CN105596160B - The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs - Google Patents
The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs Download PDFInfo
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- CN105596160B CN105596160B CN201610070118.0A CN201610070118A CN105596160B CN 105596160 B CN105596160 B CN 105596160B CN 201610070118 A CN201610070118 A CN 201610070118A CN 105596160 B CN105596160 B CN 105596160B
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- crawler belt
- wheel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel, wheelchair main body that it includes being fixed on pedrail mechanism, two walking bull wheels, crawler belt Climbing building device and bull wheel oscillating arm mechanisms；Described crawler belt Climbing building device is symmetrical pair of pedrail mechanism, is made up of the pedrail mechanism of both sides, track drive motor and the second deceleration device；Described bull wheel oscillating arm mechanisms can realize the smooth conversion of motion state.The present invention is dexterously combined together push-chairs with crawler belt Climbing building device, appearance and size is with common push-chairs, pass through property with good corridor, outgoing application is convenient, the characteristics of turning flexible, the arc of installation makes crawler belt Climbing building device be mountable to the lower section of wheelchair seat, meets the requirement of position of centre of gravity when climbing building state, center of gravity overall when climbing building is also reduced simultaneously, occupant is felt safer.
Description
Technical field
The present invention relates to stair-climbing wheel chair, the mechanical structure of especially wheel-track combined stair-climbing wheel chair.
Background technology
Current four-wheel wheelchair is elderly and infirm and the essential walking-replacing tools of lower limb the disabled, but four-wheel wheelchair
Stair activity is unable to, limits and uses scope, living in the wheelchair user of walk-up building can not go up downstairs, influences it to go out
Participate in social activity.China has rapidly entered aging society, and the elderly's trip problem is protruded further.
In order to solve the above problems, in the market occurs in that the wheel of split type and integral type carries out compound stair-climbing wheel chair.
Split type structure is to be fixed on common wheelchair to climb on building crawler belt, such as Chinese patent CN201020122939.2
A kind of electric track stair-climbing vehicle is disclosed, when above downstairs, wheelchair is temporarily installed on electric track stair-climbing vehicle, people is sitting in wheel again
Together stair activity or perron on chair.It is that wheelchair carrier is set at the rear portion of rectangle crawler body, wheelchair carrying
Frame includes longeron and carrier bar, and longeron lower end rotates with chassis and is connected；Carrying is being set close at wheelchair carrier longeron lower end
Bar, carrier bar and longeron crossing at right angle.The defect that the patent is present, one is：Needed when either level walking still climbs building anti-
It is multiple to split and assembling stairs-mover and wheelchair, it is bulky；Need to be helped to carry by other people when outgoing；Two are：Platform turn when by
Tilted backwards in wheelchair, longitudinal separation is long, and the operator behind wheelchair also needs to standing room, and this causes whole wheelchair
Turned at platform extremely difficult；Three are：Whole process needs entourage to follow, and the process for splitting assembling is required for other people to operate,
And climb during building be also other people in operation, especially at stair half storey platform, because the device of not anti-hypsokinesis is, it is necessary to people
Help slowly crawler belt from stair to level land.
Integral type crawler belt stair-climbing wheel chair has following scheme：
1. stair-climbing wheel chair disclosed in Chinese patent CN201210590075.0, because crawler belt can only be carried or transfer on the whole,
It can not fold so that wheelchair anteroposterior dimension is larger, cause wheelchair bad by property at stair half storey platform.
2. stair-climbing wheel chair disclosed in Chinese patent CN201320833460.3, its bull wheel installation site of walking is to the front, it is impossible to
Used on level land, and can not be by operator's autonomous operation.
3. stair-climbing wheel chair disclosed in Chinese patent CN201510048349.7, it is impossible to pass through under operator's autonomous operation
Obtuse angle (being more than 90 degree and less than the angle of 180 degree) place and reflex angle (angle for being more than 180 degree) place of stair of stair.
4. stair-climbing wheel chair disclosed in Chinese patent 201510594011.1 is complicated, and does not mention at stair reflex angle
By method, the concept feasible for climbing building is poor.
