CN105078672A - Self-balanced electric wheelchair - Google Patents
Self-balanced electric wheelchair Download PDFInfo
- Publication number
- CN105078672A CN105078672A CN201510545995.4A CN201510545995A CN105078672A CN 105078672 A CN105078672 A CN 105078672A CN 201510545995 A CN201510545995 A CN 201510545995A CN 105078672 A CN105078672 A CN 105078672A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- car body
- wheel hub
- balancing
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012545 processing Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000011161 development Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/10—Type of patient
- A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
-
- 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
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
-
- 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
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a self-balanced electric wheelchair, which comprises a wheelchair body, two rear wheels and two front wheels, a direction driving switch and a hub motor locking switch, two pedals, two hub motors, left and right electric push rods and front and rear electric push rods, a battery rack and a battery pack, a controller, a first gyro sensor and a second gyro sensor, a hook joint and a balanced chair. The wheelchair disclosed by the invention can keep the balanced chair at a horizontal position at any time by virtue of the left and right electric push rods and the front and rear electric push rods, with relatively high stability; the first gyro sensor which is used for detecting the level degree of the wheelchair body, and the second gyro sensor which is used for detecting the level degree of the balanced chair are arranged, so that double-guarantee is provided for the effect of the electric wheelchair; and the electric wheelchair disclosed by the invention is relatively low in cost and is applicable to market popularization.
Description
Technical field
The present invention relates to a kind of medical auxiliary equipment, be specifically related to a kind of self-balancing electric wheel chair, belong to life technical field of medical equipment.
Background technology
Wheelchair is a kind of common armarium for disabled or the sick patient be in hospital, it plays important role in the life of auxiliary people sick period, along with the development of modern science and technology, there is more and more novel wheelchair, developed into from original manual drive electronic etc.But wheelchair still has very large development space in patient one self use, how to ensure when such as wheelchair is walked on sloping road surface that user is in level, this point is especially for particularly important people with disabilities, although there is now the equipment of some self-balancings, but still there is use instability in the effect of self-balancing on wheelchair, the situation that cost is high.
Summary of the invention
For the problems referred to above, the invention provides a kind of self-balancing electric wheel chair, it adopts simple electric pushrod to be equipped with Hooke's hinge and gyro sensor realizes stable use, lower-cost object.
The technical scheme that the present invention takes is: a kind of self-balancing electric wheel chair, comprise car body, two trailing wheels and two front-wheels, direction driving switch and wheel hub motor locking switch, two pedals, two wheel hub motors, left and right electric pushrod and front and back electric pushrod, battery carrier and set of cells, controller, first gyro sensor and the second gyro sensor, Hooke's hinge, balancing seat, it is characterized in that: to be sitting in the artificial benchmark on wheelchair, described vehicle body upper portion is provided with two handrails and two pushing hands, bottom is set to square frame structure, described square frame structure is provided with triangle installing rack, the first described gyro sensor is arranged on triangle installing rack bottom, described balancing seat is hingedly mounted on triangle installing rack top by the Hooke's hinge of center, balancing seat has two degree of freedom relative to triangle installing rack, namely fore-and-aft direction rotates and left and right directions rotation, and balancing seat right front lower position is provided with the second gyro sensor, car body left lower is provided with left and right electric pushrod mount pad, and lower car body rear is provided with front and back electric pushrod mount pad, is provided with backrest below the pushing hands on car body, two described trailing wheels are arranged on rear vehicle lower position, and two trailing wheel centers are respectively arranged with a wheel hub motor, two described front-wheels are arranged on Vehicular body front lower position, two described pedals are arranged on car body front two side position respectively, described battery carrier is fixedly mounted on car body central authorities lower position, and described set of cells is fixedly mounted in battery carrier, and described controller is arranged on above set of cells, and is connected with set of cells, described electric pushrod lower end, left and right is hingedly mounted on described left and right electric pushrod mount pad, and the piston rod end of left and right electric pushrod is hingedly mounted on edge center on the left of balancing seat, described front and back electric pushrod is hingedly mounted on described front and back electric pushrod mount pad, and the piston rod end of front and back electric pushrod is hingedly mounted on edge center, balancing seat rear, described direction driving switch is arranged on the handrail on right side on car body, and described wheel hub motor locking switch is arranged on the handrail of car body upper left side, two described wheel hub motors, left and right electric pushrod are connected with controller with set of cells respectively by circuit with wheel hub motor locking switch with front and back electric pushrod, direction driving switch, and set of cells provides power, and controller provides control signal.
