CN111202634A - A kind of wheelchair for climbing stairs and method for climbing stairs - Google Patents
A kind of wheelchair for climbing stairs and method for climbing stairs Download PDFInfo
- Publication number
- CN111202634A CN111202634A CN202010120185.5A CN202010120185A CN111202634A CN 111202634 A CN111202634 A CN 111202634A CN 202010120185 A CN202010120185 A CN 202010120185A CN 111202634 A CN111202634 A CN 111202634A
- Authority
- CN
- China
- Prior art keywords
- wheel
- wheelchair
- gear
- driving device
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims description 73
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 239000003381 stabilizer Substances 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 8
- 230000000087 stabilizing effect Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000009323 psychological health Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000003405 preventing effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
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
- A61G5/06—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
- A61G5/06—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
- A61G5/068—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 extensible supports pushing upwards, e.g. telescopic legs
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/104—Devices for lifting or tilting the whole wheelchair
-
- 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
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
本发明公开了一种爬楼轮椅，涉及爬楼装置技术领域，包括：第一驱动装置、后齿轮、第一传动齿轮、主动轮、履带、第二驱动装置、第一传动部、第一旋转部、调控轮、摆动轮。通过第二驱动装置驱动第一旋转部旋转，进而使得摆动轮能够围绕调控轮的中心轴线旋转形成不同角度，不仅能够帮助轮椅在狭小、不利于调整轮椅朝向面地理空间时，实现轮椅前端或后端的爬楼，而且通过可自由调节的角度，还能够应对不同楼梯倾斜程度的爬楼工作，并且在轮椅在爬楼过程中因亏电现象导致轮椅回落到地面前，可通过调节履带的角度以应对轮椅和地面的冲击(因地面可能出现起伏，容易导致履带前端极小部分与地面发生强力撞击，甚至可能出现轮椅翻转的危险)。
The invention discloses a stair climbing wheelchair, which relates to the technical field of stair climbing devices, comprising: a first driving device, a rear gear, a first transmission gear, a driving wheel, a crawler, a second driving device, a first transmission part, a first rotation part, control wheel, swing wheel. The first rotating part is driven to rotate by the second driving device, so that the swing wheel can rotate around the central axis of the control wheel to form different angles, which can not only help the wheelchair to realize the front or rear of the wheelchair when the geographical space is narrow and unfavorable for adjusting the wheelchair facing surface It can also climb the stairs at the end of the stairs, and through the freely adjustable angle, it can also cope with the climbing work of different stair inclination degrees, and before the wheelchair falls back to the ground due to power loss during the process of climbing the stairs, the angle of the crawler can be adjusted to avoid Cope with the impact of the wheelchair and the ground (because the ground may be ups and downs, it is easy to cause a strong collision between the front end of the track and the ground, and there may even be a danger of the wheelchair turning over).
Description
Technical Field
The invention relates to the technical field of stair climbing devices, in particular to a stair climbing wheelchair.
Background
The economy of China in the 21 st century is more and more developed, but the China gradually enters a society with aging population; meanwhile, the number of handicapped people due to various disasters, diseases, traffic accidents, and the like is increasing year by year. Both elderly and disabled people suffer from different degrees of disability. For people with inconvenient lower limbs, the people can have a series of difficult traveling problems such as inconvenient walking and difficulty in climbing stairs. The service and care of this group of people will become a major social problem in the future.
Aiming at the situation, a plurality of wheelchairs capable of climbing stairs are designed by various large research institutions, colleges and universities at home and abroad to meet the needs of people, but the wheelchairs often have the following defects:
① when climbing stairs, the current wheelchair climbs stairs from the back end of the wheelchair, and the stairs are buckled by the caterpillar band whose back end is tilted upwards to climb the stairs, but the front end of the wheelchair is usually circular arc-shaped and is not tilted upwards, so when climbing stairs in narrow corridor, if the front end of the wheelchair is facing the corridor, it is difficult to climb the stairs, which results in that it takes a lot of time to adjust the position of the wheelchair.
② present building wheelchair that climbs adopts the power usually as the driven energy, if forget to charge and lead to the power not enough, just take place the insufficient current phenomenon very easily when climbing the building, if climb to the building process when half, the power is not enough to support the track and last up climbing, then the wheelchair will move down very probably, the very little region can at first collide with ground in the circular arc front end of track this moment, cause great impact, not only can destroy ground, the track, cause the impact to the wheelchair, if should strike enough or ground have fluctuation, wheelchair upset phenomenon can even take place.
The two reasons are not good for the physical and psychological health of the old and the disabled. It is therefore desirable to design a stair climbing wheelchair that avoids the above-mentioned problems.
Disclosure of Invention
One of the purposes of the invention is to solve the problem that the wheelchair can not climb from the front end of the wheelchair in a narrow space due to the arc-shaped structure fixed at the front end of the crawler and can move downwards to have strong impact with the ground due to the phenomenon of power loss when climbing up from the rear end of the wheelchair in the prior art.
The second purpose of the invention is to provide a stair climbing method.
