• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a chair (10) comprising a seat (12) and a footrest (11) hinged relative to a support (14), characterized in that it further comprises a motorized mechanism (15) capable of to move the seat (12) and the footrest (11) in a coordinated manner relative to the support (14), between a first position in which a user occupying the chair (10) is seated and a second position in which the user is standing, so as to move vertically the center of gravity of the chair (10) occupied by the user. The invention also relates to a vehicle comprising a motorized chassis (20) such as a Segway (20) and an articulated wheelchair (10) fixed via the support (14) to the motorized chassis (20).
    公开号:FR3023160A1
    申请号:FR1456463
    申请日:2014-07-04
    公开日:2016-01-08
    发明作者:Eric Monacelli；Lambert Trenoras；Luc Soubielle
    申请人:Handipode；Universite de Versailles Saint Quentin en Yvelines；
    IPC主号:
    专利说明:

    [0001] The present invention relates to an articulated chair comprising a motorized mechanism capable of moving the seat and the footrest from a sitting position to a standing position, while maintaining the center of gravity. of the chair occupied by a user along a vertical axis. The invention finds particular utility for the mobility of persons with reduced mobility, for example by means of a wheelchair mounted on a gyropod controllable by displacement of the center of gravity. People with reduced mobility usually use wheelchairs to facilitate their movement. However, manual wheelchairs require a human motor capacity limiting their range, and electric wheelchairs are generally heavy, bulky and not very mobile. In addition, these devices confine the user in a sitting position, which can cause many problems of discomfort, health, physical (joints, ligaments, muscles, blood circulation, transit, etc ...) and psychological (situation permanent inferiority to 20 others). It is therefore desirable to improve the mobility of wheelchairs for people with reduced mobility, both in order to limit the harmful effects of prolonged sitting, as well as to improve posture, independence, the mobility of the user and his ability to grip. For this, we tried to achieve articulated chairs to change the position of the user by various mechanisms manual or motorized. Articulated chairs according to the state of the art remain nevertheless cumbersome and complex to implement. They are also unsuitable for mounting on light-duty vehicles. To this end, the subject of the invention is a chair that can be occupied by a user, comprising a seat and a footrest articulated with respect to a support, characterized in that it furthermore comprises a motorized mechanism capable of displacing the seat and the footrest in a manner coordinated with the support, between a first position in which the user occupying the chair is seated and a second position in which the user is standing, so as to move the center vertically of gravity of the chair occupied by the user. According to one aspect of the invention, the motorized mechanism comprises: a motorized sagittal axis slide link between the footrest and the support, a motorized transverse pivot connection between the seat and the footrest, a control member configured to control the motorized slide link and the motorized pivot link in a coordinated manner so as to vertically move the center of gravity of the chair occupied by the user. Advantageously, the motorized pivot connection between the footrest and the seat comprises: an articulated parallelogram formed of four rigid segments connected by four pivot connections of transverse axes, a first upper segment being fixed to the seat, and a second said front segment, adjacent to the upper segment, being attached to the footrest, - a linear actuator connected on the one hand to the front segment and on the other hand to a third said lower segment, adjacent to the front segment, by means two pivotal links of transverse axes. Advantageously, the chair comprises a backrest attached to a fourth segment called dorsal, adjacent to the upper and lower segments. According to another aspect of the invention, the motorized mechanism comprises: a linear actuator fixed on the one hand to the support and connected on the other hand to the seat by means of a transverse axis pivot connection; a pivot connection transverse axis between the seat and the footrest. Advantageously, the transverse axis pivot connection between the seat and the footrest is motorized, and the motorized mechanism also comprises a control member configured to control the linear actuator and the motorized pivot link in a coordinated manner so as to move vertically the center of gravity of the chair occupied by the user. Advantageously, the motorized mechanism comprises two lateral guides integral with the support configured to guide the displacement of the seat relative to the support driven by the linear actuator between the first and second positions. Advantageously, the linear actuator comprises a motorized articulated lozenge 10 connected to the seat and the support in two vertices opposite to each other. Advantageously, the footrest comprises two housings that can receive the two lower limbs of the user, each housing comprising a substantially horizontal portion adapted to receive a foot of the user and a substantially vertical portion adapted to receive a leg of the user. user. Advantageously, the footrest comprises a removable collar 20 mounted on one of the housings to maintain the leg or foot of the user in the housing. Advantageously, the chair comprises a set of gyroscopic and / or accelerometric sensors capable of delivering a movement information of the chair, and means for adapting a movement control of the motorized mechanism, according to the movement information of the chair. The invention also relates to a vehicle comprising a motorized chassis capable of moving the vehicle relative to the ground and a chair having the characteristics described above, fixed via the support to the motorized chassis.
