GB2201926A - Improvements in or relating to a stair-climbing device - Google Patents
Improvements in or relating to a stair-climbing device Download PDFInfo
- Publication number
- GB2201926A GB2201926A GB08705003A GB8705003A GB2201926A GB 2201926 A GB2201926 A GB 2201926A GB 08705003 A GB08705003 A GB 08705003A GB 8705003 A GB8705003 A GB 8705003A GB 2201926 A GB2201926 A GB 2201926A
- Authority
- GB
- United Kingdom
- Prior art keywords
- wheel
- chassis
- elements
- wheel elements
- wheels
- 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.)
- Pending
Links
- 230000009194 climbing Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- A61G5/068—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 extensible supports pushing upwards, e.g. telescopic legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/008—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor having more than two axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/023—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs using an upwards pushing device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/419—Gears
- B60G2204/4192—Gears rack and pinion
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
A device adapted to climb stairs, or cover rough terrain comprises a chassis 1 and a plurality of wheel carrying elements 2. Means controllably move at least all-but-one of the wheel elements relative to the chassis in a substantially vertical direction. The wheel elements carry, at their lower ends, wheels or the like adapted to enable the device to move forward. Sensor means are provided to sense when one of the wheel elements is in proximity with the step, signals from the sensor being passed to the control arrangement to control the vertical movement of the wheel elements relative to the chassis. The vertical movement of the wheel carrying elements can be effected hydraulically or pneumatically or, as shown, by a rack mechanism. <IMAGE>
Description
DESCRIPTION OF INVENTION
Improvements in or relating a stair-climbing device
THE PRESENT INVENTION relates to a stair-climbing device, or a device for covering rough terrain.
Many attempts have been made to provide a device capable of climbing stairs, but there is still a need for a simple reliable device able to climb stairs.
The need for devices to climb stairs falls in many different areas, ranging from toys, to aids for people confined to wheel chairs, or devices to lift heavy loads up stairs such, for example, photocopying machines or safes.
According to this invention there is provided a device adapted to climb stairs, or cover rough terrain said device comprising a substantially horizontal chassis, a plurality of wheel elements spaced axially of the chassis, means being provided for controllably moving at least all-but-one of said wheel elements relative to the chassis in a substantially vertical direction, the wheel elements carrying, at their lower ends, wheels or the like adapted to enable the device to move rollingly forward.
Preferably all of the wheel elements are movable relative to the chassis.
Conveniently sensor means are provided adapted to sense when one of said wheel elements is in proximity with a step, signals from the sensor means being passed to a control arrangement adapted to control said vertical movement of the wheel elements relative to the chassis.
Advantageously said sensor means comprise means responsive to engagement of the wheel means with the vertical face of a step.
Preferably each wheel element is provided with a sensor adapted to sense when the wheels carried thereby are providing a positive upthrust, signals from the sensor means being supplied to the control arrangement.
Conveniently said sensor on each wheel means comprise means located between an axle carrying the wheels, and a frame of the wheel element.
Advantageously the movement of the wheel elements relative to the chassis is effected pneumatically or hydraulically.
Preferably each wheel element is movable relative to the chassis by means of an electric motor mounted on the chassis engaging a rack formed on a frame forming part of the wheel element.
Conveniently the wheels on at least two of the wheel elements are power driven.
The device may comprise three wheel elements, or may comprise four or more wheel elements.
In order that the invention may be more readily understood, and so that further features thereof may be appreciated, the invention will now be described, by way of example, with reference to the accompanyings, in which:
FIGURE 1 is a perspective view of an apparatus in accordance with the invention in an initial "ready" condition,
FIGURE 2 shows a wheel element of the device,
FIGURE 3 is a view corresponding to Figure 1 illustrating the apparatus at the commencement of a stair-climbing operation,
FIGURE 4 is a further view corresponding to
Figures 1 and 3 showing a further step during the stair climbing operation.
FIGURES 5 to 8 are further views showing further steps.
Referring now to the drawings, an apparatus in accordance with the invention comprises a chassis 1 which can take any appropriate form. In the accompanying drawings, the chassis is shown in a very simple manner, for the sake of clarity of illustration. In the following description it will be assumed that the chassis is in a horizontal position which is, of course, the position that the chassis will occupy ordinarily when in use.
Mounted on the chassis are a plurality of wheel elements 2. In the illustrated embodiment three wheel elements are provided.
