Patent Application
20180250179
The present invention relates to mobility aids and, in particular, it concerns a motor-driven chair that is steered by rotation of the seat.
It is known to provide a wide range of mobility aids for individuals having various levels of limitations. Of particular relevance to the present invention is a category of mobility aids referred to herein as seat-steered motorized chairs, as exemplified by U.S. Pat. No. 5,183,133. In such devices, a central drive wheel located beneath the seat is linked so as to be aligned with the facing direction of the seat. A user turns the direction of motion by rotating her seat relative to a surrounding stabilizing chassis so as to face towards the direction in which she wishes to move.
The present invention is a motor-driven chair that is steered by rotation of the seat.
According to the teachings of an embodiment of the present invention there is provided, a motor-driven chair for propelling a user over an underlying surface, the chair comprising: (a) a seat element having support surfaces for supporting the user sitting in a seat-facing direction; (b) a seat pole extending downwards from the seat element for supporting the seat element, the seat pole defining a vertical axis; (c) a drive wheel rotatable about a horizontal axis of rotation so as to define a direction of forward motion perpendicular to the axis of rotation, ti e drive wheel being located beneath the seat element substantially on the vertical axis, the drive wheel being mechanically linked to the seat pole so as to maintain the direction of forward motion aligned with the seat-facing direction so that rotation of the seat element about the vertical axis causes a corresponding rotation of the direction of forward motion; (d) a motor in driving connection to the drive wheel so as to drive the drive wheel to rotate about the horizontal axis of rotation, and thereby propel the chair in the seat-facing direction; (e) a stabilizer assembly mechanically linked to the seat pole, the stabilizer assembly comprising a set of stabilizer wheels mounted on a support structure for supporting the seat pole in a vertical orientation, the stabilizer assembly allowing rotation of the seat pole about the vertical axis relative to the support structure; and (f) a suspension arrangement associated with the seat pole, the drive wheel and the stabilizer assembly, the suspension arrangement being configured to distribute a load of the user sitting stably on the seat element so as to maintain a predefined range of proportions between a load supported by the drive wheel and a load supported by the stabilizer wheels.
According to a further feature of an embodiment of the present invention, the suspension arrangement is configured to distribute a load of the user sitting stably on the seat element so that a substantially constant proportion of the user's weight is supported by the drive wheel and a remainder of the user's weight is supported by the stabilizer wheels for users of weight anywhere between 50 kg and 100 kg, the substantially constant proportion being between 30% and 90% of the user's weight.
According to a further feature of an embodiment of the present invention, the suspension arrangement comprises a first suspension spring deployed to transfer load between the seat pole and the drive wheel and a second suspension spring deployed to transfer load between the seat pole and the support structure.
According to a further feature of an embodiment of the present invention, the suspension arrangement comprises a first hydraulic arrangement comprising at least one piston, the first hydraulic arrangement being deployed to transfer load between the seat pole and the drive wheel, and a second hydraulic arrangement comprising at least one piston, the second hydraulic arrangement being deployed to transfer load between the seat pole and the support structure, wherein the first and second hydraulic arrangements are interconnected by a pressure-equalization line.
There is also provided according to the teachings of an embodiment of the present invention, a motor-driven chair for propelling a user over an underlying surface, the chair comprising: (a) a seat element having support surfaces for supporting the user sitting in a seat-facing direction; (h) a seat pole extending downwards from the seat element for supporting the seat element, the seat pole defining a vertical axis; (c) a drive wheel rotatable about a horizontal axis of rotation so as to define a direction of forward motion perpendicular to the axis of rotation, the drive wheel being located beneath the seat element substantially on the vertical axis, the drive wheel being mechanically linked to the seat pole so as to maintain the direction of forward motion aligned with the seat-facing direction so that rotation of the seat element about the vertical axis causes a corresponding rotation of the direction of forward motion; (d) a motor in driving connection to the drive wheel so as to drive the drive wheel to rotate about the horizontal axis of rotation, and thereby propel the chair in the seat-facing direction; (e) a stabilizer assembly mechanically linked to the seat pole, the stabilizer assembly comprising a set of stabilizer wheels mounted on a support structure for supporting the seat pole in a vertical orientation, the stabilizer assembly allowing rotation of the seat pole about the vertical axis relative to the support structure, wherein the set of stabilizer wheels comprises at least one fixed-axis follower wheel and at least one castor wheel mounted so as to swivel to accommodate turning of the chair.
