WO2010142277A1

WO2010142277A1 - Transport means, in particular for physically disabled people

Info

Publication number: WO2010142277A1
Application number: PCT/DE2010/000652
Authority: WO
Inventors: Wolfgang Hucke; Roland Steinke
Original assignee: Steinke Technikus Gmbh
Priority date: 2009-06-12
Filing date: 2010-06-08
Publication date: 2010-12-16
Also published as: DE112010002446A5; DE202009008144U1

Abstract

The invention relates to transport means, in particular for physically disabled people, having a frame structure (1) and a seat structure (2) which is secured to the frame structure (1). The invention is characterised by a device for progressive movement (3) which acts as a connection element between the frame structure (1) and the area of movement and which comprises at least six driven and controlled moving elements (3.0) that are arranged at a distance from each other on the frame structure (1). Each moving element (3.0) is coupled to the frame structure (1) by means of an articulation having at least one rotary degree of freedom about an essentially vertical rotational axis and each moving element (3.0) has at least two additional articulations, each having at least one rotary degree of freedom about an essentially horizontal rotational axis. Each moving element (3.0) is subdivided into at least two sections (3.1, 3.2) which are arranged in series one behind the other, and the sections (3.1, 3.2) are separated by one of the articulations (3.7) having at least one rotary degree of freedom about an essentially horizontal rotational axis.

Description

Means of transport, in particular for physically disabled people

The invention relates to a means of transport, in particular for physically disabled people, for locomotion in open terrain.

Generic means of transport are also referred to as wheelchair. The wheelchair is a vehicle for people who are restricted in their ability to walk due to physical disability or impairment. The wheelchair enables these people to still be mobile.

Conventional wheelchairs move on wheels. The wheel as a basic element of such a movement requires a nearly flat and fixed rolling surface. The independent locomotion of a physically handicapped person in open terrain with always occurring obstacles or on soft ground is almost impossible with a conventional wheelchair.

The person with disabilities sitting in the wheelchair is forced to rest exclusively on level and paved surfaces or paths designed specifically for wheelchair users. This suffers his freedom of movement and quality of life.

DE 102004019040 A1 discloses a stair climber for self-climbing, adaptable to hand wheelchairs with a frame, a seat surface, a backrest surface and with a seat trailing edge, where the planes of seat and backrest surface intersect, as well as with a stair-climbing unit, such as a caterpillar. The so-called stair-climbing unit comprises a second frame or is firmly integrated into the frame of the wheelchair. The wheelchair comprises at least one lever, which is rotatably mounted on the frame. The axis of rotation of the lever is approximately perpendicular to the rear edge of the seat and is not more than 15 cm from the rear edge of the seat. The said lever has an approximately perpendicular to

Rotary axis oriented longitudinal axis, wherein the rotary axis remote part of each lever has a wheel as a rolling means on the ground. The lever is driven relative to the frame and can be rotated by at least 360 degrees.

DE 202005004562 U1 discloses a device for the autodynamic overcoming of steps and step systems for mounting on an active wheelchair with an operating unit, which enables the wheelchair user to handle the device, with a leveling construction designed for the wheelchair during the step overcoming to keep in a constant position of seven degrees inclination (backwards). A stairclimber placed on the wheelchair, which can be used to lift and set down the device on the nearest landing with the help of two wheels that can each move to the nearest staircase. The device further comprises two electric drive motors with a control device and with a sensor device which has at least one inclination sensor which is designed to detect the inclination of the wheelchair. Characteristic of this invention is the design of the control device for controlling the leveling and the stair climbing depending on the inclination of the wheelchair.

A particular disadvantage of the solutions described above is that the wheels need a flat and fixed rolling surface for locomotion. The step-over devices are single-purpose solutions designed for steps of a certain size. To overcome obstacles in open terrain, such as unpaved roads with stones, path columns, stairs u. Ä., These solutions are unsuitable.

The object of the invention is to develop a means of transport so that by this means of transport the physically handicapped, in particular handicapped people better mobility is made possible. In particular, the means of transport should be designed so that physically disabled people in the open terrain with obstacles in the way, such. As stones, to be overcome steps or stairs and soften substrates, such as forest soil, can move.

This object is achieved by a means of transport, in particular for physically disabled people, according to the first claim. The dependent on the first claim claims 2 to 15 include further advantageous features of the invention and embodiments of the transport according to the invention.

