Lower limb rehabilitation training vehicle

Abstract

The invention discloses a lower limb rehabilitation training vehicle which comprises a chassis frame, a bottom plate is fixed to the center of the front portion of the chassis frame, a telescopic lifting stand column is fixed to the bottom plate, a bracket is fixed to the top of the lifting stand column, a fixing frame is fixed to the lower bottom face of the bracket, and a leg lifting motor and a sliding rod are installed on the fixing frame. A pull rope reel is arranged on the sliding rod, a main shaft of the leg lifting motor is in transmission connection with a shaft sleeve at the end of the sliding rod, and then the pull rope reel on the sliding rod can be driven to rotate. At least one universal wheel is arranged on the front portion of the bottom face of the chassis frame, and electric wheels are arranged on the left side and the right side of the rear portion of the bottom face of the chassis frame respectively. A direction rocker is arranged on the bracket and used for controlling the electric wheels to advance and steer.

Description

Technical Field

[0001] The present invention relates to the technical field of lower limb rehabilitation training equipment, in particular to a lower limb rehabilitation training vehicle. Background Art

[0002] Common rollators on the market typically use a frame structure with wheels at the bottom. Users use the rollator to walk independently. During this process, the rollator only supports the user's standing position; the actual walking movement still depends on the user themselves. Therefore, this requires users to have a certain level of mobility. When walking long distances, users also need to have a certain level of endurance.

[0003] Therefore, how to design a device that can help users recover and provide walking assistance to users has become one of the technical problems that need to be solved urgently in this field. Summary of the Invention

[0004] The purpose of the present invention is to provide a lower limb rehabilitation training vehicle.

[0005] To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0006] A lower limb rehabilitation training vehicle comprises a chassis frame, a bottom plate is fixed to the front center of the chassis frame, a retractable lifting column is fixed to the bottom plate, a bracket is fixed to the top of the lifting column, a fixing frame is fixed to the lower bottom surface of the bracket, a leg lifting motor and a sliding rod are installed on the fixing frame, a pull rope reel is provided on the sliding rod, the main shaft of the leg lifting motor forms a transmission connection with the shaft sleeve at the end of the sliding rod, and can drive the pull rope reel on the sliding rod to rotate.

[0007] Furthermore, there is at least one pull rope reel, which can slide left and right along the slide rod.

[0008] Furthermore, the lifting column includes an outer column, and a retractable inner column is sleeved inside the outer column.

[0009] Furthermore, the lifting column is internally or externally provided with a linear motor for controlling the lifting height of the inner column.

[0010] Furthermore, at least one universal wheel is provided on the front bottom of the chassis frame, and an electric wheel is provided on each of the left and right sides of the rear bottom of the chassis frame.

[0011] Furthermore, a direction rocker is installed on the bracket to control the forward movement and steering of the electric wheel.

[0012] Furthermore, one end of the drawstring is fixed to the drawstring reel, and the other end is connected to a strap, and the strap is tied around the user's knees.

[0013] Furthermore, the number of the leg-lifting motors is 1 or 2; when the number is 1, the leg-lifting motor is located on the left or right side of the lower bottom surface of the bracket; when the number is 2, the sliding rod is divided into two left and right sections, which are respectively connected to the left and right leg-lifting motors, and a pull rope reel is installed on each of the left and right sections of the sliding rod.

[0014] Furthermore, the pull rope reel and the slide rod are formed into an integrated structure.

[0015] Furthermore, the transmission connection is through a belt transmission connection, a chain transmission connection, or a gear transmission connection.

[0016] Compared with the prior art, the outstanding effects of the present invention are:

[0017] (1) The lifting column of the lower limb rehabilitation training vehicle of the present invention is equipped with a linear motor to control the lifting of the inner column. The structure is simple and there is no need to add a hydraulic cylinder or electric screw outside the column for control.

[0018] (2) The lower limb rehabilitation training vehicle of the present invention is equipped with electric wheels that can be controlled by a directional joystick, and the electric wheels have an automatic braking function. When walking, the directional joystick can be moved in any direction, such as forward, backward, left, or right, and the electric wheels will turn in the direction corresponding to the joystick. If the assisted walking function of the vehicle fails or the user feels uncomfortable, the directional joystick can be released, and the electric wheels will automatically brake and stop.

