CN201642630U - Multifunctional 4-wheel driving power wheelchair - Google Patents
Multifunctional 4-wheel driving power wheelchair Download PDFInfo
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- CN201642630U CN201642630U CN2010201489474U CN201020148947U CN201642630U CN 201642630 U CN201642630 U CN 201642630U CN 2010201489474 U CN2010201489474 U CN 2010201489474U CN 201020148947 U CN201020148947 U CN 201020148947U CN 201642630 U CN201642630 U CN 201642630U
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Abstract
The utility model belongs to a medical machine, which relates to a power wheelchair composed of a bracket 3 of which the six surfaces are in a frame structure, a chair 2 arranged above the bracket 3, a travelling mechanism 6 of which the right and the left are symmetrically arranged below the bracket 3, a driving device 4 at the middle of the bracket 3 and a manual operation device 1 arranged on the chair 2. The utility model is characterized in that the power wheelchair also comprises a posture control mechanism composed of posture adjusting speed reducers 5, a moment distributor 8, a posture adjusting device 9 and a braking device 10; a big chain wheel 18 of the travelling mechanism 6 is connected with a small chain wheel 17 of the driving device 4; an outer shell of the moment distributor 8 is connected with the braking device 10 and the posture adjusting device 9; the output end of the moment distributor 8 is respectively connected with the input ends of the posture adjusting speed reducers 5 symmetrically arranged; and the output ends of the posture adjusting speed reducers 5 are connected with a box body of the travelling mechanism 6. The utility model has the advantages of small turning radial, strong climbing ability and strong adaptability for complex road conditions; wheelchair postures can be freely adjusted; and a user can use the power wheelchair to go up and down stairs.
Description
Technical field
This utility model belongs to medical mechanical domain, and being specifically related to a kind of is the multifunctional four-wheel driving type electric wheelchair that lower extremity paralysis or handicapped people use.
Background technology
Owing to reasons such as vehicle accident, industrial injury and diseases, increasingly sharpening of the frequent day by day and local conflicts of natural disaster in recent years particularly, people with disability's quantity significantly increases in recent years, 877 ten thousand people of wherein physical disabilities number before 20 years increase to 24,120,000 people, compare with other countries simultaneously, China's population aging degree height progressively enters aging society.Many big cities, as Shanghai, Beijing, old people's ratio is near 20%.So the requirement to walking-replacing tool for disabled persons is more and more urgent, existing commercial wheelchair is to finish the function of walking by user or other people basically, but has bigger inconvenience, at first is can't solve upstairs and the problem of going downstairs; Secondly, moving difficulty under the complex road condition condition, safety coefficient is low; The 3rd, climbing capacity is low, and the scope of application is limited; The 4th, the radius of turn of electric walk instead instrument is excessive, usage space is required high; The 5th, the seat attitude is fixed, and it is uncomfortable to take easy fatigue for a long time.
The utility model content
The purpose of this utility model provides that a kind of radius of turn is little, and climbing capacity is strong, and the complex road condition adaptability is good, and the wheelchair attitude can freely be adjusted, and by the user independent manipulation, can go up multifunctional four-wheel driving type electric wheelchair downstairs.
