CN108524118B - All-round initiative balanced electronic wheelchair car - Google Patents
All-round initiative balanced electronic wheelchair car Download PDFInfo
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- CN108524118B CN108524118B CN201810195973.3A CN201810195973A CN108524118B CN 108524118 B CN108524118 B CN 108524118B CN 201810195973 A CN201810195973 A CN 201810195973A CN 108524118 B CN108524118 B CN 108524118B
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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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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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
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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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)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
Abstract
The invention discloses an omnibearing active balance electric wheelchair, which comprises a first upper connecting rod, a second upper connecting rod, a first lower connecting rod and a second lower connecting rod which are arranged between a first support frame and a second support frame in parallel, wherein two ends of the first upper connecting rod and the second upper connecting rod are respectively and rotatably arranged on the first support frame and the second support frame, a first wheel control arm and a second wheel control arm are respectively arranged at two sides of the first support frame and the second support frame, a seat main body is rotatably arranged on the two upper connecting rods through a main mounting frame, a main driving gear is arranged on the main mounting frame, and a driven gear meshed with the main driving gear is arranged between the two lower connecting rods. Through above-mentioned optimal design's electronic wheelchair car of all-round initiative balance, through main drive gear and driven gear meshing transmission, realize connecting rod and lower connecting rod parallel relative movement to adjust the distance between the two, realize the seat main part and control the planar angle modulation in arm place for two wheels, thereby guarantee that the seat main part is in vertical state all the time, keep the seat balanced.
Description
Technical Field
The invention relates to the technical field of wheelchair balance, in particular to an omnibearing active balance electric wheelchair.
Background
In China, a plurality of disabled people with lower limb defects and old people with unchanged walking are greatly limited in movement and entertainment, so that the happiness is greatly reduced, and some even caused depression is generated. The conventional wheelchair can only walk on a flat road and cannot go up and down stairs. In addition, in the environment of bumpy road surface in the open air, the balance of the user is difficult to control, and potential safety hazards exist when the wheelchair is used.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an omnibearing active balance electric wheelchair.
The invention provides an omnibearing active balance electric wheelchair, comprising: the seat comprises a wheel main frame, a first wheel control arm, a second wheel control arm, a seat body and a first driving device;
The wheel main frame comprises a first support frame, a second support frame, a first upper connecting rod, a second upper connecting rod, a first lower connecting rod and a second lower connecting rod, wherein the first support frame and the second support frame are oppositely arranged;
The first upper rotating shaft and the first lower rotating shaft which are horizontally arranged are arranged on one side, facing the second support frame, of the first support frame, the second upper rotating shaft and the second lower rotating shaft which are horizontally arranged are arranged on one side, facing the first support frame, of the second support frame, the first upper rotating shaft, the first lower rotating shaft, the second upper rotating shaft and the second lower rotating shaft are arranged in parallel, the first upper connecting rod, the second upper connecting rod, the first lower connecting rod and the second lower connecting rod are arranged between the first support frame and the second support frame in parallel and perpendicular to the first upper rotating shaft, two ends of the first upper connecting rod and two ends of the second upper connecting rod are rotatably arranged on the first upper rotating shaft and the second upper rotating shaft respectively, and two ends of the first lower connecting rod and two ends of the second lower connecting rod are rotatably arranged on the first lower rotating;
The first driving device comprises a main mounting frame, a first driving motor, a first driving worm wheel, a first driving worm, a main driving gear and a driven gear, wherein a main rotating shaft which is parallel to the first upper rotating shaft is arranged on the main mounting frame and is rotatably connected with a first upper connecting rod and a second upper connecting rod through the main rotating shaft;
The seat main body is fixedly installed on the main installation frame.
Preferably, the seat further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat body and used for detecting the balance of the seat body, and the first driving motor drives the first driving worm wheel to rotate through the first driving worm according to a detection signal of the balance sensing detection device.
Preferably, the vehicle wheel further comprises a second driving device, the second driving device comprises a second driving motor, a second driving worm wheel and a second driving worm, the second driving worm wheel is fixed on one side, facing the first support frame, of the first wheel control arm, a rotating shaft of the second driving worm wheel is arranged in parallel to the first upper connecting rod, the second driving worm is rotatably installed on the first support frame and meshed with the second driving worm wheel, and the second driving motor is connected with the second driving worm.
Preferably, the seat further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat body and used for detecting the balance of the seat body, and the second driving motor drives the second driving worm wheel to rotate through the second driving worm according to a detection signal of the balance sensing detection device.
