EP0144373A1 - Dispositifs pour monter des escaliers - Google Patents

Dispositifs pour monter des escaliers

Info

Publication number
EP0144373A1
EP0144373A1 EP84902030A EP84902030A EP0144373A1 EP 0144373 A1 EP0144373 A1 EP 0144373A1 EP 84902030 A EP84902030 A EP 84902030A EP 84902030 A EP84902030 A EP 84902030A EP 0144373 A1 EP0144373 A1 EP 0144373A1
Authority
EP
European Patent Office
Prior art keywords
wheel
arm
riser
lever
tread
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.)
Withdrawn
Application number
EP84902030A
Other languages
German (de)
English (en)
Inventor
Douglas Ronald James Colpus
Michael John Wylam
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAVISPACE Ltd
Original Assignee
MAVISPACE Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MAVISPACE Ltd filed Critical MAVISPACE Ltd
Publication of EP0144373A1 publication Critical patent/EP0144373A1/fr
Withdrawn legal-status Critical Current

Links

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
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • 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
    • B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards

Definitions

  • the present invention relates to stair climbing devices in particular to wheel chairs with reference
  • the present invention is based on a novel * concept of wheel assembly which provides a lifting force to smoothly lift a load up the stairs while also being effective for transporting a load along
  • The. wheel assembly has two independently rotatable wheels mounted on separate independently rotatable arms mounted on a common pivot axis.
  • the basic principle of operation is to cause the leading wheel to drivingly engage the tread and riser of a
  • step so as to hold the wheel from slipping off the step, rotate the arm about the wheel as a pivot by an angle less than 90° so as to raise the common pivot axis and then or simultaneously pivot the other arm around the common pivot axis in the same
  • a stair climbing device comprises load carrying means and one or more stair climbing wheel
  • each wheel assembly having two arms mounted.for rotation about a common axis, each arm carrying a drivable wheel at or adjacent its end remote from the common axis, each arm being drivable
  • each wheel and each arm can be driven independently.
  • the minimum angle preferably being 90°.
  • Hand trolleys are known having single auxiliary wheel assemblies to facilitate hand pushing up stairs. These do not have the climbing structure defined herein nor do they provide any lifting force, they merely smooth out the passage up
  • Single wheel assemblies in accordance with the present invention may be built into such hand trolleys or may be provided for detachable securement to such trolleys.
  • Pairs of wheel assemblies may also be provided
  • the wheel assemblies may be attached outboard of the rear wheels or inboard thereof or instead of the rear wheels.
  • wheel assemblies 20. of wheel assemblies also may be provided as detachable units for securement to existing wheel chairs or to replace the existing rear wheels of the wheel chair.
  • the device preferably comprises a pair of such
  • stair climbing wheel assemblies located on either side of the load carrying means and most preferably two such pairs, one located adjacent the front of the device and one adjacent the rear.
  • Each arm and associated wheel is preferably
  • This transducer provision also enables the device to adjust its movements to accommodate
  • the invention thus also extends to a method of climbing stairs which comprises providing a stair climbing device in accordance with the invention, and then carrying out the following sequence of steps:
  • OMPI contacts the riser of the first step, being referred to as the leading assembly and the " other assembly, if present, being referred to in the description of the operation of the device as the trailing
  • step 535) 15. 515) to 545), and the cycle of steps 515) to 580) is continued until the absence of a riser is sensed in step 535) , under which condition the wheel sensing the absence of a riser reaction continues to be driven forward
  • the method- of descending stairs comprises the following sequence of steps:
  • the upwards reaction (here acting with components along the arm and transverse to the arm) on the wheel first reaching the edge of the top step 5.
  • the first wheel reducing as the axle of the wheel passes over the edge of the step and sensing when there is no upwards reaction but only fore and aft reaction from the riser of the top step, 610) driving the first wheel backwards 10. (upstairs) towards and into the riser while continuing to drive the second wheel forwards* (downstairs) as if away from the riser along the landing and tread of the top step,
  • the load carrying means may be a common axle affording the common axes or a member joining the two common axes which may be afforded by stub axles which then are disposed in line. Alternatively the