The technical solution of the utility model is: a kind of multifunctional four-wheel driving type electric wheelchair is by the hexahedro support that is frame structure, place seat, the left-right symmetric of support top be installed in the support below walking mechanism, driving device that left-right symmetric is installed in mid-stent, place the hand-operating device on the seat to form, it is characterized in that: also comprise attitude coutrol mechanism in the composition, this mechanism is made up of posture adjustment decelerator, moment allotter, device for adjusting posture and brake unit;
Described walking mechanism by main shaft, be fixed on main shaft one end hinge wheel, be installed in the main shaft other end planetary reduction box, be installed in lateral two road wheels of planetary reduction box and form, described planetary reduction box by the cantilevered casing, place in the casing and be fixed on sun gear on the main shaft and the sun gear both sides successively with transition axis that it is meshed on transition gear and planet pin form, wherein road wheel is fixed on the outfan of planet pin;
Described driving device is assembled successively by photoelectric encoder, miniature electricity loss brake, direct current generator, miniature reducer and manual clutch, wherein the power output shaft axle head of miniature reducer is fixed with minor sprocket, and be connected with hinge wheel in the walking mechanism by chain, this device is electrically connected with hand-operating device;
Described posture adjustment decelerator by be fixed on casing on the support, be arranged at the intravital T font of case hollow axle, be fixed on deceleration gear wheel on the hollow axle external diameter, and first double crosslinking gear shaft, second double crosslinking gear shaft that are meshed with the deceleration gear wheel successively form, its hollow mandrel is built-in with the main shaft of walking mechanism, the hollow axle spindle nose is fixed on the cantilevered casing, its second double crosslinking gear shaft respectively with the moment allotter in first the input gear shaft and second the input gear shaft be meshed;
Described moment allotter by barrel-type casing, be fixed on the housing two ends supports end cap, place intravital two output bevel gears of shell and symmetrical with it engagement and be installed in the transmission bevel gear on the thread spindle and the big posture adjustment gear that is fixed on the housing outer wall is formed, wherein, two output bevel gears are separately fixed at the first input gear shaft and the second input bevel gear axle axle head of posture adjustment decelerator by the supports end cap at two ends;
Described device for adjusting posture is by the micro photo electric encoder, be attached thereto the drag cup direct current generator that connects, be attached thereto the planetary reduction gear that connects, electromagnetic clutch, posture adjustment axle and form by the posture adjustment pinion that bearing is installed on the posture adjustment axle, wherein, planetary reduction gear and electromagnetic clutch are separately fixed at the both sides of posture adjustment bearing, one end of posture adjustment axle is connected the output shaft axle head of planetary reduction gear, the other end links to each other with bearing block on being fixed in support, posture adjustment pinion on the posture adjustment axle is meshed with posture adjustment gear wheel on the moment allotter, the large end face of pinion of raising wages simultaneously links to each other with the armature of electromagnetic clutch, and this device is electrically connected with hand-operating device;
Described brake unit is made up of electromagnetic brake, Brake Block, brake axle and spragging gear, wherein electromagnetic brake and the Brake Block both sides, the brake axle that are installed in the posture adjustment bearing respectively places in the Brake Block by bearing, the one end is installed the spragging gear that is meshed with the posture adjustment gear wheel, and the other end is connected with electromagnetic brake;
Described hand-operating device is made up of operating grip, button, microprocessor and drive circuit, and this device is by the accumulator battery power supply that is installed in the support rear.
The below of described seat is equipped with inclinometer.
The utlity model has following beneficial effect: this utility model adopts dual planetary gear mechanism to form walking mechanism, utilizes the stressed of moment allotter mean allocation and arranged on left and right sides walking mechanism; Device for adjusting posture output is delivered to the main body of and arranged on left and right sides walking mechanism after the posture adjustment decelerator of moment allotter and and arranged on left and right sides also amplifies posture adjustment moment mean allocation, thereby adjust the whole pose of wheelchair, electromagnetic brake that is provided with on the adjusting device of the controlling organization of posture adjustment simultaneously and electromagnetic clutch cooperatively interact and can realize the maintenance of wheelchair pose and walking and the last switching of pattern downstairs.By the combined effect with said mechanism, this utility model can be realized following function: the first, the occupant independently goes upstairs; The second, the occupant independently goes downstairs; Three, complex road surface guarantees that four-wheel supports, and is safe; Four, climbing capacity is strong, and maximum ramp angle is greater than 30 degree; Five, no-radius is turned, and it is little to take activity space; Six, function of stepless speed regulation can manually be controlled the speed of travel; Seven, protection of power down and chance failure and walking function; Eight, the wheelchair attitude is freely adjusted, and satisfies different occupants' instructions for use; This utility model is based on modularized design, and Installation and Debugging are convenient, and maintenance is quick, can realize the function collocation by the cooperation of disparate modules, for different user is made its satisfied COS to measure.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 is the B-B cutaway view of Fig. 1;
Fig. 3 is the A-A cutaway view of Fig. 1;
Fig. 4 is the partial enlarged drawing at the I place of Fig. 3;
Fig. 5 is the C-C revolved sectional view of Fig. 2;
Fig. 6 is a schematic perspective view.
