Intelligent rehabilitation vehicle

Abstract

The invention discloses an intelligent rehabilitation power-assisted vehicle, comprising a frame, a sensor module, a control component, a leg support component and a connecting rod mechanism. The sensor module and the control component are fixed on the frame, the frame comprises a bracket, a bottom plate, a front wheel, a rear wheel, a wheel motor, a wheel motor mounting seat and a push rod motor mounting seat, the sensor module comprises an ultrasonic sensor and an optical sensor, the control component comprises a flat plate placement box and a control flat plate, the leg support component comprises a connecting plate, a leg supporter and a connecting shaft, the connecting rod mechanism comprises a first-level left connecting rod, a second-level left connecting rod, a third-level left connecting rod, a first-level right connecting rod, a second-level right connecting rod, a third-level right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft, a push rod motor, a first pulley, a second pulley, a third pulley and a fourth pulley; the structure can fit the motion trajectory of the human body, is more comfortable for users to use, has multiple rehabilitation auxiliary functions, and is convenient for users to use.

Description

Technical Field

[0001] The present invention relates to the technical field of postoperative recovery, and in particular to an intelligent rehabilitation power-assisted vehicle. Background Art

[0002] Traditional power-assisted bicycles, for users with lower limb dysfunction, common assistive and rehabilitation products often only have one of the functions of assisting users to stand up / sit down or lower limb rehabilitation training, but cannot combine the two well, and often do not have the functions of intelligent perception, posture adjustment, environmental perception, autonomous navigation, obstacle crossing and obstacle avoidance, which makes them have great limitations in use. In addition, most products still need the assistance of others to operate, and they have the defects of poor portability, poor intelligence, low efficiency, short service life, large weight, high cost and poor comfort. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent rehabilitation power-assisted vehicle, which can fit the motion trajectory of the human body, facilitate switching movements, has multiple rehabilitation auxiliary functions, is more comfortable and convenient for users to use, and has high practicality and reliability.

[0004] The embodiment of the present invention is achieved as follows:

[0005] The intelligent rehabilitation power-assist vehicle comprises a frame, a sensor module, a control component, a leg support component and a connecting rod mechanism, wherein the frame comprises a bracket, a bottom plate and a push rod motor mounting seat, the sensor module is arranged on the bracket or the bottom plate, the control component is fixed to the bracket, the connecting rod mechanism comprises a first-level left connecting rod, a second-level left connecting rod, a third-level left connecting rod, a first-level right connecting rod, a second-level right connecting rod, a third-level right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft and a push rod motor, the push rod motor mounting seat is fixed to the top of the bottom plate after the push rod motor is built in, the first-level left connecting rod and the first-level right connecting rod are arranged at intervals and connected through the first shaft and The second shaft is connected at both ends and in the middle through the thrust shaft. The two ends of the second-stage left connecting rod are respectively connected to one end of the third-stage left connecting rod and the first-stage left connecting rod. The two ends of the second-stage right connecting rod are respectively connected to one end of the third-stage right connecting rod and the first-stage right connecting rod. The two ends of the first shaft are respectively fixed to one end of the second left connecting rod and one end of the second right connecting rod. The two ends of the third shaft pass through the other end of the second left connecting rod and are fixed to the third left connecting rod, and pass through the other end of the second right connecting rod and are fixed to the third right connecting rod. The two sides of the leg support assembly are respectively connected to the third-stage left connecting rod and the third-stage right connecting rod, and the middle part of the thrust shaft is hinged to the push rod motor.

[0006] In a preferred embodiment of the present invention, the above-mentioned connecting rod mechanism also includes a first pulley, a second pulley, a third pulley and a fourth pulley. The first pulley is fixed at one end of the first shaft, the second pulley and the third pulley are respectively fixed at both ends of the second shaft, and the fourth pulley is provided at the right end of the third shaft.

