FR2618066A1 - AUTOMOTIVE ARMCHAIR FOR HANDICAP WITH AUTOMATIC VERTICALIZATION DEVICE - Google Patents

Abstract

The self-propelled wheelchair for the disabled with an automatic verticalization device comprises: an armchair 1 with articulated elements pivotally linked to an adjustable seat 44 on a box 4 and a set of tracks controlled by hydraulic motors 14.1-14.2 / 15, 1-15.2 articulated on arms constitute a pseudo-parallelogram articulated on axes 5-8 integral with a frame 6 and jacks act on this pseudo-parallelogram to keep the plate constant while allowing various situations: - the verticalization in low position (action on jack (33); - running at high speed with the road in low position; - running in high position at slow speed with possible verticalization, - going up and / or down straight stairs and / or turns at slow speed, - turns or U-turns on site at slow speed All means are provided to ensure total safety in all possible configurations (total failure, recourse to manual disengagement). el in distress, automatic locking of the tracks, emergency hydraulic circuit ...).

Description

The present invention relates to wheelchairs for

  with a verticalization device.

  applicant had proposed in his French patent application

  N 85 17086, a handicapped chair arrangement, the essential feature of which was a system of automatic verticalization of the handicapped by grasping under the

aisselles-

  Such a gripping system, also retractable, would require a conservation of attitude and could be associated

  to caterpillar moving means allowing the French to

  obstacle reduction and in particular the rise and / or

  down stairs straight or rotating.

  the technical criteria used in this application for

  were based on the transition to door

  $ minus the regulatory dimensions for the disabled it's

  to say 0.75 M as is apparent from the description of said

  previous application on page 11 line 1.

  After asking him whether the French

  the reduction of the normal door openings set at 0.60 M was achievable by this chair, the applicant had to be led to reconsider completely the design which results from the present invention supported by ia

description that will follow.

  In general, this new chair for disabled people

  cape always includes two parts: - one of moving by articulated tracks, - the other of automatic verticalization by grasping under

armpits.

  The moving part has four independent tracks

  Pivoting and self-propelled mounted pivotally and forming two C two the top of a pseudo-parallelogram cldeformable by cylinders and the other peak cludit parallelogram is articulated on a chassis integral with the chair, According to such a design, the tracks in contact with

  the soil may have a pile compatible with the

  reduction of door openings to 0.60 M; the chair can be adapted to two situations: t - one in the low position for normal movements on level ground with possible verticalization, - the other in the high position for the crossing of obstacles

  such as the engraving of stairs for example.

  the basic concept of the invention is based on a central

  electronic controls reacting: - on hydraulic motors axed on the four tracks, - on the control cylinders acting on the deformation of the deformable pseudo-parallelogram,

  - to the order of orders of the disabled or the system of correction

automatic attitude.

  - On a vertical ordering chair is in the low position. Summarizing, the disabled wheelchair according to the invention is designed for: travel in normal driving on the road or soil of any kind with flat or irregular terrain (approximate speed 1, Km'h) walk AV or AR, - crossing obstacles of normal height (sidewalk, ...> estimatedSa 0.25 M on average, - climbing uphill and downhill on hard or soft ground at about 45 (access ramps, embankments, access to the beaches, undergrowth ...), - climbing up or down stairs and crossing steps in slow speed (about 0.35 Km'h), - setting in verticalization programmed according to medical recommendations, - the normal movement of a handicapped person in standing position (or verticalized position) while leaving the free disposition of the upper limbs; - rotation in forward or reverse movement according to a low radius of gyration by inverting the direction of rotation of the tracks, approx. 60 M), - access to doorways at 0.60 M; - be personalized by adaptive adjustment according to the

3 2618066

  morphology of the subject, - be stable because the center of gravity is constantly held in the same axis regardless of the positions of the tracks from the original setting on the frame, - be constantly in positive guard by the fact that -the5 points disabled person's feet can never hit an obstacle first,

  - to ensure total security by instant blocking in posi-

  distress under the action of hydraulic motors, - allow manual disengagement, - make all orders available to the handicapped in manual or possibly voice form,

  - allow the adaptation of a source of energy other than electricity

  that by gasoline engine for example, the invention will be better understood in the following text which will show, by way of non-limiting example, a form

  preferred embodiment with reference to the accompanying drawings.

