CN119344965A - A wheel-track composite obstacle-crossing wheelchair - Google Patents
A wheel-track composite obstacle-crossing wheelchair Download PDFInfo
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- CN119344965A CN119344965A CN202411593667.7A CN202411593667A CN119344965A CN 119344965 A CN119344965 A CN 119344965A CN 202411593667 A CN202411593667 A CN 202411593667A CN 119344965 A CN119344965 A CN 119344965A
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- wheel
- frame
- crawler
- driving
- track
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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)
- Handcart (AREA)
Abstract
The invention provides a wheel-track combined type obstacle crossing wheelchair which comprises a frame, a seat device, a track running device and a frame lifting device, wherein the frame lifting device comprises a telescopic mechanism and a supporting wheel assembly, the telescopic mechanism is connected with the frame, the supporting wheel assembly is rotatably arranged at the bottom of the telescopic mechanism, the bottom of the supporting wheel assembly is not lower than the bottom of the rear end of the track running device in a contracted state, and the bottom of the supporting wheel assembly is lower than the bottom of the rear end of the track running device in an expanded state and is used for lifting the frame and the rear end of the track running device. The telescopic mechanism can drive the supporting wheel assembly to move away from the frame to lift the rear end of the crawler running gear, so that the rear end of the crawler running gear can be placed above the steps, the crawler running gear and the frame lifting device are matched with each other to integrally place the wheelchair on the steps, the crawler running gear enables the wheelchair to run to the top of the stairs, and accordingly the wheelchair can carry a user to go up and down the stairs.
Description
Technical Field
The invention relates to the technical field of rehabilitation auxiliary appliances, in particular to a wheel-track combined type obstacle surmounting wheelchair.
Background
The wheelchair is a movable walking aid which is most commonly used by the old and the disabled, and the traditional wheelchair can only run on a horizontal road surface and a gentle slope and cannot be used in the environments such as stairs. And most old residential buildings and partial public environments in China have no matched barrier-free facilities, so that great difficulty is caused to the old people and the disabled who rely on wheelchairs for traveling, and the activity space of the old people and the disabled is limited. Therefore, a wheelchair capable of overcoming the obstacle is urgently needed to facilitate the travel of the aged and the disabled.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide a wheel-track composite obstacle detouring wheelchair that obviates or mitigates one or more of the disadvantages of the prior art.
The invention provides a wheel-track combined type obstacle crossing wheelchair which comprises a frame, a seat device, a track running device and a frame lifting device, wherein the frame is provided with a seat device;
Wherein the seat device is arranged at the top of the frame in a direction such that the seat device faces the front end of the frame;
The crawler belt travelling devices are fixedly arranged at two side positions of the bottom of the frame, and can drive the frame to move forwards, backwards and turn;
The frame lifting device is arranged at the rear end of the frame and comprises a telescopic mechanism and a supporting wheel assembly, the telescopic mechanism is connected with the frame, and the supporting wheel assembly is rotatably arranged at the bottom of the telescopic mechanism;
the bottom of the supporting wheel assembly is not lower than the bottom of the rear end of the crawler traveling device when the telescopic mechanism is in a contracted state;
the telescopic mechanism is in an unfolding state, the bottom of the supporting wheel assembly is lower than the bottom of the rear end of the crawler traveling device and is used for lifting the rear ends of the frame and the crawler traveling device so that the frame and the crawler traveling device can cross an obstacle.
In some embodiments of the invention, the telescoping mechanism includes a link and a swing drive;
One end of the connecting rod is rotatably connected with the bottom of the frame, the rotation axis of the connecting rod is in horizontal direction, the other end of the connecting rod is rotatably connected or fixedly connected with the supporting wheel assembly, and the hinge shaft of the connecting rod and the frame is parallel to the rotating shaft of the supporting wheel set;
one end of the swing driving piece is rotatably connected with the middle part or the top of the rear end of the frame, the other end of the swing driving piece is rotatably connected with the middle part of the connecting rod, and the swing driving piece is used for driving the connecting rod to swing around the frame in a telescopic mode, so that the height position of the supporting wheel assembly is adjusted.
In some embodiments of the invention, the swing driver includes any one of an electric push rod, a cylinder, and a hydraulic cylinder.
In some embodiments of the invention, the telescopic mechanism comprises one or two groups of connecting rods and swinging driving pieces, wherein the connecting rods and the swinging driving pieces are positioned at the middle position in the width direction of the frame in the case of arranging one group;
The supporting wheel assembly comprises one or two supporting wheels, the supporting wheels are rotatably arranged on the short shaft under the condition that one supporting wheel is arranged, the telescopic mechanism is rotatably connected with the short shaft, the two supporting wheels are rotatably arranged on the supporting wheel shaft under the condition that two supporting wheels are arranged, and the telescopic mechanism is rotatably connected with the supporting wheel shaft.
