EP0299839A1 - Automotive chair for the handicapped having an automatic standing-up device - Google Patents

Abstract

The automotive chair for the handicapped having an automatic standing-up device comprises a chair (1) with articulated elements and connected pivotably to an adjustable seat (44) on a casing (4) and an assembly of caterpillar tracks controlled by hydraulic motors (14.1- 14.2/15.1-15.2) articulated on arms constituting a pseudo-parallelogram articulated on axes (5-8) integral with a frame (6) and jacks acting on this pseudo-parallelogram in order to hold the seat steady, while permitting various positions: - standing-up in a low position (action on jack (33)): - advancing quickly (road) in a low position, - advancing slowly in a high position, possibly with standing-up, - climbing and/or descending straight and/or twisting stairways at a slow speed, - turns or half-turns on the spot at a slow speed. All the means are intended to guarantee complete safety in all the possible configurations (total breakdown, recourse to manual disengagement in difficulties, automatic locking of the caterpillar tracks, hydraulic safety circuit etc). <IMAGE>

Description

The present invention relates to armchairs for the disabled comprising a verticalization device.

the applicant had proposed in his French patent application No. 85 17086, an arrangement of a wheelchair for the disabled, the essential characteristic of which was an automatic verticalization system for the disabled by gripping under the armpits.

Such a gripping system, moreover retractable, would require a conservation of attitude and could be associated with means of movement by tracks allowing the crossing of obstacles and in particular the ascent and / or descent of straight or turning stairs.

the technical criteria used in this patent application were based on the passage in doorways determined to regulatory dimensions for the disabled, that is to say 0.75 M as shown in the description of said previous application on page 11 line 1 .

After asking him the question of whether the crossing of the doorways of normal doors fixed at 0.60 M was achievable by this chair, the applicant had to be led to completely reconsider the design which results from the present invention supported by the description who will follow.

In general, this new wheelchair for the disabled still has two parts:
- one of displacement by articulated tracks,
- the other of automatic verticalization by gripping under the armpits.

The displacement part comprises four independent and self-propelled tracks pivotally mounted and forming two by two the top of a pseudo-parallelogram deformable by jacks and the other top of said parallelogram is articulated on a frame integral with the chair.

According to such a design, the tracks in contact with the ground may have a wheelbase compatible with the crossing of doorways at 0.60 M; the chair being able to conform according to two situations:
- one in the low position for normal movements on flat ground with possible verticalization,
- the other in the high position for crossing obstacles such as the climbing of stairs for example.

the basic concept of the invention is based on a centralization of electronic controls which react:
- on hydraulic motors focused on the four tracks,
- on the control jacks acting on the deformation of the deformable pseudo-parallelogram.
- ordering orders for the disabled person or the automatic attitude correction system,
- on an order of verticalization, the chair being in the low position.

In summary, the disabled chair according to the invention is designed to:
- displacements in normal driving on road or grounds of any kind with flat or irregular grounds (approximate speed 1.8 km / h) forward or reverse,
- the crossing of obstacles of normal height (sidewalk, ...) estimated at 0.25 M on average,
- crossing slopes uphill as downhill on hard or furniture floors limited to about 45 ° (access ramps, embankments, access to beaches, undergrowth ...),
- climbing or descending stairs and crossing landings at slow speed (approx. 0.35 km / h),
- the verticalization programmed according to medical recommendations,
- the normal movement of a disabled person in a standing (or vertical) position, leaving the upper limbs free to use,
- forward or reverse rotation with a small radius of gyration by inserting the direction of rotation of the tracks, (approx: 0.60 M),
- access to doorways at 0.60 M,
- be personalized by adaptive adjustment according to the subject morphology,
- be stable because the center of gravity is constantly held in the same axis whatever the positions of the tracks from the original setting on the chassis,
- be constantly on positive guard by the fact that the tips of the disabled person's feet can never strike an obstacle first,
- ensure total safety by instantaneous locking in distress position under the action of hydraulic motors,
- allow manual disengagement,
- make all orders available to the disabled in manual or possibly voice form,
- allow the adaptation of energy sources other than electric by gasoline engine for example.

