WO2018002768A1 - Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride - Google Patents

Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride Download PDF

Info

Publication number
WO2018002768A1
WO2018002768A1 PCT/IB2017/053654 IB2017053654W WO2018002768A1 WO 2018002768 A1 WO2018002768 A1 WO 2018002768A1 IB 2017053654 W IB2017053654 W IB 2017053654W WO 2018002768 A1 WO2018002768 A1 WO 2018002768A1
Authority
WO
WIPO (PCT)
Prior art keywords
stair
track
wheels
wheelchair
climbing
Prior art date
Application number
PCT/IB2017/053654
Other languages
English (en)
Inventor
Giuseppe Quaglia
Walter Franco
Matteo NISI
Original Assignee
Politecnico Di Torino
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 Politecnico Di Torino filed Critical Politecnico Di Torino
Priority to EP17740785.5A priority Critical patent/EP3478238B1/fr
Publication of WO2018002768A1 publication Critical patent/WO2018002768A1/fr

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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • 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
    • A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame

Definitions

  • the present invention relates to the field of systems to assist the movement of people with disabilities or reduced mobility, in particular it refers to stair-climbing wheelchairs.
  • the present invention refers more specifically to a stair-climbing wheelchair provided with a hybrid locomotion system according to the preamble of Claim 1.
  • this solution is not equipped with motors for flat ground motion and has the disadvantage of allowing climbing architectural barriers only with the help of an assistant who keeps the wheelchair balanced.
  • the wheelchair without an external aid does not show any condition of static balance, since in general the projection of its centre of gravity falls outside the area comprised between the wheel- stairs contact points, and almost always this area is reduced to an ideal segment between the contact points of the wheels, to the right and to the left, in contact with a single step.
  • non-motorized front track allows to have a wheelchair which is substantially stable, lighter, less bulky and subject to less oscillations with respect to previously described wheelchairs, such solution does not ensure a correct distribution of contact forces in its front and rear support points, causing possible traction and grip problems of the wheelchair, in particular during the stair-climbing motion. Also, it is not able to generate a straight translational motion of the user of the wheelchair during the climbing of stair flights.
  • the object of the present invention is to overcome the drawbacks of the known art.
  • it is an object of the present invention to provide a stair-climbing wheelchair with a hybrid locomotion system having characteristics of high safety and comfort for the user, and also a higher power autonomy.
  • the basic idea of the present invention envisages to realize a stair-climbing wheelchair comprising a frame provided with a seat intended to accommodate a user to be transported, and a locomotion unit comprising a couple of clusters of wheels. Further, the wheelchair comprises passive supporting means that are movable between a stowed position wherein they are raised from the ground and an extracted position wherein they are in contact with the ground.
  • the passive supporting means comprise a track configured in such a way that, in its extracted position, the frame rests at the front on the locomotion unit and at the rear on the track
  • the stair-climbing wheelchair further comprises at least one mechanical device linked between the locomotion unit and the seat, adapted to cooperate with the track for compensating the oscillations of the seat generated by the movement of the couple of clusters of wheels, and configured in such a way as to allow a substantially translational motion of the seat during a stair- climbing motion of the stair-climbing wheelchair.
  • front/ at the front is used to indicate the side of the wheelchair, and each individual component thereof, that a user has in front of him/ herself
  • rear/ at the rear is used to indicate the side of the wheelchair, and each individual component thereof, that a user has behind him/ herself.
  • At least one mechanical device of the wheelchair adapted to allow a translational motion of the seat during its motion comprises a cam-follower mechanism, wherein the cam is coupled to a connecting shaft connected to the couple of clusters of wheels, and wherein the follower is hinged to a supporting element integral with the seat.
  • Figures 1 and 2 illustrate an overall view respectively in flat ground motion and stair-climbing motion of a stair-climbing wheelchair according to the invention
  • FIGS. 3a, 3b and 3c illustrate respectively a front section view, a side section view and an enlarged detail of the side section view of a first constructive detail - the locomotion unit - of the stair-climbing wheelchair according to the invention
  • FIGS. 4a and 4b illustrate an overall view of a first and a second embodiment of a second constructive detail - the transmission assembly - of the stair-climbing wheelchair according to the invention
  • FIGS. 5a, 5b and 5c illustrate an overall view in a first operating position, a side view in a first operating position and an overall view in a second operating position of a detail of a third constructive detail - the frame - the stair-climbing wheelchair according to the invention
