WO2000028931A1 - Fauteuils roulants - Google Patents

Fauteuils roulants Download PDF

Info

Publication number
WO2000028931A1
WO2000028931A1 PCT/GB1999/003827 GB9903827W WO0028931A1 WO 2000028931 A1 WO2000028931 A1 WO 2000028931A1 GB 9903827 W GB9903827 W GB 9903827W WO 0028931 A1 WO0028931 A1 WO 0028931A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
chair
road
chair according
motors
Prior art date
Application number
PCT/GB1999/003827
Other languages
English (en)
Inventor
Saul Manashe
Original Assignee
Saul Manashe
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Saul Manashe filed Critical Saul Manashe
Priority to EP99972091A priority Critical patent/EP1131029A1/fr
Publication of WO2000028931A1 publication Critical patent/WO2000028931A1/fr
Priority to NO20012476A priority patent/NO20012476L/no

Links

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
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—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
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
    • 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
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1035—Wheelchairs having brakes manipulated by wheelchair user
    • 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
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

Definitions

  • This invention concerns wheel chairs and more particularly electrically powered wheel chairs.
  • Wheel chairs have long been known which have a pair of small front wheels on castors which allow the chairs to be steered and a pair large rear wheels with smaller hand wheels which allow the chairs to be driven by the occupant pushing the hand wheels. Steering can be effected by the occupant applying a different propelling forces to either side of the chairs using the hand wheels, and breaking can be effected by the occupant applying a frictional force to the hand wheels.
  • an electrically powered wheel chair having two road wheels each being drivable by an electric motor, each road wheel including a hand wheel with sensor means for controlling the associated electric motor, the sensor means responding to forces applied by the user of the chair to the hand wheel relative to the road wheel and thereby controlling movement of the chair by the motors .
  • the drive from the electric motor to each road wheel is preferably effected through a clutch, for example a ball clutch, and actuation of the respective clutches is preferably effected by movement of the hand wheel relative to the associated road wheel .
  • a clutch for example a ball clutch
  • Wheel chairs according to the present invention preferably include sensor means for each wheel which provide control signals which serves to control the acceleration provided by the associated motor in response to the relative displacement of the hand wheel and the associated road wheel from a resting position.
  • the chairs include tilt sensor means for sensing the angle of tilt of the chair relative to its orientation on a horizontal surface, thereby to control the acceleration provided by the respective motors.
  • an accelerometer for sensing accelerations to which the chair is subjected, thereby to control the acceleration provided by the respective motors.
  • Breaking of wheel chairs according to the present invention is preferably effected by displacement of the hand wheel relative to the road wheel in the sense opposite to that required to actuate the motors, and it is particularly preferred to effect regenerative breaking using the drive motors.
  • Fig. 1 is a part cut away vertical section through one wheel of the chair along the line of its axle;
  • Fig. 2 shows part of the mechanism shown in Fig. 1.
  • the wheel shown generally at 1 in Fig. 1 is formed from an inner disc 6 and an outer disc 7 which are joined along their respective outer peripheries and to a circumferential channel 8 into which is located a tyre 9.
  • the wheel 1 is attached to an axle 2 of an otherwise conventional wheel chair (not shown) .
  • a hub shown generally at 3 is mounted fast on the axle 2, the wheel 1 being rotatable on the hub 3 via respective inner and outer ball races 4 and 5.
  • An electric motor indicated generally at 10 has its steel stator plate 11 mounted fast on the axle 2 and its steel flux plate 12 and magnets rotor 13 mounted on a rotor 14 which is rotatable on the axle 2 via a roller bearing 15.
  • a printed circuit board 19 has a series of coils etched on it to form an electromagnet for driving the motor 10.
  • the outer end portion of the rotor 14 is in the form of a gear 16 which is the start of a planetary gear system 17 which ends with a drive plate 18 which is free to rotate on a ball race 20 on the axle 2.
  • a ball clutch 21 consisting of a ball 22 located in a hole through the outer wheel disc 7 is moveable from the outer position 22 in which the ball 22 does not contact the drive plate 18 to the inner position 22' shown in Fig. 1 in which the ball 22 is both within the hole in the disc 7 and also in a hemispherical recess in the plate 18, thereby causing the disc 7 to be rotated by the plate 18.