  In the drawings: FIG. 1 is a diagrammatic front view of the chair according to the invention, FIG. 2 is a partial perspective view showing the conformation of the tracks connected to the frame, FIG. 3 is an explanatory diagram of the kinematics of the

  pseudo-parallelograms related to caterpillars.

  FIGS. 8 to 8 show the chair according to the invention in respective configurations: - normal walking in the low position, (4) - in the high obstacle clearance position (5> - vertical position in the low position (6) - climbing staircase in high position (7)

  - down stairs in high position (8).

  Fig. 9 is a functional electrical and electronic block diagram of the chair arrangement; Fig. 10 is the hydro-mechanical scheme of the assembly. If we refer to Figure 1, we can see that the chair

  for a disabled person according to the invention with a device for

  and its means of propulsion, can be

  reduction of normal door openings to 0.60 M. (width f.

4 2 6 1 802618066

  According to Figure 2, the seat 1 of the disabled person is horizontally adjusted.

  depending on its morphological characteristics in order to bring its center of gravity substantially to the reference axis

  G which ensures its stability in all configurations

  armchair rations. A system with slides 2 and clamping knobs 3 for example

can allow such adjustment.

  In this figure 2. we see that the seat 1 is subject to

  through its adjustment means, on a box L ,.

  18 These elements that serve verticalization, will be functional-

explained later.

  If we refer now to Figures 2 and 3 we see

  the arrangement of pseudo -parallelograms shown, on the one hand,

  in Figure 3 and, on the other hand, mechanically on the

figure 2.

  in the frame 6, the axis 5 receives in addition to the articulation of the box 4 mentioned above, the articulation of upper left arm AV 7.1, 7.2 right and an axis S receives the arm joint

  higher A \ R guche 9.1 and right 9.2.

  These arms articulate other arms: on the one hand on the axis 10,1 the left lower arm AV 11,1 and on the axis 10,2 the lower arm! AV right 11.2 and, on the other hand, on the axis 12.1 the left AR arm

  13.1 and on the axis 12.2 the right AR arm 13.2.

  The extremity of these lower arms, articulates the tracks 1., 1 on the axis 15,1 for the left AV and 1a, 2 on the axis 15,2 for the right AV and 16,1 on the left. axis 17.1 for the left AR and 16.2

on the 17.2 axis for the right AR.

  The tracks 14,1 and 1a, 2 are disposed outwardly of the arms and the tracks 16,1 and 16,2 inwardly of the walls 6,1 and 6,2 of the frame 6 so that a space be spared for the housing of batteries 20 so in the most basic part

  possible to lower the center of gravity.

  The arms constitute the elements of a deformable pseudo-parallelogram by double-acting 21.1 AV cylinders left. 21.2 right AV and 22.1 left AR, 22.2 right AR. They are articulated, on the one hand on the common axes of the upper and lower arms and on the other hand, on axes 23.1 AV left, 23.2 Av right and 2A4.1

  AR left, 2.2 AR straight linked to the sides 6.1-6.2 of the frame 6.

2 2618066

  The tracks are tilting about their axis due to the angular offset of the end rollers rotated on a central rib 18.1-18, 2 on each left track and 19.1-19.2

on each right caterpillar.

  this tipping effect will be used especially in the phases of climbing and / or descending stairs as it will be

exposed later.

  These tracks are controlled by hydraulic motors

  AV 25,1 left, 25,2 right and AR 26,1 left, 26,2 right enter-

  After gearing down and controlling suitable speeds, notched rollers AV 27.1 left, 27.2 right and AR 28.1 left and 28.2 straight themselves meshed on the internal notches of each track. Each of the 14.1-14.2 and 16.1-16.2 tracks has external impressions whose profile has been exactly determined to ensure in all cases encountered, a total seating even

  in stairway configuration or difficult floors

  The constituent material of these caterpillars, which is

  The matcher confers a particularly secure adhesion.

  The parallelism of the tracks is ensured by two telescopic frames 30.1 on the left and 30.2 on the right and they receive in

  sliding of the telescopic bars 29,1-29,2 on the left and 31i.1-

  31 2 on the right articulated on the axes 15,1-15,2 and 17,1-17,2.

