CN206198179U - Obstacle detouring wheelchair - Google Patents
Obstacle detouring wheelchair Download PDFInfo
- Publication number
- CN206198179U CN206198179U CN201620744960.3U CN201620744960U CN206198179U CN 206198179 U CN206198179 U CN 206198179U CN 201620744960 U CN201620744960 U CN 201620744960U CN 206198179 U CN206198179 U CN 206198179U
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- CN
- China
- Prior art keywords
- pin
- leg
- obstacle detouring
- motor
- crus secunda
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
A kind of obstacle detouring wheelchair.It is characterized in that：The running gear includes multigroup walking pin, the walking pin includes connector, the first pin, crus secunda, first pin, crus secunda are respectively hinged on connector, and realize that advances or retreat is linked by the first drive transmission device composition hinged end opposite direction rotating；First pin, crus secunda are Collapsible structure, are equipped with first pin and crus secunda and drive its second flexible drive transmission device.The advantage is that and taken action by operating system, realize that the first pin and crus secunda are mutually converted between walking by the first drive transmission device, swing, the telescopic variation of the first pin and crus secunda is realized by the second drive transmission device, so as to very easily realize that barrier is crossed over, various road conditions are adapted to.
Description
Technical field
The utility model is related to a kind of wheelchair, more particularly to a kind of obstacle detouring wheelchair.
Background technology
Wheelchair is the walking-replacing tool of limbs disability or handicapped person, but conventional wheelchair adaptability, mobility all compare
Poor, if encounter such as climb and fall, stair, barrier complex road condition, wheelchair will be difficult to pass through.
Therefore, it is badly in need of a kind of adaptable, flexible property of exploitation good, and being capable of getting over by various complex road conditions
Barrier wheelchair.
Utility model content
In order to overcome the shortcomings of background technology, the utility model provides a kind of obstacle detouring wheelchair.
The technical scheme that the utility model is used：A kind of obstacle detouring wheelchair, including frame and the walking being arranged in frame
System, seat system, carry balancing system and operating system, the running gear include multigroup walking pin, the walking pin
Including connector, the first pin, crus secunda, first pin, crus secunda are respectively hinged on connector, and drive biography by first
Motivation structure constitutes hinged end opposite direction rotating and realizes that advances or retreat is linked；First pin, crus secunda are scalable
It is equipped with structure, first pin and crus secunda and drives its second flexible drive transmission device.
First drive transmission device includes the first motor, first gear, second gear, the first curved tooth bar, second
Curved tooth bar；First curved tooth bar is fixed on the first pin, and the second curved tooth bar is fixed on crus secunda, and the first motor is fixed on
On connector, and drive connection first gear, the first gear is engaged with second gear, the first curved tooth bar respectively, described
Second gear is engaged with the second curved tooth bar.
First pin includes leg, the first lower support leg on first, leg and the first lower support leg sliding set on described first
Connect；The crus secunda includes leg, the second lower support leg on second, leg and the sliding socket of the second lower support leg on described second；Institute
The second drive transmission device is stated including the second motor, the first ball screw, the first ball screw of the second motor drive connection,
First ball screw is arranged on first between leg and the first lower support leg or on second between leg and the second lower support leg.
The first lower support leg bottom is provided with crawler travel component, and the crawler travel component includes the first support member, the
Three motors, first rotating shaft, Athey wheel, crawler belt；First support member is symmetrical arranged 2, and Athey wheel is symmetricly set on two
On one support member, and connected by first rotating shaft, the Athey wheel on same first support member is connected by crawler belt, the 3rd electricity
Machine is fixed on the first support member, and its output end drive connection first rotating shaft.
The second lower support leg bottom is provided with roller walking component, and the roller walking component includes the second support member, ten thousand
To wheel, fast pulley, the 4th motor；The fast pulley is fixed on the second lower support leg, and second support member is hinged on fast pulley
Center, the universal wheel is fixed on the second support member, and the 4th motor is fixed on the second support member, and its output end is driven
The dynamic wheel that is connected.
