[0001] The present invention relates to a self-balancing motorized wheelchair for the transportation
of at least one person.
[0002] It is known the existence of self-balanced motorized wheelchairs for people with
reduced, even only partially, lower limbs mobility. In particular, it is known the
existence of a motorized wheelchair for the transportation of a sitting person which
comprises a base operable by the user for activating said motorized wheelchair, two
wheels both disposed at the sides of said base, resting on a slide surface, and a
supporting frame integrally constrained to said base and provided with a seat. In
particular, such a typology of motorized wheelchair also comprises means for self-balancing
the weight thereof in any working condition, also employed in the device known with
the name of SEGWAY® for the transportation of people. Such means for self-equilibrating,
or balancing, wheelchair weight are housed inside said base together also with further
means for varying the wheelchair forward movement direction. In this type of wheelchair
the forward and/ or backward movement is obtained by means of the front and/ or back
unbalancing of the user's body. Further, the wheelchair activation is obtained as
soon as a person seats on the wheelchair seat and his/ her weight is used to detect
the user's presence and activate the wheelchair electrical operation. Such a wheelchair
typology has, however, the drawback of being not stable when not operating, that is
to say when the inner electrical motor is no longer operative, the wheelchair being
provided with only two wheels placed parallel and opposite one to each other. In such
regard the wheelchair is, however, provided with means for supporting said wheelchair
on the slide surface when in not operative conditions. Such means consist in a stand,
disposed in the front, and able to support the wheelchair in equilibrium on the slide
surface for the two wheels. Such above described solution, unfortunately, is not particularly
suited in the case the slide surface is not perfectly horizontal, or has rather pronounced
front and back unevenness with respect to the wheelchair or is particularly soft as,
for example, in the case the wheelchair rests in not operating conditions on sand.
In such situations, with the simple use of a stand the wheelchair could remain in
instable equilibrium then tipping over, or it could not be perfectly horizontally
placed, thus making difficult the wheelchair user's him/herself getting in and out.
[0003] It is therefore object of the present invention to realize a motorized wheelchair
that can be supported in substantially horizontal position even when left on a not
perfectly planar slide surface, or even tilted or having unevenness or being soft.
[0004] Further object of the present invention is to realize a motorized wheelchair which
allows to solve the known art problems without introducing complex electrical control
systems, but only through mechanical elements.
[0005] These object are obtained by the present self-balancing motorized wheelchair for
the transportation of at least one person, comprising a base operable to activate
said motorized wheelchair, two wheels both disposed at the sides of said base resting
on a slide surface, a supporting frame integrally constrained to said base and provided
with a seat, and means to support said wheelchair on said slide surface at least when
in not-operating conditions,
characterized in that said supporting means comprise at least one foot restable on the ground, and by comprising
means for displacing and blocking said at least one foot between a raised position
and a lowered position, and vice versa, said at least one foot being blocked in said
lowered position at least when in contact with said slide surface for resting said
motorized wheelchair in a substantially horizontal position.
[0006] In such a way, the motorized wheelchair, when not in operation, stays perfectly in
equilibrium, regardless of the condition of the slide surface on which the two wheels
rest. In fact, said at least one foot is lowered till it reaches the slide surface,
even if it is tilted, keeping the wheelchair in stable and horizontal position. In
fact, when said at least one foot reaches the slide surface, it remains blocked resting
on such slide surface. Therefore, based on the slide surface, the said at least one
foot can lower at a higher or lower level, but ensuring resting stability when contacted
with the constraint surface. Thus, even in case of soft surface such as, for example,
in the case of sand, the foot lowers and remains blocked in position only after encountering
an actual resistance offered by the more consistent layer of sand.
[0007] According to an embodiment of the invention, said displacing and blocking means comprise
at least one cam rotatably constrained to said supporting frame between a start and
limit position, and vice versa, to drive the displacement of said at least one foot
between said raised position and said lowered position, and vice versa, wherein said
at least one foot is slidingly constrained to said at least one cam between said start
and limit positions. In practice, when in lowered position, said at leas one foot,
advantageously having an arched shape, encounters the slide surface which exerts a
strength opposing to the further lowering of the said at least one foot. In this step,
therefore, the cam continues, however, to rotate with respect to the frame and to
slide with respect to the foot till reaching its limit position. In this way, the
lowering run of said at least one foot varies based on the type of encountered constraining
surface, the constraining surface tilt or present unevenness or the softness of the
slide surface itself.
