Note: Descriptions are shown in the official language in which they were submitted.
CA 02793015 2012-10-,18
Vehicle having an Anti-Dive/Lockout Mechanism
FIELD OF THE INVENTION
[0002] The invention
relates generally to conveyances
and, more particularly, to motorized conveyances such as
wheelchairs and scooters and the like having mid-wheel
drives with forward and rearward stability systems.
BACKGROUND OF THE INVENTION
[0003] Wheelchairs
and scooters are an important means
of transportation for a significant portion of society.
Whether manual or powered, these vehicles provide an
important degree of independence for those they assist.
However, this degree of independence can be limited if the
wheelchair is required to traverse obstacles such as, for
example, curbs that are commonly present at sidewalks,
driveways, and other paved surface interfaces. This
degree of independence can also be limited if the vehicle
is required to ascend inclines or descend declines.
[0004] In this
regard, most wheelchairs have front and
rear casters to stabilize the chair from tipping forward
or backward and to ensure that the drive wheels are always
in contact with the ground. One such
wheelchair is
disclosed in US Patent No. 5,435,404 to Garin. On such
wheelchairs, the caster wheels are typically much smaller
than the driving wheels and located both forward and
rearward of the drive wheels. Though this configuration
1
CA 02793015 2012-10-18
=
provides the wheelchair with greater stability, it can
hamper the wheelchair's ability to climb over obstacles
such as, for example, curbs or the like, because the front
casters could not be driven over the obstacle due to their
small size and constant contact with the ground.
[0005] US Patent
No. 6,196,343 to Strautnieks also
describes a wheelchair having front and rear casters. The
front casters are each connected to a pivot arm that is
pivotally attached to the sides of the wheelchair frame.
Springs bias each pivot arm to limit the vertical movement
thereof. So
constructed,- each front caster can undergo
vertical movement when running over an obstacle.
[0006] While the
above-mentioned art provides various
ways of addressing the need for stabilizing mid-wheel
drive vehicles, a need for further stabilization exists.
For example, though equipped with front and rear suspended
casters, most mid-wheel drive wheelchairs exhibit various
degrees of tipping forward or rearward when descending
declines or ascending inclines. This is
because the
suspensions suspending the front or rear stabilizing
casters are compromised so that they are not made too
rigid, which would prevent tipping and also not provide
much suspension or are made too flexible thereby
effectively not providing any degree of suspension or
stabilization. Hence, a
need exists for addressing the
tipping or "diving" experienced by most mid-wheel drive
vehicles that have suspension systems included with their
stabilization mechanisms.
SUMMARY OF THE INVENTION
[0007] According to
one embodiment, a suspension for a
vehicle is provided. The
suspension includes, for
example, a frame and a releasable locking assembly. The
releasable locking assembly has, for example, a first
2
CA 02793015 2012-10-18
assembly movably coupled to the frame, a Second assembly
movably coupled to the frame, and wherein movement of the
frame relative to the first and second assemblies causes
the first and second assemblies to engage each other to
limit further movement of the frame in at least a first
direction.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] In the accompanying drawings which are
incorporated in and constitute a part of the
specification, embodiments of the invention are
illustrated, which together with a general description of
the invention given above and the detailed description
given below, serve to example the principles of this
invention.
[0009] Figure 1 is a block diagram of a first
embodiment of an electronic-based stabilization system.
[0010] Figure 2 is a block diagram of a second
embodiment of an electronic-based stabilization system.
[0011] Figure 3 is a block diagram of a third
embodiment of an electronic-based stabilization system.
[0012] Figure 4 is a side elevation overview of a first
embodiment of a mechanically-based stabilization system.
[0013] Figure 5 is a partial perspective view of a
second embodiment of a mechanically-based stabilization
system.
[0014] Figures EA and 6B illustrate a first embodiment
of a locking member or assembly.
[0015] Figures 7.A. and 7B illustrate a second embodiment
of a locking member or assembly.
[001-6] Figures &A, 8B, and 8C illustrate a third
embodiment of a locking member or assembly.
3
CA 02793015 20.12-10-18
[0017] Figure 9
illustrates a fourth embodiment of a
locking member or assembly.
[0018] Figures bA,
10B, and 10C illustrate a fifth
embodiment of a locking member or assembly.
[0019] Figures 11A and 113 illustrate a sixth
embodiment of a locking member or assembly.
(0020] Figures 12A
through 121 illustrate a seventh
embodiment of a locking member or assembly.
[002].] Figures 13-
183 illustrate an eighth embodiment
of a locking member or assembly.
DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENT
[0022] Generally,
a mid-wheel drive wheelchair or
scooter is a vehicle used to assist those having an
impaired ability to transport themselves. As such, the
mid-wheel drive wheelchairs and scooters of the present
invention have at least two drive wheels that are
positioned approximately below the center of gravity of
the vehicle when loaded with a user. This
results in
approximately 85% or more of the total wheelchair or
scooter weight being on the two drive wheels. Mid-wheel
drive wheelchairs and scooters also include one or more
casters for forward and rearward stability, respectively
positioned forward and rearward of the drive wheels. One
example of a mid-wheel drive wheelchair can be found in US
Patent No. 5,435,404 to Garin.
[0023] At least
one motor or combination motor/gear box
is provided to drive the drive wheels. The motor is
typically controlled by an electronic controller connected
to one or more user control devices. The user control
devices generally provide selection of forward and reverse
movement of the vehicle, as well as controlling the
velocity or speed. A battery
typically supplies the
4
CA 02793015 2012-10-18
controller and drive motors with an energy supply.
Dynamic braking and an automatic park brake are also
incorporated into the vehicle. The dynamic brake allows
the operator to proceed safely, even down a slope, without
worrying that the vehicle will unreasonably increase in
speed while going down the slope. Further, the park brake
automatically engages to hold the vehicle in place when
the vehicle is standing still.
