EP2277487B1 - Sensor device for a wheelchair wheel - Google Patents

Sensor device for a wheelchair wheel Download PDF

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Publication number
EP2277487B1
EP2277487B1 EP10004555.8A EP10004555A EP2277487B1 EP 2277487 B1 EP2277487 B1 EP 2277487B1 EP 10004555 A EP10004555 A EP 10004555A EP 2277487 B1 EP2277487 B1 EP 2277487B1
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EP
European Patent Office
Prior art keywords
sensor
gripping
sensor arrangement
wheel
arrangement according
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Not-in-force
Application number
EP10004555.8A
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German (de)
French (fr)
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EP2277487A3 (en
EP2277487A2 (en
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AAT Alber Antriebstechnik GmbH
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AAT Alber Antriebstechnik GmbH
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Publication of EP2277487A2 publication Critical patent/EP2277487A2/en
Publication of EP2277487A3 publication Critical patent/EP2277487A3/en
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    • 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
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/028—Special adaptations or provisions on hand rim, e.g. for facilitating gripping
    • 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
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar

Definitions

  • the invention relates to a sensor arrangement for a wheelchair wheel, which comprises an impeller and a gripping tire, wherein the sensor arrangement comprises an impeller fastening part and a gripping tire fastening part and at least one sensor detecting a force exerted on the grip tire.
  • Such a sensor arrangement is for example from the DE 198 48 530 C1 known.
  • a drive device for auxiliary drive devices for self-propelled wheelchairs with a limited fixedly connected to the impeller of the wheelchair housing pivotally mounted anchor known whose tip is connected to a gripping ring of the impeller, wherein two lateral arms of the armature each acted upon by a spring element are, which move the armature after completion of an application of force on the gripping ring to a zero position, and with a sensor device for detecting the pivot position of the armature whose signals determine the degree of support of the auxiliary drive device known.
  • Such drive devices or sensor arrangements serve to detect when a user by means of the gripping tire either tries to drive the wheelchair or to brake it.
  • the operation of the gripping tire by a user is detected and an auxiliary drive is activated in response to the operation.
  • Such an auxiliary drive should ensure that when uphill or downhill the wheelchair user is not overloaded.
  • the object of the present invention is therefore to provide a sensor arrangement which manages with smaller deflections or relative movements between gripping wheel and impeller.
  • a sensor arrangement of the type mentioned wherein the impeller mounting part and the gripping tire mounting part are connected via at least two parallel arranged bending plates.
  • bending plates which are preferably formed of flexurally elastic material, only a small relative movement between the gripping tire mounting part and the wheel mounting part is allowed and allowed. In particular, only a parallel movement of the two fasteners is allowed relative to each other. Due to the fact that the bending plates are preferably designed to be flexible in bending, an automatic reset takes place when no force is applied to the grip tire. Additional spring elements as in the prior art are not necessary.
  • a trackless or almost trackless signal detection in the range between 0 and 2 mm is possible.
  • Such a relative movement between the ratchet fastening part and the wheel mounting part is not or barely noticeable to a user, and a safer feeling for a user results.
  • the bending plates are attached to at least one of the fastening parts, in particular material-locking or form-fitting.
  • a material connection has
  • the bending plates are attached to a sensor head, in particular material-locking or positive fit, which in turn is attached to a fastening part.
  • the bending plates can thereby be connected at one end via the sensor head.
  • the distance of the bending plates can be kept constant by the sensor head. If the bending plates are materially connected to the sensor head, no play occurs at this point.
  • the sensor head can be produced together with the bending platelets and / or a fastening part, for example as an injection molded part.
  • the sensor head For attachment of the sensor head to a fastening part additional fastening means may be provided.
  • the sensor head can be screwed to a fastening part.
  • screwing tolerances for example, in the distance between the impeller and ratchet, can be compensated. It is conceivable that a gap exists between the sensor head and the fastening part screwed thereto.
  • the wheel mounting part at least partially forms a housing and the bending plates are arranged in the housing.
  • the bending plates can be arranged protected from external influences.
  • it can be ensured by the housing that the bending plates do not buckle, so that a malfunction of the sensor arrangement is precluded.
  • the at least one sensor is designed as a pressure sensor or force sensor.
  • the pressure sensors can cooperate in particular with the sensor head.
  • Pressure sensors in particular trackless pressure sensors, have the advantage that sensor signals can be generated without a movement of the sensor head, which is connected to the bending plate, is necessary or so that only a minimal movement is necessary. In contrast to the prior art, there is thus essentially no distance measurement, but essentially a force measurement.
  • the at least one sensor is arranged opposite a bending plate or a side of the sensor head. An introduction of force by the gripping tire on the bending plate or the sensor head can thus be detected immediately.
  • a buffer or actuator in particular free of play, is arranged between the at least one sensor and a bending plate or a side of the sensor head. By this measure, the relative movement between the impeller and ratchet can be further reduced. Handling for a user is thereby improved.
  • the buffer or actuator may be formed of a rigid or elastic material. The buffer or actuator ensures that the force is applied to the sensor at a defined point.
  • the buffer which may be cylindrical or disc-shaped, advantageously the production-related space between the sensor head and sensor is bridged.
  • the buffer or actuator can be attached to the sensor, in particular adhesively bonded.
  • Particular advantages arise when two sensors are provided, which are each arranged opposite a bending plate or a side of the sensor head. The use of two sensors makes it particularly easy to determine whether a force is being transmitted via the handrim in the forward or reverse direction.
  • a sensor board may be provided, which is connected to the at least one sensor.
  • the sensors in particular the pressure sensors, contact pins for electrical connection to the sensor board have.
  • the contact pins can be plugged into the sensor board and with this be soldered.
  • the sensor board may be electrically conductively connected to a drive control or directly to a drive, in particular an electromotive drive.
  • the sensor board is arranged within the housing. As a result, the sensor board is arranged protected. In addition, it can be placed in close proximity to the sensors so that the sensors can be wirelessly connected to the sensor board.
  • a wheelchair wheel with an impeller and a gripping tire wherein the impeller and the gripping tire are connected by at least one sensor arrangement according to the invention also falls.
