Patent Description:
Manual wheelchairs are cost effective mobility aids, many of which are foldable for easy transport. Manual wheelchairs generally rely either on an attendant or the user for propulsion power. Users with sufficient upper body strength can propel a manual wheelchair for some distance but fatigue is an inevitable outcome if the travel distance is long. Devices designed to provide auxiliary motive power to a manual wheelchair are known. These devices are either incorporated into the large, hand-rim, drive wheels or provided as add-on units typically attached to structural elements of the manual wheelchair, such as frames or rear axle tubes or mounts.

These add-on auxiliary power drives have challenges related to ease of attachment and detachment to the manual wheelchair structure and transfer of propulsion forces between the wheelchair and the particular travel surface. It would be advantageous to provide an improved add-on propulsion unit for manual wheelchairs that overcomes these shortcomings of prior systems.

<CIT> describes a power drive/steer assist attachment for a wheelchair, comprising: a frame connectable to said wheelchair including spaced apart first and second horizontal members; means for securing said first and second horizontal members of said frame to said wheelchair with said first, horizontal member positioned above said second horizontal member; a steering column connected to said frame; a drive wheel connected to said steering column; and means for rotating said steering column about a horizontal axis using said second horizontal member of said frame as a center of rotation to alternatively position and hold in place said drive wheel connected, to said steering column in a ground engaging position where said drive wheel engages the ground and in at least one non-ground engaging position where said drive wheel does not engage the ground.

<CIT> teaches a pulling device, in particular for pulling wheelchairs, wherein a box-shaped crossbeam accommodating the drive batteries firmly connects two longitudinal bars to one another and forms a torsionally rigid frame which is open on one side and is preferably approximately horizontal and on which the drive wheels are arranged to the right and left of the longitudinal axis and limit the width of the towing device.

<CIT> refers to a detachable power drive unit which fits underneath or immediately behind a manual wheelchair, comprising: a frame; two independently controlled drive wheels attached to said frame; a hitching unit for coupling the frame to a manual wheelchair; a user interface consisting of an input device such as a joystick; and a controller which receives the inputs from the operator through the joystick and controls the rotation of said drive wheels based on said inputs, wherein said hitching unit can be adjusted such that ground contacts of drive wheels and wheelchair wheels form a straight line, said drive wheels, having ground contacts in line with wheelchair wheels, can drive wheelchair in any direction, fore-aft, side-to-side and rotation-in-place without excessive tire scrubbing. said controller translates joystick inputs into wheelchair heading and speed and powers drive wheels independently to achieve said heading and speed.

<CIT> describes a power operated wheel chair comprising in combination frame means including a structure having a back rest portion and a supporting seat portion, a pair of wheels rotatably mounted along a line extending horizontally across the back side of said structure, and a substantially smaller wheel relative to each wheel of said pair, said smaller wheel being rotatably mounted to said structure at a front corner portion thereof in caster-like arrangement; means mechanically coupled to said structure at the other front corner portion thereof and including a motor drive and control assembly, said motor drive including a housing having a cylindrical member disposed therein, a motor means disposed in said cylindrical member, a traction wheel surrounding said motor means in rotatable disposition on said cylindrical member and in contact relationship with the surface in contact with said pair of wheels and said smaller wheel, and means for coupling said motor means to said traction wheel in predetermined geared relationship therewith; source means including a storage battery for supplying electrical energy to said motor means, said motor drive and control assembly including variable resistance means serially coupled between said battery and said motor means and responsive to manual operation to control the speed and torque output of said motor means; and support means for said source means and including a battery support device disposed on said frame means between each of said pair of wheels, said support device including conductive means for electromagnetically coupling said battery in series circuit relationship with said motor drive and control assembly.

<CIT> teaches an adapter for a wheelchair, the adapter comprising an adapting member, the adapter further comprising an attachment member configured for attachment of the adapting member to a first side of the wheelchair independently of an opposing, second side of the wheelchair, the adapter further comprising a transition means for alternating an adaptive implement between an operative state and an inoperative state, wherein, while the adaptive implement is in the operative state, the adaptive implement is maintained in the operative state during travel of the wheelchair in all directions, and wherein, while the adaptive implement is in the operative state, the adaptive implement moves in concert with movements of the wheelchair.

