CN201267580Y - Crawler wheel chair capable of going up stairs onwards or backwards - Google Patents
Crawler wheel chair capable of going up stairs onwards or backwards Download PDFInfo
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- CN201267580Y CN201267580Y CNU2008201911651U CN200820191165U CN201267580Y CN 201267580 Y CN201267580 Y CN 201267580Y CN U2008201911651 U CNU2008201911651 U CN U2008201911651U CN 200820191165 U CN200820191165 U CN 200820191165U CN 201267580 Y CN201267580 Y CN 201267580Y
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Abstract
The utility model belongs to a wheelchair for the disabled, which can climb stairs forwards and backwards. The wheelchair comprises a chair frame, an adjusting device which is arranged on the chair frame, a large road wheel, chain wheels, a chain, a stair climbing device and locking devices. The chair frame can rotate around a pin shaft II and then a pin shaft I in the vertical plane by adjusting the adjustment device, so that a small guiding wheel moves, the height of the chair frame lowers, and the pedrail of the stair climbing device is contacted with the ground. The large road wheel is rotated to drive the coaxially arranged large chain wheel to rotate and drive the small chain wheel to rotate through the chain; a pedrail wheel coaxially connected with the small chain wheel is driven to drive the pedrail to rotate, and the pedrail and the large road wheel produce driving force to drive the wheelchair to contact the step surface, so that the wheelchair can climb up the stairs forwards and backwards; and ratchet wheels and the locking devices formed by locking pins are arranged in the front pedrail wheel and the back pedrail wheel to play a braking role for the going forward and turning back of the wheelchair in order to prevent the wheelchair from sliding down along the step surfaces. The utility model can also be used as a general wheelchair.
Description
Technical field
This utility model relates to a kind of crawler type wheelchair of stair climbing backward forward, is mainly used in lower extremity paralysis, disabled and old personnel's walking and stair climbing.
Background technology
Wheelchair is lower extremity paralysis, disabled and old personnel's a kind of important vehicles, can arrive destination as the ordinary people by the wheelchair above-noted persons.But common wheelchair is subjected to the restriction of structure, can only be in the walking of flat ground surface comparatively, then be difficult to advance when running into stair, higher ditch, and limited above-noted persons' mobility and range of activity.Lower extremity paralysis, disabled and old personnel and other rehabilitation personnels be badly in need of a kind of simple, practical, easily both can be at level walking, the wheelchair of the stair of can ascending again.
In the utility model patent wheelchair of stair climbing " a kind of can " (patent No. ZL 01240924.3), disclose a kind of vehicle frame both sides and be installed with coaster, the pulley of coaster is loaded in the arch slideway, the group wheel is installed under the arch slideway, the side is equipped with support, under transmission bracket, be equipped with sprocket wheel can stair climbing wheelchair.This wheelchair adopts many chain drives, and difficulty is regulated in tensioning, complex structure, and weight is big, uses inconvenient.Disclosed a kind of wheelchair in the utility model patent wheelchair of stair climbing " a kind of can " (patent No. ZL 93209301.9) comprises vehicle frame supporting system, cat ladder bar and drive mechanism.The cat ladder bar is that two respectively has the rigid member of " foot ", and the wheelchair both sides respectively have one, and linking by crank, hinge pin and framework is connected into parallelogram lindage, forms a cover auxiliary supporting system.During stair climbing, along with the synchronous rotation of crank, two cover supporting systems take turns to land (step surface), and take turns another set of supporting system raised and deliver to step to a new level.This wheelchair supporting system takes turns to operate, and wheelchair jolts in the stair climbing process, use inconvenience, and the supporting system rod member is many, the manufacturing cost height.
Summary of the invention
The purpose of this utility model provides a kind of crawler type wheelchair of stair climbing backward forward, realize lower extremity paralysis, disabled and old personnel oneself people or under a paraprofessional personnel's nurse helps, realize stair climbing, it is simple in structure, processing ease, and cost is relatively low.
