Patent Publication Number: US-11654067-B2

Title: Mobility aid

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a U.S. national phase entry under 35 U.S.C. § 371 of International Application No. PCT/AU2016/000338, filed on Oct. 4, 2016, which claims priority to Australian Patent Application No. 2015904021, filed on Oct. 2, 2015. Each of these patent applications is incorporated by reference herein in its entirety. 
     TECHNICAL FIELD 
     The present invention relates to devices for movement of incapacitated individuals and, more particularly to mobile devices which may transport a user from one location to another. 
     BACKGROUND 
     Mobility aids in the form of hoists which allow a carer to lift and lower an incapacitated person, are well known. These devices are particularly used both in hospitals and in domestic situations for transfer of a person from, for example, a wheelchair onto a bed and vice versa. 
     Hoists range in complexity from a relatively simple frames mounted on castors and fitted with a ram-driven lifting arm, such as for example shown in www.dolphinlifts.co.uk/Suas_Hoists.html, to highly complex motor driven devices such as shown in http://www.activemedicalsupplies.com.au/Products/Multilift550 MotorisedPatientLifter.aspx 
     While the simpler devices are relatively light weight and may even allow of disassembly for transport, a problem with castor mounted devices is the difficulty of manoeuvring them on any other than a hard smooth surface. Thus, on carpet where the generally small castors sink into the pile, moving the lifter in any direction can be very difficult and, especially when trying to move such a device laterally from a previous straight ahead movement, may even lead to the tipping over of the device. 
     The highly sophisticated devices such as that of Active Medical Supplies referenced above are very heavy, expensive and really only suitable for hospital or other health establishment use and are clearly not portable. 
     The rams used to raise and lower the articulated lifting arms of hoists are generally capable of exerting a force of 1300N, both in extension and in retraction. A safety issue arises if the carer is distracted, or there is a malfunction in the switching system during the lowering of a user when the ram is retracting, since the lifting arm may deliver a crushing force to the user&#39;s head and shoulders. 
     Typically hoists are constructed with a forward directed fork extending from a rear cross member and spaced apart sufficient for stability and moving the hoist through doorways. It is a common feature of known hoists to provide for a spreading or splaying of the two members of the fork to allow a wheelchair to move between them so as to bring the user directly under the end of the lifting arm. Splaying of the fork is typically achieved by manually pumping a pneumatic cylinder or manipulating a lever to activate a spreading mechanism. In both arrangements this can be very difficult, particularly so when the hoist is positioned on deep pile carpet. 
     It is an object of the present invention to address or at least ameliorate some of the above disadvantages or provide a useful alternative. 
     NOTES 
     The term “comprising” (and grammatical variations thereof) is used in this specification in the inclusive sense of “having” or “including”, and not in the exclusive sense of “consisting only of”. 
     The above discussion of the prior art in the Background of the invention, is not an admission that any information discussed therein is citable prior art or part of the common general knowledge of persons skilled in the art in any country. 
     SUMMARY OF INVENTION 
     Accordingly in one broad form of the invention there is provided a mobility aid assembly for lifting and lowering a user; the assembly including an articulated lifting arm releasably mounted to a base structure; a first portion of the lifting arm operable between a lowered position and a raised position by a linear actuator; a first end of the linear actuator pivotally connected to the first portion of the lifting arm and, wherein a second end of the linear actuator is releasably mounted so as to avoid injury to the user if the linear actuator moves the first portion of the lifting arm to an excessively lowered position in which the first portion of the lifting impinges on the user. 
     Preferably the second end of the linear actuator is provided with a mounting boss; the boss provided with a first connecting element for releasable connection to a complementary second connecting element provided on a second, fixed upright portion of the lifting arm. 
     Preferably the mounting boss comprises a body provided with a transverse slot; the complementary connecting element comprising a transverse support pin located on the second, fixed upright portion of the lifting arm; the slot slidingly engaging with the transverse support pin when the assembly is in use. 
