CN213406846U

CN213406846U - Lower limb rehabilitation moped

Info

Publication number: CN213406846U
Application number: CN202020786452.8U
Authority: CN
Inventors: 李祥云; 刘雪垠; 陈鹏; 孙淼; 吕浩; 高雷
Original assignee: Sichuan Provincial Machinery Research & Design Institute
Current assignee: Sichuan Provincial Machinery Research & Design Institute
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-06-11
Anticipated expiration: 2030-05-13

Abstract

The utility model discloses a lower limb rehabilitation moped, including link mechanism, link mechanism includes first order left connecting rod, second order left connecting rod, first order right connecting rod, second order right connecting rod, the primary shaft, the secondary shaft, the third axle, the thrust shaft, the push rod motor, first band pulley, the second band pulley, third band pulley and fourth band pulley, drive first order left connecting rod and first order right connecting rod through the thrust rod and move, so driven second order left connecting rod and second order right connecting rod motion, first band pulley and second band pulley synchronous rotation make primary shaft and secondary shaft rotate simultaneously, third band pulley and fourth band pulley synchronous rotation make secondary shaft and third axle rotate simultaneously, so realized the motion of similar human shank; the structure can fit the human motion track, has higher comfort, simple structure, convenient carrying, higher working efficiency, strong durability, strong adaptability, independent operation, realization of self-care of the user and good practicability.

Description

Lower limb rehabilitation moped

Technical Field

The utility model relates to a postoperative resumes technical field, particularly, relates to recovered vehicle using motor of low limbs.

Background

For a user with lower limb dysfunction, a conventional moped usually only has one of the functions of assisting the user to stand up/sit down or lower limb rehabilitation training, but cannot be well combined with the conventional moped, so that the moped has great limitation. Moreover, most products do not have the function of riding instead of walk, other people are required to assist in operation, and the defects of poor portability, low efficiency, short service life, high quality, high cost and poor comfort level exist.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a recovered vehicle using motor of low limbs, it can solve above-mentioned problem, provides a collect and help, sit and ride the function user as an organic whole can complete independent operation's recovered vehicle using motor of low limbs.

The embodiment of the utility model is realized like this:

an intelligent rehabilitation moped comprises a frame, a leg supporting assembly and a connecting rod mechanism, wherein the leg supporting assembly is connected to the frame through the connecting rod mechanism, the connecting rod mechanism comprises a first-stage left connecting rod, a second-stage left connecting rod, a first-stage right connecting rod, a second-stage right connecting rod, a first shaft and a second shaft, the leg support component comprises a third shaft, a thrust shaft, a push rod motor, a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel, wherein a first-stage left connecting rod and a first-stage right connecting rod are arranged at intervals and are connected with the thrust shaft through the first shaft and the second shaft; a first belt wheel is arranged at one end of the first shaft, a second belt wheel and a third belt wheel are respectively arranged at two ends of the second shaft, a fourth belt wheel is arranged at one end of the third shaft, the first belt wheel is connected with the second belt wheel through a belt, and the third belt wheel is connected with the fourth belt wheel through a crossed belt; the push rod of the push rod motor is hinged to the thrust shaft, the push rod motor is hinged to the rack, the push rod motor drives the push rod to do linear motion, the push rod enables the first-stage left connecting rod and the second-stage right connecting rod to swing simultaneously through the thrust shaft, and the first-stage left connecting rod and the first-stage right connecting rod drive the second-stage left connecting rod and the second-stage right connecting rod to move in the swinging process, so that the leg supporting component is driven to move.

The utility model discloses in the embodiment of the preferred, above-mentioned primary shaft is through driving first order left connecting rod and first order right connecting rod for second level left connecting rod and second level right connecting rod are rotatable for the frame, simultaneously through the drive of first band pulley, second band pulley, third band pulley and fourth band pulley, make first left connecting rod and first right connecting rod rotatable for the frame, and second left connecting rod and second right connecting rod drive shank supporting component simultaneously and move.