Cardinal principle of the present utility model is the walking bull wheel that rotates wheelchair, drive coaxial mounted with it hinge wheel revolution, drive the minor sprocket revolution by chain again, drive with the coaxial Athey wheel that is connected of minor sprocket and drive the crawler belt revolution, when the walking bull wheel and the Athey wheel of wheelchair contacts with the stairway step face, crawler belt produces the drive force wheelchair with the walking bull wheel and contacts step surface, can be along advancing or direction of retreat is climbed up stair.Before and after the locking system that ratchet and lock pin are formed is installed in the Athey wheel, to the wheelchair braking action that moved forward and backward, prevent that wheelchair from sliding along step surface.
This utility model is achieved in that
A kind of crawler type is the wheelchair of stair climbing backward forward, comprise the chair frame and be installed in the adjusting device on the chair frame, walk bull wheel, sprocket wheel, chain, stair climbing device and locking system, described chair frame (6) is welded by rod member, one and guiding steamboat (1) respectively are equipped with in its front end both sides, chair frame both sides upper cross bar is connected with adjusting device (9) by bearing pin IV (26), two middle side part cross bars are connected with connecting rod I (8) by bearing pin II (7), and two side lower part V shape poles are connected with main Beam (19) by bearing pin I (5); Adjust adjusting device (9) can realize chair frame (6) can be earlier, afterwards rotating in the parallel vertical guide of vertical plane of symmetry with respect to wheelchair around bearing pin II (7), bearing pin I (5); Guiding steamboat (1) can move chair frame (6) direction of retreat of marching forward along the wheelchair longitudinal phase, realizes that chair frame (6) moves up and down; Crawler belt (3) can move up and down in the parallel vertical guide of vertical plane of symmetry with respect to wheelchair.
Described adjusting device (9) has two covers, is installed on chair frame (6) both sides along wheelchair centrage symmetry respectively; There is the screw thread that pitch is identical, rotation direction is opposite at adjusting screw(rod) axle (24) two ends in the adjusting device (9), and there is handle (22) end at adjusting screw(rod) axle (24) two ends with nut (23) locking; Adjusting screw(rod) axle (24) is installed among columniform screw-casing I (25), the II (27), is welded with bearing pin IV (26), V (28) on screw-casing I, the II respectively; Screw-casing I (25) is connected with connecting rod I (8) by bearing pin V (28) with chair frame (6), screw-casing II (27) by bearing pin IV (26); Screw-casing I (25), II have screw thread in (27), and pitch is identical, and rotation direction is opposite; Turning handle (22) makes adjusting screw(rod) axle (24) revolution, can make screw-casing I (25) and screw-casing II (27) simultaneously in opposite directions or opposing moving.
Described stair climbing device has identical two covers, is made of spider, crawler belt, Athey wheel, suppression regulating wheel, is installed on chair frame below along wheelchair centrage symmetry; Athey wheel I (2) in the stair climbing device, Athey wheel II (14) are installed on the two ends of spider (4), and the cylindrical of Athey wheel I (2), Athey wheel II (14) is enclosed with crawler belt (3); The spider below is equipped with four regulating wheels (15); The walking bull wheel drives hinge wheel (18), minor sprocket (16) by chain (12) and realizes Athey wheel II (14) clockwise or turning anticlockwise, thereby the track drive wheelchair is advanced or retreats.
Described crawler belt (3) outer surface has trapezoidal double wedge and rectangle hole; Athey wheel I (2), Athey wheel II (14) side inner edge have ratchet, and ratchet one side is the plane, and the another side is the inclined-plane, and the ratchet direction is opposite in two Athey wheels; On Athey wheel I (2), Athey wheel II (14) periphery trapezoidal double wedge is arranged, penetrate in the hole in the crawler belt (3); During Athey wheel I (2), Athey wheel II (14) revolution, drive the crawler belt revolution by double wedge.
Described locking system has two covers totally four, is made of pull rope (29), spring (30), sleeve (31), lock pin (32), is installed in spider (4) two ends, four the Athey wheel sides each one; Lock pin (32) front end one side is the plane, opposite side is the inclined-plane, and lock pin (32) moves down under spring (30) promotes, and makes the ratchet plane contact among its front plane and Athey wheel I (2), the Athey wheel II (14), the revolution of locking Athey wheel, thus stop wheelchair to move backward forward.
