CN103501747B - Stair Climbing Attachment for Wheelchairs - Google Patents

Abstract

The present invention describes a step climbing attachment adapted for attachment to a wheeled chair. The step climbing attachment includes: a chassis for mounting one or more ground engaging units; first and second ground engaging units mounted to the chassis, at least one of the first and second ground engaging units being adapted to move relative to the other of the first and second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step engaging support position, such that in use at least one of the first and/or second ground engaging units engages a step.

Description

Stair Climbing Attachment for Wheelchairs

technical field

The present invention generally relates to a stair climbing accessory suitable for use in a range of movable objects such as trolleys, walkers, wheelbarrows, chairs, scooters and the like. In selected embodiments, the present invention relates to wheelchairs, including wheelchairs that provide increased mobility for the infirm and disabled.

Background technique

Chairs, mobility baskets and carts, walkers, scooters, etc. are useful for carrying and moving items such as luggage, groceries, heavy objects, and people. Some of these items can be motorized, but many of these devices have limitations when it comes to traversing stairs. Some wheeled attachments are known but involve heavy, bulky and inflexible equipment.

Wheelchairs are especially difficult to maneuver over uneven ground, shoulders, gutters, and stairs are the most difficult of these. This is true when the wheelchair is a manually propelled chair, and even more so if it is an electric chair that uses electricity for propulsion and steering. Chairs of the latter type are heavy and bulky due to the propellers and the on-board energy storage system, and the known models are not easy to drive on uneven ground, especially, as mentioned above, on stairs.

The present invention provides an improved step climbing accessory suitable for use with wheeled chairs such as wheelchairs and other vehicles.

definition

Throughout this specification and the appended claims, the following phrases are given meanings as would be applied by those skilled in the art and are explained below.

Ground-engage position: The support position assumed by an element of the apparatus described herein, where the element abuts a portion of open ground, typically resting on it from above for support such as a chair, etc. At least a portion of the item's mass is moved.

Step abutment position: A support position assumed by an element of the apparatus described herein, wherein the element abuts or abuts against a tread portion of a step in order to support at least part of the mass of a movable item such as a chair.

Contents of the invention

According to one aspect of the present invention, there is provided a step climbing accessory adapted to facilitate traversing irregular trails, pavements and clearings and suitable for use with a wheelchair, said step climbing accessory comprising:

a chassis, suitable for mounting to the base area of the wheelchair;

At least first and second ground abutment units are operably mounted to said chassis, at least one of said first and second ground abutment units being adapted to oppose said first or second ground abutment units The other of them and the chassis move, the relative movement being between a ground abutment position and a step abutment support position.

Several different alternative arrangements are optionally provided, including from a fully passive arrangement, to a semi-passive arrangement, or to a fully electric arrangement, wherein the support assembly is controlled by, for example, the movement of the chair to which the support assembly is attached. Kinetic energy advances the step abutment position, the support assembly is not self-propelled in a semi-passive arrangement but the motor lifts the ground abutment unit into the step abutment position, while walking and climbing steps are both done by the motor in an all-electric arrangement . Other combinations are also possible, such as arrangements that are self-propelled but passively climb stairs.

Semi-passive arrangement (casters)

The ground abutment unit may be arranged in any suitable manner, including such that the ground abutment unit comprises one or more poles, skids, skids and/or wheel assemblies. In a preferred embodiment, said first and second ground abutting units are wheel assemblies and each comprise ground abutting castors. In an exemplary embodiment, the ground abutment caster includes a hub for rotating the main caster body thereabout. The hub may comprise any suitable arrangement including a generally central axis of rotation or a rotating outer ring or peripheral hub where the outer ring or annular tire or outer wheel assembly is mounted on the bearing race and rotates about the disc-shaped wheel body.

The chassis itself may have an integral ground-engaging portion. Optionally however, the chassis includes a mounting assembly to mount the first and second ground abutment units to the chassis such that one or more of the ground abutment units can abut a ground rather than the chassis itself. The movement of the mounting assembly to move the ground abutment unit may be vertical, horizontal, extensional, rotational about a yaw axis, or pivotal about a horizontal axis or a combination of one or more of these movements.

In a preferred embodiment, the mounting assembly comprises a pivot element such that, in use, the ground abutment unit and/or chassis rotate or swing about a horizontal axis and by doing so, the ground abutment unit Swing between the ground abutting support position and the step abutting support position.

