CN112773625A - Self-balancing device for wheelchair - Google Patents
Self-balancing device for wheelchair Download PDFInfo
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- CN112773625A CN112773625A CN202110084349.8A CN202110084349A CN112773625A CN 112773625 A CN112773625 A CN 112773625A CN 202110084349 A CN202110084349 A CN 202110084349A CN 112773625 A CN112773625 A CN 112773625A
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- carrying plate
- plate
- bearing
- fixing frame
- self
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000007306 turnover Effects 0.000 claims abstract description 26
- 230000002146 bilateral effect Effects 0.000 claims 2
- 230000005484 gravity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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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
-
- 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
- A61G5/1089—Anti-tip devices
-
- 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)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a self-balancing device for a wheelchair, which comprises a bottom plate, a carrying plate fixedly mounted with a seat of the wheelchair, a pushing mechanism and a turnover mechanism, wherein the carrying plate is fixedly mounted with the seat of the wheelchair; the pushing mechanism is arranged below the object carrying plate and comprises a linear motor, a driven telescopic rod and a cross universal joint for pushing the turnover mechanism to rotate, the top end of the telescopic rod is fixedly installed with one end of the cross universal joint, and the other end of the cross universal joint is fixedly installed with the object carrying plate; the turnover mechanism comprises an upright column, a supporting shaft and a joint bearing, wherein the upright column is vertically arranged on the bottom plate, the bottom of the upright column is fixedly arranged on the bottom plate, the top end of the fixed block is fixedly arranged on the object carrying plate, a screw rod is formed on the outer side of the joint bearing, and the screw rod extends into a threaded hole of the upright column and is fixedly arranged on the upright column. According to the invention, the second fixing frame fixedly mounted with the carrying plate is pushed to rotate around the cross connecting block through the telescopic motor, so that the carrying plate is adjusted to rotate within a certain space range, and the carrying plate is ensured to be in a safe and stable horizontal state.
Description
Technical Field
The invention belongs to the technical field of wheelchair vehicles, and particularly relates to a self-balancing device for a wheelchair vehicle.
Background
The wheelchair is used as an indispensable tool for mobility-impaired people such as limb disabilities and the elderly. The common wheelchair generally comprises an upper seat and a lower chassis with a traveling function. In the driving process of the wheelchair, road conditions such as up-and-down ramps, potholes and the like are always met, and for the old and the physically disabled, the bumpy feeling on the road surface and the unbalanced center of gravity of the human body can cause uncomfortable feeling when the wheelchair is taken, and even rollover accidents are caused.
At present, the existing wheelchair for helping old people and disabled people does not have a self-balancing device capable of automatically maintaining a seat plate in a horizontal state according to the inclined condition and the hollow condition of a road ramp, and the existing wheelchair for helping old people and disabled people is applied to self-balancing devices in other technical fields, so that the problems of complex structure, difficulty in processing, high cost and the like are solved, and some self-balancing devices are analyzed from a mechanism motion layer and are difficult to realize a self-balancing motion function.
Therefore, in order to solve the above technical problems, it is necessary to design a device capable of realizing a self-balancing function of a wheelchair.
Disclosure of Invention
The invention aims to provide a self-balancing device for a wheelchair, which has the advantages of simple structure, simple manufacture, low production cost, suitability for different types of wheelchair and self-balancing function.
The technical scheme of the invention is as follows:
a self-balancing apparatus for a wheelchair comprising: the device comprises a bottom plate, a carrying plate fixedly mounted with a seat of the wheelchair, a pushing mechanism used for pushing the carrying plate and a driven turnover mechanism used for driving the carrying plate to turn over;
the pushing mechanism is arranged below the object carrying plate and comprises two linear motors, a driven telescopic rod and a cross universal joint for pushing the turnover mechanism to rotate, the two linear motors are symmetrically arranged below the object carrying plate, an included angle between a connecting line of a projection of an output shaft of the two linear motors and a projection of a rotation center of the turnover mechanism is 90 degrees, each linear motor is vertically arranged on the bottom plate through a motor base, an output shaft of each linear motor is connected with a telescopic sleeve to enable the telescopic rod to move in a telescopic mode, the top end of each telescopic rod is fixedly arranged with one end of the cross universal joint, the other end of the cross universal joint is fixedly arranged with the object carrying plate, and the cross universal joint pushes the object carrying plate to turn over under the driving of the telescopic rod;
the turnover mechanism comprises a stand column, a support shaft and a joint bearing, wherein the stand column is vertically installed on the bottom plate, the bottom of the stand column is fixedly installed on the bottom plate, a threaded hole is formed in the top of the stand column, fixed blocks are installed at two ends of the support shaft, the top end of each fixed block is fixedly installed with the loading plate, so that the support shaft is horizontally installed below the loading plate, the joint bearing is rotatably installed outside the support shaft, the joint bearing is located below the loading plate, a screw rod is formed on the outer side of the joint bearing, the screw rod extends into the threaded hole of the stand column and is fixedly installed with the stand column, the loading plate is pushed under the pushing of the pushing mechanism, and the loading plate rotates along the support shaft to realize turnover.