[0008] Again, still according to an embodiment of the invention, said displacing and blocking
means comprise, as well, at least one elastic element to retain said at least one
foot pressed against said at least one cam between said start and limit positions
for said at least one cam. Substantially, said at least one elastic element has the
function of pressing said at least one foot towards the lowered position, keeping
it slidingly constrained, at the same time, to said at least one cam.
[0009] Advantageously, said motorized wheelchair comprises at least one actuator to drive,
directly or indirectly, the rotation of said at least one cam between said start and
limit position.
[0010] Furthermore, said displacing and blocking means comprise at least one pawl, disposed
integrally with said supporting frame, and at least one toothing integral with said
at least one foot, said at least one pawl being movable between an engagement position
with said at least one toothing, to prevent the slide of said at least one foot between
said lowered position and said raised position, and a disengagement position with
said at least one toothing, to allow the slide of said at least one foot between said
lowered position and said raised position.
[0011] Substantially, said at least one foot remains blocked in its lowered position without
the possibility of coming back to the raised position till said at least one pawl
is brought in the disengagement position with said at least one toothing. In detail,
said displacing and blocking means comprise, as well, at least one mechanism to drive
the activation of said at least one pawl between said disengagement position and said
engagement position, said at least one drive mechanism being synchronized mechanically
with said at least one actuator at least during the displacement of said at least
one cam between said limit position and said start position. In this way, when said
at least one foot is called back towards the raised position, that is when the actuator
operation is reversed, said at least one pawl is mechanically disengaged from said
at least one toothing, thus leaving said at least one foot free to come back to the
start raised position since dragged by said at least one cam.
[0012] Still according to the invention, said wheelchair also comprises auxiliary means
to activate said displacing and blocking means of said at least one foot, at least
when said at least one wheelchair is still in operating conditions. Substantially,
said activating auxiliary means comprise at least one pressure rod, operable on said
base of said motorized wheelchair, and at least one handle rotatably constrained to
said seat between a first position, wherein said at least one pressure rod is in contact
with said base, to keep said wheelchair in operating conditions, and a second position
wherein said at least one pressure rod is far away from said base to deactivate the
operation of said motorized wheelchair. Such auxiliary means allow to stop the wheelchair
operation at any time by electrically interrupting the connection between wheelchair
power supply and motor. This is obtained by displacing said at least one pressure
rod from its normal position contacting with the base, when subjected to a user weight.
The base, in fact, at certain regions, is sensitive to the user weight and thus able
to activate, or deactivate, the motorized wheelchair operation. When said wheelchair
reached the not-operating condition, said at least one foot is brought in its lowered
position due to the activation of said displacing and blocking means. Always according
to a further embodiment of the invention, said activating auxiliary means comprise,
as well, at least one tappet rod to connect, or disconnect, mechanically said at least
one actuator to said at least one cam, at least when said handle is in its first position,
or in its second position. In this way any type of mechanical connection between actuator
and cams can be eliminated and the unwanted feet rising without the handle being reported
in the their first position, which is also the normal operation position, can be avoided.
[0013] According to a preferred embodiment of the invention, said wheelchair comprises at
least one further foot, wherein said at least one foot and said at least one further
foot are disposed, respectively, in the front and the back of said wheelchair. In
this way said displacing and blocking means also have the function of displacing said
at least one further foot between said raised position and said lowered position,
and vice versa, said at least one further foot being blocked in said lowered position
at least when in contact with said slide surface for resting said motorized wheelchair
in substantially horizontal position. Substantially, said at least one foot and said
further foot are displaced in front of and behind said supporting frame of the wheelchair,
also at differing heights, till touching the slide surface of the wheelchair. In this
way the overall stability of the wheelchair is ensured, both in the back and front,
meanwhile the wheelchair remaining in horizontal position.
[0014] Furthermore, said displacing and blocking means comprise at least one further cam
rotatably constrained to said supporting frame between a start and a limit position
to drive the displacement of said at least one further foot between said raised position
and said lowered position, said at least one cam and said at least one further cam
being able to be mutually activated. This allows to synchronize the start of the displacement
of said at least one cam and said at least one further cam to each other and, thus,
of said at least one foot and said at least one further foot, bringing them almost
concurrently in contact with the slide surface.
