Source: https://patents.google.com/patent/EP1589923B1/en
Timestamp: 2020-03-31 21:06:14
Document Index: 603609761

Matched Legal Cases: ['art 2', 'arts 2', 'arts 2', 'art 2', 'art 28', 'art 28', 'arts 2', 'arts 13', 'arts 22']

EP1589923B1 - System and user interface for handling a person, and method therefor - Google Patents
System and user interface for handling a person, and method therefor Download PDF
EP1589923B1
EP1589923B1 EP04707494.3A EP04707494A EP1589923B1 EP 1589923 B1 EP1589923 B1 EP 1589923B1 EP 04707494 A EP04707494 A EP 04707494A EP 1589923 B1 EP1589923 B1 EP 1589923B1
EP04707494.3A
EP1589923A1 (en
Thomas Morthrost Jensen
2003-02-03 Priority to DKPA200300140 priority Critical
2003-02-03 Priority to DK200300140 priority
2004-02-03 Application filed by HeCare Systems ApS filed Critical HeCare Systems ApS
2004-02-03 Priority to PCT/DK2004/000070 priority patent/WO2004069125A1/en
2005-11-02 Publication of EP1589923A1 publication Critical patent/EP1589923A1/en
2013-05-15 Publication of EP1589923B1 publication Critical patent/EP1589923B1/en
The present invention relates to a handling system for lifting and/or moving a person from a first position to another according to the preamble of claim 1, a user interface for a handling system according to the preamble of claim 14 and a method of handling a person.
The available systems for lifting disabled persons usually incorporate the functionality of moving the lifted person from a position to another. US 4 375 840 , upon which the preamble of claim 1 is based, discloses such a system.
To avoid an assistant, or facilitate the job of the assistant, more advanced lift systems have been broad forward such as systems in which electric motors drive an axle of the wheels. The systems are usually equipped with push buttons or joystick allowing the person or the assistant to move the lift forward or backward at different speeds. The lift systems with electric motors still require significant space in order to be steered around. With the electric drive and supporting user interface the space requirement are often higher than with manually driven systems due to limitations and less precision in the user interface. Such a lift system with these disadvantages is e.g. known from US patent no. 5,758,371 .
An object of the invention is to create a handling system for lifting or moving a person from a first position to another, a user interface and a method that avoid the abovementioned disadvantages.
The invention relates to a handling system in which each of said wheels are mounted pivotally around a vertical axle for said wheels as claimed in claim 1.
In a preferred embodiment of the invention, the direction of said at least one wheel is controllable within a constraint angle such as between nil and 90 degrees in relation to a forward direction of said handling system. Hereby, it is possible to steer the handling system in an advantageous manner with little or no turning radius.
In a further embodiment of the invention, the angle of direction of said at least one wheel is substantially nil or 90 degrees in relation to a forward direction of said handling system e.g. exactly 0 and 90 degrees, respectively. Hereby, it is possible to convert the handling system from going forward to going sideway with a direct change from nil to 90 degrees.
In a further embodiment of the invention, the direction of any of said wheels are directly controlled or some of said wheels are directly controlled wheels and some wheels are free directional wheels. Hereby, it is possible to establish a less complicated system in which only some of the wheels need to be directly controlled.
In a further embodiment of the invention, the movement of said system controls said free directional wheels. Hereby, it is possible to avoid control systems to every wheel of the handling system.
In a further embodiment of the invention, at least one electric motor is connected to at least one of said wheels. Hereby, it is possible fully to avoid the need for an assistant pushing the handling system, or to use the assistant more in control the direction of the system.
In a further embodiment of the invention, the system is directionally controlled by at least one controller controlling the direction of said directional controlled wheels and/or at least one controller controls the width horizontally between the right and left base frame parts by pivoting said parts around vertical axles for said parts. Hereby, it is possible to establish a more stable and secure handling system, and especially a system in which the person or his assistant to a high extend may control the direction behaviour and characteristics of the handling system.
In a further embodiment of the invention, said controller is connected to said directional controlled wheels by rods, electric actuators or similar connection arms. Hereby, it is possible to control the wheels with firm and rigid means ensuring that the wheels are precisely rotated from one position to another.
In a further embodiment of the invention, said user interface includes control means such as computer means and storage means comprising predefined motor control data or ramps for controlling said at least one electric motor. Hereby, it is possible to provide the handling system with movement and direction characteristics that are adapted to the person or the environment that the handling system is used within.
In a further embodiment of the invention, said user interface includes communication means. Hereby, it is possible to establish connection with an external data communication centre in order to transmit data to the handling system e.g. data updating the functionality of the user interface. Further, data such as statistic data, person or system-related data may be transmitted to the centre e.g. over an Internet data connection.