  • the clutch 21 is operated by an actuator 23 which has a hemispherical recess into which the ball 22 is located when the clutch 21 is disengaged. Rotation of the actuator 23 relative to the disc 7 forces the ball 22 out of the recess in the actuator 23, through the hole in the disc 7 and thence into the recess in the drive plate 18, the ball 22 then taking up the position indicated at 22' . Drive from the motor 10 is then passed on to the wheel 1.
  • the actuator 23 is connected to an external hand wheel 24 which is similar to that of a conventional wheel chair in that it can be used to propel the chair manually. However, instead of being connected directly to the wheel 1, the hand wheel 24 is mounted so that a certain amount of relative rotational movement can be effected between them. As can be seen from Fig. 1, the hand wheel 24 is connected to the actuator 23 by a pin 25, the latter extending through a slot 26 in the disc 7 where it engages a sensor device 27 within the wheel 1.
  • the sensor device 27 consists of a pair of arms 28 and 29 which are pivotal about a pivot pin 30 located on the internal surface of the disc 7.
  • the opposite ends of the arms 28 and 29 are biased towards each other by a spring 31, but, as can be seen from Fig. 2, they are prevented from closing fully by an arcuate land 32 above the slot 26.
  • the pin 25 is therefore free to move in the slot 26 before engaging either of the arms 28 and 29, and during such movement the actuator 23 can be moved sufficiently to actuate the ball clutch 21. Further movement of the hand wheel 24, and therefore of the pin 25, will force the arms 28 and 29 apart against the action of the spring 31 because the arm 28 or 29 which is not engaged by the pin 25 is prevented from movement by the land 32.
  • the spring 31 In addition to the spring 31 urging the arms 28 and 29 together, when it is stretched it provides a signal to a microprocessor on a main control board 33 using a linear voltage displacement transformer (not shown) connected thereto.
  • the arms of the sensor 27 to which the spring 31 is attached include magnets (not shown) which are positioned to activate reed switches when one or other arm of the sensor 27 is moved. The signals received by the microprocessor from the sensor 27 when the spring 31 is stretched is then be interpreted by the microprocessor as indicating the direction of movement of the hand wheel 24 relative to the wheel 1 itself and the amount of acceleration required by the user.
  • the microprocessor causes electric current to be supplied to the printed circuit board 19 which starts the motor 10, the current applied, and therefore the acceleration produced, being subject to further control depending on other factors such as the angle of tilt of the chair itself and any accelerations to which the chair is currently being subjected.
  • the clutch 21 will have been engaged by the actuator 23, and the current supplied to the motor 10, and therefore its speed, is then increased to increase the speed of the motor 10 until the displacing force on the ring 24 relative to the wheel 1 is reduced sufficiently that the spring 31 is no longer stretched.
  • the microprocessor then maintains the speed of the motor 10 at the level it has reached.
  • the pin 25 is then urged to the opposite end of the slot 26, and the resultant signal from the spring 31 is used by the microprocessor to reduce the current to the motor 10 so that the motor 10 slows down.
  • This braking which is preferably arranged to be regenerative, continues until the pin 25 no longer engages the arm 28, at which point the motor 10 will continue to run at a speed which maintains the new speed of the chair .
  • the microprocessor will provide zero current to the motor, there will be no force from the actuator 23 to activate the clutch 21, and the ball 22 will be withdrawn from its engaged position 22' to its disengaged position as a result of magnetic attraction from a magnet 33 in the actuator 23.
  • Fig. 1 shows only one ball clutch 21, seven other such clutches are provided for each wheel, all eight being actuated and functioning in a substantially similar manner to that described for the single illustrated clutch.
  • the speed of the chair is monitored by the relative movement of a spoked disc 34 connected to the wheel disc 6 and the main control board 33 using magnetic sensing, the output being used to control the speed of the motor 10 as has previously been described.
  • An inclinometer attached to the wheel chair itself provides a signal to the microprocessor to control the degree of acceleration applied to the chair by the motor 10.
  • an accelerometer (not shown) which is also attached to the chair also enables the acceleration of the chair to be limited for example for safety reasons.
  • the microprocessor can override or modify the information received from the two hand wheels 24 so that in a variety of instances the motor 10 does not provide as much acceleration to the chair as it might otherwise according to the amount of acceleration suggested by the movement of the hand wheels 24.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

