CN111631872B - Wheelchair capable of going upstairs and downstairs - Google Patents
Wheelchair capable of going upstairs and downstairs Download PDFInfo
- Publication number
- CN111631872B CN111631872B CN202010375637.4A CN202010375637A CN111631872B CN 111631872 B CN111631872 B CN 111631872B CN 202010375637 A CN202010375637 A CN 202010375637A CN 111631872 B CN111631872 B CN 111631872B
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- rods
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008602 contraction Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- A61G5/06—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
- A61G5/068—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 with extensible supports pushing upwards, e.g. telescopic legs
-
- 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
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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 invention provides a wheelchair capable of going up and down stairs, which comprises a seat, a first group of wheels, a second group of wheels, a third group of wheels, a fourth group of wheels and a fifth group of wheels, wherein the first group of wheels are fixed at the forefront of the seat, the second group of wheels are positioned at the rear of the first group of wheels, two wheels in the second group of wheels are connected with the seat through a first telescopic rod, a first motor is arranged in the middle of a first connecting shaft, the first motor is connected with the seat through a second telescopic rod, a second motor is arranged in the middle of the second connecting shaft, the second motor is connected with the seat through a third telescopic rod, and two wheels in the fifth group of wheels are connected with the seat through a fourth telescopic rod. The invention has the beneficial effects that: according to the wheelchair, the two first hydraulic rods, the second hydraulic rods and the third hydraulic rods are used for respectively controlling the expansion and contraction of the second group of wheels, the third group of wheels and the fourth group of wheels according to the requirements of going upstairs and downstairs, so that the wheelchair can stably go upstairs or downstairs.
Description
Technical Field
The invention relates to the field of wheelchairs, in particular to a wheelchair capable of going up and down stairs.
Background
Wheelchairs are an important tool for rehabilitation, not only for mobility impaired persons, but also for physical exercise and social activities by means of wheelchairs. The common wheelchair generally comprises a wheelchair frame, wheels, a brake device and a seat. The hand-operated wheelchair is provided with a hand-operated device on the basis of a common wheelchair. The electric wheelchair is based on a common wheelchair, an electronic power assisting system is added, and physical consumption of a user is reduced.
However, most wheelchairs in the current market have single functions and can only be used on gentle ground, and cannot be applied to other environments. For further convenient and fast traveling of people with inconvenient actions, wheelchairs capable of going up and down stairs appear in the market, however, the wheelchairs are heavy in weight and cannot be manually pushed by a user, so that when people with inconvenient actions go out, the people with inconvenient actions need to be assisted by a second person in the whole course, and a lot of inconvenience is brought to the traveling of people with inconvenient actions.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a wheelchair capable of ascending and descending stairs.
The embodiment of the invention provides a wheelchair capable of going up and down stairs, which comprises a seat, a first group of wheels, a second group of wheels, a third group of wheels, a fourth group of wheels and a fifth group of wheels, wherein the first group of wheels and the second group of wheels are positioned below the seat, the third group of wheels, the fourth group of wheels and the fifth group of wheels are positioned behind the seat, the first group of wheels, the second group of wheels, the third group of wheels, the fourth group of wheels and the fifth group of wheels comprise two wheels which are bilaterally symmetrical, the two wheels of the third group of wheels and the two wheels of the fourth group of wheels are respectively connected through a first connecting shaft and a second connecting shaft, the two wheels of the first group of wheels are respectively fixed in the forefront of the seat through connecting rods, the second group of wheels are positioned behind the first group of wheels, two wheels in the second group of wheels are connected with the seat through a first telescopic rod, a first hydraulic rod is respectively arranged at the rear of the two first telescopic rods, the upper end and the lower end of the two first hydraulic rods are respectively hinged with the seat and the lower end of the two first telescopic rods, a first motor is arranged at the middle part of a first connecting shaft, the first motor is connected with the seat through a second telescopic rod, a second hydraulic rod is arranged at the rear of the second telescopic rod, the upper end and the lower end of the second hydraulic rod are respectively hinged with the seat and the lower end of the second telescopic rod, a second motor is arranged at the middle part of the second connecting shaft, the second motor is connected with the seat through a third telescopic rod, a third hydraulic rod is arranged at the rear of the third telescopic rod, the upper end and the lower end of the third hydraulic rod are respectively hinged with the seat and the lower end of the third telescopic rod, two wheels in the fifth group of wheels are connected with the seat through fourth telescopic rods, a fourth hydraulic rod is arranged behind each fourth telescopic rod, and the upper end and the lower end of each fourth hydraulic rod are hinged with the seat and the lower ends of the corresponding fourth telescopic rods respectively.
