EP3053563B1 - Dispositif d'entraînement auxiliaire et fauteuil roulant le comprenant - Google Patents

Dispositif d'entraînement auxiliaire et fauteuil roulant le comprenant Download PDF

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Publication number
EP3053563B1
EP3053563B1 EP16154047.1A EP16154047A EP3053563B1 EP 3053563 B1 EP3053563 B1 EP 3053563B1 EP 16154047 A EP16154047 A EP 16154047A EP 3053563 B1 EP3053563 B1 EP 3053563B1
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EP
European Patent Office
Prior art keywords
wheelchair
steering device
wheel chair
steering
drive
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.)
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Application number
EP16154047.1A
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German (de)
English (en)
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EP3053563A1 (fr
Inventor
Thomas Birmanns
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.)
Alber GmbH
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Alber GmbH
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Publication date
Application filed by Alber GmbH filed Critical Alber GmbH
Priority to EP17151206.4A priority Critical patent/EP3173056B1/fr
Publication of EP3053563A1 publication Critical patent/EP3053563A1/fr
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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
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks

Definitions

  • the present invention relates to a bias steering device for a wheelchair with drivable wheels and a wheelchair combination with such a bias steering device.
  • Wheelchairs for people with disabilities usually have two large, arranged in the forward direction rear drive wheels and two small, freely pivotable and forward in the forward direction arranged wheels, which are also called castors.
  • the drive wheels are usually driven by hand via a gripping ring in manually driven wheelchairs.
  • electrically driven drive wheels can be used.
  • Drive wheels known which are designed as an auxiliary drive device, both an electric drive motor and a gripping ring for manual drive and additionally comprise a sensor which detects a manually introduced into the gripping drive force, and a control device, the electric drive motor as a function of size and Direction of the manually introduced into the grip ring driving force and an adjustable level of support for delivering a corresponding torque drives.
  • the freely pivoting castors ensure a high level of maneuverability, which is indispensable especially in so-called indoor operation, ie when the wheelchair is used in closed rooms.
  • indoor operation ie when the wheelchair is used in closed rooms.
  • the small Castoren are disadvantageous and make even at relatively low Unevenness makes wheelchair operation impossible.
  • small front wheels would dip into depressions from which they could not come out because of their small diameter limited ability to negotiate an obstacle, which then makes driving impossible.
  • the DE 24 46 573 a pulling and guiding device which can be coupled to a wheelchair in such a way that, when coupled, the front small wheels of the wheelchair designed as freely pivotable castors are raised.
  • This known pulling and guiding device has a motor-driven wheel which can be steered via a steering rod.
  • the vehicle formed from such a coupled guide and the wheelchair is called a wheelchair team.
  • Comparable traction devices for wheelchairs and corresponding unicycle wheelchair compartment are for example from the GB 2 124 985 A from 1982, the DE 200 07 793 U1 from the year 2000 and the DE 10 2007 015 851 A1 known from 2007.
  • a disadvantage of this technical concept is that the wheel load and thus the contact pressure of the drive wheel of the traction device in comparison to the total operating mass of the unicycle wheelchair combination are low, since the majority of this total operating mass is introduced by the person sitting in the wheelchair person whose center of gravity in operation is much closer to the rear large wheels than the driven front Zugrad. As a result, only a small drive torque can be transmitted via the traction wheel and the traction wheel is already spinning at moderate inclines and moderate acceleration.
  • a biasing steering device according to the preamble of claim 1 is known from JP 2001 340391 A known.
  • the invention has for its object to provide an improved Vorspannlenkvortechnische for a wheelchair and a wheelchair combination with such a bias steering device, in particular to solve the technical problem set out above.
  • Vorspannlenkvoriques for a wheelchair according to claim 1 and a wheelchair combination are provided with such Vorspannlenkvoriques according to the invention.
  • the biasing steering device according to the invention is designed so that the drive of the wheelchair, even if it is connected to the biasing steering device according to the invention to form a wheelchair combination according to the invention, can take place via the drive wheels of the wheelchair. Therefore, the preload steering apparatus according to the present invention does not need to have a drive wheel itself, but has a bias steering apparatus control means adapted to communicate with a drive means mounted on the wheelchair.