Optionally, the pivot member comprises at least one linkage arm extending between a chassis end and a wheel end, wherein the chassis end is mounted at a chassis mounting point; and a wheel end, mounted to a wheel or to the ground butt against the mounting point of the unit. Optionally, the wheel end of the link arm is rotatably mounted to the wheel or ground abutment unit to rotatably mount the link arm to the wheel or ground abutment unit.

Optionally, the wheel end of the or each link arm is mounted eccentrically to the ground abutment unit, however, if the ground abutment unit has a center, for example when the ground abutment Where the unit is in the form of a wheel, the wheel end may then be mounted to the center of the ground abutting unit. The chassis end may be mounted to the chassis at a location remote from the center of rotation of the wheel and, optionally, outside the periphery of the wheel.

In a preferred embodiment said link arm is in the form of a linkage such that said wheel can be moved and controlled by mounting said wheel at one of said linkage joints. In one embodiment, said center of rotation of said wheel is movable outside of said wheel itself. Optionally, the first linkage is in the form of a four-bar linkage, wherein first and second links are pivotally mounted on the chassis at spaced apart locations, the first link being arranged more than The second link is low. In the usual four-link form, the third link is in the form of one of the wheels and the fourth link is formed by the chassis itself. Optionally, said first link is shorter than said second link so as not to jam in operation. Optionally, the second link comprises a spring and/or damper arrangement to provide a suspended chassis.

Optionally, a motor and gearbox are mounted within the wheels for pivoting the ground abutment unit into the step abutment position.

The hub is optionally connected to a distal end of the first link. Optionally, an outlet of the gearbox is arranged at this connection.

Optionally, a motor plate is provided and optionally mounted to the distal end of said second link. The motor plate extends over the rim and tread of the tire and is mounted centrally on the outboard side of the wheel.

Optionally, in use, one or the other ground abutment unit is arranged on the chassis at a position relatively forward than the other ground abutment unit, so as to facilitate climbing or descending stairs.

Optionally, one or more motors are provided to rotate the link or linkage to enable rapid and accurate positioning of the ground abutment unit on or above the step face. Optionally, the motor and linkage and linkage are adapted to be strong enough to raise or lower their part in the mass of the chair when in use. The link arm can be integrally formed with the disc-shaped main wheel body.

Optionally, the chassis is arranged between two wheels.

Optionally, the chassis includes a swivel mount such that the chassis can be rotated about a yaw axis passively or actively under the control of a control system and a motor that turns or steers in response to operator input. Optionally, in use, the swivel seat is arranged in front of the link arm pivot seat to improve stability during forward movement.

Optionally, said first and second ground abutment units or wheels and chassis are relatively movable or operable independently. Optionally, this independent operation is under the power of a separately driven electric motor.

Self-propelled ladder climbing arrangement

In one arrangement, the first ground abutment unit is a powered wheel assembly capable of providing propulsion to a chair or stroller. Although it could be used in other non-powered arrangements, in this arrangement the second ground abutment unit is in the form of a planetary wheel mounted so as to encircle the track of said first powered wheel assembly. Optionally, an idler wheel is provided and configured to contact the wheel face of the powered wheel assembly, and in operation, the idler wheel is configured to contact the first and second wheels for for additional support and to change the direction of rotation of the second planetary or ground abutment unit.

Optionally, one or more brackets are provided to support the planet wheels radially outwardly relative to the first power wheel. In this embodiment, the or each bracket's proximal end may be abutted to the hub assembly or chassis assembly such that the planet wheels are positioned in a manner similar to the first powered wheel. Rotation speed rotation. Optionally, said second wheel assembly moves into said step abutment position which is relatively higher or lower than said ground abutment position.

In some preferred embodiments, this bracket or a further provided different bracket supports said idler wheel at a position radially outward relative to said powered front wheel.

In operation, the planet wheels themselves may run on the ground and be powered by the first power wheel through the idler wheel.

Optionally, two planetary wheels are provided, one is generally arranged in front of the power wheel, and the other is usually arranged behind the power wheel.

Another arrangement of self-propelled stair climbing wheels optionally uses a wheelchair drive motor for both propulsion and climbing so that no separate dedicated motor is required for stair climbing. A belt stretched between large and small pulleys may be used, or other arrangements as described above may be used.