The walking pin is provided with 4 groups, wherein two groups of walking pin are rotatably connected to bottom of the frame both sides by connector,
And control to turn to by a steering mechanism.
Other two groups of walking pin are slippingly connected to frame rear end both sides up and down by connector, and by an elevating mechanism
Control lifting.
The seat system includes seat, backrest, pedal, connecting plate；The seat is fixed in frame, the backrest
And the rear end of seat between, between one end of the connecting plate and the front end of seat, the other end and pedal of the connecting plate
Between coordinated by one group of rotating and regulating mechanism moving rotary.
The connecting plate includes upper plate, lower plate, and the upper plate slides with lower plate and coordinates, and the upper plate is with
The 3rd drive transmission device for driving its Relative sliding is provided between connecting plate.
The lower plate lower end is additionally provided with scroll wheel.
The beneficial effects of the utility model are：Using above scheme, taken action by operating system, driven by first
Transmission mechanism realizes that the first pin and crus secunda are mutually converted between walking, swing, and the is realized by the second drive transmission device
One pin and the telescopic variation of crus secunda, so as to very easily realize that barrier is crossed over, adapt to various road conditions.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment obstacle detouring wheelchair.
Fig. 2 is the structural representation of running gear after the utility model embodiment hidden parts structure.
Fig. 3 is the enlarged diagram at A in Fig. 2.
Fig. 4 is the structural representation of the utility model embodiment crawler travel component.
Fig. 5 is the structural representation of the utility model embodiment roller walking component.
Fig. 6 is the structural representation of the utility model embodiment seat system.
Fig. 7 is the structural representation after the utility model embodiment seat system hides upper plate.
1- walkings pin, 11- connectors, the pin of 12- first, leg on 121- first, the lower support legs of 122- first, 13- the in figure
Two pin, leg on 131- second, the lower support legs of 132- second, the drive transmission devices of 14- first, the motors of 141- first, 142- first
Gear, 143- second gears, the curved tooth bars of 144- first, the curved tooth bars of 145- second, the drive transmission devices of 15- second, 151-
Second motor, the ball screws of 152- first, 16- crawler travel components, the support members of 161- first, the motors of 162- the 3rd, 163-
One rotating shaft, 164- Athey wheels, 165- crawler belts, 17- rollers walking component, the support members of 171- second, 172- universal wheels, 173- is fixed
Wheel, the motors of 174- the 4th, 18- steering mechanism, the curved tooth bars of 181- the 3rd, the motors of 182- the 5th, 19- elevating mechanisms, 191- the
Six motors, the ball screws of 192- second, 193- slide plates, 194- guide rails, 195- chutes,
21- seats, 22- backrests, 23- pedals, 24- connecting plates, 241- upper plates, 242- lower plates, 25- rotation adjustment
Mechanism, the rotating shafts of 251- second, the motors of 252- the 7th, the drive transmission devices of 26- the 3rd, the motors of 261- the 8th, the balls of 262- the 3rd
Screw mandrel, 27- scroll wheels, 28- handrails, 281- first connecting rods, 282- second connecting rods, 29- shakes hands groove, 3- frames, 31- base plates, 32-
Side plate, 4- touch control screens.
Specific embodiment
The utility model embodiment is described further below in conjunction with the accompanying drawings：
As illustrated, a kind of obstacle detouring wheelchair, including frame 3 and running gear, seat system, the fortune being arranged in frame 3
Carry balance system and operating system.
Wherein, the frame 3 includes base plate 31 and is trapped among the side plate 32 of the surrounding of base plate 31, and the running gear includes 4
Group walking pin 1, wherein two groups of walking pin 1 are symmetricly set on the two bottom sides of base plate 31, two groups of side plates for being arranged on rear side in addition
On 32.
As illustrated, the walking pin 1 includes connector 11, the first pin 12, crus secunda 13, first pin 12, the
Two pin 13 are respectively hinged on connector 11, and constitute the realization advance of hinged end opposite direction rotating by the first drive transmission device 14
Or being linked of retreating, first pin 12, crus secunda 13 are Collapsible structure, on first pin 12 and crus secunda 13
It is equipped with and drives its second flexible drive transmission device 15.
