Full-angle synchronous tendon stretching mechanism for ankles and tibialis muscles

Abstract

A full-angle synchronous tendon stretching mechanism for ankles and tibialis muscles, comprising a leg fixing frame and a foot fixing frame, wherein the leg fixing frame is slidably arranged on the foot fixing frame. Said tendon stretching mechanism further comprises a lifting drive assembly, a stretching drive assembly, a rolling drive assembly, and a ball connecting rod mechanism, wherein the lifting drive assembly drives the leg fixing frame to move up and down relative to the foot fixing frame, so as to stretch calf muscles; and the stretching drive assembly, by means of the ball connecting rod mechanism, drives a foot support frame to swing up and down around a rotary shaft, so as to stretch leg tendons. By using the described technical solution, three drive assemblies are separately arranged to separately control the calf stretching and the twisting of feet up and down or left and right, such that these drive assemblies can be operated independently or can be operated in combination simultaneously, thereby achieving the stretching motion of the calf muscle in the up and down directions and the twisting motion around the ankle in all directions, thus realizing the full-angle tendon stretching function for the ankles and tibialis muscles.

Description

A multi-angle synchronous stretching mechanism for the ankle and tibialis muscles. Technical Field

[0001] This utility model belongs to the field of massager technology, and in particular relates to a mechanism for synchronously stretching the ankle and shin muscles at all angles. Background Technology

[0002] Calf massage can promote blood circulation, relieve muscle tension, reduce pain, improve athletic performance, and help relax the mind and body.

[0003] Calf massagers typically relax calf muscles through stretching movements, especially the gastrocnemius and soleus muscles that are tense from prolonged standing or exercise. However, stretching alone is not very helpful in relaxing the tibialis muscles located in the calf, and further relaxation is achieved by rotating the foot around the ankle. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art by providing a full-angle synchronous stretching mechanism for the ankle and tibialis muscles. This mechanism can perform twisting movements around the ankle and stretching movements in the vertical direction to solve the problem of relaxation of the tibialis muscles in the calf.

[0005] The technical solution of this utility model is as follows: a full-angle synchronous stretching mechanism for the ankle and tibialis muscles, including a leg fixation frame and a foot fixation frame. The leg fixation frame is slidably disposed on the foot fixation frame in a vertical direction. A leg massage component for fixing the calf is fixedly disposed on the leg fixation frame. A foot massage component for fixing the foot is disposed on the foot fixation frame. The mechanism also includes a lifting drive component, a stretching drive component, a rolling drive component, and a ball-and-bar mechanism. The lifting drive component drives the leg fixation frame to move up and down relative to the foot fixation frame to stretch the calf muscles.

[0006] The foot massage assembly includes a foot support frame, which is rotatably connected to a foot fixing frame via a rotating shaft in a rolling drive assembly. A massage wheel is fixedly sleeved on the rotating shaft, and a bearing seat is fixedly installed on the foot support frame. The massage wheel includes a rotating surface rotatably connected to the bearing seat. The central axis of the rotating shaft and the central axis of the rotating surface are set at a certain angle. When the rotating shaft in the rolling drive assembly rotates, the massage wheel rotates around the central axis of the rotating shaft, causing the foot support frame to sway left and right relative to the intersection of the central axis of the rotating shaft and the central axis of the rotating surface.

[0007] The stretching drive assembly drives the foot support frame to swing up and down around the pivot axis through a ball-and-bar mechanism to stretch the hamstrings.

[0008] By adopting the above technical solution, a lifting drive component is set to control the relative sliding of the leg fixation frame and the foot fixation frame, which can stretch the calf muscles up and down. A foot support frame for placing the foot is rotatably mounted on the foot fixation frame via a rotating shaft. A stretching drive component pulls one end of the foot support frame up and down, causing the foot support frame to swing around the rotating shaft. This allows the foot support frame to drive the foot to swing up and down relative to the calf, stretching the calf muscles. Furthermore, a massage wheel is mounted on the rotating shaft, with the central axis of the rotating surface of the massage wheel at a certain angle to the central axis of the rotating shaft. When the rotating shaft rotates, it drives the massage wheel and the foot support frame to twist left and right, achieving a reciprocating twisting motion of the foot around the ankle. Thus, by setting three drive components to control the calf stretching and the foot's up-and-down or left-and-right twisting motion, these components can operate independently or in combination simultaneously, achieving both up-and-down stretching of the calf muscles and 460-degree twisting motion around the ankle, providing a full-angle stretching function for the ankle and tibialis muscles.

