WO2020088356A1 - Barrier-free automatic wheelchair capable of climbing stairs and running on flat ground - Google Patents
Barrier-free automatic wheelchair capable of climbing stairs and running on flat ground Download PDFInfo
- Publication number
- WO2020088356A1 WO2020088356A1 PCT/CN2019/113208 CN2019113208W WO2020088356A1 WO 2020088356 A1 WO2020088356 A1 WO 2020088356A1 CN 2019113208 W CN2019113208 W CN 2019113208W WO 2020088356 A1 WO2020088356 A1 WO 2020088356A1
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- Prior art keywords
- seat
- linear motor
- barrier
- assembly
- traveling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
Definitions
- the invention relates to a wheelchair, in particular to a barrier-free automatic wheelchair that can climb stairs and walk on a flat surface.
- Patent 201210205979.7 discloses a wheelchair with double tracked wheels, including: a chair; a switching mechanism for switching between the roller transmission and the tracked wheel transmission of the wheelchair with double tracked wheels, the tracked wheel transmission has The first track wheel and the second track wheel connected by the connecting bracket.
- the above-mentioned wheelchair needs to switch between the track wheel and the roller, which is cumbersome to operate, has poor stability, and the safety performance cannot be well guaranteed.
- the present invention proposes an obstacle-free automatic wheelchair that can climb stairs and walk on the ground, can walk on a flat road, and can also quickly cross obstacles such as stairs, with good stability and high safety.
- a barrier-free automatic wheelchair capable of climbing stairs and walking on the ground, including a seat, a traveling component and a supporting component, wherein:
- the seat is used for the user to take a seat
- traveling assembly includes four traveling wheel sets, each traveling wheel set includes a triangular track wheel and a round roller, one of the top angles of the triangular track wheel is set downward, and the lowest point of the triangular track wheel is located on the round wheel Above the lowest point of
- the support assembly is used to connect the seat and the travel assembly.
- the supporting assembly includes an upper supporting plate, a lower supporting plate and a connecting plate;
- the upper support plate is used to fix the seat
- the lower support plate is used to fix four traveling wheelsets
- the upper support plate is arranged in parallel above the lower support plate;
- connection plate is rotatably fixed to one end of the upper support plate, and the other end of the connection plate is rotatably fixed to the other end of the lower support plate opposite to the upper support plate, so that the overall support assembly has a Z-shaped structure;
- a first linear motor is arranged between the lower supporting plate and the connecting plate, and a second linear motor is arranged between the connecting plate and the upper supporting plate.
- the first linear motor and the second linear motor telescopically cooperate to realize the seat lifting or decline.
- a shock absorber is respectively provided on the first linear motor and the second linear motor.
- a foot pedal is provided on the seat, and a first distance sensor is provided at the bottom of the foot pedal.
- the four traveling wheel sets are arranged on the support assembly in the form of 2 * 2, and the traveling wheel sets located on both sides of the support assembly are driven and rotated by two driving assemblies, respectively.
- the drive assembly includes a transmission shaft, a drive motor, and a sprocket assembly
- the drive shaft is connected to the round roller and the triangle track wheel on the same traveling component, and the drive motor is linked to the drive shafts on the two traveling components on the same side of the support component through the sprocket component.
- a control handle is provided on the seat, and the control handle is used to control the wheelchair to advance, the wheelchair to retreat, the wheelchair to turn, the seat to raise or the seat to lower.
- the seat is movably arranged on the support assembly by a translation mechanism.
- the translation mechanism includes a third linear motor disposed on the support assembly, a sliding sleeve is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat The chair moves.
- a slide rail is provided on the support assembly, a slide block is slidably provided on the slide rail, and the slide block is fixed on the seat.
- two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors are respectively provided corresponding to the two components close to the foot pedal.
- the present invention will combine the triangle track wheel and the round roller to make the wheelchair not only have the function of smooth walking of ordinary travel tools, but also have the function of climbing stairs;
- shock absorber is directly connected to the first linear motor and the second linear motor, so that the automatic wheelchair can filter out the bumpy movements during walking, making the user feel comfortable;
- Figure 1 is a side view of the invention.
- Figure 2 is a rear view of the invention.
- FIG. 3 is a schematic structural view of the present invention when the seat is lifted when encountering an obstacle.
- FIG. 4 is a schematic structural view (1) of the present invention when climbing a staircase.
- 5 is a schematic structural diagram (2) of the present invention when climbing a staircase.
- FIG. 6 is a schematic structural view of the present invention when going down stairs.
- FIG. 7 is a right side view of the state of FIG.
- Fig. 8 is a schematic structural view of a sprocket assembly.
- a barrier-free automatic wheelchair that can climb stairs and walk on the ground includes a seat 1, a traveling component and a supporting component, wherein:
- the seat is used for the user to take a seat
- the traveling assembly includes two first traveling wheel sets 2 and two second traveling wheel sets 3, both the first traveling wheel set and the two second traveling wheel sets include a triangular track wheel 4 and a round roller 5,
- the direction of one of the top angles of the triangle track wheel is set downward, and the lowest point of the triangle track wheel is above the lowest point of the round wheel, that is, when the round wheel contacts the horizontal plane, the triangle track wheel is separated from the horizontal plane;
- Support assembly the support assembly is used to connect the seat and the traveling assembly
- the support assembly includes an upper support plate 6, a lower support plate 7 and a connecting plate 8; the upper support plate is used to fix the seat; the lower support plate is used to fix the four traveling wheel sets;
- the upper support plate is arranged in parallel above the lower support plate;
- Two upper support frames 9 are vertically arranged at the rear end of the upper support plate, and two lower support frames 10 are vertically arranged at the front end of the connection plate;
- the rear end of the connecting plate is rotatably fixed on the upper support frame, and the lower support frame of the connecting plate is rotatably connected with the front end of the lower support frame, so that the overall support assembly has a Z-shaped structure;
- a first linear motor 11 is provided between the rear end of the lower support plate and the front end of the connecting plate, and a second linear motor 12 is provided between the front end of the connecting plate and the rear end of the upper support plate.