An inventive transport means has a frame construction and a seat structure attached to the frame construction. As a link between the frame construction and the Bewegungssterrain a means for locomotion is provided, which has at least six driven and controlled running elements, which are arranged spaced from each other on the frame structure. The coupling of each running element to the frame construction takes place by using a joint with at least one rotational free element. degree of inertia about a substantially vertical axis of rotation. Each running element has at least two further joints with at least one rotational degree of freedom about a substantially horizontal axis of rotation and is divided into at least two sections arranged in series one behind the other, wherein the sections by means of one of the joints with at least one rotational degree of freedom about a substantially horizontal axis of rotation connected to each other. Preferably, all running elements are designed identical.

The movement of the means of transport is ensured by a device for locomotion, which consists of at least six running elements. Each running element is made as a leg-like structure which is rotatably mounted on the frame structure. The running elements are arranged with respect to the center of gravity to each other on the frame structure that the means of transport is placed both in locomotion and when standing stable and secure on the ground. This is achieved in that the running elements are rotatably mounted to the frame construction at those points which are equally spaced from the center of gravity of the entire transport. The rotation axes of the joints with a rotational degree of freedom, which are arranged between the frame structure and the running elements, are parallel to each other. In this case, each running element is divided into at least two sections arranged one behind the other in series, wherein additional joints with a rotational degree of freedom are arranged between the individual sections.

The attached to the frame construction seat construction is formed in a conventional manner as an ergonomically designed seat for physically disabled people, the seat is provided with a handicapped accessible equipment.

It has proved to be particularly advantageous if the running elements are arranged on the frame structure in two rows oriented in the direction of the running movement. The articulation points of the running elements are usually placed in a common horizontal plane. The two rows of tread elements are laterally hinged to the frame structure, so that the six tread elements with their at least three degrees of freedom are not hindered by the frame construction in their movement.

In a preferred embodiment of the invention, the joint arranged between the frame construction and the first section of a running element has two rotational degrees of freedom, one axis of rotation of this articulation kes in the vertical direction and the second axis of rotation is positioned in the horizontal direction. As a result, an advantageous geometry of the running element is achieved for an efficient and fast stepping movement.

According to the invention, the axes of rotation of the joint arranged between the sections of a running element are positioned with a rotational degree of freedom in the horizontal direction.

The rotational axis of the joint with a rotational degree of freedom is thus oriented orthogonal to the vertical axis of rotation of the joint with two rotational degrees of freedom. The sections of a running element are freely movable both in the horizontal and in the vertical plane, so that each running element can execute the horizontal and vertical movement components necessary for a step movement. An inventive means of transport can be moved by coordinated steps of the running elements.

From nature, numerous biological systems are known whose locomotion is analogous to the means of transport according to the invention. The musculoskeletal system of a six-legged spider or insect has many of the features of the invention for locomotion-like traits, and is a very efficient and energy-efficient form of movement, especially in uneven terrain.

Preferably, at least one section of each running element has a joint with at least one translatory degree of freedom (sliding joint) for changing the length of this section. Each running element has in this embodiment of the invention due to a joint with two rotational degrees of freedom, a joint with a rotational degree of freedom and at least one section with a joint with at least one translational degree of freedom at least four degrees of freedom.

Preferably, the joint is arranged with at least one translational degree of freedom in the section of the running element, which rests on the Bewegungssterrain. This measure facilitates movement in uneven or soft terrain, for example on forest or field soil as well as overcoming horizontal obstacles, such as stairs, stones or entrance edges in public transport, considerably. In order to be able to overcome the obstacles which occur most frequently in urban areas, namely stairs, curbs or steps, the movement length of the joint is dimensioned with at least one translational degree of freedom such that a change in length is achieved which is at least as high as a conventional stair step. that means about 15 to 25 centimeters, corresponds.

In a further advantageous embodiment of the invention, the running element has an annularly closed articulated chain with four joints, each with at least one rotational degree of freedom, wherein the axes of rotation of the four joints are parallel to each other IeI positioned - parallelogram.

The running element has in such an embodiment, a very high rigidity, which act on the individual joints with a rotational degree of freedom significantly lower forces.

The above-described embodiment of the running element with a ring-closed joint chain with four joints, each with at least one rotational degree of freedom can advantageously be further developed by the arrangement of another joint with at least one translational degree of freedom in the joint chain. The result is a joint chain with five joints, wherein four joints each have at least one rotational degree of freedom with rotational axes parallel to each other and a joint has at least one translational degree of freedom. Due to the joint with the translational degree of freedom, a section of the running element is made variable in its length and thus expands the range of motion of the running element.

