FR2590162A1 - AUTOMOTIVE ARMCHAIR FOR HANDICAP COMPRISING AN AUTOMATIC VERTICALIZATION DEVICE - Google Patents

Abstract

THE INVENTION CONCERNS SELF-PROPELLED ARMCHAIRS FOR THE DISABLED. THE ARMCHAIR REFERRED TO BY THE INVENTION IS PARTICULARLY STABLE AND INCLUDES AN AUTOMATIC VERTICALIZATION DEVICE AND ADAPTABLE EQUIPMENT BY DRIVE WHEELS OR TRACKS ALLOWING THE CROSSING OF OBSTACLES, IN PARTICULAR OF SWIVEL STAIRS. IT IS ESSENTIALLY CONSTITUTED OF A RIGID STRUCTURE 1 WHICH IS ON THE ONE HAND LINKED TO THE MEANS OF TRANSMISSION BY A CARDAN SYSTEM WITH ELECTRIC JACKS 28-29 AND OF A PLATE DETECTOR WITH AN INTERNAL FRAME 2, AN INTERMEDIATE FRAME 13 AN EXTERNAL FRAME 12, AND THEIR PIVOTS AND WHICH IS ON THE OTHER HAND, EQUIPPED IN ITS UPPER PART WITH THE VERTICALIZATION DEVICE INCLUDING A SUPPORT 34, GUIDE ON UPRIGHTS 3-4, AND THE LIFTING CYLINDER 14 WHICH ACTS SIMULTANEOUSLY: ON EXIT OF THE ARMOR SUPPORTS 5-6, TO GENTLY GRIP UNDER ARMORS AND LIFT THE PATIENT, ON THE LOWERING OF THE RELEASABLE UNDER-SHIRT SUPPORT 63, AND ON THE LATERAL SNAPPING OF THE FOOTRESTS 8- 9, WHILE A ROUNDED REDAN UNDERBOTTOM LINKED TO A BACKREST ENSURES SECURING COMFORT.

Description

The present invention relates to equipment for the disabled

  and relates more specifically to those allowing

  calisation ie the setting in vertical position of the

  patient who remains almost constantly in a sitting position.

  It also aims at autonomous means of

  wheeled or tracked, allowing the crossing of certain obstacles and the climbing process of certain stairs. We know that the problem of the verticalization of the major handicapped is desirable for many reasons: - trophic because it makes it possible to limit the deformations and

  the atrophies that surround a prolonged sitting station.

  These distortions are even more critical when the subject is in a period of growth and development.

  are enhanced by verticalization: demineralisa-

  bones, the frequency of pressure ulcers, vicious attitudes, - in terms of the prevention of complications of respiratory and cardiovascular decubitus, - according to a psychological aspect because it allows the patient to take "for himself" a natural attitude for all the world without having to ask others for assistance:

  In addition, it is desirable to accompany such a vertical

  Calibration of an autonomy of movements accepting the accidents of ground even the crossing

some stairs for example.

  Finally, we know that any verticalization of a disabled person must be carried out gradually with waiting levels

  and this, especially for cardiovascular reasons.

  In specialized medical circles, it is known that the only place where a hemiplegic or tetraplegic handicapped person is gripped is located under the arches because it is the only place where the body can be placed in total suspension without causing any reactions. dangerous side effects as is the case when it is supported

on his legs for example.

  The solution to the problem of verticalization is not obvious because it must meet many imperatives that are sometimes contradictory; the stability must be ensured by the fact that the center of gravity must be located in the immediate vicinity of the center of the support polygon limited by the points of contact of the chair with the ground and in both positions

sitting or standing of the patient.

  Wheelchair equipment must be designed to minimize the center of gravity to minimize the overturning moment when crossing.

  obstacles such as stairs for example.

  The commands must be easily accessible or even result from verbal instructions in the case of deep tetraplegics. the verticalization must be able to be programmed in time

  with predetermined sequences.

  The elements of the chair must be able to adapt to the

phology of the patient.

  congestion must remain that of wheelchairs

conventional.

  The power supply of the wheelchair must be ensured from a battery of suitable longevity and all the elements must be able to be relayed manually quickly

  in case of failure of the power supply.

