EP1845921A1 - Fauteuil roulant a telecommande - Google Patents

Fauteuil roulant a telecommande

Info

Publication number
EP1845921A1
EP1845921A1 EP06701586A EP06701586A EP1845921A1 EP 1845921 A1 EP1845921 A1 EP 1845921A1 EP 06701586 A EP06701586 A EP 06701586A EP 06701586 A EP06701586 A EP 06701586A EP 1845921 A1 EP1845921 A1 EP 1845921A1
Authority
EP
European Patent Office
Prior art keywords
wheelchair
wheelchair according
sensor
remote control
occupied
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Withdrawn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
EP06701586A
Other languages
German (de)
English (en)
Inventor
Hans-Peter Barthelt
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP1845921A1 publication Critical patent/EP1845921A1/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Withdrawn legal-status Critical Current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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • 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
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/12—Remote controls
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • Wheelchairs are needed by people who can not walk longer distances or who can not walk at all. In both groups, however, a certain amount of residual mobility may remain, which enables them, if necessary, to leave the wheelchair independently, without help from others. B. to go to bed or another seat. For this purpose, they must bring the wheelchair as close as possible to the relevant piece of furniture. After moving from the wheelchair to the other piece of furniture, the wheelchair naturally remains in the original position where the patient has left the wheelchair.
  • the wheelchairs used for this purpose consist of a lightweight as possible constructed chair frame, which carries a seat and a backrest.
  • a lightweight as possible constructed chair frame which carries a seat and a backrest.
  • two large wheels are rotatably mounted coaxially with each other.
  • the axes of these wheels are located approximately in the extension of the backrest, while below the hollow of the knee on the frame two small support wheels are available.
  • the support wheels are passively steerable.
  • each wheel on the outside is provided with a gripping ring, which is non-rotatably connected to the wheel. The user grabs these rings with his hands and sets his wheelchair in motion and steers it.
  • This type of wheelchair is completely passive.
  • the wheelchair also carries an electric drive system and heavy batteries to move the wheelchair plus the user. Based on this, it is an object of the invention to provide a passive wheelchair, which is movable by the user even after leaving.
  • the inventive passive wheelchair has a chair frame, which is provided with a seat and a backrest. On the chair frame two large wheels are rotatably mounted. These wheels are intended to be manually, d. H . by hand, to be set in motion by the user of the wheelchair. You have the usual gripping rings for this purpose.
  • the wheelchair according to the invention has at least one additional support wheel, which is arranged in the region of the front edge of the seat.
  • the wheelchair In order to move the wheelchair according to the invention away from a point where the user has left the wheelchair or to move it back to this position, the wheelchair is provided with an electric drive device.
  • this drive device includes a memory for electrical energy (rechargeable battery) and at least one electric motor.
  • the electric motor is controlled via a remote control device.
  • the wheelchair has a receiver of the remote control device, at the output of which is at least connected to a motor.
  • the Drive device on the driven wheel for moving the wheelchair gives off a force that is smaller than the force required to move the wheelchair that is occupied by a person. This ensures that under no circumstances can the wheelchair unintentionally move on a level surface due to any misoperation.
  • the wheelchair is still a passive wheelchair once the user has taken it.
  • the rolling resistance that the wheelchair then develops acts as a brake that the drive device can not overcome as long as the wheelchair is on a flat surface.
  • a coupling device is present between the wheel and the drive motor.
  • This coupling device is only in the engaged state when the wheelchair is empty.
  • the coupling device which is preferably a form-locking coupling device, is transferred to the disengaged state.
  • This solution also has the advantage that the motor does not have to be moved by the user when the user drives the wheelchair.
  • the drive device generates a force on the wheel or wheels which is insufficient to move the occupied wheelchair on a flat surface.
  • the third possibility is to provide in the supply line to the drive motor or the electric switch, which, depending on whether the wheelchair is busy or empty, automatically switched on or off. Also This inevitably ensures that the wheelchair does not perform any unwanted movements when operating incorrectly when a user has taken place on the wheelchair.
  • the very weak dimensioning of the drive device is also advantageous insofar as a very small electrical memory is sufficient to perform the necessary driving movements. As a result, the additional weight that comes through the storage device and the drive device is small and does not hamper the usability of the wheelchair.
  • the wheelchair is preferably equipped with a sensor to detect if it is occupied or empty. With the help of the sensor, the switch or the positive coupling is actuated.
  • a very simple sensor consists in the movably mounted seat, over which necessarily the necessary movement for actuating the coupling device or the switch can be achieved.
  • the entire drive and steering device of the wheelchair is very easy when j e wheel a drive motor is provided.
  • the motor can be driven and steered freely in unoccupied condition. If the motors are rotated in opposite directions, the wheelchair can also turn on the spot, as the user is used to in manual operation anyway.
  • each motor is connected to the electrical storage via two relays.
  • Each of these relays has a movable contract and two fixed contacts. This makes it possible to turn off the engine in stop mode all poles of the energy storage. Even if one of the contacts should burn, the motor current is still cut off by the other contact.