Advantageously, the frame construction of the transport is carried out in lightweight construction. This can be, for example, a pipe construction. A frame construction of tubes is particularly advantageous due to the high strength and low weight, which is very important in a mobile transport.

Preferably, the running elements are controlled in groups of three running elements. At least three running elements standing up on the moving terrain ensure a sufficiently secure position of the means of transport. In this case, the center of gravity of the means of transport is constantly located within a triangle whose vertices are the points of contact of the respective running elements rising on the path of movement. The walking elements may be controlled by muscle power and / or joysticks and / or intelligent computer control and / or by a GPS module.

Preferably, a pressure sensor is arranged in the trained for getting up on the moving terrain section of each running element, which detects the contact of the running element with the Bewegungssterrain. The signal of the detection serves to control the running elements for the movement of the means of transport. Depending on the result of the detection, the control either initiates a new step process or controls the rising of the running elements on the moving terrain.

The operation of the means of transport according to the invention using the aforementioned device features can be carried out as follows:

Detecting the contact of the running elements with the moving terrain using the pressure sensors,

Lifting a group of three running elements using one or both joints with a substantially horizontal axis of rotation,

Turning the runners of this group using the hinge with a substantially vertical axis of rotation and

• depositing the runners of this group on the roadway using one or both joints with a substantially horizontal axis of rotation.

Since the center of gravity of the means of transport is always located above a triangle whose vertices are the points of contact of the respective running elements rising on the path of movement, the sequence of movements described above is a so-called static walking. The means of transport can not fall over without the action of an external force.

Of course, the movement of the running elements can also be controlled so that a dynamic walking takes place, in which the center of gravity of the means of transport can also be outside of the triangle whose vertices are the points of contact of each upstanding on the movement terrain running elements, without causing a tipping of the means of transport. However, the necessary control is much more complex.

In a further preferred refinement of the means of transport, means for stabilizing the position of the seat, for example a gyrocompass, are provided, wherein the position stabilization of the seat by the control of the running elements, that is, the joints with a substantially horizontal axis of rotation and / or the joints with a translatory degree of freedom.

The significant advantages and features of the invention over the prior art are essentially:

• Universal use of the means of transport for physically handicapped people or for a payload, since a movement is possible on every movement terrain. • The means of transport - unlike the classic wheelchair - are suitable for a variety of types of movement, for example, for forward and backward movement, to the side corridor, cornering and climbing gear for overcoming height differences.

• The means of transport has a comfortable walking behavior for physically handicapped people.

• The means of transport can be transported well due to its compact design; Transport in the trunk of a car is possible without disassembly.

• The opportunities for people with disabilities to participate more fully in society as a whole are being widened because of their better mobility.

With the embodiment described below, the invention will be further explained, but without limiting it to this embodiment.

The accompanying drawings show in

Figure 1: a single running element, in

FIG. 2 shows a further embodiment of the running element, in which the running element is designed as a joint chain with four joints, each with at least one rotational degree of freedom

Figure 3: a further embodiment of the running element, in

Figure 4: an overall view of the transport, in

FIG. 5 shows an illustration of the contact points of the running elements rising on the moving rainbow at a step and

Figure 6: a flow diagram for the control of the transport means according to the invention. FIG. 1 shows a schematic embodiment of a running element 3.0. The running element 3.0 has two successive arranged by a joint 3.7 with a rotational degree of freedom sections 3.1 and 3.2. A joint 3.4 arranged between the first section 3.1 and the frame construction 1 comprises two partial joints 3.4.1 and 3.4.2, each with a rotational degree of freedom. The axis of rotation 3.5 of the partial joint 3.4.1 is vertical, the axis of rotation 3.6 of the second partial joint 3.4.2 aligned horizontally. The movement of the corresponding joint elements of the partial joints 3.4.1 and 3.4.2 of the joint 3.4 about the axes of rotation 3.5 and 3.6 is effected by not shown, preferably electro-hydraulic drives. The arranged between the first section 3.1 and the second section 3.2 joint 3.7 with a rotational degree of freedom is analogous to the partial joint 3.4.2 formed with horizontally oriented axis of rotation 3.6 of the joint 3.4. Its axis of rotation 3.6 is also aligned horizontally. In the second section 3.2, a joint 3.8 is arranged with a translational degree of freedom. As a result, the length of this second section 3.2 is variable. The tail of the second section 3.2 is designed for safe getting up on the moving terrain as a footrest 3.9.

