CN102499827B - 轮椅悬挂装置 - Google Patents

轮椅悬挂装置 Download PDF

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CN102499827B
CN102499827B CN201110320314.6A CN201110320314A CN102499827B CN 102499827 B CN102499827 B CN 102499827B CN 201110320314 A CN201110320314 A CN 201110320314A CN 102499827 B CN102499827 B CN 102499827B
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driven unit
framework
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front caster
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R·贝科斯克
D·朱尔基维奇
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Invacare Corp
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    • A61G5/045—Rear wheel drive
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    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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    • A61G2203/14—Joysticks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
    • B60G3/207—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid the arms being essentially parallel to the longitudinal axis of the vehicle
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    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

本发明提供了一种用于运载工具的悬挂装置。该悬挂装置例如包括框架，至少一个驱动组件，以及至少一个脚轮枢转臂。该至少一个驱动组件与至少一个脚轮枢转臂耦接起来以增强运载工具越过障碍的能力。

Description

轮椅悬挂装置
本申请为分案申请，原申请的申请号为200880004382.8(国际申请号为WO2008/097879)，申请日为2008年2月4日，发明名称为“轮椅悬挂装置”。
相关申请
本申请要求2007年2月8日提交的，关于“轮椅悬挂装置”的美国临时专利申请No.60/900,137的权益，在此通过引用将其全部公开内容完全并入本文。
背景技术
轮椅和小型摩托车对于社会的不可忽视的部分而言是一种重要的运输工具。无论是人力的还是有动力装置的，这些运载工具为其所帮助的人们提供了重要的独立程度。不过，如果需要该轮椅越过障碍(例如，通常在人行道、车道以及其它铺设路面的交界处所存在的路缘)，那么就可能会限制该独立程度。如果需要该运载工具倾斜上行或者倾斜下行，则也可能会限制该独立程度。
大多数轮椅都具有前后脚轮，以便稳定轮椅，避免向前或者向后翻到，并且确保驱动轮总是与地面接触。脚轮通常比驱动轮要小很多，并且既位于驱动轮的前面也位于该驱动轮的后面。尽管该配置给轮椅提供了更大的稳定性，但是它可能会阻碍轮椅翻越障碍(例如，路缘或类似物)的能力，这是因为前脚轮的尺寸限制了能够被越过的障碍的高度。
发明内容
根据一个实施例，提供了用于运载工具的悬挂装置。该悬挂装置包括，例如，框架，至少一个驱动组件以及至少一个脚轮枢转臂。将该至少一个驱动组件以及至少一个枢转臂耦接在一起，以便增强该运载工具越过障碍的能力。正如此处所用，“耦接”既指两个或多个部件的直接连接，也指该两个或多个部件的间接连接(例如，经由一个或多个中间部件或结构)。
附图说明
在被并入说明书并且构成该说明书一部分的附图中示出了本发明的实施例，其与上述给出的对本发明的总体描述以及下面给出的具体描述一起，用作本发明原理的示例。
图1是轮椅悬挂装置的一个实施例的侧视图；
图1A是图1的轮椅悬挂装置的第二配置的侧视图；
图1B是图1的轮椅悬挂装置的后驱动配置的侧视图；
图1C示出了由减震器或者弹性减震装置的一个实施例耦接的轮椅悬挂装置的部件；
