Manual Wheelchair Propulsion System

Abstract

A propulsion system for a manual wheelchair includes a mounting clamp and a propulsion drive unit having a drive wheel assembly and a support suspension. The support suspension is configured to provide linear movement of the drive wheel and drive hub assembly relative to the manual wheelchair. The support suspension includes a linear bearing and slide member assembly having at least one linear bearing and a slide member for accommodating the linear movement of the drive wheel assembly and further includes a resilient suspension member that provides a tractive effort force to the drive wheel. The drive wheel assembly is supported on a carriage that is attached to one of the at least one linear bearing or the slide member and a mounting block is attached to the other. The mounting block has a clamp interface with a locating tab that engages a corresponding mounting slot in the mounting clamp.

Claims

1. A propulsion system for a manual wheelchair, the system comprising: a mounting clamp configured to attach to one of a camber tube, a cross member, or an axle tube of the manual wheelchair; a propulsion drive unit selectively attachable to the mounting clamp, the propulsion unit comprising: a drive wheel assembly having a drive wheel; a mounting block having a clamp interface configured to releasably engage the mounting clamp; a carriage connected to a support suspension that comprises a linear bearing and slide member assembly; and an actuator having a first end connected to the mounting block and a second end connected to the carriage, the actuator configured to selectively move the drive wheel assembly relative to the wheelchair.

2. The propulsion system of claim 1 wherein the actuator moves the drive wheel assembly between a use position where the drive wheel is in contact with a travel surface, and a stowed position where the drive wheel is moved out of contact with the travel surface.

3. The propulsion system of claim 2 wherein the linear bearing and slide member assembly accommodate linear movement of the drive wheel assembly in the use position and a resilient suspension member provides a tractive effort force to the drive wheel in the use position.

4. The propulsion system of claim 2 wherein the actuator is an electrically driven actuator and a controller is configured to monitor an actuator current to detect when the drive wheel assembly is moved to the use position.

5. The propulsion system of claim 4 wherein the support suspension further comprises a resilient suspension member, and the actuator compresses the resilient suspension member between the mounting block and the carriage to raise the drive wheel into the stowed position.

6. The propulsion system of claim 2 wherein the actuator defines a latch release position where the drive wheel is lifted beyond the stowed position such that the latch hook releases from engagement with the mounting clamp.

7. The propulsion system of claim 6 wherein the actuator is configured to lower the clamp interface into engagement with the mounting clamp.

8. The propulsion system of claim 1 wherein the mounting clamp includes a latching boss that engages the latch hook and further includes a mounting slot that engages a locating tab extending from the carriage.

9. The propulsion system of claim 8 wherein the mounting slot is configured in a funnel shape to guide the locating tab into engagement with the mounting slot.

10. A propulsion system for a manual wheelchair, the system comprising: a mounting clamp configured to attach to the manual wheelchair; a propulsion drive unit selectively attachable to the mounting clamp, the propulsion unit comprising: a drive wheel assembly having a drive wheel; a mounting block having a clamp interface defining a locating tab configured to releasably engage the mounting clamp and a latch hook pivotally mounted to the mounting block and releasably securing the clamp interface to the mounting clamp; a carriage comprising a linear bearing and slide member assembly; and an actuator having a first end connected to the mounting block and a second end connected to the carriage, the actuator configured to selectively move the drive wheel assembly relative to the wheelchair and configured to release the latch hook from the mounting clamp.

11. The propulsion system of claim 10 wherein the actuator compresses a resilient suspension member to a first position to move the drive wheel out of contact with a travel surface.

12. The propulsion system of claim 11 wherein the actuator compresses the resilient suspension member to a second position to release the latch hook from the mounting clamp.

