CN101919767A - Field ambulance with stretcher capable of self-balancing in all directions - Google Patents
Field ambulance with stretcher capable of self-balancing in all directions Download PDFInfo
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- CN101919767A CN101919767A CN 201010271876 CN201010271876A CN101919767A CN 101919767 A CN101919767 A CN 101919767A CN 201010271876 CN201010271876 CN 201010271876 CN 201010271876 A CN201010271876 A CN 201010271876A CN 101919767 A CN101919767 A CN 101919767A
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- stretcher
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- right sides
- posterior balance
- balancing
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Abstract
The invention relates to a field ambulance with a stretcher capable of self-balancing in all directions, which comprises a chassis frame, a traveling mechanism, a stretcher, a left and right balance mechanism, a front and back balance mechanism and an inductor for detecting the current inclination angle, wherein the signal output end of the inductor is respectively connected electrically with a left and right balance motor and a front and back balance motor, and the inductor is arranged on the chassis frame. In the invention, the inductor is used for detecting the inclination condition of an ambulance body, and then, the left and right balance mechanism or/and the front and back balance mechanism are used for adjusting the ambulance body to enable the stretcher to be always in a horizontal state to ensure that the wounded person can not be injured again. Simultaneously, the ambulance of the invention is driven by a driving device, the running speed is higher, and the wounded person can be transported to the treatment site as soon as possible so that the wounded person can be effectively treated as soon as possible.
Description
Technical field
The present invention relates to the ambulance technical field, relate in particular to field ambulance with stretcher capable of self-balancing in all directions.
Background technology
At present, in disaster relief process, how to transport the wounded, generally need two people's cooperations just can lift the wounded with easy stretcher.Because road after the calamity and building all are subjected to serious destruction, ambulance can't arrive the injured place of the wounded, and people need lift to the ambulance location with the wounded with stretcher could implement to give first aid to or send to hospital rescue then and there.But, the wounded are normally distant from the location that ambulance can arrive injuredly, it is slow that people transport wounded's speed with stretcher, the wounded can not be treated timely and effectively, in addition, because road unevenness, people are transporting with stretcher in the wounded's the process, stretcher can before and after or about jolt, can aggravate the wounded's misery like this, even the wounded are caused secondary injury, unfavorable to follow-up treatment.
Summary of the invention
The objective of the invention is to provides field ambulance with stretcher capable of self-balancing in all directions at the deficiencies in the prior art, and the present invention realizes the equilibrated automatic adjusting in all around by induction apparatus, left and right sides balanced controls and anterior-posterior balance mechanism.
For achieving the above object, the present invention is achieved by the following technical solutions: field ambulance with stretcher capable of self-balancing in all directions, comprise sole, walking mechanism and stretcher, also comprise left and right sides balanced controls and anterior-posterior balance mechanism, described left and right sides balanced controls comprise left and right sides balance plate, left and right sides balance motor and left and right sides balance change speed gear box, the output shaft of described left and right sides balance motor is connected with the input of described left and right sides balance change speed gear box, described left and right sides balance plate is provided with arcual first dowel, the middle part of first dowel is provided with first axle sleeve, the axis of described first axle sleeve is vertical with described first dowel, the output shaft of described first axle sleeve and described left and right sides balance change speed gear box closely cooperates, and described left and right sides balance motor is fixed in described sole;
Described anterior-posterior balance mechanism comprises anterior-posterior balance plate, anterior-posterior balance motor and anterior-posterior balance change speed gear box, the output shaft of described anterior-posterior balance motor is connected with the input of described anterior-posterior balance change speed gear box, described anterior-posterior balance plate is provided with arcual second dowel, the middle part of second dowel is provided with second axle sleeve, the axis of described second axle sleeve is vertical with described second dowel, the output shaft of described second axle sleeve and described anterior-posterior balance change speed gear box closely cooperates, and described anterior-posterior balance motor is fixed in described left and right sides balance plate;
Described stretcher is arranged at described anterior-posterior balance plate;
Further comprise the induction apparatus that is used to detect current angle of inclination, induction apparatus is arranged at sole, and the signal output part of described induction apparatus is electrically connected with left and right sides balance motor and anterior-posterior balance motor respectively, and described induction apparatus is arranged at sole.
