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WO2005082306A1 - Vehicule de transport franchisseur d'escaliers pour fauteuils roulants - Google Patents

Vehicule de transport franchisseur d'escaliers pour fauteuils roulants Download PDF

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Publication number
WO2005082306A1
WO2005082306A1 PCT/EP2005/001769 EP2005001769W WO2005082306A1 WO 2005082306 A1 WO2005082306 A1 WO 2005082306A1 EP 2005001769 W EP2005001769 W EP 2005001769W WO 2005082306 A1 WO2005082306 A1 WO 2005082306A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport vehicle
chassis
wheelchair
vehicle according
vehicle
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/EP2005/001769
Other languages
German (de)
English (en)
Inventor
Werner Losch
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.)
LOSCH AIRPORT EQUIPMENT GmbH
Original Assignee
LOSCH AIRPORT EQUIPMENT 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 LOSCH AIRPORT EQUIPMENT GmbH filed Critical LOSCH AIRPORT EQUIPMENT GmbH
Priority to EP05707546A priority Critical patent/EP1720501A1/fr
Publication of WO2005082306A1 publication Critical patent/WO2005082306A1/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
    • A61G5/061—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
    • 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
    • A61G5/066—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 endless belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • 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 staircase transport vehicle for wheelchairs according to the preamble of claim 1.
  • the receiving device consists of a frame which is guided in the longitudinal guide rails of the chassis, can be swung out in swivel rails adjoining these rails and approximately perpendicular to them, and to which the wheelchair can be fastened.
  • the frame is attached above the chassis and after the wheelchair attachment for the inclined travel on the stairs must be moved by hand to the ends of the longitudinal guide rails near the stairs to prevent the vehicle from tipping over.
  • the chassis also has retractable support wheels that allow the vehicle to move better on a level road, the endless crawler belts not touching the floor. This vehicle has the disadvantages that the wheelchair is laboriously attached to the frame, swiveled and moved on the chassis got to.
  • EP 436 103 discloses a caterpillar vehicle suitable for stairs with an integrated armchair which is arranged above the vehicle chassis.
  • the vehicle has an electronic control device which uses sensors to determine the inclination of the vehicle and prevent the vehicle from climbing the stairs if the inclination is too great.
  • the vehicle's armchair is tilted relative to the vehicle chassis by means of further electronic control means in such a way that the person who owns the armchair is always kept vertical with respect to gravity, even when the vehicle is driving up the stairs.
  • the disadvantage of this crawler vehicle is that there is a risk of tipping over even with slight inclines on the stairs and that it is quite impossible to climb steep stairs.
  • a further caterpillar vehicle with an integrated armchair is known, which is arranged above the vehicle chassis.
  • the vehicle has a base arranged in the chassis with a support platform for the armchair which is articulated thereon and which holds the armchair in a substantially horizontal orientation. The mechanism used for this raises and lowers the platform accordingly.
  • DE 19522939 discloses a caterpillar vehicle that can go up stairs and has a load container, which is arranged above the vehicle chassis on a receiving device. With a cylinder attached to the vehicle chassis unit, the receiving device is rotatable about a pivot point in the vertical direction.
  • DE-T2-69713854 discloses a stair-climbing wheelchair transport vehicle according to the preamble of claim 1, which has a receiving platform, the rotational position of which is automatically controlled by a platform drive depending on the position of the vehicle in such a way that the horizontal normal sitting position is always maintained is.
  • the shell drive comprises an electric motor which is controlled by an inclination sensor attached to the shell in the form of an inclination switch.
  • the platform is designed such that it covers the crawler chassis and allows the wheelchair to be opened from the narrow side of the transport vehicle facing away from the stairs.
  • the wheelchair is always from the rear of the vehicle, i. H. taken from the side into the receiving device that faces away from the stairs at the start of the stairs.
  • the vehicle must be driven to a horizontal vehicle position on the upper landing and turned there before the wheelchair can move out of the vehicle, so that unloading the vehicle is very cumbersome and time-consuming.
  • the object of the invention is to provide a staircase transport vehicle according to the preamble of claim 1, which can easily accommodate a wheelchair in a confined space, can also be safely transported on steeper stairs and can be released easily.
  • the wheelchair should also be able to be unloaded as quickly as possible.
  • the vehicle should also be easy to transport on flat surfaces.
  • the center of gravity of the cradle with the wheelchair is low relative to the chassis, so that the risk of the vehicle tipping over is low.
  • the bucket drive With the bucket drive, the bucket is always held horizontally, so that the wheelchair user always maintains their vertical sitting position, even when climbing stairs.
  • the receiving device and the wheelchair are provided with a locking device which locks the wheelchair in the recess on the receiving device in the forward direction after it has been retracted. This improves the safety of the wheelchair user when climbing stairs.
  • the chassis has a recess on the bottom which is adapted to a step of the stairs.
  • the transport vehicle can be inclined in its upper stair-end position in such a way that the tilting of the transport vehicle from the inclined position into the horizontal position is even easier.
  • the caterpillar endless belt arranged on each side of the transport vehicle is divided into two belts by the recess on the bottom.
