Movable standing frame

Abstract

A mobile standing frame is described that is designed to raise a user from a seated position to a standing position and to return the user to the seated position. The mobile standing frame is provided with a number of unique features that can improve the user's experience when using the mobile standing frame. For example, the mobile standing frame may be provided with a variety of easily accessible separate user adjustment features (i.e., manual adjustment control buttons) that allow for simple adjustment of components of the mobile standing frame to accommodate the user's size. The mobile standing frame also includes a slope sensor to automatically lower the frame of the mobile standing frame from the fully standing position based on the sensed slope of the surface along which the mobile standing frame travels.

Description

Technical Field

[0001] The present technical description relates to a mobile standing frame, wherein the mobile standing frame is capable of automatically moving a user between a seated position and a standing position. Background Art

[0002] A variety of mobile standing frame designs are known in the art. Examples include the mobile standing frames described in US 6231067, US 9173792, US 10525784, US 10172752 and US 2021 / 0161742. Summary of the invention

[0003] A mobile standing frame is described that is designed to raise a user from a seated position to a standing position and return the user to a seated position. The mobile standing frame also has motor-driven wheels to move along a ground surface. The mobile standing frame is provided with a number of unique features that improve the user experience when using the mobile standing frame. For example, the mobile standing frame may be provided with a variety of easily accessible individual user adjustment features (i.e., manual adjustment controls) that allow for simple adjustment of components of the mobile standing frame to accommodate the size of the user.

[0004] In addition, the mobile standing frame can be provided with a feature to prevent the mobile standing frame from tipping over when the mobile standing frame is in the standing configuration, when the mobile standing frame is traveling up or down a slope. When the mobile standing frame is in the standing configuration and traveling on a slope (uphill or downhill), a slope sensor (such as a gyroscope) will detect the slope, and based on the detected slope, the controller will gradually adjust the mobile standing frame according to the angle of the uphill or downhill. For example, when traveling down the slope, the mobile standing frame will descend according to the angle of the downhill. When the mobile standing frame transitions from the downhill to the flat ground, the controller raises the mobile standing frame to the full standing configuration. In addition, when the mobile standing frame descends, thereby lowering the user, the footrest of the mobile standing frame will transition forward to form a longer fulcrum, and if the mobile standing frame does begin to tilt forward, the footrest will be far enough in front of the mobile standing frame to prevent tipping. In one embodiment, a single actuator motor raises and lowers the mobile standing frame, and also serves as a motor to control the movement of the footrest to prevent tipping.

[0005] In addition, the mobile stand frame has a center of mass that has a horizontal or lateral position behind the axis of the front wheels (i.e., between the axis of the front wheels and the axis of the rear wheels) in both the seated configuration and the standing configuration when the mobile stand frame is viewed from the side. In addition, the center of mass has a lower vertical position in a side view in both the seated configuration and the standing configuration compared to conventional mobile stand frames. For example, when in the standing configuration, the center of mass is about 15.5 inches or less above the ground, and when in the seated configuration, about 11.5 inches or less above the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 is a perspective view of a mobile standing frame as described herein, wherein the mobile standing frame is in a seated configuration.

[0007] Figure 2 yes Figure 1 Another perspective view of the mobile standing frame in FIG. 1 , wherein the mobile standing frame is in a fully raised standing configuration.

[0008] Figure 3 yes Figure 1 and Figure 2 Another perspective view of a mobile standing frame of , wherein the mobile standing frame is in an intermediate position between the sitting configuration and the fully elevated standing configuration.

[0009] Figure 4 is another perspective view of the mobile standing frame illustrating details of the drive mechanism for actuating the mobile standing frame between the seated configuration and the standing configuration.

[0010] Figure 5 is a side view of the frame of a mobile standing frame showing the main components of the frame.

[0011] Figure 6 A control system for a mobile standing frame as described herein is schematically depicted.

[0012] Figure 7 An example of a method for controlling the position of a mobile standing frame based on a slope angle is illustrated.

[0013] Figure 8 is a side view of the mobile standing frame in a fully elevated standing configuration.

[0014] Fig. 9 is a detailed view of the knee brace of the mobile standing frame showing additional individual user adjustment features.

[0015] Fig.10 is a top view of the mobile standing frame in a seated configuration showing additional individual user adjustment features.

[0016] Fig.11 is a perspective view of a mobile standing frame with the footrest removed to show the support wheels supporting one side of the footrest.