Described walking mechanism comprises front truck wheels, rear wheel group and drive system, and the front truck wheels comprise two front vehicle wheels, and two front vehicle wheels connect by power transmission shaft, and the rear wheel group comprises two rear wheels, is provided with rear connecting frame, and two rear wheels connect by rear connecting frame; Described drive system comprises driving device, drivewheel, driven pulley and driving-chain, described drivewheel is coaxially installed on the output shaft of described driving device, described driven pulley is coaxially installed on described power transmission shaft, and described drivewheel is connected by described driving-chain with described driven pulley.
Described drivewheel and described driven pulley are the linked transmission wheel, and described driving-chain is the linked transmission chain.
Be provided with steering, described steering comprises steer motor, turns to drivewheel, turns to driven pulley, steering spindle, steering wheel, first connecting rod, second connecting rod, first bogie and second bogie, the described output shaft that turns to drivewheel to be coaxially installed on described steer motor, the described driven pulley that turns to is coaxially installed on described steering spindle, and described drivewheel and the described driven pulley that turns to of turning to meshes; Described first bogie and described second bogie are movably installed in described rear connecting frame respectively, and the wheel shaft of described two rear wheels is connected with described second bogie with described first bogie respectively; Described steering wheel is fixed in the bottom of described steering spindle, and described first bogie is connected with described steering wheel with described second connecting rod by described first connecting rod respectively with described second bogie.
Be provided with suspension and preceding link, described preceding link is connected with the two ends of described suspension respectively with described rear connecting frame.
Damping spring and preceding decoupling rod before described sole is provided with, an end of decoupling rod is connected with described suspension before described, the other end is connected with described preceding link, damping spring is socketed on described preceding decoupling rod before described, before described end of damping spring and described suspension against, decoupling rod is provided with limited step before described, described before the other end of damping spring and described limited step against.
Described sole is provided with the back damping device, described back damping device comprises back damping spring and back decoupling rod, one end of described back decoupling rod is connected with described suspension, the other end of described back decoupling rod is connected with described rear connecting frame, back damping spring is socketed on described back decoupling rod, one end of described back damping spring is connected with described suspension, and described back decoupling rod is provided with limited step, the limited step of the other end of described damping spring afterwards and described decoupling rod afterwards against.
The upper surface of described anterior-posterior balance plate is provided with two chutes, and the wherein both sides of an end of described stretcher are respectively arranged with roller, and the both sides of the other end of described stretcher are respectively arranged with locating rod, and the roller of described stretcher both sides is arranged at described two chutes respectively; The both sides of described anterior-posterior balance plate are provided with and are used for locking device, and when described stretcher was fixed in described anterior-posterior balance plate, described locking device locked described locating rod, and when described stretcher need take off, described locking device was untied the locking of described locating rod.
Described locating rod is provided with locating hole, and described locking device comprises lock body and dead bolt, and when described stretcher was fixed in described anterior-posterior balance plate, described dead bolt stretched in the described locating hole, and when described stretcher need take off, described dead bolt withdrawed from described locating hole.
Described chute one end is provided with back-moving spring, and an end of described back-moving spring is fixed in the end of described chute, and when described stretcher was fixed in described anterior-posterior balance plate, the other end of described back-moving spring was resisted against described roller.
Beneficial effect of the present invention: the present invention adopts induction apparatus to detect the inclination situation of car body, pass through left and right sides balanced controls again or/and anterior-posterior balance institutional adjustment car body, make stretcher remain horizontal state, guarantee that the wounded can not be subjected to the secondary injury, simultaneously, the present invention adopts driving device to drive, and the speed of service is very fast, can as early as possible the wounded be transported to the treatment site, the wounded are obtained the effective treatment as early as possible.
Description of drawings
Fig. 1 is the structural representation of master's apparent direction of the present invention.
Fig. 2 is the structural representation of apparent direction behind the present invention.
Fig. 3 is a perspective view of the present invention.
Fig. 4 is the perspective view of other direction of the present invention.
