EP4371625A1 - Driving device, moving device and method for moving of a moving device - Google Patents

Abstract

The invention relates to a drive device (10) for two movement elements (12, 14) that can be attached to the extremities of a user, comprising: a traction mechanism drive (16) with a traction mechanism (18) and a drive unit (20), a traction mechanism deflection device (22); an energy storage device (24); a sensor unit (26) for detecting a spatial movement; and a control device (28) for controlling the drive unit (20); wherein the drive unit (20) and the traction means deflection device (22) can be fastened to a first of the two movement elements (12), and wherein the traction means drive (16) is designed such that the traction means (18) comprises a first and a second length section (30, 32), the respective first and second lengths of which are periodically varied by means of the drive unit (20) when the drive device (10) is used, wherein an increase in the length of the first length section (30) is accompanied by a decrease in the length of the second length section (32) and vice versa. The present invention further relates to a movement device (58) with such a drive device (10) and to a method (100) for moving two movement elements (12, 14) of a movement device (58) in an axial forward direction (72).

Description

The present invention relates to a drive device for two movement elements that can be attached to the extremities of a user, a movement device with such a drive device and a method for moving such a movement device.

When walking, hiking, climbing stairs, ski touring, snowshoeing, etc., periodically recurring movements are required for the intended movement. These constantly recurring movements can be very strenuous for the user, particularly when longer distances are to be covered. If it is a leisure/sports activity, this can be a deterrent, particularly for less well-trained users, which can then result in the less well-trained users, who would benefit disproportionately from such a sporting activity, refraining from this activity.

Various devices are already known from the state of the art to facilitate leisure/sports activities. For example, the WO 2015/104663 A1 a propulsion device for skis that facilitates climbing a mountain slope by means of a caterpillar drive mounted under the ski. From the DE 202 21 385 U1 A similar construction is also known in which the track drive extends over the entire length of the ski. WO 2018/141890 A1 describes a ski that is equipped with a drive gear that extends through the sliding surface of the ski and provides the appropriate propulsion. What all of these known devices have in common is that their field of application is very specific and/or their use requires considerable practice, whereby these devices take no account of the usual movement sequence that is required when there is no supporting drive. Furthermore, the power support is highly dependent on the surface, since the driving force is transferred directly to the ground. Therefore, there is a need for a device that is easy to use and at the same time can be used in a variety of ways.

To solve this problem, an embodiment of a drive device for two movement elements that can be attached to the extremities of a user is described, comprising a traction drive with a traction means and a drive unit, a traction means deflection device; an energy storage device; a sensor unit for detecting a spatial movement of the user; and a control device for controlling the drive unit; wherein the drive unit and the traction means deflection device can be attached to a first of the two movement elements, and wherein the traction drive is designed such that the traction means comprises a first and a second length section, the respective first and second lengths of which are periodically varied by means of the drive unit when the drive device is used, wherein an increase in the length of the first length section is accompanied by a decrease in the length of the second length section and vice versa. Such a drive device, when attached to the movement elements, can facilitate the user's movement by supporting the user's natural movement sequence in such a way that the user himself has to exert less force. The degree of support can be flexibly determined with the help of the control device and the sensor unit. For example, the sensor unit can detect an acceleration, in particular of one of the user's extremities or one of the movement elements, and this acceleration can be interpreted by the control device as an intention to move, whereupon the drive device is controlled by the control device to initiate a preset support of the detected intended movement. The two movement elements can in particular be sliding elements or sliding elements, for example skis, as are usually used in touring skiing. It is also possible to use them together with a divisible snowboard or normal skis or cross-country skis. In order to use the drive device, it is then fixed to the two movement elements, with the movement element not pressed against the ground being pulled forward in the direction of movement relative to the other by means of the traction mechanism drive. A rope, a belt, a chain, a (textile) band or similar can be used as a traction mechanism, for example.

Usefully, it can be provided that the traction mechanism deflection device and/or the drive unit comprises traction mechanism tensioning means. The traction mechanism tensioning means The traction device is kept at an essentially constant tension, which reduces force peaks during power transmission between the drive unit and the traction device.

Furthermore, it can be provided that the traction means comprises two ends that are not connected to one another and that can be fastened to a second of the two movement elements at two different points that are spaced apart from one another. In this way, a force transmission across movement elements can be realized.