  • FIGS. 6 and 7 illustrate a simplified side view and a schematic view of an enlarged detail of the stair-climbing wheelchair according to the invention
  • FIGS. 8 and 9 illustrate an overall view of two different operative configurations of a fourth constructive detail - the track - of the stair-climbing wheelchair according to the invention
  • figure 10 shows an overall view of a preferred embodiment of a fifth constructive detail - the track moving means - of the stair-climbing wheelchair according to the invention
  • figures 11a, lib and 11c each illustrate a side view of the constructive detail of figure 10 in three different operating positions
  • FIGS. 12a and 12b illustrate an overall view and an enlarged detail of an alternative embodiment of the track moving means of the stair-climbing wheelchair according to the invention
  • figures 13a, 13b, 13c and 14 illustrate an overall view of a first, a second and a third embodiment of a sixth constructive detail - the mechanical device compensating the oscillations of the seat - of the stair-climbing wheelchair according to the invention
  • figures 15 and 16, respectively, illustrate a first and a second embodiment of a seventh constructive detail - the seat - of the stair-climbing wheelchair according to the invention.
  • Figures 1 and 2 illustrate overall views of a stair-climbing wheelchair 1 according to the invention.
  • figure 1 shows the wheelchair 1 in flat ground motion conditions
  • figure 2 shows the wheelchair in stair-climbing motion conditions.
  • the stair-climbing wheelchair 1 comprises a frame 2, provided with a seat 3 intended to accommodate a user 100, in particular a user with disabilities or reduced mobility, and a locomotion unit 4 to allow the movement of the wheelchairs 1.
  • the stair-climbing wheelchair 1 is an electric wheelchair, i.e. which is provided with an electric motor assembly adapted to transmit a torque to operate a transmission assembly connected to the locomotion unit 4, and which will be discussed in more detail thereafter.
  • the wheelchair 1 further comprises passive supporting means (5, 6), idle or in any case non-motorized, connected to the frame 2, and movable between a stowed position wherein they are raised from the ground la, and an extracted position wherein they are in contact with the ground la.
  • the supporting means comprise a track 6 and a pair of pivoting wheels 5.
  • the supporting means comprise a track 6 and a pair of pivoting wheels 5.
  • the supporting means In use, and in a condition of flat ground motion of the wheelchair 1 - as illustrated in figure 1 - it corresponds to a stowed position of the track 6 and to an extracted position of the pivoting wheels 5, in such a way that the track 6 is accommodated inside the volume occupied by the wheelchair 1, and the pivoting wheels 5 are in contact with the ground la.
  • pivoting wheels 5 of the wheelchair 1 are illustrated in such a way that during its flat ground motion, i.e. in their extracted position, i.e. in contact with the ground la, they are positioned at the rear of locomotion unit 4, the pivoting wheels 5 can also be arranged at the front of the locomotion unit 4, when they are in their extracted position, simply entailing a slight modification of the framework structure of the wheelchair 1 with respect to the illustrated examples.
  • the locomotion unit 4 comprises a couple of identical clusters of wheels 40 - of which only one is illustrated in the figures - positioned at the front of opposite sides of the frame 2 and mutually in axis.
  • the couple of clusters of wheels 40 is mounted at a distance such as to minimize the overall dimension of the wheelchair 1 and to confer the necessary mobility even in confined spaces (e.g., to allow an easy passage through the internal doors in buildings).
  • Each clusters of wheels preferably comprises three wheels 41, connected to a box-like body constituted by a supporting structure 42 - or planet carrier - and by a cover.
  • the wheelchair 1 may provide for the use of a different number of wheels, such as for example two or four wheels, according to the design choices aimed at further reduced dimensions and weights of the wheelchair 1.
  • the planet carrier 42 comprises a central portion from which three supporting arms 43 extend, each for a respective wheel 41 and angularly equidistant from one another, and is provided with a housing 44 for accommodating a gear train therein.
  • the gear train is of the epicyclical type and comprises a sun gear 45, positioned centrally in the housing 44, integral with a drive shaft 45a and that meshes with three planet wheels 46, each positioned on a respective arm 43.
  • the sun wheel 45 and the related drive shaft 45a are hollow in order to enclose a shaft 42a integral with the planet carrier 42.
  • Each planet wheel 46 is hinged to the planet carrier 42 and allows to obtain the same direction of rotation between the sun wheel 45 and a second assembly of gears, in this case three gears 47.
  • Each gear 47 of the second group of gears is arranged on a respective arm 43 and each meshes with a corresponding satellite wheel 46.
  • each gear 47 of the second group of gears is hinged to the planet carrier 42 and integral to a shaft 47a on which the wheel 41, preferably in rubber, is rigidly mounted, destined to come into contact with the ground la.
