CN109911056A - A kind of vehicle with level compensating system - Google Patents
A kind of vehicle with level compensating system Download PDFInfo
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- CN109911056A CN109911056A CN201910077862.7A CN201910077862A CN109911056A CN 109911056 A CN109911056 A CN 109911056A CN 201910077862 A CN201910077862 A CN 201910077862A CN 109911056 A CN109911056 A CN 109911056A
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Abstract
The invention discloses a kind of vehicle with level compensating system, vehicle bodies；Chassis, first order compensation system, second level compensation system, control unit and detection unit are provided on the vehicle body；The chassis includes left frame, correct frame and bottom plate；The vehicle that the present invention is arranged is capable of providing level compensating, and then makes the vehicle when in use, and seat base can be adjusted to all directions according to the needs of users, is suitble to traveling；Meanwhile the setting of the vehicle, it can be adjusted according to the location at place, it is convenient to be used in different locations, it facilitates access in danger zone, achievees the effect that exploration.
Description
Technical field
The present invention relates to vehicular field, specially a kind of vehicle with level compensating system.
Background technique
In the prior art, the technology of stair climbing vehicle is also relatively simple, and still, which but relatively attaches most importance in actual use
It wants.In some danger zones, such as in the exploitation of mine, it is necessary first to be detected to underground landform, this is just needed using arriving
The vehicle of climbing stairs, still, due to the deficiencies in the prior art, cause to need to expend in the detection process a large amount of manpower and
Material resources.
Currently, proposing different solutions for the vehicle for going upstairs.One problem of prior art vehicle
It is Gao Chongliang, in order to provide the stability of vehicle, especially there is heavy weight payload.Which has limited the realities of this vehicle
Border uses, such as when wanting to advance in the elevator with limited surface and load capacity.Lighter vehicle be also required to compared with
The advantages of few promotion energy, this is expectation.
Another problem of the prior art is a lack of level compensating, is able to maintain on stair when driving and steadily drives
It sails.When going upstairs or going downstairs, each step is generated in the vertical and horizontal direction at the seating position of vehicle and is shaken accordingly
Pendular motion.Lack level compensating in this landform and also results in the use that inefficient power transmits and therefore leads to energy, because
Tractive force is lost repeatedly.
In addition, another problem of the prior art is a lack of the controllability to different terrain.When in home environment or public affairs
When moving in environment altogether, the user of personal vehicles may encounter different barriers, such as the stair with different step-lengths daily.
If optimization of vehicle may be not suitable for other barriers to pass through stair at home.Therefore, for the controllability of vehicle
Demand is important, securely and comfortably to pass through the barrier of these variations.Otherwise several vehicles, each vehicle will be needed
Due to lacking controllability particularly suitable for specific landform, and user will have to periodically switch vehicle, this is not for having
It may be impossible for the user of help.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicles with level compensating system, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of vehicle with level compensating system, comprising: vehicle body；
Chassis, first order compensation system, second level compensation system, control unit and detection are provided on the vehicle body
Unit；
The chassis includes left frame, correct frame and bottom plate；
The first order compensation system includes Pivot joint and rotary shaft, and the two sides of the bottom plate are provided with pivot and connect
Head, the rotary shaft is left frame and correct frame surrounds the common axis of rotation extended through bottom plate, the both ends point of the left frame
The near front wheel and left rear wheel are not installed, the both ends of the correct frame are separately installed with off-front wheel and off hind wheel；
The second level compensation system includes pivotable support and seat base, the upper and lower side of the pivotable support
Pass through upper supporting pivot connector and lower supporting pivot connector connecting chair pedestal and bottom plate respectively；
Described control unit is PLC controller；
The detection unit includes topographical scan device, landform logger, LED light, GPS navigation, angular transducer, storage
Device and communication link.
As the further technical solution of the present invention, the left-handed shaft of No.1 is respectively arranged in described the near front wheel and left rear wheel
With No. two left-handed shafts, being respectively arranged with No.1 dextral shaft and No. two in the off-front wheel and off hind wheel has rotary shaft.
