U.S. patent number 3,882,949 [Application Number 05/307,202] was granted by the patent office on 1975-05-13 for universal wheelchair for the severely disabled.
This patent grant is currently assigned to Government of the United States. Invention is credited to David M. Anderson.
United States Patent |
3,882,949 |
Anderson |
May 13, 1975 |
Universal wheelchair for the severely disabled
Abstract
A universal, adjustable-height powered wheelchair is disclosed
for the severly disabled, such as quadriplegic, driver. The
wheelchair has a powered elevating mechanism capable of raising the
seat and occupant from a height of 6 inches to 26 inches above the
ground. It is capable of climbing a 12 inch high curb and may be
used while driving any standard-sized two door sedan.
Inventors: |
Anderson; David M. (Oakland,
CA) |
Assignee: |
Government of the United States
(Washington, DC)
|
Family
ID: |
23188695 |
Appl.
No.: |
05/307,202 |
Filed: |
November 16, 1972 |
Current U.S.
Class: |
180/8.2; 180/907;
280/5.3; 280/650; 297/344.17; 280/DIG.10; 280/250.1; 297/DIG.4 |
Current CPC
Class: |
A61G
5/06 (20130101); A61G 5/1059 (20130101); A61G
5/128 (20161101); A61G 5/045 (20130101); A61G
3/063 (20130101); A61G 5/14 (20130101); A61G
3/062 (20130101); Y10S 297/04 (20130101); Y10S
180/907 (20130101); Y10S 280/10 (20130101) |
Current International
Class: |
A61G
5/06 (20060101); A61G 3/06 (20060101); A61G
5/14 (20060101); A61G 5/00 (20060101); A61G
3/00 (20060101); B62d 063/02 () |
Field of
Search: |
;280/36B,5.3,5.32,DIG.10,242WC ;180/DIG.3,8A ;297/DIG 4/
;297/330,345,353 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Other References
"Wanted - A Stairclimbing Wheelchair;" U.S. Dept. of Commerce,
Nat'l Inventors Council, Jan. 1962, Freeman Design..
|
Primary Examiner: Schonberg; David
Assistant Examiner: Forman; Michael J.
Attorney, Agent or Firm: Browdy and Neimark
Claims
What is claimed is:
1. A universal wheelchair for the severely disabled,
comprising:
four wheels;
a frame connecting said wheels;
a seat;
raising and lowering means connected to said frame and said seat
for causing the height of said seat to be continuously adjusted
between a lowered position 8 inches above ground and a raised
position about 24 inches above ground, said raising and lowering
means comprising an actuator, connecting said frame and said seat,
and power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
power means connected to said frame for propelling the wheelchair;
and
curb climbing means connected thereto for causing the powered
climbing of the wheelchair onto and off of curbs while keeping said
seat substantially level, said curb climbing means being powered by
the lengthening and shortening of said actuator.
2. A wheelchair in accordance with claim 1 further including
heavyweight means on said frame for accepting the manual adjustment
of the width of the wheelchair.
3. A wheelchair in accordance with claim 1 further including
narrowing means connected to said frame for causing powered
narrowing and widening of the width of the wheelchair in response
to the motion of said actuator.
4. A wheelchair in accordance with claim 3 wherein:
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said seat
from the uppermost position thereof.
5. A universal wheelchair for the severely disabled,
comprising:
four wheels;
a frame connecting said wheels;
a seat;
raising and lowering means connected to said frame and said seat
for causing the height of said seat to be continuously adjusted
between a lowered position eight inches above ground and a raised
position about 24 inches above ground;
a foot rest; and
linkage means connected to said foot rest and said seat for causing
said foot rest to extend without contacting ground when said seat
is in a lowered position and to retract to a position such that no
portion of the occupant's foot positioned on said foot rest
protrudes farther forward than the knee of the occupant when said
seat is in a raised position, said linkage means being responsive
only to the height of said seat.
6. A wheelchair in accordance with claim 5 further including power
means connected to said frame for propelling the wheelchair.
7. A wheelchair in accordance with claim 6 wherein said raising and
lowering means comprises:
an actuator connecting said frame and said seat, and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat,
the wheelchair further including curb climbing means connected
thereto for causing the powered climbing of the wheelchair onto and
off of curbs while keeping said seat substantially level, said curb
climbing means being powered by the lengthening and shortening of
said actuator.
8. A wheelchair in accordance with claim 6 further including:
a seat back connected to said seat; and
tilting means connected thereto for causing the powered tilting of
said seat without a concomitant total reclining of said seat
back.
9. A wheelchair in accordance with clain 6 further including
heavyweight means on said frame for accepting the manual adjustment
of the width of the wheelchair.
10. A wheelchair in accordance with claim 6 wherein said linkage
means is located under said seat and said foot rest whereby in at
least the raised position there are no encumbrances to hamper the
transfer of the occupant to and from the wheelchair.
11. A wheelchair in accordance with claim 6, further including:
a seat back connected to said seat; and
reclining means connected to said seat back for causing the powered
reclining of said seat back with respect to said seat when said
seat is in the lowermost position thereof.
12. A wheelchair in accordance with claim 4 wherein said reclining
means is responsive only to the motion of said raising and lowering
means.
13. A wheelchair in accordance with claim 5 wherein said raising
and lowered means comprises:
an actuator connecting said frame and said seat, and
power means connected to said actuator for lengthening and
shortening said acutator thereby raising and lowering said
seat;
the wheelchair further including narrowing means connected to said
frame for causing the powered narrowing and widening of the width
of the wheelchair in response to the motion of said actuator.
14. A wheelchair in accordance with claim 13 wherein:
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said top
portion during the lowering of said seat from the uppermost
position thereof.
15. A wheelchair in accordance with claim 13 wherein;
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said top
portion during the lowering of said seat from the uppermost postion
thereof.
16. A wheelchair in accordance with claim 13, further
including:
a seat back connected to said seat and to said actuator; and
reclining means connected to said back for causing the reclining of
said seat back when said power means shortens said actuator beyond
said lower position.
17. A wheelchair in accordance with claim 16, further
including:
curb climbing means connected thereto for causing the powered
climbing of the wheelchair onto and off of curbs while keeping said
seat substantially level, said curb climbing means being powered by
the lengthening and shortening of said actuator.
