CN102274102B - Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair - Google Patents
Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair Download PDFInfo
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- CN102274102B CN102274102B CN 201110143802 CN201110143802A CN102274102B CN 102274102 B CN102274102 B CN 102274102B CN 201110143802 CN201110143802 CN 201110143802 CN 201110143802 A CN201110143802 A CN 201110143802A CN 102274102 B CN102274102 B CN 102274102B
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Abstract
The invention discloses a double-parallel four-rod obstacle crossing mechanism suitable for a wheelchair, the obstacle-crossing mechanism comprises a front end component, a rear end component, and a central part component, and the connection of the front end component, the rear end component, and the central part component is realized via pins. A front beam, a rear beam, an A crossbeam, and a B crossbeam form parallel four rods. The double-parallel four-rod obstacle crossing mechanism in the invention is characterized in that, under the condition of pushing the wheelchair by a person, when the front end component is in a contact with an obstacle, the front end component produces passive motion to make the front end component be capable of moving along the outer contour of the obstacle; when the front end component crosses over the obstacle, and the rear end component is in a contact with the obstacle, the rear end component also produces passive motion under the effect of the force of the front end component, finally leading and guiding the wheelchair to cross over the obstacle; in addition, the four-rod mechanism also makes the wheelchair's smooth crossing over the obstacle possible due to stronger deformation adaptation capability in the moving process.
Description
Technical field
The present invention relates to a kind of pair of parallel four-bar barrier getting over mechanism, more particularly, refer to a kind of two parallel four-bar barrier getting over mechanism that can be installed in the wheelchair front support.
Background technology
The obstacle detouring wheelchair has been obtained significant progress in recent years as a kind of walking-replacing tool that helps handicapped crowd.At application publication number CN 101703440 A, introduced a kind of electric stair climbing wheel chair on 05 12nd, 2010 Shen Qing Publication day.It comprises seat, handrail, front-wheel, trailing wheel and composite chassis assembly, the walking output shaft of headstock connects front-wheel, obstacle detouring is climbed the building output shaft and is connected the rear axle gear case, the rear axle gear case drives the belt wheel of obstacle detouring crawler belt, the rollover stand of trailing wheel is installed on the hind axle by axle sleeve, secondary track frame and track frame are hinged, be movably connected by front rod between secondary track frame and the headstock, linked to each other by sprocket wheel between the rollover stand of secondary track frame and trailing wheel, electric pushrod one end is connected on the frame, the other end drives the trailing wheel upset by becoming attitude mechanism, carrier, one end of frame and back link is coaxial to be fixed on the fulcrum, the moon shape locating piece at fulcrum two ends matches with the moon shape clasp of track frame end, and the back link other end and track frame are hinged.This kind wheel-chair has adopted crawler belt and track frame to realize moving ahead or obstacle detouring of wheelchair.
At publication number CN 101091680A, open day 2007 on Decembers were introduced a kind of Self-balance electric vehicle in 26,, related in particular to a kind of self-balancing electric wheel chair car with layback protection wheel.It comprises car body, and car body is equipped with power-driven system, and the both sides rotating shaft is connected with wheel; seat with gauge tap is housed on the car body; the front and back wheel frame is equipped with in both sides before and after the described under-seat, and the front truck wheel carrier is equipped with a pair of stabilizer, and rear wheel frame is equipped with a pair of layback protection wheel.This kind wheel-chair has adopted big or small train conversion to realize moving ahead of wheelchair or obstacle detouring.
Summary of the invention
The purpose of this invention is to provide a kind of two parallel four-bar barrier getting over mechanism that are applicable to wheelchair, this pair parallel four-bar barrier getting over mechanism is installed in the front support lower end of existing common wheelchair, thereby substitutes the front-wheel of wheelchair.There is being the people to promote to realize the wheelchair obstacle detouring by tilted-putted parallel four-bar under the condition of wheelchair.The of the present invention pair of parallel four-bar barrier getting over mechanism is when the people promotes wheelchair and travels forward, if front end assemblies contact barrier, front end assemblies will produce passive exercise can move along the barrier outline front end assemblies; And after the front end assembly strode across barrier, when aft-end assembly touched barrier, the power effect that aft-end assembly is subject to front end assemblies also produced passive exercise, and final pilot tape wheelchair strides across barrier; In addition, four-bar mechanism has stronger distortion adaptive capacity in motor process also provides possibility for the smooth obstacle detouring of wheelchair.