    [0002] Advantageously, the motorized chassis is a Segway comprising two lateral wheels separated by a central platform on which is fixed the chair support.
    [0003] Advantageously, the chair comprises a motorized stand moved between a retracted position allowing the vehicle to move relative to the ground, and an extended position in which the stand provides stability of the vehicle by ground support.
    [0004] Advantageously, the chair comprising means for adapting a movement control of the motorized stand according to the movement information of the chair, or according to the movement control of the motorized mechanism.
    [0005] Advantageously, the Segway comprises a removable handlebars. Advantageously, the vehicle comprises removable fixing means between the chair support and the central platform of the Segway.
    [0006] The invention also relates to a method of verticalizing an articulated wheelchair having the features described above, comprising the steps of: - receiving a movement control of the motorized mechanism, - simultaneously moving the seat and the footrest by means of of the motorized mechanism, so as to move vertically the center of gravity of the chair occupied by the user. The invention will be better understood and other advantages will appear on reading the detailed description of the embodiments given by way of example in the following figures. FIGS. 1a, 1b, 1c and 1d show a first example of an articulated wheelchair according to the invention mounted on a gyropod. FIG. 2 details some components of the first example of an articulated wheelchair mounted on a gyropod, FIGS. 3a and 3b show a gyropod provided with removable attachment means adapted to the first example of an articulated wheelchair, FIGS. 4a, 4b, 4c, 4d and FIG. 4e represent a second example of articulated wheelchair according to the invention mounted on a gyropode, Figures 5a and 5b show a third example of an articulated wheelchair according to the invention. FIG. 6 represents a control flow diagram of an articulated wheelchair according to the invention. For the sake of clarity, the same elements will bear the same references in the different figures.
    [0007] The present invention relates to a chair comprising a seat and a footrest hinged relative to a support. The chair includes a motorized mechanism capable of moving the seat and the footrest relative to the support, between a sitting position and a standing position. The invention relates in the first place to the articulated chair with its verticalization mechanism. In the following, the sitting position of the chair corresponds to a position of the seat and the footrest for which a user occupying the chair is in a sitting position, that is to say in support at least partially - and preferably essentially - on the seat. Similarly, the standing position of the chair corresponds to a position of the seat and the footrest for which a user occupying the chair is in a standing position, that is to say at least partially supported - and preferably substantially - on the footrest. The motorized mechanism allows to move the seat and the footrest between these two extreme positions. For example, the seat in standing position makes an angle between 0 and 5 ° with the vertical, and an angle of 90 ° with a tolerance of less than 5 ° with the vertical. As we will detail, the motorized mechanism advantageously allows to switch from sitting to standing by moving vertically the center of gravity of the chair occupied by the user. The chair is then particularly adapted to be mounted on a rolling vehicle, including a vehicle type Segway. The invention thus also relates to a vehicle equipped with such an articulated chair. In known manner, a gyropode generally comprises two lateral drive wheels separated by a central platform on which the user is standing.
    [0008] The Segway is equipped with a handlebar and a gyro stabilizing device acting on the drive motors of the wheels. Its operation is intuitive: the forward movement is achieved when the user leans forwards and backwards when the user leans back; the handlebar for laterally directing the Segway. The tilting of the chair between the seated position and the upright position does not cause the center of gravity to move in the horizontal plane. Tipping does not affect the movement of the Segway. The tilting can be done when the Segway is stationary or when it is moving.