First drive transmission device 14 can realize the front and rear opposing oscillatory of the first pin 12 and crus secunda 13, described the
Two drive transmission devices 15 can then realize the telescopic variation of the first pin 12 and crus secunda 13, so as to realize stair climbing, across barrier
Hinder thing, adapt to various complex road conditions.
As shown in Figures 2 and 3, first drive transmission device 14 includes the first motor 141, first gear 142, second
Gear 143, the first curved tooth bar 144, the second curved tooth bar 145；First curved tooth bar 144 is fixed on the first pin 12, and second
Curved tooth bar 145 is fixed on crus secunda 13, and the first motor 141 is fixed on connector 11, and drive connection first gear
142, the first gear 142 is engaged with second gear 143, the first curved tooth bar 144 respectively, the second gear 143 and
Two curved tooth bars 145 are engaged.
First motor 141 can drive the synchronous axial system of first gear 142, and first gear 142 then drives the first curved tooth bar 144
Rotate backward, so as to drive the first pin 12 to be rotated around the direction opposite with the first motor 141；Meanwhile, first gear 142 is by the
Two gear 143 drives the second curved tooth bar 145 to rotate in same direction, so as to drive crus secunda 13 to turn around with the first motor identical direction
It is dynamic；From there through the rotating for changing the first motor 141, realize that the first pin 12, crus secunda 13 are constantly relative and swing back and forth.No
Only simple structure, links ingenious, controls more accurate；And only with first motor 141 can just drive simultaneously the first pin 12,
Crus secunda 13, cost is lower.
As shown in Figures 2 and 3, first pin 12 includes leg 121, the first lower support leg 122 on first, on described first
The sliding socket of 121 and first lower support leg of leg 122；Second drive transmission device 15 includes the second motor 151, the first ball
Screw mandrel 152, the first ball screw of drive connection 152 of second motor 151, first ball screw 152 is arranged on first
Between the lower support leg 122 of upper leg 121 and first.The first ball screw 152 is driven to realize leg on first by the second motor 151
121 and first lower support leg 122 Relative sliding, so as to realize the telescopic of the first pin 12.Using the structure reality of ball screw
Existing length change, simple structure, and also it is flexible more reliable and more stable.
Likewise, the crus secunda 13 is identical with the structure of the first pin 12, including leg 31, the second lower support leg on second
132, the sliding of 131 and second lower support leg of leg 132 socket on described second, and by the second motor 151, the first ball screw
152 realize telescopic.
As shown in Figures 2 and 4, the bottom of the first lower support leg 122 is provided with crawler travel component 16, the crawler travel group
Part 16 includes the first support member 161, the 3rd motor 162, first rotating shaft 163, Athey wheel 164, crawler belt 165；First support
Part 161 is symmetrical arranged 2, and Athey wheel 164 is symmetricly set on two the first support members 161, and is connected by first rotating shaft 163
Connect, the Athey wheel 164 on same first support member 161 is connected by crawler belt 165, the 3rd motor 162 is fixed on first
In support member 161, and its output end drive connection first rotating shaft 163.When wheelchair automatically walk is needed, the first pin 12 contacts to earth, the
Two pin are lifted, and drive first rotating shaft 163 to rotate by the 3rd motor 162, drive Athey wheel 164, crawler belt 165 to rotate, so that real
The automatically walk function of existing wheelchair.Track structure, even if on uneven road, also can more smoothly realize automatic row
Walk.
Wherein, 3 Athey wheels 164 are equipped with each first support member 161, and are arranged into three-legged structure, this structure
More stablize, walk more steady.
As shown in figures 2 and 5, the bottom of the second lower support leg 132 is provided with roller walking component 17.Promoted when needs are artificial
Wheelchair is can to lift the first pin 12, and crus secunda 13 contacts to earth, by roller walking component 17, it is easier to promote.