Fig. 5 is the decomposing schematic representation of stretcher of the present invention and anterior-posterior balance board connecting structure.
In Fig. 1 to Fig. 5, include:
1---sole
21---the front truck wheels
211---front vehicle wheel
22---the rear wheel group
221---rear wheel
23---drive system
231---driving device
232---drivewheel
233---driven pulley
234---driving-chain
3---stretcher
4---left and right sides balanced controls
41---left and right sides balance plate
42---left and right sides balance motor
43---left and right sides balance change speed gear box
44---first dowel
45---first axle sleeve
5---anterior-posterior balance mechanism
51---the anterior-posterior balance plate
52---the anterior-posterior balance motor
53---the anterior-posterior balance change speed gear box
54---second dowel
55---second axle sleeve
6---induction apparatus
7---power transmission shaft
8---rear connecting frame
91---steer motor
92---steering spindle
93---steering wheel
94---first connecting rod
95---second connecting rod
10---suspension
11---preceding link
12---preceding damping spring
13---preceding decoupling rod
14---the back damping spring
15---the back decoupling rod
16---roller
17---locating rod
171---locating hole
20---locking device
201---lock body
202---dead bolt
30---back-moving spring
40---drip stand
50---medical box
60---oxygen cylinder.
The specific embodiment
The present invention is described further below in conjunction with accompanying drawing.
See Fig. 1 to Fig. 5, field ambulance with stretcher capable of self-balancing in all directions, comprise sole 1, walking mechanism and stretcher 3, also comprise left and right sides balanced controls 4 and anterior-posterior balance mechanism 5, left and right sides balanced controls 4 left and right sides balance plates 41, left and right sides balance motor 42 and left and right sides balance change speed gear box 43, the output shaft of left and right sides balance motor 42 is connected with the input of left and right sides balance change speed gear box 43, left and right sides balance plate 41 is provided with arcual first dowel 44, the middle part of first dowel 44 is provided with first axle sleeve 45, first axle sleeve 45 closely cooperates with the output shaft of left and right sides balance change speed gear box 43, and left and right sides balance motor 42 is fixed in sole 1;
Anterior-posterior balance mechanism 5 comprises anterior-posterior balance plate 51, anterior-posterior balance motor 52 and anterior-posterior balance change speed gear box 53, the output shaft of anterior-posterior balance motor 52 is connected with the input of, anterior-posterior balance change speed gear box 53, anterior-posterior balance plate 51 is provided with arcual second dowel 54, the middle part of second dowel 54 is provided with second axle sleeve 55, second axle sleeve 55 closely cooperates with the output shaft of anterior-posterior balance change speed gear box 53, and anterior-posterior balance motor 53 is fixed in left and right sides balance plate 41;
Further comprise the induction apparatus 6 that is used to detect current angle of inclination, induction apparatus 6 is arranged at sole 1, and the signal output part of induction apparatus 6 is electrically connected with left and right sides balance motor 42 and anterior-posterior balance motor 52 respectively, and induction apparatus 6 is arranged at sole 1.
When induction apparatus 6 is sensed sole 1 and is tilted to the left or to the right, induction apparatus 6 balance motor 42 to the left and right provides correction signal, left and right sides balance motor 42 is by after balance change speed gear box 43 speed changes of the left and right sides, driving first axle sleeve 45 again rotates, first axle sleeve 45 drives left and right sides balance plate 41 pendulum to the left or to the right by first dowel 44 again, makes left and right sides balance plate 41 remain on horizontal level; In like manner, when induction apparatus 6 was sensed sole 1 and tilted forward or backward, induction apparatus 6 balance motor 52 forwards, backwards provided correction signal, and anterior-posterior balance motor 52 drives anterior-posterior balance plates 51 and adjusts forward and backward position, makes anterior-posterior balance plate 51 remain on horizontal level; Therefore, the present invention realizes the equilibrated automatic adjusting in all around by induction apparatus 6, left and right sides balanced controls 4 and anterior-posterior balance mechanism 5.