In some embodiments of the invention, the crawler travel device comprises a crawler frame, a driving crawler wheel, a driven crawler wheel, a crawler, a rotating shaft and a rotation driving device;
the crawler frame is arranged at the bottom of the frame and extends along the length direction of the frame;
the driving crawler wheel and the driven crawler wheel are respectively connected with two ends of the crawler frame in a rotating way, and the crawler is sleeved on the driving crawler wheel and the driven crawler wheel;
The rotating shaft penetrates through the middle of the driving crawler wheel, and the rotating shaft can drive the driving crawler wheel to rotate;
The rotating driving device is arranged on the frame and connected with the rotating shaft to drive the rotating shaft to rotate.
In some embodiments of the present invention, the wheel-track composite obstacle detouring wheelchair further comprises a driving wheel set, wherein the driving wheel set comprises two symmetrically arranged driving wheels, and the driving wheels and the supporting wheels are used as running wheel sets of the wheelchair;
The diameter size of the driving wheel is larger than the height size of the crawler belt, the driving wheel and the driving crawler wheel are coaxially arranged and rotatably connected with the crawler belt frame, and the rotating shaft is arranged in the middle of the driving wheel in a penetrating mode;
The rotating shaft is provided with a conversion structure for converting power transmitted by the rotating shaft between the driving wheel and the driving crawler wheel, the conversion structure comprises a spline shaft section arranged on the rotating shaft, the rotating shaft can slide along the axis of the rotating shaft, and the spline shaft section can be meshed with the driving wheel or the driving crawler wheel;
under the condition that the spline shaft section is meshed with the driving wheel, the telescopic mechanism can be in a folded state, so that the running wheel set is in contact with the ground;
Under the condition that the spline shaft section is meshed with the driving crawler wheel, the telescopic mechanism can be switched between a folding state and a shrinkage state, so that the wheel-crawler combined obstacle crossing wheelchair can go up and down stairs.
In some embodiments of the invention, the rotational drive means comprises a motor, a drive sprocket, a driven sprocket and a chain;
wherein the motor is arranged on the frame;
the driving chain wheel is fixedly connected with an output shaft of the motor;
the driven sprocket is rotatably connected with the crawler frame, is coaxially arranged with the rotating shaft and can drive the rotating shaft to rotate;
the chain is sleeved on the driving sprocket and the driven sprocket.
In some embodiments of the invention, the crawler belt running device further comprises a fixed block, a tensioning block and an adjusting screw;
wherein the fixed block is fixedly arranged on the crawler frame;
the tensioning block is fixedly arranged on the driven crawler wheel and can drive the driven crawler wheel to move away from the driving crawler wheel;
The adjusting screw is in threaded connection with the fixed block, the end part of the adjusting screw abuts against the tensioning block, and the adjusting screw is used for pushing the tensioning block to move away from the fixed block so as to tension the crawler belt.
In some embodiments of the invention, the wheel-track composite obstacle detouring wheelchair further comprises a first position sensor and a second position sensor;
The first position sensor is arranged on the frame lifting device and used for acquiring the distance between the frame lifting device and an obstacle;
The second position sensor is arranged on the crawler belt running device and used for acquiring the distance between the rear end of the crawler belt running device and the obstacle.
In some embodiments of the invention, the seating arrangement includes a seat disposed on top of the frame and a self-balancing adjustment mechanism disposed on the self-balancing adjustment mechanism for maintaining the seat in a horizontal state.
The track traveling device in the wheel-track combined obstacle crossing wheelchair can drive the wheelchair to move forwards, backwards and turn, can cross obstacles such as grooves and the like, is convenient for a user to travel, and the telescopic mechanism can drive the supporting wheel assembly to move away from the frame to lift the rear end of the track traveling device, so that the rear end of the track traveling device can be placed above a step, the track traveling device and the frame lifting device are mutually matched to integrally place the wheelchair on the step, and then the wheelchair can travel to the top of the stair by virtue of the track traveling device, so that the wheelchair can carry the user to go up and down the stair, and the travel of the old and the disabled is facilitated.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the above-described specific ones, and that the above and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. Corresponding parts in the drawings may be exaggerated, i.e. made larger relative to other parts in an exemplary device actually manufactured according to the present application, for convenience in showing and describing some parts of the present application. In the drawings:
Fig. 1 is a schematic structural view of a wheel-track combined obstacle surmounting wheelchair according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a frame and a frame lifting device in a wheel-track combined obstacle detouring wheelchair according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a crawler traveling device in a wheel-crawler combined obstacle surmounting wheelchair according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of the end portion of the rotating shaft extending out of the driving wheel in the wheel-track combined obstacle detouring wheelchair according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a first stage of steps on a wheel-track composite obstacle detouring wheelchair according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a telescopic mechanism in a wheel-track combined obstacle detouring wheelchair according to an embodiment of the present invention in a contracted state.