The roller walking component 17 includes the second support member 171, universal wheel 172, fast pulley 173, the 4th motor 174；
The structure triangular in shape of second support member 171, wherein while during as obstacle detouring with the contact surface on ground, the universal wheel 172
Installed in the opposing face of the contact surface；The fast pulley 173 is fixed on the second lower support leg 132, and second support member 171 cuts with scissors
The center of fast pulley 173 is connected on, the 4th motor 174 is fixed on the second support member 171, and its output end drive connection is fixed
Wheel 173.
When obstacle detouring, the second support member 171 is contacted with ground, when needing ground artificial to promote, by the 4th motor 174
Drive, realize that the second support member 171 is overall makes universal wheel 172 down anyway, so as to realize that ground promotes walking.Not only structure
Simply, and realize automatically switch, using more facilitate.
As shown in Figures 1 and 2, two groups of walking pin 1 being connected with the base plate 31 of frame 3 are to be rotatably connected, and by one
Steering mechanism 18 controls.The steering mechanism 18 includes the 3rd curved tooth bar 181, the 5th motor 182, the 3rd curved tooth bar
181 are fixed on connector 11, and the 5th motor 182 is fixed in frame 3, and its curved tooth of output end drive connection the 3rd
Bar 181.In automatically walk, driven by the 5th motor 182, drive the 3rd curved tooth bar 181 to rotate, so as to realize automatic turning
To.Wherein, the 5th motor 182 is coordinated by the structure of worm and gear with the 3rd curved tooth bar 181.
As Figure 1-3, two groups of walking pin 1 being connected with the rear side side plate 32 of frame 3 slide cooperation with side plate about 32,
And control to lift by elevating mechanism 19.Two groups of liftings of the entirety of walking pin 1 can further be controlled by elevating mechanism 19, more
Be conducive to stair climbing, obstacle-overpass.
Wherein, the elevating mechanism 19 includes the 6th motor 191, the second ball screw 192, and the 6th motor 191 drives
The second ball screw 192 of dynamic connection, the second ball screw 192 is arranged between connector 11 and frame 3.Using ball screw
Structure realizes length change, simple structure, and lifts more reliable and more stable.
Further, two groups of connectors of walking pin 1 are connected into an overall structure, slide plate 193 by a slide plate 193
The back side sets guide rail 194, and chute 195 is correspondingly arranged on the side plate 32, and the second ball screw 192 is arranged on slide plate 193 and side
Between plate 32, this structure makes two groups of walking pin 1 in integrative-structure, in lifting process, with absolute synchronous uniformity, and
Only with the 6th motor 191 and the second ball screw 192, cost is lower.
As shown in Figure 1 and Figure 6, the seat system includes seat 21, backrest 22, pedal 23, connecting plate 24；The seat
Chair 21 is fixed on the base plate 31 of frame 3, between the rear end of the backrest 22 and seat 21, one end of the connecting plate 24 and seat
By one group of activity rotation of rotating and regulating mechanism 25 between the front end of chair 21, between the other end of the connecting plate 24 and pedal
Turn to coordinate.By rotating and regulating mechanism 25, angle between backrest 22 and seat 21, seat 21 and connecting plate can be suitably adjusted
Angle between 24, the angle between connecting plate 24 and pedal 23 makes user be sitting in when on wheelchair, more comfortably, and
The structure for lying low can be directly adjusted to, becomes a moveable bed, it is directly flat to overlie.
Wherein, the rotating and regulating mechanism 25 includes the second rotating shaft 251, the 7th motor 252, is driven by the 7th motor 252
Dynamic second rotating shaft 251 is rotated, and so as to be directly realized by the adjustment of its angle position, simple structure, angle adjustment is convenient.
As shown in FIG. 6 and 7, the connecting plate 24 includes upper plate 241, lower plate 242, and the upper plate 241 is with
The sliding of connecting plate 242 coordinates, and the 3rd driving transmission for driving its Relative sliding is provided between the upper plate 241 and lower plate 242
Mechanism 26.Connecting plate 24 is arranged to length-adjustable structure, wheelchair is adapted to various different height legs user long, while
Length adjustment fit angle is adjusted, and in stair climbing or obstacle-overpass, can play the effect of auxiliary cat ladder obstacle detouring.
