EP3515389A1

EP3515389A1 - Wheelchair

Info

Publication number: EP3515389A1
Application number: EP17765407.6A
Authority: EP
Inventors: Julia Schröder; Dirk Möller; Sascha HOHENDORN; Jens Dittmar; Johannes König
Original assignee: Otto Bock Mobility Solutions GmbH
Current assignee: Otto Bock Mobility Solutions GmbH
Priority date: 2016-09-23
Filing date: 2017-09-07
Publication date: 2019-07-31
Also published as: DE102016118037A1; WO2018054694A1; US20210282987A1; US11382808B2

Abstract

The invention relates to a wheelchair having a chassis on which the following are arranged, opposite one another: at least one drive unit (20) comprising a drive wheel (21) and an electric drive system (22), a front wheel (3) positioned on a front swivel arm (4), and a rear wheel (7), wherein said drive unit (20) and front swivel arm (4) are arranged so as to pivot relative to the chassis (1) in a vertical plane, and are coupled to one another by means of a first coupling means (8), characterised in that said drive unit and front swivel arm (4) are additionally coupled to one another by means of a second coupling means (10).

Description

wheelchair

The invention relates to a wheelchair with a chassis, on each of which at least one drive wheel and an electric drive having drive unit, arranged on a front pivot arm front wheel and a rear wheel are arranged and the drive unit and the front pivoting arm in a vertical plane are arranged pivotably relative to the chassis and coupled to each other via a first coupling means.

Such a six-wheeled wheelchair is known for example from US 9,308,143 B2. The coupling of drive unit and front arm can be done via a spring / damper unit. This is articulated at its two ends, the bearings are arranged to each other so that when the wheelchair moves on a straight horizontal plane, the majority of the force applied by the spring / damper unit force acts on the drive wheel to to get a good traction.

A wheelchair with mid-wheel drive is characterized by a very small turning circle. Due to the fact that the center of gravity, ie the body pivot point, of the user lies above the drive axle, this wheelchair can also be driven in the narrowest of spaces. In addition, such a wheelchair also provides optimal traction through the weight distribution. By coupling the front pivot arm to the drive when passing over obstacles, such as curbs, only small movements in the seat and thus initiated on the driver.

The object of the invention is to improve the known wheelchair in terms of its driving properties and its ability to increase its edge.

The object is achieved in that the drive unit and the front pivot arm are additionally coupled to one another via a second coupling means. Due to the second coupling means, it is possible to decouple the front wheel and drive unit at two points, so that the additional possibility of decoupling less hard impacts when driving on an uneven surface (cobblestones) on the drive carrier and thus reach the seat of the wheelchair. The driving behavior is thus much more pleasant for the user, which is a significant gain in comfort especially for the severely disabled users.

The front and / or rear wheel may be a steering wheel.

DE 20 2010 005 233 U1 discloses a generic electric wheelchair comprising a drive frame receiving a drive frame, a front wheel frame and a chassis. Between the front wheel frame and the drive frame, a front shock absorber is provided as the only coupling means. An auxiliary shock absorber is arranged between the drive frame and the chassis. When passing over an obstacle, the front wheel pivots upward, the front shock absorber is compressed and forces the drive frame to the ground, whereby the tension spring is tensioned in the auxiliary shock absorber. US 2005/0127631 A1 and US 2008/0264702 A1 disclose electric wheelchairs in which the front pivot arm are coupled to the drive unit via a shock absorber as coupling means.

The first and / or second coupling means may be a spring and / or damper unit. If the second coupling means is a spring and / or damper unit, it may well be sufficient if the first coupling means is formed by a rigid connecting rod or the like.

Preferably, the second coupling means is a rocker pivotally mounted to the chassis about a first pivot axis A and a second pivot axis B, in which the front pivot arm is pivotally mounted about a third pivot axis C and the drive unit is pivotally mounted about a fourth pivot axis D. If the first A and the second B pivot axis lie on an imaginary line which is at an angle α from 0 ° to 45 ° relative to the vertical, a parallelogram of the pivot points is established, which results in that the pivot points of the pivot arm and the drive unit are variable both in their horizontal and in their vertical position, ie their position changes during a movement.

The rocker is preferably formed from two opposing yokes, which are connected to each other via at least one upper, the first pivot axis A receiving plate and at least one lower, the second pivot axis B receiving plate.

Each yoke can be formed from two parallel plates, which can be configured substantially triangular and are connected to one another via a bolt.

It is advantageous if each yoke forming plate is connected to an upper and lower plate and the upper plates are connected via a first pin and the lower plates via a second pin. The first and second bolts may be identical.

The upper and lower plates may be elastically supported in a housing attached to the chassis. Also, the upper plate and the lower plate may be elastically connected to each other. Such a connection can be realized, for example, via at least one spring element, which in particular can be a torsion spring.