图1D示出了由弹簧或者弹簧式弹性装置的一个实施例耦接的轮椅悬挂装置的部件；
图1E示出了由具有弹力恢复器的减震器的一个实施例耦接的轮椅悬挂装置的部件；
图2是图1中所示的轮椅悬挂装置的顶视图；
图3A和图4A是正在越过凸起障碍时的图1的轮椅悬挂装置的侧视图；
图3B和图4B是在越过凸起障碍期间具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图3C和图4C是在越过凸起障碍期间具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图5是轮椅悬挂装置的另一个实施例的侧视图；
图6是图5中所示轮椅悬挂装置的实施例的顶视图；
图7A是正在越过凸起障碍时的图5的轮椅悬挂装置的侧视图；
图7B是正在越过凸起障碍时，具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图7C是正在越过凸起障碍时，具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图8A是正在越过凸起障碍时，图5的轮椅悬挂装置的侧视图；
图8B是正在越过凸起障碍时，具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图8C是正在越过降低的障碍时，具有可变长度的运动传递构件的轮椅悬挂装置的侧视图；
图9是具有前脚轮枢转臂的轮椅悬挂装置的一个实施例的侧视图，其中所述前脚轮枢转臂包括四杆连接机构的联结；
图10是图9的轮椅悬挂装置的第二配置的侧视图；
图11是图9的轮椅悬挂装置的第三配置的侧视图；
图12是正在越过凸起障碍时，图9的轮椅悬挂装置的侧视图；
图13是正在越过凸起障碍时，图10的轮椅悬挂装置的侧视图；
图14是正在越过凸起障碍时，图11的轮椅悬挂装置的侧视图；
图15是轮椅悬挂装置的一个实施例的侧视图；
图16是正在越过凸起障碍时，图15的轮椅悬挂装置的侧视图；
图17是轮椅悬挂装置的一个实施例的侧视图；
图18是图17的轮椅悬挂装置的透视图；
图19是轮椅的透视图；
图20是图19的轮椅的第二透视图；
图21是图19的轮椅的放大侧视图，示出了轮椅悬挂装置的各个部件；
图22是类似于图16的视图，其中明显地示出了驱动轮，以便更加清楚地示出悬挂装置各部件的运行；以及
图23是示出了后脚轮的图19的轮椅的放大侧视图。
具体实施方式
本专利申请说明书以及附图提供了轮椅和悬挂装置的多个实施例，其增强了运载工具越过障碍的能力和/或提高了轮椅的乘坐质量。总体上，该轮椅悬挂装置包括框架，驱动组件以及前脚轮枢转臂。将该驱动组件以及前脚轮枢转臂耦接在一起，以便增强该运载工具越过障碍的能力。在一个实施例中，将驱动组件在该驱动组件的驱动轴的旋转轴线之下的位置处枢转地安装至该框架。在另一个实施例中，将驱动组件的枢转臂以及前脚轮枢转臂在交叉配置中耦接至框架。在另一个实施例中，通过可变长度运动传递构件(例如，减震器、弹簧、或者具有弹力恢复器或其它弹性构件或装置的减震器)将驱动组件与前脚轮枢转臂耦接起来。在另一实施例中，通过阻尼弹性悬挂构件将驱动组件与前脚轮枢转臂耦接起来。
图1和图2示出了轮椅悬挂装置的第一实施例100。轮椅悬挂装置100包括框架102，前脚轮枢转臂106，以及后脚轮108。在本申请中，术语“框架”是指被配置以用于驱动组件及脚轮枢转臂的安装的任意部件或者多个部件的组合。将驱动组件104在驱动组件枢转轴线110处枢转地安装至框架102。可以将驱动组件枢转轴线110定位在框架102上的各个不同位置处。例如，可将枢转轴线110定位在框架上的任意位置处，包括但不限于，关于该实施例或以下实施例已描述或者示出的任意位置。在由图1和图2所示的实施例中，驱动组件104的驱动组件枢转轴线110处于驱动组件104的驱动轴114的旋转轴线112之下。
在由图1和图2所示的实施例中，每个驱动组件104均包括电动机驱动器130，驱动轮132，以及枢转臂134。电动机驱动器130可包括电动机/齿轮箱组合、无刷无齿电动机、或者用于驱动驱动轮132的任意其它公知布置。电动机驱动器130围绕旋转轴线112来驱动驱动轮132。枢转臂134可以是基本刚性的构件，其被连接到电动机驱动器130。在一个实施例中，枢转臂134是挠性的，以便在该枢转臂中提供内在的减震特性。枢转臂134可以由各种材料制成，包括但不限于，金属和塑料。将枢转臂134在驱动组件枢转轴线110处枢转地耦接至框架。在由图1和图2所示的实施例中，枢转臂134从电动机驱动器向前并且向下地延伸到驱动组件枢转轴线110。在本申请中，术语“上”和“下”是指当该悬挂装置的所有轮都处于平坦的水平表面上时，各个部件的相对位置。在图1中，驱动组件枢转臂134的枢转轴线110处于驱动轮旋转轴线112之下，处于轴137的轴线135之上，其中前脚轮围绕该轴137旋转。图1A图示了另一种配置，其中驱动组件枢转臂134的枢转轴线110处于驱动轮旋转轴线112以及前脚轮所围绕旋转的轴137的轴线135之下。