[0019] (3) The lower limb rehabilitation training vehicle of the present invention is equipped with a leg-lifting motor, and at least one set should be installed on the left or right side of the bracket. The leg-lifting motor is connected to a pull rope reel, and a pull rope is wound around the reel. The pull rope is tied above the user's knees and can be used to assist the user in lifting his legs while walking.

[0020] The lower limb rehabilitation training vehicle of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of the lower limb rehabilitation training vehicle of the present invention;

[0022] Figure 2 It is a partial schematic diagram of the lower limb rehabilitation training vehicle of the present invention;

[0023] Figure 3 is another partial schematic diagram of the lower limb rehabilitation training vehicle of the present invention;

[0024] Figure 4 This is a schematic diagram of the lower limb rehabilitation training vehicle of the present invention in use.

[0025] Figure 5 This is a system principle diagram of the lower limb rehabilitation training vehicle of the present invention;

[0026] Figure 6 A flowchart of one of the working methods of the lower limb rehabilitation training vehicle of the present invention;

[0027] Figure 7 This is a flow chart of another working method of the lower limb rehabilitation training vehicle of the present invention.

[0028] Among them, 1-chassis frame, 2-bottom plate, 3-lifting column, 4-bracket, 5-directional joystick, 6-leg lifting motor, 7-pull rope reel, 8-universal wheel, 9-electric wheel, 10-pull rope, 11-strap, 12-slide rod, 13-fixed frame, 14-positioning pin hole. DETAILED DESCRIPTION

[0029] like Figure 1-4 As shown, a lower limb rehabilitation training vehicle includes a chassis frame 1, a bottom plate 2 is fixed to the front center of the chassis frame 1, a retractable lifting column 3 is fixed to the bottom plate 2, a bracket 4 is fixed to the top of the lifting column 3, a fixing frame 13 is fixed to the lower bottom surface of the bracket 4, a leg lifting motor 6 and a slide bar 12 are mounted on the fixing frame 13, a pull rope reel 7 is provided on the slide bar 12, the main shaft of the leg lifting motor 6 and the shaft sleeve at the end of the slide bar 12 are connected by a belt transmission, thereby driving the slide bar to rotate, and further driving the pull rope reel 7 on the slide bar 12 to rotate. The aforementioned transmission connection via a belt can also be a transmission connection via a chain, or can also be connected via a gear transmission.

[0030] The number of the pull rope reel 7 is one, and it can slide left and right along the slide bar 12. The slide bar 12 is provided with a plurality of positioning pin holes 14, which can be pinned to fix the pull rope reel 7. In other beneficial embodiments, the pull rope reel and the slide bar can also be fixed into an integrated structure.

[0031] There are two lifting columns 3, each comprising an outer column housing a retractable inner column. A linear motor (in other advantageous embodiments, an external linear motor may also be used) is installed within each lifting column 3 to control the height of the inner column. The two lifting columns 3 are parallel to each other and secured in place by a crossbar.

[0032] A universal wheel 8 is respectively provided on both sides of the bottom front portion of the chassis frame 1, and an electric wheel 9 is respectively provided on the left and right sides of the bottom rear portion of the chassis frame 1. A direction rocker 5 is installed on the bracket 4 for controlling the advancement and steering of the electric wheel 9.

[0033] One end of the drawstring 10 is fixed to the drawstring reel 7 , and the other end is connected to a strap 11 , which is tied around the user's knees.

[0034] When there is one leg-lifting motor 6, it is located on the right side of the lower bottom surface of the bracket 4. In other advantageous embodiments, it can also be arranged on the left side of the lower bottom surface of the bracket; or one leg-lifting motor 6 can be arranged on each of the left and right sides of the lower bottom surface of the bracket 4, and the slide bar 12 is divided into two sections, and the two sections of the slide bar are respectively connected to the left and right leg-lifting motors 6, and a pull rope reel 7 is installed on each of the left and right sections of the slide bar 12.