<CIT> refers to an auxiliary power device for a wheelchair, the wheelchair including a chair frame, and two spaced-apart front wheels disposed pivotally on a bottom portion of a front end of the chair frame, wherein a coupling assembly including a coupling seat unit adapted to be disposed on the chair frame; an adjustable unit including a steering operation rod unit disposed rotatably on the coupling seat unit of the coupling assembly, an electrical wheel unit disposed on a bottom end of the operation rod unit, and a linkage interconnecting the electrical wheel unit and the coupling seat unit such that the electrical wheel unit is movable relative to the operation rod unit between a used position whereat a lower end of the electrical wheel unit is below that of the front wheels, and an unused position whereat the lower end of the electrical wheel unit is above that of the front wheels; and a power supply unit including a battery for providing electricity to the electrical wheel unit, and a controller for controlling the rotational direction of the electrical wheel unit.

It is the object of the present invention to further develop the known propulsion system for a manual wheelchair to overcome the drawbacks of the prior art.

This object is achieved by the features of the characterizing portion of claim <NUM>. Preferred embodiments are described in sub-claims <NUM> to <NUM>.

Further, a manual wheelchair with an propulsion system in line with claims <NUM> and <NUM> are described.

Thus, this invention relates to auxiliary propulsion devices for manual wheelchairs. The auxiliary propulsion device is a propulsion system for a manual wheelchair where the system includes a mounting clamp and a propulsion drive unit. The propulsion drive unit includes a drive wheel assembly and a support suspension. The support suspension is configured to provide linear movement of the drive wheel and drive hub assembly relative to the manual wheelchair.

The support suspension of the propulsion system includes a linear bearing and slide member assembly having at least one linear bearing and a slide member for accommodating the linear movement of the drive wheel assembly. The support suspension also includes a resilient suspension member that provides a tractive effort force to the drive wheel. The drive wheel assembly is supported on a carriage that is attached to one of the at least one linear bearing or the slide member and having a suspension mount in contact with the resilient suspension member. The mounting clamp is connected to the other of the linear bearing or the slide member. Further, an actuator provides selective linear movement of the carriage between a drive position where the drive wheel contacts the ground and a stowed position where the drive wheel is out of contact with the ground.

The mounting clamp is selectively engaged to a mounting block that is attached to the other of the at least one linear bearing or slide member. The mounting block has a clamp interface that engages the mounting clamp. The mounting clamp includes a mounting cavity having a lead-in wall and a mounting slot. The lead-in wall is shaped to guide a portion of the clamp interface into the mounting slot. In one configuration of the propulsion system, the clamp interface includes a locating tab that is configured to seat into the mounting slot.

Various aspects of this invention will become apparent to those skilled in the art from the following detailed description of the preferred embodiment, when read in light of the accompanying drawings.

Referring now to the drawings, there is illustrated in <FIG> a detachable propulsion system, shown generally at <NUM>, configured to be mounted to a manual wheelchair <NUM>. In the illustrated embodiment, the propulsion system <NUM> includes a propulsion unit 10a and a clamp <NUM> that is configured to attach to a structural member of the wheelchair <NUM>, such as a cross-member, a camber tube, or axle tube <NUM>. The clamp <NUM> has at least one aperture 14a that defines a mounting axis A. The propulsion system <NUM> further includes a drive wheel assembly <NUM>, illustrated as a tire or rather drive wheel 18a and hub motor assembly 18b, though other drive systems such as a motorized pinch-roller or friction drive, belt or chain drive, shaft drive, and the like may be used. The drive wheel assembly <NUM> defines a wheel rotational axis B through the hub rotational centerline and an associated tire contact patch, i.e., the area of the tire in contact with a support surface such as the ground. The wheelchair <NUM> includes drive wheels 12a, though only one wheel is illustrated two spaced-apart drive wheels are known, that define a rotational axis C and an associated tire contact patch.

