EP3658096B1 - Châssis uniaxe à autostabilisation, à fonction monte-escalier - Google Patents

Châssis uniaxe à autostabilisation, à fonction monte-escalier Download PDF

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Publication number
EP3658096B1
EP3658096B1 EP18749316.8A EP18749316A EP3658096B1 EP 3658096 B1 EP3658096 B1 EP 3658096B1 EP 18749316 A EP18749316 A EP 18749316A EP 3658096 B1 EP3658096 B1 EP 3658096B1
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EP
European Patent Office
Prior art keywords
load
running
drive
chassis
gear unit
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EP18749316.8A
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German (de)
English (en)
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EP3658096A1 (fr
Inventor
Andreas Scheuerer
Christian Friedrich
Felix WEIHRAUCH
Simon SANKTJOHANSER
Thomas Luft
Christoph Sauer
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Individual
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Individual
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven

Definitions

  • the invention relates to a self-balancing, single-axle chassis with a stair-climbing function.
  • the “stair climbing function” here means in particular that the chassis is able to move up and down a staircase either automatically or by the force of a user.
  • the stair climbing function can also be used to overcome other obstacles such as curbs, thresholds or the like.
  • Transport tasks are manifold nowadays. For example, sometimes heavy goods have to be loaded into transport vehicles and unloaded again at their destination. In houses without an elevator, heavy objects often have to be transported over several floors through the stairwell. In an industrial environment (e.g. in a factory or in logistics) loads of all kinds have to be moved back and forth, often in confined spaces.
  • the chassis according to the invention contains a movement module with a drive axle on which two drive wheels are rotatably mounted.
  • a movement module with a drive axle on which two drive wheels are rotatably mounted.
  • an electric one and the drive which is also part of the chassis, can be coupled to the two drive wheels.
  • the chassis according to the invention further comprises a load-bearing module with a first arm, which extends from the movement module, and a second arm.
  • the second arm has a first end articulated to the first arm and a second end to which a load bearing interface is preferably articulated.
  • the load-bearing interface is used to establish a connection with the object to be transported or a transport device in which or on which the objects or goods to be transported are located.
  • the load-bearing interface can be designed for detachable fastening of a stretcher.
  • the load handling interface can be used to connect to a basket or other container in which there are goods to be transported.
  • the load handling interface can also be designed to support a support platform on which objects to be transported are placed.
  • the load acceptance interface can be a standardized load acceptance interface.
  • the load-bearing interface can be designed to enable quick attachment and detachment of a transport device to be connected to it. By changing the angle between the first arm and the second arm of the load-bearing module, the load-bearing interface can be brought into a higher or lower position.
  • the chassis according to the invention is also equipped with a stair-climbing module which has two spoke stars which are mounted so that they can rotate about the drive axis.
  • the two drive wheels and the two spoke stars of the chassis according to the invention can rotate about the same axis.
  • a spoke star is arranged next to one of the drive wheels.
  • the spoked star associated with a drive wheel can be arranged laterally outside the drive wheel, but in a preferred embodiment of the chassis according to the invention it is arranged laterally within the associated drive wheel.
  • spoke star here means a one-part or multi-part component with a center which is arranged coaxially to the drive axis and from which a plurality of support arms, referred to as support spokes, extend at least substantially radially outward in a spoke-like manner.
  • a ground contact element is attached, with which the support spoke can be supported on the ground on which the chassis is located.
  • the ground contact element can for example be a foot, which is preferably made of a non-slip material, such as rubber or a rubber-like elastomer material. The foot can be attached to the free end of the support spoke or can surround the free end of the support spoke.
  • each foot can be a molded part that is pushed onto the free end of the associated supporting spoke.
  • Each foot can enable or support rolling on the ground through its shape. For this it is not necessary for the foot to be rotatably attached to the support spoke.
  • at least some of the ground contact elements are wheels which are rotatably mounted on or in the vicinity of the free end of the associated support spoke.
  • the chassis according to the invention has a control which contains an inclination sensor and / or an acceleration sensor and is configured to prevent or to prevent tilting of the load-bearing interface with respect to a vertical running through the load-bearing interface by controlled application of a torque to the drive wheels and / or the spoke stars limit.
  • the vertical running through the load-bearing interface always means the vertical that runs through the load-bearing interface in an initial state, i.e. before the load-bearing interface begins to tilt.