由驱动组件104施加到驱动轮132的转矩导致轮椅加速或者减速。如果没有将枢转臂134枢转地连接至框架102，那么采用驱动组件104向驱动轮132施加转矩以便使轮椅沿着由箭头115所指示的方向加速会导致枢转臂134向上并且如箭头117所示的那样绕驱动轴线旋转。如果转矩足够大，那么由运载工具的驱动轮为了使该运载工具加速所施加的转矩会将该运载工具的前轮抬离地面。在由图1和图2所示的悬挂装置100中，将驱动组件104在枢转轴处枢转地连接至框架102。结果是，为了加速轮椅由驱动组件104所施加的转矩会促使驱动组件104相对于框架102围绕枢转轴线110旋转。
将前脚轮枢转臂106在枢转臂枢转轴线116处枢转地安装至框架102。可以将枢转臂枢转轴线116定位在框架102上的各个不同位置处。例如，可以将枢转臂枢转轴线116定位在框架上的任意位置处，包括但不限于，关于该实施例或以下实施例已描述或者示出的任意位置。
将前脚轮枢转臂106耦接至驱动组件104。可以各种不同的方式将前脚轮枢转臂106耦接至驱动组件104。例如，可以将驱动组件的运动传递到前脚轮枢转臂的任意方式将前脚轮枢转臂106耦接至驱动组件104，包括但不限于，固定长度连杆、可变长度连杆、挠性连杆、链、索、带、金属线、齿轮系、或用于将运动从一个结构传递到另一个结构的任何其它公知结构。在由图1所示的实施例中，将连杆118枢转地连接至驱动组件104与前脚轮枢转臂106。连杆118将驱动组件104的运动传递到前脚轮枢转臂106。也就是说，驱动组件104相对于框架102的相对运动会导致前脚轮枢转臂106相对于该框架的相对运动。
将前脚轮120耦接至该脚轮枢转臂106。由驱动组件104所施加的转矩会促使前脚轮枢转臂106和前脚轮120相对于支撑表面119向上升。在一个实施例中，由驱动组件104所施加的转矩会将前脚轮120抬离支撑表面119。在另一个实施例中，由驱动组件104所施加的转矩会促使前脚轮120向上升，但不会将前脚轮120向上抬离支撑表面。在该实施例中，当遭遇障碍时，前脚轮120接合该障碍，驱动组件的转矩会促使该脚轮向上升以便帮助该脚轮越过该障碍。
将后脚轮108耦接至该框架。可以包括任意数目的后脚轮。例如，可以包括一个后脚轮108(在图2中以假想图示出)，或者可以包括两个后脚轮108(在图2中以实线示出)。在图1C的实施例中，省略了后脚轮。可以将由图1C所示的悬挂装置作为后驱动轮椅的一部分而包括。可以从本文所公开的任意实施例中省略掉后脚轮。可以各种不同的方式将后脚轮108耦接至框架102。例如，可以将后脚轮108刚性固定至框架，可以将后脚轮单独枢转地耦接至框架，或者可以将后脚轮安装至被枢转地耦接至框架的横梁。
在由图2所示的实施例中，将一个驱动组件104及一个前脚轮枢转臂106耦接至框架102的第一侧200，将第二驱动组件104及第二前脚轮枢转臂耦接至该框架的第二侧202。第一侧200包括图2中处于线204之上的框架102的任意部分。第二部分202包括图2中处于线204之下的框架102的任意部分。由于在图2的实施例中驱动组件及枢转臂布置可以是彼此的镜像，所以仅仅详细描述该驱动组件及前脚轮枢转臂布置中的一个。在另一个实施例中，可以在框架的两侧布置两种不同类型的驱动组件及前脚轮枢转臂布置。
将前脚轮120耦接至前脚轮枢转臂106，使得该前脚轮能够围绕轴线140旋转。在一个实施例中，可任选地将例如弹簧(未示出)那样的偏压构件耦接在框架与前脚轮枢转臂之间，和/或耦接在框架与驱动组件之间，以便将前脚轮偏压到与支撑表面119相接合。前脚轮枢转臂106可以是基本刚性的构件。在一个实施例中，前脚轮枢转臂106是挠性的，以便在该前脚轮枢转臂内提供内在的减震特性。枢转臂106可以由各种材料制成，包括但不限于，金属和塑料。将前脚轮枢转臂106在枢转轴线116处枢转地安装至框架102。在由图1和图1A所示的实施例中，前脚轮枢转臂的枢转轴线116处于驱动组件枢转轴线110之前，并且处于驱动轮的旋转轴线112之下。
在由图1和图2所示的实施例中，将连杆118在枢转连接部150处连接至驱动组件枢转臂134。将连杆118在枢转连接部152处连接至前脚轮枢转臂106。连杆118可采用各种不同的形式。例如，连杆可以是刚性的、挠性的、或者长度上可伸长的。可以使用任意连杆118，其将沿着驱动组件104至少一个方向的运动的至少某些部分传递到前脚轮枢转臂。
图1C、图1D以及图1E示出了可变长度连杆的示例。在图1、图1A、图1B和/或以下将描述的任意实施例中也可以使用这些或其它可变长度连杆。在图1C中，连杆118是减震器。可以使用任意减震构件或组件。减震器阻抑前脚轮枢转臂106与驱动组件枢转臂134之间的相对运动。一种可接受的减震器是全地形自行车(allterrainbicycle)减震器，可以从SRAM公司的RockShox部门获得。在图1D中，连杆118是弹簧。可以使用任意弹簧装置或组件。弹簧172可以促使前脚轮枢转臂106与驱动组件枢转臂134分开，可以促使前脚轮枢转臂106与驱动组件在一起，或者该弹簧可以是双向弹簧。双向弹簧可以将枢转连接部150与152偏压至预定间隔处。在图1E中，连杆118包括带有弹力恢复器176的减震器174。减震器174阻抑前脚轮枢转臂106与驱动组件枢转臂134之间的相对运动。弹力恢复器176可促使前脚轮枢转臂106与驱动组件枢转臂134分开，可以促使前脚轮枢转臂106与驱动组件在一起，或者该弹簧可以是双向弹簧。一种可接受的带有弹力恢复器的减震器示例是RockShoxMCR山地车减震器。
