CN106137585A - The electric wheelchair that a kind of energy up/down steps stair travel pacifically - Google Patents
The electric wheelchair that a kind of energy up/down steps stair travel pacifically Download PDFInfo
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- CN106137585A CN106137585A CN201610658328.1A CN201610658328A CN106137585A CN 106137585 A CN106137585 A CN 106137585A CN 201610658328 A CN201610658328 A CN 201610658328A CN 106137585 A CN106137585 A CN 106137585A
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- Prior art keywords
- wheel
- hub motor
- frame
- seat
- machine controller
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/14—Joysticks
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
The electric wheelchair that a kind of energy up/down steps stair travel pacifically, belongs to electric wheelchair technical field.Including the footboard on frame, front vehicle wheel A, front vehicle wheel a, rear wheel B, rear wheel b, seat, seat and remote control rod, set of cells; it is characterized in that; described front vehicle wheel A, front vehicle wheel a, rear wheel B, rear wheel b are independently driven by front hub motor A, front hub motor a, rear-wheel hub motor B, rear-wheel hub motor b respectively, and frame is provided with and can increase the wheel of fore-and-aft clearance between front vehicle wheel A, front vehicle wheel a and rear wheel B, rear wheel b and launch gathering mechanism；The seat horizontal automatic mechanism that can automatically adjust seat horizontal position it is provided with between frame and seat.The present invention it can up/down steps, stair, can travel on level land again, and volume is similar with the electric wheelchair that existing level land travels, and structure is simpler than the electric wheelchair that existing energy up/down steps, stair travel pacifically, and up/down steps stair are safe and reliable, easy to operate.
Description
Technical field
The invention belongs to electric wheelchair technical field, be specifically related to a kind of can topping bar and the electric wheelchair of stair.
Background technology
Along with old people, the increasing of people with disability, the demand of electric wheelchair is increasing, and to the requirement of its function also
Increasing, outward also wanting to run into step can top bar as electric wheelchair decapacitation travels on level land, staying in the old people of multilamellar, residual
Disease people then wishes that electric wheelchair decapacitation also wants to go upstairs outside travelling on level land.To this end, there has been proposed all multipotencys upstairs
The technical scheme of the electric wheelchair of ladder, such as notification number: CN201211285 " electric wheelchair stairs-climbing vehicle ", notification number:
CN201101645 " Multifunctional safe electric upstairs going chair ", publication number: CN104000696A " stair climbing obstacle detouring electric wheelchair ", public affairs
Announcement number: CN204744700U " electric stair climbing ladder wheelchair ", notification number: CN102125488A " planet wheel type stair-climbing Electric Motor Wheel
Chair ", publication number: CN103932848A " fully automatic hydraulic lifting step type electric stair climbing wheelchair ", notification number: CN2012-
The 08-08 electric wheelchair of stair activity " self-service can ", notification number: CN102309381A " can go pacifically by stair activity by one
The self-balancing electric wheel chair walked ", notification number: the CN201179156 electric wheelchair of automatic up-down stairs " a kind of can ", notification number:
CN201492596U " a kind of can stair activity and level road walking dual-purpose electric wheelchair ".Though technique scheme has upper going downstairs
Ladder function, but have can only be provided purely for stair activity, such as notification number: CN201101645 " Multifunctional safe electric upstairs going
Chair ", publication number: CN104000696A " stair climbing obstacle detouring electric wheelchair ", notification number: CN204744700U " electric stair climbing ladder take turns
Chair ", notification number: CN102125488A " planet wheel type stair-climbing electric wheelchair ", publication number: CN103932848A " Full Automatic Liquid
Pressure lifting step type electric stair climbing wheelchair ".And such as notification number: CN201211285 " electric wheelchair stairs-climbing vehicle " travels on level land
Need to someone promote.Notification number: CN102309381A " a kind of can the self-balancing electric wheel chair walked pacifically of stair activity " uses
Two take turns three symmetrical hydraulic arms of the two each telescopic rotations in side upstairs, and its security reliability is bad.Notification number: CN2012-
The 08-08 electric wheelchair of stair activity " self-service can ", notification number: CN201179156 " a kind of can automatic up-down stairs electronic
Wheelchair " though can travel pacifically by stair activity, but structure is complicated, and car load is heavy, operation complexity.Notification number: CN201492596U
" a kind of can stair activity and the dual-purpose electric wheelchair of level road walking ", need to pull down fanning strip, need during level road walking during stair activity
Load onto fanning strip, use, operate and be inconvenient for.