Preferably, the vehicle wheel further comprises a third driving device, the third driving device comprises a third driving motor, a third driving worm wheel and a third driving worm, the third driving worm wheel is fixed on one side, facing the second supporting frame, of the second wheel control arm, and a rotating shaft of the third driving worm wheel is parallel to the first upper connecting rod, the third driving worm is rotatably installed on the second supporting frame and meshed with the third driving worm wheel, and the third driving motor is connected with the third driving worm.
Preferably, the seat further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat body and used for detecting balance of the seat body, and the third driving motor drives the third driving worm wheel to rotate through the third driving worm according to a detection signal of the balance sensing detection device.
Preferably, the second drive worm gear is arranged coaxially with the third drive worm gear.
Preferably, the main driving gear is located between the first upper link and the second upper link, and the driven gear is located between the first lower link and the second lower link.
The invention provides an omnibearing active balance electric wheelchair, which comprises a first upper connecting rod, a second upper connecting rod, a first lower connecting rod and a second lower connecting rod which are arranged between a first support frame and a second support frame in parallel, wherein two ends of the first upper connecting rod and the second upper connecting rod are respectively and rotatably arranged on the first support frame and the second support frame, a first wheel control arm and a second wheel control arm are respectively arranged at two sides of the first support frame and the second support frame, a seat main body is rotatably arranged on the two upper connecting rods through a main mounting frame, a main driving gear is arranged on the main mounting frame, and a driven gear meshed with the main driving gear is arranged between the two lower connecting rods. Through above-mentioned optimal design's electronic wheelchair car of all-round initiative balance, through main drive gear and driven gear meshing transmission, realize connecting rod and lower connecting rod parallel relative movement to adjust the distance between the two, realize the seat main part and control the planar angle modulation in arm place for two wheels, thereby guarantee that the seat main part is in vertical state all the time, keep the seat balanced.
Drawings
Fig. 1 is a schematic structural view of an omni-directional active balancing electric wheelchair according to the present invention.
Fig. 2 is another schematic structural diagram of an omni-directional active balancing electric wheelchair according to the present invention.
Detailed Description
As shown in fig. 1 and 2, fig. 1 is a schematic structural view of an omni-directional active balancing electric wheelchair according to the present invention, and fig. 2 is another schematic structural view of an omni-directional active balancing electric wheelchair according to the present invention.
Referring to fig. 1 and 2, the present invention provides an omni-directional active balancing electric wheelchair, including: a wheel main frame, a first wheel control arm 21, a second wheel control arm 22, a seat body 5, and a first driving device;
The wheel main frame comprises a first support frame 11, a second support frame 12, a first upper connecting rod 13, a second upper connecting rod 14, a first lower connecting rod 15 and a second lower connecting rod, wherein the first support frame 11 and the second support frame 12 are oppositely arranged, a first wheel control arm 21 is rotatably arranged on one side of the first support frame 11, which is far away from the second support frame 12, a second wheel control arm 22 is rotatably arranged on one side of the second support frame 12, which is far away from the first support frame 11, two ends of the first wheel control arm 21 are respectively provided with a first front wheel and a first rear wheel, and two ends of the second wheel control arm 22 are respectively provided with a second front wheel and a second rear wheel;
A first upper rotating shaft and a first lower rotating shaft which are horizontally arranged are arranged on one side of the first support frame 11, which faces the second support frame 12, a second upper rotating shaft and a second lower rotating shaft which are horizontally arranged are arranged on one side of the second support frame 12, which faces the first support frame 11, the first upper rotating shaft, the first lower rotating shaft, the second upper rotating shaft and the second lower rotating shaft are arranged in parallel, a first upper connecting rod 13, a second upper connecting rod 14, a first lower connecting rod 15 and a second lower connecting rod are arranged between the first support frame 11 and the second support frame 12 in parallel and are perpendicular to the first upper rotating shaft, two ends of the first upper connecting rod 13 and two ends of the second upper connecting rod 14 are respectively rotatably arranged on the first upper rotating shaft and the second upper rotating shaft, and two ends of the first lower connecting rod 15 and the second lower connecting rod are respectively rotatably arranged on the first lower rotating shaft and;
The first driving device comprises a main mounting frame 31, a first driving motor 32, a first driving worm wheel 33, a first driving worm 34, a main driving gear 41 and a driven gear 42, wherein a main rotating shaft arranged in parallel with the first upper rotating shaft is arranged on the main mounting frame 31 and is rotatably connected with the first upper connecting rod 13 and the second upper connecting rod 14 through the first main rotating shaft, the main driving gear 41 is fixed on the main mounting frame 31 and is coaxially arranged with the main rotating shaft, the driven gear 42 is rotatably connected with the first lower connecting rod 15 and the second lower connecting rod, the driven gear 42 is positioned below the main driving gear 41 and is meshed with the main driving gear 41, the first driving worm wheel 33 is fixed on the main mounting frame 31 and is coaxially arranged with the main driving gear 41, the first driving worm 34 is rotatably mounted on the main mounting frame 31 and is meshed with the first driving worm wheel 33, and the first driving motor 32 is connected with the first worm driving worm wheel;
The seat main body 5 is fixedly mounted on the main mount 31.
