CN102319154A - Stair climbing wheel chair - Google Patents
Stair climbing wheel chair Download PDFInfo
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- CN102319154A CN102319154A CN201110234169A CN201110234169A CN102319154A CN 102319154 A CN102319154 A CN 102319154A CN 201110234169 A CN201110234169 A CN 201110234169A CN 201110234169 A CN201110234169 A CN 201110234169A CN 102319154 A CN102319154 A CN 102319154A
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Abstract
The invention relates to a stair climbing wheel chair, which comprises a wheel chair bottom frame, a chair, planet wheels, universal wheels, a motive power source and a control system, wherein the chair is arranged on the wheel chair bottom frame, the planet wheels comprise a planet wheel frame and planet wheel small wheels arranged on the planet wheel frame, the two planet wheels are arranged at the front part of the wheel chair bottom frame through a planet wheel main shaft, the number of the universal wheels are two, the two universal wheels are arranged at the back part of the wheel chair bottom frame, the motive power source is arranged under the chair, the position of the control system is suitable for operators to conveniently operate, and the control system can control the planet wheels to generate the actions of advancing on the ground and climbing or going down stairs at different moments. The stair climbing wheel chair has the advantages that the stability is good, the safety is high, the time and the labor are saved, and the stair climbing wheel chair is convenient for various user groups with action inconvenience to be used.
Description
Technical field
The present invention relates to special vehicle design and manufacturing technology field, be specially a kind of stair-climbing wheel chair.
Background technology
In our life; A lot of many floors buildings all are not provided with elevator; A lot of in addition places comprise that also all there is step in public places such as hospital, park, school, subway station, and this just need bring inconvenience by the special population of wheelchair to old, weak, sick, residual etc.In order to solve the realistic problem of these special population stair activities and step difficulty; The scheme that occurs a lot of stair-climbing wheel chairs at present; Existing stair-climbing wheel chair can be divided into continous way stair-climbing wheel chair and batch (-type) stair-climbing wheel chair, and the principle that realizes by its stair climbing function can be divided into crawler type, rail mounted, wheels formula and legged wheelchair.Chinese patent document CN101703440A disclosed " stair climbing wheel chair " is a kind of crawler type stair climbing wheelchair, and crawler type stair climbing scheme efficient is high, motion is steady, it is wider to be suitable for the landform scope; Rail mounted and legged stair-climbing wheel chair also have a lot, wherein Harbin Institute of Technology have a kind of about rail mounted stair climbing scheme among design is improved, the legged robot of ASIMO of Honda Motor Co. development also belongs to this type.
Yet all there is certain problem in the research approach that exists at present:
(1) crawler type stair-climbing wheel chair weight is big, motion is dumb, and crawler belt is prone to stair are caused damage;
(2) the rail mounted stair-climbing wheel chair needs the standalone dedicated track, and system is numerous and diverse, and cost is higher, and it is big to take up room;
(3) two wheels formula wheelchairs cost an arm and a leg, and are not suitable for ordinary populace consumption;
(4) control system of legged wheelchair is quite complicated, and cost is high.
Summary of the invention
For addressing the above problem, the present invention provides a kind of stair-climbing wheel chair, in the hope of improving the safety and the reliability of stair-climbing wheel chair, makes handicapped people's group energy stair activity easily, enlarges their range of activity, improves their quality of life.
The technical scheme that the present invention takes is:
A kind of stair-climbing wheel chair comprises wheelchair underframe, seat, planetary gear, universal wheel, power source and control system, and said seat is located on the wheelchair underframe; Said planetary gear comprises planetary wheel carrier and is arranged on the planetary gear steamboat on the planetary wheel carrier that said planetary gear is two, is arranged on the place ahead of wheelchair underframe through the planetary gear main shaft; Said universal wheel is two, is arranged on the rear of wheelchair underframe, and power source is arranged on under-seat; The position of control system is fit to the user handled easily; It is characterized in that, also comprise first actuating device and second actuating device, said control system can be controlled planetary gear and produce following two different actions in different time:
-power source makes the rotation of planetary gear steamboat through the said first actuating device transferring power to the planetary gear steamboat;
-power source makes detour star gear shaft revolution of planetary gear through the said second actuating device transferring power to planetary gear.