• La figure 1 est une vue schèmatique de face du fauteuil selon l'invention,
• La figure 2 est une vue en perspective partielle montrant la conformation des chenilles liées au chassis,
• La figure 3 est un schéma explicatif de la cinématique des pseudo-parallélogrammes liés aux chenilles.
• Les figures 4 à 8 montrent le fauteuil selon l'invention en configurations respectives :
  - de marche normale en position basse,(4)
  - en position haute de franchissement d'obstacle (5)
  - de verticalisation en position basse (6)
  - de montée d'escalier en position haute (7)
  - de descente d'escalier en position haute (8).
• La figure 9 est un schèma synoptique fonctionnel électrique et électronique de l'agencement du fauteuil,
• La figure 10 est le schèma de fonctionnement hydro-mécanique de l'ensemble.

The invention will be better understood in the following text which will show, by way of nonlimiting example, a preferred embodiment with reference to the accompanying drawings. In the drawings:

• FIG. 1 is a schematic front view of the chair according to the invention,
• FIG. 2 is a partial perspective view showing the shape of the tracks linked to the chassis,
• FIG. 3 is an explanatory diagram of the kinematics of the pseudo-parallelograms linked to the tracks.
• Figures 4 to 8 show the chair according to the invention in respective configurations:
  - normal running in the low position, (4)
  - in the high obstacle clearance position (5)
  - verticalization in the low position (6)
  - stair climbing in the high position (7)
  - staircase descent in the high position (8).
• FIG. 9 is a functional electrical and electronic block diagram of the arrangement of the chair,
• Figure 10 is the hydro-mechanical operating diagram of the assembly.

If we refer to FIG. 1, we see that the wheelchair for the disabled according to the invention with its verticalization device and its propulsion means, can be lifted from crossing normal doorways at 0.60 M. ( width ℓ).

According to FIG. 2, the seat 1 of the disabled person is adjusted horizontally as a function of its morphological characteristics in order to bring its center of gravity substantially onto the reference axis G, which makes it possible to ensure its stability in all the configurations of the chair.

A system of slides 2 and tightening buttons 3 for example can allow such an adjustment.

In this Figure 2, we see that the seat 1 is secured through its adjustment means, on a box 4. These elements which serve the verticalization, will be functionally explained later.

If we now refer to FIGS. 2 and 3, we see the arrangement of the pseudo-parallelograms shown, on the one hand schematically in FIG. 3 and on the other hand mechanically in FIG. 2.

On the chassis 6, the axis 5 receives, in addition to the articulation of the aforementioned box 4, the articulation of the upper left front arms 7.1, right 7.2 and an axis 8 receives the articulation of the upper left AR arms 9 , 1 and right 9.2.

These arms articulate other arms; on the one hand on the axis 10.1 the lower left AV arm 11.1 and on the axis 10.2 the lower right AV arm 11.2 and, on the other hand, on the axis 12.1 the left AR arm 13.1 and on the axis 12.2 the right AR arm 13.2.

The end of these lower arms, articulates the tracks 14.1 on the axis 15.1 for the left AV and 14.2 on the axis 15.2 for the right AV as well as 16.1 on the axis 17.1 for the left AR and 16.2 on the axis 17.2 for the right AR.

The tracks 14.1 and 14.2 are arranged towards the outside of the arms and the tracks 16.1 and 16.2 towards the inside of the walls 6.1 and 6.2 of the chassis 6 so that a space is arranged for the housing of the batteries 20 therefore in the lowest possible part to lower the center of gravity.

The arms constitute the elements of a pseudo-parallelogram deformable by double effect cylinders 21.1 AV left. 21.2 AV right and 22.1 AR left, 22.2 Ar right. They are articulated, on the one hand on the common axes of the upper and lower arms and on the other hand, on axes 23.1 AV left, 23.2 AV right and 24.1 AR left, 24.2 AR right linked on the sides 6.1-6.2 of the chassis 6.

The tracks are tiltable about their axis due to the angular offset of the end rollers pivoted on a central rib 18.1-18.2 on each left track and 19.1-19.2 on each right track.

this tilting effect will be used in particular in the phases of climbing and / or descending stairs as will be explained below.