Walking mechanism comprises front truck wheels 21, rear wheel group 22 and drive system 23, front truck wheels 21 comprise two front vehicle wheels 211, two front vehicle wheels 211 connect by power transmission shaft 7, rear wheel group 22 comprises two rear wheels 221, being provided with 8, two rear wheels of rear connecting frame 221 connects by rear connecting frame 8; Drive system 23 comprises driving device 231, drivewheel 232, driven pulley 233 and driving-chain 234, drivewheel 232 is coaxially installed on the output shaft of driving device 231, driven pulley 233 is coaxially installed on power transmission shaft 7, and drivewheel 232 is connected by driving-chain 234 with driven pulley 233.
The present invention is provided with steering, steering comprises steer motor 91, turns to drivewheel, turns to driven pulley, steering spindle 92, steering wheel 93, first connecting rod 94, second connecting rod 95, first bogie and second bogie, turn to drivewheel to be coaxially installed on the output shaft of steer motor 91, turn to driven pulley to be coaxially installed on steering spindle 92, turn to drivewheel and turn to the driven pulley engagement; The wheel shaft that first bogie and second bogie are movably installed in 8, two rear wheels 221 of rear connecting frame respectively is connected with second bogie with first bogie respectively; Steering wheel 93 is fixed in the bottom of steering spindle 92, and first bogie is connected with steering wheel 93 with second connecting rod 95 by first connecting rod 94 respectively with second bogie.
The present invention is provided with suspension 10 and preceding link 11, and preceding link 11 is connected with the two ends of suspension 10 respectively with rear connecting frame 8.
Damping spring 12 and preceding decoupling rod 13 before sole 1 is provided with, one end of preceding decoupling rod 13 is connected with suspension 10, the other end is connected with preceding link 11, decoupling rod 13 before preceding damping spring 12 is socketed on, before an end of damping spring 12 and suspension 10 against, before decoupling rod 13 be provided with limited step, the other end of preceding damping spring 12 and limited step against.
Sole 1 is provided with the back damping device, as shown in Figure 3, back damping device is provided with two covers, back damping device comprises back damping spring 14 and back decoupling rod 15, and an end of back decoupling rod 15 is connected with suspension 10, and the other end of back decoupling rod 10 is connected with rear connecting frame 8, back damping spring 14 is socketed on back decoupling rod 15, one end of back damping spring 14 is connected with suspension 10, and back decoupling rod 15 is provided with limited step, the other end of back damping spring 14 with the back decoupling rod 15 limited step against.
The upper surface of anterior-posterior balance plate 51 is provided with two chutes 511, and the wherein both sides of an end of stretcher 3 are respectively arranged with roller 16, and the both sides of the other end of stretcher 3 are respectively arranged with locating rod 17, and the roller 16 of stretcher 3 both sides is arranged at two chutes 511 respectively; The both sides of anterior-posterior balance plate 51 are provided with and are used for locking device 20, when stretcher 3 is fixed in anterior-posterior balance plate 51, and locking device 20 lock in place bars 17, when stretcher 3 need take off, locking device 20 was untied the locking of locating rod 17.
Locating rod 17 is provided with locating hole 171, locking device 20 comprises lock body 201 and dead bolt 202, when stretcher 3 is fixed in anterior-posterior balance plate 51, dead bolt 202 stretches in the locating hole 171, and at this moment, stretcher 3 is fixed in anterior-posterior balance plate 51, when stretcher 3 need take off, dead bolt 202 withdraws from locating hole 171, and at this moment, stretcher 3 can take off.
For the needs of medical treatment, medical auxiliary equipments such as drip stand 40, medical box 50, oxygen cylinder 60 can also be set, as shown in the figure, drip stand 40 is fixed in stretcher 3, and medical box 5 is fixed in sole 1, and oxygen cylinder 60 is fixed in left and right sides balance plate 41.
Should be noted that at last; above embodiment is only in order to illustrate technical scheme of the present invention but not limiting the scope of the invention; although the present invention has been done detailed description with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the essence and the scope of technical solution of the present invention.