In the technical scheme, the cross universal joint comprises a first fixing frame, a cross connecting block and a second fixing frame, the first fixing frame is fixedly arranged at the top end of the telescopic rod, the top surface of the first fixing frame is hinged to opposite two side surfaces of the cross connecting block, the second fixing frame is hinged to two adjacent side surfaces of the cross connecting block, the second fixing frame is arranged above the first fixing frame, the top surface of the second fixing frame is fixedly arranged with the object carrying plate, and the telescopic rod stretches under the driving of the linear motor to drive the second fixing frame to rotate around the hinged position of the cross connecting block so as to push the object carrying plate.
In the technical scheme, two lugs are symmetrically formed on two sides of the top of the first fixing frame, two opposite side faces of the cross connecting block form cylindrical bosses, each lug is provided with a connecting hole, a fastening screw is hinged to the opposite side face of the cross connecting block through the connecting hole in the first fixing frame, a through hole is formed in the center of the first fixing frame, a pin hole is formed in the lower portion of the first fixing frame, the top end of the telescopic rod penetrates through the through hole of the first fixing frame and penetrates through the pin hole through a pin shaft to be fixedly installed with the first fixing frame, two lugs are symmetrically formed on two sides of the bottom of the second fixing frame, each lug is provided with a connecting hole, and the second fixing frame is hinged to two opposite side faces of the cross connecting block through the.
In the technical scheme, the two fixing blocks are symmetrically arranged at two ends of the bottom of the carrying plate, and the top of each fixing block is fixedly mounted with the carrying plate.
In the technical scheme, each fixing block is provided with a mounting hole, and the support shaft penetrates through the mounting hole to be connected with the fixing block.
In the technical scheme, the joint bearing comprises a bearing inner ring, a bearing bush and a bearing outer ring, the bearing inner ring is sleeved on the outer side of the supporting shaft, the outer side of the bearing inner ring is rotatably connected with the bearing outer ring through the bearing bush, and the screw rod is arranged outside the bearing outer ring.
In the above technical solution, the outer surface of the bearing inner race is an incomplete spherical surface, and the inner surface of the bearing bush is an incomplete spherical surface, so that the bearing inner race rotates in the bearing bush.
In the technical scheme, the stand column is arranged below the middle part of the loading plate, and the two linear motors are symmetrically arranged on two sides of the stand column.
In the above technical solution, the base plate is mounted on a chassis of the wheelchair or a frame of the wheelchair, and the object carrying plate is mounted below a seat of the wheelchair.
In the technical scheme, the lower part of the fixing block is provided with a slot, and one side of the fixing block is provided with a locking screw for locking the position of the supporting shaft on the fixing block.
In the above technical scheme, the bottom plate is provided with a mounting seat, and the motor seat is mounted on the mounting seat through a pin shaft.
In the technical scheme, the bottom plate is provided with a flange plate, the bottom of the upright post is arranged on the flange plate, and the flange plate is fixedly arranged with the bottom plate through a screw.
The invention has the advantages and positive effects that:
1. according to the invention, the second fixing frame fixedly mounted with the carrying plate is pushed to rotate around the cross connecting block through the telescopic motor, so that the carrying plate is adjusted to rotate within a certain space range, and the carrying plate is ensured to be in a safe and stable horizontal state.
2. The object carrying plate is fixedly installed with the seat plate of the wheelchair, the existing wheelchair is improved, and the standard component replaces structures which are difficult to process, such as a spherical surface and the like, so that the structure is simple, the size is small, the manufacturing difficulty and the cost are greatly reduced, the balance of the seat can be ensured, and the application range is wide.
