US20060021806A1 - Obstacle traversing wheelchair - Google Patents

Abstract

The present invention provides a curb-climbing wheelchair having pivotal arm assemblies. The pivotal arm assemblies include at least one front caster and have the ability to rotate or pivot. The pivot arms rotate or pivot in response to moments generated by accelerating or decelerating the wheelchair thereby raising or lowering the front caster(s) through the rotational movement of the pivot arms. By raising or lowering the front caster(s) in such a manner, curb-like obstacles can be traversed in a low-impact manner.

Description

CROSS REFERENCES TO RELATED APPLICATIONS
• This patent application is a continuation of U.S. patent application Ser. No. 10/390,386, filed Mar. 17, 2003 which is a continuation of U.S. patent application Ser. No. 09/698,481, filed on Oct. 27, 2000, and titled “Obstacle Traversing Wheelchair” and U.S. patent application Ser. No. 11/145,477, filed Jun. 3, 2005 is a continuation of U.S. Ser. No. 10/390,133, filed Mar. 17, 2003 which is a divisional of said Ser. No. 09/698,481, filed Oct. 27, 2000.
FIELD OF THE INVENTION
• The invention relates generally to wheelchairs, and more particularly, to a wheelchair having pivotal assemblies for traversing obstacles such as curbs and the like.
BACKGROUND OF THE INVENTION
• Wheelchairs are an important means of transportation for a significant portion of society. Whether manual or powered, wheelchairs provide an important degree of independence for those they assist. However, this degree of independence can be limited if the wheelchair is required to traverse obstacles such as, for example, curbs that are commonly present at sidewalks, driveways, and other paved surface interfaces.
• In this regard, most wheelchairs have front and rear casters to stabilize the chair from tipping forward or backward and to ensure that the drive wheels are always in contact with the ground. One such wheelchair is disclosed in U.S. Pat. No. 5,435,404 to Garin. On such wheelchairs, the caster wheels are typically much smaller than the driving wheels and located both forward and rear of the drive wheels. Though this configuration provided the wheelchair with greater stability, it made it difficult for such wheelchairs to climb over obstacles such as, for example, curbs or the like, because the front casters could not be driven over the obstacle due to their small size and constant contact with the ground.
• U.S. Pat. No. 5,964,473 to Degonda et al. describes a wheelchair having front and rear casters similar to Garin and a pair of additional forward lift wheels. The lift wheels are positioned off the ground and slightly forward of the front caster. Configured as such, the lift wheels first engage a curb and cause the wheelchair to tip backwards. As the wheelchair tips backwards, the front caster raises off the ground to a height so that it either clears the curb or can be driven over the curb.
• While, Degonda et al. addressed the need of managing a front caster while traversing an obstacle such as a curb, Degonda et al. is disadvantageous in that additional wheels (i.e., lift wheels) must be added to the wheelchair. Hence, it is desirable to provide a wheelchair that does not require additional lift wheels or other similar type mechanisms to raise a front caster off the ground to a height so that the caster either clears an obstacle or can be driven over the obstacle.
SUMMARY OF THE INVENTION
• According to a general embodiment of the present invention, a wheelchair for traversing obstacles is provided. The wheelchair includes, for example, a frame, a pivoting assembly, and a drive assembly. The pivoting assembly has at least one pivot arm having a first portion, second portion and third portion. The first portion is pivotally coupled to the frame. The second portion has at least one caster attached thereto. The drive assembly is coupled to the third portion of the pivot arm. In operation, the pivot arm pivots in response to the forces generated by the drive assembly, which is coupled to the pivot arm. As used herein, when two objects are described as being coupled or attached, it is applicants' intention to include both direct coupling and/or attachment between the described components and indirect coupling and/or attachment between the described components such as through one or more intermediary components.
• According to a more specific embodiment of the present invention, a wheelchair for traversing obstacles having for example, a frame and a seat for seating a passenger are provided. Pivotally coupled to the frame are a pair of pivot arms. Each pivot arm has a first distal portion, a second distal portion, and a pivotal connection between the first and second distal portions for pivotally coupling the pivot arm to the frame. A motor is coupled to the first distal portion and a front caster is coupled to the second distal portion of each pivot arm. A drive wheel is coupled to each motor for translating the motor's rotational energy to the ground. At least one rear caster is coupled to the frame to provide for rear stability. By accelerating the wheelchair forward, the drive wheels generate a moment causing each pivot arm to pivot or rotate thereby raising the front casters to a height sufficient to traverse the obstacle.
• According to another aspect of the present invention, a second embodiment of a obstacle traversing wheelchair is provided. The second embodiment includes, for example, a frame and a seat for seating a passenger. Pivotally coupled to the frame are a pair of pivot arms having casters connected thereto. Each pivot arm has a first distal portion and a second distal portion that acts as a pivotal connection coupling the arm to the frame. A motor is pivotally coupled to each pivot arm at a location between the first and second distal portions. The pivotal coupling between the motor and the pivot arm is further influenced by a resilient member providing suspension between the motor and pivot arm. The motor is preferably a gearless, brushless, direct-drive motor although brush-type motors with transmissions can also be used. A front resilient assembly is coupled to the frame and the motor's pivotal connection to the pivot arm so as to provide a constant resilient force between the frame, the motor's pivotal connection, and the arm.
• According to another aspect of the present invention, a method of traversing one or more obstacles is provided. The method includes, for example, accelerating a wheelchair toward the one or more obstacles and, through such accelerating, causing a raising of one or more front casters by pivoting an arm that is coupled to the one or more front casters so that the one or more front casters are raised to a height sufficient for the one or more front casters to traverse the obstacle. The step of pivoting the arm coupled to the one or more front casters includes, for example, the step of generating a moment associated with the pivot arm causing the pivot arm to rotate in the direction of raising the one or more front casters. The height by which the front casters must be raised to traverse an obstacle varies from raising the front casters to a height where their axles are just above the height of the obstacle to raising the front casters to a height where the casters' lower extremities are above the height of the obstacle. In the case where the front casters are raised to a height where their axles are just above the height of the obstacle, the wheelchair engages the front casters with the obstacle and drives the front casters there over.