In order to achieve one of the purposes, the invention adopts the following technical scheme: a stair climbing wheelchair comprising a frame, said frame comprising: a first driving device; the rear gear is in power connection with the first driving device; a first drive gear meshing with the rear gear; the driving wheel is connected with the first transmission gear; the driven wheel is abutted against the driving wheel, the driven wheel and the driving wheel form an upward tilting angle, and the driving wheel is positioned on the upper left side; the driving wheel and the driven wheel are arranged on the left side of the crawler belt, and the driving wheel realizes transmission through the crawler belt; a second driving device; the first transmission part is connected with the second driving device, and the second driving device drives the first transmission part to rotate; the left side of the first rotating part is fixedly connected with the first transmission part; a regulating wheel mounted to a right side position of a middle end of the crawler, the regulating wheel being rotatably connected to a left side end of the first rotating part; a swinging wheel mounted to a right side position of the crawler belt, the swinging wheel being rotatably connected to a right side end of the first rotating portion.
In the above technical solution, on one hand, when the front end of the wheelchair faces a staircase, the second driving device is started to drive the first transmission part to drive the first rotating part to rotate, so that the first rotating part drives the swinging wheel to rotate upward around the central axis of the regulating and controlling wheel to form an upward tilting angle (the angle is the same as or close to the angle of the staircase), and the crawler can climb up the staircase. When climbing the building later, start first drive arrangement, it is rotatory that drive rear gear drives first drive gear for first drive gear drives the action wheel and rotates, and then realizes driving the track and rotate, makes the step of track front end withhold stair and climb along stair.
And on the other hand, when the rear end face of the wheelchair faces the stairs, the crawler belt buckles the steps of the stairs through an upward tilting angle formed by the driven wheel and the driving wheel and drives the crawler belt to climb along the stairs through the first driving device. If appear lacking in the electricity or when the power supply volume is not enough to drive the wheelchair and climb the building in the wheelchair, start second drive arrangement, drive first rotating part and take the swinging wheel to rotate upwards around the central axis of regulation and control wheel and form predetermined angle, this predetermined angle and ground parallel and level or this predetermined angle comparatively press close to the horizontal plane on ground for when the wheelchair returns to ground, realize certain buffering, guard action through the track front end and the ground contact that constitute predetermined angle.
Further, in an embodiment of the present invention, the first rotation portion is oblong, and the first rotation portion has therein: and the joint bearing is sleeved in the first rotating part, and the first rotating part is connected with the regulating and controlling wheel and the swinging wheel through the joint bearing.
Further, in the embodiment of the present invention, a middle end position of the first transmission portion has a first gear, and the second driving device drives the first transmission portion to rotate through the first gear.
Further, in the embodiment of the present invention, the bracket further includes: a stabilizer plate mounted in the track, the stabilizer plate being located between the driven wheel and the regulating wheel; a pushing part installed at an upper end of the stabilizing plate; the upper end of the first telescopic mechanism is movably connected with the support, and the lower end of the second telescopic mechanism is movably connected with the pushing part.
When the wheelchair climbs stairs, the first telescopic mechanism is started, the pushing portion and the stabilizing plate are downwards extruded to achieve downwards pushing of the crawler belt, the first telescopic mechanism obtains reaction force when pushing of the crawler belt, then the first telescopic mechanism reversely pushes the support, balance of a horizontal plane is achieved through the support, the wheelchair is favorable for enabling a user to keep a horizontal sitting posture when climbing stairs, and the user slides off from the wheelchair when the support (wheelchair) is prevented from inclining.
Further, in the embodiment of the present invention, the bracket further includes: the driving wheels are arranged on two sides of the bracket; a cross shaft connected to the drive wheel; and the second transmission gear is sleeved on the cross shaft and is positioned on the right side of the first transmission gear.
Further, in an embodiment of the present invention, the first driving device and the rear gear have therebetween: a front gear; the outer tube, the back gear is installed in the left side of outer tube, the front gear is installed in the right side of outer tube, the distance of back gear with the front gear is less than the second drive gear with the distance of first drive gear, have in the outer tube: internal teeth; an inner tube connected to the first drive device, the inner tube having externally thereon: and the outer teeth are matched with the inner teeth, so that the outer pipe and the inner pipe can stretch in the length direction while mutually transmitting the rotating torque.
When the wheelchair is switched to a crawler belt to climb a building by the driving wheel traveling on the flat ground, the second telescopic mechanism is started to push the outer pipe to slide along the straight line on the inner pipe, so that the rear gear on the outer pipe is meshed with the first transmission gear to drive the crawler belt, if the wheelchair finishes climbing the building, the wheelchair needs traveling on the flat ground, the second telescopic mechanism is started to pull the outer pipe to slide along the straight line on the inner pipe, the front gear on the outer pipe is meshed with the second transmission gear, and the driving wheel travels on the flat ground. Through the mutual switching work of the driving wheel and the crawler belt, the phenomenon that the crawler belt generates huge noise and damages the ground when walking on flat ground, influences the psychological health of a user and limits the use condition of the wheelchair can be reduced.