     Preferably the mounting boss disengages from the second connecting element when an upward force acting on the first portion of the lifting arm exceeds the combined weight of the first portion of the lifting arm and that of the linear actuator. 
     Preferably the base structure comprises a hollow body provided at each outer end with a drive wheel; each drive wheel driven by respective electric motor modules located within the hollow body. 
     Preferably each electric motor module includes a gear train to reduce the RPM of the electric motor to a predetermined RPM of the drive wheel. 
     Preferably each electric motor is controllable for synchronized rotation of the wheels for forward and rearward movement of the assembly and for contra-rotation of the wheels for rotation of the assembly about a vertical axis. 
     Preferably the assembly further includes a forwardly directed fork; the fork comprising two fork elements extending from the base structure; each outer end of a fork element provided with a swivelling castor; each castor provided with a locking system for locking the direction of movement of the castor at a desired angle relative to a horizontal centerline of the assembly. 
     Preferably each of the fork elements is releasably mounted to the base structure; each of the fork elements arranged for rotation about a respective vertical axis at the base structure; each fork element rotatable between a first direction parallel to the centerline of the assembly and a second splayed direction wherein the separation between the outer ends of the fork elements is greater than the separation of the vertical axes at the base structure. 
     Preferably the fork elements move from the first direction parallel to the centreline to the splayed direction if the castor at each outer end of the fork element is locked at a “toed out” angle relative a centerline of the respective fork element and the assembly is driven in a forward direction; the fork elements returning to the first direction when the assembly is driven in a rearward direction with the castors locked in the “toed out” angle. 
     Preferably the articulated lifting arm is provided with connector elements at a lower end of the second, fixed upright portion of the lifting arm; the connector elements including tabs provided with forwardly directed slots; the tabs inserted through slots in the upper surface of the support structure for connecting the lifting arm to the base structure; the forwardly directed slots of the connector elements engaging with a transverse pin mounted within the hollow body of the base structure. 
     Preferably a rear surface at the lower end of the second, fixed upright portion of the lifting arm is provided with a securing plate; the securing plate extending to below a lower edge of the second, fixed upright portion of the lifting arm and provided with apertures for engagement with pins projecting from a rear surface of the support structure. 
     Preferably one of the projecting pins is provided with an internally threaded hole; the internally threaded hole adapted to receive an externally threaded shaft of a securing knob for locking the lifting arm in position on the base structure. 
     In a further broad form of the invention there is provided components for assembly into a transportable disability aid; the components comprising a base structure, an articulated lifting arm assembly and two fork elements; the lifting arm assembly including a first portion operable between a raised position and a lowered position; characterized in that a second end of a linear actuator of the lifting arm assembly is adapted for releasable connection to a second, fixed upright portion of the lifting arm assembly so as to avoid injury to a user if the linear actuator moves the first portion of the lifting arm to an excessively lowered position. 
     Preferably the base structure is provided at each outer end with a driven wheel; each wheel driven by an electric motor module. 
     Preferably the articulated lifting arm assembly includes the first portion pivotally connected to the second, fixed upright portion and a linear actuator pivotally connected to the first portion of the articulated lifting arm at a first end of the linear actuator. 
     Preferably the lifting arm assembly the second end of the linear actuator is disconnected from a connecting element located on the second, fixed upright portion of the articulated lifting arm. 
     Preferably each of the two fork elements is rotatably and releasably mountable to the base structure at inner ends of the fork element; the fork elements rotatable about respective vertical axes between a parallel position and a splayed position wherein separation between outer ends of the fork elements is greater than the separation of the vertical axes. 
     Preferably the outer end of each fork element is provided with a swivelling castor; each swivelling castor provided with a locking mechanism for locking the direction of the castor at a desired angle. 
