ES2881075A1 - AUTONOMOUS TRANSFER SYSTEM FOR A WHEELCHAIR (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Autonomous transfer system for a wheelchair. The present invention describes a transfer system (1) for a wheelchair (2), comprising: - a support structure (3) which, in turn, comprises: - coupling means (31) to the wheelchair (2); and - a system of arms (32, 33) mobile and articulated, capable of lifting a user from the wheelchair (2) and putting him on his feet; - a lower base (4) with at least one movable rotating plate (41), capable of rotating supporting the user; - actuators, which give movement to mobile elements of the transfer system (1), said mobile elements being, at least, the arm system (32, 33) and the rotating mobile plate (41); - a control knob (6), which controls the actuation of the actuators; and - a user holding means (5), configured to hold the user to the arm system (32, 33). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

AUTONOMOUS TRANSFER SYSTEM FOR A WHEELCHAIR

OBJECT OF THE INVENTION

The invention refers to an autonomous transfer system to transfer a user from / to a wheelchair, providing advantages and characteristics, which are described in detail below.

More specifically, the object of the invention relates to a system capable of transferring the user from his wheelchair to any other seat and / or transferring him back to it autonomously, without the need for external help.

FIELD OF APPLICATION OF THE INVENTION

The field of application of the present invention is framed in the orthopedic industry sector, focusing particularly on the field of manufacturing devices and assistive systems for the incorporation and transfer of people with reduced mobility.

BACKGROUND OF THE INVENTION

Currently there are some solutions on the market to facilitate the transfer of people who suffer from some type of disability that makes it difficult for them to move. However, most of these solutions do not focus on a specific disability and are too invasive for the user and therefore do not promote a sense of independence and autonomy in the patient for whom they were designed.

Some of the existing products are designed for older people who, although they have reduced mobility, are able to carry out most tasks without help; these types of solutions are too "poor" for people who move in a wheelchair whose motor capacity is much more limited. Other transfer systems currently marketed are designed for totally dependent patients, so they can only be used with help external; these solutions do not They can be used by the patient without the help or supervision of another person.

There is therefore a very large gap in solutions of an intermediate nature or focused only on people with reduced mobility, since most of the products analyzed share the same drawbacks: need for external help, need to transport an additional element to the chair, difficult solution to handle ... Furthermore, none of the solutions found is automated.

One of the options on the market for the transfer of a person with reduced mobility into a vehicle is a device called "Slide Ride", consisting of a table that has a folding system that allows it to be stored in confined spaces, but it is necessary to transport it at all times apart from the chair itself and requires some external help for the transfer.This proposal is designed for people who, although they may depend on a wheelchair, are able to remain standing.

Another option is a lifting crane, which is commonly used in hospitals to transport people with reduced mobility. This option takes up too much space and, again, requires outside help. Also, due to the way it works (lifting the patient "wrapped" with a cloth) it makes the user feel uncomfortable.

Another option is a standing lift. This option is more pleasant for the user, since it allows some mobility despite not being an autonomous transfer system or being easily storable. The standing lift is placed in front of the user, the belt is inserted through the back of the person to be transferred, the ends are hooked to the lift and the ends are tightened manually or motorized; once the user is incorporated, the companion directs the lift to the desired location and releases the tension exerted on the belt to let the patient fall again.

This solution "grabs" the user in the lumbar area, unlike the lifting crane that surrounds him completely, which gives a greater feeling of freedom to the user as it allows him to have greater control of the situation. It is one of the more appropriate solutions for people with reduced mobility since its operating principle is grab-incorporate-transport-deposit and can be used outside the home, but like the rest of the solutions analyzed, it requires the intervention of another person for its operation and is difficult to store.

Furthermore, what is known as a transfer table is known. There are several models of transfer tables. The materials, shapes and prices are very varied in this type of solution. Despite their differences, all these models have a high risk of falling for the patient and require an effort to slide down the table and change chairs and are difficult to store and transport in the chair, in addition to always needing help to perform the transference.

The aim of the present invention is therefore to provide an alternative solution that the user of a wheelchair can use by himself and can always carry the wheelchair with him in order to transfer from the wheelchair and return to the chair. wheels, either to lie in bed, to sit in a chair, to get into the car, to go to the bathroom or to get into the shower, also allowing to carry out said transfer in a minimum time, without effort and without need from the supervision or assistance of another person.

In addition to the aforementioned transfer, another objective of the present invention is to provide a solution that allows the user to get out of the wheelchair and stand up effortlessly and without the need for the supervision or help of another person.

