to drive the corresponding rotation shaft 601 to rotate, so that the sensing sheet one 602 is rotated to the gap on the sensing sheet one 602 is detected by the photosensitive switch one 604, the joint module three 503 stops. When the joint module three 503 drives the joint shaft three 504 to drive the rotation shaft 601 to reversely rotate, so that the sensing sheet two 603 is rotated to the gap on the sensing sheet two 603 is detected by the photosensitive switch two 605, the joint module three 503 stops. Thus, the rotation angle of the foot pedal 506 is limited. In the initial state, the rotation angle of the dorsiflexion and plantarflexion movement is designed first. Then, the limiting angle range is slightly larger than the rotation angle. Once the rotation angle of the dorsiflexion and plantarflexion mechanism 5 exceeds the predetermined range, the photosensitive switch one 604 or the photosensitive switch two 605 detects the opening, so that the joint module three 503 is powered off, thereby avoiding secondary injury. The corresponding photosensitive switch one 604 and the photosensitive switch two 605 of the dorsiflexion and plantarflexion mechanism 5 are fixedly connected with the side plate one 501 by means of arranging screws and the like.

[0046] The central axes of the joint shaft one 302, the joint shaft two 402 and the joint shaft three 504 are perpendicular to each other.

[0047] A foot pressure sensor 7 is arranged on the foot pedal 506 to detect the tension and pressure signals collected at the foot pedal, the foot pressure sensor 7 can be selected from PACEline CLP of Houtingge Baolun Electronic Measurement Technology Co., Ltd., the limit switch 201 can be selected from CDLX6HM limit switch of Delexi Electrical, the electric push rod 202 can be selected from LA25 electric push rod 202 of Nakanak Transmission System (Shenzhen) Co., Ltd., the joint module one 301, the joint module two 401 and the joint module three 503 can be selected from MC14 of Elephant Robot Co., Ltd., the photosensitive switch one 604 and the photosensitive switch two 605 can be selected from FC-SPX307Z of Jiazhun Sensing Technology (Hunan) Co., Ltd., and the foot pedal 506 is further provided with an STM32 single-chip microcomputer, and the foot pressure sensor 7, the limit switch 201, the electric push rod 202, the joint module one 301, the joint module two 401, the joint module three 503, the photosensitive switch one 604 and the photosensitive switch two 605 are respectively connected with the single-chip microcomputer in communication through data electrical signals, and a person skilled in the art can complete the connection operation according to the conventional knowledge in the field.

[0048] Working principle: when in use, the user places the feet on the foot pedal 506 and sets the legs on the movable guide rod 203, adjusts the height of the movable guide rod 203 through the electric push rod 202 to adapt to different leg lengths, when the joint module three 503 is started, drives the foot pedal 506 to rotate, drives the ankle dorsiflexion and plantarflexion movement, when the joint module two 401 is started, drives the foot pedal 506 to rotate, thereby driving the ankle to do the inversion and eversion movement, and when the joint module one 301 is started, drives the foot pedal 506 to rotate, thereby driving the ankle to do the adduction and abduction movement.