[0009] A further feature of this invention is that the rolling drive assembly includes a roller motor and a roller gear mechanism. The output end of the roller motor drives the rotating shaft to rotate through the roller gear mechanism. The roller motor and the roller gear mechanism are fixedly mounted on the foot fixing frame.

[0010] With the above-described further configuration, the roller drive assembly controls the rotation of the shaft through a motor and gear transmission structure, and can accurately control whether the foot support frame swings left and right by controlling the operation of the roller motor.

[0011] A further feature of this invention is that the stretching drive assembly includes a stretching motor, a fixing frame, and a stretching screw and nut pair, wherein the stretching motor is fixedly mounted on the foot fixing frame.

[0012] The nut in the tension screw nut assembly is fixedly installed with the fixing frame. Guide rails are fixedly installed at the left and right ends of the fixing frame. A guide sleeve is slidably installed on each guide rail. Each guide sleeve is fixedly installed with the foot fixing frame. The screw and guide rails in the tension screw nut assembly are both arranged along the sliding direction of the leg fixing frame.

[0013] The output end of the tension motor drives the screw in the tension screw nut pair to rotate, thereby driving the nut in the tension screw nut pair to move the fixed frame and the foot fixed frame relative to each other.

[0014] With the above further configuration, the tension drive assembly is a motor-driven lead screw rotation to drive the nut to move, wherein the nut indirectly drives the guide rail to slide on the foot fixing frame, thereby realizing the tension drive assembly controlling the movement of the fixing frame fixed to the nut, and realizing the up and down movement of the ball linkage mechanism.

[0015] A further feature of this invention is that the ball-joint mechanism includes two ball-end caps that are respectively fixedly connected to the foot support frame and the fixing frame. A double ball-end connecting rod is provided between the two ball-end caps. The ball-end caps are provided with ball-end cavities for accommodating the ball heads of the double ball-end connecting rods. The ball-end portions of the double ball-end connecting rods can rotate within the ball-end cavities.

[0016] With the above-mentioned further configuration, the ball head part of the double ball head connecting rod can rotate in the ball head cavity, including left and right and up and down swinging. It can also move up and down under the pull of the fixed frame when the foot support frame twists left and right, avoiding the situation where the foot support frame cannot move up and down at a certain angle due to angle limitation when twisting left and right. This allows the foot to twist around the ankle at the same time to relax the shin muscles.

[0017] Further features of this utility model: The lifting drive assembly includes a lifting motor, a lifting frame, and a lifting screw and nut assembly. The lifting motor is fixedly mounted on the foot fixing frame. The nut in the lifting screw and nut assembly is fixedly mounted on the lifting frame. The lifting frame is fixedly connected to the leg fixing frame.

[0018] The output end of the lifting motor drives the screw in the lifting screw nut pair to rotate, thereby driving the nut in the lifting screw nut pair to drive the lifting frame and the leg fixing frame and foot fixing frame to slide relative to each other.

[0019] With the above-mentioned further configuration, the lifting drive component controls the rotation of the lead screw through the motor to drive the nut to move, thereby the nut drives the lifting frame to move up and down. The lifting frame is fixed to the leg fixation frame, thereby realizing the up and down movement of the leg fixation frame relative to the foot fixation frame to achieve the function of stretching the calf muscles. This control component is relatively independent of the rolling drive component and the stretching drive component, and is not linked with the up and down and left and right twisting movements of the foot, and can be controlled independently.

[0020] A further feature of this invention is that the foot fixing frame includes a foot crossbar, two foot vertical bars respectively disposed at both ends of the foot crossbar, and a side support frame for mounting the pivot.

[0021] The leg support frame includes a leg crossbar and two leg vertical bars respectively disposed at both ends of the leg crossbar.

[0022] With the above-mentioned further configuration, the foot fixation frame is functionally divided into three parts: the foot crossbar for fixing the motor part in each drive component, the foot vertical bar for sliding connection of the leg fixation frame, and the side support frame for rotating and installing the rotating shaft. This facilitates the layout of each part of the mechanism and makes the overall structure more compact.