- the two linear motors are respectively provided with a shock absorber 13, and the first linear motor and the second linear motor telescopically cooperate to realize the lifting or lowering of the seat;
- Two first traveling wheel sets are provided on one side of the lower support plate, and two second traveling wheel sets are provided on the other side of the lower support plate.
- the first traveling wheel set and the second traveling wheel set pass through the first drive assembly 14 and The second driving assembly 15 is driven to rotate;
- Both the first drive assembly and the second drive assembly include a transmission shaft 16, a drive motor 17, and a sprocket assembly;
- the number of transmission shafts is two, and the two transmission shafts are respectively connected to the driving wheel of the round roller and the triangle track wheel on the same traveling component, so that the round roller and the triangle track wheel are linked;
- the sprocket assembly includes two first transmission gears 18, two second transmission gears 19, two first chains 20, and a gear box.
- a third transmission gear 29, a fourth transmission gear 30, and a fifth transmission are provided in the gear box Gear 32 and sixth transmission gear 33;
- the two first transmission gears are respectively fixed on the two transmission shafts, the two second transmission gears are coaxially fixed on the output shaft of the gear box, and the two first transmission gears respectively pass through the two first chains and the corresponding The two transmission gears are connected, and the drive motor is connected to the input shaft of the gear box;
- the third transmission gear is fixed on the output shaft of the gear box, and realizes linkage with the second transmission gear, the third transmission gear meshes with the fifth transmission gear, and the fourth transmission gear coaxially fixed on the fifth transmission gear
- the gear and the fourth transmission gear mesh with the sixth transmission gear fixed on the input shaft;
- the driving motor drives the two second transmission gears to rotate at the same time, so that the two transmission shafts on the same side rotate at the same time, thereby realizing the round roller and the triangle crawler wheel in the two first traveling wheel sets or the two second traveling wheel sets Turn simultaneously
- a foot 21 is provided on the seat, and a first distance sensor 22 is provided at the bottom of the foot; a gyroscope is also provided on the seat;
- Two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors 31 are respectively provided corresponding to the first traveling wheel group and the second traveling wheel group close to the foot pedal;
- a control handle 23 is provided on the seat, and a control module is provided on the lower support plate.
- the control module is respectively connected with the control handle, the gyroscope, the first distance sensor, the second distance sensor, the first linear motor, the second linear motor, the first The three linear motors are connected to the drive motor, and the control handle is used to control the wheelchair forward, wheelchair backward, wheelchair turning, seat uplift or seat down through the control module.
- the seat is movably arranged on the support assembly through the translation mechanism;
- the translation mechanism includes a third linear motor 24 disposed on the upper support plate, a sliding sleeve 25 is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat
- the chair moves;
- a slide rail 26 is provided on the support assembly, a slider 27 is slidably provided on the slide rail, and the slider is fixed on the seat;
- a battery pack 28 is provided on the lower support plate, and the battery pack provides energy for the control module, the drive motor, the first linear motor, the second linear motor, the third linear motor, and the first distance sensor.
- control method of the automatic wheelchair of the present invention is as follows:
- the first drive assembly drives two first traveling wheel sets and the second drive assembly drives two second traveling wheel sets;
- the first distance sensor on the pedal is used for sensing Whether there is an obstacle in front;
- the first linear motor and the second linear motor perform telescopic movements to raise or lower the seat;
- the first linear motor and the second linear motor the shock absorber serves to buffer the vibration;
- the third linear motor can move the seat forward or backward;
- the control handle controls the wheelchair to move forward or backward;
- the seat In the initial state of the wheelchair, the seat is at the lowest position, which makes it easy to sit on the seat; once the wheelchair is started, the first linear motor and the second linear motor will perform an extension action to make the upper support plate and the lower The support plate makes a swing motion to raise the seat to a certain height;
- the height of the seat can be adjusted according to personal needs.
- the first linear motor and the second linear motor perform an extension action to move the seat Raise; the first linear motor and the second linear motor retract, and the seat lowers;
- the wheelchair can turn in place; when the automatic wheelchair turns to the right, the left triangle track wheel and round wheel turn clockwise, and the right tank wheel and round wheel turn counterclockwise to achieve steering; left When turning, the rotation direction of the triangle track wheel and the round roller is opposite to that when turning right;
- control module controls the first linear motor or the second linear motor to keep the seat in a horizontal position
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Abstract
Disclosed is a barrier-free automatic wheelchair capable of climbing stairs and running on flat ground, the wheelchair comprising a seat (1), an advancing assembly and a supporting assembly, wherein: with regard to the seat (1), the seat (1) is used for a user to sit; with regard to the advancing assembly, the advancing assembly comprises four advancing wheel sets, each advancing wheel set comprises a triangular crawler wheel (4) and a round idler wheel (5), one vertex angle of the triangular crawler wheel (4) is oriented downwards, and the lowest point of the triangular crawler wheel (4) is located above the lowest point of the round idler wheel (5); and with regard to the supporting assembly, the supporting assembly is used for connecting the seat (1) and the advancing assembly. The barrier-free automatic wheelchair can run on a flat road surface, and can also quickly cross an obstacle road surface such as stairs, and has good stability and high safety.
Description
本发明涉及一种轮椅,特别涉及一种可爬楼梯可平地行走的无障碍自动轮椅。The invention relates to a wheelchair, in particular to a barrier-free automatic wheelchair that can climb stairs and walk on a flat surface.
国内的轮椅大多数都是普通的电动轮椅,只有简单的电池,电机,轮子组成,只能在平坦的路面上行走。虽然也能上坡,但是会有后翻的危险。如果遇到楼梯等障碍路况,普通轮椅压根没法用。这样对行动不方便的人是一个很不好的体验。他们不能像普通人一样,随意到处走。Most domestic wheelchairs are ordinary electric wheelchairs, which are composed of simple batteries, motors, and wheels, and can only walk on flat roads. Although it can also go uphill, there is a danger of turning over. If you encounter obstacles such as stairs, ordinary wheelchairs are not useful at all. This is a very bad experience for people with inconvenient actions. They can't walk around casually like ordinary people.