• According to another aspect of the present invention, a method of descending curb-like obstacles is also provided. In particular, the present invention lowers the front casters over a curb onto the new lower elevation when descending to provide forward stability for a wheelchair while the drive wheels and rear caster(s) are still on higher curb elevation. As the drive wheels continue over the curb and contact the new lower elevation forward stability is still maintained by virtue of the front casters while the rear caster is still on the higher curb elevation.
• It is, therefore, an advantage of the present invention to provide a cost-efficient wheelchair that can traverse one or more curb-like obstacles.
• It is, therefore, another advantage of the present invention to provide a mid-wheel drive wheelchair with pivotable front caster assemblies.
• It is, therefore, a further advantage of the present invention to provide a torque-based method of raising the front casters of a wheelchair for traversing curb-like obstacles.
BRIEF DESCRIPTION OF THE DRAWINGS
• In the accompanying drawings which are incorporated in and constitute a part of the specification, embodiments of the invention are illustrated, which, together with a general description of the invention given above, and the detailed description given below, serve to example the principles of this invention.
• FIGS. 1 and 2A are front and rear perspective views, respectively, of a first embodiment of a wheelchair of the present invention.
• FIG. 2B is a front perspective view of an alternative embodiment of the wheelchair ofFIGS. 1 and 2A having a stabilizing torsion element.
• FIG. 3 is an exploded perspective view of certain components of the first embodiment.
• FIGS. 4A, 4B, and4C are illustrations showing the forces acting on the wheelchair of the first embodiment in the static, accelerating and decelerating mode of operation.
• FIGS. 5A, 5B,5C,5D, and5E sequentially illustrate the curb-climbing operation of the first embodiment.
• FIGS. 6A, 6B,6C, and6D sequentially illustrate the curb descending operation of the first embodiment.
• FIGS. 7 and 8 are front and rear perspective views, respectively, of a second embodiment of a wheelchair of the present invention.
• FIG. 9A is an exploded perspective view of certain components of the second embodiment.
• FIG. 9B is an enlarged view of a portion ofFIG. 9A showing an assembled drive wheel and caster arrangement.
• FIGS. 10A, 10B, and10C are illustrations showing the forces acting on the wheelchair of the second embodiment in the static, accelerating and decelerating mode of operation.
• FIGS. 11A, 11B,11C,11D, and11E sequentially illustrate the curb-climbing operation of the second embodiment.
• FIGS. 12A, 12B,12C,12D, and12E correspond to enlarge portions ofFIGS. 11A, 11B,11C,11D, and11E, respectively, particularly showing the sequential range of motion of a front resilient assembly of the present invention.
• FIGS. 13A, 13B,13C, and13D sequentially illustrate the curb-descending operation of the second embodiment.
DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS
• Referring now to the drawings, and more particularly toFIGS. 1 and 2A, perspective views of awheelchair100 of the present invention are shown. Thewheelchair100 has a pair ofdrive wheels102 and104,front casters106 and108,rear caster110, andfront riggings112 and114. Thefront riggings112 and114 includefootrests116 and118 for supporting the feet of a passenger. Thefront riggings112 and114 are preferably mounted so as to be able to swing away from the shown center position to the sides ofwheelchair100. Additionally,footrests116 and118 can swing from the shown horizontal-down position to a vertical-up position thereby providing relatively unobstructed access to the front ofwheelchair100.
• Thewheelchair100 further includes achair120 having aseat portion122 and aback portion124 for comfortably seating a passenger.Chair120 is adjustably mounted to frame142 so as to be able to move forward and backward onframe142, thereby adjusting the passenger's weight distribution and center of gravity relative to the wheelchair. In the most preferred embodiment,chair120 should be positioned such that a substantial portion of the wheelchair's weight when loaded with a passenger is generally above and evenly distributed betweendrive wheels102 and104. For example, the preferred weight distribution ofwheelchair100 when loaded with a passenger should be between 80% to 95% (or higher) ondrive wheels102 and104. The remainder of the weight being distributed between the front and rear casters.Armrests126 and128 are also provided for resting the arms of a passenger or assisting a passenger in seating and unseating fromchair120.
• Thewheelchair100 is preferably powered by one ormore batteries130, which reside beneath thechair120 and in-betweendrive wheels102 and104. A pair ofdrive motors136 and138 and gearboxes are used topower drive wheels102 and104. The motors and their associated transmissions or gearboxes (if any) forming a drive assembly. A control system and controller (not shown)interface batteries130 to thedrive motors136 and138 so as to allow a passenger to control the operation of thewheelchair100. Such operation includes directing the wheelchair's acceleration, deceleration, velocity, braking, direction of travel, etc.
• Front casters106 and108 are attached to pivotarms132 and134, respectively.Rear caster110 is attached torear caster arm140. While only one rear caster is shown, it should be understood that in the alternative two rear casters can also be provided. As will be described in more detail, pivotarms132 and134 are pivotally coupled to frame142 for curb climbing and descending, whilerear caster arm140 is rigidly coupled toframe142.
• Springs144 and146 are coupled to thearms132 and134 and theframe142. More specifically, the coupling toarms132 and134 is preferably via attachment to the housings ofmotors136 and138, respectively. The coupling to theframe142 is via attachment to seat back124. So configured, each spring provides a spring force urging the motor housings upward and theseat120 or the rearward portion offrame142 downward.