In the specific working process of the omnibearing actively-balanced electric wheelchair, in the running process on an uneven road surface and when the seat inclines left and right, the first wheel control arm and the second wheel control arm have different heights due to the uneven road surface, the first driving motor drives the first driving worm to rotate, so that the main mounting frame is driven to rotate through the first driving worm gear, under the meshing guiding action of the main driving gear and the driven gear, the distance between the upper connecting rod and the lower connecting rod is changed through the parallelogram principle, the seat is always in a vertical state, and the seat is kept balanced on a bumpy road surface; when the main driving gear rotates, the driven gear limits the rotation angle of the main driving gear, and the adjustment reliability of the main mounting rack is guaranteed.
In this embodiment, the proposed omnibearing active balancing electric wheelchair comprises a first upper connecting rod, a second upper connecting rod, a first lower connecting rod, a second lower connecting rod parallel arranged between a first support frame and a second support frame, and two ends of the second lower connecting rod respectively rotatably arranged on the first support frame and the second support frame, a first wheel control arm and a second wheel control arm respectively arranged on two sides of the first support frame and the second support frame, a seat main body rotatably arranged on the two upper connecting rods through a main mounting frame, a main driving gear arranged on the main mounting frame, and a driven gear meshed with the main driving gear arranged between the two lower connecting rods. Through above-mentioned optimal design's electronic wheelchair car of all-round initiative balance, through main drive gear and driven gear meshing transmission, realize connecting rod and lower connecting rod parallel relative movement to adjust the distance between the two, realize the seat main part and control the planar angle modulation in arm place for two wheels, thereby guarantee that the seat main part is in vertical state all the time, keep the seat balanced.
In order to ensure that the active balance of the seat body is realized in the walking process of the wheelchair, in a specific embodiment, the wheelchair further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat body 5 and used for detecting the balance of the seat body 5, and the first driving motor 32 drives the first driving worm wheel 33 to rotate through the first driving worm 34 according to a detection signal of the balance sensing detection device.
In other specific embodiments, in order to adjust the undulation of the front and rear wheels on one side along with the road surface condition, the vehicle further comprises a second driving device, the second driving device comprises a second driving motor 61, a second driving worm wheel 62 and a second driving worm 63, the second driving worm wheel 62 is fixed on one side of the first wheel control arm 21 facing the first support frame 11, the rotating shaft of the second driving worm wheel 62 is arranged in parallel with the first upper connecting rod 13, the second driving worm 63 is rotatably installed on the first support frame 11 and meshed with the second driving worm wheel 62, and the second driving motor 61 is connected with the second driving worm 63.
In a specific control mode, the seat further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat main body 5 and used for detecting balance of the seat main body 5, and the second driving motor 61 drives the second driving worm wheel 62 to rotate through the second driving worm 63 according to a detection signal of the balance sensing detection device.
In other specific embodiments, the vehicle further comprises a third driving device, the third driving device comprises a third driving motor 71, a third driving worm gear 72 and a third driving worm 73, the third driving worm gear 72 is fixed on the side of the second wheel control arm 22 facing the second support frame 12, the rotating shaft of the third driving worm gear 72 is arranged in parallel with the first upper connecting rod 13, the third driving worm 73 is rotatably mounted on the second support frame 12 and meshed with the third driving worm gear 72, and the third driving motor 71 is connected with the third driving worm 73.
In a specific control mode, the seat further comprises a balance sensing detection device, the balance sensing detection device is connected with the seat main body 5 and used for detecting the balance of the seat main body 5, and the third driving motor 71 drives the third driving worm wheel 72 to rotate through the third driving worm 73 according to a detection signal of the balance sensing detection device.
When the front wheels and the rear wheels at the two ends of the first wheel control arm are positioned on different planes, the front and rear balance of the first support frame is ensured through the second driving device; similarly, when the front wheel and the rear wheel at the two ends of the second wheel control arm are positioned on different planes, the front-back balance of the second support frame is ensured through the third driving device, so that the front-back balance of the seat is realized.