Each wheel element 2 is in the form of a vertically extending frame carrying, at its lower end, two wheels 4. In at least two of the wheel elements 2 a motor 5 is provided to drive the wheels 4 by appropriate gearing. All of the wheels 9 may be driven if this is preferred. Means are provided for moving a plurality of the frames of the wheel elements relative to the chassis. Whilst it may be preferred, in sophisticated embodiments of the invention, to provide the frames of all of the wheel elements with means to move the frames relative to the chassis, it will be understood that, as in the present embodiment, one of the frames of the wheel elements may remain fixed relative to the chassis, with all the remaining frames of the wheel elements being movable.
In the presently described embodiment of the invention two of the wheel elements 2 are movable relative to the chassis by means of electric motors 6 mounted on the chassis each engaging a cogwheel which engages a rack 7 formed on a respective frame of a wheel element. It will be appreciated that by driving the motor in one sense the frame of the wheel element will be raised relative to the chassis, whereas by driving the motor in the opposite sense the frame of the wheel element will be lowered relative to the chassis. It is envisaged that means may be provided to sense the two terminal positions of the frame of the wheel element relative to the chassis so that the drive of the motor is terminated automatically when the frame of the wheel element is driven to a terminal position.
It is to be appreciated that the frames of the wheel elements of the described embodiment of the invention are each provided with sensor means.
The sensor means comprise initially means 8 (see Figure 3) to determine when each wheel element approaches a vertical surface that constitutes the vertical edge 8 of a step or stair 10. Many different types of sensor means may be provided to perform this function, such as optical or ultrasonic means, but in the presently described embodiment of the invention there is a pressure sensor 8 formed on the leading edge of the frame of each wheel element.
The sensor means may preferably also comprise means (not shown) to sense when an upthrust is being provided from the wheels provided on each wheel element or, more particularly, to determine when no upthrust is provided from the wheels on each wheel element. Again many devices may be provided to perform this function but in the presently described embodiment of the invention, a pressure sensor is provided in a position between the axle associated with the wheels of the wheel element and the frame of the wheel element, adapted to measure the force being transmitted from the axle to the frame element.
In operation of the device, as described, in climbing stairs, initially the device will be power driven, by means of the motors 5, driving the wheels 4 to approach the stairs, as shown in Figure 3. It will be understood that initially the pressure sensor 8 on the front of the leading wheel element 2 will contact the vertical face 9 defining the vertical edge of the first step or stair 10. As soon as the presence of the step is detected by the pressure sensor, control means, responsive to actuation of the pressure sensor, will initially de-activate the driving motors 5, and will activate the motor 6 to cause the first wheel element 2 to be raised relative to the chassis 1. The first wheel element will be raised to its upper limit position, when the wheels carried by the first wheel element will be at a height greater than the height of the top of the step or stair 10, as shown in Figure 4. The drive motors 5 will again be actuated until the pressure sensor 8 present on the frame of the second wheel element 2 engages the vertical front face 9 of the step or stair 10. The control means, in response to this situation, again causes the main drive motors 5 to cease operation.
The control means may then cause the frame of the first wheel element 2 to be driven downwardly until the sensor associated with the axle of that first wheel element provides an indication that the axle is transferring a force to the frame, as shown in Figure 5. That is to say the sensor senses when the wheels touch the top surface of the step or stair and provide an upthrust helping to support the chassis.
The frame of the second wheel element 2 may then be raised until the wheels carried thereby are at a level above the level of the upper surface of the step or stair, as shown in Figure 6 and the drive motors 5 may then again be actuated to drive the described device forwardly until the sensor 8 present on the frame of the third wheel element 2 touches the front vertical face 9 of the step or stair 10. The frame of the second wheel element may then be lowered until the sensor associated with the axle carried by that second frame element senses that an upthrust is being provided from the wheels, that is to say until the wheels are brought into contact with the upper surface of the step or stair, as shown in Figure 7.By driving the motors 6 associated with the first and second wheel elements appropriately, the chassis may be then raised relative to the first and second wheel means, and as the chassis rises, so that the frame element of the third wheel means 3 also rises.
When the wheels of the third wheel element are level with the top surface of the stair, the device may move forwardly on to the stair, as shown in Figure 8.
It is to be appreciated that the described device can operate in a similar manner to come down the stairs. If the device, as described, is to be utilised to come down a step, the device will be caused to approach the step so that the third wheel element encounters the step initially. When the third wheel element encounters the step the pressure sensor is associated with the axle of the third wheel element would initially provide an indication that the wheels of the third wheel element are no longer providing an upthrust.
The main drive motora 5 may then be de-activated and the chassis may be lowered relative to the first and second wheel elements until such a time as the wheels of the third wheel element re-establish contact with the upper surface of the ground adjacent the step.
