EP2671556B1 - Motorisierter Rollstuhl - Google Patents

Motorisierter Rollstuhl Download PDF

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Publication number
EP2671556B1
EP2671556B1 EP20130170535 EP13170535A EP2671556B1 EP 2671556 B1 EP2671556 B1 EP 2671556B1 EP 20130170535 EP20130170535 EP 20130170535 EP 13170535 A EP13170535 A EP 13170535A EP 2671556 B1 EP2671556 B1 EP 2671556B1
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EP
European Patent Office
Prior art keywords
suspension arms
pivot
wheelchair
pivot rod
rear suspension
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.)
Active
Application number
EP20130170535
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English (en)
French (fr)
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EP2671556A1 (de
Inventor
François Porcheron
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4 Power 4
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4 Power 4
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Publication of EP2671556A1 publication Critical patent/EP2671556A1/de
Application granted granted Critical
Publication of EP2671556B1 publication Critical patent/EP2671556B1/de
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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
    • A61G5/10—Parts, details or accessories
    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • 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
    • A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
    • 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/121—Rests specially adapted therefor, e.g. for the head or the feet for head or neck
    • 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
    • A61G2203/14—Joysticks

Definitions

  • the present invention relates to a motorized wheelchair specifically for persons with disabilities or reduced mobility.
  • a motorized wheelchair for a disabled person comprises a frame supported by wheels and a motor for moving the chair.
  • Motorized wheelchairs are generally without a suspension system, which is detrimental to the comfort of their user since the shocks resulting from the state of the roadway are directly passed on to the user.
  • the present invention aims to overcome all or part of these disadvantages by providing a motorized wheelchair equipped with a suspension system ensuring a better passenger comfort, including preventing the pitch of the chair when it accelerates, decelerates, or circulates on an irregular surface.
  • the subject of the present invention is a motorized wheelchair comprising a chassis, a seat attached to the chassis, and at least one engine intended for moving the wheelchair, the wheelchair comprising two front suspension arms, including a front suspension arm. upper and a lower front suspension arm, each front suspension arm being connected by a pivot connection P1, P1 'to the chassis and by a pivot link P2, P2' to a support assembly of a front wheel, so that the pivot links P1, P1 'and P2, P2' form a deformable parallelogram P1, P1 ', P2, P2', two rear suspension arms, including an upper rear suspension arm and a lower rear suspension arm, each suspension arm rear connection being connected by a pivot connection P3, P3 'to the frame and by a pivot connection P4, P4' to a support assembly of a rear wheel, so that the pivot links P3, P3 'and P4, P4' form a parallelogram deformable P3, P3 ', P4, P4', and connecting means arranged to connect one of
  • the wheelchair according to the invention offers the advantage of significantly improving the comfort of the user, on the one hand by absorbing the shocks generated by the movement of the chair on an irregular surface, and on the other hand by limiting substantially the pitch of the chair on uneven surface or during the acceleration or deceleration phases, in particular by means of the coupling between one of the front suspension arms and one of the rear suspension arms, this coupling causing a rotation inverted and simultaneous front suspension arms and rear suspension arms to better stabilize the frame for supporting the user.
  • any pitching movement (dive of the wheelchair forward or rearward rotation of the wheelchair) is transformed, via the deformable parallelograms forming the front and rear suspension arms and the connection between these deformable parallelograms, in a horizontal damping simply varying the seat height.
  • any pitching movement results in a substantially vertical displacement (raising or lowering) of the seat, parallel to the plane formed by the bearing points of the wheels on the ground; the seat remains horizontal and moves away or approaches the wheels.
