CN101247983A - Midwheel drive wheelchair with independent front and rear suspension - Google Patents
Midwheel drive wheelchair with independent front and rear suspension Download PDFInfo
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- CN101247983A CN101247983A CNA2006800300739A CN200680030073A CN101247983A CN 101247983 A CN101247983 A CN 101247983A CN A2006800300739 A CNA2006800300739 A CN A2006800300739A CN 200680030073 A CN200680030073 A CN 200680030073A CN 101247983 A CN101247983 A CN 101247983A
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Abstract
A wheelchair includes a frame, and a front pivot arm pivotally mounted to the frame at a front pivot point, the front pivot arm having a caster for supporting the frame. A rear pivot arm is pivotally mounted to the frame at a rear pivot point, the rear pivot arm having a caster for supporting the frame. A ground engaging mid- wheel drive wheel is connected to the frame. A linkage connects the front and rear pivot arms to each other in a manner such that an upward or downward rotation of one of the pivot arms about its pivot point causes rotation of the other pivot arm about its pivot point in an opposite rotational direction.
Description
Contriver: Mark A.Jackson, John J.Tarter, Mark E.Greig, Rex W.Stevens, James M.Koerlin, Samuel D.Traxinger, Daniel Z.Zhou and Allen B.Killebrew
Related application
The application requires the preceence of following application: the U.S. Provisional Patent Application No.60/709 of " the MIDWHEEL DRIVE WHEELCHAIR WITH INDEPENDENT FRONTAND REAR SUSPENSION " by name that submitted on August 18th, 2005,307, with the U.S. Provisional Patent Application No.60/799 of " the MIDWHEEL DRIVE WHEELCHAIR WITHINDEPENDENT FRONT AND REAR SUSPENSION " by name that submitted to May 11 in 2006,529.
Technical field
The present invention relates to be used for for example suspension system of the personnel movement vehicle of wheelchair.
Background technology
Motorized wheelchair typically comprises two actuators that have the horizontal axis alignment along normal direction in working direction of drive wheel.Actuator is attached to framed structure.Typically, also support frame of single or multiple idle pulleys or castor.Seat also is attached to framework.The propulsion source that typically is battery is supplied with the electric energy that is used to drive actuator.Battery typically is positioned at framework.
The design of some motorized wheelchairs has the drive wheel of heart location in the longitudinal axis of moving wheels chair.Center wheel drive power wheelchair or centre-driven wheelchair during such wheelchair is called.The wheelchair of centre-driven is favourable for the occupant, because have the motorized wheelchair of front-wheel or rear wheel drive system to compare with design, the wheelchair of centre-driven has better road-holding property.Such wheelchair stable requires to use the enhanced system of castor for example or idle pulley usually.Stablize castor or idle pulley and on direction forward or backward, prevent undesirable overturning of moving wheels chair pitch axis.On the wheelchair of centre-driven, these castors or idle pulley are typically at the place ahead and the rear of drive wheel.If advantageously can develop improved middle center wheel drive power wheelchair, then wheelchair can be handled and can the upper and lower obstacle that runs into usually in driving.
Summary of the invention
Wheelchair comprises framework and is pivotally mounted to the preceding pivotal arm of framework at the front fulcrum place that this preceding pivotal arm has the support frame of being used for caster wheel.Back pivotal arm is pivotally mounted to framework at the rear fulcrum place, and this back pivotal arm has the support frame of being used for caster wheel.The middle mid-wheel drive wheel of ground-engaging is connected to framework.Connecting rod mechanism interconnects preceding pivotal arm and back pivotal arm, and ways of connecting makes one the rotation up or down around its fulcrum of pivotal arm cause another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.
According to the present invention, a kind of wheelchair also is provided, have framework, be connected to framework ground-engaging middle mid-wheel drive wheel and be pivotally mounted to the preceding pivotal arm of framework at the front fulcrum place, should have the support frame of being used for caster wheel by preceding pivotal arm, this preceding pivotal arm is independent of drive wheel.Back pivotal arm is pivotally mounted to framework at the rear fulcrum place, and this back pivotal arm has the support frame of being used for caster wheel, and this back pivotal arm is independent of drive wheel.Connecting rod mechanism interconnects preceding pivotal arm and back pivotal arm, and ways of connecting makes one the rotation up or down around its fulcrum of pivotal arm cause another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.
According to the present invention, a kind of wheelchair also is provided, have framework, be pivotally mounted at the front fulcrum place that having of framework is used for the preceding pivotal arm of support frame caster wheel and be pivotally mounted to the back pivotal arm that having of framework is used for the support frame caster wheel at the rear fulcrum place.The middle mid-wheel drive wheel of ground-engaging is connected to framework.Preceding pivotal arm and back pivotal arm are designed to make that one the rotation up or down around its fulcrum of pivotal arm causes another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.
Multiple purpose of the present invention and advantage will be obvious when reading in conjunction with the accompanying drawings to persons skilled in the art from following detailed description of the preferred embodiment.
Description of drawings
Fig. 1 is the lateral plan of middle center wheel drive power wheelchair.