The device may then advance until the sensor associated with the axle present on the second wheel element senses that no upthrust is being provided from the wheels associated with the second wheel element, and then the second wheel element can be lowered until the wheels of the second wheel element establish contact with the upper surface of the lower step.
Finally the device may again advance until the sensor associated with the axle of the first wheel element senses that the wheels of the first wheel element are not providing any upthrust, and then the frame of the first wheel element may be lowered until the wheels of the first wheel element re-establish contact with the upper surface of the lower step.
It is to be appreciated that the invention has been described above with reference to a relatively simple embodiment incorporating only three wheel elements. It is to be understood that if a device in accordance with the invention is to be utilised for climbing a flight of stairs, particularly if the stairs are relatively close together, then a large number of wheel elements will have to be provided. It is, of course, important that the weight of any item carried by the chassis of the device is adequately supported at all times, and thus it is envisaged that a number of wheel elements must be provided either side of the centre of gravity of the load supported on the chassis.
It is to be appreciated that where all the wheel elements are movable relative to the frame or chassis, the device may be utilised to effectively go downstairs in either direction. Also, of course, if appropriate sensors are provided on the wheel elements, the device may be caused to go upstairs in either direction.
Whilst the invention has been described with reference an embodiment provided with a particular type of pressure sensor it is to be appreciated that many alternative types of sensor may be utilised to perform the described function. Also, whilst the invention has been described with reference to an embodiment driven electrically it is to be understood that embodiments of the invention may be formed which are driven pneumatically or hydraulically, with the wheel elements being raised and lowered in a pneumatic or hydraulic manner.
Whilst the invention has been specifically described with reference to a device designed to climb stairs it is to be understood that a device in accordance with the invention may be used to cover rough terrain. The device may thus have military applications.
Claims (13)
1. A device adapted to climb stairs, or cover rough terrain said device comprising a substantially horizontal chassis, a plurality of wheel elements spaced axially of the chassis, means being provided for controllably moving at least all-but-one of said wheel elements relative to the chassis in a substantially vertical direction, the wheel elements carrying, at their lower ends, wheels or the like adapted to enable the device to move rollingly forward.
2. A device according to any one of the preceding claims wherein all of the wheel elements are movable relative to the chassis.
3. A device according to claim 1 or 2 wherein sensor means are..provided adapted to sense when one of said wheel elements is in proximity with a step, signals from the sensor means being passed to a control arrangement adapted to control said vertical movement of the wheel elements relative to the chassis.
LI. A device according to claim 3 wherein said sensor means comprise means responsive to engagement of the wheel means with the vertical face of a step.
5. A device according to claim 3 or 4 wherein each wheel element is provided with a sensor adapted to sense when the wheel carried thereby are providing a positive upthrust, signals from the sensor means being supplied to the control arrangement.
6. A device according to claim 5 wherein said sensor means on each wheel means comprise means located between an axle carrying the wheels, and a frame of the wheel element.
7. A device according to any one of the preceding claims wherein the movement of the wheel elements relative to the chassis is effected pneumatically or hydraulically.
8. A device according to any one of the preceding claims wherein each wheel element is movable relative to the chassis by means of an electric motor mounted on the chassis engaging a rack formed on a frame forming part of the wheel element.
9. A device according to any one of the preceding claims wherein the wheels on at least two of the wheel elements are power driven.