Still further, in an embodiment of the present invention, the bracket further includes: the first bearing is sleeved on the outer pipe; one end of the connecting body is connected with the first bearing; and the second telescopic mechanism is connected with the other end of the connecting body.
Still further, in an embodiment of the present invention, the bracket further includes: a third driving device; the threaded rod is connected with the third driving device; elevating system, telescopic machanism includes: the threaded cylinder is connected with the threaded rod, and the lifting mechanism rotates in and out of the threaded cylinder through the threaded rod to realize bidirectional movement; the at least two passive blocks are distributed at the front and rear positions of the side end of the lifting mechanism, and the passive blocks are connected with the side end of the lifting mechanism in a sliding manner; the elastic piece is arranged between the passive blocks; the upper end of the telescopic connecting rod is movably connected with the passive block; the lower end of the telescopic connecting rod is connected with the auxiliary wheel; a housing, the housing semi-encasing the track, the housing having: a sliding groove provided in the housing by a predetermined length, the passive block being installed in the sliding groove.
When the wheelchair is about to finish climbing stairs (namely one end of a crawler belt of the wheelchair is mostly positioned at the position of the stairs, and the other end of the crawler belt of the wheelchair is positioned at the position above the flat ground, namely the wheelchair is about to break away from the stairs), a third driving device is started to drive a threaded rod to rotate clockwise or anticlockwise in a threaded cylinder on a lifting mechanism, so that the lifting mechanism is driven to advance or retreat in a screwing-in or screwing-out mode, wherein when the lifting mechanism advances or retreats, a driven block on the lifting mechanism slides in a sliding groove on a shell, when the driven block slides to the front end or the rear end of the sliding groove along the sliding groove, the driven block is compressed by the reaction force of the front end or the rear end of the sliding groove, the distance between the driven blocks is shortened, and at the moment, the telescopic connecting.
The contact of the front end face and the rear end face (the wall face, the function of blocking) of the driven block and the sliding groove is controlled through the third driving device, the driven block is made to approach to each other, the telescopic connecting rod is controlled to drive the auxiliary wheel to descend at the front end of the wheelchair or descend at the rear end of the wheelchair, the cooperation of climbing stairs with the front end of the wheelchair and the rear end of the wheelchair can be met, the phenomenon that the crawler of the wheelchair is broken away from the ground to generate strong collision due to the influence of gravity center force in the process of breaking away from the ground is avoided, and when the wheelchair travels on the flat ground, the auxiliary wheel can also be used as the front wheel of.
Still further, in an embodiment of the present invention, the bracket further includes: a fourth drive device; the second transmission part is in power connection with the fourth driving device, and the fourth driving device drives the second transmission part to rotate through a second gear; the upper end of the second rotating part is fixedly connected with the second transmission part; and the second bearing is arranged at the lower end of the second rotating part, and the second rotating part is connected with the cross shaft through the second bearing.
When the wheelchair needs to be switched to climb the stairs, the fourth driving device is started to drive the second transmission part to rotate, so that the second rotating part is driven to rotate, the driving wheel rotates upwards, and the crawler belt is in contact with the ground or the stairs.
Further, in the embodiment of the present invention, the bracket further has a power supply portion therein.
Further, in the embodiment of the present invention, the first driving device, the second driving device, the third driving device, and the fourth driving device are all motors, the first telescopic mechanism and the second telescopic mechanism are all electric cylinders, and the front gear, the rear gear, the first transmission gear, and the second transmission gear are all bevel gears.
The invention has the beneficial effects that:
the first rotating part is driven to rotate by the second driving device, so that the swinging wheel can rotate around the central axis of the adjusting and controlling wheel to form different angles, the wheelchair can be helped to climb the front end or the rear end of the wheelchair when the wheelchair is narrow and is not beneficial to adjusting the geographical space of the wheelchair facing the surface, the climbing work of different stair inclination degrees can be responded by the freely adjustable angles, and the wheelchair falls back to the front of the ground due to the power loss phenomenon in the climbing process, and the impact of the wheelchair and the ground can be responded by adjusting the angle of the crawler (the small part at the front end of the crawler is easy to generate strong impact with the ground due to the fact that the ground is fluctuated, and even the wheelchair is likely to turn over due to the fact that the angle of the crawler is not adjusted).
In order to achieve the second purpose, the invention adopts the following technical scheme: a method of climbing stairs, comprising the steps of:
when the front end face of the wheelchair faces a stair, a second driving device is started to drive the first transmission part to rotate to drive the first rotating part to rotate, so that the first rotating part drives the swinging wheel to rotate upwards around the central axis of the regulating and controlling wheel to form a certain angle, the angle is consistent with or close to the angle of the stair, and finally the crawler belt is in an upwards tilting state;
when the front end of the wheelchair climbs a building, the first driving device is started, the rear gear is driven to drive the first transmission gear to rotate, the first transmission gear drives the driving wheel to rotate, and then the crawler is driven to rotate, so that the front end of the crawler buckles the steps of the stair and climbs along the stair;
when the rear end face of the wheelchair faces a stair, the crawler belt buckles the steps of the stair through an upward tilting angle formed by the driven wheel and the driving wheel and drives the crawler belt to climb along the stair through the first driving device;
when the power shortage appears in the building is climbed to the wheelchair, start second drive arrangement, drive first rotating part area swinging wheel and around the central axis of regulation and control wheel rotatory formation predetermined angle that makes progress, this predetermined angle and ground parallel and level or this predetermined angle comparatively press close to the horizontal plane on ground for the power shortage appears in the building is climbed to the wheelchair, when removing to ground, realizes certain cushioning effect.
