EP0226489A1 - Automatic chair for the handicapped having an automatic standing-up device - Google Patents

Abstract

The invention relates to self-propelled chairs for the handicapped. The chair in question is especially stable and has an automatic standing-up device and equipment which can be fitted with driving wheels or tracks enabling obstacles, especially escalators, to be cleared. It consists essentially of a rigid structure (1) which is, on the one hand linked to means of transmission by a system of gimbals with electric jacks (28-29) and of a seating detector with an internal frame (2), an intermediate frame (13) and an external frame (12) and their pivots, and which is on the other hand equipped at its top with the standing-up device comprising a support (34), guided on the uprights (2-3), and the lifting jack (14) which acts simultaneously: on the withdrawal of the armpit supports (5-6), to effect gentle gripping under the armpits and lifting of the patient, on the lowering of the under-thigh support (63), which can be disengaged, and on the lateral retraction of the foot-rests (8-9), while a rounded step under the buttocks, linked to a backrest, provides for comfort and a sense of reassurance. <IMAGE>

Description

The present invention relates to equipment for the disabled and relates more particularly to those allowing verticalization, that is to say the vertical positioning of the patient who remains almost constantly in the sitting position.

It also relates to self-propelled means of self-propelled movement, either on wheels or on tracks allowing the crossing of certain obstacles and the process of climbing certain stairs.

We know that the problem of verticalization of disabled adults is desirable for many reasons:
- trophic because it makes it possible to limit the deformations and the atrophies which involve a prolonged sitting station. These distortions are even more critical when the subject is in a period of growth and development. In addition are improved by verticalization: bone demineralization, frequency of bedsores, vicious attitudes,
- in terms of the prevention of complications of respiratory and cardiovascular decubitus,
- according to a psychological aspect because it allows the patient to take "by himself" a natural attitude for everyone without having to ask for assistance from others.

In addition, it is desirable to accompany such a verticalization of travel autonomy accepting accidents on the ground or even crossing certain stairs for example.

Finally, we know that any verticalization of a disabled person must be carried out gradually with waiting levels, especially for cardiovascular reasons.

In specialized medical circles, it is known that the only place for gripping a hemiplegic or quadriplegic handicapped person is located under the armpits because it is the only place which allows the body to be placed in total suspension without provoking reactions. dangerous side effects as is the case when it is supported on its legs for example.

The solution to the problem of verticalization is not obvious because it must meet many imperatives which are sometimes contradictory.

stability must be ensured by the fact that the center of gravity must be located in the immediate vicinity of the center of the support polygon limited by the points of contact of the chair with the ground and this in the two sitting or standing positions of the patient.

The equipment of the wheelchair must be designed so as to lower the center of gravity as much as possible in order to minimize the moment of overturning when crossing obstacles such as stairs for example.

The commands must be easily accessible or even result from verbal instructions in the case of deep quadriplegics.

the verticalization must be able to be programmed over time with predetermined sequences.

The elements of the chair must be able to adapt to the patient's morphology.

the overall dimensions must remain that of conventional wheelchairs.

The power supply of the wheelchair must be ensured from a battery of suitable longevity and all the elements must be able to be relayed manually quickly in the event of failure of the electrical supply.

The security that the disabled person must never feel in a dangerous situation.

Finally, the cost price criterion which must remain within acceptable limits.

All these conditions have never been met jointly to the knowledge of the applicant.

According to a known type of chair, the verticalization is obtained by tilting, which requires a significant effort from the patient in particular of the abdominals and who in any case places it in support on his legs. The sequences are also not automated.

In another type of chair, the translation is carried out using motorized tracks of the tank type dangerously putting the patient in a critical position when crossing an obstacle; the plate not being kept.

The invention proposes a self-propelled wheelchair for the handicapped major comprising an automatic verticalization device associated with a plate conservator which does not have the aforementioned drawbacks and which can bring a set of advantages never before proposed to date.