In an alternative arrangement, the gearbox could be provided as a variation of the standard two stage planetary gearbox. The first stage then comprises a first gear forming a sun gear, a second gear forming a planet gear and the outer ring forming a ring gear. A spider is provided, which also acts as a sun gear for the second stage. A third set of gears arranged adjacent to the first stage may be provided, provided in the form of planetary gears, and a solid ring used as the ring gear of the second stage and secured to the frame of the wheelchair. A wheel arm may be provided which forms the spider for the second stage and is the output of the gearbox. A tire may be connected to the ring gear of the first stage so that it forms a drive or push wheel.

When the geared arrangement described above is in operation, the first stage ring gear is secured to the wheelchair, for example using a brake, and under power, the wheel arm is then spaced between 4 and 4 with respect to the input shaft. :1 to 12:1 ratio rotation; said tire will be held in place.

In drive or push mode, the first stage ring gear (and tires) are released and the first stage spider is secured in turn, the wheel arms remain stationary and the ring gear and tires are in a -1:1 ratio Ratio rotation, which is essentially equal speed but opposite direction.

In a geared embodiment, the gear arrangement can achieve and use two clutches and two brakes to disengage and engage the wheel arms with the same result as the tires, but only need to use two brakes.

In one of caster, powered, or hand wheel arrangements, or in a powered wheel arrangement for hand wheels, the axle of the wheel can be operably mounted to said chassis of said support attachment, or with The bottom frame is integrally formed.

In another embodiment, there is provided a step climbing arrangement for powered and even non-powered wheels comprising a rotating undercarriage comprising two spaced apart pulleys between which a A track is installed that extends in an endless loop between two spaced apart pulleys. One pulley includes the gear arrangement as described above, and the other pulley is smaller than the other pulleys. In use, the track pushes the chair along the ground, and when a step is encountered, the chassis rotates to lift the small pulley and the track pushes the chair up the step, the track only allowing the chair to It pushes itself up sloped rather than flat terrain. In some optional embodiments, the track is a rubber ring or a tire.

The geared arrangement described above and the differential arrangement can be combined to facilitate climbing up stairs since a lower gear is selected.

According to an alternative embodiment of the present invention there is provided a step climbing accessory for a wheelchair, the step climbing arrangement comprising: an underframe, a first pulley, and a second pulley spaced from the first pulley , and a track extending between said pulleys, wherein said chassis is rotatable such that, in use, said track can be tilted for said chair to ascend a staircase.

According to another aspect of the present invention, there is provided a wheelchair adapted to traverse irregular ground including steps, the wheelchair including at least one step climbing accessory, the step climbing accessory comprising:

a chassis, suitable for mounting to the base area of the wheelchair;

At least first and second ground abutment units are operably mounted to the chassis, at least one of the first and second ground abutment units being adapted to be positioned relative to the first or second ground abutment unit The other and the chassis move, the relative movement being between a ground abutment position and a step abutment position.

According to yet another aspect of the present invention, there is provided a control system for controlling a step climbing accessory attached to a wheelchair, and the step climbing accessory includes: a base frame and a first and A second ground abutment assembly, the control system configured to move the first ground abutment assembly together with the second ground abutment assembly or independently of the second ground abutment assembly, the movement relative to each other or relative to the chassis, the movement being further such that either the first or second ground abutting assembly is in a ground abutting position relative to moving between step abutment positions; and the control system is further configured to extend, raise or lower the ground support chassis to a height equal to the height or descent of the steps.

According to still another aspect of the present invention, there is provided a method for a wheelchair to climb over a ladder, the method comprising the following steps: installing a first ground abutment assembly and a second ground abutment assembly to a supporting chassis; supporting the chassis and/or the second ground abutment support assembly, moving at least said first ground abutment support assembly between a ground abutment position and a step abutment position; extending, lifting or lowering said ground support chassis A height equal to the height or depth of the steps.

According to yet another aspect of the present invention there is provided a computer program product for configuring a control system to control a step climbing accessory unit attached to a wheelchair, said computer program product configuring said control system to pass The step of traversing the ladder is moving the first ground abutment assembly or the second ground abutment assembly relative to the other ground abutment assembly or the chassis, the first and second ground abutment assemblies an assembly is directly or indirectly attached to the chassis, the movement further causes the first or second ground abutment assembly to move between a ground abutment position and a step abutment position; and supporting the ground chassis Extends, raises or lowers a height equal to the height or depth of the ladder.