10. A device according to any one of the preceding claims comprising three wheel elements.
11. A device according to any one of claims 1 to 10 comprising four or more wheel elements.
12. A device substantially as herein described with reference to and as shown in the accompanying drawings.
13. Any novel feature or combination of features disclosed herein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB08705003A GB2201926A (en) | 1987-03-04 | 1987-03-04 | Improvements in or relating to a stair-climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB08705003A GB2201926A (en) | 1987-03-04 | 1987-03-04 | Improvements in or relating to a stair-climbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB8705003D0 GB8705003D0 (en) | 1987-04-08 |
| GB2201926A true GB2201926A (en) | 1988-09-14 |
Family
ID=10613286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB08705003A Pending GB2201926A (en) | 1987-03-04 | 1987-03-04 | Improvements in or relating to a stair-climbing device |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2201926A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001053137A1 (en) * | 2000-01-17 | 2001-07-26 | Elsteel Danmark A/S | Transport arrangement and method of controlling a transport arrangement |
| US7246671B2 (en) * | 2005-01-10 | 2007-07-24 | Michael Goren | Stair-climbing human transporter |
| US20120175172A1 (en) * | 2011-01-10 | 2012-07-12 | King Fahd University Of Petroleum And Minerals | Stair climbing apparatus |
| WO2012110397A1 (en) * | 2011-02-14 | 2012-08-23 | Digital Consult Integral AG | Dolly and use of a dolly |
| US20140326521A1 (en) * | 2011-11-28 | 2014-11-06 | Matia Robotics Mekatronik Sistemler Ar-Ge Mühendi- Slik Yazilim Sanayi Ve Ticaret | Transport device |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| JP2017509565A (en) * | 2013-12-19 | 2017-04-06 | ボロディミール・イワンチェンコＶｏｌｏｄｙｍｙｒ ＩＶＡＮＣＨＥＮＫＯ | Cargo transportation equipment |
| CN106741260A (en) * | 2016-11-30 | 2017-05-31 | 中国人民解放军国防科学技术大学 | Lift barrier-surpassing robot |
| GB2548917A (en) * | 2016-04-01 | 2017-10-04 | Provost Fellows Found Scholars & Other Members Board College Holy & Und | Robot |
| WO2017220546A1 (en) * | 2016-06-21 | 2017-12-28 | Kuka Roboter Gmbh | Climbing aid device for a wheel |
| WO2020252759A1 (en) * | 2019-06-21 | 2020-12-24 | 曾昭毅 | Electric wheelchair capable of climbing stairs and method for using same to ascend and descend steps |
| CN113734318A (en) * | 2021-10-12 | 2021-12-03 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
| EP3725641A4 (en) * | 2017-12-11 | 2021-12-29 | Newkoadwind.,Co.Ltd | Inclination-adjustable cart apparatus |
| CN114569028A (en) * | 2022-04-28 | 2022-06-03 | 南京福亿智能机器人科技有限公司 | Control method, device and equipment for robot climbing stairs and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150733B (en) * | 2017-06-07 | 2023-08-11 | 南京南华航空产业有限公司 | Robot capable of crossing obstacle |
| CN109515546B (en) * | 2018-12-17 | 2023-09-05 | 武汉朗毅机器人有限公司 | Wheel-leg combined horizontal attitude object carrying stair climbing robot |
| CN111938934B (en) * | 2020-08-19 | 2022-09-02 | 郑州铁路职业技术学院 | Wheelchair for medical care convenient to go up and down stairs |
| CN115432081B (en) * | 2022-08-29 | 2024-01-16 | 南京福亿智能机器人科技有限公司 | Frame for stair climbing device and stair climbing device |
| CN117602259A (en) * | 2023-12-23 | 2024-02-27 | 西安宝光智能电气有限公司 | An intelligent transfer device and working method for busbar installation |
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| US2165617A (en) * | 1936-08-14 | 1939-07-11 | Paes Francisco De Oliveira | Combined vehicle-leveling, turnbanking, and shock-absorbing mechanism for motor vehicles |
| US3642085A (en) * | 1969-09-29 | 1972-02-15 | James M Bird | Vehicle for rough terrain |
| GB1440855A (en) * | 1973-09-28 | 1976-06-30 | Honeywell Inc | Earth working machine |
| US4050704A (en) * | 1975-09-08 | 1977-09-27 | Institutul De Cercetari Si Proiectari De Masini Agricole-Icpma | Device for maintaining an upright position of the body of a harvester-thresher machines |
| GB2022527A (en) * | 1978-06-07 | 1979-12-19 | Bofors Ab | Vehicle stabilizing system |
| US4186815A (en) * | 1977-12-27 | 1980-02-05 | Caterpillar Tractor Co. | Suspension and drive for tandem wheel vehicle |
| GB2051703A (en) * | 1979-06-20 | 1981-01-21 | Stevenson J | Articulated height adjustable vehicle |
| GB2067483A (en) * | 1980-01-12 | 1981-07-30 | Lucas Industries Ltd | Control system for a vehicle hydraulic suspension arrangement |