The utility model discloses in the embodiment of preferred, above-mentioned frame includes the support, the bottom plate, the front wheel, the rear wheel, wheel motor, the wheel motor mount pad, push rod motor mount pad and link mechanism mount pad, the both sides at the bottom plate are fixed to the support, so that the patient is handed, front wheel and rear wheel are installed respectively at the front end and the rear end of bottom plate bottom, push rod motor mount pad are fixed at the bottom plate top, with the installation push rod motor, the top at the bottom plate is fixed to the link mechanism mount pad, so that it is fixed with link mechanism's primary shaft both ends, wheel motor mount pad is fixed in the bottom plate bottom, with installation wheel motor.

In the preferred embodiment of the present invention, the wheel motor is fixed to the wheel motor mounting seat by the wheel motor card, and the axle of the wheel motor is connected to the rear wheel and drives the rear wheel to rotate.

In a preferred embodiment of the present invention, the leg supporting assembly includes a connecting plate, a leg supporter and a connecting shaft, the leg supporter has a through groove for inserting the leg of the patient, the connecting plate is fixed on the outer side of the leg supporter, the connecting shaft is connected to the inner side of the leg supporter, and the two connecting shafts are respectively connected to the third-level left connecting rod and the third-level right connecting rod.

In the preferred embodiment of the present invention, the connecting plate is provided with a stop pin, and when the connecting plate rotates along with the leg supporter, the stop pin blocks the connecting plate to limit the rotation angle.

In the preferred embodiment of the present invention, the first coil spring is installed on the inner sleeve of the connecting plate, the second coil spring is installed on the connecting shaft, the leg supporter is tilted forward and rotated to realize the reset action by the first coil spring, and the connecting shaft is folded and folded in the direction perpendicular to the connecting shaft by the second coil spring.

In a preferred embodiment of the present invention, the front wheel is a universal wheel to realize circumferential movement.

The utility model has the advantages that:

the utility model discloses a set up link mechanism and drive shank supporting component and move, drive first order left connecting rod and first order right connecting rod through the distance rod and move, driven second level left connecting rod and second level right connecting rod motion like this, first band pulley and second band pulley synchronous rotation make primary shaft and secondary shaft rotate simultaneously, third band pulley and fourth band pulley synchronous rotation make secondary shaft and third shaft rotate simultaneously, realized the motion trail of similar human shank like this; the structure can fit the human motion track, has higher comfort, simple structure, convenient carrying, higher working efficiency, strong durability, strong adaptability, independent operation, realization of self-care of the user and good practicability.

The utility model discloses still include following advantage:

1. the movement of the seat plate is matched with the movement track of the human body, so that the seat plate is more comfortable; the whole device has small structure and light weight, can realize the actions such as reversing and the like in a small range, and is convenient for indoor activities.

2. The invention has the advantages of high mechanism shrinkage ratio of the whole device at the initial position, low longitudinal height, portability and strong practicability in outdoor activities.

3. The invention adopts a purely mechanical belt connecting rod structure, provides safety protection for users by utilizing self-locking property of the structure, and has higher reliability, low cost and higher popularity; the device can realize independent operation in the true sense and realize self-care in life.

4. The invention adopts the modularization idea, modularizes the bottom of the sports device, sets the bottom of the sports device into different functional modules, can be designed into big wheels, tracks and the like with stronger outdoor capability according to the requirements of users, and is suitable for indoor small wheels.

5. The invention is convenient for personalized customization, and since the individual leg movement tracks are different, the personalized customization is realized by acquiring the movement track data of the user and regenerating the size of the actuating mechanism.

6. The invention has stronger economical efficiency, practicability and reliability.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope.