  • the shell drive has an electric motor which is powered by a battery and which is controlled by an inclination switch attached to the shell.
  • the electric motor is preferably connected to the shell via a spindle.
  • a support arm is rotatably attached to the narrow end of the vehicle opposite the stairs, which is spring-loaded in the direction of the floor. Therefore, the vehicle can also be used on steep stairs.
  • the support boom can be retracted into the chassis. Therefore, the outrigger does not need to be extended on less steep stairs and can be retracted for transport in a feeder vehicle, so that the vehicle can be transported more compactly.
  • FIG. 1 shows a longitudinal section through a staircase transport vehicle standing on a level floor with a retracted support boom according to the invention
  • FIG. 2 shows a longitudinal section through the stair-going transport vehicle of FIG. 1 with the outrigger extended
  • Fig. 3 shows a longitudinal section through the vehicle of Fig. 2 and standing on a staircase
  • FIG. 4 shows a longitudinal section through the vehicle of FIG. 2 standing further up on the stairs.
  • FIG. 5 is a perspective view of a second embodiment of a staircase transport vehicle standing on a level floor with a wheelchair accommodated therein,
  • FIG. 6 is a perspective view of the transport vehicle of FIG. 5 with the wheelchair extended therefrom;
  • Fig. 7 is a perspective view of a staircase and the transport vehicle of Fig. 5 and
  • FIG. 8 is a side view of the stairs and the transport vehicle of FIG. 7.
  • a staircase transport vehicle 1 which has a chassis 2 with an essentially rectangular plan.
  • rollers such as rollers 3, 4, 5, on which an endless caterpillar belt 6 runs.
  • support wheels such as the support wheels 7, 8, are also extendable, which raise the chassis 2 in the extended state and keep the endless crawler belts 6 free from the flat floor 9. With these support wheels, the vehicle can be moved better than on the endless crawler belts on the floor 9.
  • a shell 11 is rotatably mounted in pivot bearings, such as the pivot bearing 10, which receives an elevator 12 with wheels, such as the wheels 13, 14.
  • the chassis 2 is designed such that the elevator 12 is lowered from the narrow end of the stairs Chassis can drive out onto the shell 11.
  • the elevator 12 can preferably be snapped onto the shell 11 in a manner not shown and can later be released again with a foot switch which disengages the latch.
  • a threaded nut 16 is rotatably connected, in which a drive spindle 17 is guided.
  • This is connected at its other end to an electric motor, not shown, arranged in the chassis 2, which is powered by a battery, not shown, attached to the chassis 2.
  • This electric motor is automatically controlled by a tilt switch (not shown) attached to the shell 11, depending on the position of the vehicle 1, in such a way that the normal sitting position of the wheelchair user is always maintained.
  • the vehicle 1 has a retractable support arm 18 with a row of support wheels 19 in a triangular arrangement.
  • This boom 18 is shown in Fig. 1 in the retracted state.
  • the support boom 18 is shown extended in FIG. 2. It is rotatably fastened with its ends remote from the wheel in pivot bearings, such as the pivot bearing 20, which are provided on stands, such as the stand 21, of the chassis 2.
  • the support arm 18 is preloaded against the chassis 2 by means of a spring 22 such that a pressure is exerted on the floor via the support wheels 19.
  • FIG 3 shows the vehicle 1 on a staircase 23.
  • the shell drive has adjusted the shell 11 with the wheelchair 12 via the spindle 17 such that the normal seating position of the wheelchair user has been retained.
  • the support arm 18 supports the chassis 2 located on the stairs 23.
  • the vehicle 1 has already reached the stair landing 24.
  • the vehicle 1 is supported on the stairs 23 with the support boom 18.
  • the wheelchair 12 can now be lowered from the shell 11 onto the stair landing 24. This space-saving release of the wheelchair is particularly advantageous for aircraft stairs, where the stair landing has only a small area.
  • the wheelchair user Due to the fact that the shell 11 is arranged very low in the chassis 2, the wheelchair user also has a secure feeling than when he is positioned above the vehicle, as is known.
  • the pivot bearings 10 of the shell 11 can be provided with shock absorbers which dampen the vibrations of the elevator 12 when driving up the stairs 23 (alternatively, the elevator can also have shock absorbers).
  • a (for example du rch springs) flexible tensioning device for the caterpillar endless belts 6 can also be provided, with which the transition of the vehicle 1 from the inclined staircase 23 to the stair landing 24 becomes much quieter, since these caterpillar endless belts can then yield accordingly.
  • FIGS. 5-8 show a second embodiment of a transport vehicle according to the invention.
  • FIGS. 5 and 7 show this transport vehicle on the one hand with a retracted wheelchair (FIG. 5) and on the other hand with a wheelchair extended from the vehicle on a level floor, while FIGS. 7 and 8 show this transport vehicle with a retracted wheelchair on a staircase.
  • the transport vehicle 1 ' consists of a chassis 2 ' , of which two interconnected side walls 25, 26 can be seen. Between these side walls, a recess 27 is provided on the front side (that is, the side facing the stairs 23 in front of the stairs) in which a receiving device 11 ' in the form of a shell near the floor for receiving a wheelchair 12' is arranged.
  • the wheelchair 12 ' can be locked to the receiving device 11 ' by means of a locking device 28, which is formed here from a rail and a guide rod of the wheelchair guided in the rail.
  • the receiving device 1 1 ' also includes a holding rod 29 to which the wheelchair user can hold.
  • the receiving device 11 ' is controlled like the receiving device 11.
  • the chassis 2 ' has a triangular recess 30 on its bottom side, approximately in the center of the vehicle, which is designed such that it is essentially adapted to a step.
  • Each caterpillar endless belt is expediently divided into two belts, such as belts 6 1 and 6 2 , with the recess 30 as a separation point, each belt being driven separately.

