Pneumatic powered mobility control systems

Patent metadata

Field	Value
Publication number	US-12042444-B2
Application number	US-201916966223-A
Country	US
Kind code	B2
Filing date	Jan 30, 2019
Priority date	Jan 31, 2018
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

A personal mobility device includes a control system including a manually operated actuator, a first forward control valve having an inlet in fluid connection with a source of pressurized gas and an outlet in fluid connection with a first forward port of at least a first pneumatic motor, and a first rearward control valve having an inlet in fluid connection with the source of pressurized gas and an outlet in fluid connection with a first rearward port of the first pneumatic motor. Movement of the manually operated actuator controls actuation of the first forward control valve and the first rearward control valve and thereby flow of gas from the source of pressurized gas to the first forward port and the first rearward port.

First claim

What is claimed is:

1. A personal mobility device comprising:
a frame;
a plurality of wheels attached to the frame and comprising a first drive wheel;
a first pneumatic motor in operative connection with the first drive wheel, the first pneumatic motor comprising a first forward port and a first rearward port;
at least one tank of pressurized gas comprising an outlet;
a regulator in fluid connection with the outlet of the tank of pressurized gas, the regulator decreasing pressure from a pressure of the tank of pressurized gas to a lower pressure, and
a control system comprising a manually operated actuator, a first forward control valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the first forward port, a first rearward control valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the first rearward port, wherein movement of the manually operated actuator controls actuation of the first forward control valve and the first rearward control valve, wherein actuation of the first forward control valve causes pressurized gas to flow from the regulator into first forward port during forward motion of the first drive wheel and actuation of the first rearward control valve causes pressurized gas to flow from the regulator into first rearward port during rearward motion of the first drive wheel.

2. The personal mobility device of claim 1 comprising:
a second pneumatic motor in operative connection with a second drive wheel, the second pneumatic motor comprising a second forward port and a second rearward port;

the control system further comprising a second forward control valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the second forward port, and a second rearward control valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the second rearward port, and wherein movement of the manually operated actuator also controls actuation of the second forward control valve and the second rearward control valve and thereby flow of gas from the regulator to the second forward port and the second rearward port, wherein actuation of the second forward control valve causes pressurized gas to flow into second forward port during forward motion of the second drive wheel and actuation of the second rearward control valve causes pressurized gas to flow into second rearward port during rearward motion of the second drive wheel.

3. The personal mobility device of claim 2 wherein the first pneumatic motor is a first rotary piston pneumatic motor and the second pneumatic motor is a second rotary piston pneumatic motor.

4. The personal mobility device of claim 3 wherein the manually operated actuator controls the first forward control valve, the first rearward control valve, the second forward control valve and the second rearward control valve to effect differential steering.

5. The personal mobility device of claim 3 wherein the manually operated actuator comprises a joystick or a wigwag controller.

6. The personal mobility device of claim 3 wherein the manually operated actuator comprises a lever arm extending between a portion configured to be manually contacted by an operator and a directional control valve actuator, wherein movement of the directional control valve actuator controls actuation of the first forward control valve, the first rearward control valve, the second forward control valve, and the second rearward control valve and thereby flow of gas from the regulator to the first forward port, the first rearward port, the second forward port and the second rearward port to effect differential steering.

7. The personal mobility device of claim 6 wherein each of the first forward control valve, the first rearward control valve, the second forward control valve, and the second rearward control valve comprises a flow actuator and a follower in operative connection with the flow actuator, the follower of each of the first forward control valve, the first rearward control valve, the second forward control valve, and the second rearward control valve being in contact with a surface of the directional control valve actuator which has a predetermined surface conformation configured to provide a predetermined output for each of the first forward control valve, the first rearward control valve, the second forward control valve, and the second rearward control valve as determined by manipulation of the portion of the manually operated actuator configured to be contacted by the operator.

8. The personal mobility device of claim 7 wherein the control system comprises a main flow control valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the inlet of the first forward control valve, the inlet of the first rearward control valve, the inlet of the second forward control valve, and the inlet of the second rearward control valve.

9. The personal mobility device of claim 8 wherein the control system further comprises an on/off valve having an inlet in fluid connection with the regulator and an outlet in fluid connection with the inlet of the main flow control valve.

10. The personal mobility device of claim 3 further comprising a braking system to resist rotation of at least one of the first drive wheel and the second drive wheel.

11. The personal mobility device of claim 10 further comprising a brake system actuator to actuate the braking system comprising a valve in fluid connection with the regulator which actuates the braking system when no pressurized gas flows to the first pneumatic motor or to the second pneumatic motor.

12. The personal mobility device of claim 11 wherein no pressurized gas flows to the first pneumatic motor or to the second pneumatic motor at a predetermined resting position of the manually operated actuator, the predetermined resting position occurring in the absence of manipulation of the manually operated actuator by an operator.

13. The personal mobility device of claim 10 wherein the brake system actuator is in fluid connection with a valve system which activates the valve of the brake system actuator when three of the first forward control valve, the first rearward control valve, the second forward control valve, and the second rearward control valve are in a non-activated state, wherein no pressurized gas flows therethrough to the first pneumatic motor or to the second pneumatic motor as controlled by a predetermined resting position of the manually operated actuator, the predetermined resting position occurring in the absence of manipulation of the manually operated actuator by an operator.

14. The personal mobility device of claim 13 wherein the braking system comprises a first brake operatively connected to the first drive wheel and a second brake operatively connected to the second drive wheel, the first brake and the second brake being actuated when the manually operated actuator is in the predetermined resting position.

15. The personal mobility device of claim 7 further comprising a braking system to resist rotation of at least one of the first drive wheel and the second drive wheel.

16. The personal mobility device of claim 15 further comprising a brake system actuator to actuate the braking system comprising a valve in fluid connection with the outlet of the main flow control valve, and in fluid connection with a valve system which activates the valve of the brake system actuator when three of the first forward control valve, the first rearward c

Assignees

• Univ Pittsburgh Commonwealth Sys Higher Education
• Us Gov Veterans Affairs
• Univ Of Pittsburgh—Of The Commonwealth System Of Higher Education

Inventors

• Cooper Rory Alan
• Daveler Brandon Joseph
• Grindle Garrett G
• Gebrosky Benjamin Todd

Classifications

• G05G9/047

  the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)} · CPC title

• B62D11/04

  by means of separate power sources · CPC title

• A61G5/1008

  for gradually slowing down the wheelchair · CPC title

• A61G5/024

  having particular operating means · CPC title

• A61G5/023

  acting directly on hubs or axis · CPC title