CN106344289A - Wheel, track and leg composite multifunctional wheelchair - Google Patents
Wheel, track and leg composite multifunctional wheelchair Download PDFInfo
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- CN106344289A CN106344289A CN201610851034.0A CN201610851034A CN106344289A CN 106344289 A CN106344289 A CN 106344289A CN 201610851034 A CN201610851034 A CN 201610851034A CN 106344289 A CN106344289 A CN 106344289A
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- bar
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- installing hole
- motor
- leg mechanism
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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
-
- 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
- A61G5/06—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
- A61G5/066—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 with endless belts
-
- 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
-
- 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A wheel, track and leg composite multifunctional wheelchair comprises a seat frame (A), a track assembly (B) and a traveling assembly (C), wherein a first suspension (A-2) and a second suspension (A-3) of the seat frame (A) are in rotating fit with a first connecting rod (B-c-1) and a second connecting rod (B-c-4) of the track assembly (B) respectively; a rack (C-e) of the traveling assembly (C) is fixedly connected with a base (A-1) of the seat frame (A). The wheelchair is small, exquisite and compact, flexible and light to use and stable and safe in performance and can realize three composite traveling functions of the wheel type, the track type and the leg type. The wheelchair complete barrier-free manned traveling on flat grounds, stairs and multiple complex pavements through manual operation, brings convenience to walking of old people and the disabled on flat grounds, stairs and irregular pavements such as snowfields, muddy pavements and the like and can be used as a tool for riding for the disabled.
Description
Technical field
The present invention relates to a kind of crawler leg composite multifunctional wheelchair, concretely relate to a kind of real by artificial operation
Existing wheeled, crawler type and the combined multifunctional wheelchair of three kinds of compound driving functions of lower limb formula.
Background technology
Chinese patent cn101283944a discloses a kind of " electric foldable crawler type no-obstruct wheelchair ", and Miniature foldable is carried out
Band is integrated with wheelchair, and this compact structure is compact, using flexibly light, may be implemented in accessible manned row on level land and stair
Walk.But this barrier free wheelchair adaptability and feature poor it is impossible to adapt to unstructured moving grids.
Content of the invention
The problem to be solved in the present invention is to provide one kind can operate running on wheels, crawler-type traveling and lower limb formula by artificial
Walking Three models combine, and the wheel realizing completing accessible manned walking on level land, stair and Various Complex road surface carries out lower limb again
Type multifunctional wheelchair.
Technical scheme: this crawler leg composite multifunctional wheelchair includes seat, track assembly, walking assembly.
Seat is to take part；Track assembly has deformation, driving mode；Walking assembly has sufficient formula walking, wheeled rolling
Dynamic model formula.
First suspention of seat, the second suspention are realized rotating with the head rod of track assembly, the second connecting rod respectively
Cooperation.
By above-mentioned connection, complete the assembling of seat and track assembly.
The frame of walking assembly is achieved a fixed connection with the pedestal of seat.
By above-mentioned connection, complete the assembling of seat and walking assembly.
Walking assembly is by first round leg mechanism, the second wheel leg mechanism, third round leg mechanism, fourth round leg mechanism, the first electricity
Machine, the second motor, the 3rd motor, the 4th motor and frame composition.
First motor is achieved a fixed connection with frame by motor installing hole, and motor output shaft passes through frame, with the first round
First crank of leg mechanism achieves a fixed connection；The first thigh bar 1 on first round leg mechanism is realized rotating with frame and is connected；Complete
Become the connection of first round leg mechanism and frame.
It is identical with the connection of frame that first round leg mechanism to fourth round moves back mechanism.
By above-mentioned connection, complete the assembling of assembly of walking.
First round leg mechanism is by the first thigh bar 1, the first thigh bar 2, the first crank, the one or three secondary bar, the one or two secondary bar
1st, the one or two secondary bar 2, the first shank bar, the first round, first round motor composition.
First crank, the one or two secondary bar 1 and the one or two secondary bar 2 two ends have an installing hole；One or three secondary bar is
Triangle rod member；One or three secondary bar respectively has an installing hole on three summits；First thigh bar 1, the first thigh bar 2 and first
Shank bar respectively arranges an installing hole in end and middle part；One installing hole of first round center arrangement.