In a further embodiment, the second drive worm gear 62 is disposed coaxially with the third drive worm gear 72.
In a specific arrangement of the main drive gear and the driven gear, the main drive gear 41 is located between the first upper link 13 and the second upper link 14, and the driven gear 42 is located between the first lower link 15 and the second lower link.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides an electronic wheelchair of all-round initiative balance which characterized in that includes: the seat comprises a wheel main frame, a first wheel control arm (21), a second wheel control arm (22), a seat body (5) and a first driving device;
The wheel main frame comprises a first support frame (11), a second support frame (12), a first upper connecting rod (13), a second upper connecting rod (14), a first lower connecting rod (15) and a second lower connecting rod, wherein the first support frame (11) and the second support frame (12) are arranged oppositely, a first wheel control arm (21) is rotatably arranged on one side, away from the second support frame (12), of the first support frame (11), a second wheel control arm (22) is rotatably arranged on one side, away from the first support frame (11), of the second support frame (12), a first front wheel and a first rear wheel are respectively arranged at two ends of the first wheel control arm (21), and a second front wheel and a second rear wheel are respectively arranged at two ends of the second wheel control arm (22);
A first upper rotating shaft and a first lower rotating shaft which are horizontally arranged are arranged on one side, facing the second support frame (12), of the first support frame (11), a second upper rotating shaft and a second lower rotating shaft which are horizontally arranged are arranged on one side, facing the first support frame (11), of the second support frame (12), the first upper rotating shaft, the first lower rotating shaft, the second upper rotating shaft and the second lower rotating shaft are arranged in parallel, a first upper connecting rod (13), a second upper connecting rod (14), a first lower connecting rod (15) and a second lower connecting rod are arranged between the first support frame (11) and the second support frame (12) in parallel and perpendicular to the first upper rotating shaft, two ends of the first upper connecting rod (13) and the second upper connecting rod (14) are respectively rotatably arranged on the first upper rotating shaft and the second upper rotating shaft, and two ends of the first lower connecting rod (15) and the second desired connecting rod are respectively rotatably arranged on the first lower rotating shaft and the second lower rotating shaft;
The first driving device comprises a main mounting frame (31), a first driving motor (32), a first driving worm wheel (33), a first driving worm rod (34), a main driving gear (41) and a driven gear (42), wherein a main rotating shaft arranged in parallel to the first upper rotating shaft is arranged on the main mounting frame (31) and is rotatably connected with a first upper connecting rod (13) and a second upper connecting rod (14) through the main rotating shaft, the main driving gear (41) is fixed on the main mounting frame (31) and is coaxially arranged with the main rotating shaft, the driven gear (42) is rotatably connected with a first lower connecting rod (15) and a second lower connecting rod, the driven gear (42) is positioned below the main driving gear (41) and is meshed with the main driving gear (41), the first driving worm wheel (33) is fixed on the main mounting frame (31) and is coaxially arranged with the main driving gear (41), the first driving worm wheel (34) is rotatably mounted on the main mounting frame (31) and is meshed with the first driving worm wheel (33), the first driving motor (32) is connected with the first driving worm (34);
The seat main body (5) is fixedly arranged on the main mounting frame (31);
The main driving gear (41) is positioned between the first upper connecting rod (13) and the second upper connecting rod (14), and the driven gear (42) is positioned between the first lower connecting rod (15) and the second lower connecting rod.
2. The omni-directional active balancing electric wheelchair according to claim 1, further comprising a balance sensing detection device connected to the seat body (5) for detecting the balance of the seat body (5), wherein the first driving motor (32) drives the first driving worm gear (33) to rotate through the first driving worm gear (34) according to a detection signal of the balance sensing detection device.
3. The omni-directional active balancing electric wheelchair as claimed in claim 1, further comprising a second driving device, wherein the second driving device comprises a second driving motor (61), a second driving worm gear (62) and a second driving worm (63), the second driving worm gear (62) is fixed on one side of the first wheel control arm (21) facing the first support frame (11) and the rotating shaft thereof is arranged in parallel with the first upper connecting rod (13), the second driving worm (63) is rotatably mounted on the first support frame (11) and meshed with the second driving worm gear (62), and the second driving motor (61) is connected with the second driving worm (63).
4. The omni-directional active balancing electric wheelchair according to claim 3, further comprising a balance sensing detection device connected to the seat body (5) for detecting the balance of the seat body (5), wherein the second driving motor (61) drives the second driving worm wheel (62) to rotate through the second driving worm (63) according to a detection signal of the balance sensing detection device.