[0017] Fig.12 is a side view showing the mobile stand frame in a seated configuration, showing the center of mass of the mobile stand frame in the seated configuration.

[0018] Fig.13 is a side view showing the mobile standing frame in a fully elevated standing configuration, wherein the center of mass of the mobile standing frame in the standing configuration is shown. DETAILED DESCRIPTION

[0019] refer to Figure 1-4 , depicts an example of a mobile standing frame 10. The mobile standing frame 10 is designed to be driven when a user stands, and the mobile standing frame 10 has a self-balancing sensor to prevent tipping over during standing motion.

[0020] The mobile standing frame 10 generally includes a chassis or base 12 and a frame 14 mounted on the chassis 12. The frame 14 is mounted on the chassis 12 so as to be able to be positioned relative to the chassis 12 in a seated configuration ( Figure 1 ), standing configuration where the user is in a standing position ( Figure 2 ), and an intermediate configuration between the seated configuration and the standing configuration in which the user is between the seated position and the standing position ( Figure 3 One of them is shown).

[0021] The chassis 12 has a generally rigid rectangular structure that defines a front end, a rear end, a right side, and a left side. The terms right and left are from the perspective of a user occupying the mobile stand frame 10. The chassis 12 has wheels 16a, 16b, 18a, 18b that support the chassis 12 for rolling motion along the ground. The wheels 16a, 16b (which may be referred to as front wheels) are drive wheels driven by one or more electric wheel drive motors. For example, the wheels 16a, 16b may be driven by respective wheel drive motors, such as electric wheel hub drive motors 20a, 20b incorporated in the wheels 16a, 16b for moving the mobile stand frame 10 along the ground. The general structure and operation of wheel hub drive motors are known in the art. The wheel hub drive motors 20a, 20b may be brushless DC wheel hub motors, each of which has an internal electromagnetic brake and a manual release device so that the motor can be disengaged to allow the mobile stand frame 10 to roll freely. The tires of the wheels 16a, 16b may be porous and may dampen vibrations.

[0022] Wheels 18a, 18b can be called rear wheels and are not driven by motors. Preferably, wheels 18a, 18b are configured to allow forward, backward and lateral rolling motion. For example, wheels 18a, 18b can be omnidirectional wheels (or universal wheels).

[0023] The power for powering the mobile stand frame 10 may be provided by one or more batteries 22 mounted on the chassis 12. The batteries 22 may be rechargeable or non-rechargeable. The batteries 22 may be lithium batteries, such as a plurality of Tesla 21700 lithium battery cells. The chassis 12 may also include a control module 24 and a power supply 26 that conditions power from the batteries 22 for use by the various electrical components of the mobile stand frame 10.

[0024] The mobile standing frame 10 has a 4-wheel independent suspension including individual shock absorbers 28a, 28b supporting the wheels 16a, 16b and individual shock absorbers 30a, 30b supporting the wheels 18a, 18b.

[0025] The footrest assembly 32 is movably supported on the chassis 12. When the mobile standing frame 10 is moved between the sitting configuration and the standing configuration, the footrest assembly 32 moves forward and backward relative to the chassis 12. The footrest assembly 32 includes a footrest 34 and a column receiver 38, wherein the footrest 34 defines an area 36a, 36b for placing the user's feet during use, and the column receiver 38 protrudes upward from the center rear portion of the footrest 34. The footrest 34 includes a pair of channels 40a, 40b on its side, and the channels 40a, 40b accommodate support wheels 42 ( Fig.10 ), the support wheels 42 rollingly support the foot pedal assembly 32 when the foot pedal assembly 32 moves forward and backward. Fig.10 Only one set of support wheels 42 is visible in FIG; another set of support wheels 42 will be located in channel 40b on the opposite side of chassis 12. Figure 1 and Figure 2 As best shown, the footrest assembly 32 can be in a forward position ( Figure 1 ) and the rear position of the mobile standing frame 10 when it is in the standing configuration ( Figure 2 ). In addition, the vertical height of the footrest 34 does not change in the seated configuration and the standing configuration, and the footrest 34 remains below the axis of the front wheels 16a, 16b. For example, the footrest 34 can be about 2.0 inches above the ground in the seated configuration and the standing configuration.