     In a further broad form of the invention there is provided a method of changing disposition of fork elements of a fork of a disability aid assembly from a first position in which the fork elements are parallel to a horizontal centerline of the disability aid assembly and a second position in which outer ends of the fork elements are more widely separated than inner ends of the fork elements; the method including the steps of:
         providing swivelling castors at the outer ends of the fork elements with locking mechanisms,   locking each castor at an angle in which the direction of the castor is “toed out” relative to a centerline of the fork element,   moving the disability aid assembly in a forward direction to drive the fork elements from the first position into the second position,   moving the disability aid assembly in a rearward direction to drive the fork element from the second position into the first position, and   wherein       

     In yet a further broad form of the invention there is provided a method of avoiding injury to a user of a disability aid assembly if a first articulated portion of a lifting arm of the assembly is lowered by a linear actuator of the assembly to a point at which the first articulated portion is driven into contact with the user by retraction of the linear actuator; the method including the step of providing a lower end the linear actuator with a releasable mounting, and wherein a force acting on the user by an end of the articulated portion of the lifting arm cannot exceed a combined weight of the articulated portion of the lifting arm and the linear actuator. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       Embodiments of the present invention will now be described with reference to the accompanying drawings wherein: 
         FIG.  1    is a perspective view of a mobility aid assembly according to a preferred embodiment of the invention, 
         FIG.  2    is a further perspective view of the assembly of  FIG.  1    with a lifting arm of the assembly in a lowered position, 
         FIG.  3    is a side elevation view of a crush avoidance system of the assembly, 
         FIGS.  4  and  4 A  are perspective views of the assembly showing details of the mounting arrangement of crush avoidance system of  FIG.  3   , 
         FIGS.  5  and  5 A  are a perspective views of the assembly showing a preferred way of mounting the lifting arm to a base structure of the assembly, 
         FIG.  6    is a perspective view of the assembly of  FIG.  1    showing a splayed positions of the fork elements of the assembly. 
         FIG.  7    is an exploded view of the assembly of  FIGS.  1  to  6    indicating the components disassembled for transportation. 
         FIG.  8    illustrates an electronic block diagram of drive and control circuitry suitable to give effect to operation of the assembly illustrated in  FIG.  6   . 
         FIG.  9    is a perspective view of an alternative wheel structure which can be utilised with the assembly of  FIG.  6   . 
         FIG.  10    is a perspective view of the entire assembly in accordance with a further preferred embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     With reference to  FIG.  1   , a mobility aid assembly  10  according to the invention, for lifting and lowering a disabled user (not shown), includes an articulated lifting arm  12  releasably mounted to a base structure  14  and a fork  16  extending from the base structure. A hanger  48  is suspended from the end of the lifting arm for attachment of slings or seating (not shown) for lifting a user. 
     A first portion  18  of the lifting arm  12  is pivotally attached to a second or fixed, upright portion  20 , and is operable between a raised position (as shown in  FIG.  1    and a lowered position as shown in  FIG.  2    by a linear actuator  22 . 
     Again with reference to  FIG.  1   , the outer end  24  of the piston rod  26  of the linear actuator  22  is pivotally connected to the first portion  18  of the lifting arm  12 , while its lower end  28  of the linear actuator  22 , is releasably mounted to the second or fixed, upright portion  20  of the lifting arm  12 . 
       FIGS.  4  and  4 A  shows a preferred arrangement for the mounting of the lower end  28  of the linear actuator. The second or lower end  28  of the linear actuator  22  is provided with a mounting boss  30  to providing a first connecting element for releasable connection to a complementary second connecting element provided on the second or fixed, upright portion  20  of the lifting arm  12 . The mounting boss  30  comprises a body provided with a transverse slot  32  while the complementary connecting element comprises a transverse support pin  34  mounted between side plates  36  and  38  forming the second or fixed, upright portion  20  of the lifting arm. The slot  32  slidingly engages with the transverse support pin  34  (as in  FIG.  1   ) when the assembly  10  is in use for lifting and lowering a user. 
