EP2277487B1 - Dispositif de détection pour une roue de chaise roulante - Google Patents

Dispositif de détection pour une roue de chaise roulante 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
Authority
EP
European Patent Office
Prior art keywords
sensor
gripping
sensor arrangement
wheel
arrangement according
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.)
Not-in-force
Application number
EP10004555.8A
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German (de)
English (en)
Other versions
EP2277487A3 (fr
EP2277487A2 (fr
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.)
AAT Alber Antriebstechnik GmbH
Original Assignee
AAT Alber Antriebstechnik GmbH
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 AAT Alber Antriebstechnik GmbH filed Critical AAT Alber Antriebstechnik GmbH
Publication of EP2277487A2 publication Critical patent/EP2277487A2/fr
Publication of EP2277487A3 publication Critical patent/EP2277487A3/fr
Application granted granted Critical
Publication of EP2277487B1 publication Critical patent/EP2277487B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61G5/02—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.

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)
  • Tires In General (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Handcart (AREA)

Claims (14)

  1. Dispositif de capteur (15) pour une roue (10) de fauteuil roulant qui comprend une roue de roulement et un cerceau de prise (12), le dispositif de capteur (15) comprenant une partie de fixation (26) sur la roue de roulement et une partie de fixation (25) sur le cerceau de prise, ainsi qu'au moins un capteur (41, 45) détectant une force exercée sur le cerceau de prise (12), caractérisé en ce que la partie de fixation (26) sur la roue de roulement et la partie de fixation (25) sur le cerceau de prise sont raccordées par le biais d'au moins deux plaquettes de flexion (36, 37) disposées parallèlement.
  2. Dispositif de capteur selon la revendication 1, caractérisé en ce que les plaquettes de flexion (36, 37) sont solidaires d'au moins une des parties de fixation (25, 26), en particulier par liaison de matière ou liaison de forme.
  3. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que les plaquettes de flexion (36, 37) sont solidaires d'une tête de capteur (34), en particulier par liaison de matière ou liaison de forme, laquelle tête est à son tour solidarisée d'une partie de fixation (25, 26).
  4. Dispositif de capteur selon la revendication 3, caractérisé en ce que la tête de capteur (34) est solidarisée par vissage d'une partie de fixation (25, 26).
  5. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que la partie de fixation (26) sur la roue de roulement constitue au moins partiellement un boîtier et en ce que les plaquettes de flexion (36, 37) sont disposées dans le boîtier.
  6. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que le capteur (41, 45) au moins au nombre de un est constitué en tant que capteur de pression ou capteur de force.
  7. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que le capteur (41, 45) est disposé en face d'une plaquette de flexion (36, 37) ou en face d'un côté (43, 46) de la tête de capteur (34).
  8. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que, entre le capteur (41, 45) au moins au nombre de un et une plaquette de flexion (36, 37) ou un côté (43, 46) de la tête de capteur (34), est disposé un tampon ou respectivement un actionneur (40, 44), en particulier sans jeu.
  9. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce que deux capteurs (41, 45) sont prévus, qui sont respectivement disposés en face d'une plaquette de flexion (36, 37) ou en face d'un côté (43, 46) de la tête de capteur (34).
  10. Dispositif de capteur selon une des revendications précédentes, caractérisé en ce qu'il est prévu une platine de capteur (35) qui est raccordée au capteur (41, 45) au moins au nombre de un.
  11. Dispositif de capteur selon la revendication 10, caractérisé en ce que la platine de capteur (35) est disposée à l'intérieur du boîtier.
  12. Roue de fauteuil roulant avec une roue de roulement et un cerceau de prise (12), caractérisée en ce que la roue de roulement et le cerceau de prise (12) sont raccordés par au moins un dispositif de capteur (15) selon l'une des revendications précédentes.
  13. Roue de fauteuil roulant selon la revendication 12, caractérisé en ce que la roue de roulement et le cerceau de prise (12) sont raccordés par un ou plusieurs dispositifs de raccordement (16 - 20), un dispositif de raccordement (16 - 20) correspondant à un dispositif de capteur (15) sans capteurs (41, 45) et platine de capteur (35).
  14. Fauteuil roulant avec une roue de fauteuil roulant selon la revendication 12 ou 13.
EP10004555.8A 2009-07-22 2010-04-30 Dispositif de détection pour une roue de chaise roulante Not-in-force EP2277487B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202009009929U DE202009009929U1 (de) 2009-07-22 2009-07-22 Sensoranordnung für ein Rollstuhlrad

Publications (3)

Publication Number Publication Date
EP2277487A2 EP2277487A2 (fr) 2011-01-26
EP2277487A3 EP2277487A3 (fr) 2012-10-03
EP2277487B1 true EP2277487B1 (fr) 2013-11-20

Family

ID=41180814

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10004555.8A Not-in-force EP2277487B1 (fr) 2009-07-22 2010-04-30 Dispositif de détection pour une roue de chaise roulante

Country Status (2)

Country Link
EP (1) EP2277487B1 (fr)
DE (1) DE202009009929U1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4342439A1 (fr) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Fauteuil roulant entraîné par la force musculaire et procédé de commande d'un entraînement auxiliaire pour un tel fauteuil roulant

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011005366U1 (de) 2011-04-16 2011-07-26 Loetec Elektronische Fertigungssysteme Gmbh Vorrichtung zum Stechen von Weißspargel
DE102011105570B4 (de) 2011-06-25 2017-06-29 Aat Alber Antriebstechnik Gmbh Sensoranordnung, Rollstuhlrad und Rollstuhl
DE102017222036A1 (de) 2017-12-06 2019-06-06 Robert Bosch Gmbh Sensorvorrichtung zur Erfassung einer Betätigungsgröße, Sensorsystem, Rollstuhl und Verfahren zur Ermittlung einer Vortriebskraft eines Rollstuhlfahrers
IT202200007706A1 (it) * 2022-04-19 2023-10-19 Universita’ Degli Studi Di Padova Sistema per la misurazione di forze applicate da un utente su almeno una ruota di trazione di una sedia a rotelle, e relativo metodo

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE9400869L (sv) * 1993-08-16 1995-02-17 Johan Carlsson Rullstol med kraftservo samt mätfunktion
DE19848530C1 (de) 1998-10-21 2000-02-17 Alber Ulrich Gmbh & Co Kg Ansteuervorrichtung für Hilfsantriebsvorrichtungen für Selbstfahrer-Rollstühle
DE202008017258U1 (de) * 2008-03-19 2009-03-26 Ulrich Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl und Rollstuhl mit Hilfsantriebsvorrichtung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4342439A1 (fr) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Fauteuil roulant entraîné par la force musculaire et procédé de commande d'un entraînement auxiliaire pour un tel fauteuil roulant
DE102022124524A1 (de) 2022-09-23 2024-03-28 Motion Advantage Verwaltungs-GmbH Muskelkraftbetriebener rollstuhl und verfahren zur steuerung eines hilfsantriebs für einen solchen

Also Published As

Publication number Publication date
DE202009009929U1 (de) 2009-10-15
EP2277487A3 (fr) 2012-10-03
EP2277487A2 (fr) 2011-01-26

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