According to yet another aspect of the present invention, there is provided a kit of parts for retrofitting a wheelchair to climb steps and irregular ground, the kit of parts comprising: a step climbing accessory adapted to facilitate crossing irregular trails, roads and clearings, and Suitable for use with a wheelchair, the step climbing accessory includes:

a chassis adapted to be mounted on a base region of the wheelchair; the chassis is further adapted to operably mount one or more ground abutment units;

At least first and second ground abutment units are operably mounted to said chassis, at least one of said first and second ground abutment units being adapted to oppose said first or second ground abutment units The other of them and the chassis move, the relative movement being between a ground abutment position and a step abutment position.

According to another aspect of the present invention, there is provided a method for improving a manual wheelchair or a self-propelled wheelchair or scooter with one-wheel drive, two-wheel drive, three-wheel drive, four-wheel drive, or more Undulating or uneven ground or steps, the method comprising the steps of providing a step climbing accessory adapted to facilitate traversal of irregular trails, roads and clearings and adapted for use with a wheelchair, the step climbing accessory comprising :

a chassis adapted to be mounted on the base area of said wheelchair;

At least first and second ground abutment units are operably mounted to said chassis, at least one of said first and second ground abutment units being adapted to oppose said first or second ground abutment units the other of the two and the chassis, the relative movement being between a ground abutment position and a step abutment position;

and connecting the step climbing accessory to the wheelchair.

Optionally, the control system controls the relative movement of the first and second ground abutment units. Optionally, the control system includes hardware and software architectures, such as processors, memory devices, storage devices, input/output devices and other suitable peripheral devices.

Optionally, the control system is adapted to receive input from a suitable input unit, in response to which input the control system may make selected adjustments to the relative movement of the first and second ground abutment units .

Optionally, the input unit includes a step detector for detecting changes in ground height, such as laser, radar, light beam, ultrasonic unit and the like. Further, optional inputs include receivers that receive inputs from wireless transmitters or other networks such as the Internet or other control signals.

Additionally, optional electronics, modules and or input units may be provided to provide positional control information to the processor regarding chassis height, or wheel or slide pad rotation, or movement or extension. These units may include, for example, encoder units, linear or rotary converter units, and the like.

Optionally, the circuit is a circuit with a voltage of 24V DC, however it is understood that other voltages may also be suitable. Optionally, compact electrically commutated motors are provided to power the preferably eccentric and independent rotation of each wheel. Optionally, set up the motor drivers to provide independent speed and direction control for each motor. The motor driver also allows the motor terminals to be shorted for enhanced lockout when not in use. Optionally, a microcontroller decodes the output of the encoder to provide speed and direction signals to the motor driver and to communicate with the wheelchair control system for self-propelled wheelchairs.

Optionally, the motor is of a form that fits in the space package provided by the castors. Optionally, these motors include compact gearboxes such as harmonic drives and/or gearboxes and quadrature encoders.

Optionally, include slip rings for the wires to allow continuous rotation of the casters. Optionally, the control device or mechanism or electronic system also controls the attitude and height of the chassis and supporting units. This control is achieved by directly driving the caster axle or providing a second point of attachment other than the wheel contact point.

In one arrangement, a non-powered passive mechanism may be included, but a spring or other device may be used simultaneously or sequentially to use the kinetic energy associated with pushing the chair or cart, and with contact steps to move the first and/or The second ground abuts the unit or the wheels and eventually moves the chassis into the step abutment position with the associated impact.

Throughout the specification, unless the context requires otherwise, the word "comprise" or variations such as "includes" or "includes" should be understood to mean the inclusion of the specified element, integer or step, or the inclusion of the specified element, integer or step, or the inclusion of the element, integer or step group, but does not exclude any other elements, integers or steps, or groups of elements, integers or steps.

Any discussion of documents, acts, materials, devices, articles etc. in this specification is included only for the purpose of providing a context for the invention. It is not to be taken as an admission that any of these, or all of them, formed part of the prior art base or were common general knowledge in the field relevant to the present invention before the priority date of each claim of this specification.

In order that the present invention may be more clearly understood, exemplary embodiments will be described with reference to the following drawings.