Referring to <FIG>, the propulsion system <NUM> includes a mounting block <NUM> having a slide mounting body 20a and a clamp interface 20b. The slide mounting body 20a is configured to attach to one of at least one slide bearing <NUM> or a mating slide <NUM>, configured as a slide bar, track or other suitable linear motion structure. Though identified as "slide" bearings, these bearings <NUM> may be any suitable rolling or sliding element including bearings, bushings, or other elements conducive to supporting linear motion. In the illustrated embodiment, the slide bar <NUM> includes a suspension reaction mount 24a. The mounting block <NUM> is connected to an actuator <NUM>, illustrated within a cavity <NUM> of the slide mounting body 20a, at a first or lower end 26a of the actuator <NUM>. The actuator <NUM> selectively engages a carriage <NUM> at a second or upper end 26b of the actuator <NUM>. The carriage <NUM> has a mounting plate 30a that is proximate to and configured to attach to the other of the at least one slide bearing <NUM> or the mating slide <NUM> such that the carriage <NUM> is linearly moveable relative to the mounting block <NUM>. The carriage <NUM> has a drive wheel fork 30b at a distal end that supports the drive wheel assembly <NUM> for rotation. The carriage <NUM> further includes a slide mount 30c that supports one of the slide bar <NUM> or the at least one slide bearing <NUM>. In the illustrated embodiment, the suspension reaction mount 24a is attached to the slide bar <NUM> and extends into the actuator cavity <NUM> and is configured to be contacted by the actuator second end 26b when the actuator <NUM> is extended. Alternatively, the suspension reaction mount 24a may be formed integrally with the slide bar <NUM> or the carriage <NUM> if desired. The actuator <NUM> selectively moves the carriage <NUM> and the drive wheel <NUM> relative to the mounting block <NUM> between a use position, where the drive wheel is in contact with the ground, and a stowed position, where the drive wheel is moved out of contact with the ground. <FIG> illustrates the actuator <NUM> in the use position where the second end 26b is retracted away from the suspension reaction mount 24a. The carriage <NUM> is shown in an articulated position where the suspension reaction mount 24a has compressed a resilient suspension member such as during an obstacle traversal maneuver by the propulsion system <NUM>.

The carriage <NUM> includes at least one kickstand mount 30d, illustrated as extending from the drive wheel fork 30b, for supporting a kickstand <NUM>. The kickstand <NUM> supports the system <NUM> in a free-standing configuration, as shown in <FIG>, when detached from the wheelchair <NUM> or the clamp <NUM>. The illustrated kickstand <NUM> includes a kickstand fork <NUM> pivotally mounted to the kickstand mount 30d at a first end and supporting at least one wheel <NUM> at a second end. Two wheels <NUM>, illustrated as Omni style or Mecanum-style wheels having lateral roller elements, are shown mounted on opposing arms of the kickstand fork <NUM>. The Omni-style wheels accommodate lateral movement of the propulsion system <NUM>, making attachment or detachment of the unit easier by a user from a seated position. It should be understood that any wheel or sliding contact member may be used if so desired. The fork <NUM> is held out of contact with the ground or support surface, as shown in <FIG>, by a spring <NUM>. The kickstand <NUM> is configured to clear or pivot away from irregularities encountered during travel in order to prevent force transfers to the wheelchair <NUM> that can cause unintended deviations in the desired travel direction.

Referring to <FIG>, <FIG>, the slide mounting body 20a supports a resilient suspension member in the form of a suspension spring <NUM>, shown as a coil compression spring though other resilient elements may be used. The suspension spring <NUM> applies a force to the carriage <NUM> and drive wheel assembly <NUM>, through the suspension reaction mount 24a, that is sufficient to provide traction to propel the wheelchair <NUM>. The suspension spring <NUM>, in contact with the suspension reaction mount 24a, compresses and extends as the drive wheel system <NUM> moves over irregular surfaces to maintain ground contact. In the illustrated embodiment, a handle <NUM> is secured to the slide mounting body 20a. The handle <NUM> is shown having an upper body 42a and a lower body 42b. The lower body 42b includes a spring seat <NUM> that contacts the suspension spring <NUM>. The spring seat <NUM> may alternatively be part of the mounting body 20a. The upper body 42a supports and/or houses at least a portion of a latching mechanism, shown generally at <NUM> of <FIG>, which will be explained in detail below. During movement of the drive wheel system <NUM>, the slide <NUM> shown mounted to the carriage <NUM> is supported by and moves linearly against the slide bearings <NUM>. The slide <NUM> and slide bearings <NUM> transfer the tractive force of the drive wheel to the clamp <NUM> and wheelchair axle or cross member <NUM> thus moving the wheelchair <NUM> forward. The linear motion of the slide members <NUM> and <NUM> permits the drive wheel 18a to articulate relative to terrain irregularities and permits the actuator <NUM> to move the drive wheel 18a out of contact with the ground if only manual propulsion is desired. This permits a user to easily reduce drag from the propulsion unit 10a in manual mode operation without removing the unit.

The latching mechanism <NUM>, as illustrated, is supported by the handle <NUM> and the mounting block <NUM>. The latching mechanism <NUM> includes an actuation lever <NUM> that is pivotally supported by a pin 48a on the handle lower body 42b and resiliently held in a ready position enabling release of the propulsion unit 10a portion of the propulsion system <NUM> from the clamp <NUM>. The actuation lever <NUM> has an actuation cam face 48b that contacts a latch cam face 50a of a latch hook <NUM>. The latch hook <NUM>, as illustrated, is pivotally supported on the mounting block <NUM> by a pin 50b and resiliently held in an engaged position where a hook end 50c is positioned to hold the propulsion unit 10a fixed to the clamp <NUM>. Because the latch cam face 50a is movable relative to the actuation cam face 48b, the hook end 50c is movable relative to the mounting block to permit securement of the propulsion unit 10a to the clamp <NUM> without operating the actuation lever <NUM>. This permits easier attachment of the unit 10a by a seated user.

