DE102020206838A1 - Stair climbing device - Google Patents

Abstract

The present invention relates to a stair-climbing device 1 for transporting a load over a step-shaped obstacle 400. The stair-climbing device 1 comprises (i) a frame unit 10 for receiving the load; and (ii) a wheel 2 rotatably coupled to the frame unit 10 about a first horizontal axis of rotation 37. According to the invention, the wheel 2 has at least two wheel segments 20, each wheel segment 20 having an arc shape at least in sections, and with a focal point of the arc shape each Wheel segment 20 lies outside the first axis of rotation 37, and each wheel segment 20 has a free end 21, and an element 26 that is rotatable about a second horizontal axis of rotation 23 is arranged at at least one free end 21 of the wheel segments 20.

Description

The present invention relates to a stair climbing device for transporting a load over a step-shaped obstacle.

The transport of heavy loads over step-shaped obstacles, such as stairs, curbs or other bumps, is sometimes associated with great physical exertion. In addition, most of the conventional transport aids cannot be used ergonomically in confined spaces, for example on spiral staircases. This means that loads have to be carried over such obstacles, which can lead to the recommended ergonomic load limits being exceeded and consequent acute injuries.

In particular, the transport of patients in the ambulance service is associated with very high physical stress for the transport helper. In these transports, transport aids are generally used, on which the patient can be placed and then moved. These transport aids can basically be divided into active and passive transport aids. Passive transport aids, such as the stretcher, the rescue chair or the sling, provide the helpers with ergonomic handles and sometimes rollers with which the patient can be moved more easily and with less effort. However, the forces required to move must be provided by the helpers themselves. In contrast, active transport aids support the transport process by introducing additional energy and can thus relieve the transport assistant. As active transport aids, hydraulically or electrically height-adjustable stretchers have been used more and more recently, which have been shown to have led to a reduction in the injury rate in the rescue service. These hydraulically or electrically assisted stretchers are particularly helpful on level ground. However, discontinuous obstacles, such as curbs or stairs, are also a not insignificant problem for these stretchers.

A large number of stair-climbing kinematics are already known from the prior art. For example, there are electrically driven or braking systems such as the “PowerTraxx” carrying chair from Ferno Transportgeräte GmbH. The caterpillar system is attached to the backrest of a carrying chair and allows the chair to be tilted backwards until the caterpillars rest on the stairs. The carrying chair can then either be moved up the stairs by a motor which drives the caterpillars, or by the braking effect of the caterpillars it can be moved down the stairs with less effort. In the case of curved stairs, caterpillar systems cannot be used, since in such a case the caterpillars do not rest in a planar manner on the stairs, which means that such systems can only be used to a limited extent in the home. When using caterpillar systems, there is also the risk of damaging sensitive stairs, such as wooden stairs, as the caterpillar systems only rest on the outermost stair nosing and this can lead to high surface pressures between the caterpillar system and the step.

There are also climbing systems in which an additional climbing leg can be extended to raise or lower the system to the next step. The “c-Max” stair climber from AAT Alber Antriebstechnik GmbH is an example. Stair climbers with an extendable climber enable transport over curved stairs, but do not reach the transport speeds of the caterpillar systems and are more prone to errors when used. If, for example, the system is not optimally aligned with the step to be climbed or if the mechanism is accidentally activated, a step can be skipped, which poses a risk that should not be underestimated for both the patient and the emergency services staff. Such systems are therefore unsuitable, particularly in emergency situations, due to the high time pressure and the distraction of the rescue service employee caused by the acute treatment of the patient.

Due to the existing restrictions, the transport aids with stair climbing kinematics known from the prior art do not allow universal use. Rather, they represent partial solutions that can only be used in special situations.

It is therefore an object of the present invention to provide a stair-climbing device which minimizes and sometimes even eliminates the disadvantages known from the prior art. In particular, it is an object of the present invention to create a stair climbing device that can be used universally.

This object is achieved by the subject matter of independent claim 1. Optional or preferred features of the invention are set out in the dependent claims 2 until 12th specified.

According to the invention a stair climbing device for transporting a load over a step-shaped obstacle is provided, which comprises a frame unit for receiving the load, and a wheel rotatably coupled to the frame unit about a first horizontal axis of rotation. The wheel has at least two wheel segments, each wheel segment having an arc shape at least in sections, and wherein a focal point of the arc shape of each wheel segment lies outside the first axis of rotation, and each wheel segment has a free end, and at least one free end of the wheel segments is arranged rotatable about a second horizontal axis of rotation element.