[0026] refer to Figure 1-4, movement of the footrest assembly 32 actuates the frame 14 so that the frame 14 transitions upward and rearward when actuated to a standing configuration to enhance stability, and transitions downward and forward when actuated to a seated configuration to make motion control intuitive and natural. Figure 4 , the footrest assembly 32 is driven forward and backward by a drive motor 44 mounted on the chassis 12. The drive motor 44 drives a screw shaft 46 that extends into a channel 48 formed on the footrest assembly 32. A rubber bellows or metal barrier may surround part or all of the screw shaft 46 to protect and hide the screw shaft 46. A nut (not shown) is fixed in the channel 48 so that rotation of the screw shaft 46 drives the nut forward and backward (depending on the direction of rotation of the output shaft of the drive motor 44, thereby driving the footrest assembly 32 forward and backward, which causes the frame 14 to be raised and lowered). Thus, raising and lowering of the mobile stand frame 10 is achieved by using a single drive motor 44.

[0027] refer to Figure 1-5 , the frame 14 includes a column 50, a knee support assembly 52, a seat assembly 54, a spine 56, an armrest assembly 58, and a stamped rod 60. The column 50 is disposed in and adjustably secured to the column receiver 38. A gas spring 62 interconnects the column 50 with the chassis 12 to allow a user to manually adjust the height of the column 50 via a manual adjustment control button 64 accessible on the side of the column receiver 38. Figure 5 As shown, both the column receiver 38 and the column 50 are tilted forward. As the column 50 rises, the column 50 moves the position of the pivot 87 forward so that the center of mass can be maintained at the center of the chassis.

[0028] A knee support assembly 52 is mounted on the upper end of the column 50. Figure 5 , 9 and 10, the knee brace assembly 52 includes a knee brace base 66 fixed to the column 50. A sliding rod 68 is slidably disposed on the base 66 and is adjustably movable relative to the base 66 to extend and retract knee braces 70a, 70b mounted on the ends of the sliding rod 68. A manual adjustment control button 72 is accessible on the base 66. By pressing the button 72, the sliding rod 68 can be gradually slid in or out relative to the base 66. When the button 72 is released, a spring (not shown) biases the button 72 to a locked position that locks the position of the sliding rod 68. In addition, a manual adjustment control lever 73 (which can be referred to as a knee brace release lever) is provided at the top end of the column 50 (e.g., Figure 1 , 3 10 ). When the lever 73 is actuated, the knee brace assembly 52 is released and can be removed from the mobile standing frame 10 .

[0029] Continue to refer Figure 5 , 910, the yoke 74 is adjustably mounted at the end of the slide bar 68, and the rod 76 extends through the yoke 74. The outer surface of the rod 76 can be roughened (e.g., knurled), and the knee bracket clamps 78a, 78b are mounted on the knee brackets 70a, 70b. A manual adjustment control button 80 is provided on the yoke 74, and when the manual adjustment control button 80 is pressed, the yoke 74 is allowed to pivot relative to the slide bar 68 to make the knee brackets 70a, 70b closer to or farther away from the user. When the control button 80 is released, the position of the yoke 74 is locked until the button 80 is pressed again. In addition, the knee bracket clamps 78a, 78b are configured as cam locks with manual adjustment control rods 82a, 82b. The rods 82a, 82b can be individually actuated to release the clamping of the rod 76, thereby allowing each knee bracket 70a, 70b to rotate relative to the rod 76 around the axis of the rod 76, and allowing the position of the knee brackets 70a, 70b to be adjusted laterally along the length of the rod 76. Once the desired position of the knee braces 70a, 70b is reached, the rods 82a, 82b may be rotated to lock the clamps 78a, 78b, thereby fixing the position of the knee braces 70a, 70b.

[0030] return Figure 1-5 , the seat assembly 54 includes a seat track 84 having a front end 86 pivotally attached to the upper end of the column 50 at a pivot 87 to allow the seat track 84 to pivot relative to the column 50. A seat pan 88 is movably fixed to the seat track 84 to allow the position of the seat pan 88 relative to the seat track 84 to be adjusted. The seat pan 88 is also pivotally attached to a lap belt 90 at a pivot 92 fixed to the spine 56. A manual adjustment control button 94 is provided on the seat pan 88, which allows the depth of the seat pan 88 along the seat track 84 to be adjusted by pressing the button 94. When the button 94 is released, the position of the seat pan 88 is locked.

