Ankle motion simulation device

Abstract

The ankle motion simulation device comprises a base, a foot bottom plate, a left side driving mechanism and a right side driving mechanism, the foot bottom plate is universally connected to the base, and the foot bottom plate is provided with a left side and a right side which are opposite in the first horizontal direction and a front end and a rear end which are opposite in the second horizontal direction; the first horizontal direction is perpendicular to the second horizontal direction, the left driving mechanism is hinged to the left edge of the bottom of the sole plate, and the right driving mechanism is hinged to the right edge of the bottom of the sole plate. The left driving mechanism and the right driving mechanism are used for synchronously driving the foot bottom plate to swing back and forth relative to the base or asynchronously driving the foot bottom plate to turn leftwards or rightwards relative to the base. By means of the ankle movement simulation device, the foot sole of the human body can be driven to conduct front-back overturning movement and left-right overturning movement relative to the ankle joint, the movement action of the ankle when the human body walks normally can be completely simulated, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] This application relates to the field of rehabilitation equipment technology, specifically to an ankle movement simulation device. Background Technology

[0002] For patients with walking difficulties, ankle training is a crucial step in restoring their walking ability. Traditional training methods rely on manual operation, which is inefficient and fails to meet the hospital's requirements for efficient, practical, and precise training. Existing lower limb training equipment also has limitations, failing to effectively simulate real ankle joint movements, thus affecting the effectiveness of rehabilitation training. Utility Model Content

[0003] This application aims to at least address one of the technical problems existing in the prior art. To this end, this application provides an ankle movement simulation device to solve the problem that existing devices cannot effectively simulate the real movement of the ankle joint, thus affecting the effectiveness of rehabilitation training.

[0004] The objective of this application can be achieved through the following technical solutions:

[0005] In a first aspect, this application provides an ankle movement simulation device, which includes a base, a foot plate, a left drive mechanism, and a right drive mechanism. The foot plate is universally connected to the base. The foot plate has a left and a right side opposite to each other along a first horizontal direction and a front and a rear side opposite to each other along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The left drive mechanism is hinged to the left bottom edge of the foot plate, and the right drive mechanism is hinged to the right bottom edge of the foot plate. The left drive mechanism and the right drive mechanism are used to synchronously drive the foot plate to swing back and forth relative to the base or to asynchronously drive the foot plate to flip to the left or to the right relative to the base.

[0006] Optionally, a first hinge seat and a second hinge seat are provided between the foot plate and the base. The first hinge seat is fixedly installed on the base. The second hinge seat is hinged to the foot plate through a first hinge shaft and to the first hinge seat through a second hinge shaft. The first hinge shaft extends along the first horizontal direction, and the second hinge shaft extends along the second horizontal direction.

[0007] Optionally, the left-side drive mechanism includes a left-side linkage assembly and a left-side drive assembly. The left-side linkage assembly includes a left-side rotating linkage and a left-side lifting linkage. The first end of the left-side lifting linkage is ball-jointed to the first end of the left-side rotating linkage, and the second end of the left-side lifting linkage is hinged to the left edge of the bottom of the foot plate. The second end of the left-side rotating linkage is disposed at the drive end of the left-side drive assembly. The left-side drive assembly drives the left-side rotating linkage to rotate so that the left-side lifting linkage causes the foot plate to flip relative to the base to the right.

[0008] Optionally, the left drive assembly includes a first motor, a left first synchronous pulley, a left second synchronous pulley, and a left synchronous belt. The left first synchronous pulley is mounted on the motor shaft of the first motor. The left second synchronous pulley is connected to the left first synchronous pulley via the left synchronous belt and is connected to the second end of the left rotating link via a first transmission shaft. The first motor drives the left rotating link to rotate along the first horizontal direction via the first transmission shaft.