On the other hand, and as a reference to the current state of the art, it can be stated that transfer systems other than the wheelchair itself capable of transferring and / or incorporating the user without external help that can be transported with the patient in all the time without requiring any additional device.

More particularly, a system capable of adapting to several different models of wheelchairs and thus providing them with the ability to transfer and / or incorporate the user when he wishes is unknown without needing external help or physical effort, thus facilitating not only the work of the user himself, but also that of doctors, physiotherapists and other professionals who carry out this task with their patients on a regular basis during their working hours.

As a consequence, people with mobility problems spend hours sitting in the wheelchair in the same position, limiting their possibilities and further reducing their motor capacity, performing activities such as napping or watching television without change to bed or sofa. There are no known transfer systems capable of simplifying, at least partially, the task of transferring from one place to another without the help of another person and without physical effort.

Likewise, transfer systems are unknown that adapt to the wheelchair instead of requiring its total replacement, in such a way that they favor not only the quality of life but also the economy of the user, by allowing them to maintain the wheelchair.

In short, although different types and models of transfer devices are known, the existence of any autonomous transfer system to transfer a user from / to a wheelchair, or any other invention, is unknown, at least by the applicant. of similar application, which presents technical, structural and constitutive characteristics equal or similar to those presented by the one claimed herein.

EXPLANATION OF THE INVENTION

The autonomous transfer system to transfer a user from / to a wheelchair that the invention proposes is an optimal solution to the aforementioned objectives, the characterizing details that make it possible and that distinguish it conveniently included in the accompanying final claims to the present description.

The transfer system that the invention proposes, as noted above, is capable of transferring the user of a wheelchair in which said device is incorporated, from the wheelchair to any other seat and / or transferring him back to her in a totally autonomous way, without the need for external help.

For this, and more specifically, the transfer system of the invention, applicable for use with a wheelchair, preferably a motorized or electric wheelchair, comprises:

- a support structure which, in turn, comprises:

■ means of attachment to the wheelchair; Y

■ a mobile and articulated arm system capable of lifting a user from the wheelchair and standing up;

- a lower base with at least one mobile rotating plate, capable of rotating supporting the Username;

- actuators, which give movement to mobile elements of the transfer system, said mobile elements being, at least, the arm system and the rotating mobile plate; - a control knob, which controls the actuation of the actuators; Y

- a user holding means, configured to hold the user to the arm system.

Thanks to the transfer system, once the user is attached to it through the user restraint means, the following operating phases can be carried out by means of the control knob:

- move the structure to raise the user from his seated position in the wheelchair to a standing or bipedal position,

- rotate the movable plate with the user on it in a bipedal position, and

- move the structure again to lower and lower the user to the sitting position, in a conventional chair, a bed, a bathroom, or other seat or furniture, hereinafter transfer seat, to which you want to transfer and with respect to the one previously The wheelchair will have been positioned facing forward.

Furthermore, the transfer system is also capable of carrying out said movements in the opposite direction to lift the user back from the transfer seat, rotate him on the movable plate and lower him to seat him again in the wheelchair.

The invention therefore provides an autonomous transfer system for people with reduced mobility who move using a wheelchair, for example, an electric wheelchair, which is constituted as a completely autonomous system and that accompanies the user in your day-to-day without preventing you from performing any of your usual tasks and facilitating transfers at all times.

The transfer system advantageously replaces the footrests of the user's wheelchair and adapts to most of the wheelchair models currently on the market.

The transfer system follows the steps that the user would carry out in a normal transfer, but in a way that is comfortable and easy for the user at all times and, above all, without the need for the help of third parties.

The transfer system of the invention allows the user to transfer to any other place or seat (chairs, sofas, vehicles, toilet ...) without physical effort or external help, simply by placing their wheelchair at an angle, preferably from 30 ° up to 180 ° (in both directions) and controlling the movement by means of the control knob.

Advantageously, the estimated time of the longest transition (up to 180 °) using the autonomous transfer system is approximately 20 seconds. The time savings involved in using this transfer system, compared to what is usually necessary, is important. In addition, the effort savings that it implies for the user and the independence it grants must be taken into account.

In addition, the transfer system of the invention allows the user to get up from the wheelchair and stand up without physical effort or external help, which is very beneficial in multiple situations, such as, for example, their wedding, their graduation, a job interview, etc. This improves the user's quality of life, as well as their circulation and health.