图3A是通过攀登障碍而越过障碍300的悬挂装置100的垂直投影图。通过如上所述使驱动轮132沿向前方向加速，可以完成该运行状况。在该情形中，沿箭头302指示的方向绕枢转轴线110由驱动轮132所生成的力矩臂可以大于沿相反方向绕枢转轴线110的所有力矩臂之和。当这发生时，驱动组件104如箭头302所示的那样相对于框架102绕枢转轴线110枢转。驱动组件枢转臂134拉拽连杆118，这导致前脚轮枢转臂106如箭头304所示的那样绕枢转轴线116枢转。这导致前脚轮120升高到障碍300之上或者促使该前脚轮向上升，以便帮助该前脚轮越过障碍300。
图3B和图3C示出了正在越过障碍300的一个悬挂装置100的实施例，其中连杆118是可变长度的连杆，例如，弹簧、减震器、或者带有弹力恢复器的减震器。在该实施例中，驱动组件枢转臂134拉拽连杆118以便将该连杆伸长到其最大长度(或者前脚轮枢转臂106开始枢转的长度)。一旦伸长，连杆118会拉拽前脚轮枢转臂106以如箭头304所示的那样绕枢转轴线116枢转转动。这导致前脚轮120升高到障碍300之上或者促使前脚轮向上升，以便帮助前脚轮越过障碍300。参考图3C，当前脚轮120接合障碍300时，前脚轮枢转臂106如箭头310所示的那样枢转，连杆118压缩以便吸收由前脚轮与障碍之间的冲击所造成的震动或者能量。
在图4A中所示的是悬挂装置100的侧面垂直投影图，其中驱动轮132正在越过障碍300。当驱动轮132与障碍300接触时，驱动组件104沿着由箭头400所指示的方向绕枢转轴线110枢转转动。将驱动组件104的转动传给前脚轮枢转臂106，以便将脚轮120向下降低到更低的支撑表面高度。当连杆118是刚性构件时，驱动组件104与前脚轮枢转臂106完全一致地动作。可任选地将一个或多个弹簧(未示出)耦接至驱动组件104和/或前脚轮枢转臂106，以便促使前脚轮枢转臂106沿着由箭头402所指示的方向绕枢转轴线116旋转。
图4B示出了悬挂装置100的一个实施例，其中驱动轮132正在越过障碍300，连杆118是可变长度连杆。当驱动轮132与障碍300接触时，驱动组件104沿着由箭头400所指示的方向绕枢转轴线110枢转，以便减轻来自障碍300的冲击，该冲击会被传送到框架102。在驱动组件104的这样的枢转运动期间，连杆118如箭头410所指示的那样压缩，以允许驱动组件104相对于前脚轮枢转臂的枢转。连杆118的压缩吸收由驱动轮132与障碍300之间的冲击所造成的震动。当前脚轮120与支撑表面119接触时，枢转臂106沿着由箭头412所指示的方向绕枢转轴线116枢转，以减轻冲击支撑表面119，该冲击会被传送到框架102。在枢转臂106的这样的枢转运动期间，连杆118压缩以便允许前脚轮枢转臂106相对于驱动组件的枢转。连杆118的压缩吸收由前脚轮120与障碍300之间的冲击所造成的震动。
图4C示出了悬挂装置100的一个实施例，其中驱动轮132正从带有台阶422的升高表面420下降到较低表面424，连杆118是可变长度连杆。当前脚轮120到达台阶422时，前脚轮422与前脚轮枢转臂106开始向下运动。前脚轮枢转臂106以及前脚轮120的重量，结合任何由前脚轮120所支撑的重量，会拉拽连杆118，以便使该连杆伸长到其最大长度，或者直到前脚轮120接合较低表面424。通过允许前脚轮120在驱动轮到达该台阶之前先向下落下并接合较低表面424，前脚轮120以及连杆118可以吸收由于驱动轮132从上表面420运动到较低表面424所造成的震动。
图5和图6示出了另一个轮椅悬挂装置实施例500。轮椅悬挂装置500包括，框架520，驱动组件504，前脚轮枢转臂506，以及后脚轮508。将驱动组件504在驱动组件枢转轴线510处枢转地安装至框架502。在由图5和图6所示出的实施例中，驱动组件504的驱动组件枢转轴线510处于驱动组件504的驱动轴514的旋转轴线512之下，并且处于前脚轮枢转臂506的枢转轴线116之前。这样，当从如图5中所示那样的侧面观察时，驱动组件枢转臂534与前脚轮枢转臂506是处于交错配置中。前脚轮枢转臂506与驱动组件枢转臂534可以如图6中所示那样被横向偏置，或者可以被弯曲以容纳该交错配置。通过以交错配置来布置前脚轮枢转臂506与驱动组件枢转臂534，当与前脚轮枢转臂与驱动组件枢转臂没有交错的悬挂装置相比时，可以增加前脚轮枢转臂506和/或驱动组件枢转臂534的长度。