According to such an armchair;
- the plate carrying the patient's seat is constantly preserved thanks to a gimbal assembly linked to appropriate jacks and an adapted plate detector,
- the heavy elements (battery ...) are assembled in the low position,
- the mode of propulsion by drive wheels or articulated drive tracks can be adapted quickly,
- the conformation of the articulated tracks can allow the crossing of obstacles or climb straight staircases see turning and this, with conservation of attitude,
- the adjustable essentials can be adapted to the morphology of the subject (child ...)
- all commands such as driving the chair, verticalization order with joint retraction of the footrests are available to the patient manually or are received from the recording of his voice,
- all mechanical actions can be taken over instantly if necessary,
- the material used is already encountered in commerce, for the purpose of lowering costs.
-its dimensions and dimensions are up to the standards in the matter.

The invention will in any case be well understood in the remainder of the text which will describe, by way of example and in support of the appended drawings, an embodiment of a self-propelled wheelchair for the disabled with a verticalization device automatic and a plate conservator.

• La figure 1 est une vue en perspective de l'ensemble du fauteuil selon l'invention dans une conformation avec roues,
• La figure 2 représente en perspective un détail du mécanisme de levage d'aisselles,
• la figure 3 est une vue en coupe partielle selon A de la figure 1,
• la figure 4 est une vue en coupe partielle selon B de la figure 1,
• la figure 5 est une vue en perspective semblable à la figure 1 dans laquelle des chenilles ont été disposées en lieu et place des roues,
• la figure 6 est une vue perspective montrant le détail de la conformation des chenilles du coté droit de la figure 5
• la figure 7 est une vue en perspective montrant les modes de liaisons des chenilles,
• la figure 8 est un détail en coupe selon C de la figure 7,
• la figure 9 est un détail en perspective de la figure 8.

In the drawings:

• FIG. 1 is a perspective view of the whole chair according to the invention in a conformation with wheels,
• FIG. 2 is a perspective view of a detail of the underarm lifting mechanism,
• FIG. 3 is a partial sectional view along A of FIG. 1,
• FIG. 4 is a partial sectional view along B of FIG. 1,
• FIG. 5 is a perspective view similar to FIG. 1 in which tracks have been arranged in place of the wheels,
• Figure 6 is a perspective view showing the detail of the shape of the tracks on the right side of Figure 5
• FIG. 7 is a perspective view showing the modes of connection of the tracks,
• FIG. 8 is a detail in section along C of FIG. 7,
• FIG. 9 is a perspective detail of FIG. 8.

The chair according to Figure 1 is first of all characteristic in that it can ensure a constant attitude to the patient who is installed there.

To do this, the patient is secured to a rigid support structure marked 1 providing various functions:
- it constitutes the internal frame 2 of the gimbal system which will be discussed below,
- it provides the sliding amounts 3 and 4 receiving the sliding support which will also be discussed below,
- it carries the armpit supports marked 5 and 6 as a whole,
it includes the pivot axis of the under-leg portion 7, the operation of which will be explained below,
- it carries the retractable footrests 8 and 9

This supporting structure is linked to the wheels 10 and 11 by a universal joint comprising an external frame 12, an intermediate frame 13 and the internal frame 2 carrying the lifting cylinder 14; the arrangement of these members being such that the axis 15 of translation of the lifting cylinder, the axis 16 of roll correction and the axis 17 of pitch correction are coincident at point 18 of common articulation,

The external frame 12 carries the geared motors 19 (G) and 20 (D) which independently allow the drive of the wheels on the common axis.

The electric battery 21 is arranged under the universal joint and connected to the internal frame 2.

The outer frame 12 carries arms 22 (23) receiving the pivots 24 (25) of the front casters 26 (G) and 27 (D).

This gimbal system additionally comprises, as will be seen more clearly from FIGS. 3 and 4, electric actuators; one 28 for correction of roll the other 29 for correction of pitch.

The cylinders are mounted at their ends with ball joints 30-31 and 32-33 in order to allow the angular deflections ± α and ± β made possible by the fact that their low point of articulation is located below the axis 18 for the ball 31 and perpendicular to the axis 17 for the ball 33.

