Lower limb rehabilitation training vehicle

Abstract

The invention discloses a lower limb rehabilitation training vehicle, and belongs to the technical field of medical treatment, the lower limb rehabilitation training vehicle comprises a wheelchair and an outer skeleton, the outer skeleton is detachably mounted on the wheelchair; the outer skeleton comprises a waist skeleton, thigh skeletons are symmetrically and rotatably arranged on the waist skeleton, fixing rings are fixedly connected to the ends of the thigh skeletons, shank skeletons are hinged to the fixing rings, the wheelchair comprises an auxiliary support connected with front wheels, a limiting plate is fixedly arranged on the auxiliary support, and the limiting plate is hinged to the auxiliary support. A tooth groove is formed in the limiting plate and arranged in an arc shape with the hinged end of the thigh framework as the circle center. By arranging the thigh skeleton, the shank skeleton, the connecting piece, the limiting plate and the tooth groove, two training modes of rehabilitation training and walking training in the sitting posture state can be achieved, targeted rehabilitation training can be conducted according to the symptoms of a patient, the training effect is effectively improved, and the practicability of the training vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a lower limb rehabilitation training vehicle. Background Art

[0002] Lower limb rehabilitation training is to help recover from lower limb weakness, pain and numbness that occur after lower limb hemiplegia.

[0003] The lower limb rehabilitation training vehicle is a device to assist patients in rehabilitation training. The existing lower limb rehabilitation training vehicle is in the form of a wheelchair with a board. When a patient is performing walking training, the wheelchair can support the body, so that slow walking training can be carried out. It is mainly for patients with mild symptoms and can achieve walking training. However, for patients with severe symptoms who cannot stand independently, they cannot rely on the wheelchair for independent walking training and need to rely on medical staff for passive training, so the practicability is not high. Summary of the Invention

[0004] The purpose of the present invention is to provide a lower limb rehabilitation training vehicle to solve the technical problem in the prior art that patients with severe symptoms cannot be trained solely by a wheelchair and the practicability is not high.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A lower limb rehabilitation training vehicle, comprising:

[0006] A wheelchair and an outer skeleton, the outer skeleton is detachably installed on the wheelchair;

[0007] The outer skeleton includes a waist skeleton, on which thigh skeletons are symmetrically rotatably arranged. A fixing ring is fixedly connected to the end of the thigh skeleton, and a calf skeleton is hinged on the fixing ring;

[0008] The wheelchair includes a sub-bracket connected to the front wheel. A limiting plate is fixedly arranged on the sub-bracket, and a tooth groove is formed on the limiting plate. The tooth groove is arranged in an arc with the hinge end of the thigh skeleton as the center of the circle;

[0009] A connecting piece is slidably arranged on the limiting plate, the connecting piece is meshed with the tooth groove, the connecting piece is clamped with the hinge shaft of the calf skeleton, and the thigh skeleton drives the thigh to swing through a motor. The connecting piece slides along the tooth groove and drives the calf skeleton to rotate, so that the calf swings synchronously.

[0010] Preferably, teeth are arranged on the tooth groove. When the teeth are located on the arc-shaped groove wall of the shorter diameter of the tooth groove, the thigh skeleton drives the thigh to swing through a motor. The connecting piece slides along the tooth groove and drives the calf skeleton to rotate, so that the calf swings within a preset range from the initial position to a direction away from the front wheel.

[0011] Preferably, the tooth grooves are provided with teeth. When the teeth are located on the arc-shaped groove wall of the longer diameter of the tooth groove, the thigh bone frame drives the thigh to swing, and the connecting piece slides along the tooth groove and drives the calf bone frame to rotate, so that the calf swings within a preset range from the initial position to the direction close to the front wheel.

[0012] Preferably, the connection line between the low end of the tooth groove and the hinged end of the thigh bone frame is a horizontal line, and the included angle between the connection line between the high end of the tooth groove and the hinged end of the thigh bone frame and the horizontal line is 30°. When the hinged end of the calf bone frame is located at the low end of the tooth groove, the center line of the calf bone frame forms an included angle of 135° with the horizontal line.

[0013] Preferably, the swing amplitude of the thigh bone frame is between 0 and 10°, and the swing range of the calf driven by the calf bone frame is 105 - 135°.

[0014] Preferably, the swing amplitude of the thigh bone frame is between 0 and 20°, and the swing range of the calf driven by the calf bone frame is 75 - 135°.

