Externally mounted track apparatus for a wheel chair

• US 5,335,741 A
• Filed: 05/21/1992
• Issued: 08/09/1994
• Est. Priority Date: 05/22/1991
• Status: Expired due to Fees

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Rutenberg, Mordechay, Gilad-Smolinsky, Zvi, Rabinovitz, Talmon
• Primary Examiner(s): HILL, MITCHELL
• Application Number:
  US07/887,178
• Time in Patent Office: 810 Days
• Field of Search: 180/8.2, 180/9.22, 180/907, 280/5.22, 280/DIG. 10
• US Class Current: 180/8.2
• CPC Class Codes: A61G 2203/42 for inclination
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: A61G 5/066 with endless belts
• CPC Class Codes: A61G 5/08 foldable
• CPC Class Codes: A61G 5/0816 folding side to side, e.g. reducing or expanding the overall width of the wheelchair
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: Y10S 180/907 Motorized wheelchairs

Abstract

Apparatus for assisting travel across a travel surface not suitable for traverse by a wheelchair having a chassis, a seat mounted onto the chassis, a pair of manually rotatable drive wheels mounted about a rotation axis extending through the chassis, and a pair of castor wheels, wherein the apparatus for assisting travel includes tracked apparatus associated with the manually rotatable drive wheels, and apparatus for decouplably mounting the tracked apparatus onto the chassis, externally of the manually rotatable drive wheels.

Claims

1. Wheelchair apparatus comprising:

a chassis;

a seat mounted onto said chassis; and

a travel drive associated with said chassis and comprising;

a pair of manually rotatable drive wheels mounted about a rotation axle extending through said chassis at wheel mounting locations therealong, and

a pair of castor wheels, said wheels being operative to support said chassis on a travel surface so as to enable wheeled travel of said chassis therealong;

driven tracks mounted externally of the drive wheels and operative to assist travel of said chassis along a travel surface not suitable for traverse by said wheels.

2. Apparatus according to claim 1, and wherein said chassis defines a pair of first mating portions aligned along an axis extending transversely through said chassis, said tracked means comprises a pair of track assemblies each having a second mating portion configured for mating with one of said first mating portions, and said means for decouplably mounting comprises means for permitting mutual locking engagement of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting in a first direction along said axis, and for permitting decoupling of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting along said axis in a second direction opposite to said first direction.

3. Apparatus according claim 1, and wherein said wheeled means further comprises a pair of manually drivable members mounted onto said manually rotatable drive wheels for coaxial rotation therewith, and arranged for manual engagement in a first space parallel to a predetermined arc subtended from said rotation axis in a plane generally perpendicular thereto, said tracked means being arranged, when not in use, to occupy a second space not overlapping with said first space, thereby not preventing the manual engagement of said manually drivable members.

4. Apparatus according to claim 1, and wherein said tracked means comprises selectably deployable track means operative, in a deployed mode, to permit travel of said chassis along a surface not suitable for traverse by said wheeled means, said tracked means being arranged, when in a non-deployed mode, to occupy a space external of and lateral to said wheeled means, thereby not preventing steering thereof, and thereby also not obstructing mounting of said seating means nor dismounting therefrom by a person.

5. Apparatus according to claim 2, and wherein said chassis comprises wheel mounting means positioned along said rotation axle and defining a pair of free end portions, and wherein said first mating portions are defined by said free end portions of said wheel mounting means such that said means for decouplably mounting comprises means for decouplably mounting said tracked means onto said wheel mounting means.

6. Apparatus according to claim 5, and wherein said wheel mounting means is non-rotatably positioned along said rotation axle, and said wheelchair apparatus also includes rotational bearings for enabling rotation of said manually rotatable drive wheels about said rotation axle, and wherein said first and said mating portions include means for preventing relative rotation, about said rotation axle, between said wheel mounting means and said pair of track assemblies engaged therewith.

7. Apparatus according to claim 2, and wherein each said track assembly comprises:

housing means defining said second mating portion;

first and second track units mounted onto said housing means for selectable rotation about respective first and second rotation axes extending transversely therethrough;

means for driving said track units; and

means for selectably rotating said pair of track units so as to cause positioning thereof in extended and retracted positions,

wherein said track units, when in said extended position, extend radially beyond said manually rotatable drive wheels thereby to engage the travel surface so as to support said chassis thereon, thereby permitting travel of said chassis along the travel surface via said track units in response to operation of said means for driving said track units.