[0024] The present invention provides multiple
embodiments of a stabilization system that provides mid-
wheel drive vehicles with an anti-dive or lock out
mechanism. Generally, the stabilization system includes a
trigger or sensor for sensing when conditions exist that
may cause the mid-wheel drive vehicle to exhibit a tipping
behavior, which can be either forward or rearward, and a
locking member or assembly that locks the suspension
system to prevent any further tipping behavior. The
trigger or sensor also senses when the mid-wheel drive
vehicle is no longer subject to conditions that may cause
it to exhibit a tipping behavior and causes the locking
member or assembly to no longer lock the suspension
system.
[0025] Referring
now to Figures 1 and 4, a block
diagram of a first embodiment 100 of an electronic-based
stabilization system is shown and a representative mid-
wheel drive wheelchair is shown, respectively. Referring
more specifically to Figure 4, the mid-wheel drive
wheelchair has a frame 402 and pivot arm 404. A pivotal
connection 406 connects frame 402 and pivot arm 404.
Attached to pivot arm 404 is a drive wheel 410. This
attachment is typically provided through a motor or
motor/gear box that is attached to pivot arm 404. Pivot
arm 404 further has a front caster 412 attached to a
forward portion thereof, while the motor or motor/gear box
CA 02793015 2012-10-18
=
is attached to a more distal opposite portion. Mounting
brackets and/or apertures are provided in pivot arm 404
for connecting pivot arm 404 to frame 402 via pivotal
connection 406. A rear caster assembly 416 is provided
that includes a frame member 418 and caster 414. A second
pivot arm and assembly is similarly provided on the
opposite of the wheelchair, as shown in Figure 5.
[0026] Referring
now to Figure 1, the stabilization
system triggers a locking member or assembly whenever the
summation of moments or torque about pivotal connection
406 exceeds a pre-loaded value or, in other words, causes
the frame 402 of the wheelchair to tip forward. One of
the moment arms that influences this loading is the moment
arm defined by the distance from the center of gravity Cg
of the mass of the wheelchair occupant and seat 408 to
pivotal connection 406. The torque or moment acting on
the center of gravity Cg is generally defined by: (mass of
the wheelchair occupant and seat) x ((wheelchair
acceleration) + (sine of the slope angle) x (acceleration
of gravity)]. The slope angle is the slope of the angle
measured from a horizontal. For example,
if the
wheelchair is traveling on a horizontal surface, the slope
angle is zero (0) degrees. If the wheelchair is traveling
up an incline, the slope angle may be, for example, five
(5) degrees. If the
wheelchair is traveling down a
decline, the slope angle may be, for example, minus five
(-5) degrees. As such, the
present invention is
configured to trigger the locking member or assembly
sooner when traveling down declines (i.e., negative slope
angle), compared to when traveling up inclines (i.e.,
positive slope angle).
[0027] As illustrated in Figure 1, the system 100
includes a controller 101, dive lockout control logic 102,
and motor/brake logic 103. Controller
101 is any
6
CA 02793015 2012-10-18
computer-based controller suitable for controlling a
vehicle. In this
regard, controller 102 generally has a
processor, memory, and input/output components (not
shown). Controller 101 can also have electric motor drive
circuitry associated therewith (not shown) that connects
to drive motors 104 and 106. A user input device 108 such
as, for example, a joystick, provides control information
to the controller 101 for driving the wheelchair. A
sensor 126 is provided for sensing the force acting on the
center of gravity Cg of the wheelchair occupant and seat
and outputs a signal S to controller 102. As will be
presently described, sensor 126 can be any one of several
embodiments. The
remainder of system 100 includes
electronic switches 110 and 112, nodes 114, 118, and 121,
diodes 116 and 120, resistor 122 and solenoid coil 124.
Solenoid coil 124 is part of an electronic locking member
or assembly such that the state of the coil (i.e.,
energized or unenergized) defines the state of the locking
member or assembly (i.e., locking or not locking the
suspension system).
[0028] In
operation, controller 101 receives driving
command inputs from joystick 108. This causes controller
101 to output voltages VL and VR and current IL and IR to
the left and right motors 104 and 106, respectively.
Attached to each motor is a motor lock 105 and 107,
respectively. All the
components of the system are
typically powered by battery having a positive voltage
potential a+ and a ground potential "and." The sensor 126
is mounted on the wheelchair so as to generate a trigger
signal S when the wheelchair is tipping forward. In the
presently described embodiment,_the trigger signal S is an
electronic signal. In other embodiments, this can be a
mechanical signal such as that generated by a push-pull
cable assembly.
7
CA 02793015 2012-10-18
[0029] Solenoid
coil 124 is controlled by the state of
electronic switch 112. The locking
member =or assembly
associated with solenoid coil 124 is preferably in its
unlocked state when solenoid coil 124 is energized and in
its locked state when solenoid coil 124 is unenergized.
Alternatively, the opposite configuration can also be
employed.
[0030] Nodes 114
and 118 and diodes 116 and 120 form an
OR circuit that controls the state of electronic switch
112 and, hence, the energy state of solenoid coil 124.
More specifically, node 114 forms one input to the OR
circuit and relates to the state of the motor brakes. For
example, when the motors are being driven, the brakes
disengage and motor/brake logic 103 causes node 114 to be
at 5V. This, in
turn, causes electronic switch 112 to
close thereby energizing solenoid coil 124 and releasing
the locking member or assembly from locking the wheelchair
suspension. When the motors are not being driven, the
brakes are engaged and motor/brake logic 103 causes node
114 to be at OV. This causes
electronic switch 112 to
open, which de-energizes solenoid coil 124 thereby
engaging the locking member or assembly to lock the
suspension.