  • connection For the control of the drive, it is only necessary to provide a sensor arrangement on the wheelchair wheel. However, the handrims should still be connected at other points with the wheel. However, the connection should have a similar facial expression as the sensor arrangement. According to one embodiment of the invention can therefore be provided that the impeller and the gripping tire are connected by one or more connection arrangements, wherein the connection arrangement corresponds to a sensor arrangement without sensors and sensor board.
  • the connection arrangements and the sensor arrangement are therefore essentially identical, with the difference that the connection arrangements have no sensors and no sensor board.
  • the buffers between sensor head and sensor can be omitted.
  • a wheelchair with a wheelchair wheel according to the invention falls within the scope of the invention.
  • the Fig. 1 shows a wheelchair wheel 10 with a rim 11, which is part of an impeller, and a gripping tire 12.
  • the rim 11 and the gripping tire 12 are arranged concentrically to a hub 13.
  • the gripping tire 12 is connected via a sensor arrangement 15 and a total of five connecting arrangements 16 to 20 with the impeller, in particular the rim 11.
  • the difference between the sensor arrangement 15 and the connection arrangements 16 to 20 is merely that the connection arrangements 16 to 20 have no sensors.
  • the wheelchair 10 can be manually driven by a user.
  • the force applied by a user to the gripping tire 12 can be detected by the sensor arrangement 15.
  • a (not shown here) (auxiliary) drive can be controlled to assist a user in the movement of the wheelchair.
  • the Fig. 2 shows a sectional view along the line II-II of Fig. 1 ,
  • the rim 11 has a recess 21 in which a running tire can be arranged.
  • the non-illustrated tire and the rim 11 together with the hub 13 form an impeller on which the gripping tire 12 is attached.
  • the Fig. 3 shows a view of the sensor assembly 15.
  • the sensor assembly 15 includes a gripping bar attachment member 25 and an impeller mounting member 26.
  • the gripping bar attachment member 25 has a trough-shaped recess 27 into which a screw 28 protrudes, so that the gripping bar attachment member 25 are connected via the screw 28 with the gripping tire 12 can.
  • the wheel mounting part 26 has screws 29 to 31, so that the wheel mounting part 26 can be connected via the screws 29 to 31 with the impeller, in particular the rim 11.
  • the ratchet fastening member 25 and the wheel mounting member 26 are slightly movable relative to each other. By means of the sensor system to be described later, this relative movement can be detected and, according to the relative movement, sensor signals can be transmitted to a drive control or directly to a drive.
  • the Fig. 4 shows a sectional view along the line IV-IV of Fig. 3 , This sectional view can be seen that the screws 29, 31 project through the wheel mounting part 26, wherein the screw axes of the screws 29, 31 occupy an angle of approximately 90 ° to each other. As a result, a particularly reliable attachment to the rim 11 can take place. Furthermore, the recess 27 can be easily seen for the gripping tire 12. The screw 28 protrudes through the gripping-tire mounting part 25.
  • the ratchet fixing part 25 is connected to the wheel mounting part 26 via a screw 33.
  • the screw 33 passes through a sensor head 34 to be described later, which is connected to the wheel mounting part 26.
  • the impeller mounting member 26 is formed like a box.
  • a sensor board 35 is further arranged, which is screwed inside the housing.
  • the Fig. 5 shows a perspective view of the sensor assembly 15 with the housing open and missing sensor board 35.
  • the sensor head 34 is, as already described, connected to the gripping tire mounting member 25 via the screw 33.
  • the sensor head 34 is also connected via two bending plates 36, 37 with the wheel mounting part 26.
  • the bending plates 36, 37 are materially connected to the wheel mounting part 26 and the sensor head 34.
  • the bending plates 36, 37 are made of flexurally elastic material.
  • the material-fit connected bending plates 36, 37 are replaced by two parts mounted in parallel.
  • the bending plates 36, 37 perform a parallel movement.
  • the gripping tire mounting part 25 and the wheel mounting part 26 are thus connected to each other via the bending plates 36, 37.
  • the gripping tire mounting part 25 is indirectly connected via the sensor head 34 and the screw 33 with the bending plates 36, 37 or attached thereto.
  • a direct attachment of the gripping tire attachment part 25 to the bending plate 36, 37 is conceivable.
  • the sensor head 34 Due to the design of the sensor head 34 and thus the associated gripping tire attachment member 25 are moved only parallel to the wall 26.1. However, this movement is extremely minimal and virtually imperceptible to a user. Accordingly, if a user applies force to a handrim 12 and thus the handrim mounting member 25, the sensor head 34 may move in the direction of arrow 38 or 39.
  • the sensor head 34 presses on a buffer or actuator 40 on a pressure sensor 41.
  • the pressure sensor 41 is preferably designed as a trackless pressure sensor. Via contact pins 42.1, 42.2 it is connected to the sensor board 35.
  • the actuator 40 is in particular arranged without clearance between the sensor head 34 and the pressure sensor 41.
  • the pressure sensor 41 is arranged opposite one side 43 of the sensor head 34, wherein the side 43 can also be understood as a component or extension of the bending plate 36.
  • a buffer or actuator 44 is correspondingly arranged, which presses on a pressure sensor 45 when a movement of the sensor head 34 takes place in the direction of arrow 39.
  • the sensor 45 is also designed as a trackless pressure sensor and arranged opposite the side 46 of the sensor head 34, whereby the side 46 can be considered as an extension of the bending plate 37. Also, the sensor 45 has contact pins 47.1, 47.2 to the sensor board 35.
  • the actuator 44 is arranged without clearance between the sensor head 34 and the pressure sensor 45.
  • the casing-like design impeller mounting part 26 limits the path of the sensor head 34. This allows a direct power transmission, without destroying the sensor assembly 15.
  • the grip tire 12 can also be used manually, d. H. to drive the wheelchair without additional drive.
  • the housing-like wheel mounting part 26 limits the path in the axial direction of the plug-in axis of the bending plates 36, 37.
  • the bending plates 36, 37 can thus not be destroyed or damaged when a force in Steckachsplatz on the grip tire 12th acts.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Tires In General (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Handcart (AREA)

Abstract

The arrangement (15) has sensors e.g. pressure sensors and force sensors, for detecting force acting on a hand rim (12), and two bendable plates arranged in parallel. A hand rim attachment part and a wheel attachment part are connected with each other by the bendable plates. A sensor head is screwed with the wheel attachment part and the hand rim attachment part. The bendable plates are connected with the sensor head and are arranged in a housing. A sensor board is connected with the sensors and is arranged in the housing. An independent claim is also included for a wheelchair wheel comprising a connection arrangement.

Description

Die Erfindung betrifft eine Sensoranordnung für ein Rollstuhlrad, welches ein Laufrad und einen Greifreifen umfasst, wobei die Sensoranordnung ein Laufradbefestigungsteil und ein Greifreifenbefestigungsteil sowie zumindest einen eine auf den Greifreifen ausgeübte Kraft detektierenden Sensor umfasst.The invention relates to a sensor arrangement for a wheelchair wheel, which comprises an impeller and a gripping tire, wherein the sensor arrangement comprises an impeller fastening part and a gripping tire fastening part and at least one sensor detecting a force exerted on the grip tire.