The clamp <NUM>, as shown in <FIG>, includes a mounting cavity 14b having a lead-in wall 14c terminating in a mounting slot 14d. The mating clamp interface 20b of the mounting block <NUM> includes a locating tab or tongue 20c that is configured to locate and seat within the mounting slot 14d. In the illustrated embodiment, the mounting cavity 14b can function as a funnel or chute to guide the locating tab 20c into engagement with the mounting slot 14d. In connecting the propulsion unit 10a to the clamp <NUM>, the following sequence of actions or steps illustrate the functions and interactions of the mounting elements of the propulsion system <NUM>. Initially, the propulsion unit 10a may be free-standing with the aid of the kickstand <NUM> such that the locating tab 20c is aimed toward the clamp <NUM> mounted on the axle or camber tube <NUM> of the manual wheelchair <NUM>. When the actuator <NUM> is contracted, the mounting block <NUM> is raised relative to the carriage <NUM> by extension of the suspension spring <NUM> toward its free state length. In certain wheelchair configurations, the locating tab 20c may be sufficiently elevated to enter the mounting cavity 14b as the propulsion unit 10a rests on the kickstand <NUM>. When the unit 10a is aligned relative to the clamp <NUM>, the wheelchair may be rolled backwards until the locating tab 20c enters the mounting cavity 14b. In other configurations, the unit may need to be elevated by the user through the handle <NUM>. After the tab 20c enters the cavity 14b, the actuator <NUM> may be extended to draw the locating tab 20c into the mounting slot 14d. When the tab 20c completely enters the slot 14d, the hook end 50c of the latch hook <NUM> engages a latching boss 14e of the clamp <NUM> to secure the propulsion unit 10a to the clamp <NUM> and the wheelchair <NUM>.

In order to remove or disconnect the unit 10a from the clamp <NUM>, the latching mechanism <NUM> may be activated by moving the actuation lever <NUM> into the handle <NUM>. This causes the lever <NUM> to pivot about pin 48a causing the actuation cam face 48b to move the latch cam face 50a toward the clamp <NUM>. The latch hook <NUM> pivots about the latch pivot pin 50b causing the hook end 50c to disengage from the latching boss 14e. If the unit 10a is loaded against the ground with the suspension spring <NUM> compressed, the force exerted by the spring may assist in extracting the clamp interface 20b from the mounting cavity 14b as the mounting block <NUM> is moved by the spring force. If the actuator <NUM> is extended to compress the suspension spring <NUM> and raise the drive wheel 18a from contact with the ground, the latch hook <NUM> may be more easily pivoted and the unit 10a can be lifted from the mounting cavity 14b Alternatively, the actuator <NUM> may include a linkage (not shown) that releases the latch hook <NUM> when the actuator <NUM> is extended beyond the length necessary to lift the wheel off of the ground. The actuator <NUM> may be directly or indirectly connected to the latch hook <NUM> or may actuate the lever <NUM> in order to provide remote or automated actuation.

Referring to <FIG> and <FIG>, when the propulsion system <NUM> is mounted to the wheelchair <NUM> the clamping axis A is coincident with the axle tube axis C. Because the drive wheel axis B extends toward the clamping axis A, the drive wheel tire contact patch is moved close to or coincident with the tire patch of the wheelchair drive wheel 12a. This results in the system <NUM> being contained within an envelope defined by the wheelchair <NUM>, including the drive wheels 12a. In one aspect, the envelope can be defined by a line generally tangent to an outer diameter of the wheelchair drive wheel and may represent a wall or other external structure abutting the wheelchair drive wheel. This packaging permits a seated user to operate the manual wheelchair <NUM> in the usual manner, including being able to manually back the wheelchair against a wall, curb, or other structure and also lean the wheelchair against a wall, which is a common resting position providing the weight distribution benefits of a reclined, seated position to reduce prolonged seated skin conditions. The close proximity of the drive wheel contact patches is primarily enabled by the use of sliding suspension members instead of pivoting suspension members. This provides the ability to package the moving components in a compact envelope. In one embodiment, this permits the unit to be mounted in a rearward position that is more easily accessible by the seated user for attaching and disconnecting the unit fostering a greater sense of independence. Alternatively, the propulsion system <NUM> may be mounted from the front side of the wheelchair and extend toward the rear.