Further, a mechanical arm for grasping the armrest is arranged behind the seat.
Further, pressure sensors are arranged among the two connecting rods, the two first hydraulic rods, the second hydraulic rods, the third hydraulic rods and the seat.
Further, two ultrasonic sensors are respectively arranged at the lower ends of the connecting rods, the lower ends of the first hydraulic rod, the lower ends of the second hydraulic rod and the lower ends of the third hydraulic rod.
Further, two wheels in the fifth group of wheels are respectively connected with a third motor and a fourth motor.
Further, the fourth telescopic rod is located between the first telescopic rod and the second telescopic rod, and the fourth hydraulic rod is located between the first hydraulic rod and the second hydraulic rod.
Further, the outer diameters of the first set of wheels, the second set of wheels, the third set of wheels, and the fourth set of wheels are all smaller than the outer diameter of the fifth set of wheels.
The technical scheme provided by the embodiment of the invention has the beneficial effects that: according to the wheelchair capable of going upstairs and downstairs, the second group of wheels, the third group of wheels and the fourth group of wheels are respectively controlled to stretch and retract according to the requirement of going upstairs and downstairs through the two first hydraulic rods, the second hydraulic rods and the third hydraulic rods, so that the wheelchair can stably go upstairs and downstairs; in addition, when the wheelchair is required to travel on a flat ground, the wheelchair can travel stably under the support of the first set of wheels and the fifth set of wheels only by retracting the second set of wheels, the third set of wheels and the fourth set of wheels.
Drawings
Fig. 1 is a schematic structural view of a wheelchair capable of ascending and descending stairs according to the present invention.
Fig. 2 is a bottom view of a wheelchair capable of ascending and descending stairs according to the present invention.
Figure 3 is a left side view of a wheelchair of the present invention capable of ascending and descending stairs.
Fig. 4 is a schematic diagram of an installation manner of the pressure sensor 21 in fig. 1.
Fig. 5 shows a wheelchair capable of going up and down stairs in a first state when going up stairs.
Fig. 6 shows a second state of the wheelchair of the present invention when the wheelchair is going upstairs and downstairs.
Fig. 7 shows a wheelchair capable of going up and down stairs in a first state when going down stairs.
Fig. 8 shows a second state of the wheelchair of the present invention when going downstairs.
In the figure: the three-wheel type bicycle comprises a seat, a first group of wheels, a second group of wheels, a third group of wheels, a fourth group of wheels, a fifth group of wheels, a first connecting shaft, a second connecting shaft, a connecting rod, a first telescopic rod, a first hydraulic rod, a second hydraulic rod, a first motor, a second telescopic rod, a third hydraulic rod, a fourth telescopic rod, a fourth hydraulic rod, a mechanical arm, a pressure sensor, a third motor, a fourth motor and an ultrasonic sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a wheelchair capable of going up and down stairs, which comprises a seat 1, a first set of wheels 2, a second set of wheels 3, a third set of wheels 4, a fourth set of wheels 5 and a fifth set of wheels 6, wherein the first set of wheels 2 and the second set of wheels 3 are located below the seat 1, the third set of wheels 4, the fourth set of wheels 5 and the fifth set of wheels 6 are located behind the seat 1, and the first set of wheels 2, the second set of wheels 3, the third set of wheels 4, the fourth set of wheels 5 and the fifth set of wheels 6 comprise two wheels which are symmetrical left and right, and in this embodiment, the outer diameters of the first set of wheels 2, the second set of wheels 3, the third set of wheels 4 and the fourth set of wheels 5 are smaller than the outer diameters of the fifth set of wheels 6.