[0007] In a preferred embodiment of the present invention, the first pulley is connected to the second pulley by a belt, so that the first shaft and the second shaft rotate synchronously, and the third pulley is connected to the fourth pulley by a crossed belt, so that the second shaft and the third shaft rotate synchronously.

[0008] In a preferred embodiment of the present invention, the above-mentioned thrust shaft drives the first-stage left connecting rod and the first-stage right connecting rod so that the second-stage left connecting rod and the second-stage right connecting rod can rotate relative to the base plate. At the same time, through the driving of the first pulley, the second pulley, the third pulley and the fourth pulley, the first left connecting rod and the first right connecting rod can rotate relative to the base plate. At the same time, the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly to move.

[0009] In a preferred embodiment of the present invention, the above-mentioned frame also includes a front wheel, a rear wheel, a wheel motor and a wheel motor mounting seat, the front wheel and the rear wheel are respectively mounted on the front end and the rear end of the bottom of the base plate, the front wheel is configured as a universal wheel, the wheel motor mounting seat is fixed to the bottom of the base plate, the wheel motor is snapped into the wheel motor mounting seat and fixed, and the shaft of the wheel motor is connected to the rear wheel and drives the rear wheel to rotate.

[0010] In a preferred embodiment of the present invention, the control assembly comprises a flat panel placement box and a control flat panel. The flat panel placement box is fixed to the rack, and the control flat panel is placed in the flat panel placement box.

[0011] In a preferred embodiment of the present invention, the above-mentioned leg support assembly includes a connecting plate, a leg support and a connecting shaft, the leg support has a through groove for inserting into the user's leg, the connecting plate is fixed to the outer side of the leg support, the connecting shaft is connected to the inner side of the leg support, and the two connecting shafts are respectively connected to the third-level left connecting rod and the third-level right connecting rod.

[0012] In a preferred embodiment of the present invention, the connection disk is protruded with a limit pin, and when the connection disk rotates with the leg supporter, the limit pin clamps the connection disk to limit the rotation angle.

[0013] In a preferred embodiment of the present invention, the inner sleeve of the above-mentioned connecting disk is installed with a first disc spring, and the connecting shaft is installed with a second disc spring. Through the first disc spring, the leg support realizes a reset action after leaning forward and rotating, and through the second disc spring, the connecting shaft is folded and retracted in a direction perpendicular to the connecting shaft.

[0014] In a preferred embodiment of the present invention, the sensor module includes an ultrasonic sensor and an optical sensor.

[0015] The beneficial effects of the present invention are:

[0016] The present invention senses the external environment through a sensor module and makes a judgment, thereby avoiding obstacles and moving forward. The control component provides a user with operation control of the intelligent rehabilitation power-assisted vehicle, the leg support component provides a position for the user to place legs, and the connecting rod mechanism provides the leg support component with rotation and mobile force. The thrust shaft drives the first-level left connecting rod and the first-level right connecting rod, so that the second-level left connecting rod and the second-level right connecting rod can rotate relative to the bottom plate. At the same time, the first left connecting rod and the first right connecting rod can rotate relative to the bottom plate, and the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support component to move. The structure can fit the human body's motion trajectory, facilitates switching actions, has multiple rehabilitation auxiliary functions, is more comfortable and convenient for users to use, and has high practicality and reliability.

[0017] The present invention has the following advantages:

[0018] 1. The movement of the seat board in the present invention fits the movement trajectory of the human body, which is more comfortable; the entire device has a small structure and light weight, and can achieve movements such as reversing in a small range, which is convenient for indoor activities.

[0019] 2. When the present invention is in the starting position, the entire device has a high mechanism retraction ratio, a low longitudinal height, is easy to carry, and is very practical in outdoor activities.

[0020] 3. The present invention adopts a purely mechanical belt-connecting rod structure, and utilizes the self-locking property of the structure to provide safety protection for users. It has higher reliability, lower cost, and greater popularity. The device can truly realize independent operation and achieve self-care in life.