13. A propulsion drive unit comprising: a drive wheel assembly having a drive wheel; a carriage including a drive wheel fork that supports the drive wheel assembly for rotation; a slide bar attached to one of a linear bearing or a mating slide member, the slide bar including a plurality of mounting points configured to support the carriage in a plurality of height positions relative to the slide bar; and a slide mounting body attached to the other one of the linear bearing or the mating slide member and coupled to a mounting clamp configured to attach to one of a camber tube, a cross member, or an axle tube of a manual wheelchair, the slide bar and the slide mounting body defining a linearly movable suspension supporting the drive wheel assembly for linear movement relative to the mounting clamp.

14. The propulsion drive unit of claim 13 wherein a mounting block includes a clamp interface configured to releasably engage the mounting clamp.

15. The propulsion drive unit of claim 13 wherein an actuator has a first end connected to the slide bar and a second end connected to the slide mounting body, the actuator configured to selectively move the drive wheel assembly relative to the mounting clamp.

16. The propulsion unit of claim 15 wherein the actuator moves the drive wheel assembly between a use position where the drive wheel is in contact with a travel surface, and a stowed position where the drive wheel is moved out of contact with the travel surface.

17. The propulsion unit of claim 15 wherein the actuator is an electrically driven actuator and a controller is configured to monitor an actuator current to detect when the drive wheel assembly is moved to the use position.

18. The propulsion unit of claim 13 wherein a resilient member engages a suspension reaction mount of the slide bar at a first end and the slide mounting body at a second end to resiliently support the drive wheel in a use position where the drive wheel is in contact with a travel surface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG. 1 is a perspective view of a manual wheelchair and a detachable propulsion system according to the invention.

[0010] FIG. 2 is a perspective view of the detachable propulsion system of FIG. 1.

[0011] FIG. 3 is a cross sectional, side elevational view of the detachable propulsion system of FIG. 2.

[0012] FIG. 4A is an enlarged view of an attachment portion of the detachable propulsion system of FIG. 2.

[0013] FIG. 4B is a cross sectional view of the attachment portion of the detachable propulsion system of FIG. 4A.

[0014] FIG. 5A is a side perspective view, in cross section, of an actuation and suspension portion of the detachable propulsion system of FIG. 1.

[0015] FIG. 5B is a front perspective view, in cross section, of the actuation and suspension portion of the detachable propulsion system of FIG. 5A.

[0016] FIG. 6A is a side elevational view of the detachable propulsion system of FIG. 1 mounted to an axle tube component of the wheelchair.

[0017] FIG. 6B is a partially exploded view of a suspension slide assembly of the detachable propulsion system.

[0018] FIG. 7A is a side view of the detachable propulsion system in an operating position.

[0019] FIG. 7B is a side view of the detachable propulsion system in a detached position.

[0020] FIG. 8 is an exploded view of the detachable propulsion system.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0021] Referring now to the drawings, there is illustrated in FIG. 1 a detachable propulsion system, shown generally at 10, configured to be mounted to a manual wheelchair 12. In the illustrated embodiment, the propulsion system 10 includes a propulsion unit 10a and a clamp 14 that is configured to attach to a structural member of the wheelchair 12, such as a cross-member, a camber tube, or axle tube 16. The clamp 14 has at least one aperture 14a that defines a mounting axis A. The propulsion system 10 further includes a drive wheel assembly 18, illustrated as a tire 18a and hub motor assembly 18b, though other drive systems such as a motorized pinch-roller or friction drive, belt or chain drive, shaft drive, and the like may be used. The drive wheel assembly 18 defines a wheel rotational axis B through the hub rotational centerline and an associated tire contact patch, i.e., the area of the tire in contact with a support surface such as the ground. The wheelchair 12 includes drive wheels 12a, though only one wheel is illustrated two spaced-apart drive wheels are known, that define a rotational axis C and an associated tire contact patch.

