Embodiments of the present disclosure include a wheelchair configured to reposition an occupant between a lowered and a raised position. The wheelchair can include a frame, a seat moveable relative to the frame, a drive wheel, and one or more pairs of arm assemblies. The arm assembly includes a whee
Embodiments of the present disclosure include a wheelchair configured to reposition an occupant between a lowered and a raised position. The wheelchair can include a frame, a seat moveable relative to the frame, a drive wheel, and one or more pairs of arm assemblies. The arm assembly includes a wheel configured to move from a first spatial location when the wheel chair is operating on flat, level ground to a second spatial location that is different than the first spatial location. Arm limiters can selectively engage the arm assembly based on at least one of a seat position, position of the arm assembly and surface conditions of ground surface. The arm limiters can limit the range of motion of the arm assembly and sometimes other operational aspects of the chair.
대표청구항▼
1. A powered wheelchair comprising: a frame;a lift mechanism supported by the frame;a seat supported by the lift mechanism, the lift mechanism configured to move the seat between a lowered position and a raised position;a pair of drive wheels;at least one drive coupled to the frame and configured to
1. A powered wheelchair comprising: a frame;a lift mechanism supported by the frame;a seat supported by the lift mechanism, the lift mechanism configured to move the seat between a lowered position and a raised position;a pair of drive wheels;at least one drive coupled to the frame and configured to apply a torque to at least one of the drive wheels;an arm assembly including an arm member that is pivotably coupled to the frame and a wheel coupled to the arm member, the arm member configured to be in a first position relative to the frame when the wheelchair is operating on flat ground and to be rotatable from that first position;an arm limiter supported by the frame and configured to inhibit motion of the arm member, the arm limiter having a first configuration in which the arm member is rotatable from the first position through a first range of rotation, and a second configuration in which the arm member is rotatable from the first position only through a second range of rotation that is smaller than the first range of rotation; anda linkage assembly that operatively connects the lift mechanism to the arm limiter such that as the seat is moved between the lowered and raised positions, the linkage assembly causes the arm limiter to transition between the first and second configurations,wherein the arm limiter is prevented from transitioning into the second configuration when the arm member is rotationally different from the first position relative to the frame by more than 4 degrees. 2. The powered wheelchair of claim 1, wherein the arm member includes a stop member that is configured to selectively engage the arm limiter as the arm limiter transitions between the first and second configurations. 3. The powered wheelchair of claim 2, further comprising a resilient member that biases the arm limiter into the second configuration, such that, as the lift mechanism moves the seat from the lowered position to the raised position, the arm limiter transitions from the first configuration into the second configuration. 4. The powered wheelchair of claim 1, wherein the linkage assembly is configured to urge the arm limiter toward the first configuration as the lift mechanism moves the seat from the raised position to the lowered position. 5. The powered wheelchair of claim 4, wherein the linkage assembly is configured to urge the arm limiter from the second configuration into the first configuration only when the wheel is not substantially rotationally different from its first position relative to the frame. 6. The powered wheelchair of claim 1, wherein the linkage assembly is coupled to the lift mechanism so as to move relative to the frame as the lift mechanism operates, the linkage assembly including a contact head that causes the arm limiter to transition into the first configuration when the lift mechanism moves the seat into the lowered position. 7. The powered wheelchair of claim 1, wherein the linkage assembly is coupled to the arm limiter such that the arm limiter transitions into the second configuration when the lift mechanism moves the seat into the lowered position. 8. The powered wheelchair of claim 1, wherein the arm limiter comprises: a first elongate member rotatably coupled to the frame at a rotation point, the first elongate member coupled to the linkage assembly; anda second elongate member rotatably coupled to the first elongate member at the rotation point, the second elongate member configured to contact a surface of the arm member when the arm limiter is in the second configuration. 9. The powered wheelchair of claim 8, further comprising a first resilient member that biases the arm limiter towards the second configuration such that as the lift mechanism moves from the lowered position to the raised position, the first resilient member transitions the arm limiter into the second configuration. 10. The powered wheelchair of claim 9, wherein the arm limiter includes a mechanical stop configured to restrict the extent of rotation of the first and second elongate members relative to each other, and a second resilient member that biases the second elongate member in a first rotational direction toward the first elongate member such that mechanical stop abuts the first elongate member. 11. The powered wheelchair of claim 10, wherein the first resilient member applies a first biasing force to the arm limiter and the second resilient member applies a second biasing force to the arm limiter that is greater than the first biasing force so as to maintain the relative positions of the first and second elongate members when the first and second elongate members rotate relative to the frame in the first rotational direction. 