A kind of two parallel four-bar barrier getting over mechanism that are applicable to wheelchair of the present invention, this barrier getting over mechanism includes front end assemblies (10), aft-end assembly (30) and middle parts (20);
Front end assemblies (10) includes front-axle beam (11), front universal wheel (12), A bearing pin (13), B bearing pin (14), A joint adaptor (15), B joint adaptor (16);
Described A joint adaptor (15) is provided with E through hole (15A) and A blind hole (15B), and this E through hole (15A) is used for A bearing pin (13) and passes, and this A blind hole (15B) is used for placing an end of A crossbeam (25);
Described B joint adaptor (16) is provided with F through hole (16A) and B blind hole (16B), and this F through hole (16A) is used for B bearing pin (14) and passes, and this B blind hole (16B) is used for placing an end of B-crossrail (26);
Described front-axle beam (11) is the U-shaped structure, is used for placing A joint adaptor (15) and B joint adaptor (16) in the U-shaped fork; The bottom of front-axle beam (11) is connected with front universal wheel (12); The front-axle beam A support arm (11A) of front-axle beam (11) is provided with A through hole (11C) and B through hole (11D); The front-axle beam B support arm (11B) of front-axle beam (11) is provided with C through hole (11E) and D through hole (11F);
One end of described A bearing pin (13) passes D through hole (11F), the E through hole (15A) on the A joint adaptor (15), the rear connection of the B through hole (11D) on the front-axle beam (11) top nut on the front-axle beam (11);
One end of described B bearing pin (14) passes C through hole (11E), the F through hole (16A) on the B joint adaptor (16), the rear connection of the A through hole (11C) on the front-axle beam (11) top nut on the front-axle beam (11);
Aft-end assembly (30) includes the back rest (31), rear universal wheel (32), C bearing pin (33), D bearing pin (34), C joint adaptor (35), D joint adaptor (36);
Described C joint adaptor (35) is provided with K through hole (35A) and C blind hole, and this K through hole (35A) is used for C bearing pin (33) and passes, and this C blind hole is used for placing the other end of A crossbeam (25);
Described D joint adaptor (36) is provided with L through hole (36A) and D blind hole, and this L through hole (36A) is used for D bearing pin (34) and passes, and this D blind hole is used for placing the other end of B-crossrail (26);
The described back rest (31) is the U-shaped structure, is used for placing C joint adaptor (35) and D joint adaptor (36) in the U-shaped fork; The bottom of the back rest (31) is connected with rear universal wheel (32); The back rest A support arm (21A) of the back rest (31) is provided with G through hole (31C) and H through hole (31D); The back rest B support arm (31B) of the back rest (31) is provided with I through hole (31E) and J through hole (31F);
One end of described C bearing pin (33) passes J through hole (31F), the K through hole (35A) on the C joint adaptor (35), the rear connection of the H through hole (31D) on the back rest (31) top nut on the back rest (31);
One end of described D bearing pin (34) passes I through hole (31E), the L through hole (36A) on the D joint adaptor (36), the rear connection of the G through hole (31C) on the back rest (31) top nut on the back rest (31);
Middle parts (20) includes middle part beam (21), connector (22), E bearing pin (23), F bearing pin (24), A crossbeam (25), B-crossrail (26);
Described middle part beam (21) is the quadrilateral frame girder construction, one frame of middle part beam (21) is provided with O through hole (21A), P through hole (21B), and another frame of middle part beam (21) is provided with Q through hole (21C), R through hole (21D); The middle part of middle part beam (21) is cavity (21E), and this cavity (21E) is used for placing A crossbeam (25), B-crossrail (26), and A crossbeam (25) is parallel placement with B-crossrail (26);
On the outside of another frame of beam (21), the other end of connector (22) was connected with the front support of wheelchair in the middle part of one end of described connector (22) was connected to;
The axial centre of described A crossbeam (25) is provided with M through hole (25A);
The axial centre of described B-crossrail (26) is provided with N through hole (26A);
One end of described E bearing pin (23) passes R through hole (21D), the M through hole (25A) on the A crossbeam (25), the rear connection of the P through hole (21B) on the middle part beam (21) top nut on the middle part beam (21);
One end of described F bearing pin (24) passes Q through hole (21C), the N through hole (26A) on the B-crossrail (26), the rear connection of the O through hole (21A) on the middle part beam (21) top nut on the middle part beam (21).
The advantage of the two parallel four-bar barrier getting over mechanism of the present invention is:
1. for single wheel, the existence of parallel four-bar is so that hinder the power that the power of wheel movement is converted to wheel lifting (being obstacle detouring).