  • each clusters of wheels 40 of the locomotion unit 4 has two degrees of freedom: the rotation of the sun gear 45 and the rotation of the planet carrier 42 respectively controlled by the drive shaft 45a and by the shaft 42a.
  • Figure 4a shows a first embodiment of the transmission assembly of the wheelchair 1 that, in order to simplify its structure and to ensure synchronous rotation of both cluster of wheels 40, provides a connecting shaft 48 that connects the shafts 42a controlling the rotation of the respective planet carriers 42.
  • the couple of clusters of wheels 40 generally has three degrees of freedom since the rotations of both planet carriers 42 result coupled.
  • an electric motor assembly comprising three gear motors, indicated in figure 4a with the references 7a, 7b and 7c.
  • Two of the three gear motors 7a and 7b are coupled to a respective drive shaft 45a connected to the sun wheel 45 of a corresponding planet carrier 42, while the remaining gear motor 7c is coupled to the connecting shaft 48 and is adapted to manage the rotation of both planet carriers 42 of the couple of clusters of wheels 40.
  • the gear motor 7c coupled to the connecting shaft 48 is configured to ensure an irreversibility of the rotational motion, in such a way as to maintain the wheelchair 1 in position also when the motor assembly is not powered.
  • the connecting shaft connects the planet carriers of each cluster of wheels 40 and is mounted in a non-coaxial way with respect to the spin axis of the drive shafts 45a connected to the sun gears 45.
  • two supporting elements 49 are provided integral with the frame 2, each disposed in the vicinity of the two planet carriers 42 and adapted to support the connecting shaft 48a.
  • Each supporting element 49 supports at one end a coaxial hinge to a respective drive shaft 45a of the sun gears 45, and at the other end a coaxial hinge to the connecting shaft 48a.
  • the connecting shaft 48a is coupled to the gear motor 7c adapted to control the motion of the two planet carriers 42, and to each of its ends a gear is keyed, which meshes with a corresponding gear mounted integral with a respective planet carrier 42 of the cluster of wheels 40.
  • the gear motors 7a, 7b are mounted, adapted to control the rotation of the latter.
  • the gear ratio between the gears mounted on the end of the connecting shaft 48a and the gears mounted integral with a respective planet carrier 42 is 3:1, so as to couple a complete rotation of the connecting shaft 48 with a 120° rotation of the cluster of wheels 40 during the stair-climbing motion, which corresponds to climbing a step.
  • such configuration allows to limit the overall dimension of the transmission assembly, and facilitates and simplifies the assembly thereof in the stair-climbing wheelchair 1, since it does not require the presence of shafts and coaxial motors entailing a greater constructive complexity, such as hollow shafts and multiple hinges, for example.
  • the frame 2 of the wheelchair 1 is shown.
  • the frame 2 is constituted by a first and a second sub-frame mutually hinged by means of a couple of hinges (20a, 20b). Such coupling corresponds to hinge C in the diagram of figure 7.
  • the first sub-frame comprises a structure provided with a first rod 2a and a second rod 2b, intended to connect reciprocally the other components of the wheelchair 1.
  • the two rods 2a, 2b are integral and parallel one another, i.e. they constitute a single rigid body that does not allow their relative rotation.
  • each rod (2a, 2b) corresponds to segment PC.
  • two drive shafts 45a of the respective sun gears 45 and two shafts 42a rotating the planet carriers 42 connected to the connecting shaft 48 are hinged in the point of the frame 2 indicated with P.
  • the second sub-frame is constituted by a supporting element 30 integral with the seat 3 of the wheelchair 1, which corresponds to segment RC represented in figure 7.
  • the wheelchair 1 rests on two pivoting wheels 5, each mounted on one end of a movable rod 51, in such a way that, when the wheels are in contact with the ground la, they support the wheelchair 1 during the flat ground motion.
  • each bar is hinged to the frame 2 at the opposite end of the end provided for the pivoting wheels 5.
  • different embodiments can provide bars 51 hinged to the supporting element 30 of the seat 3.
  • the movable bars 51 are hinged at one end of the frame 2 and, in particular, in correspondence of the planet carrier 42 of the cluster of wheels 40, they can be hinged at any other point belonging to the two bodies, provided that it allows the pivoting wheels 5 to move between the extracted position, in which they rest on the ground la - as illustrated in figures 5a, 5b, and the stowed position, in which they are raised from the ground la - as shown in figure 5c.
  • the movement of the two movable bars 51 and of the relevant pivoting wheels 5 connected thereto occurs by the actuation of a linear or rotary actuator (not represented in the figures).
  • the motion of the wheelchair 1 is controlled by the coordinated action of the two reduction gears 7a, 7b coupled to the drive shafts 45a of the solar gears 45, and of the gear motor 7c coupled to the connecting shaft 48 moving the planet carriers 42.
  • the track 6, which comprises the hinge indicated with reference S, moves with a translational motion along a straight line, parallel to the plane lying on the edges of the steps of the stair.
