公开(公告)号：US06311794B1

公开(公告)日：2001-11-06

申请号：US09428007

申请日：1999-10-27

申请人： John B. Morrell ,  John M. Kerwin ,  Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard K. Heinzmann ,  Brian R. Key

发明人： John B. Morrell ,  John M. Kerwin ,  Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard K. Heinzmann ,  Brian R. Key

IPC分类号： B62D57028

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  A61G2203/46 ,  B60K7/00 ,  B62D57/00 ,  G05B13/042

摘要： A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

摘要翻译： 一种用于在上升或下降楼梯中操作设备的系统和方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。 移动设备和负载组合的重心来控制设备的运动方向。

公开(公告)号：US06484829B1

公开(公告)日：2002-11-26

申请号：US09609732

申请日：2000-07-03

申请人： Kenneth Ray Cox

发明人： Kenneth Ray Cox

IPC分类号： B62D57028

CPC分类号： A61G5/061 ,  A61G5/042 ,  A61G5/065 ,  A61G2203/14 ,  B62D57/028 ,  B62D63/02

摘要： A self-propelled battery-powered wheelchair replaces an ordinary wheelchair and provides improved access to homes. The wheelchair includes stair climbing, slope climbing, and reclining while requiring only minimal driver skill and strength. Operation on level ground is similar to the operation of a conventional wheelchair. Support for normal operation is provided by a rear caster and wheels on the front corners. Its compact width and length enable negotiating narrow doorways and turning in small spaces. To ensure stability on stairs, moveable skids are mounted to the four corners of the wheelchair. Parallelogram linkages move the front skids down and forward during climbing. Another parallelogram linkage moves the caster and rear skids up and at an angle during climbing. The wheelchair is steerable on stairs as needed to align with the stair path and accommodate slightly spiraling stairs. The wheelchair accommodates stair steps of different riser heights and tread lengths. A pair of spoked or spider wheels with small wheels at the ends of the spokes are rotably mounted to the sides of the wheelchair. The spider wheels engage the stairs to propel and stabilize the wheelchair during climbing of stairs. Methods are provided to monitor and control the pitch attitude of the wheelchair and nearness of wheelchair supporting components to the stairs. Motion and control are provided by electric motors, sensors, a computer, and driver inputs. Propulsion power for conventional level operation, slope climbing, and stair climbing operation is transmitted through the same motors and wheels.

摘要翻译： 自行推进的电池供电的轮椅取代了普通的轮椅，并改善了家庭的通行能力。 轮椅包括楼梯攀登，斜坡攀登和斜倚，同时只需要极少的驾驶技术和实力。 水平地面的操作与常规轮椅的操作相似。 正面操作的支持由前脚轮和前角的车轮提供。 其紧凑的宽度和长度使得能够协商狭窄的门口并在小空间中转动。 为了确保楼梯的稳定性，轮椅的四个角落安装有可移动的滑板。 平行四边形连杆在攀登期间向前和向前移动前滑板。 另一个平行四边形连杆在爬坡期间将脚轮和后挡板向上移动并以一定角度移动。 轮椅在楼梯上是可操纵的，以便与楼梯路线对齐并容纳稍微螺旋的楼梯。 轮椅容纳不同提升高度和胎面长度的楼梯台阶。 在轮辐端部的一对具有小轮子的圆形或蜘蛛轮可旋转地安装在轮椅的侧面。 在攀登楼梯时，蜘蛛车轮与楼梯接合以推动和稳定轮椅。 提供了方法来监测和控制轮椅的俯仰姿态以及轮椅支撑部件对楼梯的接近程度。 运动和控制由电动机，传感器，计算机和驱动器输入提供。 常规水平作业，斜坡攀爬和爬楼梯操作的推进力通过相同的电机和轮子传递。