[0031] Node 118
forms the second input to the OR
circuit and relates to input provided by sensor 126 for
detecting when conditions may exist that indicate the
wheelchair may start exhibiting a tipping behavior. More
specifically, if sensor 126 is not indicating that
conditions exist under which wheelchair may exhibit a
tipping behavior, dive lockout control logic 102
interprets this state and causes node 118 to be at 5V.
This, in turn, causes electronic switch 112 to close
thereby energizing solenoid coil 124 and releasing the
locking member or assembly from locking the wheelchair
8
CA 02793015 2012-10-18
suspension. When sensor 126 senses that conditions exist
for a tipping behavior, dive lockout control logic 102
interprets this state and causes node 118 to be at OV.
This, in turn, causes electronic switch 112 to open
thereby de-energizing relay 124 and engaging the locking
member or assembly to lock the wheelchair suspension.
[0032] Illustrated
in Figure 2 is an embodiment 200 of
a stabilization system similar to embodiment 100 of Figure
1. In embodiment 200, the sensor 126 (of embodiment 100)
includes an accelerometer 204 that produces an
acceleration input signal AF to controller 101.
Accelerometer 204 can be any convention accelerometer that
provides an output signal that is proportional to the
sensed acceleration. In one embodiment, accelerometer 204
can be an appropriately damped pendulum mercury switch.
In another embodiment, accelerometer 204 can be an
electronic accelerometer such model no. ADXL202
manufactured by Analog Devices of Norwood, MA.
Accelerometer 204 is preferably located on or near the
wheelchair seat proximate the center of gravity Cg of the
wheelchair seat and occupant.
[0033] The
operation of embodiment 200 is substantially
the same as embodiment 100, except that the state of node
118 is dependent on acceleration signal A. The
acceleration signal AF is compared by the dive lockout
control logic 202 to a dive threshold acceleration
parameter AD, which may be negative (-AD) indicating
wheelchair deceleration. The value of
dive threshold
acceleration parameter AD can be either calculated based
on the weight ot the wheelchair and occupant or determined
experimentally with the actual wheelchair and a range of
seat occupant weights. As such,
dive threshold
acceleration parameter -AD is a parameter that is used by
the dive lockout control logic 202 to determine if
9
CA 02793015 2012-10-18
conditions are present under which the wheelchair may
exhibit a tipping behavior. When dive
lockout control
logic 202 determines that acceleration signal AB, is more
negative than dive threshold parameter -AD, it drives node
118 to TV. This causes
electronic switch 112 to open
thereby de-energizing solenoid coil 124 and causing the
locking member or assembly to lock the wheelchair
suspension. Acceleration signal AF is negative when the
wheelchair is decelerating or facing a downward slope or
decline. Otherwise, node 118 is maintained at 5V thereby
causing electronic switch to close. This, in turn, causes
solenoid coil 124 to be energized thus releasing the
locking member or assembly from locking the wheelchair
suspension.
[0034] Referring
now to Figure 3, an embodiment 300 of
an electronically-based stabilization system is shown.
Embodiment 300 is substantially similar to embodiment 100,
except that sensor 126 includes a motor voltage and/or
current sensor, which can be incorporated into controller
101. In this
regard, controller 101 can incorporate an
analog-to-digital (A/D) converter circuit or can include
an external A/D circuit. This A/D circuit converts analog
signals such as, for example, voltage or current signals,
to digital or binary signals for input into or
,interpretation by controller 101. Connected
therewith,
controller 101 also includes dive lockout control logic
302 for interpreting these voltage and/or current signals.
[0035] The
operation of embodiment 300 is substantially
similar to embodiment 200, except that dive lockout
control logic 302 interprets how hard the motor is being
driven and dynamically braked to determine whether the
locking member or assembly will lock or release the
suspension system. In this
regard, node 114 behaves as
earlier described. Node 118 is
driven to OV when the
CA 02793015 2012-10-18
wheelchair is traveling forward and there is a large
amount of dynamic braking being generated by motors 104
and 106. Node 118 is also driven to OV if the wheelchair
is accelerating hard in the reverse direction of travel.
Otherwise, node 118 is driven to 5V. As used
herein,
dynamic braking generally refers to the process by which a
motor's windings are short-circuited when the motor is not
being driven so that the residual rotational energy of the
motor causes the motor to act as a generator that
generates a voltage and current. By re-
circulating the
current generated of this configuration, the motor
dynamically brakes itself. The behavior of node 118, as
described above, is further embodied by Equations (1) and
(2) below:
If (VC. + VR) > 0 and (ft + A) < -/D, then output OV on node 114 Eq. (1)
If(VL+ VR) < 0 and (li + IR) > ID, then output OV on node 114 Eq.(2)
In the above equations, Viu VR, i, and /R are the
approximate terminal voltages and currents of motors 104
and 106, respectively. Variable ID
is a threshold
parameter representing a current level that is used to
determine when the motors are being dynamically braked.
The value of threshold parameter ID can be calculated
based on the motor specification and weight of the
wheelchair and occupant or determined experimentally based
on the actual wheelchair weight and a range of seat
occupant weights. Equation (1)
causes node 118 to be
driven to OV when the wheelchair is traveling forward ((VE,
+ VR)>0) and the motors are dynamically braking themselves
= ((./1 + IR)<-
/D). Equation (2) also causes node 118 to be
driven to OV when the wheelchair is accelerating hard in
the reverse direction ((V1 VR)(0) and
the motors are not
dynamically braking themselves ((/1 + 1-0>/-1)). As
described earlier, when node 118 is driven to OV,
11
CA 02793015 2012-10-18
electronic switch 112 opens thereby causing solenoid coil
124 to de-energize. De-
energizing solenoid coil 124
causes the locking member or assembly to lock the
suspension system. Otherwise, node 118 is driven to SV,
which causes electronic switch 112 to close thereby
energizing solenoid coil 124. Energizing
solenoid coil
124 causes the locking member or assembly to unlock or
release the suspension system. Alternatively, energizing
solenoid coil 124 can cause the locking member or assembly
to unlock or release the suspension system and de-
energizing solenoid coil 124 can cause the locking member
to lock the suspension system.