In a further embodiment of the invention, the direction of said at least three wheels being directly or indirectly controllable. Hereby it is possible to direct the handling system in a first direction and subsequently in another direction with no turning radius as the wheel direction is controlled. The direction control may be performed at standstill from a first direction to e.g. a perpendicular direction in which the direction of some wheels are directly controlled and other follows along due to their free movable construction.
In a further embodiment of the invention, said system comprises at least two free directional wheels and at least one directional controlled wheel e.g. two wheel being directional controlled such as two rear wheels of the system.
The invention also relates to a user interface comprising all the features of claim 14.
In a first embodiment of the invention, said control device includes at least one joystick or similar control stick. Hereby, it is possible to control the system in a way in which certain handling of the stick is converted to corresponding movements of the handling system.
In a further embodiment of the invention, one or more buttons converts the control device from a status of substantially forward movement to a sideway movement. Hereby, it is possible to navigate the system in narrow spaces in an optimal manner e.g. without turning radius when shifting direction.
In a further embodiment of the invention, said control means includes computer means and storage means comprising predefined motor control data or ramps. Hereby, it is possible to control the handling system in an advantageous manner that e.g. is gentler for the person being handled.
In a further embodiment of the invention, said control means includes communication means e.g. for communicating system or person data. Hereby, it is possible to establish connection with an external data communication centre in order to transmit data to the handling system e.g. data updating the functionality of the user interface. Further, data such as statistic data, person or system-related data may be transmitted to the centre e.g. over an Internet data connection.
Further, the invention relates to a method of handling a person, said method comprising all the features of claim 21.
illustrates a handling system according to the invention seen from the rear,
illustrates the handling system seen from the front,
illustrates an exploded view of the handling system,
illustrates a sectional view of handling system seen from the rear,
illustrates an exploded view of a preferred embodiment of the width controller,
illustrates the width control including a base frame part,
illustrate different views of a directional controlled wheel,
illustrates an exploded view of a wheel controller,
illustrates a preferred embodiment of a user interface,
illustrates schematically the connection between the user interface and the directional controlled wheel, and
illustrates a further embodiment of the handling system according to the invention.
The handling system 1 comprises a left and right base frame part 2a, 2b pivotally connected in one end to a left and right centre arm 18a, 18b. The pivoting movement of each base frame part is established around a vertical axle va2. The frame parts and the centre arms together form the horizontal part of a base frame and are shaped as a fork in which each part extends from one end of a centre arm. The other end of the centre arms is connected to opposite sides of a vertical base frame 5 at a lower position of the frame. The connection between the vertical base frame and the centre arms are preferably achieved by welding the parts together in order to establish a sufficiently rigid connection. The vertical base frame 5 is a hollow square tube which upwards ends in a furnishing reinforcing an opening 6 for a lifting frame 7.
The vertical part of the lifting frame extends from the opening of the vertical base frame and may be lifted up or down by drive means as will be explained in connection with fig. 3. The lifting frame also comprises a horizontal frame part continuing from the top of the vertical part and ending in a furnishing that forms a flexible and pivotal lifting point 8 for the lifting yoke 9. At opposite ends of the yoke is positioned lifting hooks 10a, 10b that allow the suspension of a lift such as a standard sling for a disabled person or an "instructor lift" created as described in Danish Pat. App. No. PA 2003 00030 and International Patent App. No. PCT/DK04/000015 "Method of handling a person ..." to Asger Gramkow. An embodiment of the lift is illustrated in fig. 11.
At the opposite end of the base frame parts are positioned two wheels 3a, 3b. Each wheel is connected to the corresponding base frame part with a vertical axle expanding through an opening in the part at the connection point of the centre arms (illustrated in fig. 3 and 6). The axle allows the wheel and the base parts to turn around the axle (illustrated schematically with val) in a given direction in relation to the centre arms. However, the direction of the wheel is controlled by a wheel controller 13 connected to each of the wheels 3a, 3b through connection arms (as will be explained further in connection with fig. 5).
The directional controlled wheels 4a, 4b are each connected to an electric motor 14a, 14b. The motors transfer force to the wheels and thus forcing them to turn forward or backwards at an individually controllable speed. The electric energy to the motors is supplied by two electric accumulators 11a, 11b positioned on opposite side of the vertical base frame on holder furnishings at the top of the centre arm 18a, 18b.
The controller 12 is connected with a connection arm 19 to one end of a lever 20. The lever rotates round a centre 21 of rotation when the controller pulls or pushes in the end of the lever. On opposite side of the centre is attached two connection rods 22a, 22b that also comprise connections to the ends of the two base frame parts 2a, 2b and thus establish the vertical axle va2 which the two base frame parts 2a, 2b rotate around.