[0021] 4. The present invention adopts a modular concept, modularizes the bottom of the sports device, and sets it into different functional modules. It can be designed into large wheels and tracks with stronger outdoor capabilities, or small wheels suitable for indoor use, according to user needs.

[0022] 5. The present invention facilitates personalized customization, because the leg motion trajectories of individuals are different. The size of the actuator is regenerated by collecting the user's motion trajectory data, thereby achieving personalized customization.

[0023] 6. This product has the functions of multi-modal interaction and control, multi-posture adjustment, navigation and positioning, dynamic self-balancing on ramps and active safety, obstacle crossing, and cloud platform monitoring.

[0024] 7. The present invention has strong economy, practicability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope.

[0026] Figure 1 is a schematic diagram of the intelligent rehabilitation power-assisted vehicle of the present invention;

[0027] Figure 2 is a schematic diagram of the intelligent rehabilitation power-assisted vehicle of the present invention;

[0028] Figure 3 is a schematic diagram of the connecting rod mechanism of the present invention;

[0029] Figure 4 is a schematic diagram of the connecting rod mechanism of the present invention;

[0030] Icons: 1-frame; 11-bracket; 12-base plate; 13-front wheel; 14-rear wheel; 15-wheel motor; 16-wheel motor mounting seat; 17-push rod motor mounting seat; 2-sensor module; 3-control assembly; 31-flat plate placement box; 32-control flat plate; 4-leg support assembly; 41-connecting plate; 42-leg support; 43-connecting shaft; 5-connecting rod mechanism; 51-first-stage left connecting rod; 52-second-stage left connecting rod; 53-third-stage left connecting rod; 54-first-stage right connecting rod; 55-second-stage right connecting rod; 56-third-stage right connecting rod; 71-first shaft; 72-second shaft; 73-third shaft; 74-thrust shaft; 75-push rod motor; 81-first pulley; 82-second pulley; 83-third pulley; 84-fourth pulley. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] First embodiment

[0034] Please refer to Figure 1The present embodiment provides an intelligent rehabilitation power-assisted vehicle, which includes a frame 1, a sensor module 2, a control component 3, a leg support component 4 and a connecting rod mechanism 5. The sensor module 2 and the control component 3 are fixed to the frame 1, the leg support component 4 is connected to the connecting rod mechanism 5, and the connecting rod mechanism 5 is fixed to the frame 1. The frame 1 includes a bracket 11, a bottom plate 12, a front wheel 13, a rear wheel 14, a wheel motor 15, a wheel motor mounting seat 16 and a push rod motor mounting seat 17. The sensor module 2 includes an ultrasonic sensor and an optical sensor. The control component 3 includes a flat plate placement box 31 and a control flat plate 32. The leg support The support assembly 4 includes a connecting plate 41, a leg support 42 and a connecting shaft 43, and the connecting rod mechanism 5 includes a first-stage left connecting rod 51, a second-stage left connecting rod 52, a third-stage left connecting rod 53, a first-stage right connecting rod 54, a second-stage right connecting rod 55, a third-stage right connecting rod 56, a first shaft 71, a second shaft 72, a third shaft 73, a thrust shaft 74, a push rod motor 75, a first pulley 81, a second pulley 82, a third pulley 83 and a fourth pulley 84; the power-assisted vehicle can rotate and reset the leg support assembly 4 through the connecting rod mechanism 5, so that the user can operate it flexibly and conveniently when using it.