Fig. 2 is the lateral plan of base portion of the wheelchair of Fig. 1, wherein is clear of having removed drive wheel.
Fig. 3 is the birds-eye view of the base portion of Fig. 2.
Fig. 4 is the lateral plan of the suspension of wheelchair.
Fig. 5 is the decomposition view of the suspension of wheelchair.
Fig. 6 is the lateral plan of suspension when wheelchair obstacle negotiation thing.
Fig. 7 is the lateral plan of the cross-over beam structure of wheelchair suspension.
Fig. 8 is the decomposition view of the suspension of Fig. 7.
Fig. 9 is the lateral plan of the suspension of claim 7 when wheelchair obstacle negotiation thing.
Figure 10 is the lateral plan of the electronic structure of wheelchair suspension.
Figure 11 is the decomposition view of the suspension of Figure 10.
Figure 12 is the lateral plan of the suspension of claim 10 when wheelchair obstacle negotiation thing.
Figure 13 is the lateral plan of the gear linkage configuration of wheelchair suspension.
Figure 14 is the decomposition view of the suspension of Figure 13.
Figure 15 is the lateral plan of the suspension of claim 13 when wheelchair obstacle negotiation thing.
Figure 16 is the lateral plan of the rotating member structure of wheelchair suspension.
Figure 17 is the decomposition view of the suspension of Figure 16.
Figure 18 is the lateral plan of the suspension of claim 16 when wheelchair obstacle negotiation thing.
Figure 19 is the lateral plan of the elongated link configuration of wheelchair suspension.
Figure 20 is the decomposition view of the suspension of Figure 19.
Figure 21 is the lateral plan of the suspension of claim 19 when wheelchair obstacle negotiation thing.
Figure 22 is the lateral plan of the third connecting rod mechanism structure of wheelchair suspension.
Figure 23 is the decomposition view of the suspension of Figure 22.
Figure 24 is the lateral plan of the suspension of claim 22 when wheelchair obstacle negotiation thing.
Figure 25 is the lateral plan of link configuration at the one-tenth angle of wheelchair suspension.
Figure 26 is the decomposition view of the suspension of Figure 25.
Figure 27 is the lateral plan of the suspension of claim 25 when wheelchair obstacle negotiation thing.
The specific embodiment
Be designed to have the middle center wheel drive power wheelchair 6 of suspension 8 shown in Fig. 1 to Fig. 3.Wheelchair 6 comprises base portion 9 and has supported the framework 10 of two center drive 14 that this center drive 14 is installed and is used to rotate and the alignment of the horizontal axis along normal direction in front/rear travel direction and two actuators 12 that are used to drive center drive 14.Framework 10 supports the seat 16 that is used for wheelchair occupant.On every side of wheelchair, preceding pivotal arm 20 is pivotally mounted to framework 10 at front fulcrum 22 places.Preceding pivotal arm 20 comprises that front truckle 18 is with support frame 10.On every side of wheelchair, back pivotal arm 24 is pivotally mounted to framework 10 at rear fulcrum 30 places, as shown in Figure 2.Back pivotal arm 24 comprises that rear truckle 26 is with support frame.The present embodiment of middle center wheel drive power wheelchair is as comprising front truckle 18 and rear truckle 26 shown in Fig. 1 to Fig. 6.Yet, be understood that term " castor " comprises castor, idle pulley and anti-tip the wheel.Drive wheel 14 can be installed from framework 10 by unshowned pivotal arm, but such pivotal arm is selectable.
As shown in Fig. 2 to Fig. 6, pivotal arm 20 comprises the preceding linking point 34 that is positioned at front fulcrum 22 the place aheads before each.Back pivotal arm 24 comprises the back linking point 36 that is positioned at rear fulcrum 30 the place aheads.As seen, when current pivotal arm 20 upwards pivoted on front fulcrum 22 with respect to framework 10, preceding linking point 34 moved up and front truckle 18 rises.Similarly, when back pivotal arm 24 pivoted on rear fulcrum 30 with respect to framework 10, back linking point 36 moved down and rear truckle rises.
Middle center wheel drive power wheelchair suspension 8 comprises the connection connecting rod mechanism 28 that the preceding pivotal arm 20 at preceding linking point 34 places is connected to the back pivotal arm 24 at linking point 36 places, back.Though at the connection connecting rod mechanism shown in Fig. 2 to Fig. 6 28 is straight member, be understood that connecting connecting rod mechanism 28 can be any device that will be connected to the back pivotal arm 24 at linking point 36 places, back at the preceding pivotal arm 20 at preceding linking point 34 places.Connecting connecting rod mechanism 28 is designed to make pivotal arm 22 or 24 one to cause another pivotal arm around the rotation of its fulcrum in opposite direction around moving up and down of its corresponding fulcrum 22 or 30.Therefore, during the left side of the wheelchair that goes out when observation is as depicted in the figures, if front truckle 18 rises, then preceding pivotal arm 20 rotates cw around its fulcrum 22.This will cause back pivotal arm 24 to rotate in a counter-clockwise direction mobile corresponding moving around its fulcrum 30.The left-hand revolution of back pivotal arm 24 causes rear truckle to rise from ground.In a word, connect connecting rod mechanism 28 preceding pivotal arm 20 and back pivotal arm 24 are interconnected, connection mode makes a rotation up or down around its fulcrum of pivotal arm cause another pivotal arm around the rotation of its fulcrum in opposite direction.Another result of suspension 8 is that rear truckle 26 also rises when front truckle 18 rises.