Further, in the embodiment of the invention, during the process of climbing stairs, the wheelchair starts the first telescopic mechanism to press the pushing part and the stabilizing plate downwards so as to push the crawler downwards, and the first telescopic mechanism obtains a reaction force when pushing the crawler, so that the first telescopic mechanism reversely pushes the bracket, and the bracket realizes the balance of a horizontal plane.
Further, in the embodiment of the invention, before the wheelchair climbs stairs, the second telescoping mechanism is started to push the outer tube to slide linearly on the inner tube, so that the rear gear on the outer tube is meshed with the first transmission gear to drive the crawler, and if the wheelchair finishes climbing stairs, the second telescoping mechanism is started to pull the outer tube to slide linearly on the inner tube, so that the front gear on the outer tube is meshed with the second transmission gear, and the driving wheel moves on the flat ground.
Further, in the embodiment of the invention, when the wheelchair is going to finish climbing stairs, the third driving device is started to drive the threaded rod to rotate clockwise or anticlockwise in the threaded cylinder on the lifting mechanism, and the lifting mechanism is driven to advance or retreat in a screwing-in or screwing-out mode, wherein when the lifting mechanism advances or retreats, the driven block on the lifting mechanism slides in the chute on the shell, and when the driven block slides to the front end or the rear end of the chute along the chute, the driven block is compressed by the reaction force of the front end or the rear end of the chute, so that the distance between the driven blocks is shortened, and at the moment, the telescopic connecting rod is pushed by the driven block, moves downwards and pushes the auxiliary wheel to contact the ground.
Further, in the embodiment of the present invention, when the wheelchair needs to climb a building, the fourth driving device is started to drive the second transmission portion to rotate, and further drive the second rotation portion to rotate, so that the driving wheel rotates upward, and further the track contacts with the ground or the stair.
Drawings
Fig. 1 is a perspective view of a stair climbing wheelchair according to an embodiment of the invention.
Fig. 2 is a schematic structural view of a stair climbing wheelchair according to an embodiment of the invention.
Fig. 3 is a detailed structural schematic diagram of the stair climbing wheelchair according to the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention.
Fig. 5 is a top view of the lifting mechanism according to the embodiment of the invention.
Fig. 6 is a partially enlarged view a of fig. 5.
Fig. 7 is a side view of the lifting frame according to the embodiment of the invention.
Fig. 8 is a schematic three-dimensional movement diagram of the lifting mechanism according to the embodiment of the invention.
Fig. 9 is a schematic application diagram of a lifting mechanism of the stair climbing wheelchair in the stair climbing process according to the embodiment of the invention.
Fig. 10 is a schematic top view of a stair climbing wheelchair according to an embodiment of the invention.
Fig. 11 is a schematic diagram of the movement effect of the driving wheel according to the embodiment of the invention.
In the attached drawings
10. Support 20, first drive device 21, rear gear
22. Outer tube 23, inner tube 24, front gear
25. Connecting body 26, second telescopic mechanism 30 and first transmission gear
31. Drive wheel 32, driven wheel 40, track
41. Stabilizer plate 42, pushing part 50, second driving device
51. First transmission part 52, first rotating part 53, regulation wheel
54. Swinging wheel 55, joint bearing 60, first telescoping mechanism
70. Drive wheel 71, cross shaft 72, second transmission gear
80. Third driving device 81, threaded rod 90 and lifting mechanism
91. Threaded cylinder 92, passive block 93 and elastic piece
94. Telescopic link 95, auxiliary wheel 100, casing
101. Chute 110, fourth driving device 111 and second transmission part
112. Second rotating part 120 and power supply part
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of some embodiments of the invention and are not limiting of the invention, and that all other embodiments obtained by those of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. But it is obvious. To one of ordinary skill in the art, the embodiments may be practiced without limitation to these specific details. In some instances, well-known stair-climbing methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
The first embodiment is as follows:
a stair climbing wheelchair comprises a support 10, wherein the support 10 comprises: the first driving device 20, the rear gear 21, the first transmission gear 30, the driving wheel 31, the driven wheel 32, the crawler 40, the second driving device 50, the first transmission part 51, the first rotation part 52, the regulating wheel 53 and the swinging wheel 54.
The first driving device 20 is connected with the rear gear 21 in a power mode, the first transmission gear 30 is meshed with the rear gear 21, and the driving wheel 31 is connected with the first transmission gear 30. The driven wheel 32 abuts against the driving wheel 31, the driven wheel 32 and the driving wheel 31 form an upward tilting angle, and the driving wheel 31 is positioned at the upper left side. The caterpillar tracks 40 are arranged on two sides of the bottom of the support 10, the driving wheel 31 and the driven wheel 32 are arranged on the left side of the caterpillar tracks 40, and the driving wheel 31 realizes transmission through the caterpillar tracks 40.