[0009] Optionally, the right-side drive mechanism includes a right-side linkage assembly and a right-side drive assembly. The right-side linkage assembly includes a right-side rotating linkage and a right-side lifting linkage. The first end of the right-side lifting linkage is ball-jointed to the first end of the right-side rotating linkage, and the second end of the right-side lifting linkage is hinged to the right edge of the bottom of the foot plate. The second end of the right-side rotating linkage is disposed at the drive end of the right-side drive assembly. The right-side drive assembly drives the right-side rotating linkage to rotate so that the right-side lifting linkage causes the foot plate to flip relative to the base to the left.

[0010] Optionally, the right-side drive assembly includes a second motor, a right-side first synchronous pulley, a right-side second synchronous pulley, and a right-side synchronous belt. The right-side first synchronous pulley is mounted on the motor shaft of the second motor. The right-side second synchronous pulley is connected to the right-side first synchronous pulley via the right-side synchronous belt and is connected to the second end of the right-side rotating link via a first transmission shaft. The second motor drives the right-side rotating link to rotate along the first horizontal direction via the second transmission shaft.

[0011] Optionally, the ankle movement simulation device further includes a left side plate and a right side plate respectively installed on the left and right sides of the base. The left side drive mechanism includes a first motor, and the right side drive mechanism includes a second motor. The first motor and the second motor are respectively disposed at opposite ends of the base and installed between the left side plate and the right side plate.

[0012] Optionally, the ankle movement simulation device further includes a forefoot sole plate and a forefoot drive mechanism. The forefoot sole plate is hinged to the front end of the foot plate along the first horizontal direction, and the forefoot drive mechanism is used to drive the forefoot sole plate to rotate relative to the foot plate along the first horizontal direction.

[0013] Optionally, the forefoot drive mechanism includes a forefoot drive assembly and a flip link. The forefoot drive assembly is mounted on the bottom of the foot plate. The first end of the flip link is hinged to the bottom of the forefoot plate along a first horizontal direction, and the second end of the flip link is hinged to the drive end of the forefoot drive assembly along a first horizontal direction. The forefoot drive assembly is used to drive the second end of the flip link to translate along a second horizontal direction so that the forefoot plate flips relative to the foot plate along the first horizontal direction.

[0014] Optionally, the ball screw extends along the second horizontal direction, the screw slide seat is sleeved on the ball screw and threaded thereon, the hinge mounting seat is fixedly mounted on the screw slide seat and is hinged to the second end of the flipping link via a hinge rod, and the third motor is used to drive the ball screw to rotate so that the screw slide seat drives the second end of the flipping link to move along the second horizontal direction.

[0015] Beneficial effects:

[0016] By hinged to the base at least along a first horizontal direction and a second horizontal direction, and with the left drive mechanism hinged to the left edge of the bottom of the foot plate and the right drive mechanism hinged to the right edge of the bottom of the foot plate, the left and right drive mechanisms jointly drive the foot plate to rotate along the first horizontal direction, thereby inducing the rehabilitation patient's foot to perform forward and backward swinging rehabilitation training. Alternatively, the left and right drive mechanisms can drive the foot plate to rotate synchronously along the first and second horizontal directions, respectively, to induce the rehabilitation patient's foot to perform left-side or right-side rotation rehabilitation training. This ankle movement simulation device can simulate the real movement of the ankle joint. Simultaneously, the forefoot drive mechanism and forefoot drive linkage jointly drive the forefoot to rotate along the first horizontal direction, thereby inducing the rehabilitation patient's forefoot to perform toe flexion movements during walking. The ankle movement simulation device of this application can completely simulate the joint movements of the foot during normal walking, improving the effectiveness of rehabilitation training. Attached Figure Description

[0017] The present application will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the foot plate in a forward tilted state in one embodiment of the ankle movement simulation device of this application;

[0019] Figure 2 This is a schematic diagram of the foot plate in the ankle movement simulation device in one embodiment of this application, showing the foot plate flipped to the left.