  • the pivot links P2, P2 ', or the pivot links P4, P4' are arranged vertically relative to each other and connected to a pivot included in the support assembly which they connect to the front suspension arms, or respectively to the rear suspension arms, this support assembly comprising a free wheel flange mounted free to rotate relative to the pivot.
  • the segment P2, P2 'of the parallelogram P1, P1', P2, P2 'or the segment P4, P4' of the parallelogram P3, P3 ', P4, P4' is substantially vertical.
  • This arrangement advantageously makes it possible to ensure the verticality of the pivot of the crazy front or rear wheel during the deflection of the suspension. The risk of wobbling of this idle wheel is thus limited and the comfort of the user improved.
  • each motor is supported by one of the front or rear wheel support assemblies.
  • This configuration advantageously cancels the reaction movements of the suspension during acceleration and braking, so the pitching up and wheelchair dive during phases of speed variation. There is therefore no need to increase the hardness of the suspension to combat these effects. The comfort of the user is improved.
  • the center of gravity of the wheelchair according to this embodiment of the invention is lowered and closer to the ground for better stability.
  • the chair comprises return means and / or damping adapted to absorb the deflections of the front and rear suspension arms, the return means and / or damping being mounted in a cantilever between the one of the front suspension arms and one of the rear suspension arms.
  • This arrangement makes it possible, in addition to fulfilling a damping function, to advantageously use a single damping system for two wheels (a front wheel and a rear wheel) of the wheelchair. It also increases the travel of the suspension arms, so the quality of depreciation.
  • the return and / or damping means comprise a spring-shock absorber connected by a pivot connection P7 to one of the front suspension arms and by a pivot connection P8 to one of the rear suspension arms. .
  • the connecting means are connected to one of the front suspension arms by a pivot link P5 and to one of the rear suspension arms by a pivot link P6.
  • the pivot link P5 and the pivot link P6 are arranged on either side of an axis I connecting that, among the pivot link P1 and the pivot link P1 ', and that, among the pivot link P2 or the link pivot P2 ', which connect to the chassis the front and rear suspension arms interconnected by the connecting means.
  • the connecting means connect the upper front suspension arm and the upper rear suspension arm.
  • This arrangement has the advantage of a small footprint.
  • the connecting means comprise a connecting rod.
  • the connecting means comprise an elastic member.
  • the figure 1 shows a wheelchair 1 according to one embodiment of the invention.
  • the wheelchair 1 comprises a frame 2 intended to support a user 100, a seat secured to the frame 2, and at least one motor 4 intended for the traction or propulsion of the wheelchair 1, as is visible on the Figures 1 to 3 .
  • the chair 1 can include four drive wheels.
  • the wheelchair 1 also comprises two front suspension arms 6a, 6b, including an upper front suspension arm 6a and a lower front suspension arm 6b.
  • the upper front suspension arm 6a is connected by a pivot link P1 with a transverse axis to the chassis 2 and by a pivot link P2 with a transverse axis to a support assembly 8 of a front wheel 10.
  • the front suspension arm 6b lower is connected by a pivot link P1 'of transverse axis to the frame 2 and by a transverse axis pivot link P2' to the support assembly 8 of the front wheel 10.
  • the pivot links P1, P1 ', P2, P2 ' form a first deformable parallelogram (P1, P1', P2, P2 ').
  • the pivot links P1, P1 'and the pivot links P2, P2' can be arranged substantially vertically, so that the sides (P1, P1 ') and (P2, P2') are substantially vertical.
  • the wheelchair 1 also comprises two arms 12a, 12b of rear suspension, including an upper rear suspension arm 12a connected to the chassis 2 by a pivot link P3 with a transverse axis and to a support assembly 14 for a rear wheel 16 by a pivot link P4 of transverse axis, and a lower rear suspension arm 12b connected to the chassis 2 by a transverse axis pivot connection P3 'and to the support assembly 14 of the rear wheel 16 via a pivot connection P4' transverse axis.
  • the pivot links P3, P3 ', P4, P4' form a second deformable parallelogram (P3, P3 ', P4, P4').