  • a wheelchair team of a commercially available indoor wheelchair and the biasing steering device according to the invention can be formed.
  • This wheelchair combination gives the indoor wheelchair outdoor properties, makes the purchase of a separate outdoor wheelchair unnecessary, compared to the prior art, a significantly better traction of the drive wheels and thus allows significantly better handling characteristics.
  • the biasing steering device according to the invention can be a considerably lower Have weight than the known from the prior art traction devices, especially if they themselves have no motor-driven drive wheel and thus no corresponding batteries for an electric motor.
  • the docking process to the wheelchair is much easier, so that it can be performed without great effort from the wheelchair and a person with disabilities.
  • the biasing steering device according to the invention is thus not, as in the prior art, a traction device, since the drive via the wheels, preferably the rear wheels of the wheelchair takes place, with the biasing steering device according to the invention is connected to form a wheelchair combination according to the invention.
  • the biasing steering device according to the invention is a guiding and steering device, which gives the wheelchair combination according to the invention excellent handling characteristics even on unpaved roads.
  • the steerable wheel can be made so large that it ensures the desired off-road capability, not already sinking into smaller wells so that it can not be driven out of these, and even larger bumps such as coarse debris or curbs can be overcome.
  • the operation ensures, since only relatively large wheels, especially not the small castors, have ground contact, a good ride comfort.
  • the drive provided by the electrically driven wheels of the wheelchair ensures excellent traction, since the weight on the rear wheels portion of the total operating mass of the wheelchair combination consisting of the wheelchair, the Vorspannlenkvortechnisch and in person sitting in the wheelchair, is considerably larger than the proportion of the total operating mass of the wheelchair combination, which rests on the steerable wheel of the Vorspannlenkvortechnisch.
  • the Vorspannlenkvortechnische can easily and easily decoupled and the still preferably on his rear wheels electrically powered wheelchair can be used in the usual way in the indoor mode. Due to the fact that the Vorspannlenkvorides neither a Drive motor still has to accommodate appropriate energy storage such as batteries, the Abdockvorgang, that is, the uncoupling of the biasing steering device of the wheelchair, easily from the wheelchair itself can be made.
  • the biasing steering device forms with the wheelchair to which it is coupled, a functional unit that goes well beyond the known from the prior art, purely mechanical coupling.
  • the communication between the bias steering device controller and the drive device mounted on the wheelchair allows information regarding operator commands and their effects on the wheelchair drive devices to be communicated to and further processed by the bias steering device controller, such as certain steering commands.
  • this communication also allows operating commands entered in the region of the steering device of the pretension steering device and their effects to be transmitted to the drive devices of the wheelchair. In both cases, a simple operation with excellent driving characteristics can be combined.
  • the wheelchair has two drivable rear wheels in the usual way and both wheels rotate at the same speed during operation, this means that the wheelchair is traveling straight ahead.
  • the wheelchair with the biasing steering device according to the invention for the formation of an inventive Wheelchair team is connected. Turning the rear wheels but with different speeds, this leads to the wheelchair alone, but also in a wheelchair combination, to cornering.
  • the pretensioner steering apparatus controller enables the pretensioner steering apparatus controller to calculate a corresponding steering angle for the steerable wheel of the pretensioner steering apparatus from these rotational speed differences and the known geometrical data of the wheelchair team and to control the steering motor so that this calculated steering angle is taken by the steerable wheel.
  • the person sitting in the wheelchair or the wheelchair team can thus continue to drive and steer the wheelchair in the usual way on the drive wheels attached to the hand gripping rings.
  • this arrangement is when the wheelchair has auxiliary drive devices of the type described above, as for example in the DE 198 57 786 A1 are described.
  • the biasing steering device comprises an operating device which is connected to the biasing steering device control device and adapted to transmit operating commands to an electric drive device of the wheelchair.
  • the electric drive device of the wheelchair may have one or more electric drive motors, wherein in the case of multiple drive motors, a plurality of motor control devices may be provided on the wheelchair. It is also understood that the Vorspannlenkvortechnisch-control device is a control of the attached to the wheelchair electric drive device or Drive devices depending on the embodiment both directly and independently as well as in cooperation with corresponding motor control devices of the wheelchair can cause.