18. A universal wheelchair for the severely disabled
comprising:
four wheels;
a frame connecting said wheels;
a seat;
raising and lowering means connected to said frame and said seat
for causing the height of said seat to be continuously adjusted
between a lowered position eight inches above ground and a raised
position about 24 inches above ground;
a seat back connected to said seat; and
reclining means connected to said seat back for causing the powered
reclining of said seat back with respect to said seat when said
seat is in the lowermost position thereof.
19. A wheelchair in accordance with claim 18 further including
power means connected to said frame for propelling the
wheelchair.
20. A wheelchair in accordance with claim 19, further including a
back rest slidably mounted on said seat back whereby said back rest
slides down said seat back upon reclining to avoid sliding between
the seat back and the back of the occupant of the wheelchair.
21. A wheelchair in accordance with claim 19 further including
heavyweight means on said frame for accepting the manual adjustment
of the width of the wheelchair.
22. A wheelchair in accordance with claim 19 further including:
tilting means connected to said seat back for causing the powered
tilting of said seat without a concomitant total reclining of said
seat back.
23. A wheelchair in accordance with claim 19 wherein said raising
and lowering means comprises:
an actuator connecting said frame and said seat and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
the wheelchair further including curb climbing means connected
thereto for causing the powered climbing of the wheelchair onto and
off of curbs while keeping said seat substantially level, said curb
climbing means being powered by the lengthening and shortening of
said actuator.
24. A wheelchair in accordance with claim 19 wherein said reclining
means is responsive only to the motion of said raising and lowering
means.
25. A wheelchair in accordance with claim 24 wherein said raising
and lowering means comprises:
an actuator connecting said frame and said seat back; and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said seat and
for causing the reclining of said seat back when the shortening of
said actuator is continued beyond said lowered position.
26. A wheelchair in accordance with claim 19 wherein said raising
and lowering means comprises:
an actuator connecting said frame and said seat and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
the wheelchair further including narrowing means connected to said
frame for causing the powered narrowing and widening of the width
of the wheelchair in response to the motion of said actuator.
27. A wheelchair in accordance with claim 26 wherein:
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said top
portion during the lowering of said seat from the uppermost
position thereof.
28. A universal wheelchair for the severely disabled,
comprising:
four wheels;
a frame connecting said wheels;
a seat;
raising and lowering means connected to said frame and said seat
for causing the height of said seat to be continuously adjusted
between a lowered position eight inches above ground and a raised
position about 24 inches above ground;
a seat back connected to said seat; and
tilting means connected thereto for causing the powered tilting of
said seat without a concomitant total reclining of said seat
back.
29. A wheelchair in accordance with claim 28 further including
power means connected to said frame for propelling the
wheelchair.
30. A wheelchair in accordance with claim 29 wherein:
said tilting means is powered by the motion of said raising and
lowering means.
31. A wheelchair in accordance with claim 29 wherein said raising
and lowering means comprises:
an actuator connecting said frame and said seat and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
the wheelchair further including narrowing means connected to said
frame for causing the powered narrowing and widening of the width
of the wheelchair in response to the motion of said actuator.
32. A wheelchair in accordance with claim 31 wherein:
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said top
portion during the lowering of said seat from the uppermost positon
thereof.
33. A wheelchair in accordance with claim 29 wherein said raising
and lowering means comprises:
an actuator connecting said frame and said seat and
power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
the wheelchair further including curb climbing means connected
thereto for causing the powered climbing of the wheelchair onto and
off of curbs while keeping said seat substantially level, said curb
climbing means being powered by the lenthening and shortening of
said actuator.
34. A universal wheelchair for the severely disabled,
comprising:
four wheels;
a frame connecting said wheels;
a seat;
raising and lowering means connected to said frame and said seat
for causing the height of said seat to be continuously adjusted
between a lowered position eight inches above ground and a raised
position about 24 inches above ground, said raising and lowering
means comprising an actuator, connecting said frame and said seat,
and power means connected to said actuator for lengthening and
shortening said actuator thereby raising and lowering said
seat;
narrowing means connected to said frame for causing powered
narrowing and widening of the width of the wheelchair in response
to the motion of said actuator.
35. A wheelchair in accordance with claim 34 further including
power means connected to said frame for propelling the
wheelchair.
36. A wheelchair in accordance with claim 35 wherein:
said narrowing means causes powered narrowing of the wheelchair
automatically in the top portion of travel of said actuator during
the raising of said seat and causes powered widening in said top
portion during the lowering of said seat from the uppermost postion
thereof.
Description
FIELD OF THE INVENTION
The present invention relates to a universal wheelchair for the
severely disabled person and more particularly to an
adjustable-height powered wheelchair capable of use with an
automobile, capable of climbing curbs and being free from any
protuberances above the seat or leg rest surfaces to make transfer
of the occupant into and out of the wheelchair as unencumbered as
possible.
BACKGROUND OF THE INVENTION
In the period since World War II, medical science has made great
progress in the areas of sustaining and rehabilitating severely
handicapped persons. As a result, many quadriplegics, for example,
are alive, relatively healthy and well-adjusted, leading useful
lives with a near normal life expectancy. It is a paradox of our
times, however, that many of the disabling conditions of the
physically handicapped are not necessarily inherent in the
conditions themselves, but are consequences of the lack of help
they need over and above the norm. Despite the image of
helplessness, the only real "handicap" of the severely disabled is
mobility.
It appears that the group of disabled persons most in need of aid
to achieve mobility are those afflicted by the worst form of
paralysis: the loss of control and sensation of the legs, torso,
and part of the arms. There are many diseases and accidents that
cause this condition, the most common of which is quadriplegia
(lesion of the spinal cord in the region of the cervical
vertebrae). Manual wheelchair operation and wheelchair to auto
transfer is possible by normal weight young low-level (trauma at
sixth or seventh cervical vertebrae) quadriplegics, although with
some difficulty. High level (trauma at fourth or fifth cervical
vertebrae) quadriplegics have required a powered wheelchair and
other human or mechanical assistance in transferring to automobile,
bed or commode. Most quadriplegics can drive an automobile equipped
with hand controls, power steering and brakes and automatic
transmission.
Quadriplegics with trauma higher than the fourth cervical vertebrae
either do not live long or, lacking autonomic breathing, require
mechanical breathing assist apparatus. Also these very high level
traums quadriplegics have even less arm and shoulder function and
their auto and wheelchair controls must by much more automated.