• FIG. 2B is a partial front perspective view ofwheelchair100 showing atorsion bar200 of the present invention. Beyond a certain range of motion,torsion bar200 ensures thatarms132 and134 influence each other. In this regard,torsion bar200 has atorsion section206 and stemsections208 and218.Torsion bar200 is preferably made by taking a stock of spring steel and performing two bends in the stock to formtorsion section206 and stemsections208 and210. As shown inFIG. 2B,arms132 and134 have attached thereto first and secondtorsion mounting elements202 and204. Each torsion mounting element includes a semi-circular groove therein for accepting a stem section of thetorsion bar200. Thetorsion bar200 is held in place withintorsion mounting elements202 and204 via forced fit within the semi-circular grooves. In operation,arm132 or134 is free to independently move (i.e., raise or lower) a limited distance before it influences the other arm viatorsion bar200. More specifically, once the torsion limit oftorsion bar200 is exceeded, it behaves as a substantially rigid member translating any further motion of one arm to the other arm.
• The suspension and drive components ofwheelchair100 are further illustrated in the exploded prospective view ofFIG. 3. More specifically,pivot arm132 has abase member306 and anangled member302 extending therefrom. The distal end ofangled member302 includes afront swivel assembly304 that interfaces with afront caster106.Base member306 has attached thereto a mountingplate308 for mountingdrive motor136 andgearbox assembly309.Drive motor136 is coupled to pivotarm132 throughgearbox assembly309 and mountingplate308. Thegearbox assembly309 interfaces drivemotor136 to drivewheel102, which is mounted ondrive axle311. Thegearbox assembly309 is preferably attached to mountingplate308 with screws or bolts and mountingplate308 is preferably welded tobase member306.
• Pivot arm132 has a pivot mounting structure betweenbase member306 andangled member302. The pivot mounting structure includesbrackets310 and312 andsleeve314.Brackets310 and312 are preferably welded tobase member306 andsleeve314 is preferably welded tobrackets310 and312, as shown. A low-friction sleeve316 is provided forsleeve314 and is inserted therein.
• Frame142 haslongitudinal side members318 and320 andcross-brace members322 and324.Cross-brace members322 and324 are preferably welded tolongitudinal side members318 and320, as shown. A pair offrame brackets326 and328 are preferably welded tolongitudinal side member318. Theframe brackets326 and328 are spaced apart such thatsleeve314 can be inserted there between and further include guide holes or apertures such that a pin or bolt330 can be inserted throughbracket326,sleeve314, andbracket328. In this manner,pivot arm132 and its attachments can pivot aroundbolt330 and are pivotally mounted toframe142.Pivot arm134 is similarly constructed and mounted to frame142.
• Referring now toFIGS. 4A through 4C, free body diagrams illustrating various centers of gravity and the forces acting onwheelchair100 will now be described. In particular,FIG. 4A is a free body diagram illustrating the forces acting onwheelchair100 when the wheelchair is in static equilibrium. The various forces shown include F_p, F_b, F_s, F_fc, F_rc, and F_w. More specifically, F_pis the force representing gravity acting on the center of gravity of a person C_gpsitting inwheelchair100. Similarly, F_bis the force representing gravity acting on the center of gravity of the batteries C_gbused topower wheelchair100. Resilient member orspring144 introduces a resilient force F, acting onpivot arm132 through its connection to the housing ofdrive motor136. A second resilient member or spring146 (seeFIG. 3) provides a similar force onpivot arm134.Rear caster110 has a force F_rcacting on its point of contact with the ground.Front caster106 has a force F_fcacting on its point of contact with the ground. Front caster108 (not shown inFIG. 4A) has a similar force acting on it as well.Drive wheel102 has force F_wacting on its point of contact with the ground anddrive wheel104 also has a similar force acting thereon.
• Inwheelchair100, the center of gravity of a person C_gpsitting in the wheelchair is preferably located behind avertical centerline402 through pivotal connection P. Similarly, the center of gravity of the batteries C_gbis located behind thevertical centerline402. As already described, it is possible to obtain between approximately 80% to 95% weight distribution ondrive wheels102 and104, with the remainder of the weight being distributed between thefront casters106 and108 and therear caster110. As will be explained in more detail, such an arrangement facilitates the raising and lowering of thefront casters106 and108 during acceleration and deceleration of thewheelchair100.
• Under static equilibrium such as, for example, when the chair is at rest or not accelerating or decelerating as shown inFIG. 4A, the net rotational moment around pivotal connection P and pivotarms132 and134 is zero (0) (i.e., ΣF_nr_n=0, where F is a force acting at a distance r from the pivotal connection P and n is the number of forces acting on the wheelchair). Hence, pivotarms132 and134 do not tend to rotate or pivot.
• InFIG. 4B,wheelchair100 is shown accelerating. The forces are the same as those ofFIG. 4A, except that an acceleration force F_ais acting ondrive wheel102. A similar force acts ondrive wheel104. When the moment generated by the acceleration force F_aexceeds the moment generated by spring force F_s,pivot arm132 will begin to rotate or pivot such thatfront caster106 begins to rise. As the moment generated by the acceleration force F_acontinues to increase over the moment generated by spring force F_s, thepivot arm132 increasingly rotates or pivots thereby increasingly raisingfront caster106 until the maximum rotation or pivot has been achieved. The maximum rotation or pivot is achieved whenpivot arm132 makes direct contact withframe142 or indirect contact such as through, for example, a pivot stop attached to frame142.Pivot arm134 andfront caster108 behave in a similar fashion.
• Hence, as thewheelchair100 accelerates forward and the moment created by accelerating force F_aincreases over the moment created by spring force F_s, pivotarms132 and134 begin to rotate or pivot thereby raisingfront casters106 and108 off the ground. As described, it is preferable thatfront casters106 and108 rise between 1 and 6 inches and most preferably between 1 and 4 inches off the ground so as to be able to traverse a curb or other obstacle of the same or similar height.
• Referring now toFIG. 4C, a free body diagram illustrating the forces acting onwheelchair100 when the wheelchair is decelerating is shown. The forces are the same as those ofFIG. 4A, except that a deceleration force F_dis acting ondrive wheel102 instead of an acceleration force F_a. A similar force acts ondrive wheel104. The moment generated by the deceleration force F_dcausespivot arm132 to rotate in the same direction as the moment generated by spring force F_s, i.e., clockwise as shown. Iffront caster106 is not contacting the ground, this pivot arm rotation causesfront caster106 to lower until it makes contact with the ground. Iffront caster106 is already contacting the ground, then no further movement offront caster106 is possible. Hence, whenwheelchair100 decelerates,front caster106 is urged towards the ground.Pivot arm134 andfront caster108 behave in a similar manner.