Advantageously, it can be provided that a vertical projection of the traction means onto a plane defined by the two movement elements has an intersection point. The plane defined by the two movement elements essentially corresponds to the respective main plane of the movement elements. For example, in the case of a pair of skis, this plane is given by the sliding surface of the skis, which are essentially aligned plane-parallel to one another. The intersection point can be used as a reliable scale/measurement point.

It can also be provided that the first length section extends between the crossing point and the drive unit and that the second length section extends between the crossing point and the traction means deflection device. By determining the length sections, a verifiable assessment of the drive unit with regard to adjustable movement cycles and transmitted force is possible.

Advantageously, it can also be provided that the drive unit further comprises a further traction drive with a further traction means and a further drive unit, wherein the further drive unit can be fastened to a second of the two movement elements, a further traction means deflection device and a coupling element that fixes the traction means and the further traction means in its interior. By providing two traction means drives, a symmetrical design of the drive unit can be achieved, which is advantageous with regard to weight distribution and allows increased comfort during use. The coupling element can in particular be designed in such a way that it can transmit force in the axial forward direction between the two traction means drives, while releasing the coupling element in the direction perpendicular to this is easily possible.

Usefully, it can be provided that the further traction means deflection device and/or the further drive unit comprises further traction means tensioning means.

Furthermore, it can be provided that the traction means and the further traction means each form a self-contained loop.

It can also be provided that the first length section extends between the coupling element and the drive unit and the second length section extends between the coupling element and the traction means deflection device. By defining the length sections, a verifiable assessment of the drive unit with regard to adjustable movement cycles and transmitted force is possible.

Also described is a movement device with such a drive device comprising the two movement elements and binding elements in order to releasably connect the two movement elements to one extremity of a user.

It can advantageously be provided that the two movement elements comprise retaining elements on one side which hinder movement in an axial backward direction.

It can also be provided that the movement device further comprises two spatially fixed bearings, each of which movably supports one of the two movement elements.

Also described is a method for moving two movement elements of a movement device in an axial forward direction, wherein the movement device comprises the two movement elements and a drive device, the two movement elements are provided with binding elements, each of which is detachably connected to an extremity of a user, and the drive device is provided with a traction drive, comprising a traction means and a drive unit, a traction means deflection device, an energy store, a sensor unit for detecting a spatial movement of the user and a control device for controlling the drive unit, wherein the drive unit and the traction means deflection device are attached to a first of the two movement elements, and wherein the method comprises detecting, by the sensor unit, a movement of the user of the first movement element; shortening, by the drive unit, the first length section; lengthening, by the drive unit, the second length section, simultaneously with the shortening of the first length section, so that the first movement element is moved relative to the second movement element in the axial forward direction; detecting, by the sensor unit, a Self-movement of the second movement element; shortening, by the drive unit, of the second length section; and lengthening, by the drive unit, of the first length section, simultaneously with the shortening of the second length section, so that the second movement element is moved in the axial forward direction relative to the first movement element. In this way, the advantages and special features of the movement device according to the invention are also implemented within the framework of a method.

Figur 1

eine idealisierte Draufsicht auf eine beispielhafte Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 2

eine idealisierte isometrische Ansicht einer beispielhaften Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 3

eine idealisierte Draufsicht auf eine weitere beispielhafte Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 4

eine idealisierte Draufsicht auf eine beispielhafte Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 5A

eine idealisierte isometrische Ansicht einer beispielhaften Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 5B

eine idealisierte isometrische Ansicht einer weiteren beispielhaften Bewegungsvorrichtung mit einer beispielhaften Antriebsvorrichtung;

Figur 6

noch eine weitere idealisierte isometrische Ansicht einer beispielhaften Bewegungsvorrichtung mit einer beispielhaften Antriebvorrichtung;

Figur 7

eine Detailansicht eines Kopplungselements;

Figuren 8A, 8B, 8C

weitere Teilansichten des beispielhaften Kopplungselements in verschiedenen Arretierungszuständen;

Figuren 9A, 9B

beispielhafte Zugmittelkonfigurationen;

Figur 10

eine schematisierte Detailansicht einer Antriebseinheit;

Figur 11

eine schematisierte Detailansicht einer Zugmittelumlenkeinrichtung;

Figur 12

eine Visualisierung der räumlichen Bewegung der Bewegungsvorrichtung in einer axialen Vorwärtsrichtung; und

Figur 13

ein Flussdiagramm eines Verfahrens zum Bewegen von zwei Bewegungselementen einer Bewegungsvorrichtung in einer axialen Vorwärtsrichtung.