Eine derartige Sensoranordnung ist beispielsweise aus der DE 198 48 530 C1 bekannt. Insbesondere ist aus dieser Druckschrift eine Ansteuervorrichtung für Hilfsantriebsvorrichtungen für Selbstfahrerrollstühle mit einem in einem mit dem Laufrad des Rollstuhls fest verbundenen Gehäuse begrenzt schwenkbar gelagerten Anker bekannt, dessen Spitze mit einem Greifring des Laufrads verbunden ist, wobei zwei seitliche Arme des Ankers jeweils von einem Federelement beaufschlagt sind, die den Anker nach Beendigung einer Krafteinleitung auf den Greifring in eine Nullstellung zurückbewegen, und mit einer Sensoreinrichtung zur Erfassung der Schwenkposition des Ankers, deren Signale den Unterstützungsgrad der Hilfsantriebsvorrichtung bestimmen, bekannt.Such a sensor arrangement is for example from the DE 198 48 530 C1 known. In particular, from this document, a drive device for auxiliary drive devices for self-propelled wheelchairs with a limited fixedly connected to the impeller of the wheelchair housing pivotally mounted anchor known whose tip is connected to a gripping ring of the impeller, wherein two lateral arms of the armature each acted upon by a spring element are, which move the armature after completion of an application of force on the gripping ring to a zero position, and with a sensor device for detecting the pivot position of the armature whose signals determine the degree of support of the auxiliary drive device known.

Derartige Ansteuervorrichtungen bzw. Sensoranordnungen dienen dazu, zu erfassen, wenn ein Benutzer mittels des Greifreifens entweder versucht, den Rollstuhl anzutreiben oder ihn zu bremsen. Die Betätigung des Greifreifens durch einen Benutzer wird erfasst und in Abhängigkeit von der Betätigung wird ein Hilfsantrieb zugeschaltet. Ein solcher Hilfsantrieb soll dafür sorgen, dass bei Bergauf- oder Bergabfahrten der Rollstuhlfahrer nicht überlastet wird.Such drive devices or sensor arrangements serve to detect when a user by means of the gripping tire either tries to drive the wheelchair or to brake it. The operation of the gripping tire by a user is detected and an auxiliary drive is activated in response to the operation. Such an auxiliary drive should ensure that when uphill or downhill the wheelchair user is not overloaded.

Bekannte Sensoranordnungen haben jedoch den Nachteil, dass die Signalerfassung nur über eine relativ große Auslenkung, d. h. Relativbewegung, zwischen dem Greifreifen und dem Laufrad erfolgt. Es kommt zu Auslenkungen von mehreren Zentimetern in beide Richtungen. Dadurch ergibt sich ein unsicheres Gefühl für den Rollstuhlfahrer, dem die direkt spürbare Anbindung Greifreifen - Laufrad fehlt.However, known sensor arrangements have the disadvantage that the signal detection only over a relatively large deflection, d. H. Relative movement, between the handrim and the impeller takes place. There are deflections of several centimeters in both directions. This results in an insecure feeling for the wheelchair user, who lacks the directly noticeable grip - wheel connection.

Aufgabe der vorliegenden Erfindung ist es deshalb, eine Sensoranordnung bereitzustellen, die mit geringeren Auslenkungen bzw. Relativbewegungen zwischen Greifrad und Laufrad auskommt.The object of the present invention is therefore to provide a sensor arrangement which manages with smaller deflections or relative movements between gripping wheel and impeller.

Gelöst wird diese Aufgabe erfindungsgemäß durch eine Sensoranordnung der eingangs genannten Art, wobei das Laufradbefestigungsteil und das Greifreifenbefestigungsteil über zumindest zwei parallel angeordnete Biegeplättchen verbunden sind. Durch die Biegeplättchen, die vorzugsweise aus biegeelastischem Material ausgebildet sind, wird nur eine geringe Relativbewegung zwischen Greifreifenbefestigungsteil und Laufradbefestigungsteil ermöglicht und erlaubt. Insbesondere wird nur eine Parallelbewegung der beiden Befestigungsteile relativ zueinander zugelassen. Dadurch, dass die Biegeplättchen vorzugsweise biegeelastisch ausgebildet sind, erfolgt eine automatische Rückstellung, wenn am Greifreifen keine Kraft mehr eingeleitet wird. Zusätzliche Federelemente wie im Stand der Technik sind nicht notwendig.This object is achieved according to the invention by a sensor arrangement of the type mentioned, wherein the impeller mounting part and the gripping tire mounting part are connected via at least two parallel arranged bending plates. By bending plates, which are preferably formed of flexurally elastic material, only a small relative movement between the gripping tire mounting part and the wheel mounting part is allowed and allowed. In particular, only a parallel movement of the two fasteners is allowed relative to each other. Due to the fact that the bending plates are preferably designed to be flexible in bending, an automatic reset takes place when no force is applied to the grip tire. Additional spring elements as in the prior art are not necessary.

Durch die erfindungsgemäße Sensoranordnung ist eine weglose bzw. beinahe weglose Signalerfassung im Bereich zwischen 0 und 2 mm möglich. Eine solche Relativbewegung zwischen Greifreifenbefestigungsteil und Laufradbefestigungsteil ist für einen Benutzer nicht oder kaum spürbar, und es ergibt sich ein sichereres Gefühl für einen Benutzer.Due to the sensor arrangement according to the invention, a trackless or almost trackless signal detection in the range between 0 and 2 mm is possible. Such a relative movement between the ratchet fastening part and the wheel mounting part is not or barely noticeable to a user, and a safer feeling for a user results.

Besondere Vorteile ergeben sich, wenn die Biegeplättchen an zumindest einem der Befestigungsteile, insbesondere materialschlüssig oder formschlüssig, befestigt sind. Dadurch ergibt sich eine besonders gute Verbindung zwischen Biegeplättchen und Befestigungsteil. Eine materialschlüssige Verbindung hat darüber hinaus den Vorteil, dass kein Spiel auftritt. Dies ist hilfreich bei der Realisierung einer weglosen oder nahezu weglosen Sensorik. Außerdem ist es möglich, zumindest ein Befestigungsteil und die Biegeplättchen in einem Herstellungsgang als ein Bauteil herzustellen. Grundsätzlich ist es denkbar, dass beide Befestigungsteile materialschlüssig mit dem Biegeplättchen verbunden sind.Particular advantages arise when the bending plates are attached to at least one of the fastening parts, in particular material-locking or form-fitting. This results in a particularly good connection between Biegeplättchen and fastener. A material connection has In addition, the advantage that no game occurs. This is helpful when realizing a trackless or almost trackless sensor. In addition, it is possible to manufacture at least one fastening part and the bending plates in a production process as one component. In principle, it is conceivable that both fastening parts are materially connected to the bending plate.

