RU2558338C1 - Universal vehicle for invalid - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to surface carriers for persons of limited physique to allow their travel over steps either assisted or independently. It aims at perfecting operating characteristics for persons of limited physique. Universal carrier comprises frame, two rear driven wheels. Seat, T-shape handle bar with handle for assistant telescopically fitted at frame rear, two steps, two front driven self-aligning wheels and control and safety system. Frame front part is fitted at its centre plugged in plane with the help of L.H. and R.H. retainers to make a replaceable driven wheel axle module. Additionally, it incorporates a replaceable drive wheel module. This consists of at least one controlled drive wheel with electromechanical drive, steering column with handle bar for invalid and steps. Besides, frame structure is coupled with the frame central part by means of said retainers like driven wheel module is. Said frame is provided with power supply to drive said driving wheel module.

EFFECT: perfected design.

6 cl, 11 dwg

Description

The invention relates to land vehicles for moving people with disabilities and other persons with limited physical abilities as steps, mainly staircases, with the help of an assistant (staircases, staircases, mobile staircases as a means of rehabilitation and / or evacuation from high-rise buildings and structures), and outside the specified obstacles with the help of an assistant or independently.

The most significant, urgent problem on the path to creating mobile technical rehabilitation equipment (TCP) is the problem of overcoming specialized obstacles such as stairs, individual steps and curbs.

Despite the many years of efforts of the new generation of TCP developers (including the authors of this application), the vast majority of wheelchairs, both individually and collectively, are not suitable for moving on stairs either independently or with an assistant.

At the turn of the 20th and 21st centuries, so-called mobile staircases, controlled by an assistant with a passive role of a disabled person, appeared on the world market.

The S-max lifts are most famous abroad, including its variety S-max SDM7 [S-max - der Treppensteiger fur lhren Rollstuhl. AAT Alber Antriebstechnik GmbH / Postfach 100560 D-72426 Albstadt. (S-IVLAX catalog of the German company AAT. - 8 pp. - Internet product: http://www.aat-online.de; Step walker S-max SDM7 / Internet product: http://dokmed.ru/teh/ 13/825-stupenkokhod-s-max-sdm7.html; GB Patent No. 2290757].

They contain a frame with a horizontal central, rearward oriented upward and rearward oriented frontal parts, a pair of rear driven wheels coaxially mounted on the central part of the frame near its rear part, a wheelchair for the disabled person mounted on the central and rear parts of the frame, T -shaped steering wheel with handles for the assistant, telescopically mounted on the rear of the frame, a pair of footrests and a pair of front driven sprockets located behind them, mounted on the front of the frame or in front of the prices part of it, mounted on the last between the rear wheels, a lever-walking propulsion device in the form of two support arms spaced across the width of the frame, also connected with a dual-mode electromechanical ("rise to the step / descent from the step") drive that drives them from an autonomous energy source, as well as control and safety systems.

Their common drawbacks are a very low level of versatility (low functionality, specialization), structural complexity and relatively high cost (5000-6000 euros). The main thing is that it is impossible to travel at speeds in excess of 4-6 km / h. Moreover, this is a problem not only of the “drive”, but also of the dynamic longitudinal stability and ergonomics when driving by a disabled person.

For high-speed independent movement of disabled people and elderly people, the so-called "electric scooters for people with disabilities" were invented and spread in economically developed countries. Their characteristic features are, firstly, a wider speed range (up to 18-20 km / h), and secondly, “long wheelbase” - significantly greater remoteness of the axis of the front wheels from the axis of the rear wheels, which, in fact, ensures the proper dynamic longitudinal stability of the “scooter” (during acceleration and braking, especially on an inclined plane and at high speeds), and thirdly, the front wheel or a pair of front wheels controlled by a T-shaped steering wheel (that is, a motorcycle type steering wheel). In this case, usually the rear wheels are made driving, and the front (s) are driven (s) [Internet resource: http://www.ampgirl.su/2010/12/11/elektricheskie-kreslo-kolyaski-dlya-invalidov/: Electric Wheelchair "Traveler" MT-090].

As another “pole of specialization”, this kind of TCP is, of course, also narrowly functional, and even more so than wheelchairs adapted to overcome stepped profile obstacles.