2. for the middle part beam, parallel four-bar can improve the position of barrier getting over mechanism, avoids middle part beam and barrier to interfere, and has therefore improved obstacle climbing ability.
3. the middle cross beam at middle part is tilting, improved the obstacle climbing ability of barrier getting over mechanism, when the front end assemblies of parallelogram lindage ran into obstacle, front component is easier to rotate around rear universal wheel, so that front component is raised the realization obstacle detouring; And wheel assembly is when running into obstacle, and wheel assembly is easier to rotate around front universal wheel, so that wheel assembly is raised, has improved obstacle performance.
Description of drawings
Fig. 1 is the structure chart of the two parallel four-bar barrier getting over mechanism of the present invention.
Figure 1A is the structure chart at another visual angle of the two parallel four-bar barrier getting over mechanism of the present invention.
Fig. 2 is the exploded view of the two parallel four-bar barrier getting over mechanism of the present invention.
Fig. 2 A is the enlarged diagram of A of the present invention joint adaptor.
Fig. 3 is the installation diagram with the two parallel four-bar barrier getting over mechanism of the present invention and wheelchair.
Among the figure: 1. left front support 2. left end barrier getting over mechanism 3. right front support 4. right-hand member barrier getting over mechanism
10. front end assemblies 11. front-axle beam 11A. front-axle beam A support arm 11B. front-axle beam B support arm 11C.A through holes
11D.B through hole 11E.C through hole 11F.D through hole 12. front universal wheel 13.A bearing pins
14.B the square blind hole of bearing pin 15.A joint adaptor 15A.E through hole 15B.A
16.B parts in the square blind hole 20. of joint adaptor 16A.F through hole 16B.B
21. middle part beam 21A.O through hole 21B.P through hole 21C.Q through hole 21D.R through hole
21E. middle cavities 22. connector 23.E bearing pin 24.F bearing pin 25.A crossbeams
25A.M through hole 26.B crossbeam 26A.N through hole 30. aft-end assemblies 31. back rest
31A. back rest A support arm 31B. back rest B support arm 31C.G through hole 31D.H through hole 31E.I through hole
31F.J through hole 32. rear universal wheel 33.C bearing pin 34.D bearing pins
35.C adaptor 35A.K through hole 36.D joint, joint adaptor 36A.L through hole
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Referring to shown in Figure 3, two parallel four-bar barrier getting over mechanism that the present invention is designed are installed in existing common wheelchair front end, thereby substitute two front-wheels of wheelchair.During assembling, then the near front wheel of the lower wheelchair of dismounting installs left end barrier getting over mechanism 2 below left support 1, and namely the connector 22 of left end barrier getting over mechanism 2 is fixedly connected with left support 1; Then the off-front wheel of the lower wheelchair of dismounting installs right-hand member barrier getting over mechanism 4 below right support 3, namely the connector of right-hand member barrier getting over mechanism 4 is fixedly connected with right support 3.Left end barrier getting over mechanism 2 is identical with the structure of right-hand member barrier getting over mechanism 4, for convenient narration, hereinafter only left end barrier getting over mechanism 2 is carried out detailed decomposition explanation.
Referring to Fig. 1, Figure 1A, shown in Figure 2, a kind of two parallel four-bar barrier getting over mechanism (being left end barrier getting over mechanism 2, right-hand member barrier getting over mechanism 4) that are applicable to wheelchair of the present invention, this barrier getting over mechanism includes front end assemblies 10, aft-end assembly 30 and middle parts 20.
(1) front end assemblies 10
Referring to Fig. 1, Figure 1A, shown in Figure 2, in the present invention, front end assemblies 10 includes front-axle beam 11, front universal wheel 12, A bearing pin 13, B bearing pin 14, A joint adaptor 15, B joint adaptor 16; A bearing pin 13 is identical with the structure of B bearing pin 14; A joint adaptor 15 is identical with the structure of B joint adaptor 16.
Shown in Fig. 2 A, A joint adaptor 15 is hexahedron structure spare, this hexahedral each plate face is designated as respectively A plate face, B plate face, C plate face, D plate face, E plate face and F plate face, and A plate face is relative plate face with C plate face, B plate face is relative plate face with D plate face, and E plate face is relative plate face with F plate face.A joint adaptor 15 is provided with E through hole 15A, and this E through hole 15A is used for A bearing pin 13 and passes, and E through hole 15A runs through A plate face and C plate face; The E plate face of A joint adaptor 15 is provided with A blind hole 15B, and this A blind hole 15B is used for placing an end of A crossbeam 25.