国外也有针对爬楼梯的电动轮椅,其是使用直条式的履带进行攀爬楼梯,但是存在一个问题就是上楼梯的时候不能脸朝前面,要背对着楼梯才能爬楼梯,这样对坐在轮椅上的人体验不是很好,就像一个正常的人背对着上楼梯一样,他也会时刻担心会不会撞到别人。而且上楼梯的速度比较慢,不能实现随意自由的功能。There are also electric wheelchairs for climbing stairs in foreign countries, which use straight crawlers to climb stairs, but there is a problem that when going up the stairs, you cannot face the front. The experience of the person on the road is not very good. Just like a normal person with his back on the stairs, he will always worry about whether he will hit other people. Moreover, the speed of going up the stairs is relatively slow, which can not realize the function of random and free.
专利201210205979.7公开了一种双履带轮越障轮椅,包括:椅部;切换机构,用于所述双履带轮越障轮椅的滚轮传输与履带轮传输之间的切换,所述履带轮传输具有通过连接支架连接的第一履带轮和第二履带轮。Patent 201210205979.7 discloses a wheelchair with double tracked wheels, including: a chair; a switching mechanism for switching between the roller transmission and the tracked wheel transmission of the wheelchair with double tracked wheels, the tracked wheel transmission has The first track wheel and the second track wheel connected by the connecting bracket.
上述的轮椅需要在履带轮和滚轮之间进行切换,操作繁琐,稳定性不佳,且安全性能不能得到很好的保证。The above-mentioned wheelchair needs to switch between the track wheel and the roller, which is cumbersome to operate, has poor stability, and the safety performance cannot be well guaranteed.
发明内容Summary of the invention
针对上述问题,本发明提出了一种可爬楼梯可平地行走的无障碍自动轮椅,可在平坦路面上行走,也可快速跨越如楼梯的障碍路面,稳定性好,安全性高。In view of the above problems, the present invention proposes an obstacle-free automatic wheelchair that can climb stairs and walk on the ground, can walk on a flat road, and can also quickly cross obstacles such as stairs, with good stability and high safety.
具体的技术方案如下:The specific technical solutions are as follows:
一种可爬楼梯可平地行走的无障碍自动轮椅,包括座椅、行进组件和支撑组件,其中:A barrier-free automatic wheelchair capable of climbing stairs and walking on the ground, including a seat, a traveling component and a supporting component, wherein:
座椅,座椅用于使用者乘座;Seat, the seat is used for the user to take a seat;
行进组件,行进组件包括四个行进轮组,每个行进轮组包括一个三角履带轮和一个圆滚轮,三角履带轮的其中一个顶角的朝向向下设置,三角履带轮的最低点位于圆滚轮的最低点的上方;Traveling assembly, the traveling assembly includes four traveling wheel sets, each traveling wheel set includes a triangular track wheel and a round roller, one of the top angles of the triangular track wheel is set downward, and the lowest point of the triangular track wheel is located on the round wheel Above the lowest point of
支撑组件,支撑组件用于连接座椅和行进组件。The support assembly is used to connect the seat and the travel assembly.
进一步的,支撑组件包括上支撑板、下支撑板和连接板;Further, the supporting assembly includes an upper supporting plate, a lower supporting plate and a connecting plate;
上支撑板用于固定座椅;The upper support plate is used to fix the seat;
下支撑板用于固定四个行进轮组;The lower support plate is used to fix four traveling wheelsets;
上支撑板平行的设置在下支撑板的上方;The upper support plate is arranged in parallel above the lower support plate;
连接板的一端可转动的固定在上支撑板的一端,连接板的另一端可转动的固定在下支撑板与上支撑板相反的另一端,使支撑组件整体呈Z字形结构;One end of the connection plate is rotatably fixed to one end of the upper support plate, and the other end of the connection plate is rotatably fixed to the other end of the lower support plate opposite to the upper support plate, so that the overall support assembly has a Z-shaped structure;
下支撑板与连接板之间设有第一直线电机,连接板与上支撑板之间设有第二直线电机,第一直线电机与第二直线电机伸缩配合的实现座椅的抬升或下降。A first linear motor is arranged between the lower supporting plate and the connecting plate, and a second linear motor is arranged between the connecting plate and the upper supporting plate. The first linear motor and the second linear motor telescopically cooperate to realize the seat lifting or decline.
进一步的,第一直线电机与第二直线电机上分别设有一个避震器。Further, a shock absorber is respectively provided on the first linear motor and the second linear motor.
进一步的,座椅上设有脚踏,脚踏的底部设有第一距离传感器。Further, a foot pedal is provided on the seat, and a first distance sensor is provided at the bottom of the foot pedal.
进一步的,四个行进轮组以2*2的形式布设在支撑组件上,位于支撑组件两侧的行进轮组分别通过两个驱动组件驱动转动。Further, the four traveling wheel sets are arranged on the support assembly in the form of 2 * 2, and the traveling wheel sets located on both sides of the support assembly are driven and rotated by two driving assemblies, respectively.
进一步的,驱动组件包括传动轴、驱动电机和链轮组件;Further, the drive assembly includes a transmission shaft, a drive motor, and a sprocket assembly;
传动轴连接同一个行进组件上的圆滚轮和三角履带轮,驱动电机通过链轮 组件与位于支撑组件同一侧的两个行进组件上的传动轴实现联动。The drive shaft is connected to the round roller and the triangle track wheel on the same traveling component, and the drive motor is linked to the drive shafts on the two traveling components on the same side of the support component through the sprocket component.