将前脚轮枢转臂506耦接至驱动组件504。可以沿着至少一个方向将驱动组件的至少一部分运动传送到前脚轮枢转臂的任意方式来耦接前脚轮枢转臂506与驱动组件504。在由图5所示的实施例中，将连杆518枢转地连接到驱动组件504和前脚轮枢转臂506。连杆518将驱动组件504的运动传送到前脚轮枢转臂506。连杆518将驱动组件504的运动传送到前脚轮枢转臂。将前脚轮520耦接至该脚轮枢转臂506。由驱动组件504所施加的转矩促使前脚轮枢转臂506及前脚轮520相对于支撑表面119向上升。
在由图5和图6所示出的实施例中，每个驱动组件504均包括电动机驱动器530、驱动轮532、以及枢转臂534。电动机驱动器530绕旋转轴线512来驱动驱动轮532。在由图5和图6所示出的实施例中，枢转臂534从电动机驱动器向前且向下延伸到驱动组件枢转轴线510。在图5中示出的配置中，驱动组件枢转轴线510是处于驱动轮旋转轴线512之下，且处于前脚轮520的轮的旋转轴线535之下。
在一个实施例中，可任选地将例如弹簧(未示出)那样的偏压构件耦接在框架与前脚轮枢转臂之间，或者耦接在框架与驱动组件之间，以便将前脚轮偏压到与支撑表面119相接合。前脚轮枢转臂506可以是基本刚性的构件。在一个实施例中，前脚轮枢转臂506是挠性的，以便在该前脚轮枢转臂内提供内在的减震特性。枢转臂506可以由各种材料制成，包括但不限于，金属和塑料。将前脚轮枢转臂506在枢转轴线516处枢转地安装至框架502。在由图5和图6所示出的实施例中，前脚轮枢转臂的枢转轴线516是在驱动组件枢转轴线510的后方，在驱动轮的旋转轴线512之下，并且在前脚轮520的轮的旋转轴线535之下。
在由图5和图6所示出的实施例中，将连杆518在枢转连接部534处连接到驱动组件枢转臂534。将连杆518在枢转连接部552处连接到前脚轮枢转臂506。连杆518可采取各种不同的形式。例如，连杆可以是刚性的、挠性的、或者长度上可伸长的。可以使用任意连杆518，其将沿着驱动组件504至少一个方向的运动的至少某些部分传递到前脚轮枢转臂。
图7A是通过攀爬障碍从而正在越过障碍300的悬挂装置500的垂直投影图。通过使驱动轮532沿向前方向加速，可以完成该运行状况。在该情形中，围绕枢转轴线510，由驱动轮532所生成的力矩臂可以大于相反的力矩臂。当这发生时，驱动组件504如箭头702所示的那样绕枢转轴线510枢转。驱动组件枢转臂534拉拽连杆518，这导致前脚轮枢转臂506如箭头704所示的那样绕枢转轴线516枢转。这导致前脚轮520升高到障碍300之上或者促使该前脚轮向上升，以便帮助该前脚轮越过障碍300。
图7B和图7C示出了正在越过障碍300的悬挂装置500的一个实施例，其中连杆518是可变长度连杆。在该实施例中，驱动组件枢转臂534拉拽连杆518，以便使该连杆伸长到其最大长度，或者伸长到前脚轮枢转臂506开始枢转的长度。一旦伸长，那么连杆518会拉拽前脚轮枢转臂506以便如箭头704所示的那样绕枢转轴线516枢转。这导致前脚轮520升高到障碍300之上或者促使该前脚轮向上升，以便帮助该前脚轮越过障碍300。参考图7C，当前脚轮520接合障碍300时，前脚轮枢转臂506如箭头710所示的那样枢转，连杆518压缩以吸收由前脚轮520与障碍300之间的冲击所造成的震动。
示出在图8A中的是悬挂装置500的侧面垂直投影图，其中驱动轮532正在越过障碍300。当驱动轮532与障碍300接触时，驱动组件504沿着由箭头800所指示的方向绕枢转轴线510枢转。将驱动组件504的旋转传给前脚轮枢转臂506，以便将脚轮520向下降低到更低的驱动表面高度。当连杆518是刚性构件时，驱动组件504与前脚轮枢转臂506完全一致地动作。可任选地包括一个或多个弹簧(未示出)，以便沿着由箭头802所示的方向偏压前脚轮枢转臂506。
图8B示出了悬挂装置500的一个实施例，其中驱动轮532正在越过障碍300，连杆518是可变长度连杆。当驱动轮532与障碍300接触时，驱动组件504沿着由箭头810所指示的方向绕枢转轴线510枢转，以减轻来自障碍300的冲击，该冲击会被传送至框架502。在驱动组件504这样的枢转运动期间，连杆518压缩，以便允许驱动组件504相对于前脚轮枢转臂的枢转。连杆518的压缩吸收由驱动轮532与障碍300之间的冲击所造成的震动。当前脚轮520与支撑表面519接触时，枢转臂506沿着由箭头812所示的方向绕枢转轴线516枢转以便减轻与支撑表面119的冲击，该冲击会被传送到框架502。在枢转臂506这样的枢转运动期间，连杆518压缩以便允许前脚轮枢转臂506相对于驱动组件的枢转。连杆518的压缩吸收由前脚轮520与障碍300之间的冲击所造成的震动。
图8C示出了悬挂装置500的一个实施例，其中驱动轮532正从带有台阶822的升高表面820下降至较低表面824，连杆518是可变长度连杆。当前脚轮520到达台阶822时，前脚轮520及前脚轮枢转臂506开始向下运动。前脚轮枢转臂506及前脚轮520的重量，另外还有由前脚轮520所支撑的任何重量，会拉拽连杆518，以便使该连杆伸长到其最大长度，或者直到前脚轮520接合较低表面824。通过允许前脚轮520在驱动轮到达该台阶之前先落下和/或接合较低表面824，前脚轮520以及连杆518可以吸收由于驱动轮532从上表面420运动到较低表面424所造成的震动。