[0015] Preferably, the swing amplitude of the thigh bone frame is between 0 and 30°, and the swing range of the calf driven by the calf bone frame is 45 - 135° to achieve gradient training.

[0016] Preferably, the connecting piece includes a sliding column, and a clamping block is elastically arranged along the central axis direction inside the sliding column. The clamping block is cross-shaped and is inserted and matched with a cross-shaped card slot opened on the hinge shaft of the calf bone frame.

[0017] Preferably, a threaded column is threadedly connected to the sliding column.

[0018] Preferably, the wheelchair includes a main bracket connected to the rear wheel, and a handle is hingedly arranged on the main bracket.

[0019] In the above technical solution, a lower limb rehabilitation training vehicle provided by the present invention has the following beneficial effects:

[0020] By setting the thigh bone frame, the calf bone frame, the connecting piece, the limiting plate and the tooth groove, the thigh bone frame drives the thigh to swing through the motor drive, the connecting piece slides along the tooth groove and drives the calf bone frame to rotate, so that the calf swings synchronously, and the connecting piece is clamped with the hinge shaft of the calf bone frame to realize the detachable design of the wheelchair and the outer bone frame, thereby realizing two training methods of rehabilitation training and walking training in the sitting posture state, being able to perform targeted rehabilitation training according to the severity of the patient's symptoms, effectively improving the training effect and increasing the practicability of the training vehicle. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Schematic diagram of the three-dimensional structure provided by the embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the wheelchair structure provided by the embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the outer skeleton structure provided by the embodiment of the present invention;

[0025] Figure 4 Enlarged schematic diagram of Structure A provided by the embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the cooperation between the connecting member and the tooth groove provided by the embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the positional structure between the outer skeleton and the connecting member provided by the embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the three-dimensional structure of the connecting member provided by the embodiment of the present invention;

[0029] Figure 8 Schematic diagram of the sectional structure of the connecting member provided by the embodiment of the present invention.

[0030] Explanation of reference numerals:

[0031] 1, chassis; 2, main bracket; 3, sub-bracket; 4, backrest; 5, lumbar skeleton; 6, restraint strap; 7, seat cushion; 8, handle; 9, thigh skeleton; 10, limit plate; 101, tooth groove; 11, calf skeleton; 12, connecting member; 121, gear; 122, sliding column; 123, block; 124, threaded column; 13, fixing ring; 14, connecting plate. Detailed implementation manners

[0032] To enable those skilled in the art to better understand the technical solutions of the present invention, the following will further introduce the present invention in detail in conjunction with the drawings.

[0033] As Figure 1-8 shown, a lower limb rehabilitation training vehicle includes:

[0034] A wheelchair and an outer skeleton, and the outer skeleton is detachably installed on the wheelchair;

[0035] The outer skeleton includes a waist skeleton 5, on which thigh skeletons 9 are symmetrically and rotatably arranged. A fixing ring 13 is fixedly connected to the end of the thigh skeleton 9, and a calf skeleton 11 is hingedly arranged on the fixing ring 13;

[0036] The wheelchair includes a secondary support 3 connected to the front wheels. A limiting plate 10 is fixedly arranged on the secondary support 3, and a tooth groove 101 is formed on the limiting plate 10. The tooth groove 101 is arranged in an arc with the hinge end of the thigh skeleton 9 as the center;

[0037] A connecting piece 12 is slidably arranged on the limiting plate 10. The connecting piece 12 is engaged with the tooth groove 101, and the connecting piece 12 is clamped with the hinge shaft of the calf skeleton 11. The thigh skeleton 9 drives the thigh to swing through a motor. The connecting piece 12 slides along the tooth groove 101 and drives the calf skeleton 11 to rotate, so that the calf swings synchronously.

[0038] Specifically, when in use, the patient sits on the seat cushion 7 of the wheelchair. The waist skeleton 5 is in a U-shaped structure, and the patient's waist fits against the inner side surface of the waist skeleton 5 located at the position of the wheelchair backrest 4. The waist is restrained by a restraint belt 6 arranged on the inner side surface of the waist skeleton 5 and fixed by a first buckle arranged on the restraint belt 6. By unfastening the second buckle arranged on the fixing ring 13, the strap on the fixing ring 13 is unfastened, the thigh part is placed inside the fixing ring 13, the thigh part is limited by the strap, and finally fixed by the second buckle. The patient's calf part is placed inside the calf skeleton 11, thus completing the preparatory work before the patient's training. The power rear wheels arranged on the chassis 1 of the wheelchair can drive the wheelchair to move, thus facilitating the patient's independent movement and improving the practicality.

