EP1145697A2 - Dispositif pour monter des escaliers - Google Patents

Dispositif pour monter des escaliers Download PDF

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Publication number
EP1145697A2
EP1145697A2 EP01103424A EP01103424A EP1145697A2 EP 1145697 A2 EP1145697 A2 EP 1145697A2 EP 01103424 A EP01103424 A EP 01103424A EP 01103424 A EP01103424 A EP 01103424A EP 1145697 A2 EP1145697 A2 EP 1145697A2
Authority
EP
European Patent Office
Prior art keywords
holding force
sensor
climbing device
stair climbing
stair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP01103424A
Other languages
German (de)
English (en)
Other versions
EP1145697A3 (fr
Inventor
Thomas Birmanns
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alber GmbH
Original Assignee
Alber GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alber GmbH filed Critical Alber GmbH
Publication of EP1145697A2 publication Critical patent/EP1145697A2/fr
Publication of EP1145697A3 publication Critical patent/EP1145697A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

Definitions

  • the invention relates to a stair climbing device and in particular a stair climbing device for wheelchairs Disabled.
  • a stair climbing device discloses a tilt sensor and an additional Has support device.
  • the support device is free pivoted on the stair climbing device and during the entire climbing process in contact with at least one step. If known at this Stair climbing device the inclination angle sensor one Detects angle of inclination at which the stair climbing device threatens to tip over together with the transported load Support device opposite the stair climbing device blocked so that the free pivotability is canceled and supporting the stair climbing device over the Support device on the stairs or steps.
  • WO 90/00997 A1 is a wheelchair with a motor operated stair climbing device, an inclination angle sensor and a safety device known. Once the Tilt angle sensor detects a tilt angle that is larger is as a predetermined inclination angle, the Climbing device stopped over the safety device.
  • Stair climbers are typically included operated different loads. For example People or objects of different weights promoted.
  • the loads have a different Center of gravity on.
  • a small one Wheelchair with a seating area close to the stair climber or a large nursing wheelchair with a front one Seat are operated.
  • the angle of inclination can be of orders of magnitude up to vary to 15 °.
  • the angle of inclination can be greater than 10 °.
  • the technical problem underlying the invention is to get a stair climbing device ready place that is able to tip over reliably recognizable.
  • the invention a stair climbing device, for example for wheelchairs for the disabled, with a climbing unit, one with the Climbing unit connected handle unit that an operator the handling of the stair climbing device enables one Control device for controlling functions of the Stair climbing device, a sensor device for detection an impending danger of tipping the Stair climber and one on a signal from the Sensor device with respect to its support function activatable support device provided, in which the Sensor device has a holding force sensor which in Area of the handle unit is arranged and designed to to detect the holding force of the operator, and at which the Control device is designed to Support device for performing the support function in response to a signal of the holding force sensor depending on the holding force detected by the holding force sensor activate.
  • the functional principle realized by the invention is suitable for influencing variables that vary in practice, especially different loads, different Center of gravity and load change, automatic, i.e. without changed default settings, and to compensate reliably.
  • the stair climbing device must be used during the climbing process to be constantly balanced so that it turns out Stair climbing device, wheelchair and wheelchair occupant formed unit is as balanced as possible. Each this unit continues from an ideal Equilibrium removed, the greater the Holding force of the operator to prevent tipping prevent. If the focus is from the Climbing device, the wheelchair and the wheelchair occupant unit formed not exactly over the example wheel-shaped or stilt-shaped support of the There is a tilting moment. In order to prevent tipping, the operator guides one appropriate force in the handle unit. The holding power the operator is thus a direct measure of that Risk of tipping over.
  • the holding force is preferably based on a bending moment determined.
  • danger of tipping over can be reliably detected become. It is particularly suitable for detecting the Holding force based on a bending moment where the Climbing unit, i.e. of the part of the stair climbing device that the actual climbing mechanism including the drive includes, with the handle unit, i.e. that part of the Stair climbing device that the operator holds is.
  • Holding force right on the handles to determine what is particularly advantageous when part of the load the handle unit rests.