Gemäß einer Ausgestaltung der Erfindung kann vorgesehen sein, dass die Biegeplättchen an einem Sensorkopf, insbesondere materialschlüssig oder formschlüssig, befestigt sind, der wiederum an einem Befestigungsteil befestigt ist. Die Biegeplättchen können dadurch an einem Ende über den Sensorkopf verbunden sein. Der Abstand der Biegeplättchen kann durch den Sensorkopf konstant gehalten werden. Wenn die Biegeplättchen materialschlüssig mit dem Sensorkopf verbunden sind, tritt auch an dieser Stelle kein Spiel auf. Außerdem kann der Sensorkopf gemeinsam mit den Biegeplättchen und/oder einem Befestigungsteil, beispielsweise als Spritzgussteil, hergestellt werden.According to one embodiment of the invention it can be provided that the bending plates are attached to a sensor head, in particular material-locking or positive fit, which in turn is attached to a fastening part. The bending plates can thereby be connected at one end via the sensor head. The distance of the bending plates can be kept constant by the sensor head. If the bending plates are materially connected to the sensor head, no play occurs at this point. In addition, the sensor head can be produced together with the bending platelets and / or a fastening part, for example as an injection molded part.

Zur Befestigung des Sensorkopfs an einem Befestigungsteil können zusätzliche Befestigungsmittel vorgesehen sein. Insbesondere kann der Sensorkopf mit einem Befestigungsteil verschraubt sein. Durch die Verschraubung können Toleranzen, zum Beispiel im Abstand zwischen Laufrad und Greifreifen, ausgeglichen werden. Es ist denkbar, dass zwischen Sensorkopf und damit verschraubtem Befestigungsteil ein Spalt vorhanden ist.For attachment of the sensor head to a fastening part additional fastening means may be provided. In particular, the sensor head can be screwed to a fastening part. By screwing tolerances, for example, in the distance between the impeller and ratchet, can be compensated. It is conceivable that a gap exists between the sensor head and the fastening part screwed thereto.

Weitere Vorteile ergeben sich, wenn das Laufradbefestigungsteil zumindest teilweise ein Gehäuse ausbildet und die Biegeplättchen in dem Gehäuse angeordnet sind. Dadurch können die Biegeplättchen vor äußeren Einflüssen geschützt angeordnet werden. Durch das Gehäuse kann insbesondere sichergestellt werden, dass die Biegeplättchen nicht umknicken, sodass eine Funktionsstörung der Sensoranordnung ausgeschlossen wird.Further advantages result if the wheel mounting part at least partially forms a housing and the bending plates are arranged in the housing. As a result, the bending plates can be arranged protected from external influences. In particular, it can be ensured by the housing that the bending plates do not buckle, so that a malfunction of the sensor arrangement is precluded.

Gemäß einer Ausgestaltung der Erfindung kann vorgesehen sein, dass der zumindest eine Sensor als Drucksensor bzw. Kraftsensor ausgebildet ist. Die Drucksensoren können dabei insbesondere mit dem Sensorkopf zusammenwirken. Drucksensoren, insbesondere weglose Drucksensoren, haben den Vorteil, dass Sensorsignale erzeugt werden können, ohne dass eine Bewegung des Sensorkopfs, der mit dem Biegeplättchen verbunden ist, notwendig ist bzw. sodass nur eine minimale Bewegung notwendig ist. Im Gegensatz zum Stand der Technik erfolgt demnach im Wesentlichen keine Wegmessung, sondern im Wesentlichen eine Kraftmessung.According to one embodiment of the invention can be provided that the at least one sensor is designed as a pressure sensor or force sensor. The pressure sensors can cooperate in particular with the sensor head. Pressure sensors, in particular trackless pressure sensors, have the advantage that sensor signals can be generated without a movement of the sensor head, which is connected to the bending plate, is necessary or so that only a minimal movement is necessary. In contrast to the prior art, there is thus essentially no distance measurement, but essentially a force measurement.

Bei einer besonders vorteilhaften Ausführungsform kann vorgesehen sein, dass der zumindest eine Sensor einem Biegeplättchen oder einer Seite des Sensorkopfs gegenüberliegend angeordnet ist. Eine Krafteinleitung durch den Greifreifen auf die Biegeplättchen oder den Sensorkopf kann somit unmittelbar detektiert werden. Gemäß einer weiteren Ausgestaltung der Erfindung kann vorgesehen sein, dass zwischen dem zumindest einen Sensor und einem Biegeplättchen oder einer Seite des Sensorkopfs ein Puffer bzw. Aktuator, insbesondere spielfrei, angeordnet ist. Durch diese Maßnahme kann die Relativbewegung zwischen Laufrad und Greifreifen noch weiter reduziert werden. Die Handhabung für einen Benutzer wird dadurch verbessert. Der Puffer bzw. Aktuator kann aus einem starren oder elastischen Material ausgebildet sein. Durch den Puffer bzw. Aktuator wird sichergestellt, dass die Krafteinleitung auf den Sensor an einer definierten Stelle erfolgt. Durch den Puffer, der zylindrisch oder scheibenförmig ausgebildet sein kann, wird vorteilhafterweise der herstellungsbedingte Raum zwischen Sensorkopf und Sensor überbrückt. Der Puffer bzw. Aktuator kann an dem Sensor befestigt, insbesondere verklebt, sein. Besondere Vorteile ergeben sich, wenn zwei Sensoren vorgesehen sind, die jeweils einem Biegeplättchen oder einer Seite des Sensorkopfs gegenüberliegend angeordnet sind. Durch die Verwendung von zwei Sensoren kann besonders einfach festgestellt werden, ob eine Krafteinleitung über den Greifreifen in Vorwärts- oder Rückwärtsfahrrichtung erfolgt.In a particularly advantageous embodiment it can be provided that the at least one sensor is arranged opposite a bending plate or a side of the sensor head. An introduction of force by the gripping tire on the bending plate or the sensor head can thus be detected immediately. According to a further embodiment of the invention it can be provided that between the at least one sensor and a bending plate or a side of the sensor head, a buffer or actuator, in particular free of play, is arranged. By this measure, the relative movement between the impeller and ratchet can be further reduced. Handling for a user is thereby improved. The buffer or actuator may be formed of a rigid or elastic material. The buffer or actuator ensures that the force is applied to the sensor at a defined point. By the buffer, which may be cylindrical or disc-shaped, advantageously the production-related space between the sensor head and sensor is bridged. The buffer or actuator can be attached to the sensor, in particular adhesively bonded. Particular advantages arise when two sensors are provided, which are each arranged opposite a bending plate or a side of the sensor head. The use of two sensors makes it particularly easy to determine whether a force is being transmitted via the handrim in the forward or reverse direction.