  Figure 3 shows the kinematics of the ensemble whose presentation

can be done now.

  It must first be considered that for a given position of the cylinders 21,1-21,2 and 22,1-22,2 the pseudo-parallelogram is closed on the one hand, by the fixity of the axes e 8. on the chassis 6 and on the other hand, by the unambiguous setting of the hydraulic motors 25,1-25,2 and 26,1-26.2 which define a non-deformability by the points of contact of the tracks with

the soil in 3Za ,, c, c ,.

  The deformation of the pseudo-parallelogram results from actions

  on the cylinders 21,1-21,2 and 22,1-22,2.

  FIG. 3 shows that, starting from the rest position A, a joint action in compression on all the jacks will cause the chassis 6 to be lifted to the intermediate position B or

  high C; points 3 ... do not move by adherence to the ground.

  Differential actions on these same cylinders can determine all the desired configurations between: A-B or C on the tracks AV or A-B or C on the tracks AR for the

conservation of the plate.

  It is specified that all these actions result from orclers controlled by a control panel and not from orders direc

  by the disabled person and this. for reasons of security

  rite. The table below summarizes through FIGS. 4 to 8, the set of actions on the cylinders:

CONFIGURATION ACTIONS ON JACKS

  AV-d AVg AR -g AR-d Fig L Normal route / / / /

Fig 5 High road. - - - -

Fig 6 Normal, verticalization - /

Fi g 7 High, climb esc.

Sqn. rotating - - - - - - -

Fig S Haurte, descent esc. - - -

Sqn. turns. - -

  When the wheelchair is moved, the hydraulic motors receive the coordinated orders with: x jacks in order to ensure in all cases the conservation of the determined base

  by the trim controller and this. from a hYdrau-

  which will now be described with reference to the diagram of the

figure 10.

  The electrical energy is supplied from a battery 20 (eg, 2'v cc SSah) coupled to a built-in charger 34 and a

  General circuit breaker switch 35 allows electrical power supply

trunk of the set.

  A gasoline engine coupled to a generator could be

  substituted for the charger to increase the autonomy.

  Hydraulic power is supplied from a 36 m group by electric motor (eg 24v cc-400w) with accumulator (eg 25 bar- 6 L / min or 50 bar 2 L min) and tank. 3, t, The transmission and control of the actions are provided by four hydraulic motors 25.1-25.2 '26, 1-26.2 about 5cc variable speed from 10 to 250 Tmn, four double acting cylinders 21 , 1-21,222,1-22,2 and a single actuator effect 3dcle vurticalisation with a set cd 'servo 38 essentially complementing 7z Z2618066 a circuit of relief, an isolation valve, a pressure limiter and a regulator of flow, The control is carried out from a programmer 39 connected to the control system with its detection relays cd'obstacles (not shown) from a control panel 40 at the disposal of the disabled and a connected plate correction unit 41

  This programmer coordinates the set.

  The safeties are ensured by: a leak detector, a safety program on the programmer (set in low position) two hydraulically immobilized locking brakes on a battery) a battery charge indicator, two levers for manual movements in the event of a total power failure energy (with rapid implementation),

  crawler wear indicators, an emergency stop acting manually

  on the brake system and a visual indicator is on.

  It is specified that a voice control system can be

  substituted in case of needs in the case of command '0.

  In addition to these devices, two or three-way solenoid valves for cylinders, hydraulic motors and other forctiolns can provide OMA positions "open lack of power" or FMlA "closed mancque d'alimentatiorn" with return to like

this is known in practice.

  The installation is completed by distributors including cylinders, calibrators including hydraulic motors. the

  variable speed controllers and control relays.

  After the foregoing description of the mechanization of the chair and the controls of the cylinders, in particular that of verticalization 33, it can now be tackled the descrlption of

  this verticatisation in reference to the drawing of FIG.

  Firstly, the box 4 receives on the slides 2. the

  chair properly spotted 1 as a whole.

  This chair is designed according to a parallelogram with deformable elements articulated along four axes: the backrest 42 around the axis 43 linked to the seat 44, the door 45 around the axis-46 also linked to the seat 44 and two link bars with adjustable length 147,1-47,2 articulated around the axis 4S on the door

  legs and around the axis 49 on the backrest 42.