进一步的,座椅上设有控制手柄,控制手柄用于控制轮椅前进、轮椅后退、轮椅转弯、座椅抬升或座椅下降。Further, a control handle is provided on the seat, and the control handle is used to control the wheelchair to advance, the wheelchair to retreat, the wheelchair to turn, the seat to raise or the seat to lower.
进一步的,座椅通过平移机构可移动的设置在支撑组件上。Further, the seat is movably arranged on the support assembly by a translation mechanism.
进一步的,平移机构包括设置在支撑组件上的第三直线电机,第三直线电机的输出杆上套设滑套,滑套与座椅固定连接,第三直线电机驱动滑块移动,从而实现座椅移动。Further, the translation mechanism includes a third linear motor disposed on the support assembly, a sliding sleeve is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat The chair moves.
进一步的,支撑组件上设有滑轨,滑轨上可滑动的设有滑块,滑块固定在座椅上。Further, a slide rail is provided on the support assembly, a slide block is slidably provided on the slide rail, and the slide block is fixed on the seat.
进一步的,下支撑板的底部设有两个第二距离传感器,两个第二距离传感器分别与接近脚踏的两个进行组件对应设置。Further, two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors are respectively provided corresponding to the two components close to the foot pedal.
本发明的有益效果为:The beneficial effects of the present invention are:
(1)本发明将把三角履带轮和圆滚轮结合,使轮椅既具备普通出行工具的平稳行走功能,又具备攀爬楼梯的功能;(1) The present invention will combine the triangle track wheel and the round roller to make the wheelchair not only have the function of smooth walking of ordinary travel tools, but also have the function of climbing stairs;
(2)支撑组件的结构设置,结合第一直线电机和第二直线电机,能够实现座椅自由抬升和降低;(2) The structural arrangement of the support assembly, combined with the first linear motor and the second linear motor, can realize the free lifting and lowering of the seat;
(3)在第一直线电机和第二直线电机上直接连接避震器,使自动轮椅在行走的过程中,能够过滤掉颠簸的动作,使使用者感觉舒服;(3) The shock absorber is directly connected to the first linear motor and the second linear motor, so that the automatic wheelchair can filter out the bumpy movements during walking, making the user feel comfortable;
(4)在轮椅上添加了平移机构和导轨,使座椅的调整更加多样化。(4) The translation mechanism and guide rails are added to the wheelchair to make the seat adjustment more diversified.
图1为本发明侧视图。Figure 1 is a side view of the invention.
图2为本发明后视图。Figure 2 is a rear view of the invention.
图3为本发明遇到障碍物座椅抬升时的结构示意图。FIG. 3 is a schematic structural view of the present invention when the seat is lifted when encountering an obstacle.
图4为本发明爬升楼梯时的结构示意图(1)。4 is a schematic structural view (1) of the present invention when climbing a staircase.
图5为本发明爬升楼梯时的结构示意图(2)。5 is a schematic structural diagram (2) of the present invention when climbing a staircase.
图6为本发明下楼梯时的结构示意图。6 is a schematic structural view of the present invention when going down stairs.
图7为图1状态的右视图。7 is a right side view of the state of FIG.
图8为链轮组件结构示意图。Fig. 8 is a schematic structural view of a sprocket assembly.
附图标记Reference mark
座椅1、第一行进轮组2、第二行进轮组3、三角履带轮4、圆滚轮5、上支撑板6、下支撑板7、连接板8、上支撑架9、下支撑架10、第一直线电机11、第二直线电机12、避震器13、第一驱动组件14、第二驱动组件15、传动轴16、驱动电机17、第一传动齿轮18、第二传动齿轮19、第一链条20、脚踏21、第一距离传感器22、控制手柄23、第三直线电机24、滑套25、滑轨26、滑块27、电池组28、第三传动齿轮29、第四传动齿轮30、第二距离传感器31、第五传动齿轮32、第六传动齿轮33。 Seat 1, first traveling wheel set 2, second traveling wheel set 3, cam track wheel 4, round roller 5, upper support plate 6, lower support plate 7, connecting plate 8, upper support frame 9, lower support frame 10 , First linear motor 11, second linear motor 12, shock absorber 13, first drive assembly 14, second drive assembly 15, transmission shaft 16, drive motor 17, first transmission gear 18, second transmission gear 19 , The first chain 20, the pedal 21, the first distance sensor 22, the control handle 23, the third linear motor 24, the sliding sleeve 25, the slide rail 26, the slider 27, the battery pack 28, the third transmission gear 29, the fourth The transmission gear 30, the second distance sensor 31, the fifth transmission gear 32, and the sixth transmission gear 33.
为使本发明的技术方案更加清晰明确,下面结合附图对本发明进行进一步描述,任何对本发明技术方案的技术特征进行等价替换和常规推理得出的方案均落入本发明保护范围。In order to make the technical solution of the present invention more clear and unambiguous, the present invention will be further described below in conjunction with the drawings. Any solution obtained by equivalent replacement and conventional reasoning of the technical features of the technical solution of the present invention falls into the protection scope of the present invention.
