CN109199721A - A kind of collapsible assistant robot of a key - Google Patents
A kind of collapsible assistant robot of a key Download PDFInfo
- Publication number
- CN109199721A CN109199721A CN201811148318.9A CN201811148318A CN109199721A CN 109199721 A CN109199721 A CN 109199721A CN 201811148318 A CN201811148318 A CN 201811148318A CN 109199721 A CN109199721 A CN 109199721A
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- Prior art keywords
- hinged
- connecting rod
- poppet
- wheel
- driving shaft
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- 238000005096 rolling process Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
Classifications
-
- 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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
- A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
- A61G5/085—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding up and down, e.g. reducing or expanding the overall height of the wheelchair
- A61G5/0858—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding up and down, e.g. reducing or expanding the overall height of the wheelchair comprising a scissor-type frame, e.g. having pivoting cross bars for enabling folding
-
- 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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
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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
The present invention relates to wheelchair fields, more particularly to a kind of collapsible assistant robot of a key.It includes backrest, seat frame and bracket, the bottom of the bracket is equipped with wheel, at least one wheel is equipped with the hub motor for driving vehicle wheel rotation, and the lower end of backrest is hinged on seat frame, bracket includes the fore-stock and after-poppet being hinged, and the upper end of after-poppet and seat frame are hinged；The middle part sliding of after-poppet is provided with driving shaft, after-poppet is equipped with the linear motor for pushing driving shaft to slide, the push rod and active axis connection of linear motor, first connecting rod and second connecting rod are hinged on driving shaft, the other end of first connecting rod and seat frame are hinged, the other end of second connecting rod is hinged on the middle part of fore-stock, and third connecting rod is hinged in the middle part of first connecting rod, and the other end of third connecting rod is hinged on by back.The present invention realizes a key fast folding of electric wheelchair so that weakling be facilitated to use, and occupies little space after folding, and facilitates storage or carrying.
Description
Technical field
The present invention relates to wheelchair fields, more particularly to a kind of collapsible assistant robot of a key.
Background technique
With the aggravation of aging of population, specifically for weakling's exploitation assistant robot also in sharp increase, walk help
Robot is weakling can be helped to enhance life confidence, to a certain extent with the space that move freely of further expansion weakling
The life stress of family can also be mitigated.Electric wheelchair, which is exactly that one in assistant robot is significant, to be represented, weak for convenience
Person goes the farther place activity that they want to go to, and folded form electric wheelchair just seems increasingly important.Folded form electric wheelchair is being rolled over
Poststack has space occupied small, carries the features such as convenient by favor, researchs and develops folding electric wheelchair and have become intelligence
One of most active hot spot in robot field.But existing folded form electric wheelchair needs hand foldable, for weakling
For folding difficulties, need other people to assist could to complete to fold, it is time-consuming and laborious.
Such as 102755230 B of Chinese patent Authorization Notice No. CN, authorized announcement date 2014.07.23, it is entitled
" electric wheelchair " discloses a kind of electric wheelchair, including pedal, respectively constitutes in the two sides of pedal front end by preceding free bearing, in rear end
Two sides respectively constitute by rear free bearing；Battery case is connect with axle bed after a pair, and left and right turbin generator, left and right wheels are arranged in battery case
Each fixed left and right traveling wheel of the left and right wheels motor shaft of motor, a pair of of front frame respectively include front direction wheel arm, front truck boom and folding
The side of mechanism, a pair of of Rear frame, the one end and battery case to Rear frame is hinged, and the other end is connected by Rear frame connecting rod,
The castor base after the other end is fixed with, universal wheel after being provided on rear castor base；Seat is fixed on seat bracket
On；The chair back, hinged with seat, controller is arranged in a pair of armrests and a handrail locking mechanism on handrail, the controller and control
Device host wirelessly cooperates.This folded form electric wheelchair needs hand foldable, and the folding difficulties for weakling need other people
Assistance could be completed to fold, time-consuming and laborious.
Summary of the invention
The purpose of the invention is to overcome in the prior art folded form electric wheelchair need hand foldable, for weakling
For folding difficulties, and exist and fold insufficient deficiency to occupied space, provide an a kind of key collapsible assistant robot,
A key fast folding of electric wheelchair be can be realized to facilitate weakling to use, and occupy little space after folding, facilitates storage
Or it carries.