Throughout the description and claims the word "comprise" and its variants are not intended to exclude other technical characteristics, components or steps. Furthermore, the word "comprises" includes the case "consists of". For those skilled in the art, other objects, advantages and characteristics of the invention will emerge in part from the description and in part from the practice of the invention. The following examples are provided by way of illustration, and are not intended to be limiting of the present invention. Furthermore, the present invention covers all the possible combinations of particular and preferred embodiments indicated herein.

DESCRIPTION OF THE DRAWINGS

To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, the present specification is accompanied, as an integral part thereof, by a set of drawings in which, for illustrative purposes and non-limiting, the following has been represented:

Figure number 1.- Shows an antero-superior perspective view of an example of realization of the autonomous transfer system to transfer a user from / to a wheelchair object of the invention, represented independently of the wheelchair, appreciating the main parts and elements that it comprises, as well as the configuration and arrangement of the themselves.

Figure number 2.- Shows an antero-superior perspective view of the example of the autonomous transfer system, according to the invention, shown in figure 1, in this case represented once it has been coupled to a wheelchair.

Figure number 3.- Shows a side elevation view of the transfer system assembly coupled to the wheelchair shown in the preceding figure.

Figure number 4.- Shows an antero-superior perspective view of the wheelchair assembly with the transfer system of the invention shown in the preceding figures, in this case including the user arranged in it.

Figure number 5.- Shows a side elevation view of a detail of the transfer system, showing the lower base resting on the ground.

Figure number 6.- Shows a perspective view of the lower part of the transfer system, showing the lower base raised above the ground.

Figures 7 and 8.- They show respective views in lateral-upper perspective of the upper arm that comprises the structure of the transfer system, representing it respectively in the contracted and extended position.

Figures 9, 10, 11 and 12.- They show respective perspective views of successive phases of operation of the transfer system in an example of use to transfer the user from the wheelchair to a conventional chair located at 180 °, appreciating the different phases of movement of each part of the transfer system.

Figure number 13.- Shows a perspective view of the user once located in the conventional chair to which it has been transferred, and in the extraction phase of the control knob.

Figure number 14.- Shows a perspective view of the user once positioned in the chair conventional to which it has been transferred, showing the mode of removal of the transfer system.

Figure number 15.- Shows a front elevation view of an embodiment of the control knob that comprises the transfer system of the invention.

PREFERRED EMBODIMENT OF THE INVENTION

In view of the aforementioned figures, and in accordance with the numbering adopted, an example of a non-limiting embodiment of the autonomous transfer system (1) of the invention can be observed, to transfer a user from / to a chair. wheels (2), which comprises what is indicated and described in detail below.

The transfer system (1) of the invention, preferably electrically operated, is applicable for use with a wheelchair (2), preferably a motorized wheelchair. As can be seen in the figures, the transfer system (1) of the invention comprises the following elements:

- A support structure (3), preferably a structure of profiles, and more preferably of tubular profiles. Structure (3) in turn comprises:

■ coupling means (31) to the wheelchair (2), preferably to the chassis of the wheelchair (2); Y

■ a mobile and articulated arm system (32, 33) capable of lifting the user from the wheelchair (2) and standing.

- A lower base (4) with at least one mobile rotating plate (41), capable of rotating supporting the user. Preferably, the movable plate (41) is able to rotate up to 180 °.

- Actuators, which give movement to mobile elements of the transfer system (1), said elements being mobile, at least, the arm system (32, 33) and the mobile plate (41).

- A control knob (6), which controls the actuation of the actuators. The actuators are connected to the moving elements of the transfer system (1), for example, by physical cable or wirelessly.

- A user holding means (5), configured to hold the user to the transfer system (1), preferably to the arm system (32, 33).

Thanks to the transfer system (1), once the user is subjected to it through the medium user restraint (5), the following operating phases can be carried out using the control knob (6):

- moving the structure (3) to raise the user from his seated position in the wheelchair (2) (figure 4) to a standing or bipedal position (figure 9),

- rotate the mobile plate (41) with the user on it in a bipedal position (figures 10 and 11), and

- move the structure (3) again to lower and lower the user to the sitting position, in a conventional chair, a bed, a bathroom, or other seat or furniture, hereinafter transfer seat (7), to which you want transfer and with respect to the one who will have previously positioned the wheelchair in front (2).

Furthermore, the transfer system (1) is also capable of carrying out said movements in the opposite direction to lift the user back from the transfer seat (7), rotate him on the movable plate (41) and make him descend to seat him again. the wheelchair (2).