Fig. 1 is a schematic view of the lower limb rehabilitation moped of the present invention;

FIG. 2 is a schematic view of the lower limb rehabilitation moped of the present invention;

fig. 3 is a schematic view of the link mechanism of the present invention;

fig. 4 is a schematic view of the link mechanism of the present invention;

icon: 1-a frame; 11-a scaffold; 12-a base plate; 13-front wheels; 14-rear wheel; 15-wheel motor; 16-wheel motor mount; 17-a push rod motor mounting seat; 18-linkage mount; 2-a linkage mechanism; 21-first level left connecting rod; 22-a second level left link; 23-first stage right link; 24-a second stage right link; 3-a leg support assembly; 31-a connecting disc; 32-a leg support; 33-a connecting shaft; 41-a first shaft; 42-a second axis; 43-a third axis; 44-a thrust shaft; 45-push rod motor; 51-a first pulley; 52-a second pulley; 53-a third pulley; 54-fourth pulley.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

First embodiment

Referring to fig. 1, the present embodiment provides a lower limb rehabilitation moped, which includes a frame 1, a leg supporting assembly 3 and a link mechanism 2, wherein the leg supporting assembly 3 is connected to the frame 1 through the link mechanism 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, a push rod motor mounting seat 17 and a link mechanism mounting seat 18, the link mechanism 2 includes a first-stage left connecting rod 21, a second-stage left connecting rod 22, a first-stage right connecting rod 23, a second-stage right connecting rod 24, a first shaft 41, a second shaft 42, a third shaft 43, a push shaft 44, a push rod motor 45, a first belt pulley 51, a second belt pulley 52, a third belt pulley 53 and a fourth belt pulley 54, the leg supporting assembly 3 includes a connecting disc 31, a leg supporter 32 and a connecting shaft 33, a user performs an auxiliary action through the leg supporting assembly 3, the leg supporting assembly 3, the lower limb rehabilitation moped is matched with the motion trail of a human body, is convenient to reverse and is convenient for indoor activities.

Referring to fig. 2, the frame 1 includes a support 11, a bottom plate 12, a front wheel 13, a rear wheel 14, a wheel motor 15, a wheel motor mounting seat 16, a push rod motor mounting seat 17, and a link mechanism mounting seat 18, the support 11 has an arch structure for a user to hold when using, the bottom end of the arch structure is provided with a threaded hole, and the support 11 and the bottom plate 12 are fixed by a screw passing through the bottom plate 12; the push rod motor mounting seat 17 is fixedly connected to the top of the bottom plate 12 through a threaded hole and screws, the link mechanism mounting seat 18 is fixedly connected to two sides of the top of the bottom plate 12 through threaded holes and screws, the link mechanism mounting seat 18 is provided with butt joint holes in opposite positions, two ends of a first shaft 41 penetrate through a first-stage left connecting rod 21 and a first-stage right connecting rod 23 and are clamped into the butt joint holes, the first shaft 41 can rotate relative to the link mechanism mounting seat 18, and the wheel motor 15 penetrates through the threaded hole formed in the wheel motor 15 through screws and is then fixed to the wheel motor mounting seat 16; the wheel motor mounting base 16 is fixed to the bottom of the bottom plate 12 through a threaded hole, the bottom of the support 11 is provided with wheel seats clamped into the front wheel 13 and the rear wheel 14, a front pair of wheel seats and a rear pair of wheel seats are arranged together, the front wheel 13 and the rear wheel 14 are fixed to the bottom of the support 11 through the clamped wheel seats to provide support and facilitate advancing and retreating, the front wheel 13 is a universal wheel to facilitate direction adjustment, in the process of pushing the moped to walk, circumferential movement can be achieved instead of being limited to movement in one direction, a crankshaft of the wheel motor 15 is connected with the rear wheel 14 and drives the rear wheel 14 to rotate so as to drive the rear wheel 14 to advance or retreat, and the wheel motor 15 is a servo motor.