To achieve the goals above, the invention adopts the following technical scheme:
The bottom of a kind of collapsible assistant robot of a key, including backrest, seat frame and bracket, the bracket is equipped with wheel, until
A few wheel is equipped with the hub motor for driving vehicle wheel rotation, and the lower end of backrest is hinged on the rear end of seat frame, bracket
Including the fore-stock and after-poppet being hinged, the upper end of after-poppet and the front end of seat frame are hinged；The middle part of the after-poppet
Sliding is provided with driving shaft, and driving shaft is slided along the length direction of after-poppet, and after-poppet is equipped with for pushing driving shaft to slide
Linear motor, the push rod of linear motor and active axis connection be hinged with first connecting rod and second connecting rod on driving shaft, and first connects
The other end of bar and seat frame are hinged, and the other end of second connecting rod is hinged on the middle part of fore-stock, and the middle part of first connecting rod is hinged
There is third connecting rod, the other end of third connecting rod is hinged on by back.
Driving shaft sliding is pushed by the push rod of linear motor, makes the first connecting rod being hinged on driving shaft and second connecting rod
Rotation, first connecting rod drive after-poppet and seat frame to fold, and second connecting rod drives fore-stock and after-poppet to fold, third connecting rod with
First connecting rod rotation, third connecting rod drive backrest and seat frame to fold, i.e., only need the movement by straight line electric, can be achieved with
The linkage of backrest, seat frame, bracket folds, and realizes a key fast folding of electric wheelchair so that weakling be facilitated to use, and rolls over
Poststack occupies little space, and facilitates storage or carrying.
Preferably, be hinged with baffle on the fore-stock, the upper end of baffle is hinged with fourth link, fourth link it is another
One end is hinged on after-poppet.Baffle is used to support the leg of user, while when folding, and fourth link turns with after-poppet
It moves and rotates, so that flapper be driven to store.
Preferably, the lower end of the baffle is hinged with pedal.Pedal places foot, while pedal and baffle convenient for user
Between be it is hinged, can be with folding storage.
Preferably, the driving shaft includes active shaft body and rolls the idler wheel that driving shaft body end is arranged in, after
The middle part of bracket is equipped with the rolling groove to match with idler wheel, and idler wheel is rolled along rolling groove, the push rod and driving shaft sheet of linear motor
Body connection, first connecting rod and second connecting rod are hinged on idler wheel.Master is realized by roll displacement of the idler wheel inside rolling groove
Sliding of the moving axis on after-poppet, force of rolling friction is small, and resistance is small when driving shaft slides, and electric wheelchair is folded up more smooth.
Preferably, described be hinged with handrail by back, handrail is equipped with position limiting structure, and position limiting structure includes being located at handrail
On arc groove and be located at limited post by back, for the arc groove using the hinged place of backrest and handrail as the center of circle, limited post is sliding
It is dynamic to be arranged in arc groove.Handrail can be rotated around hinged place, while the both ends of arc groove are to limit two poles of handrail rotation
Extreme position, when handrail is in arc groove one end, handrail expansion places hand for user, when handrail is in the arc groove other end,
Handrail is packed up, and convenient for users to upper and lower automatic seat, while when folding, handrail can be located at any position in arc groove, thus
Reduce the folded occupancy volume of electric wheelchair.
Preferably, front-wheel is universal wheel, hub motor is arranged in the inner side of rear-wheel and drives rear wheel.After
The mode of drive drives electric wheelchair to advance, and wheel rolling motor, which is located inside, to be prevented from colliding with, and front-wheel, which improves, turns to convenience, certainly not only
It is limited to rear-guard, other driving methods are applicable in.
The beneficial effects of the present invention are: (1) pushes driving shaft sliding by the push rod of linear motor, make to be hinged on driving shaft
On first connecting rod and second connecting rod rotate, first connecting rod drives after-poppet and seat frame to fold, and second connecting rod drives fore-stock
It is folded with after-poppet, third connecting rod is rotated with first connecting rod, and third connecting rod drives backrest and seat frame to fold, i.e., only needs to pass through
The movement of straight line electric, the linkage that can be achieved with backrest, seat frame, bracket fold, and realize a key fast folding of electric wheelchair
It to facilitate weakling to use, and occupies little space after folding, facilitates storage or carrying；(2) baffle is used to support user's
Leg, while when folding, fourth link is rotated with the rotation of after-poppet, can be with so that flapper be driven to store
The sliding of driving shaft realizes that linkage folds；(3) roll displacement by idler wheel inside rolling groove realizes driving shaft in after-poppet
On sliding, force of rolling friction is small, i.e., driving shaft slide when resistance it is small, electric wheelchair is folded up more smooth.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is folding principle schematic diagram of the invention；
Fig. 3 is the structural schematic diagram under folded state of the present invention.