Further, described controller is provided with two gears, is respectively A gear and B gear, when being in A gear, when direction driving switch attonity, described wheel hub motor locking switch is opened automatically, two wheel hub motor power-off self-locking, prevent from slipping car on slope; When being in B gear, when direction driving switch attonity, described wheel hub motor locking switch cuts out automatically, wheel hub motor power-off but not self-locking.
Further, described direction driving switch comprises four direction, and control wheelchair advances, turns left, turns right, retreats respectively, and described wheel hub motor locking switch can manually opened and cut out.
Further, the angle of inclination of the first described gyro sensor monitoring car body and incline direction, and signal is passed to controller, controller will pass to left and right electric pushrod and front and back electric pushrod after signal processing, stretch in various degree respectively, carry out adjustment seat maintenance level; The second described gyro sensor monitoring balancing seat angle of inclination and incline direction, determine whether balancing seat is up to the standard, and signal is passed to controller, controller will pass to left and right electric pushrod and front and back electric pushrod after signal processing, finely tune respectively, form negative feedback closed loop control system.
Further, two described pedal surfaces are provided with rubber antiskid layer.
Owing to present invention employs technique scheme, the present invention has the following advantages: (1) the present invention is by being provided with left and right electric pushrod and front and back electric pushrod ensures that balancing seat is horizontal at any time, and stability is higher; (2) by being provided with the first gyro sensor and the second gyro sensor, detecting the levelness of car body peace weighing apparatus seat respectively, thus making effect of the present invention obtain double shield; (3) cost of the present invention is lower, is applicable to marketing.
Accompanying drawing explanation
Fig. 1 is entirety assembling perspective view of the present invention.
Fig. 2 is another angle entirety assembling perspective view of the present invention.
Fig. 3 is the 3-D solid structure schematic diagram of car body in the present invention.
Fig. 4 is that the present invention is in view when road surface is applied that tilts.
Fig. 5 is the present invention tilting forward and back view when road surface is applied.
Drawing reference numeral: 1-car body; 2-trailing wheel; 3-direction driving switch; 4-wheel hub motor locking switch; 5-front-wheel; 6-pedal; 7-wheel hub motor; About 8-electric pushrod; Electric pushrod before and after 9-; 10-set of cells; 11-battery carrier; 12-controller; 13-first gyro sensor; 14-Hooke's hinge; 15-second gyro sensor; 16-balancing seat; 101-handrail; 102-backrest; 103-pushing hands; About 104-electric pushrod mount pad; Electric pushrod mount pad before and after 105-; 106-triangle installing rack.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described, is used for explaining the present invention in this illustrative examples of inventing and explanation, but not as a limitation of the invention.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of self-balancing electric wheel chair, comprises car body 1, two trailing wheels 2 and two front-wheels 5, direction driving switch 3 and wheel hub motor locking switches, 4, two pedals 6, two wheel hub motors 7, left and right electric pushrod 8 and front and back electric pushrods 9, battery carrier 11 and set of cells 10, controller 12, first gyro sensor 13 and the second gyro sensor 15, Hooke's hinge 14, balancing seat 16.To be sitting in the artificial benchmark on wheelchair, car body 1 top is provided with two handrails 101 and two pushing hands 103, bottom is set to square frame structure, square frame structure is provided with triangle installing rack 106, first gyro sensor 13 and is arranged on triangle installing rack 106 bottom.Balancing seat 16 is hingedly mounted on triangle installing rack 106 top by the Hooke's hinge 14 of center, balancing seat 16 has two degree of freedom relative to triangle installing rack 106, namely fore-and-aft direction rotates and left and right directions rotation, and balancing seat 16 right front lower position is provided with the second gyro sensor 15.Car body 1 left lower is provided with left and right electric pushrod mount pad 104, and rear, car body 1 bottom is provided with front and back electric pushrod mount pad 105, is provided with backrest 102 below the pushing hands 103 on car body 1.Two trailing wheels 2 are arranged on car body 1 lower rear position, and two trailing wheel 2 centers are respectively arranged with a wheel hub motor 7.Two front-wheels 5 are arranged on car body 1 lower front position.Two pedals 6 are arranged on car body 1 front two side position respectively.Battery carrier 11 is fixedly mounted on the central lower position of car body 1, and set of cells 10 is fixedly mounted in battery carrier 11, and controller 12 is arranged on above set of cells 10, and is connected with set of cells 10.Left and right electric pushrod 8 lower end is hingedly mounted on described left and right electric pushrod mount pad 104, and the piston rod end of left and right electric pushrod 8 is hingedly mounted on edge center on the left of balancing seat 16.Front and back electric pushrod 9 is hingedly mounted on described front and back electric pushrod mount pad 105, and the piston rod end of front and back electric pushrod 9 is hingedly mounted on edge center, balancing seat 16 rear.Direction driving switch 3 is arranged on the handrail 101 on right side on car body 1, and wheel hub motor locking switch 4 is arranged on the handrail 101 of car body 1 upper left side.Two wheel hub motors 7, left and right electric pushrods 8 are connected with controller 12 with set of cells 10 respectively by circuit with wheel hub motor locking switch 4 with front and back electric pushrod 9, direction driving switch 3, and set of cells 10 provides power, and controller 12 provides control signal.