[0031] The spine 56 is connected to the column 50 via a back link 96 and a back extender 98 adjustably mounted on the back link 96. The back link 96 is pivotally attached to the column 50 at a pivot 97, and the back extender 98 is pivotally attached to the spine 56 at a pivot 99. A manual adjustment control button 100 is provided on the back link 96, which allows the back extender 98 to be adjusted relative to the back link 96 by pressing the button 100. When the button 100 is released, the position of the back extender 98 is locked. Figure 3 , 8 , 11 and 13 best show, the seat track 84 includes a pair of spaced apart members, and in the standing configuration, the backrest link 96 is recessed in the seat track 84 between the two spaced apart members. In addition, the bracket 66 is recessed in the column 50.

[0032] The backrest 102 is fixed to the upper end of the spine 56 by a bracket 104, and the bracket 104 is adjustably mounted on the spine 56. In addition, a rod 106 extends transversely through the bracket 104, and the armrests 108a, 108b of the armrest assembly 58 are mounted on the ends of the rod 106. A manual adjustment control button 110 is provided on the bracket 104, which allows the height of the backrest 102 relative to the bracket 104 to be adjusted. When the button 110 is released, the position of the backrest 102 is locked. In addition, another manual adjustment control button 112 is provided on the bracket 104. When the button 112 is pressed, the position of the bracket 104 along the spine 56 is allowed to be adjusted, thereby adjusting the height of the armrests 108a, 108b. When the button 110 is released, the position of the bracket 104 is locked.

[0033] like Figure 4 As best shown, individual mobile stand frame controls 114 (or armrest controls 114) may be provided on one or both of the armrests 108a, 108b. The controls 114 may be buttons, levers, control knobs, joysticks, touch screens, and other control elements for controlling the operation of the mobile stand frame 10 (e.g., moving the mobile stand frame 10 forward, backward, sideways, raising and lowering) and other control operations. In one embodiment, the controls 114 may include a joystick 114a. In another embodiment, the controls 114 may be interchanged from the right armrest 108a to the left armrest 108b.

[0034] return Figure 1-5 , the punch rod 60 is pivotally connected at one end 116 thereof to the backrest link 96 and is fixed at the other end 118 thereof to a raised portion 120 of the chassis 12. The end 118 of the punch rod 60 is adjustably connected to the raised portion 120 to allow the position of the end 118 to be adjusted upward or downward relative to the raised portion 120. A manual adjustment control button 122 is provided so that when pressed, the height of the punch rod 60 is allowed to be adjusted by changing the position of the end 118 relative to the raised portion 120. When the button 122 is released, the height of the punch rod 60 is fixed to the raised portion 120, thereby locking the position of the end 118 of the punch rod 60.

[0035] In all manual adjustment control features described herein, the manual buttons (such as Figure 1-5 buttons 64, 72, 80, 94, 100, 110, 112, 122) as depicted in the figure or using an adjustment knob (e.g. Figure 3 and Figure 12-13 The adjustment can be accomplished by means of a knob 64' visible in FIG.

[0036] refer to Figure 6, the mobile stand frame 10 includes a control system 150 that controls the operation of the mobile stand frame 10. The control system 150 includes a power supply 152 (e.g., battery 22) that provides power, and a controller 154 that is electrically connected to the wheel drive motors 20a, 20b, the drive motor 44, and the armrest control 114. For example, the controller 154 controls the operation of the wheel drive motors 20a, 20b and the drive motor 44 based on the control input input via the armrest control 114 to control the forward, backward, and / or sideways movement of the mobile stand frame 10, and actuates the mobile stand frame 10 between the seated configuration and the standing configuration via the drive motor 44 and the screw shaft 46, as described above.

[0037] The control system 150 also includes a slope sensor 156 connected to the controller 154. The slope sensor 156 is part of the automatic control system of the mobile standing frame 10, whereby the controller 154 automatically adjusts the standing height of the mobile standing chair 10 based on the sensed slope angle. The slope sensor 156 can have any configuration suitable for sensing the slope of the surface along which the mobile standing frame 10 travels. For example, the slope sensor 156 can be a gyroscope, an accelerometer, or any other type of tilt sensor.