    [0009] In the following, three examples of articulated chairs according to the invention are shown. For these three examples, the vehicle comprises a Segway consisting of two side wheels and a platform on which the support of the chair is fixed. It is understood that this combination of an armchair and a Segway is not limiting of the present invention which more generally covers any type of vehicle comprising a motorized frame on which can be fixed the articulated chair support. The motorized chassis may be a rolling chassis comprising any number of wheels, or a chassis with traction crawler. Such a vehicle may be intended to facilitate the movement or movement capacity of persons with reduced mobility (object gripping in the high position). Sports applications can also be considered, for people suffering from a disability or not. The description of the three examples of chairs according to the invention is based on the same reference, consisting of an X axis also called sagittal axis with reference to the usual morphological reference of a wheelchair user, a Y axis or vertical axis , and a Z axis also called transverse axis. In the three examples shown, the chair is fixed on the Segway so that the sagittal axis of the chair corresponds to the axis of longitudinal movement of the Segway, and the transverse axis corresponds to the axis of lateral displacement of the Segway. This logical orientation of the chair on the Segway is of course not limited to the invention. Figures 1a, 1b, 1c and 1d show a first example of an articulated wheelchair according to the invention mounted on a gyropod. More precisely, FIG. 1a shows the chair in isometric view: in a sitting position on the left side of the figure, in an intermediate position on the central part of the figure, and in a standing position on the right side of the figure. Fig. Figure 1b shows the chair in the same three positions in view of back. Figure 1c shows the same three positions in side view. Figure 1 d 5 illustrates the functional principle of the articulated chair for the three positions and in side view. The chair 10 comprises a footrest 11, a seat 12, a backrest 13 and a support 14. The footrest 11, the seat 12 and the backrest 13 are hinged relative to the support 14 by means of a mechanism 15 that we will detail. The chair 10 is mounted on a gyropode 20 comprising two lateral wheels 21a and 21b separated by a central platform 22. The chair 10 mounted on the gyropode 20, via the support 14 fixed on the central platform 22, forms a vehicle 25 The three parts of the figures illustrate the kinematics of moving from the seated position to the standing position, or kinematic of verticalization, going from left to right in the figures. The chair support and the gyroscope are held in the same position in the three parts of the figures. In this representation, the chair switches from sitting to standing while maintaining the Segway motionless. As has been specified, the tilting can also be done when the Segway is in motion, the tilting between the two positions not leading to displacement of the center of gravity in the horizontal plane. In this first example of an articulated wheelchair according to the invention, the motorized mechanism comprises: a motorized sliding link 16 of sagittal axis X1 between the footrest 11 and the support 14, a motorized pivot pin connection 17 transverse Z1 between the seat 12 and the footrest 11, 30 - a control member (not shown in the figures) configured to control the motorized slide link 16 and the motorized pivot link 17 in a coordinated manner so as to move the center of gravity of the chair 10 occupied by the user, along a vertical axis Y1. Thus, as the seat recovers from a substantially horizontal position to a substantially vertical position, the center of gravity 3023 of the user-occupied chair moves both vertically and horizontally - in the direction positive along the sagittal axis. The synchronized movement of the footrest, which causes both the footrest 11 and the seat 12 in the negative direction along the sagittal axis, makes it possible to maintain the center of gravity vertically. As a result, the center of gravity moves only along the vertical axis Y1 when the chair moves from sitting to standing. This configuration is particularly advantageous in the case of an application of the articulated chair on a Segway. The uprighting of the chair does not move the center of gravity in the horizontal plane. Verticalization does not destabilize the Segway. The Segway remains stable and immobile. If the user wants to move during verticalization, he can voluntarily move his bust forwards or backwards in the same way as when the chair is frozen in position. The link 17 in rotation between the footrest and the seat can be a simple motorized pivot connection. It may also consist of the more complex mechanism used in this first example of an articulated wheelchair, and in particular illustrated in FIG. 1d. Thus, the motorized pivot connection 17 between the footrest 11 and the seat 12 may advantageously comprise: an articulated parallelogram 30 formed of four rigid segments 31a, 31b, 31c and 31d connected by four pivot links 32a, 32b, 32c and 32d of transverse axes, a first said upper segment 31a being fixed to the seat 12, and a second said front segment 31b, adjacent to the upper segment 31a, being fixed to the footrest 11, a connected linear actuator 33 on the one hand to the front segment 31b and on the other hand to a third so-called lower segment 31c, adjacent to the front segment 31b, by means of two pivot links 33a and 33b of transverse axes. In the seated position, the upper segments 31a and 31b are maintained in substantially horizontal position, the front 31b and back 31d segments are maintained in substantially vertical position. By tilting from the seated position to the upright position, the upper 31a and lower 31b segments move parallel to each other, tilting from an angle close to 90 ° to an angle close to 180 ° with the front segment 31b. As shown in the figures, the backrest 13 may advantageously be attached to the fourth segment 31d, said dorsal, adjacent to the upper 31a and lower 31c segments. In practice, the upper segments 31a, lower 31c and dorsal 31d are formed of tubular metal bars connected by spacer-type pivot links. The upper segment 31a is in contact with the periphery of the seat. The lower segment 31c is mounted about 60 mm below the upper segment 31a. The dorsal segment 31d is extended into an upper part 131d on which the backrest 13 is fixed, and a lower part 231d bearing against the support 14 when the chair is in a seated position, to relieve the linear actuator 33 of the weight of the user. Various embodiments are possible for the motorized slide connection 16 between the footrest 11 and the support 14 and for the linear actuator 33 of the motorized pivot link 17 between the footrest 11 and the seat 12. in particular proposed to implement one or more electric linear actuators, powered either by the Segway or independently by a storage battery dedicated to the chair .. Figure 2 details some components the first example of articulated wheelchair mounted on a Segway. The seat 12 and the backrest 13 may include a foam to improve the comfort of the user. This foam can be directly attached to the rigid segments of the articulated parallelogram 30 or via a rigid shell. The chair may comprise two lateral hoops 12a and 12b, for example fixed to the upper segment 31a. These arches advantageously provide lateral support for the user, both sitting and standing. They can also be used in a sitting position as an armrest. The footrest 11 of the chair 10 advantageously comprises two housings 41 and 42 which can receive the two lower limbs of the user. Each housing, respectively 41 and 42, comprises a substantially horizontal portion, respectively 41a and 42a, for receiving a foot of the user, and a substantially vertical portion, respectively 41b and 42b, for receiving a leg of the user. The front segment 31b is directly arranged in the vertical portions 41b and 42b of the two housings 41 and 42. In other words, the ends of the upper segments 31a and lower 31c are directly connected to these vertical portions 41b and 42b, constituting the front segment 31b. The pivot links 32a and 32b being mounted between these elements. The footrest 11 may also include one or more removable collars for maintaining the leg or foot of the user in the housing. It is in particular envisaged to have two removable collars 41c and 42c on the vertical portions 41b and 42b of the two housings 41 and 42. These collars can advantageously be provided on their internal surface intended to come into contact with the user's leg. a foam to improve the comfort of the user. A clipping system in the manner of an automobile safety belt is also envisaged.
