DE102013006690B4 - Wheel for driving on stairs and method for driving on stairs with a wheel - Google Patents

Abstract

The invention relates to a wheel which is composed of at least two circular segments. Each of these two segments has at least two recesses. These recesses enable the wheel to negotiate stairs. By twisting the segments to each other each staircase can be driven, regardless of the stairs and stairs. By means of the expansion means according to the invention, the wheel can travel without staircase, because the alignment of the segments with each other during the rolling on the ground. Furthermore, the invention relates to a method for driving on stairs.

Description

The invention relates to a wheel for driving on stairs and a method using this wheel for driving on stairs.

The invention of the bicycle in ancient times was an important step in the technical development of the people. The main advantage of the wheel is the rolling of its circumference on a surface or the ground. The rolling resistance is essentially dependent on the flatness of the surface. The rougher a surface is, the larger the wheel must be built for rolling to be possible. The diameter of a wheel depends on other factors. So the translation function of a driven wheel is one of these factors. The larger the diameter, the greater the distance traveled per revolution. Modern wheels, z. As of motor vehicles, are more expensive with increasing size, which is why a compromise of said and other factors in the choice of the diameter must be found.

If loads need to be moved over a height difference, a wheeled ramp may be useful. However, depending on the load to be transported, the angle of ascent of such ramps is relatively low, because the slope-down force increases with increasing gradient angle, and thus the weight of the load must increasingly be pushed or held. Since at low angle of the ramp whose length is relatively large relative to the height difference to be overcome, it is found in today's everyday life only at low height differences. An example of a ramp is called a driveway for wheelchair users. These driveways are standardized in Germany with a maximum of 6% slope, which corresponds to a rise angle of less than 3.5 °. This means an ascent length of 1m / 6 * 100 = 16.6m for overcoming a height difference of 1m. If the driveway is not meandering, this slope is rarely found in practice.

The unfavorable ratio of overcome height difference to ramp length is the reason why they are rarely used within buildings. For stairs that can be climbed by people, depending on the chosen ratio of stairs and stairs, angles of inclination of up to 50 ° (about 116% gradient) are possible.

Stairs, in turn, have the disadvantage that loads have to be carried directly by people, and wheelchair users have virtually no way of going up a flight of stairs. Loads or wheelchair users can also be transported by lifts. Buildings without elevators or building entrances without driveways represent a problem that can not be overcome by the wheelchair user alone. In order to be able to drive on stairs directly, the wheels would have to have a very large diameter, which in turn is not practicable. This problem has been encountered in the art with stair-climbing wheels.

State of the art

The European patent EP 0 109 927 B1 describes an impeller to overcome stairs. Five combined to a rotary star, distributed at equal angular intervals arranged radial arms carry rotatably mounted rollers, of which two lower rollers support the wheel when driving on the flat surface. The impeller is pulled to overcome the step in the ascending direction in the direction of slope and correspondingly decreased in descending direction. The preferred application of the impeller is seen in transport devices, such as handcart. On uneven surfaces, due to the small diameter of the rollers, inefficient movement occurs during manual pulling. Even small bumps, such as a transverse cable to the direction of travel, is an obstacle and must be overcome when transporting heavy loads with very high force.

The European patent EP 0 193 473 B1 discloses a motor-driven transport device with a chassis for receiving a person to be transported or an object to be transported. An axle, which is arranged on the chassis in the lower region, carries at each end a frame part which holds at least three wheels pivotally. The transport device furthermore has a reversible drive which drives the axle. There is also provided a second reversible drive which selectively drives the wheels independently of the rotation of the axle, the first drive driving the frame member via an integral with the outer hollow shaft and the second drive drives the wheels via internal shafts, with the outer shafts are coaxially pivotable and received in these. In other embodiments, gear transmission and / or planetary gear between the shafts and the Drives arranged. To overcome stairs with high stairs this transport must be made large, which in turn is disadvantageous for short staircases. The chassis has only one axle. Therefore, two wheels must be on the ground, so that the transport device does not tip over. This in turn is disadvantageous for short staircases. Even with suitable stair risers and staircases there is the problem that the balance of the transport device is difficult to maintain. In addition, due to the two central drives and the connection via hollow shafts and transmission gears and / or planetary gears, the device tends to be heavy and cumbersome. Finally, here is the relatively small size of the wheels at bumps disadvantageous.

The French patent FR 2 843 727 B1 proposes a handcart for climbing stairs, which has a main frame with rotatably mounted wheels. The wheels have circumferentially distributed teeth, with the stair nosing engaging between two adjacent teeth. This cart has non-circular wheels, which is why a transport on a level surface is bumpy or more wheels must be provided. In addition, people or sensitive loads at the level are not efficiently transportable. There is a variety of teeth provided, the tooth flanks are very small in relation to the diameter. This results in a very small contact surface on the stairs to be climbed, which would lead to a driven by a drive torque axis to a strong vibration accompanied spin the wheel.

The US patent application US 2011/0127732 A1 discloses a stair-climbing wheel wherein the stair-climbing wheel consists of a rolling wheel having a plurality of extendable protrusions, which allows the wheel to climb stairs. Although the wheel on the one hand receives a bearing surface for the next step, due to the extendable projections, it increases the distance from the wheel axle to the pivot point, which is why the force or drive moment effort is disadvantageously increased. A positioning of the extendable projections to the stair nosing, which would have to take place again at each step, is not disclosed.

The US patent US 3 499 501 A describes stair-climbing wheels with circumferential, stair-engaging notches and ground-contacting belts. These are arranged on the periphery of the wheels for rolling and sliding engagement, wherein means for closing the notches, means for locking the means for closing the notches and drive means are provided. Before climbing the stairs, the detents of the notch closures are released. The closures form part of the circumference of the wheel and are rotatably mounted at one end. The shutters are radially urged by a spring force, which causes the shutters to maintain the circular circumference. When approaching a staircase, the spring force is overcome, whereby the closures release the notches, which serve as a support surface on the step. If there is no notch at the edge of the stair, the wheel slips in the belt until a notch rests on the edge of the stair. The positioning of the notches to the stair nosing is based on a sliding of the wheel in the belt. This leads to increased wear.

The patent GB 2 349 123 B claims a patient transport device having two or more wheels, each wheel including a non-circular member having a tread or perimeter of at least three curved convex bulges described by circular arcs, having their equi-angularly spaced centers between the corresponding tread and the wheel center Radii of the wheel lie. At the circumference of the wheel so inwardly directed peaks each arise at the point where the circular arcs meet. In one embodiment, the device has two or more of these elements with the same number of convex bulges, which are substantially identical. Furthermore, means are described by which the two or more elements can be selectively locked in two relative angular positions. In a first position, the bulges of both or all of the elements are aligned congruently to form a combined element having the shape of each of the individual elements. In a second position, the elements are oriented such that their bulges are spaced apart to divide the angles between adjacent bulges of each of the elements. This creates a wheel that approaches the circular shape, but never reached. Therefore, additional means are needed for smooth rolling on even surfaces. When climbing stairs itself supports the wheel due to its convex bearing surfaces only an upward traction by a slight reduction in the lever around the pivot point between the wheel and stairs, but beyond provides no further benefits, as he. B. would be given by the at least partially replacing the human force.