[0022] Referring to FIGS. 2-4B, the propulsion system 10 includes a mounting block 20 having a slide mounting body 20a and a clamp interface 20b. The slide mounting body 20a is configured to attach to one of at least one slide bearing 22 or a mating slide 24, configured as a slide bar, track or other suitable linear motion structure. Though identified as slide bearings, these bearings 22 may be any suitable rolling or sliding element including bearings, bushings, or other elements conducive to supporting linear motion. In the illustrated embodiment, the slide bar 24 includes a suspension reaction mount 24a. The mounting block 20 is connected to an actuator 26, illustrated within a cavity 28 of the slide mounting body 20a, at a first or lower end 26a of the actuator 26. The actuator 26 selectively engages a carriage 30 at a second or upper end 26b of the actuator 26. The carriage 30 has a mounting plate 30a that is proximate to and configured to attach to the other of the at least one slide bearing 22 or the mating slide 24 such that the carriage 30 is linearly moveable relative to the mounting block 20. The carriage 30 has a drive wheel fork 30b at a distal end that supports the drive wheel assembly 18 for rotation. The carriage 30 further includes a slide mount 30c that supports one of the slide bar 24 or the at least one slide bearing 22. In the illustrated embodiment, the suspension reaction mount 24a is attached to the slide bar 24 and extends into the actuator cavity 28 and is configured to be contacted by the actuator second end 26b when the actuator 26 is extended. Alternatively, the suspension reaction mount 24a may be formed integrally with the slide bar 24 or the carriage 30 if desired. The actuator 26 selectively moves the carriage 30 and the drive wheel 18 relative to the mounting block 20 between a use position, where the drive wheel is in contact with the ground, and a stowed position, where the drive wheel is moved out of contact with the ground. FIG. 3 illustrates the actuator 26 in the use position where the second end 26b is retracted away from the suspension reaction mount 24a. The carriage 30 is shown in an articulated position where the suspension reaction mount 24a has compressed a resilient suspension member such as during an obstacle traversal maneuver by the propulsion system 10.

[0023] The carriage 30 includes at least one kickstand mount 30d, illustrated as extending from the drive wheel fork 30b, for supporting a kickstand 32. The kickstand 32 supports the system 10 in a free-standing configuration, as shown in FIG. 7B, when detached from the wheelchair 12 or the clamp 14. The illustrated kickstand 32 includes a kickstand fork 34 pivotally mounted to the kickstand mount 30d at a first end and supporting at least one wheel 36 at a second end. Two wheels 36, illustrated as Omni-style or Mecanum-style wheels having lateral roller elements, are shown mounted on opposing arms of the kickstand fork 34. The Omni-style wheels accommodate lateral movement of the propulsion system 10, making attachment or detachment of the unit easier by a user from a seated position. It should be understood that any wheel or sliding contact member may be used if so desired. The fork 34 is held out of contact with the ground or support surface, as shown in FIG. 7A, by a spring 38. The kickstand 32 is configured to clear or pivot away from irregularities encountered during travel in order to prevent force transfers to the wheelchair 12 that can cause unintended deviations in the desired travel direction.

[0024] Referring to FIGS. 3, 5A and 5B, the slide mounting body 20a supports a resilient suspension member 40, shown as a coil compression spring though other resilient elements may be used. The suspension spring 40 applies a force to the carriage 30 and drive wheel assembly 18, through the suspension reaction mount 24a, that is sufficient to provide traction to propel the wheelchair 12. The suspension spring 40, in contact with the suspension reaction mount 24a, compresses and extends as the drive wheel system 18 moves over irregular surfaces to maintain ground contact. In the illustrated embodiment, a handle 42 is secured to the slide mounting body 20a. The handle 42 is shown having an upper body 42a and a lower body 42b. The lower body 42b includes a spring seat 44 that contacts the suspension spring 40. The spring seat 44 may alternatively be part of the mounting body 20a. The upper body 42a supports and/or houses at least a portion of a latching mechanism, shown generally at 46 of FIG. 4B, which will be explained in detail below. During movement of the drive wheel system 18, the slide 24 shown mounted to the carriage 30 is supported by and moves linearly against the slide bearings 22. The slide 24 and slide bearings 22 transfer the tractive force of the drive wheel to the clamp 14 and wheelchair axle or cross member 16 thus moving the wheelchair 12 forward. The linear motion of the slide members 24 and 22 permits the drive wheel 18a to articulate relative to terrain irregularities and permits the actuator 26 to move the drive wheel 18a out of contact with the ground if only manual propulsion is desired. This permits a user to easily reduce drag from the propulsion unit 10a in manual mode operation without removing the unit.

