CN108888422A - A kind of medicinal intelligent stair climbing wheelchair and its control system - Google Patents
A kind of medicinal intelligent stair climbing wheelchair and its control system Download PDFInfo
- Publication number
- CN108888422A CN108888422A CN201810740598.6A CN201810740598A CN108888422A CN 108888422 A CN108888422 A CN 108888422A CN 201810740598 A CN201810740598 A CN 201810740598A CN 108888422 A CN108888422 A CN 108888422A
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- arm
- driving
- rear side
- front side
- driving device
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- 230000009194 climbing Effects 0.000 title claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000032258 transport Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000011295 pitch Substances 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
- A61G5/06—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
- A61G5/1051—Arrangements for steering
-
- 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
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
Abstract
The present invention provides a kind of medicinal intelligent stair climbing wheelchair, including stairs climbing device, pedestal, seat and 3d structured light sensor, center of gravity adjusts supplementary structure and control system, pedestal is arranged on stairs climbing device, seat is spindle rotationally arranged on pedestal, and it is individually driven by motor, pan frontward end is provided with the 3d structured light sensor for detecting stair three-dimensional structure, 3d modeling is carried out to stair by 3d structured light sensor, the 3d data of control system acquisition stair, 3d data are analyzed and processed, output par, c is controlled to coordinate to realize the stable operation of medicinal intelligent stair climbing wheelchair, and pass through the level meter real time monitoring of setting on the seat, output par, c dynamic is adjusted, to realize the stable operation of medicinal intelligent stair climbing wheelchair.
Description
Technical field
The present invention relates to a kind of medicinal intelligent stair climbing wheelchair, it is particularly suitable for climbing in the medical treatment situation of not elevator
Stair wheelchair.
Background technique
It is known a kind of for transporting the transport device (CN104684526A) of cargo and personnel on stair and flat surfaces,
For transporting the device of cargo and personnel on stair and flat surfaces, the wheelchair for especially thering are personnel to take.The transport device
Including frame and hoisting mechanism, it is fixed on frame for the seat that personnel take from top.In the front side of frame, rear side, left side
It is fastened with a vertical equity guiding piece, the side that each guiding piece has can move in longitudinal horizontal direction respectively with right side
The angular wheel supporting element that formula is fixed thereon, and for make supporting element along frame vertical equity move so as to adjustment base at
To the longitudinal length between the shaft of crosspiece.Horizontal pivot axis is fastened to the end of each crosspiece arm perpendicular to the axis of arm, living
Dynamic support wheel is immovably fastened in horizontal pivot axis.The shaft of each crosspiece by mechanical gear be connected to for via
In driving device of the shaft to rotate corresponding crosspiece.Control system is mounted on frame, wherein for each arm, wheel shaft setting
In longitudinal shaft that the end of arm is installed, so that wheel shaft can be around this longitudinal shaft rotation.Longitudinal rotor axis mechanical it is connected to
Control system, for making all wheels on a pair of of crosspiece or all crosspieces at once while rotating.
The invention provides a kind of transport device of stable safety for setting in stair activity, escalator and other transports
When standby step and when being moved on horizontal and inclined flat surfaces, relax on stair with accompanying without any attendant
Personnel that are suitable, stably and securely transporting cargo or be sitting in wheelchair.
Above-mentioned wheelchair in the prior art is not applied for the step of different height, and cannot adjust wheelchair well
Center of gravity, in its stair climbing since its intrinsic stair climbing structure causes wheelchair to be easy the vibration that pitches.
Summary of the invention
The task of the present invention is provide a kind of more stable safe wheelchair for handicapped patients in the field of stair activity
It closes.
The first aspect of the present invention, including stairs climbing device, pedestal, seat and 3d structured light sensor, center of gravity adjust it is auxiliary
Help structure and control system.Pedestal is arranged on stairs climbing device, and seat is spindle rotationally arranged on pedestal, and individually
It is driven by motor, pan frontward end is provided with the 3d structured light sensor for detecting stair three-dimensional structure, pan frontward end part two
Side is rotatably connected to first arm of front side respectively, and the first arm of front side is driven by front side the first arm driving device and rotated, and preceding
Side the first arm driving device is arranged in the Pivot axle of the first arm of front side, before the other end of the first arm of front side is rotatably connected to
The second arm of side, the second arm driving device of front side is provided at the rotation center around itself of the second arm of front side, and the second arm of front side drives
The rotation of the second arm of dynamic device driving front side, the second arm of front side is far from being fixedly installed the at the second arm driving device one end of front side
One rotating blade drive, the driving of the first rotating blade drive are mounted on coaxial the first turntable rotation, the distribution of the first disk peripheral
Fixed there are three the first cylinder barrels, and at angle between each first cylinder barrel, the first cylinder barrel inner sleeve is equipped with scalable
First telescopic rod of movement is provided with the first support roller on the first telescopic rod, wherein the first support roller is driven by driving mechanism, it can
Realize locked and three kinds of states of positive and negative rotation.
