WO2010142277A1 - Moyen de transport, notamment pour personnes handicapées - Google Patents

Moyen de transport, notamment pour personnes handicapées Download PDF

Info

Publication number
WO2010142277A1
WO2010142277A1 PCT/DE2010/000652 DE2010000652W WO2010142277A1 WO 2010142277 A1 WO2010142277 A1 WO 2010142277A1 DE 2010000652 W DE2010000652 W DE 2010000652W WO 2010142277 A1 WO2010142277 A1 WO 2010142277A1
Authority
WO
WIPO (PCT)
Prior art keywords
freedom
joint
running
transport means
section
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.)
Ceased
Application number
PCT/DE2010/000652
Other languages
German (de)
English (en)
Inventor
Wolfgang Hucke
Roland Steinke
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.)
STEINKE TECHNIKUS GmbH
Original Assignee
STEINKE TECHNIKUS 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 STEINKE TECHNIKUS GmbH filed Critical STEINKE TECHNIKUS GmbH
Priority to DE112010002446T priority Critical patent/DE112010002446A5/de
Publication of WO2010142277A1 publication Critical patent/WO2010142277A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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

  • DE 102004019040 A1 discloses a stair climber for self-climbing, adaptable to hand wheelchairs with a frame, a seat surface, a backrest surface and with a seat trailing edge, where the planes of seat and backrest surface intersect, as well as with a stair-climbing unit, such as a caterpillar.
  • the so-called stair-climbing unit comprises a second frame or is firmly integrated into the frame of the wheelchair.
  • the wheelchair comprises at least one lever, which is rotatably mounted on the frame. The axis of rotation of the lever is approximately perpendicular to the rear edge of the seat and is not more than 15 cm from the rear edge of the seat.
  • the said lever has an approximately perpendicular to
  • a device for locomotion which consists of at least six running elements.
  • Each running element is made as a leg-like structure which is rotatably mounted on the frame structure.
  • the running elements are arranged with respect to the center of gravity to each other on the frame structure that the means of transport is placed both in locomotion and when standing stable and secure on the ground.
  • This is achieved in that the running elements are rotatably mounted to the frame construction at those points which are equally spaced from the center of gravity of the entire transport.
  • the rotation axes of the joints with a rotational degree of freedom which are arranged between the frame structure and the running elements, are parallel to each other.
  • each running element is divided into at least two sections arranged one behind the other in series, wherein additional joints with a rotational degree of freedom are arranged between the individual sections.
  • the attached to the frame construction seat construction is formed in a conventional manner as an ergonomically designed seat for physically disabled people, the seat is provided with a handicapped accessible equipment.
  • the rotational axis of the joint with a rotational degree of freedom is thus oriented orthogonal to the vertical axis of rotation of the joint with two rotational degrees of freedom.
  • the sections of a running element are freely movable both in the horizontal and in the vertical plane, so that each running element can execute the horizontal and vertical movement components necessary for a step movement.
  • An inventive means of transport can be moved by coordinated steps of the running elements.
  • the musculoskeletal system of a six-legged spider or insect has many of the features of the invention for locomotion-like traits, and is a very efficient and energy-efficient form of movement, especially in uneven terrain.
  • each running element has a joint with at least one translatory degree of freedom (sliding joint) for changing the length of this section.
  • Each running element has in this embodiment of the invention due to a joint with two rotational degrees of freedom, a joint with a rotational degree of freedom and at least one section with a joint with at least one translational degree of freedom at least four degrees of freedom.
  • a pressure sensor is arranged in the trained for getting up on the moving terrain section of each running element, which detects the contact of the running element with theorientssterrain.
  • the signal of the detection serves to control the running elements for the movement of the means of transport. Depending on the result of the detection, the control either initiates a new step process or controls the rising of the running elements on the moving terrain.
  • the movement of the running elements can also be controlled so that a dynamic walking takes place, in which the center of gravity of the means of transport can also be outside of the triangle whose vertices are the points of contact of each upstanding on the movement terrain running elements, without causing a tipping of the means of transport.
  • the necessary control is much more complex.
  • the means of transport has a comfortable walking behavior for physically handicapped people.
  • the means of transport can be transported well due to its compact design; Transport in the trunk of a car is possible without disassembly.
  • FIG. 2 shows a further embodiment of the running element, in which the running element is designed as a joint chain with four joints, each with at least one rotational degree of freedom
  • Figure 3 a further embodiment of the running element, in
  • Figure 4 an overall view of the transport, in
  • FIG. 5 shows an illustration of the contact points of the running elements rising on the moving rainbow at a step
  • FIG. 1 shows a schematic embodiment of a running element 3.0.
  • the running element 3.0 has two successive arranged by a joint 3.7 with a rotational degree of freedom sections 3.1 and 3.2.
  • a joint 3.4 arranged between the first section 3.1 and the frame construction 1 comprises two partial joints 3.4.1 and 3.4.2, each with a rotational degree of freedom.
  • the axis of rotation 3.5 of the partial joint 3.4.1 is vertical, the axis of rotation 3.6 of the second partial joint 3.4.2 aligned horizontally.