The first transmission unit 51 is connected to the second driving device 50, and the second driving device 50 drives the first transmission unit 51 to rotate. The first rotation portion 52 is fixedly connected to the first transmission portion 51 at its left end. A regulating wheel 53 is installed to the right side of the middle end of the crawler 40, and the regulating wheel 53 is rotatably connected to the left side end of the first rotating portion 52. A swing wheel 54 is mounted to a right position of the crawler 40, and the swing wheel 54 is rotatably connected to a right end of the first rotating portion 52.
The implementation steps are as follows: on the one hand, when the front end of the wheelchair faces the stairs, the second driving device 50 is started to drive the first transmission part 51 to drive the first rotating part 52 to rotate, so that the first rotating part 52 drives the swinging wheel 54 to rotate upwards around the central axis of the adjusting and controlling wheel 53 to form an upwards tilted angle (the angle is consistent with or close to the angle of the stairs), and the crawler 40 can climb the stairs upwards. When climbing stairs later, start first drive arrangement 20, drive rear gear 21 and drive first drive gear 30 rotatory for first drive gear 30 drives the action wheel 31 rotatory, and then realizes driving track 40 and rotates, makes the step of track 40 front end withhold stair and climb along the stair.
On the other hand, when the rear end of the wheelchair faces the stairs, the crawler 40 grips the steps of the stairs through the upward-tilted angle formed by the driven wheel 32 and the driving wheel 31, and the crawler 40 is driven by the first driving device 20 to climb along the stairs. When the wheelchair is in a power-saving state or the power supply amount is insufficient to drive the wheel 70 to climb the building, the second driving device 50 is activated to drive the first rotating part 52 to rotate upward around the central axis of the regulating wheel 53 by a predetermined angle, which is flush with the ground or closer to the horizontal plane of the ground, so that when the wheelchair falls back to the ground, a certain buffering and preventing effect is achieved by the contact of the front end of the crawler 40 forming the predetermined angle with the ground.
According to the wheelchair, the first rotating part 52 is driven to rotate by the second driving device 50, so that the swinging wheel 54 can rotate around the central axis of the adjusting and controlling wheel 53 to form different angles, the wheelchair can be helped to climb the front end or the rear end of the wheelchair when the wheelchair is narrow and is not beneficial to adjusting the geographic space of the wheelchair facing the ground, the wheelchair can also cope with climbing work of different stair inclination degrees by the freely adjustable angle, and the wheelchair can fall back to the front of the ground due to power loss in the climbing process of the wheelchair, so that the impact of the wheelchair and the ground can be coped with by adjusting the angle of the crawler belt 40 (the small part of the front end of the crawler belt 40 is easy to generate strong impact with the ground due to the fact that the ground is fluctuated, and if the angle of the crawler belt 40 is not adjusted, the risk of overturning of the.
Preferably, the first rotating portion 52 is oblong, the first rotating portion 52 has a joint bearing 55 therein, the joint bearing 55 is fitted in the first rotating portion 52, and the first rotating portion 52 connects the adjustment wheel 53 and the swinging wheel 54 via the joint bearing 55.
Preferably, the middle end of the first transmission part 51 has a first gear, and the second driving device 50 drives the first transmission part 51 to rotate through the first gear.
Preferably, the stand 10 further includes a stabilizing plate 41 and a pushing part 42, the stabilizing plate 41 being installed in the crawler 40, the stabilizing plate 41 being located between the driven wheel 32 and the steering wheel 53. A pushing portion 42 is installed on the upper end of the stabilizing plate 41, and a rod for pushing the pushing portion 42 is installed on the upper end of the stabilizing plate 41. The upper end of the first telescopic mechanism 60 is movably connected with the bracket 10, and the lower end of the second telescopic mechanism 26 is movably connected with the pushing part 42.
In the process of climbing stairs by the wheelchair, the first telescopic mechanism 60 is started, the pushing part 42 and the stabilizing plate 41 are extruded downwards to push the crawler 40 downwards, the first telescopic mechanism 60 obtains reaction force when pushing the crawler 40, and then the first telescopic mechanism 60 reversely pushes the support 10, so that the balance of a horizontal plane is realized by the support 10, the wheelchair is favorable for climbing stairs, a user keeps a horizontal sitting posture, and the user slides off from the wheelchair when the support 10 (wheelchair) is prevented from inclining.
Preferably, the support 10 further comprises: at least two driving wheels 70, a transverse shaft 71 and a second transmission gear 72, wherein the driving wheels 70 are arranged at two sides of the bracket 10. The transverse shaft 71 is used for connecting the drive wheel 70. The second transmission gear 72 is sleeved on the transverse shaft 71, and the second transmission gear 72 is positioned at the right side of the first transmission gear 30.
More preferably, the first drive device 20 and the rear gear 21 have therebetween: front gear 24, outer tube 22, inner tube 23.