The end installing hole of the first crank and a summit installing hole of the one or three secondary bar are driven hinged by bearing pin；First
The middle part installing hole of the another summit installing hole of three secondary bars and the first thigh bar 1 and the first thigh bar 2 is driven hinged by bearing pin；
The same side end installing hole of the first thigh bar 1 and the first thigh bar 2 and the one end installing hole of the first shank bar are passed by bearing pin
Dynamic hinged；The middle part installing hole of the first shank bar and the end installing hole of the one or two secondary bar 1 and the one or two secondary bar 2 are passed by bearing pin
Dynamic hinged；The another summit installing hole of the other end installing hole of the one or two secondary bar 1 and the one or two secondary bar 2 and the one or three secondary bar leads to
Cross bearing pin transmission hinged；First turbin generator is achieved a fixed connection with the first shank bar by motor installing hole, and motor output shaft is worn
Cross the first shank bar, achieve a fixed connection with the first round.
First round leg mechanism is identical with degree of freedom to the design of part of fourth round leg mechanism, size, annexation.
By above-mentioned connection, complete first round leg mechanism to the assembling of fourth round leg mechanism.
Track assembly is one " h " type structure, by left crawler belt, right-hand track chiain, first rotating shaft, the second rotating shaft, head rod, the
Two connecting rod compositions.
Left crawler belt, right-hand track chiain are by Caterpillar clamping board, front Athey wheel, rear Athey wheel, rubber belt track, motor composition；The
One rotating shaft, the second rotating shaft and left crawler belt, right-hand track chiain achieve a fixed connection.
Head rod, the second connecting rod are realized rotating with first rotating shaft, the second rotating shaft respectively and are connected；Motor passes through
Motor installing hole is achieved a fixed connection with the first suspention, and driving motor output shaft passes through the first suspention, realizes with head rod
It is fixedly connected.
By above-mentioned connection, complete the assembling of track assembly.
Seat is made up of pedestal, the first suspention, the second suspention, seat.
Pedestal is achieved a fixed connection with seat；First suspention, the second suspention are achieved a fixed connection with pedestal.
By above-mentioned connection, complete the assembling of seat.
Beneficial effects of the present invention: a kind of crawler leg composite multifunctional wheelchair of the present invention proposes wheeled row
Walk, crawler-type traveling and legged walking Three models combine, and breach the limitation of single walking mode, operated by artificial
Realize completing accessible manned walking on level land, stair and Various Complex road surface.A kind of described crawler leg composite is multi-functional
Wheelchair provides facility for the elderly and the disabled in the walking of the complex road surface such as level land, stair and snowfield, muddy road surface, becomes disease
The walking-replacing tool of residual people.
Brief description
A kind of overall graphics of Fig. 1 crawler leg composite multifunctional wheelchair；
Fig. 2 walking assembly graphics；
The connection graphics of Fig. 3 track assembly and crank；
Fig. 4 walking assembly first round leg mechanism graphics；
A kind of Fig. 5 crawler leg composite multifunctional wheelchair contractive effect schematic diagram；
A kind of Fig. 6 crawler leg composite multifunctional wheelchair stair climbing effect diagram；
A kind of Fig. 7 crawler leg composite multifunctional wheelchair walking effect diagram；
A kind of wheeled effect diagram of Fig. 8 crawler leg composite multifunctional wheelchair.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of crawler leg composite multifunctional wheelchair, as shown in figure 1, include seat a, track assembly b, walking assembly c.
Frame c-e of walking assembly c is achieved a fixed connection with the pedestal a-1 of seat a.
By above-mentioned connection, complete the assembling of seat a and walking assembly c.
As shown in figure 3, the first suspention a-2 of seat a, the second suspention a-3 head rod b- with track assembly b respectively
C-1, the second connecting rod b-c-4 are realized being rotatably assorted.
By above-mentioned connection, complete the assembling of seat a and track assembly b.
Described crawler leg composite multifunctional wheelchair, it is possible to achieve wheeled, crawler type and three kinds of lower limb formula compound traveling work(
Energy.
As shown in Fig. 2 walking assembly c by first round leg mechanism c-a, second wheel leg mechanism c-b, third round leg mechanism c-c,
Fourth round leg mechanism c-d, the first motor 1, the second motor 2, the 3rd motor 3, the 4th motor 4 and frame c-e composition.
First motor 1 is achieved a fixed connection with frame c-e by motor installing hole, and motor output shaft passes through frame c-e, with
The first crank c-a-3 of first round leg mechanism c-a achieves a fixed connection；The first thigh bar 1 on first round leg mechanism c-a and machine
Frame c-e realizes rotating and connects；Complete the connection of first round leg mechanism c-a and frame c-e.
It is identical with the connection of frame c-e that first round leg mechanism c-a moves back mechanism c-d to fourth round.
By above-mentioned connection, complete the assembling of assembly c of walking.