Further, said first actuating device comprises gear reduction box, and gear reduction box is connected with power source; Said gear reduction box comprises first of reduction box, second of reduction box, worm screw, worm gear, pinion and shifting slide gear; Wherein, worm and wheel engagement, worm gear and pinion are fixed on first of the reduction box; Shifting slide gear is arranged on second of the reduction box; Shifting slide gear can move on second of reduction box, realize with the engagement of pinion with separate, second of said reduction box is coaxial with said planetary gear main shaft.
Further; In said gear reduction box, be provided with spring; One end of spring is fixed in the gear reduction box, and the other end of spring is arranged on the shifting slide gear, and the elastic force of spring makes shifting slide gear be positioned at the position that is meshed with pinion; Said control system comprises the arrangement of clutch that is arranged on the gear reduction box, and the distortion through said arrangement of clutch regulating spring makes shifting slide gear and pinion realize engagement and separate.
Further; Said second actuating device comprises the sprocket wheel reduction box, is arranged on drive sprocket and the chain on the sprocket wheel reduction box and is arranged on the driven sprocket on the planetary gear; Said sprocket wheel reduction box is connected with said power source, and said chain is installed on drive sprocket and the driven sprocket.
Further, at said under-seat line handspike motor and seat adjustment connecting rod are set, line handspike motor can promote seat adjustment connecting rod to regulate the gradient of seat.
Further, said line handspike motor is arranged on a side of said under-seat, at the opposite side of under-seat supplemental support is set, and said supplemental support includes the air spring of auto-lock function.
Further; Position at the rear of said wheelchair underframe near universal wheel is provided with a pair of guide wheel; Said guide wheel is identical with the gradient of stair with the gradient on ground, when stair-climbing wheel chair when ground level moves, said guide wheel does not contact with ground; When the stair-climbing wheel chair stair climbing, said guide wheel contacts with stair to guide said universal wheel on stair, to roll.
Further; Said planetary gear comprises central gear and the transition gear that is fixedly installed on the planetary wheel carrier; Said central gear is coaxial with said planetary gear main shaft, and with transition gear engagement, the planetary gear pinion that is provided with on said transition gear and the said planetary gear steamboat is meshed.
Further, said planetary gear is a tri-star wheel, and moving 120 degree of said tri-star wheel revolution are climbed the one-level stairway step.
The good effect of stair-climbing wheel chair of the present invention is:
Utilize planetary gear and chain transmission to combine to realize the stair climbing function, receive the restriction of factors such as ground attaching coefficient, planetary gear diameter when only climbing the building before having solved with wheels; Adopt the adjustable seat simultaneously, adjust seat position according to the gradient control line handspike motor of stair and make seat remain level, stability and safety when having improved the wheelchair stair climbing.
Description of drawings
Accompanying drawing 1 is the perspective view of stair-climbing wheel chair of the present invention;
Accompanying drawing 2 is part-structure sketch maps of wheelchair in the accompanying drawing 1;
Accompanying drawing 3 is principle schematic of gear drive part;
Accompanying drawing 4 is front views of tri-star wheel;
Accompanying drawing 5 is vertical views of tri-star wheel;
Accompanying drawing 6 is A-A cutaway views in the accompanying drawing 5;
Accompanying drawing 7 is B-B cutaway views in the accompanying drawing 5;
Accompanying drawing 8 is speed-changing gear box internal structure sketch maps;
Accompanying drawing 9 is internal structure sketch maps of operated clutch backgear change speed gear box.