Claims (10)
1. field ambulance with stretcher capable of self-balancing in all directions, comprise sole, walking mechanism and stretcher, it is characterized in that: also comprise left and right sides balanced controls and anterior-posterior balance mechanism, described left and right sides balanced controls comprise left and right sides balance plate, left and right sides balance motor and left and right sides balance change speed gear box, the output shaft of described left and right sides balance motor is connected with the input of described left and right sides balance change speed gear box, described left and right sides balance plate is provided with arcual first dowel, the middle part of first dowel is provided with first axle sleeve, the axis of described first axle sleeve is vertical with described first dowel, the output shaft of described first axle sleeve and described left and right sides balance change speed gear box closely cooperates, and described left and right sides balance motor is fixed in described sole;
Described anterior-posterior balance mechanism comprises anterior-posterior balance plate, anterior-posterior balance motor and anterior-posterior balance change speed gear box, the output shaft of described anterior-posterior balance motor is connected with the input of described anterior-posterior balance change speed gear box, described anterior-posterior balance plate is provided with arcual second dowel, the middle part of second dowel is provided with second axle sleeve, the axis of described second axle sleeve is vertical with described second dowel, the output shaft of described second axle sleeve and described anterior-posterior balance change speed gear box closely cooperates, and described anterior-posterior balance motor is fixed in described left and right sides balance plate;
Described stretcher is arranged at described anterior-posterior balance plate;
Further comprise the induction apparatus that is used to detect current angle of inclination, described induction apparatus is arranged at sole, and the signal output part of described induction apparatus is electrically connected with left and right sides balance motor and anterior-posterior balance motor respectively, and described induction apparatus is arranged at sole.
2. field ambulance with stretcher capable of self-balancing in all directions according to claim 1, it is characterized in that: described walking mechanism comprises front truck wheels, rear wheel group and drive system, the front truck wheels comprise two front vehicle wheels, two front vehicle wheels connect by power transmission shaft, the rear wheel group comprises two rear wheels, be provided with rear connecting frame, two rear wheels connect by rear connecting frame; Described drive system comprises driving device, drivewheel, driven pulley and driving-chain, described drivewheel is coaxially installed on the output shaft of described driving device, described driven pulley is coaxially installed on described power transmission shaft, and described drivewheel is connected by described driving-chain with described driven pulley.
3. field ambulance with stretcher capable of self-balancing in all directions according to claim 2 is characterized in that: described drivewheel and described driven pulley are the linked transmission wheel, and described driving-chain is the linked transmission chain.
4. field ambulance with stretcher capable of self-balancing in all directions according to claim 2, it is characterized in that: be provided with steering, described steering comprises steer motor, turns to drivewheel, turns to driven pulley, steering spindle, steering wheel, first connecting rod, second connecting rod, first bogie and second bogie, the described output shaft that turns to drivewheel to be coaxially installed on described steer motor, the described driven pulley that turns to is coaxially installed on described steering spindle, and described drivewheel and the described driven pulley that turns to of turning to meshes; Described first bogie and described second bogie are movably installed in described rear connecting frame respectively, and the wheel shaft of described two rear wheels is connected with described second bogie with described first bogie respectively; Described steering wheel is fixed in the bottom of described steering spindle, and described first bogie is connected with described steering wheel with described second connecting rod by described first connecting rod respectively with described second bogie.
5. field ambulance with stretcher capable of self-balancing in all directions according to claim 2 is characterized in that: be provided with suspension and preceding link, described preceding link is connected with the two ends of described suspension respectively with described rear connecting frame.
6. field ambulance with stretcher capable of self-balancing in all directions according to claim 5, it is characterized in that: damping spring and preceding decoupling rod before described sole is provided with, an end of decoupling rod is connected with described suspension before described, the other end is connected with described preceding link, damping spring is socketed on described preceding decoupling rod before described, before described an end and the described suspension of damping spring against, described before decoupling rod be provided with limited step, the other end of described preceding damping spring and described limited step against.
7. field ambulance with stretcher capable of self-balancing in all directions according to claim 5, it is characterized in that: described sole is provided with the back damping device, described back damping device comprises back damping spring and back decoupling rod, one end of described back decoupling rod is connected with described suspension, the other end of described back decoupling rod is connected with described rear connecting frame, back damping spring is socketed on described back decoupling rod, one end of described back damping spring is connected with described suspension, described back decoupling rod is provided with limited step, the other end of described back damping spring and the limited step of described decoupling rod afterwards against.