     The releasable mounting of the second or lower end  28  of the linear actuator  22  provides a novel and inventive crush avoidance safety feature which prevents injury to the user if the linear actuator moves the first portion  18  of the lifting arm to an excessively lowered position as shown in  FIG.  3   , in which the first portion of the lifting may expose the user  40  to a dangerous crushing force. This may happen for example through inattention by a carer or through a malfunction of the control system. 
     In this situation in which the linear actuator  22  continues to retract and lower the second portion  18  of the lifting arm  12  when a user  40  is already resting on some support, such as a wheel chair or bed  42  for example, the end  44  of the arm will likely come into contact with the user. However, when the resulting upward force then acting on the end  44  of the first portion  18  of the lifting arm  12  exceeds the combined weight of the first portion  18  and that of the linear actuator  22 , the downward force is disengaged by the lower end  28  of the actuator disengaging from its mounting. Thus the force of contact with the user in such a potentially injurious incident cannot exceed the combine weight of these components. 
     With reference again to  FIG.  1   , the base structure  14  of the assembly comprises a hollow body  50  provided at each outer end with a drive wheel  52  and  54 . Preferably the hollow body is formed of two length of channel section, one forming a base portion  56  and the other a cover portion  58 . 
     Each drive wheel  52  and  54  is driven by a respective electric motor  21  and gear train module (not shown) located within the hollow body  50 . Preferably the gear trains are formed as a series of gear wheels and toothed belts to reduce the RPM of the electric motors to a predetermined RPM of the drive wheels. A rechargeable battery bank and electronic control module are also accommodated within the hollow body  50  of the base structure  14 . Preferably the assembly&#39;s drive wheels and linear actuator are activated via a short range wired or wireless remote control. 
     The electric motors driving the wheels  52  and  54  are controllable for synchronized rotation of the wheels for forward and rearward movement of the assembly  10 . They are also capable of contra-rotating the wheels for rotation of the assembly about a vertical axis. For safety reasons, the contra-rotation of the wheels can only be engaged when the assembly  10  is stationary. To prevent excessive swinging motion being imparted to a suspended user, the electronic control of the electric motors includes soft start and stop functionality. 
     With reference now to  FIGS.  5  and  5 A , the articulated lifting arm  12  is mounted at the center of the base structure  14 . The second or fixed, upright portion  20  of the lifting arm  12 , is provided with connector elements  60  formed at the lower end of the side plates  36  and  38  which include tabs  62  and  64  provided with forwardly directed slots  65 . These tabs  62  and  64  are inserted through slots  66 , 68  in the upper surface of the cover portion  58  of the hollow body of the support structure to allow the forwardly directed slots  65  of the connector elements  62  and  64  to engage with a transverse plate (not shown) mounted within the hollow body. 
     The rear surface  70  at the lower end of the second or fixed, upright portion  20  of the lifting arm  12  is provided with a securing plate  72 , which extends below its lower edge and is provided with apertures  74  for engagement with pins  76  projecting from a rear surface  78  of the support structure  14 . The center one of the projecting pins is provided with an externally threaded shaft adapted to receive an internally threaded securing knob  80  for locking the lifting arm in position on the base structure. 
     In one preferred arrangement, the electric motor of the linear actuator  22 , may be provided with an extension mechanism (not shown) by means of which the motor shaft and gear drive of the actuator may be manually rotated. This allows the linear actuator to be urged into extension or retraction in the emergency situation of a power loss in the system. 
     With reference now again to  FIGS.  1  and  6    the fork  16  of the assembly  10  comprises of two fork elements  82  and  84  extending from the base structure  14 . Each outer end  86  and  88  of fork elements  82  and  84  is provided with a swiveling castor  90  and  92  respectively, which incorporate a locking system  23  for locking the direction of movement of the castor at a desired angle relative to a longitudinal axis of its respective fork element. 