This utility model can be used as general wheelchair and uses, and also can be used to stair climbing.
The beneficial effects of the utility model are:
1, this utility model wheelchair can be used as lower extremity paralysis, the disabled general vehicles that reach old personnel or other rehabilitation personnels, advance on general ground as common wheelchair, also can adopt the crawling device stair of ascending, enlarge above-noted persons' range of activity and mobility.
2, this utility model wheelchair is mainly formed by the rod member seam, and is simple in structure, with low cost; This wheelchair only needs the adjusting screw(rod) axle in the rotation adjustment device can realize the conversion of common wheelchair to stair climbing wheelchair, but the front and rear direction stair climbing is simple, convenient; Adopt four locking systems of two covers the front and back Athey wheel can be pinned at the same time or separately, prevent that wheelchair from tumbling on stair, safe in utilization.
Description of drawings
Fig. 1: be this utility model population structure front view; Number in the figure is: 1-guiding steamboat; 2-Athey wheel I; 3-crawler belt; 4-spider; 5-bearing pin I; 6-chair frame; 7-bearing pin II; 8-connecting rod I; 9-adjusting device; 10-bearing pin III; 11-walking bull wheel; 12-chain; 13-connecting rod II; 14-Athey wheel II; 15-regulating wheel.
Fig. 2: be this utility model population structure vertical view; Number in the figure is: 16-minor sprocket; 17-back track wheel shaft; 18-hinge wheel; 19-main Beam; 21-preceding track wheel shaft.
Fig. 3: be that this utility model adjusting device (9) structure master looks; Number in the figure is: 22-hands handle; 23-nut; 24-adjusting screw(rod) axle; 25-screw-casing I; 26-bearing pin IV; 27-screw-casing II; 28-bearing pin V.
Fig. 4: be this utility model Athey wheel structural representation, wherein Fig. 4 A is main looking, and Fig. 4 B is side-looking.
Fig. 5: be this utility model caterpillar belt structure sketch map, wherein Fig. 5 A is main looking, and Fig. 5 B is for overlooking.
Fig. 6: be this utility model locking system structural front view; Number in the figure is: 29-pull rope; 30-spring; 31-sleeve; 32-lock pin.
The specific embodiment
Embodiment 1:
This utility model wheelchair comprises chair frame (6) and is installed in the adjusting device (9) of (6) on the chair frame, walking bull wheel (11), sprocket wheel (16,18), chain (12), stair climbing device and locking system, the chair frame (6) designed according to Fig. 1 is welded by rod member, one and guiding steamboat (1) respectively are equipped with in its front end both sides, chair frame both sides upper cross bar is connected with adjusting device (9) by bearing pin IV (26), two middle side part cross bars are connected with connecting rod I (8) by bearing pin II (7), and two side lower part V shape poles are connected with main Beam (19) by bearing pin I (5); Can make chair frame (6) earlier around bearing pin II (7), in bearing pin I (5) is in the parallel vertical guide of vertical plane of symmetry with respect to wheelchair, rotate subsequently by adjusting adjusting device (9), realize leading steamboat (1) relative to chair frame (6) march forward that direction of retreat moves, chair frame (6) rising or decline in vertical, crawler belt (3) rises or drops to ground in vertical and contact.
In the present embodiment, adjusting device (9) has two covers (seeing shown in Figure 2), is installed on chair frame (6) both sides along wheelchair centrage symmetry respectively; There is the screw thread that pitch is identical, rotation direction is opposite at adjusting screw(rod) axle (24) two ends in the adjusting device (9), and there is handle (22) end with nut (23) locking; Adjusting screw(rod) axle (24) is installed among columniform screw-casing I (25), the II (27), is welded with bearing pin IV (26), V (28) on screw-casing I, the II respectively; Screw-casing I (25) is connected with connecting rod I (8) by bearing pin V (28) with chair frame (6), screw-casing II (27) by bearing pin IV (26); Screw-casing I (25), II have screw thread in (27), and pitch is identical, and rotation direction is opposite; Turning handle (22) is realized adjusting screw(rod) axle (24) revolution, can make screw-casing I (25) and screw-casing II (27) simultaneously in opposite directions or opposing moving.