These tracks are controlled by hydraulic motors AV 25.1 left, 25.2 right and AR 26.1 left, 26.2 right driving, after proper reduction and speed control, notched rollers AV 27.1 left, 27, 2 right and AR 28.1 left and 28.2 right themselves meshed on the internal notches of each track.

Each of the tracks 14.1-14.2 and 16.1-16.2 has external footprints whose profile has been exactly determined to ensure in all cases encountered, a total seat even in the configuration of crossing stairs or difficult soils.The material of these tracks, which is made of elastomer, gives them a particularly safe grip.

The parallelism of the tracks is ensured by two telescopic frames 30.1 on the left and 30.2 on the right and they receive in sliding telescopic bars 29.1-29.2 on the left and 31.1-31 2 on the right articulated on the axes 15.1-15.2 and 17.1-17.2.

Figure 3 shows the kinematics of the assembly whose description can be made now.

It must first be considered that for a given position of the cylinders 21,1-21,2 and 22,1-22,2 the pseudo-parallelogram is well closed on the one hand, by the fixity of the axes 5 and 8 On the chassis 6 and on the other hand, by the one-off timing of the hydraulic motors 25,1-25,2 and 26,1-26,2 which define non-deformability by the points of contact of the tracks with the ground at 32a, b, c, d.

The deformation of the pseudo-parallelogram results from actions on the cylinders 21,1-21,2 and 22,1-22,2.

We see in Figure 3, that from the rest position A, a joint action in compression on all cylinders will cause a lifting of the chassis 6 in intermediate position B or high C; points 32 .... do not move by adhesion to the ground.

Differential actions on these same cylinders can determine all the desired configurations between: AB or C on the front tracks or AB or C on the rear tracks for the conservation of the trim.

It is specified that all these actions result from the orders controlled by a central assessment and not from orders generated directly by the disabled person, for obvious security reasons.

The table below summarizes through Figures 4 to 8, all of the actions on the cylinders:

When the chair is moved, the hydraulic motors receive the orders coordinated with those of the jacks so as to ensure in all cases the conservation of the attitude determined by the attitude controller, from a hydraulic circuit which to be described now with reference to the diagram in FIG. 10.

Electric power is supplied from a battery 20 (eg 24v dc 88ah) coupled to an incorporated charger 34 and a general circuit breaker switch 35 provides power to the assembly.

A gasoline engine coupled to a generator could be substituted for the charger to increase the range.

Hydraulic power is supplied from a 36 mù group by electric motor (eg 24v cc-400w) with accumulator (eg 25 bar- 6 L / min or 50 bar 2 L / min) and tank 37 .

The transmission and control of actions are ensured by four hydraulic motors 25.1-25.2 / 26.1-26.2 of approximately 5cc at variable speed from 10 to 250 RPM, four double-acting cylinders 21.1 -21.2 / 22.1-22.2 and a single-acting cylinder 33 for verticalization with a servo assembly 38 essentially comprising an emergency circuit, an isolation valve, a pressure limiter and a flow regulator.

Control is carried out from a programmer 39 linked to the regulation system with its obstacle detection relays (not shown) from a control console 40 available to the disabled and a connected attitude correction center 41 audit programmer coordinates the whole.

Safety is ensured by: a leak detector, in the safety program on the programmer (setting in the low position) two hydraulic blocking brakes (on accumulator) a battery charge indicator, two levers for manual movement in the event of total failure energy (with rapid installation), wear indicators on the tracks, an emergency stop acting manually on the braking system and a visual indicator of operation.

It is specified that a voice control system can be substituted if necessary for the control box 40. In addition to this equipment, two or three-way solenoid valves for jacks, hydraulic motors and other functions can ensure the OMA positions "open lack of supply" or FMA "closed lack of supply" with return to cover, as is known in practice.

The installation is completed by distributors, in particular of cylinders, calibrators, in particular of hydraulic motors, variable flow regulators and control relays.

After the foregoing description of the mechanization of the chair and of the actuators of the jacks, in particular that of the verticalization 33, the description of this verticalization can now be discussed with reference to the drawing in FIG. 6.

First of all, the box 4 receives on the runners 2, the chair itself marked 1 as a whole.