[0035] Please refer to Figure 2 The frame 1 includes a bracket 11, a bottom plate 12, a front wheel 13, a rear wheel 14, a wheel motor 15, a wheel motor mounting seat 16 and a push rod motor mounting seat 17. The bracket 11 has an arch structure for the user to hold by hand when in use. The bottom end of the arch structure is provided with a threaded hole, and the bracket 11 and the bottom plate 12 are fixed by screws passing through the bottom plate 12; the push rod motor mounting seat 17 is fixed to the top of the bottom plate 12 through the provided threaded holes and using screws; the wheel motor 15 is fixed to the wheel motor mounting seat 16 by using screws passing through the threaded holes provided in the wheel motor 15; the wheel motor mounting seat 16 is provided by The threaded holes are connected and fixed to the bottom of the base plate 12 with screws; the bottom of the bracket 11 is equipped with wheel seats for snapping in the front wheel 13 and the rear wheel 14, and a total of two pairs of front and rear wheel seats are provided. The front wheel 13 and the rear wheel 14 are fixed to the bottom of the bracket 11 by snapping in the wheel seats to provide support and facilitate forward and backward movement. The front wheel 13 is a universal wheel to facilitate adjustment of the direction. In the process of pushing the power-assisted vehicle, circumferential movement can be achieved instead of being limited to movement in one direction. The shaft of the wheel motor 15 is connected to the rear wheel 14 and drives the rear wheel 14 to rotate to drive the rear wheel 14 forward or backward. The wheel motor 15 is a servo motor.

[0036] The sensor module 2 has built-in optical sensors and ultrasonic sensors. The rehabilitation assistive vehicle can analyze and provide feedback on the surrounding environment through the sensor module 2, and can realize functions such as path planning navigation, obstacle avoidance, and dynamic self-balancing on slopes.

[0037] Please refer to Figure 3 and Figure 4The connecting rod mechanism 5 includes a first-stage left connecting rod 51, a second-stage left connecting rod 52, a third-stage left connecting rod 53, a first-stage right connecting rod 54, a second-stage right connecting rod 55, a third-stage right connecting rod 56, a first shaft 71, a second shaft 72, a third shaft 73, a thrust shaft 74, a push rod motor 75, a first pulley 81, a second pulley 82, a third pulley 83 and a fourth pulley 84; the first-stage left connecting rod 51 and the first-stage right connecting rod 54 are connected by the first shaft 71, the second shaft 72 and the thrust shaft 74, the first-stage left connecting rod 51 and the first-stage right connecting rod 54 are arranged at intervals and connected at both ends by the first shaft 71 and the second shaft 72, and connected in the middle by the thrust shaft 74; the second-stage left connecting rod 51 and the first-stage right connecting rod 54 are connected at both ends by the first shaft 71 and the second shaft 72, and connected in the middle by the thrust shaft 74. The two ends of the connecting rod 52 and the two ends of the second-stage right connecting rod 55 are connected respectively through the second shaft 72 and the third shaft 73; one end of the third-stage left connecting rod 53 and one end of the third-stage right connecting rod 56 are connected through the third shaft 73, and the other end of the third-stage left connecting rod 53 and the other end of the third-stage right connecting rod 56 are respectively connected to the leg support assembly 4, so that the two sides of the leg support assembly 4 are respectively connected to the third-stage left connecting rod 53 and the third-stage right connecting rod 56, the middle part of the thrust shaft 74 is hinged to the push rod motor 75, and the top end of the shaft of the push rod motor 75 is provided with a through hole connecting the two sides, and the middle part of the thrust shaft 74 is provided with an annular groove, and the thrust shaft 74 is just stuck in the through hole and the push rod motor 7 The top end of the crankshaft 5 is stuck in the annular groove, and the push rod motor 75 is installed on the push rod motor mounting seat 17, and the push rod motor mounting seat 17 is fixed to the bottom plate 12 through the sleeve structure; the end of the first-stage left connecting rod 51 connected to the second shaft 72 is also connected to the second-stage left connecting rod 52; the end of the first-stage right connecting rod 54 connected to the second-stage shaft is also connected to the second-stage right connecting rod 55; the end of the second-stage left connecting rod 52 connected to the third shaft 73 is also connected to the third-stage left connecting rod 53, and the end of the second-stage right connecting rod 55 connected to the third shaft 73 is also connected to the third-stage right connecting rod 56; the left end of the first shaft 71 is provided with a first pulley 81, the left end of the second shaft 72 is provided with a second pulley 82, and the second shaft 7 A third pulley 83 is provided at the right end of the third shaft 73, and a fourth pulley 84 is provided at the right end of the third shaft 73; the first pulley 81 is connected to the second pulley 82 by a belt, so that the first shaft 71 and the second shaft 72 rotate synchronously, and the third pulley 83 is connected to the fourth pulley 84 by a cross belt, so that the second shaft 72 and the third shaft 73 rotate synchronously; the push rod motor 75 drives the thrust shaft 74 to make the first-stage left connecting rod 51 and the first-stage right connecting rod 54 swing, and the first-stage left connecting rod 51 and the first-stage right connecting rod 54 drive the second-stage left connecting rod 52 and the second-stage right connecting rod 55 and the third-stage left connecting rod 53 and the third-stage right connecting rod 56 to move during the swinging process, thereby driving the leg support assembly 4 to move.The limiting holes on the first-stage left connecting rod 51 and the first-stage right connecting rod 54 coincide with the limiting holes on the left and right ends of the first shaft 71 respectively and are fixed by limiting pins; the limiting holes on the second-stage left connecting rod 52 and the second-stage right connecting rod 55 coincide with the limiting holes on the left and right ends of the first shaft 71 respectively and are fixed by limiting pins; the limiting holes on the third-stage left connecting rod 53 and the third-stage right connecting rod 56 coincide with the limiting holes on the left and right ends of the first shaft 71 respectively and are fixed by limiting pins; the thrust shaft 74 is connected to the first-stage left connecting rod 51 and the first-stage right connecting rod 54. The connecting rod mechanism 5 is used as follows: the push rod motor 75 moves back and forth by driving the thrust shaft 74, and the thrust shaft 74 drives the first-stage left connecting rod 51 and the first-stage right connecting rod 54, so that the second-stage left connecting rod 52 and the second-stage right connecting rod 55 can rotate relative to the base plate 12. At the same time, the first pulley 81, the second pulley 82, the third pulley 83 and the fourth pulley 84 drive the first left connecting rod and the first right connecting rod to rotate relative to the base plate 12. At the same time, the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly 4 to move.