Weiterhin kann eine Sensorplatine vorgesehen sein, die mit dem zumindest einen Sensor verbunden ist. Dabei können die Sensoren, insbesondere die Drucksensoren, Kontaktpins zur elektrischen Verbindung mit der Sensorplatine aufweisen. Die Kontaktpins können in die Sensorplatine eingesteckt und mit dieser verlötet sein. Die Sensorplatine kann mit einer Antriebssteuerung oder direkt mit einem Antrieb, insbesondere elektromotorischen Antrieb, elektrisch leitend verbunden sein.Furthermore, a sensor board may be provided, which is connected to the at least one sensor. In this case, the sensors, in particular the pressure sensors, contact pins for electrical connection to the sensor board have. The contact pins can be plugged into the sensor board and with this be soldered. The sensor board may be electrically conductively connected to a drive control or directly to a drive, in particular an electromotive drive.

Besonders bevorzugt ist es, wenn die Sensorplatine innerhalb des Gehäuses angeordnet ist. Dadurch ist auch die Sensorplatine geschützt angeordnet. Außerdem kann sie in unmittelbarer Nähe der Sensoren angeordnet werden, sodass die Sensoren kabellos mit der Sensorplatine verbunden werden können.It is particularly preferred if the sensor board is arranged within the housing. As a result, the sensor board is arranged protected. In addition, it can be placed in close proximity to the sensors so that the sensors can be wirelessly connected to the sensor board.

In den Rahmen der Erfindung fällt außerdem ein Rollstuhlrad mit einem Laufrad und einem Greifreifen, wobei das Laufrad und der Greifreifen durch zumindest eine erfindungsgemäße Sensoranordnung verbunden sind.In the context of the invention, a wheelchair wheel with an impeller and a gripping tire, wherein the impeller and the gripping tire are connected by at least one sensor arrangement according to the invention also falls.

Für die Steuerung des Antriebs ist es nur notwendig, eine Sensoranordnung am Rollstuhlrad vorzusehen. Allerdings sollte der Greifreifen noch an weiteren Stellen mit dem Laufrad verbunden sein. Die Verbindung sollte jedoch eine ähnliche Mimik aufweisen wie die Sensoranordnung. Gemäß einer Ausgestaltung der Erfindung kann daher vorgesehen sein, dass das Laufrad und der Greifreifen durch eine oder mehrere Verbindungsanordnungen verbunden sind, wobei die Verbindungsanordnung einer Sensoranordnung ohne Sensoren und Sensorplatine entspricht. Die Verbindungsanordnungen und die Sensoranordnung sind daher im Wesentlichen identisch aufgebaut, mit dem Unterschied, dass die Verbindungsanordnungen keine Sensoren und keine Sensorplatine aufweisen. Auch die Puffer zwischen Sensorkopf und Sensor können entfallen.For the control of the drive, it is only necessary to provide a sensor arrangement on the wheelchair wheel. However, the handrims should still be connected at other points with the wheel. However, the connection should have a similar facial expression as the sensor arrangement. According to one embodiment of the invention can therefore be provided that the impeller and the gripping tire are connected by one or more connection arrangements, wherein the connection arrangement corresponds to a sensor arrangement without sensors and sensor board. The connection arrangements and the sensor arrangement are therefore essentially identical, with the difference that the connection arrangements have no sensors and no sensor board. The buffers between sensor head and sensor can be omitted.

Auch ein Rollstuhl mit einem erfindungsgemäßen Rollstuhlrad fällt in den Rahmen der Erfindung.Also, a wheelchair with a wheelchair wheel according to the invention falls within the scope of the invention.

Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden detaillierten Beschreibung eines Ausführungsbeispiels der Erfindung, anhand der Figuren der Zeichnung, die erfindungswesentliche Einzelheiten zeigt, sowie aus den Ansprüchen. Die dort gezeigten Merkmale sind nicht notwendig maßstäblich zu verstehen und derart dargestellt, dass die erfindungsgemäßen Besonderheiten deutlich sichtbar gemacht werden können. Die verschiedenen Merkmale können je einzeln für sich oder zu mehreren in beliebigen Kombinationen bei Varianten der Erfindung verwirklicht sein.Further features and advantages of the invention will become apparent from the following detailed description of an embodiment of the invention, with reference to the figures of the drawing, which shows essential to the invention, and from the claims. The features shown there are not necessarily to scale and presented in such a way that the features of the invention clearly visible. The various features may be implemented individually for themselves or for a plurality of combinations in variants of the invention.

In der schematischen Zeichnung ist ein Ausführungsbeispiel der Erfindung gezeigt und in der nachfolgenden Beschreibung näher erläutert.In the schematic drawing, an embodiment of the invention is shown and explained in more detail in the following description.

Es zeigen:

Fig. 1
eine Seitenansicht eines Rollstuhlrads ohne Speichen;
Fig. 2
eine Schnittdarstellung gemäß der Linie II-II der Fig. 1;
Fig. 3
eine Draufsicht auf eine Sensoranordnung;
Fig. 4
eine Schnittdarstellung der Sensoranordnung der Fig. 3 gemäß der Linie IV-IV;
Fig. 5
eine perspektivische Darstellung der Sensoranordnung mit offenem Gehäuse.
Show it:
Fig. 1
a side view of a wheelchair wheel without spokes;
Fig. 2
a sectional view according to the line II-II of Fig. 1 ;
Fig. 3
a plan view of a sensor arrangement;
Fig. 4
a sectional view of the sensor arrangement of Fig. 3 according to the line IV-IV;
Fig. 5
a perspective view of the sensor assembly with an open housing.