Summary of the invention
The above-mentioned disadvantage existed for prior art, the present invention provides the electricity that a kind of energy up/down steps stair travel pacifically
Wheelchair, it can up/down steps, stair, can travel on level land again, and volume is similar with the electric wheelchair that existing level land travels,
Structure is simpler than the electric wheelchair that existing energy up/down steps, stair travel pacifically, and up/down steps, stair are safe and reliable,
Easy to operate.
Above-mentioned goal of the invention is achieved through the following technical solutions, and a kind of energy up/down steps stair travel pacifically
Electric wheelchair, including the footboard on frame, front vehicle wheel A, front vehicle wheel a, rear wheel B, rear wheel b, seat, seat with shake control
Bar, set of cells, it is characterized by, described front vehicle wheel A, front vehicle wheel a, rear wheel B, rear wheel b respectively by front hub motor A,
Front hub motor a, rear-wheel hub motor B, rear-wheel hub motor b independently drive, front hub motor A, front hub motor a, rear-wheel hub electricity
Machine B, rear-wheel hub motor b are the most corresponding equipped with encoder A, encoder a, encoder B, encoder b；Frame is provided with before increasing
Between wheel A, front vehicle wheel a and rear wheel B, rear wheel b, the wheel of fore-and-aft clearance launches gathering mechanism；On frame, seat equipped with
Can automatically adjust the seat horizontal automatic mechanism of seat horizontal position；Described wheel launches gathering mechanism in frame
Front-end and back-end are respectively provided with the height front truck wheel carrier that can rotate more than 10 centimeters and rear wheel frame, front vehicle wheel around frame
Side, frame lower end two is respectively mounted front hub motor A and front hub motor a, and side, rear wheel frame lower end two is respectively mounted rear-wheel hub motor
B, rear-wheel hub motor b, equipped with increasing front vehicle wheel A, front vehicle wheel a and rear wheel B, rear wheel between front truck wheel carrier and rear wheel frame
The motor push rod A of spacing is taken turns between b；Described remote control rod, set of cells, front hub motor A, front hub motor a, rear-wheel hub motor
B, rear-wheel hub motor b, encoder A, encoder a, encoder B, encoder b, motor push rod A, seat horizontal automatic mechanism
It is connected with an automaton.
As preferably, described seat horizontal automatic mechanism is to be provided with to revolve around frame between seat and frame
The seat support rack turned, concrete structure be that seat support rack lower end is fixing one before rotary shaft rotate around frame front end, front rotation
Fixing a turning arm in rotating shaft, frame rear end is equipped with a rear rotary shaft rotated around frame rear end, rear rotary shaft and turning arm
Between equipped with seat support rack, seat can be promoted to make the motor push rod B of lifting rotation around frame；Motor push rod B and control automatically
Device processed is connected.
As preferably, described automaton is contained in frame, it include ECU unit, detection frame and seat with
The obliquity sensor of the angle on ground and gyroscope, electric machine controller A, electric machine controller a, electric machine controller B, electric machine controller
b；ECU unit controls with obliquity sensor, gyroscope, electric machine controller A, electric machine controller a, electric machine controller B, motor respectively
Device b connects；And the ECU unit of automaton is directly connected with motor push rod A, motor push rod B, remote control rod, automatically control
The electric machine controller A of device, electric machine controller a, electric machine controller B, electric machine controller b respectively corresponding with front hub motor A and
Encoder A, front hub motor a and encoder a, rear-wheel hub motor B and encoder B, rear-wheel hub motor b are connected with encoder b.
Operation and the running of the present invention are as follows:
Level land moves forward: then pushed by remote control rod on " level land move forward shelves ", now by the automatic control being connected with remote control rod
Device processed turns on front hub motor A, front hub motor a, rear-wheel hub motor B, rear-wheel hub motor b automatically, and make they simultaneously to
Front rotation, electric wheelchair then moves forward on level land.
Level land travels i.e. reversing backward: remote control rod then pushes " level land reverse gear ", and now automaton makes automatically
Obliquity sensor, gyroscope, front hub motor A, front hub motor a, rear-wheel hub motor B, rear-wheel hub motor b turn round simultaneously
Dynamic, electric wheelchair is then in level land reversing back.