In figure: backrest 1, seat frame 2, hub motor 3, front-wheel 4, rear-wheel 5, fore-stock 6, after-poppet 7, linear motor 8, master
Moving axis ontology 9, idler wheel 10, rolling groove 11, first connecting rod 12, second connecting rod 13, third connecting rod 14, baffle 15, fourth link 16,
Pedal 17, handrail 18, arc groove 19, limited post 20.
Specific embodiment
The present invention will be further described in the following with reference to the drawings and specific embodiments.
The assistant robot referred in the present invention is electric wheelchair, is understood for convenience, and following embodiment is based on electronic
Wheelchair description.
As shown in Figure 1 to Figure 3, the collapsible assistant robot of an a kind of key, including backrest 1, seat frame 2 and bracket, seat
For installing chair top in chair frame, the bottom of bracket is equipped with wheel, at least one wheel is equipped with for driving vehicle wheel rotation
Hub motor 3, front-wheel 4 are universal wheel, and hub motor is arranged on rear-wheel 5 inner side and drives rear wheel, the present embodiment
Middle to drive electric wheelchair to advance by the way of rear-guard, wheel rolling motor, which is located inside, to be prevented from colliding with, and front-wheel, which improves, turns to convenience,
It is of course not solely limited to rear-guard, other driving methods are applicable in.The lower end of backrest is hinged on the rear end of seat frame, and bracket includes mutual
Hinged fore-stock 6 and after-poppet 7, the upper end of after-poppet and the front end of seat frame are hinged.
The middle part sliding of the after-poppet is provided with driving shaft, and driving shaft is slided along the length direction of after-poppet, driving shaft
After-poppet is equipped with the linear motor 8 for pushing driving shaft to slide, and driving shaft includes active shaft body 9 and rolls setting in master
The idler wheel 10 of moving axis body end, the middle part of after-poppet are equipped with the rolling groove 11 to match with idler wheel, and idler wheel is rolled along rolling groove,
The push rod of linear motor is connect with active shaft body, and first connecting rod 12 and second connecting rod 13 are hinged on idler wheel.It is specific in conjunction with Fig. 1
For, for after-poppet tool there are two the support arm of bilateral symmetry distribution, the both ends of active shaft body are respectively provided with an idler wheel, support arm
It is equipped with rolling groove corresponding with rolling, idler wheel is located in corresponding rolling groove, and the axis of driving shaft is perpendicular to rolling groove
Length direction realizes sliding of the driving shaft on after-poppet, force of rolling friction by roll displacement of the idler wheel inside rolling groove
Small, resistance is small when driving shaft slides, and electric wheelchair is folded up more smooth.
The other end of first connecting rod and seat frame are hinged, and first connecting rod drives seat frame and after-poppet to fold, second connecting rod
The other end be hinged on the middle part of fore-stock, second connecting rod drives fore-stock and after-poppet to fold, and the middle part of first connecting rod is hinged
There is third connecting rod 14, the other end of third connecting rod is hinged on by back, and third connecting rod drives backrest and seat frame to fold.Fore-stock
On be hinged with baffle 15, the upper end of baffle is hinged with fourth link 16, and the other end of fourth link is hinged on after-poppet, baffle
Lower end be hinged with pedal 17, fourth link drives baffle folding storage.
It is hinged with handrail 18 by back, handrail is equipped with position limiting structure, and position limiting structure includes the arc groove being located on handrail
19 and it is located at limited post 20 by back, the arc groove is using the hinged place of backrest and handrail as the center of circle, limited post sliding setting
In arc groove.Handrail can be rotated around hinged place, while the both ends of arc groove are to limit two extreme positions of handrail rotation,
When handrail is in arc groove one end, handrail expansion places hand for user, and when handrail is in the arc groove other end, handrail is received
It rises, convenient for users to upper and lower automatic seat, while when folding, handrail can be located at any position in arc groove, to reduce electricity
The folded occupancy volume of wheelchair.