The integral type wheel of a entitled " the explorer's stair climbing vehicle " 5. of Italy is carried out compound stair-climbing wheel chair and can taken
Steadily building is neatly climbed under person's autonomous operation pacifically to walk, but its motion is more than 4, and complicated, build is huge, building
Road is poor by property, it is difficult to which applied to ordinarily resident building, and cost is high, is not easy to promote the use of.
The content of the invention
The invention aims to solve the above problems, it is proposed that a kind of to be climbed based on the double crawler belts of single-unit that road wheel is swung
Clambing wheel chair and its climb building method.
The purpose of the present invention is achieved through the following technical solutions：
A kind of double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel, it include wheelchair main body, two walking bull wheels and
Crawler belt Climbing building device；Wheelchair main body is that the chair back, seat support and pedal are provided with wheelchair frame, and the front lower place of wheelchair frame is equipped with two
Universal wheel；Characterized in that, it also includes bull wheel oscillating arm mechanisms, wherein：
Described wheelchair main body, which is mounted directly, to be fixed on pedrail mechanism；Described crawler belt Climbing building device is symmetrical
Double pedrail mechanisms, are made up of, track drive motor and second pedrail mechanism of both sides, track drive motor and the second deceleration device
Deceleration device is arranged on pedrail mechanism by mounting bracket, and realizes transmission, track drive electricity with the live axle of pedrail mechanism
Drive crawler belt to rotate realization when machine is run and climb building purpose；
Two described walking bull wheels are arranged in bull wheel oscillating arm mechanisms and the back lower place in wheelchair frame；Described bull wheel
Oscillating arm mechanisms include the swing arm motor and the first deceleration device being fixed on crawler belt Climbing building device, the output shaft of the first deceleration device
For crankshaft structure, by bearing and bearing block by crankshaft installed in the fixed plate of outside, it is big that crankshaft two end installs two walkings
Wheel, during swing arm motor operation drive two walking bull wheels swing up and down, during two walking bull wheel bottoms can plane earth walking, on
Ground can be left during pendulum makes rubber belt track on stairway step walking, walking bull wheel with hand rim.
Further, described pedrail mechanism includes：Outside fixed plate, inner side fixed plate, driving wheel and driven pulley；Outside is consolidated
Fixed board and inner side fixed plate bottom surface are welded together with track support plate, and described driving wheel is arranged on the driving wheel of pedrail mechanism
On axle, described driven pulley is arranged on the follower shaft of pedrail mechanism, and follower shaft is provided with tensioning apparatus；
Further, the rear portion of described outside fixed plate and inner side fixed plate is provided with arc in shape is upwarped at the Inner arcs upwarped
Shape plate fixed mount and arc, arc make rubber belt track 7 close to driven pulley, avoid seat of wheeled chair rear.
Further, the crankshaft structure of the bull wheel oscillating arm mechanisms is that the output shaft of the first deceleration device is swing arm driving axle,
Swing arm driving axle two ends are fixedly connected with upper swing arm bar, and swing arm bar is provided with the wheel shaft for installing walking bull wheel.
Further, described tensioner device includes motion block, determines block and screw rod, and motion block is arranged on by the connection of axis hole gap
On follower shaft, motion block is controlled by rotary screw and the distance between block is determined, so as to reach the purpose of crawler tensioning.
The present invention it is upper downstairs method of work be：
First, building process is climbed：
1st, when occupant's bimanualness, which rotates walking bull wheel, to be reached at stair, adjustment direction makes to walk bull wheel backwards first,
And first step is leaned against along upper, then operates bull wheel oscillating arm mechanisms to make to swing on walking bull wheel and leaves ground, wheelchair is gradually
Layback, until crawler belt Climbing building device leaves over first step along upper, then operates crawler belt Climbing building device, crosses and turns after second step
Change backward formula into and normally climb building state；
2nd, when climb building to last step along when, to avoid unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant is same
When operation bull wheel oscillating arm mechanisms walking bull wheel swing backward is just landed, then operate crawler belt Climbing building device to continue to climb building, complete
Transition of the center of gravity from stair to level land, until crawler belt Climbing building device completely disengages from last step edge, then operates bull wheel swing arm
Mechanism, rotates both sides walking bull wheel level walking or passes through stair half storey platform.