     Each of the fork elements  82  and  84  is releasably and pivotally mounted to the base structure  14  and is arranged for rotation about a respective vertical axis  94  and  96 , at the underside of the base structure  14 . This allows each fork element to be rotatable between a first direction in which each fork element is parallel to the centerline  98  of the assembly (as shown in  FIG.  1   ), and a second splayed direction wherein the separation between the outer ends  86  and  88  of the fork elements is greater than the separation of the vertical axes  94  and  96  at the base structure  14 . The degree of movement of the fork elements between the parallel and splayed positions is controlled by stops (not shown) at the base structure  14 . 
     Locking elements  23  provided for each fork element provide for locking the fork elements in either the parallel or splayed position. 
     To change the fork elements  82  and  84  from the parallel to the splayed position, the locking elements of the fork elements are unlocked. Each castor  90  and  92  is then manually rotated into an outward (or “toed out”) facing direction as shown in  FIG.  6   , and locked at a suitable angle. The assembly is then driven in a forward direction for a short distance which causes the fork elements to spread outwardly due to the tracking of the castors  90  and  92 . Reversing the assembly with the castors still rotated in the outward direction forces the fork elements back into the parallel position. 
     Alternatively, locking the castors into an inward pointing direction and driving the assembly in reverse, will rotate the fork elements from the parallel position into the splayed position, and it follows that with the castors in this position, forward movement of the assembly will return the splayed fork elements to the parallel position. 
       FIG.  8    illustrates an electronic block diagram of drive and control circuitry suitable to give effect to operation of the assembly illustrated in  FIG.  6   . 
     In a preferred form, a handheld controller unit  111  incorporates discrete push buttons for the following operations: up, down, forward, back, left, right and an emergency stop. 
       FIG.  9    is a perspective view of an alternative wheel structure which can be utilized with the assembly of  FIG.  6   . 
     In this arrangement, separate control units  104 ,  105  and  106  are provided for the left wheel motor assembly (not shown) and the right wheel motor assembly  21  and for the lifter. 
     In preferred forms, the battery units may be switched  107  between series and parallel operation. In parallel operation, they drive the wheel assembly. In series operation, they drive the linear actuator of the lifter. 
     In this arrangement, ferrules  101  are mounted for rotation about the periphery  102  of a wheel  103 . The rotation of the ferrules is about an axis in the plane of the wheel thereby assisting realignment of the wheel on various surfaces including dense carpet and the like. 
     With reference to  FIG.  10   , there is illustrated a further preferred embodiment wherein like components are numbered as for the embodiment shown in  FIG.  6   . 
     In this instance, the drive wheels  52 ,  54  are replaced with the alternative wheel structure of  FIG.  9   . In addition, in a preferred form the lead wheels  90 ,  92  are also replaced with the alternative wheel structure of  FIG.  9   . In preferred forms, the wheels are aligned such that their axes of rotation are normally aligned at 45 degrees to the longitudinal axis  98  of the assembly  10 . In a more particular preferred form their axes intersect at a common intersection point  110 . 
     In a further particular preferred form the drive wheels  52 , 54  are affixed to the trailing ends of the legs  82 , 84 . In this instance the drive motors may be located within the legs  82 , 84 . 
     Similarly the lead wheels  90 ,  92  may be driven wheels with their respective drive motors preferably located within the legs  82 , 84 . 
     In a further particular form the wheels may be mounted in pairs at the leading and trailing edges of the legs  82 , 84 . 
     INDUSTRIAL APPLICABILITY 
     The construction of the disability aid assembly of the invention allows for simple and rapid disassembly of the components for packing into suitable luggage for transport. Thus as shown in  FIG.  7    the components of the assembly  10  when disassembled, comprise the base structure  14 , the lifting arm  12  folded as shown, the two fork elements  82  and  84  and the hanger  48 . 
     Careful choice of materials and components such as the electric motors, gear trains, wheels and castors etc. allows for an all up weight of around 20 Kg making the device ideal for travel and use in hotel rooms for example.