  • the torques that are applied to the drive wheels and / or spoke stars can be the same or different for both drive wheels or spoke stars.
  • a torque can also be applied to just one drive wheel or a spoke star.
  • Tilting the load-bearing interface with respect to a vertical running through the load-bearing interface primarily means tilting about the drive axis, ie tilting forwards or backwards.
  • lateral tilting of the load-bearing interface can also be meant, i.e. tilting to the left or right, which can also be prevented by the control, for example by initially driving the chassis by driving only one of the two drive wheels or by driving the two drive wheels in opposite directions around its vertical axis (z-direction, see also Fig. 2 ) is twisted so that the tilting of the load-bearing interface can be counteracted by the subsequent controlled application of torque to the drive wheels (or spoke stars).
  • the self-balancing ability is based on a control for an inverse pendulum, i.e. a pendulum whose weight is above and whose pivot point is below the weight.
  • an inverse pendulum i.e. a pendulum whose weight is above and whose pivot point is below the weight.
  • the weight and pivot point are on a vertical line that runs through the pivot point and the center of gravity of the weight. If the weight leaves its state of equilibrium on the vertical (this corresponds to the tilting of the load-bearing interface in the present invention), the control tries to counteract this.
  • One control strategy is to restore equilibrium. This goal can be achieved by returning the weight to its original position by means of a controlled application of force or torque.
  • this goal can also be achieved by moving the pivot point of the system to a new position below the weight, more precisely in a position which is on a vertical which extends in the current position of the weight through the center of gravity of the weight.
  • the term "center of gravity” always means the resulting center of gravity of the overall system, in the case of the present invention, for example, the resulting center of gravity of the chassis or, if the chassis is used to solve a transport task, including the resulting center of gravity of the chassis the load it carries.
  • the control of the chassis according to the invention can rather allow states of imbalance in the overall system as long as the power of the chassis drive is sufficient to apply a torque to the drive wheels and / or the spoke stars to compensate for the imbalance in order to prevent the chassis from tipping over. It goes without saying that in such a case the torque required to compensate for a currently existing imbalance state must be applied permanently and not just momentarily to the drive wheels and / or spoke stars.
  • the control can be operated in at least two operating modes, a so-called standstill mode and a movement mode.
  • the standstill mode is used to automatically stabilize the chassis when it is at a standstill, i.e. to prevent the chassis from tipping over.
  • tilting of the load-bearing interface with respect to the vertical running through the load-bearing interface in the initial state is preferably not permitted or only permitted to the extent necessary to detect incipient tilting. Movement of the chassis is not supported in standstill mode.
  • the chassis can perform those movements that are necessary to prevent the load-bearing interface from tilting with respect to the vertical running through the load-bearing interface, for example rotating the chassis around its vertical axis by driving one drive wheel on one side or driving both drive wheels (and / or spokes in opposite directions) ).
  • the controller is preferably configured to merely limit tilting of the load-bearing interface with respect to the vertical running through the load-bearing interface in the initial state.
  • a certain amount of tilting of the load-bearing interface with respect to the vertical running through it in particular forwards and backwards, can be permitted and is used in particular to detect a user's wish that the chassis should move forwards or backwards.
  • the control limits tilting of the load-bearing interface with respect to the vertical running through it, preferably by rotating the drive wheels in the tilting direction.
  • the controlled application of a torque to the drive wheels can take place in such a way that the chassis moves automatically in the desired direction after a corresponding user request has been detected. The speed of movement can be specified. The user then does not need to exert any additional force for this movement of the chassis.
  • the controlled application of a torque to the drive wheels can also take place in the movement mode in such a way that the drive of the chassis only acts as a support, ie the user has to apply a certain amount of force, which is preferably adjustable, to move the chassis.
  • the controller is additionally configured to counteract tilting of the load-bearing interface with respect to a vertical running through it by dynamically changing an angle between the first arm and the second arm of the load-bearing module.
  • the torques that have to be applied to the drive wheels (and / or spoke stars) to prevent or limit the tilting of the load-bearing interface can be kept smaller. Overloading the drive can be prevented better in this way.
  • the stair-climbing module of a chassis is designed in such a way that when it comes into contact with a staircase or a similar obstacle, at least part of the ground contact elements of each spoke star engages the stairs.
  • This can be achieved, for example, by the fact that the drive wheels of the chassis when they come into contact with the edge of a step can be compressed to such an extent that at least one ground contact element of each spoke star of the stair-climbing module comes into load-bearing contact with the step, so that the chassis by means of the spoke stars mounted ground contact elements can "roll off" on the stairs.