The second aspect of the present invention, base rear end part two sides are rotatably connected to first arm of rear side, rear side the respectively
One arm is driven by rear side the first arm driving device and is rotated, and the rotation of the first arm of rear side is arranged in rear side the first arm driving device
On central axis, the other end of the first arm of rear side is rotatably connected to the second arm of rear side, the rotation center around itself of the second arm of rear side
Place is provided with the second arm driving device of rear side, the rotation of rear side the second arm driving device driving the second arm of rear side, the second arm of rear side
Far from the second rotating blade drive is fixedly installed at rear side the second arm driving device one end, the driving of the second rotating blade drive is pacified
Mounted in coaxial the and turntable rotates, the distribution of the second disk peripheral is fixed there are three the second cylinder barrel, and each second cylinder
At 120 ° of angles between cylinder, the second cylinder barrel inner sleeve is equipped with the second telescopic rod of scalable movement, is arranged on the second telescopic rod
There is the second support roller, wherein the second support roller is driven by driving mechanism, it can be achieved that locked and three kinds of states of positive and negative rotation.
The third aspect of the present invention, it includes clump weight, screw rod and driving motor that center of gravity, which adjusts supplementary structure, wherein clump weight
It is arranged in the cavity of pedestal, and clump weight can be moved forward and backward in the cavities, and threaded hole is offered on clump weight, the threaded hole
Cooperate screw rod, arrangement is arranged in the cavities before and after screw rod, and passes through threaded hole, and one end of screw rod connection driving motor is worn
The right side and driving motor for crossing pedestal are mechanically connected, and on the basis of connecting herein, driving motor can drive screw rod to rotate, and drive
Clump weight is moved forward and backward, and is used to auxiliary adjustment center.
The fourth aspect of the present invention, in order to realize the stable operation of medicinal intelligent stair climbing wheelchair, which further includes：Control
System processed, the control system include：3d structured light sensor, setting level meter on the seat, front side the first arm driving device,
Front side the second arm driving device, the first arm of rear side driving device, the second arm of rear side driving device, seat rotation drive device,
One support roll driving apparatus, the second support roll driving apparatus, the second rotating blade drive, the first rotating blade drive, driving electricity
Machine.3d structured light sensor, the level meter of setting on the seat connect control system, the driving of the first arm of front side as importation
Device, front side the second arm driving device, the first arm of rear side driving device, the second arm of rear side driving device, seat rotation driving dress
It sets, the first support roll driving apparatus, the second support roll driving apparatus, the second rotating blade drive, the first rotating blade drive, drive
Dynamic motor connects control system as output par, c.
3d modeling is carried out to stair by 3d structured light sensor, control system obtains the 3d data of stair, to 3d data
It is analyzed and processed, control output par, c is coordinated to realize the stable operation of medicinal intelligent stair climbing wheelchair, and is existed by setting
Level meter real time monitoring on seat, adjusts output par, c dynamic, to realize that stablizing for medicinal intelligent stair climbing wheelchair is transported
Row.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of medicinal intelligent stair climbing wheelchair of the invention；
Fig. 2 is the center of gravity auxiliary adjustment mechanism of medicinal intelligent stair climbing wheelchair of the invention；
Fig. 3 is medicinal intelligent stair climbing wheelchair stair climbing starting position schematic diagram of the invention；
Fig. 4 is medicinal intelligent stair climbing wheelchair stair climbing middle position schematic diagram of the invention；
Fig. 5 is medicinal intelligent stair climbing wheelchair stair climbing end position schematic diagram of the invention；
Fig. 6 is the schematic diagram of medicinal intelligent stair climbing wheelchair stair climbing of the invention for the step of different height；
Fig. 7 is the conveying schematic diagram of medicinal intelligent stair climbing wheelchair stair climbing of the invention in platform surface；
Fig. 8 is the control system frame diagram of medicinal intelligent stair climbing wheelchair stair climbing of the invention.