[0023] A further feature of this invention is that each leg support has a sliding groove on both sides, and each foot support has a rotatable roller. The roller rolls in the sliding groove to achieve a sliding connection between the leg support and the foot support. The sliding groove has a narrow opening on the side facing the corresponding foot support to prevent the roller from coming out laterally.

[0024] With the above-mentioned further configuration, the sliding between the leg fixation frame and the foot fixation frame is achieved by the rolling of rollers on the slide groove. The rolling friction between them is minimal, which makes the movement between the leg fixation frame and the foot fixation frame smoother and the power efficiency of the lifting motor higher.

[0025] A further feature of this invention is that two leg massage components are symmetrically arranged on the leg support frame and two foot massage components are symmetrically arranged on the foot support frame.

[0026] With the above-mentioned further design, which conforms to the human body structure, both legs and both feet can be massaged simultaneously.

[0027] A further feature of this invention is that each leg massage component includes a leg fixing shell fixed to a leg fixing frame. The leg fixing shell includes a calf cavity for accommodating the lower leg, and airbags for inflating and clamping the lower leg are provided on both sides of the calf cavity.

[0028] Each foot massage component also includes a foot fixing shell disposed on a foot support frame, the foot fixing shell including a foot cavity for accommodating the foot, and airbags for inflating and clamping the foot on both sides of the foot cavity.

[0029] With the above-mentioned further design, the airbag not only serves to hold the calf or foot, but its soft and elastic properties also make people feel comfortable.

[0030] A further improvement of this utility model is that each leg fixing housing is provided with a roller with a protrusion, the roller is rotatably connected to the leg fixing frame, and the leg fixing housing is provided with an opening for the roller to protrude out of the calf cavity;

[0031] The massage roller is fixedly provided with a ring with protrusions on its circumference, and the foot fixing housing is provided with an opening for the ring to protrude into the foot cavity.

[0032] With the above-mentioned further configuration, the roller and ring can rotate relative to the calf or the sole of the foot, causing the protrusions on the top to repeatedly squeeze the calf muscles or the sole of the foot, further massaging the calf muscles or the sole of the foot. Attached Figure Description

[0033] Figure 1 is a schematic diagram of the overall structure of a specific embodiment of the present utility model;

[0034] Figure 2 is a schematic diagram of the main structure of a specific embodiment of the present utility model;

[0035] Figure 3 is an exploded view of a specific embodiment of this utility model;

[0036] Figure 4 is a schematic diagram of the overall structure of the leg fixing frame in a specific embodiment of this utility model;

[0037] Figure 5 is a schematic diagram of the overall structure of the foot fixation frame in a specific embodiment of this utility model;

[0038] Figure 6 is a schematic diagram of the cooperation between the fixing frame, guide rail and guide sleeve in a specific embodiment of this utility model;

[0039] Figure 7 is a schematic diagram of the cooperation between the leg fixation frame and the foot fixation frame in a specific embodiment of this utility model;

[0040] Figure 8 is a schematic diagram of the cooperation between the foot fixing frame, the tension drive assembly, and the rolling drive assembly in a specific embodiment of this utility model;

[0041] Figure 9 is an exploded view of the ball-and-bar mechanism in a specific embodiment of this utility model;

[0042] Figure 10 is an exploded view of the massage wheel and the bearing seat in a specific embodiment of this utility model;

[0043] Figure 11 is a half-sectional view of the massage wheel in conjunction with the rotating shaft in a specific embodiment of this utility model;

[0044] Figure 12 is a schematic diagram of the stretching drive assembly controlling the movement of the foot fixing shell in a specific embodiment of the present invention, wherein Figure 12A and Figure 12B are schematic diagrams of the foot fixing shell after the foot support frame swings up and down;

[0045] Figure 13 is a schematic diagram of the rolling drive component controlling the movement of the foot fixing shell in a specific embodiment of the present utility model. Figures 13A, 13B, 13C and 13D are schematic diagrams of four states of the foot fixing shell after the foot support frame twists in the left and right directions.

[0046] Figure 14 is a schematic diagram of the lifting drive assembly controlling the movement of the leg fixation frame in a specific embodiment of the present invention, wherein Figure 14A and Figure 14B are schematic diagrams of the leg fixation frame moving down or up relative to the foot fixation frame, respectively.