B joint adaptor 16 is hexahedron structure spare, this hexahedral each plate face is designated as respectively A plate face, B plate face, C plate face, D plate face, E plate face and F plate face, and A plate face is relative plate face with C plate face, and B plate face is relative plate face with D plate face, and E plate face is relative plate face with F plate face.B joint adaptor 16 is provided with F through hole 16A, and this F through hole 16A is used for B bearing pin 14 and passes, and F through hole 16A runs through A plate face and C plate face; The E plate face of B joint adaptor 16 is provided with B blind hole 16B, and this B blind hole 16B is used for placing an end of B-crossrail 26.
Front-axle beam 11 is the U-shaped structure, is used for placing A joint adaptor 15 and B joint adaptor 16 in the U-shaped fork; The bottom of front-axle beam 11 is connected with front universal wheel 12; The front-axle beam A support arm 11A of front-axle beam 11 is provided with A through hole 11C and B through hole 11D; The front-axle beam B support arm 11B of front-axle beam 11 is provided with C through hole 11E and D through hole 11F.
One end of A bearing pin 13 connects top nut after passing D through hole 11F on the front-axle beam 11, the E through hole 15A on the A joint adaptor 15, the B through hole 11D on the front-axle beam 11.
One end of B bearing pin 14 connects top nut after passing C through hole 11E on the front-axle beam 11, the F through hole 16A on the B joint adaptor 16, the A through hole 11C on the front-axle beam 11.
(2) aft-end assembly 30
Referring to Fig. 1, Figure 1A, shown in Figure 2, in the present invention, aft-end assembly 30 includes the back rest 31, rear universal wheel 32, C bearing pin 33, D bearing pin 34, C joint adaptor 35, D joint adaptor 36; C bearing pin 33 is identical with the structure of D bearing pin 34; C joint adaptor 35 is identical with the structure of D joint adaptor 36.
C joint adaptor 35 is hexahedron structure spare, this hexahedral each plate face is designated as respectively A plate face, B plate face, C plate face, D plate face, E plate face and F plate face, and A plate face is relative plate face with C plate face, and B plate face is relative plate face with D plate face, and E plate face is relative plate face with F plate face.C joint adaptor 35 is provided with K through hole 35A, and this K through hole 35A is used for C bearing pin 33 and passes, and K through hole 35A runs through A plate face and C plate face; The E plate face of C joint adaptor 35 is provided with C blind hole (not shown among Fig. 2), and this C blind hole is used for placing the other end of A crossbeam 25.
D joint adaptor 36 is hexahedron structure spare, this hexahedral each plate face is designated as respectively A plate face, B plate face, C plate face, D plate face, E plate face and F plate face, and A plate face is relative plate face with C plate face, and B plate face is relative plate face with D plate face, and E plate face is relative plate face with F plate face.D joint adaptor 36 is provided with L through hole 36A, and this L through hole 36A is used for D bearing pin 34 and passes, and L through hole 36A runs through A plate face and C plate face; The E plate face of D joint adaptor 36 is provided with D blind hole (not shown among Fig. 2), and this D blind hole is used for placing the other end of B-crossrail 26.
The back rest 31 is the U-shaped structure, is used for placing C joint adaptor 35 and D joint adaptor 36 in the U-shaped fork; The bottom of the back rest 31 is connected with rear universal wheel 32; The back rest A support arm 21A of the back rest 31 is provided with G through hole 31C and H through hole 31D; The back rest B support arm 31B of the back rest 31 is provided with I through hole 31E and J through hole 31F.
One end of C bearing pin 33 connects top nut after passing J through hole 31F on the back rest 31, the K through hole 35A on the C joint adaptor 35, the H through hole 31D on the back rest 31.
One end of D bearing pin 34 connects top nut after passing I through hole 31E on the back rest 31, the L through hole 36A on the D joint adaptor 36, the G through hole 31C on the back rest 31.
In the present invention, the structure of four joint adaptors (A joint adaptor 15, B joint adaptor 16, C joint adaptor 35 and D joint adaptor 36) is identical.The structure of four bearing pins (A bearing pin 13, B bearing pin 14, C bearing pin 33 and D bearing pin 34) is identical.In the present invention, A crossbeam 25, B-crossrail 26, front-axle beam 11 and the back rest 21 consist of parallel four-bar.