As the further technical solution of the present invention, the first order compensation system further includes the left axial distance of No.1, two
Number left axial distance, the right axial distance of No.1 and No. two right axial distances, the left axial distance of No.1 are the left-handed shaft of No.1
To the distance of rotary shaft, No. two left axial distances are the distance of No. two left-handed shafts to rotary shaft, the No.1 right axle to
Distance is distance of the No.1 dextral shaft to rotary shaft, No. two right axial distances be No. two dextral shafts to rotary shaft away from
From, at least one in the left axial distance of No.1 and No. two left axial distances be longer or shorter than the right axial distance of the No.1 and
At least one of No. two right axial distances.
As the further technical solution of the present invention, No.1 is formed between the left-handed shaft of the No.1 and No.1 dextral shaft
Offset forms No. two offsets, the No.1 offset and No. two between No. two left-handed shafts and No. two dextral shafts
At least one in offset is not 0.
As the further technical solution of the present invention, the vehicle body further includes bottom plate leveling unit, the bottom plate tune
Flat unit includes pedestal connecting rod, and for the pedestal connecting rod by Pivot joint connecting bottom board, the pedestal connecting rod can be relative to bottom plate
It is rotated around pivot axis.
As the further technical solution of the present invention, the vehicle body further includes left front wheel-drive, left back wheel drive
Device, off-front wheel driver and off hind wheel driver；
The vehicle body includes at least No.1 slidably slidably one in mechanism of mechanism and No. two, the vehicle sheet
Body includes at least one in No.1 lock cell and No. two lock cells.
As the further technical solution of the present invention, the second level compensation system further includes No.1 lateral brace, No. two sides
Pillar, No.1 supporting driver and No. two supporting drivers, the upper and lower side of the No.1 lateral brace pass through No.1 upper supporting column respectively
Pivot joint and No.1 lower supporting rod Pivot joint connecting chair pedestal and bottom plate, the upper and lower side of No. two lateral braces pass through respectively
No. two upper supporting column Pivot joints and No. two lower supporting rod Pivot joint connecting chair pedestals and bottom plate, the No.1 supporting driver and
No. two supporting drivers are connected to pivotable support two sides, and the pivotable support by upper supporting pivot connector respectively
Realize upper displacement in any direction.
As the further technical solution of the present invention, the topographical scan device, landform logger, LED light, GPS navigation,
Angular transducer, memory and communication link pass through data conductor and are electrically connected PLC controller.
Compared with prior art, the beneficial effects of the present invention are: the vehicle that the present invention is arranged, is capable of providing level compensating,
And then making the vehicle when in use, seat base can be adjusted to all directions according to the needs of users, be suitble to traveling；Together
When, the setting of the vehicle can be adjusted according to the location at place, and it is convenient to be used in different locations, facilitate access for danger
In region, achieve the effect that exploration.
Detailed description of the invention
Fig. 1 is a kind of overall structure figure of vehicle with level compensating system；
Fig. 2 is a kind of rearview of vehicle with level compensating system；
Fig. 3 is a kind of side view of vehicle with level compensating system；
Fig. 4 is a kind of top view of vehicle with level compensating system；
Fig. 5 is a kind of local structural graph of vehicle with level compensating system.