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 véhicule de transport franchisseur d'escaliers pour fauteuils roulants, lequel véhicule comporte un châssis pourvu, sur chaque grand côté, de roues et d'une bande sans fin à chenilles entraînée sur ces roues. Ce véhicule comporte également dispositif de réception pouvant être placé sur le châssis et destiné à maintenir le fauteuil roulant de façon amovible, lequel fauteuil peut être amené dans une position d'assise normale horizontale pendant le franchissement des escaliers par le véhicule. Cette invention se caractérise en ce que le dispositif de réception est constitué par un plateau, fixé au châssis de façon à pouvoir pivoter entre les deux bandes à chenilles et auquel le fauteuil roulant peut accéder par une extrémité étroite du châssis. De plus, la position de pivotement du plateau est automatiquement commandée par un mécanisme d'entraînement du plateau en fonction de la position du véhicule, de sorte que la position d'assise susmentionnée est maintenue en permanence.
PCT/EP2005/001769 2004-02-27 2005-02-21 Vehicule de transport franchisseur d'escaliers pour fauteuils roulants Ceased WO2005082306A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05707546A EP1720501A1 (fr) 2004-02-27 2005-02-21 Vehicule de transport franchisseur d'escaliers pour fauteuils roulants

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004010089.6 2004-02-27
DE200410010089 DE102004010089A1 (de) 2004-02-27 2004-02-27 Transportfahrzeug für Rollstühle

Publications (1)

Publication Number Publication Date
WO2005082306A1 true WO2005082306A1 (fr) 2005-09-09

Family

ID=34853881

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/001769 Ceased WO2005082306A1 (fr) 2004-02-27 2005-02-21 Vehicule de transport franchisseur d'escaliers pour fauteuils roulants

Country Status (3)

Country Link
EP (1) EP1720501A1 (fr)
DE (1) DE102004010089A1 (fr)
WO (1) WO2005082306A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100462272C (zh) * 2007-01-23 2009-02-18 虞戟 履带式行走装置及采用该装置的爬楼椅
CN101583530B (zh) * 2006-11-13 2012-07-04 雷神萨科斯公司 具有可动臂件的机器人履带车
CN108357578A (zh) * 2018-01-30 2018-08-03 中国北方车辆研究所 一种用于移动平台攀爬楼梯的辅助机构
CN109703639A (zh) * 2018-12-03 2019-05-03 北京建筑大学 一种可变结构机器人
CN113371086A (zh) * 2021-07-28 2021-09-10 中铁电气化局集团有限公司 货运车辆