[0038] refer to Figure 6 and Figure 7 , Figure 7 An automatic control method 160 is depicted whereby when the mobile stand frame 10 is in the standing configuration and traveling on an incline (either uphill or downhill), the incline sensor 156 will detect the incline at 162, and based on the detected incline, the controller 154 will automatically adjust the frame 14 (upward or downward) depending on the angle of the incline or downhill. For example, when traveling downhill, the frame 14 will automatically descend to a lowered or intermediate standing configuration depending on the angle of the downhill detected by the incline sensor 156. When the mobile stand frame 10 transitions from the downhill to flat ground, the controller 154 will automatically raise the frame 14 back to the full standing configuration. Additionally, as the frame 14 is lowered, thereby lowering the user, the footrests 34 will transition forward to form a longer pivot, and if the mobile stand frame 10 does begin to tilt forward, the footrests 34 will be far enough in front of the mobile stand frame 10 (e.g., see FIG. 1 ). Figure 3 ) to prevent it from tipping forward.

[0039] refer to Fig.12 and 13The mobile stand frame 10 is also unique in that the center of mass CM of the mobile stand frame 10 is lower in both the seated configuration and the standing configuration, compared to conventional mobile stand frames. In particular, in the side view, the center of mass CM has a horizontal or lateral position behind the axis of the front wheels 16a, 16b but in front of the rear wheels 18a, 18b in both the seated configuration and the standing configuration (i.e., CM is between the axis of the front wheels 16a, 16b and the axis of the rear wheels 18a, 18b). In addition, in both the seated configuration and the standing configuration, the vertical distance X of the center of mass CM above the ground in the side view is lower than that of conventional mobile stand frames. For example, in one embodiment, when in the standing configuration, the distance X of the center of mass CM above the ground is about 15.5 inches or less (e.g., 15.5 inches or less). Fig.13 ), and when in the seated configuration, the distance X above the ground is about 11.5 inches or less (as shown Fig.12 as shown).

[0040] The examples disclosed in this application should be considered in all respects as illustrative and not restrictive. The scope of the present invention is indicated by the appended claims rather than by the above description; and all changes within the equivalent meaning and range of the claims are intended to be included therein.

Claims

1. A mobile standing frame, comprising: a chassis having wheels that support the chassis for rolling motion along a ground surface; a wheel drive motor in driving engagement with one or more of the wheels to drive the one or more wheels; a frame mounted on the chassis, the frame being actuatable relative to the chassis between a seated configuration and a standing configuration; a frame drive motor engaged with the frame to drive the frame between the seated configuration and the standing configuration; And one or more of the following: a) a control system in communication with the frame drive motor, the control system comprising a slope sensor and a controller, the slope sensor sensing a slope angle of a surface on which the mobile stand frame travels, the controller in communication with the slope sensor and the frame drive motor, the controller controlling the frame drive motor based on the slope angle sensed by the slope sensor; b) A plurality of manually adjustable control elements, wherein the plurality of manually adjustable control elements are located on the frame and are components for users to adjust the frame.

2. The mobile standing frame according to claim 1, comprising a).

3. The mobile standing frame according to claim 1, comprising b).

4. The mobile standing frame according to claim 1, comprising a) and b).

5. The mobile standing frame of claim 1 , further comprising a footrest assembly having a footrest movably supported on the chassis to move between a front position when the frame is in the sitting configuration and a rear position when the frame is in the standing configuration; and the footrest is configured so that when the frame is lowered from the standing configuration toward the sitting configuration, the footrest moves forward to form a longer fulcrum, and the footrest protrudes forward from the mobile standing frame at the sitting configuration by a sufficient distance to prevent the mobile standing frame from tilting.

6. The mobile stand frame of claim 5, wherein the frame drive motor engages the foot pedal to drive the foot pedal between the forward position and the rearward position.

7. The mobile standing frame of claim 5, wherein the wheels include a front wheel, and the footrest is disposed below the axis of the front wheel.

8. The mobile standing frame of claim 1, wherein the components adjusted by the manual adjustment control element include a gas spring, a knee support assembly, a seat pan, and a backrest of the frame.

9. A method for controlling the mobile standing frame according to claim 1, comprising: sensing a slope angle of a surface on which the mobile stand-up frame travels with the frame in the stand-up configuration; Based on the sensed slope angle, the frame of the mobile standing frame is automatically lowered toward the seated configuration.

10. The method of claim 9, further comprising automatically raising the mobile standing frame toward the standing configuration when the frame transitions to flat ground.

11. The method of claim 9, further comprising actuating a footrest of a footrest assembly toward a forward position when automatically lowering the mobile standing frame toward the seated configuration.

Images