Drawings
FIG. 1 is a schematic structural view of a self-balancing apparatus of the present invention;
FIG. 2 is a schematic structural view of a cross joint according to the present invention;
fig. 3 is an exploded view of the spherical plain bearing of the present invention.
In the figure:
1. bottom plate 2, mount pad 3, round pin axle
4. Motor cabinet 5, linear motor 6, telescopic link
7. Fastening screw 8, first mount 9, cross connecting block
10. Second fixed mount 11, fixed block 12, carry thing board
13. Screw 14, support shaft 15 and bearing outer ring
16. Bearing bush 17, bearing inner ring 18 and locking screw
19. Column 20, flange
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.
Example 1
As shown in fig. 1-2, a self-balancing apparatus for a wheelchair of the present invention comprises: the device comprises a bottom plate 1, a carrying plate 12 fixedly mounted with a seat of the wheelchair, a pushing mechanism for pushing the carrying plate 12 and a driven turnover mechanism for driving the carrying plate 12 to turn over;
the pushing mechanism is installed below the object carrying plate 12 and comprises two linear motors 5 (model YH-Axxyyy-z, moving stroke 50mm), a telescopic rod 6 driven by the linear motors to stretch and retract and a cross universal joint for pushing the turnover mechanism to rotate, the two linear motors are symmetrically arranged below the object carrying plate, the included angle between the projection of the output shafts of the two linear motors and the connection of the projection of the rotation center of the turnover mechanism is 90 degrees, each linear motor 5 is vertically installed on the bottom plate 1 through a motor base 4 (the pin shafts of the two motor bases are arranged at 90 degrees relative to the rotation center axis of the turnover mechanism), the output shafts of the linear motors 5 are connected with the telescopic rod 6 to enable the telescopic rod 6 to stretch and retract, and the output end (the top end of the telescopic rod) of the telescopic rod is fixedly installed with one end of the cross universal joint, the other end of the cross universal joint is fixedly mounted with the carrying plate 12, and the cross universal joint pushes the carrying plate 12 to turn over under the driving of the telescopic rod 6;
the turnover mechanism comprises an upright column 19, a supporting shaft 14 and a joint bearing, wherein the upright column 19 is vertically installed on the bottom plate 1, the bottom of the upright column 19 is fixedly installed on the bottom plate 1, a threaded hole is formed in the top of the upright column 19, fixing blocks 11 are installed at two ends of the supporting shaft 14, the top end of each fixing block 11 is fixedly installed on the loading plate 12, so that the supporting shaft 14 is horizontally installed below the loading plate 12, the joint bearing is rotatably installed outside the supporting shaft 14 and located below the loading plate 12, a screw rod is formed on the outer side of the joint bearing and extends into the threaded hole of the upright column 19 to be fixedly installed with the upright column 19, and the pushing mechanism runs to push the loading plate 12 so that the loading plate 12 rotates along the supporting shaft 14 to turn over.
Further, the cross universal joint comprises a first fixing frame 8, a cross connecting block 9 and a second fixing frame 10, the first fixing frame 8 is fixedly mounted on the top end of the telescopic rod 6, the top surface of the first fixing frame 8 is hinged to the opposite two side surfaces of the cross connecting block 9, the second fixing frame 10 is hinged to the adjacent two side surfaces of the cross connecting block 9, the second fixing frame 10 is arranged above the first fixing frame 8, the top surface of the second fixing frame 10 is fixedly mounted on the object carrying plate 12, and the telescopic rod 6 stretches under the driving of the linear motor 5 to drive the second fixing frame 10 to rotate around the hinged position of the cross connecting block 9 so as to push the object carrying plate 12.
Further, two convex lugs are symmetrically formed on two sides of the top of the first fixing frame 8, cylindrical bosses are formed on two opposite side faces of the cross-shaped connecting block 9, a connecting hole is formed in each convex lug, the fastening screw 7 is hinged to the opposite side face of the cross-shaped connecting block 9 through the connecting hole in the first fixing frame, a through hole is formed in the center of the first fixing frame 8, a pin hole is formed in the lower portion of the first fixing frame 8, the top end of the telescopic rod 6 penetrates through the through hole of the first fixing frame 8 and fixedly mounted with the first fixing frame 8 through the pin shaft 3, two convex lugs are symmetrically formed on two sides of the bottom of the second fixing frame 10, a connecting hole is formed in each convex lug, and the second fixing frame 10 is hinged to two opposite side faces of the cross-shaped connecting block.