The rear gear 21 is installed on the left side of the outer tube 22, the front gear 24 is installed on the right side of the outer tube 22, the distance between the rear gear 21 and the front gear 24 is smaller than the distance between the second transmission gear 72 and the first transmission gear 30, and internal teeth (equivalent to concave grooves) are arranged in the outer tube 22.
The inner tube 23 is connected with the first driving device 20, the outer portion of the inner tube 23 is provided with outer teeth, the outer teeth and the inner teeth are in sliding connection to enable the outer teeth to be matched with the inner teeth, and therefore the outer tube 22 and the inner tube 23 can stretch in the length direction while transmitting rotation torque mutually.
When the wheelchair climbs the stairs by switching from the flat walking of the driving wheel 70 to the crawler 40, the second telescoping mechanism 26 is started to push the outer tube 22 to slide linearly on the inner tube 23, so that the rear gear 21 on the outer tube 22 is meshed with the first transmission gear 30 to drive the crawler 40, and if the wheelchair finishes climbing the stairs and needs to walk on the flat ground, the second telescoping mechanism 26 is started to pull the outer tube 22 to slide linearly on the inner tube 23, so that the front gear 24 on the outer tube 22 is meshed with the second transmission gear 72, and the driving wheel 70 walks on the flat ground. Through the mutual switching operation of the driving wheel 70 and the crawler 40, it is possible to advantageously reduce the generation of a great noise and the damage of the ground caused by the crawler 40 when traveling on a flat ground, the influence on the psychological health of the user, and the restriction on the use of the wheelchair.
More preferably, the stent 10 further comprises: a first bearing, a connecting body 25 and a second telescoping mechanism 26.
The first bearing is fitted over the outer tube 22. One end of the connecting body 25 is connected to the first bearing. The second telescopic mechanism 26 is connected to the other end of the connecting body 25.
More preferably, the stent 10 further comprises: third drive device 80, threaded rod 81, lifting mechanism 90, casing 100.
The threaded rod 81 is connected to a third drive 80. The telescopic machanism includes: the device comprises a threaded cylinder 91, at least two passive blocks 92, an elastic piece 93, a telescopic connecting rod 94 and an auxiliary wheel 95.
The threaded cylinder 91 is connected with the threaded rod 81, and the lifting mechanism 90 rotates in and out of the threaded cylinder 91 through the threaded rod 81 to realize bidirectional movement. The passive blocks 92 are disposed at front and rear positions of the side end of the elevating mechanism 90, and the passive blocks 92 are slidably connected to the side end of the elevating mechanism 90. The elastic member 93 is disposed between the passive blocks 92. The upper end of the telescopic connecting rod 94 is movably connected with the driven block 92. The lower end of the telescopic link 94 is connected with an auxiliary wheel 95.
The housing 100 semi-encloses the caterpillar 40, the housing 100 having a slide groove 101, the slide groove 101 being provided in the housing 100 at a predetermined length, the passive block 92 being mounted in the slide groove 101.
When the wheelchair is going to finish climbing stairs (i.e. one end of the crawler 40 of the wheelchair is mostly still at the position of stairs, and the other end is at the position above the ground, that is, the wheelchair is going to be separated from the stairs), the third driving device 80 is started to drive the threaded rod 81 to rotate clockwise or counterclockwise in the threaded cylinder 91 on the lifting mechanism 90, so as to drive the lifting mechanism 90 to advance or retreat in a screwing-in or screwing-out manner, wherein when the lifting mechanism 90 advances or retreats, the driven block 92 on the lifting mechanism 90 slides in the sliding slot 101 on the casing 100, when the driven block 92 slides to the front end or the rear end of the sliding slot 101 along the sliding slot 101, the driven block 92 is compressed by the reaction force of the front end or the rear end of the sliding slot 101, the distance between the driven blocks 92 is shortened, and at this time the telescopic link 94 is pushed by the driven block 92 to move downwards.
The contact of the driven block 92 and the front and rear end faces (wall faces) of the sliding groove 101 is controlled through the third driving device 80, so that the driven block 92 is close to each other, the telescopic connecting rod 94 is controlled to drive the auxiliary wheel 95 to descend at the front end of the wheelchair or descend at the rear end of the wheelchair, the cooperation of climbing stairs with the front end of the wheelchair and the rear end of the wheelchair can be met, the situation that the crawler 40 of the wheelchair is in a separation process and is in strong collision with the ground due to the influence of gravity force is avoided, and when the wheelchair travels on the flat ground, the auxiliary wheel 95 can also be used as a front wheel of the wheelchair (the driving wheel 70 serves as a rear wheel), and the application range of.
More preferably, the stent 10 further comprises: a fourth driving device 110, a second transmission part 111, a second rotating part 112, and a second bearing.
The second transmission part 111 is in power connection with the fourth driving device 110, and the fourth driving device 110 drives the second transmission part 111 to rotate through the second gear. The upper end of the second rotating part 112 is fixedly connected to the second transmission part 111. The second bearing is mounted on the lower end of the second rotating part 112, and the second rotating part 112 is connected to the cross shaft 71 through the second bearing.