Show it:

Figure 1

an idealized plan view of an exemplary movement device with an exemplary drive device;

Figure 2

an idealized isometric view of an exemplary motion device with an exemplary drive device;

Figure 3

an idealized plan view of another exemplary movement device with an exemplary drive device;

Figure 4

an idealized plan view of an exemplary movement device with an exemplary drive device;

Figure 5A

an idealized isometric view of an exemplary motion device with an exemplary drive device;

Figure 5B

an idealized isometric view of another exemplary movement device with an exemplary drive device;

Figure 6

yet another idealized isometric view of an exemplary movement device with an exemplary drive device;

Figure 7

a detailed view of a coupling element;

Figures 8A, 8B, 8C

further partial views of the exemplary coupling element in different locking states;

Figures 9A, 9B

exemplary traction device configurations;

Figure 10

a schematic detailed view of a drive unit;

Figure 11

a schematic detailed view of a traction mechanism deflection device;

Figure 12

a visualization of the spatial movement of the movement device in an axial forward direction; and

Figure 13

a flow chart of a method for moving two motion elements of a motion device in an axial forward direction.

In the following description of the drawings, identical reference symbols refer to identical or comparable components.

Figure 1 shows an idealized top view of an exemplary movement device 58 with an exemplary drive device 10. The movement device 58 comprises, in addition to the drive device 10, in particular a first movement element 12 and a second movement element 14, wherein the drive device 10 is partially attached to the first movement element 12 and the second movement element 14. In the exemplary representation of Figure 1 a drive unit 20 and a traction means deflection device 22 are fastened to an upper side of the first movement element 12. A point 40 and a point 42, which each serve as fixing points for a traction means 18, are fastened to the second movement element 14. In the exemplary movement device 58, the traction means 18 runs from the point 40 to the traction means deflection device 22, further to the drive unit 20 and to the point 42, wherein the traction means 18 is fastened to the points 40, 42 with its respective ends 36, 38. In a vertical projection of the traction means 18 onto a plane defined by the two movement elements 12, 14, a crossing point 44 is created. In a side view, the traction means 18 would run past each other above the plane of the two movement elements 12, 14, offset from one another, since the traction means 18 is at the respective sections at the intersection point 44 relative to the first movement element 12 and the second movement element 14, each has slightly different distances perpendicular to the plane defined by the two movement elements 12, 14.

The drive unit 20, the traction mechanism deflection device 22 and the two points 40, 42 can be attached to the two movement elements 12, 14 using a suitable adhesive. In this context, it is possible to first glue anchor elements onto the surface of the two movement elements 12, 14 and then to lock the drive unit 20, the traction mechanism deflection device 22 and the two points 40, 42 to the respective anchor elements. This can be particularly advantageous when retrofitting existing movement elements 12, 14 with the described drive device 10. It is also possible for the drive unit 20, the traction mechanism deflection device 22 and the two points 40, 42 to be screwed to the two movement elements 12, 14 or to be detachably connected to them using clamping elements. Assembly and disassembly can be carried out quickly and easily in this way.

The drive unit 20 in the drive device 10 shown as an example comprises a control unit 28 which is designed to control the drive unit 20. The control of the drive unit 20 by the control device 28 is based on data which a sensor unit 26 records. In Figure 1 the sensor unit 26 is shown as being arranged on the traction means deflection device 22. The traction means deflection device 22 can also accommodate an energy storage device 24, which is necessary for supplying the drive unit 20 with the required drive energy, for example electrical energy. The drive unit 20 and the traction means deflection device 22 can be connected for this purpose, i.e. for data transmission and energy supply, by means of a connection cable which is in Figure 1 not shown. The arrangement of the control device 28 in the drive unit 20 and the sensor unit 26 and the energy storage device 24 in the traction means deflection device 22 is optional. Alternative spatial arrangements are possible. In particular, a weight distribution of the first movement element 12 and the second movement element 14 can be taken into account, since a weight distribution that is as even as possible is desirable. It is conceivable, for example, that some of the required components, such as the energy storage device and/or the control unit, are carried directly by the user. For this purpose, a backpack can be provided, for example.