[0035] See also Figure 5, which shows one possible generalized system schematic diagram of the lower limb rehabilitation training vehicle of the present invention, including a control unit, a leg lifting motor drive unit, a rocker unit, a control screen, an electric wheel drive unit, a column lifting control unit, a column lifting drive unit, a sensor group, etc. Among them, the control unit, in certain embodiments of the present invention, is generally mainly composed of a microcontroller unit (MCU), which serves as the core of the system and is responsible for coordinating the operation of various modules, processing sensor data (such as angle, speed, pressure, etc.), executing preset control algorithms, and realizing interactive logic. In certain system embodiments of the present invention, its implementation hardware may include: a main control chip (such as an embedded processor such as an STM32 series MCU or Raspberry Pi; a data storage module (EEPROM / Flash); a communication interface (CAN bus / USB / Bluetooth, used to connect other units, or any other known connection method). A control unit is used to, for example, receive instructions from a joystick or control screen, send control signals to a motor drive unit, monitor the lifting or movement status in real time, and so on. A leg-lifting motor drive unit is used to, for example, drive a leg-lifting mechanism to simulate gait movement, assist a patient in completing hip or knee flexion and extension training, and so on. Its implementation hardware composition may include: a brushless DC motor or a servo motor, a motor driver (such as an H-bridge circuit + encoder feedback). In certain embodiments of the present invention, it is controlled by a control unit and can be Precise motion trajectory is achieved through PID closed-loop control. The rocker unit is used to provide a manual control interface, allowing patients or therapists to fine-tune training postures or emergency stops, etc. In certain embodiments of the present invention, its hardware composition can be selected from, for example, a 3-axis analog rocker (such as a Hall effect sensor), a physical emergency stop button, a signal conditioning circuit (ADC conversion), etc., alone or in combination. In certain embodiments of the present invention, it can convert analog signals into digital instructions and transmit them to the control unit, and in some cases the priority is designed to be higher than the control screen. The control screen is used to implement a graphical human-machine interface (HMI), which is used to set training parameters (resistance, speed), display real-time data (heart rate, exercise volume), and other functions. In certain embodiments of the present invention, its hardware composition can adopt a touch screen (resistive / capacitive), an embedded processor (such as ARM Cortex-A series), independent display driver chip, etc. In certain embodiments of the present invention, it can be designed to communicate bidirectionally with the control unit, send parameter configurations and receive status updates. The electric wheel drive unit is used to drive the training vehicle to move (such as following the patient's walking in electric mode), or provide resistance to simulate different road conditions and other functions. In certain embodiments of the present invention, its hardware composition can be a hub motor / gear reduction motor, a current detection circuit (overload protection), a speed encoder, etc. In certain embodiments of the present invention, it is designed to cooperate with the control unit, and may cooperate with the IMU sensor to achieve dynamic speed adjustment, etc.The column lifting control unit is used to adjust the height of the equipment to adapt to the patient's height or training mode (sitting / standing) and other functions. In certain embodiments of the present invention, its hardware composition may be: height sensor (ultrasonic / laser ranging), limit switch (anti-mechanical overload), etc. In certain embodiments of the present invention, it is designed to receive a control screen or preset instructions, send signals to the lifting drive unit, etc. The column lifting drive unit is used to physically perform the lifting and lowering actions of the column, etc. In certain embodiments of the present invention, its hardware composition may be: linear motor / electric push rod, hydraulic pump, etc. In certain embodiments of the present invention, it can be designed to be controlled by the lifting control unit and feedback real-time position information. The sensor group can be regarded as the system perception layer, which is used to collect motion, physiological and environmental data in real time to ensure the safety and adaptability of training. In certain embodiments of the present invention, the hardware may include: motion sensors: IMU (such as MPU6050, detecting leg angle / angular velocity), force sensors: strain gauges or pressure sensors, physiological sensors: heart rate belts (such as Polar H10) or blood oxygen modules (MAX30102), and environmental sensors: temperature and humidity sensors (such as SHT30). In certain embodiments of the present invention, data is uploaded to the control unit via a possible communication connection to participate in closed-loop control. Alternatively, various sensors, such as torque or angle sensors (such as sensors for monitoring leg position) and / or load sensors (such as anti-pinch protection functions) or gyroscope sensors, may be used alone or in combination.