According to the preferred embodiment, the user restraint means (5) is a restraint harness. The restraint harness is suitable for fastening both the user, preferably at his waist, and the transfer system (1), preferably the arm system (32, 33).

According to an alternative embodiment, the user holding means (5) is the system of arms (32, 33) itself, preferably upper arms (33) that are defined below. According to this alternative, the arm system (32, 33) can act directly on the user in different ways, without the need for a restraint harness or the like. For example, the arm system itself (32, 33) can serve as a structure. support for the user, it can include a specific holding area as a handle or handle, it can be adjusted to the contour of a part of the user's body to grip it, etc. In addition, the arm system can be ergonomically designed to facilitate support, grip, etc.

Preferably, the arm system of the structure (3) comprises:

- Two main arms (32), which are joined by respective lower ends to the mobile plate (41) of the lower base (4), preferably on both sides of the mobile plate (41); and they run upwards, preferably in a direction perpendicular to the movable plate (41). According to a preferred embodiment, the main arms (32) run parallel to each other.

- Two upper arms (33), which at one end (called the proximal end) are joined hingedly to the upper end of the respective main arms (32); and at the opposite end (called the distal end) they are configured to hold the user, for example, by hooking the holding harness (5) worn by the user.

As used herein, the term "end" is to be understood in a broad and non-limiting sense, encompassing not only the termination of the corresponding element, but any other part that is in the vicinity of said termination.

According to particular embodiments, the joints between upper arms (33) and the respective main arms (32) can be made between points of the arms that are not ends, called intermediate points, or between the end of an arm (upper arm or main arm) and an intermediate point of the other corresponding arm.

The main arms (32) and the upper arms (33) are linked to each other through respective actuators. The actuation of these actuators determines the tilting of the upper arms (33) with respect to the main arms (32) between a state of rest (figure 4) and a state of use (figures 9-11), passing from one state to another. to move the user from the sitting position to the standing position, or vice versa. According to a particular embodiment, the upper arms (33) are arranged parallel to the mobile plate (41) in the state of rest, and are arranged diagonally or perpendicularly to the mobile plate (41) in the state of use.

Preferably, the actuators that link the main arms (32) with the upper arms (33) for their tilting are actuator cylinders (34), and more preferably, hydraulic ones.

Preferably, the distal end of the upper arms (33) comprises an extendable arm section (33.1), more preferably a telescopic section. This feature makes it possible to extend the length of the upper arms (33) to, for example, hold onto the harness (5) only when it is desired to use the transfer system (1); and allows the length of the upper arms (33) to be contracted when they are not used, so that they do not pose a hindrance to the normal use of the wheelchair (2), as seen in figures 7 and 8, providing the user more space and comfort. Preferably, the extension / retraction of the extensible arm section (33.1) is carried out by means of an actuator (not visible in the figures), preferably an actuator cylinder incorporated within the actual profile. More preferably, this actuator cylinder is hydraulic.

On the other hand, at the distal end of each of the two upper arms (33) the existence of fasteners (33.2) has been provided for the coupling of the harness (5) to the upper arms (33). Preferably, said fasteners (33.2), as seen in Figures 7 and 8, have a U-shaped configuration that projects below the corresponding upper arm (33), so that the height of the transfer system (1) is not increased.

Furthermore, preferably, the lower part of the U-shaped cavity of said fasteners (33.2) has small notches to ensure that the harness (5) is held in place during the transfer operation. These notches have a reduced size so that they do not hinder extraction harness (5) once the transfer is complete.

Preferably, the coupling means (31) to the wheelchair (2) are defined by respective lower coupling profiles that, arranged on both sides of the transfer system (1), are joined at a lower end to the lower base ( 4), preferably through respective connecting pieces (31.1); and at the opposite upper end, the coupling profiles are configured to be coupled to the wheelchair (2), preferably to the front, on both sides of the wheelchair seat (2). More preferably, the coupling profiles are fixed to the wheelchair (2) by fitting said profiles into the wheelchair housings (2) that all wheelchairs usually have to incorporate footrests. In this way, the coupling means (31) fix the transfer system (1) to the wheelchair (2), while supporting the lower base (4) of the same in front of the wheelchair seat ( 2) as a platform to support the user's feet. According to a preferred embodiment, the coupling profiles are parallel to each other.

Preferably, said attachment of the coupling profiles (31) to the wheelchair (2) is, as with conventional footrests, easily removable, so that the user can place it or not, as appropriate.