Before pivotal arm and back pivotal arm be configured such that before the angle that the makes progress rotation of pivotal arm the ratio of the angle that makes progress the accordingly rotation of back pivotal arm is roughly 1: 1.In other embodiment, the rotation of the angle of preceding pivotal arm is different from 1: 1 with the ratio of the corresponding angle rotation of back pivotal arm.For example, ratio can be greater than 1: 1, and the angle rotation that makes 30 of forearm 20 spend causes the angles rotation of 20 degree of postbrachium 24.
Connect connecting rod mechanism 28 and can be provided with groove 29 to meet the structure of propping up point device at fulcrum 22 places, as shown in fig. 5.
The optional characteristic of suspension 8 is to use elastic component 32, and as shown in Figure 2, this elastic component 32 is connected to maintenance or promotes suspension 8 in the position of hope or to the position of wishing.In certain embodiments of the present invention, elastic component is to connect connecting rod mechanism 28 and preceding pivotal arm 20 are connected to framework 10 at preceding linking point 34 places spring 32.Spring 32 promotes to connect connecting rod mechanism 28 and preceding pivotal arm 20 to framework 10, and therefore the original position or the neutral position of suspension 8 are provided.When a plurality of members pivot of suspension 8, spring 32 elongations (or compression), the into neutral position of thus suspension being setovered.One end of spring 32 is connected at preceding linking point 34 places in front fulcrum 22 the place aheads and connects connecting rod mechanism 28 and preceding pivotal arm 20, and the other end is put 38 places at the framework spring and is connected to framework 10.Elastic component 32 provides linkage 28 and preceding pivotal arm 20 resistance that moves with respect to framework 10.Be understood that elastic component 32 can be any to connecting connecting rod mechanism 28 and the preceding pivotal arm 20 mobile device that resistance or bias force are provided with respect to framework 10.Elastic component 32 need not put 38 places at front spring and be connected to framework 10, but can be connected to other members with connecting connecting rod mechanism 28 and preceding pivotal arm 20.Equally, spring can be separately connected to and connect connecting rod mechanism or be separately connected to preceding pivotal arm 20.
The decomposition view of center wheel drive power wheelchair suspension 8 in figure 5 illustrates.Preceding pivotal arm 20 comprises the preceding pivotal arm leading portion 40 that is positioned at front fulcrum 22 the place aheads.Back pivotal arm 24 comprises back pivotal arm leading portion 42 that is positioned at rear fulcrum 30 the place aheads and the back rear pivot arm rearward segment 44 that is positioned at rear fulcrum 30 rears.
As shown in Figure 4, front truckle 18, rear truckle 26 and center drive 14 all contact with ground usually consistently.Yet, should be appreciated that under normal circumstances, for the operation of this suspension system does not require front truckle 18 and rear truckle 26 and ground-surface uninterrupted contact.
In alternate embodiments, front fulcrum 22 and rear fulcrum 30 are positioned at the profile or the envelope 39 of center drive 14, as shown in Figure 4, to allow fulcrum as far as possible near ground.Envelope is the zone corresponding to the profile of drive wheel.Advantageously make the fulcrum of link arm be positioned at the envelope of center drive 14, this is to guarantee simultaneously because this will minimize the ground clearance problem to work and upwards rise front truckle by touching power that obstacle generates.
With reference now to Fig. 6,, with the ability of center wheel drive power wheelchair 6 obstacle negotiation things in describing.In the middle of center wheel drive power wheelchair 6 when running into obstacle 46, front truckle 18 contact obstacles 46, and at leading edge 48 places of front truckle since wheelchair 6 upward to momentum caused power F
FcPower F
FcCause front truckle 18 to move up.Moving up of front truckle causes preceding pivotal arm 20 rotating up around front fulcrum 22.When current pivotal arm 20 pivots around front fulcrum 22 (cw, as shown in fig. 6), linking point 34 rotated in the clockwise direction before preceding pivotal arm 20 caused.When current link point 34 pivoted in the clockwise direction, the connection connecting rod mechanism 28 of pivotal arm 20 also moved in the dextrorotation veer before preceding linking point 34 places are connected to.The rotation of connection connecting rod mechanism 28 is moved and is subjected to stopping of elastic component 32.When connection connecting rod mechanism 28 was mobile in the clockwise direction, back linking point 36 moved down.When connecting that connecting rod mechanism 28 moves in the clockwise direction and back linking point 36 when moving down, impel connected back pivotal arm 24 around rear fulcrum 30 rotations (shown in Figure 6 be left-hand revolution).Back pivotal arm 24 causes rotating up of back rear pivot arm rearward segment 44 around the left-hand revolution of rear fulcrum 30.Back rear pivot arm rearward segment 44 rotate up the rising that causes rear truckle 26.