  Security, according to which the disabled person must never

feel in a dangerous situation.

  Finally, the criterion of the cost price which must remain in

acceptable limits.

3- 25S90162

  All these conditions have never been met together

to the knowledge of the applicant.

  According to a known type of chair, the verticalization is obtained by tilting, which requires a significant effort of the patient including abdominals and in any case, the place in support on his legs.The sequences are not more automated. According to another type of wheelchair, the translation is carried out using motorized tracks of the type tank assault putting

  dangerously the patient in a critical position during the

  chilling of an obstacle, the plate not being preserved.

  The invention proposes a self-propelled wheelchair for a major handicapped person comprising an automatic verticalization device associated with a plate conservator which does not have the disadvantages mentioned and which can bring a set

  benefits never before offered.

  According to such an armchair; - the plate bearing the patient's seat is constantly preserved thanks to a cardan mount linked to appropriate jacks and a suitable attitude detector,

  the heavy elements (battery ...) are collected in a posi-

  low, - the mode of propulsion by driving wheels or articulated articulated tracks can be adapted quickly, - the conformation of the articulated tracks can allow the crossing of obstacles or to go up stairs straight see revolving and this, with conservation of plate, - the adjustable essentials can be adapted to the morphology of the subject (child ...) - all commands such as driving the chair, order of verticalization with joint retraction of the footrests are available to the patient or are received at from the recording of his voice, - all the mechanical actions can be taken back in hand instantaneously when necessary, - the material implemented is - already met in the commerce, this for the purpose of lowering costs,

4 2590162 -

  1 - its dimensions and dimensions are up to standards in the field.

  The invention will in any case be well understood in the following text which will describe, by way of example and in support of the accompanying drawings, an embodiment of a motorized wheelchair for major handicapped comprising a device

  of automatic verticalization and a plate conservator.

  In the drawings: FIG. 1 is a perspective view of the wheelchair assembly according to the invention in a wheeled configuration, FIG. 2 is a perspective view of a detail of the underarm lifting mechanism, FIG. in partial section along A of FIG. 1, FIG. 4 is a partial sectional view along B of FIG. 1, FIG. 5 is a perspective view similar to FIG. 1 in which caterpillars have been arranged in place. 6 is a perspective view showing the detail of the conformation of the tracks on the right side of FIG. 5 is a perspective view showing the connection modes of the tracks, FIG. 8 is a detail in section. according to C in Figure 7,

  Figure 9 is a perspective detail of Figure 8.

  The chair according to Figure 1 is first characteristic in that it can ensure a constant attitude to the patient

which is installed there.

  To do this, the patient is secured to a rigid bearing structure marked 1 providing various functions: - it constitutes the internal frame 2 of the cardan system which will be discussed below, - it ensures the sliding amounts 3 and 4 receiving the sliding support which will also be discussed below, - it carries the underarm supports 5 and 6 in their entirety, 1 - it comprises the pivot axis of the sub-wading portion 7 whose operation will be exposed by the next, - it carries the retractable footrests 8 and 9 This supporting structure is linked to the wheels 10 and 11 by a

  Gimbal set comprising an outer frame 1, '...

  an intermediate frame 13 and the inner frame 2 carrying the lifting cylinder 14; the arrangement of these members being such that the axis 15 of translation of the lifting cylinder, the roll correction axis 16 and the pitch correction axis 17 coincide with the joint point 18; The outer frame 12 carries geared motors 19 (G) and 20 (D) which independently of each other drive

wheels on the common axis.

  The electric battery 21 is arranged under the assembly to

  the cardan and connected to the internal frame 2.

  The outer frame 12 carries arms 22 (23) receiving the pivots

  24 (25) front wheels 26 (G) and 27 (D).

  This cardan system further comprises, as will be apparent from Figures 3 and 4, the electric cylinders; the roll correction one.28 the other correction 29

of pitching.

  The cylinders are mounted at their ends with ball joints -31 and 32-33 to allow angular deflection

  - and - made possible by the fact that their point of

  Bottom culation is located in line with axis 18 for the patella

  31 and in line with the axis 17 for the ball 33.