[0036] Referring
now to Figure 4, one embodiment of a
mechanically-based stabilization system is shown. In this
regard, a locking member 420, push-pull cable 424, and
pivotal rear castor assembly 416 are provided. Push-pull
cable 424 has a first conduit portion attached to a
bracket 430 on rear caster frame member 418 and a second
portion attached to a locking member control bracket
assembly 432. Push-pull cable 424 also has a first cable
portion attached to a rear castor pivot bracket portion
428 and a second cable portion attached to a locking
member control arm 422.
[0037] Locking
member 420 is pivotally connected to
frame 402 and pivot arm 404. This is accomplished through
a conventional pivot assembly that includes pins or bolts
extending through mounting brackets. A second
similar
locking member and push-pull cable are associated with a
second pivot arm on the other side of frame 402 and
identically configured to locking members 404 and push-
pull cable 424.
[0038] In this
regard, locking member 420 is preferably
a lockable spring device. Examples of
such devices
include lockable gas or hydraulic springs that include
12
CA 02793015 2012-10-18
piston valve assemblies for locking the springs in a
predetermined position. Such
lockable gas or hydraulic
springs include, for example, the BLOC-0-LIFT , STAB-0-
M2T , and STAB-0-BLOC models of gas springs as
manufactured by STABILUS GMBH, Koblenz, Germany. In the
preferred embodiment, arm 422 is mechanically linked to
the reciprocating rod that opens and closes the piston
valve assembly of the locking member 404.
(00391 In
operation, when rear castor 414 is contacting
the driving surface, push-pull cable 424 causes arm 422 to
be pulled toward bracket 432. This state causes locking
member 420 to be in its unlocked state thereby allowing
pivot arm 404 to pivot about pivotal connection 406 as
front castor 412 traverses bumps and obstacles on the
drive surface. However, when the wheelchair begins to
exhibit a tipping behavior (e.g., tipping forward), rear
caster 414 will pivot about connection 426. Rear castor
414 may or may not completely come off of the driving
surface. This causes the cable within push-pull cable 424
to displace. This displacement is translated to arm 422,
which begins to separate from control bracket 432. When
arm 422 separates from control bracket 432, the locking
member enters the locked state thereby locking pivot arm
404 from pivotal motion about connection 406. When the
wheelchair returns to its normal position, rear caster 414
pivots back to its normal ground-engaging position thereby
releasing locking member 420 via push-pull cable 424.
This allows, pivot arm 404 to once again pivot about
= connection 406. Most preferably, the system is configured
that if push-pull cable 424 breaks, locking member 420
automatically locks pivot arm 404.
Additionally, a
resilient spring device can be placed between rear caster
pivot bracket portion 428 and rear caster frame member 418
13
CA 02793015 2012-10-18
to bias rear caster 414 around connection 426 towards the
driving surface.
[0040] As an
alternative to Figure 4, push-pull cable
424 can be replaced by a limit switch designed to sense
the motion of rear caster pivot bracket portion 428 and a
solenoid actuator configured to act upon arm 422 upon
movement of the rear caster pivot bracket portion 428
during a wheelchair tipping motion. In this regard, one
or more wires connect the limit switch to the solenoid
actuator. In yet another alternative, push-pull cable 424
can be replaced with a plurality of mechanical linkages
that provide the same effect on arm 422.
[0041] Illustrated
in 'Figure 5 is another alternate
embodiment 500 to that Figure 4. The
embodiments of
Figure 4 and 5 are substantially similar, except that the
embodiment of Figure 5 includes only one locking member
420 that is associated with both pivot arms 404 and 510.
To facilitate this configuration, a link 502 is provided
between the pivot arms 404 and 510. Link 502 has a first
portion 504 that is pivotally connected to first pivot arm
404 and a second portion 506 that is pivotally connected
to second pivot arm 510. Link 502
also has a third
portion that is pivotally connected to a bottom portion of
locking member 420. A top portion of locking member 420
is pivotally connected to frame 402. Though not
illustrated, a push-pull cable mechanically links locking
member 420 to rear caster 414 or its parallel equivalent
in the same fashion as that shown in Figure 4. The
operation of embodiment 500 is similar to that described
for Figure 4, except that when locking member 420 is in
the locked state, it,prevents link 502 from displacement.
This, in turn, prevents either pivot arm 404 or 510 from
movement.
14
CA 02793015 2012-10-18
[0042] Referring now to Figures EA and 63, an
embodiment 600 of a stabilization system having ratchet-
type locking member or assembly 602 is shown. The locking
member 602 has a pawl member 614, ratchet member 620, and
a solenoid actuator 608. Pawl member
614 and solenoid
actuator 608 are rigidly fixed to frame 402 via a bracket
606. Bracket 606
also serves as a guide bracket for
ratchet member 620, though this function can be provided
by a separate guide member. Solenoid actuator 608 has a
coil 124, spring 612 and pin 613. Pawl member 614 has a
first portion pivotally connected to bracket 606 and a
second portion pivotally connected to pin 613. Ratchet
member 620 has a plurality of cammed extensions 622
between which pawl member 614 is configured to engage and
disengage. A bottom
portion of ratchet member 620 is
pivotally connected to pivot arm 404 at connection 604.