12. The powered wheelchair of claim 1, wherein the arm limiter comprises: a) a crank including first and second legs fixed to each other, the crank rotatably coupled to the frame at a rotation point, the first leg having a free end opposite to the rotation point, the free end coupled to the linkage assembly;b) a first resilient member that biases the arm limiter towards the second configuration such that as the lift mechanism moves from the lowered position to the raised position, the first resilient member transitions the arm limiter into the second configuration;c) an elongate lever having first and second opposed ends, the elongate lever rotatably coupled to frame at the rotation point, the second end of the elongate lever adapted to be in selective contact with a surface of the anti-tip arm;d) a mechanical stop supported by the elongate lever, the mechanical stop configured to restrict relative rotation of the crank and the elongate lever; ande) a second resilient member attached between the second leg of the crank and the elongate lever so as to bias the elongate lever in a first rotational direction such that stop abuts the crank. 13. The powered wheelchair of claim 12, wherein the first resilient member applies a first biasing force and the second resilient member applies a second biasing force that is greater than the first biasing force so as to maintain the relative position of the crank and elongate lever as the first and second levers rotate relative to the frame in the first rotational direction. 14. The powered wheelchair of claim 12 configured such that when 1) the anti-tip arm is in an upwardly pivoted position relative to its first position, 2) the arm limiter is in the second configuration, and 3) the seat is moving toward the lowered position, the linkage assembly contacts the first leg of the crank with a force that exceeds the biasing force of the second resilient member such that the crank rotates relative to the elongate lever in a second rotational direction opposite the first rotational direction. 15. The powered wheelchair of claim 1, wherein the linkage assembly includes a first coupling head that is operably coupled to the lift mechanism, and a second coupling head that is coupled to the arm limiter. 16. The powered wheelchair of claim 15, wherein the linkage assembly includes a cable member that extends from the first coupling head to the second coupling head. 17. The powered wheelchair of claim 15, wherein the linkage assembly includes a linkage actuator configured to permit the arm limiter to transition between the first and second configurations, respectively. 18. The powered wheelchair of claim 15, wherein the linkage actuator is operably coupled to the first coupling head, and the linkage actuator is configured to cause the second coupling head to transition between first and second positions, thereby transitioning the arm limiter between the first and second configurations, respectively. 19. The powered wheelchair of claim 17, wherein the linkage actuator includes a support member, a first rod having an end moveably coupled to the support member and a second rod having an end that is fixed to the support member, the second rod pivotably coupled to the first rod at a pivot point. 20. The powered wheelchair of claim 19, wherein the first coupling head is attached to the moveable end of the first rod. 21. The powered wheelchair of claim 20, wherein as the seat is lowered from the raised position to the lowered position, the first and second rods pivot relative to each other into an elongated configuration such that the first coupling head is advanced into an extended position. 22. The powered wheelchair of claim 21, wherein advancement of the first coupling head into the extended position permits the arm limiter to transition into the first configuration. 23. The powered wheelchair of claim 20, wherein as the seat is raised from the lowered position to the raised position, the moveable end of the first rod is retracted such that the first coupling head is advanced from the extended position into to a retracted position, permitting the arm limiter to transition from the first configuration into the second configuration. 24. The powered wheelchair of claim 15, wherein advancement of the first coupling head from the extended position into a retracted position permits the arm limiter to transition from the first configuration into the second configuration. 25. The powered wheelchair of claim 1, further comprising at least one seat position sensor. 26. The powered wheelchair of claim 1, further comprising at least one inclination sensor configured to determine whether the frame is in a level position relative to the horizontal or an unleveled position relative to the horizontal. 27. The powered wheelchair of claim 25, further comprising a controller in electronic communication with the seat position sensor, the controller configured to cause the powered wheel chair to operate in an elevated mode at an inhibited speed when the seat is in the raised position. 28. The powered wheelchair of claim 1, wherein the arm assembly is a forward arm assembly such that the arm member extends in a forward direction away from the frame. 29. The powered wheelchair of claim 1, wherein the arm assembly is a rear arm assembly such that the arm member extends in a rearward direction away from the frame. 30. The powered wheelchair of claim 1, wherein the arm limiter is configured to progressively move between the first configuration and the second configuration. 31. The powered wheelchair of claim 26, further comprising a controller operatively coupled to the inclination sensor, the controller being configured, in response to input from an input device to operate the wheelchair in an elevated motion mode, to (i) power the at least one drive such that the wheelchair is capable of moving at a maximum raised-seat drive speed when the seat is in the raised position and the frame is in the level position, and (ii) power the at least one drive such that the wheelchair is capable of moving at a maximum raised-inhibited drive speed that is less than the maximum raised-seat drive speed when the seat is in the raised position and the seat is in the unleveled position. 32. The powered wheelchair of claim 31, wherein the controller is configured, in response to input from an input device to operate the wheelchair in an elevated motion mode, to power the at least one drive such that the wheelchair is capable of moving at the maximum raised-seat drive speed when the seat is in the raised position, the arm limiter is in the second configuration, and the frame is in the level position. 33. The powered wheelchair of claim 31, wherein the controller is configured, in response to input from an input device to operate the wheelchair in an elevated motion mode, to power the at least one drive such that the wheelchair is capable of moving at the maximum raised-inhibited drive speed when the seat is in the raised position and the arm limiter is in the first configuration, or the frame is in the unleveled position.
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