3rd, continue to repeat above-mentioned 1,2 process, until the floor for needing to reach.
2nd, go downstairs process：
1st, when occupant's bimanualness, which rotates walking bull wheel, to be reached at stair, bull wheel oscillating arm mechanisms, upper pendulum row are first operated
Walk bull wheel parallel with seat to swing arm bar, while operating Climbing building device to running downstairs, first step is crossed in overall center of gravity
After, stop crawler belt Climbing building device, and operate pendulum in bull wheel oscillating arm mechanisms to take turns to the position for climbing building state greatly, and then driving is carried out
Band Climbing building device even running is gone downstairs；
2nd, when crawler belt Climbing building device just to have departed from last step along when, pause crawler belt climb building, first operate bull wheel swing arm
Mechanism makes the walking bull wheel bottom land, and position when swinging to level land state under continuation, carries out level walking progress or passes through stair
Half storey platform.
3rd, continue to repeat above-mentioned 1,2 process, until the floor for needing to reach.
The positive effect of the present invention is,
1st, dexterously push-chairs and crawler belt Climbing building device are combined together, need not be torn open when level walking and stair activity
Point, application of going out has road wheel big, and the characteristics of turning flexible more facilitates；
2nd, appearance and size is with common push-chairs, therefore can be applied to space by property with good corridor
More narrow ordinarily resident building；
3rd, the present invention only needs to can be achieved with the smooth conversion of motion state using bull wheel oscillating arm mechanisms, and at reflex angle
It is anti-tipping, simple in construction, advantage of lower cost, with good promotional value.
4th, stair-climbing wheel chair of the present invention is single-unit crawler belt, and level land is without splitting, and as common push-chairs, corridor passes through property
It is good.
5th, the lower section that the arc that the present invention is installed makes crawler belt Climbing building device be mountable to wheelchair seat, satisfaction climbs building shape
The requirement of position of centre of gravity during state, while also reducing center of gravity overall when climbing building, makes occupant feel safer.
Brief description of the drawings
Fig. 1 is the schematic perspective view of level walking state of the present invention；
Fig. 2 is the schematic perspective view that the present invention climbs building state；
Fig. 3 is wheelchair main body schematic perspective view；
Fig. 4 is the three-dimensional situation schematic diagram of pedrail mechanism；
Fig. 5 is tensioning apparatus schematic perspective view；
Fig. 6 is bull wheel oscillating arm mechanisms schematic perspective view；
Tu7Shi Pa buildings process status schematic diagram.
Marginal data, 1- wheelchair main bodys, 2- crawler belt Climbing building devices, 3- bull wheel oscillating arm mechanisms, 4- seat supports, 5- universal wheels, 6-
Pedal, 7- rubber belt tracks, 8- mounting brackets, 9- motors and the second deceleration device, 10- live axles, 11- driving wheels, 12-
Fixed plate on the inside of outside fixed plate, 13-, 14- track support plates, 15- arc fixed mounts, 16- arcs, 17- driven pulleys,
18- tensioning apparatus, 19- follower shafts, 20- determines block, 21- screw rods, 22- motion blocks, 23- swing arm driving axles, 24- swing arms motor and
One deceleration device, 25- swing arm bars, 26- walking bull wheels.
Embodiment
The example of the present invention is further described below in conjunction with the accompanying drawings：
As shown in figures 1 to 6：A kind of double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel, it includes wheelchair main body 1, two
Individual walking bull wheel 26 and crawler belt Climbing building device 2；As shown in Figure 3, it is that the chair back, seat support 4 are provided with wheelchair frame to wheelchair main body 1
With pedal 6, the front lower place of wheelchair frame is equipped with two universal wheels 5；Wherein, above-mentioned wheelchair main body 1, which is mounted directly, is fixed on shoe
On band Climbing building device 2；Described crawler belt Climbing building device 2 is symmetrical pair of pedrail mechanism, by the pedrail mechanism of both sides, driving
Motor and the second deceleration device 9 are constituted, and motor and the second deceleration device 9 are arranged on pedrail mechanism by mounting bracket 8, and
Realize and be driven with the live axle 10 of pedrail mechanism, drive rubber belt track 7 to rotate realization during track drive motor operation and climb building mesh
's；
It also includes bull wheel oscillating arm mechanisms 3, and two described walking bull wheels 26 are arranged in bull wheel oscillating arm mechanisms 3 and are in
The back lower place of wheelchair frame；Bull wheel oscillating arm mechanisms 3 as shown in fig. 6, it include being fixed on swing arm motor on crawler belt Climbing building device 2 and
First deceleration device 24, the output shaft of the first deceleration device is crankshaft structure, by bearing and bearing block by crankshaft installed outside
In side fixed plate 12, then by two above-mentioned walking bull wheels 26 installed in crankshaft two end, two rows are driven during swing arm motor operation
Bull wheel 26 is walked to swing up and down, during two walking 26 bottoms of bull wheel can plane earth walking, upper pendulum when can leave ground and carry out rubber
Band 7 is walked along stairway step.