Furthermore, the two fixing blocks 11 are symmetrically installed at two ends of the bottom of the object carrying plate 12, and the top end of each fixing block 11 is fixedly installed on the object carrying plate 12 through a screw.
Furthermore, each fixing block 11 is provided with a mounting hole, and the support shaft 14 passes through the mounting hole to be connected with the fixing block 11.
Further, the joint bearing (model AS30TK) includes a bearing inner ring 17, a bearing bush and a bearing outer ring 15, the bearing inner ring 17 is sleeved on the outer side of the support shaft 14, the outer side of the bearing inner ring 17 is rotatably connected with the bearing outer ring 15 through the bearing bush 16, and the screw rod is arranged outside the bearing outer ring 15.
Further, the outer surface of the bearing inner race 17 is an incomplete spherical surface, and the inner surface of the bearing bush 16 is an incomplete spherical surface, so that the bearing inner race 17 rotates in the bearing bush 16 (wherein the vertical rotation angle of the bearing inner race in the bearing bush is ± 13 °).
Further, the upright column 19 is installed below the middle part of the carrier plate 12, and the two linear motors 5 are symmetrically arranged on two sides of the upright column 19.
Further, the base plate 1 is mounted on a chassis of a wheelchair or a frame of the wheelchair, and the carrier plate 12 is mounted under a seat of the wheelchair.
Further, a slot is formed at the lower portion of the fixing block 11, and a locking screw 20 is installed at one side of the fixing block 11 for locking the position of the supporting shaft 14 on the fixing block 11.
Furthermore, the bottom plate 1 is provided with a mounting seat 2, and the motor seat 4 is mounted on the mounting seat 2 through a pin shaft 3.
Furthermore, a flange 20 is arranged on the bottom plate 1, the bottom of the upright post 19 is arranged on the flange 20, and the flange 20 is fixedly connected with the bottom plate 1 through a screw 13.
The working principle of the self-balancing device is as follows:
when the common normal line of the surface of the bottom plate 1 is angled with respect to gravity (i.e. the upright column 19 is in a non-vertical state), the linear motor 5 is driven to operate, and the following three adjustment conditions are adopted:
(1) when the two linear motors synchronously operate to enable the telescopic rods 6 to stretch, the two telescopic rods 6 synchronously drive the second fixing frame to rotate around the cross-shaped connecting block, and meanwhile, the bottom of the carrying plate is pushed to enable the carrying plate to turn back and forth around the axis of the supporting column;
(2) one of the two linear motors operates, and a telescopic rod pushes a second fixing frame to rotate around the cross connecting block, so that one end of the bottom of the carrying plate is pushed, and the carrying plate is turned in the bearing bush through the inner ring of the bearing, so that the carrying plate is turned up and down in the horizontal direction;
(3) when two linear electric motor asynchronous operation were used two telescopic links asynchronous flexible, it was rotatory around the cross connecting block to drive the second mount respectively asynchronous through two telescopic links to the bottom both ends of carrying the thing board are carried in asynchronous promotion respectively, make and carry the ball center space upset of thing board around the bearing inner circle.
The two linear motors respectively drive the telescopic rods 6 to do telescopic motion, and the object carrying plate 12 is pushed to turn over in the space, so that the object carrying plate 12 is adjusted to be always vertical to the gravity direction (namely, in a horizontal state).