DESCRIPTION OF THE PRIOR ART
Until the present invention the mobility of the physically disabled
was almost exclusively limited to the use of the "conventional"
folding wheelchair. Manual propulsion (using the hands to pull on
the wheel rim to make it turn) is feasible only for paraplegics or
the equivalent, who have normal upper extremities. Although
quadriplegics may be able to propel themselves for short distances,
this is tiring and runs the risk of developing sores on the hands
(since the hands do not have full sensation in quadriplegics).
The quadriplegics need a powered drive system which, in the prior
art, has been provided by merely bolting a motor/battery unit onto
the back of a folding wheelchair. Of course the wheelchair is then
no longer able to fold, and this represents the key obstacle to
quadriplegic driving. Some quadriplegics can manage to pull
themselves from a wheelchair to car seat using a "sliding board"
which bridges the gap between the wheelchair and car seat. However,
even if the quadriplegic could accomplish this strenuous feat, he
would need an attendant to disassemble the wheelchair and then
store the folded wheelchair and battery in the trunk. Thus, when
using the present powered folding wheelchairs, quadriplegics are
precluded from driving automobiles unassisted, although it is
possible to modify a step-van so that a wheelchair can enter on an
elevating tailgate lift and then roll over a specifically modified
flat floor to the driving position.
Since quadriplegics are capable of driving (with hand controls,
automatic transmission, power steering, and power brakes), their
main problem is that of automobile entry. This problem is generally
ignored in prior art wheelchairs.
Many other deficiencies exist with regard to prior art wheelchairs.
With respect to the activities of daily living, a "standard"
powered wheelchair is only barely adequate around the house, office
or on the sidewalk. The standard wheelchair does not accommodate
itself very well to the transfer processes, e.g., from chair to bed
or commode, and into and out of an automobile; it is not capable of
negotiating an ordinary curb without a ramp or driveway. It can
furnish no change in sitting position (important in the prevention
of decubitus ulcers). It is compatible with only one table or desk
height. The standard seat height precludes the user from reaching
high shelves and make it awkward for the user to converse with
standing non-disabled persons. The position of the footrests made
it difficult to approach a kitchen counter or bookcase, both of
which lack leg "cut outs." Also, the head height of the occupant of
a standard wheelchair is much too great for entry into a standard
automobile while seated in the wheelchair.
When a battery is added to a folding wheelchair, it must be placed
behind the rear axle, because the folding mechanism precludes
mounting anywhere else. This placement shifts the center of gravity
so far to the rear that quadriplegics run the risk of tipping over
backwards on uphill slopes, especially while accelerating
uphill.
Finally, overall dimensions preclude the use of a conventional
wheelchair in many houses not specifically designed for the
handicapped, unless a second normal person (attendant) is available
to carry the quadriplegic through narrow doors or procure articles
out of his reach. As the quadriplegic's weight, age, and/or loss of
motor functions increases, transferring becomes even more
difficult.
A variation of the folding wheelchair is the manually-reclining
wheelchair, which is based on a folding wheelchair undercarriage.
The back rest is attached in such a way that it can be unlocked by
an attendant, repositioned, and then locked back in place. Usually
this feature is used for quadriplegics with poor trunk muscles who
need to be somewhat reclined all the time for stability. If the
quadriplegic wants to recline, he must have assistance from an
attendant.
There is a less common type of wheelchair that deserves mention
here: the one-man golf-cart type wheelchair. These are
distinguished from the folding wheelchairs and from the present
invention in that they steer through a direct, mechanical linkage,
similar to that of an automobile. The principal disadvantage of
this system is the inherent large turning radius which is typically
40 inches (80 inches wall to wall). Thus the golf-cart type
wheelchair is usually limited to use as an outdoor wheelchair. Also
the manual tiller steering demands more range of motion and arm
force than the purely electronic switch controls of the caster type
wheelchairs. However, as an outdoor wheelchair, the golf-cart type
wheelchair has some definite advantages. Since it is not based on
the lightweight folding wheelchair principle, it can use more
rugged components like heavy duty wheels, bearings and motors.
Since it is designed to be a powered vehicle, it usually has space
set aside for two or more batteries; this results in a greater
range. The seat is supported by a solid frame; this provides better
support for a cushion than the suspended fabric of a folding
wheelchair, which was designed for use without a cushion. Finally,
it has a low center of gravity, which makes it more stable on hills
and under accelertion. This feature fits in well with its higher
speed and greater hill climbing ability.
The golf-cart type wheelchair is usually "streamlined" with a
fiberglass body which may appear attractive to some people.
However, quadriplegics accustomed to tubular frame wheelchairs may
feel that the streamlined body makes them look more
conspicuous.
The advantages and disadvantages of these two types of wheelchairs
serve as an excellent departure point point for formulating the
specific constraints for a universal wheelchair. In order for the
wheelchair to be competitive with these two wheelchair types, it
must incorporate the best features of both classes with the
addition of some very important new features to correct their
deficiencies.
A comprehensive review of this problem and all previous work in the
same area has already been published in the open literature by Bray
et al "Vehicles for the Severely Disabled," Rehabilitation
Literature, Vol 28, No. 4, 1967, pp. 98-109. There have been
several van-type solutions to the wheelchair-bound driver problem
where a standard wheelchair enters via a ramp or tailgate lift and
is wheeled over and locked down in driving position. This has also
been accomplished by a 5 foot tall woman using an undersized
wheelchair in a Checker Auto.
A full-sized adult in a standard non-adjustable wheelchair simply
will not fit in any commercially-available sedan, even if it has a
rear engine or front wheel drive (no drive shaft tunnel). The head
clearance is simply not great enough. A Swedish scheme included an
adjustable-height wheelchair which could be lowered and placed in a
sedan by an attendant using a ramp. A post-polio in California
drove a 1954 sedan from a standard wheelchair substituted for the
right front seat. It was necessray, in addition to special
right-side hand controls, to completely alter the auto frame and
floor to achieve head clearance and a ramp entrance; auto ground
clearance was only three inches.
Other quadriplegic driver solutions involve dismembering the
wheelchair and/or some assistance by an attendant to place the
handicapped person or wheelchair in the auto.
A retractable-frame wheelchair has been devoloped by Professor
Muhlemann in Switzerland that fits in many small European
automobiles and enables driving from the wheelchair. Muhlemann,
"Rollstuhl Fabresito", Motor-Rundschau, No. 17, 1968, p. 698. This
wheelchair is not powered and involves manually removing the drive
wheels and retracting the frame during loading. Thus, it is
primarily a paraplegic solution and would not be useful for
quadriplegics.