The publication US 2011/0233991 A1 describes a wheel assembly having a first and a second wheel, each wheel having a hub with a central axis of rotation. At least two eccentric wheel vanes are disposed on the hub, the vanes extending radially from the hub and spaced about the central axis. Both wheels are arranged rotatably to each other. The disadvantage is that the wheel assembly has no circular circumference and thus is not suitable for energy-efficient locomotion.

The publication DE 10 2011 052 615 A1 As the closest prior art discloses a stair-climbing wheel for a vehicle. In the closest embodiment, the wheel consists of three segments rotatable about a common center point. Each segment has a circular base body and four recesses each, the latter covering one-twelfth of the circumference. By rotating the segments to each other such that the recesses are covered by the main body, a circular rolling surface is formed. If the recesses are covered, stairs can be used. Each recess is formed by two concave flanks. The shape of the flanks should allow unrolling with reduced movement irregularities. The disadvantage here, however, the ratio of wheel size or depth of the recess to step height of the stairs. The recess must be radially deeper than the step height, which due to the relatively large radius leads to a very small rolling surface, which in turn can collide with the step depth.

Object of the invention

It is therefore an object of the present invention to provide a wheel that can go up and down a staircase with minimal energy expenditure by optimal geometric design, which rolls on a flat surface as a circular wheel. It should have a size which allows optimal movement even over small bumps away.

Advantages of the invention

The solution of this object is achieved by a wheel according to the main claim 1 and the inventive method for driving on stairs with a wheel according to claim 15. Further advantageous embodiments are disclosed in the dependent claims and the embodiment.

The wheel according to the invention for driving on stairs comprises at least two segments. Driving is understood to mean the unrolling of one or more wheels mounted on a device on a nearly level ground in several directions (omnidirectional, ie, forward and backward, including change of direction, eg by steering). The driving on stairs is correspondingly the omnidirectional rolling of one or more wheels attached to a device over the uneven ground, supported by the geometry of the wheel, by definition both up the stairs and down the stairs. However, the wheel according to the invention is also used for conventional driving. Each of the at least two segments has a circular base body. The circular base is defined by a center point and a radius and has a circumference which is in contact with a surface. The circumference is for example the running surface of the wheel. The contact with a surface is a touch of the wheel and the ground to unroll on a substrate. The circumference has at least two recesses in its course. The recesses are formed by indentations, so radial recesses in the circumference of the wheel and are distributed in relation to the angular position uniformly over the circumference. The uniform distribution of the angular position, ie the equiangular distribution, means that all center or central angle of adjacent recesses are equal to each other. The recesses are preferably arranged symmetrically to the center, so preferably have an equal distance of the centers of gravity of the recesses from the center. The circumference has in its course between the at least two recesses adjacent to the circumference exactly on a non-recessed arc portion of the circular base body. The non-recessed arc portion as part of the circular base body forms a corresponding part of the circumference, ie the circular tread, and presents itself geometrically as a circular arc whose center and radius is identical to that of the circular base body. The at least two non-recessed arc sections are evenly distributed over the circumference with respect to the angular position. The number and distribution of the non-recessed arc sections corresponds, due to the arrangement of exactly one unspored arc section between two recesses, those of the recesses. The at least two segments can be brought reversibly into at least two staggered positions. Reversible means that the segments are repeatably reversible. At least two mutually offset positions means that the segments are movable relative to each other, for. B. can be rotated to each other, which is not necessarily synonymous with a common concentric storage. The segments can also be spent by other types of movement than the concentric rotation in staggered positions, z. B. by eccentric displacement and subsequent twisting. At least in at least two positions, the circular base body of the at least two segments are concentrically fixed to one another. The segments preferably have a common concentric bearing, but may alternatively only be concentric with one another and fixable in these at least two positions. The at least two segments are aligned in a first position to each other such that the at least two recesses of each segment at least partially over each other, wherein in the first position, the wheel has no closed circular circumference. As described above, the segments may occupy multiple positions with each other, which has specific advantages. The arrangement in at least two positions is necessary according to the invention and in turn has the advantage of simplicity. For example, in the first position, the segments may be oriented rotated relative to one another such that the wheel has approximately the same shape with perimeter, recesses, and not recessed arc sections as the individual segments. Since these have deviations in their circumference from the circular shape radial depressions, correspondingly no closed circular circumference. The recesses do not have to be completely over each other. The recess of a segment may be partially covered by the non-recessed arc sections of at least one further segment. The rolling of the wheel on a relatively flat surface in this position is at best bumpy possible and can be impossible in the worst case. This is dependent on the size and the number of recesses and the number of segments and the degree of coverage of the recesses of a segment of the non-recessed arc portions of at least one other segment. The advantage of the first position is the formation of a geometry on the wheel circumference, which allows a safe driving on a staircase with low energy consumption. The at least two segments are aligned in a second position to each other such that each recess of a segment is at least partially covered in the circumference by an arc portion of at least one further segment such that the wheel has a closed circular circumference in the second position. A partial overlap of each recess of a segment by an arc portion of at least one further segment results in a closed circular circumference when more than two segments are used. The arc sections of two segments can cover in total the recesses of the third segment. Advantageously, unrolling on an almost level surface is possible without problems due to the closed circular circumference. Combining the first and second positions together in one wheel also has the advantage that the wheel can be optimally designed in its diameter for conventional driving, since the first position allows climbing stairs and no limiting the size of the wheel device such. B. a rotary star of radial arms according to the prior art, is required. This is advantageously achieved by the design of the segments with a circular base body and equiangular distribution of the recesses.

und jeder der mindestens zwei nicht ausgesparten Bogenabschnitte auf dem Umfang mindestens eine Kreisbogenlänge b_min von $$b_{min}=\frac{2\ast \mathrm{\pi }\ast \text{r}}{\text{Anzahl Segmente}\ast \text{Anzahl Aussparungen}}$$

ein. Die Kreisbogenlänge ist der Betrag der Länge des Teils der Kreislinie des Umfangs, also des Kreisbogens, der durch einen Winkel, genauer einen Mittelpunkts- oder Zentriwinkel, gebildet wird. Da die Größe des Rades, also der Radius bzw. der Durchmesser, den Umfang bestimmt und aufgabengemäß optimiert werden soll, ist die Berechnung der Kreisbogenlänge angegeben. Die Aussparungen können alternativ über den sie definierenden Mittelpunkts- oder Zentriwinkel, unabhängig vom Radius angegeben werden. Der Aussparungswinkel ist dabei höchstens α_max von $$a_{max}=\left(\text{Anzahl Segmente}-1\right)\ast \frac{360°}{\text{Anzahl Segmente}\ast \text{Anzahl Aussparungen}}$$

und der Bogenabschnittswinkel muss einen Mindestbetrag β_min von $${\beta }_{min}=\frac{360°}{\text{Anzahl Segmente}\ast \text{Anzahl Aussparungen}}$$