Fig. 7 is a schematic structural view of a telescopic mechanism in a wheel-track combined type obstacle detouring wheelchair according to an embodiment of the present invention in an unfolded state.
Fig. 8 is a schematic structural view of a crawler traveling device in a wheel-track combined type obstacle detouring wheelchair according to an embodiment of the present invention, which is completely located on a step.
Fig. 9 is a schematic structural view of a wheel-track combined obstacle detouring wheelchair according to an embodiment of the present invention, in a combined position of a step top and a flat ground.
Reference numeral 1, a frame; 2, a seat device, 21, a seat, 22, a self-balancing adjusting mechanism, 3, a crawler running device, 301, a crawler frame, 302, a driving crawler wheel, 303, a crawler, 304, a rotating shaft, 305, a driving wheel, 306, a driven crawler wheel, 311, a motor, 312, a driving sprocket, 313, a driven sprocket, 314, a chain, 321, a fixed block, 322, a tensioning block, 323, a connecting sleeve, 324, a connecting plate, 4, a rack lifting device, 41, a connecting rod, 42, a supporting wheel, 43, a swinging driving piece, 44, a supporting wheel shaft, 45, a connecting shaft, 51, a first position sensor, 52 and a second position sensor.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. The exemplary embodiments of the present invention and the descriptions thereof are used herein to explain the present invention, but are not intended to limit the invention.
It should be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details not greatly related to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted herein that the term "coupled" may refer to not only a direct connection, but also an indirect connection in which an intermediate is present, unless otherwise specified.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.
In order to solve the technical problem that a wheelchair is difficult to walk in environments such as stairs and the like in the prior art, the wheel-track combined obstacle crossing wheelchair provided by the embodiment of the invention enables the crawler traveling device to jump over obstacles with a certain height in a mode that the crawler traveling device and the frame are lifted by the frame lifting device, so that the wheelchair can carry a user to go up and down stairs, and the travel of the old and the disabled is facilitated.
Referring to fig. 1, an embodiment of the invention provides a wheel-track combined obstacle detouring wheelchair, which comprises a frame 1, a seat device 2, a track running device 3 and a frame lifting device 4. Wherein the seat arrangement 2 is arranged on top of the frame 1 in such a way that the seat arrangement 2 is directed towards the front end of the frame 1. The crawler belt running gear 3 is fixedly arranged at two side positions of the bottom of the frame 1, and the crawler belt running gear 3 can drive the frame 1 to move forwards, backwards and turn. The frame lifting device 4 is arranged at the rear end of the frame 1 and comprises a telescopic mechanism and a supporting wheel assembly, the telescopic mechanism is connected with the frame, and the supporting wheel assembly is rotatably arranged at the bottom of the telescopic mechanism. The bottom of the supporting wheel assembly is not lower than the bottom of the rear end of the crawler traveling device 3 in a contracted state, and the bottom of the supporting wheel assembly is lower than the bottom of the rear end of the crawler traveling device 3 in an expanded state, so that the rear ends of the frame and the crawler traveling device 3 can be lifted up to pass over an obstacle.
In the above embodiment, the crawler belt running device 3 can drive the wheelchair to move forward, backward and turn, and can cross obstacles such as grooves, so that the wheelchair is convenient for a user to go out. The telescopic mechanism can drive the supporting wheel assembly to move close to or far away from the frame 1, when an obstacle higher than the ground needs to be overturned, for example, when a stair climbs, the telescopic mechanism is in an unfolding state, the direction opposite to the face of a user is the front direction, the direction opposite to the back of the user is the back direction, referring to fig. 5, firstly, the supporting wheel assembly is in contact with the ground, the rear end of a wheelchair is lifted away from the ground by a certain height, the height is larger than the height of a first-stage step, referring to fig. 6, secondly, the crawler travel device 3 travels a certain distance in the direction close to the step, the rear end of the crawler travel device 3 is located above the first-stage step, then the telescopic mechanism is switched to a shrinking state, the supporting wheel assembly is retracted, and finally, the crawler travel device 3 travels a certain distance in the direction close to the step until the rear end of the wheelchair is in contact with the vertical face of a second-stage step. Referring to fig. 7 and 8, the steps are reciprocally circulated to fully place the crawler 3 on the steps, and the crawler 3 moves in the direction of the upward steps to transport the wheelchair and the user to the stairs. It should be noted that, referring to fig. 9, when the wheelchair is moved to the flat ground at the top of the stairs, the telescopic mechanism is in an extended state so that the supporting wheel assembly is in contact with the flat ground at the top of the stairs, and the supporting wheel assembly plays a supporting role so that the wheelchair can be smoothly transited from the stairs to the flat ground. The process of going downstairs and the process of going upstairs of the wheelchair are completely opposite, and description is omitted herein, and it is required that users face downstairs directions when going upstairs and downstairs.