  • 5- load carrying means may be a beam or beams or members adapted to be secured to a load carrying frame or platform e.g. symmetrically on either side of it, or when a single wheel assembly is provided at or adjacent the fore and aft centre line of the
  • the load carrying means are levers pivoted to a load carrying frame so that the orientation of the load carrying
  • frame or platform and each may comprise a pair of levers pivoted to each other, one of the levers, the first lever, being pivoted at or adjacent its free end to the load carrying frame or platform at or adjacent its front end and the other lever, the
  • second lever being pivotally connected by a controllably extensible and retractable linkage which is pivotally secured to the load carrying frame or platform at a location remote from the point of location of the first lever, the wheel
  • a vehicle capable of ascending and descending a straight flight of steps comprises a load carrying frame e.g. in the form of an arm chair
  • first and second levers pivoted to each other constituting the load carrying means, disposed on either side of the frame, the first lever being pivotally mounted on the frame, and extension means connecting the second
  • lever to the frame the extension means being such that the orientation of the second lever to the frame may be .controllably adjusted, each second lever carrying first and second wheel assemblies each comprising at least two wheels, each mounted on
  • each arm being independently mounted on the second lever, the arms in a wheel assembly being mounted on a common axis, and preferably on concentric axes and being independently drivable, each wheel also being independently drivable and
  • the first and second levers are preferably pivoted to each other at the front end of the second lever.
  • Drive means may be provided so that the first levers can be drivingly rotated and held in
  • a vehicle for example a wheel chair, comprising a load carrying frame, for example a seat, arms and back rest located in a frame, has a 5. pair of bell crank levers constituting the load carrying means, either side of the frame, each bell crank lever comprising first and second levers pivoted to each other, the first lever being pivotally mounted on the frame, and extension means
  • each first lever can be drivingly rotated relative to the second lever to which it is pivoted, the arrangement being such that by extension of the extension means and operation of the drive means the load carrying frame can be
  • This form of the invention provides a benefit independent of the stair climbing ability of the first aspect of the invention, namely that without leaving the chair the user can raise his eye level
  • the front wheel assemblies are preferably mounted coaxially
  • the rear wheel assemblies are preferably mounted at
  • OMPI ⁇ _ IPO or adjacent the rear of the second lever.
  • Separate drive means are preferably provided for each wheel assembly and these may conveniently be mounted on the second lever desirably on flanges extending down
  • the second lever when the device is in the form of a wheel chair, preferably extends from
  • each front drive motor is preferably in the front half of the second lever
  • each rear drive motor is preferably just behind the rear mounting axle or common axis of each rear wheel assembly.
  • the motors are desirably controlled to be
  • the arms in each wheel assembly may be mounted
  • each axle will then carry a drive member for its associated wheel as well as its own drive member.
  • Each motor preferably drives its arms and wheels
  • torque limiting means e.g. torque clutches which may be mechanical, electrical or hydraulic.
  • the clutches may be individually provided for each wheel and each arm, or clutch means common to selected combinations of arms and wheels may be 5. provided.
  • the clutches may be operable at preset or controllable torque values.
  • Locking means may be provided for the arms so that, on the flat, the wheel assemblies can be canted so that only one wheel of each assembly
  • This mode of operation is especially important when an extra high riser is being negotiated when two wheels will in fact be being driven only into the riser; such a circumstance makes it even more
  • the extension means preferably extend from a location to the rear of the centre of gravity of the frame or platform of the device to a location on the second lever at or adjacent its mid-point e.g.
  • the extension means may be a screw or ratchet mechanism e.g. driven by an offtake from the front drive motor or a separate motor or may be a hydraulic cylinder and piston supplied with
  • hydraulic fluid from a pump which could .again be driven by the front drive motor or another motor.
  • whatever form the extension means takes it is desirably controllable and preferably under the control of level sensing means so as to operate to
  • Figure 1 is a front elevation of the vehicle in the form of a wheelchair for a person who has lost the use of their legs;