  • this arrangement allows a self-diagnosis, since with burned contact only one direction of rotation of the motor is possible, with which the user can immediately detect a dangerous state of damage.
  • Fig. 1 the wheelchair according to the invention in a side view
  • Fig. 2 is a schematic representation of the electric drive for one of the drive wheels of the wheelchair and
  • Fig. 3 is the simplified schematic diagram of the wheelchair according to the invention.
  • FIG. 1 shows a side view of a seperate Siven wheelchair 1.
  • a chassis 2 which is designed as a tubular frame.
  • two axially parallel large drive wheels 3 and two front steering wheels 4 are attached. Because of the lateral representation, the other two wheels corresponding to the wheels 3 and 4 are covered by the visible wheels 3, 4. They have the identical structure.
  • Two mutually parallel horizontal struts 5 form a support for a seat surface extending therebetween, for example in the form of a tensioned fabric web.
  • the horizontal strut 5 merges into an obliquely extending strut 6, at the lower end of which a foot plate 7 is fastened.
  • the rear end of the strut 5 is connected to a vertical strut 8, at the free end of a handle 9 is attached as a push handle for an assistant.
  • the strut 11 is on the one hand connected to the back strut 8 and is bent at its front end downwards.
  • a fork 12 At the lower end is rotatably a fork 12, in which the support wheel 4, with respect to a horizontal axis, is rotatably mounted.
  • the fork 17 is rotatable about a vertical axis to ensure the steerability of the support wheel 4.
  • Another strut 13 connects the strut 6 with the lower end of the back strut 8. Between the struts 5 and 13, the unrecognizable rigid axle for the wheel 3 is provided on the back strut 8.
  • the impeller 3 has a central hub 14, lead from the wheel spokes 15 radially outwardly to a rim 16.
  • a pneumatic tire 17 is arranged in a known manner.
  • a total of 3 radially extending struts 18 are attached to the hub 4, which are connected at its free end with a gripping ring 19.
  • the gripping ring 19 is located at a distance from the tire 17 and the rim 16 and can be readily grasped by the user in a known manner by hand to set the wheels 3 in turns and thus to move the wheelchair 1.
  • the wheelchair 1 may include the usual and known devices and construction details, so that it is collapsible in a known manner.
  • wheelchair 1 is to be used in the well-known manner by a user.
  • the user takes place between the two armrests 11 on the seating surface located between the struts 5 and puts his feet on the base plate 7. He can either push by a third person with the wheelchair or even set the wheelchair in motion. zen. To do this, he grasps with his hands the gripping rings 19 located on both sides and sets the two wheels 3 in motion. By turning the two wheels 3 at different speeds, he can steer the wheelchair 1 in the known manner.
  • FIG. 2 shows a schematic representation of the additional devices that make it possible to remotely move the empty wheelchair 1.
  • the illustration of FIG. 2 is not to scale and is only for the convenience of understanding. A precise design description is not required because the implementation in the construction for the expert without difficulty is possible.
  • Fig. 2 shows a view against the inside of one of the two wheels 3. It is sufficient only one of the wheels 3 represent, as the explanation for the other wheel spat ⁇ gelmorlich applies.
  • a worm wheel 21 On the tube frame 2 facing inside of the hub 14 coaxial rotatably seated a worm wheel 21.
  • the worm wheel 21 and the hub 14 are rotatably supported by means of a rigid axle 22 which is fixed to the back strut 8.
  • the ball bearings and the like commonly used for this, as well as the fuses for axial securing on the axis 22 are not shown, as they are not required for understanding the invention.
  • the diameter of the hub 14 is reduced in size to show the essence. From the backstay 8 is located at the height of the axis 22 boom 23. The boom 23 extends to the rear.
  • a one-armed lever 24 is pivotally mounted with respect to an axis 25.
  • the one-armed lever 24 carries, fixed rigidly, an electric motor 26 on the output or armature shaft 27 rotatably a single or multi-start worm 28 is seated.
  • the toothing of the worm 28 is designed so that it can mesh in the worm wheel 21 in the usual way.
  • the electric motor 26 is a permanently excited DC motor with a nominal supply voltage of, for example, 12 or 24 volts.
  • a rod 29, which couples the lever 29 with a seat surface 31 of the wheelchair 1.
  • the worm 28 and the point of attachment of the rod 29 to the lever 29 are diametrically opposed with respect to the axis 25.
  • the seat 31 shown may be, for example, a cloth stretched between mutually parallel struts 32.
  • the struts 32 are pivotally mounted with their front end at 33 between the horizontal struts 5.
  • a compression spring 34 By means of a compression spring 34, the tubular seat struts 32 are biased upward.
  • the terms of the directions are based on the normal position of use.
  • Fig. 2 shows the unloaded or empty position.
  • the spring 34, the assigned her Seat stay 34 pivot about the pivot point 33 upwards.
  • the pivoting movement is transmitted to the lever 24, which also tilts with its rear end upwards. Due to the arrangement of the motor 26 on the lever 24, this is pivoted so that the worm 28 engages with the worm wheel 21.
  • the motor 24 there is a positive gear connection from the motor 24 to the wheel third
  • the arrangement ensures that when occupied wheelchair 1, the gear connection between the wheel 3 and the motor 26 is interrupted.
  • FIG. 1 The arrangement of the coupling rod 29, the lever 24, and the motor 26 is shown in FIG. 1 covered by the hub 14 and is therefore not visible there.
  • Fig. 2 is the For clarity, the hub 14 shown reduced in diameter substantially.
  • the motor 26 may also be designed as a geared motor.
  • the shaft 27 is then not the armature shaft, but the transmission output shaft.
  • Fig. 3 shows the block diagram for driving the motors 26 of the wheelchair 1 according to the invention.
  • Fig. 3 are for distinguishing the two wheels 3 associated motors in each case with 26r for right and 261 for left designated.