In the embodiment, the crawler belt running device 3 can drive the wheelchair to move forwards, backwards and turn around and can cross obstacles such as grooves, so that a user can go out conveniently, the telescopic mechanism can drive the supporting wheel assembly to move away from the frame 1 to lift the rear end of the crawler belt running device 3, the rear end of the crawler belt running device 3 can be placed above a step, the crawler belt running device 3 and the frame lifting device 4 are matched with each other, the wheelchair can be integrally placed on the step and run to the top of the stair, and accordingly the wheelchair can carry the user to go up and down the stair, and travel of the old and the disabled is facilitated. The frame lifting device 4 can also play a role in adjusting the angle of the frame.
In some embodiments, as shown in FIG. 2, the telescoping mechanism includes a link 41 and a swing drive 43. One end of the connecting rod 41 is rotatably connected with the bottom of the frame 1, the rotation axis of the connecting rod is in the horizontal direction, the other end of the connecting rod 41 is rotatably connected or fixedly connected with the supporting wheel assembly, and the hinge shaft of the connecting rod 41 and the frame 1 are parallel to the rotating shaft of the supporting wheel set. One end of the swing driving member 43 is rotatably connected with the middle or top of the rear end of the frame 1, and the other end is rotatably connected with the middle of the connecting rod 41, and the swing driving member 43 is used for driving the connecting rod 41 to swing around the frame 1 in a telescopic manner, so that the height position of the supporting wheel assembly is adjusted.
Referring to fig. 2, a connection shaft 45 is fixedly provided at the bottom of the rear end of the frame 1, the top end of the connection rod 41 is hinged with the connection shaft 45, an L-shaped connection plate is fixedly provided at the middle of the rear end of the frame 1, the top end of the swing driving member 43 is hinged with the L-shaped connection plate, and the bottom end of the swing driving member 43 is hinged with the middle of the connection rod 41 through a hinge seat. When the swing driving piece 43 is extended, the connecting rod 41 can be driven to rotate clockwise for a certain angle, the supporting wheel group at the bottom of the connecting rod 41 is contacted with the ground to lift the rear end of the frame 1, when the swing driving piece 43 is shortened, the connecting rod 41 can be driven to rotate anticlockwise for a certain angle, the supporting wheel group at the bottom of the connecting rod 41 is not contacted with the ground any more and is in a suspended state, so that the rear end of the frame 1 is put down, and the crawler running device 3 is contacted with the ground or an obstacle.
The frame lifting device 4 is only arranged at the rear end of the frame 1, so that the whole structure of the wheelchair is compact, the frame lifting device 4 can enable the crawler travel device 3 to jump over an obstacle with a certain height by lifting the rear end of the crawler travel device 3, and the wheelchair is simple in structure and easy to operate, and can achieve the effect of going up and down stairs. The crawler running device in the prior art has a complex structure, the auxiliary crawler system with a guide wheel train or an inclined arrangement can finish the action of ascending the steps, and the crawler running device 3 of the embodiment has a simple and reliable structure and can finish the action of ascending the steps by being matched with the frame lifting device 4.
In some embodiments, the swing driver 43 includes any one of an electric push rod, a cylinder, and a hydraulic cylinder.
The telescopic mechanism includes one or two sets of links 41 and a swing drive 43, as will be described in detail below.
In one embodiment, the connecting rod 41 and the swing driving member 43 are provided with a group, which is located at the middle position in the width direction of the frame, so that the supporting force obtained by the frame 1 can be uniformly distributed, the frame 1 is prevented from being skewed, and the arrangement can save materials and reduce cost.
In another embodiment, the connecting rods 41 and the swinging driving members 43 are arranged symmetrically or are positioned at two sides of the frame in the width direction, and referring to fig. 2, alternatively, the two groups of connecting rods 41 and the swinging driving members 43 are symmetrically arranged at two sides of the frame 1, so that the frame 1 can obtain a larger supporting force, and the lifting effect is good.
The support wheel assembly includes one or two support wheels 42, as described in detail below.
In a specific embodiment, in the case that one supporting wheel 42 is provided, the supporting wheel 42 is rotatably provided on the stub shaft, and the telescopic mechanism is rotatably connected with the stub shaft, so that the material can be saved and the cost can be reduced.