  • Figure 2 is a side elevation of the wheelchair showing it in the orientation it adopts on a . flat 10. Horizontal surface but also showing it with the frame and seat in a raised position;
  • Figure 3 is partial view similar to Figure 2 on an enlarged scale showing the movable chassis and wheel assembly arrangement of the invention in more 15. detail;
  • Figures 4, 5 and 6 are side elevational views showing stages in a stair climbing or a stair descending cycle for the device according to the invention; 20.
  • Figure 4 shows the stage where the first wheel of the leading wheel assembly has started to descend the top step;
  • FIG. 5 shows a further stage where the rear wheels of the leading and trailing wheel assemblies
  • steps 25. are—each— es-tin -on—a—step but the steps are the top and third steps of the sequence of steps and the front wheel of the trailing wheel assembly is just about to make contact with the second step tread, and the front wheel of the leading wheel assembly is 30. just about to make contact with the fourth step tread;
  • OMPI Figure 6 shows a further position in which the front wheel of each wheel assembly is rotating out down towards the flat surface onto which the machine will eventually rest ⁇
  • Figures 7 to 14 illustrate by reference only to a single wheel assembly how the wheel assembly climbs and descends a flight of stairs
  • Figure 15 is a diagrammatic front elevation showing an alternative arrangement of wheel mounting.
  • load carrying frame 10 e.g. made of tubular metal which supports a back rest, seat, and arm rests and depending from beneath the seat a battery carrying framework 30.
  • a controllable ball and screw cylinder 400 is pivotally mounted by a pivotal
  • connection at each side of the side supports beneath the seat and to the rear of the centre of gravity.
  • the cylinders are driven by power take offs from motors which are controllable so as to cause the pistons to extend or retract in a controlled manner.
  • a floating chassis is located outside the lower portion of the frame and extends longitudinally thereof on each side of the frame.
  • This chassis consists of a pair of first and second levers pivoted to each other and extending longitudinally
  • the second lever 100 " is pivoted to the first lever 110 which is attached to the frame by a pivotal linkage at the front of the frame.
  • Each lever 110 is provided with drive means (not shown for clarity in the drawings) whereby it can be
  • Each second lever 100 is also attached to the frame by the above- mentioned cylinders 400 at the rear.
  • Each second lever also carries at a location between its front end and the pivot point for the
  • the front wheel assembly motor 300 is also positioned at a distance below the floating chassis such that it does not interfere with the power pack carrying framework 30. 30.
  • Each front wheel assembly motor 300 has a drive output shaft connected via a drive belt or chain to a drive wheel at the front end of its second lever which itself is connected to drive wheels for each of the wheel structures 160, 170, 180, 190 (not
  • the frame 10 has back and seat supporting side members 11 * and 12 each affording rearwards extending handles 13. Armrest and front side members 14 and 15 are welded to the side
  • Front and rear cross members 18 are identical to Front and rear cross members 18 (not shown) are identical to Front and rear cross members 18 (not shown) are identical to Front and rear cross members 18 (not shown) are
  • the side members 14 and 15 extend down below foot level at the front and then curve up again at 19 to afford forwardly extending upwardly canted
  • ends 21 which carry inwardly facing footrests 22.
  • the side members 11 and 12 at the rear of the seat 26 between the back of the frame work 30 and the position 16 are provided with downwardly extending ears 23 and 24 (not shown) affording
  • pivotal bearings 25 and 26 (not shown).
  • the side members 14 and 15 have outwardly extending pins or shafts 27 and 28 (not shown) adapted to provide a pivotal connection in the region 19, the lowest point of their front ends.
  • the battery or power pack carrying framework 30 affords further cross bracing of the frame 10 and as can be seen in Figure 1 consists of a pair of rear
  • Q members 31 which extend down from the side frames 11 and 12 at each side from a position just in front of the centre of gravity 33 of the device then inwardly at 34, down at 35 and across to provide a cross member 36.
  • Side members 37 extend forward at the
  • the battery and control mechanisms can be mounted in this space.
  • Each second lever is of generally flattened elongated dumbell or connecting rod or plate shape, 7c having round enlarged ends 120, 140 affording common pivots 121 and 141 and a strip like rod portion 130.
  • Each second lever has a flange 125 extending down from the bottom edge of the second lever in its front half, n This flange affords a mounting 126 (not shown)