  • the motor 26r is connected with its electrical terminals 36r and 37r to movable contacts 38r and 39r, two separate relays 4Or and 41r.
  • the relay 4Or also has two fixed contacts 42r and 43r, while the relay 41r includes fixed contacts 44r and 45r.
  • the fixed contacts 42r ... 45r are connected to terminals of a rechargeable battery 47.
  • the motor 261 is similarly connected to associated relays 401 and 411, which are constructed in the same way, and therefore the same reference numerals with the suffix 1 are used here. A re-explanation is not required.
  • Each of the 4Or, 41r, 401 and 411 relays has Magnetic windings for driving. These magnet windings are designated 48r and 49r for the relay 4Or, 5Or and 51r for the relay 41r, 481 and 491 for the relay 401 and 501 and 511 for the relay 411, respectively.
  • the magnet windings 48r ... 511 are connected to outputs of a remote control receiver 51 mounted on the wheelchair 1, which receives radio signals via an antenna 52.
  • the movable contact 39r is moved upward.
  • the magnet winding 49r the movable contact 39r is moved downward.
  • With de-energized magnet windings 48r, 49r the movable contact is in the currentless intermediate position between the two fixed contacts 42r, 43r. The same applies mutatis mutandis to the other two relays.
  • radio signals for the wheelchair-mounted remote control receiver 51 come from a trotting hand-held transmitter 53 having two joysticks 54 and 55.
  • the two joysticks 54 and 55 are assigned switches and jump back when released in the centered center position.
  • the joystick 54 is associated with the right wheel 3 while the joystick 55 is associated with the left wheel.
  • the hand-held transmitter 53 preferably does not transmit a high-frequency signal.
  • the receiver 51 also does not receive a reception signal, resulting in that no power is applied to any of the relay windings 48r .... 591.
  • All movable contacts 38r, 39r and 381 and 391 are in the centered center position where they do not electrically contact any of the fixed contacts. Both motors 26r and 261 remain de-energized and thus at a standstill.
  • the user moves the joystick 55 forward, he wants to cause the left wheel 3 of his wheelchair 1 to be started in the forward direction.
  • the hand-held transmitter 53 emits a corresponding high-frequency signal which the receiver 51 receives via its antenna 52.
  • the remote control receiver 51 evaluates the received signal and energizes the two magnetic coils 481 and 501 so that, for example, the movable contact 381 is brought into contact with the fixed contact 451 while the movable contact 391 is moved to the movable contact 421.
  • the motor 26 with the required polarity on the battery 47 and the motor 261 rotates the associated wheel 3 in the sense of forward movement of the wheelchair first
  • the same effect occurs when the user moves the joystick 54 for the right wheel 3 forward away from him.
  • the emitted high-frequency signal is evaluated by the remote control receiver 51 and it is the two movable contacts 39r and 38r of the associated magnetic windings 48r and 5Or moves accordingly. Since both motors are connected to the same voltage source 47, they rotate at the same speed and the wheelchair 1, when both joysticks 54 and 55 are moved forward, go straight forward.
  • the engine in question stops and the wheelchair will make a turn around the stationary wheel 3. If the two joysticks are operated in opposite directions, the wheelchair 1 rotates in place, because one of the drive wheels 3 backwards and the other is running forward.
  • each of the two motors 26r, 261. It either rotates at the rated speed in the direction of rotation in accordance with the forward movement or it rotates at the rated speed in the direction of rotation corresponding to the backward movement or it is at a standstill. Due to the worm gear 21, 28 of the wheelchair 1 is also braked at a standstill.
  • the user has in the wheelchair 1 according to the invention the possibility of the remote control device by means of the portable remote control 53 his wheelchair 1 from the spatial position in which he has left him to direct to another area or retrieve from there if necessary.
  • the rated speeds of the motors 26 in conjunction with the gear ratio to the wheels 3 are selected that at the rated speed a manageable speed of the wheelchair 1 comes about. Which speed is considered appropriate is to be determined empirically. By the way, it must be chosen so that the wheelchair 1 can not tip over the driven wheels 3 due to the sudden switching on or off of the motors 26.
  • the total driving power of the two motors 26r and 261 is dimensioned so that the driving force generated by them on the wheels 3 is smaller than the force resulting from the rolling resistance of the occupied wheelchair 1.
  • the entire drive device can be dimensioned very weak. In particular, no particularly large electrical memory 47 is required. The drive system remains very light.
  • the weak dimensioning of the powertrain also has the advantage that in case of errors in the mechanical clutch and additional electrical errors of the wheelchair 1 can not be accidentally started unexpectedly.
  • the electrical circuit shown the relay 4Or, 41r, 401 and 411 also ensures that when burning a contact, the motor current can still be switched off by the other contact set of eweils other relay the current. This ensures increased safety when burning a contact.
  • a movable seat 31 serving as a sensor is coupled with switches which are electrically connected in the power supply line to the respective motor 26r and / or. 261 lie. These switches are shown in FIG. 3 once schematically illustrated at 60.
  • the inventive concept is also applicable to rollators or toilet chairs.
  • the worm gear 21, 28 is also used as a positive coupling. It is also conceivable to keep the transmission engaged at all times and instead to use an axially displaceable dog clutch between the motor 26 and the worm 28.
  • a wheelchair is provided with a remote control device to be able to move or to bring the wheelchair by the user without the help of a third person.
  • the electric drive device required for this purpose is designed to be safe in many respects to safely put a risk by involuntary and unintentional go in the drive device in occupied wheelchair with certainty.