In figure: 100- vehicle body, the chassis 101-, 102- left frame, 103- correct frame, 104 1 bottom plates, 105- pivot connect
Head, 106- rotary shaft, 107- the near front wheel, 108- left rear wheel, the left-handed shaft of 109- No.1, No. bis- left-handed shafts of 110-, 111- are right
Front-wheel, 112- off hind wheel, 113- No.1 dextral shaft, No. bis- dextral shafts of 114-, the left axial distance of 115- No.1,116- bis-
Left axial distance, the right axial distance of 117- No.1, No. bis- right axial distances of 118-, 119- No.1 offset, 120- bis- offsets
Amount, the left front wheel-drive of 121-, the left back wheel-drive of 122-, 123- off-front wheel driver, 124- off hind wheel driver, the bottom 130-
Seat connecting rod, 131- pivot axis, 132- bottom plate leveling unit, 133- pivotable support, 135- No.1 supporting driver,
1101- No.1 slidably mechanism, the slidably mechanism of 1102- bis-, 1103- No.1 lock cell, No. bis- lock cells of 1104-,
204- seat base, No. bis- supporting drivers of 301-, 304- upper supporting pivot connector support pivot fitting, 902- mono- under 305-
Number lateral brace, No. bis- lateral braces of 903-, 904- No.1 upper supporting column Pivot joint, No. bis- upper supporting column Pivot joints of 905-, 906- mono-
Number lower supporting rod Pivot joint, No. bis- lower supporting rod Pivot joints of 907-.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1~5 are please referred to, the present invention provides a kind of technical solution: including: vehicle body 100；
Chassis 101, first order compensation system, second level compensation system, control unit are provided on the vehicle body 100
And detection unit；
The chassis 101 includes left frame 102, correct frame 103 and bottom plate 104；
The first order compensation system includes Pivot joint 105 and rotary shaft 106, and the two sides of the bottom plate 104 are respectively provided with
There is Pivot joint 105, the rotary shaft 106 is that left frame 102 and correct frame 103 surround the common rotation extended through bottom plate 104
Shaft, the both ends of the left frame 102 are separately installed with the near front wheel 107 and left rear wheel 108, the both ends point of the correct frame 103
Off-front wheel 111 and off hind wheel 112 are not installed；
The second level compensation system includes pivotable support 133 and seat base 204, the pivotable support
133 upper and lower side passes through upper supporting pivot connector 304 and lower 305 connecting chair pedestal 204 of supporting pivot connector and bottom plate respectively
104；
Described control unit is PLC controller；
The detection unit includes topographical scan device, landform logger, LED light, GPS navigation, angular transducer, storage
Device and communication link.
Preferably, referring to Fig. 1, being respectively arranged with the left-handed shaft of No.1 in described the near front wheel 107 and left rear wheel 108
109 and No. two left-handed shafts 110, No.1 dextral shaft 113 and two are respectively arranged in the off-front wheel 111 and off hind wheel 112
Number there is rotary shaft 114.
Preferably, referring to Fig. 1, the first order compensation system further includes 115, No. two left sides of the left axial distance of No.1
The right axial distance 117 of axial distance 116, No.1 and No. two right axial distances 118, the left axial distance 115 of No.1 are No.1
For left-handed shaft 109 to the distance of rotary shaft 106, No. two left axial distances 116 are No. two left-handed shafts 110 to rotary shaft
106 distance, the right axial distance 117 of No.1 are distance of the No.1 dextral shaft 113 to rotary shaft 106, No. two right sides
Axial distance 118 is distance of No. two dextral shafts 114 to rotary shaft 106, the left axial distance 115 of No.1 and No. two left axles
Into distance 116, at least one is longer or shorter than in the right axial distance 117 of the No.1 and No. two right axial distances 118 at least
One.
Preferably, referring to Fig. 1, forming No.1 between the left-handed shaft 109 of the No.1 and No.1 dextral shaft 113
Offset 119 forms No. two offsets 120, the No.1 between No. two left-handed shafts 110 and No. two dextral shafts 114
At least one in offset 119 and No. two offsets 120 is not 0.
Preferably, referring to Fig. 1, the vehicle body 100 further includes bottom plate leveling unit 132, the bottom plate tune
Flat unit 132 includes pedestal connecting rod 130, and the pedestal connecting rod 130 is connected by 105 connecting bottom board 104 of Pivot joint, the pedestal
Bar 130 can be rotated relative to bottom plate 104 around pivot axis 131.
Preferably, Fig. 1 and Fig. 4 are please referred to, the vehicle body 100 further includes left front wheel-drive 121, left rear wheel
Driver 122, off-front wheel driver 123 and off hind wheel driver 124；
The vehicle body 100 include at least No.1 slidably mechanism 1101 and No. two slidably in mechanism 1102 one
A, the vehicle body 100 includes at least one in No.1 lock cell 1103 and No. two lock cells 1104.