[0047] In the diagram: 1. Leg support frame; 11. Leg crossbar; 12. Leg vertical bar; 13. Leg support housing; 14. Lower leg cavity; 15. Airbag; 16. Roller; 17. Slide groove; 2. Foot support frame; 21. Foot support frame; 22. Foot crossbar; 23. Foot vertical bar; 24. Side support frame; 25. Roller; 26. Foot support housing; 27. Foot cavity; 28. Central support frame; 3. Lifting drive assembly; 31. Lifting motor; 32. Lifting gear mechanism; 33. Lifting frame; 34. Lifting screw and nut pair; 4. Tension drive assembly; 41. Tension motor; 42. Tension gear mechanism; 43. Fixing frame; 44. Tension screw and nut pair; 45. Guide rail; 46. Guide sleeve; 5. Rolling drive assembly; 51. Rotating shaft; 52. Massage wheel; 521. Rotating surface; 53. Roller motor; 54. Shaft seat; 55. Roller gear mechanism; 56. Ring; 6. Ball joint mechanism; 61. Ball head cover; 62. Double ball head connecting rod; 63. Ball head cavity. Detailed Implementation

[0048] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0049] It should be noted that in the description of this utility model, all directional indicators (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0050] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0051] As shown in Figures 1-14, a full-angle synchronous stretching mechanism for the ankle and tibialis muscle includes a leg fixation frame 1 and a foot fixation frame 2. As shown in Figure 5, the foot fixation frame 2 includes a foot crossbar 22, two foot vertical bars 23 respectively disposed at both ends of the foot crossbar 22, and a side support frame 24 for mounting the rotating shaft 51. As shown in Figure 4, the leg fixation frame 1 includes a leg crossbar 11 and two leg vertical bars 12 respectively disposed at both ends of the leg crossbar 11.

[0052] Each leg support 12 has a groove 17 on its outer side in the left-right direction. The groove 17 has a narrow opening on its outer side. Each foot support 23 has two rollers 25 rotatably mounted on it. Each roller 25 slides into the bottom of the groove 17 and rolls in contact with the front and rear sides of the groove 17 to achieve a sliding connection between the leg support frame 1 and the foot support frame 2. The narrow opening of the groove 17 can prevent the rollers 25 from coming out laterally.

[0053] The two leg posts 12 of the leg fixation frame 1 move up and down between the two foot posts 23, so that the leg fixation frame 1 as a whole can move up and down relative to the foot fixation frame 2.

[0054] To conform to human anatomy, two leg massage components are symmetrically arranged on the left and right sides of the leg fixation frame 1, and two foot massage components are symmetrically arranged on the left and right sides of the foot fixation frame 2. The leg massage components are used to fix the lower legs, and the foot massage components are used to fix the feet.

[0055] Each leg massage component includes a leg fixing housing 13 fixed to the leg fixing frame 1. The leg fixing housing 13 includes a calf cavity 14 for accommodating the calf, and airbags 15 for inflating and clamping the calf are provided on both sides of the calf cavity 14.

[0056] Each foot massage component also includes a foot fixing housing 26 disposed on a foot support frame 21. The foot fixing housing 26 includes a foot cavity 27 for accommodating the foot, and airbags 15 for inflating and clamping the foot are disposed on both sides of the foot cavity 27.

[0057] The airbag 15 can be inflated to hold the calf or foot in place, and its soft and elastic properties make it comfortable to use.

[0058] A central support frame 28 fixed to the foot crossbar 22 is provided between the two foot massage components. This embodiment also includes a lifting drive component 3, a stretching drive component 4, a rolling drive component 5, and a ball linkage mechanism 6.

[0059] The lifting drive assembly 3 includes a lifting motor 31, a lifting gear mechanism 32, a lifting frame 33, and a lifting screw nut assembly 34. The lifting motor 31 is fixedly mounted on the foot crossbar 22. The nut in the lifting screw nut assembly 34 is fixedly mounted on the lifting frame 33. Both ends of the lifting frame 33 are fixed to the two leg vertical bars 12 respectively. The screw installation direction of the lifting screw nut assembly 34 and the direction of the slide groove 17 are both up and down.