[0020] Figure 3 This is a perspective view of the bottom of the foot plate and the interior of the left side shell in one embodiment of this application;

[0021] Figure 4 This is a top view of the left drive mechanism, the right drive mechanism, and the forefoot drive mechanism in one embodiment of this application;

[0022] Figure 5 This is a perspective view of the left connecting rod assembly in one embodiment of this application;

[0023] Figure 6 This is a perspective view of the right-side linkage assembly in one embodiment of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 10. Base; 11. Foot plate; 12. Left drive mechanism; 1201. Left rotating link; 1202. Left lifting link; 1203. First joint bearing; 1204. Left hinge head; 1205. Left hinge shaft; 1206. First motor; 1207. Left first synchronous pulley; 1208. Left second synchronous pulley; 1209. Left synchronous belt; 1210. First transmission shaft; 1211. Left tension pulley; 1212. Left limit block; 13. Right drive mechanism; 1301. Right rotating link; 1302. Right lifting link; 1303. Second joint bearing; 1304. Right hinge head; 1305. Right hinge shaft; 1306. Second motor; 1307. Right... 1308. First synchronous pulley on the right side; 1309. Second synchronous pulley on the right side; 1310. Synchronous belt on the right side; 1311. Second drive shaft on the right side; 1312. Tensioner on the right side; 1313. Limiting block on the right side; 14. First hinge seat; 15. Second hinge seat on the right side; 151. Hinge end; 16. First hinge shaft; 17. Third hinge seat; 18. Left side plate; 19. Right side plate; 20. Left side shell; 21. Right side shell; 22. Forefoot sole plate; 23. Tilting linkage; 24. Third motor; 25. Ball screw; 26. Screw sliding seat; 27. Hinge mounting seat; 28. Forefoot hinge joint; 29. ​​Forefoot hinge shaft; 30. Hinge rod; 31. Hinge cover; 32. Guide rod; 33. Guide sleeve seat; 34. First hinge shaft. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Please see Figure 1 and Figure 2 As shown, in some embodiments, this application provides an ankle movement simulation device, which includes a base 10, a foot plate 11, a left drive mechanism 12, and a right drive mechanism 13. The base 10 is mounted on a six-dimensional force sensor (not shown), and the foot plate 11 is universally connected to the base 10. The first horizontal direction is perpendicular to the second horizontal direction. The foot plate 11 has a left and a right side opposite to each other along the first horizontal direction, and a front and a rear end opposite to each other along the second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The left drive mechanism 12 is hinged to the bottom left edge of the foot plate 11, and the right drive mechanism 13 is hinged to the bottom right edge of the foot plate 11.

[0028] The ankle movement simulation device of this application can realize active and passive rehabilitation training of the ankle joint. During active rehabilitation training, a six-dimensional force sensor senses the movement and force information of the user's lower limbs and transmits this information to a controller (not shown). The controller analyzes the six-dimensional force sensor data through algorithms and programs, and controls the movement of the left drive mechanism 12 and / or the right drive mechanism 13 according to the set parameters and modes, so that the foot plate 10 drives the user's foot to move, thereby realizing ankle rehabilitation training.

[0029] When the left drive mechanism 12 and the right drive mechanism 13 drive the foot plate 11 synchronously, the left drive mechanism 12 and the right drive mechanism 13 lift the left and right sides of the bottom of the foot plate 11 synchronously, so that the foot plate 11 can drive the rehabilitation personnel's feet to swing back and forth for rehabilitation training.

[0030] When the left drive mechanism 12 operates alone, it lifts the foot plate 11 from the left side of the bottom of the foot plate 11, so that the left side of the foot plate 11 is lifted while the front end of the foot plate 11 gradually descends, thereby driving the rehabilitation personnel to perform right-side rotation rehabilitation training.