At stair climbing device shown in Figure 1 identical two covers are arranged, constitute, be installed on chair frame below along wheelchair centrage symmetry by spider, crawler belt, Athey wheel, suppression regulating wheel; Athey wheel I (2) in the stair climbing device, Athey wheel II (14) are installed on the two ends of spider (4), and the cylindrical of Athey wheel I (2), Athey wheel II (14) is enclosed with crawler belt (3); The spider below is equipped with four regulating wheels (15); The walking bull wheel is realized the clockwise or turning anticlockwise of Athey wheel II (14) by chain (12) drive hinge wheel (18), minor sprocket (16).
At middle crawler belt (3) outer surface shown in Fig. 3,4 trapezoidal double wedge and rectangle hole are arranged; Athey wheel I (2), Athey wheel II (14) side inner edge have ratchet, and ratchet one side is the plane, and the another side is the inclined-plane, and the ratchet direction is opposite in two Athey wheels; On Athey wheel I (2), Athey wheel II (14) periphery trapezoidal double wedge is arranged, penetrate in the hole in the crawler belt (3); During Athey wheel I (2), Athey wheel II (14) revolution, drive the crawler belt revolution by double wedge.
In the present embodiment, its locking system (figure sees 5) has two covers totally four, is made of pull rope (29), spring (30), sleeve (31), lock pin (32), is installed in spider (4) two ends, four the Athey wheel sides each one; Lock pin (32) front end one side is the plane, opposite side is the inclined-plane, and lock pin (32) moves down under spring (30) promotes, and makes the ratchet plane contact among its front plane and Athey wheel I (2), the Athey wheel II (14), the revolution of locking Athey wheel, thus stop wheelchair to move backward forward.
Before this utility model used, the adjusting screw(rod) axle (24) in the device for regulating rotary was horizontal chair frame (6) or slightly to layback, kept 35-45mm distance, walking bull wheel (11) to contact with ground between the crawler belt (3) in this moment crawling device and the ground.Upwards affect the pull rope (29) in the locking system, lock pin (32) is moved up, disengaging contacts with the middle ratchet of Athey wheel I (2), Athey wheel II (14), subsequently pull rope is fastened, and fixes lock pin.
When walking forward on the level land, promote wheelchair forward or rotate counterclockwise walking bull wheel (11), can drive wheelchair advances forward, this moment is under the drive of hinge wheel (18), minor sprocket (16), chain (12), crawler belt in the crawling device (3), Athey wheel I (2), Athey wheel II (14) be turning anticlockwise also, discharge pull rope (29) in the locking system lock pin (32) is contacted with ratchet side plane among the Athey wheel II (14), only wheelchair can be stopped.
When walking backward on the level land, promote wheelchair backward or clockwise rotate walking bull wheel (11), can drive wheelchair advances backward, this moment is under the drive of hinge wheel (18), minor sprocket (16), chain (12), crawler belt in the crawling device (3), Athey wheel I (2), Athey wheel II (14) be revolution clockwise also, the middle pull rope (29) that discharges locking system makes lock pin (32) contact with ratchet side plane among the Athey wheel I (2), only wheelchair can be stopped.