  • the movement of the corresponding joint elements of the partial joints 3.4.1 and 3.4.2 of the joint 3.4 about the axes of rotation 3.5 and 3.6 is effected by not shown, preferably electro-hydraulic drives.
  • the arranged between the first section 3.1 and the second section 3.2 joint 3.7 with a rotational degree of freedom is analogous to the partial joint 3.4.2 formed with horizontally oriented axis of rotation 3.6 of the joint 3.4. Its axis of rotation 3.6 is also aligned horizontally.
  • a joint 3.8 is arranged with a translational degree of freedom. As a result, the length of this second section 3.2 is variable.
  • the tail of the second section 3.2 is designed for safe getting up on the moving terrain as a footrest 3.9.
  • FIG. 2 shows a further embodiment of the running element 3.0, in which the running element 3.0 has an annularly closed articulated chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom - parallelogram guidance.
  • the running element 3.0 has three sections 3.1, 3.2 and 3.3, which are connected by joints 3.7.1 and 3.7.2, each with at least one rotational degree of freedom.
  • the sections 3.1 and 3.3 are in each case connected with part joints 3.4.2.1 and 3.4.2.2 with at least one rotational degree of freedom, which are part of the arranged on the frame structure 1 joint 3.4, whereby the link chain is closed.
  • the axes of rotation 3.6 of all four joints of the articulated chain are aligned horizontally and parallel to each other.
  • the articulated chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom, is arranged at the section 3.2 a joint 3.8 with a translational degree of freedom.
  • the end of Section 3.2 is designed as a footrest 3.9.
  • FIG. 3 shows a development of the embodiment of the running element 3.0, which has a ring-closed joint chain with four joints 3.4.2.1, 3.4.2.1, 3.7.1 and 3.7.2, each with at least one rotational degree of freedom, as shown in Figure 2 ,
  • the development has in the joint chain on another joint 3.8 with at least one translational degree of freedom.
  • the joint is arranged in the illustrated embodiment in section 3.3 and allows a change in length of this section 3.3. Thereby, the range of motion of the running element 3.0 is extended by the section 3.2 of the running element 3.0 is pivotable in a vertical plane.
  • FIG. 4 shows an overall view of the means of transport according to the invention.
  • the means of transport comprises a frame construction 1, a seat construction 2, a means 3 for locomotion, comprising six running elements 3.0 and a control.
  • the frame structure 1 consists of a frame made of several tubes, the tubes being made of aluminum alloy or other light metals.
  • a seat structure 2 is fixed, which is designed to be physically handicapped. That is, the seat structure 2 is adapted to the user ergonomically shaped and upholstered or equipped with straps or other accessories.
  • a control element is arranged, through which the user can control the movement of the means of transport.
  • the operating element is preferably designed as a joystick.
  • the means 3 for locomotion comprises six leg-like running elements 3.0, which are articulated laterally to the frame construction 1 in two rows of three running elements 3.0 each.
  • Each running element 3.0 has two sections 3.1 and 3.2 arranged in series one behind the other and connected by a joint 3.7 with a rotational degree of freedom.
  • a joint 3.4 arranged between the first section 3.1 and the frame construction 1 is formed by two part hinges each having a rotational degree of freedom, the axis of rotation of the part joint directly connected to the frame structure 1 being vertically aligned, whereas the axis of rotation of the second part joint of the joint 3.4 is oriented horizontally is.
  • a joint 3.8 is arranged with a translational degree of freedom, whereby the length of this second section 3.2 is variable.
  • the tail of the second section 3.2 is designed for safe getting up on the moving terrain as a footrest 3.9.
  • the lower contact surface of the footrest 3.9 which is in contact with the movement soil, can be designed to be interchangeable in order to achieve reliable contact with different terrain materials and surfaces.
  • the width and length of the transport means according to the invention shown are 600 mm x 900 mm.
  • FIG. 5 shows the contact points of the running elements rising on the moving floor in one step, that is to say the displacement of three running elements 3.0.
  • the center of gravity 5 of the means of transport is constantly located above a triangle whose vertices are the points of contact of the running elements 3.0 rising on the moving terrain.
  • the length 4 of a step is 150 mm.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un moyen de transport, notamment pour personnes handicapées, comprenant une structure cadre (1) et une structure siège (2) fixée à la structure cadre (1). L'invention est caractérisée en ce qu'un organe de liaison, prévu entre la structure cadre (1) et le dispositif destiné à l'aire de déplacement, permet la locomotion (3) et présente au moins six éléments pattes (3.0) entraînés et commandés qui sont implantés sur la structure cadre (1) en étant espacés les uns des autres, le couplage de chaque élément patte (3.0) avec la structure cadre (1) s'effectuant respectivement à l'aide d'une articulation dotée d'au moins un degré de liberté rotative autour d'un axe de rotation sensiblement vertical et chaque élément patte (3.0) présentant au moins une autre articulation dotée d'au moins respectivement un degré de liberté rotative autour d'un axe de rotation sensiblement horizontal. Chaque élément patte (3.0) est subdivisé en au moins deux sections (3.1, 3.2) se succédant dans un montage en série, lesdites sections (3.1, 3.2) étant délimitées par une des articulations (3.7) dotée d'au moins un degré de liberté rotative autour d'un axe de rotation sensiblement horizontal.
PCT/DE2010/000652 2009-06-12 2010-06-08 Moyen de transport, notamment pour personnes handicapées Ceased WO2010142277A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112010002446T DE112010002446A5 (de) 2009-06-12 2010-06-08 Transportmittel, insbesondere für körperbehinderte Menschen