When the wheelchair needs to be switched to climb a building, the fourth driving device 110 is activated to rotate the second transmission portion 111 and further rotate the second rotating portion 112, so that the driving wheel 70 rotates upward and the caterpillar 40 contacts the ground or stairs.
Preferably, a power supply part 120 is further installed in the support frame 10, and the power supply part 120 is used for supplying power to the first driving device 20, the second driving device 50, the third driving device 80, the fourth driving device 110, the first telescoping mechanism 60, and the second telescoping mechanism 26.
Preferably, the first driving device 20, the second driving device 50, the third driving device 80 and the fourth driving device 110 are all motors. The first telescoping mechanism 60 and the second telescoping mechanism 26 are both electric cylinders. The front gear 24, the rear gear 21, the first transmission gear 30 and the second transmission gear 72 are all bevel gears.
A method of climbing stairs, comprising the steps of:
when the front end of the wheelchair faces stairs, the second driving device 50 is started to drive the first transmission part 51 to rotate, so as to drive the first rotating part 52 to rotate, further enable the first rotating part 52 to drive the swinging wheel 54 to rotate upwards around the central axis of the adjusting and controlling wheel 53 to form a certain angle, enable the angle to be consistent with or close to the angle of the stairs, and finally enable the crawler 40 to be in an upwards tilting state.
When the front end of the wheelchair climbs a building, the first driving device 20 is started, the driving rear gear 21 drives the first transmission gear 30 to rotate, the first transmission gear 30 drives the driving wheel 31 to rotate, the crawler 40 is driven to rotate, and the front end of the crawler 40 buckles the steps of the stair and climbs along the stair.
When the rear end face of the wheelchair faces the stairs, the caterpillar 40 is buckled on the steps of the stairs through the upward tilting angle formed by the driven wheel 32 and the driving wheel 31, and the caterpillar 40 is driven to climb along the stairs through the first driving device 20.
When power shortage occurs in the wheelchair stair climbing, the second driving device 50 is started to drive the first rotating part 52 to drive the swinging wheel 54 to rotate upwards around the central axis of the regulating wheel 53 to form a preset angle, the preset angle is flush with the ground or the preset angle is close to the horizontal plane of the ground, so that the power shortage occurs in the wheelchair stair climbing, and when the wheelchair stair climbing moves to the ground, a certain buffering effect is realized.
Preferably, during the wheelchair climbing stairs, the first telescoping mechanism 60 is started to press the pushing part 42 and the stabilizing plate 41 downwards to push the caterpillar track 40 downwards, and the first telescoping mechanism 60 obtains a reaction force when pushing the caterpillar track 40, so that the first telescoping mechanism 60 pushes the support 10 reversely, and the support 10 achieves the balance of the horizontal plane.
Preferably, before the wheelchair climbs stairs, the second telescoping mechanism 26 is activated to push the outer tube 22 to slide linearly on the inner tube 23, so that the rear gear 21 on the outer tube 22 engages with the first transmission gear 30 to drive the crawler 40, and if the wheelchair finishes climbing stairs, the second telescoping mechanism 26 is activated to pull the outer tube 22 to slide linearly on the inner tube 23, so that the front gear 24 on the outer tube 22 engages with the second transmission gear 72, so that the driving wheel 70 travels on the flat ground.
Preferably, when the wheelchair is going to finish climbing stairs, the third driving device 80 is started to drive the threaded rod 81 to rotate clockwise or counterclockwise in the threaded cylinder 91 on the lifting mechanism 90, so as to drive the lifting mechanism 90 to advance or retreat in a screwing-in or screwing-out manner, wherein when the lifting mechanism 90 advances or retreats, the driven block 92 on the lifting mechanism 90 slides in the sliding slot 101 on the casing 100, when the driven block 92 slides to the front end or the rear end of the sliding slot 101 along the sliding slot 101, the driven block 92 is compressed by the reaction force of the front end or the rear end of the sliding slot 101, the distance between the driven blocks 92 is shortened, and at this time, the telescopic link 94 is pushed by the driven block 92 to move downwards and push the auxiliary wheel 95 to contact the ground.
Preferably, when the wheelchair is going upstairs, the fourth driving device 110 is activated to rotate the second transmission portion 111 and further the second rotation portion 112, so that the driving wheel 70 rotates upward and the caterpillar 40 contacts the ground or stairs.