The controller 12 is rigidly connected to the base frame with fastening means b1-b3 such as a bolt, distance pierce and nut, respectively. The horizontally movable connection arm 19 and rods 22a, 22b of the controller 12 are connected to lever as explained above. The lever rotates around the centre 21 of rotation in which the centre includes a furnishing with an axle plate c l, c2 attached to the vertical base frame 5 with a number of bolts. The axle of the plate extends through the opening in the lever 20 with distance pierces c3-c5 and is finally locked with a lock washer c6 allowing the lever rotation around the axle.
Fig. 6 illustrates the width control including a base frame part 2a.
The base frame part turns around the vertical opening 23a in the part and especially the wheel furnishing axle that is supposed to extend up through the opening (schematically illustrated with the vertical axle va2). The controller 12, from one side, pulls or pushes at the ending of the base part behind the opening as illustrated with the little double arrow. Hereby is achieved a larger sideway movement of the base frame part at the front end as illustrated with the large double arrow.
Figs. 7a to 7c illustrate different views of a directional controlled wheel with corresponding wheel furnishing and electric motor, all together forming a directional controlled wheel set.
The wheel set of fig. 7a is illustrated from a rear viewpoint. The figure shows the electric motor 14a with a gear mechanism 24a allowing the wheel to be positioned perpendicular to the motor and driven at a speed different from the motor speed.
Fig. 7c illustrates a cross section of the wheel set in which the wheel 3a is divided vertically at its centre. The view illustrates the wheel axle d1 being secured by fastening means d2-d4 such as a nut with distance pierces after having gone through the wheel to the gear mechanism 24a through the wheel furnishing 17a and a baring device 25a with bearings d6 and distance pierces d5, d7. The baring device allows the axle and the wheel to rotate in relation to the furnishing and the rest of the wheel set.
In order to make the connection to the wheel sets the first and second controller arm is fasten to a left and right connection arm 26a2, 26b2, respectively, which make the further connection to the sets e.g. with connection means and distance pierces e1-e5. The connection arms are pointing slightly forward in order to meet the wheel sets positioned ahead of them.
In a preferred embodiment the number of connection arms is increased by two arms 26a1, 26b1 that connect the controller arms to the centre arms. As the centre arms is in an unchanging position the two arms 26a1, 26b1 will pivot around the connection point and thus ensuring that the controller arms are not exposed to deflection when controlling and turning the wheel sets.
Fig. 9a illustrates the user interface comprising a control device 27 such as a joystick or a similar stick e.g. similar to the control stick of an aeroplane. The stick has an outer 30 and an inner connection frame 29 in which the inner connection frame upwardly extends out of the outer connection frame and ends in a horizontal control and holding part 28. The holding part may be grabbed by person and preferably with both hands when controlling the handling system.
The weight sensors may communicate with the control means of the lifting frame and thus only allowing a lift if the weight of the lifted person is less than a security limit. If the weight is close to the limit the control can restrict the functionalities of the system e. g. allowing the system to move but not to lift the person from the present position or allowing the system only to move at lower speeds.
Fig. 9b illustrates the holding part 28 of the control device and the user interface in more details and especially with a number of buttons 31. The buttons allow the person to alter the control of the handling system.
The first two buttons changes the distance between the base frame parts 2a, 2b e.g. graduated from a maximum distance to a minimum in which one button increases and the other decreases the distance.
Wires 32 extend from the control device 27 to different electric control means 33 in the path between the electric accumulators 11a and the directional controlled wheels or the controller 13 for said directional controlled wheels.