  • the electric drive device of the wheelchair can be provided in a variety of ways.
  • a wheelchair that can be connected to the biasing steering device according to the invention for providing the wheelchair combination according to the invention for example, both be designed as an electric wheelchair from the conception of a wheelchair as well as a manual in principle, that is not electric motor driven wheelchair, only by replacing the pure manually driven wheels with such wheels, which are provided with an electric hub motor, to an electric motor driven wheelchair is.
  • Such an electric motor driven drive wheel with a hub motor which can be mounted not only on a rigid running, but also on a folding wheelchair, is for example in the DE 41 27 257 A1 disclosed.
  • Another such electric motor driven drive wheel with a hub motor is for example in the DE 199 49 405 C1 disclosed.
  • All such drive wheels with hub motor including those as in the aforementioned DE 198 57 786 A1 described auxiliary drive device are drive wheels that make a wheelchair to an electric motor driven wheelchair in the context of the present invention, that is to a wheelchair with an electric drive device, which can be made by coupling the biasing steering device according to the invention to a wheelchair combination according to the invention.
  • an electronic control device for controlling the hub motors therefore has to cause an activation of both motors in the case of two drive wheels and thus two hub motors.
  • the biasing steering device control device of the invention In such a case, the preload steering apparatus communicates with two motor controllers, namely one motor controller each for a hub motor.
  • control or control of such electric drive wheels of a wheelchair in particular two types of control are known, namely a so-called torque control and a so-called speed control.
  • a torque control causes both motors to output the same drive torque.
  • Such a torque control is widespread especially in so-called brush motors. It has the consequence that both drive wheels, namely a left and a right drive wheel, build the same torque.
  • a one-sided disturbance occurs in such a torque control, in particular in the form of a one-sided obstacle, which is the case, for example, when one of the drive wheels travels over a rock or if it is driven on a transverse slope, then the same torque results on both sides the one-sided disturbance variable to a different speed.
  • the wheelchair would thus not go straight, but drive on a curve. Correction must be made by a modified move command.
  • a speed controller presets a specific setpoint speed, which follows the wheel rotation frequency. Disturbance variables of the type described above are thus already compensated in the way of this control. A corresponding controller increases the torque of the affected engine so that the target speed is maintained when a one-way obstacle occurs.
  • the manner of controlling the electric motors of the wheelchair with which the pretensioner steering apparatus can be connected to provide the wheelchair combination of the present invention can be accommodated.
  • a speed control has, when the Vorspannlenkvorraum is coupled, with the consequence that the wheelchair combination tends to go straight regardless of the steering operation, since the drive wheels rotate on both sides with the same Radcardfrequenz while cornering the outer wheel opposite The inside wheel must have a greater wheel rotation frequency if slip is to be avoided.
  • Such a tendency to understeer the wheelchair combination can be countered by changing the mode of operation of the motor control device of the wheelchair when coupling the preload steering device to a wheelchair and thereby connecting the preload steering device control means of the preload steering device to a motor control device of the wheelchair Speed control mode in a torque control mode, the control of the drive wheels of the wheelchair thus no longer takes place as a speed control, but as torque control.
  • the motor control device of the wheelchair when connecting the Vorspannlenkvoriques recognizes this as a new participant in the system, for example via an RS-485 bus, and switches to the torque control mode.
  • the torque control then acts like an electric differential and allows without slip the speed differences arising during cornering between the inside of the curve and the outside of the curve.
  • Vorspannlenkvoriques and the wheelchair combination may be provided in the coupled state of the Vorspannlenkvorides on the wheelchair for the control of the drive wheels of the wheelchair speed control.
  • a speed mode of the controller may be selected, for example, when the preload steering apparatus is provided with a steering angle sensor detecting a steering angle and transmitting appropriate signals to the preload steering apparatus controller such that, optionally in cooperation with one or more corresponding motor control means of the wheelchair , the on the outside of the drive wheel is driven so that it rotates at a specifically higher rotational speed than the inside drive wheel. This allows a particularly good driving stability can be achieved.