  • the drive wheels of the chassis are pneumatic tires and are connected to a tire pressure control system, which allows air to the To feed drive wheels and to lower them from them.
  • the tire pressure control system can again introduce air into the drive wheels in order to restore their functionality.
  • the tire pressure control system can have a compressed air reservoir attached to the chassis, from which the air is fed to the drive wheels.
  • the mentioned tire pressure control system can in this way enable the function of the stair-climbing module, but it can also only be provided to always ensure correct pressure for drive wheels with pneumatic tires.
  • the stair climbing module can be designed so that each can be easily rotated in one direction and a resistance is opposed to the rotation in the opposite direction of rotation. In this way, such a chassis can be pulled up a flight of stairs by a user without the stair-climbing module opposing this movement, whereas the chassis is braked when descending a flight of stairs by the rotational resistance which then acts, thereby reducing the holding force to be applied by a user .
  • each spoke star can be coupled to the drive of the chassis.
  • the control is preferably configured to prevent or to prevent tilting of the load-bearing interface with respect to a vertical running through the load-bearing interface by controlled application of a torque also to the spoke stars or exclusively to the spoke stars instead of the drive wheels limit.
  • the controlled application is one Torque on the spoke stars to avoid tilting of the load-bearing interface is more effective than applying torque to the drive wheels. If necessary, the controlled application can but a torque is applied to both the spoke stars and the drive wheels when the drive wheels are still in contact with the ground.
  • a corresponding sensor system similar to wheel slip regulation in motor vehicles, can appropriately distribute the torque required to avoid tilting of the load-bearing interface in cooperation with the control between the spoke stars and the drive wheels.
  • each spoke star can be designed so that it comprises a number of supporting spokes corresponding to the number of its ground contact elements, running radially to the drive axis, the radially inner end of which is rotatably mounted on the drive axis, the ground contact element being attached to the radially outer end of the supporting spokes.
  • the angular offset of the support spokes of a spoke star is preferably constant, i.e. in the case of a spoke star with three support spokes, the support spokes and thus the ground contact elements are arranged at an angular distance of 120 °.
  • the supporting spokes of a spoke star can have a length which is smaller than the radius of the associated drive wheel.
  • the ground contact elements attached to a spoke star are then not in load-bearing contact with the ground on which the chassis is located during normal operation of the chassis, i.e. when there are no steps to be climbed. However, you can come into load-bearing contact with a step in the manner already described above, if the function of the stair-climbing module is to be used.
  • the support spokes of each spoke star can be designed to be adjustable in length, their shortest length being smaller than the radius of the associated drive wheel, and their greatest length being greater than the radius of the associated drive wheel.
  • the length adjustability of the support spokes can be implemented, for example, in a hydraulic manner, in that a part of each support spoke is moved hydraulically with respect to another part of the support spoke.
  • the length adjustability can also be realized electromechanically, for example by means of a spindle / nut arrangement driven by an electric motor. In the retracted position (shortest length of the support spokes) the ground contact elements of each spoke star are not in any load-bearing contact with the ground on which the chassis is located, and thus do not prevent the drive wheels from rolling.
  • the ground contact elements attached to the radially outer end of the support spokes protrude radially beyond the assigned drive wheel, so that a stair-climbing function can be implemented in which the drive wheels of the chassis are in no or only supportive contact with the ground. This enables the stair climbing function to be carried out.
  • the support spokes can be part of a spoke star which is rotatably mounted on the drive axle and which, if desired, can be coupled to the drive of the chassis.
  • the term "support spoke” is not intended to restrict the corresponding element to a narrow, elongated body, rather the underlying function is decisive.
  • a support spoke within the scope of the present invention can, for example, also be a flat body which establishes the connection between the ground contact element and the drive axle. Such a flat body can also taper from its base adjacent to the drive axis to its free end.
  • the ground contact elements are designed as rotatable wheels.
  • the wheels attached to a spoked star form a wheel group, each wheel of a wheel group being arranged and rotatably mounted at a radial distance from the drive axle.
  • the first arm of the load-bearing module is rigidly connected to a housing of the chassis.
  • the drive of the chassis can be arranged in the housing of the chassis. Overall, this results in a simplified structural design of the chassis.
  • the drive of the chassis can be designed so that it can also adjust the angle between the first arm and the second arm of the load-bearing module.