Controller 12 is provided with two gears, is respectively A gear and B gear, and when being in A gear, when direction driving switch 3 attonity, described wheel hub motor locking switch 4 is opened automatically, the power-off of two wheel hub motors 7 self-locking, prevents from slipping car on slope; When being in B gear, when direction driving switch attonity, described wheel hub motor locking switch 4 cuts out automatically, wheel hub motor 7 power-off but not self-locking.Direction driving switch 3 comprises four direction, and control wheelchair advances, turns left, turns right, retreats respectively, and described wheel hub motor locking switch 4 can manually opened and cut out.First gyro sensor 13 monitors angle of inclination and the incline direction of car body 1, and signal is passed to controller 12, controller 12, by passing to left and right electric pushrod 8 and front and back electric pushrod 9 after signal processing, stretches respectively in various degree, carrys out adjustment seat 16 maintenance level; The second described gyro sensor 15 monitors balancing seat 16 angle of inclination and incline direction, determine whether balancing seat 16 is up to the standard, and signal is passed to controller 12, controller 12 will pass to left and right electric pushrod 8 and front and back electric pushrod 9 after signal processing, finely tune respectively, form negative feedback closed loop control system.Two pedal 6 surfaces are provided with rubber antiskid layer.
Operation principle of the present invention is: in use, gear can be arranged on A gear or B gear by controller 12 by user in the present invention.When shelves are in A gear, start direction driving switch 3, the control of four direction can be realized, be respectively advance, left-hand rotation, right-hand rotation, retreat; When user stops using direction driving switch 3, wheel hub motor locking switch 4 can start automatically, now two wheel hub motors 7 power-off self-locking, prevents from slipping car on slope.When being in B gear, wheel hub motor locking switch 4 can cut out automatically, now can realize walking of the present invention by people by the pushing hands of two on car body 1 103.No matter use which gear, the present invention can ensure that balancing seat 16 is horizontal all the time under the control of the first gyro sensor 13 and the second gyro sensor 15 and left and right electric pushrod 8 and front and back electric pushrod 9, as shown in Figure 3 and Figure 4, be respectively the present invention and be in the view when road surface that tilts is applied and the view when tilting forward and back on road surface, as can be seen from the figure, balancing seat 16 is horizontal all the time.