The element which can rotate about the second horizontal axis of rotation is preferably a roller.

Even more preferably, the wheel segments extend in a star shape from the first axis of rotation, in such a way that an end of each wheel segment opposite the free end is arranged adjacent to the first axis of rotation.

According to a preferred embodiment of the invention, the eccentric wheel has three arcuate wheel segments, the free end of one wheel segment enclosing an arc angle of 120 ° with the free end of an adjacent wheel segment.

It is advantageous if the free ends of the wheel segments are at the same distance from the first axis of rotation.

Likewise, in a preferred embodiment of the invention, each wheel segment has two wheel sub-segments running parallel to one another, each wheel sub-segment having a free end.

Each wheel segment is preferably designed in the shape of an arc of a circle, the focal point of the arc shape of each wheel segment being its center point.

Even more preferably, the wheel segments are rigidly connected to one another.

Furthermore, only one eccentric wheel is preferably provided, which is arranged perpendicularly below the center of gravity of the stair climbing device.

Likewise preferably, the first axis of rotation and / or the second axis of rotation is a shaft, by means of which the eccentric wheel and / or the rotatable element can / can be driven by a motor.

It is also advantageous if the stair climbing device comprises a drive unit which is designed to be self-balancing. The regulation required for this pursues the goal of moving the contact point between the stair climbing device and the floor perpendicularly below the overall center of gravity or keeping it there.

The frame unit is preferably designed for fastening a patient chair.

The present invention can also be used in a self-balancing rescue device for seat end transport of a patient. The rescue device comprises a seat surface for receiving a patient in a seated position; a frame unit connected to the seat surface; a wheel rotatably coupled to the frame unit by a horizontal shaft, the wheel being disposed perpendicularly below the center of gravity of the rescue device; an inclination angle adjustment unit for adjusting an inclination angle θ of the frame unit by an operator of the rescue device, the inclination angle adjustment unit being arranged so that it can be grasped by an operator located behind the rescue device; an inclination angle sensor for detecting the inclination angle θ of the frame unit; a control unit; and an actuator operatively connected to the shaft; wherein the control unit is set up such that in the case in which the inclination angle sensor detects an inclination angle that deviates from a predetermined target angle, the control unit causes the actuator to rotate the shaft in one direction and to accelerate the wheel in such a way that a deviation is compensated between the target angle and the detected angle of inclination.

This rescue device can comprise only one wheel or several wheels that can rotate about the horizontal shaft.

It is also conceivable that the inclination angle adjustment unit is a handle arranged behind the seat surface.

In addition, the actuator can be in operative connection with the shaft via a transmission.

The actuator can be a servo motor. The wheel of this rescue device can be designed in accordance with the wheel of the stair climbing device according to the invention.

• 1 eine Seitenansicht einer Treppensteigvorrichtung gemäß einer bevorzugten Ausführungsform der Erfindung;
• 2 eine Vorderansicht auf die in 1 gezeigte Treppensteigvorrichtung; und
• 3 ein Anwendungsbeispiel für die in 1 gezeigte Treppensteigvorrichtung.

The invention will now be described purely by way of example using a preferred embodiment with reference to the accompanying figures. From the figures show:

• 1 a side view of a stair climbing device according to a preferred embodiment of the invention;
• 2 a front view of the in 1 stair climbing device shown; and
• 3 an application example for the in 1 Stair climbing device shown.

In the 1 Stair climbing device shown 1 includes an eccentric wheel 2 , which is preferably three wheel segments 20th includes. The stair climbing device preferably has 1 just an eccentric wheel 2 on. However, it is also conceivable that more than one eccentric wheel 2 is provided. The eccentric wheel 2 is around an axis of rotation 37 rotatably mounted. Every wheel segment 20th is at least partially arc-shaped, preferably circular arc-shaped, the focal point of the arc shape outside the axis of rotation 37 lies. In the event that the wheel segments 20th are formed at least partially in the shape of an arc of a circle, the center of the circle lies outside the axis of rotation 37 . This gives the eccentric wheel 2 its eccentric shape. The arc shape of all of the wheel segments is preferred 20th rectified. In other words, the arc shape of the wheel segments 20th extends in the same direction of rotation as in 1 counterclockwise.

As material for the wheel segments 20th materials with high strength are suitable, so that the eccentric wheel 2 can withstand a greater load.