• The spring force F_scan be used to control the amount of acceleration and deceleration that is required beforepivot arm132 pivots and raises or lowersfront caster106. For example, a strong or weak spring force would require a stronger or weaker acceleration and deceleration beforepivot arm132 pivots and raises or lowersfront caster106, respectively. The exact value of the spring force F_sdepends on designer preferences and overall wheelchair performance requirements for acceleration and deceleration. For example, the spring force F_smust be strong enough to keepchair120 and the passenger from tipping forward due to inertia when the wheelchair is decelerating. It should also be noted that, in conjunction with the spring force F_s, the center of gravity of the person C_gpsitting in the wheelchair can be modified. For example, the center of gravity C_gpmay be moved further rearward fromvertical centerline402 by movingchair120 rearward alongframe142 with or without adjusting the magnitude of the spring force F_s. Moreover, the position of pivotal connection P may be moved along the length ofpivot arms132 and134 thereby changing the ratio of distances between the pivotal connection P and the motor drive assemblies andcasters106 and108 thereby resulting changing the dynamics of the pivot arms and wheelchair. Hence, a combination of features can be varied to control the pivoting ofpivot arms132 and132 and the raising and lowering offront casters106 and108.
• Referring now toFIGS. 5A through 5E, the curb-climbing capability ofwheelchair100 will now be described. InFIG. 5A, thewheelchair100 approaches acurb502 of approximately 2 to 4 inches in height. Thewheelchair100 is positioned so thatfront casters106 and108 are approximately 6 inches from thecurb502. Alternatively,wheelchair100 can be driven directly to curb502 such thatfront casters106 and108 bump againstcurb502 and are driven thereunto, provided the height ofcurb502 is less than the axle height offront casters106 and108 (not shown).
• Nevertheless, inFIG. 5B from preferably a standstill position, drivemotors136 and138 are “torqued” so as to causepivot arms132 and134 to pivot about, for example, pin or bolt330 and raisefront casters106 and108 off the ground. The torquing ofdrive motors136 and138 refers to the process by which drivemotors136 and138 are directed to instantaneously produce a large amount of torque so that the acceleration force F_acreates a moment greater than the moment generated by spring force F_s. Such a process is accomplished by the wheelchair's passenger directing the wheelchair to accelerate rapidly from the standstill position. For example, a passenger can push hard and fast on the wheelchair's directional accelerator controller (not shown) thereby directing the wheelchair to accelerate forward as fast as possible. As shown inFIG. 5B and as described in connection withFIGS. 4A-4C, such “torquing” causes pivotarms132 and134 to pivot aboutpin330 thereby causingfront casters106 and108 to rise. During torquing, thewheelchair100 accelerates forward toward thecurb502 with thefront casters106 and108 in the raised position.
• InFIG. 5C,front casters106 and108 have passed overcurb502. Asfront casters106 and108 pass over or ride on top ofcurb502, drivewheels102 and104 come into physical contact with the rising edge ofcurb502. Due to the drive wheels' relatively large size compared to the height ofcurb502, thedrive wheels102 and104 are capable of engagingcurb502 and driving there over—thereby raising thewheelchair100 overcurb502 and onto a new elevation. Once raised, thefront casters106 and108 are lowered as the inertial forces of the passenger and battery approach zero. These inertial forces approach zero whenwheelchair100 either decelerates such as, for example, by engagingcurb502 or by acceleratingwheelchair100 to its maximum speed (under a given loading) at which point the acceleration approaches zero andwheelchair100 approaches the state of dynamic equilibrium. Either scenario causespivot arms132 and134 to lowerfront casters106 and108 onto the new elevation.
• FIG. 5D showswheelchair100 after thedrive wheels102 and104 have driven overcurb502 and onto the new elevation withfront casters106 and108 lowered.Rear caster110 still contacts the previous lower elevation. By such contact,rear caster110 provides rearwardstability preventing wheelchair100 from tipping backwards as the wheelchair climbs thecurb502.FIG. 5E illustrateswheelchair100 afterrear caster110 has engaged and surmountedcurb502.
• Hence, the present invention provides a feature by which the front casters of a wheelchair can be raised and lowered when the wheelchair must climb or surmount a curb or obstacle. By raising the front casters to an appropriate position, whether completely clear of the curb or obstacle height or partially clear thereof, the wheelchair's drive wheels can, in effect, drive the wheelchair over the curb or obstacle.
• Referring now toFIGS. 6A through 6D, the curb-descending capability ofwheelchair100 will now be described. Referring now particularly toFIG. 6A,wheelchair100 slowly approaches acurb602, which represents a drop in elevation. InFIG. 6B,front casters106 and108 have gone overcurb602 and are in contact with the new lower elevation. Asfront casters106 and108 go over the curb orobstacle602, they are urged downward toward the new lower elevation by the force generated bysprings144 and146. This results in very little impact or feeling of loss of stability to the wheelchair passenger because thewheelchair100 stays substantially level as thefront casters106 and108 drop overcurb602 to the new lower elevation.
• InFIG. 6C, drivewheels102 and104 have gone overcurb602 and are in contact with the new lower elevation. Asdrive wheels102 and104 go overcurb602,wheelchair100 is prevented from tipping forward bysprings144 and146 andfront casters106 and108. More specifically, springs144 and146 urge the back ofseat120 rearward to counter any forward tipping tendency that the wheelchair may exhibit. In addition or in the alternative, an electromechanical stop or spring dampener can be energized by sensing inertial forces, angle of the wheelchair frame, or current to or from the drive motors, which would prevent the wheelchair from tipping forward (not shown).
• InFIG. 6D,rear caster110 has gone overcurb602 and contacts the new lower elevation. Asrear caster110 drops down over curb orobstacle602, very little impact or instability is experienced by the wheelchair passenger because most of the wheelchair's weight (including passenger weight) is supported bydrive wheels102 and104, which are already on the new lower elevation. Hence, asrear caster110 goes overcurb602 and contacts the new lower elevation, the wheelchair passenger experiences a low-impact transition between elevations.