  • the sensor device in addition to the holding force sensor has a grip sensor that detects whether the operator holds the gripping unit. Should be unlikely but theoretically possible case occur that the operator releases the handles would be acute There is a risk of tipping, although no relevant holding force is recorded.
  • the control device is at a advantageous embodiment is therefore also designed to To control the support device for performing the support function, when the grip sensor detects that the operator Handle unit does not hold.
  • the holding force sensor usually includes strain gauges.
  • strain gauges inductive systems, optoelectronic sensors or other suitable to the expert appearing sensors are used.
  • changes of Take the zero point into account This can be done by Influence of moisture, creep behavior of the materials, Residual stresses in certain components or mechanical Overload caused. It is therefore recommended that the Control device to be interpreted from time to time carry out a zero adjustment.
  • Such a zero adjustment can for example when loading one to operate the Climbing unit provided voltage source performed be because the Stair climbing device is usually turned off and thus no forces are introduced into the handle unit.
  • Fig. 1 shows a schematic representation in section Stair climbing device 1.
  • a from a first wheel 11 and a second wheel 12 existing first pair of wheels together with a corresponding second pair of wheels (not shown) designed so that the stair climbing device a Stairs can be moved up and down.
  • the Wheels 11, 12 and the two corresponding not shown wheels of the second pair of wheels not only for their own axis, but at the same time around all wheels turn common axis.
  • This kind of Stair climbing mechanism is disclosed in DE 37 13 564 C2.
  • the two pairs of wheels form together with one Drive device a climbing unit.
  • Handlebars 20 attached to the figures only with their lower section are shown. At the top, in The parts, not shown, are handles mounted with which the climbing device during operation can be held and operated by an operator.
  • a wheelchair (not shown) can be attached to the climbing device.
  • the Climbing device together with the wheelchair to a staircase be brought up and by cyclical turning and Swiveling the wheels together with the wheelchair and one person inside up or down stairs be moved.
  • a support device 40 is located on the climbing device 1 attached, the scissor arm 41 with four end legs 42, 43, 44 and 45.
  • the end legs 42 and 43 are the Climbing device 1 facing and pivotable on this attached.
  • the end legs 44 and 45 are of the Climbing device turned away and hold together with one Connecting element 46 is a support element 47.
  • first end leg 42 With respect to one first pivot axis 51 pivotable to the Stair climbing device 1 is stationary.
  • the second End leg 43 is with respect to a second pivot axis 52 pivotable.
  • the second pivot axis 52 is on the outer end of a pivot lever 53 which by means of a Actuating shaft 54 is pivotable.
  • the rotation of the Actuating shaft 54 is by a not shown Drive device causes.
  • the stair climbing device 1 has one or more Sensors that detect the risk of tipping Recognize stair climbing device during operation, as well via a control device (not shown) that the Signals from the sensors processed and the drive device controls.
  • At least one of the sensors of the stair climbing device 1 is a holding force sensor.
  • Fig. 5 shows schematically the base body 80 of the climbing unit of the Stair climbing device 1. Details of the climbing unit, in particular the pairs of wheels and their drive are for Simplification of the illustration omitted.
  • On Holding force sensor 100 is at one end 101 on the Base body 80 attached. The opposite end 102 of the Holding force sensor 100 serves to receive a gripping bar 20. As can be seen in particular from FIG. 6, the Holding force sensor 100 has a bore 110, which is the first Fastening point on the base body 80 is used. At the end 101 of the holding force sensor 100 are two bores 111, 112 provided, optionally as a second attachment point the base body 80 can be used.
  • this is also used its bore 110 to a correspondingly dimensioned Bolt 82 attached, which is attached to the base body 80 is.
  • the bolt 82 is so with respect to the bore 110 dimensioned that the holding force sensor 100 is related onto the base body 80 around the center of the bolt 82 can turn.
  • the full attachment of the Holding force sensor 100 on the climbing unit 80 is carried out by a screw 81 through an elongated hole 83 in the Base body 80 of the climbing unit optionally with the Threaded hole 111 or 112 at the end 101 of the holding force sensor 100 is screwed.
  • a substantially rectangular and provided with rounded corners recess 120 are provided between the two attachment points. Strain gauges are on both sides of the recess 120 121, 122 are provided which are connected via a bridge, for example, a Wheatstone bridge coupled together are.
  • the stair climbing device 1 by initiating an im force substantially perpendicular to the handle bar 20 is tilted, this force causes that in the area of Holding force sensor 100 a bending moment is generated.
  • This Bending moment has the result that the holding force sensor 100 is on one side of the recess 120 stretched and on the opposite lying side is compressed.