[0060] The output end of the lifting motor 31 drives the screw in the lifting screw nut pair 34 to rotate through the lifting gear mechanism 32, thereby driving the nut in the lifting screw nut pair 34 and driving the lifting frame 33 to move up and down. The lifting frame 33 is fixed to the leg fixing frame 1, thereby realizing that the leg fixing frame 1 moves up and down relative to the foot fixing frame 2 along the slide groove 17, thereby realizing the leg massage component moves up and down relative to the calf, which plays the role of stretching the calf muscles up and down for massage.

[0061] The rolling drive assembly 5 includes a roller motor 53, a roller gear mechanism 55, and a rotating shaft 51. The output end of the roller motor 53 drives the rotating shaft 51 to rotate through the roller gear mechanism 55. The roller motor 53 and the roller gear mechanism 55 are fixedly mounted on the central support frame 28. The middle part of the rotating shaft 51 is used for transmission in the roller gear mechanism 55, and its two ends are rotatably connected to the side support frame 24, thereby driving the foot massage components located on both sides of the rolling drive assembly 5 to move.

[0062] As shown in Figures 8, 10, and 11, the foot support frame 21 is rotatably connected to the foot fixing frame 2 via a rotating shaft 51 in the rolling drive assembly 5. A massage wheel 52 is sleeved on the rotating shaft 51, and the massage wheel 52 is fixedly installed on the rotating shaft 51. Two bearing seats 54 are fixedly installed on the foot support frame 21. The two bearing seats 54 are concentrically arranged and rotatably connected to the rotating surfaces 521 located at both ends of the massage wheel 52. The central axis of the rotating shaft 51 is set at a certain angle to the central axis of the rotating surface 521. When the roller motor 53 drives the rotating shaft 51 to rotate, the massage wheel 52 rotates around the central axis of the rotating shaft 51, thereby causing the foot support frame 21 to twist in the left and right directions. Thus, the foot can twist in the left and right directions around the ankle.

[0063] The stretching drive assembly 4 drives the foot support frame 21 to swing up and down around the rotating shaft 51 through the ball linkage mechanism 6 to stretch the hamstrings;

[0064] The stretching drive assembly 4 includes a stretching motor 41, a stretching gear mechanism 42, a fixed frame 43, and a stretching screw and nut assembly 44. The stretching motor 41 and the stretching gear mechanism 42 are fixedly mounted on the foot crossbar 22. The screw in the stretching screw and nut assembly 44 is arranged parallel to the screw in the lifting screw and nut assembly 34.

[0065] The nut in the tension screw nut assembly 44 is fixedly installed with the fixing frame 43. The left and right ends of the fixing frame 43 are respectively fixedly installed with guide rails 45. Two guide sleeves 46 are slidably installed on each guide rail 45. Each guide sleeve 46 is fixedly installed with the foot vertical rod 23. The screw and guide rails 45 in the tension screw nut assembly 44 are both set along the sliding direction of the leg fixing frame 1.

[0066] The output end of the tension motor 41 drives the screw in the tension screw nut pair 44 to rotate through the tension gear mechanism 42, thereby driving the nut in the tension screw nut pair 44 to move up and down, causing the fixed frame 43 to slide relative to the foot vertical rod 23. The foot vertical rod 23 is fixed to the foot horizontal rod 22. Thus, when the tension motor 41 is driven, the fixed frame 43 moves in the up and down direction.

[0067] As shown in Figures 8-9, each ball linkage mechanism 6 includes two ball head caps 61 that are fixedly connected to the foot support frame 21 and the fixed frame 43 respectively. A double ball head linkage 62 is provided between the two ball head caps 61. A ball head cavity 63 is provided on the ball head cap 61 to accommodate the ball head of the double ball head linkage 62. The ball head part of the double ball head linkage 62 can rotate in the ball head cavity 63.

[0068] When the fixed frame 43 moves up and down, the ball linkage mechanism 6 drives the foot support frame 21 to move up and down. At the same time, since the foot support frame 21 is restricted by the pivot 51, and the pivot 51 is located in the middle of the foot support frame 21, the ball head cap 61 at one end of the ball linkage mechanism 6 is fixed to the end of the foot support frame 21 near the foot crossbar 22, so the foot support frame 21 swings up and down around the pivot 51.