The drive device 10 comprises the traction drive 16 with the traction means 18, the drive unit 20 and the traction means deflection device 22 as well as the energy storage device 24, the sensor unit 26 and the control device 28.

Binding elements 60 are shown on the first movement element 12 and the second movement element 14, respectively, with the aid of which the extremities of a user can be attached to the respective movement elements 12, 14. The binding elements 60 can, for example, be couplings for ski boots if the two movement elements 12, 14 are skis. In the Figure 1 In the exemplary movement device 58, the traction means 18 runs between the binding element 60 arranged there and the surface of the first movement element 12. Other guides for the traction means 18 are possible. The drive unit 20 can also be provided at a different location, for example in the area of the binding elements 60, which can also be advantageous with regard to weight distribution.

During use, the first movement element 12 is alternately moved relative to the second movement element 14 in an axial forward direction 72, i.e. opposite to an axial backward direction 66. The drive unit 20 is controlled by the control device 28 in such a way that with the help of the traction mechanism 18, force is exerted on the first movement element 12 or the second movement element 14 in the axial forward direction 72 in order to at least support a natural walking movement of the user who uses the movement device 58. In order to keep undesirable transverse forces (relative to the axial forward direction 72) as low as possible, the traction mechanism drive 18 is arranged as close as possible to the inside of the two movement elements 12, 14.

Figure 2 shows an idealized isometric view of an exemplary movement device with an exemplary drive device. In the Figure 2 In the movement device 58 shown, the traction means 18 represents a closed loop. The traction means 18, which runs on the first movement element 12 over the drive unit 20 and the traction means deflection device 22, is not fixed to the second movement element 14. Rather, a further drive unit 50 and a further traction means deflection device 52 are attached to the second movement element 14, which, symmetrically to the part of the traction means drive 16 attached to the first movement element 12, form a further traction means drive 46, which comprises a further traction means 48. The further traction means 48 and the traction means 18 are arranged between the first The first movement element 12 and the second movement element 14 are connected to one another via a coupling element 54, which will be described in more detail later. The coupling element 54 can be fixed in particular to the traction means 18 and the further traction means 48 in such a way that a force can be exerted on the first movement element 12 or the second movement element 14 in the axial forward direction 72 via the drive unit 20 or the further drive unit 50.

Similar to the Figure 1 already known exemplary movement device 58 can be used in the Figure 2 In the exemplary movement device 58 shown in the drive unit 20 and/or the further drive unit 50, a control device 28, or parts thereof, can again be provided. In the same way, the sensor unit 26 can be arranged in the traction mechanism deflection device 22 and/or the further traction mechanism deflection device 52. In particular, it is possible to provide a sensor of the sensor unit 26 in each of the traction mechanism deflection device 22 and the further traction mechanism deflection device 52, which sensor detects accelerations which act on the first movement element 12 or the second movement element 14 when walking. Furthermore, energy storage devices 24 can be provided in each of the traction mechanism deflection device 22 and the further traction mechanism deflection device 52.

Figure 3 shows an idealized top view of another exemplary movement device 58 with an exemplary drive device 10. The Figure 3 The exemplary movement device 58 shown corresponds in large parts to the one already shown in Figure 2 illustrated movement device 58. In contrast to Figure 2 are at Figure 3 However, the control device 28 in the drive unit 20 and a further control device 28a in the further drive unit 50 are explicitly indicated. Furthermore, in addition to the sensor unit 26 and the energy storage device 24 in the traction device deflection device 22, a further sensor unit 26a and a further energy storage device 24a in the further traction device deflection device 52 are explicitly indicated. This configuration has already been described in connection with the Figure 2 described exemplary movement device 58 mentioned, In contrast to the in Figure 2 The movement device 58 shown in Figure 3 illustrated movement device 58, the guidance of the traction means 18 and the further traction means 48 is modified. Thus, the traction means 18 and the further traction means 48 each run offset inwards to the illustrated binding elements 60. On the one hand, this has the advantage that the binding elements 60 do not have to provide guidance for the traction means 18 or the further traction means 48. And on the other hand, when using the movement device 58, forces that occur which are not parallel to the axial Forward direction 72 are further minimized. The indicated offset of the guide of the traction means 18 or the further traction means 48 can be realized, for example, with a cable duct-like construction.

