WO2021177847A1 - Propulsion system for a means of transportation - Google Patents
Propulsion system for a means of transportation Download PDFInfo
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- WO2021177847A1 WO2021177847A1 PCT/RU2020/000139 RU2020000139W WO2021177847A1 WO 2021177847 A1 WO2021177847 A1 WO 2021177847A1 RU 2020000139 W RU2020000139 W RU 2020000139W WO 2021177847 A1 WO2021177847 A1 WO 2021177847A1
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- frame
- platform
- caterpillar
- tracked
- vertical elements
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- 230000009466 transformation Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 abstract 2
- 244000309464 bull Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 102200067144 rs80357406 Human genes 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Definitions
- the invention relates to ground movers and can be used to move both on a flat surface and on stairs, and to overcome other profile obstacles.
- Known wheel-walking propeller USSR author's certificate
- N ° 541718, IPC B62D 57/02, 1975 containing a system of interconnected three levers with running wheels mounted at their ends, two of which are connected to the third by means of a common hinge, and between themselves by an elastic element placed in this hinge, three running wheels located at the vertices of the corners of an equilateral triangle, two of which are installed at the ends of the first two levers, drives for separate rotation of the wheels and a system of levers and a mechanism for laying the third wheel on the ground support surface, the third wheel being mounted on the axis of the common hinge.
- the disadvantage of this propeller is low stability when overcoming obstacles, due to the need for accurate synchronization of the left and right drives in order to avoid overturning the device.
- This propeller includes a frame, front and rear wheels, a two-piece tracked platform on which the tracks are installed, and a drive for transforming the propeller from wheel to track and vice versa.
- the disadvantages of this propeller include the need to install a much larger linear lowering drive tracked platform with a long stroke of the rod, since the movement of the tracked platform from the upper position to the lower one is carried out only by the actuator without the use of additional struts and levers.
- all dynamic loads absorbed by the tracked platform are transferred directly to the linear drive, which reduces its durability and requires a stronger and heavier structure.
- the task (technical result) of the proposed invention is to expand the arsenal of technical means intended for movement on various terrain reliefs.
- the propeller of the vehicle includes a frame on which the front and rear wheels are installed, two caterpillar platforms on which the caterpillar belts are installed, a transformation drive.
- the front and rear tracked platforms are pivotally connected to each other.
- the frame is made in the form of a horizontal belt and vertical elements - two front, two rear and two middle ones. At the free ends of the front and rear vertical elements, respectively, front and rear wheels are installed.
- the upper front part of the frame is connected to the front crawler platform by means of two struts hinged on both sides, the rear crawler platform is connected by two struts with the middle vertical frame elements, moreover, the struts are rigidly attached to the caterpillar platform, and pivotally to the middle vertical frame elements.
- the transformation drive is made in the form of a linear actuator, hinged at one end on the upper front part of the frame, on the front tracked platform and in the middle upper part of the frame, levers are hinged, the free ends of which are hingedly connected to each other and to the second end of the linear actuator.
- the proposed set of distinctive features allows the most efficient use of the resource of the linear actuator.
- the actuator When lowering the tracked platform at the initial moment of time, when the tracked platform does not touch the ground, the actuator, together with the levers, provides a quick lowering and low effort, and at the moment the tracked platform and the ground come into contact, the lowering slows down, providing more force.
- the proposed kinematic diagram of the alignment of the linear actuator with the lever system ensures the distribution of static and dynamic loads between the levers, unloading the linear actuator in the mode of lowered tracks.
- FIG. 1 shows the inventive propeller in the wheel travel position, side view; in fig. 2 - the same in the caterpillar position.
- the inventive vehicle propeller includes a frame 1, the front part of which is connected to the front tracked platform 2, and the rear part of the frame 1 is connected to the rear tracked platform 3.
- the connection of the frame 1 to the front tracked platform 2 is made by means of two hinged struts 4.
- the struts 4 are attached to the upper front part of the frame 1, for example, to the front upper part of the horizontal belt of the frame 1 or to the upper part of the front vertical elements 5.