8. Apparatus according to claim 7, and wherein said first track unit comprises:

a first support member mounted onto said housing means via said first rotation axis;

a first plurality of wheel members rotatably mounted onto said first support member; and

a first continuous web element mounted, under a predetermined tension force, onto said first plurality of wheel members, so as to be drivably engageable thereby,

and said second track unit comprises;

a second support member mounted onto said housing means via said second rotation axis;

a second plurality of wheel members rotatably mounted onto said second support member; and

a second continuous web element mounted, under a predetermined tension force, onto said second plurality of wheel members, so as to be drivably engageable thereby.

9. Apparatus according to claim 8, and wherein said first plurality of wheel members includes a first track drive wheel arranged for rotation by said means for driving said track units and further arranged for frictional engagement with said first web element thereby to cause a driving motion thereof.

10. Apparatus according to claim 9, and wherein said second plurality of wheel members includes a second track drive wheel, and each said track assembly also includes means for transmitting a drive force from a predetermined one of said first plurality of wheel members to said second track drive wheel.

11. Apparatus according to claim 7, and wherein said means for selectably rotating said pair of track units comprises:

means for rotating a predetermined one of said first and second track units about the associated one of said first and second rotation axes; and

means, associated with said first and second track units, for transmitting a rotational motion applied to said predetermined one of said first and second track units to the other of said first and second track units.

12. Apparatus according to claim 1, and also including:

gradient sensing means for sensing the gradient of a stepped travel surface; and

means, associated with said gradient sensing means, for maintaining generally vertical alignment of the center of mass of said wheelchair apparatus and a person seated thereon with the geometric center of said tracked means.

13. Apparatus according to claim 1 and wherein said driven tracks comprise forward and rear track assemblies located laterally outward of each of the drive wheels, said forward and rear track assemblies being rotatable from an inoperative orientation to an operative orientation by rotation thereof about respective forward and rear track orientation axes which are parallel to but not coaxial with said rotation axle.

14. Apparatus for assisting travel across a travel surface not suitable for traverse by a wheelchair having a chassis, a seat mounted onto the chassis, a pair of manually rotatable drive wheels mounted about a rotation axle extending through the chassis, and a pair of castor wheels, said apparatus for assisting travel comprising:

tracks mounted on said rotation axle externally of the manually rotatable drive wheels.

15. Apparatus according to claim 14, and wherein the chassis defines a pair of first mating portions aligned along an axis extending transversely through the chassis, said tracked means comprises a pair of track assemblies each having a second mating portion configured for mating with one of said first mating portions, and said means for decouplably mounting comprises means for permitting mutual locking engagement of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting in a first direction along said axis, and for permitting decoupling of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting along said axis in a second direction opposite to said first direction.

16. Apparatus according to claim 14, and wherein a pair of manually drivable rim members are mounted onto the manually rotatable drive wheels for coaxial rotation therewith, and wherein the rim members arranged for manual engagement in a first space parallel to a predetermined arc subtended from the rotation axis in a plane generally perpendicular thereto, said tracked means being arranged, when not in use, to occupy a second space not overlapping with said first space, thereby not preventing the manual engagement of the rim members.

17. Apparatus according to claim 14, and wherein said tracked means comprises selectably deployable track means operative, in a deployed mode, to permit travel of the wheelchair along a surface not suitable for wheeled travel, said tracked means being arranged, when in a non-deployed mode, to occupy a space external to and lateral to the wheelchair, thereby not preventing steering thereof, and thereby also not obstructing mounting of the wheelchair nor dismounting therefrom by a person.

18. Apparatus according to claim 15, and wherein the wheelchair also includes rotational bearings for enabling rotation of the manually rotatable drive wheels about the rotation axle, and wherein said first and said mating portions include means for preventing relative rotation, about the rotation axle of said pair of track assemblies engaged therewith.

19. Apparatus according to claim 15, and wherein each said track assembly comprises:

housing means defining said second mating portion;

first and second track units mounted onto said housing means for selectable rotation about respective first and second rotation axes extending transversely therethrough;

means for driving said track units; and

means for selectably rotating said pair of track units so as to cause positioning thereof in extended and retracted positions,

wherein said track units, when in said extended position, extend radially beyond said manually rotatable drive wheels thereby to engage the travel surface so as to support the wheelchair thereon, thereby permitting travel of the wheelchair along the travel surface via said track units in response to operation of said means for driving said track units.

20. Apparatus according to claim 19, and wherein said first track unit comprises:

a first support member mounted onto said housing means via said first rotation axis;

a first plurality of wheel members rotatably mounted onto said first support member; and

a first continuous web element mounted, under a predetermined tension force, onto said first plurality of wheel members, so as to be drivably engageable thereby,

and said second track unit comprises;

a second support member mounted onto said housing means via said second rotation axis;

a second plurality of wheel members rotatably mounted onto said second support member; and

a second continuous web element mounted, under a predetermined tension force, onto said second plurality of wheel members, so as to be drivably engageable thereby.