| EP0100449A1 (en) * | 1982-07-07 | 1984-02-15 | Heinz Kluth | Wheel-chair for invalids |
| US4637621A (en) * | 1985-07-01 | 1987-01-20 | Borg-Warner Corporation | Active shock absorbing system for a vehicle |
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1987
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2165617A (en) * | 1936-08-14 | 1939-07-11 | Paes Francisco De Oliveira | Combined vehicle-leveling, turnbanking, and shock-absorbing mechanism for motor vehicles |
| US3642085A (en) * | 1969-09-29 | 1972-02-15 | James M Bird | Vehicle for rough terrain |
| GB1440855A (en) * | 1973-09-28 | 1976-06-30 | Honeywell Inc | Earth working machine |
| US4050704A (en) * | 1975-09-08 | 1977-09-27 | Institutul De Cercetari Si Proiectari De Masini Agricole-Icpma | Device for maintaining an upright position of the body of a harvester-thresher machines |
| US4186815A (en) * | 1977-12-27 | 1980-02-05 | Caterpillar Tractor Co. | Suspension and drive for tandem wheel vehicle |
| GB2022527A (en) * | 1978-06-07 | 1979-12-19 | Bofors Ab | Vehicle stabilizing system |
| GB2051703A (en) * | 1979-06-20 | 1981-01-21 | Stevenson J | Articulated height adjustable vehicle |
| GB2067483A (en) * | 1980-01-12 | 1981-07-30 | Lucas Industries Ltd | Control system for a vehicle hydraulic suspension arrangement |
| EP0100449A1 (en) * | 1982-07-07 | 1984-02-15 | Heinz Kluth | Wheel-chair for invalids |
| US4637621A (en) * | 1985-07-01 | 1987-01-20 | Borg-Warner Corporation | Active shock absorbing system for a vehicle |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001053137A1 (en) * | 2000-01-17 | 2001-07-26 | Elsteel Danmark A/S | Transport arrangement and method of controlling a transport arrangement |
| US7246671B2 (en) * | 2005-01-10 | 2007-07-24 | Michael Goren | Stair-climbing human transporter |
| US20120175172A1 (en) * | 2011-01-10 | 2012-07-12 | King Fahd University Of Petroleum And Minerals | Stair climbing apparatus |
| US8418787B2 (en) * | 2011-01-10 | 2013-04-16 | King Fahd University Of Petroleum And Minerals | Stair climbing apparatus |
| US20130180787A1 (en) * | 2011-01-10 | 2013-07-18 | King Fahd University Of Petroleum And Minerals | Stair-climbing apparatus |
| US8596388B2 (en) * | 2011-01-10 | 2013-12-03 | King Fahd University Of Petroleum And Minerals | Stair-climbing apparatus |
| US8776917B2 (en) | 2011-01-10 | 2014-07-15 | King Fahd University Of Petroleum And Minerals | Stair-climbing apparatus |
| WO2012110397A1 (en) * | 2011-02-14 | 2012-08-23 | Digital Consult Integral AG | Dolly and use of a dolly |
| US20140326521A1 (en) * | 2011-11-28 | 2014-11-06 | Matia Robotics Mekatronik Sistemler Ar-Ge Mühendi- Slik Yazilim Sanayi Ve Ticaret | Transport device |
| US9629761B2 (en) * | 2011-11-28 | 2017-04-25 | Matia Robotics Mekatronik Sistemler Ar-Ge Muhendislik Yazilim Sanayi Ve Ticaret Anonim Sirketi | Transport device |
| JP2017509565A (en) * | 2013-12-19 | 2017-04-06 | ボロディミール・イワンチェンコＶｏｌｏｄｙｍｙｒ ＩＶＡＮＣＨＥＮＫＯ | Cargo transportation equipment |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| GB2548917A (en) * | 2016-04-01 | 2017-10-04 | Provost Fellows Found Scholars & Other Members Board College Holy & Und | Robot |
| GB2548917B (en) * | 2016-04-01 | 2020-08-05 | Provost Fellows Found Scholars & Other Members Board College Holy & Und | Obstacle crossing robot |
| US11312436B2 (en) | 2016-04-01 | 2022-04-26 | The Provost, Fellows, Foundation Scholars, And The Other Members Of Board, Of Thf College Of The Holy And Undivided Trinity Of Queen Elizabeth, Near Dublin | Obstacle crossing robot |
| WO2017220546A1 (en) * | 2016-06-21 | 2017-12-28 | Kuka Roboter Gmbh | Climbing aid device for a wheel |
| CN106741260A (en) * | 2016-11-30 | 2017-05-31 | 中国人民解放军国防科学技术大学 | Lift barrier-surpassing robot |
| EP3725641A4 (en) * | 2017-12-11 | 2021-12-29 | Newkoadwind.,Co.Ltd | Inclination-adjustable cart apparatus |
| WO2020252759A1 (en) * | 2019-06-21 | 2020-12-24 | 曾昭毅 | Electric wheelchair capable of climbing stairs and method for using same to ascend and descend steps |
| CN113734318A (en) * | 2021-10-12 | 2021-12-03 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
| CN113734318B (en) * | 2021-10-12 | 2022-08-05 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
| CN114569028A (en) * | 2022-04-28 | 2022-06-03 | 南京福亿智能机器人科技有限公司 | Control method, device and equipment for robot climbing stairs and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| GB8705003D0 (en) | 1987-04-08 |
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