- the rear tracked platform 3 is connected by two posts 6 with the middle vertical elements 7, and, to the tracked platform 3, the posts 6 are rigidly attached, and to the middle vertical elements 7 of the frame 1 - pivotally.
- Front 2 and rear 3 caterpillar platforms are pivotally connected to each other.
- Front 8 and rear 9 wheels are installed respectively at the free ends of the front
- the transformation drive is made in the form of a linear actuator 11, hinged at one end on the upper front part of the frame 1.
- levers 12 and 13 are pivotally mounted, the free ends of which are pivotally connected to each other and to the second end of the linear actuator 11.
- the proposed mover works as follows.
- Figure 1 shows the propeller in the wheel travel position.
- the linear actuator 11 presses on the lever 12 and lever 13.
- Lever 13 sets the trajectory of the lever 12.
- Lever 12 transfers the force to the front track platform 2, connected to the frame by means of the stand 4. Under the influence of the force, the platform 2 is lowered down and pulls the rear platform 3.
- both tracked platforms are lowered down, and the machine stands on the tracks, and the wheels are lifted from the support surface.
- the transition to wheel travel is carried out in the reverse order.
- the linear actuator retracts the stem and both platforms are lifted up.
- the weight of the machine helps the linear actuator to lift the track platform up.
- the track platform is lifted up only by the force of the linear actuator.
- the described design lifts and lowers the tracked platform to a total height of 80 mm with a forward extension of 110 mm with the total weight of the wheelchair and passenger 270 kg.
- the ground clearance in the caterpillar mode is 20 mm, and in the wheel mode - 60 mm.
- the lifting time of the tracked platform was 15 seconds, the time of lowering the tracked platform was 19 seconds.
- the proposed design will allow the propulsion device to be used on soils with a weak bearing capacity and on various terrain reliefs. This increases the durability of the drive, and, consequently, the propulsion unit as a whole.
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- Combustion & Propulsion (AREA)
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Abstract
A propulsion system for a means of transportation comprises a frame having front and rear wheels mounted thereon, two caterpillar platforms having caterpillar tracks mounted thereon, and a conversion actuator. The front and rear caterpillar platforms are hingedly connected to one another. The frame is configured in the form of a horizontal belt, and vertical elements, more particularly two front, two rear and two middle vertical elements. The front and rear wheels are mounted on the free ends of the front and rear vertical elements respectively. The upper front part of the frame is connected to the front caterpillar platform by means of two posts hingedly fastened on either side, and the rear caterpillar platform is connected by two posts to the middle vertical elements of the frame, said posts being rigidly fastened to the caterpillar platform and hingedly fastened to the middle vertical elements of the frame. The conversion actuator is configured in the form of a linear actuator hingedly fastened by one end to the upper front part of the frame, and levers are hingedly mounted on the front caterpillar platform and in the middle upper part of the frame, the free ends of said levers being hingedly connected to one another and to the other end of the linear actuator.
Description
ДВИЖИТЕЛЬ ТРАНСПОРТНОГО СРЕДСТВА VEHICLE DRIVER
Изобретение относится к наземным движителям и может быть использовано для передвижения как по ровной поверхности, так и по лестнице, и преодоления других профильных препятствий. Известен колесно-шагающий движитель (Авторское свидетельство СССРThe invention relates to ground movers and can be used to move both on a flat surface and on stairs, and to overcome other profile obstacles. Known wheel-walking propeller (USSR author's certificate
N° 541718, МПК B62D 57/02, 1975 г.), содержащий систему соединенных между собой трех рычагов с установленными на их концами ходовыми колесами, два из которых соединены с третьим посредством общего шарнира, а между собой - упругим элементом, размещенным в этом шарнире, три ходовых колеса, расположенных в вершинах углов равностороннего треугольника, два из которых установлены на концах двух первых рычагов, приводы раздельного вращения колес и системы рычагов и механизм раскладки третьего колеса на опорную поверхность грунта, причем третье колесо установлено на оси общего шарнира. Недостатком этого движителя является низкая устойчивость при преодолении препятствий, обусловленная необходимостью точной синхронизации левых и правых приводов во избежание опрокидывания устройства. N ° 541718, IPC B62D 57/02, 1975), containing a system of interconnected three levers with running wheels mounted at their ends, two of which are connected to the third by means of a common hinge, and between themselves by an elastic element placed in this hinge, three running wheels located at the vertices of the corners of an equilateral triangle, two of which are installed at the ends of the first two levers, drives for separate rotation of the wheels and a system of levers and a mechanism for laying the third wheel on the ground support surface, the third wheel being mounted on the axis of the common hinge. The disadvantage of this propeller is low stability when overcoming obstacles, due to the need for accurate synchronization of the left and right drives in order to avoid overturning the device.