Up/down steps stair travel: remote control rod then pushes " up/down steps stair shelves ", and now automaton is automatic
Make motor push rod A action, by front truck wheel carrier and rear wheel frame around frame rotary expansion, make front vehicle wheel A, front vehicle wheel a and rear car
Wheel B, rear wheel b collapse more than three steps；Meanwhile, the obliquity sensor of automaton, gyroscope action, make electricity
Machine push rod B promotes seat support rack to rotate around frame, and the inclination angle of power seat makes seat remain level, thus
People's carriage electric wheelchair up/down steps or stair can be made to travel, the sensation as moved forward on level land, the same peace
Entirely.
To right travel: remote control rod then pushes " to right travel shelves ", and now automaton makes front hub motor automatically
Motor B is motionless for A, rear-wheel hub, makes front hub motor a, rear-wheel hub motor b rotate forward, so that front vehicle wheel A, rear wheel B are not
Dynamic, front vehicle wheel a, rear wheel b rotate forward, and electric wheelchair then bends to right.
Travel to the left: remote control rod then pushes " travelling shelves to the left ", and now automaton makes front hub motor automatically
Motor b is motionless for a, rear-wheel hub, makes front hub motor A, rear-wheel hub motor B rotate forward, so that front vehicle wheel a, rear wheel b are not
Dynamic, front vehicle wheel A, rear wheel B rotate forward, and electric wheelchair is turned the most to the left.
Pivot stud: remote control rod then pushes " pivot stud shelves ", and now automaton makes front hub motor automatically
A, rear-wheel hub motor b rotate forward, make front hub motor A, rear-wheel hub motor B rotate backward, so that front vehicle wheel a, rear wheel b
Rotating forward, front vehicle wheel A, rear wheel B rotate backward, electric wheelchair pivot stud the most to the right.Or automaton makes automatically
Front hub motor a, rear-wheel hub motor b rotate backward, and make front hub motor A, rear-wheel hub motor B rotate forward, so that front truck
Wheel a, rear wheel b rotate backward, and front vehicle wheel A, rear wheel B rotate forward, electric wheelchair pivot stud the most to the left.
The present invention compared with prior art has the advantages that: because its four wheel hub motor independently drives, in frame
Being provided with wheel and launch gathering mechanism, frame, seat are provided with seat horizontal automatic mechanism, and remote control rod pushes " upper leave from office
Rank stair shelves " time, make front vehicle wheel A, front vehicle wheel a and rear wheel B, rear wheel b collapse more than three steps, and seat can be made all the time
Holding level, it is thus possible to make people's carriage electric wheelchair up/down steps or stair travel, as moved forward on level land
Sensation；So it can up/down steps, stair, can travel on level land again, and the electric wheelchair phase that volume and existing level land travel
Imitative, structure is simpler than the electric wheelchair that existing energy up/down steps, stair travel pacifically, and up/down steps, stair safely may be used
Lean on, easy to operate.
Accompanying drawing explanation
Fig. 1: present configuration schematic isometric；
Fig. 2: front vehicle wheel A of the present invention, front vehicle wheel a draw in rear wheel B, rear wheel b, front view when level land travels；
The right view of Fig. 3: Fig. 2；
Fig. 4: front vehicle wheel A of the present invention, front vehicle wheel a launch with rear wheel B, rear wheel b, prepare master when up/down steps stair travel and regard
Figure；
Fig. 5: the present invention go upstairs travel time schematic diagram；
Fig. 6: the schematic diagram when present invention goes downstairs；
Fig. 7: automaton assembling structure block diagram of the present invention and be connected figure with controlled parts；
In Fig. 17,1-frame, 2-front vehicle wheel A, 3-front vehicle wheel a, 4-rear wheel B, 5-rear wheel b, 6-seat, 7-footboard,
8-remote control rod, 9-set of cells, 10-front hub motor A, 11-front hub motor a, 12-rear-wheel hub motor B, 13-rear-wheel hub motor
B, 14-encoder A, 15-encoder a, 16-encoder B, 17-encoder b, 18-wheel launches gathering mechanism, 19-seat horizontal
Automatic mechanism, 20-front truck wheel carrier, 21-rear wheel frame, 22-motor push rod A, 23-automaton, 24-Seat support
Frame, 25-rotary shaft, 26-turning arm, rotary shaft after 27-, 28-motor push rod B, 29-obliquity sensor, 30-gyroscope, 31-
ECU unit, 32-electric machine controller A, 33-electric machine controller a, 34-electric machine controller B, 35-electric machine controller, 36-energy
The electric wheelchair that up/down steps stair travel pacifically, 37-stair.
