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; andan arm limiter supported by the frame and configured to inhibit motion of the arm member, the arm limiter including a crank rotatably coupled to the frame at a rotation point, and an elongate lever that is rotatably coupled to the frame at the rotation point, the elongate lever having a first end and a second end opposite the first end, and the second end of the elongate lever is configured to be in selective contact with a surface of the arm member, the arm limiter having a) a first configuration in which the arm member is rotatable from the first position through a first range of rotation, and b) 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,wherein the arm limiter is prevented from transitioning into the second configuration when the arm member is rotationally different from the first position. 2. The powered wheelchair of claim 1, wherein 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. 3. The powered wheelchair of claim 1, further comprising a 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. 4. The powered wheelchair of claim 3, wherein the crank includes first and second legs fixed to each other, the first leg having a free end opposite the rotation point, the free end coupled to the linkage assembly. 5. The powered wheelchair of claim 3, wherein the arm limiter further comprises: a first resilient member that couples the crank to the frame and that biases the arm limiter into the second configuration;a mechanical stop supported by the elongate lever, the mechanical stop configured to restrict relative rotation of the crank and the elongate lever; anda 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 the stop abuts the crank. 6. The powered wheelchair of claim 5, 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 a first rotational direction. 7. The powered wheelchair of claim 6, configured such that when 1) the arm member 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 in motion 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. 8. The powered wheelchair of claim 3, 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. 9. The powered wheelchair of claim 3, wherein the linkage assembly includes a linkage actuator configured to permit the arm limiter to transition between the first and second configurations. 10. The powered wheelchair of claim 9, wherein the linkage assembly includes a first coupling head that is operably coupled to the lift mechanism, a second coupling head that is coupled to the arm limiter, and a cable member that extends from the first coupling head to the second coupling head. 11. The powered wheelchair of claim 10, wherein 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. 12. 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. 13. 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. 14. 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;a front arm assembly including a front arm member that is rotatably coupled to the frame and a wheel coupled to the front arm member, the front arm member configured to be in a first position relative to the frame when the wheel chair is operating on flat ground;an arm limiter supported by the frame and configured to inhibit motion of the front arm member, the arm limiter having a first configuration in which the front 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 has rotated from the first position to a second position. 15. The powered wheelchair of claim 14, wherein the arm limiter is prevented from transitioning into the second configuration when the second position of the front arm member is rotationally different from the first position relative to the frame by more than 2 degrees. 16. The powered wheelchair of claim 14, 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;a 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 front arm member when the arm limiter is in the second configuration;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; anda second resilient member that biases the second elongate member in a first rotational direction toward the first elongate member. 17. The powered wheelchair of claim 16, 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. 18. The powered wheelchair of claim 16, 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. 19. The powered wheelchair of claim 14, further comprising at least one seat position sensor that is configured to detect when the seat in the lowered position or the raised position. 20. The powered wheelchair of claim 19, further comprising a controller in electronic communication with the seat position sensor, the controller configured to cause the powered wheelchair to operate in an elevated mode at an inhibited speed when the seat is in the raised position. 21. The powered wheelchair of claim 14, further comprising an inclination sensor that is configured to detect when the frame is in a level position with respect to a horizontal plane or an unleveled position with respect to the horizontal plane. 22. The powered wheelchair of claim 21, further comprising a controller in electronic communication with the inclination sensor, the controller configured to cause the powered wheelchair to operate in an elevated mode at an inhibited speed when the frame in the unleveled position. 23. The powered wheelchair of claim 21, wherein the controller is configured, in response to input from an input device to operate the wheelchair in an elevated motion mode, operate the powered wheelchair at a maximum raised-seat drive speed when the frame is in the level position. 24. The powered wheelchair of claim 14, wherein the arm limiter is a first arm limiter disposed on a first side of the frame, and the powered wheelchair further comprises a second arm limiter, wherein when either of the first and second arm limiters are prevented from the transitioning into second configuration, a controller causes the powered wheelchair to operate at an inhibited speed. 25. 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 rotatably 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 wheel chair is operating on flat ground;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. 26. The powered wheelchair of claim 25, wherein the arm limiter is prevented from transitioning into the second configuration when the arm member has rotated from the first position to a second position. 27. The powered wheelchair of claim 25, wherein the arm member is a front arm member that is operatively coupled to the at least one drive, such that, when the wheelchair traverses an obstacle, the torque applied to the at least one of the drive wheel causes the forward arm member to rotate. 28. The powered wheelchair of claim 25, 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;a 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;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; anda second resilient member that biases the second elongate member in a first rotational direction toward the first elongate member. 29. The powered wheelchair of claim 28, wherein the linkage assembly includes a first coupling head that is operably coupled to the lift mechanism, a second coupling head that is coupled to the arm limiter, and a cable member that extends from the first coupling head to the second coupling head. 30. The powered wheelchair of claim 29, wherein the linkage assembly includes a linkage actuator configured to permit the arm limiter to transition between the first and second configurations. 31. The powered wheelchair of claim 30, wherein 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.
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이 특허에 인용된 특허 (71)
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Zhou, Daniel Z.; Jackson, Mark A.; Tarter, John J.; Greig, Mark E.; Stevens, Rex W.; Koerlin, James M.; Traxinger, Samuel D.; Killebrew, Allen B., Personal mobility vehicle having a pivoting suspension with a torque activated release mechanism.
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