(3) parts 20 in
Referring to Fig. 1, Figure 1A, shown in Figure 2, in the present invention, middle parts 20 includes middle part beam 21, connector 22, E bearing pin 23, F bearing pin 24, A crossbeam 25, B-crossrail 26;
On the outside of another frame of beam 21, the other end of connector 22 was connected with the front support of wheelchair in the middle part of one end of connector 22 was connected to.By connector two parallel four-bar barrier getting over mechanism and the wheelchair of the present invention's design are realized assembling, the structure of existing wheelchair do not changed, reduced the production cost of obstacle detouring wheelchair.Also the two parallel four-bar barrier getting over mechanism of explanation can be integrated with more walking-replacing tool simultaneously.
The axial centre of A crossbeam 25 is provided with M through hole 25A.
The axial centre of B-crossrail 26 is provided with N through hole 26A.
Connect top nut behind R through hole 21D in the middle part of one end of E bearing pin 23 passes on the beam 21, the M through hole 25A on the A crossbeam 25, the P through hole 21B on the middle part beam 21.
Connect top nut behind Q through hole 21C in the middle part of one end of F bearing pin 24 passes on the beam 21, the N through hole 26A on the B-crossrail 26, the O through hole 21A on the middle part beam 21.
In the present invention, A crossbeam 25 and the B-crossrail 26 of laid parallel placed the cavity 21E of middle part beam 21, be conducive to front end assemblies 10 and aft-end assembly 20 when running into barrier, carry out lifting of obstacle detouring.It simultaneously also is the restriction to the deformation when the obstacle detouring of A crossbeam 25 and B-crossrail 26.
The motion mode of two parallel four-bar barrier getting over mechanism of the present invention's design is:
When front end assembly 10 is run into barrier, this moment, aft-end assembly 30 moved on, the thrust that aft-end assembly 30 produces front end assemblies 10 by A crossbeam 25 and B-crossrail 26, and then generation front end assemblies 10 rotating counterclockwise around A bearing pin 13, the front universal wheel 12 of front end assemblies 10 strides across barrier, realizes the obstacle detouring of front end assemblies 10; Front and back wheel this moment (front universal wheel 12, rear universal wheel 32) is advanced simultaneously, when aft-end assembly 30 is run into barrier, front end assemblies 10 moves on, the pulling force that front end assemblies 10 produces aft-end assembly 30 by A crossbeam 25 and B-crossrail 26, thereby realization aft-end assembly 30 clockwise rotates around C bearing pin 33, realizes that the rear universal wheel 32 of aft-end assembly 30 strides across barrier.
Claims (1)
1. two parallel four-bar barrier getting over mechanism that are applicable to wheelchair, it is characterized in that: this barrier getting over mechanism includes front end assemblies (10), aft-end assembly (30) and middle parts (20);
Front end assemblies (10) includes front-axle beam (11), front universal wheel (12), A bearing pin (13), B bearing pin (14), A joint adaptor (15), B joint adaptor (16);
Described A joint adaptor (15) is provided with E through hole (15A) and A blind hole (15B), and this E through hole (15A) is used for A bearing pin (13) and passes, and this A blind hole (15B) is used for placing an end of A crossbeam (25);
Described B joint adaptor (16) is provided with F through hole (16A) and B blind hole (16B), and this F through hole (16A) is used for B bearing pin (14) and passes, and this B blind hole (16B) is used for placing an end of B-crossrail (26);
Described front-axle beam (11) is the U-shaped structure, is used for placing A joint adaptor (15) and B joint adaptor (16) in the U-shaped fork; The bottom of front-axle beam (11) is connected with front universal wheel (12); The front-axle beam A support arm (11A) of front-axle beam (11) is provided with A through hole (11C) and B through hole (11D); The front-axle beam B support arm (11B) of front-axle beam (11) is provided with C through hole (11E) and D through hole (11F);
One end of described A bearing pin (13) passes D through hole (11F), the E through hole (15A) on the A joint adaptor (15), the rear connection of the B through hole (11D) on the front-axle beam (11) top nut on the front-axle beam (11);
One end of described B bearing pin (14) passes C through hole (11E), the F through hole (16A) on the B joint adaptor (16), the rear connection of the A through hole (11C) on the front-axle beam (11) top nut on the front-axle beam (11);
Aft-end assembly (30) includes the back rest (31), rear universal wheel (32), C bearing pin (33), D bearing pin (34), C joint adaptor (35), D joint adaptor (36);