[0025] The latching mechanism 46, as illustrated, is supported by the handle 42 and the mounting block 20. The latching mechanism 46 includes an actuation lever 48 that is pivotally supported by a pin 48a on the handle lower body 42b and resiliently held in a ready position enabling release of the propulsion unit 10a portion of the propulsion system 10 from the clamp 14. The actuation lever 48 has an actuation cam face 48b that contacts a latch cam face 50a of a latch hook 50. The latch hook 50, as illustrated, is pivotally supported on the mounting block 20 by a pin 50b and resiliently held in an engaged position where a hook end 50c is positioned to hold the propulsion unit 10a fixed to the clamp 14. Because the latch cam face 50a is movable relative to the actuation cam face 48b, the hook end 50c is movable relative to the mounting block to permit securement of the propulsion unit 10a to the clamp 14 without operating the actuation lever 48. This permits easier attachment of the unit 10a by a seated user.

[0026] The clamp 14, as shown in FIGS. 4A and 4B, includes a mounting cavity 14b having a lead-in wall 14c terminating in a mounting slot 14d. The mating clamp interface 20b of the mounting block 20 includes a locating tab or tongue 20c that is configured to locate and seat within the mounting slot 14d. In the illustrated embodiment, the mounting cavity 14b can function as a funnel or chute to guide the locating tab 20c into engagement with the mounting slot 14d. In connecting the propulsion unit 10a to the clamp 14, the following sequence of actions or steps illustrate the functions and interactions of the mounting elements of the propulsion system 10. Initially, the propulsion unit 10a may be free-standing with the aid of the kickstand 32 such that the locating tab 20c is aimed toward the clamp 14 mounted on the axle or camber tube 16 of the manual wheelchair 12. When the actuator 26 is contracted, the mounting block 20 is raised relative to the carriage 30 by extension of the suspension spring 40 toward its free state length. In certain wheelchair configurations, the locating tab 20c may be sufficiently elevated to enter the mounting cavity 14b as the propulsion unit 10a rests on the kickstand 32. When the unit 10a is aligned relative to the clamp 14, the wheelchair may be rolled backwards until the locating tab 20c enters the mounting cavity 14b. In other configurations, the unit may need to be elevated by the user through the handle 42. After the tab 20c enters the cavity 14b, the actuator 26 may be extended to draw the locating tab 20c into the mounting slot 14d. When the tab 20c completely enters the slot 14d, the hook end 50c of the latch hook 50 engages a latching boss 14e of the clamp 14 to secure the propulsion unit 10a to the clamp 14 and the wheelchair 12.

[0027] In order to remove or disconnect the unit 10a from the clamp 14, the latching mechanism 46 may be activated by moving the actuation lever 48 into the handle 42. This causes the lever 48 to pivot about pin 48a causing the actuation cam face 48b to move the latch cam face 50a toward the clamp 14. The latch hook 50 pivots about the latch pivot pin 50b causing the hook end 50c to disengage from the latching boss 14e. If the unit 10a is loaded against the ground with the suspension spring 40 compressed, the force exerted by the spring may assist in extracting the clamp interface 20b from the mounting cavity 14b as the mounting block 20 is moved by the spring force. If the actuator 26 is extended to compress the suspension spring 40 and raise the drive wheel 18a from contact with the ground, the latch hook 50 may be more easily pivoted and the unit 10a can be lifted from the mounting cavity 14b Alternatively, the actuator 26 may include a linkage (not shown) that releases the latch hook 50 when the actuator 26 is extended beyond the length necessary to lift the wheel off of the ground. The actuator 26 may be directly or indirectly connected to the latch hook 50 or may actuate the lever 48 in order to provide remote or automated actuation.