So configured, ratchet member 620 is free to undergo
reciprocating movement within the guide portion of bracket
606 as pivot arm 404 pivots about connection 406. As
described earlier, solenoid actuator 608 can be controlled
by any of the embodiments of Figures 1-4.
[0043] As such,
when the wheelchair exhibits a tipping
behavior, solenoid actuator 608 is de-energized causing
spring 612 to urge pin 613 and pawl member 614 against
ratchet member 620. This causes
pawl member 614 to be
locked against ratchet member 620 so as to prevent ratchet
member 620 from any further upward motion, which causes
tipping of the wheelchair. This state
prevents the
forward portion of pivot arm 404 from exhibiting any
upward motion that is associated the wheelchair's tipping
behavior. However, it may be desirable to allow ratchet
member 620 to further move in the downward direction while
pawl member 614 remains engaged therewith. This is
accomplished by appropriately camming the engaging
CA 02793015 2012-10-18
surfaces of pawl member 614 and ratchet member 620, as
shown. In this manner, pivot arm 404 is free to move in a
direction that would lessen the tipping behavior of the
wheelchair but not increase such behavior. If the
wheelchair is not exhibiting a tipping behavior or has
ceased to exhibit a tipping behavior, solenoid actuator
608 is energized causing pin 613 and pawl member 614 to
disengage from ratchet member 620. This allows pivot arm
404 to freely pivot about connection 406. As described
earlier in connection with Figures 4 and 5, one or two or
more locking members can be provided. Additionally, pawl
member 614 can be triggered by a inertial switch or method
instead of solenoid actuator 608 or one which actuates a
solenoid actuator.
(0044] Referring now to Figures 7A and 7B, an
embodiment 700 of a stabilization system having a caliper-
type locking member or assembly 702 is shown. The locking
member 702 has a spring 712, pin 714, one or more friction
plates 710, and a linear reciprocating link 704. Pin 714
has a first portion connected to friction plate 710 and a
second portion connected to either a solenoid actuator or
push-pull cable, or equivalent, as described earlier for
locking and unlocking the suspension system. Spring 712
is located between these portions and biases pin 714 and
friction plate 710 toward link 704. The friction plates
710, spring 712, and pin 714 are housed within a frame
attachment 708, which rigidly connects these components to
frame 402. Attachment 708 also functions as a guide for
link 704 so as to always maintain link 704 between
friction plates 710. This function can also be provided
by a separate guide bracket.
[00451 Link 704 has
a first portion that is pivotally
connected to pivot arm 404 and a second portion that
travels within attachment or guide 708 so as to be
16
CA 02793015 2012-10-18
engagable by friction plates 710. In this
manner, as
pivot arm 404 rotates about connection 406, link 704
exhibits a reciprocating up and down motion with respect
to attachment 708 and friction plates 710. Preferably,
two friction plates 710 are provided facing each other
with a gap therebetween. The space or gap exists between
friction plates 710 so as to allow link 704 to freely move
therethrough until such time as the friction plate 710
connected to pin 714 is moved toward link 704 and the
opposing friction plate 710. This
movement causes both
friction plates 710 to engage the link 704 and to lock it
in position. This, in turn, prevents pivot arm 404 from
pivoting about connection 406. Hence, when the wheelchair
is exhibiting a tipping behavior, pin 714 is extended
allowing friction plate 710 to engage against link 704.
When link 704 is locked between friction plates 710, the
wheelchair will not exhibit any tipping behavior. When
the conditions for a tipping behavior are absent, pin 714
is in its retracted position and link 704 can move freely
between friction plates 710.
[0046] Referring
now to Figures 8A, 8B, and 8C, an
embodiment 800 of a stabilization system having a
magnetic-field actionable locking member is shown.
Referring specifically to Figure 8C, embodiment 800 has a
locking member 804 and an actuator assembly 802 associated
therewith. Locking
member 804 has a first portion 806
that is pivotally connected to pivot arm 404 and a second
portion 808 that is pivotally connected to frame 402.
Locking member 802 is a hydraulic piston assembly having a
magnetic fluid. The piston
within the assembly has a
valve that allows the fluid to pass from one side of the
piston to the other. However, when a magnetic field is
brought near the proximity of the fluid, the magnetic
field causes the fluid viscosity to greatly increase
17
CA 02793015 2012-10-18
thereby not allowing the fluid to flow through the valve
in the piston. This, in
turn, locks the piston in
position.
[0047] Illustrated
in Figure 8A is a first embodiment
of the actuator assembly 802. The assembly
802 has a
permanent magnet 810 that is fixed directly or indirectly
to frame 802, a solenoid coil 812 and a switch 814.
Solenoid coil 812 can be the same component as solenoid
coil 124 and switch 814 can be mechanical or electronic,
as described in connection with Figures 1-4. In
operation, magnet 810 causes the fluid in locking member
804 to have a very high viscosity and, hence, almost no
ability to flow. This maintains locking member 804 in a
locked stated thereby locking pivot arm 404 from pivoting
about connection 406. However, when solenoid coil 812 is
energized by switch 814, its magnetic field cancels with
the magnetic field generated by magnet 810 and allows the
fluid in locking member 812 to have a very low viscosity
and, hence, the ability to flow relatively easily. This
allows locking member 804 to move in accordance with the
movement of pivot arm 404 about pivotal connection 406.
Hence, if power is lost, magnet 810 provides a failsafe
condition which automatically locks locking member 804.
Therefore, it can be seen that when the wheelchair
exhibits a tipping behavior, solenoid coil 812 is de-
energized causing locking member 804 to lock pivot arm
404. When no
tipping behavior is exhibited by the
wheelchair, solenoid coil 812 is energized and locking
member 804 is not in its locked state.