Referring to fig. 3 and 4, the link mechanism 2 includes a first-stage left link 21, a second-stage left link 22, a first-stage right link 23, a second-stage right link 24, a first shaft 41, a second shaft 42, a third shaft 43, a thrust shaft 44, a push rod motor 45, a first pulley 51, a second pulley 52, a third pulley 53, and a fourth pulley 54; the first-stage left connecting rod 21 and the first-stage right connecting rod 23 are connected through a first shaft 41, a second shaft 42 and a thrust shaft 44, the first-stage left connecting rod 21 and the first-stage right connecting rod 23 are arranged at intervals, connected with two ends through the first shaft 41 and the second shaft 42 respectively, and connected with the middle part through the thrust shaft 44; two ends of the second-stage left connecting rod 22 and two ends of the second-stage right connecting rod 24 are respectively connected through a second shaft 42 and a third shaft 43; the second left connecting rod and the second right connecting rod are respectively connected with the leg support assembly 3, so that the connecting shafts 33 on two sides of the leg support assembly 3 are respectively connected to the second-stage left connecting rod 22 and the second-stage right connecting rod 24, the middle part of the thrust shaft 44 is hinged with the push rod motor 45, the top end of the crankshaft of the push rod motor 45 is provided with a through hole communicated with two sides, the middle part of the thrust shaft 44 is provided with an annular groove, the thrust shaft 44 is just clamped in the through hole, the top end of the crankshaft of the push rod motor 45 is clamped in the annular groove, the push rod motor 45 is arranged on the push rod motor mounting seat 17, and the push rod; the end part of the first-stage left connecting rod 21 connected with the second shaft 42 is also connected with the second-stage left connecting rod 22, and the end part of the first-stage right connecting rod 23 connected with the second-stage shaft is also connected with the second-stage right connecting rod 24; a first belt wheel 51 is arranged at the left end of the first shaft 41, a second belt wheel 52 is arranged at the left end of the second shaft 42, a third belt wheel 53 is arranged at the right end of the second shaft 42, and a fourth belt wheel 54 is arranged at the right end of the third shaft 43; the first pulley 51 is connected with the second pulley 52 through a belt so that the first shaft 41 and the second shaft 42 rotate synchronously, and the third pulley 53 is connected with the fourth pulley 54 through a crossed belt so that the second shaft 42 and the third shaft 43 rotate synchronously; the push rod motor 45 drives the thrust shaft 44 to make the first-stage left connecting rod 21 and the first-stage right connecting rod 23 swing, and the first-stage left connecting rod 21 and the first-stage right connecting rod 23 drive the second-stage left connecting rod 22 and the second-stage right connecting rod 24 to move in the swinging process, so as to drive the leg support assembly 3 to move. Limiting holes are formed in the first-stage left connecting rod 21 and the first-stage right connecting rod 23, are respectively overlapped with limiting holes at the left end and the right end of the first shaft 41, and are fixed through limiting pins; limiting holes are formed in the second-stage left connecting rod 22 and the second-stage right connecting rod 24, are respectively overlapped with the limiting holes at the left end and the right end of the first shaft 41, and are fixed through limiting pins; limiting holes are formed in the third-stage left connecting rod and the third-stage right connecting rod and are fixed with limiting holes at the left end and the right end of the first shaft 41 through limiting pins respectively; the thrust shaft 44 is connected to the first-stage left link 21 and the first-stage right link 23 through the connecting rods. The link mechanism 2 is used as follows: the push rod motor 45 moves back and forth by driving the push shaft 44, and the push shaft 44 drives the first-stage left connecting rod 21 and the first-stage right connecting rod 23, so that the second-stage left connecting rod 22 and the second-stage right connecting rod 24 can rotate relative to the bottom plate 12, and simultaneously, the first left connecting rod and the first right connecting rod can rotate relative to the bottom plate 12 through the driving of the first belt wheel 51, the second belt wheel 52, the third belt wheel 53 and the fourth belt wheel 54, and meanwhile, the second left connecting rod and the second right connecting rod drive the leg support assembly 3 to move.