[0038] The leg support assembly 4 is a two symmetrical structure for supporting the user's legs. The two sides of the leg support assembly 4 are respectively connected to the connecting rod mechanism 5 arranged on the left and right sides of the bracket 11. The leg support assembly 4 includes a connecting plate 41, a connecting shaft 43 and a leg supporter 42. The leg supporter 42 has a through groove that is inserted into the user's legs to fix the user's legs. The connecting plate 41 is fixed to the outer side of the leg supporter 42, and the connecting shaft 43 is connected to the inner side of the leg supporter 42, that is, the connecting shaft 43 is located on the inner side between the two leg supports 42. The bottom ends of the two connecting shafts 43 are respectively connected to the third-level left connecting rod 53 and the third-level right connecting rod 56, and the connection between the connecting shaft 43 and the third-level left connecting rod 53 and the third-level right connecting rod 56 is provided with a second coil spring and fixed. The connecting plate 41 is installed on the outer side of the leg supporter 42 and connected to the third pole connecting rod One end of the rod is connected, and the connecting shaft 43 is installed on the shaft sleeve on the inner side of the leg support 42. The connecting disk 41 is convexly provided with a limit pin, which is a columnar structure protruding outward. When the connecting disk 41 rotates with the leg support 42, the connecting shaft 43 rotates and abuts against the limit pin, so that the limit pin clamps the connecting disk 41 to limit the rotation angle of the connecting disk 41. The connecting disk 41 of this embodiment is a shaft sleeve structure, and the inner shaft sleeve of the connecting disk 41 is installed with a first coil spring, so that after the connecting disk 41 rotates to a certain position, the first coil spring restores the deformation and generates a force to return to the initial state, and the leg support 42 realizes a reset action after tilting forward and rotating. A second coil spring is installed at the bottom end connection of the connecting shaft 43, and the connecting shaft 43 is rotatable relative to the bottom plate 12. Through the second coil spring, the connecting shaft 43 is folded and retracted in a direction perpendicular to the connecting shaft 43.