  • the operating device can, in particular in cooperation with the steering device, be designed according to the needs of the person who is to drive with the wheelchair team, and in particular according to the degree of disability of that person.
  • the steering device may comprise a handlebar.
  • the steering of the wheelchair combination is in this case effected in a manner analogous to a bicycle by pivoting the handlebar.
  • the operating device may have a rotary handle which corresponds to a motorcycle throttle grip. By turning this rotary handle, the torque or the rotational speed of the drive wheels of the wheelchair can be controlled.
  • the effective direction of the torque or the direction of rotation of the drive wheels can be selected by a switch.
  • a switch can be arranged separately or be part of an operating element.
  • Another embodiment may include a rotary handle having a distinct zero position, that is, a zero position in which the torque or the rotational speed of the drive wheels is zero, and in which, when the rotary handle is rotated beyond this zero position, the torque or the rotational speed the drive wheels, starting from zero, be increased in the opposite direction. If, in analogy to the usual interpretation of motorcycles, a rotation against the forward direction leads to forward travel, so then can cause a reverse rotation beyond the zero position, a reverse drive.
  • the expression of the zero position for example, by a locking element, which can be overcome only with noticeably increased force, or any other type of lock can be effected.
  • the operating device may also have a joystick.
  • the functions may be similar to those in known cases of wheelchair control.
  • Such controllers in connection with A joystick is known both for operations by the person sitting in the wheelchair as well as those performed by escorts.
  • both the torque control of the electromotive drive and the speed control in particular in conjunction with a steering angle sensor, can be used.
  • the torque control of the electromotive drive and the speed control in particular in conjunction with a steering angle sensor, can be used.
  • the operating device may have an operating element which is attached to the side of the wheelchair, and may have a joystick. It may also include a display device that displays information about speed, operation mode, state of charge of the batteries, and the like, and may include switches and controls such as ON / OFF switches, operation mode switches, up / down switches, and the like.
  • control element can be mounted in the region of the handlebar, for example centrally on the handlebar itself or on a steering column.
  • the electrical connection between the Vorspannlenkvorides and its components on the one hand and the wheelchair and its components, in particular the electric motor drive and the related motor control devices of the wheelchair, on the other hand, depending on the embodiment via cable, for example, with magnetic plugs or other connector types, and / or via Bluetooth respectively.
  • wheelchair combination 1 shown is assembled by coupling a Vorspannlenkvorraum 10 to a wheelchair 100.
  • the reference numerals used in the following description are not inserted in each individual representation.
  • the wheelchair 100 has a seat 101, a backrest 102, a wheelchair frame 103, two large drive wheels 104 arranged rearward in the forward drive direction, and two small runners 105, which are freely pivotable and arranged in the forward direction of travel, which are also called castors.
  • the drive wheels 104 are each provided with an electric motor drive device 106L, 106R designed as a hub motor.
  • the drive wheels 104 are detachably attached to the wheelchair frame via thru axles and torque supports (not shown). Seen in the forward direction of the wheelchair 100 thus has a left Drive device 106L and a right drive device 106R.
  • the left drive 106L and the right drive 106R each have an electric motor (not shown), an accumulator (not shown), and a motor controller 120L, 120R, which are combined in the respective hub units.
  • the wheelchair 100 When the wheelchair 100 is operated alone, that is, without a coupled biasing steering device, it can be steered by controlling the electric motor of the left driving device 106L and the electric motor of the right driving device 106R so that the respective driving wheels 104 rotate at different rotational speeds.
  • the castors 105 contacting the ground in this operating state follow the drive due to their free pivotability.
  • Corresponding movement commands can enter the person sitting in the wheelchair via an operating element 140.
  • the control element 140 may comprise a joystick 141, the pivoting of which from a central zero position out through the respective direction and the extent of pivoting a ride of the wheelchair with the appropriate direction and speed result, as well as various other switches and buttons for other conceivable functions such as operating modes and the same.
  • Information regarding operating modes and operating data such as driving speed, state of charge of the accumulator devices and the like can be displayed via a wheelchair display element 150.