However, the connection of the upper plate to the lower plate can also take place via at least one element consisting of an elastomeric material (eg a rubber buffer).

Preferably, the rear wheel is disposed on a pivotally connected to the chassis rear swing arm. If between the rear

Swivel arm and the chassis, a third spring / damper unit is arranged is Effectively prevents the chassis from being subjected to excessive vibrations when driving on uneven ground.

The rear pivot arm and the drive unit are preferably not coupled with each other in their movements.

Preferably, the third pivot axis is arranged on one side of the imaginary line and the fourth pivot axis on the opposite side of the imaginary line.

When the third pivot axis is positioned lower than the fourth pivot axis with respect to a ground on which the wheels stand up, that is, the road surface, the introduction of the movement into the front pivot arm or the drive unit is smooth. Preferably, the elastic means are provided in the rocker at the articulation point of the front pivot arm. Also, the elastic means may be arranged in the rocker at the articulation point of the drive unit, wherein the elastic means may be arranged both at the articulation point of the pivot arm and at the articulation point of the drive unit.

In a preferred embodiment, the elastic means surround the first and second pivot axes.

If the first and second bolts have at least two diametrically arranged lugs and the elastic means surround the first and second pivot axes, the upper and lower plates connecting the two yokes can pivot.

Preferably, the lugs are embedded in the element consisting of an elastomeric material.

The upper plate may be connected to the lower plate in a preferred embodiment via two spring elements. Then, the first spring element in Be arranged portion of the third pivot axis and the second spring element in the region of the fourth pivot axis.

The wheelchair preferably has a seat and on the drive unit may be formed in a preferred embodiment, a pivoting arm. Preferably, the seat is arranged on the chassis.

With the help of a drawing, embodiments of the invention will be described in more detail below with reference to a wheelchair. FIG. 1 shows a wheelchair in a simplified side view;

Figure 2 shows a detail of Figure 1;

FIG. 3 shows the illustration according to FIG. 2 with the steering wheel lowered;

FIG. 4 shows the illustration according to FIG. 2 with the steering wheel raised;

Figure 5 is an enlarged view of Figure 4 without drive wheel Figure 6 is a first partial perspective view of the wheelchair;

Figure 7 is a second partial perspective view of a wheelchair;

Figure 8 is a partial view of the wheelchair;

Figure 9 is an enlarged view of Figure 8;

Figure 10 is an enlarged partial view of Figure 9; Figure 1 1, the representation of Figure 10 with explanations;

Figure 1 1 a an enlarged view of the spring and / or damper unit;

Figure 1 1 b shows an enlarged detail of Fig. 1 1 a; FIG. 12 shows the illustration according to FIG. 10 partially cut away; FIG. 13 is a schematic diagram;

Figure 14 is a further schematic diagram;

Figure 15 is a perspective view of the rocker in a first embodiment;

FIG. 16 is a perspective view of the rocker in a second embodiment;

17 shows the perspective view of the rocker in a third embodiment; FIG.

Figure 18 shows the representation of the rocker of Figure 13 with further schematic diagrams; Figure 19 shows the third embodiment of a rocker in perspective partial view;

FIG. 20 is a representation corresponding to FIG. The wheelchair 100 consists essentially of the arranged on the chassis 1 seat 50, the both sides of the chassis 1 arranged drive wheels 21, the front steering wheels 3 and the rear support wheels 7. Since the arrangement and suspension of the wheels 3, 21, 7, left and is symmetrical to the right of the chassis 1, the further description is made only on the basis of a one-sided structure. For the opposite part, this then applies accordingly. The front steering wheel 3 is rotatably mounted in a fork 30 about a horizontal axis. The fork 30 is rotatably disposed about a vertical axis in the front pivot arm 4. The support wheel 7 is arranged on a rear pivot arm 6, which is pivotally mounted on the chassis 1 and is supported on the chassis 1 via a spring / damper unit 9. The drive unit 20 driving the drive wheel 21 is connected to the front pivot arm 4 via a spring / damper unit 8. Another connection between the drive unit 20 and the front pivot arm 4 via a second spring / damper unit 10 which is pivotally mounted about a first pivot axis A and a second pivot axis B on the chassis 1. The front pivot arm 4 is pivotally mounted about a third pivot axis C in the spring / damper unit 10 and the drive unit 20 is pivotally mounted about a fourth pivot axis D in the spring / damper unit 10.

The steering wheel 3 can be raised or lowered relative to the road F when driving over unevenness, as formed for example by a curb, so that the drive wheel can then lift off the wheel contact surface F (roadway) (compare FIGS ). In this case, attached to the chassis 1 rocker 10 is rotated.

As the rocker 10 rotates about the pivot axes A and B, it forms a parallelogram through which pivot axes C of the front pivot arm 4 and D drive unit 20 change their vertical and horizontal positions relative to the chassis.