Detailed description of the invention
The invention will be further described for embodiment represented by 1-7 below in conjunction with the accompanying drawings:
Including the footboard 7 on frame 1, front vehicle wheel A2, front vehicle wheel a3, rear wheel B4, rear wheel b5, seat 6, seat 6 with shake
Control lever 8, set of cells 9, described front vehicle wheel A2, front vehicle wheel a3, rear wheel B4, rear wheel b5 are respectively by front hub motor A10, front
Wheel hub motor a11, rear-wheel hub motor B12, rear-wheel hub motor b13 independently drive, front hub motor A10, front hub motor a11,
Rear-wheel hub motor B12, rear-wheel hub motor b13 are the most corresponding equipped with encoder A14, encoder a15, encoder B16, encoder
b17；Frame 1 is provided with can increase the wheel exhibition of fore-and-aft clearance between front vehicle wheel A2, front vehicle wheel a3 and rear wheel B4, rear wheel b5
Open gathering mechanism 18；Equipped with the seat horizontal automatic mechanism that can automatically adjust seat 6 horizontal level on frame 1, seat 6
19；Described wheel launch gathering mechanism 18 be respectively provided with in the front-end and back-end of frame 1 height 20 centimeters can be around
Front truck wheel carrier 20 that frame 1 rotates and rear wheel frame 21, side, front truck wheel carrier 20 lower end two is respectively mounted front hub motor A10 and front
Wheel hub motor a11, side, rear wheel frame 21 lower end two is respectively mounted rear-wheel hub motor B12, rear-wheel hub motor b13, front truck wheel carrier 20
And equipped with increasing the electricity taking turns spacing between front vehicle wheel A2, front vehicle wheel a3 and rear wheel B4, rear wheel b5 between rear wheel frame 21
Machine push rod A22；Described remote control rod 8, set of cells 9, front hub motor A10, front hub motor a11, rear-wheel hub motor B12, after
Wheel hub motor b13, encoder A14, encoder a15, encoder B16, encoder b17, motor push rod A22, seat horizontal are automatic
Guiding mechanism 19 is connected with an automaton 23.
Described seat horizontal automatic mechanism 19 is provided with between seat 6 and frame 1 and can rotate around frame 1
Seat support rack 24, concrete structure be that seat support rack 24 lower end is fixing one before rotary shaft 25 rotate around frame 1 front end, front
Fixing a turning arm 26 in rotary shaft 25, frame 1 rear end, equipped with a rear rotary shaft 27 rotated around frame 1 rear end, rotates afterwards
Equipped with seat support rack 24, seat 6 can be promoted to make the motor push rod of lifting rotation around frame 1 between axle 27 and turning arm 26
B28；Motor push rod B28 is connected with automaton 23.
Described automaton 23 is contained in frame 1, and it includes ECU unit 31, detection frame 1 and seat 6 and ground
The obliquity sensor 29 of the angle in face and gyroscope 30, electric machine controller A31, electric machine controller a32, electric machine controller B32, electricity
Machine controller b33；ECU unit 31 respectively with obliquity sensor 29, gyroscope 30, electric machine controller A32, electric machine controller a33,
Electric machine controller B34, electric machine controller b35 connect；And the ECU unit 31 of automaton 23 directly and motor push rod A22,
Motor push rod B28, remote control rod 8 are connected；The electric machine controller A32 of automaton 23, electric machine controller a33, motor control
Device B34 processed, electric machine controller b35 correspondence respectively and front hub motor A10 and encoder A14, front hub motor a11 and encoder
A15, rear-wheel hub motor B12 are connected with encoder b17 with encoder B16 rear-wheel hub motor b13；Set of cells 9 is respectively with above-mentioned
Consuming parts be connected；Described remote control rod 8 is electric handle.