In this way the cone embraced by the possible deflections of the axis 15 is limited to the angles α and β and this deflection is controlled by the action of the jacks 28 and 29.

As this axis 15 remains parallel to the sliding uprights 3 and 4, the lifting support 34 embedded on said uprights can, as can be seen better from FIG. 2, ensure a rigorous translation under the action of the jack 14.

The sliding support 34 shown in more detail in its left part in FIG. 2, comprises two legs 35G (and 36D) carrying axes 37G (and 38D) of articulation of the armpit supports 5 and 6. These support armpits are shaped according to FIG. 2 so that, on the one hand, an axis 39G (and 40D) allows in rebate the articulation of a chappe 41G (and 42D) constituting a spring device 43G (and44D) articulated at its other end by a 45G clevis (and 46D) on a 47G (and 48D) axis linked to the 3G (and 4D) uprights.

The spring device 43G (et44D) comprises a compression spring 49G (and 50D) arranged on the axis with a shoulder 51G (and 52D) so that the rise of the sliding support 34 correlatively causes an output of the supports. armpits 5G (and 6D) in the direction of arrow F; such an output action then being made "flexible" by the fact of the interposition of said spring.

Of course, a casing of the spring is provided as well as all the prominences and asperities are arranged so as not to injure the patient in any case during the lifting.

In addition, a plastic sliding element 53G (and 54D) is interposed to reduce friction.

The rigid structure 1 therefore comprises a lifting support 34 whose movement is ensured by the electric lifting cylinder 14 having a sufficient stroke to ensure the verticalization of the subject as a function of its morphology.

This cylinder 14 is linked to the internal frame 2 as follows from the description above and its translation axis passes at 18 which is the point of coincidence of the axes of the gimbal system.

Such a system is well known in itself and it is known that suitable spans provide suitable articulations such as 55G (and 56D) between frames 12 and 13 and 57G (and 58D) between frames 2 and 13 as this results from Figures 3 and 4.

In these Figures 3 and 4 has also been shown (symbolically) the attitude detector 59 housed inside the frame 2. This detector which gives orders to the roll and pitch jacks and which is well known per se, can however be consisting simply of a small amount of mercury disposed at the bottom of a hollow plate-shaped housing from which are arranged orthogonally on the periphery of the actuator control electrodes. In this way, any level anomaly will result in the mercury contacting the contact electrode concerned by the difference in level and which will immediately react on the electric actuator corresponding to the desired correction. It should be noted that this mercury detector dispenses with any ever more complex electronic amplification system.

Returning to FIG. 1, it is noted that the seat of the subject must be arranged in a certain manner as a result of the verticalization movement and determined according to the conformation that it is necessary to obtain to ensure the comfort of the patient,

To this end and first of all, a comfortable backrest 60 housed between the uprights 3 and 4 and fixed to the latter by lugs 61, nevertheless authorizes the movement of movement of the lifting support 34.

Secondly, the seat base has two parts; one fixed consisting of a rounded step 62 formed in the lower part of the backsplash 60 the other, mobile 63 articulated on the lateral elements of the support structure 1. This mobile part around the axis 64 constitutes the seat under- patient's thigh when in a horizontal position, by the action of a suitable spring 65 and a suitable locking mechanism (not shown) acting on the lateral parts of the support structure 1.

The reduction of the mobile part 63 is obtained by the action of a cable 66 passing over a pulley 67 and then connected, on the one hand, to a point 68 of the support 34 and on the other hand, to another point 69 of the moving part 63.

qui recule légérement lors de la verticalisation, va permettre la mise en appui convenable du fessier contre le redan 62 assurant de la sorte un confort sécurisant pour le patient.It should be noted that the C of G

which recedes slightly during verticalization, will allow the proper support of the gluteus region against the step 62 thus ensuring reassuring comfort for the patient.

In the seated position, the patient has his feet placed on the footrests 8G (and 9D) which retract by lateral pivoting according to arrow H in FIG. 1. This pivoting is obtained by small electric gearmotors (no n shown) including the action is coordinated with verticalization. the manual controls are also arranged on the housing 70 positioned on the armrest of the structure 1.