Description of drawings

Figure 1 is an isometric view of a step climbing accessory according to a first embodiment of the present invention for use with a wheelchair or other wheeled or mobile item and placed on a flat surface;

Figure 2 is a perspective view of a ladder climbing mechanism (showing the ground abutting a tire or belt) according to a second embodiment of the present invention, said mechanism being placed on a flat surface;

Figure 3 is a perspective view of a wheelchair according to an embodiment of the present invention adapted to use the first and second embodiments of the present invention shown in Figures 1 and 2;

Figure 4 is a partial perspective view of the geared mechanism shown in Figure 2;

Fig. 5 is a perspective view of a ladder climbing accessory according to a third embodiment of the present invention, the ladder climbing accessory being placed at the base of a ladder;

Fig. 6 is a perspective view of the step climbing accessory of Fig. 5, which is arranged in such a position that the first wheel has been raised and is ready to be extended into the step abutment position, and the chassis is being raised over the second wheel;

Figure 7 is a perspective view of the ladder climbing attachment of Figure 5 with the first wheel in the ladder abutment position;

Figure 8 is a perspective view of the ladder climbing accessory of Figure 5 with the second wheel lifted off the ground and ready to be brought into the ladder abutment position;

Fig. 9 is a perspective view of the ladder climbing accessory in Fig. 5, both wheels abut against the ladder;

Figure 10 is a perspective view of a ladder climbing accessory according to another embodiment of the present invention;

Figure 11 is a plan view of the ladder climbing attachment of Figure 10;

Figure 12 is a perspective view of a ladder climbing accessory according to another embodiment of the present invention;

Figure 13 shows the embodiment of Figure 12 in a stepped abutment position;

Figure 14 shows the embodiment shown in Figure 13 in side view;

Figure 15 is a perspective view of the embodiment of the invention shown in Figures 12-14 with some items removed for clarity;

16 is a flowchart of an exemplary method of climbing a ladder using an embodiment of the invention;

17 is a schematic diagram of a control system architecture for implementing an exemplary method of climbing stairs using an embodiment of the present invention;

Figure 18 is another schematic diagram of the control system components; and

Figure 19 is a schematic diagram of the control system components.

detailed description

Passive wheel or idle castor wheel (idle castor wheel) arrangement

Referring to Figures 5 to 9, there is shown a ladder climbing accessory generally indicated at 10, which is suitable for use with a wheeled chair or wheelchair (Figure 3), or other wheeled or movable items such as scooters, carts, etc. appendix. The step climbing accessory includes a chassis 12 for mounting a first ground abutment unit 14 and a second ground abutment unit 16 . The first ground abutment unit 14 and the second ground abutment unit 16 are in the form of caster wheel assemblies 15, 17, however, they may also be in the form of sliding pads, skids, poles and the like.

The caster assemblies 15 , 17 include hubs 18 , 19 for passive rotation about main caster bodies 20 , 22 . Hubs 18 , 19 include central shaft assemblies 24 , 25 . Connected to the hub are linkage arms 26 , 27 extending between a chassis end 28 and an axle end 29 . The link arms 26, 27 are rotatably connected with bearings at their ends to allow rotation of the element to which they are connected. The chassis end 28 of the link arm is mounted on the chassis at a location remote from the axle end 29 which is arranged at the central axis of the wheel.

As shown, the point of rotation of the chassis ends of the linkage arms 26, 27 is remote from the center of rotation of the wheels 20, 22, with the point of rotation 30 of the first ground abutting the main wheel body 20 being at the second ground abutting the main wheel body 21. forward of the pivot point 31 to provide additional reach for the accessory 10 .

The chassis 12 includes a mounting point 32 in the form of a pivot stub 33 so that the accessory can passively rotate about a yaw axis (about axis 33 ). Alternative arrangements include steering or power bias rotation control of the shaft 33 .

A passively rotating master link arm is considered as an option. However, in the preferred embodiment shown, a motor 35 and gearbox 34 are provided for rotating the linkage arms 26,27. The motor 35 may be hydraulic or, preferably, electric and arranged tandem in use.

A link or mechanism is considered as an option to link the action of the link arms 26,27. However, in the preferred embodiment shown, the link arms 26, 27 are independently controlled and moved in use.

A control system (not shown) is provided to control the independent movement of the two link arms 26,27. The control system moves the two arms either automatically in response to input from sensors, encoders 90, or manually through other input devices such as control joysticks. The control system includes a software product for operating the linkage arm according to the methods described herein.

Like reference numerals refer to like parts in the different embodiments shown in the figures. For example, 10, 110 and 210 show different embodiments of the same concept of wheeled accessories, and so on.

One difference between the concepts shown in FIGS. 5-9 and 12-15 is that the solution of FIGS. 12-15 includes rotating circumferential tires 40 , 42 on fixed hubs 118 , 119 . This is intended to reduce the required annular thickness of the main wheel body 120 .