Наиболее близким к предлагаемому является движитель, используемый в инвалидном кресле-коляске по патенту РФ N° 175668 (МПК A61G 5/00, опубл.13.12.2017, Бюл. N° 35). Данный движитель включает раму, передние и задние колеса, гусеничную платформу из двух частей, на которых установлены гусеничные ленты, и привод трансформации движителя с колесного хода на гусеничный и обратно. К недостаткам данного движителя следует отнести необходимость установки значительно более габаритного линейного привода опускания
гусеничной платформы с большим ходом штока, так как перемещение гусеничной платформы из верхнего положения в нижнее осуществляется только за счет актуатора без использования дополнительных стоек и рычагов. Кроме того, все динамические нагрузки, воспринимаемые гусеничной платформой, передаются напрямую на линейный привод, что снижает его долговечность и требует более прочной и тяжелой конструкции. The closest to the proposed propulsion device is used in a wheelchair according to RF patent N ° 175668 (IPC A61G 5/00, publ. 13.12.2017, bull. N ° 35). This propeller includes a frame, front and rear wheels, a two-piece tracked platform on which the tracks are installed, and a drive for transforming the propeller from wheel to track and vice versa. The disadvantages of this propeller include the need to install a much larger linear lowering drive tracked platform with a long stroke of the rod, since the movement of the tracked platform from the upper position to the lower one is carried out only by the actuator without the use of additional struts and levers. In addition, all dynamic loads absorbed by the tracked platform are transferred directly to the linear drive, which reduces its durability and requires a stronger and heavier structure.
Задача (технический результат) предлагаемого изобретения заключается в расширении арсенала технических средств, предназначенных для передвижения по различным рельефам местности. The task (technical result) of the proposed invention is to expand the arsenal of technical means intended for movement on various terrain reliefs.
Поставленная задача решается тем, что движитель транспортного средства включает раму, на которой установлены передние и задние колеса, две гусеничные платформы, на которых установлены гусеничные ленты, привод трансформации. Согласно предлагаемому изобретению передняя и задняя гусеничные платформы шарнирно соединены между собой. Рама выполнена в форме горизонтального пояса и вертикальных элементов - двух передних, двух задних и двух средних. На свободных концах передних и задних вертикальных элементов установлены соответственно передние и задние колеса. Верхняя передняя часть рамы соединена с передней гусеничной платформой посредством шарнирно закрепленных с обеих сторон двух стоек, задняя гусеничная платформа соединена двумя стойками со средними вертикальными элементами рамы, причем, к гусеничной платформе стойки прикреплены жестко, а к средним вертикальным элементам рамы - шарнирно. Привод трансформации выполнен в виде линейного актуатора, шарнирно закрепленного одним концом на верхней передней части рамы, на передней гусеничной платформе и в средней верхней части рамы шарнирно установлены рычаги, свободные концы которых шарнирно соединены друг с другом и со вторым концом линейного актуатора.