  In this way the cone embraced by the possible deflections of the axis 15 is limited to the angles O <and and this displacement

  is controlled by the action of the cylinders 28 and 29.

  As this axis 15 remains parallel to the sliding uprights 3 and 4, the lifting support 34 recessed on said uprights may, as is clear from FIG.

  rigorous translation under the action of the cylinder 14.

6 2590162

  The sliding support 34, shown in more detail in its left-hand part in FIG. 2, comprises two tabs 35G (and 36D) carrying axes 37G (and 38D) for articulation of the armpit supports and 6. These supports underarms are shaped according to Figure 2 so that, on the one hand, a 39G axis (and 40D) allows

  in recess the articulation of a 41G (and 42D) chaps constituting

  a spring device 43G (and 44D) articulated at its other end by a 45G (and 46D) on a 47G axis

  (and 48D) linked to 3G (and 4D) amounts.

  The spring device 43G (and 44D) comprises a compression spring 49G (and 50D) disposed on the axis with a shoulder 51G (and 52D) so that the rise of the sliding support 34 correlatively causes an output of the supports of underarm 5G (and 6D) in the direction of the arrow F, such an output action being made "flexible" by the fact

the interposition of said spring.

  Of course, a spring shroud is provided as well as -

  all prominences and asperities are arranged so

  to never injure the patient during the lifting.

  In addition, a plastic slip member 53G (and

  54D) is interposed to reduce friction.

  The rigid structure 1 thus comprises a lifting support 34 whose displacement is provided by the electric lifting jack 14 having a sufficient stroke to ensure

  the verticalization of the subject according to his morphology.

  This jack 14 is linked to the internal frame 2 as it results

  of the description above and its translation axis passes

  at 18 which is the point of co-incidence of the axes of the system

to the gimbal.

  Such a system is well known per se and it is known that appropriate spans ensure the proper joints such as 554 (and 56D) between the frames 12 and 13 and 57G (and 58D) between the frames 2 and 13 as results from

Figures 3 and 4.

7 2590162

  In these figures 3 and 4 has also been represented (symbolically) the plate detector 59 housed inside the frame 2. This detector which gives the orders to the roll and pitch cylinders and which is well known in itself, However, it may consist simply of a small amount of mercury disposed at the bottom of a boltier-shaped hollow plate o are arranged orthogonally at the periphery of the control-electrode contacts of the cylinders. In this way, any anomaly level will result in a mercury circuit of the contact electrode affected by the difference in level and

  which will immediately react on the corresponding electric cylinder

  It should be noted that this mercury detector dispenses with any amplification system.

  ever more complex electronics.

  Returning to FIG. 1, it will be noted that the subject's seat must be arranged in a certain manner as a result of the verticalization movement and determined according to the conformation that it is necessary to obtain in order to ensure the comfort of the patient. this effect and in the first place, a comfortable backsplash 60 housed between the uprights 3 and 4 and fixed thereto by tabs 61, nevertheless allows the movement movement

lifting support 34.

  Secondly, the seat cushion has two parts; one fixed constituted by a rounded step 62 formed in the lower part of the backsplash 60 the other mobile 63 articulated on the side elements of the supporting structure 1. This

  moving part about the axis 64 constitutes the sub-base

  patient's leg when in a horizontal position, by the action of a suitable spring 65 and a suitable locking mechanism (not shown) acting on the parts

  lateral of the supporting structure 1.

  The reduction of the mobile part 63 is obtained by the action of a cable 66 passing on a pulley 67 and then connected, on the one hand, to a point 68 of the support 34 and on the other hand, to

  another point 69 of the movable part 63.

8 2590162

  It should be noted that the C of G O which recedes slightly during verticalization, will allow the proper support of the buttocks against the redan 62 thus ensuring comfort

securing for the patient.

  In situ sitting the patient with feet on the floor

  8G (and 9D) legs which retract by lateral pivoting along the arrow H of Figure 1. This pivoting is obtained by small electric geared motors (not shown) whose action is coordinated with verticalization.Les manual controls are by elsewhere arranged on the case

  positioned on the arm rest of the structure 1.

  The actual verticalization can now be exposed

  as a whole, essentially in support of Figure 1.