Label in the accompanying drawing is respectively:
1. go-cart hands handle; 2. seat underframe; 3. seat support;
4. battery; 5. universal wheel; 6. air spring;
7. seat is adjusted connecting rod; 8. guide wheel; 9. line handspike motor;
10. stepping motor; 11. sprocket wheel reduction box; 12. drive sprocket;
13. arrangement of clutch; 14. driven sprocket; 15. planetary gear steamboat;
16. planetary wheel carrier; 17. gear reduction box; 18. chain;
19. pedal; 20. dc motor; 21. shank protective pad;
22. seat baffle plate; 23. controller support; 24. controller;
25. support locking knob; 26. wheelchair armrest; 27. pad;
28. backrest; 29. worm screw; 30. worm gear;
31. pinion; 32. shifting slide gear; 33. central gear;
34. transition gear; 35. planetary gear pinion; 36. planetary gear main shaft;
37. connecting rod; 38. connecting rod; 39. supplemental support;
40. connecting rod; 41. connecting rod; 42. motor cabinet;
43. reduction box connector; 44. reduction box end cap; 45. reduction box connector;
46. seat support spare; 47. seat support spare; 48. seat support spare;
49. controller rocking bar; 50. spring; 51. first of reduction box;
52. second of reduction box; 53. planetary gear; 54. seat.
The specific embodiment
Elaborate below in conjunction with the specific embodiment of accompanying drawing to stair-climbing wheel chair of the present invention.
In order to let easy to understand of the present invention, some directivity terms have been used in this description.Need to prove; The directivity term of being mentioned in this description; For example " on ", D score, " preceding ", " back ", " side ", " opposite side " etc., be direction with reference to accompanying drawing, be references object with the user that is sitting on the wheelchair; The directivity term that uses is in order to explanation and understands the present invention, but not in order to restriction protection scope of the present invention.
Referring to accompanying drawing 1,2; A kind of stair-climbing wheel chair; Comprise the total cart handle 1 of existing wheelchair, pedal 19 etc., also comprise wheelchair underframe 2, seat 54, planetary gear 53, universal wheel 5, power source and control system, seat 54 comprises shank protective pad 21, seat baffle plate 22, wheelchair armrest 26, pad 27 and backrest 28; Said seat 54 is located on the wheelchair underframe 2 through seat support 3; Seat support 3 is made up of seat support spare 46, seat support spare 47 and seat support spare 48, and planetary gear 53 comprises planetary wheel carrier 16 and be arranged on the planetary gear steamboat 15 on the planetary wheel carrier 16 that the front-wheel of wheelchair is for being arranged on two planetary gears 53 in the place ahead of wheelchair underframe 2 through planetary gear main shaft 36; The trailing wheel of wheelchair is two universal wheels 5 that are arranged on the rear of wheelchair underframe 2; Power source is arranged on under-seat, and power source is a direct current generator 20,12V battery 4 is installed so that electric energy to be provided below seat 54.The position of control system is fit to the user handled easily, comprises controller 24, and controller 24 is installed in seat 54 the place aheads through controller support 23 and support locking knob 25, perhaps is installed in the left side or the right of seat 54; Controller rocking bar 49 can adjustment control 24 the position, to make things convenient for the user operation.