    [0010] The chair also comprises a set of motorized stands 45, movable between a retracted position allowing the vehicle 20 to move relative to the ground, and an extended position in which the stand 45 ensures the stability of the vehicle 20 by ground support. The set of stands 45 is of particular interest to ensure the stability of the ground of a Segway but can also be implemented for any type of vehicle. One or more crutches can be mounted. In the example shown, the chair comprises four motorized stands 45 mounted at the four corners of the support 14 so as to frame the two side wheels of the Segway. The crutches can be deployed to maintain the vehicle when tilting the chair between sitting and standing. Several steering modes crutches 45, coupled or not to control the motorized mechanism 15, are described below.
    [0011] Figures 3a and 3b show a gyropod provided with removable attachment means adapted to the first example of articulated chair. One aspect of the invention is to design an articulated wheelchair that can be used with a pre-existing, or otherwise designed and commercially available, PT. In particular, SegwayTM Segway models are available from the general public. FIGS. 3023 160 11 3a and 3b show a gyropod model of this mark comprising two lateral wheels 21a and 21b partially protected by two wheel fairings 21c and 21d, and a central platform 22 comprising two cavities 22a and 22b on which stands a standing user, separated by a central tunnel 22c. The support of the chair is adapted to this particular shape of the central platform 22. Thus, the support 14 of the chair 10 comprises a plate 14a having a generally W-shaped, formed of two substantially horizontal portions bearing against the two indentations 22a 10 and 22b, and straddling the tunnel 22c. The plate 14a also comprises two substantially vertical portions bearing against two side walls of the wheel fairings 21c and 21d. The support of the chair can be removably attached to the platform of the Segway. These removable fastening means comprise on the one hand tapped holes in the wheel fairings 21c and 21d, and on the other hand elliptical bores 47 arranged in the plate 14a. The threads are usually present on the pre-existing Segway. The elliptical holes 47 are adjusted to cooperate with these threads. Attaching the plate to the platform can also provide a functional role. The plate may for example close off a user presence detector, or ensure the nominal operation of other functional devices of the Segway. Furthermore, the plate 14a is the support on which is mounted the footrest. Thus the two housings 41 and 42 of the footrest 11 25 slide in the two horizontal portions of the plate 14a, by means of the motorized slide connection 16. The slide connection 16 can be achieved by means of rails and / or grooves sagittal axes arranged in each housing cooperating respectively with grooves and / or sagittal axis rails arranged in the plate 14a. The link 16 can be motorized by means of a linear jack mounted between the plate and the housing. Thus configured, the two housings 41 and 42 are slid horizontally causing the footrest, the seat and the backrest in translation relative to the support and the Segway. The retractable legs 45, not shown in FIG. 3, can also be attached to the plate 14a.
    [0012] In known manner, the Segway 20 also includes a handlebar 24 removably attachable to the platform 22 through the central tunnel 22c. The handlebar can then be disassembled to facilitate the mounting of the chair on the Segway, or to facilitate the rise or fall of a user on the chair. The invention thus relates to a method of mounting and dismounting a vehicle comprising a Segway and an articulated wheelchair. The mounting method comprises steps of disassembling the removable handlebars of the Segway, attaching the chair support to the central platform of the Segway, then reassemble the removable handlebar of the Segway. Conversely, the disassembly process includes steps of disassembling the removable handlebar of the Segway, removing the chair support on the central platform of the Segway, then reassemble the removable handlebar of the Segway.