The leg supporting component 3 is two symmetrical structures for supporting two legs of a user, two sides of the leg supporting component 3 are respectively connected with the link mechanisms 2 arranged at the left side and the right side of the bracket 11, the leg supporting component 3 comprises a connecting disc 31, a connecting shaft 33 and a leg supporter 32, the leg supporter 32 is provided with a through groove for clamping the leg of the user so as to fix the leg of the user, the connecting disc 31 is fixed at the outer side surface of the leg supporter 32, the connecting shaft 33 is connected to the inner side of the leg supporter 32, namely the connecting shaft 33 is positioned at the inner side between the two leg supporters 32, the bottom ends of the two connecting shafts 33 are respectively connected to a third-level left connecting rod and a third-level right connecting rod, the connecting part of the connecting shaft 33 and the third-level left connecting rod and the third-level right connecting rod is provided with a second coil spring and fixed, the connecting shaft 33 is installed on a shaft sleeve on the inner side of the leg supporter 32, the connecting plate 31 is convexly provided with a limiting pin, the limiting pin is of a column-shaped structure protruding outwards, when the connecting plate 31 rotates along with the leg supporter 32, the connecting shaft 33 abuts against the limiting pin when rotating, the limiting pin clamps the connecting plate 31 to limit the rotating angle of the connecting plate 31, the connecting plate 31 of the embodiment is of a shaft sleeve structure, a first coil spring is installed on an inner shaft sleeve of the connecting plate 31, after the connecting plate 31 rotates to a certain position, a force returning to an initial state is generated through the recovery deformation of the first coil spring, the leg supporter 32 rotates forwards to realize a reset action, a second coil spring is installed at the bottom end connection position of the connecting shaft 33, the connecting shaft 33 can rotate relative to the bottom plate 12, and the connecting shaft 33 can be folded and folded in the direction perpendicular.

The working process of the embodiment is as follows:

the leg support 32 is located the horizontal position, and the user moves to the leg support 32 from the chair etc. on, prepares for standing up stage, and the user controls the recovered vehicle using motor through controlling the flat board, and the user can select two kinds of modes of recovered vehicle using motor to self demand, including recovered mode and the mode of riding instead of walk.

A rehabilitation mode: through the dull and stereotyped recovered mode that starts of control, the help user carries out the low limbs rehabilitation training, for guaranteeing safety, the frame 1 locking of the recovered vehicle using motor of intelligence this moment, push rod motor 45 work, push rod motor 45 drives thrust shaft 44 and moves, drives shank supporting component 3 under the shank through link mechanism 2 and carries out the motion of rising upwards according to human motion orbit, and to predetermineeing the terminal point, push rod motor 45 stops, and the user action of standing up is accomplished. The user stops for a period of time after standing up, the control panel is continuously operated to control the push rod motor 45 to work, at the moment, the push rod motor 45 makes reverse motion, and the leg support component 3 under the leg is driven by the connecting rod mechanism 2 to downwards return to the initial sitting posture state according to the motion track of the human body. The number of sitting times is automatically adjusted by the user according to the self condition, and the user can take a very useful effect on the rehabilitation of the legs of the user after the sitting times are repeated.

A walking mode: the mode of riding instead of walk is started through the control panel, for ensuring safety, push rod motor 45 locks this moment, the user can freely control the recovered vehicle using motor of intelligence through the control panel motion, when the place ahead has the barrier, the sensor module of recovered vehicle using motor gathers the surrounding environment, carry out the analysis to the environment through current visual system technique, recovered vehicle using motor can avoid the place ahead barrier automatically, the user can also select the planning route through control panel, set for the destination, recovered vehicle using motor can navigate to the destination by oneself this moment.

To sum up, the embodiment of the utility model drives the leg support assembly to move by arranging the link mechanism, drives the first-stage left connecting rod and the first-stage right connecting rod to move by the thrust rod, thus driving the second-stage left connecting rod and the second-stage right connecting rod to move, simultaneously, the first belt wheel and the second belt wheel synchronously rotate to enable the first shaft and the second shaft to simultaneously rotate, and the third belt wheel and the fourth belt wheel synchronously rotate to enable the second shaft and the third shaft to simultaneously rotate, thus realizing the motion similar to the legs of the human body; the structure can fit the human motion track, has higher comfort, simple structure, convenient carrying, higher working efficiency, strong durability, strong adaptability, independent operation, realization of self-care of the user and good practicability.

This description describes examples of embodiments of the invention, and is not intended to illustrate and describe all possible forms of the invention. It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention, and it is to be understood that the scope of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the teachings of the present invention without departing from the spirit of the invention, and such modifications and combinations are still within the scope of the invention.