[0015] Obviously, in this embodiment said displacement and blocking means also comprise
at least one further elastic element acting on said at least one further foot and/
or at least one further pawl, integrally disposed with said supporting frame, and
at least one further toothing, integral with said at least one further foot. Said
at least one further pawl is movable between an engagement position with said at least
one further toothing, to prevent the slide of said at least one further foot between
said lowered position and said raised position, and a disengagement position with
said at least one further toothing, to allow the slide of said at least one further
food between said lowered position and said raised position.
[0016] For purposes of illustrations and not limitative, more particular preferred embodiments
of the present invention will be now provided with reference to the accompanying figures,
in which:
figure 1 is a perspective view of a motorized wheelchair according to the present
invention wherein two feet in raised position are comprised;
figure 2 is an overall view of said displacing and blocking means for the two feet;
figure 3a is a side view of said wheelchair when the two feet are in lowered position
on a substantially horizontal slide surface;
figure 3b is a side view of said wheelchair when the two feet are in lowered position
on a substantially tilted slide surface;
figure 4 is a simplified schematic view of said displacing and blocking means;
figures 5, 6 and 7 are simplified schematic views of said displacing and blocking
means, when the two cams connected to the two feet are in position between the start
and limit position;
figures 8, 9 and 10 are schematic views of auxiliary means for activating said displacing
and blocking means between said first and said second position for said at least one
handle;
figure 11 is a detail view of a rotation sensor placed in proximity of one of the
two wheels.
[0017] Referring in particular to such figures, a motorized wheelchair for the transportation
of a sitting person has been denoted with 1.
[0018] Such a wheelchair for the transportation of a person comprises a base 2 operable
by the user to activate the motorized wheelchair itself, two wheels 3, 4 both disposed
at the sides 2a, 2b of said base 2 resting on a slide surface T, a supporting frame
5 integrally constrained to said base 2, above it, and provided with seat 6, and means
7 to support said wheelchair 1 on said slide surface T at lest when in not-operating
condition, i.e. when the electrical motor housed in the above mentioned base 2 is
not more powered. Note that such a wheelchair 1, which allows the sliding only on
two wheels 3 and 4, opposite one to each other, is self-balancing. According to known
art, such a wheelchair employs self-equilibration means (herein not shown) of the
wheelchair weight housed inside said base 2 together with further means (herein not
shown) to vary the forward movement of the wheelchair. Such weight self-equilibration
means exploit well known load balancing systems that, for this reason, are not further
described hereinafter. In this type of wheelchair the forward and/ or backward movement
is obtained by means of the front and/ or back unbalancing of the user's body. Further,
the activation of the wheelchair 1 is obtained at the moment a person seats on the
seat 6 of the wheelchair 1 such that his/her weight can be used to detect the user's
presence and activate the wheelchair electrical operation. This is allowed through
two suitable pressure rods 23, as it will be better explained hereinafter, which lower
till touching the base 2, at suitable regions 2c, 2d thereof, activating the electrical
operation of the wheelchair 1 itself.
[0019] Said supporting means 7 comprise a foot 8 and a further foot 9, both arched and able
to be rested on the ground, respectively, in front of and behind said wheelchair 1.
Such feet 8 and 9 are provided with suitable resting elements 70, 71, respectively,
placed at an end 8a, 9a of said foot 8 and said further foot 9. Furthermore, said
wheelchair 1 also comprises means 10 for displacing and blocking said foot 8 and said
further foot 9 between a raised position H (see figures 1 and 5), wherein said foot
8 and said further foot 9 do not touch the slide surface T, and a lowered position
L (see figures 3a, 3b and 7), and vice versa. Advantageously, said foot 8 and said
further foot 9 remain blocked in said lowered position when in contact with said slide
surface T for resting said motorized wheelchair 1 in substantially horizontal position.
However note that, despite not shown herein, a solution providing the employ of only
one foot 8 still falls within the protection scope of the present invention.
[0020] As clearly visible from figures 3a and 3b, whichever the type of slide constraint
T for the wheelchair 1 is, the two feet 8 and 9 are able to adapt and allow the wheelchair
1 to remain in horizontal position. In fact, the two feet 8 and 9 are blocked at least
when at the resting position T, also at differing heights with respect to the supporting
frame 5, as in the case of tilted slide constraint T (see figure 3b), without causing
particular problems for the equilibrium of the motorized wheelchair 1.