The verticalization proper can now be exposed as a whole essentially in support of FIG. 1.

At first, the patient is seated normally as shown by the dashed lines X in Figure 1.

According to this position, the armpit supports 5-6 are lowered and fitted inside the uprights 3-4. The support 34 is in the low position and the under-leg support 62 is locked while the legs are supported on their retractable footrest 8-9.

Depending on usage, the patient can be directed by action on the manual control 70 by acting on the traction motor reducers 19 and / or 20. The disabled person could also be directed by an assistant by the fact that the motor reducers are mounted "at friction".

In a second step, the patient himself causes the verticalization operation proper by acting on the appropriate control of the housing 70.

Jointly, then operate:
- the raising of the lifting cylinder 14 and the gradual removal of the armpit supports 5-6 which gently take the patient under the armpits,
- lowering of the under-leg support 62,
- the lateral retraction of the footrests 8-9.

The coordination of all these movements is such that all the sequences are carried out smoothly without abruptness and according to predetermined cycles taking into account the exposure times necessary for the restoration of the circulatory system.

During this verticalization operation, the plate is constantly provided automatically. During verticalization, the patient's feet hang down without resting on the floor (according to Y) ensuring total suspension which can allow the chair to move. However, it is certain that such a standing movement is preferable on smooth and unobstructed ground. as a result of the increased overturning moment resulting from verticalization;

The reverse de-verticalization operation is carried out in the opposite direction so that the patient finds himself in the initial sitting position while still respecting the required exposure times.

Of course it would be quite possible to adapt a verticalization and driving control system operating by voice for the severely disabled who do not have the use of their members.

the jacks used can be of the ball type for the lifting one 14 and taken in those of the trade for the lifting of the vehicles for those of roll 28 and of pitch 29. These jacks are electric and powered by the battery 21 and can be manually controlled when necessary by the cranks 71-72-73.

The adaptation of the chair to various morphologies is ensured by the proper positioning of the axes 45G (and 46D) of the armpit supports 5G (and 6D) on predetermined holes 47a.,. 48a ... in the 3G (and 4D) amount. Correlatively, the stroke of the lifting cylinder 14 is adjusted by limit switches (not shown). Likewise, the length of the cable 66 is arranged so that the footrests 8-9 are adjusted to height.

It should be noted that the size of this chair is to the standards in use, namely: length L ÷ 125 cm, width l ÷ 75 cm and height h from the floor to the knees ÷ 65 cm. The chair is also very stable due to the low position of its center of gravity which is located moreover in the immediate vicinity of the center of the support polygon formed by the ground contact points of the wheels and casters.

The chair as described comprises exclusively for the sole translation, conventional motor elements such as wheels and casters encountered in different other models and this does not come within the scope of the invention.

By cons, the known conventional drawback against such wheelchairs and castors is their inability to overcome certain obstacles such as stairs a fortiori when they are curved.

The problem is difficult and painful because it is a whole field of exploration which remains prohibited for those who have lost the use of their legs.

The invention therefore proposes, in a second step, an adaptation of the chair as previously described which implements a set of tracks which are shaped and arranged in a manner specific to the problem posed.

If we now refer to Figures 5 to 9, we can see how such an adaptation can be done in practice.

It must first of all be considered that during the translation by tracks, the verticalization is not desirable because of the feelings of loss of balance that the patient will then feel,

The adaptation which is mentioned results from the fact that on the one hand, the wheels 10 and 11 are replaced by sprockets for toothed belts 74G (and 75D) (see also fig. 4) and which are added to the external frame. 12 of the front supports 76G (and 77D) and rear 78G (and 79D).

Such an adaptation does not pose any particular problem if it has been provided in particular by the presence of predisposed holes 80 ... and of compatibility of the axes.

The recommended track system essentially comprises, as is particularly visible in FIG. 7, a set of front tracks 81G (and 82D) and a set of rear tracks 83G (and 84D) articulated on supports as will be explained now.