Claims (5)
1. a self-balancing electric wheel chair, comprise car body (1), two trailing wheels (2) and two front-wheels (5), direction driving switch (3) and wheel hub motor locking switch (4), two pedals (6), two wheel hub motors (7), left and right electric pushrod (8) and front and back electric pushrod (9), battery carrier (11) and set of cells (10), controller (12), first gyro sensor (13) and the second gyro sensor (15), Hooke's hinge (14), balancing seat (16), it is characterized in that: to be sitting in the artificial benchmark on wheelchair, described car body (1) top is provided with two handrails (101) and two pushing hands (103), bottom is set to square frame structure, described square frame structure is provided with triangle installing rack (106), described the first gyro sensor (13) is arranged on triangle installing rack (106) bottom, described balancing seat (16) is hingedly mounted on triangle installing rack (106) top by the Hooke's hinge (14) of center, balancing seat (16) has two degree of freedom relative to triangle installing rack (106), namely fore-and-aft direction rotates and left and right directions rotation, and balancing seat (16) right front lower position is provided with the second gyro sensor (15), car body (1) left lower is provided with left and right electric pushrod mount pad (104), and car body (1) rear, bottom is provided with front and back electric pushrod mount pad (105), and pushing hands (103) below on car body (1) is provided with backrest (102), two described trailing wheels (2) are arranged on car body (1) lower rear position, and two trailing wheel (2) centers are respectively arranged with a wheel hub motor (7), two described front-wheels (5) are arranged on car body (1) lower front position, two described pedals (6) are arranged on car body (1) front two side position respectively, described battery carrier (11) is fixedly mounted on car body (1) central lower position, and described set of cells (10) is fixedly mounted in battery carrier (11), and described controller (12) is arranged on set of cells (10) top, and is connected with set of cells (10), described left and right electric pushrod (8) lower end is hingedly mounted on described left and right electric pushrod mount pad (104), and the piston rod end of left and right electric pushrod (8) is hingedly mounted on edge center, balancing seat (16) left side, described front and back electric pushrod (9) is hingedly mounted on described front and back electric pushrod mount pad (105), and the piston rod end of front and back electric pushrod (9) is hingedly mounted on edge center, balancing seat (16) rear, described direction driving switch (3) is arranged on the handrail (101) on the upper right side of car body (1), and described wheel hub motor locking switch (4) is arranged on the handrail (101) of car body (1) upper left side, two described wheel hub motors (7), left and right electric pushrod (8) are connected with controller (12) with set of cells (10) respectively by circuit with wheel hub motor locking switch (4) with front and back electric pushrod (9), direction driving switch (3), set of cells (10) provides power, and controller (12) provides control signal.
2. a kind of self-balancing electric wheel chair as claimed in claim 1, it is characterized in that: described controller (12) is provided with two gears, be respectively A gear and B gear, when being in A gear, when direction driving switch (3) attonity, described wheel hub motor locking switch (4) is opened automatically, two wheel hub motor (7) power-off self-locking, prevents from slipping car on slope; When being in B gear, when direction driving switch attonity, described wheel hub motor locking switch (4) cuts out automatically, wheel hub motor (7) power-off but not self-locking.
3. a kind of self-balancing electric wheel chair as claimed in claim 1, it is characterized in that: described direction driving switch (3) comprises four direction, control wheelchair advances, turns left, turns right, retreats respectively, and described wheel hub motor locking switch (4) can manually opened and cut out.
4. a kind of self-balancing electric wheel chair as claimed in claim 1, it is characterized in that: the angle of inclination of described the first gyro sensor (13) monitoring car body (1) and incline direction, and signal is passed to controller (12), controller (12) will pass to left and right electric pushrod (8) and front and back electric pushrod (9) after signal processing, stretch in various degree respectively, carry out adjustment seat (16) and keep level; Described the second gyro sensor (15) monitoring balancing seat (16) angle of inclination and incline direction, determine whether balancing seat (16) is up to the standard, and signal is passed to controller (12), controller (12) will pass to left and right electric pushrod (8) and front and back electric pushrod (9) after signal processing, finely tune respectively, form negative feedback closed loop control system.
5. a kind of self-balancing electric wheel chair as claimed in claim 1, is characterized in that: two described pedal (6) surfaces are provided with rubber antiskid layer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510545995.4A CN105078672B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