Description of symbols among the figure: 1 hand-operating device, 2 seats, 3 supports, 4 driving devices, 5 posture adjustment decelerators, 6 walking mechanisms, 7 road wheels, 8 moment allotters, 9 device for adjusting posture, 10 brake units, 11 photoelectric encoders, 12 miniature electricity loss brakes, 13 direct current generators, 14 miniature reducers, 15 manual clutch, 16 power output shafts, 17 minor sprockets, 18 hinge wheels, 19 planetary reduction box, 20 cantilevered casings, 21 planet pins, 22 transition gears, 23 transition axises, 24 sun gears, 25 main shafts, 26 hollow axles, 27 deceleration gear wheels, 28 first double crosslinking gear shafts, 29 second double crosslinking gear shafts, 30 first input gear shafts, 31 casings, 32 second input gear shafts, 33 electromagnetic brakes, 34 Brake Blocks, 35 brake axles, 36 spragging gears, 37 transmission bevel gears, 38 output bevel gears, 39 housings, 40 big posture adjustment gears, 41 posture adjustment axles, 42 posture adjustment pinions, 43 electromagnetic clutchs, 44 supports end cap, 45 micro photo electric encoders, 46 drag cup direct current generators, 47 planetary reduction gears, 48 posture adjustment output shafts, 49 armature, 50 posture adjustment bearings, 51 bearing blocks, 52 inclinometers, 53 accumulator batteries, 54 thread spindles.
The specific embodiment
Below in conjunction with Fig. 1～Fig. 6 embodiment is elaborated: a kind of multifunctional four-wheel driving type electric wheelchair is made up of hand-operating device 1, seat 2, support 3, driving device 4, walking mechanism 6, attitude coutrol mechanism and accumulator battery 53, and wherein attitude coutrol mechanism is made up of posture adjustment decelerator 5, moment allotter 8, device for adjusting posture 9 and brake unit 10.Support 3 is for being hexahedral frame structure, its top is provided with seat 2, its symmetrical installation driving device 4 in middle part, its symmetrical installation walking mechanism 6 in below and posture adjustment decelerator 5, accumulator battery 53 is installed for one jiao in its rear, device for adjusting posture 9 also links to each other with support 3 by posture adjustment bearing 50 with brake unit 10 simultaneously, is installed in the right armrest place of seat 2 for the hand-operating device 1 of the easy to operate control complete machine operation of user;
Described walking mechanism 6 is by road wheel 7, cantilevered casing 20, planet pin 21, transition gear 22, transition axis 23, sun gear 24, main shaft 25 and hinge wheel 18 are formed, sun gear 24 is fixed on an end of main shaft 25 and links to each other with cantilevered casing 20 by the bearing that is installed on the main shaft, transition gear 22 is arranged symmetrically in the both sides of sun gear 24 and is meshed with it, transition gear links to each other with the middle part of transition axis 23 and links to each other with cantilevered casing 20 by the bearing that is installed on the transition axis, planet pin 21 is arranged symmetrically in the both sides of sun gear 24 and is meshed with transition gear 22, planet pin links to each other with cantilevered casing 20 by bearing, road wheel 7 is arranged at the outfan of planet pin 21 and fixes by locking nut, and hinge wheel 18 is arranged at the input of main shaft 25 and fixes by serrated nut;
Described driving device 4 is by commercially available photoelectric encoder 11, miniature electricity loss brake 12, direct current generator 13, miniature reducer 14 and manual clutch 15 assemble successively, wherein manual clutch 15 is installed on walking mechanism 6 and driving device 4 are disengaged, thereby wheelchair is moved under external force, power output shaft 16 axle heads of this device are fixed with minor sprocket 17, and be connected the photoelectric encoder 11 in this device with hinge wheel 18 in the walking mechanism 6 by chain, miniature electricity loss brake 12 and direct current generator 13 are electrically connected with hand-operating device 1;
Described posture adjustment decelerator 5 is by T font hollow axle 26, deceleration gear wheel 27, first double crosslinking gear shaft 28, second double crosslinking gear shaft 29, the first input gear shaft 30, casing 31 and its second input gear shaft 32 are formed, casing 31 symmetrical being installed on the support 3, T font hollow axle 26 links to each other with casing 31 by sliding bearing, its external diameter is equipped with deceleration gear wheel 27, its spindle nose with connect firmly at cantilevered casing 20, its inside is equipped with the main shaft 25 of walking mechanism 6, first double crosslinking gear shaft 28 links to each other with casing 31 by the sliding bearing that is installed in both sides with second double crosslinking gear shaft 29, deceleration gear wheel 27, first double crosslinking gear shaft 28 and second double crosslinking gear shaft 29 are meshed successively, second double crosslinking gear shaft 29 respectively with the moment allotter in first the input gear shaft 30 and second the input gear shaft 32 be meshed;