[0031] When the right drive mechanism 13 operates alone, it lifts the foot plate 11 from the right side of the bottom of the foot plate 11, so that the right side of the foot plate 11 is lifted while the front end of the foot plate 11 gradually descends, thereby driving the rehabilitation personnel to perform left-side rotation rehabilitation training.

[0032] During passive rehabilitation training, the user voluntarily moves their ankle joint to drive the foot plate 10 to perform corresponding movements. This allows the six-dimensional force sensor to sense the movement and strength information of the user's lower limbs through the foot plate 10. The controller can then analyze the data from the six-dimensional force sensor to determine the user's rehabilitation status.

[0033] Please see Figure 5 and Figure 6 As shown, specifically, a first hinge seat 14 and a second hinge seat 15 are provided between the foot plate 11 and the base 10. The first hinge seat 14 is fixedly mounted on the base 10 by bolts, and the second hinge seat 15 is hinged to the first hinge seat 14 (not shown) via a second hinge axis, and the second hinge seat 15 is hinged to the foot plate 11 via a first hinge axis 16. The first hinge axis 16 extends along a first horizontal direction, and the second hinge axis extends along a second horizontal direction, so that the foot plate 11 can rotate relative to the base 10 in the first and second horizontal directions.

[0034] In other embodiments, the foot plate 11 and the base 1 can also be universally connected by a structure such as a ball bearing, a universal bearing or a universal joint.

[0035] In some embodiments, two first hinge shafts 16 and one second hinge shaft are provided, with the two first hinge shafts 16 symmetrically arranged on both sides of the second hinge shaft. The foot plate 11 has a front end and a rear end opposite each other along a second horizontal direction. A third hinge seat 17 is respectively provided on the bottom of the foot plate 11 near the front end. The second hinge seat 15 has two hinge ends 151 corresponding to the third hinge seat 17. Each hinge end 151 is hinged to the corresponding third hinge seat 17 through a first hinge shaft 16 to improve the stability of the foot plate 11 moving relative to the base 10.

[0036] Please see Figure 3-6 As shown, in some embodiments, the left drive mechanism 12 includes a left linkage assembly and a left drive assembly. The left linkage assembly includes a left rotating linkage 1201 and a left lifting linkage 1202. The first end of the left lifting linkage 1202 is ball-jointed to the first end of the left rotating linkage 1201 via a first joint bearing 1203. The second end of the left lifting linkage 1202 is hinged to the bottom left edge of the foot plate 11. Specifically, a left hinge head 1204 is fixedly installed on the bottom left edge of the foot plate 11, and the second end of the left lifting linkage 1202 is hinged to the left hinge head 1204 via a left hinge shaft 1205. The left hinge shaft 1205 extends along a first horizontal direction so that the second end of the left lifting linkage 1202 is hinged to the foot plate 11 along the first horizontal direction.

[0037] The second end of the left rotating link 1201 is located at the driving end of the left driving assembly. The left driving assembly drives the left rotating link 1201 to rotate so that the left lifting link 1202 lifts the foot plate 11 from the left side of the foot plate 11, so that the foot plate 11 can rotate synchronously with respect to the base 10 in the first horizontal direction and the second horizontal direction, so as to realize the foot plate 11 flipping to the right.

[0038] Furthermore, the left-side drive assembly includes a first motor 1206, a left-side first synchronous pulley 1207, a left-side second synchronous pulley 1208, and a left-side synchronous belt 1209. The left-side first synchronous pulley 1207 is mounted on the motor shaft of the first motor 1206. The left-side second synchronous pulley 1208 is connected to the left-side first synchronous pulley 1207 via the left-side synchronous belt 1209, and is connected to the second end of the left-side rotating link 1201 via a first drive shaft 1210. The first motor 1206 drives the left-side rotating link 1201 to rotate in the first horizontal direction via the first drive shaft 1210.