Be the fixed point of rotation with rear-wheel when the present invention folds, backrest and handrail downwards, baffle backward, pedal upwards, seat
Frame is downward；When linear motor push rod drives driving shaft to slide backward, idler wheel rolls backward along rolling groove at this time, due to idler wheel
It is hinged with one end of second connecting rod, and then second connecting rod is driven to move backward, since the other end and fore-stock of second connecting rod are cut with scissors
It connects, second connecting rod drives fore-stock to move backward, and folds fore-stock and after-poppet；Again since first connecting rod is by linear motor
Push rod drive moves backward, and then one end of first connecting rod is also driven and moves backward, and the other end of first connecting rod and seat
It is hinged in the middle part of frame, and the front end of seat frame and after-poppet are hinged, therefore, first connecting rod will drive seat frame before seat frame
End rotates down, and folds seat frame and after-poppet；The middle part of first connecting rod is flexibly connected with one end of third connecting rod again, third
The other end of connecting rod is flexibly connected with the lower end of backrest, and first connecting rod, which moves backward, drives second connecting rod to move backward, and then band
Dynamic backrest rotates down, and folds backrest and seat frame, while fourth link is rotated with the rotation of after-poppet, to drive
Baffle folding storage.Expansion process and folding process of the invention simultaneously by linear motor push rod on the contrary, driven actively axial
Front slide can be realized the key expansion of electric wheelchair.
The beneficial effects of the present invention are: pushing driving shaft sliding by the push rod of linear motor, make to be hinged on driving shaft
First connecting rod and second connecting rod rotate, first connecting rod drives after-poppet and seat frame to fold, second connecting rod drive fore-stock and
After-poppet folds, and third connecting rod is rotated with first connecting rod, and third connecting rod drives backrest and seat frame to fold, i.e., only needs by straight
The electronic movement of line, the linkage that can be achieved with backrest, seat frame, bracket fold, realize a key fast folding of electric wheelchair from
And facilitate weakling to use, and occupy little space after folding, facilitate storage or carrying；Baffle is used to support the leg of user,
When folding simultaneously, fourth link is rotated with the rotation of after-poppet, so that flapper is driven to store, it can be with driving shaft
Sliding realize linkage fold；Sliding of the driving shaft on after-poppet is realized by roll displacement of the idler wheel inside rolling groove,
Force of rolling friction is small, i.e., resistance is small when driving shaft slides, and electric wheelchair is folded up more smooth.
Claims (6)
1. a kind of collapsible assistant robot of a key, characterized in that including
Backrest, seat frame and bracket, the bottom of the bracket are equipped with wheel, at least one wheel is equipped with for driving wheel to turn
Dynamic hub motor, the lower end of backrest are hinged on the rear end of seat frame, and bracket includes the fore-stock and after-poppet being hinged, after
The upper end of bracket and the front end of seat frame are hinged；
The middle part sliding of the after-poppet is provided with driving shaft, and driving shaft is slided along the length direction of after-poppet, set on after-poppet
There are the linear motor for pushing driving shaft to slide, the push rod of linear motor and active axis connection, is hinged with first on driving shaft
Connecting rod and second connecting rod, the other end and seat frame of first connecting rod are hinged, and the other end of second connecting rod is hinged in fore-stock
Portion is hinged with third connecting rod in the middle part of first connecting rod, and the other end of third connecting rod is hinged on by back.
2. a kind of collapsible assistant robot of a key according to claim 1, characterized in that be hinged on the fore-stock
Baffle, the upper end of baffle are hinged with fourth link, and the other end of fourth link is hinged on after-poppet.
3. a kind of collapsible assistant robot of a key according to claim 2, characterized in that the lower end of the baffle is hinged
There is pedal.
4. a kind of collapsible assistant robot of a key according to claim 1 or 2, characterized in that the driving shaft includes
The idler wheel of driving shaft body end is arranged in active shaft body and rolling, and the middle part of after-poppet is equipped with the rolling to match with idler wheel
Slot, idler wheel are rolled along rolling groove, and the push rod of linear motor is connect with active shaft body, and first connecting rod and second connecting rod are hinged on
On idler wheel.
5. a kind of collapsible assistant robot of a key according to claim 1 or 2, characterized in that described hinged by back
There is a handrail, handrail is equipped with position limiting structure, and position limiting structure includes the arc groove being located on handrail and is located at limited post by back,
Using the hinged place of backrest and handrail as the center of circle, limited post is slidably arranged in arc groove the arc groove.