Предлагаемая совокупность отличительных признаков позволяет максимально эффективно использовать ресурс линейного актуатора. При опускании гусеничной платформы в начальный момент времени, когда гусеничная платформа не касается земли, актуатор в совокупности с рычагами обеспечивает быстрое опускание и малое усилие, а в момент соприкосновения гусеничной платформы и земли, опускание замедляется, обеспечивая большее усилие. Также предлагаемая кинематическая схема совмещения линейного актуатора с системой рычагов обеспечивает распределение статической и динамической нагрузки между рычагами, разгружая линейный актуатор в режиме опущенных гусениц. The problem is solved by the fact that the propeller of the vehicle includes a frame on which the front and rear wheels are installed, two caterpillar platforms on which the caterpillar belts are installed, a transformation drive. According to the invention, the front and rear tracked platforms are pivotally connected to each other. The frame is made in the form of a horizontal belt and vertical elements - two front, two rear and two middle ones. At the free ends of the front and rear vertical elements, respectively, front and rear wheels are installed. The upper front part of the frame is connected to the front crawler platform by means of two struts hinged on both sides, the rear crawler platform is connected by two struts with the middle vertical frame elements, moreover, the struts are rigidly attached to the caterpillar platform, and pivotally to the middle vertical frame elements. The transformation drive is made in the form of a linear actuator, hinged at one end on the upper front part of the frame, on the front tracked platform and in the middle upper part of the frame, levers are hinged, the free ends of which are hingedly connected to each other and to the second end of the linear actuator. The proposed set of distinctive features allows the most efficient use of the resource of the linear actuator. When lowering the tracked platform at the initial moment of time, when the tracked platform does not touch the ground, the actuator, together with the levers, provides a quick lowering and low effort, and at the moment the tracked platform and the ground come into contact, the lowering slows down, providing more force. Also, the proposed kinematic diagram of the alignment of the linear actuator with the lever system ensures the distribution of static and dynamic loads between the levers, unloading the linear actuator in the mode of lowered tracks.
Предлагаемое изобретение поясняется фигурами, где на фиг. 1 представлен заявляемый движитель в положении колесного хода, вид сбоку; на фиг. 2 - то же в положении гусеничного хода. The invention is illustrated by the figures, where in FIG. 1 shows the inventive propeller in the wheel travel position, side view; in fig. 2 - the same in the caterpillar position.
Заявляемый движитель транспортного средства включает раму 1, передняя часть которой соединена с передней гусеничной платформой 2, а задняя часть рамы 1 соединена с задней гусеничной платформой 3. Соединение рамы 1 с передней гусеничной платформой 2 выполнено посредством двух шарнирно закрепленных стоек 4. Стойки 4 крепятся к верхней передней части рамы 1, например, к передней верхней части горизонтального пояса рамы 1 или к верхней части передних вертикальных элементов 5. Задняя гусеничная платформа 3 соединена двумя стойками 6 со средними вертикальными элементами 7, причем, к гусеничной платформе 3 стойки 6 прикреплены жестко, а к средним вертикальным элементам 7 рамы 1 - шарнирно. Передняя 2 и задняя 3 гусеничные платформы шарнирно соединены между собой. Передние 8 и задние 9 колеса установлены соответственно на свободных концах переднихThe inventive vehicle propeller includes a frame 1, the front part of which is connected to the front tracked platform 2, and the rear part of the frame 1 is connected to the rear tracked platform 3. The connection of the frame 1 to the front tracked platform 2 is made by means of two hinged struts 4. The struts 4 are attached to the upper front part of the frame 1, for example, to the front upper part of the horizontal belt of the frame 1 or to the upper part of the front vertical elements 5. The rear tracked platform 3 is connected by two posts 6 with the middle vertical elements 7, and, to the tracked platform 3, the posts 6 are rigidly attached, and to the middle vertical elements 7 of the frame 1 - pivotally. Front 2 and rear 3 caterpillar platforms are pivotally connected to each other. Front 8 and rear 9 wheels are installed respectively at the free ends of the front
5 и задних 10 вертикальных элементов. Привод трансформации выполнен в виде линейного актуатора 11, шарнирно закрепленного одним концом на
верхней передней части рамы 1. На передней гусеничной платформе 2 и в средней верхней части рамы 1 шарнирно установлены рычаги соответственно 12 и 13, свободные концы которых шарнирно соединены друг с другом и со вторым концом линейного актуатора 11. 5 and rear 10 vertical elements. The transformation drive is made in the form of a linear actuator 11, hinged at one end on the upper front part of the frame 1. On the front tracked platform 2 and in the middle upper part of the frame 1, levers 12 and 13, respectively, are pivotally mounted, the free ends of which are pivotally connected to each other and to the second end of the linear actuator 11.