aufweisen. Diese Aufteilung des Umfanges hat den Vorteil, dass bei gleichwinkliger Verteilung der Aussparungen und der nicht ausgesparten Bogenabschnitte in Abhängigkeit der Anzahl der Segmente und der Aussparungen sichergestellt ist, dass sowohl die erste als auch die zweite erfindungsgemäße Stellung der Segmente zueinander ermöglicht wird. Die Variation der Anzahl der Segmente und der Aussparungen lässt eine Vielzahl möglicher Kombinationen von geschlossenen kreisförmigen Teilumfängen und teilweise überdeckter Aussparungen zu. Im einfachsten Fall ist eine Treppe regelmäßig aufgebaut. Eine regelmäßige Treppe ist durch eine konstante Treppensteigung und einen konstanten Treppenauftritt aller Treppenstufen auf einer Treppe gekennzeichnet. Soll das erfindungsgemäße Rad ausschließlich für das Befahren dieser Treppe verwendet werden, reichen zwei Segmente mit je zwei bis vier Aussparungen, je nach Verhältnis von Treppensteigung zu Treppenauftritt, vorzugsweise drei Aussparungen. Die Gestaltung der Winkel kann ebenfalls auf das Verhältnis von Treppensteigung zu Treppenauftritt abgestimmt sein. Schließlich kann durch Anpassung des Radius das optimale Rad für diese Treppe gestaltet werden. Damit fährt das Rad, ohne die Notwendigkeit, an jeder Treppe die Aussparungen zur Treppenkante ausrichten zu müssen, mit geringem Energieverbrauch die Treppe hinauf oder hinab. Ein komplizierterer Fall wäre eine unregelmäßige Treppe. Diese verlangt zum Befahren mit minimaler Energie eine feinere, unter Umständen unregelmäßige Aufteilung der kreisförmigen Teilumfänge und der teilweise überdeckten Aussparungen über den Umfang des Rades. Die erfindungsgemäße Aufteilung der Winkel kann dann vorteilhaft durch mehr als zwei Segmente und mehr als zwei Aussparungen beeinflusst werden. Dabei kann unter Umständen ein Ausrichten der Aussparungen zur Treppenkannte vor jeder Stufe erfolgen, was vorteilhafterweise durch eine höhere Anzahl an Segmenten und Aussparungen deutlich erleichtert wird. Schließlich kann das Rad auch auf einem sehr unebenen Untergrund, der aber keine Treppe ist, eingesetzt werden. Auch dabei hilft eine Mehrzahl von Segmenten und Aussparungen, ein Abrollen mit minimalem Energieaufwand zu gewährleisten, weil durch die teileweise Überdeckung der Aussparungen durch nicht ausgesparte Bogenabschnitte sehr kleine nicht überdeckte Aussparungen des Umfangs erreicht werden.According to the invention, each of the at least two recesses on the circumference takes at most one circular arc length a _max of $$a_{max}=\left(\text{Number of segments}-1\right)*\frac{2*\mathrm{\pi }*\text{r}}{\text{Number of segments}*\text{Number of recesses}}$$

and each of the at least two non-recessed arch portions on the circumference at least one arc length b _min of $$b_{min}=\frac{2*\mathrm{\pi }*\text{r}}{\text{Number of segments}*\text{Number of recesses}}$$

one. The circular arc length is the amount of the length of the part of the circumference of the circumference, ie the circular arc, which is formed by an angle, more precisely a center or central angle. Since the size of the wheel, ie the radius or the diameter, the circumference is determined and should be optimized according to the task, the calculation of the arc length is specified. Alternatively, the recesses may be indicated over the center point or center angle defining them, regardless of the radius. The recess angle is at most α _max of $$a_{max}=\left(\text{Number of segments}-1\right)*\frac{360°}{\text{Number of segments}*\text{Number of recesses}}$$

and the arc section angle must have a minimum amount β _min of $${\beta }_{min}=\frac{360°}{\text{Number of segments}*\text{Number of recesses}}$$

exhibit. This division of the circumference has the advantage that it is ensured in equiangular distribution of the recesses and the non-recessed arc sections depending on the number of segments and the recesses that both the first and the second position of the invention according to the segments is made possible. The variation in the number of segments and recesses allows for a variety of possible combinations of closed circular subassemblies and partially blanked recesses. In the simplest case, a staircase is built up regularly. A regular staircase is characterized by a constant stair slope and a constant staircase step of all stairs on a staircase. If the wheel according to the invention is used exclusively for driving on this staircase, two segments with two to four recesses each, depending on the ratio of stairs to stairs, preferably three recesses. The design of the angle can also be matched to the ratio of stair slope to staircase. Finally, by adjusting the radius, the optimal wheel for this staircase can be designed. Thus, the wheel moves up or down the stairs with little energy consumption without the need to align the recesses to the stair nosing on each staircase. A more complicated case would be an irregular staircase. This requires for driving with minimal energy a finer, possibly irregular distribution of circular sub-scopes and partially covered recesses over the circumference of the wheel. The division of the angle according to the invention can then be advantageously influenced by more than two segments and more than two recesses. In this case, under certain circumstances, the recesses can be aligned with the stairs in front of each step, which is advantageously made considerably easier by a higher number of segments and recesses. Finally, the wheel can also be used on a very uneven surface, which is not a staircase. Here too, a plurality of segments and recesses helps to ensure unwinding with minimal expenditure of energy because very small uncovered recesses of the circumference are achieved due to the partial covering of the recesses by non-recessed arc sections.

According to the invention, a wheel is advantageously proposed in which the at least two recesses have an inwardly directed contour deviating from the circular outer circumference, which is curved, preferably curved concavely irregularly and / or concavely regularly parabolically curved and / or concavely regularly elliptically curved and / or or concavely regularly circularly curved shaped. The outer circumference is that part of the circumference of the circular bases of the segments formed by all the non-contiguous non-recessed arc sections. The inwardly directed contour of the recesses deviating from this outer circumference by definition characterizes the recesses substantially. Basically, this inwardly directed contour is concavely curved. A curvature is characterized by the fact that three points lying next to each other are not points of a straight line. This definition of curvature is applied here to the entire inward contour, not just three adjacent points. This means that the inward contour can have any inward curvature, but not just a straight line. If two arbitrary points are connected to one another by a straight line on such a curved inward contour and this straight line is always in the recessed part of the circular base body, this is a concave, inwardly directed contour. A straight section of the inwardly directed contour, which describes the boundary region between convex and concave according to the definition made here, is also considered to be concave at this point, since the advantages according to the invention are maintained with a straight section of the inwardly directed contour. Elsewhere, a straight line can be considered as convex, since the advantages according to the invention are retained even in the case. The concave curvature refers to substantial parts of the inward contour. Portions of the inwardly directed contour that directly adjoin the outer circumference may be convex by design, or the entire inward contour may not be concavely closed due to the configuration of portions of the inboard contour adjacent the outer perimeter. An essential part of the inwardly directed contour therefore comprises the inwardly directed contour minus the edge regions, ie the sections adjacent to the outer circumference. The curvature of the entire inwardly directed contour and individual portions of the inwardly directed contour can be irregular and / or regular, z. B. parabolic, elliptical, circular and / or evolved, as a special form of parabolic, be shaped. Individual sections can also be formed by straight lines. The reason for the at least in inner portions of the inwardly directed contour concave curvature is the intervention of the stair nosing when driving on the stairs in one of the recesses. The stair nosing describes one circular, parabolic or evolved movement within the recess. A convex curvature of the inner sections of the inwardly directed contour can lead to collisions with the stair nosing and thus endanger the minimum energy consumption.

Advantageously, at least one portion of the inwardly directed contour of at least one of the at least two recesses is formed as a straight line or convex, preferably convex parabolic, convexly elliptical or convex circular. When driving on a staircase the stair nosing according to the invention engages in one of the recesses. The design of the edge regions, that is to say the sections adjoining the outer circumference, of the inwardly directed contour has a significant influence on the efficiency of the passage of the staircase. Thus, a trained as a straight, adjacent to the outer circumference portion increase the stability of the support surface. A convex curvature of the section of the inwardly directed contour resting on the next step, which adjoins the outer circumference, significantly increases the ride comfort. The configuration of the inwardly directed contour is dependent on the use of the wheel.