One significant wheelchair has been designed since the 1966 Bray
report: the self reclining Rugg wheelchair, named after its
inventor Donald Rugg. Stantor, "The Rugg Chair", Tooney J. Gazette,
1969; 80-82. This powered wheelchair incorporates a mechanism that
will recline the back rest under power while at the same time
raising the foot rests to form a flat bed-like surface. The
motivation for building the wheelchair was to re-distribute the
user's body weight over long periods of sitting. Although the
wheelchair does not have an adjustable seat height, the user
reclines the back seat slightly in order to lower his overall
height for entry into an Econoline Ford Van.
The research done in the past has been mostly concerned with
driving while seated in a conventional wheelchair. Until the
present invention, no one has attempted a comprehensive design of a
wheelchair that considers the special needs of quadriplegia and
incorporates automatic loading into an automobile.
SUMMARY OF THE INVENTION
The present wheelchair was designed for all of the daytime
activities of an almost completely paralyzed person. Said paralysis
could include legs, trunk and most of the arms such as in the case
for a C5 to C7 traumatic quadriplegic or the equivalent. These
daytime activities are inclusive of curb climbing and driving an
automobile while seated in the wheelchair. Basically, the powered
wheelchair of the present invention is designed for the use of any
person who cannot operate a standard manual wheelchair and who
cannot easily transfer from wheelchair to automobile.
The most unique feature of the wheelchair is its powered elevating
mechanism which raises the seat and occupant from a height of 5 - 8
inches to about 24 - 27 inches above the ground -- keeping it level
at all times. In the low position, the occupant can operate a
standard two door American sedan with the front seat removed. An
intermediate position can be used for most daily activities. At the
highest position the foot rests retract and the chair allows
reaching high shelves, etc. or conversing at eye level with a
standing person. A single elevating actuator, in addition to seat
raising, also provides for powered seat back reclining or tipping
back of the whole chair. Also by engaging a simple stop lever on
each side of the seat and running the actuator, the wheelchair will
climb curbs up to 12 inches high while keeping the seat
substantially level. Four wheel brakes, swing-away armrests and
freedom from any protuberances above seat or legrest surfaces make
transfer of the occupant in and out as unencumbered as possible.
Two DC motors, one on each 16 inch rear wheel, will enable
wheelchair and occupant to travel on the level for several miles at
7 miles per hour or to climb a 10 percent grade at low speed; a
gear changer providing the extra torque for hill climbing. Being
somewhat shorter and no wider than existing standard manual
wheelchairs, the wheelchair of the present invention can maneuver
or turn around in the small space of 191/2 inches. The wheelchair
can be collapsed in a simple way for shipment or auto trunk
transport.
The wheelchair of the present invention results in independent
mobility in order to provide the disabled with an independent life.
This is important not only in saving the cost of attendant care but
also to overcome feelings of helplessness and despair.
Accordingly, it is an object of the present invention to eliminate
the deficiencies of prior art wheelchairs.
It is another object of the present invention to combine all of the
desirable features of prior art inventions.
It is still another object of the present invention to provide a
wheelchair which provides greater comfort, range and stability than
prior art wheelchairs.
It is still another object of the present invention to provide a
wheelchair with variable seat height that locks in any position
allowing compatibility with any height table top.
It is yet another object of the present invention to provide a
wheelchair with a reclining back to alter sitting pressure.
It is still another object of the present invention to provide a
wheelchair having no obstacles or protuberances to inhibit
transferring into or out of the wheelchair.
It is still another object of the present invention to provide a
wheelchair of proper size to be operable inside buildings in
addition to being able to fit with occupant inside a car.
It is yet another object of the present invention to provide a
powered wheelchair with a great range of travel and which is stable
under all conditions of road slope and acceleration.
It is still another object of the present invention to provide a
wheelchair which is compatible with all size and weight persons and
with allowance for padding.
It is another object of the present invention to provide a
wheelchair compatible with a mechanism to load the wheelchair and
occupant into a standard sized two door sedan.
It is still another object of the present invention to provide a
wheelchair which has the capability of climbing curbs up to twelve
inches high.
It is yet another object of the present invention to help the
physically handicapped overcome horizontal obstacles such as narrow
doorways, curbs, steep hills and very large distances.
It is still another object of the present invention to help the
physically handicapped to overcome vertical obstacles such as those
features of a "standing" world that exclude the seated.
These and other objects will become more clear upon a consideration
of the following description of a preferred embodiment and the
drawings in which:
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of the wheelchair in accordance with
the present invention at normal height.
FIG. 2 is a perspective view of the wheelchair with occupant in its
raised position.
FIG. 3 is a perspective view of the wheelchair with occupant in its
lowered position.
FIG. 4 is a side elevation showing details of the linkage used in
the wheelchair of the present invention when at normal height.
FIG. 5 is a side elevation showing details of the linkage when in
the highest position.
FIG. 6 is a side elevation of the wheelchair in a fully reclined
position and showing the actuator mechanism at a normal position in
phantom.
FIG. 7 is a side elevation of the wheelchair in a fully folded
position.
FIG. 8 is a detailed view of the battery support means.
FIG. 9 is a rear elevation of the wheelchair at the lowered
position.
FIG. 10 is a detailed rear elevation of a portion of the wheelchair
in the raised and narrowed position.
FIG. 11 is a detailed perspective view of the narrowing
mechanism.
FIG. 12 is a front elevation of the wheelchair at normal width.
FIG. 13 is detailed front end elevation of a portion of the
wheelchair in the heavyweight mode.
FIG. 14 is a perspective view of an automobile lift which may be
used with the wheelchair of the present invention.
FIG. 15 is a side elevation of the wheelchair of the present
invention in the curb climbing mode in the first step of climbing a
twelve inch curb.
FIG. 16 is a side elevation of the present wheelchair showing a
further step in the process of climbing a twelve inch curb.
FIG. 17 is a side elevation of the present wheelchair showing a
still further step in the process of climbing a twelve inch
curb.
FIG. 18 is a side elevation of the present wheelchair upon
completion of the curb climbing function.
FIG. 19 is a perspective view of a detail of the present wheelchair
showing the connection of the stop lever for use in the curb
climbing mode.
DESCRIPTION OF THE PREFERRED EMBODIMENT
The wheelchair in accordance with the present invention is shown in
FIG. 1 at its normal height. The chair includes drive wheels 12,
caster wheels 10, a seat 16, foot rest 14, head rest 44 and back
rest 46. The seat and the occupant may be raised to the position
shown in FIG. 2 or lowered to the position shown in FIG. 3. When in
the position shown in FIG. 2, the foot rest 14 is pulled in below
the knee so that the occupant O may pull up close to a vertical
object such as a counter C.