Wherein, the 3rd drive transmission device 26 includes the 8th motor 261, the 3rd ball screw 262, using ball wire
The structure of bar realizes length change, simple structure, and length adjustment is more reliable and more stable.
Further, the lower end of the lower plate 242 is additionally provided with scroll wheel 27, in cat ladder or obstacle detouring, realizes auxiliary walking,
Avoid friction.
As shown in fig. 6, be additionally provided with handrail 28 between the seat 21 and backrest 22, the handrail includes being hinged the of cooperation
One connecting rod 281, second connecting rod 282, first connecting rod 281 are hinged with backrest 22, and second connecting rod 282 is hinged with seat 21, handrail 28
Can be adjusted with seat 21, the adjustment of the angle of backrest 22, adaptability is good, be further able to improve the security of wheelchair.
As shown in fig. 6, the behind both sides of the backrest 22, are additionally provided with groove 29 of shaking hands, to provide a convenience when manually promoting
The structure of grasping.
As shown in figure 1, being additionally provided with touch control screen 4, the touch control screen 4 is fixed on frame by many connecting rods being hinged
On 3, and the anterior position of seat 21 is arranged on, can adjust to correct position is convenient and operate, the touch control screen 4 passes through circuit
Plate connects each motor, and the forward, reverse or stop of each motor can be controlled to stop, so as to realize the automatically walk of wheelchair, cat ladder,
Obstacle detouring.
Embodiment is not construed as the limitation to utility model, but any based on spiritual improvements introduced of the present utility model,
All should be within protection domain of the present utility model.
Claims (10)
1. a kind of obstacle detouring wheelchair, including frame（3）Be arranged on frame（3）On running gear, seat system, delivery balance system
System and operating system, it is characterised in that：
The running gear includes multigroup walking pin（1）, the walking pin（1）Including connector（11）, the first pin（12）, second
Pin（13）, first pin（12）, crus secunda（13）It is respectively hinged at connector（11）On, and by the first drive transmission device
（14）Constitute hinged end opposite direction rotating and realize that advances or retreat is linked；
First pin（12）, crus secunda（13）It is Collapsible structure, first pin（12）With crus secunda（13）On be all provided with
Have and drive its second flexible drive transmission device（15）.
2. obstacle detouring wheelchair according to claim 1, it is characterised in that：First drive transmission device（14）Including first
Motor（141）, first gear（142）, second gear（143）, the first curved tooth bar（144）, the second curved tooth bar（145）；The
One curved tooth bar（144）It is fixed on the first pin（12）On, the second curved tooth bar（145）It is fixed on crus secunda（13）On, the first electricity
Machine（141）It is fixed on connector（11）On, and drive connection first gear（142）, the first gear（142）Respectively with second
Gear（143）, the first curved tooth bar（144）Engagement, the second gear（143）With the second curved tooth bar（145）Engagement.
3. obstacle detouring wheelchair according to claim 2, it is characterised in that：First pin（12）Including leg on first
（121）, the first lower support leg（122）, leg on described first（121）With the first lower support leg（122）Sliding socket；
The crus secunda（13）Including leg on second（31）, the second lower support leg（132）, leg on described second（131）With
Two lower support legs（132）Sliding socket；
Second drive transmission device（15）Including the second motor（151）, the first ball screw（152）, second motor
（151）The ball screw of drive connection first（152）, first ball screw（152）It is arranged on leg on first（121）With
One lower support leg（122）Between or second on leg（131）With the second lower support leg（132）Between.
4. obstacle detouring wheelchair according to claim 3, it is characterised in that：First lower support leg（122）Bottom is provided with crawler belt
Walking component（16）, the crawler travel component（16）Including the first support member（161）, the 3rd motor（162）, first rotating shaft
（163）, Athey wheel（164）, crawler belt（165）；First support member（161）It is symmetrical arranged 2, Athey wheel（164）Symmetrically set
Put in two the first support members（161）On, and by first rotating shaft（163）Connection, same first support member（161）On crawler belt
Wheel（164）By crawler belt（165）Connection, the 3rd motor（162）It is fixed on the first support member（161）On, and its output end
Drive connection first rotating shaft（163）.