Described C joint adaptor (35) is provided with K through hole (35A) and C blind hole, and this K through hole (35A) is used for C bearing pin (33) and passes, and this C blind hole is used for placing the other end of A crossbeam (25);
Described D joint adaptor (36) is provided with L through hole (36A) and D blind hole, and this L through hole (36A) is used for D bearing pin (34) and passes, and this D blind hole is used for placing the other end of B-crossrail (26);
The described back rest (31) is the U-shaped structure, is used for placing C joint adaptor (35) and D joint adaptor (36) in the U-shaped fork; The bottom of the back rest (31) is connected with rear universal wheel (32); The back rest A support arm (21A) of the back rest (31) is provided with G through hole (31C) and H through hole (31D); The back rest B support arm (31B) of the back rest (31) is provided with I through hole (31E) and J through hole (31F);
One end of described C bearing pin (33) passes J through hole (31F), the K through hole (35A) on the C joint adaptor (35), the rear connection of the H through hole (31D) on the back rest (31) top nut on the back rest (31);
One end of described D bearing pin (34) passes I through hole (31E), the L through hole (36A) on the D joint adaptor (36), the rear connection of the G through hole (31C) on the back rest (31) top nut on the back rest (31);
Middle parts (20) includes middle part beam (21), connector (22), E bearing pin (23), F bearing pin (24), A crossbeam (25), B-crossrail (26);
Described middle part beam (21) is the quadrilateral frame girder construction, and a frame of middle part beam (21) is provided with O through hole (21A), P through hole (21B), and another frame of middle part beam (21) is provided with Q through hole (21C), R through hole (21D); The middle part of middle part beam (21) is cavity (21E), and this cavity (21E) is used for placing A crossbeam (25), B-crossrail (26), and A crossbeam (25) is parallel placement with B-crossrail (26);
On the outside of another frame of beam (21), the other end of connector (22) was connected with the front support of wheelchair in the middle part of one end of described connector (22) was connected to;
The axial centre of described A crossbeam (25) is provided with M through hole (25A);
The axial centre of described B-crossrail (26) is provided with N through hole (26A);
One end of described E bearing pin (23) passes R through hole (21D), the M through hole (25A) on the A crossbeam (25), the rear connection of the P through hole (21B) on the middle part beam (21) top nut on the middle part beam (21);
One end of described F bearing pin (24) passes Q through hole (21C), the N through hole (26A) on the B-crossrail (26), the rear connection of the O through hole (21A) on the middle part beam (21) top nut on the middle part beam (21);
Wherein, A crossbeam (25), B-crossrail (26), front-axle beam (11) and the back rest (31) consist of parallel four-bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110143802 CN102274102B (en) | 2011-05-30 | 2011-05-30 | Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110143802 CN102274102B (en) | 2011-05-30 | 2011-05-30 | Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair |
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| Publication Number | Publication Date |
|---|---|
| CN102274102A CN102274102A (en) | 2011-12-14 |
| CN102274102B true CN102274102B (en) | 2013-04-24 |
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| CN 201110143802 Expired - Fee Related CN102274102B (en) | 2011-05-30 | 2011-05-30 | Double-parallel four-rod obstacle crossing mechanism suitable for wheelchair |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103230322B (en) * | 2013-05-08 | 2015-07-15 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| TWI671066B (en) * | 2018-01-24 | 2019-09-11 | 緯創資通股份有限公司 | Mobile carrier |
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| US4128137A (en) * | 1976-02-24 | 1978-12-05 | National Research Development Corporation | Peripatetic vehicles |
| US4513832A (en) * | 1982-05-03 | 1985-04-30 | Permobil Ab | Wheeled chassis |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE450366B (en) * | 1986-04-09 | 1987-06-22 | Magnus Rikard Frost | WHEEL CHASSIS |
| JP2011072602A (en) * | 2009-09-30 | 2011-04-14 | Saxa Inc | Electric wheelchair |
-
2011
- 2011-05-30 CN CN 201110143802 patent/CN102274102B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4128137A (en) * | 1976-02-24 | 1978-12-05 | National Research Development Corporation | Peripatetic vehicles |
| US4513832A (en) * | 1982-05-03 | 1985-04-30 | Permobil Ab | Wheeled chassis |
Non-Patent Citations (3)
| Title |
|---|
| JP特开2011-72602A 2011.04.14 |
| 双平行四杆型远程运动中心机构的设计;宗光华等;《机械工程学报》;20071231;第43卷(第12期);103-108 * |
| 宗光华等.双平行四杆型远程运动中心机构的设计.《机械工程学报》.2007,第43卷(第12期),103-108. |
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