Preferably, in order to provide the necessary stability for said rotation while supporting the user, the lower base (4) has at least two positions: a rest position, in which it is cantilevered, raised above the ground, allowing to use the wheelchair (2) normally, as seen in figures 3, 4 and 6, and a transfer position in which it rests on the ground, as seen in figure 5, to safely perform the rotating movement of the movable plate (41).

Preferably, the coupling profiles (31) comprise two extendable sections, called coupling extensible sections (31.2), which allow the lower base (4) to be moved to regulate its vertical position and place it in the rest position or in the transfer position. . According to a preferred embodiment, the extensible coupling sections (31.2) are arranged at the lower end of the respective coupling profiles (31).

Preferably, the extension / retraction of the extensible coupling sections (31.2) is carried out by means of respective actuators (not visible in the figures), preferably cylinders housed inside the respective profiles. Most preferably these cylinders are hydraulic.

In this way, the user can modify the height of the transfer system (1) at any time to his liking, to climb steps, to enter under low tables, to modify the position of the legs, etc. According to a preferred embodiment, in an automated way, the transfer system (1) extends the coupling profiles (31) until the lower base (4) rests on the ground before each transfer.

So that the user can carry out all their activities without ever having to remove the transfer system (1) from the wheelchair (2), its height is such that it is easy to insert under any table. Thus, in the preferred embodiment, the height of the same, in its highest position is below 70 cm, which is the minimum standard height of a dining table.

According to a particular embodiment, the transfer system (1) comprises one or more wheels on the lower base (4), intended to be in contact with the ground to serve as support for the transfer system (1).

According to another particular embodiment, the transfer system (1) comprises one or more legs on the lower base (4), intended to be in contact with the ground to serve as support for the transfer system (1).

Optionally, both the wheels and the legs of one and another particular embodiment can be deployable. In the case of the legs, for example, this allows them to unfold when the transfer system (1) is to be used, and they fold back during normal use of the wheelchair (2) so that the transfer system (1) does not impede progress. Legs unfolding / retracting can be automated so that they automatically unfold to initiate the transfer and retract when the transfer is complete.

Furthermore, preferably, the assembly of the structure (3) can be adjusted in terms of its separation from the wheelchair (2), to place it in the ideal position according to each type of wheelchair and user preference. For this, in the preferred embodiment, the coupling profiles (31) are coupled at their upper end to the wheelchair (2), as can be seen in figure 6, by means of an elbow (31.3) formed by two pieces with a union based on retractable lugs (31.4) that can fit from different holes, similar to the tube unions of crutches or similar devices, allowing the coupling angle between both pieces of the elbow (31.3) to be varied and, consequently, the inclination of the coupling profiles (31).

Likewise, to ensure the maintenance of the lower base (4) in a horizontal position, the connecting pieces (31.1) between the lower end of the coupling profiles (31) and the lower base (4) are preferably angle-adjustable. .

Preferably, the movable plate (41) of the lower base (4), on which the user rotates, is incorporated on a fixed lower plate (42), there being between them a crown (43) linked to a main rotation motor ( not shown) that provides the turning movement of the movable plate (41). In this way, the movable plate (41) together with the system of arms (32, 33) define a rotary transfer module, which can rotate relatively with respect to a base module, defined, in turn, by the fixed plate ( 42) of the lower base (4) and the coupling means (31) to the wheelchair (2). Preferably, the lower base (4) is capable of supporting up to 136 kg.

In a preferred form, the main motor that rotates the movable plate (41) is incorporated in the lower part of the lower base (4), in a housing provided for this purpose in which, in addition, rechargeable batteries are also incorporated that power to the motors, as well as a control board for the entire transfer system (1).

Preferably, the upper surface of the movable plate (41), since it is intended to support the user's feet, has a non-slip pattern to prevent eventual accidental slips.

Preferably, the electrical supply of the actuators of the transfer system (1) is provided by batteries (not shown) that, more preferably, are incorporated under the fixed plate (42) of the lower base (4) together with an electronic plate of Control suitably protected within a protective casing (44) provided for this purpose. According to a particular embodiment, in the event that the wheelchair (2) is electric, the transfer system (1) uses the battery of the wheelchair itself (2) as a source of energy.

Preferably, the transfer system (1) comprises a charging socket for connecting the batteries to a power socket, in order to recharge them. The charging socket can be located at any point on the transfer system (1) or on the wheelchair itself (2). Preferably, the charging socket is located on the control knob (6) itself or in a place close to the user's area of action; so that it is more comfortable and easier to carry out the load, especially considering that the user is a person with reduced mobility. According to a particular embodiment, the charging socket is located in the lower part of the transfer system (1), and more particularly in the lower base (4).