  Armpit supports 50i, 1 -50 and 2 are articulated on the backrest 4'2 around the axis 51 and rods 52-51, 52-2 articulated on] 's axes 53 so! the li esli ts supports

8 2618066

  armpits and on the axis 54 allow the syncronized output with the tilting of the box under the effect of worm in33 arficU (éen 4, Dice the actuation of this cylinder, the entire armchair pivotE around the l 5 axis causing: - the deformation of the parallelogram, - the output of armpit 50.1-50.2, - the output of rollers 55.1-55.2 contacting with

  the ground while the caterpillars AV are relieved.

  The verticalization maneuver is carried out from the control panel 40 or can be generated by any other means such as voice and is programmed with the necessary downtimes in

  pre-programmed medical instruction functions.

  We see in Figure 6 that the verticalization operation

  which is carried out jointly with a possible action of

  ment, may allow the disabled person to come and

  standalone in front of a table for example. (ref.56).

  It should be noted that in all cases, the end of the feet of the handicapped and defined by the plane P on lesdessini, can not in any way come up against an obstacle before the caterpillar defined by the plane C. In reference now In the block diagram of FIG. 9, the control and control electronics first comprises the on-off command 57 of the central unit 5S, which may include a microprocessor such as the type 6S09. This central control unit on the one hand, a series of adapters 59 to 63 acting on the cylinders 21,22 and - on the other hand, a series of motor commands 64 to 67 acting on the hydraulic motors 25'26 since

a switch 68.

  Moreover, this same 5S central unit is:

  on the attitude detector 41 and the command of movement commands

  69 through a switch 70 - on the vertical control 71

  - on the missing detector. pressure 72 through an adapter

73,

  - on- a battery fault detector 74 through an adaptation

  75 - on an obstacle detector 76 through an adapter 77 / on a wheelchair vacuum sensor 78 through an adapter

9 to 18066

  - on the speed sensor 80-8_-82-83

through the switch 84.

  From such a description, it can be seen

  that the handicapped person will be able to perform all the desirable maneuvers 5. in the normal operating position (Fig 4) planned for the displacement (1.8 km / h in flat or relatively flat terrain in

  reduced places (apartment, corridor ...) because of the low / ncom-

  the armchair that allows for more turns on the spot,

tight turns.

  10. in the raised position (Fig 5) caused. either by command or under the effect of an obstacle proximity sensor such as an abnormal hole or inclination. the set stops and the center of gravity is kept on the axis G. the displacement in the high position is carried out at a reduced speed (about 0.4 km / h) and the low position can always be brought in case of emergency. When

  encounter of an obstacle, the attitude corrector acts permanently

  the inclination variations causing the action of the

  cylinders. In case of incidents, hydraulic brakes fed

  Depending on the normal HP circuit (emergency) put the wheelchair in a safe waiting position. The end of the passage of the obstacle is detected by proximity sensors which, after delay, allow to resume the normal road position. In the event of a total breakdown, manual movement levers allow the

emergency release.

  25.In stair climbing position (Fig 7) the process is lden-

  to that implemented in a high position and a situation in which

  tackle; the attitude corrector acting on the cylinders eri rela-

  with the hydraulic motors to ensure, on the one hand, the conservation of attitude and on the other hand, the propulsion in slow speed,

  in the downhill position (Fig S) the process is

  pays while retaining the same characteristics as before.

  It should be noted that although appearing impressive, the operation of raising or lowering stairs is done safely; the notches of the tracks being determined to guarantee in all cases the four necessary points of contact and

  sufficient for the stability of the chair.

  When the stairs turn sunt. these are the: actions

  differential on the cylinders that perform the correrions.

26 18066

  As required by the regulations, all the security features are applied to the chair according to the invention both with regard to: the electrical or electronic or hydraullic circuits by the instantaneous operation of emergency assistance supplemented by an emergency mechanical device.

  this description has been made to show the

  multiple possibilities allowed by application of the invention including the automatic verticalization of a disabled on

  a self-propelled wheelchair whose footprint is reduced to

  put the doorways of 0.60-X and the French

  removal of obstacles such as climbing straight or rotating stairs; all done in total security, which

  the element considered fundamental in such a type of material.