    [0013] Similarly, the invention also relates to a method of raising and lowering a user on a vehicle comprising a Segway and an articulated wheelchair. The user's climbing method comprises steps of disassembling the removable handlebars of the Segway, mounting the user aboard the vehicle while seated on the chair, and then reassembling the removable handlebar of the Segway. Conversely, the method of descent of the user comprises steps of removing the removable handlebars of the Segway, lower the user of the vehicle, then reassemble the removable handlebar of the Segway. Note finally that a specific handlebar can be associated with the use of the Segway with the wheelchair, the specific handlebars having an ergonomic shape adapted to use the Segway in the articulated wheelchair. It is also envisaged that the position of the specific handlebar is adjustable manually or automatically, in order to adapt to the movement of the user between sitting and standing.
    [0014] Figures 4a, 4b, 4c, 4d and 4e show a second example of an articulated wheelchair according to the invention mounted on a gyropod. More specifically, Figure 4a shows the chair in isometric view in sitting position. Figure 4b shows the chair in sight of back. Figure 4c shows a footrest of the second example of chair. Figure 4d shows the chair in seated side view on the left side of the figure, and standing on the right side of the figure. Figure 4e illustrates the functional principle of the articulated chair for both positions and in side view.
    [0015] This second example of a chair has a lot of similarities with the first example. The same components represented with the same references are not repeated in detail in a systematic manner. In particular, the chair 50 comprises as previously a footrest 11 and a seat 12 hinged relative to a support 14 by means of a motorized mechanism, configured to maintain on the same vertical axis the center of gravity of the chair occupied by the user, between sitting and standing. Note at this point that for better legibility, the footrest 11 of the chair 50 is not shown in Figures 4a, 4b and 4d. The footrest 11 equipping the chair 50 comprises two orthoses similar to the orthosis 51 shown in Figure 4c, intended to support the lower limbs of the user. The orthosis 51 comprises in particular a substantially horizontal support 51a intended to receive a foot of the user, and a first substantially vertical segment 51b fixed to the support 51 intended to support the user's leg. The segment 51b is connected via a pivot connection 52 to a segment 51c fixed to the seat. The second example of a chair differs from the first example in the definition of the motorized mechanism. The kinematics of verticalization of the chair 50 by means of the motorized mechanism 55 is illustrated in Figure 4e.
    [0016] Thus, the motorized mechanism 55 of the second example of a chair according to the invention comprises: - a linear actuator 56 fixed on the one hand to the support 14 and connected on the other hand to the seat 12 by means of a pivot connection 56a transverse axis Z25 - a pivot connection 52 of transverse axis Z3 between the seat 12 and the footrest 11. Thus, the seat is moved relative to the support by means of the linear actuator. The footrest is not directly related to the support. It is driven in displacement by the seat, by means of the pivot connection 52. The axis of displacement of the linear actuator in the plane (X, Y) and the pivot connection 52 are configured so as to maintain the center of gravity of the chair occupied by the user along a vertical axis Y1 when switching from sitting to standing. The pivot connection 52 may be free, so that the footrest is positioned by simple effect of the gravity of the footrest and the lower limbs of the user. Alternatively, the pivot connection 52 may be motorized, as shown in the figures. The motorized mechanism 55 then comprises a control member (not shown in the figures) configured to control the linear actuator between the seat and the support, and the motorized pivot connection between the footrest and the seat the motorized mechanism of coordinated way so as to move the center of gravity vertically. Various embodiments are possible for motorizing the pivot connection 52. In particular, a linear jack 53 connected on the one hand to the seat 12 and on the other hand to the footrest 11 by means of two pivot links 53a and 53b transverse axes. Various embodiments are also possible to achieve the linear actuator 56. A preferred embodiment of the linear actuator 56, shown in the figures, comprises a motorized articulated diamond 56b, in the manner of a car jack, connected to the seat and the support in two opposite peaks from each other. Note also that the backrest 13 can be connected to the seat 12 so as to maintain it in a substantially vertical position, by means of a mechanical device mechanically coupling the angular positions of the backrest and the seat, or of a spring mechanism supporting the back of the user. It should also be noted that the chair 50 may also comprise one or more retractable stands 45 and / or means for removably attaching the chair to the gyropod, in a manner similar to that described for the first example of an articulated chair. Figures 5a and 5b show a third example of an articulated wheelchair according to the invention. More precisely, FIG. 5a shows the chair in isometric view while seated on the left part of the figure, in the intermediate position on the central part of the figure, and in the upright position on the right part of the figure. Figure 5b illustrates the functional principle of the articulated chair for the same three positions and in side view. In a similar manner to the second example of a chair, the motorized mechanism 65 of the chair 60 according to this third example 5 comprises: a linear actuator 56 fixed on the one hand to the support 14 and connected on the other hand to the seat 12 by means of a pivot link 56a of transverse axis Z25 - a pivot connection 52 of transverse axis Z3 between the seat 12 and the footrest 11. As in the second example, the seat is moved relative