[0069] The ball head of the double ball joint 62 can rotate in the ball head cavity 63, including left and right and up and down swinging. It can also move up and down under the pull of the fixed frame 43 when the foot support frame 21 twists left and right. This avoids the situation where the foot support frame 21 cannot move up and down at a certain angle due to angle limitation when twisting left and right. It enables the foot to twist around the ankle at the same time to relax the shin muscles.

[0070] Furthermore, each leg fixing housing 13 is provided with a roller 16 with a protrusion. The roller 16 is rotatably disposed with the leg fixing frame 1. The leg fixing housing 13 is provided with an opening for the roller 16 to protrude out of the calf cavity 14.

[0071] The massage roller 52 is fixedly provided with a ring 56 with protrusions on the circumference, and the foot fixing housing 26 is provided with an opening for the ring 56 to protrude into the foot cavity 27;

[0072] When the leg support frame 1 moves up and down relative to the foot support frame 2, the stretching drive assembly 4 drives the foot support frame 21 to swing up and down around the pivot 51, or the rolling drive assembly 5 drives the foot support frame 21 to twist left and right, the roller 16 or the ring 56 can rotate relative to the calf or the sole of the foot, causing the protrusions set above to repeatedly squeeze the calf muscles or the sole of the foot, further massaging the calf muscles or the sole of the foot.

[0073] Furthermore, the leg support 1 can be mounted on the chair, allowing the foot support 2 to float in the air, which facilitates the foot support frame 21 and the foot fixing shell 26 on it to swing up and down.

[0074] The lifting gear mechanism 32, the stretching gear mechanism 42, and the roller gear mechanism 55 mentioned in this embodiment are all worm gear, worm shaft, and gear transmission, which are conventional transmission structures and are not specifically described in this embodiment.

[0075] In summary, as shown in Figures 12-14, this embodiment uses three drive components to control the vertical stretching of the calf muscles and the vertical or horizontal twisting of the foot around the ankle. The three drive components can operate individually or in combination simultaneously. In addition to stretching the calf muscles vertically, it also enables the foot to twist horizontally and vertically around the ankle. Furthermore, the ball-and-bar linkage 6 ensures that there are no dead angles between the horizontal and vertical twisting movements, thus enabling the foot to twist around the ankle in all directions. This achieves the full-angle stretching function for the ankle and tibialis muscles.

Claims

1. A full-angle synchronous tensing mechanism for ankle and tibialis, comprising a leg fixing frame (1) and a foot fixing frame (2), the leg fixing frame (1) is slidingly arranged on the foot fixing frame (2), the leg fixing frame (1) is provided with a leg massage assembly for placing calf, the foot fixing frame (2) is provided with a foot massage assembly for placing foot, characterized in that, It also includes a lifting drive assembly (3), a stretching drive assembly (4) and a rolling drive assembly (5), wherein the lifting drive assembly (3) drives the leg fixation frame (1) to move up and down relative to the foot fixation frame (2) to stretch the calf muscles. The foot massage assembly includes a foot support frame (21), which is rotatably connected to the foot fixing frame (2) via a rotating shaft (51) in the rolling drive assembly (5). A massage wheel (52) is fixedly sleeved on the rotating shaft (51). A bearing seat (54) is fixedly installed on the foot support frame (21). The massage wheel (52) includes a rotating surface (521) with a circular structure. The massage wheel (52) is rotatably connected to the bearing seat (54) via the rotating surface (521). The central axis of the rotating shaft (51) and the central axis of the rotating surface (521) have a certain angle. When the rotating shaft (51) in the rolling drive assembly (5) rotates, the massage wheel (52) rotates as a whole with the central axis of the rotating shaft (51), causing the foot support frame (21) to twist relative to the intersection of the central axis of the rotating shaft (51) and the central axis of the rotating surface (521). The stretching drive assembly (4) drives the foot support frame (21) to swing up and down around the pivot (51) via the ball linkage mechanism (6) to stretch the leg muscles.

2. A full range of motion ankle and calf muscle synchronizing pull mechanism according to claim 1, wherein, The rolling drive assembly (5) includes a roller motor (53) and a roller gear mechanism (55). The output end of the roller motor (53) drives the rotating shaft (51) to rotate through the roller gear mechanism (55). The roller motor (53) and the roller gear mechanism (55) are fixedly mounted on the foot fixing frame (2).