Another difference between the embodiments described in FIGS. 5-9 and FIGS. 1 and 12-15 is that the linkage is in the form of a four-bar linkage and the motor 135 is mounted on the wheel 120 . The first link 126 is in the form of a short arm and is rigidly connected to the plate 126A. The second link 127 is pivotally connected to the top of the chassis and is spaced from the first link 126 . The second link is also pivotally connected to the third link 128, and the third link can also act as a hub, so that the motor 135 and the link 128 are rigidly connected together. The chassis can be thought of as the fourth link in a complete four-bar linkage.

The second link 127 also includes a suspension comprising a spring and a damper 129 .

Self-propelled wheel arrangement

The arrangement shown in Figures 9, 10 and 11 comprises a first ground abutment unit 214 in the form of a self-propelled or powered main wheel body 220 and a second wheel 222 in the form of a planetary drive arrangement 280 The second ground abutment unit 216 of the form. The planetary drive arrangement 280 includes a support bracket 282 on which an idler 284 and the second wheel 222 are mounted.

In some arrangements, the planetary drive arrangement 280 may include a locking mechanism (not shown) that may be selectively locked against rotation of the main wheel body 220 to passively lift the main wheel body 220 upward into a stepped abutment position for butt against one or more steps. Locking mechanisms may include devices such as friction devices, cog dog arrangements, chains and sprockets.

In other arrangements, the rotation of the planetary drive arrangement may be powered by a dedicated actuator to provide a driving force between the carrier and the chassis or between the carrier 282 and the main wheel body 220 .

A differential gear system may be provided such that when the main wheel body 220 is in the ground abutting position and is powered along the ground without hindrance, the differential gear system transmits power to the drive wheels. When in use the main power wheel 220 is blocked by one or more steps, the differential gear transmits power to the support bracket 282 so that the second wheel 222 moves to the step abutment position and then lifts the main wheel body 220 onto the steps and enters in its own ladder abutment position.

The planetary drive arrangement may also include springs, dampers and other mechanisms to facilitate climbing up and down the steps, respectively.

The second wheels 222 can be used as ground abutting wheels to drive the wheelchair along the ground in the raised position. Other Caster Arrangements

Advantageously, the four bar linkage provides vertical upward positioning of the wheels when extended and provides greater lifting power.

Optionally, the hub is connected to the distal end of the first link. The gearbox outlet is provided at this connection.

Figure 2 shows another embodiment of a powered ladder climbing wheel. The gearbox provided in this example is a variation of the standard two-stage planetary gearbox. The first stage comprises the first gear forming the sun gear, the second gear forming the planets and the outer race forming the ring gear. In this arrangement, a spider is provided for the second stage and is also used as the sun gear. A third set of gears in the form of planetary gears arranged adjacent to the first stage is provided and the solid ring acts as the ring gear of the second stage and is secured to the wheelchair frame. Wheel arms are provided which form the spider for the second stage and are the output of the gearbox. The tires will be connected to the ring gear of the first stage.

The first stage ring gear is fixed to the wheelchair (using the brakes) while the rear wheel arm rotates at a ratio of 4:1 to 12:1 relative to the input and will hold the tires. When the first stage ring gear (and tire) is released, turn to fix the first stage spider, then the wheel arm will remain fixed and the ring gear and tire will rotate in a -1:1 ratio (same speed but opposite direction ). This means the wheelchair will drive at the same speed as it normally does.

The advantage of this gear arrangement is that it can achieve the same result as using two clutches and two brakes to disengage and engage the wheel arms and tires, but only need to use two brakes.

In operation, the actions of the embodiments of Figures 1, 5-9 and 12-15 are as follows. The attachment 10 goes over the steps in the following manner: FIG. 1 shows the attachment 10 approaching or abutting against the step 5 . The first and second ground-engaging wheel assemblies are arranged side-by-side.

Then, as shown in FIG. 6, the accessory 10 uses power to move the accessory into the stepped abutment position by rotating the two linkage arms 26, 27 (or linkage) in response to input from an arithmetic unit or other sensor or controller. . Movement of the second wheel arm lifts the chassis 12 and movement of the first wheel assembly 15 places the first wheel onto the step face 6 . Of course only one linkage arm rotation may be required to place the wheel 20 onto the tread or into a step (or tread) abutment position, but this depends on the height of the riser 7 .