Backward during stair climbing, wheelchair can be moved backward, walking bull wheel (11) is near the stairway step face, handle in the device for regulating rotary (22) drives adjusting screw(rod) axle (24) rotation, screw-casing I (25) and screw-casing II (27) are moved in opposite directions, thereby make chair frame (6) earlier around bearing pin II (7), connecting rod I (8) also around bearing pin II (7) vertical clockwise in rotation, chair frame (6) highly reduces, the crawler belt (3) in the stair climbing device contacts with ground; When crawler belt (3) ground connection, the handle (22) that is rotated further in the adjusting device drives adjusting screw(rod) axle (24) rotation, screw-casing I (25), II (27) are moved in opposite directions, chair frame (6) is rotated in vertical plane is clockwise around bearing pin III (7) and back track wheel shaft (17) around bearing pin III (7), connecting rod II (13) around bearing pin I (5), connecting rod I (8) again, be in vertical direction until connecting rod II (13), chair frame this moment (6) recedes, and guiding steamboat (1) lifts; Clockwise rotate walking bull wheel (11), this moment is under the drive of hinge wheel (18), minor sprocket (16), chain (12), crawler belt in the crawling device (3), Athey wheel I (2), II (14) be revolution clockwise also, walking bull wheel contact step leading edge, crawler belt contact step surface, produce driving force, make wheelchair climb up first order step, chair frame (6) lifts; Continue rotation walking bull wheel, wheelchair is advanced backward, climbs up the second level, three grades of steps, and the chair frame continues to tilt, and wheelchair crawler belt this moment (3) contacts with one, two, three step surface leading edge; Continue rotation walking bull wheel, the chair frame no longer tilts, and the driving force that relies on crawler belt and walking bull wheel to produce can make wheelchair climb up follow-up step; The middle pull rope (29) that discharges locking system makes lock pin (32) contact with ratchet side plane among the Athey wheel II (14), can prevent that wheelchair from sliding stair, and playing stops ends protective effect; When climb to the 3rd the suppression regulating wheel contact with afterbody step forward position, when Athey wheel II (14) exceeds the afterbody step, the paraprofessional personnel can be to the lower pressure wheel chair, make crawler belt become level, be rotated further the walking bull wheel, can finish whole stair crawling process.
When crawling forward stair, wheelchair can be moved forward, guiding steamboat (11) is near the stairway step face, handle in the device for regulating rotary drives adjusting screw(rod) axle (24) rotation, screw-casing I (25) and screw-casing II (27) are moved in opposite directions, thereby chair frame (6) is also rotated in vertical is clockwise around bearing pin II (7) around bearing pin II (7), connecting rod I (8) earlier, and the crawler belt (3) that chair frame (6) highly reduces, the stair climbing device is heavy contacts with ground; When crawler belt (3) ground connection, the handle (22) that is rotated further in the adjusting device drives adjusting screw(rod) axle (24) rotation, screw-casing I (25) and screw-casing II (27) are moved in opposite directions, chair frame (6) is clockwise rotated in vertical plane around bearing pin III (7) and back track wheel shaft (17) around bearing pin III (7), connecting rod II (13) around bearing pin I (5), connecting rod I (8) again, be in vertical direction until connecting rod II (13), chair frame this moment (6) recedes, and guiding steamboat (1) lifts; Rotate counterclockwise walking bull wheel (11), this moment is under the drive of hinge wheel (18), minor sprocket (16), chain (12), crawler belt in the crawling device (3), Athey wheel I (2), II (14) be turning anticlockwise also, crawler belt contact step surface produces driving force, make wheelchair climb up first order step, chair frame (6) lifts; Continue rotation walking bull wheel, wheelchair is advanced forward, climbs up the second level, three grades of steps, and the chair frame continues to tilt, and crawler belt this moment (3) contacts with one, two, three step surface leading edge; Continue rotation walking bull wheel, the chair frame no longer tilts, and the driving force that relies on crawler belt and walking bull wheel to produce can make wheelchair climb up follow-up step; The middle pull rope (29) that discharges locking system makes lock pin (32) contact with ratchet side plane among the Athey wheel I (2), can prevent that wheelchair from sliding stair, and playing stops ends protective effect; When climb to second the suppression regulating wheel contact with afterbody step forward position, when Athey wheel II (14) exceeds the afterbody step, paraprofessional personnel's rotate chair that can make progress, make crawler belt become level, be rotated further the walking bull wheel, can finish whole stair crawling process.