  • the pivot links P3, P3 'and the pivot links P4, P4' can be arranged substantially vertically, so that the sides (P3, P3 ') and (P4, P4') are substantially vertical.
  • the chair 1 comprises return means and / or damping, as a combined 18 spring-damper comprising a spring 20 cooperating with a damper 22 to absorb the movements of the arms 6a, 6b, 12a, 12b of front and rear suspension .
  • the chair 1 also comprises, in a very advantageous manner, connecting means, for example a connecting rod 24, arranged for connecting one of the front suspension arms 6a, 6b to one of the rear suspension arms 12a, 12b and transforming each rotational movement of this front suspension arm relative to the chassis 2 in a reverse rotation movement with respect to the chassis 2 of the arm 12a, 12b rear suspension to which it is connected by the connecting means.
  • connecting means for example a connecting rod 24, arranged for connecting one of the front suspension arms 6a, 6b to one of the rear suspension arms 12a, 12b and transforming each rotational movement of this front suspension arm relative to the chassis 2 in a reverse rotation movement with respect to the chassis 2 of the arm 12a, 12b rear suspension to which it is connected by the connecting means.
  • the connecting means such as the connecting rod 24 transform each rotational movement of the rear suspension arm 12a, 12b into a reverse rotation movement of the front suspension arm 6a, 6b connected to the rear suspension arm 12a, 12b by this means. connecting rod 24.
  • the connecting rod 24 connects the upper front suspension arm 6a to the upper rear suspension arm 12a, to limit the bulk in the lower part of the chair 1, close to the ground.
  • the connecting rod 24 can be connected to the upper front suspension arm 6a by a pivot link P5 and to the upper rear suspension arm 12a by a pivot link P6.
  • the pivot connection P5 and the pivot connection P6 can be arranged on either side of an axis I connecting the pivot connection P1 and the pivot link P2 to optimize the transmission of force of the upper front suspension arm 6a to the arm 12a. upper rear suspension.
  • the combined 18 spring - damper can be cantilevered between one of the arms 6a, 6b front suspension and one of the arms 12a, 12b rear suspension.
  • the combined spring-shock absorber is cantilevered between the upper front suspension arm 6a and the upper rear suspension arm 12a.
  • the combined shock absorber spring 18 can be connected by a pivot connection P7 to the upper front suspension arm 6a and a pivot connection P8 to the upper rear suspension arm 12a.
  • the front wheels 10 are crazy. They can be mounted free to rotate about a substantially horizontal axis on a flange 26 of idle wheel. Each flange 26 of idler wheel can then be mounted free to rotate about a substantially vertical axis relative to a pivot 28.
  • the pivot 28 and the flange 26 are part of the set of 8.
  • the pivot 28 is connected to the upper front suspension arm 6a by the pivot connection P2 and to the lower front suspension arm 6b by the pivot connection. P2 '.
  • the pivot links P2 and P2 ' are substantially vertically aligned and substantially parallel to the axis of rotation of the flange 26 relative to the pivot 28.
  • the engine 4 is supported by the rear wheel support assembly 14, itself connected by the pivot links P4, P4 'to the rear suspension arms 12a, 12b.
  • the motor 4 is thus supported by the deformable parallelogram (P3, P3 ', P4, P4').
  • the rotation of the upper front suspension arm 6a generates a force 32 transmitted by the connecting rod 28 to the upper rear suspension arm 12a.
  • the force 32 transmitted by the rod 28 consequently causes the rotation of the upper rear suspension arm 12a relative to the chassis 2, around the pivot connection P3, in accordance with the arrow 34 of the figure 3 .
  • the rotational movement of the upper rear suspension arm 12a is reversed relative to the rotational movement of the upper front suspension arm 6a.
  • the rotational movement of the upper rear suspension arm 12a may be substantially symmetrical to that of the upper front suspension arm 6a with respect to a substantially transverse plane.
  • the figures 5 and 6 show the suspension system of the chair 1 according to an exemplary embodiment, in extreme operating positions, superimposed on the figure 7 .
  • the connecting means may for example comprise an elastic member, such as a spring, because a very slight pitch can be accepted by the user.
  • the engine 4 could be supported by the front wheel support assembly 10, while the rear wheels 16 could be mounted idle.