Preferably, the protective casing (44) is equipped with ribs that give it rigidity and provide greater protection to the elements it contains while improving the support of the transfer system (1).

In a preferred form, all the wiring that allows the control of actuators and arms is directed to the lower base (4), which is covered by a casing (44) in charge of protecting and unifying the components that allow the control of the control system. transfer (1), having provided for their insertion inside the profiles to prevent them from getting caught or disturbed.

The transfer system (1) can further comprise a means for supporting and / or holding the user at the shin level. Preferably, this means comprises two shin-holding elements (8) coupled to the arm system (32, 33), more preferably to two main arms (32). According to a preferred embodiment, the shin-holding elements (8) are movable between an open position (figure 4) and a closed position (figure 5 and 6) in which they collaborate in supporting the user during the transfer operation, allowing the user to use it or not during the transfer operation.

Preferably, the transfer system (1) comprises one or more auxiliary motors (not shown) to move the shin holders (8) from one position to another.

Likewise, at least the internal face of the shin holders (8), which is the face destined to be in contact with the user's legs, preferably has a padding to avoid friction to said user.

On the other hand, according to the preferred embodiment shown in Figures 1 and 2, the user restraint means (5) is a seat-shaped harness, which has an opening (51) allowing the user to wear it at all times, even to go to the bathroom; The harness (5) has anchors (52) to be held by the upper arms (33) of the transfer system (1) and a front closure (53), optionally made of velcro with a strap that facilitates its removal. Preferably, the harness (5) is made of neoprene, since it is a breathable, resistant, washable and easy-drying material.

Finally, the control knob (6), preferably remote control, in the preferred embodiment is incorporated removably coupled in the support structure (3), preferably in one of the upper arms (33), so that it is easily accessible to the user.

In the preferred embodiment, the remote control knob (6), as seen in Figures 7 and 8, as well as in Figure 15, is divided into two main parts:

- A lower part (61) that serves as an anchor, with a channel (61.2) that allows the lower part (61) to be positioned by means of one or more guides, and that is adhered, for example, by magnetization to either of the two upper arms (33) of the structure (3) of the transfer system (1), both the right and the left can be chosen for greater user comfort. Preferably, the force of the magnet that adheres said inner part (61) with the upper arm (33) is adjustable by means of a regulating button (61.1) to guarantee that it is not released at any time. In this lower part (61) of the control knob (6) there is a housing where the battery that powers it is located and that is charged wirelessly as it is connected to the general transfer system at all times.

- And an upper part (62) for handling, in which all the buttons and devices are located visual information, preferably lights. This part is easily removable to separate it from the lower part (61) by the user if they need to carry the control knob (6) with them in any of the transfers that they carry out for greater comfort. Preferably, both parts are connected at all times by means of a retractable filament (not shown) that makes it possible to easily recover said part of the control knob (6) in the event of accidental fall of the same.

Preferably, the upper part (62) of the control knob (6) comprises a visual information device (DIV) in the form of a light indicator (62.1) of a representation of the parts of the transfer system (1), a selection button (62.2), motion control pushbuttons (62.3), an on / off button (62.4) and indicator, also illuminated, of system charging (62.5).

In this way, the user turns on the transfer system (1) with the on / off button (62.4) and presses the selection button (62.2), which activates a light next to the part that allows control. Pressing again, the light changes to another of the pieces and so on, so that when the user selects the piece that he wants to move, he can use the movement control buttons (62.3) with arrows to control the movement of said piece. In addition, a battery control is added that allows to supervise the charge of the entire transfer system (1).

In addition, preferably, the control knob (6), in said upper part (62) includes speakers (62.6) that allow sending audio warning messages to the user, if this is configured for it, such as, for example: "Low battery", "Starting transfer", "Remember to attach the clamp", etc.

With all this, for the use of the described example of the autonomous transfer system (1) of the invention, the following steps are followed:

- Placement of the transfer system (1), the harness (5) and the control knob (6).

This step is done only once and is the only step that may require outside help. To place the structure (3), remove the footrests of the wheelchair (2) and put it in place. In addition, the harness (5) is arranged on the seat of the wheelchair (2) so that the user sits on it, and the remote control (6) is placed on the upper arm (33) that the user wants. Username.

- Placing the wheelchair (2) in the desired position.