The wheelchair user walks through said control system may command wheelchair on the ground; Power source makes 15 rotations of planetary gear steamboat through the first actuating device transferring power to planetary gear steamboat 15; The rotation of planetary gear steamboat 15 drives the rotation of universal wheel 5, thereby makes wheelchair advance on the ground (referring to accompanying drawing 1,2,4,6).Planetary gear 53 comprises central gear 33, the transition gear 34 that is fixedly installed on the planetary wheel carrier 16; Central gear 33 is coaxial with planetary gear main shaft 36; Can be directly installed on the planetary gear main shaft 36; The planetary gear pinion 35 of setting is meshed on the central gear 33 and transition gear 34 engagements, transition gear 34 and planetary gear steamboat 15; So just formed one group of gear drive,, just can be implemented in ground running (referring to accompanying drawing 3) through first actuating device.First actuating device comprises gear reduction box 17; Gear reduction box 17 comprises reduction box connector 43, reduction box end cap 44, reduction box connector 45; Gear reduction box 17 is connected with dc motor 20; Gear reduction box 17 comprises first 51 of reduction box, second 52 of reduction box, worm screw 29, worm gear 30, pinion 31 and shifting slide gear 32, and reduction box first connector 43, reduction box end cap 44, reduction box second connector 45 etc., in gear reduction box 17 the insides; Worm screw 29 and worm gear 30 engagements; Worm gear 30 and pinion 31 are fixed on first 51 of the reduction box, and shifting slide gear 32 is arranged on second 52 of the reduction box, shifting slide gear 32 can on second 52 of reduction box, move realize with the engagement of pinion 31 with separate; The process of clutch is through spring 50 (referring to accompanying drawing 8,9) is set in the gear reduction box 17; One end of spring 50 is fixed in the gear reduction box 17, and the other end of spring 50 is arranged on the shifting slide gear 32, and the elastic force of spring 50 makes shifting slide gear 32 be arranged on the position that is meshed with pinion 31; Control system comprises the arrangement of clutch 13 that is arranged on the gear reduction box 17, and the distortion through arrangement of clutch 13 regulating springs 50 makes shifting slide gear 32 and pinion 31 realize engagement and separate.When shifting slide gear 32 meshed with pinion 31, direct current generator 20 rotation driven gear mechanical operation were rotated planetary gear steamboat 15, and wheelchair is advanced on the ground.
Referring to accompanying drawing 3, when shifting slide gear 32 separated with pinion 31, wheelchair stopped to advance.At this moment, can control the second actuating device transferring power through control system and make planetary gear 53 star gear shaft 36 revolution of detouring to planetary gear 53.Planetary gear 53 just produces whole action of rolling like this, realizes stair activity.Second actuating device comprises sprocket wheel reduction box 11; Said sprocket wheel reduction box 11 is connected with stepping motor 10; Motor 10 is installed on the motor cabinet 42; And be arranged on drive sprocket 12, the chain 18 on the sprocket wheel reduction box 11 and be arranged on the driven sprocket 14 on the planetary gear, chain 18 is installed on drive sprocket 12 and the driven sprocket 14.When stepping motor 10 rotates driven sprocket 14 through sprocket wheel reduction box 11; Planetary gear 53 star gear shaft 36 revolution of detouring; Here adopt tri-star wheel (referring to accompanying drawing 4,5,6,7); Three planetary gear steamboats 15 per 120 degree on the Samsung wheel carrier are provided with one, when tri-star wheel turns over 120 when spending, accomplish and rise or the stairway step that descends.So just realized the wheelchair stair activity.When stair activity, whole wheelchair has just produced a tilt quantity with stair inclination equal angular, and at this moment also and then stair activity of universal wheel 5 possibly produce stuck phenomenon between universal wheel 5 and the stairway step.Therefore; Position at the rear of wheelchair underframe near universal wheel 5 is provided with a pair of guide wheel 8; Guide wheel 8 is identical with the gradient of stair with the gradient on ground, when stair-climbing wheel chair when ground level moves, said guiding wheels can not contact with ground; When the stair-climbing wheel chair stair climbing, guide wheel 8 contacts with stair to guide said universal wheel 5 on stair, to roll.Thereby make universal wheel 5 can not produce stuck phenomenon with stairway step.