[0048] Illustrated
in Figure 8B is a second embodiment
of an actuator assembly 802. This
embodiment has the
earlier described push-pull cable 424 spring-loaded
against magnet 810. In this embodimeiat magnet 810 moves
either toward or away from the locking member 804 so as to
18
CA 02793015 2012-10-18
either bring its magnetic field in operative proximity to
the locking member or away from the locking member. As
described in connection with Figure 4, push-pull cable 424
provides for linear mechanical movement upon a tipping
condition of the wheelchair. By having push-pull cable
424 fixed to magnet 810, the linear movement of push-pull
cable 424 can be used to move magnet 810 closer to locking
member 804 so as place it in its locked state, or away
from locking member 804 so as to place it in its unlocked
state. Spring is also provided so as to bias magnet 810
towards locking member 804 ensuring that locking member
804 is in its locked state should push-pull cable 424
break.
[0049] Referring
now to Figure 9, an embodiment 900 of
a suspension system having a sprag clutch locking member
902. Sprag clutch
locking member 902 allows rotational
movement in one direction and not in the other.
Alternatively, locking member 902 can be a bi-directional
clutch. Bi-
directional clutches allow their input to
drive their output in either rotational directions, but do
not allow the output to drive the input.
[0050] Figures 10A, 10B and 10C illustrate one
embodiment 1000 of a suspension system having a direct
acting pin locking member 1002. Locking
member 1002
extends and retracts its pin 1008 so as to enter one of a
plurality of slots or apertures in locking bracket 1004.
In this regard, locking member 1002 has a spring-loaded
pin 1008 and an actuator cable 1006. If locking member
1002 is mechanical, then actuator cable 1006 can be a
push-pull cable, as described earlier. If locking member
1002 is solenoid driven, then actuator cable 1006 can be
an electric cable that carries the signal that actuates
the solenoid. The locking
member 1002 can also be
pneumatically actuated through known means. So
19
CA 02793015 2012-10-18
configured, locking member 1002 is affixed to the frame
402 through mounting brackets (not shown) or its housing.
[0051] Locking
bracket 1004 is affixed to pivot arm 404
and moves therewith. In this regard, locking bracket 1004
preferably includes an arcuate shape so as to maintain
alignment with locking member 1002 as pivot arm 404 pivots
or rotates. Locking bracket 1004 includes a plurality of
apertures or slots that disposed along the bracket's
arcuate body. The apertures can be any shape such that
pin 1008 can enter thereinto. Pivot arm 510 (not shown)
would have a similar suspension system.
[0052] Illustrated
in Figure 10C is detail of an
alternative embodiment of pin 1008. More
specifically,
Figure 10B shows pin 1008 having flat head portion at its
engaging distal end. Figure 10C shows an embodiment of
pin 1008 having a cammed surface 1010 at its engaging
distal end. Cammed surface 1010 iS provided so that when
pin 1008 is engaged in locking bracket 1004, pivot arm 404
can pivot in the downward direction. This causes
a
ratcheting effect where cammed surface 1010 causes pin
1008 to retract under the downward tendency (i.e.,
clockwise rotation) of pivot arm 404. However, configured
as such, pin 1008 does not allow a corresponding
ratcheting in the upward direction (i.e., counter-
clockwise rotation) of pivot arm 404.
[0053] In
operation, pin 1008 of locking member 1002 is
spring-engaged into an aperture of locking member 1004.
Actuator cable 1006, when active, causes pin 1008 to
retract from locking bracket 1004. In this
manner, a
failsafe configuration is provided should actuator cable
1006 fail. The triggering of locking member 1002 can be
by any of the embodiments described in Figures 1-4.
CA 02793015 2012-10-18
[0054] Illustrated
in Figures 11A and 118 an embodiment
1100 of a suspension system having an axial spring locking
member 1002. In
particular, locking member 1102 has an
actuator member 1108. Actuator
member 1108 can be a
spring-loaded pin, solenoid driven pin, or a mechanical
clamp (not shown). Actuator member 1108 is actuated by an
actuator cable 1110, which can be an electric cable,
pneumatic hose, or push-pull cable. Locking member 1102
further has a housing 1112 that includes a spring 1113
that axially receives a locking rod or tube 1106 therein.
Locking member 1102 is rigidly affixed to frame 402 with
mounting brackets (not shown).
[0055] Spring 1113
is a coil spring that includes first
and second extensions 1114 and 1116, respectively. Spring
1113 is arranged so that when extensions 1114 and 1116 are
not acted upon by any force, spring 1113 is tightly coiled
around locking rod or tube 1106 so as to prevent any
axially movement of locking rod or tube 1106 within spring
1113. Since
locking rod or tube 1106 has one of its
distal ends pivotally fixed to pivot arm 404 at 1104,
pivot arm 404 is also locked from any rotational movement.
In this manner, a failsafe configuration is provided
,should actuator cable 1110 fail. The
triggering of
locking member 1102 can be by any of the embodiments
described in Figures 1-4.
[0056] To release
locking rod or tube 1106 from spring
1113, extensions 1114 and 1116 are acted upon by a force.
In this regard, extensions 1114 and 1116 can be configured
so that either a force that brings them closer together or
a force that brings them farther apart causes spring 1113
to become loosely coiled around locking rod or tube 1106.
Once loosely coiled, spring 1113 allows locking rod or
tube 1106 to axially move therein. This, in turn, allows
pivot arm 404 to pivot about its connection at 403. Pivot
21
CA 02793015 2012-10-18
, arm 510 (not shown) would have a similar suspension
system.
[0057]
Referring now to Figures 12A, 12B, 12C, 121J, and
12E, an embodiment of a suspension system 1200 having an
linear locking member 1202 is shown. Figure 12A shows the
suspension system on a level driving surface. Figure 12B
illustrates the suspension system wherein front caster 412
is lifted by the suspension off of the driving surface.