  • the recess 120 provides thus for a targeted deformation of the in this area as Spring body designed holding force sensor 100. Die Deformation is measured via the strain gauges 121, 122 recorded, the signals of the strain gauges 121, 122 are forwarded to the control device, not shown, and processed there.
  • holding force sensor shown other forms of a Holding force sensor can be used, for example a T-shaped holding force sensor attached to its two short ones free ends with the base body 80 of the climbing unit is screwed and its long free end for receiving a handle bar 20 is used.
  • strain gauges or in addition to this, other sensor systems can be used can, for example inductive systems, optoelectronic Sensors or the like.
  • sensors that detect the holding force For example, a tilt angle sensor that the Inclination angle of the stair climbing device detected one Accelerometer, a distance sensor that measures the distance or the presence of one below or above the Stair climbing device located step or one Paragraph detects a handle sensor that detects whether the Operator holds the handle unit and a position sensor, which determines in which position the wheels 11, 12 of the first pair of wheels and the corresponding wheels of the second Pairs of wheels.
  • the support device 40 When starting up the stair climbing device 1 The support device 40 initially remains in that in FIG. 1 shown rest position.
  • the stair climbing device can thus easily connected to a wheelchair and the from stair climbing device 1, wheelchair and wheelchair occupant existing unit can go up to the edge of a staircase be brought up.
  • the operator pushes the Stair climbing device with the wheelchair attached usually before.
  • the operator turns the staircase out Stair climbing device 1, wheelchair and wheelchair occupant existing unit so that it is between this unit and the stairs stand and the climbing process in backward walking can perform.
  • This twist is when approaching the top of a staircase is not necessary because that Descending stairs in the forward direction.
  • the Stair climbing device required, in which the Operator pulls the handle unit towards you to remove the Stair climbing device 1, wheelchair and wheelchair occupants to bring the existing unit into an inclined position Allows you to climb or descend the stairs.
  • the at this tipping forces and changes in Inclination angle and the distance of certain parts of the Stair climber from the floor are through the Sensors detects which corresponding signals to the Submit control device. Based on the signals, the Control device by comparison with stored typical Waveforms or limit values the tipping process and puts the support 40 in one Stand-by position, as shown in Fig. 2.
  • the actuating shaft 54 is turned clockwise, whereby the pivot lever 53 from that shown in Fig. 1 Clockwise position in the position shown in Fig. 2 is pivoted.
  • the rotation of the actuator shaft 54 will caused by the drive device, not shown.
  • the The drive device is not controlled via the shown control device.
  • the Control device recognizes the specific signals Sensor device, in particular based on the signals of the Distance sensor the presence of a landing and knows this willfully carried out by the operator Accidental erection of the unit to distinguish during the climbing process, so that a unnecessary extension of the support device 40 in the Support position has not occurred.
  • the support device 40 remains in as long the standby position shown in Fig. 2, as due the sensors have no impending risk of tipping Stair climbing device 1 is detected.
  • This contact will support the Stair climbing device 1 together with the attached Wheelchair and the wheelchair occupant causes another Tilt the from the stair climbing device 1 and the Wheelchair and the wheelchair occupant existing unit prevented.
  • the pivoting of the pivot lever 53 clockwise Moving the support device 40 from that shown in FIG. 2 Ready position in the support position explained above takes place at high speed to prevent dangerous tipping reliably prevent.
  • the control device controls the Drive device such that the movement of the Swing lever 53 is then stopped when a reliable Support has taken place. This can be done by appropriate Sensors are detected.
  • the support position is from the local Conditions and the position of the stair climbing device the moment the danger of tipping is recognized, as well as the Retractor and extension speed Tipping speed depends.
  • the actual position of the Support device 40 can thus be any Intermediate position between those in FIGS. 2, 3 and 4 positions shown or, if necessary, also over go beyond the position shown in Fig. 4.
  • Scissor mechanism 40 can have two scissor arms, which arranged parallel to each other and at the respective Joint points are interconnected.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Rehabilitation Tools (AREA)
EP01103424A 2000-04-14 2001-02-14 Dispositif pour monter des escaliers Withdrawn EP1145697A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10018516 2000-04-14
DE2000118516 DE10018516C1 (de) 2000-04-14 2000-04-14 Treppensteigvorrichtung