Wherein, the 1, second turntable；101, the second support roller；102, the second telescopic rod；103, the second cylinder barrel；104, second
Rotating blade drive；105, the second arm of rear side；106, the first arm of rear side；2, the first turntable；201, the first support roller；202, first
Telescopic rod；203, the first cylinder barrel；204, the first rotating blade drive；205, the second arm of front side；206, the first arm of front side；3, seat
Chair；301, pedestal；4,3d structured light sensor；5, the first arm of front side driving device；6, the second arm of front side driving device；7, rear side
First arm driving device；8, the second arm of rear side driving device；9, clump weight；10, screw rod；11, driving motor.
Specific embodiment
As shown in Figure 1, a kind of medicinal intelligent stair climbing wheelchair, including stairs climbing device, pedestal 301, seat 3 and 3d structure
Optical sensor 4, center of gravity adjust supplementary structure and control system.Pedestal 301 is arranged on stairs climbing device, and seat 3 can be rotated
Setting be driven by motor on pedestal 301, and individually, 301 front end of pedestal is provided with for detecting stair three-dimensional structure
3d structured light sensor 4,301 front end portion two sides of pedestal be rotatably connected to respectively one front side the first arm 206, front side first
Arm 206 is driven by front side the first arm driving device 5 and is rotated, and front side the first arm driving device 5 is arranged in the first arm of front side 206
Pivot axle on, the other end of the first arm of front side 206 be rotatably connected to front side the second arm 205, the second arm of front side 205 around
The second arm driving device 6 of front side, the second arm of the driving of front side the second arm driving device 6 front side are provided at the rotation center of itself
205 rotation, the second arm of front side 205 are filled far from the driving of the first turntable is fixedly installed at 6 one end of front side the second arm driving device
204 are set, the driving of the first rotating blade drive 204 is mounted on coaxial the first turntable 2 rotation, and 2 circle distribution of the first turntable is fixed
There are three the first cylinder barrel 203, and at 120 ° of angles between each first cylinder barrel 203, it is arranged on the inside of the first cylinder barrel 203
There is the first telescopic rod 202 of scalable movement, the first support roller 201 is provided on the first telescopic rod 202, wherein the first support roller
201 are driven by driving mechanism, it can be achieved that locked and three kinds of states of positive and negative rotation.
Equally, 301 rear end part two sides of pedestal are rotatably connected to first arm 106 of rear side, the first arm of rear side 106 respectively
It is driven and is rotated by the first arm of rear side driving device 7, and the rotation of the first arm of rear side 106 is arranged in the first arm of rear side driving device 7
Turn on central axis, the other end of the first arm of rear side 106 be rotatably connected to rear side the second arm 105, the second arm of rear side 105 around itself
Rotation center at be provided with the second arm driving device 8 of rear side, driving the second arm 105 of rear side of the second arm of rear side driving device 8
Rotation, the second arm of rear side 105 far from being fixedly installed the second rotating blade drive 104 at 8 one end of the second arm of rear side driving device,
The driving of second rotating blade drive 104 is mounted on coaxial the and turntable 1 rotates, there are three 1 circle distribution of the second turntable is fixed
Second cylinder barrel 103, and at 120 ° of angles between each second cylinder barrel 103,103 inner sleeve of the second cylinder barrel, which is equipped with, to be stretched
Contract the second telescopic rod 102 of movement, is provided with the second support roller 101 on the second telescopic rod 102, wherein the second support roller 101 by
Driving mechanism driving is, it can be achieved that locked and three kinds of states of positive and negative rotation.
As shown in Fig. 2, it includes clump weight 9, screw rod 10 and driving motor 11 that center of gravity, which adjusts supplementary structure, wherein clump weight 9
It is arranged in the cavity of pedestal 301, and clump weight 9 can be moved forward and backward in the cavities, offers threaded hole on clump weight 9, it should
Threaded hole cooperates screw rod 10, and arrangement is arranged in the cavities before and after screw rod 10, and passes through threaded hole, and the connection driving of screw rod 10
One end of motor 11 passes through the right side of pedestal 301 and driving motor 11 is mechanically connected, on the basis of connecting herein, driving motor 11
Screw rod 10 can be driven to rotate, and clump weight 9 is driven to be moved forward and backward, be used to auxiliary adjustment center.