如图所示一种可爬楼梯可平地行走的无障碍自动轮椅,包括座椅1、行进组件和支撑组件,其中:As shown in the figure, a barrier-free automatic wheelchair that can climb stairs and walk on the ground includes a seat 1, a traveling component and a supporting component, wherein:
座椅,座椅用于使用者乘座;Seat, the seat is used for the user to take a seat;
行进组件,行进组件包括两个第一行进轮组2和两个第二行进轮组3,第一 行进轮组和两个第二行进轮组均包括一个三角履带轮4和一个圆滚轮5,三角履带轮的其中一个顶角的朝向向下设置,三角履带轮的最低点位于圆滚轮的最低点的上方,即,当圆滚轮与水平面接触时,三角履带轮与水平面分离;Traveling assembly, the traveling assembly includes two first traveling wheel sets 2 and two second traveling wheel sets 3, both the first traveling wheel set and the two second traveling wheel sets include a triangular track wheel 4 and a round roller 5, The direction of one of the top angles of the triangle track wheel is set downward, and the lowest point of the triangle track wheel is above the lowest point of the round wheel, that is, when the round wheel contacts the horizontal plane, the triangle track wheel is separated from the horizontal plane;
支撑组件,支撑组件用于连接座椅和行进组件;Support assembly, the support assembly is used to connect the seat and the traveling assembly;
支撑组件包括上支撑板6、下支撑板7和连接板8;上支撑板用于固定座椅;下支撑板用于固定四个行进轮组;The support assembly includes an upper support plate 6, a lower support plate 7 and a connecting plate 8; the upper support plate is used to fix the seat; the lower support plate is used to fix the four traveling wheel sets;
上支撑板平行的设置在下支撑板的上方;The upper support plate is arranged in parallel above the lower support plate;
上支撑板的后端垂直的设有两个上支撑架9,连接板的前端垂直的设有两个下支撑架10;Two upper support frames 9 are vertically arranged at the rear end of the upper support plate, and two lower support frames 10 are vertically arranged at the front end of the connection plate;
连接板的后端可转动的固定在上支撑架上,连接板的下支撑架可转动的与下支撑架的前端相连接,使支撑组件整体呈Z字形结构;The rear end of the connecting plate is rotatably fixed on the upper support frame, and the lower support frame of the connecting plate is rotatably connected with the front end of the lower support frame, so that the overall support assembly has a Z-shaped structure;
下支撑板的后端与连接板的前端之间设有第一直线电机11,连接板的前端与上支撑板的后端之间设有第二直线电机12,第一直线电机与第二直线电机上分别设有一个避震器13,第一直线电机与第二直线电机伸缩配合的实现座椅的抬升或下降;A first linear motor 11 is provided between the rear end of the lower support plate and the front end of the connecting plate, and a second linear motor 12 is provided between the front end of the connecting plate and the rear end of the upper support plate. The two linear motors are respectively provided with a shock absorber 13, and the first linear motor and the second linear motor telescopically cooperate to realize the lifting or lowering of the seat;
两个第一行进轮组设置在下支撑板的一侧,两个第二行进轮组设置在下支撑板的另一侧,第一行进轮组和第二行进轮组分别通过第一驱动组件14和第二驱动组件15驱动转动;Two first traveling wheel sets are provided on one side of the lower support plate, and two second traveling wheel sets are provided on the other side of the lower support plate. The first traveling wheel set and the second traveling wheel set pass through the first drive assembly 14 and The second driving assembly 15 is driven to rotate;
第一驱动组件和第二驱动组件均包括传动轴16、驱动电机17和链轮组件;Both the first drive assembly and the second drive assembly include a transmission shaft 16, a drive motor 17, and a sprocket assembly;
传动轴的数量为两个,两个传动轴分别连接同一个行进组件上的圆滚轮和三角履带轮的驱动轮,使圆滚轮和三角履带轮实现联动;The number of transmission shafts is two, and the two transmission shafts are respectively connected to the driving wheel of the round roller and the triangle track wheel on the same traveling component, so that the round roller and the triangle track wheel are linked;
链轮组件包括两个第一传动齿轮18、两个第二传动齿轮19、两个第一链条 20和齿轮箱,齿轮箱内设有第三传动齿轮29、第四传动齿轮30、第五传动齿轮32和第六传动齿轮33;The sprocket assembly includes two first transmission gears 18, two second transmission gears 19, two first chains 20, and a gear box. A third transmission gear 29, a fourth transmission gear 30, and a fifth transmission are provided in the gear box Gear 32 and sixth transmission gear 33;
在两个第一行进轮组或两个第二行进轮组中:In two first traveling wheel sets or two second traveling wheel sets:
两个第一传动齿轮分别固定在两个传动轴上,两个第二传动齿轮同轴的固定在齿轮箱的输出轴上,两个第一传动齿轮分别通过两个第一链条与相应的第二传动齿轮相连接,驱动电机与齿轮箱的输入轴相连接;The two first transmission gears are respectively fixed on the two transmission shafts, the two second transmission gears are coaxially fixed on the output shaft of the gear box, and the two first transmission gears respectively pass through the two first chains and the corresponding The two transmission gears are connected, and the drive motor is connected to the input shaft of the gear box;
在齿轮箱中,第三传动齿轮固定在齿轮箱的输出轴上、与第二传动齿轮实现联动,第三传动齿轮与第五传动齿轮相啮合,第五传动齿轮上同轴的固定第四传动齿轮,第四传动齿轮与固定在输入轴上的第六传动齿轮相啮合;In the gear box, the third transmission gear is fixed on the output shaft of the gear box, and realizes linkage with the second transmission gear, the third transmission gear meshes with the fifth transmission gear, and the fourth transmission gear coaxially fixed on the fifth transmission gear The gear and the fourth transmission gear mesh with the sixth transmission gear fixed on the input shaft;
驱动电机驱动两个第二传动齿轮同时转动,从而实现位于同一侧的两个传动轴同时转动,从而实现两个第一行进轮组或两个第二行进轮组中的圆滚轮和三角履带轮同时转动;The driving motor drives the two second transmission gears to rotate at the same time, so that the two transmission shafts on the same side rotate at the same time, thereby realizing the round roller and the triangle crawler wheel in the two first traveling wheel sets or the two second traveling wheel sets Turn simultaneously
座椅上设有脚踏21,脚踏的底部设有第一距离传感器22;座椅上还设有陀螺仪;A foot 21 is provided on the seat, and a first distance sensor 22 is provided at the bottom of the foot; a gyroscope is also provided on the seat;
下支撑板的底部设有两个第二距离传感器,两个第二距离传感器31分别与接近脚踏的第一行进轮组和第二行进轮组对应设置;Two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors 31 are respectively provided corresponding to the first traveling wheel group and the second traveling wheel group close to the foot pedal;
座椅上设有控制手柄23,下支撑板上设有控制模块,控制模块分别与控制手柄、陀螺仪、第一距离传感器、第二距离传感器、第一直线电机、第二直线电机、第三直线电机和驱动电机相连接,控制手柄用于通过控制模块来控制轮椅前进、轮椅后退、轮椅转弯、座椅抬升或座椅下降。A control handle 23 is provided on the seat, and a control module is provided on the lower support plate. The control module is respectively connected with the control handle, the gyroscope, the first distance sensor, the second distance sensor, the first linear motor, the second linear motor, the first The three linear motors are connected to the drive motor, and the control handle is used to control the wheelchair forward, wheelchair backward, wheelchair turning, seat uplift or seat down through the control module.