Two wheels in the first group of wheels 2 are respectively fixed at the forefront of the seat 1 through a connecting rod 9, the second group of wheels 3 are positioned at the rear of the first group of wheels 2, two wheels in the second group of wheels 3 are respectively connected with the seat 1 through a first telescopic rod 10, a first hydraulic rod 11 is respectively arranged at the rear of the two first telescopic rods 10, the upper end and the lower end of the two first hydraulic rods 11 are respectively hinged with the seat 1 and the lower end of the two first telescopic rods 10, and the two first hydraulic rods 11 are respectively used for driving the two first telescopic rods 10 to stretch up and down.
The two wheels of the third group of wheels 4 and the two wheels of the fourth group of wheels 5 are respectively connected through a first connecting shaft 7 and a second connecting shaft 8, a first motor 12 is arranged in the middle of the first connecting shaft 7, the first motor 12 is connected with the seat 1 through a second telescopic rod 13, a second hydraulic rod 14 is arranged behind the second telescopic rod 13, the upper end and the lower end of the second hydraulic rod 14 are respectively hinged with the seat 1 and the lower end of the second telescopic rod 13, and the second hydraulic rod 14 is used for driving the second telescopic rod 13 to stretch up and down; the middle part of the second connecting shaft 8 is provided with a second motor 15, the second motor 15 is connected with the seat 1 through a third telescopic rod 16, a third hydraulic rod 17 is arranged behind the third telescopic rod 16, the upper end and the lower end of the third hydraulic rod 17 are respectively hinged with the seat 1 and the lower end of the third telescopic rod 16, the third hydraulic rod 17 is used for driving the third telescopic rod 16 to stretch up and down, in this embodiment, the first motor 12 and the second motor 15 are respectively used for driving the first connecting shaft 7 and the second connecting shaft 8 to rotate, so that the third group of wheels 4 and the fourth group of wheels 5 are respectively driven to rotate, and the wheelchair is enabled to advance or retreat.
Referring to fig. 3, two wheels of the fifth set of wheels 6 are connected to the seat 1 through a fourth telescopic rod 18, a fourth hydraulic rod 19 is respectively disposed behind the two fourth telescopic rods 18, the upper and lower ends of the two fourth hydraulic rods 19 are respectively hinged to the seat 1 and the lower ends of the two fourth telescopic rods 18, the fourth telescopic rod 18 is located between the first telescopic rod 10 and the second telescopic rod 13, the fourth hydraulic rod 19 is located between the first hydraulic rod 11 and the second hydraulic rod 14, in this embodiment, the two wheels of the fifth set of wheels 6 are respectively connected with a third motor 22 and a fourth motor 23, the third motor 22 and the fourth motor 23 are used for driving the two wheels of the fifth set of wheels 6 to rotate, in particular, when the wheelchair is running on a flat ground, only the second set of wheels 3, the third set of wheels 4 and the fourth set of wheels 5 need to be retracted, and the fifth set of wheels 6 can be extended, and the fourth motor 23 can drive the wheels of the fifth set of wheels 2 and the fifth set of wheels 23 smoothly run on the flat ground.
Referring to fig. 1 and 4, a mechanical arm 20 for gripping an armrest is disposed at the rear of the seat 1, in this embodiment, a small roller (not shown in the drawing) is mounted inside the mechanical arm 20, and the mechanical arm 20 can grip the armrest beside the stairs on one hand, and the mechanical arm 20 can move along the armrest under the action of the small roller on the other hand, so as to prevent accidents caused by the wheel chair losing balance when going up and down the stairs. In the invention, pressure sensors 21 are arranged among the two connecting rods 9, the two first hydraulic rods 11, the second hydraulic rods 14 and the third hydraulic rods 17 and the seat 1, and the pressure sensors 21 are used for detecting whether the first group of wheels 2, the second group of wheels 3, the third group of wheels 4 and the fourth group of wheels 5 are suspended; two ultrasonic sensors 24 are respectively disposed at the lower ends of the connecting rod 9, the lower ends of the first hydraulic rod 11, the lower ends of the second hydraulic rod 14 and the lower ends of the third hydraulic rod 17, wherein one ultrasonic sensor 24 is used for measuring the distance in the horizontal direction, and the other ultrasonic sensor 24 is used for measuring the distance in the vertical direction.