FIG. 2 shows a further embodiment of the running element 3.0, in which the running element 3.0 has an annularly closed articulated chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom - parallelogram guidance. The running element 3.0 has three sections 3.1, 3.2 and 3.3, which are connected by joints 3.7.1 and 3.7.2, each with at least one rotational degree of freedom. The sections 3.1 and 3.3 are in each case connected with part joints 3.4.2.1 and 3.4.2.2 with at least one rotational degree of freedom, which are part of the arranged on the frame structure 1 joint 3.4, whereby the link chain is closed. The axes of rotation 3.6 of all four joints of the articulated chain are aligned horizontally and parallel to each other. The articulated chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom, is arranged at the section 3.2 a joint 3.8 with a translational degree of freedom. The end of Section 3.2 is designed as a footrest 3.9.

3 shows a development of the embodiment of the running element 3.0, which has a ring-closed joint chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom, as shown in Figure 2 , The development has in the joint chain on another joint 3.8 with at least one translational degree of freedom. The joint is arranged in the illustrated embodiment in section 3.3 and allows a change in length of this section 3.3. Thereby, the range of motion of the running element 3.0 is extended by the section 3.2 of the running element 3.0 is pivotable in a vertical plane.

FIG. 4 shows an overall view of the means of transport according to the invention. The means of transport comprises a frame construction 1, a seat construction 2, a means 3 for locomotion, comprising six running elements 3.0 and a control. The frame structure 1 consists of a frame made of several tubes, the tubes being made of aluminum alloy or other light metals. On the frame structure 1, a seat structure 2 is fixed, which is designed to be physically handicapped. That is, the seat structure 2 is adapted to the user ergonomically shaped and upholstered or equipped with straps or other accessories. At the Sitzkonstrukti- on a control element is arranged, through which the user can control the movement of the means of transport. The operating element is preferably designed as a joystick. On the frame construction 1 is an energy source, preferably an electric accumulator, arranged for the drives. The means 3 for locomotion comprises six leg-like running elements 3.0, which are articulated laterally to the frame construction 1 in two rows of three running elements 3.0 each. Each running element 3.0 has two sections 3.1 and 3.2 arranged in series one behind the other and connected by a joint 3.7 with a rotational degree of freedom. A joint 3.4 arranged between the first section 3.1 and the frame construction 1 is formed by two part hinges each having a rotational degree of freedom, the axis of rotation of the part joint directly connected to the frame structure 1 being vertically aligned, whereas the axis of rotation of the second part joint of the joint 3.4 is oriented horizontally is. In the section 3.2 of each running element, a joint 3.8 is arranged with a translational degree of freedom, whereby the length of this second section 3.2 is variable. The tail of the second section 3.2 is designed for safe getting up on the moving terrain as a footrest 3.9. The lower contact surface of the footrest 3.9, which is in contact with the movement soil, can be designed to be interchangeable in order to achieve reliable contact with different terrain materials and surfaces. At rest, the width and length of the transport means according to the invention shown are 600 mm x 900 mm. FIG. 5 shows the contact points of the running elements rising on the moving floor in one step, that is to say the displacement of three running elements 3.0. The center of gravity 5 of the means of transport is constantly located above a triangle whose vertices are the points of contact of the running elements 3.0 rising on the moving terrain. In the illustrated case, the length 4 of a step is 150 mm.

FIG. 6 shows a flow diagram for controlling the transport means according to the invention during the forward movement. One step has the following sequence:

• Make sure that the running elements 3.01 left, 3 left and 2 right on the moving terrain are firmly raised by the stroke of the joint 3.8 with a translatory degree of freedom

Lifting the running elements 3.02 left, 1 right and 3 right by moving the respective joints 3.4.2 and / or 3.7 with a substantially horizontal axis of rotation,

• Turning the joints 3.4.1 with a substantially vertical axis of rotation of the running elements 3.02 left, 1 right and 3 right around its vertical axis of rotation by a rotation angle that gives such a step length 4 that the center of gravity 5 of the means of transport remains above the triangle, whose vertices the contact points of the upstanding on the Bewegungssterrain running elements 3.01 left, 3 left and 2 right = forward movement of the frame structure 1,

Moving the running elements 3.02 left, 1 right and 3 right by moving the respective joints 3.4.2 and / or 3.7 with essentially horizontal axis of rotation, Ensuring that by the stroke of the joint 3.8 with a translational degree of freedom the running elements 3.02 left, 1 right and 3 right firmly on the ground of movement to get up.