图9、图10及图11示出了轮椅悬挂装置的一个实施例900，其中前脚轮枢转臂906包括一个四杆连接机构的连杆。在由图9和图10所示出的配置中，驱动组件枢转臂934与前脚轮枢转臂906是处于交错配置。在由图11所示出的配置中，驱动组件枢转臂934与前脚轮枢转臂906没有处于交错配置。
由图9、图10及图11所示出的轮椅悬挂装置900均包括框架902、驱动组件904、前脚轮枢转臂906、以及后脚轮908。将驱动组件904在驱动组件枢转轴线910处枢转地安装至框架902。前脚轮枢转臂906包括上连杆906a和下连杆906b。将上连杆906a在枢转连接部980处枢转地耦接至脚轮支撑构件911，并且在枢转连接部981处枢转地连接至框架902。将下连杆906b在枢转连接部982处枢转地耦接至脚轮支撑构件911，并且在枢转连接部983处枢转地连接至框架902。
脚轮支撑构件911可以是允许将连杆906a、906b耦接至脚轮920的任意结构。连杆906a、906b、框架902、以及脚轮支撑构件911形成四杆连接机构。可以将枢转连接部980、981、982、983定位在框架902上的各个不同的位置处，可以对连杆906的长度加以选择，以将脚轮920的运动限定为像前脚轮枢转臂906被枢转那样。在由图9所示出的示例中，当枢转臂906被举起时，前脚轮枢转臂906收回前脚轮920或者朝向该框架枢转前脚轮的轮子，当前脚轮枢转臂被降低时前脚轮枢转臂906伸出前脚轮920或者枢转前脚轮920的轮子远离该框架。在由图10所示出的示例中，四杆连接机构限定了一个平行四边形。这样，随着枢转臂的枢转，前脚轮920的方位不会改变。
在由图9和图10所示出的配置中，驱动组件枢转轴线910处于前脚轮枢转臂连杆的枢转连接部981、983以及驱动轴914之下，并且处于前脚轮枢转臂906的的枢转连接部981、983中至少一个的前方。当从侧面观察时，驱动组件枢转臂934与前脚轮枢转臂906处于交错配置。前脚轮枢转臂906与驱动组件枢转臂934可以是横向偏置的，或者可以是弯曲的，以便容纳该交错配置。通过将前脚轮枢转臂906与驱动组件枢转臂934布置成交错配置，前脚轮枢转臂906和/或驱动组件枢转臂934的长度可以增加。在由图11所示出的配置中，驱动组件枢转轴线处于前脚轮枢转臂连杆的枢转连接部981、983之上，但是处于驱动轴914之下。驱动组件枢转臂934与前脚轮枢转臂906没有交错。
可以将沿着至少一个方向的驱动组件的运动的至少一部分传送给枢转臂906的任意方式，将驱动组件904与前脚轮枢转臂906耦接在一起。在由图9、图10、及图11所示出的实施例中，通过连杆918将前脚轮枢转臂906耦接至驱动组件904，其中将连杆918枢转地连接到驱动组件904和前脚轮枢转臂906的上连杆906a。还可以将该连杆连接到驱动组件904和前脚轮枢转臂106的下连杆906b。连杆918可以是固定长度连杆、刚性连杆、挠性连杆和/或可以是可变长度连杆。连杆918将驱动组件904的运动传递到前脚轮枢转臂。由驱动组件904所施加的转矩促使前脚轮枢转臂906以及前脚轮920相对于支撑表面119向上升高。
图12、图13、以及图14是通过攀爬障碍从而越过障碍300的图9、图10、及图11的悬挂装置900的垂直投影图。驱动组件904如箭头902所示的那样绕枢转轴线910枢转。驱动组件枢转臂934拉拽连杆918，这会拉拽前脚轮枢转臂906。前脚轮枢转臂906促使前脚轮920向上并朝向框架902。这导致前脚轮920升高到障碍300之上或者促使该前脚轮向上并朝向框架920，以便帮助该前脚轮越过障碍300。
图15图示出轮椅悬挂装置的一个实施例1500，其中前脚轮枢转臂1506与驱动组件枢转臂1534绕公共轴线1510枢转。图15所示出的轮椅悬挂装置1500包括框架1502、驱动组件1504、前脚轮枢转臂1506、以及后脚轮1508。将驱动组件1504和前脚轮枢转臂1506在公共枢转轴线1510处枢转地安装至框架1502。在由图15所示出的配置中，公共枢转轴线1510处于脚轮的轴1535和驱动组件1504的驱动轴1514两者之下。在另一个实施例中，公共枢转轴线1510处于脚轮轴1535之上，但处于驱动轴1514之下。
可以任何方式将驱动组件1504与前脚轮枢转臂1506耦接在一起。在由图15所示出的实施例中，通过连杆1518将前脚轮枢转臂1506耦接至驱动组件1504，其中将连杆1518枢转地连接到驱动组件1504和前脚轮枢转臂1506。连杆1518可以是固定长度连杆、刚性连杆、挠性连杆和/或可以是可变长度连杆。连杆1518将驱动组件1504的运动传递给前脚轮枢转臂。由驱动组件1504所施加的转矩促使前脚轮枢转臂1506以及前脚轮1520相对于支撑表面119向上升高。
图16是正在通过攀爬障碍从而越过障碍300的悬挂装置1500的垂直投影图。驱动组件1504如箭头1602所示那样绕枢转轴线1510枢转转动。驱动组件枢转臂1534拉拽连杆1518，这会拉拽前脚轮枢转臂1506，促使前脚轮1520向上升高。这导致前脚轮1520升高到障碍300之上或者促使该前脚轮向上升高，以便帮助该前脚轮越过障碍300。