  At first, the patient is sitting normally as

  this is shown by the mixed lines X in FIG.

  According to this position, the underarm supports 5-6 are lowered and recessed within the uprights 3-4.The support 34 is in the low position and the under-thigh support 62 is locked while the legs are resting on their

retractable footrest 8-9.

  According to the use, the patient can move by action on the manual control 70 by acting on the traction geared motors 19 and / or 20. It could also be directed by a handicapped assistant by the fact that the geared motors

are mounted "friction".

  In a second step, the patient himself causes the verticalization operation itself by acting on the command

appropriate housing 70.

  At the same time, the following operations are carried out: lifting of the lifting cylinder 14 and the progressive exit of the armpit supports 5-6 which gently take the patient under the armpits, lowering the underframe support 62,

  - the lateral retraction of the footrests 8-9.

  1 The coordination of all these movements is such that all the sequences are carried out smoothly without abruptness and according to predetermined cycles taking into account the times

  pose for the restoration of the circulatory system.

  During this verticalization operation, the attitude is constantly ensured automatically. During the verticalization the patient's feet hang without bearing on the ground (salt n Y) ensuring a total suspension which can allow a possible movement of the chair. that such upright movement is preferable on a smooth and unobstructed soil, as a result of the increased moment of overturning resulting from verticalization; The reverse deverticalization operation is carried out in the opposite direction so that the patient is left in the initial sitting position while respecting the rest of the time.

laying required.

  Of course it would be quite possible to adapt a verticalization control system and voice-operated driving for the disabled who do not have the use of their limbs, the actuators used can be of the ball type for that of lifting 14 and taken in those commercial for the lifting of the vehicles for roll 28 and pitch 29, These cylinders are electric and powered by the battery 21 and can be manually controlled if necessary by

cranks 71-72-73.

  The adaptation of the chair to various morphologies is ensured by the proper positioning of the axes 45G (and 46D) of the

  5G underarm supports (and 6D) on predetermined holes 4 ,.

  4 & .. in the amount 3G (and 4D). Correlatively, the stroke of the lift cylinder 14 is set by limit switches (not shown). Similarly, the length of the cable

  66 is arranged as well as are adjusted to the height

feet 8-9.

  It should be noted that the size of this chair is

2590162

  1 to standards in use namely: length L. 125 cm, width 1 - 75 cm and height h of the floor at the knees. 65 cm.The chair is also very stable because of the low position of its center of gravity which is also located in the immediate vicinity of the center of the support polygon consisting of the contact points on the ground wheels and wheels. The chair as described comprises exclusively for the sole translation, conventional motor elements such as wheels and wheels encountered in various other models

  and this does not fall within the scope of the invention.

  on the other hand, the known classic disadvantage against such wheelchairs and wheelchairs is their inability to cross certain obstacles such as staircases.

when these are curved.

  The problem is difficult and painful because it is an exploratory field that remains closed to those who

have lost the use of their legs.

  The invention therefore proposes, in a second step, an adaptation of the chair as previously described, which implements a set of shaped and arranged tracks.

particular to the problem posed.

  If we now look again at Figures 5 to 9, we can see how such an adaptation can be made in the

convenient.

  We must first of all consider that during the translation by caterpillars, verticalization is not desirable because of the sensations of loss of equilibrium that the patient will feel then. The adaptation that is reported results from the fact that on the one hand, the wheels 10 and 11 are replaced by toothed belt gears 74G (and 75D) (see also Fig. 4) and that the outer frame 12 is attached to the front supports. 76G (and 77D) and

back 78G (and 79D).

  2590162 1 Such an adaptation does not pose any particular problem

  if it has been provided in particular by the presence of holes pre-

  arranged 80 ... and axis compatibility.

  The recommended track system essentially comprises, as is particularly visible in FIG. 7, a set of tracks before 81G (and 82D) and a set of rear tracks 83G (and 84D) articulated on supports like this.

will be exposed now.