At the same time, the non-universality of “scooters” leads to the need for the user to already purchase two vehicles - wheelchairs and a scooter, which, naturally, not every person of this social group can afford.

The best in terms of their technical and operational and especially economic characteristics (2 or more times cheaper than the foreign analogues listed above) are possessed by well-known Russian counterparts (copyright patented and implemented developments), united in the Vector family of wheelchairs and stair-lifts [Patents RU No. 2304952; RU No. 2312788 and others].

The closest in purpose and the set of essential structural features analogue of the claimed device (prototype) from the "Vector" family is a universal vehicle for a disabled person, containing a frame with a horizontal center, rear-oriented rearward and upward-oriented front parts, a couple of rear slaves wheels coaxially mounted on the central part of the frame near its rear part, a wheelchair for the disabled person mounted on the central and rear parts of the frame, T-shaped steering wheel with handles for an assistant, telescopically mounted on the rear of the frame, a pair of footrests and a pair of front driven sprockets located behind them, mounted on the front of the frame, a lever-walking propeller mounted on the central part of the frame between the rear wheels in the form of two support arms spaced apart across the width of the frame associated with the electromechanical reversible drive of their movement from an autonomous energy source also installed on the central part of the frame with the possibility of raising and lowering the transport medium steps, as well as control and safety systems [Patent RU No. 2368366].

In it, the front and central parts of the frame are made integrally (as a single frame). In this case, movement outside stepped profile obstacles is only provided by an assistant, relying on driven wheels - as a rule, on the aforementioned pair of rear wheels and a pair of front wheels, naturally, in the low-speed range (not higher than 4-6 km / h). It is called “universal” here according to a formal criterion: the ability to move on step profile obstacles and without them without additional technical means, that is, due to the pronounced dual-mode device.

Accordingly, such a rehabilitation vehicle with all its positive consumer qualities (the most important of which is the ability to overcome stairs and single steps with compactness and relative cheapness) is still not completely perfect in terms of its technical and operational characteristics, since it does not use the reserves for the development of universality. First of all, in its structural form, it is impossible to speed (with dynamic longitudinal stability), the so-called “scooter” mode of operation on the street and in other unrestricted conditions. To expand the living environment, the disabled user has to additionally purchase a second vehicle, for example, the same specialized scooter or other technical means to cover significant distances (equipped car, motor vehicle), use the services of a “social taxi” or public transport. This, in turn, causes economic costs, which can be very significant on the scale of the average budget of this category of population, especially in Russia.

The task to which the claimed invention is directed is to further improve the technical, operational and economic (consumer) characteristics of the vehicle for persons with disabilities by expanding the versatility of the device as a ground-based rehabilitation vehicle.

The solution to this problem is achieved by the fact that in a universal vehicle for a disabled person, comprising a frame with a horizontal central, rear-oriented up and back rear and down-front oriented front parts, a pair of rear driven wheels coaxially mounted on the central part of the frame near its rear part, a wheelchair for the disabled, mounted on the central and rear parts of the frame, a T-shaped steering wheel with handles for the assistant, telescopically mounted on the rear of the frame, a pair of steps and a pair of behind them front driven self-aligning wheels fixed on the front of the frame, a lever-walking propulsion mounted on the central part of the frame between the rear wheels in the form of two support arms spaced along the frame width, connected with the electromechanical reversible drive of their movement from an autonomous energy source also installed on the central part of the frame with the possibility of raising and lowering the vehicle in steps, as well as a control and safety system, the front of the frame is mounted on its central h removable by means of left and right locks with the formation of a removable driven wheel axle module, an additional removable drive wheel module is provided, comprising at least one controlled driving wheel with its own electromechanical drive, a steering column with a wheel for the disabled person, steps and a frame structure with the possibility of communication of the latter with the central part of the frame similarly to the driven wheel bridge module through the aforementioned clamps and with the possibility of power supply to the leading esnogo module from said power source.