5. obstacle detouring wheelchair according to claim 3, it is characterised in that：Second lower support leg（132）Bottom is provided with roller
Walking component（17）, the roller walking component（17）Including the second support member（171）, universal wheel（172）, fast pulley（173）、
4th motor（174）；The fast pulley（173）It is fixed on the second lower support leg（132）On, second support member（171）It is hinged
In fast pulley（173）Center, the universal wheel（172）It is fixed on the second support member（171）On, the 4th motor（174）Gu
It is scheduled on the second support member（171）On, and its output end drive connection fast pulley（173）.
6. obstacle detouring wheelchair according to claim 1, it is characterised in that：The walking pin（1）4 groups are provided with, wherein two groups of rows
Walk pin（1）By connector（11）It is rotatably connected to frame（3）Two bottom sides, and by a steering mechanism（18）Control turns
To.
7. obstacle detouring wheelchair according to claim 6, it is characterised in that：Other two groups of walking pin（1）By connector（11）
Frame is slippingly connected to up and down（3）Rear end both sides, and by an elevating mechanism（19）Control lifting.
8. obstacle detouring wheelchair according to claim 1, it is characterised in that：The seat system includes seat（21）, backrest
（22）, pedal（23）, connecting plate（24）；The seat（21）It is fixed on frame（3）On, the backrest（22）With seat（21）
Rear end between, the connecting plate（24）One end and seat（21）Front end between, the connecting plate（24）The other end with
Pass through one group of rotating and regulating mechanism between pedal（25）Moving rotary coordinates.
9. obstacle detouring wheelchair according to claim 8, it is characterised in that：The connecting plate（24）Including upper plate（241）, under
Connecting plate（242）, the upper plate（241）With lower plate（242）Sliding coordinates, the upper plate（241）With lower plate（242）It
Between be provided with drive its Relative sliding the 3rd drive transmission device（26）.
10. obstacle detouring wheelchair according to claim 9, it is characterised in that：The lower plate（242）Lower end is additionally provided with scroll wheel
（27）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620744960.3U CN206198179U (en) | 2016-07-15 | 2016-07-15 | Obstacle detouring wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620744960.3U CN206198179U (en) | 2016-07-15 | 2016-07-15 | Obstacle detouring wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206198179U true CN206198179U (en) | 2017-05-31 |
Family
ID=58756174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620744960.3U Withdrawn - After Issue CN206198179U (en) | 2016-07-15 | 2016-07-15 | Obstacle detouring wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206198179U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137582A (en) * | 2016-07-15 | 2016-11-23 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle detouring wheelchair |
| CN109350460A (en) * | 2018-11-21 | 2019-02-19 | 曹琳娜 | Postoperative rehabilitation walking aid |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
-
2016
- 2016-07-15 CN CN201620744960.3U patent/CN206198179U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137582A (en) * | 2016-07-15 | 2016-11-23 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle detouring wheelchair |
| CN106137582B (en) * | 2016-07-15 | 2017-09-29 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle detouring wheelchair |
| WO2018010551A1 (en) * | 2016-07-15 | 2018-01-18 | 嘉兴川页奇精密自动化机电有限公司 | Obstacle-overcoming wheelchair |
| WO2019127263A1 (en) * | 2017-12-28 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| CN111511335A (en) * | 2017-12-28 | 2020-08-07 | 四川金瑞麒智能科学技术有限公司 | Personal mobile device |
| CN109350460A (en) * | 2018-11-21 | 2019-02-19 | 曹琳娜 | Postoperative rehabilitation walking aid |
| CN109350460B (en) * | 2018-11-21 | 2020-09-22 | 曹琳娜 | Postoperative rehabilitation walking aid |
| CN111358631A (en) * | 2020-04-16 | 2020-07-03 | 深圳恩生科技有限公司 | Double-crawler auxiliary stair climbing equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170531 Effective date of abandoning: 20170929 |
|
| AV01 | Patent right actively abandoned |