Claims

1. The lower limb rehabilitation moped is characterized by comprising a rack, a leg supporting component and a connecting rod mechanism, wherein the leg supporting component is connected to the rack through the connecting rod mechanism, the connecting rod mechanism comprises a first-stage left connecting rod, a second-stage left connecting rod, a first-stage right connecting rod, a second-stage right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft, a push rod motor, a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel, the first-stage left connecting rod and the first-stage right connecting rod are arranged at intervals and are connected with the thrust shaft through the first shaft, the second shaft and the first shaft, two ends of the second-stage left connecting rod and two ends of the second-stage right connecting rod are respectively connected with the second shaft and the second shaft, the two ends of the first-stage left connecting rod and the second shaft are respectively connected with two sides of the leg supporting component, and, the end part of the first-stage right connecting rod connected with the second-stage shaft is also connected with the second-stage right connecting rod; a first belt wheel is arranged at one end of the first shaft, a second belt wheel and a third belt wheel are respectively arranged at two ends of the second shaft, a fourth belt wheel is arranged at one end of the third shaft, the first belt wheel is connected with the second belt wheel through a belt, and the third belt wheel is connected with the fourth belt wheel through a crossed belt; the push rod of the push rod motor is hinged to the thrust shaft, the push rod motor is hinged to the rack, the push rod motor drives the push rod to do linear motion, the push rod enables the first-stage left connecting rod and the second-stage right connecting rod to swing simultaneously through the thrust shaft, and the first-stage left connecting rod and the first-stage right connecting rod drive the second-stage left connecting rod and the second-stage right connecting rod to move in the swinging process, so that the leg supporting assembly is driven to move.

2. The lower limb rehabilitation power-assisted vehicle of claim 1, wherein the first shaft drives the first-stage left connecting rod and the first-stage right connecting rod to enable the second-stage left connecting rod and the second-stage right connecting rod to rotate relative to the frame, and the first belt wheel, the second belt wheel, the third belt wheel and the fourth belt wheel drive the first left connecting rod and the first right connecting rod to rotate relative to the frame, and the second left connecting rod and the second right connecting rod drive the leg support assembly to move.

3. The lower limb rehabilitation power-assisted vehicle of claim 2, wherein the frame comprises a bracket, a bottom plate, a front wheel, a rear wheel, a wheel motor mounting seat, a push rod motor mounting seat and a connecting rod mechanism mounting seat, the bracket is fixed on two sides of the bottom plate so as to be convenient for a patient to hold the lower limb rehabilitation power-assisted vehicle, the front wheel and the rear wheel are respectively installed at the front end and the rear end of the bottom plate, the push rod motor mounting seat is fixed at the top of the bottom plate so as to install the push rod motor, the connecting rod mechanism mounting seat is fixed at the top of the bottom plate so as to fix two ends of a first shaft of the connecting rod mechanism, and the wheel motor mounting seat is fixed at.

4. The lower limb rehabilitation power-assisted vehicle of claim 3, wherein the wheel motor is clamped into the wheel motor mounting seat for fixing, and a crankshaft of the wheel motor is connected with the rear wheel and drives the rear wheel to rotate.

5. The lower limb rehabilitation power-assisted vehicle of claim 2, wherein the leg supporting assembly comprises a connecting disc, a leg supporter and a connecting shaft, the leg supporter is provided with a through groove for clamping the leg of the patient, the connecting disc is fixed on the outer side surface of the leg supporter, the connecting shaft is connected to the inner side of the leg supporter, and the two connecting shafts are respectively connected to the third-stage left connecting rod and the third-stage right connecting rod.

6. The lower limb rehabilitation power-assisted vehicle of claim 5, wherein the connecting disc is convexly provided with a limiting pin, and when the connecting disc rotates along with the leg support, the limiting pin clamps the connecting disc to limit the rotating angle.

7. The lower limb rehabilitation power-assisted vehicle of claim 6, wherein a first coil spring is mounted on the inner bushing of the connecting plate, a second coil spring is mounted on the connecting shaft, the leg supporter can be reset after being tilted forwards and rotated by the first coil spring, and the connecting shaft can be folded and retracted along a direction perpendicular to the connecting shaft by the second coil spring.

8. The lower limb rehabilitation vehicle as recited in claim 3, wherein the front wheels are universal wheels to achieve circumferential motion.