Described moment allotter 8 is by transmission bevel gear 37, output bevel gear 38, barrel-type casing 39, supports end cap 44 and thread spindle 54 are formed, supports end cap 44 is fixed on the two ends of barrel-type casing 39, be provided with two output bevel gears 38 and two transmission bevel gears 37 of symmetrical engagement with it in the housing, the first input gear shaft 30 that two output bevel gears 38 are separately fixed at posture adjustment decelerator 5 and the second input bevel gear axle, 32 axle heads and the supports end cap 44 by two ends link to each other with barrel-type casing 39, transmission bevel gear 37 is installed on the thread spindle 54 by bearing, and big posture adjustment gear 40 connects firmly with the housing outer wall;
Described device for adjusting posture 9 is by commercially available micro photo electric encoder 45, be attached thereto the drag cup direct current generator 46 that connects, be attached thereto the planetary reduction gear 47 that connects, electromagnetic clutch 43, posture adjustment axle 41 and form by the posture adjustment pinion 42 that bearing is installed on the posture adjustment axle 41, wherein, planetary reduction gear 47 and electromagnetic clutch 43 are separately fixed at the both sides of posture adjustment bearing 50, one end of posture adjustment axle 41 is connected posture adjustment output shaft 48 axle heads of planetary reduction gear, the other end links to each other with bearing block 51 on being fixed in support 3, posture adjustment pinion 42 on the posture adjustment axle 41 is meshed with posture adjustment gear wheel 40 on the moment allotter 8, the large end face of pinion 42 of raising wages simultaneously links to each other with the armature 49 of electromagnetic clutch, the micro photo electric encoder 45 in this device, drag cup direct current generator 46 and electromagnetic clutch 43 are electrically connected with hand-operating device 1;
Described brake unit 10 is made up of electromagnetic brake 33, Brake Block 34, brake axle 35 and spragging gear 36, wherein electromagnetic brake 33 and Brake Block 34 both sides, the brake axle 35 that are installed in posture adjustment bearing 50 respectively places in the Brake Block 34 by bearing, the one end is installed the spragging gear 36 that is meshed with posture adjustment gear wheel 40, the other end is connected with electromagnetic brake 33, and the electromagnetic brake 33 in this device is electrically connected with hand-operating device 1;
Described hand-operating device 1 is made up of operating grip, button, microprocessor and drive circuit, and this device is by accumulator battery 53 power supplies that are installed in the support rear.
Described multifunctional four-wheel driving type electric wheelchair also comprises inclinometer 52, and inclinometer 52 is installed in the below of seat 2, can feed back seat 2 and horizontal plane angle in real time.
Operation principle: (referring to Fig. 1～Fig. 7), walking mechanism left-right symmetric of the present utility model, structure is identical, the sun gear of described walking mechanism is fixed on the main shaft, the transition gear that its lateral symmetry setting is meshed with it, transition gear and monosymmetric planet pin engagement simultaneously, cantilevered casing like this, main shaft, sun gear, transition gear and planet pin have just been formed a planet circular system, the barrel-type casing of this utility model moment allotter, be fixed on the supports end cap at housing two ends, place intravital two output bevel gears of shell and symmetrical with it engagement and be installed in transmission bevel gear on the thread spindle, form differential gear train, the posture adjustment moment mean allocation to the first of device for adjusting posture can be imported on the gear shaft and the second input bevel gear axle.Posture adjustment decelerator left-right symmetric of the present utility model, structure are identical, its deceleration gear wheel is fixed on the T font hollow axle external diameter, the hollow axle spindle nose is fixed on the cantilevered casing simultaneously, and the posture adjustment moment that acts on like this on the first input gear shaft and the second input bevel gear axle can be through affacting on the outer wall of walking mechanism after second double crosslinking gear shaft, first double crosslinking gear shaft and the amplification of deceleration gear wheel.