[0039] Specifically, a left side plate 18 and a right side plate 19 are fixedly installed on the left and right sides of the base 10, respectively. A first motor 1206 is positioned between the left side plate 18 and the right side plate 19 along a first horizontal direction and is located at the rear end of the base 10. A left first synchronous pulley 1207 is positioned on the side of the left side plate 18 away from the right side plate 19 and is connected to the motor shaft of the first motor 1206 via a drive transmission. A left second synchronous pulley 1208 is positioned on the side of the left first synchronous pulley 1207 along a second horizontal direction. A first bearing is fixedly installed on the left side plate 18. The left second synchronous pulley 1208 cooperates with the first bearing through a first drive shaft 1210 positioned along the first horizontal direction, so that the left second synchronous pulley is rotatably connected to the left side plate 18 along the first horizontal direction. The first drive shaft 1210 extends through the left side plate 18 to the side of the left side plate 18 near the right side plate 19 and is fixedly connected to the second end of the left rotating connecting rod 1201, so that the left rotating connecting rod 1201 can rotate with the left second synchronous pulley 1208 along the first horizontal direction. The first motor 1206 drives the left first synchronous pulley 1207 to rotate in the first horizontal direction, and then drives the left second synchronous pulley 1208 to rotate in the first horizontal direction through the left synchronous belt 1209. This causes the first transmission shaft 1210 to drive the left rotating link 1201 to rotate in the first horizontal direction, so that the left rotating link 1201 drives the left lifting link 1202 to swing up and down, thereby causing the left side of the foot plate 11 to lift up and flip to the right.

[0040] A left tensioning wheel 1211 is also rotatably mounted on the left side plate 18 via a left mounting shaft. The left tensioning wheel 1211 abuts against the left synchronous belt 1209 to tension the left synchronous belt 1209.

[0041] A left-side housing 20 is also provided on the outer side of the left-side plate 18. The left-side first synchronous pulley 1207, the left-side second synchronous pulley 1208, the left-side synchronous belt 1209, and the left-side tensioning pulley 1211 are all hidden inside the left-side housing 20.

[0042] A left limiting block 1212 is also provided on the side of the left side plate 18 near the right side plate 19. The left limiting block 1212 is located on the movement path of the left rotating link 1201 and is used to limit the movement range of the left rotating link 1201 to prevent the left rotating link 1201 from causing the foot plate 11 to deflect too much and sprain the ankle of the rehabilitation personnel.

[0043] The right-side drive mechanism 13 includes a right-side linkage assembly and a right-side drive assembly. The right-side linkage assembly includes a right-side rotating linkage 1301 and a right-side lifting linkage 1302. The first end of the right-side lifting linkage 1302 is ball-jointed to the first end of the right-side rotating linkage 1301 via a second joint bearing 1303, and the second end of the right-side lifting linkage 1302 is hinged to the bottom right edge of the footplate 11. Specifically, a right-side hinge head 1304 is fixedly installed on the bottom right edge of the footplate 11, and the second end of the right-side lifting linkage 1302 is hinged to the right-side hinge head 1304 via a right-side hinge shaft 1305. The right-side hinge shaft 1305 extends along a first horizontal direction, so that the second end of the right-side lifting linkage 1302 is hinged to the right edge of the footplate 11 along the first horizontal direction.

[0044] The second end of the right rotating link 1301 is located at the driving end of the right driving assembly. The right driving assembly drives the right rotating link 1301 to rotate so that the right lifting link 1302 lifts the foot plate 11 from the right side of the foot plate 11, so that the foot plate 11 can rotate synchronously with respect to the base 10 in the first horizontal direction and the second horizontal direction, so as to realize the foot plate 11 flipping to the left.

[0045] Furthermore, the right-side drive assembly includes a second motor 1306, a right-side first synchronous pulley 1307, a right-side second synchronous pulley 1308, and a right-side synchronous belt 1309. The right-side first synchronous pulley 1307 is mounted on the motor shaft of the second motor 1306. The right-side second synchronous pulley 1308 is connected to the right-side first synchronous pulley 1307 via the right-side synchronous belt 1309, and is connected to the second end of the right-side rotating link 1301 via a second drive shaft 1310. The second motor 1306 drives the right-side rotating link 1301 to rotate in the first horizontal direction via the second drive shaft 1310.