[0039] The control component 3 includes a flat panel placement box 31 and a control tablet 32. The control component 3 includes a flat panel placement box 31 and a control tablet 32. The flat panel placement box 31 is fixed to the rack 1. The flat panel placement box 31 is fixed to the bracket 11 of the rack 1 by setting threaded holes and using screws. The control tablet 32 ​​is placed in the flat panel placement box 31. The user operates this embodiment through the control tablet 32, including rotation, assisted standing, forward, backward and other actions.

[0040] The working process of this embodiment is:

[0041] The leg support 42 is in a horizontal position. The user moves from a chair to the leg support 42 to prepare for the standing stage. The user controls the rehabilitation assistive vehicle through the control tablet 32. The user can choose between two modes of the rehabilitation assistive vehicle according to his or her own needs, including rehabilitation mode and transportation mode.

[0042] Rehabilitation mode: The rehabilitation mode is activated by controlling the tablet 32 ​​to help the user perform lower limb rehabilitation training. To ensure safety, the frame 1 of the intelligent rehabilitation power-assisted vehicle is locked at this time, and the push rod motor 75 works. The push rod motor 75 drives the thrust shaft 74 to move, and drives the leg support assembly 4 under the leg to stand up upward according to the human body movement trajectory through the connecting rod mechanism 5. When the user reaches the preset end point, the push rod motor 75 stops, and the user's standing action is completed. After standing up, the user pauses for a while and continues to operate the control panel to control the push rod motor 75 to work. At this time, the push rod motor 75 performs reverse movement, and drives the leg support assembly 4 under the leg to return to the initial sitting position downward according to the human body movement trajectory through the connecting rod mechanism 5. The number of sit-ups is adjusted by the user according to his own situation. Repeating this process can play a very useful role in the rehabilitation of the user's legs.

[0043] Travel mode: The travel mode is started by controlling the tablet 32. To ensure safety, the push rod motor 75 is locked at this time. The user can freely control the movement of the intelligent rehabilitation power-assisted vehicle through the control tablet 32. When there is an obstacle in front, the sensor module 2 of the rehabilitation power-assisted vehicle collects the surrounding environment and analyzes the environment through the existing visual system technology. The rehabilitation power-assisted vehicle will automatically avoid obstacles in front. The user can also select a planned path and set a destination through the control panel. At this time, the rehabilitation power-assisted vehicle can navigate to the destination by itself.

[0044] To summarize, the example of the present invention senses the external environment through the sensor module and makes a judgment, and then avoids obstacles and moves forward. The control component provides the user with operation control of the intelligent rehabilitation power-assisted vehicle, the leg support component provides the user with a position to place the legs, and the connecting rod mechanism provides the leg support component with rotation and mobile force. The thrust shaft drives the first-level left connecting rod and the first-level right connecting rod, so that the second-level left connecting rod and the second-level right connecting rod can rotate relative to the base plate. At the same time, the first left connecting rod and the first right connecting rod can rotate relative to the base plate, and the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly to move. This structure can fit the human body's motion trajectory, facilitate switching movements, has a variety of rehabilitation auxiliary functions, is more comfortable and convenient for users to use, and has high practicality and reliability.