The solution of this problem is also achieved due to additional structural features (with the above main set of features):

- the wheelbase of the vehicle, determined by the distance between the axles of the rear and front wheels, when the driving module is installed, can exceed its value when the slave axle-module is installed, and the electromechanical drive of rotation of the driving wheel can be configured to move the transport device in the speed range up to 20-30 km / h (if the main set of design features provides a “first stage” (stage) of expanding technical and operational capabilities, namely, the possibility of independent (Without assistant) elektromehanizirovannogo, even if a low-speed, moving as an additional mode, for a given recommended a particular embodiment, the positive effect switches to a second, higher level - the introduction of the third, "skuternogo", i.e. high-speed mode of operation with minimal economic costs);

- a wheel with a drive on the drive module can be made in the form of a motor wheel (this allows you to fully use the advantages of the motor wheel in application to the steered wheels of a small vehicle with the need for a high density layout of their on-board equipment, which is especially for these specific conditions relevant);

- the steering column can be made with the possibility of changing the angle of its inclination in the longitudinal vertical plane and the height of its steering wheel due to the telescopic installation of the latter in the column (this not only maximizes ergonomic possibilities for the disabled user in terms of how to adjust the position "for themselves" and facilitates the embarkation and disembarkation of a disabled person, but also prepares the base for a sub-option with a unified steering wheel, as described in the next paragraph);

- with the previous set of design features of the device, the wheel for the disabled person on the driving module can be identical to the wheel for the assistant on the rear of the vehicle frame with the possibility of their operational interchangeability (this unification allows, in principle, to completely abandon two “specialized” steering wheels and use one general, quickly rearranging it back for the assistant, then forward for the disabled person, especially since there is no need for the simultaneous use of both rudders, while the burden ontazha dismounting-borne, usually in an assistant);

- on the vehicle’s frame, two different places for installing an autonomous energy source, spaced along its length, can be provided, one of which is located on the central part of the frame under the chair and is involved, at least when it is paired with a driven module bridge, and the other - behind the chair, on the outside of the rear of the frame and is involved, at least when pairing the central part of the frame with the drive wheel module (first, in the scooter mode, the location of the energy source under the chair, as a rule, interferes with the norm the small layout of the front driving module; secondly, it provides an optional, but desirable compensation for the inevitable displacement of the vehicle's center of mass forward due to the replacement of the driven axle module with a heavier and more advanced one, which means an improvement in the static and dynamic longitudinal stability, directly affecting the complex assessment of technical and operational characteristics of the vehicle; thirdly, opportunities are expanding to increase the total energy supply for autonomous operation by installing a battery at the same time in both places, taking into account more than the planned path of the vehicle with the additional use of "skuternogo" mode at large distances in the 'external' environment - on the road).

In the drawings (Figs. 1-11), an example of a possible implementation (industrial applicability of the invention) of a particular embodiment of the claimed device is depicted:

figure 1 shows the inventive vehicle with a slave bridge module installed on it (option "stroller-stair lift") without a disabled person, side view, where L ₁ is the wheelbase of the vehicle in this option;

figure 2 - the claimed vehicle with a leading module installed on it (option "scooter") without a disabled person, side view, where L ₂ is the wheelbase of the vehicle in this option; α is the angle of inclination of the steering column of the driving module in the longitudinal vertical plane to the horizontal plane;

figure 3 is the same, rear view;

figure 4 - the claimed vehicle with a leading module installed on it (option "scooter") with a disabled driver, side view;

figure 5 is the same front view;

figure 6 is the same, a top view;

figure 7 presents a three-dimensional computer model of the claimed vehicle with a slave bridge module installed on it (option "stroller - stair lift") without a disabled person, side view, front-top-top;

on Fig - three-dimensional computer model of the process of transportation (under the guidance of an assistant) of a disabled person on a ladder on the claimed vehicle with a slave bridge module installed on it (option "stroller - stair lift"), side-front-top view;

figure 9 is a three-dimensional computer model of the claimed vehicle with a leading module installed on it (option "scooter") without a disabled person, side view, front-top-top;

figure 10 is a three-dimensional computer model of the process of independent movement of a disabled person on a flat surface on the claimed vehicle with a leading module installed on it (option "scooter"), side view, front-to-top;

figure 11 is a three-dimensional image of the transportation process (under the guidance of an assistant) of a disabled person on the stairs on the claimed vehicle with a leading module installed on it (option "scooter"), side view, front-to-top.