  • the latter is hinged to the track 6 in correspondence of the hinge S, and the distance between the point R belonging to the supporting member 30 of the seat 3 and the point P belonging to the planet carrier 42 of the cluster of wheels 40, is controlled in such a manner as to compensate for the motion of P with respect to R.
  • the wheelchair 1 comprises at least one mechanical device linked between the locomotion unit 4 and the seat 3, adapted to cooperate with the track (6) for compensating the oscillations of the seat 3 generated by the movement of the couple of clusters of wheels 40, and configured in such a way as to allow a substantially translational motion of the seat 3 during the motion of the stair-climbing wheelchair 1.
  • such mechanical device comprises a first mechanism that allows to connect the supporting element 30 of the seat 3 to the track 6, and a second mechanism that manages the distance between P and R as a function of the rotation of the cluster of wheels 40.
  • the first mechanism can move the track 6 between the stowed position for flat ground motion (in which the track 6 is raised and is not in contact with the ground la) and the extracted position in which the track 6 rests on the stair during the climbing motion.
  • the track 6 is idle, i.e. non-motorized, and at its maximum extension it preferably has a length greater than twice the maximum pitch between the steps of stairs that the wheelchair must climb (where pitch means the pitch is the hypotenuse of the triangle which has as catheti the riser and the tread of the step).
  • the wheelchair 1 preferably provides a telescopic track.
  • the telescopic track of the embodiment illustrated in the figures comprises a first portion 6a on which the previously described hinge S is positioned, having a substantially rectangular structure, each opposite long side thereof is wound by a belt 61 and are connected at one end by a cross member 62.
  • Alternative embodiments may comprise a non-telescopic track, provided with a single belt (or for example with a rubber track), or a plurality of belts.
  • the track 6 comprises one or more parts, connected to one another so as to be movable and such as to allow a retracted configuration in which the track 6 occupies a minimum volume, and an extended configuration of the latter in which it occupies a maximum volume.
  • the opposite long sides are provided with a linear guide 63 which constrains the sliding of a second telescopic portion 6b of the track 6.
  • the second telescopic portion 6b slides parallel inside the first fixed portion 6a, and it is also provided with belts 61 intended to come into contact with the plane of the stairs.
  • An actuator (not represented in the figures) allows to pass from the retracted configuration (figure 8) to the extended configuration (figure 9) of the telescopic track, and vice versa.
  • the retracted configuration minimizes the overall dimension of the track 6 inside the volume occupied by the wheelchair 1 during the flat ground motion, while the extended configuration ensures a sufficient length of track 6 during the stair-climbing motion.
  • the second telescopic portion 6b results extracted in such a way as to expand the track 6 in a direction which extends at the rear of the wheelchair 1.
  • the track 6 is shifted into the retracted or extended position by means of a mechanism connected to the supporting element 30 of the seat 3, which will be discussed in more detail shortly. With respect to such mechanism, the track 6 is further free to rotate about an axis perpendicular to the sagittal plane of the wheelchair 1 by means of a hinge 64, indicated with reference S in figure 7.
  • both the fixed portion 6a and the telescopic portion 6b of the track 6 provide distinct contact surfaces by means of belts (i.e. two parallel and spaced apart half-rollers), however not illustrated alternative embodiments, and as previously mentioned, may provide a single contact surface for the fixed portion 6a and for the telescopic portion 6b, for example.
  • the mechanism allowing to shift the track 6 between the stowed position during the flat ground motion and the extracted position during the stair-climbing motion is shown.
  • Such mechanism allows, moreover, to manage with continuity the distance of the frame 2 (especially that of the hinge indicated with letter C in figure 7) from the plane of the stairs during the different operative stages.
  • the mechanism provides a bar connecting the hinge S integral to the fixed portion 6a of the track 6 to a hinge connected to the supporting element 30 of the seat 3. Thanks to this mechanism, the hinge is moved in the plane leaving free the rotation of the fixed portion 6a of the track 6 with respect to the supporting element 30.
  • This solution is similar to the example shown in figure 10, but deprived of the rods indicated by references 32 and 33.
  • a different alternative embodiment of such mechanism provides two equal and parallel articulated parallelograms moving at the two sides of the track 6.
  • Each articulated parallelogram is constituted by the supporting element 30 of the seat 3, which is hinged to the ends of two rods (31, 32), the latter in turn hinged to the opposite ends of a connecting rod 33, hinged to the fixed portion 6a of the track 6.
  • the two rods (31, 32) have the same length and the connecting rod 33 has a length equal to the distance between the hinges 34a and 34b provided on the supporting element 30 of the seat 3.