[0021] According to the particular embodiment herein shown, said displacing means 10 comprise
a cam 11 and a further cam 12 rotatably constrained to said supporting frame 5 between
a start S and a limit E position to drive, respectively, the displacement of said
foot 8 and said further foot 9 between said raised position H and said lowered position
L, and vice versa. Figures 5, 6 and 7 show the cams 11 and 12 between said start position
(figure 5), when said feet 8 and 9 are fully raised, and said limit position (figure
7), when said feet 8 and 9 are fully lowered, passing through an intermediate position
(figure 6). Furthermore, said foot 8 and said further foot 9 are slidably constrained,
respectively, to said cam 11 and to said further cam 12 between said start S and limit
E position, and vice versa. According to the invention, in fact, the two feet 8 and
9 are controlled by the respective cams 11 and 12, when these latter move between
said start S and limit E position, such that they can freely slide on the surface
11a and 12a of the cams 11 and 12 by the employ of suitable little wheels 51 and 52
(not visible) placed, respectively, at the ends 8b and 9b (not visible) of said feet
8 and 9. The lowering of the feet 8 and 9 occurs both by exploiting the weight of
each foot 8 and 9 and due to the presence of a first elastic element 13 and a second
elastic element 14, of the spring type, for example, to retain said foot 8 and said
further foot, respectively, pressed against said cam 11 and said further cam 12 between
said start and limit positions for said cam 11 and said further cam 12. When, in fact,
said foot 8 and said further foot 9 encounter the slide surface T, event at differing
times and differing heights, the respective spring 13 and 14, still retains the foot
8 and 9 pressed against the respective cam 11 and 12, keeping it slidably constrained
with the respective cam 11 and 12. It has to be noted that the two cams 11 and 12
are shaped in a closed ring, wherein thus the surfaces 11a and 12a for the sliding
of the little wheels 51 and 52 are not open. Such a solution allows to ensure a greater
safety to the operation of said displacing and blocking means 10. In fact, in case
wherein, for mechanical reasons, despite upon the activation of the actuator 15, the
two feet 8 and 9 could not be able to lower, the two cams 11 and 12, just for the
way they are shaped, would be able to force the lowering since in proximity of their
limit E position they would come anyway in abutment with the ends 8b, 9b of the two
feet 8 and 9.
[0022] Note that each foot 8 and 9 is driven during its own displacement by four bearings
80, arranged two by two at the sides 8c, 8d and 9c, 9d of each foot 8 and 9, to ensure
the sliding of the feet 8 and 9 along a predetermined pathway.
[0023] According to the embodiment herein shown, said cam 11 and said further cam 12 are
mutually operable due to the presence of suitable connecting elements 60, herein represented
by a rigid lever hinged on the two cams 11 and 12, which allow to synchronously transmit
the rotation movement between the two cams 11 and 12. Advantageously the wheelchair
1 comprises an actuator 15 to drive the rotation of said further cam 12 between said
start S and limit E position, and vice versa. The cam 11 is directly moved by the
actuator 15 due to its connection with said cam 12. Note that said further cam 12
too is indirectly moved by said actuator 15 since it is connected thereto through
a clutch element (herein not shown) which allows, as it will be seen hereinafter,
the connection, or the disconnection, of said actuator 15 with said further cam 12
and, thus, said cam 11. Note that an embodiment comprising an actuator 15 indirectly
connected to said cam 11, rather than said further cam 12, still falls within the
protection scope of the present invention, as well as an actuator directly connected
to said cam 11 or to said further cam 12 falls within the protection scope of the
present invention.
[0024] Furthermore, said displacing and blocking means 10 comprise a pawl 17 and a further
pawl 18 (herein not shown), integrally disposed with said supporting frame 5, and
a toothing 19 and a further toothing 20 integral, respectively, with said foot 8 and
said further foot 9. While operating, said pawl 17 and said further pawl 18 are rotationally
movable between an engagement position, respectively, with said toothing 19 and said
further toothing 20, to prevent the slide of said foot 8 and said further foot 9 between
said lowered position L and said raised position H, and a disengagement position with
said toothing 19 and said further toothing 20, to allow the slide of said foot 8 and
said further foot 9 between said lowered position L and said raised position H. In
this way, as long as each pawl 17, 18 is prevented from displacing to the disengagement
position with the respective toothing 19, 20, the two feet 8 and 9 are prevented from
returning in their raised position S. This, therefore, prevents the feet 8 and 9 from
freely displace towards their own raised position this implying that the feet 8 and
9 remain blocked in their lowered position. This ensures a greater safety grade against
possible wheelchair swings in cases wherein the user wants to get out or get in from
the same, avoiding the abrupt failure of one of the two feet 8 or 9.