座椅通过平移机构可移动的设置在支撑组件上;The seat is movably arranged on the support assembly through the translation mechanism;
平移机构包括设置在上支撑板上的第三直线电机24,第三直线电机的输出 杆上套设滑套25,滑套与座椅固定连接,第三直线电机驱动滑块移动,从而实现座椅移动;支撑组件上设有滑轨26,滑轨上可滑动的设有滑块27,滑块固定在座椅上;The translation mechanism includes a third linear motor 24 disposed on the upper support plate, a sliding sleeve 25 is sleeved on the output rod of the third linear motor, the sliding sleeve is fixedly connected to the seat, and the third linear motor drives the slider to move, thereby realizing the seat The chair moves; a slide rail 26 is provided on the support assembly, a slider 27 is slidably provided on the slide rail, and the slider is fixed on the seat;
下支撑板上设有电池组28,电池组为控制模块、驱动电机、第一直线电机、第二直线电机、第三直线电机和第一距离传感器提供能源。A battery pack 28 is provided on the lower support plate, and the battery pack provides energy for the control module, the drive motor, the first linear motor, the second linear motor, the third linear motor, and the first distance sensor.
本发明的自动轮椅的控制方法如下:The control method of the automatic wheelchair of the present invention is as follows:
(1)如图1、图2所示,第一驱动组件驱动两个第一行进轮组运行,第二驱动组件驱动两个第二行进轮组运行;踏板上的第一距离传感器用于感应前面是否由障碍物;第一直线电机和第二直线电机做伸缩动作,能够让座椅抬升或者降低高度;第一直线电机和第二直线电机,避震器起到缓冲震动的作用;第三直线电机能够让座椅往前或者往后移动位置;控制手柄控制轮椅前进或者后退;(1) As shown in Figures 1 and 2, the first drive assembly drives two first traveling wheel sets and the second drive assembly drives two second traveling wheel sets; the first distance sensor on the pedal is used for sensing Whether there is an obstacle in front; the first linear motor and the second linear motor perform telescopic movements to raise or lower the seat; the first linear motor and the second linear motor, the shock absorber serves to buffer the vibration; The third linear motor can move the seat forward or backward; the control handle controls the wheelchair to move forward or backward;
(2)轮椅的初始状态,座椅处于最低位置,这让人能够方便坐到座椅上;轮椅一旦启动,第一直线电机和第二直线电机会做延伸动作,使上支撑板和下支撑板做摆幅运动,从而提升座椅到一定高度;(2) In the initial state of the wheelchair, the seat is at the lowest position, which makes it easy to sit on the seat; once the wheelchair is started, the first linear motor and the second linear motor will perform an extension action to make the upper support plate and the lower The support plate makes a swing motion to raise the seat to a certain height;
(3)当轮椅在平坦的路面上行走的时候,座椅高度可以根据个人需求进行调整,座椅调高的时候,第一直线电机和第二直线电机进行延伸动作,就能把座椅升高;第一直线电机和第二直线电机做收缩动作,座椅降低;(3) When the wheelchair is walking on a flat road, the height of the seat can be adjusted according to personal needs. When the seat is adjusted high, the first linear motor and the second linear motor perform an extension action to move the seat Raise; the first linear motor and the second linear motor retract, and the seat lowers;
(4)当轮椅在平坦的路面上走的时候,四个圆滚轮和地面接触,三角履带轮是和地面分离的,驱动电机通过链轮组件带动圆滚轮转动,从而使轮椅前进或者后退;由于三角履带轮不和地面接触,所以,自动轮椅移动的时候和普通轮椅一样平稳快速;(4) When the wheelchair is walking on a flat road, the four round rollers are in contact with the ground, the triangular track wheel is separated from the ground, and the drive motor drives the round roller to rotate through the sprocket assembly, thereby making the wheelchair forward or backward; because The triangle track wheel does not contact the ground, so the automatic wheelchair moves as smoothly and quickly as an ordinary wheelchair;
(5)轮椅可以原地转动方向;当自动轮椅向右转向的时候,左侧的三角履带轮和圆滚轮顺时针转动,右侧的坦克轮和圆轮逆时针转动,从而实现转向;向左转向时,三角履带轮和圆滚轮的转动方向与右转时相反;(5) The wheelchair can turn in place; when the automatic wheelchair turns to the right, the left triangle track wheel and round wheel turn clockwise, and the right tank wheel and round wheel turn counterclockwise to achieve steering; left When turning, the rotation direction of the triangle track wheel and the round roller is opposite to that when turning right;
(6)如图3所示,脚踏上设有第一距离传感器,自动轮椅在前行的时候,如果遇到比传感器高度还高的障碍物,座椅会自动抬升,使传感器高度比障碍物高;(6) As shown in Figure 3, there is a first distance sensor on the footrest. When the automatic wheelchair is moving forward, if it encounters an obstacle higher than the height of the sensor, the seat will be automatically raised, so that the height of the sensor is higher than the obstacle Height
(7)如图4所示,座椅抬升之后,轮椅就可以依靠三角履带轮爬升楼梯;三角履带轮的履带受力在楼梯的边缘,产生推力推动自动轮椅往上爬;上楼梯的时候,陀螺仪感应到座椅角度发生变化,第一直线电机或第二直线电机会做伸展动作,使座椅一直处于水平位置;(7) As shown in Figure 4, after the seat is raised, the wheelchair can rely on the triangle track wheels to climb the stairs; the track of the triangle track wheels is forced on the edge of the stairs, which generates thrust to push the automatic wheelchair up; The gyroscope senses that the angle of the seat changes, and the first linear motor or the second linear motor will perform a stretching action to keep the seat in a horizontal position;
(8)如图5所示,轮椅继续爬升时,三角履带轮先和阶梯接触,利用履带推动轮椅往上爬;座椅通过控制模块的控制,一直保持在水平位置;(8) As shown in Figure 5, when the wheelchair continues to climb, the triangle track wheel first contacts the ladder and uses the track to push the wheelchair up; the seat is kept in a horizontal position through the control of the control module;