to the support by means of of the linear actuator. The footrest is not directly related to the support. It is driven in displacement by the seat, by means of the pivot link 52. In this third example of a chair, the motorized mechanism 65 15 further comprises two lateral guides 63a and 63b, integral with the support 14, configured to guide the displacement of the seat 12 driven by the linear actuator 56 relative to the support 14. As shown in the figures, the guide can be achieved by means of a first and a second rails 66 and 67 arranged in each of the lateral guides cooperating with the frontal and dorsal edges of the seat. The profile of the lateral guides defines the trajectory of the seat between the sitting position and the standing position. An adapted definition of these lateral guides makes it possible to configure, or to customize, the vertical displacement of the center of gravity between the two positions. The path is no longer defined by the axis of the linear actuator 56 and the pivot link 56a as in the second example. The design of the linear actuator is freer and can take into account integration constraints of the motorized mechanism. The side guides may also be biased to at least partially support the weight of the seat and the user. In the chair shown in Figures 5a and 5b, the pivot connection 52 between the seat 12 and the footrest 11 is not motorized. The vertical position of the footrest is maintained by the simple effect of gravity. It is of course envisaged the implementation of a motorized pivot connection similar to that shown in the second example. It is also envisaged to guide the movement of the footrest relative to the support by means of a slide connection. Note also that the third example of an armchair shown in the figures implements two lateral guides. It is possible without departing from the scope of the present invention to implement a single guide, placed in a lateral position or in a central position, configured to guide the displacement of the seat in the sagittal plane. FIG. 6 represents an exemplary flow chart of control of an articulated wheelchair according to the invention. The chair comprises a control member for controlling the motorized mechanism for verticalizing the chair. In particular, the control member is configured to coordinately control the actuators moving the seat and the footrest so as to move vertically the center of gravity of the chair occupied by the user. In other words, the steering member comprises a function called verticalization of the chair. The control member is also configured to control the movement of the motorized stands between the retracted position and the deployed position. In other words, the steering member also comprises a function called ground anchoring. It is configured to allow anchoring on inclined ground. The control member is configured to receive user instructions for the verticalization function and the ground anchor function. These "manual" instructions of the user are converted by the steering control member to the motorized verticalization mechanism or to the motorized stands. To optimize the operation of the chair, the control member may advantageously comprise a set of sensors, in particular gyroscopic and / or accelerometric sensors, capable of delivering a movement information of the chair. This movement information can be used to control, in a closed loop, the movement of the motorized mechanism or the motorized stands. In other words, the control member may comprise means for adapting a movement control of the motorized mechanism, or a motorized crutches motion control for securing the chair and ensuring a stable stop, depending on the information of movement of the chair. FIG. 6 illustrates an exemplary flow chart of control of an articulated chair. The state MO corresponds to a disabled state, or standby state of the chair. Crutches are deployed and the chair is seated. Under the impulse of a BMM command (Start button), the chair is activated, it switches to the state M1.1 in which the control member controls the withdrawal of the motorized stands. The Segway is then free of movement, the user can move.
    [0017] Starting from this state, the user can request stopping of the chair, under the impulse of a BA command (Stop Button), resulting in the deployment of the crutches (M1.2 state, the ground anchoring function of the body pilot controls the deployment of crutches). The chair then goes into standby mode (MO status).
    [0018] The user can also ask to order the chair upright function. Under the impulse of a first control BVM (Up Verticalization Button), the control member controls the motorized mechanism to move the chair in the upward direction. Under the impulse of a second BVD command (Verticalization Down Button), the control member controls the motorized mechanism to move the chair in the direction of descent. The user can also choose to switch, under the impulse of a CE command, in a secure operating mode. In this mode of operation, the vehicle movement information delivered by the gyroscopic and / or accelerometric sensors can control the motorized verticalization mechanism or the motorized ground anchor crutches. For example, the control member may be configured so that a first threshold of instability, detected by the sensors, leads to the verticalization of the chair in descent mode. The chair automatically switches to sitting position. A second threshold of instability leads to the verticalization of the chair in downhill mode and the deployment of the crutches. The chair automatically switches to a sitting position and secures its support on the ground using crutches.
    [0019] In general, the control device can be implemented in the Segway, with the other functions managed by the Segway. Preferably, the steering member is associated with the chair, independently of the Segway. It is in the form of an electronic box incorporating the set of sensors and an electronic card hosting the various functions. This second solution is preferred in the case where the chair is intended to be used with a pre-existing Segway designed and commercially available.