Sum up the action of center drive power wheelchair suspension 8, the power on front truckle 18 or rear truckle 26 causes the rotation of this castor rising and each pivotal arm.Pivotal arm causes connecting moving of connecting rod mechanism 28 around the rotation of its fulcrum, this connection connecting rod mechanism 28 interconnects preceding pivotal arm 20 and back pivotal arm 24, and ways of connecting makes a rotation up or down around its fulcrum of pivotal arm cause another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.This action causes front truckle 18 and rear truckle 26 to rise, and causes center drive 14 to be kept with ground-surface thus and contacts.Though Fig. 6 described middle center wheel drive power wheelchair 6 overcome forwards in the ability of obstacle 46, middle center wheel drive power wheelchair 6 has the ability that overcomes at obstacle negotiation thing 46 forward or in the direction successively.
Among the embodiment that in Fig. 1 to Fig. 6, discloses, connect connecting rod mechanism 28 and be depicted as straight member.Yet, connect connecting rod mechanism 28 and can be designed as multiple other shape.As will be explained hereinafter, the heteroid example that connects connecting rod mechanism 28 comprise cross-over beam, elongate members, geared linkage mechanism, by band or chain bonded assembly rotating parts, the cross-over beam that has third connecting rod mechanism, electronic system, hydraulic efficiency pressure system, pneumatic system, angular member or any equivalent arrangements.
As seen, when wheelchair runs into bold relief, this place's drive wheel 14 process above depression or low spot, the rise of front-wheel 18 and trailing wheel 26 will be kept drive wheel 14 and contact with ground-surface.Also appreciiable is any suspension that front truckle 18 and rear truckle 26 and their pivotal arms 20 and 24 separately are independent of drive wheel 14 and drive wheel.
In another embodiment of middle center wheel drive power wheelchair suspension, as shown in Fig. 7 to Fig. 9, suspension 8A is designed to have the form of cross-over beam linkage.In this embodiment, suspension 8A comprises preceding cross-over beam 120, and this preceding cross-over beam 120 comprises first cotter way 150 and pivots around front fulcrum 122.Suspension 8A also comprises back cross-over beam 124, and this back cross-over beam 124 comprises second cotter way 152 and pivots around rear fulcrum 130.Preceding cross-over beam 120 and back cross-over beam 124 interconnect by connecting pin 154, and this connecting pin 154 extends in first cotter way 150 and second cotter way 152.Before cross-over beam 120 and back cross-over beam 124 pass through be designed to being connected of connecting pin 154 to make cross-over beam 120 or 124 one around its separately fulcrum 122 or 130 rotate up or down cause another cross-over beam around its fulcrum along of the rotation of opposite hand of rotation around its fulcrum.Therefore, if front truckle 18 rises, for example by rising with the collision of obstacle 46, then when as depicted in the figures when observing in the wheelchair left side, preceding cross-over beam 120 will be in the clockwise direction around its fulcrum 122 pivots.This will cause back cross-over beam 124 in the corresponding mobile of left-hand revolution direction around its fulcrum 130.The left-hand revolution of back cross-over beam 124 causes rear truckle 26 from raked floor.Pin 154 can be any being suitable for groove 150,152 to be connected together to allow pivotally bonded assembly mechanism of beam 120 and 124 difference.For describing easily, similarly the part numeral will be used to describe similar part in various embodiments.
In another embodiment of middle center wheel drive power wheelchair suspension, as shown in Figure 10 to Figure 12, suspension 8B has electronic linkage configuration.In this embodiment, suspension 8B comprises being installed as and is used for the preceding pivotal arm 220 that pivots around front fulcrum 222 with respect to framework 10.Preceding pivotal arm 220 comprises point of connection 274.Suspension 8B also comprises being installed as and is used for respect to the preceding pivotal arm 224 of framework 10 around rear fulcrum 230 pivots.Back pivotal arm 224 comprises back point of connection 276.Preceding pivotal arm 220 and back pivotal arm 224 interconnect at preceding point of connection 274 and point of connection 276 places, back respectively by electronic linkage 228.Electronic linkage 228 is designed to a rotation up or down around its each fulcrum 222 or 230 of sensing pivotal arm 220 or 224, and causes another pivotal arm around the rotation of its fulcrum along opposite hand of rotation subsequently.Therefore, if front truckle 18 rises, for example rise owing to running into obstacle 46, then preceding pivotal arm 220 will pivot in the clockwise direction.The rotation around its fulcrum 222 is like this sensed by electronic linkage 228 and electronic linkage 228 will cause back pivotal arm 224 in the corresponding mobile of left-hand revolution direction around its fulcrum 230.The left-hand revolution of pivotal arm 224 causes rear truckle 26 from raked floor.Electronic linkage can be sensing point of connection 274 backward move down or point of connection 276 forward or the mechanism of downward motion.Electronic linkage 228 can be between arm 220 and arm 224 suspension freely.Alternatively, electronic linkage 228 can be connected to framework 10 in any suitable manner.Connection between arm 220,224 and the electronic linkage can be pure electronics, incline level or other similar equipment can be merged in the system existing with one pivoting action passing on arm 220,224 in this case.