In another embodiment, where two support wheels 42 are provided, the two support wheels 42 are rotatably provided on the support axle 44, and the telescopic mechanism is rotatably connected to the support axle 44. The two support wheels 42 can provide enough support force, so that the load of a single support wheel 42 can be reduced, and the service life of the support wheel 42 can be prolonged.
In some embodiments, as shown in fig. 3 and 4, the crawler travel device 3 includes a crawler frame 301, a driving crawler wheel 302, a driven crawler wheel 306, a crawler 303, a rotation shaft 304, and a rotation driving device. The crawler belt frame 301 is arranged at the bottom of the machine frame 1 and extends along the length direction of the machine frame 1, the driving crawler belt wheel 302 and the driven crawler belt wheel 306 are respectively connected with two ends of the crawler belt frame 301 in a rotating mode, the crawler belt frame 301 plays a role of the driving crawler belt wheel 302 and the driven crawler belt wheel 306, the supporting crawler belt 303 is sleeved on the driving crawler belt wheel 302 and the driven crawler belt wheel 306, the rotating shaft 304 is arranged in the middle of the driving crawler belt wheel 302 in a penetrating mode, the rotating shaft 304 can drive the driving crawler belt wheel 302 to rotate, the rotating driving device is arranged on the machine frame 1, and the rotating driving device is connected with the rotating shaft 304 to drive the rotating shaft 304 to rotate. A connecting sleeve 323 and a connecting plate 324 are fixedly arranged in the middle of the crawler frame 301 close to one side of the frame, the connecting sleeve 323 is fixedly connected with the connecting shaft 45, and the connecting plate 324 is fixedly connected with the shell of the motor 311.
In the above embodiment, the rotation driving device transmits power to the rotation shaft 304, the rotation shaft 304 drives the driving crawler wheel 302 to rotate, the driving crawler wheel 302 further drives the driven crawler wheel 306 to rotate through the crawler 303, and the bottom of the crawler 303 contacts with the ground or the obstacle, so that the wheelchair can pass on the flat ground or the road surface with the obstacle. The crawler belt of the embodiment has simple and compact structure, safe and reliable operation and difficult damage, and can jump over obstacles when being matched with the frame lifting device 4.
In some embodiments, the wheel-track composite obstacle detouring wheelchair further comprises a drive wheel set comprising two symmetrically arranged drive wheels 305, the drive wheels 305 and the support wheels 42 acting as running wheel sets for the wheelchair. The wheel-track combined type obstacle crossing wheelchair of the embodiment can walk on the flat ground through the traveling wheel sets, can walk in environments such as stairs and the like through the tracks, can be better adapted to the use environment in the use process, reduces the energy consumption of the wheelchair, improves the cruising journey, and increases the practicability of the wheelchair.
The diameter size of the driving wheel 305 in the above embodiment is larger than the height size of the crawler 303, the driving wheel 305 is coaxially arranged with the driving crawler wheel 302 and rotatably connected with the crawler frame 301, the rotating shaft 304 is arranged in the middle of the driving wheel 305 in a penetrating way, and the bottom of the driving wheel 305 is contacted with the ground, so that the front end of the crawler is in a ground-leaving state, and the abrasion of the crawler can be reduced.
The rotating shaft 304 is provided with a conversion structure for converting the power transmitted by the rotating shaft 304 between the driving wheel 305 and the driving crawler wheel 302, the conversion structure comprises a spline shaft section arranged on the rotating shaft 304, the rotating shaft 304 can slide along the axis of the rotating shaft, and the spline shaft section can be meshed with the driving wheel 305 or the driving crawler wheel 302. Under the condition that the spline shaft section is meshed with the driving wheel 305, the telescopic mechanism can be in a folded state so that the running wheel group is contacted with the ground, and under the condition that the spline shaft section is meshed with the driving crawler wheel 302, the telescopic mechanism can be switched between the folded state and the contracted state so that the wheel-crawler combined type obstacle crossing wheelchair can go up and down stairs. The rotating shaft 304 can be driven by telescopic structures such as an air cylinder, so that the sliding motion of the rotating shaft along the axis of the rotating shaft is realized, and the degree of automation is improved.
Referring to fig. 3 and 4, the rotating shaft 304 can slide along its own axis, and when the end of the rotating shaft 304 protrudes from the driving wheel 305, the spline shaft section is separated from the driving wheel 305 and engaged with the driving track wheel 302, in which state the crawler traveling device 3 obtains power to go up and down stairs or go over obstacles such as grooves, and when the end of the rotating shaft 304 is flush with the outside of the driving wheel 305, the spline shaft section is engaged with the driving wheel 305 and separated from the driving track wheel 302, in which state the driving wheel set obtains power, and at the same time, the supporting wheel 42 can be contacted with the ground and the rear end of the crawler can be lifted up, so that the wheelchair can travel rapidly on the flat ground.