  • a separate drive for adjusting the angle between the first arm and the second arm, which can interact with the control can preferably be present in the joint between the first arm and the second arm of the load-bearing module.
  • emergency wheels can be rotatably attached to a hinge axis on which the first arm and the second arm of the load-bearing module are articulated to one another.
  • These emergency bikes serve to create a further support point for the chassis if for any reason the control can no longer prevent the chassis from tipping over or if the drive of the chassis fails, for example if the power supply fails, so that the self-stabilizing function of the chassis according to the invention is no longer possible given is.
  • a chassis according to the invention can then roll on its drive wheels and the emergency wheels, which are also supported on the ground in this emergency state.
  • the drive of the chassis according to the invention can, as already mentioned, be located in a housing of the chassis. Such a housing is preferably arranged around the drive shaft. Alternatively and / or additionally, however, the drive can also be located in the drive wheels themselves. For example, each drive wheel can have a wheel hub motor. As already mentioned, the drive is preferably an electric drive, e.g. in the form of one or more electric motors. If necessary, a differential is also assigned to the drive. The drive can have a gear for stepping up or stepping down the driving force of the (electric) motor.
  • the gearbox can be a harmonic drive gearbox, which can be easily integrated around the drive axle together with one or more electric motors. Such a harmonic drive gear coupled with an electric motor is also suitable as a further drive for adjusting the angle between the first arm and the second arm of the support module.
  • Lithium batteries are currently preferred because of their high current density and low weight.
  • Chassis according to the invention are preferably provided with a user interface, for example in the form of an operating panel, which can be designed as a touchscreen.
  • the various operating modes can be selected and important operating parameters entered via this user interface.
  • FIG. 1 to 4 a first embodiment of a self-balancing, single-axle chassis 10 is shown in different views.
  • the chassis 10 has a so-called movement module 12, which has a drive axle 14 on which two drive wheels 16 and 18 are rotatably mounted at a distance from one another.
  • the two drive wheels 16, 18 are wheels with pneumatic tires, which are rotatably mounted at the two ends of the drive axle 14.
  • Each Drive wheel 16, 18 accordingly comprises a pneumatic tire 20, 22 which is mounted on a wheel rim 24, 26.
  • the movement module 12 also includes a drive 28 which can be coupled to the two drive wheels 16, 18 and which, in the exemplary embodiment shown, is accommodated in a housing 30 through which the drive axle 14 extends or into which the drive axle 14 protrudes from both sides.
  • the drive axle 14 can consequently consist of several parts arranged coaxially to one another.
  • the drive 28 here consists of two electric motors (not shown) accommodated in the housing 30, one of which can be coupled to the drive wheel 16 and the other to the drive wheel 18.
  • Each electric motor can be interlocked with a gear, for example a harmonic drive gear, which is well suited for being accommodated in the approximately tubular housing 30.
  • the transmission serves in particular to increase the output torque provided by the electric motor by means of a suitable reduction ratio in order to be able to apply a high torque to the drive wheels 16 and 18 even when using a relatively small electric motor.
  • the chassis 10 also has a load bearing module, generally designated 32, which has a first arm 34 that extends from the movement module 12.
  • the first arm 34 is made in one piece with the housing 30 of the movement module 12 or is rigidly connected to the housing 30 in some other way, for example screwed.
  • the load-carrying module 32 further has a second arm 36 with a first end 38 which is articulated to the first arm 34, and a second end 40 to which a load-bearing interface 42 is articulated.
  • An angle ⁇ between the first arm 34 and the second arm 36 can be adjusted in order to raise or lower the load receiving interface 42.
  • an output guided through the first arm 34 by the drive 28 can be used, for example in the form of a worm shaft drive.
  • a separate drive motor can also be arranged in the joint present between the first arm 34 and the second arm 36, with which the relative position of the two arms 34 and 36 and thus the angle ⁇ can be changed.
  • the load-receiving interface 42 serves to establish a detachable connection with a load to be transported by means of the chassis 10.
  • a stretcher 44 at the load handling interface 42 attached.
  • a basket or other container can also be attached to the load-bearing interface 42, which is used to hold objects to be transported.
  • the load receiving interface 42 is preferably designed as a quick fastening interface in order to enable a simple and time-saving attachment and detachment of a load to be transported or a container used for this purpose.