Every wheel segment 20th has a free end 21 on. The distance between the free end 21 and the axis of rotation 37 is preferred for all wheel segments 20th same. The wheel segments 20th are in the area of the axis of rotation 37 preferably rigidly connected to one another. However, it is also conceivable that the wheel segments 20th are designed to be movable relative to one another, for example rotatable or foldable. In the area of the free end 21 assigns each wheel segment 20th one around an axis of rotation 23 rotating element 26th on, which in the case of the in 1 embodiment shown a roller 26th is.

In addition, is preferably on each wheel segment 20th an edge protection 22nd intended. This edge protector 22nd should be the edge of an in 1 with the reference number 400 designated stairs when placing the corresponding wheel segment 20th protect from damage.

In a preferred embodiment of the invention, both the eccentric 2 as well as the caster 26th driven. The eccentric wheel is used for this purpose 2 on a rotating shaft 37 and the caster 26th on a rotating shaft 23 stored. Corresponding bearings, such as ball bearings, are provided, but they are not described in more detail here.

On the wave 37 is a sprocket 30th provided, which is in engagement with a traction mechanism 34 , for example in the form of a chain or a belt. The traction device 34 is in turn in mesh with another sprocket 32 on a rotating shaft 38 is stored. The wave 38 and thus the sprocket 32 are powered by an engine 36 driven.

In the 1 Stair climbing device shown 1 has a frame 10 on, which is preferably designed to be rigid. At the in 1 The preferred embodiment shown is the frame 10 of essentially two horizontally running frame segments, which are connected via a vertically running frame segment and a diagonally running frame segment. In the corners of a frame so formed 10 are corner connectors 12th provided, which are preferably screwed to the frame segments. These corner profiles 12th give the frame 10 greater rigidity so that it can withstand greater loads.

The motor 36 , the sprocket 32 and the wave 38 are using a plate 39 attached to the diagonal frame segment. So is the wave 37 and the associated sprocket 30th attached to the lower horizontal frame segment.

The motor 36 drives the eccentric wheel 2 using the traction device 34 at. In 2 is with the reference number 49 a planetary gear 49 denotes, which ensures that the torque of the motor 36 is translated into the area required for the respective application. The traction device 50 is used to transmit the torque of the motor 36 on the planetary gear 49 .

In the preferred embodiment, however, not only the eccentric wheel is used 2 motor-driven, but rather also the roller 26th . With reference to the 2 is another engine for this purpose 46 , preferably also provided an electric motor, which with the help of a further traction means 44 ultimately for driving the roller 26th cares. The traction device 44 is in engagement with a gear, which is called a planetary gear 48 can be trained ( 2 ). Alternatively, the transmission could 48 also be designed as a cycloid gear or as a harmonic drive gear. The planetary gear 48 drives the traction mechanism 44 at, creating a wave 16 (Shaft half 16 ) is set in rotation. The planetary gear 48 serves to translate the torque of the engine 46 in the required area.

The wave 37 , which together with the sprocket mounted on it 30th for driving the Eccentric wheel 2 provides two coaxially mounted shaft halves 16 and 18th , with the shaft half 16 rigid with the eccentric wheel 2 connected is. Both halves of the shaft 16 , 18th extend at the end into a coaxial bearing 31 in which both waves 16 , 18th are mounted coaxially.

As in 2 can be seen, each wheel segment points 20th two mutually parallel and spaced apart wheel sub-segments 20a , 20b on. In the one between the free ends 21 of the wheel sub-segments 20a , 20b provided space is the role 26th as well as a transmission 25th , preferably as a spur gear 25th is trained. The spur gear 25th drives with the help of the motor 46 the role 26th at.

In the area of the wave 16 is a pillow block 14th provided that for a weight transfer on the frame 10 located load on the eccentric wheel 2 cares ..

Should now with the in 1 stair climbing device shown 1 stairs 400 ( 1 ) are overcome, the stair climbing device 1 first in the area of the front edge of the stairs 400 using the role 26th moved by motor. Then the eccentric wheel 2 set in rotation, causing the edge protection 22nd provided surface of the wheel segment 20th of the eccentric wheel 2 Comes to lie on the edge of the stairs and is on the stairs 400 unrolls according to its arch shape. The length of the wheel segments 20th is dimensioned in such a way that, on stairs with a common step and riser, several steps with continuous rotation of the eccentric wheel 2 can be overcome. However, if the step is unusually wide, or if there is a plateau between the steps, the driven roller can be used 26th a level compensating movement can be carried out until the stair climbing device 1 is realigned to overcome the next step.