• Therefore,wheelchair100 provides a stable, low-impact structure and method for climbing or descending over curb-like obstacles. In climbing curb-like obstacles,wheelchair100 raises the front casters to a height sufficient for the front casters to go over the curb-like obstacle and allow the wheelchair's drive wheels to engage the obstacle. The rear caster provides rearward stability during such curb-climbing. In descending curb-like obstacles,wheelchair100 lowers the front casters over the obstacle to provide forward stability as the drive wheels drive over the obstacle. The resilient members or springs provide rearward stability by urging the rear of the wheelchair's seat downward to counter any forward tipping tendency that the wheelchair may exhibit when descending a curb or obstacle. Additionally, chair orseat120 can be moved rearward or tilted backward to increase wheelchair stability when descending a curb or obstacle.
• Referring now toFIGS. 7 and 8, a second embodiment of a curb-climbingwheelchair700 of the present invention is shown. Thewheelchair700 has a pair ofdrive wheels702 and704,front casters706 and708,rear caster710, andfront riggings712 and714. As inwheelchair100, thefront riggings712 and714 includefootrests716 and718 for supporting the feet of a passenger. Thefront riggings712 and714 are preferably mounted so as to be able to swing away from the shown center position to the sides of the wheelchair. Additionally,footrests716 and718 can swing from the shown horizontal-down position to a vertical-up position thereby providing relatively unobstructed access to the front of the wheelchair.
• Thewheelchair700 further includes achair720 having aseat portion722 and aback portion724 for comfortably seating a passenger.Chair720 is adjustably mounted to frame742 (seeFIG. 8) so as to be able to move forward and backward onframe742, thereby adjusting the passenger's weight distribution and center of gravity relative to the wheelchair. As inwheelchair100,chair720 is preferably positioned such that a substantial portion of the wheelchair's weight when loaded with a passenger is evenly distributed betweendrive wheels702 and704. For example, the preferred weight distribution ofwheelchair700 when loaded with a passenger should be between 80% to 95% (or higher) ondrive wheels702 and704. The remainder of the weight being distributed between the rear and front casters.Armrests726 and728 are also provided for resting the arms of a passenger or assisting a passenger in seating and unseating fromchair720.
• Thewheelchair700 is preferably powered by one ormore batteries730, which reside beneath thechair720 and in-betweendrive wheels702 and704. A pair ofdrive motors736 and738 (seeFIG. 8) are used topower drive wheels702 and704. Drivemotors736 and738 are preferably brushless, gearless, direct-drive motors with their rotors either internal or external to their stators. Drivemotors736 and738 also each include a fail-safe braking mechanism that includes a manual release mechanism (not shown). A control system and controller (not shown)interface batteries730 to drivemotors736 and738 so as to allow a passenger to control the operation of thewheelchair700. Such operation includes directing the wheelchair's acceleration, deceleration, velocity, braking, direction of travel, etc.
• Front casters706 and708 are attached to pivotarms732 and734, respectively.Rear caster710 is attached to rearcaster arms740A and740B (seeFIG. 8). While only one rear caster is shown, it should be understood that in the alternative two or more rear casters can also be provided. As will be described in more detail, pivotarms732 and734 are pivotally coupled to frame742 for curb-climbing and descending, whilerear caster arm740A and740B are rigidly coupled toframe742.
• The suspension and drive components ofwheelchair700 are further illustrated in the exploded prospective view ofFIG. 9A. More specifically,pivot arm732 has abase portion906, anangled portion902 extending therefrom, and a motor mount bracket910. The distal end ofangled portion902 includes afront swivel assembly904 that interfaces withfront caster706.Base portion706 has a portion including ahole905 forpivot pin922 and associated sleeve fittings.
• The suspension further includes acoupling plate914 for interfacing frontresilient assembly931 to pivotarm732.Coupling plate914 is preferably rigidly affixed to pivotarm732 viarigid tubular connection916.Coupling plate914 has a mountingbracket918 configured to receive a pivot pin for interfacing to frontresilient assembly931. Configured as such,pivot arm732 and coupling plate move in unison about pivot pin or bolt922 subject to the forces and moments generated by frontresilient assembly931 andmotor736. Additionally, the suspension can further include a torsion member (not shown) betweenpivot arms732 and734 similar to the arrangement shown inFIG. 2B.
• A resilient suspension member such asspring920 extends between and is connected at its opposite ends to pivotarm732 to amotor mount908.Motor mount908 has apivot connection912 that pivotally couples motor mount bracket910 to pivotarm732 andcoupling plate914 via a pivot pin. More specifically,motor mount908 is pivotally received in a space between motor mount bracket910 andcoupling plate914.Motor mount908 further includes holes forfastening motor136 thereto. Configured as such,motor736 is pivotally coupled to pivotarm732, which is itself pivotally coupled toframe742.
• Referring now toFIGS. 9A and 10A, frontresilient assembly931 has aspring938 that is indirectly coupled toframe742 andcoupling plate914 viaarcuate pivot brackets932 and934 andhorizontal pivot bracket936.Arcuate pivot brackets932 and934 are generally curved and have holes in their distal portions. The holes are used for securingarcuate pivot brackets932 and934 to frame mountingbracket940 and tohorizontal pivot bracket936 via screws or pins.Spring938 is coupled to the lower portions ofarcuate pivot brackets932 and934 proximate to frame mountingbracket940 and to one of a plurality of points shown between the distal portions ofhorizontal pivot bracket936.
• In this regard,horizontal pivot bracket936 has a first distal portion having a pivot hole for interfacing withcoupling plate914 and, more particular,spring mounting bracket918. The other distal portion ofhorizontal pivot bracket936 has a plurality of mounting holes that allow for the mounting ofarcuate pivot brackets932 and934 in various positions. So configured frontresilient assembly931 is similar in function tosprings144 and146 ofwheelchair100. However, the configuration oflinkages932,934, and936 andspring938 of frontresilient assembly931 provide for a constant spring force over the range of pivoting ofpivot arm732.
• FIGS. 11A through 11E and12A through12D illustrate the response of the frontresilient assembly931 linkages with respect towheelchair700 climbing and descending a curb-like obstacle.