When wheelchair is climbed up stair, handle in the opposite spin adjusting device (22) drives adjusting screw(rod) axle (24) rotation, make screw-casing I (25) and screw-casing II (27) opposing mobile, chair frame (6) is rotated counterclockwise in vertical plane around bearing pin III (7) and back track wheel shaft (17) around bearing pin III (7), connecting rod II (13) around bearing pin I (5), connecting rod I (8) again, recover original direction until connecting rod II (13), chair frame this moment (6) lifts forward, and guiding steamboat (1) descends until contacting with ground; The handle that is rotated further in the adjusting device drives adjusting screw(rod) axle (24) rotation, make screw-casing I (25) and screw-casing II (27) opposing mobile, chair frame (6) is rotated counterclockwise in vertical around bearing pin II (7) around bearing pin II (7), connecting rod I (8) again, the stair climbing device lifts, disengaging contacts with ground, guiding steamboat (1) moves backward, and chair frame (6) rotation reverts to level.
Claims (5)
1, a kind of crawler type is the wheelchair of stair climbing backward forward, comprise chair frame (6) and be installed in adjusting device (9) on the chair frame, it is characterized in that, adjusting device (9) is installed on the described chair frame (6), walking bull wheel (11), sprocket wheel (16,18), chain (12), stair climbing device and locking system, described chair frame (6) is welded by rod member, a guiding steamboat (1) respectively is equipped with in its front end both sides, chair frame (6) both sides upper cross bar is connected with adjusting device (9) by bearing pin IV (26), two middle side part cross bars are connected with connecting rod I (8) by bearing pin II (7), and two side lower part V shape poles are connected with main Beam (19) by bearing pin I (5); Adjust adjusting device (9) make chair frame (6) earlier, the back rotating in the parallel vertical guide of vertical plane of symmetry with respect to wheelchair around bearing pin II (7), bearing pin I (5); Guiding steamboat (1) moves chair frame (6) direction of retreat of marching forward along the wheelchair longitudinal phase, realizes that chair frame (6) moves up and down; Crawler belt (3) is moving up and down in the parallel vertical guide of vertical plane of symmetry with respect to wheelchair.
2, wheelchair according to claim 1 is characterized in that, described adjusting device (9) has two covers, is installed on chair frame (6) both sides along wheelchair centrage symmetry respectively; There is the screw thread that pitch is identical, rotation direction is opposite at adjusting screw(rod) axle (24) two ends in the adjusting device (9), and there is handle (22) its end with nut (23) locking; Adjusting screw(rod) axle (24) is installed among columniform screw-casing I (25), the II (27), is welded with bearing pin IV (26), V (28) on screw-casing I, the II respectively; Screw-casing I (25) is by bearing pin IV (26) and chair frame (6), and screw-casing II (27) is connected with connecting rod I (8) by bearing pin V (28); Screw-casing I (25), II have screw thread in (27), and pitch is identical, and rotation direction is opposite; Turning handle (22) is realized adjusting screw(rod) axle (24) revolution, can make screw-casing I (25) and screw-casing II (27) simultaneously in opposite directions or opposing moving.
3, a kind of wheelchair according to claim 1 is characterized in that, described stair climbing device is provided with identical two covers, and this device is made of spider, crawler belt, Athey wheel, suppression regulating wheel, is installed on the below of chair frame (6) along wheelchair centrage symmetry; Athey wheel I (2) in the stair climbing device, Athey wheel II (14) are positioned at the two ends of spider (4), and the cylindrical of Athey wheel I (2), Athey wheel II (14) is enclosed with crawler belt (3); The spider below is equipped with four regulating wheels (15); The walking bull wheel is realized the clockwise or turning anticlockwise of Athey wheel II (14) by chain (12) drive hinge wheel (18), minor sprocket (16).
4, require 3 described wheelchairs according to claim 1, it is characterized in that, crawler belt (3) outer surface has trapezoidal double wedge and rectangle hole; Athey wheel I (2), Athey wheel II (14) side inner edge have ratchet, and ratchet one side is the plane, and the another side is the inclined-plane, and the ratchet direction is opposite in two Athey wheels; On Athey wheel I (2), Athey wheel II (14) periphery trapezoidal double wedge is arranged, penetrate in the hole in the crawler belt (3); Athey wheel I (2), Athey wheel II (14) drive the crawler belt revolution by double wedge.