Die Fig. 1 zeigt ein Rollstuhlrad 10 mit einer Felge 11, die Bestandteil eines Laufrads ist, und einem Greifreifen 12. Die Felge 11 und der Greifreifen 12 sind konzentrisch zu einer Nabe 13 angeordnet. Der Greifreifen 12 ist über eine Sensoranordnung 15 und insgesamt fünf Verbindungsanordnungen 16 bis 20 mit dem Laufrad, insbesondere der Felge 11, verbunden. Der Unterschied der Sensoranordnung 15 zu den Verbindungsanordnungen 16 bis 20 liegt lediglich darin, dass die Verbindungsanordnungen 16 bis 20 keine Sensorik aufweisen. Über den Greifreifen 12 kann das Rollstuhlrad 10 manuell durch einen Benutzer angetrieben werden. Die von einem Benutzer an dem Greifreifen 12 eingebrachte Kraft kann durch die Sensoranordnung 15 erfasst werden. Entsprechend der eingebrachten Kraft kann ein hier nicht dargestellter (Hilfs-)Antrieb angesteuert werden, um einen Benutzer bei der Fortbewegung des Rollstuhls zu unterstützen.The Fig. 1 shows a wheelchair wheel 10 with a rim 11, which is part of an impeller, and a gripping tire 12. The rim 11 and the gripping tire 12 are arranged concentrically to a hub 13. The gripping tire 12 is connected via a sensor arrangement 15 and a total of five connecting arrangements 16 to 20 with the impeller, in particular the rim 11. The difference between the sensor arrangement 15 and the connection arrangements 16 to 20 is merely that the connection arrangements 16 to 20 have no sensors. About the grip tire 12, the wheelchair 10 can be manually driven by a user. The force applied by a user to the gripping tire 12 can be detected by the sensor arrangement 15. According to the introduced force, a (not shown here) (auxiliary) drive can be controlled to assist a user in the movement of the wheelchair.

Die Fig. 2 zeigt eine Schnittdarstellung gemäß der Linie II-II der Fig. 1. Die Felge 11 weist eine Ausnehmung 21 auf, in der ein Laufreifen angeordnet werden kann. Der hier nicht dargestellte Laufreifen und die Felge 11 zusammen mit der Nabe 13 bilden ein Laufrad, an dem der Greifreifen 12 befestigt ist.The Fig. 2 shows a sectional view along the line II-II of Fig. 1 , The rim 11 has a recess 21 in which a running tire can be arranged. The non-illustrated tire and the rim 11 together with the hub 13 form an impeller on which the gripping tire 12 is attached.

Die Fig. 3 zeigt eine Ansicht der Sensoranordnung 15. Die Sensoranordnung 15 umfasst ein Greifreifenbefestigungsteil 25 sowie ein Laufradbefestigungsteil 26. Das Greifreifenbefestigungsteil 25 weist eine muldenförmige Ausnehmung 27 auf, in die eine Schraube 28 ragt, sodass das Greifreifenbefestigungsteil 25 über die Schraube 28 mit dem Greifreifen 12 verbunden werden kann. Das Laufradbefestigungsteil 26 weist Schrauben 29 bis 31 auf, sodass das Laufradbefestigungsteil 26 über die Schrauben 29 bis 31 mit dem Laufrad, insbesondere der Felge 11, verbunden werden kann. Das Greifreifenbefestigungsteil 25 und das Laufradbefestigungsteil 26 sind in geringfügigem Maß relativ zueinander beweglich. Durch die später noch näher zu beschreibende Sensorik kann diese Relativbewegung erfasst werden und können entsprechend der Relativbewegung Sensorsignale an eine Antriebssteuerung oder direkt ein Antrieb gegeben werden.The Fig. 3 shows a view of the sensor assembly 15. The sensor assembly 15 includes a gripping bar attachment member 25 and an impeller mounting member 26. The gripping bar attachment member 25 has a trough-shaped recess 27 into which a screw 28 protrudes, so that the gripping bar attachment member 25 are connected via the screw 28 with the gripping tire 12 can. The wheel mounting part 26 has screws 29 to 31, so that the wheel mounting part 26 can be connected via the screws 29 to 31 with the impeller, in particular the rim 11. The ratchet fastening member 25 and the wheel mounting member 26 are slightly movable relative to each other. By means of the sensor system to be described later, this relative movement can be detected and, according to the relative movement, sensor signals can be transmitted to a drive control or directly to a drive.

Die Fig. 4 zeigt eine Schnittdarstellung gemäß der Linie IV-IV der Fig. 3. Dieser Schnittdarstellung kann man entnehmen, dass die Schrauben 29, 31 das Laufradbefestigungsteil 26 durchragen, wobei die Schraubenachsen der Schrauben 29, 31 einen Winkel von etwa 90° zueinander einnehmen. Dadurch kann eine besonders zuverlässige Befestigung an der Felge 11 erfolgen. Weiterhin ist die Ausnehmung 27 für den Greifreifen 12 gut zu erkennen. Die Schraube 28 durchragt das Greifreifenbefestigungsteil 25.The Fig. 4 shows a sectional view along the line IV-IV of Fig. 3 , This sectional view can be seen that the screws 29, 31 project through the wheel mounting part 26, wherein the screw axes of the screws 29, 31 occupy an angle of approximately 90 ° to each other. As a result, a particularly reliable attachment to the rim 11 can take place. Furthermore, the recess 27 can be easily seen for the gripping tire 12. The screw 28 protrudes through the gripping-tire mounting part 25.

Das Greifreifenbefestigungsteil 25 ist mit dem Laufradbefestigungsteil 26 über eine Schraube 33 verbunden. Die Schraube 33 durchgreift einen noch näher zu beschreibenden Sensorkopf 34, der mit dem Laufradbefestigungsteil 26 verbunden ist.The ratchet fixing part 25 is connected to the wheel mounting part 26 via a screw 33. The screw 33 passes through a sensor head 34 to be described later, which is connected to the wheel mounting part 26.

Der Darstellung der Fig. 4 kann man weiterhin entnehmen, dass das Laufradbefestigungsteil 26 gehäuseartig ausgebildet ist. Innerhalb des Gehäuses ist weiterhin eine Sensorplatine 35 angeordnet, die innerhalb des Gehäuses verschraubt ist.The representation of the Fig. 4 can also be seen that the impeller mounting member 26 is formed like a box. Within the housing, a sensor board 35 is further arranged, which is screwed inside the housing.