The control method for each group of wheels when the wheelchair goes upstairs is backward and upstairs comprises the following steps:
The fifth group of wheels 6 is respectively retracted by the two fourth telescopic rods 18 and the two fourth hydraulic rods 19, the wheelchair is driven by the first motor 12 and the second motor 15 to move backwards to the step, the mechanical arm 20 is controlled to grasp the handrail, then the wheelchair is continuously controlled to move backwards to go upstairs, and meanwhile, the distance from each group of wheels to the step is monitored by the ultrasonic sensors 24 in real time. In the upstairs process, if the fourth set of wheels 5 is detected to approach the step, the third hydraulic rod 17 controls the fourth set of wheels 5 to retract; if the third set of wheels 4 is detected to approach the step, the second hydraulic rod 14 controls the third set of wheels 4 to retract upwards; if the second set of wheels 3 is detected to approach the step, the two first hydraulic rods 11 control the second set of wheels 3 to retract (refer to fig. 5); if the first set of wheels 2 is detected to approach the step, the two first hydraulic rods 11, the second hydraulic rods 14 and the third hydraulic rods 17 simultaneously control the second set of wheels 3, the third set of wheels 4 and the fourth set of wheels 5 to extend; if the fourth set of wheels 5 and the second set of wheels 3 are detected to approach the step at the same time, the third hydraulic rod 17 and the two first hydraulic rods 11 control the fourth set of wheels 5 and the second set of wheels 3 to retract at the same time; if it is detected that the fourth set of wheels 5 and the first set of wheels 2 approach the step at the same time, the second hydraulic rod 14 and the two first hydraulic rods 11 control the third set of wheels 4 and the second set of wheels 3 to extend at the same time, and the third hydraulic rod 17 controls the fourth set of wheels 5 to retract (refer to fig. 6); if the third set of wheels 4 and the second set of wheels 3 are detected to approach the step at the same time, the second hydraulic rod 14 and the two first hydraulic rods 11 control the third set of wheels 4 and the second set of wheels 3 to retract at the same time; if it is detected that the third set of wheels 4 and the first set of wheels 2 approach the step at the same time, the third hydraulic rod 17 and the two first hydraulic rods 11 control the fourth set of wheels 5 and the second set of wheels 3 to extend at the same time, and the second hydraulic rod 14 controls the third set of wheels 4 to retract.
The control method for each group of wheels when the wheelchair goes downstairs comprises the following steps:
The fifth group of wheels 6 is respectively retracted through the two fourth telescopic rods 18 and the two fourth hydraulic rods 19, the wheelchair is driven by the first motor 12 and the second motor 15 to move to the upper part of the step, the mechanical arm 20 is controlled to grasp the handrail, then the wheelchair is continuously controlled to advance for going downstairs, and meanwhile, each pressure sensor 21 monitors whether each group of wheels is suspended in real time. In the process of going downstairs, if the first set of wheels 2 is monitored to be suspended, the two first hydraulic rods 11, the second hydraulic rods 14 and the third hydraulic rods 17 control the second set of wheels 3, the third set of wheels 4 and the fourth set of wheels 5 to retract simultaneously (refer to fig. 7); if the second set of wheels 3 is monitored to be suspended, the two first hydraulic rods 11 control the second set of wheels 3 to extend; if the third set of wheels 4 is suspended, the second hydraulic rod 14 controls the third set of wheels 4 to extend; if the fourth set of wheels 5 is suspended, the third hydraulic rod 17 controls the fourth set of wheels 5 to extend; if the first set of wheels 2 and the third set of wheels 4 are monitored to be suspended at the same time, the two first hydraulic rods 11 and the third hydraulic rods 17 control the second set of wheels 3 and the fourth set of wheels 5 to be retracted at the same time, and the second hydraulic rods 14 control the third set of wheels 4 to extend (refer to fig. 8); if the first set of wheels 2 and the fourth set of wheels 5 are monitored to be suspended at the same time, the two first hydraulic rods 11 and the second hydraulic rods 14 control the second set of wheels 3 and the third set of wheels 4 to be retracted at the same time, and the third hydraulic rods 17 control the fourth set of wheels 5 to extend; if the second set of wheels 3 and the third set of wheels 4 are monitored to be suspended at the same time, the two first hydraulic rods 11 and the second hydraulic rods 14 control the second set of wheels 3 and the third set of wheels 4 to extend at the same time; if the second set of wheels 3 and the fourth set of wheels 5 are monitored to be suspended at the same time, the two first hydraulic rods 11 and the third hydraulic rods 17 control the second set of wheels 3 and the fourth set of wheels 5 to extend at the same time.