Figure 4 shows a further idealized top view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 4 The movement device 58 shown is similar in many respects to the movement devices 58 already described in the Figures 2 and 3 . In the Figure 4 However, in the exemplary movement device 58, the drive unit 20 and the further drive unit 50 as well as the traction means deflection device 22 and the further traction means deflection device 52 are modified such that the traction means 18 and the further traction means 48 run between the two movement elements 12, 14 parallel to the axial forward direction 72. In this way, too, when using the movement device 58 shown, forces that do not run parallel to the axial forward direction 72 can be minimized.

Figure 5A shows yet another idealized isometric view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 5A The movement device 58 shown corresponds in large parts to the one used in connection with Figure 2 In contrast to this, the first movement element 12 and the second movement element 14 each comprise retaining elements 62, 64 which allow a movement of the respective movement element 12, 14 in the axial forward direction 72 and at the same time counteract a movement of the same in the axial rearward direction 66. Furthermore, in the Figure 5A In the exemplary movement device 58 shown, the binding elements 60 are arranged substantially perpendicular to the plane defined by the two movement elements 12, so that the movement device 58 can be used, for example, as a climbing aid for ladders or the like, wherein the two retaining elements 62, 64 can then each engage on securing elements, ladder rungs or the like.

The Figures 1 to 5A The exemplary movement devices 58 shown are all designed to support a user's movement. In principle, however, they can also be used to inhibit/hamper the user's movement, which can be desirable, for example, if an additional training effect is to be achieved.

Figure 5B shows an idealized isometric view of another exemplary movement device 58 with an exemplary drive device 10. The Figure 5B The further movement device 58 shown as an example essentially corresponds to the one already shown in Figure 2 already known movement device 58. In contrast to this, the one in Figure 5B However, in the illustrated movement device 58, the coupling element 54 is fixed in space and the two movement elements 12, 14 are movably mounted on fixed bearings 68, 70 at the front and rear end areas of the two movement elements 12, 14. The fixed bearings 68, 70 can in particular comprise rollers 76, 78 on which the two movement elements 12, 14 can run. The Figure 5B The movement device 58 shown can be used, for example, as a training unit or as a rehabilitation unit. As mentioned in the case of the movement devices 58 described above, the movement device 58 shown in Figure 5B The movement device 58 shown can optionally support the movement in the axial forward direction 72 or make it more difficult, for example to increase a training effect.

Figure 6 shows another idealized isometric view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 6 The movement device 58 shown essentially corresponds to the one already shown in Figure 2 previously known movement device 58, whereby the two movement elements 12, 14 are now explicitly indicated as skis and shoes 74, 74a are shown in a stylized manner on the binding elements 60, which are no longer specified. The shoes 74, 74a then naturally accommodate the extremities, i.e. the feet, of the user of the movement device 58 and can be connected or are connected in the usual way to the binding elements 60, which are no longer specified. Figure 6 The movement device 58 shown can be used, for example, in touring skis.

The characteristics of the various related to the Figures 1 to 6 The movement devices 58 shown, in particular different guides of the traction mechanism drives 18, 46 and the respective design of the existing drive units 20, 50 and the traction mechanism deflection device 22, 52 can of course be combined with each other or replaced, even if in the present description separate exemplary movement devices 58 have been shown to improve clarity. Furthermore, the retaining elements 62, 64 and the angled arrangement of the binding elements 60 (angled with respect to of the planes defined by the movement elements 12, 14) can be transferred to the other exemplary movement devices 58 if necessary.

Figure 7 shows a detailed view of a coupling element. In Figure 7 the coupling element 54 is shown in the locked state. The traction means 18 and the further traction means 48 are guided through the coupling element 54 parallel to the axial forward direction 72 and parallel to the axial rearward direction 66, respectively, wherein the traction means 18 and the further traction means 48 are fixed relative to the coupling element 54, so that the traction means 18 and the further traction means 48 can pass through the coupling element 54, but cannot slide through the coupling element 54. A force on the traction means 18 substantially parallel to the axial forward direction 72 accordingly causes a force in the axial forward direction 72 on the coupling element 54 itself, and in this way also a transmission of the force from the traction means 18 to the further traction means 48. In the same way, a force substantially parallel to the axial rearward direction 66 can also be transmitted via the coupling element 54 between the traction means 18 and the further traction means 48.