1. Handling system 2a, 2b. Base frame part - right and left 3a, 3b. Directional controlled wheel - right and left 4a, 4b. Free directional wheel - right and left 5. Vertical base frame 6. Opening for the lifting frame 7. Lifting frame 8. Lifting point 9. Lifting yoke 10a, 10b. Lifting hook - right and left 11a, 11b. Electric accumulators - right and left 12. Controller of the width between the base frame parts 13. Controller of the directional controlled wheel 14a, 14b. Electric motor - right and left 15. Spindle motor 16. Lifting spindle 17a, 17b. Wheel and base frame part furnishing - right and left 18a, 18b. Centre arm and holder of electric accumulator - right and left 19. Connection arm 20. Lever 21. Centre of rotation in controlling the width between the base frame parts 22a, 22b. Connection rod - right and left 23a. Axle opening for the furnishing of a directional controlled wheel 24a, 24b. Gear mechanism - right and left 25a. Bearing device 26a1, 26a2. Connection arm - right - first and second 26b1, 26b2. Connection arm - left - first and second 27. Control device of a user interface comprising a joystick or a similar stick 28. Holding part of the joystick 29. Inner connection frame of the joystick 30. Outer connection frame of the joystick 31. Buttons of the joystick 32. Connection lines from the joystick to the direction controlled wheels 33. Control means 34. Wireless user interface 35. Frame surrounding the batteries and motors etc. 36. Lifting system 37. Suspension band 38. Suspension system 39. Holder for the wireless user interface a4-a7. Construction parts of the width controller b1-b7. Construction parts of the width controller c1-c6. Construction parts of the width controller dl-d7. Construction parts of the direction controller e1-e5. Construction parts of the direction controller va1. Vertical axle for the rotary motion of the wheels va2. Vertical axle for the rotary motion of the base frame parts
Handling system (1) for lifting and moving a person from a first position to another, said system comprising
at least three wheels (3a, 3b, 4a, 4b) positioned in different parts of said base frame and allowing the handling system to be moved over a surface from said first position to another, each of said wheels (3a, 3b, 4a, 4b) are mounted pivotally around a vertical axle (va1) for said wheels
at least one of said wheels (3a, 3b) is directional controllable from said at least one user interface from a first wheel position to a second wheel position,
the angle of direction of said at least one wheel (3a, 3b) is respectively nil or 90 degrees in relation to a forward direction of said handling system (1), with a direct change of wheel position from nil to 90 degrees.
Handling system (1) according to claim 1 characterised in that the angle of direction of said at least one wheel (3a, 3b) is exactly 0 and 90 degrees, respectively.
Handling system (1) according to claim 1 or 2 characterised in that the direction of any of said wheels are directly controlled.
Handling system (1) according to claim 1 or 2 characterised in that some of said wheels (3a, 3b) are directly controlled wheels and some wheels (4a, 4b) are free directional wheels.
Handling system (1) according to claim 4 characterised in that said free directional wheels (4a, 4b) are controlled by the movement of said system.
Handling system (1) according to any of the claims 1 to 5 characterised in that said system (1) comprises at least two free directional wheels (4a, 4b) and at least one directional controlled wheel (3a, 3b) such as the two rear wheels of the system.
Handling system (1) according to any of the claims 1 to 6 characterised in that the system is directionally controlled by at least one controller (13) controlling the direction of said directional controlled wheels (3a, 3b).
Handling system (1) according to claim 7 characterised in that said controller (13) is connected to said directional controlled wheels by rods, electric actuators or similar connection arms.
Handling system (1) according to any of the claims 1 to 8 characterised in that at least one controller (12) controls the width horizontally between the right and left base frame parts (2a, 2b) by pivoting said parts around vertical axles (va2) for said parts.
Handling system (1) according to any of the claims 7 to 9 characterised in that said controllers (12, 13) is wire or wireless connected to said user interface (27-34) e.g. including a control device (27).
Handling system (1) according to any of the claims 1 to 10 characterised in that said user interface includes control means (33) such as computer means and storage means comprising predefined motor control data or ramps for controlling said at least one electric motor (14a, 14b).
Handling system (1) according to any of the claims 1 to 11 characterised in that said user interface includes communication means e.g. for communicating system or person data.
Handling system (1) according to any of the claims 1 to 12 characterised in that at least one electric motor (14a, 14b) is connected to at least one of said wheels (3a, 3b).
User interface for a handling system (1) according to any of claims 1 to 13 for lifting and/or moving a person from a first position to another,
said user interface (27-34) comprises control means capable of converting the handling of said interface by said person or another person to directly or indirectly control of the direction of each of the directional controllable wheels (3a, 3b, 4a, 4b) of said handling system
said interface (27-34) controls the angle of direction of each of the directional controllable wheels (3a, 3b, 4a, 4b) with a direct change of wheel position from nil to 90 degrees in relation to a forward direction of said handling system (1) by pivoting the directional controllable wheels around a vertical axle for said wheels (va1)
User interface according to claim 14 characterised in that said user interface further controls the power directed to one or more of the wheels in response to the handling by said person or another person.
User interface according to claim 14 or 15 characterised in that a control device (27, 34) of said user interface includes at least one joystick or similar control stick.
User interface according to any of the claims 14 to 16 characterised in that one or more buttons (31) converts said control device (27, 34) from a status of substantially forward movement to a sideway movement by a direction of approximately nil degrees or 90 degrees in relation to a forward direction of said handling system (1).
User interface according to any of the claims 14 to 17 characterised in that control means (33, 34) includes computer means and storage means comprising predefined motor control data or ramps.