Other mechanisms can be used for one motion or rotation of sensing arm 220 and 224, and cause another pivot of arm.Though be described as electronic linkage at the connecting rod mechanism shown in Figure 10 to Figure 12 228, but be understood that connecting rod mechanism 228 can be the device that the rotation of another pivotal arm 220 or 224 was moved and caused subsequently in one rotation of any sensing pivotal arm 220 or 224, this device comprises hydraulic efficiency pressure system or pneumatic system.For example, system can comprise that another arm provides the contrarotation pivoting action that causes by the motor action simultaneously by the screw actuator of one pivot activation of arm 220,224.Selectively, electronic linkage 228 comprises unshowned elastic component, suspension 8B remained on the position of hope or to impel it to arrive the position of hope.Equally, electronic linkage 228 self can be as elastic component with the position that suspension 8B remained on hope or or impel it to arrive the position of hope.Be understood that to use and comprise and any suspension 8B is remained on the position of hope or or impels its elastic component that separates to the device of the position of hope.
In another embodiment of middle center wheel drive power wheelchair suspension, as shown in Figure 13 to Figure 15, suspension 8C comprises geared linkage mechanism.In the present embodiment, suspension 8C comprises preceding pivotal arm 320, and this preceding pivotal arm 320 comprises preceding tooth bar 364, and should pivot around front fulcrum 322 by preceding pivotal arm 320.Suspension 8C also comprises the back pivotal arm 324 that contains back tooth bar 366, and this back pivotal arm 324 pivots around rear fulcrum 330.When current tooth bar 364 and back tooth bar 366 meshed at tooth bar point of crossing 368 places, preceding pivotal arm 320 and back pivotal arm 324 interconnected.Before tooth bar 364 and afterwards tooth bar 366 be designed to being connected of tooth bar point of crossing place to make pivotal arm 320 or 324 one around its separately fulcrum 322 or 330 rotation up or down cause another pivotal arm around of the rotation of its fulcrum along opposite hand of rotation.Therefore, if front truckle 18 rises, for example rise owing to running into obstacle 46, then when observing the left side of wheelchair as depicted in the figures, preceding pivotal arm 320 will pivot around its fulcrum 322 in a clockwise direction.This will cause back pivotal arm 324 with the corresponding mobile of left-hand revolution direction around its fulcrum 330.The left-hand revolution of back pivotal arm 324 causes rear truckle 26 from raked floor.The optional characteristic of suspension 8C is to use elastic component 332, this elastic component 332 spring put 337 places be connected to before pivotal arm 320 and put 338 places at the framework spring and be connected to framework 10.Elastic component 332 is designed to suspension 8C is remained on hope or neutral position or impels it to arrive hope or neutral position.Though at the elastic component shown in Figure 13 to Figure 15 332 are springs, be understood that elastic component 332 can be any suspension 8C is remained on the position of hope or or impels it to arrive the device of the position of hope.Be understood that the gear mechanism that has tooth bar 364,366 can be any mechanism of rotating or pivoting in response to the pivot of another arm that is suitable for causing arm 320,324.
As shown in Figure 16 to Figure 18, the suspension 8D that is used for center wheel drive power wheelchair can design band, chain or other power transmission members and link together with rotation or pivot with suspension member.In this embodiment, suspension 8D comprises front pivot arm 420, this front pivot arm 420 comprise or be connected to before belt wheel 470.Preceding pivotal arm is pivotably mounted on front fulcrum 422 places and is used for pivoting with respect to framework.Suspension 8D also comprises back pivotal arm 424, and this back pivotal arm 424 comprises back belt wheel 472.Back pivotal arm 424 is installed as and is used for pivoting around rear fulcrum 430 with respect to framework 10.Preceding pivotal arm 420 and back pivotal arm 424 are by being with 428 to interconnect, and this is with 428 to engage preceding belt wheel 470 and back belt wheel 472.Before belt wheel 470 and afterwards belt wheel 472 by with 428 be connected be designed to make pivotal arm 420 or 424 one around its separately fulcrum 422 or 430 rotation up or down cause another pivotal arm around of the rotation of its fulcrum along opposite hand of rotation.Therefore, if front truckle 18 rises, rise if for example run into obstacle 46, then when observing wheelchair left side as shown in the figures, preceding pivotal arm 420 will pivot around its fulcrum 422 in a clockwise direction, and cause the corresponding mobile of back pivotal arm 424 to move around its fulcrum 430 left-hand revolutions.The left-hand revolution of back pivotal arm 424 causes rear truckle 26 from raked floor.Though suspension 8D be depicted as design be with 428 with preceding belt wheel 470 is connected with back belt wheel 472, is understood that can use chain for example or rope any driving device will be rotated in transmission back and forth between belt wheel 470 and 472.