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A self-balancing device for a wheelchair vehicle, comprising: the device comprises a bottom plate, a carrying plate fixedly mounted with a seat of the wheelchair, a pushing mechanism used for pushing the carrying plate and a driven turnover mechanism used for driving the carrying plate to turn over;
the pushing mechanism is arranged below the object carrying plate and comprises two linear motors, a driven telescopic rod and a cross universal joint for pushing the turnover mechanism to rotate, the two linear motors are arranged below the object carrying plate, an included angle between a connecting line of a projection of an output shaft of the two linear motors and a projection of a rotation center of the turnover mechanism is 90 degrees, each linear motor is vertically arranged on the bottom plate through a motor base, an output shaft of each linear motor is connected with a telescopic sleeve to enable the telescopic rod to move in a telescopic mode, the top end of each telescopic rod is fixedly arranged with one end of the cross universal joint, the other end of the cross universal joint is fixedly arranged with the object carrying plate, and the cross universal joint pushes the object carrying plate to turn over under the driving of the telescopic rod;
the turnover mechanism comprises a stand column, a support shaft and a joint bearing, wherein the stand column is vertically installed on the bottom plate, the bottom of the stand column is fixedly installed on the bottom plate, a threaded hole is formed in the top of the stand column, fixed blocks are installed at two ends of the support shaft, the top end of each fixed block is fixedly installed with the loading plate, so that the support shaft is horizontally installed below the loading plate, the joint bearing is rotatably installed outside the support shaft, the joint bearing is located below the loading plate, a screw rod is formed on the outer side of the joint bearing, the screw rod extends into the threaded hole of the stand column and is fixedly installed with the stand column, the loading plate is pushed under the pushing of the pushing mechanism, and the loading plate rotates along the support shaft to realize turnover.
2. The self-balancing apparatus of claim 1, wherein: the cross universal joint comprises a first fixing frame, a cross connecting block and a second fixing frame, wherein the first fixing frame is fixedly arranged on the top end of the telescopic rod, the top surface of the first fixing frame is hinged to opposite two side faces of the cross connecting block, the second fixing frame is hinged to two adjacent side faces of the cross connecting block, the second fixing frame is arranged above the first fixing frame, the top surface of the second fixing frame is fixedly arranged on the object carrying plate, and the telescopic rod stretches under the drive of the linear motor to drive the second fixing frame to rotate around the hinged position of the cross connecting block so as to push the object carrying plate.
3. The self-balancing apparatus of claim 2, wherein: the top bilateral symmetry of first mount is formed with two lugs, two opposition sides of cross connecting block form cylindric boss, every the connecting hole has been seted up on the lug, and fastening screw passes through the connecting hole on the first mount and is articulated with the opposition side of cross connecting block, a through-hole has been seted up at the center of first mount, a pinhole has been seted up to the lower part of first mount, the through-hole of first mount is passed through to the top of telescopic link to pass the pinhole through the round pin axle and adorn admittedly with first mount, the bottom bilateral symmetry of second mount is formed with two lugs, has seted up the connecting hole on every lug, the second mount passes through the connecting hole and articulates with the opposition both sides face of cross connecting block.
4. The self-balancing apparatus of claim 3, wherein: the two fixing blocks are symmetrically arranged at two ends of the bottom of the object carrying plate, and the top of each fixing block is fixedly mounted with the object carrying plate.
5. The self-balancing apparatus of claim 4, wherein: each fixing block is provided with a mounting hole, and the support shaft penetrates through the mounting hole to be connected with the fixing block.
6. The self-balancing apparatus of claim 5, wherein: the joint bearing comprises a bearing inner ring, a bearing bush and a bearing outer ring, the bearing inner ring is sleeved on the outer side of the supporting shaft, the outer side of the bearing inner ring is rotatably connected with the bearing outer ring through the bearing bush, and the screw rod is arranged outside the bearing outer ring.
7. The self-balancing apparatus of claim 6, wherein: the outer surface of the bearing inner ring is an incomplete spherical surface, and the inner surface of the bearing bush is an incomplete spherical surface, so that the bearing inner ring can rotate in the bearing bush.
8. The self-balancing apparatus of claim 7, wherein: the stand is installed in the middle part below of carrying the thing board, two linear electric motor symmetry sets up the both sides at the stand.
9. The self-balancing apparatus of claim 8, wherein: the bottom plate is arranged on a chassis of the wheelchair or a frame of the wheelchair, and the object carrying plate is arranged below a seat of the wheelchair.