Preferably, Fig. 1~3 are please referred to, the second level compensation system further includes 902, No. two sides of No.1 lateral brace
Pillar 903, No.1 supporting driver 135 and No. two supporting drivers 301, the upper and lower side of the No.1 lateral brace 902 lead to respectively
Cross No.1 upper supporting column Pivot joint 904 and 906 connecting chair pedestal 204 of No.1 lower supporting rod Pivot joint and bottom plate 104, described two
The upper and lower side of number lateral brace 903 passes through No. two upper supporting column Pivot joints 905 and No. two 907 attachment bases of lower supporting rod Pivot joint respectively
Seat base 204 and bottom plate 104, the No.1 supporting driver 135 and No. two supporting drivers 301 pass through upper supporting pivot respectively
Connector 304 is connected to 133 two sides of pivotable support, and the pivotable support 133 realizes upper displacement in any direction.
Preferably, the topographical scan device, landform logger, LED light, GPS navigation, angular transducer, storage
Device and communication link pass through data conductor and are electrically connected PLC controller.
The working principle of the invention is:
Fig. 1-5 is please referred to, No.1 offset 119 and No. two offsets 120 are substantially in left frame 102 and correct frame 103
Extending direction on, substantially in the driving direction of vehicle 100 so that travelled on flat surfaces when vehicle 100 and
When close in perpendicular steps, the wheel of foremost, i.e. the near front wheel 107 have No.1 offset 119 close to before left rear wheel 111
Perpendicular steps, by the way that with No.1 offset 119 and No. two offsets 120, total wheel is contacted with the transportation surface of vehicle
Possibility increases because surface may include such as hole, stake or step etc it is irregular, move in vertical direction any
Wheel.For example, being become when irregularity of the near front wheel 107 close to such as perpendicular steps, and for example by unclamping to grasp
Initially displacement.However, surface contact is maintained due to the seperated frame of pivot.The off-front wheel 111 that band is offset below is not yet
The full contact and grasping with flat transportation surface are kept close to the step and before step.Thereby increase available lead
The total amount of gravitation, and there is no the available road holding of the wheel of displacement that can be enough the inclined of foremost in the vertical direction of step
Wheel is set to shift on step.Then, when the near front wheel 107 crosses barrier, it regains road holding and tractive force, and can
The off-front wheel 111 close to step and displacement is pulled in same step.Therefore, these barriers are being crossed using biasing wheel
When, wheel exposure is both increased every time.Reduce energy consumption simultaneously, behind the off-front wheel 111 that offsets of band not yet close to the step
And the full contact and grasping with flat transportation surface are kept before step.Thereby increase the total of available tractive force
Amount, and there is no the available road holding of the wheel of displacement that can be enough to shift on the biasing wheel of foremost in the vertical direction of step
On step.Then, when the near front wheel 107 crosses barrier, it regains road holding and tractive force, and can be in same step
The off-front wheel 111 close to step and displacement is pulled in rapid.Therefore, when crossing these barriers using biasing wheel, every time
Increase wheel exposure.Energy consumption is reduced simultaneously.The off-front wheel 111 that band is offset below is not yet close to the step and in step
The full contact and grasping with flat transportation surface are kept before.The total amount of available tractive force is thereby increased, and in platform
Not having the available road holding of the wheel of displacement in the vertical direction of rank can be enough to shift the biasing wheel of foremost on step onto.With
Afterwards, when the near front wheel 107 crosses barrier, it regains road holding and tractive force, and can pull in same step
Close to step and the off-front wheel 111 of displacement.Therefore, when crossing these barriers using biasing wheel, vehicle is both increased every time
Take turns exposure.Energy consumption is reduced simultaneously.The total amount of available tractive force is thereby increased, and is not moved in the vertical direction of step
The available road holding of the wheel of position can be enough to shift the biasing wheel of foremost on step onto.Then, when the near front wheel 107 crosses obstacle
When object, it regains road holding and tractive force, and can pull in same step close to before the right side of step and displacement
Wheel 111.Therefore, when crossing these barriers using biasing wheel, wheel exposure is both increased every time.Energy consumption is reduced simultaneously.