[0036] In certain embodiments of the present invention, the joystick unit and column lift control unit can be integrated with the control panel. In certain embodiments of the present invention, the sensor group can be partially or entirely omitted, depending on actual needs, to achieve system functionality solely through program control. In certain embodiments of the present invention, the control panel can be omitted or replaced with another form factor, such as a mechanical switch.

[0037] In some specific embodiments of the present invention, the control unit can be composed of a single-chip microcomputer, the leg-lifting motor drive unit can be composed of a drive motor, the joystick unit can be composed of a directional joystick, the control screen can be composed of a touch-sensitive interactive LCD display, the electric wheel drive unit can be composed of electric wheels and / or universal wheels and their peripheral circuits, the column lift control unit can be composed of a column lift switch, the column lift drive unit can be composed of a column lift motor and its peripheral circuits, and the sensor group can be composed of a gyroscope sensor, a speed sensor, a counter sensor, a Hall effect sensor, etc. These components can be interconnected or coupled via various known communication methods, such as electrical connections. These communication methods can include analog signal connections, digital signal connections, bus connections, communication interface connections, and other known means, as long as they can transmit data and / or control information to each other. The control unit of the present invention, especially the specific single-chip microcomputer, can be programmed using the method disclosed in the present invention to control the relevant components of the system to achieve corresponding control and data transmission, thereby organically realizing the system and functions of the present invention.

[0038] In a preferred embodiment of the present invention, the rocker unit is a potentiometer-type rocker or a Hall effect rocker. For example, a potentiometer-type rocker contains two independent, perpendicularly mounted potentiometers: one for the X-axis, representing forward and backward, and the other for the Y-axis, representing left and right. Each potentiometer has three endpoints. The X-axis has endpoints A, B, and C. The rocker is connected to endpoint B and slides on the conductor between A and C. When the rocker is in the neutral position, the resistance between endpoints A and B is equal to the resistance between endpoints B and C. When the rocker is pushed forward, the resistance between endpoints A and B decreases, while the resistance between endpoints B and C increases. Conversely, when the rocker is pulled backward, the resistance between endpoints A and B increases, while the resistance between endpoints B and C decreases. When rocking left and right, the potentiometer on the Y-axis operates in the same manner. The X-axis resistance is superimposed on the Y-axis resistance, forming a 360° directional rocking recognition function on a two-dimensional plane. According to the direction recognized by the joystick, the control unit (single-chip microcomputer) converts it into a drive signal to control the electric wheel to rotate forward or backward.

[0039] In one embodiment of a preferred method for assisting leg lifting control of a lower limb rehabilitation training vehicle of the present invention, the working method can be designed as follows: (1) Before walking, the strap is fixed on the user's leg, and then the motor of the lifting column is controlled by the control panel to adjust the height of the bracket. (2) When walking, when the user wants to walk forward, the rocker is pushed forward, and the left and right electric wheels rotate forward at the same time, driving the assisted vehicle to move forward. (3) When the user wants to move backward, the rocker is pushed backward, and the left and right electric wheels rotate backward at the same time, driving the assisted vehicle to move backward. (4) When the user wants to turn to the left front, the rocker is pushed to the left front, and the left electric wheel rotates forward slowly, and the right electric wheel rotates forward quickly, driving the assisted vehicle to turn to the left front. The greater the rocker is pushed, the greater the difference in the rotation speed of the left and right electric wheels, and the greater the turning angle. When turning to the right front, the principle is the same, and the rotation speeds of the left and right electric wheels are opposite. (5) When the user wants to rotate in place, he pushes the joystick to the left, the left electric wheel rotates backward, and the right electric wheel rotates forward, driving the walker to rotate to the left in place; pushes the joystick to the right, the left electric wheel rotates forward, and the right electric wheel rotates backward, driving the walker to rotate to the right in place. (6) When the user wants to stop, he releases the direction joystick, the joystick automatically rebounds and resets, and the electric wheel automatically brakes. (7) When the user controls the walker to move forward, the leg lift motor is automatically controlled to pull the leg lift upward according to the set auxiliary leg lift height and stride distance, and the rope is automatically lowered to lower the foot according to the distance the electric wheel rotates forward. (8) If a leg lift motor is installed on each side, when the auxiliary leg lift function is running, the left and right sides work in a cycle. (9) If only one motor is installed on the left or right side, after the auxiliary leg lift is lowered, it pauses for the time it takes for the user to step forward with the other leg, and then repeats the operation.