A universal vehicle for a disabled person (a mobile stair lift, a compact wheelchair for use in cramped conditions and a “scooter” for high-speed movement in uncluttered rooms, such as outdoors, at the same time), contains (see figures 1-11) a frame with a horizontal central part 1, oriented up and down by the rear part 2 and oriented down and forward by the front part 3. On the central part 1 of the frame near its part 2 a pair of rear driven wheels is installed coaxially - left 4 and right 5. On parts 1 and 2 of the frame A chair for a disabled person was introduced (seat 6 on the central part 1, backrest 7 and armrests 8 on the rear part 2 of the frame). On part 2 of the frame, a T-shaped steering wheel 9 with telescopes 10, 11 (left and right, respectively) for the assistant is telescopically mounted. On part 3 of the frame, a pair of steps 12, 13 (left and right, respectively) and a pair of front driven sprocket wheels located behind them - 14 and 15 (left and right, respectively) are fixed. On part 1 of the frame between the rear wheels 4 and 5, a lever-walking propeller is installed in the form of two support arms 16, 17 (left and right, respectively) spaced across the width of the frame (i.e., on the sides of the vehicle), one-sided or two-sided, also connected on part 1 of the frame, an electromechanical reversible drive 18 of their movement from an autonomous energy source (battery) 19 with the possibility of ascent and descent along the steps 20 (see Fig. 8). On-board control systems are also provided (toggle-switches for power on / off and lever-walking propulsion, alarm, etc.) and safety (mainly automatic brakes left 21 and right 22 to prevent wheels 4, 5 from breaking off the edge of the “current” stage 20 (see Fig. 8 is an illustration along with Fig. 11, where the brakes 21, 22 are shown in the lower, working position) structurally similar to those known from the prototype or other analogs.

The front part 3 of the frame is mounted on its central part 1 removably by means of latches 23, 24 (left and right, respectively) with the formation of a removable driven wheel axle module, combining part 3 of the frame, steps 12, 13 and front wheels 14, 15.

In addition, an interchangeable drive wheel module is provided. The latter includes one steered drive wheel 25 (the preferred option, corresponds to the example with illustrations of Figures 2-6, 9, 10) with an electromechanical drive 26 of rotation, a steering column 27 with a steering wheel 28 (for a disabled person), equipped with handles 29, 30 (left and right, respectively), steps 31, 32 (left and right, respectively) and the frame structure 33 with the possibility of linking the latter with the central part 1 of the frame similarly to the driven wheel axle-module 3, 12-15 by means of the mentioned latches. 23, 24.

The latches 23, 24 can be made, for example, in the form of screw or bolt clamps or pins with a sliding telescopic relationship of the tubular profiles of the frame part 3 with the frame part 1 or the frame structure 33 with the frame part 1.

In principle, a module with two front drive wheels is possible (not shown in the drawings). In this case, it could be called a “master bridge module” similar to a slave bridge module.

The design also provides for the device to power the lead module from an energy source (power supply), located partially on the "base part" of the vehicle, and partially on the lead module itself (these are, first of all, electrical wiring and electrical connectors - not shown). This makes it possible to power the driving wheel module 25-33 from the aforementioned energy source 19 (with the rear arrangement of the latter).

Private design options are provided.

The wheelbase L ₁ of the vehicle, determined by the distance between the axles of the rear 4, 5 and front 14, 15 wheels, when the driving module 25-33 is installed (see figure 2) can exceed its value L ₂ when the slave bridge module 3 is installed, 12-15 (see figure 1), and the electromechanical drive 26 of the rotation of the drive wheel 25 can be made with the possibility of movement of the transport device in a high-speed ("scooter") range up to 20-30 km / h.

Wheel 26 with drive 25 on the drive module 25-33 can be made (the preferred option at the present level of development of drive technology) in the form of a motor wheel 25-26.

The steering column 27 can be made with the possibility of changing the angle α of its inclination in the longitudinal vertical plane to the horizontal plane, as well as the height of its steering wheel 28 due to the telescopic installation of the latter in the column 27 (see figure 2).

With the combination of the main plus the combination of additional design features according to the previous paragraph of the device, the wheel 28 for the disabled person on the driving wheel module 25-33 can be made identical to the steering wheel 9 for the assistant on part 2 of the frame with the possibility of their interchangeability (unification), possibly operational.