Both areas of the inwardly directed contour adjoining the outer circumference are particularly advantageously designed as straight or convex and include no or at least one further area of the inwardly directed contour, the at least one further area of the inwardly directed contour being straight and / or concave curved, preferably concave circular or concave elliptical or concave parabolic curved, is formed. Thus, the advantages of both the straight or convex, z. B. parabolic, circular, elliptical or irregularly shaped edge regions, ie the adjacent to the outer periphery portions of the inwardly directed contour, as well as the concave inner regions, so not adjacent to the outer periphery portions of the inwardly directed contour combined.

In a further embodiment, a wheel according to the invention is proposed, in which the axial spacing of the at least two segments is mutually reversibly variable and the at least two segments can be fixed in at least two axially spaced-apart axial positions. Axial distance means that the normal vector of the plane of a circular base of the at least two segments applied in the center of the plane intersects in at least one direction another plane of a circular base of the at least two segments and the magnitude between the center and the point of intersection equals zero is. The planes of the circular base bodies contain all the circle points defined by the center point and radius, ie the circumference, and practically intersect the running surface in half of their axial extent. A distance of zero not only means that the involved two segments touch, but that the involved planes of the circular base bodies lie on one plane or intersect at least in one of the involved centers. This axial distance is reversibly changeable. That is, the segments are repeatably reversible in the axial direction, ie in the direction of the normal vector. At least two axially spaced apart axial positions means that the segments are movable relative to each other, e.g. B. can be moved to each other. Preferably, the segments are mounted concentrically together. Alternatively, the segments can also be moved by other types of movement than the concentric shifting in mutually shifted positions. Advantageously, the at least two segments occupy the first or second position in a first axial position and have an axial distance from each other, so that the at least two planes of the circular base body of the at least two segments are approximately parallel planes with a distance greater than zero. In a second axial position, at least two of the at least two segments occupy the second position relative to each other and have an axial distance equal to zero, so that the at least two planes of the circular base bodies of the at least two segments located in the second position lie on one plane , The advantage of the first axial position is that at least both positions of the segments can be realized relative to one another. That is, a wheel having a closed circular outer periphery can be formed as well as a wheel having a closed circular outer periphery, even if outer peripheral portions of the non-recessed arc portions and the planes of the circular base bodies of the segments are not in one plane. The latter enables the wheel to roll or ride on a relatively level surface or to drive on a bump or step, without changing the axial position, which significantly shortens the switching time of the positions between driving and driving. This option is also advantageous without the ability of the axial position change of the segments to each other. However, the axial change in position is particularly advantageous since in the second position not only a wheel with a closed circular outer periphery can be formed, but the outer peripheral sections of the not-recessed arch sections or the planes of the circular main body of the segments lie on one plane. This makes driving with minimum energy consumption possible. Moreover, this driving mode is not only transient, but can be sustained over a long period of time. Finally, the controllability of a device using the wheel significantly improved in this case. Other axial positions are possible. These can represent intermediate positions during the transition of the first to the second position or be additional functional positions according to the invention.

In the wheel according to the invention, the determination of the circular base body of the at least two segments in the at least two staggered positions and / or fixing the circular base body of the at least two segments in at least two axially spaced axial positions by mechanical and / or electrical and / or hydraulic and / or magnetic and / or magnetorheological and / or electrorheological locking means, wherein the locking means are operated electrically and / or electronically and / or hydraulically and / or pneumatically and / or mechanically and in at least one segment and / or in at least one of the segments directly and / or indirectly associated device can be accommodated. The setting of the segments at least in the two positions is inventively and functionally necessary. Advantageously, this is done by locking means that do not require a permanent power supply to set. Locking means can mechanically, z. B. by means of bolts, pins and / or locking devices with pawls, and / or electrical, z. B. by relays, which can also be combined with mechanical elements such as bolts or pawls, and / or fluidic, z. B. by building up a pressure of a fluid, preferably a liquid, in a locking chamber, and / or magnetic, z. B. by bringing magnets to one another or in combination with electrical means and disconnectable electromagnets, and / or electrorheological, z. B. by changing the viscosity of a hydraulic locking means, and / or magnetorheological, z. B. also be carried out by changing the viscosity of a hydraulic locking means or a combination thereof. The actuation or the control of the locking means results on the one hand from the locking means itself, advantageously the type of operation corresponds to the type of locking, but can also be space-and / or functionally another known operation. Advantageously, the actuation, like the locking means also, is arranged directly in the segments or the actuation is removed in a device directly associated with the segments, e.g. As a wheel provided with the axis, or the operation is removed in a segments indirectly associated with the device, for. As an axle receiving axle, arranged.

In an advantageous embodiment, an inventive wheel is disclosed, wherein the at least two segments are associated adjusting means by which the changes in the axial position of at least one segment and / or by the changes in the position of at least one segment regardless of the axial position or the position of the remaining segments are feasible. The change in the position and the axial position of a segment can be carried out by a single adjusting means, but is preferably carried out by a respective adjusting means. This allows, depending on the selected adjusting means, more degrees of freedom in the adjustment. This means that the change in the axial position and the position of the segments can be carried out simultaneously, which brings temporal benefits and thus increases comfort. The adjusting means are advantageously accommodated in mechanical and / or electrical and / or magnetic and / or pneumatic and / or hydraulic actuating means and in at least one segment and / or in at least one device directly and / or indirectly associated with the segments, the actuating means being electrically and / or or electronically and / or hydraulically and / or pneumatically and / or mechanically actuated. The execution of adjusting means for adjusting the axial position of a segment, for example, for carrying out a translatory movement capable of adjusting means, as well as adjusting means for adjusting the position of a segment, for example, for carrying out a rotary movement competent actuating means are known. These can be mechanically, z. B. by gear, worm or belt drives, electric, z. B. by linear and stepper motors, magnetic, z. B. drives by circulating or linearly variable magnetic fields, pneumatic or hydraulic, z. B. by variable pressure chambers, and in combinations thereof. Advantageously, these adjusting means are arranged directly in the segment to be adjusted, which benefits the entire space required. A remote from the segment arrangement of the actuation in a segment directly associated with the device, for. B. a wheel provided with the axis, or a segments indirectly associated with the device, for. B. a axle receiving axle, is also possible and may be advantageous depending on the actuating means used. The actuation of the actuating means is also known and can be electrically, for. B. by closing a circuit of an electric motor, and / or electronically, for. Example, by an emitted by a computing unit command to close a circuit of an electric motor, and / or hydraulically and / or pneumatically, for. B. by pressure build-up in actuation cylinders, and / or mechanically, for. B. by locking or unlocking an adjustment done.

In a further advantageous embodiment, the wheel is rotatably mounted at least in the two staggered positions in the center of the at least two segments. Opposite z. B. a rigid Attaching the wheels to an axle or the segments via a hollow shaft with internal waves results in the advantage that transmission losses, eg. As a drive can be reduced that known per se, optimized bearings can be performed or the moving masses are reduced, which in turn are reduced in a drive of the wheel, the mass moments of inertia both during acceleration and during deceleration. All this contributes to energy optimization when driving on a relatively level surface or when driving on stairs. Outside the two positions, the segments can also be rotatably mounted, which in turn is dependent on the adjusting means for performing the change in the position of a segment. In the simplest case, the wheel is rotatably mounted in any position in the center of the at least two segments, but this is, for. B. in adjusting means which comprise mechanical eccentric means, not always given.