Publications (2)

Publication Number Publication Date
EP1145697A2 true EP1145697A2 (fr) 2001-10-17
EP1145697A3 EP1145697A3 (fr) 2003-05-28

Family

ID=7638736

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01103424A Withdrawn EP1145697A3 (fr) 2000-04-14 2001-02-14 Dispositif pour monter des escaliers

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EP (1) EP1145697A3 (fr)
DE (1) DE10018516C1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10138167A1 (de) * 2001-08-03 2003-02-27 Saremo Objektfinish Ag Vorrichtung und Verfahren für ein gezieltes Auftragen von Beschichtungsmaterial
EP1319382B1 (fr) 2001-12-13 2006-07-26 Ulrich Alber GmbH Dispositif pour monter les escaliers
DE10248889B4 (de) * 2001-12-13 2005-10-13 Ulrich Alber Gmbh Treppensteigvorrichtung
DE10161220B4 (de) * 2001-12-13 2005-06-16 Ulrich Alber Gmbh Treppensteigvorrichtung
DE10161217C1 (de) * 2001-12-13 2002-10-10 Alber Ulrich Gmbh & Co Kg Treppensteigvorrichtung
DE102019102967A1 (de) 2018-02-06 2019-08-08 Ks Kolbenschmidt Gmbh Steuerung eines treppensteigfähigen angetriebenen Transportgerätes

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3713564C2 (fr) 1987-04-23 1989-05-24 Haas & Alber Haustechnik Und Apparatebau Gmbh, 7470 Albstadt, De
WO1990000997A1 (fr) 1988-07-28 1990-02-08 Emile Trougouboff Appareil pour la manutention de charges lourdes, tel qu'un diable ou fauteuil roulant pour handicapes
DE29721477U1 (de) 1997-12-05 1999-05-06 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft, 37115 Duderstadt Motorisch betriebene Treppensteigvorrichtung

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9311075U1 (de) * 1993-07-24 1994-11-24 Strothmann, Rolf, Dr., 66123 Saarbrücken Elektrischer Antrieb eines von Hand gezogenen oder geschobenen, fahrbaren Gegenstands
DK0711698T3 (da) * 1994-11-14 1999-11-01 Expresso Deutschland Distributions- eller uddelingsvogn
DE29720939U1 (de) * 1997-11-26 1999-04-01 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft, 37115 Duderstadt Sicherheitsvorrichtung für Treppensteigvorrichtungen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3713564C2 (fr) 1987-04-23 1989-05-24 Haas & Alber Haustechnik Und Apparatebau Gmbh, 7470 Albstadt, De
WO1990000997A1 (fr) 1988-07-28 1990-02-08 Emile Trougouboff Appareil pour la manutention de charges lourdes, tel qu'un diable ou fauteuil roulant pour handicapes
DE29721477U1 (de) 1997-12-05 1999-05-06 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft, 37115 Duderstadt Motorisch betriebene Treppensteigvorrichtung

Also Published As

Publication number Publication date
EP1145697A3 (fr) 2003-05-28
DE10018516C1 (de) 2001-06-21

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