    [0020] The articulated chair according to the invention is customizable. The motorized mechanism can be adjusted to suit users of various morphologies. In other words, the motorized mechanism is configured to allow a vertical displacement of the center of gravity of a chair occupied by a reference body; the body of reference corresponding to the average morphology of an adult human being. The motorized mechanism further comprises adjustment means, mechanical or functional, for configuring the displacement of the center of gravity of a user having a morphology substantially different from the reference body. The motorized mechanism makes it possible to move the center of gravity of a set formed by the chair and a reference body in a vertical trajectory, and it can be adjusted to modify this trajectory so as to adapt to users having a morphology substantially different than that of the reference body.
    [0021] The invention also relates to a method of verticalizing an articulated chair comprising the steps of: - receiving a movement control of the motorized mechanism, - simultaneously moving the seat and the footrest by means of the motorized mechanism, so to move vertically the center of gravity 30 of the chair occupied by the user. The verticalization trajectory is customizable by mechanical adjustments of the motorized mechanism or control thereof, to meet the specific characteristics of the user. 35
    权利要求:
    Claims (18)
    [0001]
    REVENDICATIONS1. An armchair (10) which can be occupied by a user, comprising a seat (12) and a footrest (11) articulated with respect to a support (14), characterized in that it further comprises a motorized mechanism (15). , 55, 65) capable of moving the seat (12) and the footrest (11) in a coordinated manner relative to the support (14), between a first position in which the user occupying the chair (10) sits and a second position in which the user is standing so as to vertically move the center of gravity of the chair (10) occupied by the user.
    [0002]
    2. A chair according to claim 1, wherein the motorized mechanism (15) comprises: a motorized sliding link (16) of sagittal axis (Xi) between the footrest (11) and the support (14), a motorized pivot connection (17) of transverse axis (Zi) between the seat (12) and the footrest (11), - a control member configured to control the motorized slide connection (16) and the motorized pivot connection (17) in a coordinated manner so as to vertically move the center of gravity of the chair (10) occupied by the user.
    [0003]
    3. A chair according to claim 2, wherein the motorized pivot connection (15) between the footrest (11) and the seat (12) comprises: - an articulated parallelogram (30) formed of four rigid segments (31a, 31b, 31c, 31d) connected by four pivot links (32a, 32b, 32c, 32d) of transverse axes, a first said upper segment (31a) being fixed to the seat (12), and a second said front segment ( 31b), adjacent to the upper segment (31a), being attached to the footrest (11), - a linear actuator (33) connected on the one hand to the front segment (31b) and on the other hand to a third segment said lower (31c), adjacent to the front segment (31b), by means of two pivot links (33a, 33b) of transverse axes.
    [0004]
    4. A chair according to claim 3, comprising a backrest (13) attached to a fourth dorsal segment (31d), adjacent to the upper (31a) and lower (31c) segments.
    [0005]
    5. Chair according to claim 1, wherein the motorized mechanism (55, 65) comprises: - a linear actuator (56) fixed on the one hand to the support (14) and connected on the other hand to the seat (12) by means of a pivot connection (56a) of transverse axis (Z2), - a pivot connection (52) of transverse axis (Z3) between the seat (12) and the footrest (11).
    [0006]
    6. A chair according to claim 5, wherein the pivot connection (12) transverse axis (Z3) between the seat (12) and the footrest (11) is motorized, and wherein the motorized mechanism (55) ) also comprises a control member configured to control the linear actuator (56) and the motorized pivot link (52) in a coordinated manner so as to vertically move the center of gravity of the chair (10) occupied by the user. 20
    [0007]
    7. Chair according to one of claims 5 or 6, wherein the motorized mechanism (65) comprises two lateral guides (63a, 63b) integral with the support (14) configured to guide the displacement of the seat (12) relative to the carrier (14) driven by the linear actuator (56) between the first and second positions.
    [0008]
    8. Chair according to one of claims 5 to 7, wherein the linear actuator (56) comprises a motorized articulated rhombus (56b) connected to the seat (12) and the support (14) in two opposing vertices. one of the other. 30
    [0009]
    9. Chair according to one of the preceding claims, wherein the footrest (11) comprises two housings (41, 42) can receive the two lower limbs of the user, each housing (41, 42) comprising a portion substantially horizontal (41a, 42a) adapted to receive a foot of the user and a substantially vertical portion (41b, 42b) adapted to receive a leg of the user.
    [0010]
    10. A chair according to claim 9, wherein the footrest 5 (11) comprises a removable collar (41c) mounted on one of the housings (41) for holding the leg or the foot of the user in the housing (41). .
    [0011]
    11. A chair according to one of the preceding claims, comprising a set of gyroscopic and / or accelerometric sensors 10 capable of delivering a movement information of the chair, and means for adapting a movement control of the motorized mechanism, according to the chair movement information.