The total amount of available tractive force is thereby increased, and does not have the available road holding of the wheel of displacement can in the vertical direction of step
It is enough to shift the biasing wheel of foremost on step onto.Then, when the near front wheel 107 crosses barrier, it regains road holding
And tractive force, and the off-front wheel 111 close to step and displacement can be pulled in same step.Therefore, biasing is being used
When wheel crosses these barriers, wheel exposure is both increased every time.Energy consumption is reduced simultaneously.In same step.Therefore, it is using
When biasing wheel crosses these barriers, wheel exposure is both increased every time.Energy consumption is reduced simultaneously.In same step.Therefore, exist
When crossing these barriers using biasing wheel, wheel exposure is both increased every time.Energy consumption is reduced simultaneously.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Unify an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of vehicle with level compensating system characterized by comprising vehicle body (100)；
Chassis (101), first order compensation system, second level compensation system, control unit are provided on the vehicle body (100)
And detection unit；
The chassis (101) includes left frame (102), correct frame (103) and bottom plate (104)；
The first order compensation system includes Pivot joint (105) and rotary shaft (106), and the two sides of the bottom plate (104) are all provided with
It is equipped with Pivot joint (105), the rotary shaft (106) is left frame (102) and correct frame (103) surrounds and passes through bottom plate (104)
The common axis of rotation of extension, the both ends of the left frame (102) are separately installed with the near front wheel (107) and left rear wheel (108), described
The both ends of correct frame (103) are separately installed with off-front wheel (111) and off hind wheel (112)；
The second level compensation system includes pivotable support (133) and seat base (204), the pivotable support
(133) upper and lower side passes through upper supporting pivot connector (304) and lower supporting pivot connector (305) connecting chair pedestal respectively
(204) and bottom plate (104)；
Described control unit is PLC controller；
The detection unit include topographical scan device, landform logger, LED light, GPS navigation, angular transducer, memory and
Communication link.
2. the vehicle according to claim 1 with level compensating system, which is characterized in that the near front wheel (107) and
Be respectively arranged with the left-handed shaft of No.1 (109) and No. two left-handed shafts (110) in left rear wheel (108), the off-front wheel (111) and
Being respectively arranged with No.1 dextral shaft (113) and No. two in off hind wheel (112) has rotary shaft (114).
3. the vehicle according to claim 2 with level compensating system, which is characterized in that the first order compensation system
Further include the left axial distance of No.1 (115), No. two left axial distances (116), the right axial distance of No.1 (117) and No. two right axles to
Distance (118), the left axial distance of No.1 (115) is distance of the left-handed shaft of No.1 (109) to rotary shaft (106), described
No. two left axial distances (116) are distance of No. two left-handed shafts (110) to rotary shaft (106), the right axial distance of No.1
It (117) is the distance of No.1 dextral shaft (113) to rotary shaft (106), No. two right axial distances (118) are No. two dextrorotation
Shaft (114) to rotary shaft (106) distance, in the left axial distance of No.1 (115) and No. two left axial distances (116) extremely
Few one is longer or shorter than at least one of the right axial distance of No.1 (117) and No. two right axial distances (118).
4. the vehicle according to claim 2 with level compensating system, which is characterized in that the left-handed shaft of No.1
(109) No.1 offset (119) are formed between No.1 dextral shaft (113), No. two left-handed shafts (110) and No. two right sides
No. two offsets (120) are formed between rotary shaft (114), in the No.1 offset (119) and No. two offsets (120) at least
One is not 0.
5. the vehicle according to claim 3 with level compensating system, which is characterized in that the vehicle body (100)
It further include bottom plate leveling unit (132), the bottom plate leveling unit (132) includes pedestal connecting rod (130), the pedestal connecting rod
(130) by Pivot joint (105) connecting bottom board (104), the pedestal connecting rod (130) can surround pivot relative to bottom plate (104)
Shaft axis (131) rotation.