3. A full range of motion ankle and calf muscle synchronizer as defined in claim 1 wherein, The stretching drive assembly (4) includes a stretching motor (41), a fixing frame (43), and a stretching screw nut pair (44). The stretching motor (41) is fixedly mounted on the foot fixing frame (2). The nut in the tension screw nut pair (44) is fixedly installed with the fixing frame (43). The left and right ends of the fixing frame (43) are respectively fixedly installed with guide rails (45). Each guide rail (45) is slidably installed with a guide sleeve (46). Each guide sleeve (46) is fixedly installed with the foot fixing frame (2). The screw and the guide rail (45) in the tension screw nut pair (44) are both arranged along the sliding direction of the leg fixing frame (1). The output end of the tension motor (41) drives the screw in the tension screw nut pair (44) to rotate, thereby driving the nut in the tension screw nut pair (44) to cause the fixing frame (43) to slide relative to the foot fixing frame (2).

4. A full range of motion ankle and calf muscle synchronizing pull mechanism according to claim 3, wherein, The ball-joint mechanism (6) includes two ball-end caps (61) that are fixedly connected to the foot support frame (21) and the fixing frame (43) respectively. A double ball-end connecting rod (62) is provided between the two ball-end caps (61). A ball-end cavity (63) for accommodating the ball head of the double ball-end connecting rod (62) is provided on the ball-end cap (61). The ball head part of the double ball-end connecting rod (62) can rotate in the ball-end cavity (63).

5. A full range of motion ankle and calf muscle synchronizer as defined in claim 1 wherein, The lifting drive assembly (3) includes a lifting motor (31), a lifting frame (33), and a lifting screw nut assembly (34). The lifting motor (31) is fixedly mounted on the foot fixing frame (2). The nut in the lifting screw nut assembly (34) is fixedly mounted on the lifting frame (33). The lifting frame (33) is fixedly connected to the leg fixing frame (1). The output end of the lifting motor (31) drives the screw in the lifting screw nut pair (34) to rotate, thereby driving the nut in the lifting screw nut pair (34) to drive the lifting frame (33) and the leg fixing frame (1) and foot fixing frame (2) to slide relative to each other.

6. A full range of motion ankle and calf muscle synchronizer as defined in claim 1 wherein, The foot fixing frame (2) includes a foot crossbar (22), two foot vertical bars (23) respectively disposed at both ends of the foot crossbar (22), and a side support frame (24) for mounting the pivot (51); The leg support frame (1) includes a leg crossbar (11) and two leg vertical bars (12) respectively disposed at both ends of the leg crossbar (11).

7. A full range of motion ankle and calf muscle synchronizing pull mechanism according to claim 6, wherein, Each leg support (12) has a sliding groove (17) on both sides, and each foot support (23) has a roller (25) rotatably mounted on it. The roller (25) rolls in the sliding groove (17) to achieve a sliding connection between the leg support (1) and the foot support (2). The sliding groove (17) has a narrow opening on the side facing the corresponding foot support (23) to prevent the roller (25) from coming out laterally.

8. A full range of motion ankle and calf muscle synchronizer as defined in claim 1 wherein, The leg support frame (1) is symmetrically provided with two leg massage components, and the foot support frame (2) is symmetrically provided with two foot massage components.

9. A synchronous, full-angle stretching mechanism for the ankle and tibialis muscle according to claim 8, characterized in that, Each leg massage component includes a leg fixing shell (13) fixed to a leg fixing frame (1), the leg fixing shell (13) including a calf cavity (14) for accommodating the calf, and airbags (15) for inflating and clamping the calf on both sides of the calf cavity (14). Each foot massage component also includes a foot fixing housing (26) disposed on a foot support frame (21), the foot fixing housing (26) including a foot cavity (27) for accommodating the foot, and airbags (15) for inflating and clamping the foot on both sides of the foot cavity (27).

10. A synchronous, full-angle stretching mechanism for the ankle and tibialis muscle according to claim 9, characterized in that, Each leg fixing housing (13) is provided with a roller (16) with a protrusion. The roller (16) is rotatably disposed with the leg fixing frame (1). The leg fixing housing (13) is provided with an opening for the roller (16) to protrude from the calf cavity (14). The massage roller (52) is fixedly provided with a ring (56) with protrusions in the circumferential direction, and the foot fixing housing (26) is provided with an opening for the ring (56) to protrude into the foot cavity (27).

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