With the transfer system (1) already installed, the user guides his wheelchair (2) to a place close to the transfer seat (7), forming an angle with it, for example, between 30 ° to 180 ° to facilitate change. The angle between the originating chair and the destination chair depends on the available space.

- Height regulation

Next, the user adjusts the height of the lower base (4) to be able to place the feet resting on the movable plate (41) in a comfortable position.

This variation of the height of the transfer system (1) is controlled by the control knob (6) and executed by the actuators in the lower part of the structure (3). The height of the lower base (4) can be adjusted at any time whenever the user requires it, for example, when he wants to place himself on a low table, when he wants to climb a step, when he is going to make a transfer ... but it is essential at the time prior to making a transfer, since it must rest on the ground in order to transmit the forces to the surface and not overload the profiles of the transfer system (1).

Preferably, the transfer system (1) incorporates a limit switch sensor in the lower base (4). The transfer system (1) does not allow the transfer to take place if the ground is not first detected by said sensor placed in the lower part of the lower base (4).

- Placement of shin holders (8).

The user has the option of placing the shin holders (8) in the closed position to provide greater protection during the transfer.

The user can decide whether or not to add this extra protection, since each user has different motor capacities and what may seem like a help for some, could be an impediment for others.

- Fasten the harness (5).

Before starting the transfer, the user fastens the harness (5). The harness (5) can be worn fastened at all times if the user has very limited mobility to fasten and unbuckle it, although in the preferred embodiment it is designed to give the possibility of wearing it without tying until the moment of transferring and thus altering least possible the customs of the user. Preferably, the harness (5) has as a closure (53) a velcro strip on the front that facilitates its placement, and a strap to pull the velcro more easily when you want to untie.

- Extension of the upper arms (33) and attachment to the harness (5).

After placing, if desired, the shin holders (8), the user proceeds to select the upper arm (33) on the control knob (6) to be able to extract it and hook the harness (5) to the distal end of the same with greater ease.

- Incorporation until it is above the armrest.

Once the harness (5) is correctly hooked, the actuators in charge of moving the structure (3) are selected to tilt the upper arms (33) from their horizontal to the vertical position to incorporate the user and, holding down the button on the control control (6), the transfer system (1) begins to lift the user from his wheelchair (2). The height of incorporation will be at least that marked by the armrests of the wheelchair (2), since the user must pivot on their feet once incorporated and if the height is lower, they could get caught or hurt.

- Turn until it is on top of the transfer seat (7).

When the user is incorporated, he selects the movable plate (41) on the control knob (6) and starts the turning movement; The transfer system (1) stops rotating when the user releases the button, thus granting greater precision and ensuring that the user can be positioned exactly on top of the destination transfer seat (7).

- Descent.

After finishing the turn, the actuators of the structure (3) are selected again, this time pressing the button in the opposite direction, so that the upper arms (33) return to their horizontal position until the user is seated on the seat. transfer (7) without any tension exerted on the harness (5).

- Harness release (5).

With the upper arms (33) still extended, the user has the possibility of unhooking the harness (5) or if he wishes to stay hooked to save time on the way back, for example, if he has transferred only to go to the bathroom, since the harness (5) has a lower opening (51) designed for said need.

- Extraction of the control knob (6) and removal of the transfer system (1).

Once the user is in the transfer seat (7), they can remove the control knob (6) to control the transfer system (1) and remove it if desired. Removing the control knob (6) is an optional alternative, since many times the wheelchair (2) could be moved away using its own control and keeping the transfer system (1) in the final position ready for the turn.

The wheelchair (2) can be moved by the user himself by lengthening his arm, or by a companion if he prefers. In the user's home the wheelchair (2) would always be kept close to be able to return to it easily, so removing it with the control knob (6) by stretching the arm would be the most appropriate option, however, in restaurants or public areas that are usually accompanied, the wheelchair (2) could be removed by another person.

Figures 9 to 14 show the main operating phases of the transfer system (1) in an example of a transfer from the electric wheelchair (2) to a conventional transfer chair (7) located at 180 °, it should be understood that this same transfer could be carried out with the wheelchair (2) positioned at a different angle. The placement of both chairs will depend on the space available to the user at the time of transfer.

Having sufficiently described the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to make its explanation more extensive so that any expert in the field understands its scope and the advantages derived from it, stating that, Within its essentiality, it may be put into practice in other forms of implementation that differ in detail from the one indicated by way of example, and to which it will also achieve the protection that is sought provided that its fundamental principle is not altered, changed or modified. .