[0039] Furthermore, when the patient needs to perform rehabilitation training, by releasing the clamping state between the hinge shaft of the calf skeleton 11 and the connecting member 12, the entire outer skeleton can be made detachable. The patient can support the body with the help of a wheelchair, so that the body is in a standing state. Since the thigh and the waist form a certain angle when the patient is in a sitting position, the thigh skeleton 9 and the waist skeleton 5 are also arranged at a certain angle. When the patient is in a standing state, both the thigh and the waist are in a vertical state. At this time, the angle between the thigh skeleton 9 and the waist skeleton 5 will also be adaptively adjusted with the change of the patient's posture. Therefore, the motor is rotatably arranged on the waist skeleton 5, and a locking member is provided. The locking member can be a bolt, a clamping member or a technical means well-known to those skilled in the art. Unlock the motor first when changing the posture, and then lock the motor after the change is completed. The thigh skeleton 9 is fixedly connected to the output end of the motor. The motor drives the thigh skeleton 9 to swing back and forth, so as to provide power to the patient's thigh through the fixing ring 13. The patient holds the wheelchair and is driven by the thigh skeleton 9 to walk slowly for walking rehabilitation training. The patient performs active rehabilitation training with the assistance of the outer skeleton and the wheelchair, which is suitable for patients with mild symptoms. At the same time, it can provide auxiliary power to the patient, help the patient perform better training and persist for a longer time, so as to improve the effect of walking rehabilitation training.

[0040] Furthermore, when the patient's symptoms are severe and the legs are in a state of insensitivity, the patient is seated on a wheelchair, and the external skeleton is assembled with the patient's lower limbs. The hinge shaft of the calf skeleton 11 is kept in a clamped state with the connecting member 12. During training, the thigh skeleton 9 is driven by a motor to swing back and forth, so as to drive the thigh to swing back and forth through the fixing ring 13, thereby performing rehabilitation training on the patient's hip joint. At the same time, since the tooth grooves 101 formed on the limiting plate 10 are arranged in an arc with the hinge end of the thigh skeleton 9 as the center, when the thigh skeleton 9 swings back and forth and drives the thigh to swing back and forth through the fixing ring 13, the fixing ring 13 further drives the connecting plate 14 fixed on the fixing ring 13 to swing synchronously. The calf skeleton 11 is hinged on the connecting plate 14, and the connecting plate 14 swings synchronously with the fixing ring 13, thereby driving the hinge shaft of the calf skeleton 11 to swing synchronously, and then driving the connecting member 12 clamped with the hinge shaft of the calf skeleton 11 to reciprocate in the tooth grooves 101, so that the gear 121 meshed with the tooth grooves 101 on the connecting member 12 rotates synchronously, thereby driving the hinge shaft of the calf skeleton 11 clamped with the connecting member 12 to rotate synchronously, driving the calf skeleton 11 to rotate synchronously, and as the connecting member 12 reciprocates in the tooth grooves 101, the calf skeleton 11 drives the calf to swing back and forth, thereby performing rehabilitation training on the knee joint. Thus, it is possible to realize the synchronous swing training of the thigh and the calf without an additional driving source to drive the calf to swing, effectively saving the manufacturing cost, being able to perform sitting passive rehabilitation training on patients with severe symptoms without the need for medical staff to assist the patients in training, effectively reducing the work burden of medical staff, and through the detachable design, being able to perform targeted rehabilitation training according to the severity of the patient's symptoms, effectively improving the training effect and increasing the practicability of the training vehicle.

[0041] As a further embodiment provided by the present invention, teeth are provided on the tooth grooves 101. When the teeth are located on the arc-shaped groove wall with a shorter diameter of the tooth grooves 101, the thigh skeleton 9 is driven by a motor to drive the thigh to swing, and the connecting member 12 slides along the tooth grooves 101 and drives the calf skeleton 11 to rotate, so that the calf swings within a preset range from the initial position to a direction away from the front wheel.