    [0012]
    Vehicle (25, 50, 60) comprising a motorized chassis (20) capable of moving the vehicle (25, 50, 60) relative to the ground and a chair (10) according to one of claims 1 to 10, fixed via the support (14) to the motorized chassis (20).
    [0013]
    13. Vehicle according to claim 11, wherein the motorized frame 20 is a gyropode (20) comprising two lateral wheels (21a, 21b) separated by a central platform (22) on which is fixed the support (14) of the chair (10). ).
    [0014]
    14. Vehicle according to claim 13, wherein the chair (10) comprises a motorized stand (45) movable between a retracted position allowing the vehicle (25) to move relative to the ground, and an extended position in which the stand ( 45) ensures the stability of the vehicle (25) by ground support. 30
    [0015]
    15. Vehicle according to claim 14, comprising a chair according to claim 11, the chair (10) comprising means for adapting a movement control of the motorized stand according to the movement information of the chair, or according to the movement control of the motorized mechanism. 35
    [0016]
    16. Vehicle according to one of claims 13 to 15, wherein the gyropode (20) comprises a removable handlebar (24).
    [0017]
    17. Vehicle according to one of claims 12 to 16, comprising 5 removable fastening means (47) between the support (14) of the chair (10) and the central platform (22) of the gyropode (20).
    [0018]
    18. A method of verticalizing an articulated wheelchair (10) according to one of claims 1 to 9 comprising the steps of: - receiving a movement control of the motorized mechanism (15), - simultaneously moving the seat (12) ) and the footrest (11) by means of the motorized mechanism (15), so as to move vertically the center of gravity of the chair (10) occupied by the user.
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    同族专利:
    公开号 | 公开日
    FR3023160B1|2021-06-11|
    WO2016001451A1|2016-01-07|
    引用文献:
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    EP1764070A2|2005-09-20|2007-03-21|Lifestand "Vivre Debout"|Standing-up aid with means to set the inclination of the footrest in vertical position|
    WO2010109466A1|2009-03-24|2010-09-30|Galileo Mobility Instruments Ltd.|Wheelchair|
    US20130278032A1|2010-04-27|2013-10-24|Levo Ag Wohlen|Stand-Up Unit for Stand-Up Wheelchairs and Chairs, Particularly Therapy Chairs|FR3050929A1|2016-05-04|2017-11-10|Bruno Jacquemot|VEHICLE ADAPTED TO TRANSPORT A USER WITH REDUCED MOBILITY|
    WO2018212653A1|2017-05-17|2018-11-22|Vekoma Rides Engineering B.V.|Amusement device seat assembly including leg locking device|US5971091A|1993-02-24|1999-10-26|Deka Products Limited Partnership|Transportation vehicles and methods|
    ITMI20112310A1|2011-12-19|2013-06-20|Gm Italia S R L|HANDLEBAR FOR A MOTORIZED WHEELCHAIR|
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    ITBG20130021A1|2013-08-09|2015-02-10|Supermarioway S R L|MEANS OF ELECTRIC LOCOMOTION|US10772774B2|2016-08-10|2020-09-15|Max Mobility, Llc|Self-balancing wheelchair|
    FR3059272B1|2016-11-28|2020-11-13|Univ Versailles Saint Quentin En Yvelines|GYROPOD VEHICLE|
    DE102017205080B4|2017-03-27|2021-05-06|Ford Motor Company|Motor vehicle with a mobile vehicle seat and a mobile vehicle seat|
    EP3446669B1|2017-08-25|2020-07-29|Lukas Rigler|Support system for an electronically self-balancing wheelchair|
    EP3446670B1|2017-08-25|2021-04-28|Lukas Rigler|Electronically self-balanced wheelchair|
    法律状态:
    2015-06-29| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-08| PLSC| Search report ready|Effective date: 20160108 |
    2016-06-28| PLFP| Fee payment|Year of fee payment: 3 |
    2017-06-28| PLFP| Fee payment|Year of fee payment: 4 |
    2018-06-28| PLFP| Fee payment|Year of fee payment: 5 |
    2020-06-25| PLFP| Fee payment|Year of fee payment: 7 |
    2021-01-22| CL| Concession to grant licences|Name of requester: GYROLIFT, FR Effective date: 20201215 |
    2021-06-24| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1456463A|FR3023160B1|2014-07-04|2014-07-04|ARTICULATED ARMCHAIR INCLUDING A VERTICALIZATION MECHANISM FOR A WHEEL VEHICLE.|FR1456463A| FR3023160B1|2014-07-04|2014-07-04|ARTICULATED ARMCHAIR INCLUDING A VERTICALIZATION MECHANISM FOR A WHEEL VEHICLE.|
    PCT/EP2015/065390| WO2016001451A1|2014-07-04|2015-07-06|Vehicle including a hinged chair with a stand assist mechanism|
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