• Still referring toFIG. 9A,frame742 includeslongitudinal side members924 and926 andcross-brace members928 and930.Pivot arm732 is pivotally mounted toside members926 through pivotarm base member906 andpin922.Motor736 is pivotally mounted to pivotarm732 throughmotor mount908 and itspivot assembly912. Sincemotor736 is pivotal with respect to pivotarm732,spring920 provides a degree of suspension between the two pivotal components. Additionally, sincepivot arm732 pivots with respect to frame742,spring938 and associated vertical andhorizontal pivot brackets934,936, and938, respectively,urge pivot arm732 such thatfront caster706 is urged downward toward the riding surface. This is similar in functionality to spring144 ofwheelchair100.
• FIG. 9B is an enlarged view ofportion942 ofFIG. 9A. More specifically,portion942 showspivot arm734 and its associated components, which are similarly configured to pivotarm732 and its associated assemblies, in their assembled positions onframe742.
• Referring now toFIGS. 10A through 10C, free body diagrams illustrating various centers of gravity and the forces acting onwheelchair700 will now be described. In particular,FIG. 10A is a free body diagram illustrating the forces acting onwheelchair700 when the wheelchair is in static equilibrium. The various forces shown include F_p, F_b, F_s, F_fc, F_rc, and F_w. As described inFIGS. 4A-4C, F_pis the force representing gravity acting on the center of gravity of a person C_gpsitting inwheelchair700. Similarly, F_bis the force representing gravity acting on the center of gravity of the batteries C_gbused topower wheelchair100.Spring944 introduces a force F_sacting onpivot arm732. Spring938 (seeFIG. 9A) provides a similar force onpivot arm732.Rear caster710 has a force F_rcacting on its point of contact with the ground.Front caster708 has a force F_fcacting on its point of contact with the ground. Front caster706 (seeFIG. 9A) has a similar force acting on it as well.Drive wheel704 has force F_wacting on its point of contact with the ground and drive wheel702 (seeFIG. 9A) also has a similar force acting thereon.
• Inwheelchair700, the center of gravity C_gpof a person sitting in the chair is preferably located just behind avertical centerline1002 through pivotal connection P. Similarly, the center of gravity C_gbof the batteries is located behind thevertical centerline1002. As already described, it is possible to obtain between approximately 80% to 95% weight distribution ondrive wheels702 and704, with the remainder of the weight being distributed between thefront casters706 and708 and therear caster710. As will be explained in more detail, such an arrangement facilitates the raising and lowering of thefront casters706 and708 during acceleration and deceleration of thewheelchair700.
• Under static equilibrium such as, for example, when the chair is at rest or not accelerating or decelerating as shown inFIG. 10A, the net rotational moment around pivotal connection P and pivotarms732 and734 is zero (0) (i.e., ΣF_nr_n=0, where F is a force acting at a distance r from the pivotal connection P and n is the number of forces acting on the wheelchair). Hence, pivotarms732 and734 do not tend to rotate or pivot.
• InFIG. 10B,wheelchair700 is shown accelerating. The forces are the same as those ofFIG. 10A, except that an acceleration force F_ais acting ondrive wheel704. A similar force acts ondrive wheel702. When the moment generated by the acceleration force F_aexceeds the moment generated by spring force F_s,pivot arm734 will begin to rotate or pivot such thatfront caster708 begins to rise. As the moment generated by the acceleration force F_acontinues to increase over the moment generated by spring force F_s,pivot arm734 increasingly rotates or pivots thereby increasingly raisingfront caster708 until the maximum rotation or pivot has been achieved. The maximum rotation or pivot is achieved whenpivot arm734 makes direct contact withframe742 or indirect contact such as through, for example, a pivot stop attached to frame742.Pivot arm734 andfront caster708 behave in a similar fashion.
• Hence, as thewheelchair700 accelerates forward and the moment created by accelerating force F_aincreases over the moment created by spring force F_s, pivotarms732 and734 being to rotate or pivot thereby raisingfront casters706 and708 off the ground. As described, it is preferable thatfront casters706 and708 rise between 1 and 6 inches off the ground so as to be able to overcome a curb or other obstacle of the same or similar height.
• Referring now toFIG. 10C, a free body diagram illustrating the forces acting onwheelchair700 when the wheelchair is decelerating is shown. The forces are the same as those ofFIG. 10A, except that a deceleration force F_dis acting ondrive wheel702 instead of an accelerating force F_a. A similar force acts ondrive wheel702. The moment generated by the deceleration force F_dcausespivot arm734 to rotate in the same direction as the moment generated by spring force F_s, i.e., clockwise as shown. Iffront caster708 is not contacting the ground, this pivot arm rotation causesfront caster708 to lower until it makes contact with the ground. Iffront caster708 is already contacting the ground, then no further movement offront caster708 is possible. Hence, whenwheelchair700 decelerates,front caster708 is urged clockwise or towards the ground.Pivot arm732 andfront caster706 behave in a similar manner.
• As withwheelchair100, the spring force F_scan be used to control the amount of acceleration and deceleration that is required beforepivot arm734 pivots and raises or lowersfront caster708. For example, a strong or weak spring force would require a stronger or weaker acceleration and deceleration beforepivot arm734 pivots and raises or lowersfront caster708, respectively. The exact value of the spring force F_sdepends on designer preferences and overall wheelchair performance requirements for acceleration and deceleration. For example, the spring force F_smust be strong enough to keepchair720 and the passenger from tipping forward due to inertia when the wheelchair is decelerating. Additionally, becausehorizontal pivot bracket936 has a plurality of mounting holes (seeFIG. 9A, for example) for mountingvertical pivot brackets932 and934, the amount of spring force F_sapplied to the pivot arms can also be controlled by the appropriate choice of mounting for such brackets. It should also be noted that, either alone or in conjunction with the spring force F_sand the vertical and horizontal pivot bracket configuration, the center of gravity of the person C_gpsitting in the wheelchair can be modified. For example, the center of gravity C_gpmay be moved further rearward fromvertical centerline1002 with or without adjusting the magnitude of the spring force F_s, Hence, a combination of features can be varied to control the pivoting ofpivot arms732 and732 and the raising and lowering offront casters706 and708.
• Referring now toFIGS. 11A through 11E, the curb-climbing capability ofwheelchair700 will now be described. InFIG. 11A, thewheelchair700 approaches acurb1102 of approximately 3 to 6 inches in height. Thewheelchair700 is positioned so thatfront casters706 and708 are approximately 6 inches from thecurb1102. Alternatively,wheelchair700 can be driven directly to curb1102 such thatfront casters706 and708 bump againstcurb1102 and are driven thereunto, provided the height ofcurb1102 is less than the axle height offront casters706 and708 (not shown).