| CN201610968604.4A CN106667679B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510545995.4A CN105078672B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610968604.4A Division CN106667679B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105078672A true CN105078672A (en) | 2015-11-25 |
| CN105078672B CN105078672B (en) | 2017-03-01 |
Family
ID=54560620
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610968604.4A Expired - Fee Related CN106667679B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
| CN201510545995.4A Expired - Fee Related CN105078672B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610968604.4A Expired - Fee Related CN106667679B (en) | 2015-08-31 | 2015-08-31 | A kind of self-balancing electric wheel chair |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN106667679B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105902346A (en) * | 2016-05-25 | 2016-08-31 | 张家港市仁和医疗器械有限公司 | All-terrain mobility scooter for the disabled |
| CN106963181A (en) * | 2017-04-24 | 2017-07-21 | 零距离智能科技（宁波）有限公司 | Intelligent children's seat |
| CN107696914A (en) * | 2017-09-20 | 2018-02-16 | 常州摩本智能科技有限公司 | Manned robot |
| CN108836648A (en) * | 2018-04-12 | 2018-11-20 | 李秀荣 | A kind of Medical wheelchair of the upper and lower hospital bed of intelligence |
| CN108904164A (en) * | 2018-07-17 | 2018-11-30 | 郜鹏 | A kind of seat support structure of electric wheelchair |
| CN109099898A (en) * | 2018-08-17 | 2018-12-28 | 北京理工大学 | A kind of mobile service system based on self-stabilization platform |
| CN109259947A (en) * | 2018-11-13 | 2019-01-25 | 南昌航空大学 | A kind of nursing self-balancing wheelchair |
| CN110236814A (en) * | 2019-06-01 | 2019-09-17 | 李福明 | A kind of wheelchair seat leveling elevating mechanism and its control method |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN112859679A (en) * | 2021-01-07 | 2021-05-28 | 国家康复辅具研究中心 | Wheelchair posture adjustment system |
| CN113116648A (en) * | 2021-04-13 | 2021-07-16 | 聊城大学 | Bradyseism is climbed building and is walked over barrier device and wheelchair |
| CN113679538A (en) * | 2021-09-29 | 2021-11-23 | 上海新纪元机器人有限公司 | Self-balancing stretcher and vehicle |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107569336A (en) * | 2017-10-31 | 2018-01-12 | 依纳博（天津）智能科技发展有限公司 | A kind of intelligent self-balancing electric wheel chair |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
| CN108992262B (en) * | 2018-08-10 | 2024-04-12 | 西安星球通智能装备技术有限公司 | Wheelchair seat automatic leveling device and control method |
| CN109374206B (en) * | 2018-12-04 | 2020-06-30 | 常州工学院 | Method for judging balance of electric intelligent wheelchair according to acceleration vector ball |
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
| CN115089390B (en) * | 2022-04-26 | 2023-06-16 | 吉林大学 | Electric power-assisted wheelchair with self-balancing seat |
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- 2015-08-31 CN CN201610968604.4A patent/CN106667679B/en not_active Expired - Fee Related
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| JPH10234787A (en) * | 1997-02-20 | 1998-09-08 | Secoh Giken Inc | Motor-driven car |
| JP2000175970A (en) * | 1998-12-18 | 2000-06-27 | Hitachi Ltd | Wheelchair with electric driving device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105902346B (en) * | 2016-05-25 | 2018-05-15 | 张家港市仁和医疗器械有限公司 | A kind of full landform scooter of disabled person |
| CN105902346A (en) * | 2016-05-25 | 2016-08-31 | 张家港市仁和医疗器械有限公司 | All-terrain mobility scooter for the disabled |
| CN106963181A (en) * | 2017-04-24 | 2017-07-21 | 零距离智能科技（宁波）有限公司 | Intelligent children's seat |
| CN107696914A (en) * | 2017-09-20 | 2018-02-16 | 常州摩本智能科技有限公司 | Manned robot |
| CN107696914B (en) * | 2017-09-20 | 2024-03-26 | 常州摩本智能科技有限公司 | Manned robot |
| CN108836648A (en) * | 2018-04-12 | 2018-11-20 | 李秀荣 | A kind of Medical wheelchair of the upper and lower hospital bed of intelligence |
| CN108904164A (en) * | 2018-07-17 | 2018-11-30 | 郜鹏 | A kind of seat support structure of electric wheelchair |
| CN109099898A (en) * | 2018-08-17 | 2018-12-28 | 北京理工大学 | A kind of mobile service system based on self-stabilization platform |
| CN109259947B (en) * | 2018-11-13 | 2020-10-16 | 南昌航空大学 | Self-balancing riding instead of walking wheelchair for nursing |
| CN109259947A (en) * | 2018-11-13 | 2019-01-25 | 南昌航空大学 | A kind of nursing self-balancing wheelchair |
| CN110236814A (en) * | 2019-06-01 | 2019-09-17 | 李福明 | A kind of wheelchair seat leveling elevating mechanism and its control method |
| CN110236814B (en) * | 2019-06-01 | 2020-07-31 | 李福明 | Wheelchair seat leveling and lifting mechanism and control method thereof |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN112859679A (en) * | 2021-01-07 | 2021-05-28 | 国家康复辅具研究中心 | Wheelchair posture adjustment system |
| CN113116648A (en) * | 2021-04-13 | 2021-07-16 | 聊城大学 | Bradyseism is climbed building and is walked over barrier device and wheelchair |
| CN113679538A (en) * | 2021-09-29 | 2021-11-23 | 上海新纪元机器人有限公司 | Self-balancing stretcher and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106667679A (en) | 2017-05-17 |
| CN105078672B (en) | 2017-03-01 |
| CN106667679B (en) | 2017-12-22 |
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