Further, described pedrail mechanism is as shown in figure 4, it includes：Outside fixed plate 12, inner side fixed plate 13, driving
Wheel 11 and driven pulley 17；Outside fixed plate 12 and the bottom surface track support plate 14 of inner side fixed plate 13 weld together, described
Driving wheel 11 is arranged on the live axle 10 of pedrail mechanism, and described driven pulley 17 is arranged on the follower shaft 19 of pedrail mechanism
On, follower shaft 19 is provided with tensioning apparatus 18；
Further, the rear portion of described outside fixed plate 12 and inner side fixed plate 13 is set in shape is upwarped at the Inner arcs upwarped
There are arc fixed mount 15 and arc 16, arc 16 makes rubber belt track 7 close to driven pulley 17.
Further, the crankshaft structure of the bull wheel oscillating arm mechanisms 3 is that the output shaft of the first deceleration device is swing arm driving axle
23, the two ends of swing arm driving axle 23 are fixedly connected with upper swing arm bar 25, and swing arm bar 25 is shown in figure provided with the wheel shaft for installing walking bull wheel 26
6。
Further, described tensioner device 18 is shown in Fig. 5, and it includes motion block 22, determines block 20 and screw rod 21, and motion block 22 passes through
The connection of axis hole gap is arranged on follower shaft 19, is controlled motion block 22 by rotary screw 21 and is determined the distance between block 20, from
And reach the purpose of crawler tensioning.
The present invention it is upper downstairs method of work be (referring to Fig. 7)：
First, building process is climbed：
1st, when occupant's bimanualness, which rotates walking bull wheel 26, to be reached at stair, adjustment direction makes walking bull wheel 26 first
Backwards, and first step is leaned against along upper, then operate bull wheel oscillating arm mechanisms 3 to make to swing on walking bull wheel 26 and leaves ground,
Wheelchair is gradually swung back, until crawler belt Climbing building device 2 leaves over first step along upper, then is operated crawler belt Climbing building device 2, is crossed second
Backward formula is converted into after individual step and normally climbs building state；
2nd, when climb building to last step along when, to avoid unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant is same
When operation bull wheel oscillating arm mechanisms 3 swing backward of walking bull wheel 26 is just landed, then operate crawler belt Climbing building device 2 to continue to climb building,
Transition of the center of gravity from stair to level land is completed, until crawler belt Climbing building device 2 completely disengages from last step edge, then bull wheel is operated
Oscillating arm mechanisms 3, rotate the both sides walking level walking of bull wheel 26 or pass through stair half storey platform.
3rd, continue to repeat above-mentioned 1,2 process, until the floor for needing to reach.
2nd, go downstairs process：
1st, when occupant's bimanualness, which rotates walking bull wheel 26, to be reached at stair, bull wheel oscillating arm mechanisms 3, upper pendulum are first operated
Bull wheel 26 of walking is parallel with seat support 4 to swing arm bar 25, while operating crawler belt Climbing building device 2 to running downstairs, is got in overall center of gravity
First step is crossed after, stops crawler belt Climbing building device 2, and operates in bull wheel oscillating arm mechanisms 3 pendulum walking bull wheel 26 to climbing building
The position of state, and then drive the even running of crawler belt Climbing building device 2 to go downstairs；
2nd, when crawler belt Climbing building device 2 just to have departed from last step along when, pause crawler belt climb building, first operate bull wheel swing arm
Mechanism 3 makes the bottom of walking bull wheel 26 land, and position when swinging to level land state under continuation, carries out level walking progress or passes through building
Terraced half storey platform.