[0028] Referring to FIGS. 3 and 6A, when the propulsion system 10 is mounted to the wheelchair 12 the clamping axis A is coincident with the axle tube axis C. Because the drive wheel axis B extends toward the clamping axis A, the drive wheel tire contact patch is moved close to or coincident with the tire patch of the wheelchair drive wheel 12a. This results in the system 10 being contained within an envelope defined by the wheelchair 12, including the drive wheels 12a. In one aspect, the envelope can be defined by a line generally tangent to an outer diameter of the wheelchair drive wheel and may represent a wall or other external structure abutting the wheelchair drive wheel. This packaging permits a seated user to operate the manual wheelchair 12 in the usual manner, including being able to manually back the wheelchair against a wall, curb, or other structure and also lean the wheelchair against a wall, which is a common resting position providing the weight distribution benefits of a reclined, seated position to reduce prolonged seated skin conditions. The close proximity of the drive wheel contact patches is primarily enabled by the use of sliding suspension members instead of pivoting suspension members. This provides the ability to package the moving components in a compact envelope. In one embodiment, this permits the unit to be mounted in a rearward position that is more easily accessible by the seated user for attaching and disconnecting the unit fostering a greater sense of independence. Alternatively, the propulsion system 10 may be mounted from the front side of the wheelchair and extend toward the rear.

[0029] During operation, when the propulsion unit drive wheel tire patch is close to or in line with the wheelchair drive wheel tire patch, the moment created by the offset is minimized. This reduces the cause of tire scrubbing and permits easier turning and maneuvering of the wheelchair. Since the operating basis of the wheelchair is manual in nature, maneuvering is based on relative speed or rotation of one drive wheel 12a relative to the other spaced-apart drive wheel 12a. Through the use of a linear motion suspension system and the rearward mounting configuration of the propulsion system 10, particularly mounting the system to the wheelchair drive wheel axle or camber tube member, the weight of the unit is brought closer to the center of gravity of the wheelchair and seated user which reduces tipping or instability sensations. This location also can take advantage of the weight over the wheelchair drive wheels to improve tractive effort of the propulsion drive wheel 18a.

[0030] As shown in the drawings, the propulsion system 10 includes a controller 100 containing electronics necessary to operate the propulsion unit for drive control, suspension control, and/or latch control. The controller 100 and other components of the propulsion system may be enclosed in a housing 10b, though such is not required. The propulsion unit 10 also includes an energy source, illustrated as a battery pack 110 and a battery housing 112. The controller 100 may include all of the necessary sensors within the controller or may receive signals from remote sensors for processing. The actuator 26 may be configured as an electrically driven actuator and rely on a current measurement to detect end of travel positioning. Such a sensor and its associated measurement may be provided on the controller 100. Alternatively, the actuator 26 may rely on a proximity switch or load cell to detect the end of travel position which may be remote mounted from the controller 100 and attached to the actuator or a supporting structure.

[0031] In two of the preferred embodiments shown herein, as illustrated in FIGS. 8A-12, a first version is shown in FIGS. 8A-8C and 11. This version, identified as Embodiment 2, includes a power drive wheel with hub motor and a linearly movable support housing with carriage rollers. The carriage rollers are supported and guided by slots formed in the housing. A mounting bolt extends through the slot to slidably secure the carriage roller blocks to the housing. In the illustrated embodiment, the slots are formed in generally parallel raised portions that engage corresponding recesses formed in the carriage roller blocks.

[0032] In the version identified as Embodiment 3, the power drive wheel with hub motor is mounted in a linearly movable support housing using linear bearings. The linear bearings engage a slide track having parallel grooves that support and guide the linear bearings.

[0033] The principle and mode of operation of this invention have been explained and illustrated in its preferred embodiment. However, it must be understood that this invention may be practiced otherwise than as specifically explained and illustrated without departing from its spirit or scope.