  • the articulated parallelogram mechanism thus realized allows to move in the plane the hinge S of the fixed portion 6a of the track 6, while also translating the connecting rod 33, which is always parallel to the segment joining the hinges (34a, 34b) provided on the supporting element 30 of the seat 3.
  • This solution allows to introduce limitations to the rotation of the fixed portion 6a of the belt 6 with respect to the connecting rod 33, for example by adding contact surfaces on the latter, and allowing to improve the mobility control of the track 6, without introducing further actuation systems.
  • Figures 11a, lib and 11c show the track 6 provided with the articulated quadrangle mechanism in three different operating configurations that maintain its inclination constant with respect to the connecting rod 33.
  • a possible embodiment for the mechanism can provide the use of a single articulated parallelogram.
  • the articulated quadrangle mechanism provides a hook 36 integral with the telescopic portion 6b of the track 6 adapted to engage, in a closed track configuration, a pin 37 integral with the connecting rod 33.
  • This solution makes the fixed portion 6a of the track 6 integral with the connecting rod 33 in the closed track configuration.
  • the motion system of the track 6 with respect to the supporting element 30 may also be implemented by mechanisms having two or three degrees of freedom actuated independently, that manage the relative position between the two elements.
  • this latter provides not only the mechanism just described that allows to connect the supporting element 30 of the seat 3 to the track 6, but also a second mechanism to manage the distance between the point R belonging to the supporting member 30 of the seat 3 and the point P belonging to the planet carrier 42 of the clusters of wheels 40, in such a way as to compensate for the motion of P with respect to R.
  • a first embodiment of this second mechanism provides a system with a cam and a follower.
  • the cam 80 is integral with the connecting shaft 48 that connects the shafts 42a controlling the rotation of the planet carriers 42 of the clusters of wheels 40, then rotates together with the clusters of wheels;
  • the follower 81 is for example a roller tappet, and it is hinged to the supporting element 30 of the seat 3.
  • the mechanism can control the distance between P and R - see figure 7 - so as to compensate the movement of point P during the rotation of the clusters of wheels 40 and can ensure a translational motion of the seat.
  • This solution also allows to control the distance PR in a passive manner, i.e. by operating without the aid of control and actuated systems, but by exploiting the gear motors (7a, 7b, 7c) of the clusters of wheels 40, to the advantage of the constructive simplification of wheelchair 1.
  • a gear wheel is keyed, which meshes with a corresponding gear mounted integral with a respective planet carrier 42 of the cluster of wheels 40.
  • such pair of gears preferably have a gear ratio of 3:1, such configuration allows to couple a complete rotation of the connecting shaft 48a with a 120° of rotation of the cluster of wheels 40, rotation corresponding to the climbing of a step during the stair- climbing motion of the wheelchair 1.
  • the cam 80a is integral with the connecting shaft 48a rotating together with the clusters of wheels, and is coupled to the follower 81a, the latter hinged to the supporting element 30 of the seat 3.
  • An alternative embodiment, illustrated in figure 14, provides that the mechanism of motion compensation of P with respect to R is implemented by an active control by means of an actuator 9.
  • the actuator 9 is hinged at one end to the connecting shaft 48 of the planet carriers 42, and at the other end to the supporting element 30 of the seat 3.
  • Such type of coupling is only a constructive example since, in general, in case of an active control of the distance between the point P and the point R, it is sufficient that one end of the actuator is connected to any point of the first sub-frame (2a, 2b) and the other end of the actuator to any point of the supporting element 30 of the seat.
  • the motion compensation mechanism of P with respect to R provides a combined use of the cam- follower mechanism and of the control system by means of the actuator, which were previously described.
  • the wheelchair 1 can also have different types of seat 3 installed, illustrated in figures 15 and 16, attached to the relevant supporting element 30, allowing to obtain a same structure of the wheelchair 1.
  • the seat 3 is fixed and rigidly connected to the relevant supporting element 30 by means of a generic link represented by the element indicated by the reference 35, such as for example a connecting bar.
  • a controlled degree of freedom can be added, regarding the positioning of the seat 3 with respect to the relevant supporting element 30.
  • this measure has been implemented by providing a hinge 36 for coupling the supporting element 30 and the seat 3, positioned in a generic point of the latter.
  • any other mechanism with a single degree of freedom could be used.
  • a possible alternative solution could be the use of an articulated quadrangle.
  • the introduction of a further degree of freedom requires, on the one hand, the introduction of an additional actuator 37, but allows to obtain an adjustment of the posture of the user 100 on the wheelchair, and the possibility to control and manage the centre of gravity position.