According to a further feature of an embodiment of the present invention, the set of stabilizer wheels comprises at least two fixed-axis follower wheels and at least two castor wheels mounted so as to swivel to accommodate turning of the chair.
There is also provided according to the teachings of an embodiment of the present invention, a motor-driven chair for propelling a user over an underlying surface, the chair comprising: (a) a seat element having support surfaces for supporting the user sitting in a seat-facing direction;(b) a seat pole extending downwards from the seat element for supporting e seat element, the seat pole defining a vertical axis; (c) a drive wheel rotatable about a horizontal axis of rotation so as to define a direction of forward motion perpendicular to the axis of rotation, the drive wheel being located beneath the seat element substantially on the vertical axis, the drive wheel being mechanically linked to the seat pole so as to maintain the direction of forward motion aligned with the seat-facing direction so that rotation of the seat element about the vertical axis causes a corresponding rotation of the direction of forward motion; (d) a motor in driving connection to the drive wheel so as to drive the drive wheel to rotate about the horizontal axis of rotation, and thereby propel the chair in the seat-facing direction; (e) a stabilizer assembly mechanically linked to the seat pole, the stabilizer assembly comprising a set of stabilizer wheels mounted on a support structure for supporting the seat pole in a vertical orientation, the stabilizer assembly allowing rotation of the seat pole about the vertical axis relative to the support structure, wherein the support structure comprises a center portion mechanically linked to the seat pole, a front portion hingedly connected to the center portion at a first hinge axis and supporting two front wheels from the set of stabilizer wheels, and a rear portion hingedly connected to the center portion at a second hinge axis and supporting two rear wheels from the set of stabilizer wheels, wherein the first and second hinge axes are parallel axes.
According to a further feature of an embodiment of the present invention, the front wheels are castor wheels mounted to the front portion via folding wings foldable along a secondary hinge axis non-parallel to the first hinge axis, the support structure further comprising a linkage deployed to fold the wings from a deployed position to a folded position as the front portion is rotated about the first hinge.
The invention is herein described, by way of example only, with reference to the accompanying drawings, wherein:
The present invention is a motor-driven chair that is steered by rotation of the seat.
The principles and operation of motor-driven chairs according to the present invention may be better understood with reference to the drawings and the accompanying description.
Referring now to the drawings,
A motor, typically implemented as a hub motor within drive wheel 22 and not shown here in detail, is in driving connection to drive wheel 22 so as to drive the drive wheel to rotate about its horizontal axis of rotation., and thereby propel the chair in the seat-facing direction. In order to maintain stability of chair 10, a stabilizer assembly 24 is mechanically linked to seat pole 18. Stabilizer assembly 24 includes a set of stabilizer wheels 26, 28 mounted on a support structure, here formed from a mid-portion 30 with associated front and back frames 32 and 34, so as to support seat pole 18 in a vertical orientation. Stabilizer assembly 24 is configured to allow rotation of seat pole 18 about vertical axis 20 relative to the support structure.
In this context, various aspects of the present invention provide a number of particularly advantageous features relating to implementation of chair 10. Specifically, according to a first non-limiting set of particularly preferred embodiments of the present invention, chair 10 is provided with a suspension arrangement associated with seat pole 18, drive wheel 20 and stabilizer assembly 24, that is configured to distribute a load of a user sitting stably on seat element 12 so as to distribute the load supported by drive wheel 20 and stabilizer assembly 24 according to desired proportions. Specifically, the implementation of the suspension arrangement is preferably such that both the load on the stabilizer assembly and on the drive wheel vary in correlation to the weight supported by seat element 12.