Claims (1)

1- Autonomous transfer system (1) for wheelchairs (2), characterized in that it comprises: - a support structure (3) which, in turn, comprises: ■ coupling means (31) to the wheelchair (2); Y ■ a mobile and articulated arm system (32, 33) capable of lifting a user from the wheelchair (2) and standing him up; - a lower base (4) with at least one movable rotating plate (41), capable of rotating supporting the user; - actuators, which give movement to mobile elements of the transfer system (1), said mobile elements being, at least, the arm system (32, 33) and the rotating mobile plate (41); - a control knob (6), which controls the actuation of the actuators; Y - a user holding means (5), configured to hold the user to the arm system (32, 33). 2- Transfer system (1) according to claim 1, in which the user restraint means (5) is a restraint harness, suitable for fastening the user and the arm system (32, 33). 3- Transfer system (1) according to any of the preceding claims, in which the system of arms of the structure (3) comprises: - two main arms (32), which are attached to both sides of the movable plate (41) of the lower base (4), and run upwards parallel to each other; Y - two upper arms (33), which are articulated at their respective proximal ends to respective upper ends of the respective main arms (32), and are configured at both distal ends to hold the user; so that the main arms (32) and the upper arms (33) are linked to each other through respective actuators, the actuation of which determines the tilting of the upper arms (33) with respect to the main arms (32). 4- Transfer system (1) according to claim 3, in which the actuators linking the main arms (32) with the upper arms (33) for their tilting are actuator cylinders (34). 5- Transfer system (1) according to any of claims 3 or 4, in which the distal ends of the respective upper arms (33) comprise an extensible arm section (33.1). 6- Transfer system (1) according to claim 2 in combination with any of claims 3 to 5, comprising fasteners (33.2) at both distal ends of the upper arms (33), for coupling the harness to the upper arms (33). 7- Transfer system (1) according to any of the preceding claims, in which the coupling means (31) to the wheelchair (2) are defined by respective coupling profiles that, arranged on both sides of the transfer system (1), at a lower end are attached to the lower base (4), and are configured so that at an opposite upper end they are coupled to the wheelchair (2), in such a way that, while fixing the transfer system (1) to the wheelchair (2), support the lower base (4) of the same in front of the seat of the wheelchair (2) as a platform to support the user's feet. 8- Transfer system (1) according to claim 7, in which the coupling profiles are fixed to the wheelchair (2) in a removable way. 9- Transfer system (1) according to any of claims 7 or 8, in which the coupling profiles are fixed to the wheelchair (2) by fitting said profiles into the wheelchair housings (2) designed to incorporate footrests. 10- Transfer system (1) according to any of claims 7 to 9, in which the coupling profiles are coupled at their upper end to the wheelchair (2) by means of an elbow (31.3) with retractable lugs (31.4) They can fit into different holes, allowing the angle of inclination of the coupling profiles to be varied. 11. Transfer system (1) according to claims 7 to 10, in which the coupling profiles comprise respective extensible coupling sections (31.2), which allow moving and positioning the lower base (4) in a rest position, in the one that is raised above the ground, or in a transfer position, in which it rests on the ground to safely effect the turning movement of the movable plate (41). 12. Transfer system (1) according to any of the preceding claims, in which the mobile plate (41) of the lower base (4) is incorporated on a fixed lower plate (42), with a crown (43) between them linked to a main turning motor that provides the turning movement to the mobile plate (41). 13- Transfer system (1) according to any of the preceding claims, comprising batteries for the electric power supply of the actuators, incorporated in the lower base (4) together with an electronic control board and protected inside a car house (44 ). 14- Transfer system (1) according to any of claims 3 to 13, comprising two shin-holding elements (8) coupled to the main arms (32), which are movable between an open position and a closed position in the that collaborate in the support of the user during the transfer operation. 15. Transfer system (1) according to claim 14, comprising auxiliary motors for the movement of the shin holders (8) from the open position to the closed position and vice versa. 16- Transfer system (1) according to any of claims 2 to 15, in which the harness is shaped like a seat and has an opening (51), anchors (52) to be held by the upper arms (33) and a front closure (53). 17- Transfer system (1) according to any of the preceding claims, in which the control knob (6) is incorporated removably coupled to the support structure (3). 18- Transfer system (1) according to claim 17, in which the control knob (6) is divided into two parts: - a lower part (61) that serves as an anchor, and that is positioned by means of one or more guides, and adheres by magnetization to the structure (3); Y - an upper operating part (62), in which there are buttons and visual information devices, and which is removable to separate it from the lower part (61).