As shown in figure 4, first round leg mechanism c-a by the first thigh bar 1, the first thigh bar 2, the first crank c-a-3, first
Three secondary bars c-a-4, the one or two secondary bar 1, the one or two secondary bar 2, the first shank bar c-a-7, first round c-a-8,6 groups of the first turbin generator
Become.
First crank c-a-3, the one or two secondary bar 1 and the one or two secondary bar 2 two ends have an installing hole；One or three is secondary
Bar c-a-4 is triangle rod member；One or three secondary bar c-a-4 respectively has an installing hole on three summits；First thigh bar 1,
One thigh bar 2 and the first shank bar c-a-7 respectively arrange an installing hole in end and middle part；First round c-a-8 center arrangement one
Individual installing hole.
The end installing hole of the first crank c-a-3 is passed by bearing pin with a summit installing hole of the one or three secondary bar c-a-4
Dynamic hinged；The another summit installing hole of the one or three secondary bar c-a-4 and the middle part installing hole of the first thigh bar 1 and the first thigh bar 2
It is driven hinged by bearing pin；The same side end installing hole of the first thigh bar 1 and the first thigh bar 2 and the first shank bar c-a-7's
One end installing hole is driven hinged by bearing pin；The middle part installing hole of the first shank bar c-a-7 and the one or two secondary bar 1 and the 1st
The end installing hole of secondary bar 2 is driven hinged by bearing pin；The other end installing hole of the one or two secondary bar 1 and the one or two secondary bar 2 with
The another summit installing hole of the one or three secondary bar c-a-4 is driven hinged by bearing pin；First turbin generator 6 passes through motor installing hole and the
One shank bar c-a-7 achieves a fixed connection, and motor output shaft passes through the first shank bar c-a-7, realizes fixing with first round c-a-8
Connect.
The design of part of first round leg mechanism c-a to fourth round leg mechanism c-d, size, annexation and degree of freedom are complete
Identical.
By above-mentioned connection, complete the assembling of first round leg mechanism c-a to fourth round leg mechanism c-d.
As shown in figure 3, track assembly b by left crawler belt b-a, right-hand track chiain b-b, first rotating shaft b-c-2, the second rotating shaft b-c-3,
Head rod b-c-1, the second connecting rod b-c-4 composition.
Left crawler belt b-a, right-hand track chiain b-b are by Caterpillar clamping board, front Athey wheel, rear Athey wheel, rubber belt track, motor group
Become；First rotating shaft b-c-2, the second rotating shaft b-c-3 and left crawler belt b-a, right-hand track chiain b-b achieve a fixed connection.
Head rod b-c-1, the second connecting rod b-c-4 are realized with first rotating shaft b-c-2, the second rotating shaft b-c-3 respectively
Rotate and connect；Motor 5 is achieved a fixed connection with the first suspention a-2 by motor installing hole, and motor 5 output shaft passes through
First suspention a-2, is achieved a fixed connection with head rod b-c-1.
By above-mentioned connection, complete the assembling of track assembly b.
As shown in Figure 1, Figure 3, seat a is made up of pedestal a-1, the first suspention a-2, the second suspention a-3, seat a-4.
Pedestal a-1 is achieved a fixed connection with seat a-4；First suspention a-2, the second suspention a-3 and pedestal a-1 realize fixing
Connect.
By above-mentioned connection, complete the assembling of seat a.
As shown in figure 5, first round leg mechanism c-a to fourth round leg mechanism c-d is in collapsed mode, under track assembly b level
Put；First motor 1, the second motor 2, the 3rd motor 3, the 4th motor 4, motor 5, the first turbin generator 6, the second turbin generator 7,
Third round motor 8, fourth round motor 9 are all locked, realize contractive effect.
As shown in fig. 6, first round leg mechanism c-a to fourth round leg mechanism c-d is in collapsed mode, first motor the 1, second electricity
Machine 2, the 3rd motor 3, the 4th motor 4, the first turbin generator 6, the second turbin generator 7, third round motor 8, fourth round motor 9 are all locked
Extremely, motor 5 drives head rod b-c-1 to change position and the angle of track assembly b, and track drive motor makes crawler belt pass
Dynamic, realize stair climbing effect.
As shown in fig. 7, first round leg mechanism c-a to fourth round leg mechanism c-d is in walking mode, track assembly b shrinks；Drive
Galvanic electricity machine 5, the first turbin generator 6, the second turbin generator 7, third round motor 8, fourth round motor 9 are locked, the first motor 1 to the 4th electricity
Machine 4 drives first round leg mechanism c-a to fourth round leg mechanism c-d, realizes walking effect.