5. The omni-directional active balance electric wheelchair according to claim 3, further comprising a third driving device, wherein the third driving device comprises a third driving motor (71), a third driving worm gear (72) and a third driving worm (73), the third driving worm gear (72) is fixed on one side of the second wheel control arm (22) facing the second support frame (12) and the rotating shaft of the third driving worm gear is arranged in parallel with the first upper connecting rod (13), the third driving worm (73) is rotatably mounted on the second support frame (12) and meshed with the third driving worm gear (72), and the third driving motor (71) is connected with the third driving worm (73).
6. The omni-directional active balancing electric wheelchair according to claim 5, further comprising a balance sensing detection device connected to the seat body (5) for detecting the balance of the seat body (5), wherein the third driving motor (71) drives the third driving worm wheel (72) to rotate through the third driving worm (73) according to a detection signal of the balance sensing detection device.
7. The omni-directional active balancing electric wheelchair according to claim 5, characterized in that the second driving worm wheel (62) is arranged coaxially with the third driving worm wheel (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195973.3A CN108524118B (en) | 2018-03-09 | 2018-03-09 | All-round initiative balanced electronic wheelchair car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195973.3A CN108524118B (en) | 2018-03-09 | 2018-03-09 | All-round initiative balanced electronic wheelchair car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108524118A CN108524118A (en) | 2018-09-14 |
| CN108524118B true CN108524118B (en) | 2020-07-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810195973.3A Active CN108524118B (en) | 2018-03-09 | 2018-03-09 | All-round initiative balanced electronic wheelchair car |
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| CN (1) | CN108524118B (en) |
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| TW301605B (en) * | 1996-06-25 | 1997-04-01 | Gwo-Chyuan Chen | The obstacle-free self-walking type wheelchair |
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| CN102802583A (en) * | 2009-06-01 | 2012-11-28 | 提姆查克股份有限公司 | Transfer and mobility device |
| CN202724153U (en) * | 2011-12-28 | 2013-02-13 | 刘瑞 | An intelligent power-driven climbing wheelchair |
| CN103230319A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Wheelchair seat position and posture adjusting mechanism |
| CN206381295U (en) * | 2016-09-22 | 2017-08-08 | 中国矿业大学 | Lateral electric wheel chair for climbing stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5411044A (en) * | 1994-04-12 | 1995-05-02 | Andolfi; Alexander S. | Patient transfer walker |
| JP2005144141A (en) * | 2003-10-24 | 2005-06-09 | Teac Corp | Wheelchair, brake unit therefor, and brake unit for manually-propelled vehicle |
| CN102113945B (en) * | 2009-12-30 | 2012-08-29 | 中国科学院沈阳自动化研究所 | Wheel chair robot based on transformable crawler belt mechanism |
| CN202437494U (en) * | 2012-03-01 | 2012-09-19 | 常州信息职业技术学院 | Six-wheeled self-adaption balance electric wheelchair |
| US20160074262A1 (en) * | 2014-12-26 | 2016-03-17 | Sophia Vasiliki Moses | Intelliwalker, an intelligent, sensor equipped, motorized robotic walking assistance device. |
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2018
- 2018-03-09 CN CN201810195973.3A patent/CN108524118B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW301605B (en) * | 1996-06-25 | 1997-04-01 | Gwo-Chyuan Chen | The obstacle-free self-walking type wheelchair |
| CN1420753A (en) * | 1999-12-29 | 2003-05-28 | 希尔-罗姆服务股份有限公司 | Hospital bed |
| CN102802583A (en) * | 2009-06-01 | 2012-11-28 | 提姆查克股份有限公司 | Transfer and mobility device |
| CN202724153U (en) * | 2011-12-28 | 2013-02-13 | 刘瑞 | An intelligent power-driven climbing wheelchair |
| CN103230319A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Wheelchair seat position and posture adjusting mechanism |
| CN206381295U (en) * | 2016-09-22 | 2017-08-08 | 中国矿业大学 | Lateral electric wheel chair for climbing stairs |
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| CN108524118A (en) | 2018-09-14 |
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Effective date of registration: 20210429 Address after: No. 116, qicang Road, Mingguang Industrial Park, Chuzhou City, Anhui Province Patentee after: Anhui jinbaihe Medical Equipment Co.,Ltd. Address before: 233200 Chuzhou City, Anhui province Dingyuan County Electronic Commerce Industrial Park 4 Building Patentee before: DINGYUAN COUNTY ZHONGLIN MACHINERY TECHNOLOGY Co.,Ltd. |