  • the chassis 10 is also provided with a so-called stair-climbing module 46, which has two wheel groups 48, 50, on each of which there are three wheels 52 that are equally spaced from one another in the circumferential direction.
  • Each wheel group 48, 50 is assigned to one of the drive wheels 16, 18 and, in the exemplary embodiment shown, is arranged laterally next to the associated drive wheel 16 or 18 in such a way that it can be rotated about the drive axle 14.
  • each wheel group 48, 50 comprises a spoke star 54, each with three support spokes 56, at the radially outer end of which a wheel 52 is rotatably mounted.
  • the radially inner ends of the support spokes 56 form the center of the spoke star 54, which is rotatably mounted on the drive shaft 14.
  • the spoke star 54 is made in one piece, but it can also be made up of several parts.
  • each wheel group 48, 50 is arranged axially inwardly offset with respect to the assigned drive wheel 16 or 18.
  • Each wheel 52 has a significantly smaller diameter than the drive wheels 16 and 18.
  • a circle that virtually envelops the three wheels 52 of a wheel group on the outside also has a smaller diameter than the drive wheels 16 and 18, so that in normal operation, ie without using a stair-climbing function, only the drive wheels 16 and 18 are in contact with the ground on which the chassis 10 is located.
  • each wheel group 48, 50 can be coupled to the drive 28 so that the chassis 10 can automatically perform a stair-climbing function, which will be described in greater detail later.
  • the two spoke stars 54 rotatably mounted on the drive axle 14 can, if necessary, be coupled to the electric motor which is responsible for driving the drive wheel 16 or 18 assigned to the respective wheel group 48 or 50.
  • the chassis 10 has a controller with a user interface (not shown).
  • the user interface can be, for example, a control panel, for example in the form of a touchscreen, which can be attached to the first arm 34 or to the second arm 36.
  • This user interface allows, for example, the selection of different operating modes and an input and control of various operating parameters.
  • the user interface does not need to be attached to the chassis 10, but can also communicate wirelessly with the controller of the chassis 10.
  • the user interface can be designed as an app which can be loaded onto a smartphone in order to enable a user of the chassis 10 to control the chassis 10 via his smartphone.
  • the control of the chassis 10 contains an inclination sensor (not shown) and an acceleration sensor (not shown), which are mounted at suitable locations on the chassis 10.
  • the controller is configured to prevent or at least limit tilting of the load receiving interface 42 with respect to a vertical V running through the load receiving interface 42 in an initial state by means of the drive 28 by controlled application of torque to the drive wheels 16, 18.
  • the initial state is that state that existed before the load-receiving interface 42 was tilted.
  • the initial state is in any case a stable state, but does not need to be a state of equilibrium, but can be a state artificially stabilized by applying a compensating torque to the drive wheels 16, 18 and / or the wheel groups 48, 50.
  • the task of the controller is to stabilize the latently unstable state due to the uniaxial design of the chassis 10 and, in particular, to prevent the chassis 10 from tipping forwards or backwards, but also to the left or right if desired, both at a standstill of the chassis 10 as well as when the chassis 10 is in motion.
  • the chassis 10 does not automatically carry out any movement serving for its movement. Rather, the control in this standstill mode only has the task of balancing or stabilizing the chassis 10 including any load attached to the load receiving interface 42, ie preventing it from tipping over.
  • the control brings about when these data cause the load-bearing interface 42 to tilt with respect to the load-bearing interface 42 show running vertical, a tilting compensating torque on the drive wheels 16 and / or 18.
  • the torque compensating for tilting can be applied additionally or even exclusively to the wheel groups 48, 50.
  • the degree of tilting can be expressed by a tilting angle ⁇ , which is set in a tilted state between the vertical V running through the load-bearing interface 42 and the position of the load-bearing interface 42. In the untilted state, this tilt angle ⁇ is zero, since the load-bearing interface 42 is located on the vertical V in the untilted state.
  • a tilting angle ⁇ which is set in a tilted state between the vertical V running through the load-bearing interface 42 and the position of the load-bearing interface 42. In the untilted state, this tilt angle ⁇ is zero, since the load-bearing interface 42 is located on the vertical V in the untilted state.
  • the vertical V running through the load-bearing interface 42 in the initial state can intersect the axis of rotation D if the load-bearing interface 42 is located exactly vertically above the axis of rotation D in the initial state. As a rule, however, this vertical V will not intersect the axis of rotation D.