Although the illustrative embodiments of the present invention have been described above to enable those skilled in the art to understand the present invention, the present invention is not limited to the scope of the embodiments, and it is apparent to those skilled in the art that all the inventive concepts using the present invention are protected as long as they can be changed within the spirit and scope of the present invention as defined and defined by the appended claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120185.5A CN111202634A (en) | 2020-02-26 | 2020-02-26 | A kind of wheelchair for climbing stairs and method for climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120185.5A CN111202634A (en) | 2020-02-26 | 2020-02-26 | A kind of wheelchair for climbing stairs and method for climbing stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111202634A true CN111202634A (en) | 2020-05-29 |
Family
ID=70781495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010120185.5A Pending CN111202634A (en) | 2020-02-26 | 2020-02-26 | A kind of wheelchair for climbing stairs and method for climbing stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111202634A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086033A (en) * | 2021-04-25 | 2021-07-09 | 七斗科技(宜昌)有限公司 | Horizontal low-attitude stair climbing robot and stair climbing method |
| CN116001932A (en) * | 2022-10-31 | 2023-04-25 | 潍坊八哥医疗器械科技股份有限公司 | a climbing car |
| CN119820546A (en) * | 2025-03-11 | 2025-04-15 | 中铁山桥集团有限公司 | Multifunctional operation equipment in combined section of split type arched girder and use method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5701965A (en) * | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
| CN203042684U (en) * | 2013-02-01 | 2013-07-10 | 上海电机学院 | Multifunctional stair climbing wheel chair |
| US20180021193A1 (en) * | 2016-07-21 | 2018-01-25 | Daniel Matan | Wheelchair climb systems and assemblies |
| US20190209404A1 (en) * | 2017-03-09 | 2019-07-11 | Wheelstair Sp. Z O.O. | A stair-climbing device for a wheelchair, a wheelchair suitable for installing such a stair-climbing device and a wheelchair equipped with such a stair-climbing device |
| CN110037867A (en) * | 2019-04-29 | 2019-07-23 | 上海尊颐智能科技有限公司 | It is a kind of novel obstacle detouring and the wheel and its operation method in building to be climbed |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | A multifunctional obstacle-climbing wheelchair and an obstacle-climbing method |
| CN212186929U (en) * | 2020-02-26 | 2020-12-22 | 吉芮医疗器械（上海）有限公司 | A stair climbing wheelchair |
-
2020
- 2020-02-26 CN CN202010120185.5A patent/CN111202634A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5701965A (en) * | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
| CN203042684U (en) * | 2013-02-01 | 2013-07-10 | 上海电机学院 | Multifunctional stair climbing wheel chair |
| US20180021193A1 (en) * | 2016-07-21 | 2018-01-25 | Daniel Matan | Wheelchair climb systems and assemblies |
| US20190209404A1 (en) * | 2017-03-09 | 2019-07-11 | Wheelstair Sp. Z O.O. | A stair-climbing device for a wheelchair, a wheelchair suitable for installing such a stair-climbing device and a wheelchair equipped with such a stair-climbing device |
| CN110037867A (en) * | 2019-04-29 | 2019-07-23 | 上海尊颐智能科技有限公司 | It is a kind of novel obstacle detouring and the wheel and its operation method in building to be climbed |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | A multifunctional obstacle-climbing wheelchair and an obstacle-climbing method |
| CN212186929U (en) * | 2020-02-26 | 2020-12-22 | 吉芮医疗器械（上海）有限公司 | A stair climbing wheelchair |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086033A (en) * | 2021-04-25 | 2021-07-09 | 七斗科技(宜昌)有限公司 | Horizontal low-attitude stair climbing robot and stair climbing method |
| CN116001932A (en) * | 2022-10-31 | 2023-04-25 | 潍坊八哥医疗器械科技股份有限公司 | a climbing car |
| CN119820546A (en) * | 2025-03-11 | 2025-04-15 | 中铁山桥集团有限公司 | Multifunctional operation equipment in combined section of split type arched girder and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104840311B (en) | Device comprising a chassis part and a crawler running gear | |
| CN111202634A (en) | A kind of wheelchair for climbing stairs and method for climbing stairs | |
| CN108309599B (en) | stair climbing wheelchair | |
| CN103230321B (en) | Frame of composite wheel leg type wheelchair | |
| CN212186929U (en) | A stair climbing wheelchair | |
| CN111956408A (en) | Household multifunctional walking-aid chair for old people | |
| CN103767840A (en) | Wheel-type stair-climbing wheelchair | |
| CN105919740B (en) | Electric wheelchair for climbing stairs | |
| CN211532999U (en) | Pipe tongs type walking stick for helping old people to climb stairs | |
| CN108514478B (en) | Novel climb electronic wheelchair of stair | |
| CN210078237U (en) | Intelligent multifunctional stair climbing type rehabilitation walking aid | |
| CN108969223A (en) | A kind of novel crawler-type stair-climbing wheel chair | |
| CN102697611B (en) | Multifunctional stair climbing wheelchair | |
| CN103230322B (en) | Front leg mechanism of composite wheel leg type wheelchair | |
| CN104434431B (en) | A portable stair climbing device | |
| CN209678897U (en) | A wheel-track compound wheelchair that can climb stairs | |
| CN110353902A (en) | It is a kind of can stair activity wheelchair | |
| CN110292490A (en) | It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves | |
| CN204364266U (en) | One is portable climbs building device | |
| CN116370210B (en) | Obstacle surmounting wheelchair | |
| CN219963282U (en) | Electric stair climbing wheelchair | |
| CN213788295U (en) | Stair climbing wheelchair | |
| CN214761868U (en) | All-terrain wheelchair | |
| CN203315198U (en) | Wheel leg combined type wheelchair rack | |
| CN201171753Y (en) | Multifunctional wheel chair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20250221 |
|
| AD01 | Patent right deemed abandoned |