Die Fig. 5 zeigt eine perspektivische Darstellung der Sensoranordnung 15 bei geöffnetem Gehäuse und fehlender Sensorplatine 35. Der Sensorkopf 34 ist, wie bereits beschrieben, mit dem Greifreifenbefestigungsteil 25 über die Schraube 33 verbunden. Der Sensorkopf 34 ist überdies über zwei Biegeplättchen 36, 37 mit dem Laufradbefestigungsteil 26 verbunden. Insbesondere sind die Biegeplättchen 36, 37 materialschlüssig mit dem Laufradbefestigungsteil 26 und dem Sensorkopf 34 verbunden. Die Biegeplättchen 36, 37 sind aus biegeelastischem Material hergestellt.The Fig. 5 shows a perspective view of the sensor assembly 15 with the housing open and missing sensor board 35. The sensor head 34 is, as already described, connected to the gripping tire mounting member 25 via the screw 33. The sensor head 34 is also connected via two bending plates 36, 37 with the wheel mounting part 26. In particular, the bending plates 36, 37 are materially connected to the wheel mounting part 26 and the sensor head 34. The bending plates 36, 37 are made of flexurally elastic material.

Alternativ können die materialschlüssig verbundenen Biegeplättchen 36, 37 durch zwei parallel gelagerte Teile ersetzt werden. Die Biegeplättchen 36, 37 führen eine parallele Bewegung aus.Alternatively, the material-fit connected bending plates 36, 37 are replaced by two parts mounted in parallel. The bending plates 36, 37 perform a parallel movement.

Das Greifreifenbefestigungsteil 25 und das Laufradbefestigungsteil 26 sind also über die Biegeplättchen 36, 37 miteinander verbunden. Im Ausführungsbeispiel ist das Greifreifenbefestigungsteil 25 mittelbar über den Sensorkopf 34 und die Schraube 33 mit den Biegeplättchen 36, 37 verbunden bzw. daran befestigt. Eine unmittelbare Befestigung des Greifreifenbefestigungsteils 25 an den Biegeplättchen 36, 37 ist jedoch denkbar.The gripping tire mounting part 25 and the wheel mounting part 26 are thus connected to each other via the bending plates 36, 37. In the exemplary embodiment, the gripping tire mounting part 25 is indirectly connected via the sensor head 34 and the screw 33 with the bending plates 36, 37 or attached thereto. However, a direct attachment of the gripping tire attachment part 25 to the bending plate 36, 37 is conceivable.

Konstruktionsbedingt kann der Sensorkopf 34 und damit das damit verbundene Greifreifenbefestigungsteil 25 nur parallel zur Wandung 26.1 bewegt werden. Diese Bewegung ist jedoch äußerst minimal und für einen Benutzer quasi nicht wahrnehmbar. Wird demnach von einem Benutzer eine Kraft auf einen Greifreifen 12 und damit das Greifreifenbefestigungsteil 25 ausgeübt, kann sich der Sensorkopf 34 in Pfeilrichtung 38 oder 39 bewegen.Due to the design of the sensor head 34 and thus the associated gripping tire attachment member 25 are moved only parallel to the wall 26.1. However, this movement is extremely minimal and virtually imperceptible to a user. Accordingly, if a user applies force to a handrim 12 and thus the handrim mounting member 25, the sensor head 34 may move in the direction of arrow 38 or 39.

Bei einer Bewegung in Pfeilrichtung 38 drückt der Sensorkopf 34 über einen Puffer bzw. Aktuator 40 auf einen Drucksensor 41. Der Drucksensor 41 ist vorzugsweise als wegloser Drucksensor ausgebildet. Über Kontaktpins 42.1, 42.2 ist er mit der Sensorplatine 35 verbunden. Der Aktuator 40 ist insbesondere spielfrei zwischen dem Sensorkopf 34 und dem Drucksensor 41 angeordnet. Der Drucksensor 41 ist gegenüberliegend einer Seite 43 des Sensorkopfs 34 angeordnet, wobei die Seite 43 auch als Bestandteil bzw. Verlängerung des Biegeplättchens 36 aufgefasst werden kann.When moving in the direction of arrow 38, the sensor head 34 presses on a buffer or actuator 40 on a pressure sensor 41. The pressure sensor 41 is preferably designed as a trackless pressure sensor. Via contact pins 42.1, 42.2 it is connected to the sensor board 35. The actuator 40 is in particular arranged without clearance between the sensor head 34 and the pressure sensor 41. The pressure sensor 41 is arranged opposite one side 43 of the sensor head 34, wherein the side 43 can also be understood as a component or extension of the bending plate 36.

Auf der gegenüberliegenden Seite des Sensorkopfs 34 ist entsprechend ein Puffer bzw. Aktuator 44 angeordnet, der auf einen Drucksensor 45 drückt, wenn eine Bewegung des Sensorkopf 34 in Pfeilrichtung 39 erfolgt. Der Sensor 45 ist ebenfalls als wegloser Drucksensor ausgebildet und gegenüberliegend der Seite 46 des Sensorkopfs 34 angeordnet, wobei auch die Seite 46 als Verlängerung des Biegeplättchens 37 aufgefasst werden kann. Auch der Sensor 45 weist Kontaktpins 47.1, 47.2 zur Sensorplatine 35 auf. Der Aktuator 44 ist spielfrei zwischen dem Sensorkopf 34 und dem Drucksensor 45 angeordnet.On the opposite side of the sensor head 34, a buffer or actuator 44 is correspondingly arranged, which presses on a pressure sensor 45 when a movement of the sensor head 34 takes place in the direction of arrow 39. The sensor 45 is also designed as a trackless pressure sensor and arranged opposite the side 46 of the sensor head 34, whereby the side 46 can be considered as an extension of the bending plate 37. Also, the sensor 45 has contact pins 47.1, 47.2 to the sensor board 35. The actuator 44 is arranged without clearance between the sensor head 34 and the pressure sensor 45.

Das gehäuseartig ausgebildete Laufradbefestigungsteil 26 begrenzt den Weg des Sensorkopfs 34. Dies ermöglicht eine direkte Kraftübertragung, ohne die Sensoranordnung 15 zu zerstören. So kann der Greifreifen 12 auch manuell genutzt werden, d. h. zum Antrieb des Rollstuhls auch ohne Zusatzantrieb.The casing-like design impeller mounting part 26 limits the path of the sensor head 34. This allows a direct power transmission, without destroying the sensor assembly 15. Thus, the grip tire 12 can also be used manually, d. H. to drive the wheelchair without additional drive.

Weiterhin begrenzt das gehäuseartige Laufradbefestigungsteil 26 (oder in einer alternativen Ausgestaltung ein separates Gehäuse) den Weg in Achsrichtung der Steckachse der Biegeplättchen 36, 37. Die Biegeplättchen 36, 37 können somit nicht zerstört oder beschädigt werden, wenn eine Kraft in Steckachsrichtung auf den Greifreifen 12 wirkt.Furthermore, the housing-like wheel mounting part 26 (or in a alternative embodiment, a separate housing) limits the path in the axial direction of the plug-in axis of the bending plates 36, 37. The bending plates 36, 37 can thus not be destroyed or damaged when a force in Steckachsrichtung on the grip tire 12th acts.