Claims (3)
1. can the electric wheelchair that travels pacifically of up/down steps stair, including frame (1), front vehicle wheel A(2), front vehicle wheel a
(3), rear wheel B(4), rear wheel b(5), seat (6), footboard (7) on seat (6) and remote control rod (8), set of cells (9),
It is characterized in that, described front vehicle wheel A(2), front vehicle wheel a(3), rear wheel B(4), rear wheel b(5) respectively by front hub motor A
(10), front hub motor a(11), rear-wheel hub motor B(12), rear-wheel hub motor b(13) independent drive, front hub motor A(10),
Front hub motor a(11), rear-wheel hub motor B(12), rear-wheel hub motor b(13) respectively corresponding equipped with encoder A(14), encoder
A(15), encoder B(16), encoder b(17)；Frame (1) is provided with and can increase front vehicle wheel A(2), front vehicle wheel a(3) and rear car
Wheel B(4), rear wheel b(5) between fore-and-aft clearance wheel launch gathering mechanism (18)；On frame (1), seat (6) equipped with energy certainly
The dynamic seat horizontal automatic mechanism (19) adjusting seat (6) horizontal level；Described wheel launches gathering mechanism (18)
The height front truck wheel carrier that can rotate more than 10 centimeters it is respectively provided with around frame (1) in the front-end and back-end of frame (1)
(20) and rear wheel frame (21), side, front truck wheel carrier (20) lower end two is respectively mounted front hub motor A(10) and front hub motor a
(11), side, rear wheel frame (21) lower end two is respectively mounted rear-wheel hub motor B(12), rear-wheel hub motor b(13), front truck wheel carrier (20)
And equipped with increasing front vehicle wheel A(2 between rear wheel frame (21)), front vehicle wheel a(3) and rear wheel B(4), rear wheel b(5) between
The motor push rod A(22 of wheel spacing)；Described remote control rod (8), set of cells (9), front hub motor A(10), front hub motor a
(11), rear-wheel hub motor B(12), rear-wheel hub motor b(13), encoder A(14), encoder a(15), encoder B(16), coding
Device b(17), motor push rod A(22), seat horizontal automatic mechanism (19) is connected with an automaton (23).
A kind of electric wheelchair can topped bar with stair the most according to claim 1, it is characterised in that described seat water
Flat automatic mechanism (19) is to be provided with the seat support rack that can rotate around frame (1) between seat (6) and frame (1)
(24), concrete structure be that seat support rack (24) lower end is fixing one before rotary shaft (25) rotate around frame (1) front end, front rotation
Fixing a turning arm (26) in rotating shaft (25), frame (1) rear end is equipped with a rear rotary shaft rotated around frame (1) rear end
(27), equipped with seat support rack (24), seat (6) can be promoted around frame (1) between rear rotary shaft (27) and turning arm (26)
Make the motor push rod B(28 of lifting rotation)；Motor push rod B(28) it is connected with automaton (23).
The most according to claim 1 and 2 a kind of can top bar and the electric wheelchair of stair, it is characterised in that described from
Dynamic control device (23) is contained in frame (1), and it includes the angle of ECU unit (31), detection frame (1) and seat (6) and ground
Degree obliquity sensor (29) and gyroscope (30), electric machine controller A(32), electric machine controller a(33), electric machine controller B
(34), electric machine controller b(35)；ECU unit (31) respectively with obliquity sensor (29), gyroscope (30), electric machine controller A
(32), electric machine controller a(33), electric machine controller B(34), electric machine controller b(35) connect；And automaton (23)
ECU unit (31) directly with motor push rod A(22), motor push rod B(28), remote control rod (8) is connected；Automaton (23)
Electric machine controller A(32), electric machine controller a(33), electric machine controller B(34), electric machine controller b(35) respectively the most corresponding and front
Wheel hub motor A(10) and encoder A(14), front hub motor a(11) and encoder a(15), rear-wheel hub motor B(12) and coding
Device B(16), rear-wheel hub motor b(13) with encoder b(17) be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610658328.1A CN106137585A (en) | 2016-08-12 | 2016-08-12 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610658328.1A CN106137585A (en) | 2016-08-12 | 2016-08-12 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106137585A true CN106137585A (en) | 2016-11-23 |
Family
ID=57329712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610658328.1A Pending CN106137585A (en) | 2016-08-12 | 2016-08-12 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106137585A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106389028A (en) * | 2016-12-20 | 2017-02-15 | 张久彬 | Electric wheelchair and stair climbing chassis assembly |
| CN109646202A (en) * | 2019-01-21 | 2019-04-19 | 吉林大学 | A kind of intelligence all-wheel drive auxiliary device |
| WO2019127326A1 (en) * | 2017-12-29 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Smart wheelchair sensing and adjustment apparatus and method |
| RU2737599C1 (en) * | 2020-06-26 | 2020-12-01 | Николай Петрович Дядченко | Chair |
| CN112754791A (en) * | 2021-01-26 | 2021-05-07 | 张德强 | Wheel inclination adjustable patient rehabilitation wheelchair |
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| JP2015047985A (en) * | 2013-09-02 | 2015-03-16 | 株式会社ジェイテクト | Stairway elevator |
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