Advantageously, means are provided in the wheel, which allow a bidirectional rotational movement of the wheel at least in the two positions in which the center of the at least two segments is rotatably mounted, wherein the means on the wheel and / or in a wheel directly and / or indirectly associated device can be accommodated and wherein the means are mechanical and / or electrical and / or magnetic and / or pneumatic and / or hydraulic drive means. Drive means for driving wheels are known and can be mechanically, for. B. by power transmission via lever or gear, electric, z. B. by electric motors, magnetic, z. B. drives by rotating magnetic fields, pneumatically or hydraulically, z. B. be acted upon by a volumetric flow turbine, and combinations thereof. Advantageously, these drive means are arranged directly in the driven wheel, which benefits the entire space required. An arrangement remote from the wheel in a device directly associated with the wheel, e.g. As a wheel provided with the axis or in a wheel indirectly associated device, for. As a axle receiving axle, is also possible and may be advantageous depending on the drive means used. The drive is bidirectional, which means that the wheel can be turned in both directions.

In a further, particularly advantageous embodiment of the wheel, at least one of the at least two non-recessed arc sections has at least one extension means, which reversibly radially beyond the circumference of the wheel can be brought out and in both the radially over the circumference spent position and in the radially not The position of the outer circumference of at least one non-recessed curved section of at least one segment can be reversibly canceled out with the surface in the position which has been moved radially beyond the circumference. The segments have circular bodies defined by center and radius. This imaginary circle has a diameter whose circumference is in contact with the surface, thus forming the running surface of the wheel. This scope is referred to below as the scope of origin for better distinction. The origin scope includes the non-closed or closed circular outer periphery of the wheel. The expansion means according to the invention can extend beyond the original circumference in the radial direction, thus increasing the diameter of the respective associated segment beyond the original diameter. More specifically, the extension means increase the radius of at least a partial arc portion of the respective non-recessed arc portion beyond the original radius. Reversible means that the at least one expansion means can be brought back into a first position beyond the original scope and back into the original state, that is to say into a second position not beyond the original scope. In this case, the at least one expansion means in at least two layers can be fixed, z. B. by locking means described above. The introduction of the expansion means has, on the one hand, the advantage of lifting at least one further segment from the surface by means of expansion means brought into the first layer, in order to enable this at least one further segment to be moved efficiently to another position and / or another axial position. Another advantage of the expansion means placed in the first layer is the variation in the height of the center of the wheel, which makes it possible to travel irregular or particularly high steps.

Advantageously, the at least one expansion means has at least one expansion adjustment means, by which the at least one expansion means can be reversibly radially beyond the original scope, wherein the at least one extension adjustment means a mechanical and / or electrical and / or magnetic and / or pneumatic and / or hydraulic extension adjustment means is and in at least one segment and / or in at least one of the segments directly and / or indirectly associated device can be accommodated. The expansion actuator for bringing the extender beyond the scope of origin may be mechanically, e.g. B. a worm drive, electric, z. B. a linear motor, magnetic, z. B. variable magnetic fields along a rail, and / or fluidic, z. B. by hydraulic or pneumatic piston-cylinder units, designed. These extension control means can again in the corresponding segment itself, in a device or the wheel directly associated device, for. As an axis, and / or in a segment or the wheel indirectly associated device, for. As an axle receiving axle, be arranged. The use of extension-adjusting means advantageously enables a variable configuration of the first layer, that is to say that the amount by which the expansion means can be moved is variable. For the purpose of canceling the contact of at least one further segment from the surface, a small amount is sufficient, whereas when driving particularly high stairs a larger amount may be necessary.

Particularly advantageous is a wheel in which the at least one expansion means comprises at least a part of the outer periphery of at least one of the at least two non-recessed arc sections. In this case, the expansion means, formed, z. B. as mechanical extensions, be identical to parts of the original scope. You can z. B. rod-shaped radially emerge from the non-recessed arc sections, wherein the radially outer part may be part of the original tread. Advantageously, the entire part of the outer circumference of a non-recessed arc section can be spent beyond the original circumference. This allows an optimal unrolling even when spent beyond the original scope extension means.

Particularly advantageous is an actuation of the drive means and / or the adjusting means and / or the locking means and / or the extension adjusting means in dependence on data from in the wheel and / or in a wheel directly and / or indirectly associated device arranged environment sensors and / or other data providing means triggerable and / or feasible. The type of possible drive, setting, locking and extension control means and their possible operation have already been described. The activation of the actuation over time, that is to say the control, is advantageously based on data from environment sensors and / or other data provision means. Environment sensors are known in principle and can be made of optical sensors, eg. As stereoscopic cameras or lidar, or from electromagnetic sensors, eg. Radar, and many other environmental sensors used in the art. These provide a sufficiently detailed picture of the environment. These data are processed into control commands that allow an object to interact with its environment. For the inventive wheel, it is advantageous to know the beginning of a staircase, so the edge of the first step, to switch between driving and driving structure. This information can come directly from the environment sensors or indirectly via a computing unit which converts the entire environment data and forwards them as control commands. This information may also be provided by other data providing means, e.g. As external sensors, external processing units or specified program sequences, or the device itself monitoring sensors, such as wheel speed or segment position sensors are forwarded to the above drive means. Advantageously, the environmental sensors and / or data providing means are arranged directly on the wheel, for. B. acceleration sensors for detecting a stop of the wheel to an obstacle, or segment position sensors for detecting the positions of the segments to each other and relative to the ground. Furthermore, the environmental sensors and / or data providing means may be arranged indirectly on the wheel, for. B. in an axis. Finally, the environmental sensors and / or data providing means may be remote from the wheel, e.g. As a camera or a radar sensor attached to a structure of a device that uses the inventive wheel.

The present invention also relates to a method of driving on stairs with a wheel comprising at least a first and a second segment, each segment having a circular circumference, each segment having at least one inwardly directed contour interrupting the circular circumference of the segment wherein at least the first segment rolls over the circular outer periphery on a surface, wherein at least the second segment is aligned with the first segment such that an edge of the at least one inwardly directed contour of at least the second segment is engaged by the rolling of the first segment is brought with a staircase, wherein the wheel on the edge of the inwardly directed contour of the second segment, then on the transition between the edge of the inwardly directed contour and the circular outer periphery of the second segment and in the further course further ü Rolls over the circular outer circumference. This method advantageously provides a means for easy and efficient access by stairs. The inwardly directed contour is the contour of the recesses described above, the concrete design of the application, ie, for example, depends on the staircase shape and / or the staircase material. The flank is the region of the inwardly directed contour adjacent to the outer circumference. When approaching a step, the currently not rolling on the ground segment is adjusted in position to the rolling on the ground segment, so that a recess with a flank arises, which comes with the appearance of the step engages. About the flank, the transition area between the flank and the circular outer circumference and in the further course over the circular outer circumference itself rolls off the wheel further. As soon as the circular outer circumference is in contact with the staircase, the segment which has been in contact with the ground at the beginning can be adjusted to the now in contact segment so that its flank can travel to the next step on the staircase, ie the next step. Advantageously, this can be done while the wheel continues to roll.