  • OMPI ' i ⁇ IPO for a front wheel assembly drive motor 300 and also a pivot pin or bearing for the other end of the ball and screw cylinder 400.
  • Each second lever also has a rearward extension
  • 10. comprises a second lever 100 pivoted to a first lever 110 at the front.
  • Each first lever 110 is pivoted at one end via a slot 111 to the pin 27 or 28 and at the other end to the second lever, so that the first lever can pivot in a fore and aft
  • the front wheel assemblies 150 have front wheel structures 160, and 180 (see Figure 1) and rear wheel structures 170 and 190 (not visible).
  • the rear wheel assemblies 200 have front wheel structures 210 and 220 (not visible) and 230 10. and 240 (not visible).
  • Each wheel structure, in each wheel assembly is independently pivotally connected to its second lever.
  • Each wheel structure is in fact a pair of wheels and for example, for the wheel structure 160, 15. is mounted on a wheel carrying arm 161 which has one end located between the pair of wheels and the other end pivoted to the end 120 of the second lever 100.
  • Each wheel structure has a drive wheel e.g. 162 for wheel structure 160 which is keyed to or formed 20. with, e.g. integrally with, the wheel 160 which is driven by a belt drive 163 from a drive wheel 164 mounted on the end 120.
  • Wheel structure 170 is similarly driven via a drive wheel 172, belt 173 and drive wheel 174.
  • Drive wheels 162, 164, 172 and 174 25. are all the same diameter.
  • each wheel structure has a bevel gear drive wheel e.g. 601 for the wheel structure 160 which is keyed to or formed with, e.g. integrally with, the wheel 30. 160, drive wheel 601 being driven by a mating bevel gear wheel 602 which is driven by a shaft 603.
  • the shaft 603 is driven by a bevel gear 604 which is driven by a bevel gear 605.
  • the wheel structure 170 is similarly driven via a drive wheel 610, a bevel gear
  • Bevel gears 602, 604, 607 and 609 have the same pitch circle diameter.
  • Bevel gears 601, 610, 606 and 605 have the same pitch circle diameter.
  • the drive wheel 164 is keyed to or formed. from
  • the drive wheel 174 (in the alternative arrangement of Figure 15, the drive wheel 605 is keyed to or formed with, -e.g. integrally with, the drive wheel 606) .
  • These wheels 164 and 174 (or 605 and 606) are mounted on a shaft to which a drive wheel 304 is
  • the wheel 304 is driven by a belt 303 from the drive wheel 302 of the front drive motor 300.
  • the drive wheels 164 and 174 incorporate controllable torque clutches so that they can be driven in either
  • the drive arrangement for the rear.wheel assemblies 200 is the same.
  • each wheel assembly is mounted on arms which are
  • the arm 221 is also freely mounted on the shaft to which the drive wheel 304 is keyed, this arm 221 is provided with a drive wheel and clutches in the same way as arm 211.
  • the arms can be locked relative to the chassis by any suitable means.
  • the drive by which the arms can be rotated relative to the common axis can be a worm and screw drive, which gives good reduction, smooth action and safety ⁇ being
  • the arms 2il and 221 also have stop structures. These limit the closest approach of the arms 211 and 221 to 90 O and consist of radial faces 216 and 226 affording lower stop structures and 217 and 227
  • the arms also carry transducers 218 and 228 arranged to sense reactions on the wheels. These are upwards floor or tread reactions and fore and aft riser reactions.
  • the floor or tread reactions are upwards floor or tread reactions and fore and aft riser reactions.
  • the fore and aft reactions are those produced by the risers; when the device first encounters a riser on climbing stairs the first riser reaction will have components both along and across the arm but again once climbing has commenced the riser reaction
  • transducers supply the signals which control the climbing and descending routines.
  • Figures 9 to 11 illustrate how the device accommodates steps which have a deeper tread than riser height and Figures 11 to 13 illustrate how the
  • FIG. 25 device accommodates steps which have a shallower tread than riser height.
  • Figures 7 to ⁇ 14 illustrate the movements of the descending sequence except that the trajectories of the arching over wheel differ between climbing and descending as will be described
  • FIG 7 it is the rearmost wheel structure 220* which rolling along the ground 400 10. engages the riser 401 of the first step.
  • the rear wheel assembly as shown in Figure 7 is initially in the condition shown in Figure 3 with the lower stop member 216 on the arm 211 engaging the lower stop member 226 on the arm 221 so that the angle between
  • the wheel structure 220 engages the riser 401, 20. 715) the transducer 228 on the arm 221 senses and confirms the upwards tread reaction 420 and the fore and- aft riser reaction 421 on the first wheel,
  • the arm 221 is driven by the motor 350 in a forward upstairs direction through an angle A, 25. preferably of 36°, around the axle 229 of the wheel structure 220,