Another particular feature of the claimed design that was not previously encountered in the STR: on the frame there can be two different places for installing an energy source 19, spaced along its length (that is, along the longitudinal axis of the vehicle), one of which is located on the central part of the frame under chair and is involved, at least when it is paired with a driven axle-module 3, 12-15, and the other behind the chair, on the outside of the rear of the frame and is involved, at least when pairing the Central part of the frame with the drive wheel m dulem 25-33. Accordingly, the layout of the driving wheel module 25-33 is facilitated, the weight distribution of the vehicle is optimized: shifting the center of mass of the source 19 backward compensates for shifting the center of mass of the vehicle forward due to, possibly, temporary replacement of the driven axle module 3, 12-15 with a heavier and longer drive wheel module 25-33.

This was reflected in the illustrations presented: in figures 1, 7, 8, the source is shown under the armchair 6-8, and in figures 2-4, 9-11 - behind it.

In principle, the option of engaging both places at the same time with either of the two wheel modules on the vehicle is also possible, that is, the installation of a battery providing an even greater supply of electricity than those installed behind the back of the seat.

The described example of a specific embodiment of the vehicle (transport complex, taking into account its modularity) does not exhaust the set of possible other options within the claimed combination of essential features.

The inventive device operates as follows.

However, two different organizational approaches are possible.

According to the first approach, the user acquires the device in any one, at will and / or capabilities, options - “stroller - stair lift” with installed driven axle module 3, 12-15, or “scooter” with installed master module 25- 33. Then the installation of the corresponding module is assigned to the manufacturer, to the dealer, to the social distributor or to the distribution network.

According to the second approach, the user acquires the entire transport complex (set), that is, with both wheel modules, and subsequently, himself or with the assistance of intermediaries, realizes the quick rearrangement of the wheel modules depending on operational needs.

Since it is of interest to replace the modules and operate in each of the two options, we consider the operation of the device as an example of the second approach.

To operate the device in the option (function and corresponding vehicle configuration) "stroller - stair lift" on the vehicle set (see Fig.1, 7) a slave bridge module 3, 12-15. To do this, insert (as a rule, an assistant) part 3 of the frame (without first removing the elements 12-15) into part 1 of the frame and fasten it with latches 23, 24. In the case of interchangeable rudders (i.e. with one common steering wheel), if necessary, in part 2 of the frame, the steering wheel 9 is fixed with a standard lock (similar to a screw clamp in the prototype). In any case, the steering wheel 9 before transportation is installed (put forward) in a telescopic device to an ergonomically convenient height, and before overcoming the steps 20 - to a significantly larger one. The energy source 19 (rechargeable and / or capacitor battery, if we consider the general case) should be installed, as a rule, in the place provided for this on part 1 of the frame under the seat 6 of the chair 6-8. If necessary, it is allowed to install additional batteries in the second place provided - behind the backrest 7 of the chair 6-8, on the rear of the 2 frames.

Actually, the operation in this option (mode) does not differ from the operation of the prototype vehicle: the assistant either transports the disabled person while supporting the vehicle on all wheels - 4, 5, 14, 15, holding the handlebars 9, 11, outside the stepped profile obstacles 20 (the process is not shown), or provides overcoming a single step or flight of stairs 20 with the operating lever-walking mover 16-18, also holding the handles 10, 11 and maintaining the position of unstable equilibrium in the longitudinal vertical plane (" zero weight balance ") or a slightly larger tilt of the steering wheel 9 down (a small" positive weight balance ") - see Fig. 8. The relatively small value of L ₁ wheelbase contributes to maneuvering in cramped conditions of premises, landings and vehicles.

The speed of movement on the steps 20 is determined by the operation of the lever-walking mover 16-18 and is about 1 step in 2-3 seconds. The speed of movement on a flat surface is determined by the physical capabilities of the assistant, the external environment and safety restrictions.

To operate the device in the option “scooter” on a vehicle, “seasonally” or more quickly replace the driven axle module 3, 12-15 with the leading wheel module 25-33. To do this, disconnect the latches 23, 24 (unclench the clamps or remove the pins), disconnect parts 3 and 1 of the frame, remove the driven axle 3, 12-15 for storage (so as not to interfere with further installation, operation, the environment and its safety), attach leading module 25-33 to part 1 of the frame, docking the frame structure 33 with part 1 of the frame and again securing with latches 23, 24. In the embodiment with interchangeable rudders (that is, with one common rudder 9, 28) rearrange it from part 2 of the frame to the column 27 (see Fig.2-6, 9-11), adjust the height taking into account ergonomic features her disabled person and (in any case) adjust the angle and the tilt of the column 27 with the steering wheel 28 also in accordance with the requirements of ergonomics and fix. The energy source 19 should be installed (moved), as a rule, in another place provided for this - behind the back 7 of the chair 6-8. In this example, the installation of a more energy-intensive source, such as a “dual” battery (in comparison with the one installed under the seat), is assumed.