In a particularly advantageous embodiment, a method is disclosed, wherein at least the first, over the circular outer circumference rolling on a surface segment has at least one extension means, which is spent beyond the circular outer periphery, wherein by moving the at least one expansion means on the circular outer periphery addition at least one second segment loses contact with the surface, wherein at least the second segment without contact with the surface is aligned with the first segment such that the one flank of the at least one inwardly directed contour of at least the second segment engages the staircase is, wherein the wheel over the edge of the inwardly directed contour of the second segment, then over the transition between the edge of the inwardly directed contour and the circular outer circumference of the second segment and further Course further rolls over the circular outer periphery and wherein during the rolling over the edge, the transition and / or the circular outer periphery of the second segment, the at least one expansion means of the first segment is moved to its original position on or below the circular outer periphery. If, when approaching the next step, the segments are arranged relative to the ground such that when rolling on the circular outer periphery a non-recessed arc portion of the circular outer periphery would abut a stair nosing, the expansion means disposed on the currently rolling on the ground segment is, extend and thus allow an adjustment of not standing in contact with the ground segment. The circular outer circumference of this segment is then positioned to the ground in such a way that in the further course of rolling over this circular outer circumference a recess, ie an inwardly directed contour, comes into engagement with the staircase. Subsequently, either the first expansion means is moved back to the original position or another expansion means, which is assigned to the just disguised segment is extended to then retract the first expansion means and adjust the now no longer in contact segment in such a way that a Recess with a flank arises, which comes into engagement with the appearance of the step. The advantage of this embodiment is that the adjustment can be carried out not only during the rolling of the wheel but also independently of the starting position of the segments.

Particularly advantageous is a method in which environment data from environmental sensors and / or other data providing means are detected and supplied to a calculation, wherein the environment data at least the staircase, the stairs and the position of at least the rolling on the circular outer circumference first segment absolutely and / or relative to Include stairs. In the calculation of the orientation of the second segment to the first segment at least both the current distance of the wheel to the currently running stair nosing and the expected from the rolling of the second segment distance of the wheel to the subsequent stair nosing are included. The alignment takes place at least in such a way that a minimum number of further alignments and / or actuations of the expansion means takes place and / or the further orientations and / or actuations of the expansion means are minimized in terms of amount. As a result, any staircase design can be used. Regular stairs can be used very efficiently with only a few adjustments of the segments to each other. Irregular stairs can be negotiated by constantly detecting the environment and adjusting the adjustment, regardless of the starting position of the segments and without interrupting the rolling process. In particular, in a device equipped with one or more wheels, the inventive method brings advantages. This makes it possible, among other things, to navigate spiral staircases and irregular stairs, because the ratio of staircase steps and stairs can be compensated by adjusting the segments.

embodiment

Further details of the invention are described in the drawings with reference to schematically illustrated embodiments.

• 1 eine schematische Darstellung eines Segmentes mit Konturbereichen (Außenansicht)
• 2a eine schematische Darstellung der Kontur einer Aussparung mit konvexen Flanken/an den Außenumfang angrenzende Bereiche der nach innen gerichteten Kontur (Außenansicht)
• 2b eine schematische Darstellung der Kontur einer Aussparung mit konkaven Flanken/an den Außenumfang angrenzende Bereiche der nach innen gerichteten Kontur (Außenansicht)
• 3a eine schematische Darstellung eines Segmentes mit drei Aussparungen eines Rades mit drei Segmenten (Innenansicht)
• 3b eine schematische Darstellung eines Segmentes mit vier Aussparungen eines Rades mit zwei Segmenten (Innenansicht)
• 4 ein schematisiertes Rad, zusammengesetzt aus zwei Segmenten (Außenansicht)
• 5 ein Segment (Außenansicht) mit Erweiterungsmitteln
• 6a-d ein Rad (Außenansicht) mit deckungsgleichen Segmenten beim Befahren einer Treppe
• 7a-d ein Rad (Außenansicht) mit versetzten Segmenten beim Befahren einer Treppe
• 8a-d ein Rad (Außenansicht) mit versetzten Segmenten und Erweiterungsmitteln beim Befahren einer Treppe

Hereby show:

• 1 a schematic representation of a segment with contour areas (exterior view)
• 2a a schematic representation of the contour of a recess with convex flanks / on the outer periphery adjacent areas of the inwardly directed contour (exterior view)
• 2 B a schematic representation of the contour of a recess with concave flanks / on the outer periphery adjacent areas of the inwardly directed contour (external view)
• 3a a schematic representation of a segment with three recesses of a wheel with three segments (inside view)
• 3b a schematic representation of a segment with four recesses of a wheel with two segments (interior view)
• 4 a schematic wheel composed of two segments (exterior view)
• 5 a segment (exterior view) with expansion means
• 6a-d a wheel (exterior view) with congruent segments when driving on a staircase
• 7a-d a wheel (exterior view) with offset segments when driving on a staircase
• 8a-d a wheel (exterior view) with staggered segments and expansion means when driving on a staircase

In 1 is a schematic representation of a segment 1 of the wheel according to the invention with contour regions of an inwardly directed contour 5. The segment 1 has a circular base body, which through a center 9 and a radius 10 is defined. The circular outer circumference formed thereby is formed by inwardly directed recesses 4 interrupted. The parts of the circular outer periphery of the not-recessed arch portions 3 form the tread 2 of the wheel. The recesses 4 have the inward contour 5. This can be divided into several areas. In 1 are areas adjacent to the outer periphery 6 , also known as flanks, to recognize. It is also a lying between the two flanks per recess interior 7 to see. The transition area between the flanks and the tread 2 deviates from the outer circumference to the inside, but does not count to the contour 5, since the transition area 8th regardless of the design of the contour 5 is always present. As such, the entire contour 5 is concave, ie it is directed inwards and when joining any two points on the contour 5 no material of the segment 1 cut. This serves the fact that the recess 4 engages in a step or a stair nosing and not concave or projecting material of the segment 1 would be disadvantageous. Deviating from the concave structure, the flanks can 6 be educated. In 1 these are designed as straight lines, which is functionally defined as concave (see above).

In further embodiments, these may also be convex, which will be explained with reference to the following figures. The interior 7 is necessarily concave. This can, as shown here, circular or parabolic or elliptical or composed of two straight lines. Advantageously, the interior area 7 parabolic, in particular designed involute.

In 2 are possible embodiments of the flanks 6 to recognize. 2a represents involute, convex flanks 11 These have a particularly favorable rolling behavior on stairs and go so in the transition area 8th about that a uniform overall movement of the wheel comes when driving on stairs to conditions. In 2 B are concave flanks 12 to recognize. Depending on the design of the staircase and the edge of the staircase, such shaped flanks can better intervene in the staircase or stair nosing and thus contribute to further energy efficiency.

3 shows possible embodiments of the segments 1 , In 3a a segment 1 is shown, which is opposite to the not recessed arc section 3 twice as large recesses 4 having. To form a full wheel with a closed circular outer circumference at least 3 segments per wheel are necessary in this example. The advantage of such large recesses is the flexibility when driving on the stairs. The individual segments must be positioned to each other to a much lesser extent and the step. In addition, larger stairs can be used. The variant of the segment 1 in 3b has four recesses 4 with corresponding four not recessed bow sections 3 on. The recesses and the non-recessed arc sections have the same Zentriwinkel, which is why in this embodiment two segments 1 sufficient to form a closed circular outer periphery. The advantage of this design is the adaptation of the diameter to staircase conditions such that equal or regular stairs can be traveled without re-aligning the segments in front of each staircase. This is achieved by the additional degree of freedom of the fourth recess.

