Go to a medical supply store that also sells & repairs chairs they may be able to replace the pin for you or go to the manufactures website & look for your model chair parts you may be able to order direct from them.
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Re: I would like to find out how I can order a...
Depending on what chair you have the cheapest option is to try and get a generic replacement, search eBay for "wheelchair arm rest" they start from around 10 UK pounds or you might be able to find one from the same make and model.
if not then you need to search the web for the make and model of chair you have followed by "parts arm rest" so if you have a pride jazzy 1121 you would search google for "pride jazzy 1121 parts arm rest" that should point you to a replacment, if no joy there another option is to contact the makers, again search for maker to find contact info, or look for a dealer that sells the make of chair you have.
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It is a simple but fiddly job. Examine where the arm rest hinges. There will be curved plastic covers. These should just pull up and off. It will reveal a silver pin with a black lock washer fitted on the end furthest from the door.
Using a pair of thin flat bladed screwdrivers and a LOT of patience, you should be able gradually lever the locking washer off the pin. If your careful you should be able to reuse the washer. Once the washer is off, the pin should tap out towards the door. The arm should lift up and out.
you might need to tilt the back of the seat to get better access.
It is likely a roll pin that attaches the shift clutch arms to the trans-axle. These pins do not usually remove easily. Look carefully at each arm assembly to find the one missing. Replace with a new pin.
There are a few screws that you have probaby missed inside the arm rest, underneath and on the end of the arm are lights he screws can only be accessed after you remome these light assemblies in the arm rest carfully pry the lamp assembly loose using a small screw driver or similiary tool and then you can reach the screws and remove the arm rest
It sounds like that missing pin is your problem, the trolley attached to the arm with the pin. Its hard to diagnose, but call in a Door Opener guy and he can probably fix it in a few seconds for free. Otherwise, try and find the pin or something like it to fix the arm in place and see if you can MANUALLY operate the door that way. BTW, Disconnect from power before you try and experiment.