[0046] Specifically, the second motor 1306 is positioned between the left side plate 18 and the right side plate 19 along a first horizontal direction, and is located at the front end of the base 10. The right first synchronous pulley 1307 is positioned on the side of the right side plate 19 opposite to the left side plate 18, and is drive-connected to the motor shaft of the second motor 1306. The right second synchronous pulley 1308 is positioned on the side of the right first synchronous pulley 1307 along a second horizontal direction. A second bearing is provided on the right side plate 19. The right second synchronous pulley 1308 cooperates with the second bearing via a second transmission shaft 1310 positioned along the first horizontal direction, so that the right second synchronous pulley is rotatably connected to the right side plate 19 along the first horizontal direction. The second transmission shaft 1310 extends through the right side plate 19 to the side of the right side plate 19 near the left side plate 18, and is fixedly connected to the second end of the right rotating connecting rod 1301, so that the right rotating connecting rod 1301 can rotate with the right second synchronous pulley 1308 along the first horizontal direction. The second motor 1306 drives the right first synchronous pulley 1307 to rotate in the first horizontal direction, and then drives the right second synchronous pulley 1308 to rotate in the first horizontal direction through the right synchronous belt 1309. This causes the second transmission shaft 1310 to drive the right rotating link 1301 to rotate in the first horizontal direction, so that the right rotating link 1301 drives the right lifting link 1302 to swing up and down, thereby lifting the right side of the foot plate 11 and flipping it to the left.

[0047] A right tensioning wheel 1311 is also rotatably mounted on the right side plate 19 via a right side mounting shaft. The right tensioning wheel 1311 abuts against the right synchronous belt 1309 to tension the right synchronous belt 1309.

[0048] A right-side housing 21 is also provided on the outside of the right-side plate 19. The right-side first synchronous pulley 1307, the right-side second synchronous pulley 1308, the right-side synchronous belt 1309, and the right-side tension pulley 1311 are all hidden inside the right-side housing 21.

[0049] A right limit block 1312 is also provided on the side of the right side plate 19 near the left side plate 18. The right limit block 1312 is located on the movement path of the right rotating link 1301 and is used to limit the movement range of the right rotating link 1301 to prevent the right rotating link 1301 from causing the foot plate 11 to deflect too much and sprain the ankle of the rehabilitation personnel.

[0050] Please see Figure 2 and Figure 3As shown, the ankle movement simulation device also includes a forefoot plate 22 and a forefoot drive mechanism. The forefoot plate 22 is hinged to the front end of the foot plate 11 along a first horizontal direction, and the forefoot drive mechanism is used to drive the forefoot plate 22 to rotate relative to the foot plate 11 along the first horizontal direction. In this application, the forefoot plate 22 corresponds to the forefoot of the human foot, and the foot plate 11 corresponds to the heel of the human foot. The forefoot drive mechanism drives the forefoot plate 22 to rotate relative to the foot plate 11 along the first horizontal direction, so as to drive the forefoot of the rehabilitation personnel to perform toe flexion movements during walking.

[0051] Specifically, the forefoot plate 22 and the foot plate 11 are rotatably connected by a first hinge shaft 34, which extends along a first horizontal direction. The forefoot drive mechanism includes a forefoot drive assembly and a flip link 23. The forefoot drive assembly is mounted on the bottom of the foot plate 11. The flip link 23 is a downwardly concave arc-shaped rod. The first end of the flip link 23 is hinged to the bottom of the forefoot plate 22 along the first horizontal direction, and the second end of the flip link 23 is hinged to the drive end of the forefoot drive assembly along the first horizontal direction. The forefoot drive assembly can drive the second end of the flip link 23 to translate along a second horizontal direction, causing the forefoot plate 22 to flip relative to the foot plate 11 along the first horizontal direction.