User interface according to any of the claims 14 to 18 characterised in that said control means (33, 34) includes communication means e.g. for communicating system or person data.
User interface according to any of the claims 14 to 19 characterised in that said interface (27 to 34) controls a controller (13) to control the direction of said directional controlled wheels by pivoting the wheels around a vertical axle for said wheels and a controller (12) to control the width horizontally between the right and left base frame parts of said handling system by pivoting said parts around vertical axles for said parts.
Method of handling a person by lifting or moving the person from a first position to another, with a handling system according to any of claims 1-13, said method comprises the following steps:
directly or indirectly controlling the direction of each of the wheels of said handling system by said at least one user interface where the direction of at least one directional controllable wheel is controlled with a direct change of wheel position from nil to 90 degrees in relation to a forward direction of said handling system (1),
Method of handling a person according to claim 21 characterised in that said movement is achieved by powering one or more of the wheels of the system with one or more electric motors connected to said one or more wheels.
Method of handling a person according to claim 22 characterised in that the direction of said at least one wheel is exactly 0 and 90 degrees, respectively.
Method of handling a person according to any of the claims 21 to 23 characterised in that the handling of said interface by said person or another person directly or indirectly controls the direction of each of the wheels of said handling system by pivoting the wheels around a vertical axle for said wheels.
Method of handling a person according to any of the claims 21 to 24 characterised in that said handling controls the power directed to one or more of the electric motors connected to said wheels.
Method of handling a person according to claim 25 characterised in that said at least one electric motor is controlled by a control device of said user interface includes at least one joystick or similar control stick.
Method of handling a person according to claim 25 or 26 characterised in that said at least one electric motor is controlled by said user interface including computer means and storage means comprising predefined motor control data or ramps.
Method of handling a person according to any of claims 21 to 27 characterised in that at least one controller (13) controls the direction of said directional controlled wheels (3a, 3b).
Method of handling a person according to claim 28 characterised in that said controller (13) controls said directional controlled wheels by rods, electric actuators or similar connection arms.
Method of handling a person according to any of claims 21 to 29 characterised in that at least one controller (12) controls the width horizontally between the right or left base frame parts of said handling system by pivoting said parts around vertical axles for said parts.
EP04707494.3A 2003-02-03 2004-02-03 System and user interface for handling a person, and method therefor Expired - Fee Related EP1589923B1 (en)
DK200300140 2003-02-03
EP1589923A1 EP1589923A1 (en) 2005-11-02
EP1589923B1 true EP1589923B1 (en) 2013-05-15
EP04707494.3A Expired - Fee Related EP1589923B1 (en) 2003-02-03 2004-02-03 System and user interface for handling a person, and method therefor
RU2009111368A (en) * 2006-09-06 2010-10-20 Университе Де Лозанна (Ch) Device for lifting and moving objects
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CA2809275C (en) * 2008-08-07 2014-11-25 Invacare Corporation Patient lift with adjustable knee pads and sling hooks
PL2248501T3 (en) * 2009-05-07 2014-09-30 Force Fiction I Halmstad Ab Power assisting system and method
JP5848998B2 (en) * 2012-03-15 2016-01-27 Ｋｙｂ株式会社 Transport cart
CN105393428B (en) 2013-07-22 2019-04-19 利纳克有限公司 Actuator system
EP3510987A1 (en) * 2018-01-11 2019-07-17 Liko Research & Development AB Person lifting apparatuses including lifting straps and methods of operation
AU2002248634A1 (en) * 2001-03-16 2002-10-03 John G. Casali Patient lift/transport with power assist
2004-02-03 EP EP04707494.3A patent/EP1589923B1/en not_active Expired - Fee Related
2004-02-03 US US10/544,365 patent/US7634824B2/en active Active
2004-02-03 DK DK04707494.3T patent/DK1589923T3/en active
2004-02-03 WO PCT/DK2004/000070 patent/WO2004069125A1/en active Search and Examination
WO2004069125A1 (en) 2004-08-19
US20060137091A1 (en) 2006-06-29
US7634824B2 (en) 2009-12-22
DK1589923T3 (en) 2013-08-05
EP1589923A1 (en) 2005-11-02
US20160259347A1 (en) 2016-09-08 Operating device, and three-dimensional movement apparatus
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KR101850678B1 (en) 2018-04-20 Powered ambulance cot with an automated cot control system
US9259369B2 (en) 2016-02-16 Powered patient support apparatus
CN1720886B (en) 2010-04-21 Stair-climbing wheelchair carrier
US20120016520A1 (en) 2012-01-19 Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode
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