  • step 720 and 730 the arm 211 is driven by the motor 350 in a forward upstairs direction around the common pivot 141 through an angle relative to the pivot of 180o 30. till the wheel structure 210 (the second wheel) occupies the position 425 shown in Figure 7 and the upper stops 217 and 227 of the arms 211 and 221 are in engagement, (steps 720 and 730 are preferably carried out in unison),
  • the first arm 221 now is driven by the motor 350 further forward in an upstairs direction around the axle 229 of the wheel structure 220 through an angle C until the second wheel contacts the tread 402 or riser 403 or both.
  • the .transducer 2 ⁇ 8 on the arm 211 senses whether there is upwards tread reaction 426 or fore and aft riser reaction 427 on the wheel structure
  • the arm 211 is driven by the motor 350 in a forward upstairs direction through an angle A, preferably of 36o, around the axle 219 of the wheel structure 210,
  • the arm 221 is driven by the motor 350 in a forward upstairs ' direction around the common pivot 141 through an angle B, relative to the pivot, of 180O till the wheel structure 220 (the second wheel) occupies the position 428 shown in Figure 8 and the
  • the transducer 228 on the arm 221 senses and confirms the upwards tread reaction 1401 on the first wheel 220, 15. 1420) the motor 350 is used to drive the wheel 220 along the tread and landing 412 and the wheel 210 is allowed to rise up the riser 411,
  • the transducer 218 on the arm 211 senses upwards tread reaction 1402 on the wheel 210 once 20. the position 1403 is reached,
  • both the wheels 210 and 220 are now driven forward.
  • step 915 it is the tread 406 and the riser 407 and at the end of the sequence the wheel 220 rests on 30. the tread 408 but is not in contact with the riser 409 the depth of the tread 408 being less than the height of the riser 407.
  • the wheel 220 is driven by the motor 350 into the riser 409 and the wheel 210 on the arm 211 10. is allowed to rise 'up the riser 407, raising the common pivot axis 141.
  • Figure 11 shows both the end of the procedure for handling a deep tread and also the beginning of 15.
  • the procedure for handling a shallow tread involves the following steps:
  • the transducer 228 on the arm 221 senses and confirms the tread reaction at 482 and the riser reaction 483, 20. 1120) the arm 221 is driven by the motor 350 in a forward upstairs direction through an angle A, preferably of 36o, around the axle 229 of the wheel structure 220,
  • the arm 211 is driven by the motor 350 in 25. a forward upstairs direction around the common pivot
  • step 1120 and 1130 are preferably carried out in unison) , 1140) the first arm 221 now is driven by the motor 350 further forward in an upstairs direction around the axle 229 of the wheel structure 220 through angle E until the second wheel contacts the 5. riser 411.
  • the transducer 218 on the arm 211 senses and confirms that there is a riser reaction at 1201 10. only,
  • the wheel 210 on the arm 211 is allowed to drop down the riser 411 and the wheel 220 is driven backwards along the tread 408 by the motor 350,
  • the transducer 218 on the arm 211 senses 15. and confirms the riser reaction at 1202 and the tread reaction at 1003.
  • the front wheel assembly 150 is now involved instead of the rear wheel assembly 200 and 30.
  • the first or leading wheel structure is 160 and the second or trailing wheel structure is 170.
  • routine (1500) involves the following sequence of steps:
  • the wheels 160 and 170 are driven by the motor 300 towards the edge of the step 412,
  • the edge and the transducer 168 on the arm 161 senses a drop in upwards reaction to zero and reverses the direction of drive of the wheel 160 and senses riser reaction pressure 1504, while the wheel 170 continues to be driven downstairs
  • the transducer 168 on the arm 161 senses and confirms upwards tread reaction 1605 and riser
  • the arm 161 is driven by the motor 300 in a downstairs (anticlockwise) direction through an angle A preferably of 36o. around the axle 169 of the wheel structure 160,
  • the arm 171 is driven by the motor 300 in a downstairs direction around the common pivot 121 through an angle, B, relative to the pivot of 180O till the upper stops 167 and 177 of the arms 161 and 171 are in engagement (steps 1620 and 1630 are
  • the first arm 161 now is driven by the motor 300 further downwards around the axle 169 of the wheel structure 160 through an angle F until the second wheel 170 contacts the tread 407.
  • the transducer 178 on the arm 171 senses and confirms an upwards tread reaction 1501 only on the wheel 170,
  • the wheel 170 is driven clockwise into the confluence of the tread 408 and riser 409 by the motor 300 and the wheel 160 is allowed to rise up the riser 411.
  • routine (1800) is analogous to that described for the
  • the wheel 170 is driven clockwise into the confluence of the tread 400 and the riser 401 sensing reactions 420 and ' 421, the arm 161 is driven forwards and downwards until the wheel 160 contacts the tread 400. The wheel 160 is then driven