During operation, when the propulsion unit drive wheel tire patch is close to or in line with the wheelchair drive wheel tire patch, the moment created by the offset is minimized. This reduces the cause of tire scrubbing and permits easier turning and maneuvering of the wheelchair. Since the operating basis of the wheelchair is manual in nature, maneuvering is based on relative speed or rotation of one drive wheel 12a relative to the other spaced- apart drive wheel 12a. Through the use of a linear motion suspension system and the rearward mounting configuration of the propulsion system <NUM>, particularly mounting the system to the wheelchair drive wheel axle or camber tube member, the weight of the unit is brought closer to the center of gravity of the wheelchair and seated user which reduces tipping or instability sensations. This location also can take advantage of the weight over the wheelchair drive wheels to improve tractive effort of the propulsion drive wheel 18a.

As shown in the drawings, the propulsion system <NUM> includes a controller <NUM> containing electronics necessary to operate the propulsion unit for drive control, suspension control, and/or latch control. The controller <NUM> and other components of the propulsion system may be enclosed in a housing 10b, though such is not required. The propulsion unit <NUM> also includes an energy source, illustrated as a battery pack <NUM> and a battery housing <NUM>. The controller <NUM> may include all of the necessary sensors within the controller or may receive signals from remote sensors for processing. The actuator <NUM> may be configured as an electrically driven actuator and rely on a current measurement to detect end of travel positioning. Such a sensor and its associated measurement may be provided on the controller <NUM>. Alternatively, the actuator <NUM> may rely on a proximity switch or load cell to detect the end of travel position which may be remote mounted from the controller <NUM> and attached to the actuator or a supporting structure.

In two of the preferred embodiments shown herein, as illustrated in Figs. 8A- <NUM>, a first version is shown in Figs. 8A-8C and <NUM>. This version, identified as Embodiment <NUM>, includes a power drive wheel with hub motor and a linearly movable support housing with carriage rollers. The carriage rollers are supported and guided by slots formed in the housing. A mounting bolt extends through the slot to slidably secure the carriage roller blocks to the housing. In the illustrated embodiment, the slots are formed in generally parallel raised portions that engage corresponding recesses formed in the carriage roller blocks.

Claim 1:
A propulsion system (<NUM>) for a manual wheelchair (<NUM>), the system (<NUM>) comprising:
• a mounting clamp (<NUM>) configured to attach to the manual wheelchair (<NUM>);
• a propulsion unit (10a) selectively attachable to the mounting clamp (<NUM>), the propulsion unit (10a) comprising:
• a drive wheel assembly (<NUM>), wherein the drive wheel assembly (<NUM>) is supported on a carriage (<NUM>); and
• a support suspension, wherein the support suspension is configured to provide linear movement of a drive wheel (18a) of the drive wheel assembly (<NUM>) relative to the manual wheelchair (<NUM>),
characterized by
• an actuator (<NUM>), which provides selective linear movement of the carriage (<NUM>) between a drive position where the drive wheel (18a) contacts a support surface and a stowed position where the drive wheel (18a) is out of contact with the support surface, wherein
o the support suspension comprises rolling and/or sliding means conducive to supporting linear motion, with the support suspension comprising a linear bearing and slide member assembly having at least one linear bearing and a slide member (<NUM>, <NUM>) for accommodating the linear movement of the drive wheel assembly (<NUM>),
o the support suspension comprises a resilient suspension member providing a tractive effort force to the drive wheel (18a),
o the carriage (<NUM>) is attached to one of the at least one linear bearing (<NUM>) or the slide member (<NUM>) and has a suspension reaction mount (24a) in contact with the resilient suspension member, and the mounting clamp (<NUM>) is connected to the other of the linear bearing or the slide member (<NUM>, <NUM>),
o the actuator (<NUM>) is an electrically driven actuator attached at a first end (26a) to a mounting block (<NUM>), with the mounting block (<NUM>) being attached to the at least one linear bearing (<NUM>) and the carriage (<NUM>) is attached to the slide member (<NUM>), the mounting block (<NUM>) being selectively attachable to the mounting clamp (<NUM>) and has a spring seat (<NUM>), and the resilient suspension member being positioned between the spring seat (<NUM>) and the suspension reaction mount (24a), and
o the actuator (<NUM>) has a second end (26b) that selectively engages the suspension reaction mount (24a) to move the drive wheel (18a) out of contact with the support surface.