  • the biasing steering apparatus 10 includes a biasing frame 13, a wheel 14 guided in a fork 11, which is steerable about a steering shaft 12 via a handlebar 16, a rotary handle 24 rotatably mounted at one end of the handlebar 16 and connected to a biasing steering apparatus controller 30 , and a biasing steering apparatus display member 25 disposed centrally on the handlebar 16 and also connected to the biasing steering apparatus controller 30.
  • the bias steering device controller 30 is disposed in the housing of the bias steering device display element 25. It It should be understood that this structural unit is not mandatory and that the biasing steering device controller 30 may alternatively be located separately and elsewhere.
  • a steering angle sensor 40 and an electric steering motor 50 may also be provided.
  • the steering angle sensor 40 detects a steering angle, for example in the region of the steering axis 12, and is connected to the biasing steering device control device 30.
  • the electric steering motor 50 is also connected to the bias steering device controller 30 and may cause the wheel 14 to assume a certain steering angle in accordance with a related drive signal from the bias steering device controller 30.
  • the bias steering device 10 may be coupled to the wheelchair 100.
  • corresponding compatible elements of a coupling device (not shown) are provided on the pretensioning frame 13 and on the wheelchair frame 103.
  • the Vorspannlenkvortechnisch 10 is coupled to the wheelchair 100, the originally touching the ground Castoren 105 are lifted from the ground.
  • the wheelchair combination 1 rests and thus travels only on the drive wheels 104 of the wheelchair 100 and the wheel 14 of the biasing steering device 10. A steering of the wheelchair combination 1 is thus possible via the wheel 14.
  • the Vorspannlenkvortechnisch controller 30 with the motor controllers 120L, 120R connected.
  • the connection can be realized via a cable 18 or also wirelessly, for example by Bluetooth.
  • An activation of the drive devices 106L and 106R can then take place via the rotary handle 24.
  • the functionality of the rotary handle 24 may in this case be chosen so that this from a stop in which the drive devices 106L and 106R donate no torque, with increasing rotation to the person sitting in the wheelchair person, according to the functionality of a motorcycle handle, an increasing Torque of the rotary handle causes.
  • the Direction of the torque that is, the choice of direction forward or backward, can be selected via a corresponding switch (not shown).
  • the rotary handle 24 can be rotated beyond a zero position, which corresponds to the stop in the previously described embodiment, in an opposite direction, that is, away from the person sitting in the wheelchair. This can be used to ensure that, when turning towards the person seated in the wheelchair, the vehicle moves forwards and, when it is rotated in the opposite direction, that is, away from the person sitting in the wheelchair, it is reversed beyond the zero position.
  • Both the handlebar 16 and the steering motor 50 are a steering device in the context of the present invention.
  • the actuators 106L and 106R are driven via or in conjunction with the biasing steering apparatus controller 30.
  • the biasing steering apparatus controller 30 Various configurations and configurations are possible.
  • the drive devices 106L, 106R are preferably operated in the torque mode, that is, the operating mode of the torque control, since this is like a differential acts and allows a predetermined by the wheel 14 cornering without slippage.
  • the motor controllers 120L, 120R have been set so that the driving devices 106L, 106R operate in the speed mode, that is, the speed control operating mode, before the coupling of the bias steering apparatus 10, the biasing steering device controller 30 detects this upon coupling and causes it to turn on the torque mode is switched.
  • the steering angle sensor 40 by means of the steering angle sensor 40, the steering angle of the wheel 14 can be detected and, based on this, the drive of the drive devices 106L, 106R be made so that the speed difference between the inside and the outside wheel is taken into account.
  • the biasing steering device controller 30 is typically composed of a semiconductor integrated circuit including, for example, a central processing unit (CPU), a ROM storing one or more programs, and a RAM serving as a desktop. However, certain programs or even physical elements may already be provided on the wheelchair 100, but are only activated when the biasing steering device 10 is coupled to the wheelchair 100 to form the wheelchair combination 1.
  • CPU central processing unit
  • ROM read-only memory
  • RAM random access memory
  • FIG. 6 A wheelchair 200 as a further embodiment of a commercially available indoor wheelchair, which can be connected to the biasing steering device according to the invention to form a wheelchair combination according to the invention, is in Fig. 6 shown.