[0052] Please see Figure 3-6 As shown, in some embodiments, the forefoot drive assembly includes a third motor 24, a ball screw 25, a screw slide seat 26, and a hinge mounting seat 27. The ball screw 25 extends along a second horizontal direction, the screw slide seat 26 is sleeved on the ball screw 25 and threaded thereon, and the hinge mounting seat 27 is fixedly mounted on the screw slide seat 26 and is hinged to the second end of the flipping link 23 via a hinge rod 30. The third motor 24 drives the ball screw 25 to rotate so that the screw slide seat 26 drives the second end of the flipping link 23 to move along the second horizontal direction. A forefoot hinge joint 28 is fixedly mounted on the bottom of the forefoot base plate 22, and the first end of the flipping link 23 is hinged to the forefoot hinge joint 28 via a forefoot hinge shaft 29. The forefoot hinge shaft 29 is arranged along a first horizontal direction so that the flipping link 23 and the forefoot base plate 22 are hinged along the first horizontal direction.

[0053] Specifically, a hinge cover 31 is bolted to the hinge mounting base 27, and the hinge rod 30 is locked between the hinge mounting base 27 and the hinge cover 31 to facilitate the disassembly and replacement of the hinge rod 30. A third motor 24 is distributed along the second horizontal direction and installed at the rear end of the bottom of the foot plate 11. The motor shaft of the third motor 24 is connected to one end of the ball screw 25 via a coupling. Two guide rods 32 extending along the second horizontal direction are arranged parallel to each other between the ball screw sliding seat 26 and the hinge mounting base 27. One end of the guide rod 32 is fixedly connected to the ball screw sliding seat 26, and the other end is fixedly connected to the hinge mounting base 27. A guide sleeve 33 is also fixedly installed in the middle section of the bottom of the foot plate 11. The guide rod 32 passes through the guide sleeve 33 and slides with it, allowing the guide sleeve 33 to guide the movement of the guide rod 32, thereby improving the stability of the forefoot plate 22 relative to the foot plate 11 during rotation.

[0054] The foregoing has provided a detailed description of one embodiment of this application, but the description is merely a preferred embodiment and should not be construed as limiting the scope of this application. All equivalent variations and modifications made within the scope of this application should still fall within the patent coverage of this application.

[0055] It should be noted that the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Descriptions in this application regarding directions such as "left," "right," "left side," "right side," "upper part," "lower part," "top," and "bottom" are defined based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, not to indicate or imply that the described structure must be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0056] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

Claims

1. An ankle motion simulation device, characterized by, The ankle motion simulation device comprises a base, a foot plate, a left driving mechanism and a right driving mechanism, the foot plate is connected to the base in a universal manner, the foot plate has a left side and a right side opposite in a first horizontal direction and a front end and a rear end opposite in a second horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, the left driving mechanism is hinged to the left side edge of the bottom of the foot plate, the right driving mechanism is hinged to the right side edge of the bottom of the foot plate, and the left driving mechanism and the right driving mechanism are used for synchronous driving of the foot plate to swing forward and backward relative to the base or asynchronous driving of the foot plate to turn to the left or turn to the right relative to the base.

2. An ankle motion simulator according to claim 1, wherein The first hinge seat is fixedly installed on the base, the second hinge seat is hinged to the foot plate through a first hinge shaft and hinged to the first hinge seat through a second hinge shaft, the first hinge shaft extends along the first horizontal direction, and the second hinge shaft extends along the second horizontal direction.