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)
  • Handcart (AREA)
  • Organic Insulating Materials (AREA)

Abstract

La présente invention concerne un fauteuil roulant permettant de monter des escaliers (1) comprenant un châssis (2) avec un siège (3) destiné à recevoir un utilisateur (100) à transporter, une unité de locomotion (4) comprenant un couple de groupes de roues (40). Le fauteuil roulant (1) comprend également des moyens de support passifs mobiles entre une position escamotée dans laquelle ils sont élevés du sol (la) et une position extraite dans laquelle ils sont en contact avec le sol (la). Les moyens de support passifs comprennent un rail (6) conçu de manière que, dans ladite position extraite, le châssis (2) repose à l'avant sur l'unité de locomotion (4) et à l'arrière sur ledit rail (6), le fauteuil roulant permettant de monter des escaliers (1) comprend en outre au moins un dispositif mécanique lié entre l'unité de locomotion (4) et le siège (3) et apte à coopérer avec le rail (6) pour compenser les oscillations du siège (3) générées par le mouvement du couple de groupes de roues (40), ledit dispositif mécanique étant conçu de manière à permettre un mouvement de translation du siège (3) lors d'un mouvement de montée d'escalier du fauteuil roulant permettant de monter des escaliers (1).
PCT/IB2017/053654 2016-07-01 2017-06-20 Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride WO2018002768A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17740785.5A EP3478238B1 (fr) 2016-07-01 2017-06-20 Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102016000068576 2016-07-01
IT102016000068576A IT201600068576A1 (it) 2016-07-01 2016-07-01 Carrozzina elettrica montascale con sistema di locomozione ibrido

Publications (1)

Publication Number Publication Date
WO2018002768A1 true WO2018002768A1 (fr) 2018-01-04

Family

ID=57609941

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2017/053654 WO2018002768A1 (fr) 2016-07-01 2017-06-20 Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride

Country Status (3)

Country Link
EP (1) EP3478238B1 (fr)
IT (1) IT201600068576A1 (fr)
WO (1) WO2018002768A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108186217A (zh) * 2018-01-25 2018-06-22 鱼台众邦智能科技有限公司 自驾上下楼轮椅
CN108514478A (zh) * 2018-05-14 2018-09-11 河南理工大学 一种新型的爬楼梯电动轮椅
CN110203294A (zh) * 2019-06-13 2019-09-06 陈小龙 一种自动爬楼装置
WO2020060798A1 (fr) * 2018-09-17 2020-03-26 Toyota Motor North America, Inc. Bases électriques modulaires pour fauteuils roulants
CN112891082A (zh) * 2021-03-05 2021-06-04 金华职业技术学院 一种具有爬台阶功能的电动轮椅车

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109505927B (zh) * 2018-12-28 2023-08-04 内蒙古工业大学 一种实现重物上楼梯搬运的电动小车