In the lowered position as shown in FIG. 3, the wheelchair is in a
very stable configuration for long or high speed local travel and
the chair and occupant may be placed into a standard sized two door
sedan with the front seat removed.
The linkage of the present wheelchair is specifically designed to
provide one degree of freedom such that seat height, leg rest
position, battery frame position, narrowing, reclining and curb
climbing are all responsive to the lengthening and shortening of
actuator 42. It is further designed to offer no obstruction to body
motion in and out of the wheelchair and to have its relative center
of rotation (pivot) right at the human knee joint. This linkage
will now be discussed in more detail.
FIGS. 4, 5 and 6 show the linkage of the present wheelchair in the
normal, raised and lowered positions, respectively. The seat frame
18 is supported by front support link 70 and rear leg 24 which are
connected thereto at front support link bearings 84 and rear leg
bearing 86. A connecting plate 72 connects rod ends 80 and 82 which
may be fixedly connected together by bar 71 as is shown in FIG.
8.
The subframe 32 is pivotally connected to leg rest 28 at subframe
bearing 34. Lateral leg link 30 connects the leg rest 28, at leg
link bearing 29, with front support link 70, at bearing 31. A front
leg link 26 fixedly extends from front support link 70.
Side frame 54 provides a fixed reference as it is connected to all
four wheel axles. The fixed frame includes side frame 54, wheel
frame 64, fender 52 and axle support 53.
To raise the front of subframe 32 with respect to the ground as the
seat 16 rises, in order for footrest 14 to avoid hitting the
ground, a roller or cam follower 22 is attached to front leg 26 and
rolls on the front or cam portion 20 of side frame 54. The cam 20
has two slopes, a near horizontal slope 19 near its front end and
in inclined slope 21 of about 20.degree. just to the rear of the
horizontal slope (see FIG. 5). Another advantage of the roller/cam
arrangement is that it allows for the addition of a curb climbing
feature to the wheelchair which will be discussed hereinbelow. The
curb climbing concept requires that the cam follower 22 be able to
separate from the cam 20.
One of two batteries 48 and 48' may be used to run the wheelchair.
Standard automobile lead-acid batteries are preferably used because
of their initial low cost, rechargeabiltiy and availability of
replacement. The batteries are supported beneath the seat and
themselves are raised and lowered along with the raising and
lowering of the seat since they are connected to the wheelchair
linkage. FIG. 8 shows a detailed view of the battery linkage.
Battery support frame 50 comprises L-shaped element 35 supporting
the front of battery 48' (as seen in FIG. 1) and side elements 36,
37 and 38 on both sides of the batteries 48 and 48'. The top ends
of elements 37 are connected by a battery frame rod 89 which can be
seen in FIG. 12. Frame element 38 connects elements 36 and 37 and
supports the rim or flange of battery 48. Thus battery 48' is fully
supported by frame element 35 and rod 89, while battery 48 is
supported by frame elements 38.
The battery frame 50 is connected to the wheelchair by means of
front battery support link 78, rear battery support links 76 and
rod ends 88 connected to subframe 32. Front battery support link 78
is pivotally connected to tubes 39 in the center of frame elements
35, by bearing 79 and to leg rest 28 by bearing 77. Rear battery
support link 76 is pivotally connected to frame 50 at the
intersection of elements 36 and 38 by bearing 73. One link 76 is
placed at each side of battery 48 as can be seen in FIG. 9. Links
76 are pivotally connected to transverse axis 66 by bearing 75 and
tabs 116 connected to central tube support 102. Rod ends 88
attached to subframe 32 are pivotally connected to each end rod 89
by by means of a bearing 87.
This linkage causes the batteries to fit under the knees of the
occupant when the seat is in the low position so that there is only
seven inches between the seat and the floor. This is very important
with respect to driving a passenger car while seated in the
wheelchair. For very tall quadriplegic patients who want to drive a
passenger car, the seat may be lowered even more to obtain extra
head room by removing the forward battery 48' and moving the rear
battery 48 to fit beneath the knees. This allows the seat to come
to rest two inches lower.
When in the low position as seen in FIG. 3, the wheelchair is still
operable and the casters 10 will swivel completely. Raising the
seat another couple of inches will raise the battery high enough
for adequate ground clearance in order to provide a very stable
configuration for "high speed" wheelchair travel on hard surfaces
and virtually eliminates the possibility of tipping over sideways
or backwards while accelerating, turning, or negotiating hilly
paths.
The variable height function of the present wheelchair is extremely
significant since the user of this device has limited arm function
and it is very important that he be able to position the height of
his body at the work area. The method now used by quadriplegics is
to modify the height of desks to fit a fixed height wheelchair. The
present universal wheelchair can be raised under power to any seat
height and locked in place when the power is turned off.
It can be seen from FIG. 1 that there are no obstructions to
transferring into and out of the wheelchair. All guiding and
supporting linkages are below the body. If possible, it is
desirable for the quadriplegic to perform this transferring using
his own muscles, however limited, in order to decrease his
dependence on attendants or mechanical devices. The fender 52 is
part of the frame which includes side frame 54, wheel frame 64 and
axle support 53. Accordingly, fender 52 can carry the full weight
of the wheel user. Quadriplegics can transfer across a level
surface by lifting up their bodies with their arms. The present
wheelchair makes this motion possible by virtue of the load
carrying fender 52 which is approximately the same height above the
floor as a commode, bathtub, or bed (almost all transfers are to
one of these three). The seat 16 can be set at the fender height 52
or it can be set slightly above or below to take advantage of
gravity.
Another departure from conventional wheelchair design is apparent
from FIG. 1. The foot rest 14 is supported by a single central
support 28. This has the advantage of improving maneuverability by
eliminating members normally found at the front corners of the
wheelchair.
FIG. 2 shows the highest seat height position. It can be seen that
the wheelchair occupant O is almost as high as a normal standing
person. This feature provides an important psychological advantage
in that the wheelchair user will not be forced to "look up" at the
non-handicapped world. As discussed hereinabove, in the high
position the feet are directly below the knees and do not protrude
beyond the wheelchair frame. This feature greatly improves
maneuverability. The overall length (including feet) is 32 inches
as compared to 46 inches for the conventional wheelchair.