6. a kind of collapsible assistant robot of a key according to claim 1 or 2, characterized in that front-wheel is universal wheel, wheel
Hub motor is arranged in the inner side of rear-wheel and drives rear wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148318.9A CN109199721A (en) | 2018-09-29 | 2018-09-29 | A kind of collapsible assistant robot of a key |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148318.9A CN109199721A (en) | 2018-09-29 | 2018-09-29 | A kind of collapsible assistant robot of a key |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109199721A true CN109199721A (en) | 2019-01-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811148318.9A Pending CN109199721A (en) | 2018-09-29 | 2018-09-29 | A kind of collapsible assistant robot of a key |
Country Status (1)
| Country | Link |
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| CN (1) | CN109199721A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109965555A (en) * | 2019-05-10 | 2019-07-05 | 新昌暮云自动化设备有限公司 | A kind of medicinal intelligent nightstand |
| CN111186521A (en) * | 2020-01-21 | 2020-05-22 | 吴旭 | Folding scooter |
| CN111186520A (en) * | 2020-01-21 | 2020-05-22 | 吴旭 | Portable folding scooter |
| CN113520739A (en) * | 2021-04-16 | 2021-10-22 | 安徽金百合医疗器械有限公司 | Portable folding electric wheelchair with shock-absorbing function |
| WO2022052421A1 (en) * | 2020-09-09 | 2022-03-17 | 浙江爱司米电气有限公司 | Foldable wheelchair |
| CN114449918A (en) * | 2019-09-17 | 2022-05-06 | 三折策略有限公司 | Luggage case |
| CN115413235A (en) * | 2022-07-25 | 2022-11-29 | 上海邦邦机器人有限公司 | folding wheelchair |
| CN116999258A (en) * | 2023-07-25 | 2023-11-07 | 中山小神童创新科技有限公司 | a wheelchair |
| CN117281698A (en) * | 2020-08-09 | 2023-12-26 | 上海邦邦机器人有限公司 | foldable wheelchair |
| CN117618195A (en) * | 2023-03-03 | 2024-03-01 | 深圳作为科技有限公司 | A walking assistance robot with leg training function |
| WO2024245348A1 (en) * | 2023-05-31 | 2024-12-05 | 广东群旺科技股份有限公司 | Folding wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109965555A (en) * | 2019-05-10 | 2019-07-05 | 新昌暮云自动化设备有限公司 | A kind of medicinal intelligent nightstand |
| CN114449918A (en) * | 2019-09-17 | 2022-05-06 | 三折策略有限公司 | Luggage case |
| CN111186521A (en) * | 2020-01-21 | 2020-05-22 | 吴旭 | Folding scooter |
| CN111186520A (en) * | 2020-01-21 | 2020-05-22 | 吴旭 | Portable folding scooter |
| CN111186520B (en) * | 2020-01-21 | 2021-11-16 | 吴旭 | Portable folding scooter |
| US12016804B2 (en) | 2020-08-09 | 2024-06-25 | Shanghai Bangbang Robotics Co., Ltd | Collapsible wheelchair |
| CN117281698A (en) * | 2020-08-09 | 2023-12-26 | 上海邦邦机器人有限公司 | foldable wheelchair |
| CN117281698B (en) * | 2020-08-09 | 2024-05-10 | 上海邦邦机器人有限公司 | Foldable wheelchair |
| US12303441B2 (en) | 2020-08-09 | 2025-05-20 | Shanghai Bangbang Robotics Co., Ltd | Collapsible wheelchair |
| WO2022052421A1 (en) * | 2020-09-09 | 2022-03-17 | 浙江爱司米电气有限公司 | Foldable wheelchair |
| CN113520739A (en) * | 2021-04-16 | 2021-10-22 | 安徽金百合医疗器械有限公司 | Portable folding electric wheelchair with shock-absorbing function |
| CN113520739B (en) * | 2021-04-16 | 2024-10-01 | 安徽金百合医疗器械有限公司 | Portable folding electric wheelchair with damping function |
| CN115413235A (en) * | 2022-07-25 | 2022-11-29 | 上海邦邦机器人有限公司 | folding wheelchair |
| CN117618195A (en) * | 2023-03-03 | 2024-03-01 | 深圳作为科技有限公司 | A walking assistance robot with leg training function |
| WO2024245348A1 (en) * | 2023-05-31 | 2024-12-05 | 广东群旺科技股份有限公司 | Folding wheelchair |
| CN116999258A (en) * | 2023-07-25 | 2023-11-07 | 中山小神童创新科技有限公司 | a wheelchair |
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Application publication date: 20190115 |