If necessary, in some specific cases, the installation of additional batteries is also allowed, that is, both of these installation locations of sources 19 can be involved.

Actually, the operation in this option (mode) on a flat horizontal or inclined surface does not differ from the operation of analogue vehicles from among the invalid “scooters”: the disabled person independently, when the vehicle is supported on all wheels - now it’s 4, 5 and 25, holding the handles 29, 30 of the rudder 28 and turning it left and right, maneuvering, moves at a relatively high speed, up to the maximum possible for the drive. The relatively large value of L _{2 of the} wheelbase contributes to the dynamic longitudinal stability of a vehicle with a disabled person, which is extremely important, especially when accelerating to rise and braking on a descent at high speeds - from 4-6 to 20-30 km / h.

The speed in high-speed ("scooter") mode is determined by the operation of the drive 26 of the leading front wheel 25, the external (road) situation, safety restrictions and the individual characteristics of the disabled driver.

The processes of overcoming stairs and individual steps for climbing and descending (see Fig. 11) are similar to those described for the option with a driven wheel axle-module (see Fig. 8).

The use of the invention allows to achieve further (in relation to the prototype) improvement of technical, operational and economic (consumer) characteristics of the vehicle for persons with disabilities by expanding the versatility of the device as a ground-based rehabilitation vehicle.

Trial operation of the claimed vehicle using a prototype manufactured by the authors (2012-2013, see Figs. 3-8) confirmed the feasibility of implementing the technical proposal and the effectiveness of its application.

Claims (6)

1. A universal vehicle for a disabled person, comprising a frame with a horizontal central, rearward-oriented rear and up-front oriented front parts, a pair of rear driven wheels coaxially mounted on the central part of the frame near its rear, an invalid chair mounted on the central and rear parts of the frame, a T-shaped steering wheel with handles for an assistant, telescopically mounted on the rear of the frame, a pair of steps and a pair of front driven sprockets located behind them, mounted on the front of the frame, mounted on the central part of the frame between the rear wheels, a lever-walking mover in the form of two support arms spaced across the width of the frame, also connected with an electromechanical reversible drive for their movement from an autonomous energy source with the possibility of lifting and lowering vehicle in steps, as well as control and safety systems, characterized in that the front of the frame is mounted on its central part removably by means of a lion of the right and the right latches with the formation of a removable driven wheel axle module, an additional removable drive wheel module is provided, comprising at least one steered drive wheel with its own electromechanical drive, a steering column with a wheel for the disabled, steps and a frame structure, with the possibility of the connection of the latter with the central part of the frame, similarly to the driven wheel axle-module, by means of the mentioned latches and with the possibility of powering the driving wheel module from th source of energy. 2. The universal vehicle according to claim 1, characterized in that the wheelbase of the vehicle, determined by the distance between the axles of the rear and front wheels, when the driving module is installed exceeds its value when the driven axle-module is installed, and the electromechanical drive for driving the drive wheel is made with the possibility of movement of the transport device in the speed range up to 20-30 km / h. 3. The universal vehicle according to claim 1, characterized in that the wheel with the drive on the drive module is made in the form of a motor wheel. 4. The universal vehicle according to claim 1, characterized in that the steering column is configured to change the angle of its inclination in the longitudinal vertical plane and the height of its steering wheel due to the telescopic installation of the latter in the column. 5. The universal vehicle according to claim 4, characterized in that the wheel for the disabled person on the driving module is identical to the steering wheel for the assistant on the rear of the vehicle frame with the possibility of their operational interchangeability. 6. The universal vehicle according to claim 1, characterized in that on its frame there are two different places for installing an autonomous energy source spaced along its length, one of which is located on the central part of the frame under the seat and is used at least its interfacing with the driven axle-module, and the other behind the chair, on the outside of the rear of the frame and is involved, at least when pairing the central part of the frame with the driving wheel module.

Images