The significance of this feature may best be understood by contrast to certain prior devices of the central-drive-wheel, seat-steered type, such as U.S. Pat. No. 5,183,133, where a spring biases the outrigger frame downwards with a fixed force while all remaining load is applied rigidly to the drive wheel. Such a structure leads to extreme variations on the load applied to the drive wheel, which may result in loss of traction for small loads and instability of the device at high loads.
In contrast, according to a first aspect of certain particularly preferred implementations of the present invention, the suspension arrangement associated is configured to distribute a load of a user sitting stably on seat element 12 and passing downwards through with seat pole 18 so as to be distributed between drive wheel 20 and stabilizer assembly 24 according to desired proportions. Specifically, instead of the load on the stabilizer assembly 24 (or alternatively, on drive wheel 20) being fixed, the load on each preferably increases monotonically as a function of increasing load, preferably over the entire range of normal bodyweight to which the device is intended to cater, for example, at least between 50 kg and 100 kg.
According to a first particularly preferred set of embodiments, the aforementioned suspension arrangement is implemented using a first spring arrangement to transfer load from seat pole 18 to drive wheel 20, and a second spring arrangement to transfer load from seat pole 18 to stabilizer assembly 24. In a first example best seen in
In the above examples, subdivision of the load on the seat between the drive wheel and the stabilizer assembly occurs based on the relative spring constants of the two spring arrangements, adjusted according to any initial offset between their respective states of loading in their starting positions (i.e., unequal preloading). In the absence of any offset, the proportions of the load transferred to the drive wheel and the stabilizer assembly remains constant as the load varies. If an offset is provided, the proportions may vary, but in each case, the load on both the drive wheel and the stabilizer assembly increase monotonically as a function of increasing load, thereby maintaining the weight distribution within predefined limits that ensure reliable driving engagement with the floor and stability of the structure while in use with a wide range of user weights. In most particularly preferred implementations, the distribution of the load on the seat is maintained within the range of 30% to 90% of the user's weight on the drive wheel, with the remaining weight transferred via the stabilizer assembly.
Referring now to
In the particularly compact implementation illustrated here, piston 46 is implemented as an annular piston slidingly engaged around a central shaft of seat pole 18, while pressure-equalization line 48 runs through the central shaft. Clearly, alternative implementations may be constructed employing more conventional hydraulic actuator structures, such as side-by-side cylinders/pistons, optionally with a number of small cylinders deployed around a central larger cylinder, all as will be clear to a person having ordinary skill in the art of hydraulic systems.
Furthermore, although illustrated in the context of a distinct structural embodiment, which is here illustrated only schematically, it should be noted that the hydraulic suspension arrangement option can readily be implemented also in a device which is, in all other respects, structurally similar to the embodiment of
The term “hydraulic” is used herein in the description and claims to refer to any system or component that is operated by fluid pressure, whether by liquid or by gas (the latter being also referred to as “pneumatic”). Thus the hydraulic implementation option described herein may be implemented using either an incompressible hydraulic fluid, such as water or oil, or a compressible fluid, such as air or another gas or gaseous mixture. In the case of a gas-filled system, it may be advantageous to provide a pre-pressurized starting pressure within the hydraulic system.
Turning now to
Specifically,
In all of the above discussions regarding implementations of the suspension arrangement, the described subdivision of load relates to distribution of a load applied vertically downwards on seat element 12 and passing axially downwards along seat pole 18. This is typically the case for a user sitting stably on seat element 12, where the user's center of gravity typically lies within the area of the seat, which is typically within about 30 cm from vertical axis 20, and therefore acts primarily downwards. Clearly, during mounting and alighting to and from chair 10, or under conditions of externally applied forces, the normal distribution of load may be momentarily disrupted.