[0025] Again, still according to the embodiment herein shown, said displacing and blocking
means 10 comprise a mechanism 21 for rotationally driving, in the specific case, the
activation of said pawl 17 and said further pawl 18 between said disengagement position
and said engagement position. Such a control mechanism 21, comprising a plurality
of levers, is mechanically synchronized with said actuator 15, at least during the
displacement of said cam 11 and said further cam 12 between said limit E position
and said start position S. Therefore, each foot 8 and 9 can be released only after
the actuator drives the inverse rotation of the two cams 11 and 12.
[0026] According to a further embodiment of the invention, said motorized wheelchair 1 comprises
auxiliary means 22 to activate said means 10 for the displacing and blocking of said
first foot 8 and said further foot 9, at least when said wheelchair 1 is in operating
condition.
[0027] Such auxiliary activating means 22 comprise two pressure rods 23 (of which one not
visible in the attached figures), already above mentioned, operable on said base 2
of said motorized wheelchair 1, at said operation regions 2c and 2d of the wheelchair,
and two handles 24 combined with said pressure rods 23 and rotatably constrained to
said seat 6 between a first position, wherein said pressure rods 23 are in contact
with said base 2, or more conveniently with said activation regions 2c and 2d of the
wheelchair 1, to keep said wheelchair 1 in operating conditions, and a second position,
wherein said pressure rods 23 are far away from said base 2 to deactivate the operation
of said motorized wheelchair 1. Note that the number of pressure rods 23, as well
as the number of handles 24 rotatably constrained and combined with said pressure
rods, can also vary, for example, there can also be a single pressure rod 23 and a
single handle 24 rotatably constrained to said seat, however falling within the protection
scope of the present invention.
[0028] Such a solution allows, almost immediately, to obtain the switching off of the wheelchair
1, for example, when in dangerous circumstances or when in critical operating conditions
of the wheelchair 1. In these cases, the displacing and blocking means 10 intervene
by bringing said two feet 8 and 9 from the raised position H to the lowered position
S, since their intervention is conditioned by the wheelchair 1 switching off, that
is when the wheelchair is in its not-operating condition. Furthermore, said activation
auxiliary means 22 comprise, as well, a tappet rod 25 to mechanically connect, or
disconnect, said actuator 15 to said further cam 12, at least when said handle 24
is in its first position, or in its second position. Therefore, when the handle 24
is in its second position, that is outwardly tipped over (see figure 10), the actuator
15 is mechanically disconnected to the said further cam 12 and, thus, both the further
cam 12 and the cam 11, due to gravity of the two feet 8 and 9, as well as the force
exerted by the respective springs 13 and 14 acting on said feet 8 and 9, rotate freely
from the start position to the limit position, thus bringing the feet 8 and 9 from
the raised position H to the lowered position L. The intervention of the tappet rod
25 occurs at the said clutch element (herein not shown) that is rotated by said actuator
15 and that, in its turn, rotates said further cam 12. Such a clutch element is coupled
to said further cam 12 only when a tooth 90, present in said tappet rod 25, is coupled
with a matching seat 91 obtained in said clutch element. When the tappet rod 25 is
mechanically displaced, with the rotation of the said handle 24 from its first position
to its second position, the above mentioned tooth 90 gets out from the seat 91 of
the clutch element, thus causing the mechanical disconnection between actuator 15
and cam 12. When the handle 24 is returned in its first position, the tooth 90 is
re-entered in its seat 91, since the tappet rod 25 is displaced again in its engagement
start position. Such operation is done only after the actuator 15 has rotated idly
the clutch element till the tooth 90 become aligned with the respective recess 91.
[0029] Eventually, said motorized wheelchair 1 comprises a sensor 30 integral with said
supporting frame 5 and adapted to detect the rotation of said wheel 3. Substantially,
such a sensor 30 allows to detect the possible rotation of the wheel 3 subjected to
measuring and, thus, to inform if the wheelchair 1 is moving or not. In this way,
such a signal can be used by a control unit (herein not shown) to control the operation
of said actuator 15 based on just the signal coming from said rotation sensor 30.
For example, due to this signal, the actuator 15 can be prevented from operating when
the displacement of the wheelchair 1 is sensed and, therefore, preventing the lowering
of the feet 8 and 9 while running.