Referring to accompanying drawing 2, when the stair-climbing wheel chair stair activity, whole wheelchair can produce inclination, can make user produce the uneasiness and the feared state of mind.At under-seat line handspike motor 9 and seat adjustment connecting rod 7 are set, seat adjustment connecting rod 7 is made up of connecting rod 37, connecting rod 38, connecting rod 40 and connecting rod 41, and line handspike motor 9 can promote seat adjustment connecting rod 7 to regulate the gradient of seat.Line handspike motor 9 is arranged on a side of said under-seat; Opposite side is provided with supplemental support 39, and supplemental support 39 includes the air spring 6 of auto-lock function, when seat is up to the standard the position; Air spring 6 self-lockings; After accomplishing stair activity, open air spring 6 and set level seat again, so that wheelchair is advanced on the ground.In order to make wheelchair lighter, the structural member of wheelchair can adopt hollow metal tube to process, and can select hollow steel pipe or aluminum pipe for use.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (9)
1. stair-climbing wheel chair; Comprise wheelchair underframe (2), seat (54), planetary gear (53), universal wheel (5), power source and control system, said seat (54) is located on the wheelchair underframe (2), and said planetary gear (53) comprises planetary wheel carrier (16) and is arranged on the planetary gear steamboat (15) on the planetary wheel carrier (16); Said planetary gear (53) is two; Be arranged on the place aheads of wheelchair underframe (2) through planetary gear main shaft (36), said universal wheel (5) is two, is arranged on the rear of wheelchair underframe (2); Power source is arranged on seat (54) below; The position of control system is fit to the user handled easily, it is characterized in that: also comprise first actuating device and second actuating device, said control system can be controlled planetary gear (53) and produce following two different actions in different time:
-power source makes planetary gear steamboat (15) rotation through the said first actuating device transferring power to planetary gear steamboat (15);
-power source makes detour star gear shaft (36) revolution of planetary gear (53) through the said second actuating device transferring power to planetary gear (53).
2. stair-climbing wheel chair according to claim 1; It is characterized in that: said first actuating device comprises gear reduction box (17); Gear reduction box (17) is connected with power source, and said gear reduction box (17) comprises reduction box first (51), reduction box second (52), worm screw (29), worm gear (30), pinion (31) and shifting slide gear (32), wherein; Worm screw (29) and worm gear (30) engagement; Worm gear (30) and pinion (31) are fixed on the reduction box first (51), and shifting slide gear (32) is arranged on the reduction box second (52), and shifting slide gear (32) can be gone up in reduction box second (52) and move; Realize with the engagement of pinion (31) with separate, said reduction box second (52) is coaxial with said planetary gear main shaft (36).
3. stair-climbing wheel chair according to claim 2; It is characterized in that: in said gear reduction box (17), be provided with spring (50); One end of spring (50) is fixed in the gear reduction box (17); The other end of spring (50) is arranged on the shifting slide gear (32); The elastic force of spring (50) makes shifting slide gear (32) be positioned at the position that is meshed with pinion (31), and said control system comprises the arrangement of clutch (13) that is arranged on the gear reduction box (17), and the distortion through said arrangement of clutch (13) regulating spring (50) makes shifting slide gear (32) and pinion (31) realize engagement and separate.
4. stair-climbing wheel chair according to claim 1; It is characterized in that: said second actuating device comprises sprocket wheel reduction box (11), is arranged on drive sprocket (12) and the chain (18) on the sprocket wheel reduction box (11) and is arranged on the driven sprocket (14) on the planetary gear (53); Said sprocket wheel reduction box (11) is connected with said power source, and said chain (18) is installed on drive sprocket (12) and the driven sprocket (14).
5. according to each described stair-climbing wheel chair in the claim 1 to 4; It is characterized in that: line handspike motor (9) and seat adjustment connecting rod (7) are set in said seat (54) below, and line handspike motor (9) can promote seat adjustment connecting rod (7) to regulate the gradient of seat (54).
6. stair-climbing wheel chair according to claim 5; It is characterized in that: said line handspike motor (9) is arranged on a side of said seat (54) below; Opposite side in seat (54) below is provided with supplemental support (39), and said supplemental support (39) includes the air spring (6) of auto-lock function.