3rd, continue to repeat above-mentioned 1,2 process, until the floor for needing to reach.
Claims (4)
1. a kind of double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel, it includes wheelchair main body, two walking bull wheels and shoe
Band Climbing building device；Wheelchair main body is that the chair back, seat support and pedal are provided with wheelchair frame, and the front lower place of wheelchair frame is equipped with two ten thousand
To wheel；Characterized in that, it also includes bull wheel oscillating arm mechanisms, wherein：
Described wheelchair main body, which is mounted directly, to be fixed on pedrail mechanism；Described crawler belt Climbing building device is symmetrical double shoes
Band mechanism, is made up of the pedrail mechanism of both sides, track drive motor and the second deceleration device, track drive motor and the second deceleration
Device is arranged on pedrail mechanism by mounting bracket, and realizes transmission, track drive motor fortune with the live axle of pedrail mechanism
Drive crawler belt to rotate realization during row and climb building purpose；
Two described walking bull wheels are arranged in bull wheel oscillating arm mechanisms and the back lower place in wheelchair frame；
Described bull wheel oscillating arm mechanisms include the swing arm motor and the first deceleration device being fixed on crawler belt Climbing building device, and first subtracts
The output shaft of speed variator be crankshaft structure, by bearing and bearing block by crankshaft installed in the fixed plate of outside, crankshaft two end peace
Two walking bull wheels are loaded onto, drive two walking bull wheels to swing up and down during swing arm motor operation, can during two walking bull wheel bottoms
Ground can be left when plane earth walking, upper pendulum makes rubber belt track on stairway step walking, walking bull wheel with hand rim；
Described pedrail mechanism includes：Outside fixed plate, inner side fixed plate, driving wheel and driven pulley；Outside fixed plate and inner side
Fixed plate bottom surface is welded together with track support plate, and described driving wheel is arranged on the live axle of pedrail mechanism, described
Driven pulley be arranged on pedrail mechanism follower shaft on, follower shaft be provided with tensioning apparatus；
Described outside fixed plate and the rear portion of inner side fixed plate in upwarping shape, at the Inner arcs upwarped provided with arc fixed mount and
Arc, arc makes rubber belt track close to driven pulley, avoids seat of wheeled chair rear.
2. the single-unit double crawler belt stair-climbing wheel chairs as claimed in claim 1 swung based on road wheel, it is characterised in that the bull wheel
The crankshaft structure of oscillating arm mechanisms is that the output shaft of the first deceleration device is swing arm driving axle, and swing arm driving axle two ends are fixedly connected
Upper swing arm bar, swing arm bar is provided with the wheel shaft for installing walking bull wheel.
3. the single-unit double crawler belt stair-climbing wheel chairs as claimed in claim 1 swung based on road wheel, it is characterised in that described
Tight device includes motion block, determines block and screw rod, and motion block is arranged on follower shaft by the connection of axis hole gap, passes through rotary screw control
Brake block and the distance between block is determined, so as to reach the purpose of crawler tensioning.