The rear axles have journalled on the supports 78-79 and receive sprockets 85G (and 86D) for toothed belts 87-88 and they carry the track carrier wheels 89G (and 90D) as well as one of the end parts of a support in U 91G (and 92D).

the other end of the support 91G (and 92D) carries another axis passing through 93G (and 94D) supporting on either side of the support wheels of internal tracks 95G (and 96D) and external 97G (and 98D). the external tracks 99G (and 100D) surround the wheels 90-98 with their own grip means (notching for example) and an external folding 101G (and 102D) of the U allows to ensure an internal bearing friction to the tracks which are of course made of a rubbery material.

We can see that the traction of the rear tracks is obtained from the notched belts 87G (and 88D) attacking their respective pinions and that their movement is allowed around the rear axes according to the radius R1.

The front tracks 103G (and 104D) surround: the track wheels 95-96 and other front wheels 105 G (and 106D) carrying axes 107G (and 108D) journalled forward on U 109G (and 110D) themselves journalled on axes 93-94.

Likewise, an internal folding 111G (and 112D) can ensure an internal friction of support for the tracks which are likewise made of a rubbery material.

Again, the rotation along R2 can take place around axes 107-108 which must, of course and for reasons pure geometry, be mounted in oblong openings 113G (and 114D) provided on the supports 76-77.

We can see that with such a set:
- the tracks are all driven and their motor skills are ensured by the sets of toothed belts 81-82-83-84. We can therefore guide the chair by blocking a set of tracks as is known in practice.
- the tracks can be struggled around their axes according to R1 or R2 up or down which authorizes the crossing of obstacles.
- the supports are constantly ensured by the presence of U-shaped profiles allowing the support friction of the tracks;
- The efforts are well transferred pr supports 76-77 and 78-79 on the outer frame 12 which also ensures the conservation of the seat of the chair as indicated above.

It should be noted that in order to be able to absorb obstacles correctly, the tracks must tend to be in the low position, that is to say according to B shown in the drawing according to FIG. 6. to do this and as shown in detail in FIG. 9, a spiral spring 115G (and 116D) is mounted on each axis 93-94 by gripping on the lateral flanks of the supports 92-110 and 91-109.

From the foregoing description, it can be seen in support of FIG. 5 that the crossing of obstacles deemed to be difficult such as straight or curved staircases should no longer pose any particular problems insofar as, of course, the movement of the armchair can be assured and the slope of the stairs remains reasonable.

We can see that on command of the patient, the sets of tracks before 81-82 will first of all, starting from the flat ground, attack the first step and then climb the other steps, following the inclination of the stairs .

when the staircase is curved, the two inclinations will be different which means that the outer frame 12 will itself be in a left inclination, the most unfavorable, which will immediately correct the action of the v roll 28 and pitch 29 rinses controlled by the attitude detector 59.

The tracks having notches with sufficient imprints; the ascent of the staircase can continue under the effect of the rear tracks which come into action. It should be noted that the "plating" of the tracks on the edge of the steps is constantly ensured by the action of springs 115-116 which tend to bring the tracks back into the configuration according to B in FIG. 6.

The last step is crossed while the sets of front tracks 81-82 will then be in the configuration according to FIG. 5; the attitude being always preserved and the center of gravity remains constantly inside the support polygon formed by the extreme points of support of the tracks on the ground.

The arrival on the upper flat ground is ensured under conditions similar to those of the beginning of crossing of the first step; the plate being always preserved.

The present description has been made only to make the basics of the invention understood, essentially consisting in providing a major handicapped person with the means of standing up himself by taking support under the armpits and for ensuring by his own means the crossing of obstacles deemed to be difficult, such as straight or a fortiori curved stairs.

It is obvious that any modifications and / or adaptations which would be made to the invention in its spirit would remain within its scope; which framework is defined in the claims which follow.