[0042] Specifically, when the teeth are located on the arc-shaped groove wall of the shorter diameter of the tooth groove 101, when the thigh bone frame 9 swings back and forth and drives the thigh to swing back and forth through the fixing ring 13, the fixing ring 13 further drives the connecting plate 14 fixed on the fixing ring 13 to swing synchronously. The calf bone frame 11 is hinged to the connecting plate 14. The connecting plate 14 swings synchronously with the fixing ring 13, thereby driving the hinge shaft of the calf bone frame 11 to swing synchronously, and then driving the connecting member 12 clamped to the hinge shaft of the calf bone frame 11 to reciprocate in the tooth groove 101. Thus, the gear 121 meshing with the tooth groove 101 on the connecting member 12 rotates synchronously. When the connecting member 12 is at the low position end of the tooth groove 101, the position of the calf bone frame 11 is the initial position of the calf swing.

[0043] Further, when the connecting member 12 moves from the low position end to the high position end in the tooth groove 101, the teeth on the arc-shaped groove wall of the shorter diameter of the tooth groove 101 drive the connecting member 12 to rotate towards the direction of the arc-shaped groove wall of the shorter diameter of the tooth groove 101 through the gear 121 on the connecting member 12. Thus, the calf is driven to swing away from the front wheel direction from the initial position through the calf bone frame 11. When the connecting member 12 moves from the high position end to the low position end in the tooth groove 101, the gear 121 drives the connecting member 12 to rotate in the reverse direction and return to the initial position. Thus, the calf swings within a preset range from the initial position to the direction away from the front wheel, and during the process of lifting the thigh, the knee is gradually extended, and when the thigh is lowered, the knee is gradually flexed, thereby realizing passive rehabilitation training in a sitting position.

[0044] As a further embodiment provided by the present invention, teeth are provided on the tooth groove 101. When the teeth are located on the arc-shaped groove wall of the longer diameter of the tooth groove 101, the thigh bone frame 9 drives the thigh to swing, and the connecting member 12 slides along the tooth groove 101 and drives the calf bone frame 11 to rotate, so that the calf swings within a preset range from the initial position to the direction close to the front wheel.

[0045] Specifically, when the teeth are located on the arc-shaped groove wall of the longer diameter of the tooth groove 101, when the thigh bone frame 9 swings back and forth and drives the thigh to swing back and forth through the fixing ring 13, the fixing ring 13 further drives the connecting plate 14 fixed on the fixing ring 13 to swing synchronously. The calf bone frame 11 is hinged to the connecting plate 14. The connecting plate 14 swings synchronously with the fixing ring 13, thereby driving the hinge shaft of the calf bone frame 11 to swing synchronously, and then driving the connecting member 12 clamped to the hinge shaft of the calf bone frame 11 to reciprocate in the tooth groove 101. Thus, the gear 121 meshing with the tooth groove 101 on the connecting member 12 rotates synchronously. When the connecting member 12 is at the low position end of the tooth groove 101, the position of the calf bone frame 11 is the initial position of the calf swing.

[0046] Further, when the connecting member 12 moves from the low end to the high end within the tooth groove 101, the teeth on the arc-shaped groove wall with the longer diameter of the tooth groove 101 drive the connecting member 12 to rotate towards the arc-shaped groove wall with the longer diameter of the tooth groove 101 through the gear 121 on the connecting member 12. Thus, the lower leg is driven by the lower leg bone frame 11 to swing from the initial position towards the front wheel. When the connecting member 12 moves from the high end to the low end within the tooth groove 101, the gear 121 drives the connecting member 12 to rotate in the reverse direction and return to the initial position. Thereby, the lower leg swings from the initial position to a preset range away from the front wheel, and during the process of lifting the thigh, the knee gradually bends, and when the thigh is lowered, the knee gradually extends, thus realizing passive rehabilitation training in a sitting position.

[0047] As a further embodiment provided by the present invention, the connection line between the low end of the tooth groove 101 and the hinge end of the thigh bone frame 9 is a horizontal line, and the included angle between the connection line between the high end of the tooth groove 101 and the hinge end of the thigh bone frame 9 and the horizontal line is 30°. When the hinge end of the lower leg bone frame 11 is located at the low end of the tooth groove 101, the center line of the lower leg bone frame 11 forms an included angle of 135° with the horizontal line.

[0048] Specifically, when the hinge end of the lower leg bone frame 11 is located at the low end of the tooth groove 101, the center line of the lower leg bone frame 11 forms an included angle of 135° with the horizontal line. At this time, the lower leg bone frame 11 is in the initial position state, and the included angle between the lower leg and the thigh is also 135°.