8. field ambulance with stretcher capable of self-balancing in all directions according to claim 1, it is characterized in that: the upper surface of described anterior-posterior balance plate is provided with two chutes, the wherein both sides of an end of described stretcher are respectively arranged with roller, the both sides of the other end of described stretcher are respectively arranged with locating rod, and the roller of described stretcher both sides is arranged at described two chutes respectively; The both sides of described anterior-posterior balance plate are provided with and are used for locking device, and when described stretcher was fixed in described anterior-posterior balance plate, described locking device locked described locating rod, and when described stretcher need take off, described locking device was untied the locking of described locating rod.
9. field ambulance with stretcher capable of self-balancing in all directions according to claim 8, it is characterized in that: described locating rod is provided with locating hole, described locking device comprises lock body and dead bolt, when described stretcher is fixed in described anterior-posterior balance plate, described dead bolt stretches in the described locating hole, when described stretcher need take off, described dead bolt withdrawed from described locating hole.
10. field ambulance with stretcher capable of self-balancing in all directions according to claim 8, it is characterized in that: described chute one end is provided with back-moving spring, one end of described back-moving spring is fixed in the end of described chute, when described stretcher was fixed in described anterior-posterior balance plate, the other end of described back-moving spring was resisted against described roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102718761A CN101919767B (en) | 2010-09-03 | 2010-09-03 | Field ambulance with stretcher capable of self-balancing in all directions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102718761A CN101919767B (en) | 2010-09-03 | 2010-09-03 | Field ambulance with stretcher capable of self-balancing in all directions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101919767A true CN101919767A (en) | 2010-12-22 |
| CN101919767B CN101919767B (en) | 2011-11-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102718761A Expired - Fee Related CN101919767B (en) | 2010-09-03 | 2010-09-03 | Field ambulance with stretcher capable of self-balancing in all directions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101919767B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742679A (en) * | 2015-03-12 | 2015-07-01 | 北京林业大学 | Automotive chassis for self-balance forest |
| CN107757737A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN110001801A (en) * | 2019-05-06 | 2019-07-12 | 新疆农垦科学院 | A kind of self propelled harvester tool chassis automatic-balancing system and balance regulation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2111751U (en) * | 1992-01-30 | 1992-08-05 | 中国人民解放军沈阳军区总医院 | Multifunctional electric carriage vehicle for patient |
| US5996151A (en) * | 1997-01-10 | 1999-12-07 | Stryker Corporation | Balanced fowler design |
| CN2691543Y (en) * | 2004-03-24 | 2005-04-13 | 郝武斌 | Balancing mechanism of operation transfer cart |
| CN201283043Y (en) * | 2008-06-03 | 2009-08-05 | 张广清 | Automatic balanced stretcher |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
-
2010
- 2010-09-03 CN CN2010102718761A patent/CN101919767B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2111751U (en) * | 1992-01-30 | 1992-08-05 | 中国人民解放军沈阳军区总医院 | Multifunctional electric carriage vehicle for patient |
| US5996151A (en) * | 1997-01-10 | 1999-12-07 | Stryker Corporation | Balanced fowler design |
| CN2691543Y (en) * | 2004-03-24 | 2005-04-13 | 郝武斌 | Balancing mechanism of operation transfer cart |
| CN201283043Y (en) * | 2008-06-03 | 2009-08-05 | 张广清 | Automatic balanced stretcher |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742679A (en) * | 2015-03-12 | 2015-07-01 | 北京林业大学 | Automotive chassis for self-balance forest |
| CN107757737A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN107757737B (en) * | 2017-11-16 | 2024-01-16 | 钦州学院 | All-terrain intelligent rescue robot with self-balancing objective table |
| CN110001801A (en) * | 2019-05-06 | 2019-07-12 | 新疆农垦科学院 | A kind of self propelled harvester tool chassis automatic-balancing system and balance regulation method |
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| Publication number | Publication date |
|---|---|
| CN101919767B (en) | 2011-11-16 |
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Granted publication date: 20111116 Termination date: 20120903 |