图17和图18示出了轮椅悬挂装置1700的一个实施例，其中前脚轮枢转臂1706包括一个四杆连接机构的连杆1701，驱动组件1704和前脚轮枢转臂1706的连杆之一绕公共的轴线1710枢转。图17和图18所示出的轮椅悬挂装置1700包括框架1702、驱动组件1704、前脚轮枢转臂1706，并且还可以包括后脚轮(未示出)。将驱动组件1704在公共枢转轴线处枢转地安装至框架1702。前脚轮枢转臂1706包括上连杆1706a和下连杆1706b。将上连杆1706a在枢转连接部1780处枢转地耦接至脚轮支撑构件1711，并且在驱动组件枢转轴线1710处枢转地连接到框架1702。将下连杆1706b在枢转连接部1782处枢转地耦接至脚轮支撑构件1711，并且在枢转连接部1783处枢转地连接到框架1702。连杆1706a、1706b、框架1702、以及脚轮支撑构件1711形成四杆连接机构。在由图17和图18所示出的示例中，前脚轮枢转臂1706当枢转臂1706被举起时收回前脚轮1720，并且当前脚轮枢转臂1706被降低时伸出前脚轮1720。
在由图17和图18所示出的实施例中，通过连杆1718将前脚轮枢转臂1706耦接至驱动组件1704，其中将连杆1718连接到驱动组件1704和前脚轮枢转臂1706的上连杆1706a。所示出的连杆1718是在减震器之上的螺旋弹簧布置，其包括带有弹簧或螺旋弹簧1721的可变长度减震器1719，将该弹簧或螺旋弹簧1721围绕该可变长度减震器1719布置。减震器1719吸收由前脚轮或者驱动轮所承受的冲击所造成的震动。螺旋弹簧1721将减震器偏压到伸长位置。连杆1718将驱动组件1704的运动传送到前脚轮枢转臂。由驱动组件1704所施加的转矩促使前脚轮枢转臂706和前脚轮1720相对于支撑表面119向上升高。
图19和图20是包括了悬挂装置1900的轮椅1901的透视图。轮椅1901优选是中间轮驱动或者后轮驱动的轮椅，但可以是任意类型的轮椅。如所示，轮椅1901具有代两个扶手支撑1994的椅子1992。将控制装置(例如，图1A中的操纵杆控制器1998)附接至椅子1992，以用于控制轮椅1901的任何与动力相关的方面。从椅子1992向前突出的是搁脚板1997，用于支撑轮椅使用者的脚。
轮椅1901可包括图19～23中所示出的悬挂装置，以上所述悬挂装置配置之一，或者本文所描述的悬挂装置配置的部件的任意组合。参考图21和图22，所示出的悬挂装置1900包括框架1902、驱动组件1904、前脚轮枢转臂1906、以及两个后脚轮1908。将驱动组件1904在驱动组件枢转轴线1910处枢转地安装至框架1902。
每个驱动组件1904均包括电机驱动器1930、驱动轮1932、以及枢转臂1934。电机驱动器1930可包括电动机/齿轮箱组合、无刷无齿电动机、或用于驱动驱动轮1932的任意其它公知布置。通过一个或多个电池1935(图20)来给电动机驱动器1930供电，以便绕旋转轴线1912来驱动驱动轮1932。参考图22，所示出的枢转臂1934包括固定到电机驱动器1930的钢板。将枢转臂1934在驱动组件枢转轴线1910处枢转地耦接至框架。参考图22，枢转臂1934从电动机驱动器向前且向下延伸到驱动组件枢转轴线110。驱动组件枢转臂1934的枢转轴线1910处于驱动轮旋转轴线1912之下。
参考图22，前脚轮枢转臂1906包括上连杆1906a和下连杆1906b。将上连杆906a在枢转连接部1980处枢转地耦接至脚轮支撑构件1911，并且在枢转连接部1981处枢转地连接到框架1902。将下连杆1906b在枢转连接部1982处枢转地耦接至脚轮支撑构件1911，并且在枢转连接部1983处枢转地连接到框架1902。在由图21和图22所示出的实施例中，枢转连接部1983是位于框架1902的最低点处或者位于其最低点附近。连杆1906a、1906b、框架1902、以及脚轮支撑构件1911形成四杆连接机构1985(参见图22)。在由图21和图22所示出的实施例中，驱动组件枢转轴线1910位于框架1902的最低点处或者位于其最低点附近，并且位于前脚轮枢转臂1906的枢转连接部1981、1983的前方。驱动组件枢转臂1934和前脚轮枢转臂1906处于交错配置。
在由图21和图22所示出的实施例中，将减震器连杆1918枢转地连接到驱动组件1904和前脚轮枢转臂1906。减震器连杆1918将驱动组件1904的运动传送到前脚轮枢转臂1906。尽管减震器连杆1918也可以是固定长度连杆，但是这里它是可变长度连杆。当驱动组件1904加速时，驱动组件枢转臂1934拉拽减震器连杆1918，以便使该连杆伸长到其最大长度，或者伸长到该连杆促使前脚轮枢转臂1906枢转转动的长度。一旦伸长，连杆1918拉拽或者促使前脚轮枢转臂1906向上枢转。这导致前脚轮1920升高，或者促使前脚轮1920向上升。当前脚轮1920接合障碍时，减震器连杆1918压缩，以便吸收由于前脚轮1920与障碍之间的冲击所造成的震动。当驱动轮1932与障碍接触时，减震器连杆1918压缩，以便吸收由驱动轮与障碍之间的冲击所造成的震动。