7. according to each described stair-climbing wheel chair in the claim 1 to 4; It is characterized in that: the position at the rear of said wheelchair underframe (2) near universal wheel (5) is provided with a pair of guide wheel (8); Said guide wheel (8) is identical with the gradient of stair with the gradient on ground, when stair-climbing wheel chair when ground level moves, said guide wheel (8) does not contact with ground; When the stair-climbing wheel chair stair climbing, said guide wheel (8) contacts with stair to guide said universal wheel (5) on stair, to roll.
8. according to each described stair-climbing wheel chair in the claim 1 to 4; It is characterized in that: said planetary gear (53) comprises central gear (33) and the transition gear (34) that is fixedly installed on the planetary wheel carrier (16); Said central gear (33) is coaxial with said planetary gear main shaft (36); And with transition gear (34) engagement, said transition gear (34) is meshed with the planetary gear pinion (35) that said planetary gear steamboat (15) is gone up setting.
9. according to each described stair-climbing wheel chair in the claim 1 to 4, it is characterized in that: said planetary gear (53) is a tri-star wheel, and moving 120 degree of said tri-star wheel revolution are climbed the one-level stairway step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110234169 CN102319154B (en) | 2011-08-16 | 2011-08-16 | Stair climbing wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110234169 CN102319154B (en) | 2011-08-16 | 2011-08-16 | Stair climbing wheel chair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102319154A true CN102319154A (en) | 2012-01-18 |
| CN102319154B CN102319154B (en) | 2013-05-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110234169 Expired - Fee Related CN102319154B (en) | 2011-08-16 | 2011-08-16 | Stair climbing wheel chair |
Country Status (1)
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| CN (1) | CN102319154B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102600026A (en) * | 2012-03-09 | 2012-07-25 | 常州汉迪机器人科技有限公司 | Omni-directional intelligent electric wheel chair |
| CN102614056A (en) * | 2012-05-04 | 2012-08-01 | 北京互邦之家爬楼车技术开发有限公司 | Electric stair climbing wheelchair |
| CN103979002A (en) * | 2014-05-09 | 2014-08-13 | 上海电机学院 | Step climbing scooter and step climbing method thereof |
| CN104149869A (en) * | 2014-08-18 | 2014-11-19 | 赵军 | Electric stair climbing device |
| CN104382704A (en) * | 2014-11-25 | 2015-03-04 | 广西大学 | Variable wheel type stair climbing wheelchair |
| CN104887417A (en) * | 2015-06-16 | 2015-09-09 | 北京理工大学 | Wheel diameter-adjustable mechanism suitable for electric wheelchair |
| CN104925110A (en) * | 2015-06-24 | 2015-09-23 | 方亮 | Electric stair climber |
| CN105310840A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Onboard wheel stretcher with rescuing working box body and chemical defense and isolation protection cover |
| CN105310839A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Airborne stretcher with rescue working box body |
| CN105310838A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Onboard wheel stretcher with chemical defense and isolation protection cover |
| CN105310841A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Disaster rescue platform based on helicopter |
| CN106667683A (en) * | 2016-12-08 | 2017-05-17 | 赵英博 | Multifunctional full-automatic wheelchair |
| CN107582262A (en) * | 2017-09-06 | 2018-01-16 | 东北大学 | It is a kind of it is new can speeling stairway wheelchair |
| CN107728611A (en) * | 2017-08-23 | 2018-02-23 | 北京石油化工学院 | One kind is multi-functional to climb building seat control system |
| CN108771586A (en) * | 2018-06-25 | 2018-11-09 | 武汉科技大学 | It is a kind of it is novel can speeling stairway wheelchair |