The following step is carried out in the same sequence of movements, but with the difference that the running elements 3.01 left, 3 left and 2 right are moved and the running elements 3.02 left, 1 right and 3 right stand firmly on the Bewegungssterrain.

The sequence described corresponds to a tripod gear, in which at any one time three running elements 3.0 stand up on the moving terrain, for example the road. List of reference numbers used

1 - frame construction

2 - seat construction 3 - means of locomotion

3.0 - running element

3.1 - Section of a running element

3.2 - Section of a running element

3.3 - Section of a running element 3.4 - Joint with two rotatory degrees of freedom

3.4.1 - Partial joint with a substantially vertical axis of rotation

3.4.2 - Partial joint with a substantially horizontal axis of rotation

3.5 - vertical axis of rotation

3.6 - horizontal axis of rotation 3.7 - Joint with a rotational degree of freedom

3.8 - Joint with a translatory degree of freedom

3.9 - Footrest

4 - stride length

5 - Center of gravity of the means of transport

Claims

claims

1. Transport means, in particular for physically handicapped people, with a frame construction (1) and a frame structure (1) fixed seat construction (2), characterized in that serving as a link between the frame structure (1) and the movement tray means for locomotion ( 3) is provided, which at least six driven and controlled running elements (3.0), which are arranged on the frame structure (1) spaced from each other, wherein the coupling of each running element (3.0) to the frame structure (1) each using a joint (3.4. 1) with at least one rotational degree of freedom about a substantially vertical axis of rotation (3.5) and wherein each running element (3.0) at least two further joints (3.4.2, 3.7) with at least one rotational degree of freedom about a substantially horizontal axis of rotation (3.6) and each runner (3.0) in at least two in series one behind the other the arranged sections (3.1, 3.2) are articulated and the sections (3.1, 3.2) are connected to one another by means of the joint (3.7) with at least one rotational degree of freedom about a substantially horizontal axis of rotation (3.6).

2. Transport means according to claim 1, characterized in that the running elements (3.0) are of identical construction.

3. Transport means according to claim 1 or 2, characterized in that the running elements (3.0) are arranged on the frame structure (1) in two, oriented in the direction of the running movement rows.

4. Transport means according to claim 1 to 3, characterized in that between the frame construction (1) and the first section (3.1) angeord- Neten joint (3.4) has two rotational degrees of freedom, wherein a rotation axis (3.5) of this joint in the vertical direction is positioned and a rotation axis (3.6) is positioned in the horizontal direction.

5. Transport means according to one of claims 1 to 4, characterized in that the axis of rotation (3.6) of the between the first section (3.1) and the second section (3.2) of a running element (3.0) arranged joint (3.7) with a rotatory Degree of freedom is positioned in the horizontal direction.

6. Transport means according to one of claims 1 to 5, characterized in that at least one section (3.1, 3.2) of each running element (3.0) has a joint (3.8) with at least one translational degree of freedom to change the length of this section (3.1, 3.2) ,

7. Transport means according to claim 6, characterized in that the joint (3.8) is installed with a translatory degree of freedom in the section (3.2).

8. Transport means according to claim 6 or 7, characterized in that the difference between the minimum and maximum length of the section (3.2) is at least the height of a conventional step.

9. Transport means according to one of claims 1 to 8, characterized in that the running element (3.0) has an annular closed joint chain with four joints (3.4.2.1, 3.4.2.2, 3.7.1 and 3.7.2), each with at least one rotational degree of freedom wherein the axes of rotation (3.6) of the four joints (3.4.2.1, 3.4.2.2, 3.7.1 and 3.7.2) are aligned substantially horizontally and parallel to each other.

10.Transportmittel according to claim 9, characterized in that within the annular closed joint chain, another joint (3.8) is arranged with at least one translational degree of freedom.

11 transport means according to one of claims 1 to 10, characterized in that the frame construction (1) is made in lightweight construction.

12.Transportmittel according to one of claims 1 to 11, characterized in that the running elements (3.0) are controllable in groups, each with three running elements (3.0) per group.

13. Transport means according to one of claims 1 to 12, characterized in that the running elements (3.0) by muscle power and / or joysticks and / or intelligent computer control and / or by a GPS module are controllable.

14.Transportmittel according to any one of claims 1 to 13, characterized in that in the formed for getting up on the moving terrain section (3.2) of each running element (3.0), a pressure sensor is arranged.

1 δ.Transportmittel according to one of claims 1 to 14, characterized in that

Means for stabilizing the position of the seat (2) are provided, wherein the position stabilization of the seat (2) by controlling the running elements (3.0) takes place.