The wheelchair in the above embodiment has two sets of running systems of running wheel sets and crawler running devices 3, the running wheel sets and the crawler running devices in the prior art are respectively provided with power devices and work independently, the running wheel sets are used for walking on level ground, and the crawler running devices are used for going up and down stairs. The running wheel group and the crawler running device 3 share the power driving device, the power is switched through the rotating shaft 304, the whole wheelchair is compact in structure, the switching process is convenient and quick, the wheelchair with the crawler running device 3 with a simple structure can achieve the effect of going upstairs and downstairs through the cooperation of the supporting wheels and the crawler running device 3, the load borne by the crawler running device 3 for climbing the step elevation is reduced, the service life of the crawler is prolonged, and the wheelchair energy consumption is reduced to promote the cruising journey. The driving wheels 305 in the driving wheel group are always in contact with the ground, so that the function of supporting the whole wheelchair is achieved, and vibration in the switching process of the driving wheel group and the crawler belt running device 3 can be reduced compared with the prior art, so that the stability of the switching process is improved.
In some embodiments, the rotational drive means comprises a motor 311 (a built-in reducer), a drive sprocket 312, a driven sprocket 313 and a chain 314. Wherein, the motor 311 is arranged on the frame 1, the driving sprocket 312 is fixedly connected with the output shaft of the motor 311, the driven sprocket 313 is rotatably connected with the track frame 301, the driven sprocket 313 is coaxially arranged with the rotating shaft 304 and can drive the rotating shaft 304 to rotate, and the chain 314 is sleeved on the driving sprocket 312 and the driven sprocket 313.
In the above embodiment, the motor 311 drives the driving sprocket 312 to rotate, and the power is transmitted to the driven sprocket 313 through the chain 314, so that the driven sprocket 313 and the rotating shaft 304 can be connected in a spline manner, so that the power can be transmitted, and the rotating shaft 304 can slide axially relative to the driven sprocket 313.
In some embodiments, crawler 3 further comprises a fixed block 321, a tensioning block 322, and an adjustment screw. Wherein, fixed block 321 is fixed to be set up on track frame 301, tensioning piece 322 is fixed to be set up on driven track wheel 306 and can drive driven track wheel 306 and keep away from the motion of initiative track wheel 302, adjusting screw and fixed block 321 threaded connection and adjusting screw's tip offset with tensioning piece 322, adjusting screw is used for promoting tensioning piece 322 and keeps away from fixed block 321 motion in order to tighten track 303.
Referring to fig. 3, the position of the driven track wheel 306 is adjustable relative to the track frame 301, the track may loosen over time, and the tensioning block 322 may be moved away from the driving track wheel 302 by rotating the adjusting screw to push the tensioning block 322, thereby tensioning the track 303.
In some embodiments, the track-wheel composite obstacle detouring wheelchair further comprises a first position sensor 51 and a second position sensor 52. The first position sensor 51 is arranged on the frame lifting device 4 and used for acquiring the distance between the frame lifting device 4 and an obstacle, and the second position sensor 52 is arranged on the crawler running device 3 and used for acquiring the distance between the rear end of the crawler running device 3 and the obstacle. For example, the first position sensor 51 and the second position sensor 52 may be contact switches, and when the contact switches contact the elevation of the step, that is, the crawler 3 or the frame lifting device 4 and the obstacle reach a preset safety distance, the frame lifting device 4 can be controlled to act. Specifically, after the contact switch on the crawler belt running device 3 is contacted with the step elevation, the frame lifting device 4 lifts the rear end of the frame, and after the contact switch on the frame lifting device 4 is contacted with the step elevation, the frame lifting device 4 is retracted, so that the bottom of the supporting wheel 42 is higher than the bottom of the crawler belt running device 3. Besides, besides the contact type sensors, the first position sensor 51 and the second position sensor 52 can also select non-contact type sensors, such as ultrasonic sensors, infrared sensors, photoelectric sensors or image collectors, etc., to monitor the distance, so as to realize the lifting and lowering actions at the preset distance, and the device is suitable for climbing more types of step heights and different obstacles.
In some embodiments, the seat device 2 includes a seat 21 and a self-balancing adjustment mechanism 22, the self-balancing adjustment mechanism 22 is disposed on the top of the frame 1, the seat 21 is disposed on the self-balancing adjustment mechanism 22, a gyroscope can be disposed in the self-balancing adjustment mechanism 22, and when the seat 21 is tilted, the self-balancing adjustment mechanism 22 can adjust the angle of the seat 21 according to the gyroscope signal, so as to achieve the self-balancing effect. The self-balancing adjustment mechanism 22 is not described herein in detail in the prior art, and the self-balancing adjustment mechanism 22 is used for keeping the seat 21 in a horizontal state, and the frame is in an inclined state during the process of going up and down stairs, and the self-balancing adjustment mechanism 22 enables the seat device 2 to be in a horizontal state, so that a user is in a comfortable sitting position and stabilizes the gravity center of the wheelchair.