The selectional feature of suspension 8D has been to use elastic component 432, and this elastic component 432 is connected between suspension 8D and the framework 10.For example the elastic component of spring 432 spring put 437 places be connected to before pivotal arm 420, and put 438 places at the framework spring and be connected to framework 10.Spring 432 is designed to suspension 8D is remained on the position of hope or impels it to arrive the position of hope.Be understood that spring 432 can be suspension 8D can be remained on the position of hope or impel any device of its position of arriving hope, for example elastic component or elastic webbing.
Though illustrate the pivotal arm 420 and 424 that pivots respectively at the suspension 8D shown in Figure 16 to Figure 18 on fulcrum 422 and 430, arm can alternatively be set at the fulcrum 422A of the center that is positioned at belt wheel 470,472 and 430A place and pivot.
In another suspension of middle center wheel drive power wheelchair, as shown in Figure 19 to Figure 21, suspension 8E comprises the connecting rod mechanism with slender member form.In this embodiment, suspension 8E comprises preceding pivotal arm 520, and this preceding pivotal arm 520 comprises first cotter way 550.Preceding pivotal arm 520 pivots around front fulcrum 522.Suspension 8E also comprises back pivotal arm 524, and this back pivotal arm 524 comprises second cotter way 522 and pivots around back pivotal pin 530.Preceding pivotal arm 520 and back pivotal arm 524 interconnect by slender member 556.Slender member 556 is rotatably installed in front fulcrum 522 and rear fulcrum 530 places.Pivotal arm 520 before slender member 556 also is connected to by first link pins 554, first cotter way 550 before this first link pins 554 extends through in the pivotal arm 520, and by the preceding groove 558 in the slender member 556.Similarly, slender member 556 is connected to back pivotal arm 524 by second link pins 555, and this second link pins 555 extends through second cotter way 552 in the back pivotal arm 524, and by the pit 560 in the slender member 556.
Slender member 556 is flexible members.Slender member 556 by link pins 554 with 555 to preceding pivotal arm 520 be designed to make to being connected of back pivotal arm 524 pivotal arm 520 or 524 one around its separately fulcrum 522 or 530 rotation up or down cause moving or displacement of slender member 556, this causes another pivotal arm around the rotation of its fulcrum along opposite hand of rotation again.Slender member 556 move or displacement can be the bending that the torque that applied owing to moving up of forearm 520 or postbrachium 524 or bending force cause.Therefore, for example shown in Figure 21 if front truckle 18 rises, wherein run into obstacle 46 and rise when wheelchair 6, then when observing the left side of wheelchair as shown in the figures before pivotal arm 520 will be in a clockwise direction around its fulcrum 522 pivots.This causes being bent downwardly of slender member or rotates, and causes back pivotal arm 524 to move corresponding mobile around its fulcrum 530 with left-hand revolution.The left-hand revolution of back pivotal arm 524 causes rear truckle 26 from raked floor.In this embodiment of the present invention, slender member 556 is connected preceding pivotal arm 520 with back pivotal arm 524, also in suspension 8E by stopping motion and system is turned back to neutral position and working as elastic component when its when bending.
As shown in Figure 22 to Figure 24, middle center wheel drive power wheelchair suspension 8F comprises and has that elasticity connects and the cross-over beam linkage of the third connecting rod mechanism selected.In this embodiment, suspension 8F comprises the preceding cross-over beam 620 that pivots around front fulcrum 622.Suspension 8F also comprises the back cross-over beam 624 that pivots around rear fulcrum 630.Preceding cross-over beam 620 and back cross-over beam 624 are optionally interconnected by third connecting rod mechanism 628.Preceding cross-over beam 620 comprises elongated groove 640, and the back cross-over beam comprises the groove 642 of respective elongated.Third connecting rod mechanism 628 also comprises elongated groove 644.When current cross-over beam 620 and back cross-over beam 624 were assembled with third connecting rod mechanism 628, elongated groove 640,642 and 644 all alignd and remains in the bonded assembly structure by link pins 648.
Before cross-over beam 620 and afterwards cross-over beam 624 pass through be designed to being connected of third connecting rod mechanism 628 to make cross-over beam 620 or 624 one around its separately fulcrum 622 or 630 rotation up or down cause another cross-over beam around of the rotation of its fulcrum along opposite hand of rotation.Therefore, if front truckle 18 rises, as with obstacle 46 collision the time and situation about rising, then when observing the left side of wheelchair as shown in the figures, preceding cross-over beam 620 will pivot around its fulcrum 622 in a clockwise direction, and cause the corresponding mobile of back cross-over beam 624 to move around its fulcrum 630 left-hand revolutions.The left-hand revolution of back cross-over beam 624 causes rear truckle 26 from raked floor.
In the alternative constructions of suspension 8F, for example the elastic component of elastic webbing 632 can be around preceding cross-over beam 620 and back cross-over beam 624 location, to hold them in together and to impel them to enter neutral position.When using elastic webbing or other elastic components, do not need optionally third connecting rod mechanism.