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

Dispositif pour monter des escaliers et procédé pour utiliser ledit dispositif. Dans un mode préférentiel de réalisation, le dispositif est une chaise roulante. La chaise est montée sur un châssis libre doté d'un montage de roue (150, 200) à chaque coin, chaque montage de roue (150, 200) étant constitué d'une paire de roues (160, 170, 180, 190) montées sur des bras (161, 171, 211, 221), les roues (160, 170, 180, 190) étant entraînables autour de leurs propres axes (169, 179, 219, 229) et les bras (161, 171, 211, 221) étant entraînables autour de l'axe commun (121, 141) par lequel ils sont reliés au châssis libre. La partie chaise est reliée au châssis par des pivots sur l'extrémité frontale du dispositif et par des cylindres extensibles (400) sur l'extrémité arrière du dispositif, si bien que la chaise peut être maintenue horizontale lorsque le châssis peut s'incliner au fur et à mesure que la chaise roulante monte et descend des escaliers. Le montage est tel que le présent dispositif peut également être utilisé pour élever et abaisser la chaise par rapport au châssis tout en maintenant le châssis horizontal. La connexion frontale montée sur pivot passe ainsi par un bras de liaison. Le procédé de montée et de descente des escaliers est le suivant: la chaise roule, de préférence en arrière, lorsque le dispositif monte des escaliers, jusqu'à ce que la roue la plus en arrière entre en contact avec la contremarche de la première marche, ce qui produit un signal dans des détecteurs adéquats; puis, le mécanisme d'entraînement est disposé pour faire tourner le bras de la roue à ce moment-là la plus en arrière de ce premier montage de roue qui entre en contact avec la première contremarche de telle manière que le bras tourne autour de l'axe commun afin d'amener la roue sur le giron de la première marche; dès que ce contact est détecté, cette roue est entraînée dans la contremarche de la première marche jusqu'au moment où le contact est à nouveau détecté, le bras de cette roue tourne alors vers une position verticale qui
EP84902030A 1983-05-13 1984-05-11 Dispositifs pour monter des escaliers Withdrawn EP0144373A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8313310 1983-05-13
GB08313310A GB2139576A (en) 1983-05-13 1983-05-13 Stair climbing devices

Publications (1)

Publication Number Publication Date
EP0144373A1 true EP0144373A1 (fr) 1985-06-19

Family

ID=10542733

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84902030A Withdrawn EP0144373A1 (fr) 1983-05-13 1984-05-11 Dispositifs pour monter des escaliers

Country Status (5)

Country Link
EP (1) EP0144373A1 (fr)
GB (1) GB2139576A (fr)
IT (1) IT1177725B (fr)
WO (1) WO1984004451A1 (fr)
ZA (1) ZA843590B (fr)