21. Apparatus according to claim 20, and wherein said first plurality of wheel members includes a first track drive wheel arranged for rotation by said means for driving said track units and further arranged for frictional engagement with said first web element thereby to cause a driving motion thereof.

22. Apparatus according to claim 21, and wherein said second plurality of wheel members includes a second track drive wheel, and each said track assembly also includes means for transmitting a drive force from a predetermined one of said first plurality of wheel members to said second track drive wheel.

23. Apparatus according to claim 19, and wherein said means for selectably rotating said pair of track units comprises:

means for rotating a predetermined one of said first and second track units about the associated one of said first and second rotation axes; and

means, associated with said first and second track units, for transmitting a rotational motion applied to said predetermined one of said first and second track units to the other of said first and second track units.

24. Apparatus according to claim 14, and also including:

gradient sensing means for sensing the gradient of a stepped travel surface; and

means, associated with said gradient sensing means, for maintaining generally vertical alignment of the center of mass of said wheelchair apparatus and a person seated thereon with the geometric center of said tracked means.

25. Apparatus according to claim 14 and wherein said tracks comprise forward and rear track assemblies located laterally outward of each of the drive wheels, said forward and rear track assemblies being rotatable from an inoperative orientation to an operative orientation by rotation thereof about respective forward and rear track orientation axes which are parallel to but not coaxial with said rotation axle.

26. Wheelchair apparatus comprising:

a chassis;

seating means mounted onto said chassis; and

travel means associated with said chassis and comprising;

wheeled means including;

a pair of manually rotatable drive wheels mounted about a rotation axis extending through said chassis, said wheeled means being operative to support said chassis on a travel surface so as to enable wheeled travel of said chassis therealong;

tracked means associated with said wheeled means and operative to assist travel of said chassis along a travel surface not suitable for traverse by said wheeled means; and

means for decouplably mounting said tracked means onto said chassis, externally of said wheeled means, and

wherein said chassis defines a pair of first mating portions aligned along an axis extending transversely through said chassis, said tracked means comprises a pair of track assemblies each having a second mating portion configured for mating with one of said first mating portions, and said means for decouplably mounting comprises means for permitting mutual locking engagement of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting in a first direction along said axis, and for permitting decoupling of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting along said axis in a second direction opposite to said first direction,

and also including means for sensing the engagement of each said second mating portion with a corresponding first mating portion, and for further sensing the disengagement of second mating portion from said corresponding first mating portion. cm 27. Apparatus for assisting travel across a travel surface not suitable for traverse by a wheelchair having a chassis, a seat mounted onto the chassis, a pair of manually rotatable drive wheels mounted about a rotation axle extending through the chassis, said apparatus for assisting travel comprising;

tracked means associated with the manually rotatable drive wheels; and

means for decouplably mounting said tracked means onto said chassis externally of the manually rotatable drive wheels,

wherein the chassis defines a pair of first mating portions aligned along an axis extending transversely through the chassis, said tracked means comprises a pair of track assemblies each having a second mating portion configured for mating with one of said first mating portions, and said means for decouplably mounting comprises means for permitting mutual locking engagement of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting in a first direction along said axis, and for permitting decoupling of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting along said axis in a second direction opposite to said first direction,

and also including means for sensing the engagement of each said second mating portion with a corresponding first mating portion, and for further sensing the disengagement of second mating portion from said corresponding first mating portion.

27. Apparatus for assisting travel across a travel surface not suitable for traverse by a wheelchair having a chassis, a seat mounted onto the chassis, a pair of manually rotatable drive wheels mounted about a rotation axle extending through the chassis, said apparatus for assisting travel comprising:

tracked means associated with the manually rotatable drive wheels; and

means for decouplably mounting said tracked means onto said chassis externally of the manually rotatable drive wheels,

wherein the chassis defines a pair of first mating portions aligned along an axis extending transversely through the chassis, said tracked means comprises a pair of track assemblies each having a second mating portion configured for mating with one of said first mating portions, and said means for decoupably mounting comprises means for permitting mutual locking engagement of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting in a first direction along said axis, and for permitting decoupling of said first and second mating portions in response to a resultant force component of at least a predetermined magnitude acting along said axis in a second direction opposite to said first direction,

and also including means for sensing the engagement of each said second mating portion with a corresponding first mating portion, and for further sensing the disengagement of second mating portion from said corresponding first mating portion.