As shown in figure 8, first round leg mechanism c-a to fourth round leg mechanism c-d is in walking mode, under track assembly b level
Put；First motor 1, the second motor 2, the 3rd motor 3, the 4th motor 4, motor 5 are locked, and the first turbin generator 6, second takes turns electricity
Machine 7, third round motor 8, fourth round motor 9 drive first round c-a-8, the second wheel c-b-8, third round c-c-8, fourth round respectively
C-d-8 rotates, and realizes wheeled effect.
Claims (5)
1. a kind of crawler leg composite multifunctional wheelchair it is characterised in that: this crawler leg composite multifunctional wheelchair includes seat
(a), track assembly (b), walking assembly (c)；
Described seat (a) is to take part；Described track assembly (b) has deformation, driving mode；Described walking assembly (c) tool
There are sufficient formula walking, wheeled rolling mode；
First suspention (a-2) of described seat (a), second suspention (a-3) head rod with described track assembly (b) respectively
(b-c-1), the second connecting rod (b-c-4) is realized being rotatably assorted；
By above-mentioned connection, complete the assembling of seat (a) and track assembly (b)；
The frame (c-e) of described walking assembly (c) is achieved a fixed connection with the pedestal (a-1) of described seat (a)；
By above-mentioned connection, complete the assembling of seat (a) and walking assembly (c)；
Described crawler leg composite multifunctional wheelchair, it is possible to achieve wheeled, crawler type and three kinds of compound driving functions of lower limb formula.
2. a kind of crawler leg composite multifunctional wheelchair according to claim 1 description, its walking assembly (c) is characterised by:
Described walking assembly (c) by first round leg mechanism (c-a), the second wheel leg mechanism (c-b), third round leg mechanism (c-c), the
Four-wheel leg mechanism (c-d), the first motor (1), the second motor (2), the 3rd motor (3), the 4th motor (4) and frame (c-e) group
Become；
First motor (1) is achieved a fixed connection with frame (c-e) by motor installing hole, and motor output shaft passes through frame (c-e),
Achieve a fixed connection with first crank (c-a-3) of first round leg mechanism (c-a)；On first round leg mechanism (c-a) first is big
Lower limb bar 1 (c-a-1) is realized rotating with frame (c-e) and is connected；Complete first round leg mechanism (c-a) and the connection of frame (c-e)；
It is identical with the connection of frame (c-e) that described first round leg mechanism (c-a) to fourth round moves back mechanism (c-d)；
By above-mentioned connection, complete the assembling of assembly (c) of walking.
3. according to claim 2 description first round leg mechanism (c-a) it is characterised in that:
Described first round leg mechanism (c-a) is by the first thigh bar 1 (c-a-1), the first thigh bar 2 (c-a-2), the first crank (c-
A-3), the one or three secondary bar (c-a-4), the one or two secondary bar 1 (c-a-5), the one or two secondary bar 2 (c-a-6), the first shank bar (c-a-
7), the first round (c-a-8), the first turbin generator (6) composition；
First crank (c-a-3), the one or two secondary bar 1 (c-a-5) and the one or two secondary bar 2 (c-a-6) two ends have a peace
Dress hole；One or three secondary bar (c-a-4) is triangle rod member；One or three secondary bar (c-a-4) respectively has an installation on three summits
Hole；First thigh bar 1 (c-a-1), the first thigh bar 2 (c-a-2) and the first shank bar (c-a-7) are respectively arranged in end and middle part
One installing hole；One installing hole of the first round (c-a-8) center arrangement；
The end installing hole of the first crank (c-a-3) is passed by bearing pin with a summit installing hole of the one or three secondary bar (c-a-4)
Dynamic hinged；The another summit installing hole of the one or three secondary bar (c-a-4) and the first thigh bar 1 (c-a-1) and the first thigh bar 2 (c-
A-2 middle part installing hole) is driven hinged by bearing pin；First thigh bar 1 (c-a-1) and the homonymy of the first thigh bar 2 (c-a-2)
The one end installing hole of end installing hole and the first shank bar (c-a-7) is driven hinged by bearing pin；First shank bar (c-a-7)
Middle part installing hole be driven by bearing pin with the end installing hole of the one or two secondary bar 1 (c-a-5) and the one or two secondary bar 2 (c-a-6)
Hinged；The other end installing hole of the one or two secondary bar 1 (c-a-5) and the one or two secondary bar 2 (c-a-6) and the one or three secondary bar (c-a-
4) another summit installing hole is driven hinged by bearing pin；First turbin generator (6) passes through motor installing hole and the first shank bar (c-
A-7) achieve a fixed connection, motor output shaft passes through the first shank bar (c-a-7), achieves a fixed connection with the first round (c-a-8)；
Described first round leg mechanism (c-a) is to the design of part of fourth round leg mechanism (c-d), size, annexation and freedom
Degree is identical；
By above-mentioned connection, complete first round leg mechanism (c-a) to the assembling of fourth round leg mechanism (c-d).