• Nevertheless, inFIG. 11B from preferably a standstill position, drivemotors736 and738 are “torqued” so as to causepivot arms732 and734 to pivot about, for example, pin or bolt922 and raisefront casters706 and708 off the ground. As described earlier, the torquing ofdrive motors736 and738 refers to the process by which drivemotors736 and738 are directed to instantaneously produce a large amount of torque so that the acceleration force F_acreates a moment greater than the moment generated by spring force F_s. Such a process is accomplished by the wheelchair's passenger directing the wheelchair to accelerate rapidly from the standstill position. For example, a passenger can push hard and fast on the wheelchair's directional accelerator controller (not shown) thereby directing the wheelchair to accelerate forward as fast as possible. As shown inFIG. 11B and as described in connection withFIGS. 10A-10C, such “torquing” causes pivotarms732 and734 to pivot aboutpin922 thereby causingfront casters706 and708 to rise. During torquing, thewheelchair700 accelerates forward toward thecurb1102 with thefront casters706 and708 in the raised position.
• InFIG. 11C,front casters706 and708 have passed overcurb1102. Asfront casters706 and708 pass over or ride on top ofcurb1102, drivewheels702 and704 come into physical contact with the rising edge ofcurb1102. Due to the drive wheels' relatively large size compared to the height ofcurb1102, thedrive wheels702 and704 are capable of engagingcurb1102 and driving there over—thereby raising thewheelchair700 overcurb1102 and onto a new elevation. Asdrive wheels702 and704 engagecurb1102,suspension spring920 cushions the impact of the transition. Once raised, thefront casters706 and708 are lowered as the inertial forces of the passenger and battery approach zero. These inertial forces approach zero whenwheelchair700 either decelerates such as, for example, by engagingcurb1102 or by acceleratingwheelchair700 to its maximum speed (under a given loading) at which point the acceleration approaches zero andwheelchair700 approaches the state of dynamic equilibrium. Either scenario causespivot arms732 and734 to lowerfront casters706 and708 onto the new elevation.
• FIG. 11D showswheelchair700 after thedrive wheels702 and704 have driven overcurb1102 and onto the new elevation withfront casters706 and708 lowered.Rear caster710 still contacts the previous lower elevation. By such contact,rear caster710 provides rearwardstability preventing wheelchair700 from tipping backwards as the wheelchair climbs the curb orobstacle1102.FIG. 11E illustrateswheelchair700 afterrear caster710 has engaged and surmounted curb orobstacle1102.FIGS. 12A, 12B,12C,12D, and12E correspond to enlarge portions ofFIGS. 11A, 11B,11C,11D, and11E, respectively, particularly showing the orientation and range of motion experienced by frontresilient assembly931 as the wheelchair climbs a curb.
• Hence, the embodiment ofwheelchair700 provides a feature by which the front casters of a wheelchair can be raised and lowered when the wheelchair must climb or surmount a curb or obstacle. By raising the front casters to an appropriate position, whether completely clear of the curb or obstacle height or partially clear thereof, the wheelchair's drive wheels can, in effect, drive the wheelchair over the curb or obstacle.
• Referring now toFIGS. 13A through 13D, the curb descending capability ofwheelchair700 will now be described. Referring now particularly toFIG. 13A,wheelchair700 slowly approaches acurb1302, which represents a drop in elevation. InFIG. 13B,front casters706 and708 have gone overcurb1302 and are in contact with the new lower elevation. Asfront casters706 and708 go overcurb1302, they are urged downward toward the new lower elevation by the force generated bysprings938 and944. This results in very little impact or feeling of loss of stability to the wheelchair passenger because thewheelchair700 stays substantially level as thefront casters706 and708 drop overcurb1302 to the new lower elevation.
• InFIG. 13C, drivewheels702 and704 have gone overcurb1302 and are in contact with the new lower elevation. Asdrive wheels702 and704 go over curb orobstacle1302, suspension springs such asspring920 cushion the impact of such a transition. Also asdrive wheels702 and704 go overcurb1302,wheelchair700 is prevented from tipping forward bysprings938 and944 andfront casters706 and708. More specifically, springs938 and944 urge the front offrame742, through frame mounting bracket940 (seeFIGS. 9 and 10), upward to counter any forward tipping tendency that the wheelchair may exhibit.
• InFIG. 13D,rear caster710 has gone overcurb1302 and contacts the new lower elevation. Asrear caster710 drops down overcurb1302, very little impact or instability is experienced by the wheelchair passenger because most of the wheelchair's weight (including passenger weight) is supported bydrive wheels702 and704, which are already on the new lower elevation. Hence, asrear caster710 goes overcurb1302 and contacts the new lower elevation, the wheelchair passenger experiences a low-impact transition between elevations.
• Therefore,wheelchair700 provides a stable, low-impact structure and method for climbing or descending over curb-like obstacles. In climbing curb-like obstacles,wheelchair700 raises the front casters to a height sufficient for the front casters to go over the curb-like obstacle and allow the wheelchair's drive wheels to engage the obstacle. The rear caster provides rearward stability during such curb-climbing. In descending curb-like obstacles,wheelchair700 lowers the front casters over the obstacle to provide forward stability as the drive wheels drive over the obstacle. Suspension springs associated with the drive wheels provide for low-impact transitions for the passenger between elevations representing curbs or obstacles. Springs associated with the front casters provide forward stability by urging the front of the wheelchair's frame upward to counter any forward tipping tendency that the wheelchair may exhibit when descending a curb or obstacle.
• While the present invention has been illustrated by the description of embodiments thereof, and while the embodiments have been described in considerable detail, it is not the intention of the applicants to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. For example, the pivot arms can be made from a plurality of components having differing geometry, the wheelchair may or may not include spring forces acting on the pivot arms, the invention can be applied to rear-wheel and front-wheel drive wheelchairs, elastomeric resilient members can be used instead of or in combination with springs, electrically adjustable spring tension devices can be included with the springs, etc. Therefore, the invention, in its broader aspects, is not limited to the specific details, the representative apparatus, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the applicant's general inventive concept.