Un fauteuil roulant à moteurs électriques comprend deux grandes roues (1) pouvant être entraînées chacune par un moteur électrique (10), chaque grande roue (1) comprenant un volant (24) doté d'un détecteur (27) destiné à commander le moteur électrique associé (10), le détecteur (27) répondant aux forces appliquées par l'utilisateur du fauteuil sur le volant (24) par rapport à la grande roue (1) et commandant ainsi le mouvement du fauteuil par les moteurs (10).
PCT/GB1999/003827 1998-11-17 1999-11-17 Fauteuils roulants WO2000028931A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP99972091A EP1131029A1 (fr) 1998-11-17 1999-11-17 Fauteuils roulants
NO20012476A NO20012476L (no) 1998-11-17 2001-05-18 Rullestol

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9825171.3A GB9825171D0 (en) 1998-11-17 1998-11-17 Wheelchairs
GB9825171.3 1998-11-17

Publications (1)

Publication Number Publication Date
WO2000028931A1 true WO2000028931A1 (fr) 2000-05-25

Family

ID=10842582

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1999/003827 WO2000028931A1 (fr) 1998-11-17 1999-11-17 Fauteuils roulants

Country Status (4)

Country Link
EP (1) EP1131029A1 (fr)
GB (2) GB9825171D0 (fr)
NO (1) NO20012476L (fr)
WO (1) WO2000028931A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU91199B1 (de) * 2005-09-13 2007-03-26 Pihsiang Machinery Mfg Co Bet{tigungsmechanismus eines Hilfsmotors von Rollst}hlen.
US10864127B1 (en) 2017-05-09 2020-12-15 Pride Mobility Products Corporation System and method for correcting steering of a vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012103136B4 (de) * 2012-04-12 2016-01-14 Aat Alber Antriebstechnik Gmbh Hilfsantriebsvorrichtung für Rollstühle
EP2649973B1 (fr) * 2012-04-12 2014-11-19 AAT Alber Antriebstechnik GmbH Dispositif d'entraînement auxiliaire pour fauteuils roulants
WO2021001583A1 (fr) * 2019-07-04 2021-01-07 Totalcare Europe, Sl Véhicule à poussée manuelle et assistance par moteur électrique

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989006117A1 (fr) * 1988-01-11 1989-07-13 Anschütz & Co. Gmbh Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise
EP0687454A1 (fr) * 1994-06-16 1995-12-20 Yamaha Hatsudoki Kabushiki Kaisha Véhicule à propulsion assistée et méthode de commande dudit véhicule
WO1997005010A1 (fr) * 1995-07-28 1997-02-13 Efa Gmbh Entwicklungsgesellschaft Für Antriebe Vehicule a roues entraine par la force musculaire et par un mecanisme auxiliaire d'entrainement electrique
DE19613079A1 (de) * 1996-04-02 1997-11-06 Ellsaesser Dietrich Gerhard Leistungsmeß- und Steuersystem vorwiegend für Fahrräder mit additivem Hilfsantrieb
EP0861648A2 (fr) * 1997-02-28 1998-09-02 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Véhicule à roues mû par la force musculaire