The rocker 10 is, as Figures 6 to 9 illustrate two bolts 16 ', 17' bolted to the chassis 1, wherein by the first pin 16 ', a first pivot axis A and the second pin 17', a second pivot axis B is formed. Via a front pin 18 ', which is arranged on the rocker 10, the front pivot arm 4 is pivotally mounted about a third pivot axis C and a pin 19' at the rear end of the rocker 10 is the drive unit 20, on which a pivot arm 23 is formed is mounted pivotably about the pivot axis B.

Figure 1 1 shows the movements of the pivot axes A, B, C, D which are connected to each other via the drawn parallelogram. Due to the construction, the pivot axes C and D move on a circular path. The radius of the circular path is about 26 mm. The movements are indicated by the arrows Pi, P2, P3, P4 indicated. The indicated fixed bearing 1 'illustrate the fixed connection of the rocker arm 10 on the chassis. 1

FIG. 11 a shows the situation of the rocker arm 10 in different pivoting positions. A middle layer 25 is represented by the middle line construct, by which the pivot axes A, B, C and D are interconnected. The connecting lines 26 and 27 connect the various axes at a pivoting of the rocker arm 10 by +/- 10 °. This leads to a displacement of the pivot axes C and D, which are not marked separately.

1 b shows an enlarged detail from which it can be seen that the swiveling axis C is swiveled by +/- 10 ° to the positions C 'and C "when swiveling in. This takes place along a circular path with a radius R, which is identical for all swivel axes.

Figures 15 and 16 show a first embodiment of the rocker 10. This consists of the two oppositely arranged yokes 18 and 19, each consisting of two substantially triangular plates, which are connected to each other via a pin 18 ', 19'. In the bolts 18 ', 19', the pivot axes C and D are formed. The respective parallel opposite triangular plates 18, 19 are each bolted to an upper plate 16 and a lower plate 17. The two upper plates 16 are bolted together via a bolt 16 'and the two lower plates 17 via a pin 17'. The bolts 16 ', 17' are fixed to the chassis 1 and form the pivot axes A and B from. The upper plate 16 and the lower plate 17 are connected via two springs 12 consisting of an elastomeric material, which are formed on a basic body 12 '. These springs 12 act like a torsion spring when pivoting movements are introduced via the front steering wheel 3 into the front pivot arm 4 or via the drive wheel 21 into the drive unit 20.

The system works with a deflection / rotation of the upper and lower plates 16, 17 from + 10 ° to -10 °. Figures 17 and 18 show an alternative embodiment of an element 13 made of an elastomeric material in order to realize the torsion spring, the block-shaped base body is provided with slots 13 'or with recesses 13 "The cross-sectional shape of the recesses 13", 13'"is different Variations possible By a suitable selection of the slots 13 'and / or recesses 13 ", 13'" and their cross-sectional shape, the spring rate of the elastomeric element 13 can be adjusted.

A third alternative for the formation of a torsion spring is shown in FIGS. 19 and 20. Here, the upper plate 16 and the lower plate 17 are pivotally mounted in an elastomeric element 1 1, which is surrounded by a housing 40. The upper plates 16 and lower plates 17 can rotate about the pivot axes A, B by a predetermined angle. To prevent over-rotation, the bolts 16 ', 17' are provided with lugs 16 ", 17", which are arranged diametrically opposite one another on the bolt 16 ', 17' and whose outer distance from one another is greater than the width of the housing 40, so that if too high forces are introduced, strike the inner wall of the housing 40 and be blocked in a further pivoting movement.

LIST OF REFERENCE NUMBERS

1 chassis

1 'fixed storage

3 front steering wheel

4 front swivel arm

6 rear swivel arm

7 rear support wheel

8 spring / damper unit, coupling agent

9 spring / damper unit, coupling agent

10 spring / damper unit / rocker

1 1 spring element (elastic means / elastomeric element) 12 spring element

13 spring element (elastic means / elastomeric element) 13 'slot

13 "recess

13 '"recess

14 spring element / torsion spring

16 upper plate

16 'bolt

16 "nose

17 lower plate

17 'bolt

17 "nose

18 yoke

19 yoke

20 drive unit

21 drive wheel 22 electric drive

23 swivel arm

25 middle position

26 connecting lines 27 connecting lines

30 fork

40 housing

50 seat

100 wheelchair

A Swivel axis B Swivel axis C Swivel axis D Swivel axis F Lane

L imagined line Pi arrows

P ₂ arrows

Ps arrows

P ₄ arrows

V Vertical α angle

Claims

claims

1 . Wheelchair comprising: a) a chassis (1), on each of which are arranged opposite one another:

ai) at least one drive unit (20) having a drive wheel (21) and an electric drive (22),

32) a front wheel (3) arranged on a front pivot arm (4),

33) a rear wheel (7),

b) the drive unit (20) and the front pivot arm (4) are arranged pivotably in a vertical plane relative to the chassis (1) and are coupled together via a first coupling means (8),

characterized in that

the drive unit (20) and the front pivot arm (4) are additionally coupled to each other via a second coupling means (10).