(9)当轮椅爬升到楼梯最后一个阶梯时,通过陀螺仪感应到的数据,控制模块控制第一直线电机或第二直线电机,使座椅一直保持在水平的位置;(9) When the wheelchair climbs to the last step of the stairs, through the data sensed by the gyroscope, the control module controls the first linear motor or the second linear motor to keep the seat in a horizontal position;
(10)如图6所示,下楼梯的时候,前端三角履带轮的履带会与阶梯边缘接触,使轮椅能够平缓的下移;座椅通过控制模块去控制第一直线电机或第二直线电机,使座椅一直保持在水平状态;同时,第二距离传感器用于检测位于两侧前端的第一行进轮组和第二行进轮组与台阶之间的距离,保证第一行进轮组和第二行进轮组同时达到阶梯位置,使两个前轮能够同时下楼梯,避免发生一侧轮椅下滑倾斜的现象。(10) As shown in Figure 6, when going down the stairs, the track of the front triangular track wheel will contact the edge of the step, so that the wheelchair can move down smoothly; the seat controls the first linear motor or the second straight line through the control module The motor keeps the seat in a horizontal state; at the same time, the second distance sensor is used to detect the distance between the first traveling wheel group and the second traveling wheel group located on the front ends of both sides and the steps, to ensure that the first traveling wheel group and The second traveling wheel set reaches the ladder position at the same time, so that the two front wheels can go down the stairs at the same time, avoiding the phenomenon of one side wheelchair sliding down.
Claims (10)
- 一种可爬楼梯可平地行走的无障碍自动轮椅,包括座椅、行进组件和支撑组件,其特征为:A barrier-free automatic wheelchair capable of climbing stairs and walking on the ground, including a seat, a traveling component and a supporting component, characterized by:座椅,座椅用于使用者乘座;Seat, the seat is used for the user to take a seat;行进组件,行进组件包括四个行进轮组,每个行进轮组包括一个三角履带轮和一个圆滚轮,三角履带轮的其中一个顶角的朝向向下设置,三角履带轮的最低点位于圆滚轮的最低点的上方;Traveling assembly, the traveling assembly includes four traveling wheel sets, each traveling wheel set includes a triangular track wheel and a round roller, one of the top angles of the triangular track wheel is set downward, and the lowest point of the triangular track wheel is located on the round wheel Above the lowest point of支撑组件,支撑组件用于连接座椅和行进组件。The support assembly is used to connect the seat and the travel assembly.
- 如权利要求1所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:支撑组件包括上支撑板、下支撑板和连接板;The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, wherein the support assembly includes an upper support plate, a lower support plate and a connection plate;上支撑板用于固定座椅;The upper support plate is used to fix the seat;下支撑板用于固定四个行进轮组;The lower support plate is used to fix four traveling wheelsets;上支撑板平行的设置在下支撑板的上方;The upper support plate is arranged in parallel above the lower support plate;连接板的一端可转动的固定在上支撑板的一端,连接板的另一端可转动的固定在下支撑板与上支撑板相反的另一端,使支撑组件整体呈Z字形结构;One end of the connection plate is rotatably fixed to one end of the upper support plate, and the other end of the connection plate is rotatably fixed to the other end of the lower support plate opposite to the upper support plate, so that the overall support assembly has a Z-shaped structure;下支撑板与连接板之间设有第一直线电机,连接板与上支撑板之间设有第二直线电机,第一直线电机与第二直线电机伸缩配合的实现座椅的抬升或下降。A first linear motor is arranged between the lower supporting plate and the connecting plate, and a second linear motor is arranged between the connecting plate and the upper supporting plate. The first linear motor and the second linear motor telescopically cooperate to realize the seat lifting or decline.
- 如权利要求2所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:第一直线电机与第二直线电机上分别设有一个避震器。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 2, wherein a shock absorber is respectively provided on the first linear motor and the second linear motor.
- 如权利要求1、2或3所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:座椅上设有脚踏,脚踏的底部设有第一距离传感器。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, wherein the seat is provided with a foot pedal, and the bottom of the foot pedal is provided with a first distance sensor.
- 如权利要求1、2或3所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:四个行进轮组以2*2的形式布设在支撑组件上,位于支撑组 件两侧的行进轮组分别通过两个驱动组件驱动转动。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, characterized in that: four traveling wheel sets are arranged on the support assembly in the form of 2 * 2, and are located on both sides of the support assembly The traveling wheels on the side are driven and rotated by two driving assemblies respectively.
- 如权利要求5所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:驱动组件包括传动轴、驱动电机和链轮组件;The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 5, wherein the driving assembly includes a transmission shaft, a driving motor and a sprocket assembly;传动轴连接同一个行进组件上的圆滚轮和三角履带轮,驱动电机通过链轮组件与位于支撑组件同一侧的两个行进组件上的传动轴实现联动。The transmission shaft is connected to the round roller and the triangle track wheel on the same traveling component, and the drive motor is linked to the transmission shafts on the two traveling components on the same side of the support component through the sprocket component.
