WO2009069144A3 - Methods and systems for ascending and descending stairs - Google Patents

Methods and systems for ascending and descending stairs Download PDF

Info

Publication number
WO2009069144A3
WO2009069144A3 PCT/IN2008/000563 IN2008000563W WO2009069144A3 WO 2009069144 A3 WO2009069144 A3 WO 2009069144A3 IN 2008000563 W IN2008000563 W IN 2008000563W WO 2009069144 A3 WO2009069144 A3 WO 2009069144A3
Authority
WO
WIPO (PCT)
Prior art keywords
rotatably mounted
power driven
driven axle
spider
ascending
Prior art date
Application number
PCT/IN2008/000563
Other languages
French (fr)
Other versions
WO2009069144A4 (en
WO2009069144A2 (en
Inventor
Rafique Riyaz
Original Assignee
Rafique Riyaz
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Rafique Riyaz filed Critical Rafique Riyaz
Publication of WO2009069144A2 publication Critical patent/WO2009069144A2/en
Publication of WO2009069144A3 publication Critical patent/WO2009069144A3/en
Publication of WO2009069144A4 publication Critical patent/WO2009069144A4/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • 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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • 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
    • A61G5/063—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 eccentrically mounted wheels
    • A61G5/065—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 eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

Abstract

A vehicle for ascending and descending stairs includes includes at least one power driven axle rotatably mounted on opposite sides of a lower elongate cross member of a frame assembly, at least one non-power driven axle rotatably mounted on one end of the pair of lower elongate side members of the frame assembly, at least one spider (152, 153) having an inner plate (152) and a parallel outer plate (153). The at least one spider is rotatably mounted on the at least one power driven axle and on the at least one non-power driven axle. The spider is further disposed of to form at least four radial arms, and a plurality of ground engaging wheels (182, 189) rotatably mounted at an edge of each radial arm of said at least four radial arms, and a motor, and a differential or epicyclic gearing mechanism having an input pinion shaft being powered by the motor.
PCT/IN2008/000563 2007-09-06 2008-09-04 Methods and systems for ascending and descending stairs WO2009069144A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
IN1701MU2007 2007-09-06
IN1701/MUM/2007 2007-09-06
IN797MU2008 2008-04-04
IN797/MUM/2008 2008-04-04

Publications (3)

Publication Number Publication Date
WO2009069144A2 WO2009069144A2 (en) 2009-06-04
WO2009069144A3 true WO2009069144A3 (en) 2009-09-11
WO2009069144A4 WO2009069144A4 (en) 2009-11-12

Family

ID=40566515

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IN2008/000563 WO2009069144A2 (en) 2007-09-06 2008-09-04 Methods and systems for ascending and descending stairs

Country Status (1)

Country Link
WO (1) WO2009069144A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108771586B (en) * 2018-06-25 2020-05-12 武汉科技大学 Novel wheelchair capable of climbing stairs

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130231814A1 (en) * 2006-03-06 2013-09-05 Sterraclimb Llc Stair-climbing surveillance vehicle
US20130184917A1 (en) * 2006-03-06 2013-07-18 Sterraclimb Llc Stair-climbing wheeled vehicle
US20130274973A1 (en) * 2006-03-06 2013-10-17 Steven Kamara Stair climbing wheeled vehicle, and system and method of making and using same
US20130192907A1 (en) * 2011-11-02 2013-08-01 Joseph Sarokham Stair climbing wheeled vehicle, and system and method of making and using same
CN103126826A (en) * 2011-11-30 2013-06-05 胡义华 Multifunctional self-help wheelchair
CN104527822B (en) * 2014-12-22 2017-01-11 宁波科邦华诚技术转移服务有限公司 Crawling ladder traveling device
CN106218805B (en) * 2016-07-28 2019-05-03 孔令瀛 With the electric bicycle for ascending stepfunction
CN106892014B (en) * 2017-02-22 2019-08-13 华中科技大学 A kind of planet gear type barrier-surpassing robot suitable for rotating ladder
CN107264663A (en) * 2017-06-22 2017-10-20 邓航 Climb building device
DE102017006071A1 (en) * 2017-06-28 2019-01-03 Ruprecht Rohde Multifunction vehicle
TWI671217B (en) * 2018-03-23 2019-09-11 緯創資通股份有限公司 Mobile deivce and transmission assembly
US11097583B2 (en) 2018-11-30 2021-08-24 Ruprecht Alfred Rohde Vehicle
CN109925133B (en) * 2019-04-08 2020-06-02 张红梅 Intelligent stair climbing, sitting and lying integrated wheelchair
CN110434826B (en) * 2019-08-12 2022-06-14 东北大学 Under-actuated stair climbing robot based on differential mechanism and inverted pendulum
US11518424B2 (en) * 2020-01-24 2022-12-06 Gary M. Kemp Stair-climbing wheeled carrier
CN111776102A (en) * 2020-07-13 2020-10-16 马鞍山思卡瑞自动化科技有限公司 AGV robot step crossing mechanism and implementation method thereof

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5973372A (en) * 1983-08-08 1984-04-25 Masaharu Takano Travelling machine
US4790548A (en) * 1987-05-04 1988-12-13 Fabien Decelles Climbing and descending vehicle
WO2006103787A1 (en) * 2005-03-25 2006-10-05 Tadashi Ishimine Traveling device
EP1738734A2 (en) * 2005-06-28 2007-01-03 D Cubed S.r.l. Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5973372A (en) * 1983-08-08 1984-04-25 Masaharu Takano Travelling machine
US4790548A (en) * 1987-05-04 1988-12-13 Fabien Decelles Climbing and descending vehicle
WO2006103787A1 (en) * 2005-03-25 2006-10-05 Tadashi Ishimine Traveling device
EP1738734A2 (en) * 2005-06-28 2007-01-03 D Cubed S.r.l. Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108771586B (en) * 2018-06-25 2020-05-12 武汉科技大学 Novel wheelchair capable of climbing stairs

Also Published As

Publication number Publication date
WO2009069144A4 (en) 2009-11-12
WO2009069144A2 (en) 2009-06-04

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