Wheelchair according to claim 1, characterized in that the front and / or rear wheel (3, 4) is a steering wheel.

A wheelchair according to claim 1 or 2, characterized in that the second coupling means (10) is a rocker pivotally mounted on the chassis (1) about a first pivot axis (A) and a second pivot axis (B), in which the front pivot arm (4) about a third pivot axis (C) and the drive unit (20) about a fourth pivot axis (D) are pivotally mounted.

Wheelchair according to one of the preceding claims, characterized in that the second coupling means (10) is a spring and / or damper unit.

Wheelchair according to one of the preceding claims, characterized in that the first coupling means (8) is a spring and / or damper unit.

6. Wheelchair according to one of claims 3 to 5, characterized in that the first and second pivot axis (A, B) lie on an imaginary line (L), with respect to the vertical (V) at an angle (a) up to 45 ° inclined.

7. Wheelchair according to one of claims 3 to 6, characterized in that the rocker (10) consists of two opposing yokes (18, 19) is formed over at least one upper, the first pivot axis (A) receiving plate (16) and at least one lower, the second pivot axis (B) receiving plate (17) are interconnected.

8. Wheelchair according to claim 7, characterized in that each

Yoke (18, 19) of two parallel plates (18 ¹ , 19 ') is formed, which are connected to each other via a bolt (18 ", 19").

9. Wheelchair according to claim 8, characterized in that each one

Yoke (18, 19) forming plate (18 ', 19') with an upper plate (16) and a lower plate (17) is connected and the upper plate (16) via a first pin (16 ¹ ) and the lower plates (17) via a second bolt (17 ¹ ) are connected.

10. Wheelchair according to one of claims 7 to 9, characterized in that the upper and lower plate (16, 17) are elastically mounted in a housing (40) fixed to the chassis (1).

1 1. Wheelchair according to one of claims 7 to 9, characterized in that the upper plate (16) with the lower plate (17) is elastically connected.

12. Wheelchair according to claim 1 1, characterized in that the upper

Plate (16) with the lower plate (17) via at least one spring element (12, 14) is connected.

13. A wheelchair according to claim 12, characterized in that the at least one spring element (14) is a torsion spring.

14. Wheelchair according to claim 10, characterized in that the upper

Plate (16) with the lower plate (17) via at least one of an elastomeric material existing element (12, 13) is connected.

15. Wheelchair according to one of the preceding claims, characterized in that the rear wheel (7) on a pivotally connected to the chassis (1) rear swing arm (6) is arranged.

16. A wheelchair according to claim 15, characterized in that between the rear pivot arm (6) and the chassis (1) a third spring / Dämpferein- unit (9) is arranged.

17. Wheelchair according to claim 15 or 16, characterized in that the rear pivot arm (6) and the drive unit (20) are not coupled together in their movements.

18. Wheelchair according to claim 6, characterized in that the third

Pivot axis (C) on one side of the imaginary line (L) and the fourth pivot axis (D) on the opposite side of the imaginary line (L) is arranged.

19. Wheelchair according to one of claims 4 to 18, characterized in that the third pivot axis (C) with respect to a base on which the wheels (3, 21) stand, is arranged lower than the fourth pivot axis (D).

20. A wheelchair according to claim 5, characterized in that the elastic means (1 1, 12, 13, 14) in the rocker (10) in the articulation point of the front pivot arm (4) are provided.

21. Wheelchair according to claim 5 or claim 20, characterized in that the elastic means (1 1, 12, 13, 14) in the rocker (10) are arranged at the articulation point of the drive unit (20).

22. A wheelchair according to claim 5, characterized in that the elastic means (1 1) surrounding the first and second pivot axis (A, B).

Wheelchair according to claims 9 and 22, characterized in that the first and second bolts (16 ¹ , 17 ') have at least two diametrically arranged lugs (16 ", 17").

Wheelchair according to claim 23, characterized in that the lugs (16 ", 17") are embedded in the element (11) consisting of an elastomeric material.

25. Wheelchair according to claim 12, characterized in that the upper

Plate (16) with the lower plate (17) via two spring elements (12, 12 ') is connected.

26. Wheelchair according to claim 25, characterized in that the first spring element (12) in the region of the third pivot axis (C) and the second spring element (12 ¹ ) in the region of the fourth pivot axis (D) is arranged.

27. Wheelchair according to one of the preceding claims, characterized by a seat (50).

28. Wheelchair according to one of the preceding claims, characterized in that on the drive unit (20) has a pivot arm (23) is formed.