  The invention is not limited to the presently described mode but on the contrary covers all the adaptations and variants that could be made in his mind and which would fall within

  its framework, which framework is defined in the claims which

follow, iJ .. 2618066

Claims (4)

CLAIMS CATIONS   1 / Self-propelled wheelchairs for disabled people   automatic calibration characterized in that it comprises: - a chassis (6) receiving on the one hand, pivotally on an axis (5) a box (4) with horizontal adaptation device (2-3) a seat (1) and on the other hand, pivoting on an axis (8) a cylinder (33) for placing the disabled person in verticalization, - a verticalization assembly connected to the box (4) in a deformable parallelogram conformation and comprising: seat (44) of the swivel chair on the one hand, on an axis (4.3) towards one end of the backrest (42) and on the other hand, on an axis (46) Jun   leg holder (45), two connecting bars (47,1-47,2) pivoting.   on the one hand, on an axis (458) on the end of the leg support (45) on the other hand, on an axis (45) Svr fedosseret <42), two armpit supports (50,150,2) articulated on a common axis (51) located towards one end of the backrest (42j, two adjustable link (52,1-52,2) pivoted on one side on a common axis (53> armpit supports (50,1-50, 2) and on two points of pivoting along a common axis (54)> 1ie to the box (4),   - a set of roller tracks (14,1-14,2 16.1-16,2)   abutted according to a deformable pseudo-parallelogram of a part, about axes (15,1-15,2; 17,1-17,2) on arms <11.1-11,213,1 13,2) on the other hand , on other arms (7,1-7 '9 1-9,2 articulated around common axes (10,1-10,2 12,1-12,2) and axes (5- $) of links to the frame (6) and of the double-acting cylinders (21.1-1.2, '22, 1 "22.2) control the deformation of said pseudo-parallelogram from a trim correction unit (41) there   - an engine assembly comprising four hydraulic motors   (25,1-25,2,26,1-26,2) located on the axes (15-17), commanding four toothed rollers (27,1-27,2 / 28,1-17,2) engaged on the internal notches 3 of the tracks and controlled by solenoid valves under the control of the control unit, - a hydraulic circuit comprising a programmer (39) linked to a trimmer (41), a power plant (36) with its electric motor, its pressure accumulator and its tank (s):   a backup group (38) with its pressure limiter, its rocker   insulation and its pressure accumulator, a network of   mentatior / cylinders with their electromnetic valves.   tributers and their return to the tarpaulin, a network of 12 2618066   hydraulic motors with their flow calibration, their distribution   their control solenoid valves, a variable flow regulator and the usual solenoid valves and return valves in these circuits; - an electronic circuit comprising a control panel (40), a central control unit (58) controlled (57) acting: on one hand, on an adapter group (59 to 63) controlling the cylinders (21-22-33) on a switch (68) actuating the motors (25-26) by the members (64-65-66-67) and on the other hand, on a plate detector (41),   a generator of movement commands (69) through a commu-   controller (70), a dimming controller (71), a lack of pressure detector (72) through an adapter (73), an obstacle detector (76) through its adapter (77), a detector battery fault (74) through its adapter (75). a vacuum detector (78) through its adapter (79) and finally speed detectors (80,81,82,83) of the hydraulic motors through a switch (84), the arrangement of all these elements being such than from the control panel (40). the central unit (58), the attitude correction unit (41) and the detectors implementing the chair made possible.   2. Self-propelled wheelchair for handicapped persons with   automatic calibration according to claim 1 characterized in that it has a width less than or equal to 0.60 m for the passage from any door.   3 / Self-propelled wheelchairs for disabled persons with   calibration according to claims 1 and 2 characterized in that   the caterpillars have a particularly adapted profile and   that they are made of a material of the elastomeric genus   particularly suitable for. adhesion.   4 / Self-propelled wheelchairs for disabled persons with   calibration according to claims 1 to 3 characterized in that   the energy generating group is a gasoline engine with gen-   coupled electric controller to increase battery life; 13 2618066   Z App] iction of the chair according to any one of the claims   1 to 4 to: - walking in low position and fast speed, - walking in high position at slow speed, - walking and / or standing in slow running, - walking in high speed in slow climb and / or descending straight and / or revolving stairs,   - turns and / or half-turns on site at slow speed.