Figure 12C shows the suspension system wherein front
caster 412 has been lowered onto a lower driving surface.
Figure 12D illustrates the suspension 1200 with the drive
wheel removed and Figure 12E is a partial perspective view
of the suspension 1200.
[0058]
Suspension system 1200 further includes a four-
bar pivoting assembly that includes pivot arms 1204A and
1204B, caster head tube bracket 1214, and frame 402.
Bracket 1208, while a separate component, can be
considered as part of frame 402. Pivot
arms 1204A and
1204B are pivotally connected to frame 402 via pivotal
connections 1206A and 1206B. Pivot arms 1204A and 1204B
are also pivotally connected caster head tube bracket 1214
via pivotal connections 1207A and 1207B.
= [0059] Locking member 1202 is shown having a first
pivotal connection 1210 to pivot arm 1204B and a second
pivotal connection 1212 to bracket 1208. So
connected
locking member is under the influence of pivot arms 1204A
and 1204B. It should be noted that locking member 1202
pivotal connection 1210 can be alternatively located on
pivot arm 1204A or caster head tube bracket 1214, as well.
[0060]
Figure 12F illustrates a partial cross-section
of locking member 1202. Locking member 1202 has a first
housing 1220 and a second housing 1222. First
housing
1220 retains therein a electric solenoid actuator 1230
22
CA 02793015 2012-10-18
that includes a coil and a plunger 1232 biased by leaf
spring 1228. A cover 1226
is provided on housing 1220
that has an aperture that allows plunger 1232 to at least
partially project there from. The projecting portion of
plunger 1232 has a pivotable lever 1224 connected thereto.
Pivoting of the lever through manual actuation causes
plunger 1232 to move without the need for electrical
energy.
[0061] Second
housing 1222, which is attached to first
housing 1220 includes a channel or passage 1234 therein.
A rod member 1236 moves within passage 1234 and includes a
notch 1238 therein. Notch 1238 is configured such that
when plunger 1232 is biased into passage 1234, plunger
1232 will come into locking engagement with notch 1238 and
remain there until withdrawn. Alternatively, notch 1238
can be replaced by a ratcheting tooth configuration
similar to that shown in Figure 6B.
[0062] Referring now to Figures 12G and 12H,
perspective and top views of locking member 1202 are
illustrated. Rod member 1236 includes at one distal end
an aperture 1240, which accepts a pin or similar fastener
in forming pivotal connection 1210. Additionally, second
housing 1222 includes at one distal end first and second
extensions 1246 and 1248, each of which have aligned
apertures 1244. Extension 1246 and 1248 accept in the =
space between them' a pivoting bracket member that is used
secure the locking member 1202 to bracket 1208.
[0063] Illustrated in Figure 121 is an exploded
perspective view of locking member 1202. In addition to
the above-mentioned components, locking member 1202
further includes a block 1252 that is affixed to plunger
1232. Block 1252 increases the effective cross-section of
plunger 1238 which is responsible for locking engagement
with rod member 1236. Housing 1222
has a cover portion
23
CA 02793015 2012-10-18
1250 that includes an aperture 1254 having substantially
the same shape as block 1252 and allows block 1252 to
reciprocate there within.
[0064] In
operation, locking member 1202 locks the
suspension system when, for example, the vehicle is not
moving and motor parking brake or lock is actuated. This
creates a stable platform for the user to transport in and
out of the vehicle or wheelchair. Locking member 1202 is
also preferably configured to lock suspension system when
the is no power or the power system has been shut off.
This is achieved by always biasing plunger 1232 into,
locking engagement with rod member 1236. Upon power-up,
solenoid 1230 is actuated and plunger 1232 is withdrawn
from the locking engagement.
[0065] So
configured, locking member 1202 can be
alternatively located among a plurality of positions the
on suspension system 1200. For example, locking member
1202 can be attached between the frame 402 and upper pivot
arm 1204A, attached between the upper and lower pivot arms
1204A and 1204,B or between any two components of the
described four-bar pivoting assembly.
Additionally,
locking member 1202 can be triggered by any of the
mechanisms described earlier electrical or mechanical.
[0066] Illustrated
in Figure 13 is an eighth embodiment
of a locking assembly of the present invention. The
locking assembly has a motor rack bracket 1314, first
ratchet 1320, second ratchet 1322 and a spring mount 1318.
So configured, the locking assembly is shown mounted on
the vehicle frame 402, which includes a four-bar linkage
pivoting front caster assembly. The four-bar
linkage
pivoting caster assembly includes first and second
linkages 1302 and 1304. A third linkage is provided by
frame 402 and its extension in the form of frame bracket
1306. A fourth linkage is provided by caster head tube
24
CA 02793015 2012-10-18
assembly 1311. First linkage 1302 is pivotally connected
to frame 402 at pivot -1310 and second linkage 1304 is
pivotally connected to frame 402 at pivot 1308. A more
detailed discussion of this four-bar linkage pivoting
front caster assembly can be found in published United
States Patent Application No. US 2004-0060748A1, filed
on October 10, 2001.
[0067] The locking
assembly's motor rack bracket 1314
is physically connected to first linkage 1302 through a
motor/gearbox mount 1312. The connection can also be made
directly if desired. A gearbox
1316 is also shown
connected to motor/gearbox mount 1312. First ratchet 1320
is attached to motor rack bracket 1314 at an end portion
opposite the connection to first linkage 1302. So
configured, motor rack bracket 1314 pivots when first
linkage 1302 pivots.