Introduce it at difference in functionality of the present utility model below and realize principle:
1, the complex road condition four-wheel supports: device for adjusting posture no power of the present utility model during level walking, the electromagnetic brake braking, the moment dispenser housing is by big posture adjustment gear, spragging gear, brake axle is pinned by electromagnetic brake, the left side walking mechanism, left side posture adjustment decelerator, the moment allotter, right side posture adjustment decelerator, the right side walking mechanism constitutes the closed chain transmission, and make left side walking mechanism and the suffered moment of face equal and opposite in direction of right side walking mechanism by differential gear train, because wherein any one is unsettled for four road wheels that contact with ground, all will cause left side walking mechanism and the suffered moment of face equal and opposite in direction of right side walking mechanism, this situation is non-existent in practice, so this utility model can be realized four-wheel and support, guarantee user safety under complex road condition.
2, walking and no-radius are turned: the output of left side driving device and right driving device is input to respectively in left side walking mechanism and the right side walking mechanism by the chain kind of drive, act on ground by four road wheels, wherein two road wheels in left side are identical with turning to of left side driving device output shaft, two road wheels in right side are identical with turning to of right driving device output shaft, when the rotating speed of left side driving device and right driving device is all identical with direction, the wheelchair straight line moving, when the left side rotational speed of driving unit is higher than right driving device, wheelchair turns left, when the left side rotational speed of driving unit is lower than right driving device, wheelchair is turned right, when the left side driving device was opposite with right driving device rotating speed equidirectional, this utility model no-radius was turned.
3, posture adjustment and climbing function: when this utility model is adjusted pose, the device for adjusting posture energising, the electromagnetic brake release, the electromagnetic clutch engagement, in the moment dispenser housing, the left side walking mechanism contacts with ground with the right side walking mechanism input torque of posture adjustment assembly through electromagnetic clutch, armature, little appearance gear, big appearance gearing, pose is fixed, the mount pad of the suffered counteracting force of electromagnetic clutch through connecting firmly with it affacts on the support, and support rotates around main shaft, thereby realizes raising wages function; By above narration as can be known this utility model be the four-wheel drive mode, power output is big, and can adjust the position of centre of gravity of complete machine by the pose adjustment, so can break through the climbing limit.
4, upper and lower building function: during the upper and lower building of this utility model, the electromagnetic brake energising, the electromagnetic clutch power down, left side walking mechanism, left side posture adjustment decelerator, moment allotter, right side posture adjustment decelerator, the motion of right side walking mechanism are independent.In the time of upstairs, user is back to stair, and makes chair tilting by banister, at this moment move after the center of gravity of wheelchair, the moment that is produced when the rolling frictional resistance on four road wheels and ground is during greater than the turning torque of and arranged on left and right sides walking mechanism, and walking mechanism is turned over, and realizes action upstairs; In the time of downstairs, user is faced stair, and by banister seat is leaned forward, at this moment the center of gravity of wheelchair reach, the moment that is produced when the rolling frictional resistance on four road wheels and ground is during greater than the turning torque of and arranged on left and right sides walking mechanism, and walking mechanism is overturn forward, realizes action downstairs; Can realize function downstairs so repeatedly.