  The rear axles are journalled on the supports 78-79 and receive 85G (and 86D) pinions for toothed belts 87-88 and carry the 89G (and 90D) beltwheels as well as one of the end portions of a 91G U-shaped stand

(and 92D).

  the other end of the support 91G (and 92D) carries another axis through 93G (and 94D) supporting on either side 95G (and 96D) and external 97G (and 98D) internal track support wheels. the outer tracks 99G (and 10OD) wrap the wheels 90-98 with their own means of adhesion (notching for example) and an external folding 101 (and 102V) of the U ensures internal support friction to the tracks

  which are of course a rubbery material.

  It can be seen in this way that the traction of the rear tracks is obtained from the toothed belts 87G (and 88D) attacking their respective gears and that their travel

  is allowed around the rear axles according to the radius Ri.

  The front tracks 103G (and 104D) surround: the 9596 track wheels and other 105G front wheels (and 106D) bearing 107G (and 108D) axles journalled forward on U

  109G (and 11OD) themselves journalled on axes 93-94.

  Likewise, an internal bend G11 (and 112D) can provide internal friction to support the caterpillars which are likewise

  made of a rubbery material.

  Here again, the rotation along R2 can be done around axes 107-108 which must be heard and for reasons

12 2590162

  1 of pure geometry be mounted in oblong openings

  113G (and 114D) provided on the supports 76-77.

  We can see that with such a set: - the caterpillars are all motor and their motricity is

  ensured by sets of timing belts 81-82-83-84.

  We can therefore guide the chair by blocking a game of

  caterpillars as is known in the art.

  - The caterpillars can fight around their axes according to RI or R2 up or down which allows

  well crossing obstacles.

  - The supports are constantly assured by the presence of U-shaped profiles allowing the support friction of the tracks; the efforts are well reported to the supports 76-77 and 78-79 on the outer frame 12 which also ensures the preservation of the wheelchair attitude as indicated above, It should be noted that to be able to absorb properly obstacles, caterpillars must tend to be in the low position that is to say according to B shown in the drawing according to Figure 6. To do this and as shown in detail in Figure 9, a 115G spiral spring (and 116D ) is mounted on each axis 93-94 by gripping on the flanks

  side brackets 92-110 and 91-109.

  From the description that precedes, we can see in support

  of FIG. 5 that the crossing of obstacles considered difficult such as straight or curved staircases no longer pose any particular problems insofar as, of course, the movement of the wheelchair can be ensured and

  that the slope of the stairs remains reasonable.

  It can be seen that on order of the patient the crawler games before 81-82 go first, from the flat ground, attack the first step and then climb the others

  steps by putting themselves according to the inclination of the staircase.

  when the staircase is curved, the two inclinations will be different so that the outer frame 12 will itself be in a left inclination, the most

  unfavorable, what will immediately come to correct the action es5 ve-

13 2590162

  1 r; ns roll 28 and pitch 29 controlled by the detector

of plate 59.

  Caterpillars having sufficient impression notches, the ascending of the staircase can continue under the effect of the rear tracks which come into action. It should be noted that the "plating" of the caterpillars on the edge of the steps is constantly ensured by the action of the springs 115-116 which tend to return the caterpillars to the configuration according to B of FIG.

Figure 6.

  The last step is crossed while the sets of crawlers before 8182 will then be in the configuration according to Figure 5; the plate being always preserved and the center of gravity remains constantly inside the support polygon constituted by the extreme points of support

caterpillars on the ground.

  The arrival on the upper level ground is ensured in conditions similar to those of the beginning of crossing

  from the first step, the plate being always preserved.

  This description has been made for the sole purpose

  to understand the basics of invention consisting essentially of providing a major handicapped person with the means of verticalizing himself by taking support under the armpits and to ensure, by his own means, the crossing of obstacles considered to be difficult, such as straight or straight staircases; a fortiori curves

for example.

  It is quite obvious that any modifications and / or adaptations that would be made to the invention in his mind would remain

  within its scope, which framework is defined in the claims

that follow.