5, wheelchair according to claim 1, it is characterized in that, described locking system has two covers totally four, is made of pull rope (29), spring (30), sleeve (31), lock pin (32), is arranged in each one of the two ends of spider (4), four Athey wheel side; Lock pin (32) front end one side is the plane, and opposite side is the inclined-plane, and lock pin (32) moves down under spring (30) promotes, and the ratchet plane contact among its front plane and Athey wheel I (2), the Athey wheel II (14) realizes the revolution of locking Athey wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201911651U CN201267580Y (en) | 2008-09-28 | 2008-09-28 | Crawler wheel chair capable of going up stairs onwards or backwards |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201911651U CN201267580Y (en) | 2008-09-28 | 2008-09-28 | Crawler wheel chair capable of going up stairs onwards or backwards |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201267580Y true CN201267580Y (en) | 2009-07-08 |
Family
ID=40840158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201911651U Expired - Fee Related CN201267580Y (en) | 2008-09-28 | 2008-09-28 | Crawler wheel chair capable of going up stairs onwards or backwards |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201267580Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102188309A (en) * | 2011-05-23 | 2011-09-21 | 昆明理工大学 | Independent self-help barrier-free wheelchair |
| CN102204858A (en) * | 2011-05-27 | 2011-10-05 | 烟台大学 | Stair-climbing wheelchair |
| CN102715990A (en) * | 2012-04-11 | 2012-10-10 | 赵博 | Walking assistant robot |
| CN102805693A (en) * | 2012-09-07 | 2012-12-05 | 昆明理工大学 | Mechanical self-powered wheelchair for walking up and down stairs |
| CN105167927A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Wheel-track combined wheelchair capable of climbing stairs |
| CN107625589A (en) * | 2017-08-28 | 2018-01-26 | 天津大学 | A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic |
| CN109649519A (en) * | 2018-11-20 | 2019-04-19 | 国网浙江慈溪市供电有限公司 | A kind of transportation robot of climbing stairs |
| CN111936099A (en) * | 2018-01-15 | 2020-11-13 | 安塔诺集团有限公司 | Crawler-type stair climbing device |
| CN113397847A (en) * | 2021-06-15 | 2021-09-17 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
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2008
- 2008-09-28 CN CNU2008201911651U patent/CN201267580Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102188309B (en) * | 2011-05-23 | 2013-08-28 | 昆明理工大学 | Independent self-help barrier-free wheelchair |
| CN102188309A (en) * | 2011-05-23 | 2011-09-21 | 昆明理工大学 | Independent self-help barrier-free wheelchair |
| CN102204858A (en) * | 2011-05-27 | 2011-10-05 | 烟台大学 | Stair-climbing wheelchair |
| CN102204858B (en) * | 2011-05-27 | 2013-03-13 | 烟台大学 | Stair-climbing wheelchair |
| CN102715990A (en) * | 2012-04-11 | 2012-10-10 | 赵博 | Walking assistant robot |
| CN102805693B (en) * | 2012-09-07 | 2016-02-10 | 昆明理工大学 | A kind of mechanical self-service stair activity wheelchair |
| CN102805693A (en) * | 2012-09-07 | 2012-12-05 | 昆明理工大学 | Mechanical self-powered wheelchair for walking up and down stairs |
| CN105167927A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Wheel-track combined wheelchair capable of climbing stairs |
| CN107625589A (en) * | 2017-08-28 | 2018-01-26 | 天津大学 | A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic |
| CN107625589B (en) * | 2017-08-28 | 2023-10-27 | 天津大学 | Foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot |
| CN111936099A (en) * | 2018-01-15 | 2020-11-13 | 安塔诺集团有限公司 | Crawler-type stair climbing device |
| CN109649519A (en) * | 2018-11-20 | 2019-04-19 | 国网浙江慈溪市供电有限公司 | A kind of transportation robot of climbing stairs |
| CN113397847A (en) * | 2021-06-15 | 2021-09-17 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
| CN113397847B (en) * | 2021-06-15 | 2022-12-16 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
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Granted publication date: 20090708 Termination date: 20110928 |