4. a kind of upper method downstairs of the double crawler belt stair-climbing wheel chairs of single-unit as described in claim 1-3 is any, it is characterised in that it
Including step upstairs and downstairs, wherein：
(1) step is upstairs：
1.1st step：When occupant's bimanualness, which rotates walking bull wheel, to be reached at stair, adjustment direction makes walking bull wheel court first
Afterwards, and lean against first step along upper, then operate bull wheel oscillating arm mechanisms to make to swing on walking bull wheel and leaves ground, wheelchair by
Gradually swing back, until crawler belt Climbing building device leaves over first step along upper, then operate crawler belt Climbing building device, cross after second step
It is converted into backward formula and normally climbs building state；
1.2nd step：When climb building to last step along when, to avoid unexpected hypsokinesis, crawler belt should be temporarily ceased and climb building, occupant
Operate bull wheel oscillating arm mechanisms walking bull wheel swing backward is just landed simultaneously, then operate crawler belt Climbing building device to continue to climb building, it is complete
Into transition of the center of gravity from stair to level land, until crawler belt Climbing building device completely disengages from last step edge, then bull wheel is operated to put
Arm mechanism, rotates both sides walking bull wheel level walking or passes through stair half storey platform；
1.3rd step：Continue to repeat above-mentioned 1.1st step and 1.2 step processes, until the floor for needing to reach；
(2) step of going downstairs is：
2.1st step：When occupant's bimanualness, which rotates walking bull wheel, to be reached at stair, bull wheel oscillating arm mechanisms, upper pendulum are first operated
Bull wheel of walking is parallel with seat to swing arm bar, while operating Climbing building device to running downstairs, first platform is crossed in overall center of gravity
Rank stops crawler belt Climbing building device after, and operates pendulum in bull wheel oscillating arm mechanisms to take turns to the position for climbing building state greatly, and then drives
Crawler belt Climbing building device even running is gone downstairs；
2.2nd step：When crawler belt Climbing building device just to have departed from last step along when, pause crawler belt climb building, first operate bull wheel pendulum
Arm mechanism makes the walking bull wheel bottom land, and position when swinging to level land state under continuation, carries out level walking progress or passes through building
Terraced half storey platform；
2.3rd step：Continue to repeat above-mentioned 2.1st step and the 2.2nd step process, until the floor for needing to reach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070118.0A CN105596160B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070118.0A CN105596160B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs |
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| CN105596160A CN105596160A (en) | 2016-05-25 |
| CN105596160B true CN105596160B (en) | 2017-07-28 |
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| CN201610070118.0A Expired - Fee Related CN105596160B (en) | 2016-02-01 | 2016-02-01 | The double crawler belt stair-climbing wheel chairs of single-unit swung based on road wheel and upper method downstairs |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106197420A (en) * | 2016-06-24 | 2016-12-07 | 张学海 | Stair-climbing wheel chair paths planning method and system |
| CN107361934A (en) * | 2017-07-24 | 2017-11-21 | 北京动力京工科技有限公司 | A kind of novel six freedom automatic stari creeping ladder wheelchair |
| CN108514479B (en) * | 2018-05-08 | 2023-09-22 | 深圳市福尔泰医疗科技有限公司 | All-terrain manned robot and step ascending and descending method |
| CN112472441B (en) * | 2020-12-11 | 2022-12-27 | 中国人民解放军空军工程大学 | Multifunctional auxiliary wheelchair |
| CN112896276A (en) * | 2021-01-29 | 2021-06-04 | 汕头大学 | Trolley for walking upstairs and downstairs |
| CN113262112B (en) * | 2021-05-24 | 2024-02-20 | 安徽省瑞步智能装备有限公司 | Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker |
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| CA1275296C (en) * | 1987-05-04 | 1990-10-16 | Pierre Decelles | Climbing and descending vehicle |
| US6311794B1 (en) * | 1994-05-27 | 2001-11-06 | Deka Products Limited Partneship | System and method for stair climbing in a cluster-wheel vehicle |
| CN2286123Y (en) * | 1997-01-30 | 1998-07-15 | 张瑞钧 | Multi-function electric up-down stairs cart |
| CN202719088U (en) * | 2012-01-20 | 2013-02-06 | 杭州永创智能设备股份有限公司 | Belt tensioning mechanism in belt circulating mechanism |
| CN202665827U (en) * | 2012-05-28 | 2013-01-16 | 班书增 | Low-gravity-center backward-inclined stair climbing wheelchair |
| CN104150146A (en) * | 2014-08-05 | 2014-11-19 | 山河智能装备股份有限公司 | Friction wheel conveying device |
| CN104382705B (en) * | 2014-11-21 | 2017-10-13 | 王正东 | Wheel carries out suitching type cross-country type stair climbing wheel chair |
| CN104622650B (en) * | 2015-02-12 | 2017-03-29 | 南京理工大学 | A kind of wheel-track combined electric wheelchair |
| CN205515253U (en) * | 2016-02-01 | 2016-08-31 | 山东科技大学 | Building wheelchair is climbed to two tracks of single section based on swing of walking wheel |
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