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3713564A1 (de) * 1987-04-23 1988-11-10 Haas & Alber Haustechnik Und A Treppensteigvorrichtung, beispielsweise fuer rollstuehle fuer gehunfaehige
US7370713B1 (en) 1993-02-24 2008-05-13 Deka Products Limited Partnership Personal mobility vehicles and methods
US6779621B2 (en) 1993-02-24 2004-08-24 Deka Products Limited Partnership Riderless stabilization of a balancing transporter
US7090040B2 (en) 1993-02-24 2006-08-15 Deka Products Limited Partnership Motion control of a transporter
US6443250B1 (en) 1993-02-24 2002-09-03 Deka Products Limited Partnership Control of a balancing personal vehicle
US6581714B1 (en) 1993-02-24 2003-06-24 Deka Products Limited Partnership Steering control of a personal transporter
US5975225A (en) * 1993-02-24 1999-11-02 Deka Products Limited Partnership Transportation vehicles with stability enhancement using CG modification
US5507358A (en) * 1993-06-04 1996-04-16 Kabushiki Kaisha Daikin Seisakusho Stair climbing vehicle
CA2120631C (fr) * 1994-04-06 2000-02-15 Gyula Csotonyi Fauteuil roulant motorise
US6543564B1 (en) 1994-05-27 2003-04-08 Deka Products Limited Partnership Balancing personal vehicle
US6311794B1 (en) 1994-05-27 2001-11-06 Deka Products Limited Partneship System and method for stair climbing in a cluster-wheel vehicle
US6827163B2 (en) 1994-05-27 2004-12-07 Deka Products Limited Partnership Non-linear control of a balancing vehicle
US6561294B1 (en) 1995-02-03 2003-05-13 Deka Products Limited Partnership Balancing vehicle with passive pivotable support
KR100346992B1 (ko) * 1995-02-03 2003-05-12 데카 프로덕츠 리미티드 파트너쉽 수송차량및방법
JPH09309469A (ja) * 1996-05-23 1997-12-02 Exedy Corp 階段昇降車
DE19744680A1 (de) * 1996-10-11 1998-06-04 Exedy Corp Radfahrzeug für Fahrten auf Rolltreppen
ES2132020B1 (es) * 1997-04-17 2000-04-16 Navarro Francisco S Cabanillas Dispositivo de rodadura para vehiculos automoviles y sillas de ruedas.
US6799649B2 (en) 1999-03-15 2004-10-05 Deka Products Limited Partnership Control of a balancing personal vehicle
US6789640B1 (en) 2000-10-13 2004-09-14 Deka Products Limited Partnership Yaw control for a personal transporter
US6796396B2 (en) 1999-06-04 2004-09-28 Deka Products Limited Partnership Personal transporter
US6302230B1 (en) 1999-06-04 2001-10-16 Deka Products Limited Partnership Personal mobility vehicles and methods
US7275607B2 (en) 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
US6435535B1 (en) 2000-03-01 2002-08-20 Deka Products Limited Partnership Trailer for balancing vehicle
US6538411B1 (en) 2000-10-13 2003-03-25 Deka Products Limited Partnership Deceleration control of a personal transporter
US6554086B1 (en) 2000-10-27 2003-04-29 Invacare Corporation Obstacle traversing wheelchair
US7040429B2 (en) 2001-10-10 2006-05-09 Invacare Corporation Wheelchair suspension
US7900725B2 (en) 2002-06-11 2011-03-08 Segway Inc. Vehicle control by pitch modulation
US7690452B2 (en) 2002-06-11 2010-04-06 Deka Products Limited Partnership Vehicle control by pitch modulation
WO2004007264A1 (fr) 2002-07-12 2004-01-22 Deka Products Limited Partnership Reglage d'un transporteur en fonction de l'assiette
FR2845892A1 (fr) * 2002-10-18 2004-04-23 Thierry Peltier Dispositif de maintien a niveau des fauteuils roulants pour adultes et enfants
US7293801B2 (en) 2003-08-18 2007-11-13 Invacare Corporation Self-stabilizing suspension for wheeled vehicles
US11213441B2 (en) 2002-10-25 2022-01-04 Invacare Corporation Suspension for wheeled vehicles
ITTO20050451A1 (it) * 2005-06-28 2006-12-29 Cubed S R L D Gruppo ruota motorizzato a tripode, in particolare per una sedia a rotelle, e sedia a rotelle provvista di tale gruppo ruota.
EP2272478B1 (fr) 2007-02-08 2012-05-23 Invacare Corporation Suspension de fauteuil roulant
CA2829909C (fr) 2007-02-14 2016-10-04 Robert Bekoscke Systeme de commande de stabilite
US7669862B2 (en) 2007-04-27 2010-03-02 Sterraclimb Llc Foldable spider wheel for ascending and descending stairs
EP2116218A1 (fr) * 2008-05-09 2009-11-11 CHK Develop B.V. Orthèse pour la hanche adaptée au montage d'un obstacle en hauteur
US8170780B2 (en) 2008-11-06 2012-05-01 Segway, Inc. Apparatus and method for control of a vehicle
DE102009024478B4 (de) * 2009-06-10 2015-01-15 Joachim Fehr Ein kompakter mobiler Pflegehelfer für den universellen Einsatz, der sowohl im Innen- als auch im Außenbereich verwendbar ist
EP2485698B1 (fr) 2009-10-09 2017-05-17 Invacare Corporation Suspension de fauteuil roulant
JP5848266B2 (ja) 2010-02-26 2016-01-27 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
RU2011137646A (ru) * 2011-09-13 2013-03-20 Сергей Суренович Осипов Транспортное средство для транспортировки грузов и людей по лестницам и плоской поверхности
NZ628837A (en) 2012-02-15 2016-10-28 Invacare Corp Wheelchair suspension
CN102697611B (zh) * 2012-06-20 2015-07-15 上海电机学院 一种多功能爬楼轮椅
CN104842784A (zh) * 2015-05-07 2015-08-19 西北农林科技大学 一种山地梯田拖拉机
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
MX2018010241A (es) 2016-02-23 2019-06-06 Deka Products Lp Sistema de control de dispositivo de movilidad.
DK4043982T3 (da) 2016-04-14 2024-01-29 Deka Products Lp Brugerkontrolanordning fra en transportør
EP3311786A1 (fr) * 2016-10-21 2018-04-25 Airbus Defence and Space Limited Ensemble roue de véhicule
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
EP3803736A1 (fr) 2018-06-07 2021-04-14 DEKA Products Limited Partnership Système et procédé d'exécution de service public distribué
CH715461B1 (de) * 2019-01-09 2020-04-30 Gerda Ammann Rollstuhl zur Überwindung von Treppen und Hindernissen.
US11903887B2 (en) 2020-02-25 2024-02-20 Invacare Corporation Wheelchair and suspension systems
CN112590962A (zh) * 2020-12-03 2021-04-02 合肥工业大学 一种基于仿生学原理的上楼梯机械