As shown in fig. 6, the first, second support roller can lead to the first, second telescopic rod when needing the height change of stair climbing
It realizes and stretches, the first, second support roller becomes larger relative to the distance of the first, second turntable, it is thus possible to climb the platform of different height
Rank.
As described in Figure 7, on the surface of platform, medicinal intelligent stair climbing wheelchair move horizontally can by rotation first,
Second support roller is realized.
In order to realize the stable operation of medicinal intelligent stair climbing wheelchair, which further includes：Control system, the control system
Including：Level meter, front side the first arm driving device, the second arm of the front side driving dress of 3d structured light sensor, setting on the seat
Set, the first arm of rear side driving device, the second arm of rear side driving device, seat rotation drive device, first support roll driving apparatus,
Second support roll driving apparatus, the second rotating blade drive, the first rotating blade drive, driving motor.3d structured light sensor,
The level meter being arranged on the seat connects control system as importation, and front side the first arm driving device, the second arm of front side drive
Dynamic device, the first arm of rear side driving device, the second arm of rear side driving device, seat rotation drive device, the driving of the first support roller
Device, the second support roll driving apparatus, the second rotating blade drive, the first rotating blade drive, driving motor are as output section
Divide connection control system.
3d modeling is carried out to stair by 3d structured light sensor, control system obtains the 3d data of stair, to 3d data
It is analyzed and processed, control output par, c is coordinated to realize the stable operation of medicinal intelligent stair climbing wheelchair, and is existed by setting
Level meter real time monitoring on seat, adjusts output par, c dynamic, to realize that stablizing for medicinal intelligent stair climbing wheelchair is transported
Row.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (6)
1. a kind of medicinal intelligent stair climbing wheelchair, which includes stairs climbing device, pedestal, seat and 3d
Structured light sensor, center of gravity adjust auxiliary body and control system, control system are separately connected stairs climbing device, pedestal, seat
Chair and 3d structured light sensor, center of gravity adjust auxiliary body.
2. a kind of medicinal intelligent stair climbing wheelchair according to claim 1, the stairs climbing device includes first structure：Bottom
Seat front end portion two sides are rotatably connected to first arm of front side respectively, and the first arm of front side is driven by front side the first arm driving device
Rotation, and front side the first arm driving device is arranged in the Pivot axle of the first arm of front side, the other end of the first arm of front side
It is rotatably connected to the second arm of front side, the second arm driving device of front side is provided at the rotation center around itself of the second arm of front side,
Front side the second arm driving device driving front side the second arm rotation, the second arm of front side far from front side the second arm driving device one end at
It is fixedly installed the first rotating blade drive, the driving of the first rotating blade drive is mounted on the first coaxial turntable and rotates, and first
Disk peripheral distribution is fixed, and there are three the first cylinder barrels, and have angle between each first cylinder barrel, in the first cylinder barrel
Side is arranged with the first telescopic rod of scalable movement, is provided with the first support roller on the first telescopic rod, wherein the first support roller by
Driving mechanism driving is, it can be achieved that locked and three kinds of states of positive and negative rotation.
3. a kind of medicinal intelligent stair climbing wheelchair according to claim 1 or 2, the stairs climbing device includes the second knot
Structure：Base rear end part two sides are rotatably connected to first arm of rear side respectively, and the first arm of rear side is driven by the first arm of rear side and filled
Driving rotation is set, and rear side the first arm driving device is arranged in the Pivot axle of the first arm of rear side, the first arm of rear side
The other end is rotatably connected to the second arm of rear side, and rear side the second arm driving is provided at the rotation center around itself of the second arm of rear side
Device, the rotation of rear side the second arm driving device driving the second arm of rear side, the second arm of rear side is far from rear side the second arm driving device
It is fixedly installed the second rotating blade drive at one end, the driving of the second rotating blade drive is mounted on coaxial the and turntable revolves
Turning, the distribution of the second disk peripheral is fixed, and there are three the second cylinder barrels, and at 120 ° of angles between each second cylinder barrel, and second
Cylinder barrel inner sleeve is equipped with the second telescopic rod of scalable movement, the second support roller is provided on the second telescopic rod, wherein second
Support roller is driven by driving mechanism, it can be achieved that locked and three kinds of states of positive and negative rotation.