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202009008144.3 2009-06-12
DE200920008144 DE202009008144U1 (de) 2009-06-12 2009-06-12 Transportmittel, insbesondere für körperbehinderte Menschen

Publications (1)

Publication Number Publication Date
WO2010142277A1 true WO2010142277A1 (fr) 2010-12-16

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2010/000652 Ceased WO2010142277A1 (fr) 2009-06-12 2010-06-08 Moyen de transport, notamment pour personnes handicapées

Country Status (2)

Country Link
DE (2) DE202009008144U1 (fr)
WO (1) WO2010142277A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103879471A (zh) * 2014-04-05 2014-06-25 凌昕 登山车
US9222493B2 (en) 2013-10-14 2015-12-29 Brian Riskas Statically stable walking machine and power system therefor
FR3057158A1 (fr) * 2016-10-10 2018-04-13 Christophe Cazali Dispositif de fauteuil roulant electrique pour franchir escaliers et obstacles de facon autonome
US10327969B2 (en) 2015-11-30 2019-06-25 Ford Global Technologies, Llc Mobile transport device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202015006899U1 (de) 2015-10-01 2016-02-12 Andreas Wulff Laufstuhl
DE102015012755A1 (de) 2015-10-01 2017-04-06 Andreas Wulff Laufstuhl

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0157633A2 (fr) * 1984-04-02 1985-10-09 David Erskine Shaw Stewart Véhicule
US5513716A (en) * 1994-05-09 1996-05-07 Trustees Of The University Of Pennsylvania Adaptive mobility system
DE202005004562U1 (de) 2005-03-17 2005-09-29 Richter, Michael Vorrichtung zur autodynamischen Überwindung von Stufen und Stufensystemen
DE102004019040A1 (de) 2004-04-18 2005-11-10 Kotlarov, Peter Treppensteiger zum Selbststeigen, adaptierbar an Handrollstühlen
EP1695799A1 (fr) * 2003-11-27 2006-08-30 HONDA MOTOR CO., Ltd. Dispositif de commande de corps mobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0157633A2 (fr) * 1984-04-02 1985-10-09 David Erskine Shaw Stewart Véhicule
US5513716A (en) * 1994-05-09 1996-05-07 Trustees Of The University Of Pennsylvania Adaptive mobility system
EP1695799A1 (fr) * 2003-11-27 2006-08-30 HONDA MOTOR CO., Ltd. Dispositif de commande de corps mobile
DE102004019040A1 (de) 2004-04-18 2005-11-10 Kotlarov, Peter Treppensteiger zum Selbststeigen, adaptierbar an Handrollstühlen
DE202005004562U1 (de) 2005-03-17 2005-09-29 Richter, Michael Vorrichtung zur autodynamischen Überwindung von Stufen und Stufensystemen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
WELLMAN P ET AL: "DESIGN OF A WHEELCHAIR WITH LEGS FOR PEOPLE WITH MOTOR DISABILITIES", IEEE TRANSACTIONS ON REHABILITATION ENGINEERING, IEEE INC. NEW YORK, US LNKD- DOI:10.1109/86.481974, vol. 3, no. 4, 1 December 1995 (1995-12-01), pages 343 - 353, XP000551763, ISSN: 1063-6528 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9222493B2 (en) 2013-10-14 2015-12-29 Brian Riskas Statically stable walking machine and power system therefor
CN103879471A (zh) * 2014-04-05 2014-06-25 凌昕 登山车
CN103879471B (zh) * 2014-04-05 2016-04-13 凌昕 登山车
US10327969B2 (en) 2015-11-30 2019-06-25 Ford Global Technologies, Llc Mobile transport device
FR3057158A1 (fr) * 2016-10-10 2018-04-13 Christophe Cazali Dispositif de fauteuil roulant electrique pour franchir escaliers et obstacles de facon autonome
WO2018069619A1 (fr) * 2016-10-10 2018-04-19 Christophe Cazali Vehicule d'aide a la mobilite adapte pour le franchissement d'obstacles

Also Published As

Publication number Publication date
DE202009008144U1 (de) 2009-08-20
DE112010002446A5 (de) 2013-05-29

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