- 如权利要求5或6所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:座椅上设有控制手柄,控制手柄用于控制轮椅前进、轮椅后退、轮椅转弯、座椅抬升或座椅下降。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 5 or 6, characterized in that: the seat is provided with a control handle, which is used to control the wheelchair forward, the wheelchair backward, the wheelchair turn The chair is raised or the seat is lowered.
- 如权利要求1、2或3所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:座椅通过平移机构可移动的设置在支撑组件上。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 1, 2 or 3, characterized in that the seat is movably arranged on the support assembly by a translation mechanism.
- 如权利要求8所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:平移机构包括设置在支撑组件上的第三直线电机,第三直线电机的输出杆上套设滑套,滑套与座椅固定连接,第三直线电机驱动滑块移动,从而实现座椅移动。The barrier-free automatic wheelchair capable of climbing stairs and walking horizontally according to claim 8, characterized in that the translation mechanism includes a third linear motor provided on the support assembly, and an output rod of the third linear motor is provided with a sliding sleeve The sleeve and the sliding sleeve are fixedly connected with the seat, and the third linear motor drives the slider to move, thereby realizing the movement of the seat.
- 如权利要求2或3所述的一种可爬楼梯可平地行走的无障碍自动轮椅,其特征为:下支撑板的底部设有两个第二距离传感器,两个第二距离传感器分别与接近脚踏的两个进行组件对应设置。The barrier-free automatic wheelchair capable of climbing stairs and walking on the ground according to claim 2 or 3, characterized in that: two second distance sensors are provided at the bottom of the lower support plate, and the two second distance sensors are respectively close to The two pedals are set correspondingly to the components.
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CN201811287946.5A CN109288632A (en) | 2018-10-31 | 2018-10-31 | A kind of climbing stairs can level walking accessible automatic wheelchair |
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PCT/CN2019/113208 WO2020088356A1 (en) | 2018-10-31 | 2019-10-25 | Barrier-free automatic wheelchair capable of climbing stairs and running on flat ground |
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CN (1) | CN109288632A (en) |
WO (1) | WO2020088356A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109288632A (en) * | 2018-10-31 | 2019-02-01 | 马海光 | A kind of climbing stairs can level walking accessible automatic wheelchair |
CN110575327B (en) * | 2019-10-17 | 2024-06-28 | 闫学堂 | Balance wheelchair |
CN112472441B (en) * | 2020-12-11 | 2022-12-27 | 中国人民解放军空军工程大学 | Multifunctional auxiliary wheelchair |
CN113576781B (en) * | 2021-08-09 | 2024-02-09 | 宜宾职业技术学院 | Land leveling walking method of mobile mechanical platform |
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US2751027A (en) * | 1952-05-19 | 1956-06-19 | Robert B Mclaughlin | Endless track supported invalid chair |
NL8900128A (en) * | 1989-01-19 | 1990-08-16 | Abraham Snoek | Vehicle with pivotal self-resilient inclined continuous track has track over wheels mounted obliquely either side of vertical rotation axis with support rollers against inner surface of track |
CN102715991A (en) * | 2012-07-09 | 2012-10-10 | 上海电机学院 | Wheelchair capable of crossing obstacles and assisting in standing and auxiliary standing method |
CN106109124A (en) * | 2016-08-20 | 2016-11-16 | 李小齐 | A kind of convenience climbs the wheelchair in building up and down |
CN207912842U (en) * | 2017-03-06 | 2018-09-28 | 尹传锋 | Electric wheelchair |
CN109288632A (en) * | 2018-10-31 | 2019-02-01 | 马海光 | A kind of climbing stairs can level walking accessible automatic wheelchair |
CN209203803U (en) * | 2018-10-31 | 2019-08-06 | 马海光 | A kind of climbing stairs can level walking accessible automatic wheelchair |
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FR2618066B1 (en) * | 1987-07-16 | 1989-12-15 | Rolland Bruno | SELF-PROPELLED ARMCHAIR FOR A DISABLED PERSON WITH AN AUTOMATIC VERTICALIZATION DEVICE |
CN203042684U (en) * | 2013-02-01 | 2013-07-10 | 上海电机学院 | Multifunctional stair climbing wheel chair |
CN105559984B (en) * | 2016-02-29 | 2017-06-06 | 华南理工大学 | One kind nursing assisting system |
CA2995238A1 (en) * | 2017-02-15 | 2018-08-15 | Soucy International Inc. | Track assembly and vehicle |
CN108524122A (en) * | 2017-03-06 | 2018-09-14 | 尹传锋 | Electric wheelchair |
CN207785383U (en) * | 2017-06-02 | 2018-08-31 | 浙江工业职业技术学院 | A kind of Wheel chair for disabled person |
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2018
- 2018-10-31 CN CN201811287946.5A patent/CN109288632A/en active Pending
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2019
- 2019-10-25 WO PCT/CN2019/113208 patent/WO2020088356A1/en active Application Filing
Patent Citations (7)
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US2751027A (en) * | 1952-05-19 | 1956-06-19 | Robert B Mclaughlin | Endless track supported invalid chair |
NL8900128A (en) * | 1989-01-19 | 1990-08-16 | Abraham Snoek | Vehicle with pivotal self-resilient inclined continuous track has track over wheels mounted obliquely either side of vertical rotation axis with support rollers against inner surface of track |
CN102715991A (en) * | 2012-07-09 | 2012-10-10 | 上海电机学院 | Wheelchair capable of crossing obstacles and assisting in standing and auxiliary standing method |
CN106109124A (en) * | 2016-08-20 | 2016-11-16 | 李小齐 | A kind of convenience climbs the wheelchair in building up and down |
CN207912842U (en) * | 2017-03-06 | 2018-09-28 | 尹传锋 | Electric wheelchair |
CN109288632A (en) * | 2018-10-31 | 2019-02-01 | 马海光 | A kind of climbing stairs can level walking accessible automatic wheelchair |
CN209203803U (en) * | 2018-10-31 | 2019-08-06 | 马海光 | A kind of climbing stairs can level walking accessible automatic wheelchair |
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