Thus, the stair climbing device 1 Not only with stair climbing kinematics, but also with horizontal kinematics, whereby it can be moved faster and more effortlessly to and over the next stair-shaped obstacle. It can be done with the help of the stair climbing device 1 both high stair climbing speeds and high transport speeds on the level can be achieved.

Becomes the stair climbing device 1 with just one eccentric wheel 2 equipped, narrow passages and spiral staircases can also be overcome very easily. In addition, there is a floor space when the stair climbing device is not in use 1 minimized.

3 shows an application example of the stair climbing device 1 of the present invention. The stair climbing device is particularly useful in the area of the rescue service. For this purpose it is on the frame 10 a patient chair 70 assembled.

In 3 is an electrical storage 62 to see, preferably in the form of an accumulator 62 is present and that of the stair climbing device 1 provides the required electrical energy. The electrical storage is also in the embodiment of 1 available.

For the rescue service employee 300 are handles 80 present to the stair climbing device 1 to be kept laterally in balance. To the point of view of the rescue service employee 300 on what is happening in front of the stair climbing device 1 to improve is a screen 90 provided, which is arranged or can be brought into a position so that it is suitable for the emergency services worker 300 is clearly visible. In connection with an additional camera (not shown), which is aligned with the climbing kinematics, an uninterrupted view of the orientation of the climbing system and the position on the stairs is made possible.

A stand 11th allows safe, temporary parking of the stair climbing device 1 .

In an alternative preferred embodiment, the rescue aid is provided with the patient chair 70 as well as the stair climbing device 1 , designed to be self-balancing. For this purpose, the rescue service has a regulator 64 as well as a sensor system 60 such as an acceleration sensor and / or a tilt angle sensor 60 , on. The sensors 60 measures the angle of inclination θ of the frame 10 related to the gravitational field of the earth. In other words, the sensors 60 recorded vectorially, ie in amount and direction on the frame 10 acting accelerations (including gravitational accelerations) as well as its rotation. The inclination angle θ of the rescue aid can be calculated from this. In addition, the rotational speed of the eccentric wheel 2 specified by the system and therefore known to the control system.

These measurement signals are sent to the controller 64 fed, in turn, the engine 36 depending on the angle of inclination θ of the frame 10 causes the rotational speed of the eccentric wheel 2 to increase or decrease, i.e. the stair climbing device 1 to accelerate or decelerate. This ensures that the focus 200 the stair climbing device 1 (with or without patient) plumb above the pivot or contact point with the ground 100 is located. A change in the angle of inclination of the frame 10 (or the stair climbing device 1 ) by the transport assistant or rescue service employee 300 therefore controls the speed (positive or negative acceleration, ie acceleration or deceleration) of the stair-climbing device 1 . About the handles 80 can be the transport helper or rescue worker 300 especially in the version with only one central eccentric wheel 2 lateral tilting of the stair climbing device 1 impede. Lateral tilting can also be avoided by adding several eccentric wheels 2 on the axis of rotation or on the shaft 37 to be ordered.

According to one embodiment of the invention, the self-balancing only relates to the movement of the device 1 or the rescue device on the plane, ie the horizontal kinematics. However, it is also conceivable to design the stair climbing kinematics to be self-balancing.

1. (a) eine Sitzfläche zur sitzenden Aufnahme eines Patienten;
2. (b) eine Rahmeneinheit, die mit der Sitzfläche verbunden ist;
3. (c) ein um eine horizontale Welle drehbeweglich mit der Rahmeneinheit gekoppeltes Rad, wobei das Rad lotmäßig unterhalb des Schwerpunkts der Rettungsvorrichtung angeordnet ist;
4. (d) eine Neigungswinkelverstelleinheit zum Verstellen eines Neigungswinkels θ der Rahmeneinheit durch eine Bedienperson der Rettungsvorrichtung, wobei die Neigungswinkelverstelleinheit so angeordnet ist, dass sie von einer hinter der Rettungsvorrichtung befindlichen Bedienperson greifbar ist;
5. (e) einen Neigungswinkelsensor zum Erfassen des Neigungswinkels θ der Rahmeneinheit;
6. (f) eine Steuerungseinheit; und
7. (g) einen Aktor, der in Wirkverbindung mit der Welle steht;

wobei die Steuerungseinheit derart eingerichtet ist, dass in dem Fall, in dem der Neigungswinkelsensor einen Neigungswinkel erfasst, der von einem vorbestimmten Sollwert abweicht, die Steuerungseinheit den Aktor veranlasst, die Welle in eine Richtung zu drehen und das Rad derart zu beschleunigen, dass dass eine Abweichung zwischen dem Sollwinkel und dem erfassten Neigungswinkel ausgeglichen wird.A self-balancing rescue device for the end-of-seat transport of a patient therefore has the following features:

1. (a) a seat surface for seated reception of a patient;
2. (b) a frame unit connected to the seat surface;
3. (c) a wheel rotatably coupled to the frame unit about a horizontal shaft, the wheel being disposed perpendicularly below the center of gravity of the rescue device;
4. (d) an inclination angle adjustment unit for adjusting an inclination angle θ of the frame unit by an operator of the rescue device, the inclination angle adjustment unit being arranged so that it can be gripped by an operator located behind the rescue device;
5. (e) a tilt angle sensor for detecting the tilt angle θ of the frame unit;
6. (f) a control unit; and
7. (g) an actuator operatively connected to the shaft;

wherein the control unit is set up in such a way that in the case in which the inclination angle sensor detects an inclination angle which deviates from a predetermined setpoint value, the control unit causes the actuator to rotate the shaft in one direction and to accelerate the wheel in such a way that a Deviation between the target angle and the detected angle of inclination is compensated for.

Alternatively, the rescue device can comprise only one wheel or a plurality of wheels that can rotate about the horizontal shaft.

Alternatively, the inclination angle adjustment unit is a handle arranged behind the seat surface.

Alternatively, the actuator is in operative connection with the shaft via a transmission.

Alternatively, the actuator is a servo motor.

Alternatively, the wheel of the rescue device is designed in accordance with the wheel of the stair-climbing device according to one of claims 1 to 12.

Claims (12)

Stair-climbing device (1) for transporting a load over a step-shaped obstacle (400), comprising: a frame unit (10) for receiving the load; and an eccentric wheel (2) rotatably coupled to the frame unit (10) about a first horizontal axis of rotation (37), wherein the eccentric wheel (2) has at least two wheel segments (20), and wherein each wheel segment (20) at least in sections has an arc shape, and wherein a focal point of the arc shape of each wheel segment (20) lies outside the first axis of rotation (37), and wherein each wheel segment (20) has a free end (21), and wherein at At least one free end (21) of the wheel segments (20) has an element (26) which is rotatable about a second horizontal axis of rotation (23). Stair climbing device (1) according to Claim 1 wherein the element rotatable about the second horizontal axis of rotation (23) is a roller (26). Stair climbing device (1) according to Claim 1 or 2 wherein the wheel segments (20) extend in a star shape from the first axis of rotation (37) such that an end of each wheel segment (20) opposite the free end (21) is arranged adjacent to the first axis of rotation (37). Stair climbing device (1) according to one of the preceding claims, wherein the eccentric wheel (2) has three arc-shaped wheel segments (20), and wherein the free end (21) of one wheel segment (20) to the free end (21) of an adjacent wheel segment (20) ) includes an arc angle of 120 °. Stair-climbing device (1) according to one of the preceding claims, wherein the free ends (21) of the wheel segments (20) are at the same distance from the first axis of rotation (37). Stair climbing device (1) according to one of the preceding claims, wherein each wheel segment (20) has two wheel sub-segments (20a, 20b) running parallel to one another, and wherein each wheel lower segment (20a, 20b) has a free end (21). Stair-climbing device (1) according to one of the preceding claims, wherein each wheel segment (20) is designed in the shape of a circular arc, and wherein the focal point of the arc shape of each wheel segment (20) is its center point. Stair-climbing device (1) according to one of the preceding claims, wherein the wheel segments (20) are rigidly connected to one another. Stair-climbing device (1) according to one of the preceding claims, wherein only one eccentric wheel (2) is provided, which is arranged perpendicularly below the center of gravity (200) of the stair-climbing device (1). Stair-climbing device (1) according to one of the preceding claims, wherein the first axis of rotation (37) and / or the second axis of rotation (23) is a shaft by means of which the eccentric wheel (2) and / or the rotatable element (26) can be driven by a motor / is. Stair-climbing device (1) according to one of the preceding claims, further comprising a drive unit (36, 62, 64) which is designed to be self-balancing. Stair-climbing device (1) according to one of the preceding claims, wherein the frame unit (10) is designed for fastening a patient chair (70).

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