[0049] Further, when the teeth are located on the arc-shaped groove wall with the longer diameter of the tooth groove 101, when the connecting member 12 moves from the low end to the high end within the tooth groove 101, the teeth on the arc-shaped groove wall with the longer diameter of the tooth groove 101 drive the connecting member 12 to rotate towards the arc-shaped groove wall with the longer diameter of the tooth groove 101 through the gear 121 on the connecting member 12. Thus, the lower leg is driven by the lower leg bone frame 11 to swing from the initial position towards the front wheel. When the connecting member 12 is located at the high end, the included angle between the lower leg bone frame 11 and the horizontal line is 45°.

[0050] Further, when the teeth are located on the arc-shaped groove wall with the shorter diameter of the tooth groove 101, when the connecting member 12 moves from the low end to the high end within the tooth groove 101, the teeth on the arc-shaped groove wall with the shorter diameter of the tooth groove 101 drive the connecting member 12 to rotate towards the arc-shaped groove wall with the shorter diameter of the tooth groove 101 through the gear 121 on the connecting member 12. Thus, the lower leg is driven by the lower leg bone frame 11 to swing from the initial position away from the front wheel. When the connecting member 12 is located at the high end, the included angle between the lower leg bone frame 11 and the horizontal line is 180°.

[0051] As a further embodiment provided by the present invention, the swing amplitude of the thigh bone frame 9 is between 0 and 10°, and the swing range of the calf driven by the calf bone frame 11 is 105 - 135°.

[0052] Specifically, when the tooth is located on the arc-shaped groove wall with a shorter diameter of the tooth groove 101, the included angle between the calf bone frame 11 and the horizontal line is in the range of 135 - 180°, and its swing interval amplitude is smaller. When the tooth is located on the arc-shaped groove wall with a longer diameter of the tooth groove 101, the included angle between the calf bone frame 11 and the horizontal line is in the range of 45 - 135°, and its swing interval amplitude is larger. And when the patient is in a sitting position and undergoes rehabilitation training, making the calf swing backward is more suitable for rehabilitation training in the sitting position, while the small-amplitude swing of the calf between 135 - 180° is more suitable for rehabilitation training in the supine position. Therefore, the following description is made with the tooth located on the arc-shaped groove wall with a longer diameter of the tooth groove 101:

[0053] When the patient's symptoms are severe and the patient is in a sitting position for passive rehabilitation training, the intelligent control system can be used to control the motor to drive the rotation of the thigh bone frame 9, and drive the connecting member 12 to reciprocate and rotate along the tooth groove 101 on the limiting plate 10 between 0 and 10° through the fixing ring 13 and the connecting plate 14, thereby driving the included angle between the calf bone frame 11 and the horizontal line to reciprocate between 105 - 135°.

[0054] As a further embodiment provided by the present invention, the swing amplitude of the thigh bone frame 9 is between 0 and 20°, and the swing range of the calf driven by the calf bone frame 11 is 75 - 135°.

[0055] Specifically, control the motor to drive the rotation of the thigh bone frame 9, and drive the connecting member 12 to reciprocate and rotate along the tooth groove 101 on the limiting plate 10 between 0 and 20° through the fixing ring 13 and the connecting plate 14, thereby driving the included angle between the calf bone frame 11 and the horizontal line to reciprocate between 75 - 135°.

[0056] As a further embodiment provided by the present invention, the swing amplitude of the thigh bone frame 9 is between 0 and 30°, and the swing range of the calf driven by the calf bone frame 11 is 45 - 135° to achieve gradient training.

[0057] Specifically, control the motor to drive the rotation of the thigh bone frame 9, and drive the connecting member 12 to reciprocate and rotate along the tooth groove 101 on the limiting plate 10 between 0 and 30° through the fixing ring 13 and the connecting plate 14, thereby driving the included angle between the calf bone frame 11 and the horizontal line to reciprocate between 45 - 135°.

[0058] Furthermore, due to the relatively severe symptoms of the patient, the training can be carried out step by step. First, small-amplitude swings can be performed between 0-10° for rehabilitation training. When the patient gets used to the rehabilitation training between 0-10°, the swing amplitude can be tried to be increased so that the patient can perform rehabilitation training between 0-20°. When the patient gets used to 0-20°, the swing amplitude can be further increased so that the patient can perform rehabilitation training between 0-30°. Finally, walking training can be tried. Through the step-by-step rehabilitation training, the pain of the patient during training can be well alleviated. By training in a step-by-step manner, not only can the confidence of the patient be gradually increased, but also the training can be carried out according to a scientific rehabilitation training method, further improving the effect of rehabilitation training.