Claims (2)
1. multifunctional four-wheel driving type electric wheelchair, by the hexahedro support (3) that is frame structure, place seat (2), the left-right symmetric of support top be installed in the support below walking mechanism (6), driving device (4) that left-right symmetric is installed in mid-stent, place the hand-operating device (1) on the seat to form, it is characterized in that: also comprise attitude coutrol mechanism in the composition, this mechanism is made up of posture adjustment decelerator (5), moment allotter (8), device for adjusting posture (9) and brake unit (10);
Described walking mechanism (6) is by main shaft (25), be fixed on the hinge wheel (18) of main shaft (25) one ends, be installed in the planetary reduction box (19) of main shaft (25) other end, being installed in lateral two road wheels of planetary reduction box (19) (7) forms, described planetary reduction box (19) is by cantilevered casing (20), place in the casing and be fixed on sun gear (24) on the main shaft (25) and transition axis (23) that sun gear (24) both sides are meshed with it is successively gone up transition gear (22) and planet pin (21) composition, wherein road wheel (7) is fixed on the outfan of planet pin (21);
Described driving device (4) is assembled successively by photoelectric encoder (11), miniature electricity loss brake (12), direct current generator (13), miniature reducer (14) and manual clutch (15), wherein power output shaft (16) axle head of miniature reducer (14) is fixed with minor sprocket (17), and be connected with hinge wheel (18) in the walking mechanism (6) by chain, this device is electrically connected with hand-operating device (1);
Described posture adjustment decelerator (5) is by the casing (31) that is fixed on the support (3), be arranged at the intravital T font of case hollow axle (26), be fixed on the deceleration gear wheel (27) on hollow axle (26) external diameter, and first double crosslinking gear shaft (28) that is meshed with deceleration gear wheel (27) successively, second double crosslinking gear shaft (29) is formed, its hollow mandrel (26) is built-in with the main shaft (25) of walking mechanism (6), hollow axle (26) spindle nose is fixed on the cantilevered casing (20), its second double crosslinking gear shaft (29) respectively with the moment allotter in first the input gear shaft (30) and second the input gear shaft (32) be meshed;
Described moment allotter (8) by barrel-type casing (39), be fixed on housing (39) two ends supports end cap (44), place intravital two output bevel gears of shell (38) and with the symmetrical engagement of output bevel gear and be installed in the transmission bevel gear (37) on the thread spindle (54) and the big posture adjustment gear (40) that is fixed on the housing outer wall is formed, wherein, two output bevel gears (38) be separately fixed at posture adjustment decelerator (5) first the input gear shaft (30) link to each other with the supports end cap (44) at two ends with second input bevel gear axle (32) axle head and by bearing;
Described device for adjusting posture (9) is by micro photo electric encoder (45), the drag cup direct current generator (46) that is connected with encoder, the planetary reduction gear that is connected with motor (47), electromagnetic clutch (43), posture adjustment axle (41) and form by the posture adjustment pinion (42) that bearing is installed on the posture adjustment axle (41), wherein, planetary reduction gear (47) and electromagnetic clutch (43) are separately fixed at the both sides of posture adjustment bearing (50), one end of posture adjustment axle (41) is connected posture adjustment output shaft (48) axle head of planetary reduction gear, the other end links to each other with bearing block (51) on being fixed in support (3), posture adjustment pinion (42) on the posture adjustment axle (41) is meshed with posture adjustment gear wheel (40) on the moment allotter (8), the large end face of pinion (42) of raising wages simultaneously links to each other with the armature (49) of electromagnetic clutch, and this device is electrically connected with hand-operating device (1);
Described brake unit (10) is made up of electromagnetic brake (33), Brake Block (34), brake axle (35) and spragging gear (36), wherein electromagnetic brake (33) and Brake Block (34) both sides, the brake axle (35) that are installed in posture adjustment bearing (50) respectively places in the Brake Block (34) by bearing, the one end is installed the spragging gear (36) that is meshed with posture adjustment gear wheel (40), the other end is connected with electromagnetic brake (33), and this device is electrically connected with hand-operating device (1);
Described hand-operating device (1) is made up of operating grip, button, microprocessor and drive circuit, and this device is powered by the accumulator battery that is installed in the support rear (53).
2. according to the described multifunctional four-wheel driving type electric wheelchair of claim 1, it is characterized in that: the below of described seat (2) is equipped with inclinometer (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201489474U CN201642630U (en) | 2010-04-02 | 2010-04-02 | Multifunctional 4-wheel driving power wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201489474U CN201642630U (en) | 2010-04-02 | 2010-04-02 | Multifunctional 4-wheel driving power wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201642630U true CN201642630U (en) | 2010-11-24 |
Family
ID=43107815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201489474U Expired - Fee Related CN201642630U (en) | 2010-04-02 | 2010-04-02 | Multifunctional 4-wheel driving power wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201642630U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137585A (en) * | 2016-08-12 | 2016-11-23 | 高宏 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
| CN110656601A (en) * | 2019-09-05 | 2020-01-07 | 玉环睿升自动化技术有限公司 | Road railing of slow-walking road |
-
2010
- 2010-04-02 CN CN2010201489474U patent/CN201642630U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137585A (en) * | 2016-08-12 | 2016-11-23 | 高宏 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
| CN110656601A (en) * | 2019-09-05 | 2020-01-07 | 玉环睿升自动化技术有限公司 | Road railing of slow-walking road |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20110402 |