Weiterhin ist in der Fig. 5 eine Schraube 48 zu erkennen, mit der die Sensorplatine 35 befestigt werden kann. Auf der Sensorplatine werden die Signale der Drucksensoren auf ein Kabel geführt.Furthermore, in the Fig. 5 to recognize a screw 48 with which the sensor board 35 can be attached. On the sensor board, the signals from the pressure sensors are routed to a cable.

Dadurch, dass der Sensorkopf 34 über die beiden Biegeplättchen 36, 37 mit dem Laufradbefestigungsteil 27 verbunden ist, erfolgt nach einer erfolgten Auslenkung in Pfeilrichtung 38 oder Pfeilrichtung 39 stets wieder automatisch eine Rückstellung in die Ausgangsstellung, also eine Mittenlage, sobald der Greifreifen nicht mehr mit einer Kraft beaufschlagt wird.Characterized in that the sensor head 34 is connected via the two bending plates 36, 37 with the impeller mounting member 27, takes place after a successful deflection in the direction of arrow 38 or arrow 39 always automatically return to the starting position, ie a center position, as soon as the handrims no longer with a force is applied.

Claims (14)

  1. Sensor arrangement (15) for a wheelchair wheel (10), which comprises a running wheel and a gripping tyre (12), in which the sensor arrangement (15) comprises a running wheel fastening part (26) and a gripping tyre fastening part (25) as well a at least one sensor (41, 45) detecting a force exerted on the gripping tyre (12), characterised in that the running wheel fastening part (26) and the gripping tyre fastening part (25) are connected through at least two bending plates (36, 37) arranged in parallel.
  2. Sensor arrangement according to claim 1, characterised in that the bending plates (36, 37) are fastened to at least one of the fastening parts (25, 26), particularly in a flush fitting or form fitting way.
  3. Sensor arrangement according to one of the previous claims, characterised in that the bending plates (36, 37) are fastened to a sensor head (34), particularly in a flush fitting or form fitting way, which in turn is fastened to a fastening part (25, 26).
  4. Sensor arrangement according to claim 3, characterised in that the sensor head (34) is screwed to a fastening part (25, 26).
  5. Sensor arrangement according to one of the previous claims, characterised in that the running wheel fastening part (26) at least partly forms a housing and the bending plates (36, 37) are arranged in the housing.
  6. Sensor arrangement according to one of the previous claims, characterised in that the at least one sensor (41, 45) is made as a pressure sensor or force sensor.
  7. Sensor arrangement according to one of the previous claims, characterised in that the sensor (41, 45) is arranged opposite a bending plate (36, 37) or a side (43, 46) of the sensor head (34).
  8. Sensor arrangement according to one of the previous claims, characterised in that a buffer or actuator (40, 44) is arranged between the at least one sensor (41, 45) and a bending plate (36, 37) or a side (43, 46) of the sensor head (34), particularly in a play-free way.
  9. Sensor arrangement according to one of the previous claims, characterised in that two sensors (41, 45) are provided, which are arranged opposite a bending plate (36, 37) or a side (43, 46) of the sensor head (34).
  10. Sensor arrangement according to one of the previous claims, characterised in that a sensor plate (35) is provided, which is connected to at least one sensor (41, 45).
  11. Sensor arrangement according to claim 10, characterised in that the sensor plate (35) is arranged inside the housing.
  12. Wheelchair wheel with a running wheel and a gripping tyre (12), characterised in that the running wheel and the gripping tyre (12) are connected by at least one sensor arrangement (15) according to one of the previous claims.
  13. Wheelchair wheel according to claim 12, characterised in that the running wheel and the gripping tyre (12) are connected by one or several connection arrangements (16 - 20), in which a connection arrangement (16 - 20) corresponds to a sensor arrangement (15) without sensors (41, 45) and sensor plate (35).
  14. Wheelchair with a wheelchair wheel according to claim 12 or 13.
EP10004555.8A 2009-07-22 2010-04-30 Sensor device for a wheelchair wheel Not-in-force EP2277487B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202009009929U DE202009009929U1 (en) 2009-07-22 2009-07-22 Sensor arrangement for a wheelchair wheel

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EP2277487A2 EP2277487A2 (en) 2011-01-26
EP2277487A3 EP2277487A3 (en) 2012-10-03
EP2277487B1 true EP2277487B1 (en) 2013-11-20

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ID=41180814

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EP4342439A1 (en) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Muscle-powered wheelchair and method for controlling an auxiliary drive for such a wheelchair

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DE202011005366U1 (en) 2011-04-16 2011-07-26 Loetec Elektronische Fertigungssysteme Gmbh Device for piercing white asparagus
DE102011105570B4 (en) 2011-06-25 2017-06-29 Aat Alber Antriebstechnik Gmbh Sensor arrangement, wheelchair wheel and wheelchair
DE102017222036A1 (en) 2017-12-06 2019-06-06 Robert Bosch Gmbh A sensor device for detecting an actuating variable, sensor system, wheelchair and method for determining a driving force of a wheelchair user
IT202200007706A1 (en) * 2022-04-19 2023-10-19 Universita’ Degli Studi Di Padova SYSTEM FOR MEASURING FORCES APPLIED BY A USER ON AT LEAST ONE DRIVE WHEEL OF A WHEELCHAIR, AND RELATED METHOD

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SE9400869L (en) * 1993-08-16 1995-02-17 Johan Carlsson Wheelchair with power servo and measuring function
DE19848530C1 (en) 1998-10-21 2000-02-17 Alber Ulrich Gmbh & Co Kg Auxiliary drive control device for manually-propelled wheelchair has pivoted armature attached to grip ring with detection of its deflection for controlling drive output of auxiliary drive
DE202008017258U1 (en) * 2008-03-19 2009-03-26 Ulrich Alber Gmbh Auxiliary drive device for a wheelchair and wheelchair with auxiliary drive device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4342439A1 (en) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Muscle-powered wheelchair and method for controlling an auxiliary drive for such a wheelchair
DE102022124524A1 (en) 2022-09-23 2024-03-28 Motion Advantage Verwaltungs-GmbH MUSCLE-POWERED WHEELCHAIR AND METHOD FOR CONTROLLING AN AUXILIARY DRIVE FOR SAME

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EP2277487A3 (en) 2012-10-03
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