According to the wheelchair capable of going upstairs and downstairs, the second group of wheels 3, the third group of wheels 4 and the fourth group of wheels 5 are respectively controlled to stretch and retract according to the requirement of going upstairs and downstairs through the two first hydraulic rods 11, the second hydraulic rods 14 and the third hydraulic rods 17, so that the wheelchair can stably go upstairs or downstairs; in addition, when the wheelchair is required to travel on a flat ground, the second set of wheels 3, the third set of wheels 4 and the fourth set of wheels 5 are only required to be retracted, so that the wheelchair can travel stably under the support of the first set of wheels 2 and the fifth set of wheels 6.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application.
The embodiments and features of the embodiments described herein may be combined with each other without conflict. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (1)
1. A wheelchair capable of going up and down stairs, which is characterized in that: comprises a seat, a first group of wheels, a second group of wheels, a third group of wheels, a fourth group of wheels and a fifth group of wheels, wherein the first group of wheels and the second group of wheels are positioned below the seat, the third group of wheels, the fourth group of wheels and the fifth group of wheels are positioned behind the seat, the first group of wheels, the second group of wheels, the third group of wheels, the fourth group of wheels and the fifth group of wheels all comprise two wheels which are bilaterally symmetrical, the two wheels of the third group of wheels and the two wheels of the fourth group of wheels are respectively connected through a first connecting shaft and a second connecting shaft, the two wheels of the first group of wheels are respectively fixed in the forefront of the seat through connecting rods, the second group of wheels are positioned behind the first group of wheels, the two wheels of the second group of wheels are respectively connected with the seat through a first telescopic rod, a first hydraulic rod is respectively arranged behind the two first telescopic rods, the upper end and the lower end of the two first hydraulic rods are respectively hinged with the seat and the lower end of the two first telescopic rods, a first motor is arranged in the middle of a first connecting shaft, the first motor is connected with the seat through a second telescopic rod, a second hydraulic rod is arranged behind the second telescopic rod, the upper end and the lower end of the second hydraulic rod are respectively hinged with the seat and the lower end of the second telescopic rod, a second motor is arranged in the middle of the second connecting shaft, the second motor is connected with the seat through a third telescopic rod, a third hydraulic rod is arranged behind the third telescopic rod, the upper end and the lower end of the third hydraulic rod are respectively hinged with the seat and the lower end of the third telescopic rod, two wheels in a fifth group of wheels are respectively connected with the seat through a fourth telescopic rod, a fourth hydraulic rod is arranged behind each of the two fourth telescopic rods, and the upper end and the lower end of each of the two fourth hydraulic rods are respectively hinged with the seat and the lower ends of the two fourth telescopic rods; a mechanical arm for grasping the armrest is arranged behind the seat; pressure sensors are arranged among the two connecting rods, the two first hydraulic rods, the second hydraulic rod, the third hydraulic rod and the seat; the lower ends of