Предлагаемый движитель работает следующим образом. The proposed mover works as follows.
На фигуре 1 представлен движитель в положении колесного хода. При переходе из колесного хода на гусеничный ход линейный актуатор 11 давит на рычаг 12 и рычаг 13. Рычаг 13 задает траекторию движения рычага 12. Рычаг 12 передает усилие на переднюю гусеничную платформу 2, соединенную с рамой посредством стойки 4. Под воздействием усилия платформа 2 опускается вниз и утягивает за собой заднюю платформу 3. Figure 1 shows the propeller in the wheel travel position. When switching from wheel travel to caterpillar travel, the linear actuator 11 presses on the lever 12 and lever 13. Lever 13 sets the trajectory of the lever 12. Lever 12 transfers the force to the front track platform 2, connected to the frame by means of the stand 4. Under the influence of the force, the platform 2 is lowered down and pulls the rear platform 3.
Таким образом, обе гусеничные платформы опускаются вниз, и машина встает на гусеницы, а колеса отрываются от поверхности опоры. Thus, both tracked platforms are lowered down, and the machine stands on the tracks, and the wheels are lifted from the support surface.
Переход на колесный ход осуществляется в обратном порядке. Линейный актуатор втягивает шток и обе платформы поднимаются вверх. В начальный момент трасформации с гусеничного хода на колесный, когда машина опирается на гусеницы, вес машины помогает линейному актуатору поднять гусеничную платформу вверх. После того, как машина касается земли колесами и гусеницы остаются в воздухе, подъем гусеничной платформы вверх осуществляется только за счет силы действия линейного актуатора. The transition to wheel travel is carried out in the reverse order. The linear actuator retracts the stem and both platforms are lifted up. At the initial moment of transformation from track to wheel, when the machine rests on the tracks, the weight of the machine helps the linear actuator to lift the track platform up. After the vehicle touches the ground with the wheels and the tracks remain in the air, the track platform is lifted up only by the force of the linear actuator.
Промышленная применимость предлагаемого движителя подтверждается описанием результатов работы опытного образца. The industrial applicability of the proposed propulsion device is confirmed by the description of the results of the prototype work.
Линейный актуатор длиной в сложенном состоянии 225 мм, с ходом штока 50 мм и максимальным усилием 6000 Н. Длины рычагов: рычаг 13 - 260 мм, рычаг 12 — 150 мм, стойка 4 — 240 мм. Описываемая конструкция осуществляет подъем и опускание гусеничной платформы на общую высоту 80 мм с выдвижением вперед на 110 мм при суммарной массе кресла-коляски и
пассажира 270 кг. При этом дорожный просвет в гусеничном режиме составляет 20мм, а в колесном - 60 мм. При мощности двигателя линейного актуатора 60 Вт и максимальной суммарной массе кресла-коляски и пассажира 270 кг время подъема гусеничной платформы составило 15 сек, время опускания гусеничной платформы 19 сек. Linear actuator with a folded length of 225 mm, with a stroke of 50 mm and a maximum force of 6000 N. Lever lengths: lever 13 - 260 mm, lever 12 - 150 mm, post 4 - 240 mm. The described design lifts and lowers the tracked platform to a total height of 80 mm with a forward extension of 110 mm with the total weight of the wheelchair and passenger 270 kg. At the same time, the ground clearance in the caterpillar mode is 20 mm, and in the wheel mode - 60 mm. With a linear actuator motor power of 60 W and a maximum total weight of the wheelchair and passenger of 270 kg, the lifting time of the tracked platform was 15 seconds, the time of lowering the tracked platform was 19 seconds.
Предложенная конструкция позволит использовать движитель на грунтах со слабой несущей способностью и на различных рельефах местности. При этом увеличивается долговечность привода, а, следовательно, и движителя в целом.
The proposed design will allow the propulsion device to be used on soils with a weak bearing capacity and on various terrain reliefs. This increases the durability of the drive, and, consequently, the propulsion unit as a whole.