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6341784B1 (en) * 1998-11-17 2002-01-29 Otto Bock Orthopaedische Industrie Besitz-Und Verwaltungs-Kommanditgesellschaft Motor-driven stair climbing device
US6484829B1 (en) * 2000-07-03 2002-11-26 Kenneth Ray Cox Battery powered stair-climbing wheelchair
CN204233314U (zh) * 2014-11-24 2015-04-01 周广刚 用于电动爬楼轮椅的防滑装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6341784B1 (en) * 1998-11-17 2002-01-29 Otto Bock Orthopaedische Industrie Besitz-Und Verwaltungs-Kommanditgesellschaft Motor-driven stair climbing device
US6484829B1 (en) * 2000-07-03 2002-11-26 Kenneth Ray Cox Battery powered stair-climbing wheelchair
CN204233314U (zh) * 2014-11-24 2015-04-01 周广刚 用于电动爬楼轮椅的防滑装置

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108186217A (zh) * 2018-01-25 2018-06-22 鱼台众邦智能科技有限公司 自驾上下楼轮椅
CN108186217B (zh) * 2018-01-25 2020-05-08 鱼台众邦智能科技有限公司 自驾上下楼轮椅
CN108514478A (zh) * 2018-05-14 2018-09-11 河南理工大学 一种新型的爬楼梯电动轮椅
CN108514478B (zh) * 2018-05-14 2022-04-19 河南理工大学 一种新型的爬楼梯电动轮椅
WO2020060798A1 (fr) * 2018-09-17 2020-03-26 Toyota Motor North America, Inc. Bases électriques modulaires pour fauteuils roulants
US11173079B2 (en) 2018-09-17 2021-11-16 Toyota Motor North America, Inc. Modular power bases for wheelchairs
JP2022502121A (ja) * 2018-09-17 2022-01-11 トヨタ モーター ノース アメリカ，インコーポレイティド 車椅子用モジュール式動力基盤
AU2019344532B2 (en) * 2018-09-17 2022-07-07 Toyota Motor North America, Inc. Modular power bases for wheelchairs
JP7185771B2 (ja) 2018-09-17 2022-12-07 トヨタ モーター ノース アメリカ，インコーポレイティド 車椅子用モジュール式動力基盤
CN110203294A (zh) * 2019-06-13 2019-09-06 陈小龙 一种自动爬楼装置
CN110203294B (zh) * 2019-06-13 2020-09-01 陈小龙 一种自动爬楼装置
CN112891082A (zh) * 2021-03-05 2021-06-04 金华职业技术学院 一种具有爬台阶功能的电动轮椅车

Also Published As

Publication number Publication date
IT201600068576A1 (it) 2018-01-01
EP3478238B1 (fr) 2020-05-27
EP3478238A1 (fr) 2019-05-08

Similar Documents

Publication Publication Date Title
EP3478238B1 (fr) Fauteuil roulant électrique permettant de monter des escaliers muni d'un système de locomotion hybride
US11020293B2 (en) Multi-function person handling equipment
AU2017220582B2 (en) Supporting structure
KR101043207B1 (ko) 휠체어식 보행 보조용 로봇
US6902178B2 (en) Transport chair for a patient
US6328120B1 (en) Stair climbing vehicle
KR100966751B1 (ko) 지능형 근력 및 보행 보조용 로봇
US7921954B2 (en) Stabilized mobile unit or wheelchair
US20130113178A1 (en) Mobile Manual Standing Wheelchair
MX2012009016A (es) Dispositivo que permite a una silla de ruedas electrica cruzar obstaculos.
KR101363850B1 (ko) 지능형 근력 및 보행 보조용 로봇
CZ2013859A3 (cs) Robotické mobilní modifikovatelné lůžko
CN101460133A (zh) 残疾人用的多位置轮椅
US20190290513A1 (en) Mobile device and transmission assembly
CN113143613A (zh) 多功能轮椅
KR101012734B1 (ko) 전동식 이동보조장치
CN108969215A (zh) 可变结构多功能截瘫助行器
JP7025333B2 (ja) 移動補助器
CN112137809A (zh) 多功能室内助老椅
EP3395313A1 (fr) Robot cognitif pour la rééducation et le transport
EP2883523A1 (fr) Véhicule mobile modulaire avec empattement réglable
TWI798223B (zh) 座椅旋轉操縱的電動椅
WO2008135835A2 (fr) Monte-escalier motorisé
KR20190115300A (ko) 수직 및 경사 승강이 가능한 이송장치
KR101708123B1 (ko) 휠체어

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17740785

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017740785

Country of ref document: EP

Effective date: 20190201