[0049] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A series three degree of freedom ankle rehabilitation mechanism, characterized in that, The application relates to a lower limb rehabilitation training device. The device comprises a base, a thigh supporting mechanism arranged on the base and used for supporting the user's leg, an adduction-abduction mechanism arranged on the base and used for driving the ankle joint to make adduction-abduction movement, a varus-valgus mechanism arranged on the adduction-abduction mechanism and used for driving the ankle joint to make varus-valgus movement, a dorsiflexion-plantarflexion mechanism arranged on the varus-valgus mechanism and used for placing the user's foot and driving the ankle joint to make dorsiflexion-plantarflexion movement, a plantar pressure sensor arranged on the dorsiflexion-plantarflexion mechanism and used for detecting and collecting the tensile force signal of the foot plate, and a limiting device arranged on the adduction-abduction mechanism, the varus-valgus mechanism and the dorsiflexion-plantarflexion mechanism and used for limiting the rotation angle of the adduction-abduction mechanism, the varus-valgus mechanism and the dorsiflexion-plantarflexion mechanism respectively. The thigh supporting mechanism comprises a limiting switch arranged on the base, an electric push rod arranged on the limiting switch, and a movable guide rod arranged on the electric push rod and used for supporting the leg, and the limiting switch is used for controlling the electric push rod to drive the movable guide rod to move so as to adapt to different leg lengths. The adduction-abduction mechanism comprises a joint module one arranged on the base, a joint shaft one arranged on the joint module one, an adduction-abduction bottom plate connected with the joint shaft one through the limiting device, and a support plate one and a support plate two arranged at two ends of the adduction-abduction bottom plate respectively. The varus-valgus mechanism comprises a joint module two arranged on the support plate two, a joint shaft two arranged on the joint module two, a varus-valgus swing rod one arranged at the other end of the joint shaft two, a varus-valgus supporting rod arranged on the varus-valgus swing rod one, and a varus-valgus swing rod two arranged at the other end of the varus-valgus supporting rod, and the varus-valgus swing rod two is connected with the support plate one through the limiting device. The dorsiflexion-plantarflexion mechanism comprises a side plate one and a side plate two arranged on the varus-valgus supporting rod, a joint module three arranged on the side plate two, a joint shaft three arranged on the joint module three, a dorsiflexion-plantarflexion swing rod one arranged on the joint shaft three, a foot plate arranged on the dorsiflexion-plantarflexion swing rod one, and a dorsiflexion-plantarflexion swing rod two arranged on the foot plate, and the dorsiflexion-plantarflexion swing rod two is connected with the side plate one through the limiting device, and the plantar pressure sensor is arranged on the foot plate. The joint module three is used for driving the foot plate to rotate, so that the foot plate drives the foot placed on the foot plate to make dorsiflexion-plantarflexion movement, the joint module two is used for driving the varus-valgus supporting rod to rotate, so that the foot plate drives the foot to make varus-valgus movement, and the joint module one is used for driving the adduction-abduction bottom plate to rotate, so that the foot plate drives the foot to make adduction-abduction movement.

2. The series three-DOF ankle rehabilitation mechanism according to claim 1, characterized in that: The central axes of the joint shaft one, the joint shaft two and the joint shaft three are perpendicular to each other.

3. The series three-DOF ankle rehabilitation mechanism according to claim 2, characterized in that: ​ 4. The series three-DOF ankle rehabilitation mechanism according to claim 3, characterized in that: ​ 5. The series three-DOF ankle rehabilitation mechanism according to claim 4, characterized in that: ​ 6. The series three degree of freedom ankle rehabilitation mechanism of claim 5, wherein: ​ 7. The series three-DOF ankle rehabilitation mechanism according to claim 6, characterized in that: ​ 8. The series three-DOF ankle rehabilitation mechanism according to claim 7, characterized in that: The limiting device comprises a rotating shaft, an inductive sheet I and an inductive sheet II arranged on the rotating shaft, a photosensitive switch I arranged on the inductive sheet I, and a photosensitive switch II arranged on the inductive sheet II, and notches are arranged on the inductive sheet I and the inductive sheet II.

9. The series three degree of freedom ankle rehabilitation mechanism of claim 8, wherein: The rotating shafts of the three limiting devices are arranged on the joint shaft I, the supporting plate I and the side plate I respectively.

10. The series three degree of freedom ankle rehabilitation mechanism of claim 9, wherein: When the joint module I drives the joint shaft I to drive the corresponding rotating shaft to rotate, the inductive sheet I is rotated to the notch on the inductive sheet I detected by the photosensitive switch I, the joint module I stops, when the joint module I drives the joint shaft I to drive the rotating shaft to rotate reversely, the inductive sheet II is rotated to the notch on the inductive sheet II detected by the photosensitive switch II, the joint module I stops, thereby limiting the rotation angle of the adduction-abduction movement of the foot pedal; when the joint module II drives the corresponding rotating shaft on the inversion-rotation swing rod II to rotate, the rotation angle of the inversion-rotation movement of the foot pedal is limited through the corresponding photosensitive switch I and the photosensitive switch II; when the joint module III drives the corresponding rotating shaft on the dorsiflexion-plantarflexion swing rod II to rotate, the rotation angle of the dorsiflexion-plantarflexion movement of the foot pedal is limited through the corresponding photosensitive switch I and the photosensitive switch II.

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