[0030] Finally, it has to be pointed out that, despite not described herein, however a wheelchair
embodiment comprising a single foot 8, rather than two feet, and whose displacing
and blocking means 10 comprise only a single cam 11, a single elastic element 13 acting
on said foot 8, a single pawl 17, a single toothing 19, and wherein there is one actuator
15 directly or indirectly acting on said cam 11, still falls within the protection
scope of the present invention.
1. Self-balancing motorized wheelchair (1) for the transportation of at least one person,
comprising a base (2) operable to activate said motorized wheelchair, two wheels (3,
4) both disposed at the sides (2a, 2b) of said base resting on a slide surface (T),
a supporting frame (5) integrally constrained to said base and provided with a seat
(6), and means (7) to support said wheelchair on said slide surface at least when
in not-operating conditions, characterized in that said supporting means comprise at least one foot (8) restable on the ground, and
by comprising means (10) for displacing and blocking said at least one foot between
a raised position (H) and a lowered position (L), and vice versa, said at least one
foot being blocked in said lowered position at least when in contact with said slide
surface for resting said motorized wheelchair in a substantially horizontal position.
2. Wheelchair according to claim 1, characterized in that said displacing and blocking means comprise at least one cam (11) rotatably constrained
to said supporting frame between a start and limit (E) position, and vice versa, to
drive the displacement of said at least one foot between said raised position and
said lowered position, and vice versa, wherein said at least one foot is slidingly
constrained to said at least one cam between said start and limit positions.
3. Motorized wheelchair according to claim 2, characterized in that said displacing and blocking means comprise, as well, at least one elastic element
(13) to retain said at least one foot pressed against said at least one cam between
said start and limit positions for said at least one cam.
4. Motorized wheelchair according to one or more of the claims 2 to 3, characterized by comprising at least one actuator (15) to drive, directly or indirectly, the rotation
of said at least one cam between said start and limit position, and vice versa.
5. Motorized wheelchair according to one or more of the claims 1 to 4, characterized in that said displacing and blocking means comprise at least one pawl (17), disposed integrally
with said supporting frame, and at least one toothing (19) integral with said at least
one foot (8), said at least one pawl being movable between an engagement position,
respectively, with said at least one toothing, to prevent the slide of said at least
one foot between said lowered position and said raised position, and a disengagement
position with said at least one toothing, to allow the slide of said at least one
foot between said lowered position and said raised position.
6. Motorized wheelchair according to claim 5, characterized in that said displacing and blocking means comprise, as well, at least one mechanism (21)
to drive the activation of said at least one pawl between said disengagement position
and said engagement position, said at least one drive mechanism being synchronized
mechanically with said at least one actuator at least during the displacement of said
at least one cam between said limit position (E) and said start position (S).
7. Wheelchair according to one or more of the claims 1 to 6, characterized by comprising auxiliary means (22) to activate said displacing and blocking means of
said at least one foot, at least when said wheelchair is in operating conditions.
8. Wheelchair according to claim 7, characterized in that said auxiliary means comprise at least one pressure rod (23), operable on said base
of said motorized wheelchair, and at least one handle (24) rotatably constrained to
said seat between a first position, wherein said at least one pressure rod is in contact
with said base to maintain said at least one wheelchair in operating conditions, and
a second position wherein said at least one pressure rod is far away from said base
to deactivate the operation of said motorized wheelchair.
9. Wheelchair according to claim 8, characterized in that said activating auxiliary means comprise, as well, at least one tappet rod (25) to
connect, or disconnect, mechanically said at least one actuator to said at least one
cam, at least when said at least one handle is in its first position, or in its second
position.
10. Wheelchair according to one or more of the preceding claims, characterized by comprising a sensor (30) integral with said supporting frame and adapted to detect
the rotation of at least one of said two wheels.
11. Wheelchair according to the claim 10, characterized by comprising at least one control unit to control the operation of said at least one
actuator (15) based on the signal coming from said at least one rotation sensor.
12. Wheelchair according to one or more of the preceding claims, characterized by comprising at least one further foot (9), wherein said at least one foot and said
at least one further foot are disposed, respectively, in the front and the back of
said wheelchair.
13. Wheelchair according to claim 12, characterized in that said displacing and blocking means (10) comprise at least one further cam (12) rotatably
constrained to said supporting frame between a start (S) and a limit (E) position
to drive the displacement of said at least one further foot between said raised position
and said lowered position, said at least one cam (11) and said at least one further
cam (12) being able to be mutually activated.
14. Wheelchair according to one or more of the preceding claims, characterized in that said at least one foot and / or said at least one further foot has/ have an arched
shape.