4. a kind of medicinal intelligent stair climbing wheelchair according to claim 1, it includes counterweight that the center of gravity, which adjusts supplementary structure,
Block, screw rod and driving motor, wherein clump weight is arranged in the cavity of pedestal, and clump weight can be moved forward and backward in the cavities,
Threaded hole is offered on clump weight, which cooperates screw rod, and arrangement is arranged in the cavities before and after screw rod, and passes through screw thread
Hole, and one end of screw rod connection driving motor passes through the right side of pedestal and driving motor is mechanically connected.
5. a kind of control system applied to medicinal intelligent stair climbing wheelchair described in any one of claim 1-4, the control
System processed includes：3d structured light sensor, setting level meter on the seat, front side the first arm driving device, the second arm of front side
Driving device, the first arm of rear side driving device, the second arm of rear side driving device, seat rotation drive device, the first support roller are driven
Dynamic device, the second support roll driving apparatus, the second rotating blade drive, the first rotating blade drive, driving motor.
6. control system according to claim 5, wherein 3d structured light sensor, the level meter conduct of setting on the seat
Importation connects control system, front side the first arm driving device, front side the second arm driving device, the first arm of rear side driving dress
Set, the second arm of rear side driving device, seat rotation drive device, first support roll driving apparatus, second support roll driving apparatus,
Second rotating blade drive, the first rotating blade drive, driving motor connect control system as output par, c.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810740598.6A CN108888422A (en) | 2018-07-09 | 2018-07-09 | A kind of medicinal intelligent stair climbing wheelchair and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810740598.6A CN108888422A (en) | 2018-07-09 | 2018-07-09 | A kind of medicinal intelligent stair climbing wheelchair and its control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108888422A true CN108888422A (en) | 2018-11-27 |
Family
ID=64348676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810740598.6A Pending CN108888422A (en) | 2018-07-09 | 2018-07-09 | A kind of medicinal intelligent stair climbing wheelchair and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108888422A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368212A (en) * | 2019-08-19 | 2019-10-25 | 武汉轻工大学 | Wheelchair |
| CN110584899A (en) * | 2019-10-25 | 2019-12-20 | 聊城大学 | Can change walking wheel revolution radius's wheelchair structure |
| CN110816710A (en) * | 2019-11-14 | 2020-02-21 | 安徽三联学院 | Manned stair climbing machine |
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| CN104474668A (en) * | 2014-12-16 | 2015-04-01 | 东南大学 | Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof |
| CN105213119A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | A kind of stair-climbing wheel chair |
| CN105278536A (en) * | 2015-11-05 | 2016-01-27 | 北京航天科颐技术有限公司 | Unmanned aerial vehicle attitude keeping system |
| CN205181649U (en) * | 2015-12-12 | 2016-04-27 | 黄红林 | Automatic wheelchair of climbing stair |
| CN105816280A (en) * | 2016-05-03 | 2016-08-03 | 薄和秋 | Intelligent stair climbing wheelchair with effect of automatic distance measurement |
| CN106726205A (en) * | 2017-02-06 | 2017-05-31 | 郜浩然 | A kind of wheelchair of energy stair activity |
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2018
- 2018-07-09 CN CN201810740598.6A patent/CN108888422A/en active Pending
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| CN2453881Y (en) * | 2000-12-22 | 2001-10-17 | 朱庆林 | Multipurpose wheeled chair |
| CN104474668A (en) * | 2014-12-16 | 2015-04-01 | 东南大学 | Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof |
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| CN110368212A (en) * | 2019-08-19 | 2019-10-25 | 武汉轻工大学 | Wheelchair |
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| CN110584899A (en) * | 2019-10-25 | 2019-12-20 | 聊城大学 | Can change walking wheel revolution radius's wheelchair structure |
| CN110816710A (en) * | 2019-11-14 | 2020-02-21 | 安徽三联学院 | Manned stair climbing machine |
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Effective date of registration: 20200319 Address after: Wuma Street Plaza Road in Lucheng District of Wenzhou City, Zhejiang province 325000 B New World Plaza, No. 54 building, room 704 Applicant after: Liu Shengquan Address before: 325000 South white elephant, Ouhai District, Zhejiang, Wenzhou Applicant before: THE FIRST AFFILIATED HOSPITAL OF WENZHOU MEDICAL University |