Claims
ФОРМУЛА ИЗОБРЕТЕНИЯ CLAIM
Движитель транспортного средства, включающий раму, на которой установлены передние и задние колеса, две гусеничные платформы, на которых установлены гусеничные ленты, привод трансформации, ОТЛИЧАЮЩИЙСЯ тем, что передняя и задняя гусеничные платформы шарнирно соединены между собой, рама выполнена в форме горизонтального пояса и вертикальных элементов - двух передних, двух задних и двух средних, на свободных концах передних и задних вертикальных элементов установлены соответственно передние и задние колеса, верхняя передняя часть рамы соединена с передней гусеничной платформой посредством шарнирно закрепленных с обеих сторон двух стоек, задняя гусеничная платформа соединена двумя стойками со средними вертикальными элементами рамы, причем, к гусеничной платформе стойки прикреплены жестко, а к средним вертикальным элементам рамы - шарнирно, привод трансформации выполнен в виде линейного актуатора, шарнирно закрепленного одним концом на верхней передней части рамы, на передней гусеничной платформе и в средней верхней части рамы шарнирно установлены рычаги, свободные концы которых шарнирно соединены друг с другом и со вторым концом линейного актуатора.
The vehicle propulsion unit, including a frame on which the front and rear wheels are installed, two tracked platforms on which caterpillar belts are installed, a transformation drive, DIFFERENT in that the front and rear tracked platforms are hingedly connected to each other, the frame is made in the form of a horizontal belt and vertical elements - two front, two rear and two middle, at the free ends of the front and rear vertical elements, front and rear wheels are installed, respectively, the upper front part of the frame is connected to the front tracked platform by means of two struts hinged on both sides, the rear tracked platform is connected by two stands with middle vertical frame elements, moreover, the struts are rigidly attached to the tracked platform, and pivotally attached to the middle vertical frame elements, the transformation drive is made in the form of a linear actuator, hinged at one end on the upper front part of the frame, on the front tracked platform At the shape and in the middle upper part of the frame, levers are pivotally mounted, the free ends of which are pivotally connected to each other and to the second end of the linear actuator.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RU2020109119 | 2020-03-02 | ||
| RU2020109119 | 2020-03-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021177847A1 true WO2021177847A1 (en) | 2021-09-10 |
Family
ID=77613593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/RU2020/000139 WO2021177847A1 (en) | 2020-03-02 | 2020-03-16 | Propulsion system for a means of transportation |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2021177847A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU14557A1 (en) * | 1927-12-13 | 1930-03-31 | А.Н. Соколов | Snow gadget |
| SU821279A1 (en) * | 1979-06-07 | 1981-04-15 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Device for enhancing cross-country capacity of wheeled vehicle with rear axle drive |
| US5335741A (en) * | 1991-05-22 | 1994-08-09 | Israel Aircraft Industries Ltd. | Externally mounted track apparatus for a wheel chair |
| RU2210515C2 (en) * | 2001-04-10 | 2003-08-20 | Буданов Станислав Васильевич | Bicycle |
| RU2500566C2 (en) * | 2012-03-12 | 2013-12-10 | Владимир Ильич Юркин | Method of vehicle changeover from wheels to wheel-chain running gear and device to transform propulsors |
-
2020
- 2020-03-16 WO PCT/RU2020/000139 patent/WO2021177847A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU14557A1 (en) * | 1927-12-13 | 1930-03-31 | А.Н. Соколов | Snow gadget |
| SU821279A1 (en) * | 1979-06-07 | 1981-04-15 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Device for enhancing cross-country capacity of wheeled vehicle with rear axle drive |
| US5335741A (en) * | 1991-05-22 | 1994-08-09 | Israel Aircraft Industries Ltd. | Externally mounted track apparatus for a wheel chair |
| RU2210515C2 (en) * | 2001-04-10 | 2003-08-20 | Буданов Станислав Васильевич | Bicycle |
| RU2500566C2 (en) * | 2012-03-12 | 2013-12-10 | Владимир Ильич Юркин | Method of vehicle changeover from wheels to wheel-chain running gear and device to transform propulsors |
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