[0059] As a further embodiment provided by the present invention, the connecting member 12 includes a sliding column 122. An elastic block 123 is arranged along the central axis direction inside the sliding column 122. The block 123 is cross-shaped and is inserted and matched with a cross-shaped card slot opened on the hinge axis of the calf bone frame 11.

[0060] As a further embodiment provided by the present invention, a threaded column 124 is threadedly connected to the sliding column 122.

[0061] Specifically, when performing walking rehabilitation training, when rotating the knob on the threaded column 124, the threaded column 124 is driven to rotate and move away from the block 123, so that the end of the threaded column 124 in contact with the block 123 is separated from the block 123. Under the action of the spring in the initial tension state of the block 123, the block 123 is pulled back into the sliding column 122 and disengaged from the cross-shaped card slot opened on the hinge axis of the calf bone frame 11, thereby releasing the clamping state of the outer bone frame, and then the patient can stand up with the support of the wheelchair.

[0062] As a further embodiment provided by the present invention, the wheelchair includes a main bracket 2 connected to the rear wheels. A handle 8 is hingedly arranged on the main bracket 2.

[0063] Specifically, the handle 8 can be rotated to a vertical state, which is convenient for the patient to support the body through the wheelchair by holding the handle 8 during walking training.

[0064] Only some exemplary embodiments of the present invention have been described by way of illustration above. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A lower limb rehabilitation training vehicle, characterized in that: include: A wheelchair and an exoskeleton, wherein the exoskeleton is detachably mounted on the wheelchair; The exoskeleton comprises a waist frame, a thigh frame is symmetrically arranged on the waist frame, a fixing ring is fixedly connected to the end of the thigh frame, and a calf frame is hingedly arranged on the fixing ring; The wheelchair comprises a sub-bracket connected to the front wheel, a limit plate is fixedly arranged on the sub-bracket, a tooth groove is provided on the limit plate, and the tooth groove is arranged in an arc shape with the hinge end of the thigh frame as the center; A connecting piece is slidably provided on the limit plate, the connecting piece is meshed with the tooth groove, the connecting piece is clamped with the hinge axis of the calf frame, the thigh frame is driven by a motor to drive the thigh to swing, the connecting piece slides along the tooth groove and drives the calf frame to rotate, so that the calf swings synchronously.

2. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The tooth groove is provided with teeth. When the teeth are located on the arc groove wall with a shorter diameter of the tooth groove, the thigh skeleton is driven by a motor to drive the thigh to swing, and the connecting part slides along the tooth groove and drives the calf skeleton to rotate, so that the calf swings from an initial position to a preset range away from the front wheel.

3. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The tooth groove is provided with teeth. When the teeth are located on the arc groove wall with a longer diameter of the tooth groove, the thigh skeleton drives the thigh to swing, and the connecting part slides along the tooth groove and drives the calf skeleton to rotate, so that the calf swings from the initial position to a preset range close to the front wheel direction.

4. The lower limb rehabilitation training vehicle according to claim 3, characterized in that: The line connecting the lower end of the tooth socket and the hinged end of the thigh frame is a horizontal line, the angle between the line connecting the upper end of the tooth socket and the hinged end of the thigh frame and the horizontal line is 30°, and when the hinged end of the calf frame is located at the lower end of the tooth socket, the center line of the calf frame forms an angle of 135° with the horizontal line.

5. The lower limb rehabilitation training vehicle according to claim 4, characterized in that: The swing range of the thigh skeleton is between 0-10°, and the swing range of the calf driven by the calf skeleton is 105-135°.

6. The lower limb rehabilitation training vehicle according to claim 5, characterized in that: The swing range of the thigh skeleton is between 0-20°, and the swing range of the calf driven by the calf skeleton is 75-135°.

7. The lower limb rehabilitation training vehicle according to claim 6, characterized in that: The swing range of the thigh skeleton is between 0-30°, and the swing range of the calf driven by the calf skeleton is 45-135° to achieve gradient training.

8. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The connecting member comprises a sliding column, in which a clamping block is elastically arranged along the central axis direction. The clamping block is cross-shaped and is plugged and matched with a cross-shaped clamping slot provided on the hinge shaft of the calf frame.

9. The lower limb rehabilitation training vehicle according to claim 8, characterized in that: The sliding column is threadedly connected with a threaded column.

10. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The wheelchair comprises a main support connected with the rear wheels, and a handle is hingedly arranged on the main support.

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