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE602007007807D1 (de) 2006-11-13 2010-08-26 Raytheon Sarcos Llc Vielseitig verwendbares endlosband für leichte mobile roboter
US8002365B2 (en) 2006-11-13 2011-08-23 Raytheon Company Conformable track assembly for a robotic crawler
WO2008137953A1 (fr) 2007-05-07 2008-11-13 Raytheon Sarcos, Llc Procédé pour fabriquer une structure complexe
CN101784435B (zh) 2007-07-10 2013-08-28 雷神萨科斯公司 模块化机器人履带车
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
US8935014B2 (en) 2009-06-11 2015-01-13 Sarcos, Lc Method and system for deploying a surveillance network
US8317555B2 (en) 2009-06-11 2012-11-27 Raytheon Company Amphibious robotic crawler
IT1398200B1 (it) * 2010-02-02 2013-02-14 Oto Melara Spa Dispositivo di smorzamento di sobbalzi di un veicolo cingolato e veicolo cingolato associato
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
US12311550B2 (en) 2020-12-31 2025-05-27 Sarcos Corp. Smart control system for a robotic device

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Publication number Priority date Publication date Assignee Title
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US4411330A (en) * 1980-08-21 1983-10-25 J. De Reus B.V. Stair-climbing apparatus for a wheel chair or similar mobile transport means
WO1998002122A1 (fr) * 1996-07-17 1998-01-22 Deka Products Limited Partnership Mecanisme anti-basculement
EP0982259A2 (fr) * 1998-08-24 2000-03-01 Daido-Kogyo Kabushiki Kaisha Dispositif autopropulsé pour franchir les escaliers

Family Cites Families (8)

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CH608436A5 (en) * 1975-12-24 1979-01-15 Peter Auer Vehicle for transporting persons and goods on stairs and inclined surfaces
DE3225770C2 (de) * 1982-07-09 1986-07-24 Kleindienst GmbH, 8900 Augsburg Höhenverstellbares Querjoch zur einstellbaren Verbindung mit dem Gestänge des Lastenträgers eines Fahrgeräts
JPS6078864A (ja) * 1983-10-07 1985-05-04 サンワ車輌株式会社 車椅子用階段昇降機
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JPH023985Y2 (fr) * 1986-06-05 1990-01-30
DE9010396U1 (de) * 1990-07-09 1990-09-13 Berliner Verkehrs-Betriebe (BV) Eigenbetriebe von Berlin, 1000 Berlin Fahrtreppenkuli für Rollstühle
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DE29807626U1 (de) * 1998-04-27 1998-10-08 Liebl, Patrick, 80796 München Elektrisch betriebener Sackkarren mit Dreiachskette

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4411330A (en) * 1980-08-21 1983-10-25 J. De Reus B.V. Stair-climbing apparatus for a wheel chair or similar mobile transport means
DE3303817A1 (de) * 1983-01-17 1983-07-21 Alfred Dipl.-Ing. 8017 Ebersberg Hönig Treppengaengiges rollstuhlsystem
WO1998002122A1 (fr) * 1996-07-17 1998-01-22 Deka Products Limited Partnership Mecanisme anti-basculement
EP0982259A2 (fr) * 1998-08-24 2000-03-01 Daido-Kogyo Kabushiki Kaisha Dispositif autopropulsé pour franchir les escaliers

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101583530B (zh) * 2006-11-13 2012-07-04 雷神萨科斯公司 具有可动臂件的机器人履带车
CN100462272C (zh) * 2007-01-23 2009-02-18 虞戟 履带式行走装置及采用该装置的爬楼椅
CN108357578A (zh) * 2018-01-30 2018-08-03 中国北方车辆研究所 一种用于移动平台攀爬楼梯的辅助机构
CN108357578B (zh) * 2018-01-30 2022-04-12 中国北方车辆研究所 一种用于移动平台攀爬楼梯的辅助机构
CN109703639A (zh) * 2018-12-03 2019-05-03 北京建筑大学 一种可变结构机器人
CN113371086A (zh) * 2021-07-28 2021-09-10 中铁电气化局集团有限公司 货运车辆

Also Published As

Publication number Publication date
EP1720501A1 (fr) 2006-11-15
DE102004010089A1 (de) 2005-09-15

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