[0045] This specification describes examples of embodiments of the present invention, and does not mean that these embodiments illustrate and describe all possible forms of the present invention. Those of ordinary skill in the art will appreciate that the embodiments described herein are to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such special statements and embodiments. Those of ordinary skill in the art can make various other various specific variations and combinations that do not deviate from the essence of the present invention based on these technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. Intelligent rehabilitation assist vehicle, characterized in that: The invention comprises a frame, a sensor module, a control component, a leg support component and a connecting rod mechanism, wherein the frame comprises a bracket, a bottom plate and a push rod motor mounting seat, the sensor module is arranged on the bracket or the bottom plate, the control component is fixed to the bracket, the connecting rod mechanism comprises a first-stage left connecting rod, a second-stage left connecting rod, a third-stage left connecting rod, a first-stage right connecting rod, a second-stage right connecting rod, a third-stage right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft and a push rod motor, the push rod motor mounting seat is fixed to the top of the bottom plate after the push rod motor is built in, the first-stage left connecting rod and the first-stage right connecting rod are arranged at intervals and are divided by the first shaft and the second shaft The two ends of the second-stage left connecting rod are respectively connected, and the middle part is connected through the thrust shaft, the two ends of the second-stage left connecting rod are respectively connected to the third-stage left connecting rod and one end of the first-stage left connecting rod, the two ends of the second-stage right connecting rod are respectively connected to the third-stage right connecting rod and one end of the first-stage right connecting rod, the two ends of the first shaft are respectively fixed to one end of the second left connecting rod and one end of the second right connecting rod, the two ends of the third shaft are respectively fixed to the third left connecting rod through the other end of the second left connecting rod, and fixed to the third right connecting rod through the other end of the second right connecting rod, the two sides of the leg support assembly are respectively connected to the third-stage left connecting rod and the third-stage right connecting rod, and the middle part of the thrust shaft is hinged to the push rod motor; The connecting rod mechanism also includes a first pulley, a second pulley, a third pulley and a fourth pulley, wherein the first pulley is fixed to one end of the first shaft, the second pulley and the third pulley are respectively fixed to both ends of the second shaft, and the fourth pulley is provided at the right end of the third shaft; The first pulley is connected to the second pulley by a belt, so that the first shaft and the second shaft rotate synchronously, and the third pulley is connected to the fourth pulley by a crossed belt, so that the second shaft and the third shaft rotate synchronously; The thrust shaft drives the first-stage left connecting rod and the first-stage right connecting rod so that the second-stage left connecting rod and the second-stage right connecting rod can rotate relative to the base plate. At the same time, the first pulley, the second pulley, the third pulley and the fourth pulley drive the first left connecting rod and the first right connecting rod to rotate relative to the base plate. At the same time, the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly to move.

2. The intelligent rehabilitation power-assisted vehicle according to claim 1, characterized in that: The frame also includes a front wheel, a rear wheel, a wheel motor and a wheel motor mounting seat. The front wheel and the rear wheel are respectively mounted on the front end and the rear end of the bottom of the base plate. The front wheel is configured as a universal wheel. The wheel motor mounting seat is fixed to the bottom of the base plate. The wheel motor is snapped into the wheel motor mounting seat and fixed. The shaft of the wheel motor is connected to the rear wheel and drives the rear wheel to rotate.

3. The intelligent rehabilitation power-assist vehicle according to claim 1, characterized in that: The control assembly comprises a flat panel placement box and a control flat panel. The flat panel placement box is fixed to the rack, and the control flat panel is placed in the flat panel placement box.

4. The intelligent rehabilitation power-assisted vehicle according to claim 1, characterized in that: The leg support assembly includes a connecting plate, a leg support and a connecting shaft. The leg support has a through slot for inserting the user's leg. The connecting plate is fixed to the outer side of the leg support. The connecting shaft is connected to the inner side of the leg support. The two connecting shafts are respectively connected to the third-level left connecting rod and the third-level right connecting rod.

5. The intelligent rehabilitation power-assist vehicle according to claim 4, characterized in that: The connection disk is convexly provided with a limit pin. When the connection disk rotates with the leg supporter, the limit pin clamps the connection disk to limit the rotation angle.

6. The intelligent rehabilitation power-assist vehicle according to claim 4, characterized in that: The inner sleeve of the connecting disk is installed with a first coil spring, and the connecting shaft is installed with a second coil spring. Through the first coil spring, the leg support is reset after tilting forward and rotating, and through the second coil spring, the connecting shaft is folded and retracted in a direction perpendicular to the connecting shaft.

7. The intelligent rehabilitation power-assist vehicle according to claim 1, characterized in that: The sensor module includes an ultrasonic sensor and an optical sensor.

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