[0040] See also Figure 6, which illustrates an embodiment of a preferred method for assisting leg lifts in a lower limb rehabilitation training vehicle of the present invention. The basic principle of this method is as follows: According to program settings, the method automatically operates at preset time and / or distance intervals. For example, for assisting the affected leg alone: ​​By moving the joystick forward and holding it, the electric wheel rotates forward while the leg lift motor rotates forward by a corresponding number of revolutions based on the set leg lift height, driving the pull rope to wind up and pull the straps or exoskeleton to assist in lifting the affected leg. Once the set height is reached, the motor immediately reverses by a corresponding number of revolutions, releasing the pull rope and allowing the affected leg to land. Throughout the entire leg lift and landing process, the electric wheel rotates continuously, moving forward, forming a step forward after the leg is lifted. After the leg lift motor assists the affected leg to land, it stops for N seconds, waiting for the patient to step forward with their unaffected leg. The next leg lift can then be performed. Alternatively, an encoder within the electric wheel can calculate the distance traveled from leg lift to leg landing. The motor then stops, waiting for the electric wheel to move forward another N centimeters while the patient's unaffected leg steps forward, before the next leg lift can be performed. The leg-lifting height, leg-lifting speed, interval time, interval distance, and electric wheel walking speed can all be set and adjusted according to the patient's actual situation.

[0041] Some basic steps of the embodiment of the method include: S1 presetting control parameters (parameters include: leg lifting height, leg lifting speed, interval time, interval distance, electric wheel walking speed, etc.); S2 fixing the strap or exoskeleton to the corresponding position of the affected leg; S3 raising or adjusting the column to the appropriate position; S4 supporting the patient's forearm on the bracket; S5 the electric wheel rotates, the leg lifting motor drives the pull rope to winch or the exoskeleton assists in lifting the affected leg to the set height, the leg lifting motor reverses to release the pull rope or the exoskeleton drops the leg; S6 the electric wheel rotates, and the healthy leg completes the forward step; repeat steps S5 and S6.

[0042] See also Figure 7 The present invention discloses an embodiment of a preferred method for assisting leg lifting in a lower limb rehabilitation training vehicle. The basic principle of the method is as follows: gyroscope sensors are arranged on both legs to monitor the leg lifting and swinging gait of the healthy leg in real time, calculate the leg lifting height, forward and backward swinging distance, stride speed and other data, and then convert them into control signals to drive the electric wheel and leg lifting motor, control the leg lifting motor to pull the same height, control the forward rotation speed of the electric wheel according to the same stride speed, and control the leg lifting motor to flip and lower the leg according to the same stride distance. When the joystick is moved forward and the healthy leg is actively stepped forward, the knee gyroscope and foot gyroscope sensors will generate angular change values ​​and acceleration values ​​due to the leg movement. These values ​​are transmitted to a single-chip microcomputer, which calculates the leg lifting height, leg stride speed, stride span and other data, and then converts them into control signals to drive the electric wheel to walk at the leg lifting speed. The leg pulling motor assists the leg lifting according to the healthy leg lifting height, and cooperates with the electric wheel to lift and lower the leg according to the stride span.

[0043] Some basic steps of the embodiment of the method include: T0: fixing the strap or exoskeleton to the corresponding position of the affected leg; T1: arranging gyroscope sensors on the patient's two legs respectively; T2: raising or adjusting the column to the appropriate position; T3: supporting the patient's forearm on the bracket; T4: rotating the electric wheel, the healthy leg steps forward, and collecting the parameters of the healthy leg (including leg lifting height, forward and backward swing distance, stepping speed, etc.); T5: the electric wheel rotates, and the healthy leg parameters collected in step T4 are adjusted to drive the leg lifting motor to wind up the pull rope or the exoskeleton to assist in lifting the affected leg and the leg lifting motor is reversed to release the pull rope or the exoskeleton drops the leg to achieve the same or similar posture as the healthy leg; repeating steps T4 and T5.