  • the control of the chassis 10 endeavors to bring the tilt angle ⁇ back to zero after it has detected the start of tilting of the chassis 10 by applying a counter-torque corresponding to the tilting moment to the drive wheels 16, 18 and / or the wheel groups 48, 50.
  • a counter-torque corresponding to the tilting moment to the drive wheels 16, 18 and / or the wheel groups 48, 50.
  • the applied counter-torque may be greater than the tilt torque at least at times.
  • a state of the chassis 10 that is tilted relative to the initial state can also be stabilized and then serve as the new initial state.
  • a control strategy of the chassis 10 can therefore consist in minimizing any tilting moment that is still present by appropriately adjusting the angle ⁇ , in order in this way to reduce the power consumption of the drive 28 and to counteract an overload of the drive 28. Furthermore, by dynamically adjusting the angle ⁇ during operation of the chassis 10, it is possible to prevent a state from occurring in which the drive 28, due to its inherently limited power, is no longer able to provide a sufficiently large counter-torque corresponding to a tilting torque for tilting torque compensation to raise.
  • the chassis 10 can be designed in such a way that it does not support locomotion, i.e. a user has to push the chassis 10 and any load on it under his own power in order to bring an object to be transported to another location.
  • the self-stabilizing function of the chassis 10 described above is retained even during such a displacement of the chassis 10.
  • the drive 28 of the chassis 10 can, however, advantageously be used to support the movement of the chassis or even to enable it automatically.
  • a movement mode can be selected via the user interface in which the control of the chassis 10 recognizes the desire of a user to move the chassis and then supports this movement or even carries it out automatically.
  • a slight tilting of the load-bearing interface 42 relative to its initial state can be used, which occurs, for example, when a user begins to push the chassis 10 in the desired direction using a handle (not shown).
  • the control of the chassis 10 can then apply a torque to the drive wheels 16, 18 and / or the wheel groups 48, 50, which supports or automatically executes the movement of the chassis 10 in the desired direction.
  • a maximum speed at which the chassis 10 is to move can be specified via the user interface. In the movement mode, too, self-balancing or self-stabilization of the chassis 10 takes place at all times in order to prevent the chassis 10 from tipping over.
  • an upper side 58 of the load-bearing interface 42 is always shown in a horizontal position.
  • this top side 58 can vary depending on which load is connected to the load receiving interface 42 are also in a position deviating from the horizontal. If the load-bearing interface 42 is connected, for example, to a seat (not shown) which is used to transport a person, it is generally more convenient and also safer if this seat is in a position inclined slightly backwards. A stabilized state of the chassis 10 therefore does not require a horizontal position of the load receiving interface 42 and in particular its top side 58.
  • the chassis 10 can therefore have an additional drive (not shown) at the articulated connection between the second end 40 of the second arm 36 and the load-bearing interface 42, for example in the form of a further electric motor with or without a gearbox, which interacts with the control of the chassis 10 and based on the supplied sensor data dynamically ensures that the load-receiving interface 42 is always in a horizontal position.
  • the chassis 10 can also be operated in a stair climbing mode, which can be a sub-mode of the movement mode. This stair climbing mode will now be described with reference to FIGS Figures 5 and 6 explained in more detail.
  • the wheels 52 of the wheel groups 48 and 50 are the predominantly or even exclusively load-bearing wheels of the chassis 10.
  • the wheels 52 can come into contact with a step or another obstacle to be overcome in the Figures 1 to 5
  • the first embodiment of the chassis 10 shown can be made possible by the fact that the pneumatic tires 20, 22 of the drive wheels 16, 18 are designed in such a way that, upon contact with an edge of a step, they can be compressed to such an extent that one or more wheels 52 of a wheel group 48, 50 come into load-bearing contact with the stairs.
  • the pneumatic tires 20, 22 can be so-called balloon tires, which only require a low air pressure and can therefore be compressed sufficiently easily.
  • the pneumatic tires 20, 22 may be in communication with a tire pressure control system that allows air to be removed from the To let off pneumatic tires 20, 22 and to supply again after overcoming a staircase or another obstacle.
  • FIG 5 is shown schematically how the wheels 52 of a wheel group 48, 50 are in contact with stairs.
  • the chassis 10 can move up the stairs or at least support the upward movement.
  • a suitable counter-torque from the drive 28 can be introduced into the spoke stars 54, which brakes the downward movement of the chassis 10 and thereby relieves a user of the chassis 10 who is holding the chassis.