参考图23，将第一和第二后脚轮1908独立地、枢轴地耦接至框架1902。将每个后脚轮1908均耦接至枢转臂2381，该枢转臂2381在枢转轴线2383处被枢转地连接到框架1906。后脚轮弹簧2385在框架1902与后脚轮枢转臂2381之间动作。后脚轮弹簧2385将后脚轮1908偏压到与地面相接合。
尽管通过本发明具体实施例的描述对本发明进行了说明，并且尽管已经相当详细地对具体实施例进行了描述，但是申请人并不意图以任何方式将所附权利要求的范围约束或者限制于这样的具体细节。对于本领域的技术人员而言，另外的优点和修改将是相当明显的。举例而言，枢转连接部可由任意数目的结构构成，该结构包括轴承组件、销钉、螺母和螺栓、以及光滑套筒组件。另外，可以将弹簧或者减震器添加在枢转部件于非枢转部件之间，以便限制、阻抑、或者稍微抵抗这些部件的枢转运动。由此，本发明在更加宽广的方面不应被限制于所描述和示出的具体细节、代表性设备以及说明性示例。因此，在不背离申请人的总体发明构思的精神和范围的情况下，是可以脱离这些细节的。

Claims (18)

1.一种轮椅悬挂装置，包括：
框架；
驱动组件枢转臂，其枢转地连接至所述框架；
前脚轮枢转臂，其包括四杆连接机构，四杆连接机构的一个连杆和驱动组件独立地在公共枢转轴线枢转地连接到框架，使得驱动组件和前脚轮枢转臂相对彼此能枢转；
前脚轮，其被耦接至所述前脚轮枢转臂；
连接到框架的至少一个后脚轮。
2.如权利要求1所述的轮椅悬挂装置，其特征在于，所述四杆连接机构包括上连杆和下连杆，上连杆在所述公共枢转轴线枢转地连接到框架。
3.如权利要求2所述的轮椅悬挂装置，其特征在于，前脚轮连接到脚轮支撑构件，上连杆在第一脚轮枢转轴线枢转地连接到脚轮支撑构件，下连杆在第二脚轮枢转轴线枢转地连接到脚轮支撑构件。
4.如权利要求1所述的轮椅悬挂装置，其中前脚轮枢转臂耦接到驱动组件。
5.如权利要求4所述的轮椅悬挂装置，其特征在于，所述前脚轮枢转臂通过可变长度连杆耦接到驱动组件。
6.如权利要求5所述的轮椅悬挂装置，其特征在于，所述可变长度连杆枢转地连接到驱动组件，并且枢转地连接到前脚轮枢转臂。
7.如权利要求1所述的轮椅悬挂装置，其特征在于，所述公共枢转轴线位于所述驱动组件的驱动轮的旋转轴线之下。
8.如权利要求1所述的轮椅悬挂装置，其特征在于，还包括弹簧，其能促使所述前脚轮枢转臂（106）与所述驱动组件枢转臂（134）分开，或者促使所述前脚轮枢转臂（106）与驱动组件在一起。
9.如权利要求8所述的轮椅悬挂装置，其特征在于，所述弹簧包括围绕可变长度减震器布置的螺旋弹簧。
10.一种轮椅悬挂装置，包括：
框架；
驱动组件枢转臂，其在第一枢转轴线枢转地连接至所述框架；
前脚轮枢转臂，其包括四杆连接机构，四杆连接机构包括上连杆和下连杆，上连杆在第一枢转轴线枢转地连接到框架，使得驱动组件和上连杆相对彼此能枢转；下连杆在第二枢转轴线枢转地连接到框架；
前脚轮，其耦接到所述前脚轮枢转臂；
连接到框架的至少一个后脚轮。
11.如权利要求10所述的轮椅悬挂装置，其中前脚轮枢转臂耦接到驱动组件。
12.如权利要求11所述的轮椅悬挂装置，其特征在于，所述前脚轮枢转臂通过可变长度连杆耦接到驱动组件。
13.如权利要求12所述的轮椅悬挂装置，其特征在于，所述可变长度连杆枢转地连接到驱动组件，并且枢转地连接到前脚轮枢转臂。
14.如权利要求10所述的轮椅悬挂装置，其特征在于，所述第一枢转轴线位于所述驱动组件的驱动轮的旋转轴线之下。
15.如权利要求10所述的轮椅悬挂装置，其特征在于，还包括弹簧，其能促使所述前脚轮枢转臂（106）与所述驱动组件枢转臂（134）分开，或者促使所述前脚轮枢转臂（106）与驱动组件在一起。
16.如权利要求15所述的轮椅悬挂装置，其特征在于，所述弹簧包括围绕可变长度减震器设置的螺旋弹簧。
17.一种轮椅悬挂装置，包括：
框架；
驱动组件，其包括驱动组件枢转臂、连接到驱动组件枢转臂的电机驱动器、以及由电机驱动器驱动的驱动轮，驱动组件枢转臂在第一枢转轴线枢转地连接到框架；
在减震器之上的螺旋弹簧布置，其包括带有弹簧（1721）的可变长度减震器（1719），该弹簧（1721）围绕该可变长度减震器（1719）布置，可变长度减震器（1719）吸收由前脚轮或者驱动轮所承受的冲击所造成的震动；
前脚轮枢转臂，其包括四杆连接机构，四杆连接机构包括上连杆和下连杆，上连杆在第一枢转轴线枢转地连接到框架，使得驱动组件和上连杆相对彼此能枢转；下连杆在第二枢转轴线枢转地连接到框架；
前脚轮，其在第三枢转轴线枢转地连接到上连杆，并且在第四枢转轴线枢转地连接到下连杆；
连接到框架的至少一个后脚轮。
18.如权利要求17所述的轮椅悬挂装置，其特征在于，所述第一枢转轴线位于所述驱动组件的驱动轮的旋转轴线之下。
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