4 shows a wheel 16 of two segments with closed circular outer circumference, which is the tread 2 of the wheel 16 forms. It can be seen how the not recessed arc sections 13 a rear segment in this view are arranged in the recesses of the front segment.

5 shows a segment 1 with an exemplary extender. In this embodiment, the expansion means is a severed part 19 the not recessed arch section 3 , which of guides 18 , z. B. in the form of radially retractable and extendable guide rods, is held. A further possibility for the design of the expansion means may in the simplest case be a segment-associated bolt, which is designed to be retractable and extendable. However, the variant shown is advantageously capable of further unwinding while the expanding means is extended, and thus can drive the positions of the segments 1 to each other and to the stairs vary.

In 6 is driving on a staircase simplified by only one segment 1 shown. The staircase is thereby from a foremost part of the step, the Treppenkante 17 , as well as from the staircase 14 and the stairs 15 characterized. In Figure 6a, the segment approaches 1 to the stairs. By further rolling on the tread 2 comes the flank 6 of the segment 1 in contact with the staircase 14 the first step ( 6b ). By further turning the segment 1 around the center of the segment 1 it drives the stairs, as in 6c can be seen. Finally, the wheel rolls over the flank 6 , the transition of the flank 6 to the tread 2 and finally over the tread 2 and approaches the next step ( 6d ).

7 represents driving on a staircase where the wheel is from a front segment 20 and a rear segment 21 is formed. Compared to 6 are located in 7a the congruent arranged recesses 4 of both segments ( 20 . 21 ) when approaching the first stage in an unfavorable position because after rolling over the first stage the tread 2 the congruent arranged non-recessed arc sections of both segments against the stair nosing 17 the second step can encounter. At the stair nosing 17 abutting tread 2 Driving on the stairs is not possible without further ado. Since sensor devices, not shown, the environment of the wheel, especially the distance to the stairs, the height of the stairs (stairs 15 ) and the staircase depth (staircase 14 ) is known, the position of the recesses 4 to the stair nosing 17 Getting corrected. This is done as in 7b shown. It is preferably during the approach process to the first staircase or, if necessary, during a stop in front of the first staircase, the rear segment 21 relative to the front segment 20 twisted. This happens in such a way that the flank 6 the rear segment 21 is brought into engagement with the staircase, and in fact before the flank 6 the front segment 20 during further rolling in engagement with the staircase 14 would have come. In the further course, the wheel travels in the same way 6c the first step ( 7c ). To the advantageous positioning of the recesses 4 will maintain in 7d the front segment not engaged with the staircase 20 relative to the rear segment engaging the staircase 21 twisted. This happens in such a way that the front segment 20 congruent to the rear segment 21 is twisted until it is again in engagement with the stairs. This is a favorable for further driving the stairs position of the recesses 4 and driving on the stairs can be continued with minimal further adjustments. Advantageously, the present invention allows the entire driving process to take place without stops.

8th shows a wheel 16 from a front segment 20 and a rear segment 21, wherein the wheel is expansion means 19 having. The terms front and rear segment relate only to the representation in the figures. If a device with an axle and two wheels according to the invention is used in a real embodiment of the invention, the front segment can 20 For example, be referred to as an outer segment. In 8a is an expansion agent 19 already extended. The extension process is initiated when it detects that the wheel is moving towards a staircase. It becomes the extender 19 extended the non-recessed arc section whose tread 2 when the low old ground level in front of the first / next stairs touches. In the course of further rolling of the tread 2 of the extender 19 , here a front segment 20 , becomes the back segment 21 relative to the front segment 20 twisted. This is from the 8b and 8c seen. In 8c Both segments are arranged congruent to each other and the wheel 16 can ride the stairs. Is the position of a recess 4 of the ground contacting segment, here the front segment 20 , not optimally suitable for further driving on the stairs, a non-congruent arrangement of the two segments to each other may be possible, as in 7 illustrated and explained. 8c shows the wheel 16 with congruent front segment 20 and rear segment 21 and still extended extender 19 , The latter can remain extended to drive, for example, a higher step, or before, during or after touchdown of the edge 6 on the staircase 14 be retracted. In 8d is the wheel 16 consisting of two congruently arranged segments ( 20 , 21) and retracted expansion means. The wheel 16 is positioned so that the staircase can be continued. This is done either without further positioning or rotation of the segments, by simple rotations of the segments for optimal positioning or by extending the one or the other expansion means and subsequent rotation of the segments for optimal positioning. The invention also includes driving the tread 2 on a step edge 17 or a stair slope 15 and then spin the wheel 16 to a recess 4 in engagement with the staircase stands. This is the simplest embodiment of the invention but not the most efficient and safest. Depending on the device using the wheel according to the invention, this solution may be advantageous or disadvantageous. When transporting people, for example, the spinning is not process-safe and not convenient, which is why in this, and in a variety of other cases, the positioning of the segment according to the invention, even using the expansion means, is more advantageous.

LIST OF REFERENCE NUMBERS

1

Segment with circular base body

2

tread

3

not recessed arch sections

4

recesses

inward contour

6

Flanks / areas of the inward contour adjacent to the outer periphery

7

inner region of the inwardly directed contour enclosed between the regions adjoining the outer periphery

8th

Transition area between the flanks / on the outer circumference adjacent areas and the tread / outer circumference

9

Center of the circular body

10

Radius of the circular body

11

convex flanks / areas of the inward contour adjacent to the outer periphery

12

concave flanks / areas of the inward contour adjacent to the outer periphery

13

non-recessed arc portion of the rear segment, arranged in a recess of the front segment

14

stair tread

15

stairs lead

16

Wheel made of two segments

17

Stair edge of a stair step

18

Guides for extender

19

separated part of a not recessed arch section (extension means)

20

front segment of a wheel

21

rear segment of a wheel

Claims (17)

A stairway wheel (16) comprising at least two segments (1), each of said at least two segments (1) having a circular base defined by a center (9) and a radius (10) and a circular circumference which is in contact with a surface, ◯ wherein the circumference in its course has at least two recesses (4), which are distributed uniformly with respect to the angular position over the circumference and ◯ wherein the circumference in its course between the at least two circumferentially adjacent recesses (4) exactly one not recessed arch portion (3) of the circular base body, wherein the at least two non-recessed arch portions (3) are distributed uniformly with respect to the angular position over the circumference, ◯ wherein the at least two recesses (4) deviating from the circular circumference inwardly directed Contour (5) which is concavely curved, - wherein the at least two segments (1) are reversibly in at least two mutually offset positions, at least in the at least two positions, the circular base body of the at least two segments (1) concentric with each other are determinable, ◯ wherein the at least two Se gmente (1) are aligned in a first position to each other such that the at least two recesses (4) of each segment (1) each lie at least partially above each other, wherein in the first position, the wheel (16) has no closed circular circumference and ◯ where the at least two segments (1) are aligned with each other in a second position such that each recess (4) of a segment (1) is at least partially covered in circumference by a non-recessed arc section (3) of at least one further segment (1) the wheel (16) has a closed circular circumference in the second position. Wheel (16) to Claim 1 , - wherein each of the at least two recesses (4) on the circumference at most a arc length amax of $$a_{max}=\left(\text{Number of segments}-1\right)*\frac{2*\mathrm{\pi }*\text{r}}{\text{Number of segments}*\text{Number of recesses}}$$