As Figure 25 to another suspension structure shown in Figure 27, suspension 8G comprises curved member linkage.In this structure, suspension 8G comprises preceding pivotal arm 720, and this preceding pivotal arm 720 comprises preceding linking point 734, and simultaneously preceding pivotal arm 720 is designed to pivot around front fulcrum 722.Suspension 8G also comprises back pivotal arm 724, and this back pivotal arm 724 comprises back link leg 746.Back pivotal arm is installed as around rear fulcrum 730 and pivots.Preceding pivotal arm 720 interconnects by being connected connecting rod mechanism 728 with back pivotal arm 724.Connect connecting rod mechanism 728 pivotal arm 720 before preceding linking point 734 places are connected to, and be connected to back pivotal arm 724 at link leg 746 places, back.Before pivotal arm 720, back pivotal arm 724 and the connection that is connected connecting rod mechanism 728 be designed to make pivotal arm 720 or 724 one around its separately fulcrum 722 or 730 rotation up or down cause another pivotal arm around of the rotation of its fulcrum along opposite hand of rotation.Therefore, if front truckle 18 rises, then when observing wheelchair left side as shown in the figures, preceding pivotal arm 720 will pivot around its fulcrum 722 in a clockwise direction.The corresponding mobile that this will cause back pivotal arm 724 to move with the left-hand revolution around its fulcrum 730.The left-hand revolution of back pivotal arm 724 causes rear truckle 26 from raked floor.
Go out as shown, connecting connecting rod mechanism 724 is crooked members.Yet transom 724 can be that preceding pivotal arm 720 is connected to back pivotal arm 724 and the rotation of a pivotal arm can be moved Any shape or the form that the opposite rotation that is delivered to another pivotal arm is moved.The optional characteristic of suspension 8G is to use elastic component 732, and this elastic component 732 is connected to the preceding pivotal arm 720 of putting 738 places at spring at one end, and is connected to framework 10 at other end place.In this embodiment, elastic component 732 is to be designed to suspension 8G is remained on the position of hope or impels its spring that arrives the position of hope, but is understood that elastic component 732 can be that suspension 8G is remained on the position of hope or impels any device of its position of arriving hope.
Though multiple suspension structure, is understood that in fact suspension comprises left suspension and right suspension in the above left side that only illustrates suspension.Equally, the selectional feature of above-described any suspension is to use and is designed to suspension is remained on the position of hope or impels it to arrive the elastic component of the position of hope.Elastic component can be spring, elastic webbing or any suspension 8 is remained on the position of hope or impels it to arrive the device of the position of hope.
Be understood that term " castor " comprises idle pulley and castor.Equally, usually, the middle mid-wheel drive wheel that is positioned at wheelchair and occupant's roughly center of gravity below can be positioned at any place between front truckle 18 and the rear truckle 26.Further, though disclosed suspension system designs when making that current pivotal arm 20 rises after pivotal arm 24 also rises, suspension 8 can be designed as opposite mode, wherein when forearm 20 rises, back pivotal arm reduces with respect to framework.Therefore equally, suspension 8 can be designed in such a way that the back pivotal arm can separate and be not mounted in response to the pivot of preceding pivotal arm and pivots.In another structure, connect connecting rod mechanism 28 and be designed to adjustable way, make and can easily in suspension 8, regulate.Adjustment feature can comprise that telescopic construction, angle change structure or any other allows the structure of controllability.Equally, though suspension 8 is described according to the preceding pivotal arm 20 that has front truckle 18, the back pivotal arm 24 and the drive wheel that have a rear truckle 26, but use the such suspension on the every side (left side and right side) to be included in wheelchair the typical case on the wheelchair, make to have a pair of preceding pivotal arm 20 of front truckle 18, a pair of back pivotal arm 24 and the pair of driving wheels that has rear truckle 26 of having.
The principle of operation of the present invention and pattern are described in its preferred embodiment.But it should be noted the present invention can be different from as illustrate especially and describe and implement, and do not depart from scope of the present invention.
Claims (18)
1. wheelchair comprises:
Framework;
Be pivotally mounted to the preceding pivotal arm of described framework at the front fulcrum place, described before pivotal arm have and be used to support described framework caster wheel;
Be pivotally mounted to the back pivotal arm of described framework at the rear fulcrum place, described back pivotal arm has and is used to support described framework caster wheel;
Be connected to the middle mid-wheel drive wheel of the ground-engaging of described framework; With
Connecting rod mechanism, this connecting rod mechanism interconnects pivotal arm before described and back pivotal arm, makes a rotation up or down around its fulcrum of described pivotal arm cause another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.
2. wheelchair according to claim 1, wherein said connecting rod mechanism is a cross-over beam linkage.
3. wheelchair according to claim 1, wherein said connecting rod mechanism are the slender member connecting rod mechanisms.
4. wheelchair according to claim 1, wherein said connecting rod mechanism is a geared linkage mechanism.
5. wheelchair according to claim 1, wherein said connecting rod mechanism is made up of rotating parts, and described rotating parts is connected by transmission device.
6. wheelchair according to claim 5, wherein said connecting rod mechanism is concentric with described front fulcrum.
7. wheelchair according to claim 5, wherein said connecting rod mechanism is concentric with described rear fulcrum.
8. wheelchair according to claim 1, wherein said connecting rod mechanism comprise the elastic component that impels described preceding pivotal arm and back pivotal arm to enter neutral position.