Claims (15)

1-20. (canceled)

21. A suspension system for a wheelchair comprising:

a frame;

at least one rear caster coupled to the frame;

first and second pivoting assemblies, each pivoting assembly comprising:

a pivot arm with a first portion pivotally coupled to the frame;

at least one front caster coupled to a second portion of the pivot arm and normally in contact with a supporting surface of the wheelchair;

a drive system coupled to a third portion of the pivot arm;

a base member having a top, bottom, and sides;

a tubular sleeve disposed generally transverse to the base member and proximate the top of the base member, the sleeve configured for pivotally coupling the base member to the frame;

a mounting plate coupled to the bottom of the base member and having a plurality of apertures for mounting a drive system to the pivot arm, the mounting plate projecting laterally outward beyond the sides of the base member;

wherein the first portion is coupled proximate to the frame so as to cause a first fraction of the weight supported by the vehicle to be supported by the drive system and the remaining fraction of the weight supported by the vehicle to be supported at least by the at least one front caster and urging the at least one front caster into contact with the supporting surface; and

wherein the pivot arm further comprises a pivoting behavior responsive to a force generated by the drive system, the pivoting behavior urging the at least one front caster from the supporting surface of the vehicle and at least partially shifting the fraction of weight being supported by the at least one front caster so that the weight supported by the vehicle is supported by the drive system and the at least one rear caster.

22. The wheelchair ofclaim 21 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and six inches from said supporting surface.

23. The wheelchair ofclaim 21 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and four inches from said supporting surface.

24. A suspension system for a wheelchair comprising:

(a) a frame;

(b) a pivoting assembly having at least one pivot arm, the pivoting assembly comprising:

(i) a first pivot arm portion pivotally coupled to the frame;

(ii) a second pivot arm portion having at least one front caster attached thereto for contacting a supporting surface of the wheelchair;

(iii) a drive assembly coupled to a third portion of the at least one pivot arm;

(iv) a base member having a top, bottom, and sides;

(v) a tubular sleeve disposed generally transverse to the base member and proximate the top of the base member, the sleeve configured for pivotably coupling the base member to the frame;

(vi) a mounting plate coupled to the bottom of the base member and having a plurality of apertures for mounting a drive system to the mounting plate, the mounting plate projecting laterally outward beyond the sides of the base member;

(c) at least one rear caster coupled to the frame;

wherein the first portion is pivotally coupled proximate to the frame so as to cause a first fraction of the weight supported by the vehicle to be supported by the drive assembly and the remaining fraction of the weight supported by the vehicle to be supported at least by the at least one front caster thereby urging the at least one front caster into contact with the supporting surface; and

wherein said at least one pivot arm pivots in response to a force generated by the drive assembly thereby urging the at least one front caster from the supporting surface to assist the vehicle in traversing obstacles.

25. The wheelchair ofclaim 24 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and six inches from said supporting surface.

26. The wheelchair ofclaim 24 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and four inches from said supporting surface.

27. A wheelchair comprising:

a frame;

at least one rear caster coupled to the frame;

first and second pivoting assemblies, each pivoting assembly comprising:

a pivot arm having a first portion pivotably coupled to the frame;,

at least one front caster coupled to a second portion of the pivot arm and normally in contact with a supporting surface of the wheelchair;

a drive system coupled to a third portion of the pivot arm;

a base member having a top, bottom, and sides;

a mounting member having a plurality of apertures extending from the bottom of the base member, wherein the mounting member projects laterally outward beyond the sides of the base member;

a sleeve coupled to the frame and the base member to pivotably couple the base member to the frame;

wherein the pivot arm further comprises a pivoting behavior responsive to a force generated by the drive system, the pivoting behavior urging the at least one front caster from the supporting surface of the wheelchair.

28. The wheelchair ofclaim 27 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and six inches from said supporting surface.

29. The wheelchair ofclaim 27 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and four inches from said supporting surface.

30. A wheelchair for traversing obstacles, comprising:

(a) a frame;

(b) a pivoting assembly having at least one pivot arm, said at least one pivot arm comprising

(i) a first portion pivotally coupled to said frame; and

(ii) a second portion having at least one front caster attached thereto for normally contacting a supporting surface of the wheelchair;

(c) a drive assembly comprising a motor and a gearbox coupled to said at least one pivot arm;

(d) a rear caster coupled to said frame; and

wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly thereby raising said at least one front caster between one and six inches from said supporting surface to assist said wheelchair in traversing said obstacles.

31. The wheelchair ofclaim 30 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise said at least one front caster between one and four inches from said supporting surface.

32. A method of traversing obstacles with a wheelchair, comprising:

(a) applying a biasing force that urges a front caster against a support surface;

(b) applying torque to a drive wheel and a pivot arm with a drive assembly;

(b) pivoting said pivot arm with the torque applied by the drive assembly against the biasing force;

c) raising a front caster from the supporting surface with said pivot arm to assist said wheelchair in traversing said obstacles.

33. The method ofclaim 32 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise the front caster between one and six inches from said supporting surface.

34. The method ofclaim 32 wherein said at least one pivot arm pivots in response to a moment generated by the drive assembly to raise the front caster between one and four inches from said supporting surface.

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