| CN110215358A (en) * | 2019-07-10 | 2019-09-10 | 吉林大学 | A kind of electric wheelchair having self-determination climbing stairs function and its control method |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method |
| CN111317622A (en) * | 2020-04-10 | 2020-06-23 | 辽宁科技大学 | Multifunctional wheelchair with storage battery for assisting in walking and climbing stairs |
| CN110584896B (en) * | 2019-09-23 | 2020-09-01 | 内蒙古机电职业技术学院 | Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair |
| CN113397849A (en) * | 2021-07-21 | 2021-09-17 | 崔守明 | Medical surgery is with climbing wheelchair equipment of being good for again |
| CN113492935A (en) * | 2021-07-08 | 2021-10-12 | 华中科技大学 | Search and rescue robot suitable for complicated topography |
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| CN109350382A (en) * | 2018-09-29 | 2019-02-19 | 佛山科学技术学院 | A kind of the elderly's stair activity auxiliary device |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102600026A (en) * | 2012-03-09 | 2012-07-25 | 常州汉迪机器人科技有限公司 | Omni-directional intelligent electric wheel chair |
| CN102614056A (en) * | 2012-05-04 | 2012-08-01 | 北京互邦之家爬楼车技术开发有限公司 | Electric stair climbing wheelchair |
| CN103979002A (en) * | 2014-05-09 | 2014-08-13 | 上海电机学院 | Step climbing scooter and step climbing method thereof |
| CN105310838A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Onboard wheel stretcher with chemical defense and isolation protection cover |
| CN105310841A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Disaster rescue platform based on helicopter |
| CN105310840A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Onboard wheel stretcher with rescuing working box body and chemical defense and isolation protection cover |
| CN105310839A (en) * | 2014-08-05 | 2016-02-10 | 郑静晨 | Airborne stretcher with rescue working box body |
| CN104149869A (en) * | 2014-08-18 | 2014-11-19 | 赵军 | Electric stair climbing device |
| CN104382704A (en) * | 2014-11-25 | 2015-03-04 | 广西大学 | Variable wheel type stair climbing wheelchair |
| CN104887417A (en) * | 2015-06-16 | 2015-09-09 | 北京理工大学 | Wheel diameter-adjustable mechanism suitable for electric wheelchair |
| CN104925110A (en) * | 2015-06-24 | 2015-09-23 | 方亮 | Electric stair climber |
| CN104925110B (en) * | 2015-06-24 | 2017-04-26 | 方亮 | Electric stair climber |
| CN106667683A (en) * | 2016-12-08 | 2017-05-17 | 赵英博 | Multifunctional full-automatic wheelchair |
| CN107728611A (en) * | 2017-08-23 | 2018-02-23 | 北京石油化工学院 | One kind is multi-functional to climb building seat control system |
| CN107582262A (en) * | 2017-09-06 | 2018-01-16 | 东北大学 | It is a kind of it is new can speeling stairway wheelchair |
| CN108771586A (en) * | 2018-06-25 | 2018-11-09 | 武汉科技大学 | It is a kind of it is novel can speeling stairway wheelchair |
| CN110215358A (en) * | 2019-07-10 | 2019-09-10 | 吉林大学 | A kind of electric wheelchair having self-determination climbing stairs function and its control method |
| CN110547922A (en) * | 2019-08-23 | 2019-12-10 | 国家康复辅具研究中心 | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method |
| CN110584896B (en) * | 2019-09-23 | 2020-09-01 | 内蒙古机电职业技术学院 | Stair climbing wheel, stair climbing walking mechanism, stair climbing wheelchair frame and full-automatic stair climbing wheelchair |
| CN111317622A (en) * | 2020-04-10 | 2020-06-23 | 辽宁科技大学 | Multifunctional wheelchair with storage battery for assisting in walking and climbing stairs |
| CN113492935A (en) * | 2021-07-08 | 2021-10-12 | 华中科技大学 | Search and rescue robot suitable for complicated topography |
| CN113492935B (en) * | 2021-07-08 | 2022-09-20 | 华中科技大学 | Search and rescue robot suitable for complicated topography |
| CN113397849A (en) * | 2021-07-21 | 2021-09-17 | 崔守明 | Medical surgery is with climbing wheelchair equipment of being good for again |
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| CN102319154B (en) | 2013-05-01 |
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