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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)
  • Otolaryngology (AREA)
  • Handcart (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Claims (10)

  1. Motorisierter Rollstuhl (1) mit einem Rahmen (2), einem auf dem Rahmen (2) angebrachten Sitz und mindestens einem Motor (4) zum Bewegen des Rollstuhls (1) mit zwei vorderen Aufhängungsarmen (6a, 6b), wovon ein vorderer oberer Aufhängungsarm (6a) und ein vorderer unterer Aufhängungsarm (6b), wobei jeder vordere Aufhängungsarm (6a, 6b) über eine Schwenkverbindung (P1, P1') mit dem Rahmen (2) und über eine Schwenkverbindung (P2, P2') mit einer Halteanordnung (8) eines Vorderrads (10) verbunden ist, so dass die Schwenkverbindungen (P1, P1') und (P2, P2') ein verformbares Parallelogramm (P1, P1', P2, P2') bilden, zwei hinteren Aufhängungsarmen (12a, 12b), wovon ein hinterer oberer Aufhängungsarm (12a) und ein hinterer unterer Aufhängungsarm (12b), wobei jeder hintere Aufhängungsarm (12a, 12b) über eine Schwenkverbindung (P3, P3') mit dem Rahmen (2) und über eine Schwenkverbindung (P4, P4') mit einer Halteanordnung (14) eines Hinterrads (16) verbunden ist, so dass die Schwenkverbindungen (P3, P3') und (P4, P4') ein verformbares Parallelogramm (P3, P3', P4, P4') bilden, und Verbindungsmitteln, angeordnet, um einen der vorderen Aufhängungsarme (6a, 6b) mit einem der hinteren Aufhängungsarme (12a, 12b) zu verbinden, dadurch gekennzeichnet, dass die angeordneten Verbindungsmittel jede Drehbewegung dieses vorderen Aufhängungsarms (6a, 6b) relativ zum Rahmen (2) in eine umgekehrte Drehbewegung relativ zum Rahmen (2) des hinteren Aufhängungsarms (12a, 12b) umwandeln, mit dem die Verbindungsmittel verbunden sind, und umgekehrt, jede Schwingbewegung des Rollstuhls (1) so in eine im Wesentlichen vertikale Bewegung des Sitzes parallel zu der Ebene umwandeln, den die Auflagepunkte der Räder des Rollstuhls (1) auf dem Boden bilden.
  2. Rollstuhl (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Schwenkverbindungen (P2, P2') oder die Schwenkverbindungen (P4, P4') vertikal zueinander angeordnet und mit einem Schwenkteil (28) in der Halteanordnung (8, 14) verbunden sind, das sie mit dem vorderen Aufhängungsarm (6a, 6b) bzw. mit dem hinteren Aufhängungsarm (12a, 12b) verbinden, wobei diese Halteanordnung (8, 14) ein Leitradlager (26) enthält, das sich relativ zum Schwenkteil (28) frei drehen kann.
  3. Rollstuhl (1) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass jeder (4) Motor an einer der Halteanordnungen (8, 14) von Vorder- oder Hinterrad befestigt ist.
  4. Rollstuhl (1) nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Rollstuhl (1) geeignete Rückführ- und/oder Dämpfungsmittel umfasst, um die Federwege der vorderen und hinteren Aufhängungsarme (6a, 6b, 12a, 12b) aufzunehmen, wobei die Rückführ- und/oder Dämpfungsmittel zwischen einem vorderen Aufhängungsarm (6a, 6b) und einem hinteren Aufhängungsarm (12a, 12b) als Ausleger angeordnet sind.
  5. Rollstuhl (1) nach Anspruch 4, dadurch gekennzeichnet, dass die Rückführ- und/oder Dämpfungsmittel eine Feder-Dämpfer-Kombination (18) umfassen, über eine Schwenkverbindung (P7) mit einem der vorderen Aufhängungsarme (6a, 6b) und über eine Schwenkverbindung (P8) mit einem der hinteren Aufhängungsarme (12a, 12b) verbunden.
  6. Rollstuhl (1) nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Verbindungsmittel an einem der vorderen Aufhängungsarme (6a, 6b) durch eine Schwenkverbindung (P5) und einem der hinteren Aufhängungsarme (12a, 12b) durch eine Schwenkverbindung (P6) verbunden sind.
  7. Rollstuhl (1) nach Anspruch 6, dadurch gekennzeichnet, dass die Schwenkverbindung (P5) und die Schwenkverbindung (P6) auf jeder Seite einer Achse (I) angeordnet sind, die unter der Schwenkverbindung (P1) und der Schwenkverbindung (P1') diejenige und unter der Schwenkverbindung (P2) oder der Schwenkverbindung (P2') diejenigen verbindet, die den Rahmen (2) mit den vorderen und hinteren Aufhängungsarmen (6a, 6b, 12a, 12b) verbinden, bevor sie untereinander mit den Verbindungsmitteln verbunden werden.
  8. Rollstuhl (1) nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Verbindungsmittel den vorderen oberen Aufhängungsarm (6a) und den hinteren oberen Aufhängungsarm (12a) miteinander verbinden.
  9. Rollstuhl (1) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Verbindungsmittel eine Verbindungsstange (24) umfassen.
  10. Rollstuhl (1) nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Verbindungsmittel ein elastisches Element umfassen.
EP20130170535 2012-06-06 2013-06-04 Motorisierter Rollstuhl Active EP2671556B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1255265A FR2991575B1 (fr) 2012-06-06 2012-06-06 Fauteuil roulant motorise