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)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un fauteuil roulant comprenant un système de télécommande qui permet à l'utilisateur de rapprocher ou d'éloigner le fauteuil roulant, sans nécessiter l'intervention d'une tierce personne. Le mécanisme d'entraînement électrique utilisé à cet effet s'avère fiable sur de nombreux points de vue, et permet d'éviter les risques liés à une mise en marche non intentionnelle et involontaire du mécanisme d'entraînement lorsque le fauteuil est occupé.
EP06701586A 2005-02-11 2006-01-24 Fauteuil roulant a telecommande Withdrawn EP1845921A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005006574A DE102005006574B3 (de) 2005-02-11 2005-02-11 Rollstuhl mit Fernbedienung
PCT/EP2006/000582 WO2006084571A1 (fr) 2005-02-11 2006-01-24 Fauteuil roulant a telecommande

Publications (1)

Publication Number Publication Date
EP1845921A1 true EP1845921A1 (fr) 2007-10-24

Family

ID=36120101

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06701586A Withdrawn EP1845921A1 (fr) 2005-02-11 2006-01-24 Fauteuil roulant a telecommande

Country Status (8)

Country Link
US (1) US7832515B2 (fr)
EP (1) EP1845921A1 (fr)
JP (1) JP4913754B2 (fr)
CN (2) CN101119693A (fr)
AU (1) AU2006212483A1 (fr)
CA (1) CA2597497A1 (fr)
DE (1) DE102005006574B3 (fr)
WO (1) WO2006084571A1 (fr)

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Also Published As

Publication number Publication date
CN101732141A (zh) 2010-06-16
US20080115987A1 (en) 2008-05-22
JP2008529622A (ja) 2008-08-07
WO2006084571A1 (fr) 2006-08-17
CN101119693A (zh) 2008-02-06
AU2006212483A1 (en) 2006-08-17
US7832515B2 (en) 2010-11-16
DE102005006574B3 (de) 2006-09-21
CA2597497A1 (fr) 2006-08-17
JP4913754B2 (ja) 2012-04-11

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