and wherein - each of the at least two non-recessed arc sections (3) on the circumference at least one arc length b _min of $$b_{min}=\frac{2*\mathrm{\pi }*\text{r}}{\text{Number of segments}*\text{Number of recesses}}$$

occupies. Wheel (16) to Claim 1 or 2 in that the inwardly directed contour (5) deviating from the circular circumference is shaped concave irregularly and / or concavely regularly parabolically and / or concavely regularly elliptically and / or concavely regularly circularly curved. Wheel (16) to Claim 3 , wherein at least one region (6) of the inwardly directed contour (5) of at least one of the at least two recesses (4) is straight or irregularly convexly curved or convexly parabolic or convexly elliptical or convexly circular. Wheel (16) to Claim 4 , wherein both on the outer periphery adjacent areas (6) of the inwardly directed contour (5) are formed as straight or convex and at least one further region (7) of the inwardly directed contour (5), wherein the at least one further region (7 ) of the inwardly directed contour (5) is formed as a straight line or irregularly concave curved or concave circular or concave elliptical or concave parabolic curved. Wheel (16) after one of Claims 1 to 5 wherein the axial spacing of the at least two segments (1) is reversibly mutually variable and the at least two segments (1) are securable in at least two axially spaced axial positions, wherein - in a first axial position the at least two segments (1) are the first or occupy a second position and have an axial distance from each other, so that the at least two planes of the circular base body of the at least two segments (1) are approximately parallel planes with a distance greater than zero and - in a second axial position at least two of the at least two segments ( 1) occupy the second position to each other and have an axial distance from each other, so that the at least two levels the circular base body of the at least two in the second position to each other located segments lie on a plane. Wheel (16) after one of Claims 1 to 6 in which - the determination of the circular base body of the at least two segments (1) in the at least two positions and / or the determination of the circular base body of the at least two segments (1) in at least two axially spaced-apart axial positions by mechanical and / or electrical and / or fluidic and / or magnetic and / or magneto-rheological and / or electrorheological locking means takes place and - the locking means are operated electrically and / or electronically and / or hydraulically and / or pneumatically and / or mechanically and in at least one segment (1) and / or in at least one of the segments (1) directly and / or indirectly associated device can be accommodated. Wheel (16) after one of Claims 1 to 7 wherein the at least two segments (1) are assigned adjusting means by which the changes in the axial position of at least one segment (1) and / or by the changes in the position of at least one segment (1) regardless of the axial position or the position of the remaining segments (1) are feasible, wherein - the adjusting means are mechanical and / or electrical and / or magnetic and / or pneumatic and / or hydraulic actuating means and in at least one segment (1) and / or in at least one of the segments (1) directly and / or indirectly associated device can be accommodated, - wherein the adjusting means are operated electrically and / or electronically and / or hydraulically and / or pneumatically and / or mechanically. Wheel (16) after one of Claims 1 to 8th wherein the wheel is rotatably mounted at least in the at least two staggered positions in the center (9) of the at least two segments (1). Wheel (16) to Claim 9 in which means are provided which allow a bidirectional rotational movement of the wheel (16) at least in the two positions in which the center (9) of the at least two segments (1) is rotatably mounted, wherein the means on the wheel (16) and / or in a device directly and / or indirectly associated with the wheel (16), and wherein the means are mechanical and / or electrical and / or magnetic and / or pneumatic and / or hydraulic drive means. Wheel (16) after one of Claims 1 to 10 in which at least one of the at least two non-recessed arch sections (3) has at least one expansion means (19) reversibly radially over the circumference of the wheel (16) out and at least in both the radially outwardly extended position and in the can not be fixed radially beyond the circumference, the contact of the circumference of at least one non-recessed curved section (3) of at least one segment (1) with the surface can be reversibly canceled out in the radial position beyond the circumference. Wheel (16) to Claim 11 wherein the at least one expansion means (19) comprises at least one expansion actuator means by which the at least one extension means (19) is reversibly radially circumferentially extendable, wherein the at least one extension actuator means a mechanical and / or electrical and / or magnetic and / or is pneumatic and / or hydraulic expansion actuator means and in at least one segment (1) and / or in at least one of the segments (1) directly and / or indirectly associated device can be accommodated. Wheel (16) to Claim 11 or 12 wherein the at least one expansion means (19) comprises at least part of the circumference of at least one of the at least two non-recessed arch sections (3). Wheel (16) after one of Claims 7 . 8th or 10 to 13 in which an actuation of the drive means and / or the adjusting means and / or the locking means and / or the extension adjusting means in dependence on data from in the wheel (16) and / or in a wheel (16) directly and / or indirectly associated device arranged environment sensors and / or other data provision means can be triggered and / or carried out. Method for driving on stairs with a wheel (16), which comprises at least a first and a second segment (1), - each segment (1) having a circular circumference, wherein each segment (1) has at least two inward contours (5) interrupting the circular circumference of the segment (1), the inward contour (5) deviating from the circular circumference being concavely curved, at least the first segment (1) rolls over the circular circumference on a surface, - wherein at least the second segment (1) is aligned with the first segment (1) such that an edge (6) of the at least one inwardly directed contour (5 ) is brought at least of the second segment (1) by the rolling of the first segment (1) in engagement with a staircase (14), - wherein the wheel (16) via the edge (6) of an inwardly directed contour (5) at least of the second segment (1), then via the transition between the edge (6) of an inwardly directed contour (5) and the circular periphery of the second segment (1) and in the further course on the kreisf örmigen circumference unrolls. Method according to Claim 15 in which at least the first segment (1) rolling over the circular circumference on a surface has at least one extension means (19) which extends beyond the circular circumference, by moving the at least one enlargement means (19) over the circular one At least one second segment (1) loses contact with the surface, wherein at least the second segment (1) is aligned without contact with the surface to the first segment (1) such that the one flank (6) of one of at least two inwardly directed contours (5) of at least the second segment (1) are brought into engagement with the staircase (14), wherein the wheel (16) projects over the flank (6) of an inwardly directed contour (5) of the second segment (1), then via the transition between the flank (6) of an inwardly directed contour (5) and the circular periphery of the second segment (1) and in the further n course continues to roll over the circular circumference and - wherein during the rolling over the edge (6), the transition and / or the circular periphery of the second segment (1) the at least one extension means (19) of the first segment (1) in his Original location is spent on or below the circular circumference. Method according to Claim 15 or 16 - where environment data from environmental sensors and / or other data providing means is detected and supplied to a calculation, - wherein the environment data at least the staircase (14), the staircase slope (15) and the position of at least the rolling on the circular circumference first segment (1) absolute and / or relative to the staircase, - wherein in the calculation of the orientation of the second segment (1) to the first segment (1) at least both the current distance of the wheel (16) to the currently running stair nosing (17) as well as the the distance of the wheel (16) to the following stair nosing (17) to be expected when unrolling the second segment (1); and wherein the orientation is at least such that there is a minimum number of further orientations and / or actuations of the extension means (19) and / or the further orientations and / or actuations of the expansion means (19) are minimized in terms of amount.

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