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5234066A (en) * 1990-11-13 1993-08-10 Staodyn, Inc. Power-assisted wheelchair
US6112837A (en) * 1996-09-30 2000-09-05 Yamaha Hatsudoki Kabushiki Kaisha Manually operated, motor assisted wheelchair

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989006117A1 (fr) * 1988-01-11 1989-07-13 Anschütz & Co. Gmbh Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise
EP0687454A1 (fr) * 1994-06-16 1995-12-20 Yamaha Hatsudoki Kabushiki Kaisha Véhicule à propulsion assistée et méthode de commande dudit véhicule
WO1997005010A1 (fr) * 1995-07-28 1997-02-13 Efa Gmbh Entwicklungsgesellschaft Für Antriebe Vehicule a roues entraine par la force musculaire et par un mecanisme auxiliaire d'entrainement electrique
DE19613079A1 (de) * 1996-04-02 1997-11-06 Ellsaesser Dietrich Gerhard Leistungsmeß- und Steuersystem vorwiegend für Fahrräder mit additivem Hilfsantrieb
EP0861648A2 (fr) * 1997-02-28 1998-09-02 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Véhicule à roues mû par la force musculaire

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"WHEELCHAIR SENSORS MAY HELP STEER CARS", MACHINE DESIGN,US,PENTON,INC. CLEVELAND, vol. 67, no. 18, 12 October 1995 (1995-10-12), pages 48 - 49, XP000540146, ISSN: 0024-9114 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU91199B1 (de) * 2005-09-13 2007-03-26 Pihsiang Machinery Mfg Co Bet{tigungsmechanismus eines Hilfsmotors von Rollst}hlen.
FR2891396A1 (fr) * 2005-09-13 2007-03-30 Pihsiang Machinery Mfg Co Ltd Appareil de demarrage d'une unite de puissance auxiliaire pour un fauteuil roulant
US10864127B1 (en) 2017-05-09 2020-12-15 Pride Mobility Products Corporation System and method for correcting steering of a vehicle

Also Published As

Publication number Publication date
NO20012476D0 (no) 2001-05-18
EP1131029A1 (fr) 2001-09-12
GB2343871A (en) 2000-05-24
NO20012476L (no) 2001-07-12
GB9825171D0 (en) 1999-01-13
GB9927175D0 (en) 2000-01-12

Similar Documents

Publication Publication Date Title
US4953646A (en) Electronic drive propulsion device for motor vehicles
JP4422415B2 (ja) ２輪車
EP1488102B1 (fr) Mecanisme de mobilite spherique
EP1131029A1 (fr) Fauteuils roulants
CA1136415A (fr) Vehicule-jouet
JP2000302017A (ja) 乗用ゴルフカートのブレーキ機構
JP3940792B2 (ja) ゴルフカートの後退時制御装置
JP3490860B2 (ja) 車両の制動制御装置
JP3596389B2 (ja) バッテリー式乗用ゴルフカート
JP4049430B2 (ja) ゴルフカート
CN210162184U (zh) 一种利用差速转向的漂移车
JP2010111332A (ja) 電動車
JPH10165454A (ja) 小型電動車
JP2854927B2 (ja) 電気モータを用いる自動車のブレーキ装置
JP3743367B2 (ja) 自動走行車の速度制御装置
JPS6347541Y2 (fr)
JP3802356B2 (ja) 電動車の走行制御装置
JP3792372B2 (ja) リーチフォークリフト
KR102653135B1 (ko) 속도 감지에 따른 보조 바퀴 제어가 가능한 전동 킥보드
JPH0247599Y2 (fr)
CN201375623Y (zh) 一种电动轮椅
JP2740379B2 (ja) 電気車
CN211252897U (zh) 一种平衡车制动机构
JP2000115904A (ja) 電動車の安全装置
JPH07277156A (ja) 自走車両の駐車ブレーキ装置

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CN JP NO US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
WWE Wipo information: entry into national phase

Ref document number: 1999972091

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1999972091

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1999972091

Country of ref document: EP