14 2590162

Claims (5)

  1 - / Self-propelled wheelchair for disabled persons comprising an automatic verticalization device characterized in that it comprises: - a rigid structure (1) carrying two uprights (3-4) receiving in sliding a support (34) animated in translation by a lift cylinder (14), two retractable underarm support mechanisms (5-6), a foldable underframe (63) with its pivoting and locking mechanism, a splashback (60) with a redan (62) a support member carrying a control boltier (70), two pivoting footrests (89), an inner frame (2) constituting one of the elements of a gimbal system comprising an intermediate frame (13). ) an outer frame (12) and their pivot pins (55-56-57-58)   - an anti-roll electric jack (28) and an anti-pitch electric jack (29) with their spherical system (30-31-32-33) arranged between the inner frame (2) and the outer frame (12), - a trim sensor (59) connected to the rigid structure (1) and controlling the anti-roll cylinders (28) and antitangage (29) - a self-propelled displacement system comprising: either wheels (10-11-26- 27), two of which are made motive by   geared motors (19-20), or sets of tracks (81-82-   83-84) and the adaptation of one to the other of these formulas is easily effected by the fact of pignong (74-75-85-86) with adapted axes with removable supports (76-77-78- 79) and suitable fasteners (80 ...) and toothed belts (87-88) disposed on said pinions, - a battery (21) for the general power supply, the arrangement of these various elements being such that by order of the patient, it can proceed to its verticalization which leads together, an output of the armpit supports coordinated with a lowering of the under-thigh support and a lateral retraction of the footrest and / or produce the displacement of its wheelchair by action on the wheels when said chair is equipped with said wheels or by actions on the tracks when said chair is equipped with said tracks. 2590162   1 2 - / self-propelled chair for disabled with an automatic verticalization device according to claim 1 characterized in that the underarm support mechanism (5-6) comprises on the legs (35- 36) of the lifting bracket (34). ) two axes of articulation (37-38) and connection to the supports which comprise rabbets (41-42) on the axes (39-40); said clusters constituting a device with compression springs (49-50) articulated at the other end by other clusters (45-46) connected by the axes (47-48) to the uprights (3-4); the arrangement of these elements   being such that the rise of the support (34) causes correlative-   out of the armpits (arrow F) and   output is made flexible thanks to the presence of springs.   3 - / self-propelled wheelchair for disabled with an automatic verticalization device according to claim 1 characterized in that the foldable sub-seat support (63) comprises a hinge axis (64) of said supporta spiral spring (63) on said axis systematically reducing the support in a sitting position, an anchoring point (69) of a cable (66) passing on a pulley (67) and anchored at its other end to another point (68) connected to the support ( 34), a locking system   self-releasing of the support on the lateral uprights;   such elements being such that when the lifting cylinder (14) comes into action, the following occurs simultaneously: an unlocking of the support on the lateral uprights and a lowering of this support under the effect of the traction of the cable (66) driven by the movement of the support (34), the reverse movement driving a & repositioning seat and re-locking the support sub-leg;   4 - / Self-propelled wheelchairs for disabled persons   positive automatic verticalization according to claim 1 characterized in that the tracked equipment comprises two removable front supports (76-77) two removable rear supports (78-79) and on these supports are focused two sets of caterpillarsjers the back ( 84-85) and two sets of caterpillars forwards (81-82); said sets of rear tracks each comprising, on the one hand an axis connected to the supports and pivotally receiving each, a pinion (85-86), the caterpillar wheel 162590162   (89-90), the end of the U-shaped bracket (91-92) and, on the other hand, connected to the other end of said U-bracket (91-92), a pivot axis (93-94) itself connected on one side to a first track wheel (97-98) and on the other side to a second track wheel (95-96) while a second U-shaped carrier (109-110) with a part on said pivot axis (93-94) receives an axis (107-108) connected to a track wheel (105-106) said axis being housed in oblong openings of the front support (77-78) and notched tracks the rear wheels of the tracks (89-90 and 97-98) and at the front   track wheels (95-96 and 105-106).   - / Self-propelled wheelchair for disabled with an automatic verticalization device according to claim 1 characterized in that the control box is either available to the patient on the armrest or according to a   appropriate conformation for voice operation.   6 - / Self-propelled wheelchair for disabled persons with a disc   automatic verticalization according to the claim   4 characterized in that the U-shaped supports (91-92) and (109-   ) comprise an inward fold of the tracks to ensure the support of the latter and their junction on the common axis (93-94) comprises the arrangement of a spiral spring (115-116) whose ends are fixed on their side to ensure a low conformation (B) to caterpillar games.