Similarly, the plan diagonal is 39 inches compared to a standard 49
inches. This means that the universal wheelchair can turn around in
a 39 inch wide hallway which is fairly standard. Also, with the
feet tucked in below the knees, the quadriplegic can frontally
approach laboratory tables and kitchen counters as designated by C
in FIG. 2 which were designed for use by standing persons with no
leg "cut-outs". With the present wheelchair, the quadriplegic is
able to use both hands on a countertop istead of approaching
sideways with only one hand available. Since quadriplegics
generally do not have a good hand grasp, they depend on pushing one
arm against the other for grasping objects. The wheelchair in this
position also protects the user's feet and legs from collisions
with walls which can result through careless manipulation of the
controls. The raised position of the wheelchair gives the user
access to many phases of life normally denied to the "seated"
handicapped. Examples where standing height is a valuable asset are
telephone booths, bookcases, bulletin boards, lecture podiums,
blackboards, file cabinets, light switches, elevator controls, door
locks, etc. Another advantage in a high seated height is improved
visibility at lecture halls and theaters where wheelchair users are
usually relegated to the rear, for lack of open floor space. Note
that all four wheels 12 and 10 are at the extreme corners of the
wheelchair "envelope" for maximum stability.
FIG. 6 shows the wheelchair in the reclined position. Reclining is
a desirable feature from the standpoint of altering the pressure
distribution of skin tissue on which the body weight rests. Some
quadriplegics can do this by lifting themselves up with their hands
and shifting their positions. However, those with limited strength
or sensitive skin can easily alter their pressure distribution by
reclining periodically. In addition, the ability to recline to any
back angle provides a welcome change from upright sitting for
relaxing, watching television, reading, riding in an automobile,
etc. The reclining capability of the present wheelchair is powered
by the actuator 42 and the back rest 46 can be locked in any angle
of reclining. This is made possible by attaching the actuator-seat
link 90 at a position between the seat frame 18 and the top of the
back rest 46. This connecting point is seat pivot 93. Since the
back rest 46 is only upright in those positions where the actuator
42 is raising the seat or holding it in a raised position, it may
be seen that in the lowered position when the seat is stopped by
the frame, a continued shortening of the actuator 42 will cause a
reclining of back rest 46. Seat pivot 93 contains a stop thereon
for setting the normal angle of back rest 46. This stop will come
into play when the actuator is lengthening from the reclined
position and the back rest 46 is being raised to the normal
position. Once the stop on pivot 93 is reached, the actuator will
cause the seat 16 to be raised. By adjusting this stop, the upright
angle of the back rest can be set to suit each individual.
Generally, the higher the level of spinal cord lesion, the more
reclined the user will want to be for daily activities. This
feature alone makes the wheelchair available for very high (C-4)
quadriplegics who have no trunk muscles and thus must be slightly
reclined at all times for stability. It should be noted that the
back and head rest unit 46 and 44 can slide on slides 92 attached
to the actuator-seat link 90. Accordingly, the back rest 46 and
head rest 44 slide toward the seat upon reclining. This ensures
that the back rest pivots effectively at the hips, even though no
pivot is physically located there. Therefore, the position of the
person on the seat is not shifted, nor is the clothing "bunched up"
by the operation.
Because of the forward position of the two batteries 48 and 48',
the wheelchair is stable in the reclined position and can even be
driven under suspended obstacles such as chains across roadways.
Many entrances to public land now feature chains to keep cars out
and turnstiles to keep motorcycles out; such an arrangement
ironically exludes wheelchair users that cannot bend under the
chain. Almost all supermarkets have installed turnstiles at all
entrances which would also block regular wheelchairs. However, in
the reclined position, the present wheelchair could fit under the
horizontal pipe that is designed to exclude people but still admit
shopping carts.
The present wheelchair also has the capability to narrow its
overall width. Commercially available wheelchairs normally have an
overall width of about 25 inches which prevent the user from
entering bathrooms with the minimum dimension of 22 inches.
FIG. 9 shows a rear view of the wheelchair in the low position. It
should be noted that the seat 16 of the wheelchair is between the
wheels 12. With a standard width seat, the wheelchair cannot be any
narrower than 25 inches in this position. A 25 inch width does have
an advantage over narrower widths with respect to stability at high
speeds or on steep side slopes.
The present wheelchair, however, has the capability to
automatically narrow to a width of 21 inches when the seat is
raised to its highest position. The narrowing function is fully
powered and is automatically coupled to the seat raising function
so that it is driven by the actuator 42. It can be seen from a
comparison of FIGS. 4 and 5 that the cam roller 22 rides along the
angled portion 21 of cam 20 as the seat is being raised to its
highest position. Accordingly, this portion of the cam 20 is angled
outward so that as the side frame 54 narrows, the cam follower 22
remains securely centered over the cam 20 as can be seen more
clearly in FIGS. 12 and 13. Portion 21 of the cam 20 is also angled
upward to provide proper guidance for the seat motion as discussed
hereinabove. The cam follower 22 rides on portion 21 of the cam 20
at the seat height range of 23 inches to 27 inches from the
floor.
In order to control the narrowing of the chair so that it occurs
automatically only when the seat has reached a certain height above
the floor a control link 58 is added. As can be seen from FIGS. 4
and 5, control link 58 is connected to front leg 26 by means of
front leg extension tabs 61 which are fixedly attached to front leg
26 and pivotally attached to control link 58 at front control link
bearing 57. As can be seen more clearly from FIG. 11, the control
link 58 is attached to side frame 54 by means of a bell crank 62
and ball joint link 60. The control link 58 is pivotally attached
to bell crank 62 at pivot 59. The bell crank 62 is also pivotally
attached to subframe 32 at pivot point 94. The crank 62 is
pivotally attached to ball joint link 60 at pivot point 96. In
operation, as can be seen from a comparison of FIGS. 4 and 5, when
the seat is raised, the cam follower 22 passes rearwardly up
portion 21 of cam 20 causing control link 58 to move rearwardly and
cause a rotation of bell crank 62 about fixed width pivot 94. As
can be seen from a comparison of FIGS. 9 and 10, this rotation of
the bell crank 62 about the fixed width pivot 94 pulls the ball
joint link 60 toward the center of the wheelchair and the ball
joint link 60 in turn pulls the wheel frame 64 side frame unit
which slides along the lateral translation axis 66 causing a
narrowing of the wheelchair by two inches on each side. The lateral
translation axis 66 consists of a shaft 101 sliding inside a
central tube support 102 which supports the seat-raising linkage.