  • the control of the chassis 10 can also be designed to allow a completely automatic moving up and down of the chassis 10 over a staircase. After the stairs (or another obstacle) has been overcome, the chassis 10 is moved again with the aid of the drive wheels 16, 18, as already described above.
  • the support spokes 56 are designed to be adjustable in length and can consist of an in Figure 6b retracted position shown in Figure 6a shown, extended position and back can be adjusted.
  • the in Figure 6a The state shown is the stair climbing mode, in which step-shaped or other obstacles can be overcome by driving the spoke stars 54 because the wheels 52 on the support spokes 56 have moved by extending the support spokes 56 into a position in which they move beyond the outer circumference of the drive wheels 16, 18 are located and thus can come into contact with a staircase, for example.
  • the in Figure 6b The state shown corresponds to the normal standstill or movement mode without stair climbing function. In this state, the wheels 52 are displaced into a position within the outer circumference of the drive wheels 16, 18 by the retraction of the support spokes 56.
  • FIG. 7 a chassis 10 similar to that shown in FIGS Figures 1 to 5 Shown embodiment shown, on whose load-bearing interface 42 a stretcher 44 is attached.
  • the stretcher 44 is provided at both ends with a handle 60 in each case to allow a user (doctor, nurse, nursing staff) to simply push the chassis 10 back and forth with the chassis 10 mounted thereon Allow stretcher 44.
  • the chassis 10 itself does not need to have a handle.
  • a compressed air reservoir is designated, which is attached to the first arm 34 of the chassis 10 and belongs to the tire pressure control system.
  • air can be supplied to the tires 20, 22 again from the compressed air reservoir 62 after overcoming the stairs, in order to restore the proper functioning of the drive wheels 16, 18.
  • emergency wheels 64 are rotatably attached to a hinge axis on which the first arm 34 and the second arm 36 of the load-bearing module 32 are articulated to one another. These emergency wheels 64 are used to create a further support point for the chassis 10 if for any reason the controller can no longer prevent the chassis 10 from tipping over, for example if the drive 28 of the chassis 10 fails, for example if the power supply fails, so that the self-stabilizing function of the chassis 10 is no longer given. In such an emergency, the chassis 10 can roll on its drive wheels 16, 18 and the emergency wheels 64, which are also supported on the ground in this emergency state.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Claims (16)

  1. Châssis uniaxe autoéquilibrant (10), comprenant
    - un module de déplacement (12) comprenant un axe d'entraînement (14), sur lequel sont montées en rotation deux roues motrices (16, 18) et un entraînement (28) pouvant se coupler aux deux roues motrices,
    - un module porte-charge (32) comprenant un premier bras (34), qui peut se déployer à partir du module de déplacement (12), et un second bras (36) doté d'une première extrémité (38), qui est reliée au premier bras (34) de manière articulée, et d'une seconde extrémité (40), sur laquelle est fixée une interface de réception de charge (42),
    - un module monte-escalier (46) comprenant deux étoiles de roue (54) qui sont montées en rotation autour de l'axe d'entraînement (14), chaque étoile de roue (54) présentant plusieurs rayons de support (56) décalés dans la direction périphérique et s'étendant radialement, lesdits rayons comportant une extrémité libre extérieure radialement sur laquelle est monté un élément de contact avec le sol, et une étoile de roue (54) étant disposé respectivement latéralement à proximité d'une des roues d'entraînement (16, 18), et
    - une commande, qui contient un capteur d'inclinaison et/ou un capteur d'accélération et est conçue pour empêcher ou limiter un basculement de l'interface de réception de charge (42) par rapport à une verticale (V) passant par l'interface de réception de charge (42) dans un état initial, en appliquant un couple sur les roues motrices (16, 18) et/ou sur les étoiles de roue (54).
  2. Châssis selon la revendication 1, caractérisé en ce que la commande est conçue pour empêcher un basculement de l'interface de réception de charge (42) à l'arrêt, par rapport à la verticale (V) passant par l'interface de réception de charge (42).
  3. Châssis selon la revendication 1 ou la revendication 2, caractérisé en ce que la commande est conçue pour limiter dans un état de déplacement, un basculement de l'interface de réception de charge (42) par rapport à la verticale (V) passant par l'interface de réception de charge (42).
  4. Châssis selon la revendication 3, caractérisé en ce que la commande est conçue pour limiter dans un mode de déplacement un basculement de l'interface de charge (42) par rapport à la verticale (V) passant par l'interface de réception de charge (42) par rotation des roues motrices (16, 18) dans la direction de basculement.