[0044] Based on the teachings of the present invention, some exoskeleton technologies already disclosed in the art can be applied to the various assisted leg-lifting working methods of the lower limb rehabilitation training vehicle of the present invention to implement these methods, and some modified methods can also be obtained through some simple adaptation. For example, as disclosed in Chinese Patent 202310845558.9 (CN116652915A A flexible hip joint power-assisted exoskeleton and its control method), and Chinese Patent 202410733949.6 (CN118617383A A lower limb exoskeleton system for assisting miners in weight-bearing walking).

[0045] Based on the teachings of the present invention, although the various method embodiments of the present invention are most preferably applied to the rehabilitation training vehicle of the present invention, these method embodiments can also be applied to other rehabilitation training vehicles, as long as they can be based on the teachings of the present invention and set up similar devices to complete the various method steps of the present invention, they can achieve the good effects and functions that can be produced by the various method embodiments of the present invention.

[0046] These methods of the present invention can enable the corresponding rehabilitation training vehicle to work and operate organically, concisely and efficiently, and thus can make the training of the affected leg more scientific and effective.

[0047] Those skilled in the art will understand that, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the context of the prior art and, unless specifically defined as herein, should not be interpreted in an idealized or overly formal sense.

[0048] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings or other forms of connections. The term "and / or" used herein includes all or any units and all combinations of one or more associated listed items.

[0049] It is understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Therefore, features defined as "first", "second", step N, etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "multiple" means two or more. These steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and they can be performed in other orders. Moreover, at least some of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily sequential, but can be performed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps. In some cases, a specific step sequence of the present invention may have a better technical effect than other combinations or arrangements, but this does not mean that those combinations or arrangements based on the concept of the present invention do not have a better technical effect based on the prior art.

[0050] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. They should not be construed as limitations on the present invention. Without departing from the spirit of the present invention, various modifications and improvements to the technical solutions of the present invention made by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A lower limb rehabilitation training vehicle, characterized by: The utility model comprises a chassis frame (1), a bottom plate (2) is fixed at the front center of the chassis frame (1), a retractable lifting column (3) is fixed on the bottom plate (2), a bracket (4) is fixed on the top of the lifting column (3), a fixing frame (13) is fixed on the lower bottom surface of the bracket (4), a leg-lifting motor (6) and a slide bar (12) are installed on the fixing frame (13), a pull rope reel (7) is provided on the slide bar (12), a main shaft of the leg-lifting motor (6) and a shaft sleeve at the end of the slide bar (12) form a transmission connection, and can drive the pull rope reel (7) on the slide bar (12) to rotate.

2. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The number of the pull rope reel (7) is at least one, and the reel can slide left and right along the slide bar (12).

3. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The lifting column (3) comprises an outer column, wherein a retractable inner column is sleeved inside the outer column.

4. The lower limb rehabilitation training vehicle according to claim 3, characterized in that: The lifting column (3) is internally or externally provided with a linear motor for controlling the lifting height of the inner column.

5. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: At least one universal wheel (8) is provided on the front bottom of the chassis frame (1), and an electric wheel (9) is provided on each of the left and right sides of the rear bottom of the chassis frame (1).

6. The lower limb rehabilitation training vehicle according to claim 5, characterized in that: A direction rocker (5) is mounted on the bracket (4) for controlling the forward movement and steering of the electric wheel (9).

7. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: One end of the drawstring (10) is fixed on the drawstring reel (7), and the other end is connected to a strap (11), and the strap (11) is tied to the user's upper knee.

8. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The number of the leg-lifting motors (6) is one or two; when the number is one, the leg-lifting motor (6) is located on the left or right side of the lower bottom surface of the bracket (4); when the number is two, a leg-lifting motor (6) is arranged on each of the left and right sides of the lower bottom surface of the bracket (4), and the slide bar (12) is divided into two left and right sections, which are separately connected to the left and right leg-lifting motors (6), and a pull rope reel (7) is installed on each of the left and right sections of the slide bar (12).

9. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The pull rope reel (7) and the slide rod (12) are fixed into an integrated structure.

10. The lower limb rehabilitation training vehicle according to claim 1, characterized in that: The transmission connection is through a belt transmission connection, a chain transmission connection or a gear transmission connection.

Images