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2931449A (en) * 1958-11-12 1960-04-05 Kentucky Res Foundation Occupant-controlled, self-propelled, obstruction-climbing vehicle
US3580344A (en) * 1968-12-24 1971-05-25 Johnnie E Floyd Stair-negotiating wheel chair or an irregular-terrain-negotiating vehicle
GB1213930A (en) * 1969-05-29 1970-11-25 John Fay Fleming A vehicle for climbing stairs
US3638745A (en) * 1970-01-27 1972-02-01 Johnnie E Floyd Hydraulic powered stair negotiating wheel chair or uneven terrain negotiating vehicle
US4200161A (en) * 1976-02-10 1980-04-29 Penington George W Jr Stairway climbing device
JPS57194171A (en) * 1981-05-22 1982-11-29 Toshiba Corp Wheeled universal running device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8404451A1 *

Also Published As

Publication number Publication date
GB2139576A (en) 1984-11-14
GB8313310D0 (en) 1983-06-22
IT8448188A0 (it) 1984-05-11
ZA843590B (en) 1985-12-24
WO1984004451A1 (fr) 1984-11-22
IT1177725B (it) 1987-08-26

Similar Documents

Publication Publication Date Title
EP0144373A1 (fr) Dispositifs pour monter des escaliers
US4618155A (en) Stair-climbing wheelchair
US4512588A (en) Stair climbing wheel chair
US3276531A (en) Vehicles for invalids for travel over horizontal and inclined surfaces
US3869011A (en) Stair climbing tracked vehicle
US4455029A (en) Wheel chairs
US4044850A (en) Wheelchair
US4108449A (en) Stair-climbing wheelchair
US4645222A (en) Vehicle and method of operating same
US6805209B2 (en) Wheelchair motorizing apparatus
KR100363809B1 (ko) 차량용 지시 시스템
US6328120B1 (en) Stair climbing vehicle
US4432425A (en) Wheel chair
US2751027A (en) Endless track supported invalid chair
US4627508A (en) Step-negotiating vehicle
EP0275137A2 (fr) Dispositif pour monter la bordure d'un trottoir
CA2954656A1 (fr) Deambulateur avec assise reglable en hauteur
WO2009069144A2 (fr) Procédés et systèmes permettant de monter et descendre des escaliers
US3196970A (en) Stair-climbing wheel chair
KR102046151B1 (ko) 계단승강이 가능한 전동 휠체어
CN104800011B (zh) 一种新型多功能轮椅及其使用方法
WO1994007452A1 (fr) Dispositif de transport permettant de negocier des escaliers
WO2006021163A1 (fr) Systeme de commande pour le passage d'obstacles sureleves par un fauteuil roulant
US3295858A (en) Stair traversing wheel chair mechanism
US3259396A (en) Wheel chair

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): AT BE CH DE FR LI LU NL SE

17P Request for examination filed

Effective date: 19850516

17Q First examination report despatched

Effective date: 19870527

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Withdrawal date: 19871001

RIN1 Information on inventor provided before grant (corrected)

Inventor name: WYLAM, MICHAEL, JOHN

Inventor name: COLPUS, DOUGLAS, RONALD, JAMES