  • Fig. 7 shows a schematic functional diagram of the embodiment of a wheelchair combination according to the invention with a commercial indoor wheelchair 200 according to Fig. 6 ,
  • the rotational speed of the drive wheels 204 must be detected to drive the preload steering apparatus control means 30. This is possible via corresponding sensors (not shown). Signals from these sensors, which contain information about the respective speeds, both in terms of magnitude and direction, are transmitted to the biasing steering device controller 30. This represents a communication of the biasing steering device control device 30 with a drive device 212 mounted on the wheelchair.
  • the biasing steering device controller 30 controls the steering motor 50 such that the steerable wheel 14 of the bias steering device 10 assumes a corresponding steering angle.
  • the steerable wheel 14 of the biasing steering apparatus 10 is thus positively controlled by the biasing steering apparatus controller 30 and the steering motor 50 so that the wheelchair team 1 follows the direction predetermined by the manual drive of the rear drive wheels 204 via the handgrip rings 212.
  • Such a wheelchair combination 1 can therefore, as well as in Fig. 6 shown wheelchair 200, alone on the drivable rear wheels 204 are steered. At the same time, however, such a wheelchair combination offers superior handling characteristics in outdoor operation by virtue of the fact that the wheel 14 of the pretensioning steering device 10, which is larger than and also positively deflected in relation to the castors.
  • each drive wheel 204 has a hub 211 which is connected by means of commercial spokes 217 with a rim 218 on which a tire 219 is mounted. Inside the hub 211, there are disposed a drive motor configured as an electric motor (not shown), a rechargeable battery (not shown), and a motor controller 220L, 220R.
  • the hand gripping ring 212 is connected to the rim 218 via three struts 213 and three spoke elements 214.
  • a sensor means (not shown) disposed between the strut 213 and the spoke member 214 detects the action of the force acting on a spoke member 214.
  • This effect is, on the one hand, a stress generated in the spoke element 214 and, on the other hand, a deformation of the spoke element. At least one of these effects is detected in each case and serves as a measure of the force introduced into the gripping ring 212.
  • the drive motor of the respective drive means 206 is driven by the motor controller 220L, 220R to provide a torque.
  • variable or permanently preprogrammed degrees of support can be provided.
  • Suitable such sensor devices or sensors are for example in the EP 0 945 113 A2 disclosed.
  • this embodiment of the wheelchair combination by a person sitting in the wheelchair person corresponds to that of the previously described embodiment with purely manually driven rear wheels 204, but also offers the advantage that higher driving performance are possible by the electromotive assistance. With regard to the technical implementation of the latter embodiment also offers the advantage that separate speed sensors for the rear wheels 204 are usually not required, since the speed information from the motor control devices 220L, 220R of the drive means 206 can be tapped.

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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)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Claims (9)

  1. Dispositif de direction de pré-accouplement (10) destiné à un fauteuil roulant (100 ; 200) doté de roues pouvant être entraînées (104 ; 204), comprenant :
    un cadre de pré-accouplement (13), qui est conçu pour être couplé au fauteuil roulant (100 ; 200), et
    une roue (14) dirigeable à l'aide d'un moyen de direction (16, 50), et
    un moyen de commande de dispositif de direction de pré-accouplement (30), qui est conçu pour communiquer avec un moyen d'entraînement (106L, 106R ; 206 ; 212) monté sur le fauteuil roulant,
    caractérisé en ce que
    le moyen de direction comporte un moteur de direction (50), et en ce que la communication entre le moyen de commande de dispositif de direction de pré-accouplement (30) et le moyen d'entraînement (106L, 106R ; 206 ; 212) monté sur le fauteuil roulant contient des informations concernant les vitesses de rotation des roues pouvant être entraînées (104 ; 204) du fauteuil roulant (100 ; 200) et le moteur de direction (50) peut être commandé de telle manière que la roue (14) dirigeable est dirigée en fonction des vitesses de rotation des roues pouvant être entraînées (104 ; 204) du fauteuil roulant (100 ; 200).