In the Figures 8A , 8B and 8C different states of the coupling element 54 are described. In Figure 8A the coupling element 54 is shown in an open state. In this state, a first coupling sub-element 80a and a second coupling sub-element 80b, which together form the coupling element 54, are shown separated from one another. The first coupling sub-element 80a and the second coupling sub-element 80b each comprise grooves 82 and springs 84, which can be guided into one another perpendicular to the axial forward direction 72 or the axial rearward direction 66. For this purpose, the grooves 84 and the springs 82 are designed such that the grooves are slightly wider at their narrowest point than the springs 82 at their widest point. In this way, a small amount of play parallel to the axial forward direction 72 between the first coupling sub-element 80a and the second coupling sub-element 80b can be realized. Since the flanks of the grooves 84 or the associated springs 82 are angled by the selected configuration with respect to the axial forward direction 72 and the direction of joining of the two coupling elements 80a, 80b perpendicular thereto, an additional holding force is created when the coupling elements 80a, 80b are joined together, which counteracts a loosening of the connection between the two coupling elements 80a, 80b when the respective movement device 58 is used. When the movement device 58 is used, the coupling state of the coupling element 54 then alternates between the in the Figures 8A , 8B and 8C shown states, since in each case either a (predominant) force is applied to the traction means 18 ( Figure 8B ) or a (predominant) force on the additional traction device 48 ( Figure 8C ) is exerted. The holding together of the coupling element 54 can additionally be improved, for example, by included magnets, which exert a holding force on the two coupling sub-elements 80a, 80b in the direction perpendicular to the axial forward direction 72. Such a Figures 7 , 8A , 8B and 8C The magnetic holder, not explicitly shown, could also be used to mount the respective coupling part element 80a, 80b on the first movement element 12 or the second movement element 14 separately from one another when the movement device 58 is not used but is already attached to the two movement elements 12, 14.

The opening and closing of the coupling element 54 can be supported by an external impulse, for example by manually locking/unlocking a mechanical lock. It is also possible to provide an electromagnetic lock that is controlled by the control unit 28. This also has the advantage that if the control unit 28 detects a fall by the user, an automatic unlocking of the coupling element 54 can be provided, which significantly reduces the risk of injury to the user.

The Figures 9A and 9B show schematic traction device configurations. The Figure 9A The traction device configuration shown comes from the Figure 1 shown movement device 58. A first length section 30 of the traction means 18 runs between the drive unit 20 and the crossing point 44 and a second length section 32 runs between the crossing point 44 and the traction means deflection device 22. When using the associated movement device 58, the traction means 18 is moved by the drive unit 20, whereby due to the fixed distances between the drive unit 20, the traction means deflection device 22 and the points 40, 42, a variation of the first length section 30 and the second length section 32 takes place. This variation takes place simultaneously. When the first movement element 12, to which the drive unit 20 and the traction means deflection device 22 are attached, is moved in the axial forward direction 72, the first length section 30 initially becomes longer, while the second length section 32 becomes shorter. This will be explained later in connection with the Figures 12 explained more clearly. Conversely, when the second movement element 14 moves in the axial forward direction 72 relative to the first movement element 12, the first length section 30 becomes shorter, while the second length section 32 becomes longer. This also occurs due to the movement of the traction means 18 by the drive unit 20, which now moves the traction means 18 in the opposite direction.

In an analogous manner, Figure 9B A schematic traction mechanism configuration is shown, which, for example, is associated with Figure 2 described movement device 58. In addition to the lengthening and simultaneous shortening of the first length section 30 and the second length section 32 on the traction means 18, an analogous movement of the further traction means 48 is provided on the opposite side symmetrically thereto (simultaneous or offset in time) in order to support the movement in the axial forward direction 72 of the movement device 58.

Figure 10 shows a schematic detailed view of a drive unit 20, 50. The Figure 10 The schematically illustrated drive unit 20, 50 includes in particular a drive roller 88 around which the traction means 18, 48 is guided. The drive roller 88 can be driven in the usual way by an electric motor (not explicitly shown). When the traction means 18, 48 is guided around the drive roller 88, the former can in particular wrap around the drive roller 88 more than once to improve the power transmission from the drive roller 88 to the traction means 18, 48. Furthermore, a traction means tensioning means 34, 56 is indicated in the drive unit 20, 50, the task of which is to keep the traction means 18, 48 under a constant (pre-)tension.