This chair is designed according to a parallelogram with deformable elements articulated along four axes: the backrest 42 around the axis 43 linked to the seat 44, the leg holder 45 around the axis 46 also linked to the seat 44 and two adjustable length connecting bars 47.1-47.2 articulated around the axis 48 on the leg support and around the axis 49 on the backrest 42.

Armpit supports 50,1-50,2 are articulated on the backsplash 42 around the axis 51 and adjustable links 52,1-52,2 articulated on the axes 53 integral with said supports armpits and on the axis 54 allow the output synchronized with the tilting of the box under the effect of the jack 33 articulated in 4.1.

As soon as this actuator is actuated, the entire chair pivots around axis 5, resulting in:
- the deformation of the parallelogram,
- the output of the armpit supports 50.1-50.2,
- the output of rollers 55,1-55,2 for contacting the ground while the front tracks are relieved.

The verticalization maneuver is carried out from the control console 40 can be generated by any other means such as voice and is programmed with the necessary downtime according to pre-programmed medical instructions.

We see in Figure 6 that the verticalization operation which is carried out in conjunction with a possible movement action, can allow the disabled to come and stand independently in front of a table for example. (Rep.56).

It should be noted that in all cases, the extremity of the feet of the handicapped person and defined by the plane P on the drawings, cannot in any way come up against an obstacle before the tracks defined by the plane C.

Referring now to the functional diagram of FIG. 9, the command and control electronics first of all comprise the on-off command 57 of the central unit 58 which may include a microprocessor such as of the type 6809. This central unit controls on the one hand, a series of adapters 59 to 63 acting on the jacks 21, 22 and on the other hand, a series of motor controls 64 to 67 acting on the hydraulic motors 25/26 from a switch 68.

Furthermore, this same central unit 58 acts:
on the attitude detector 41 and the command of movement orders 69 through a switch 70,
- on the verticalization command 71,
- on the lack of pressure detector 72 through an adapter 73,
- on a battery fault detector 74 through an adapter 75,
- on an obstacle detector 76 through an adapter 77,
- on a vacuum detector of the chair 78 through an adapter 79,
- on the speed measurement detector for motors 80-81-82-83 through switch 84.

From such a description, it can be seen that the handicapped person will be able to carry out all the desirable maneuvers:
. in normal running position (Fig 4) intended for movement (approx 1.8 km / h) on flat or relatively flat ground in reduced places (apartment, corridor ...) due to the small / size of the chair which allows more, U-turns on the spot, tight turns.
. in the high position (Fig 5) caused either by control or under the effect of an obstacle proximity sensor such as a hole or abnormal tilt. the unit stops and the center of gravity is retained on the G axis. The movement in the high position is carried out at reduced speed (approx. 0.4 km / h) and the low position can always be brought in in an emergency. When an obstacle is encountered, the attitude corrector acts permanently on the variations in inclinations causing the action of the jacks. In the event of incidents, hydraulic brakes supplied independently of the normal HP circuit (emergency) put the wheelchair in a safety standby situation. The end of the obstacle is detected by proximity sensors which, after delay, allow to resume the normal road position. In the event of a total failure, manual displacement levers allow emergency release.
. in the stair climbing position (Fig 7) the process is identical to that implemented in the high position and obstacle situation; the attitude corrector acting on the jacks in relation to the hydraulic motors to ensure on the one hand, the conservation of attitude and on the other hand, the propulsion at slow speed,
. in the staircase descent position (Fig 8) the process is reversed while retaining the same characteristics as above.

It should be noted that although it seems impressive, the operation of climbing or descending stairs is carried out in complete safety; the notches of the tracks being determined to guarantee in all cases, the four contact points necessary and sufficient for the stability of the chair.

When the stairs are turning, it is the differential actions on the cylinders that make the corrections.

As required by the regulations, all the safety devices are applied to the wheelchair according to the invention, both with regard to: the electrical or electronic or hydraulic circuits by the instantaneous operation of the emergency system supplemented by an emergency mechanical device.

the present description has been made to clearly show the multiple possibilities allowed by application of the invention in particular by the automatic verticalization of a disabled person on a self-propelled wheelchair whose size is reduced to allow the passage of doorways of 0.60 M and overcoming obstacles such as climbing straight or turning stairs; all done in total security, which is the element considered fundamental in such a type of equipment.