Publications (2)

Publication Number Publication Date
EP2671556A1 EP2671556A1 (de) 2013-12-11
EP2671556B1 true EP2671556B1 (de) 2014-11-26

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EP20130170535 Active EP2671556B1 (de) 2012-06-06 2013-06-04 Motorisierter Rollstuhl

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US (1) US9022400B2 (de)
EP (1) EP2671556B1 (de)
FR (1) FR2991575B1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101636139B (zh) * 2007-02-08 2011-12-14 英瓦卡尔公司 轮椅悬挂装置
WO2008100759A2 (en) 2007-02-14 2008-08-21 Invacare Corporation Stability control system
AU2010303354C1 (en) 2009-10-09 2014-09-18 Invacare Corporation Wheelchair suspension
US9351888B2 (en) * 2014-09-12 2016-05-31 Energy Control Limited Front suspension system for an electric wheelchair
EP3354247B1 (de) * 2017-01-31 2020-03-18 Permobil AB Schwingarmanordnung für einen rollstuhl mit mittelradantrieb
WO2018190388A1 (ja) * 2017-04-12 2018-10-18 Ｗｈｉｌｌ株式会社 電動モビリティ
EP3817701A4 (de) * 2018-07-06 2022-03-02 Pride Mobility Products Corporation Mobilitätsfahrzeug
CA3173043A1 (en) 2020-02-25 2021-09-02 Invacare Corporation Wheelchair and suspension systems

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5772237A (en) * 1996-05-21 1998-06-30 Teftec Corporation Suspension system for powered wheelchair
US7264272B2 (en) * 2004-03-16 2007-09-04 Pride Mobility Products Corporation Bi-directional anti-tip system for powered wheelchairs

Also Published As

Publication number Publication date
EP2671556A1 (de) 2013-12-11
US20130328282A1 (en) 2013-12-12
FR2991575B1 (fr) 2014-06-13
US9022400B2 (en) 2015-05-05
FR2991575A1 (fr) 2013-12-13

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