Turning now to a further aspect of certain particularly preferred implementations of the present invention, the present invention provides a motor-driven chair that is steered by rotation of the seat, so that the forward direction F of drive wheel 22 is always aligned with the forward direction of seat element 12, and the user changes direction by turning her seat to face the direction towards which she wishes to move. Devices of this type have hitherto been designed with an “outrigger” or stabilizer structure which is omni directional, meaning that the user can turn towards any arbitrary direction and start moving in a straight line in that direction, and a set of caster wheels around the stabilizer structure will immediately align with the new direction.
Although providing very high mobility, the use of an omni directional stabilizer structure has been found to present certain problems. Specifically, in order to change the direction of the seat, and hence of drive wheel 22, the user must apply a considerable turning moment about vertical axis 20 to overcome friction between drive wheel 22 and the underlying surface. This turning moment is preferably achieved by the user applying a lateral force with her feet against the stabilizer structure. It has been found, however, that such lateral force can sometimes have the undesired effect of rotating the stabilizing structure about the drive wheel rather than turning the drive wheel.
To address this problem, certain particularly preferred implementations of the present invention, such as that illustrated in
The motion resulting from this configuration is illustrated schematically in
Turning now to a further aspect of the present invention, it is a preferred feature of certain embodiments of the present invention that motorized chair 10 is implemented so as to be foldable for convenient transportation and storage. Specifically, the seat-rotation-steered structure of the present invention leads to what is in essence a single-column structure, where the load on the seat is transferred via a single seat pole 18, rendering the core of the support structure relatively compact. However, in order to render chair 10 stable under normal conditions of usage, it is necessary to provide a considerable spread between the various stabilizer wheels 24, 26. Certain preferred embodiments of the present invention provide simple and effective folding mechanisms which render the device easy to fold and open, and provide a compact form for easy transportation and storage.
Various aspects of a folding mechanism according to one preferred implementation of the present invention are illustrated in the folding sequence of
Folding of the support structure (stabilizer assembly 24) is here achieved by providing a center portion 30 mechanically linked to scat pole 18, a front portion (frame 32) hingedly connected to center portion 30 at a first hinge axis 58 and supporting two front stabilizer wheels 26, and a rear portion (frame 34) hingedly connected to center portion 30 at a second hinge axis 60 and supporting two rear stabilizer wheels 28. First and second hinge axes 58 and 60 are preferably parallel axes, thereby facilitating folding of the front and rear frames 32 and 34 into close proximity.
According to a further preferred feature illustrated here, castor wheels 26 are mounted to front frame 32 via folding wings 62 foldable along a secondary hinge axis 64 non-parallel to hinge axis 58. In order to simplify deployment and folding of wings 62, stabilizer assembly 24 preferably includes a linkage deployed to fold wings 62 from a deployed position to a tended position (
In the example illustrated here, the folding wings feature is employed only in front frame 32 while rear frame 34 has a fixed geometry. A variant implementation (not shown) employs folding wings on both the front and rear frames.
Turning now to the remaining features of motorized chair 10, the device also includes a mobile power source, typically in the form of one or more rechargeable electrical batteries, which may advantageously be housed in a volume beneath seat support surface 14, or alternatively within central portion 30 of stabilizer assembly 24. A forward/reverse speed control input (not shown) is provided to the user, typically either integrated with an arm rest 56 or as a separate handheld controller, which may be connected via a cable to the side of the seat. Wiring between the battery, the controller and the drive motor typically passes along a cable channel which passes through seat pole 18. For certain applications, simple electric control of current to the motor is sufficient for a practical application. Optionally, an electronic controller with various additional functionality may be used, providing for example, monitoring of battery charge status and battery health, monitoring and limiting speed of motion and/or load on the motor. Implementation of all such options is a routine task for a person having ordinary skill in the art, and for conciseness, these details will not be further discussed here.
Most preferably, a brake configuration is provided on one or more of the wheels of the device to provide stability and safety while the device is stopped, and particularly during mounting and dismounting. As best seen in
It will be appreciated that the above descriptions are intended only to serve as examples, and that many other embodiments are possible within the scope of the present invention as defined in the appended claims.