10. The self-balancing apparatus of claim 9, wherein: the bottom plate is provided with a flange plate, the bottom of the upright post is arranged on the flange plate, and the flange plate is fixedly arranged with the bottom plate through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110084349.8A CN112773625B (en) | 2021-01-21 | 2021-01-21 | Self-balancing device for wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110084349.8A CN112773625B (en) | 2021-01-21 | 2021-01-21 | Self-balancing device for wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112773625A true CN112773625A (en) | 2021-05-11 |
| CN112773625B CN112773625B (en) | 2022-11-11 |
Family
ID=75758364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110084349.8A Active CN112773625B (en) | 2021-01-21 | 2021-01-21 | Self-balancing device for wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112773625B (en) |
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|---|---|---|---|---|
| GB785363A (en) * | 1954-07-01 | 1957-10-30 | Amalgamated Dental Co Ltd | Counterpoise suspension |
| CN101953736A (en) * | 2010-08-29 | 2011-01-26 | 胡达广 | Wheel chair positioning table arranged on special vehicle |
| US20150322784A1 (en) * | 2012-05-12 | 2015-11-12 | Suhua Liu | Method of device for converting rotary motion to reciprocating percussion motion and device for converting rotary motion to reciprocating percussion motion that implements the method |
| CN105599839A (en) * | 2015-09-08 | 2016-05-25 | 嵊州市中工电气有限公司 | Scooter |
| CN106549533A (en) * | 2015-09-16 | 2017-03-29 | 黄世福 | A kind of double-drive device with self-compensating function |
| CN107253179A (en) * | 2017-08-10 | 2017-10-17 | 安徽理工大学 | The removable heavily loaded foundry robot of series-parallel connection truss-like |
| CN107672751A (en) * | 2017-09-13 | 2018-02-09 | 余拓 | A kind of Multifunction diving floating device with unmanned plane landing platform |
| CN207433675U (en) * | 2017-11-16 | 2018-06-01 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN209225314U (en) * | 2018-10-15 | 2019-08-09 | 孔震 | A kind of self balancing device |
| CN209377921U (en) * | 2017-11-30 | 2019-09-13 | 杭州爱尚智能家居有限公司 | A kind of intelligent wheel chair |
| CN111571557A (en) * | 2020-05-25 | 2020-08-25 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
| CN211934771U (en) * | 2019-12-12 | 2020-11-17 | 上海理工大学 | Mechanical virtual walking training walking aid device |
-
2021
- 2021-01-21 CN CN202110084349.8A patent/CN112773625B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB785363A (en) * | 1954-07-01 | 1957-10-30 | Amalgamated Dental Co Ltd | Counterpoise suspension |
| CN101953736A (en) * | 2010-08-29 | 2011-01-26 | 胡达广 | Wheel chair positioning table arranged on special vehicle |
| US20150322784A1 (en) * | 2012-05-12 | 2015-11-12 | Suhua Liu | Method of device for converting rotary motion to reciprocating percussion motion and device for converting rotary motion to reciprocating percussion motion that implements the method |
| CN105599839A (en) * | 2015-09-08 | 2016-05-25 | 嵊州市中工电气有限公司 | Scooter |
| CN106549533A (en) * | 2015-09-16 | 2017-03-29 | 黄世福 | A kind of double-drive device with self-compensating function |
| CN107253179A (en) * | 2017-08-10 | 2017-10-17 | 安徽理工大学 | The removable heavily loaded foundry robot of series-parallel connection truss-like |
| CN107672751A (en) * | 2017-09-13 | 2018-02-09 | 余拓 | A kind of Multifunction diving floating device with unmanned plane landing platform |
| CN207433675U (en) * | 2017-11-16 | 2018-06-01 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN209377921U (en) * | 2017-11-30 | 2019-09-13 | 杭州爱尚智能家居有限公司 | A kind of intelligent wheel chair |
| CN209225314U (en) * | 2018-10-15 | 2019-08-09 | 孔震 | A kind of self balancing device |
| CN211934771U (en) * | 2019-12-12 | 2020-11-17 | 上海理工大学 | Mechanical virtual walking training walking aid device |
| CN111571557A (en) * | 2020-05-25 | 2020-08-25 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112773625B (en) | 2022-11-11 |
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Effective date of registration: 20240403 Address after: 062250, 50 meters northwest of the intersection of Donggu Road and 307 National Road in Daguozhuang Village, Guozhuang Town, Xian County, Cangzhou City, Hebei Province Patentee after: Hebei Jianyi Instrument Equipment Co.,Ltd. Country or region after: China Address before: No. 1310 Dagu South Road, Jinnan District, Tianjin Patentee before: TIANJIN University OF TECHNOLOGY AND EDUCATION (CHINA VOCATIONAL TRAINING INSTRUCTOR TRAINING CENTER) Country or region before: China |