  5. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que les rayons de support (56) de chaque étoile de roue (54) présente une longueur qui est inférieure à celle du rayon de la roue motrice associée (16, 18).
  6. Châssis selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les rayons de support (56) de chaque étoile de roue (54) peuvent se déplacer en longueur, la plus petite longueur qui est inférieure à celle du rayon de la roue motrice associée (16, 18), et la plus grande longueur qui est supérieure à celle du rayon de la roue motrice associée (16, 18).
  7. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que chaque étoile de roue (54) peut se coupler à l'entraînement (28) alors, lorsque les étoiles de roue (54) sont couplées à l'entraînement (28), la commande étant conçue pour limiter ou empêcher un basculement de l'interface de réception de charge (42) par rapport à la verticale (V) passant par l'interface de réception de charge (42) en appliquant un couple également sur les étoiles à rayons ou seulement sur les étoiles à rayons à la place des roues motrices (16, 18).
  8. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que chaque étoile de roue (54) est disposée par rapport à l'axe d'entraînement (14) latéralement à l'intérieur de la roue motrice (16, 18) associée.
  9. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que chaque élément de contact avec le sol est une roue (52) montées en rotation sur l'extrémité libre des rayons de support (56) associés.
  10. Châssis selon la revendication 9, caractérisé en ce que le module de monte escalier (46) présente des étoiles de roue (54) dotées d'au moins trois rayons de support (56), les roues (52) de chaque étoile de roue (54) formant respectivement un groupe de roues (48, 50).
  11. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que les roues motrices (16, 18) sont des pneumatiques et sont en relation avec un système de réglage de pression de pneu, qui est conçu pour acheminer l'air aux roues motrices (16, 18) et pour le laisser s'y échapper.
  12. Châssis selon la revendication 11, caractérisé en ce que le système de réglage de pression de pneu présente un réservoir d'air comprimé (62) monté sur le châssis.
  13. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que la commande est en outre conçue pour, par modification dynamique d'un angle (β), entraver un basculement de l'interface de réception de charge (42) entre le premier bras (34) et le second bras (36) du module de support de charge (32), par rapport à la verticale (V) passant par l'interface de réception de charge (42).
  14. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que le premier bras (34) du module de support de charge (32) est relié rigidement à un boîtier (30) du châssis.
  15. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que sur un axe articulé, sur lequel sont reliés entre eux de manière articulée le premier bras (34) et le second bras (36) du module de support de charge (32), sont fixées des roues de secours (64).
  16. Châssis selon l'une quelconque des revendications précédentes, caractérisé en ce que l'interface de réception de charge (42) est conçue pour fixer une civière (44).
EP18749316.8A 2017-07-25 2018-07-24 Châssis uniaxe à autostabilisation, à fonction monte-escalier Active EP3658096B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017007184 2017-07-25
PCT/EP2018/070067 WO2019020645A1 (fr) 2017-07-25 2018-07-24 Châssis uniaxe à autostabilisation, à fonction monte-escalier

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EP3658096B1 true EP3658096B1 (fr) 2021-07-07

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CN110063849B (zh) * 2019-04-25 2020-05-12 常州大学 一种辅助老人自动爬楼机器人
CN110169880B (zh) * 2019-06-20 2020-05-19 浙江科技学院 一种复合式自平衡电动轮椅及其使用方法
CN111483269B (zh) * 2020-04-30 2023-09-22 安徽沃斯特教育装备有限公司 一种楼梯攀爬辅助工具

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US5971091A (en) * 1993-02-24 1999-10-26 Deka Products Limited Partnership Transportation vehicles and methods
US6543564B1 (en) 1994-05-27 2003-04-08 Deka Products Limited Partnership Balancing personal vehicle
DE102007061708B4 (de) * 2007-12-19 2010-10-07 Werner Schmidt Personenfahrzeug
US20130081885A1 (en) * 2011-10-03 2013-04-04 Robert A. Connor Transformability(TM): personal mobility with shape-changing wheels
DE102011084236A1 (de) 2011-10-10 2013-04-11 Technische Universität München Gehhilfe und Verfahren zur Steuerung einer Gehhilfe
CN106726204B (zh) * 2017-01-06 2018-12-21 方亮 一种轮椅大轮升降带联动安全支架的机械装置

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