6. the vehicle according to claim 1 with level compensating system, which is characterized in that the vehicle body (100)
It further include left front wheel-drive (121), left back wheel-drive (122), off-front wheel driver (123) and off hind wheel driver
(124)；
The vehicle body (100) include at least No.1 slidably mechanism (1101) and No. two slidably in mechanism (1102) one
A, the vehicle body (100) includes at least one in No.1 lock cell (1103) and No. two lock cells (1104).
7. the vehicle according to claim 1 with level compensating system, which is characterized in that the second level compensation system
It further include No.1 lateral brace (902), No. two lateral braces (903), No.1 supporting driver (135) and No. two supporting drivers
(301), the upper and lower side of the No.1 lateral brace (902) passes through No.1 upper supporting column Pivot joint (904) and No.1 lower supporting rod respectively
The upper and lower side of Pivot joint (906) connecting chair pedestal (204) and bottom plate (104), No. two lateral braces (903) passes through respectively
No. two upper supporting column Pivot joints (905) and No. two lower supporting rod Pivot joint (907) connecting chair pedestals (204) and bottom plate (104),
The No.1 supporting driver (135) and No. two supporting drivers (301) are connected to by upper supporting pivot connector (304) respectively
Pivotable support (133) two sides, and the pivotable support (133) realizes upper displacement in any direction.
8. the vehicle according to claim 1 with level compensating system, which is characterized in that the topographical scan device,
Landform logger, LED light, GPS navigation, angular transducer, memory and communication link are electrically connected PLC control by data conductor
Device processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910077862.7A CN109911056A (en) | 2019-01-28 | 2019-01-28 | A kind of vehicle with level compensating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910077862.7A CN109911056A (en) | 2019-01-28 | 2019-01-28 | A kind of vehicle with level compensating system |
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| Publication Number | Publication Date |
|---|---|
| CN109911056A true CN109911056A (en) | 2019-06-21 |
Family
ID=66960862
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910077862.7A Pending CN109911056A (en) | 2019-01-28 | 2019-01-28 | A kind of vehicle with level compensating system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5975225A (en) * | 1993-02-24 | 1999-11-02 | Deka Products Limited Partnership | Transportation vehicles with stability enhancement using CG modification |
| WO2003018335A1 (en) * | 2001-08-30 | 2003-03-06 | Johan Rosenquist | Wheel suspension |
| US20040129491A1 (en) * | 2003-01-07 | 2004-07-08 | Bean Andrew J. | Vehicle with offset extendible axles and independent four-wheel steering control |
| WO2004062991A1 (en) * | 2003-01-09 | 2004-07-29 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| WO2011101422A1 (en) * | 2010-02-17 | 2011-08-25 | Zouce Ab | Vehicle having a level compensation system |
| CN103025293A (en) * | 2010-02-05 | 2013-04-03 | 法国新生活公司 | Device enabling an electric wheelchair to cross obstacles |
-
2019
- 2019-01-28 CN CN201910077862.7A patent/CN109911056A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5975225A (en) * | 1993-02-24 | 1999-11-02 | Deka Products Limited Partnership | Transportation vehicles with stability enhancement using CG modification |
| WO2003018335A1 (en) * | 2001-08-30 | 2003-03-06 | Johan Rosenquist | Wheel suspension |
| US20040129491A1 (en) * | 2003-01-07 | 2004-07-08 | Bean Andrew J. | Vehicle with offset extendible axles and independent four-wheel steering control |
| WO2004062991A1 (en) * | 2003-01-09 | 2004-07-29 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| CN103025293A (en) * | 2010-02-05 | 2013-04-03 | 法国新生活公司 | Device enabling an electric wheelchair to cross obstacles |
| WO2011101422A1 (en) * | 2010-02-17 | 2011-08-25 | Zouce Ab | Vehicle having a level compensation system |
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Application publication date: 20190621 |
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