Shaft 101 preferably slides on polytetrafluoroethylene (Teflon)
bearings within central tube support 102.
In order to fit those who feel uncomfortable in the normal seat
width of 18 inches (measured at the hips) and would prefer the
increased seat width of 20 inches, the present wheelchair is
capable of widening to a heavyweight mode by means of four simple
adjustments. Although the overall width increases by two inches
(from 25 inches to 27 inches) the 27 inch width will also narrow
under power to 23 inches by the narrowing mechanism discussed
hereinabove. As can be seen from FIG. 11, the ball joint link 60
attaches to side frame 54 by means of ball joint stud 96 which
screws into hole 98. FIG. 11 shows stud 96 bolted to outermost hole
98. In order to convert to the heavyweight mode, the stud 96 is
threaded into the innermost hole 100. Thus, the lateral translation
shaft 101 will slide farther out of central frame 102. A comparison
of FIGS. 12 and 13 shows the changeover from the normal width (FIG.
12) to the heavyweight mode (FIG. 13).
One further change that has to be made, as can be seen in FIGS. 12
and 13, is to invert cam followers 22. Each cam follower contains
bearing 104 and 106 which are assymmetrically mounted. Thus,
unbolting the two cam followers 22 and flipping them over moves
them out one inch on each side. Thus, the cam followers are still
firmly centered on cam 20 in either mode.
The heavyweight mode may be used routinely in hospitals and
rehabilitation centers where all doors are wide enough for the two
inch width increase. The advantage would be to add seat room for
extra padding, braces, or other medical equipment. Quadriplegics
that are fitted with casts (for fractures) would benefit from the
extra room.
The actuator unit 42 powered by motor 56 is known in the prior art
and may utilize a recirculating ball screw and nut to efficiently
convert the gear motors rotary output into linear thrust. Such an
actuator is manufactured as "Power Pak" by the Saginaw Steering
Gear Division of General Motors, Inc. The screw preferably has a
"No-Bak" device to prevent reverse driving; thus, the linkage
"locks" whenever the power is turned off. Also the actuator unit
has an overrunning clutch to provide protection from overload and
limit motion at the end of the stroke. The ratchet type clutch also
provides audio feedback to the user indicating that he has reached
the end of the stroke. In addition, the overrunning clutch
eliminates the need for limit switches (at the end of each stroke)
and the accompanying wiring and relaying they require. In the
preferred, a 22 inch stoke is necessary. It should be clear that
any other mechanical, electromechanical, hydraulic or pneumatic
mode of operation for the actuator can be used without departing
from the concept of the present invention.
Another asset of the present wheelchair is its capability of easy
folding without the use of tools. This facilitates lower shipping
costs from the factory and is important on those occasions that
require folding of the wheelchair as for instance if a quadriplegic
is transported by automobile without the aid of a loading
mechanism. He would then be lifted into the car while the
wheelchair is folded and placed in the trunk or in back of a
station wagon or truck. Although this loading procedure is awkward,
it may be adopted when automobile travel is infrequent and
attendants are strong.
A quick release pin 109 (see FIG. 5) is released from the lower
actuator bearing 108 (FIGS. 9 and 10) which is pivotally attached
to central frame 102 by means of tabs 68 fixedly attached thereto,
and two quick release pins are removed from bearings 77 and 34 on
the leg rest assembly. The leg rest 28 and back rest 46 are then
free to converge. The leg rest 28 fits between the fabric back rest
46 and the actuator 42. Continuing this motion results in the fully
folded position as shown in FIG. 7. The overall size of the folded
envelope is 25 inches by 33 inches by 19 inches. It is important to
note that the wheelchair can still be operated under power in this
position so that it can be easily moved by someone walking
alongside.
The wheelchair is designed to be compatible with a fully powered
automobile loading mechanism that will automatically place the
quadriplegic and his wheelchair into either the driver or passenger
side of a passenger car. Such a lift mechanism is shown in FIG. 14.
The wheelchair W will back up to the car 112 as shown and the fork
structure 114 will attach to the seat frame 18. The user will then
shorten the actuator 42 which will raise the wheels and frame. It
should be noted that although the name "lift" is given to the
mechanism, this is realy a misnomer since the wheelchair itself
does all the vertical lifting. After the entire wheelchair is above
the door sell height, the lift mechanism 110 will guide and
completely support the wheelchair until it is in either the driver
or passenger position. It should be noted that the wheelchair loads
on the curb side of the car 112 which is much safer than having to
load on the street side.
The importance of automobile driving and riding to the handicapped
person cannot be over-emphasized. It affords him a personal freedom
that is highly satisfying, and it provides a means to get to work.
This is usually a major problem for quadriplegics, who are
generally able to drive with hand controls but are restricted to
driving vans because of the large size of conventional wheelchairs.
Quadriplegics as a rule, cannot transfer themselves from wheelchair
to automobile seat, as paraplegics can.
For optimal maneuverability, the mode of power of the present
wheelchair is applied independently to each rear wheel 12 with the
front two wheels 10 free to swivel on casters. The drive motors 40
and the drive system are the same as are now used on virtually all
powered wheelchairs and may be Rae brand units. The motor shafts
may be fitted with 1 inch diameter steel pinion gears 74 (see FIGS.
9 and 10) which are in contact with the side wall of the pneumatic
tire 12. Preferably, however, a metal motor pinion gear is used
meshing with a plastic bevel gear mounted on the rear rim (not
shown). Positive engagement of the gear sets will prevent slippage
as is the case with the friction drive. The wear properties of a
self-lubricating plastic gear are much better than that of a metal
pinion on soft rubber.
For ease of rolling plus large contact area for traction and lower
loading pressures on the ground, a large drive wheel is important.
The preferable size for such a drive wheel is 16 inches diameter in
order to avoid elbow interference in the automobile driving mode.
The two drive motors 40 are controlled by an infinitely variable
solid state proportional control lever (not shown) which are well
known in the art of powered wheelchairs. The control is placed in
any desired location on the wheelchair for easy accessibility. It
is preferably attached to arm rests which are not shown in the
drawings.
The chair may be equipped with arm rests (not shown) connected to
back rest 46 or actuator-seat link 90. It is important that the arm
rests be capable of moving out of position so that no impediments
to transferring are included. The arm rests may fold upward out of
the way or swing outwards and slide behind back rest 48. Means for
accomplishing this function would be readily apparent to those of
ordinary skill in the art.