Figure 7 shows the next step, which shows the linkage arm 27 in the vertical position, which causes the undercarriage 12 to be lifted to its highest possible relative position, and the other linkage arm 26 to extend upwards and forwards so that the wheels 15 abuts against the step surface 6. The wheels 22 are then lifted away from their ground abutment position ( FIG. 8 ), so as to free the stair risers 7 . Then, as shown in Figure 9, the wheelchair can be propelled or powered to move the chair up the stairs.

Typically the front wheels are simple passive casters and the rear wheels of the wheelchair are powered and have the embodiment shown in Figures 2 and 10-11 and the powered wheels will propel the wheelchair and front casters up the steps. When the wheelchair's rear wheels 220 and 222 encounter a step, the powered rear wheels pass over the step by using a planetary drive arrangement 280 .

The operation of the system is controlled by a controller, the block diagram of its operating components is shown in FIGS. 17 , 18 and 19 . The controller of the preferred embodiments of the present invention may generally take the form of a machine or smart phone or other computer, as outlined below.

The control system 100 includes a controller 101 having a processor 102 . Instructions and data controlling the operation of processor 102 in accordance with the present invention are stored in memory 103 , which is in data communication with processor 102 .

Typically, control system 100 will include both volatile and non-volatile memory and one or more of each type, collectively represented by memory 103 .

FIG. 18 shows a block diagram of the main components of exemplary memory 103 . The memory 103 includes a RAM 103A, an EPROM 103B, and a mass storage device 103C. RAM 103A generally temporarily holds program files and related data for execution by processor 102 . EPROM 103B may be a boot ROM device and/or may contain certain system or control related code. Mass storage 103C is typically used to store control programs, the integrity of which may be verified and/or authenticated by processor 102 using protected code from EPROM 103B or elsewhere.

The control system has an input/output (I/O) connection 105 for communicating with a display interface 120, which has a number of peripheral devices. The I/O interface 105 and/or peripheral device may be an intelligent device with its own memory to store related instructions and data for use with the I/O interface or peripheral device.

In the example shown in FIG. 17 , the peripherals in communication with the controller 101 include one or more sensors and/or actuators and/or a display 106 , a touch screen and/or button bank 107 , a printer 109 . Additional hardware may be included as part of the control system 100, or may be omitted as desired for a particular application implementation.

Additionally, the control system 100 may include a communication interface, such as a network card 112 . A network card may, for example, transmit status information, billing information, or other information to and receive data or instructions from a central controller, server, or database.

The operating components of the control system 100 may also be distributed, for example, the input and output devices 106 , 107 , 108 , 109 , 110 , 111 may be set remotely from the controller 101 .

Figure 19 shows a control system 200 according to an alternative embodiment. The control system 200 includes a network 201 (such as Ethernet), LAN or WAN. In this example, three controller banks 203 (each bank has two controllers 202 ) are connected to the network 201 . The control system 202 provides a user interface and may be the same as the control system 100 shown in Figures 17 and 18, or may have simplified functionality depending on the need to implement the controls. Although Figure 19 shows a bank 203 of two controllers, banks of one, three or more control systems are also contemplated.

One or more actuators 204 may also be connected to the network 201 . For example, actuator 204 may be associated with one or more control system banks. Actuators 204 may be used to achieve results related to control situations associated with control system 202 .

In a fat client embodiment, the control server 205 implements part of the control system using the control machine 202, and the control machine 202 implements part of the control algorithm. In this embodiment, since both the control server 205 and the control machine 202 implement part of the control algorithm, they jointly provide the controller. Database management server 206 may manage storage of control programs and associated data for download in database 206A or for access by control device 202 .

In a variation of the fat client embodiment described above, the control machine 202 may effectuate the control, while the control server 205 is only used to provide data representing the control algorithm to the control machine 202 for implementation.

In this implementation, a data signal containing a computer program, which the client can use to implement the control system, can be transmitted from the control server to the client, for example in response to a client request.

In a thin client embodiment, the control server 205 implements most of all control using the control machine 202, and the control machine 202 essentially provides only the control interface. In this embodiment, the control server 205 provides the controller. The control machine will receive the control instructions and pass the instructions to the control server which processes the instructions and returns the control results to the actuators for implementation. In a thin client embodiment, the controlling machine may be a computer terminal, such as a PC running software that provides a player interface operable using standard computer input and output components.

It will be appreciated that the support attachment according to preferred embodiments of the present invention is adapted to be integrated with a powered wheelchair, and in this case the support attachment may be used with a rear wheel drive wheelchair (as described in the preceding paragraph), or Used with front or middle wheel drive wheelchairs, which usually have two sets of castors on each side of the drive wheels facing the front and rear of the wheelchair respectively.