3. An ankle motion simulator according to claim 1, wherein The left driving mechanism comprises a left connecting rod assembly and a left driving assembly, the left connecting rod assembly comprises a left rotating connecting rod and a left lifting connecting rod, the first end of the left lifting connecting rod is spherically hinged to the first end of the left rotating connecting rod, the second end of the left lifting connecting rod is hinged to the left side edge of the bottom of the foot plate, and the second end of the left rotating connecting rod is arranged at the driving end of the left driving assembly, the left driving assembly drives the left rotating connecting rod to rotate so that the left lifting connecting rod drives the foot plate to turn to the right relative to the base.

4. An ankle motion simulator according to claim 3, wherein, The left driving assembly comprises a first motor, a left first synchronous wheel, a left second synchronous wheel and a left synchronous belt, the left first synchronous wheel is installed on the motor shaft of the first motor, the left second synchronous wheel is drivingly connected to the left first synchronous wheel through the left synchronous belt and drivingly connected to the second end of the left rotating connecting rod through a first transmission shaft, and the first motor drives the left rotating connecting rod to rotate along the first horizontal direction through the first transmission shaft.

5. An ankle motion simulator according to claim 1, wherein, The right driving mechanism comprises a right connecting rod assembly and a right driving assembly, the right connecting rod assembly comprises a right rotating connecting rod and a right lifting connecting rod, the first end of the right lifting connecting rod is spherically hinged to the first end of the right rotating connecting rod, the second end of the right lifting connecting rod is hinged to the right side edge of the bottom of the foot plate, and the second end of the right rotating connecting rod is arranged at the driving end of the right driving assembly, the right driving assembly drives the right rotating connecting rod to rotate so that the right lifting connecting rod drives the foot plate to turn to the left relative to the base.

6. An ankle motion simulator according to claim 5, wherein, The right side driving assembly comprises a second motor, a right side first synchronous wheel, a right side second synchronous wheel and a right side synchronous belt, the right side first synchronous wheel is installed on a motor shaft of the second motor, the right side second synchronous wheel is in transmission connection with the right side first synchronous wheel through the right side synchronous belt, and is in transmission connection with the second end of the right side rotating connecting rod through a first transmission shaft, and the second motor drives the right side rotating connecting rod to rotate along the first horizontal direction through a second transmission shaft.

7. An ankle motion simulator according to claim 1, wherein, The ankle movement simulation device further comprises a left side plate and a right side plate installed on the left side and the right side of the base respectively, the left side driving mechanism comprises a first motor, the right side driving mechanism comprises a second motor, and the first motor and the second motor are arranged at opposite ends of the base and are installed between the left side plate and the right side plate.

8. An ankle motion simulator according to claim 1, wherein, The ankle movement simulation device further comprises a forefoot bottom plate and a forefoot driving mechanism, the forefoot bottom plate is hinged to the front end of the foot bottom plate along the first horizontal direction, and the forefoot driving mechanism is used for driving the forefoot bottom plate to rotate relative to the foot bottom plate along the first horizontal direction.

9. An ankle motion simulator according to claim 8, wherein, The forefoot driving mechanism comprises a forefoot driving assembly and a turnover connecting rod, the forefoot driving assembly is installed on the bottom of the foot bottom plate, the first end of the turnover connecting rod is hinged to the bottom of the forefoot bottom plate along the first horizontal direction, the second end of the turnover connecting rod is hinged to the driving end of the forefoot driving assembly along the first horizontal direction, and the forefoot driving assembly is used for driving the second end of the turnover connecting rod to translate along the second horizontal direction to make the forefoot bottom plate overturn relative to the foot bottom plate along the first horizontal direction.

10. An ankle motion simulator according to claim 9, wherein, The forefoot driving assembly comprises a third motor, a ball screw, a screw sliding seat and a hinge mounting seat, the ball screw extends along the second horizontal direction, the screw sliding seat is sleeved on the ball screw, the hinge mounting seat is fixedly installed on the screw sliding seat and is hinged to the second end of the turnover connecting rod through a hinge rod, and the third motor is used for driving the ball screw to rotate to make the screw sliding seat drive the second end of the turnover connecting rod to move along the second horizontal direction.

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