4. a kind of crawler leg composite multifunctional wheelchair according to claim 1 description, its track assembly (b) is characterised by:
Described track assembly (b) is one " h " type structure, by left crawler belt (b-a), right-hand track chiain (b-b), first rotating shaft (b-c-2), the
Two rotating shafts (b-c-3), head rod (b-c-1), the second connecting rod (b-c-4) composition；
Left crawler belt (b-a), right-hand track chiain (b-b) are by Caterpillar clamping board, front Athey wheel, rear Athey wheel, rubber belt track, motor group
Become；First rotating shaft (b-c-2), the second rotating shaft (b-c-3) and left crawler belt (b-a), right-hand track chiain (b-b) achieve a fixed connection；
Head rod (b-c-1), the second connecting rod (b-c-4) respectively with first rotating shaft (b-c-2), the second rotating shaft (b-c-3)
Realize rotating and connect；Motor (5) is passed through motor installing hole and is achieved a fixed connection with the first suspention (a-2), motor (5)
Output shaft passes through the first suspention (a-2), achieves a fixed connection with head rod (b-c-1)；
By above-mentioned connection, complete the assembling of track assembly (b).
5. the crawler leg composite multifunctional wheelchair according to claim 1 description, its seat (a) is characterised by:
Described seat (a) is made up of pedestal (a-1), the first suspention (a-2), the second suspention (a-3), seat (a-4)；
Pedestal (a-1) is achieved a fixed connection with seat (a-4)；First suspention (a-2), the second suspention (a-3) are real with pedestal (a-1)
Now it is fixedly connected；
By above-mentioned connection, complete the assembling of seat (a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610851034.0A CN106344289A (en) | 2016-09-26 | 2016-09-26 | Wheel, track and leg composite multifunctional wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610851034.0A CN106344289A (en) | 2016-09-26 | 2016-09-26 | Wheel, track and leg composite multifunctional wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106344289A true CN106344289A (en) | 2017-01-25 |
Family
ID=57859594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610851034.0A Pending CN106344289A (en) | 2016-09-26 | 2016-09-26 | Wheel, track and leg composite multifunctional wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106344289A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571901A (en) * | 2017-09-29 | 2018-01-12 | 北京交通大学 | A kind of multi-angle loading climbing machine based on six-bar mechanism |
| CN107822788A (en) * | 2017-12-21 | 2018-03-23 | 合肥市脍炙人家家居用品有限责任公司 | A kind of multiple road conditions wheel-chair |
| CN114939024A (en) * | 2022-06-08 | 2022-08-26 | 河南中医药大学第三附属医院 | Transfer device is used in emergency department's nursing |
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| US20030146601A1 (en) * | 2001-05-16 | 2003-08-07 | Charlie Gutierrez | Dynamic seating and walking wheelchair |
| CN200973789Y (en) * | 2006-11-25 | 2007-11-14 | 陈卓 | Pedrail type shock-absorbing wheelchair |
| CN200984292Y (en) * | 2006-12-15 | 2007-12-05 | 西安思源职业学院 | Obstacle-free automatic creeper vehicle |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
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2016
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| US20030146601A1 (en) * | 2001-05-16 | 2003-08-07 | Charlie Gutierrez | Dynamic seating and walking wheelchair |
| CN200973789Y (en) * | 2006-11-25 | 2007-11-14 | 陈卓 | Pedrail type shock-absorbing wheelchair |
| CN200984292Y (en) * | 2006-12-15 | 2007-12-05 | 西安思源职业学院 | Obstacle-free automatic creeper vehicle |
| CN104382705A (en) * | 2014-11-21 | 2015-03-04 | 王正东 | Off-road stair-climbing wheelchair capable of realizing wheel and track switching |
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| Title |
|---|
| 张伟涛: ""双四足差动驱动步行车辆的研究"", 《中国优秀硕士学位论文全文库》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571901A (en) * | 2017-09-29 | 2018-01-12 | 北京交通大学 | A kind of multi-angle loading climbing machine based on six-bar mechanism |
| CN107822788A (en) * | 2017-12-21 | 2018-03-23 | 合肥市脍炙人家家居用品有限责任公司 | A kind of multiple road conditions wheel-chair |
| CN114939024A (en) * | 2022-06-08 | 2022-08-26 | 河南中医药大学第三附属医院 | Transfer device is used in emergency department's nursing |
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Application publication date: 20170125 |