the two connecting rods, the lower ends of the two first hydraulic rods, the lower ends of the second hydraulic rods and the lower ends of the third hydraulic rods are respectively provided with two ultrasonic sensors; two wheels in the fifth group of wheels are respectively connected with a third motor and a fourth motor; the fourth telescopic rod is positioned between the first telescopic rod and the second telescopic rod, and the fourth hydraulic rod is positioned between the first hydraulic rod and the second hydraulic rod; the outer diameters of the first set of wheels, the second set of wheels, the third set of wheels, and the fourth set of wheels are all smaller than the outer diameter of the fifth set of wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010375637.4A CN111631872B (en) | 2020-05-07 | 2020-05-07 | Wheelchair capable of going upstairs and downstairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010375637.4A CN111631872B (en) | 2020-05-07 | 2020-05-07 | Wheelchair capable of going upstairs and downstairs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111631872A CN111631872A (en) | 2020-09-08 |
| CN111631872B true CN111631872B (en) | 2024-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010375637.4A Active CN111631872B (en) | 2020-05-07 | 2020-05-07 | Wheelchair capable of going upstairs and downstairs |
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| Country | Link |
|---|---|
| CN (1) | CN111631872B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003049664A2 (en) * | 2001-12-11 | 2003-06-19 | Quigg Robert T | Stair-climbing wheelchair |
| CN105266981A (en) * | 2014-07-14 | 2016-01-27 | 杨宏 | Wheelchair capable of climbing stairs |
| KR101750193B1 (en) * | 2016-02-13 | 2017-06-22 | 주식회사 더원 | Electric Wheelchair |
| IT201600068576A1 (en) * | 2016-07-01 | 2018-01-01 | Torino Politecnico | MONTASCALE ELECTRIC WHEELCHAIR WITH HYBRID LOCOMOTION SYSTEM |
| CN108524123A (en) * | 2018-05-29 | 2018-09-14 | 利辛县众善医药科技有限公司 | A kind of medical rehabilitation is with can stair activity multifunctional electric wheelchair |
| CN109662846A (en) * | 2017-10-16 | 2019-04-23 | 苏州艾尔楠医疗器械有限公司 | One kind is convenient for climbing wheelchair capable of climbing up stair |
| CN110353902A (en) * | 2019-08-27 | 2019-10-22 | 南昌航空大学 | It is a kind of can stair activity wheelchair |
| CN212281926U (en) * | 2020-05-07 | 2021-01-05 | 中国地质大学（武汉） | Wheelchair capable of going up and down stairs |
-
2020
- 2020-05-07 CN CN202010375637.4A patent/CN111631872B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003049664A2 (en) * | 2001-12-11 | 2003-06-19 | Quigg Robert T | Stair-climbing wheelchair |
| CN105266981A (en) * | 2014-07-14 | 2016-01-27 | 杨宏 | Wheelchair capable of climbing stairs |
| KR101750193B1 (en) * | 2016-02-13 | 2017-06-22 | 주식회사 더원 | Electric Wheelchair |
| IT201600068576A1 (en) * | 2016-07-01 | 2018-01-01 | Torino Politecnico | MONTASCALE ELECTRIC WHEELCHAIR WITH HYBRID LOCOMOTION SYSTEM |
| CN109662846A (en) * | 2017-10-16 | 2019-04-23 | 苏州艾尔楠医疗器械有限公司 | One kind is convenient for climbing wheelchair capable of climbing up stair |
| CN108524123A (en) * | 2018-05-29 | 2018-09-14 | 利辛县众善医药科技有限公司 | A kind of medical rehabilitation is with can stair activity multifunctional electric wheelchair |
| CN110353902A (en) * | 2019-08-27 | 2019-10-22 | 南昌航空大学 | It is a kind of can stair activity wheelchair |
| CN212281926U (en) * | 2020-05-07 | 2021-01-05 | 中国地质大学（武汉） | Wheelchair capable of going up and down stairs |
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| Publication number | Publication date |
|---|---|
| CN111631872A (en) | 2020-09-08 |
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