(0068] The locking
assembly's spring mount 1318 is
pivotally connected to frame 402 through clevis 1325. The
second ratchet 1322 is affixed to a side portion of the
spring mount 1318. Clevis 1325 and its pivotal connection
1324 allow spring mount 1318 to pivot with respect to
frame 402. In an
alternate embodiment, pivotal
connections 1324 and 1332 and clevises 1325 and 1334 can
be combined into a single integrated clevis and pivotal
connection. For example, clevis 1325 can be eliminated
and pivotal connection 1324 integrated into pivotal
connection 1332.
to06,1 In another
embodiment, an elastic member such
as, for example, a spring, can be positioned between
spring mount 1318 and. frame 402. Such a spring would urge
or assist the pivotal movement of spring mount 1318 away
from frame 402, as will be described below. To facilitate
such a spring, spring mount 1318 would include a bearing
surface for bearing against one end of the spring and a
25 =
CA 02793015 2012-10-18
spring holder. This configuration can take the form of
pin or bolt at least partially received within the spring,
which such configuration may additionally be at least
partially received within a recess in spring mount 1318.
The other end of the spring would bear against a bearing
surface on frame 402. Alternatively, such a configuration
can be reversed between the spring mount 1318 and frame
402.
[0070] A rear
caster mount 1328 pivotally connects rear
caster 414 to frame 402. More specifically, rear castor
mount 1328 has an extension 1330 that includes a first
distal end pivotally connected to clevis 1334 and a second
distal end connected to a head tube portion for mounting
the rear caster 414. A spring 1326 is situated between
rear castor mount 1328 and spring mount 1318. Spring 1326
compresses when rear caster mount 1328 pivots clockwise as
shown in Figure 13 toward frame 402. In this
manner,
spring 1326 provides a degree of suspension for the rear
caster mount 1328.
Alternatively, if no degree of
suspension is desired, spring 1326 can be replaced by a
non-resilient member resulting in spring mount 1318 and
rear caster mount 1328 being an integrated and rigid
structure. As described
above, such an integrated
structure can employ a single integrated pivot at
pivotable connection 1332, as opposed to pivotable
connections at 1324 and 1332.
[0071] In
operation, first and second ratchets 1320 and
1322 engage each other whenever rear caster 414 is about
to be lifted from its supporting surface. The condition
occurs whenever the frame 402 pivots or tilts forward
toward front caster 412. When frame 402 pivots or tilts
forward, first and second pivot arm linkages 1302 and 1304
correspondingly pivot about their pivotal connection 1310
and 1308, respectively. Any pivotal movement of linkages
26
CA 02793015 2012-10-18
1302 or 1304 translates to pivotal movement of motor rack
bracket 1314 and first ratchet 1320 by virtue of their
mechanical coupling. As this
condition occurs, rear
caster mount 1328 pivots about its pivotal connection at
1332 causing spring mount 1318 to pivot about its pivotal
connection at 1324 so that second ratchet 1322 comes into
contact with first ratchet 1320. When first and second
ratchets 1320 and 1322 come into contact, pivot arm
linkages 1302 and 1304 are locked thereby locking frame
402 from any additional pivoting or tilting forward. When
frame 402 resumes its normal level position, rear caster
mount 1328 pivots clockwise causing spring mount 1318 to
pivot clockwise and disengage second ratchet 1322 from
first ratchet 1320. This releases first and second pivot
arm linkages 1302 and 1304 so that they may once again
freely pivot.
[0072] Figures 14
through 16, further illustrate the
locking assembly and its components in perspective views.
In particular, Figure 15 is a perspective view of the
spring mount 1318. Spring mount
1318 further has a
surface 1502 for bearing against spring 1326 and a
structure 1504 holding spring 1326 in position relative
spring mount 1318. Figure 16 is
a perspective view of
rear caster mount 1328. Rear caster mount 1328 further
has a surface 1602 for bearing against spring 1326 and a
structure 1604 for holding spring 1326 in position
relative to rear caster mount 1328.
[0073] Referring now to Figures . 17A
and 173,
elevational and perspective views, respectively, of the
second ratchet 1322 are illustrated. Second ratchet 1322
has a body 1702 that includes a plurality of mounting
apertures 1706 that are used to fasten it to spring mount
1318, Body 1702 also includes a toothed surface 1704.
Surface 1704 is slightly curved to compensate for the
27
CA 02793015 2013-05-23
nature of the pivotal motion first ratchet 1320
experiences as it pivots with pivot arm linkages 1302 and
1304.
[0074] Figures 18A and 18B are elevational and
perspective views, respectively, of first ratchet 1320.
First ratchet 1320 has a body 1804 that includes a
plurality of mounting apertures 1806, which are used to
fasten first ratchet 1320 to motor rack bracket 1314.
Body 1804 also has a toothed surface 1804, which is
slightly curved to accommodate the pivotal motion
experienced by second ratchet 1322. The tooth
configuration of surfaces 1804 and 1704 are configured
such that relative motion between first and second
ratchets 1320 and 1322 is more or less permitted in one
direction, but motion in the opposite direction is
impeded.
[0075] While the present
invention has been illustrated
by the description of embodiments thereof, and while the
embodiments have been described in considerable detail, it
is not the intention of the applicant to restrict or in
any way limit the scope of the appended claims to such
detail. Additional advantages
and modifications will
readily appear to those skilled in the art. For example,
pivotal connections can be made of any number of
structures including bearing assemblies, pins, nuts and
bolts, and frictionless sleeve assemblies. Additionally,
springs or shock absorbers can be added between pivoting
and non-pivoting components to limit, dampen, or somewhat
resist the pivotal motions of these components. Also, a
brake-disc locking mechanism could be integrated into
pivotal connection 406 that locks pivotal connection 406
from rotation when actuated and freely allows pivotal
motion about connection 406 when not actuated.
28
CA 02793015 2013-05-23
The scope of the claims should not be limited by the
preferred embodiments set forth above, but should be given the
broadest interpretation consistent with the description as a
whole.
29