9. wheelchair according to claim 1, wherein said connecting rod mechanism is an electronic system.
10. wheelchair according to claim 1, wherein said connecting rod mechanism are hydraulic efficiency pressure system or pneumatic system.
11. wheelchair according to claim 1, wherein said connecting rod mechanism is an angular member.
12. wheelchair according to claim 1 comprises elastic component, with to mobile the provide resistance of described connecting rod mechanism with respect to described framework.
13. wheelchair according to claim 1, wherein said before pivotal arm and back pivotal arm be configured such that described before the upwards angle rotation of pivotal arm to the ratio of the corresponding upwards angle rotation of described back pivotal arm greater than 1: 1.
14. wheelchair according to claim 1, wherein said connecting rod mechanism and pivotal arm are independent of described drive wheel.
15. wheelchair according to claim 1, wherein front fulcrum and rear fulcrum are positioned in the envelope of middle mid-wheel drive wheel of described ground-engaging, and wherein said envelope is the zone corresponding to the profile of described drive wheel.
16. wheelchair according to claim 1, wherein said connecting rod mechanism is a flexible member.
17. a wheelchair comprises:
Framework;
Be connected to the middle mid-wheel drive wheel of the ground-engaging of described framework;
Be pivotally mounted to the preceding pivotal arm of described framework at the front fulcrum place, described before pivotal arm have and be used to support described framework caster wheel, described before pivotal arm be independent of described drive wheel;
Be pivotally mounted to the back pivotal arm of described framework at the rear fulcrum place, described back pivotal arm has and is used to support described framework caster wheel, and described back pivotal arm is independent of described drive wheel; With
Connecting rod mechanism, this connecting rod mechanism interconnects pivotal arm before described and back pivotal arm, makes a rotation up or down around its fulcrum of described pivotal arm cause another pivotal arm around the rotation of its fulcrum along opposite hand of rotation.
18. a wheelchair comprises:
Framework;
Be pivotally mounted to the preceding pivotal arm of described framework at the front fulcrum place, described before pivotal arm have and be used to support described framework caster wheel;
Be pivotally mounted to the back pivotal arm of described framework at the rear fulcrum place, described back pivotal arm has and is used to support described framework caster wheel; With
Be connected to the middle mid-wheel drive wheel of the ground-engaging of described framework;
Pivotal arm and back pivotal arm are configured such that a rotation up or down around its fulcrum of described pivotal arm causes another pivotal arm around the rotation of its fulcrum along opposite hand of rotation before wherein said.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US70930705P | 2005-08-18 | 2005-08-18 | |
| US60/709,307 | 2005-08-18 | ||
| US60/799,529 | 2006-05-11 | ||
| US11/504,968 | 2006-08-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101247983A true CN101247983A (en) | 2008-08-20 |
Family
ID=39947882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006800300739A Pending CN101247983A (en) | 2005-08-18 | 2006-08-17 | Midwheel drive wheelchair with independent front and rear suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101247983A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103068352A (en) * | 2010-07-15 | 2013-04-24 | 佩尔莫比尔公司 | Electric mid-wheel drive wheelchair |
| CN110505859A (en) * | 2017-01-31 | 2019-11-26 | 佩尔莫比尔公司 | Swing arm component for mid-wheel drive wheelchair |
| CN108210190B (en) * | 2016-12-14 | 2020-04-24 | 程政群 | Shift car and carrier thereof |
| CN113086051A (en) * | 2021-04-30 | 2021-07-09 | 深圳市普渡科技有限公司 | Suspension device, chassis with same and robot |
| CN113347873A (en) * | 2018-11-27 | 2021-09-03 | 智能农业公司 | Agricultural working vehicle |
-
2006
- 2006-08-17 CN CNA2006800300739A patent/CN101247983A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103068352A (en) * | 2010-07-15 | 2013-04-24 | 佩尔莫比尔公司 | Electric mid-wheel drive wheelchair |
| CN103068352B (en) * | 2010-07-15 | 2016-01-20 | 佩尔莫比尔公司 | Electric mid-wheel drive wheelchair |
| US9320661B2 (en) | 2010-07-15 | 2016-04-26 | Permobil Ab | Electric mid-wheel drive wheelchair |
| CN108210190B (en) * | 2016-12-14 | 2020-04-24 | 程政群 | Shift car and carrier thereof |
| CN110505859A (en) * | 2017-01-31 | 2019-11-26 | 佩尔莫比尔公司 | Swing arm component for mid-wheel drive wheelchair |
| CN110505859B (en) * | 2017-01-31 | 2021-09-24 | 佩尔莫比尔公司 | Swing arm assembly for a mid-wheel drive wheelchair and mid-wheel drive wheelchair |
| CN113347873A (en) * | 2018-11-27 | 2021-09-03 | 智能农业公司 | Agricultural working vehicle |
| CN113086051A (en) * | 2021-04-30 | 2021-07-09 | 深圳市普渡科技有限公司 | Suspension device, chassis with same and robot |
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Open date: 20080820 |