The effectiveness of the present wheelchair is also enhanced by the
presence of brakes on all four wheels. Standard wheelchairs have
only rear brakes that are essentially static brakes. Even if they
could be applied dynamically, the weight transfer inherent under
braking could unload the rear wheels enough to cause unstable
skidding. Accordingly, dynamic braking is applied to the front
caster wheels 10 as well as the rear drive wheels 12. As dynamic
braking systems and methods of applying them to wheeled vehicles
are extremely well known in the art, a specific mode of such a
dynamic braking system is not specifically shown in the drawings.
It should be noted however that braking does occur when the drive
motor 40 is turned off.
FIGS. 15 to 19 are specifically directed toward the curb climbing
capability of the wheel chair of the present invention. In order to
adapt the basic wheelchair linkage discussed hereinabove to a curb
climbing capability, three items need be added on each side of the
wheelchair.
The first item is a stop lever 120 which can be seen more clearly
in FIG. 19. The stop lever 120 is attached to side frames 54 at
pivot 130. A bracket 128 is permanently attached to lateral leg
link 30. The stop lever 120 has a plurality of settings to
accommodate for different curb heights. Setting 152 represents the
setting of a 3-inch curb, 154 is a 6-inch curb, 156 is a 9-inch
curb, and 158 is a 12-inch curb. It should be noted that the 3-inch
setting (as shown engaged in FIG. 19) will climb curbs from 0 to 3
inches high. Likewise the 6-inch setting will climb curbs from 3 to
6 inches, etc. Stop lever 120 has a portion 121 extending above
12-inch setting 158 which acts as a handle so that the lever may be
engaged or disengaged by the occupant of the wheelchair. For
operation in the heavyweight mode a spacer (not shown) may be added
to the pivot bolt 130.
A second mechanism which must be added are back-up wheels 138.
Back-up wheel 138 is attached to seat frame 18 by means of link 142
which is attached to rod end 140 at bearing 141. Rod end 140 is
fixedly attached to seat frame 18. Another link 144 connects
back-up wheel 138 with drive wheel hub 55. A pivot point 148 of
link 144 with drive wheel hub 55 is preferably slightly above the
wheel axis so that back-up wheel 138 is not permanently in contact
with drive wheel 12 but is only engaged when needed. A small
transmission wheel 146 is positioned between back-up wheel 138 and
drive wheel 12.
The third function necessary for curb climbing are idler wheels or
rollers 124. Idler wheel link 122 connects to subframe 32 at the
pivot 136. A supporting brace 126 connects the idler wheel link 122
with battery frame element 37 at pivot point 132. Support brace 126
is pivotally connected to idler wheel link 122 at bearing 134. It
is preferable that pivot 132 be movable so that idler wheel 124 may
move away from the ground when the wheelchair is in normal
operations. Accordingly, pivot 132 may be mounted on the swinging
arm of a "Destaco" toggle action clamp mounted on battery brace 37
and actuated either remotely or directly.
The sequence of operation of the curb climbing mode of the present
invention will now be explained with reference to FIGS. 15 thru 18.
First, the stop lever 120 must be engaged. The height of the
wheelchair is adjusted so that the appropriate setting 158 of stop
lever 120 may engage bracket 128 on lateral leg link 30. The height
of the chair is then lowered to just below the narrowing range of
its height and backed up to curb G. It should be noted that the
curb climbing mechanism only operates in the lower two-thirds of
the seat height range. The narrowing mechanism operates in the
upper one-third. Therefore, the wheelchair does not narrow while
climbing. The cam follower 22 rolls on the level portion 19 of cam
20 during curb climbing, when engaging the cam 20 at all. It is
also important that the curb climbing sequence start with the
caster wheels 10 pivoted forward so that the wheelchair has the
longest wheel base possible. Preferably the caster axes are locked
to prevent rotating during the curb climbing sequence.
After the wheelchair is backed up to curb G the main actuator 42 is
shortened which causes the back-up wheels 138 to engage the curb
surface and accept the full weight of the rear of the wheelchair
(FIG. 16). Drive wheels 12 and the rear of side frame 54 and wheel
frame 64 continue to move upward. Front leg 26 and cam follower 22
depart from side frame 54 because of the action of stop lever 120.
This also causes lifting of leg rest 28 and a slight tipping back
of seat frame 18. At this point the drive wheel 12 actuates the
back-up wheel 138 via transmission wheel 146 in order to cause the
wheelchair to continue backwards to the position shown in FIG. 17.
This action begins as soon as the drive wheels 12 clear the curb
surface. The drive motors 40 provide the power for said backwards
motion.
When the wheelchair has moved back until caster wheels 10 touch the
curb G the function of idler wheels 124 becomes apparent. These
idler wheels 124 must support the weight of the wheelchair while
caster wheels 10 are brought up onto the curb. At this point the
actuator is lengthened to raise the seat and simultaneously level
the side frame 54 which causes caster wheels 10 to rise. Once
caster wheels 10 clear the surface of the curb the wheelchair is
powered backwards on the surface of the curb to the position shown
in FIG. 18. The wheelchair is now in the same position as its
initial position shown in FIG. 15. It should be noted that if a
6-inch high curb had been negotiated, the seat would have been
raised to 1/2 this height and the stop lever 120 set at a shorter
length. Once the chair is able to roll on a level surface the stop
lever can be disengaged and the idler wheels 124 lifted out of
engagement with the ground and the seat 18 can be reset to any
height.
Descending a curb may be accomplished by performing the opposite
sequence of climbing a curb described hereinabove. To accommodate
narrowing it it is preferable that the links 142 and 144 to the
back-up wheels 138 be capable of flexing or be equipped with
self-aligning bearings at 141 and/or 148. There is no axle between
back-up wheels 138 which are cantilevered on links 144.
Another feature that comes with the curb climbing mechanism is a
tilt-back reclining mode. This tilt-back is achieved by going
through the curb climbing sequence without the curb. Stop lever 120
will cause the seat to tilt back. Since the batteries 48 and 48'
will also tilt back, precautions should be taken to retain the
battery fluid with, for example, spill-proof caps. The back-up
wheels 138 prevent the wheelchair from tipping over.
Obviously many modifications and variations of the present
invention are possible in the light of the above teachings. It is
therefore to be understood that within the scope of the appended
claims the invention may be practiced otherwise than as
specifically described.
* * * * *