The wheel-track combined obstacle surmounting wheelchair provided by the embodiment of the invention has the following advantages and technical effects:
the obstacle surmounting wheelchair can widen the activity space of the old and the disabled, so that the wheelchair can be better integrated into society, and is beneficial to improving the psychological health and the quality of life of the old and the disabled.
The obstacle crossing wheelchair can be carried on a user to realize the function of climbing stairs and crossing an obstacle, and maintain the stable gravity center in the obstacle crossing process. The wheel-track combined running structure is adopted, so that the wheelchair can not only walk on the flat ground by utilizing the wheel sets, but also walk in the stair and other environments by utilizing the tracks, and the two modes can enable the wheelchair to be better adapted to the use environment in the use process, and meanwhile, the energy consumption of the wheelchair is reduced, the cruising journey is promoted, and the practicability of the wheelchair is increased.
It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. The method processes of the present invention are not limited to the specific steps described and shown, but various changes, modifications and additions, or the order between steps may be made by those skilled in the art after appreciating the spirit of the present invention.
In this disclosure, features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations can be made to the embodiments of the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The wheel-track combined type obstacle crossing wheelchair is characterized by comprising a frame (1), a seat device (2), a track running device (3) and a frame lifting device (4);
Wherein the seat device (2) is arranged on top of the frame (1) in such a direction that the seat device (2) is directed towards the front end of the frame (1);
The crawler traveling devices (3) are fixedly arranged at two sides of the bottom of the frame (1), and the crawler traveling devices (3) can drive the frame (1) to move forwards, backwards and turn;
The frame lifting device (4) is arranged at the rear end of the frame (1) and comprises a telescopic mechanism and a supporting wheel assembly, the telescopic mechanism is connected with the frame, and the supporting wheel assembly is rotatably arranged at the bottom of the telescopic mechanism;
The bottom of the supporting wheel assembly is not lower than the bottom of the rear end of the crawler belt running device (3) when the telescopic mechanism is in a contracted state;
the telescopic mechanism is in an unfolding state, the bottom of the supporting wheel assembly is lower than the bottom of the rear end of the crawler belt running device (3), and the telescopic mechanism is used for lifting the rear ends of the frame and the crawler belt running device (3) so that the telescopic mechanism can cross an obstacle.
2. The wheel-track composite obstacle detouring wheelchair according to claim 1, characterised in that the telescopic mechanism comprises a link (41) and a swinging drive (43);
One end of the connecting rod (41) is rotatably connected with the bottom of the frame (1), the rotation axis of the connecting rod is in the horizontal direction, the other end of the connecting rod is rotatably connected or fixedly connected with the supporting wheel assembly, and the hinge shaft of the connecting rod (41) and the frame (1) is parallel to the rotating shaft of the supporting wheel set;
one end of the swing driving piece (43) is rotatably connected with the middle part or the top of the rear end of the frame (1), the other end of the swing driving piece is rotatably connected with the middle part of the connecting rod (41), and the swing driving piece (43) is used for driving the connecting rod (41) to swing around the frame (1) in a telescopic mode so as to adjust the height position of the supporting wheel assembly.
3. The wheel-track composite obstacle detouring wheelchair according to claim 2, characterized in that the swinging drive (43) comprises any one of an electric push rod, a cylinder and a hydraulic cylinder.
4. The wheel-track combined type obstacle detouring wheelchair according to claim 2, characterized in that the telescopic mechanism comprises one or two groups of connecting rods (41) and swinging driving members (43), which are located at the middle position in the width direction of the frame in the case that one group of connecting rods (41) and swinging driving members (43) is provided, which are symmetrically arranged or located at the two side positions in the width direction of the frame in the case that two groups of connecting rods (41) and swinging driving members (43) are provided;
The support wheel assembly comprises one or two support wheels (42), the support wheels (42) are rotatably arranged on a short shaft under the condition that one support wheel (42) is arranged, the telescopic mechanism is rotatably connected with the short shaft, the two support wheels (42) are rotatably arranged on a support wheel shaft (44) under the condition that two support wheels (42) are arranged, and the telescopic mechanism is rotatably connected with the support wheel shaft (44).