It will be understood by those skilled in the art that many variations and/or modifications may be made to the invention, as shown in the specific examples, without departing from the spirit and scope of the invention as broadly described. Therefore, the present embodiment is to be regarded as illustrative rather than restrictive in every respect.

Claims (19)

1. the ladder for wheelchair climbs an adnexa, and described adnexa includes:

Wheel installs underframe, is used for installing at least first round and second and takes turns；

The described first round and described second takes turns, and is each arranged on described wheel and installs on underframe, revolves for the axle around them Turn；

The described first round take turns with described second in each being suitable to move relative to another, described relative to another move use In between ground abutted position and ladder abutted position so that in use, during the described first round or described second takes turns At least one abuts ladder；And

Corresponding pitman arm, be connected to described wheel underframe is installed in case the described first round and described second are taken turns be installed to described Wheel installs underframe and each wheel in allowing the described first round and described second to take turns independently from abutting position, described ground Put and swing to described ladder abutted position；

The described first round and described second take turns at least one there is wheel hub, and during the described first round and described second takes turns At least one wheel has the motor and gear-box being arranged in described wheel hub, described motor and gear-box be connected to described accordingly Pitman arm in case the described first round or described second take turns in another be switched to ladder abutted position.

Ladder the most according to claim 1 climbs adnexa, and the short axle of pivot that wherein said adnexa is installed on wheelchair makes Described wheel installation underframe encloses and rotates about.

Ladder the most according to claim 2 climbs adnexa, and the wherein said first round and described second takes turns and includes wheel hub, is used for Make main castor body enclose to rotate about.

Ladder the most according to claim 1 climbs adnexa, and wherein said pitman arm is coupled and includes at least the first to be formed The four-rod linkage part of connecting rod and second connecting rod.

Ladder the most according to claim 4 climbs adnexa, and wherein said four-rod linkage part is arranged such that described four bars The described first connecting rod of STATEMENT OF FEDERALLY SPONSORED and described second connecting rod are pivotally mounted described wheel and install on underframe and separately Open, and connected by linking arm in the end of described first connecting rod and described second connecting rod.

Ladder the most according to claim 5 climbs adnexa, and wherein said first connecting rod is shorter than second connecting rod, in order in operation In will not run into blocking.

Ladder the most according to claim 6 climbs adnexa, in wherein said first connecting rod and described second connecting rod at least One connecting rod includes spring and/or damper arrangement, to provide at least part of suspension underframe.

Ladder the most according to claim 4 climbs adnexa, and wherein said wheel hub is connected to the described of described four-rod linkage part The end of first connecting rod.

Ladder the most according to claim 4 climbs adnexa, and wherein motor plate is set and is installed to described four-rod linkage part The end of described second connecting rod.

Ladder the most according to claim 1 climbs adnexa, the most in use, during the described first round and described second takes turns One be configured in described wheel install the first round and described second described in the ratio on underframe take turns in another relatively forward Position in, in order to climb ladder or downstairs.

11. ladders according to claim 10 climb adnexa, and wherein said wheel is installed underframe and is configured in described first Between wheel and described second is taken turns.

12. ladders according to claim 2 climb adnexaes, are provided with course changing control motor so that in response to operator Input rotates the short axle of described pivot and is used for carrying out course changing control.

13. ladders according to claim 1 climb adnexa, and the wherein said first round is power wheel member, to take turns to described Son is installed underframe and is provided thrust.

14. ladders according to claim 13 climb adnexa, and wherein said second takes turns in planetary wheeling assembly form, and quilt So install with the track around the described first round.

15. ladders according to claim 14 climb adnexa, be provided with idle pulley and described idle pulley is configured to and institute Stating the wheel face contact of power wheel member, and in operation, described idle pulley is configured in the described first round and described second and takes turns it Between.

16. ladders according to claim 14 climb adnexa, are provided with two planetary gears.

17. ladders according to claim 16 climb adnexa, wherein use differential system or belt system so that described Motor is for driving motor and being used for promoting and climbing.

18. ladders according to claim 17 climb adnexa, are provided with reducing the two-stage planetary gear of the third level, with Just one separating and abutting in described pitman arm so that planetary gear moves to ladder abutted position.

19. 1 kinds of self-driving type wheelchairs, climb adnexa including according to the ladder according to any one of claim 1-18.