Claims (6)

1 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device characterized in that it comprises:
a rigid structure (1) carrying two uprights (3-4) receiving in sliding a support (34) driven in translation by a lifting cylinder (14), two retractable armpit support mechanisms (5-6), a folding under-leg support (63) with its pivoting and locking mechanism, a backrest (60) with a buttock support step (62), an elbow support carrying the control unit (70), two footrests pivoting (8-9), an internal frame (2) constituting one of the elements of a gimbal system comprising an intermediate frame (13) an external frame (12) and their articulation pivots (55-56- 57-58),
- an electric anti-roll cylinder (28) and an electric anti-pitching cylinder (29) with their ball joint system (30-31-32-33) arranged between the internal frame (2) and the external frame (12),
- an attitude detector (59) linked to the rigid structure (1) and controlling the anti-roll (28) and anti-pitching cylinders (29)
- a self-propelled movement system comprising: either wheels (10-11-26-27), two of which are driven by geared motors (19-20); either sets of tracks (81-82-83-84) and the adaptation of one to the other of these formulas is easily done by the fact of pinions (74-75-85-86) with adapted axes with removable supports (76-77-78-79) and suitable fixings (80 ...) and notched belts (87-88) arranged on said pinions,
- A battery (21) for the general electrical supply, the arrangement of these various elements being such that on the patient's order, the patient can proceed to verticalization thereof which jointly causes an exit from the armpit supports coordinated with a lowering of the under-leg support and a lateral retraction of the footrests and / or producing the displacement of his chair by action on the wheels when said chair is equipped with said wheels or by actions on tracks when said chair is equipped with said caterpillars. 2 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device according to claim1 characterized in that the armpit support mechanism (5-6) comprises on the legs (35-36) of the lifting support (34) two axes of articulation (37-38) and of connection to the supports which have rabbets of rabbets (41-42) on the axes (39-40); said chaps constituting a device with compression springs (49-50) articulated according to the other end by other chaps (45-46) linked by the axes (47-48) to the uprights (3-4); the arrangement of these elements being such that the rise of the support (34) correlatively causes an exit from the armpit supports (arrow F) and said exit is made flexible by virtue of the presence of the springs. 3 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device according to claim 1 characterized in that the folding under-leg support (63) comprises a hinge pin (64) of said support, a spiral spring (63) on said axis systematically bringing the support into the sitting position, an anchor point (69) of a cable (66) passing over a pulley (67) and anchored at its other end to another point (68) linked to the support (34), a self-disengaging locking system for the support on the lateral uprights; the arrangement of these elements being such that when the lifting cylinder (14) comes into action, it occurs jointly: an unlocking of the support on the lateral uprights and a lowering of this support under the effect of the traction of the cable (66) driven by the movement of the support (34); the reverse movement leading to a return to the sitting position and then relocking of the seat support; 4 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device according to claim 1 characterized in that the equipment with tracks comprises two removable front supports (76-77) two removable rear supports (78-79) and on these supports are oriented two sets of tracks towards the rear (84-85) and two sets of tracks towards the front (81-82); said sets of rear tracks each comprising; on the one hand an axis linked to the supports and each pivotally receiving a pinion (85-86), the track wheel (89-90), the end of the U-shaped support (91-92) and on the other hand linked to the other end of said U-shaped support (91-92), a pivot axis (93-94) itself linked on one side to a first track wheel (97-98) and on the other side to a second track wheel (95-96) while a second U-shaped support (109-110) centered on a part on said pivot axis (93-94) receives an axis (107-108) linked to a track wheel (105-106) said axis being housed in oblong openings in the front support (77-78) and notched tracks surround the track wheels (89-90 and 97-98) at the rear and the track wheels (95-96 and 105-106) at the front. 5 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device according to claim 1 characterized in that the control unit is either available to the patient on the armrest or according to an appropriate configuration for voice operation. 6 - / Self-propelled wheelchair for the disabled comprising an automatic verticalization device according to claim 4 characterized in that the U-shaped supports (91-92) and (109-110) have a fold inwardly of the tracks to ensure the support of the latter and their junction on the common axis (93-94) includes the arrangement of a spiral spring (115-116), the ends of which are fixed on their side so as to ensure a low conformation (B) to track games.

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