The invention is not limited to the mode presently described but on the contrary encompasses all the adaptations and variants which could be made in its spirit and which would fall within its scope, which framework is defined in the claims which follow.

Claims (5)

1 / Self-propelled wheelchair for disabled person with automatic verticalization device characterized in that it comprises:
- a chassis (6) receiving on the one hand, pivoting on an axis (5) a box (4) with horizontal adaptation device (2-3) of a seat (1) and on the other hand, pivoting on an axis (8) a jack (33) for verticalization of the disabled,
- A verticalization assembly linked to the box (4) in a deformable parallelogram conformation and comprising: the seat (44) of the swivel chair on the one hand, on an axis (43) towards one end of the backrest (42) and d on the other hand, on an axis (46) of a leg holder (45), two connecting bars (47,1-47,2) pivoting on the one hand, on an axis (48) on the end of the door legs (45) on the other hand, on an axis (48) on the backrest (42), two armpit supports (50,1-50,2) articulated on a common axis (51) located towards one end of the backrest (42), two adjustable connecting rods (52,1-52,2) pivoted on one side on a common axis (53) of the armpit supports (50,1-50,2) and on two pivot points according to a common axis (54) linked to the box (4),
- a set of roller tracks (14.1-14.2 / 16.1-16.2) articulated according to a deformable pseudo-parallelogram on the one hand, around axes (15.1-15.2 / 17 , 1-17.2) on arms (11.1-11.2 / 13.1 13.2) on the other hand, on other arms (7.1-7.2 / 9.1-9 , 2) articulated around common axes (10.1-10.2 / 12.1-12.2) and axes (5-8) connecting to the chassis (6) and double-acting cylinders (21, 1-21.2 / 22.1 22.2) control the deformation of said pseudo-parallelogram from a trim correction center (41),
- an engine assembly comprising four hydraulic motors (25,1-25,2 / 26,1-26,2) located on the axes (15-17), controlling four notched rollers (27,1-27,2 / 28 , 1-17,2) engaged on the internal notches of the tracks and controlled by solenoid valves depending on the control unit,
- a hydraulic circuit comprising a programmer (39) linked to a trim corrector (41), an energy central (36) with its electric motor, its pressure accumulator and its tank (37), a backup group ( 38) with its pressure limiter, its isolation valve and its pressure accumulator, a supply network for the cylinders with their electromagnetic valves, their distributors and their return to the tank, a supply network for the hydraulic motors with their flow calibration, their distributor, their control solenoid valves, a variable flow regulator and the usual solenoid valves and tank return in these circuits,
- an electronic circuit comprising a control console (40), a central unit (58) controlled (57) acting: on the one hand, on an adaptation group (59 to 63) controlling the jacks (21-22-33 ) on a switch (68) actuating the motors (25-26) by the members (64-65-66-67) and on the other hand, on a trim detector (41),
- a generator of movement orders (69) through a switch (70), a verticalization control (71), a lack of pressure detector (72) through an adapter (73), an obstacle detector ( 76) through its adapter (77), a battery fault detector (74) through its adapter (75), a vacuum detector (78) through its adapter (79) and finally, detectors (80,81 , 82,83) of speed of the hydraulic motors through a switch (84),
the arrangement of all these elements being such that from the control console (40), the central unit (58), the central correction of attitude (41) and the detectors, the implementation of the chair is made possible . 2 / Self-propelled wheelchair for disabled with automatic verticalization device according to claim 1 characterized in that it has a width less than or equal to 0.60 m for the passage of any door. 3 / Self-propelled wheelchair for disabled with verticalization device according to claims 1 and 2 characterized in that the tracks have a particularly suitable profile and that they are made of a material of the elastomer type particularly suitable for grip. 4 / Self-propelled wheelchair for disabled with verticalization device according to claims 1 to 3 characterized in that the energy generator group is a gasoline engine with electric generator coupled to increase autonomy; 5 / Application of the chair according to any one of claims 1 to 4 to:
- road running in low position and fast speed,
- walking in the high position at slow speed,
- walking and / or standing in slow motion,
- high walking at low speed when climbing and / or descending straight and / or turning stairs,
- slow turns and / or U-turns on the spot.

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