5. The wheel-track composite obstacle detouring wheelchair according to claim 4, characterized in that the track running means (3) comprises a track frame (301), a driving track wheel (302), a driven track wheel (306), a track (303), a rotating shaft (304) and a rotation driving means;
the crawler frame (301) is arranged at the bottom of the frame (1) and extends along the length direction of the frame (1);
The driving crawler wheel (302) and the driven crawler wheel (306) are respectively connected with the two ends of the crawler frame (301) in a rotating way, and the crawler (303) is sleeved on the driving crawler wheel (302) and the driven crawler wheel (306);
The rotating shaft (304) is arranged in the middle of the driving crawler wheel (302) in a penetrating way, and the rotating shaft (304) can drive the driving crawler wheel (302) to rotate;
the rotating driving device is arranged on the frame (1), and is connected with the rotating shaft (304) to drive the rotating shaft (304) to rotate.
6. The wheel-track composite obstacle detouring wheelchair according to claim 5, further comprising a drive wheel set comprising two symmetrically arranged drive wheels (305), the drive wheels (305) and the support wheels (42) serving as running wheel sets for the wheelchair;
The diameter size of the driving wheel (305) is larger than the height size of the crawler belt (303), the driving wheel (305) is coaxially arranged with the driving crawler wheel (302) and is rotatably connected with the crawler belt frame (301), and the rotating shaft (304) is arranged in the middle of the driving wheel (305) in a penetrating way;
The rotating shaft (304) is provided with a conversion structure for converting power transmitted by the rotating shaft (304) between the driving wheel (305) and the driving crawler wheel (302), the conversion structure comprises a spline shaft section arranged on the rotating shaft (304), the rotating shaft (304) can slide along the axis of the rotating shaft, and the spline shaft section can be meshed with the driving wheel (305) or the driving crawler wheel (302);
The telescopic mechanism can be in a folded state under the condition that the spline shaft section is meshed with the driving wheel (305) so that the running wheel group is contacted with the ground;
Under the condition that the spline shaft section is meshed with the driving crawler wheel (302), the telescopic mechanism can be switched between a folded state and a contracted state, so that the wheel-crawler combined obstacle-surmounting wheelchair can go up and down stairs.
7. The wheel-track composite obstacle detouring wheelchair according to claim 5, characterized in that the rotational drive means comprises a motor (311), a driving sprocket (312), a driven sprocket (313) and a chain (314);
wherein the motor (311) is arranged on the frame (1);
the driving chain wheel (312) is fixedly connected with an output shaft of the motor (311);
the driven sprocket (313) is rotatably connected with the crawler frame (301), and the driven sprocket (313) and the rotating shaft (304) are coaxially arranged and can drive the rotating shaft (304) to rotate;
The chain (314) is sleeved on the driving sprocket (312) and the driven sprocket (313).
8. The wheel-track composite obstacle detouring wheelchair according to claim 5, characterized in that the crawler travel means (3) further comprises a fixed block (321), a tensioning block (322) and an adjusting screw;
wherein the fixed block (321) is fixedly arranged on the crawler frame (301);
The tensioning block (322) is fixedly arranged on the driven crawler wheel (306) and can drive the driven crawler wheel (306) to move away from the driving crawler wheel (302);
The adjusting screw is in threaded connection with the fixed block (321) and the end part of the adjusting screw abuts against the tensioning block (322), and the adjusting screw is used for pushing the tensioning block (322) to move away from the fixed block (321) so as to tension the crawler belt (303).
9. The wheel-track composite obstacle detouring wheelchair according to claim 1, further comprising a first position sensor (51) and a second position sensor (52);
The first position sensor (51) is arranged on the frame lifting device (4) and is used for acquiring the distance between the frame lifting device (4) and an obstacle;
the second position sensor (52) is arranged on the crawler belt running device (3) and is used for acquiring the distance between the rear end of the crawler belt running device (3) and an obstacle.
10. The wheel-track combined obstacle detouring wheelchair according to claim 1, characterized in that the seat arrangement (2) comprises a seat (21) and a self-balancing adjustment mechanism (22), the self-balancing adjustment mechanism (22) being arranged on top of the frame (1), the seat (21) being arranged on the self-balancing adjustment mechanism (22), the self-balancing adjustment mechanism (22) being arranged to keep the seat (21) in a horizontal state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411593667.7A CN119344965B (en) | 2024-11-08 | 2024-11-08 | A wheel-track composite obstacle-crossing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411593667.7A CN119344965B (en) | 2024-11-08 | 2024-11-08 | A wheel-track composite obstacle-crossing wheelchair |
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| CN119344965A true CN119344965A (en) | 2025-01-24 |
| CN119344965B CN119344965B (en) | 2025-10-10 |
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| CN202411593667.7A Active CN119344965B (en) | 2024-11-08 | 2024-11-08 | A wheel-track composite obstacle-crossing wheelchair |
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| CN119344965B (en) | 2025-10-10 |
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