  2. Dispositif de direction de pré-accouplement selon la revendication 1, caractérisé en ce que le moyen de commande de dispositif de direction de pré-accouplement (30) est conçu pour commander un moyen d'entraînement électrique (106L, 106R) monté sur le fauteuil roulant, et en ce qu'un moyen de manoeuvre (24, 140, 141) est relié au moyen de commande de dispositif de direction de pré-accouplement (30) et est conçu pour transmettre des instructions de manoeuvre au moyen d'entraînement électrique (106L, 106R) du fauteuil roulant (100).
  3. Dispositif de direction de pré-accouplement selon la revendication 2, dans la mesure où celle-ci est dépendante de la revendication 1, caractérisé en ce que le moyen de direction comporte un guidon (16).
  4. Dispositif de direction de pré-accouplement selon la revendication 3, caractérisé en ce qu'une poignée tournante (24) est disposée sur le guidon (16) et en ce que le moyen d'entraînement électrique (106L, 106R) du fauteuil roulant (100) peut être commandé par le biais de la poignée tournante (24).
  5. Dispositif de direction de pré-accouplement selon la revendication 4, caractérisé en ce que la poignée tournante (24) comporte une position zéro, dans laquelle le moyen d'entraînement électrique (106L, 106R) du fauteuil roulant (100) est commandé de telle sorte que le couple et/ou la vitesse de rotation d'une roue motrice (104) du fauteuil roulant (100) entraînée par le moyen d'entraînement électrique (106L, 106R) est de zéro.
  6. Dispositif de direction de pré-accouplement selon l'une des revendications précédentes, caractérisé en ce que le moyen de commande de dispositif de direction de pré-accouplement (30) définit le mode de fonctionnement du moyen d'entraînement électrique (106L, 106R) du fauteuil roulant (100).
  7. Attelage de fauteuil roulant (1), comprenant un fauteuil roulant (100 ; 200) doté d'un moyen d'entraînement (106L, 106R ; 206 ; 212) et d'un dispositif de direction de pré-accouplement (10) selon l'une des revendications précédentes.
  8. Attelage de fauteuil roulant (1) selon la revendication 7, caractérisé en ce que les roues pouvant être entraînées (204) du fauteuil roulant (200) comportent une main courante (212), par le biais de laquelle elles peuvent être entraînées à la main, ainsi qu'un moyen d'entraînement électrique (206), qui est conçu comme moyen d'entraînement auxiliaire et qui fournit un couple d'entraînement supplémentaire en fonction d'un couple induit dans la main courante (212).
  9. Attelage de fauteuil roulant (1) selon la revendication 7, caractérisé en ce que le moyen de manoeuvre comporte une manette (141) et en ce que le moteur de direction (50) et/ou un moyen d'entraînement électrique (106L, 106R) du fauteuil roulant (100) peut/peuvent être commandé(s) par le biais de la manette (141).
EP16154047.1A 2015-02-04 2016-02-03 Dispositif d'entraînement auxiliaire et fauteuil roulant le comprenant Active EP3053563B1 (fr)

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EP17151206.4A Division-Into EP3173056B1 (fr) 2015-02-04 2016-02-03 Dispositif d'entraînement auxiliaire et fauteuil roulant le comprenant

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WO2023122008A3 (fr) * 2021-12-20 2023-08-03 Permobil, Inc. Accessoire avant pour fauteuil roulant
WO2023122010A3 (fr) * 2021-12-20 2023-08-10 Permobil, Inc. Système pour ajuster le fonctionnement et les performances d'entraînement en réponse à la détection d'un élément avant ajouté pour un fauteuil roulant

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WO2023122010A3 (fr) * 2021-12-20 2023-08-10 Permobil, Inc. Système pour ajuster le fonctionnement et les performances d'entraînement en réponse à la détection d'un élément avant ajouté pour un fauteuil roulant

Also Published As

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EP3173056B1 (fr) 2018-04-11
EP3173056A1 (fr) 2017-05-31
ES2674273T3 (es) 2018-06-28
DE202016008453U1 (de) 2018-01-18
ES2673174T3 (es) 2018-06-20
EP3053563A1 (fr) 2016-08-10

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