This can be done in a known manner, for example, in that the traction means tensioning means 34, 56 provided comprises a tensioning roller 90 which is pivotally mounted about a pivot bearing 92 and is held under a pre-tension such that the tensioning roller 90 presses against the traction means 18, 48, so that a guide path of the traction means 18, 48 is extended. The traction means tensioning means 34, 56 is particularly useful when the coupling element 54 known from the previous figures is open, so that the two loops of the two traction means 18, 48 are not coupled to one another. In this state, the drive device 10 is inactive and the traction means 18 and the further traction means 48 would hang loosely between the two movement elements 12, 14, unless they are otherwise held "tight", and would flutter back and forth between them in an uncontrolled manner. The traction means 18, 48 can impair the use of the movement device 58 in an undesirable manner without the support of the drive device 10. This is avoided with the help of the traction means tensioning means 34, 56, since these compensate or tighten "excess" lengths of the traction means 18, 48.

Figure 11 shows a schematic detailed view of a traction mechanism deflection device. Figure 11 The traction mechanism deflection device 22, 52 shown corresponds largely in its basic structure to that described in connection with Figure 10 described drive unit 20, 50, but instead of the drive roller 88, a deflection roller 86 is provided, on which the traction means 18, 48 is deflected around the axis of rotation of the deflection roller 86.

The Figures 10 and 11 The drive unit 20, 50 and traction means deflection device 22, 52 shown in each case are only shown in a simplified manner, whereby the drive motor is not shown explicitly, particularly in connection with the drive unit 20, 50. Furthermore, the drive unit 20, 50 does not indicate the control device 28 or the further control device 28a, which can optionally be integrated into the drive unit 20, 50. In a similar way, in Figure 11 in the case of the traction mechanism deflection device 22, 52, the sensor unit 26 or the further sensor unit 26a as well as an optionally also included energy storage device 24 are omitted. The control device 28, 28a, sensor unit 26, 26a and/or energy storage device 24 can optionally be provided separately from the drive unit 20, 50 or the traction mechanism deflection device 22, 52, wherein only a corresponding electrical connection option, for example wired, has to be provided.

Figure 12 shows a visualization of the spatial movement of the movement device 58 in the axial forward direction 72. A first sequence of relative positionings of the two movement elements 12, 14 occurring one after the other during the movement is shown in sequence a). Starting from a state in which the first movement element 12 and the second movement element are at the same height in the axial movement direction 72, the forward movement in the axial movement direction 72 begins by the first movement element 12 being displaced/moved forward in the axial movement direction 72 relative to the second movement element 14. For this purpose, the first longitudinal section 30 is extended by the traction drive 16 and/or the further traction drive 46, while at the same time the second longitudinal section 32 is shortened. This continues continuously in sequence a). In the final state of sequence a), the change in length of the first length section 30 and the second length section 32 is finally reversed, whereby the second movement element is now moved by the traction mechanism drive 16 and/or the further traction mechanism drive 46. 14 is pulled behind in the axial movement direction 72 relative to the first movement element 12 until finally, as can be seen in the final state in sequence b), the second movement element 14 is located relatively ahead of the first movement element 12 in the axial movement direction 72. This relative forward movement of the second movement element 14 with respect to the first movement element 12 reaches its final state at the beginning of sequence c), with the first movement element 12 then being pulled behind the second movement element 14 in the axial movement direction 72 by the traction drive 16 and/or the further traction drive 46 until finally the relative initial state of sequence a) is reached again at the end of sequence c).

The individual partial movement sequences progressing in sequences a), b) and c) can be actively initiated by a user of the movement device 58, wherein the sensor unit 26 assigned to the drive device 10 detects the user's intention to move by detecting an acceleration of the moving movement element 12, 14. The control device 28, 28a is informed of the detected acceleration and recognizes the movement request therein. The drive unit 20, 50 is then controlled accordingly by the control device 28, 28a so that the intended movement sequence is supported. As already indicated above, it is also conceivable that for training purposes, instead of supporting the movement sequence, a resistance is opposed to the movement sequence in order to achieve an additional training effect. In particular, the drive unit 20, 50 can be used as a variably adjustable resistance. The exact sequence of motion support, such as step size, step speed, etc., can be set individually and stored, for example, as a parameter curve in the control device 28, 28a. It is also possible for the control device 28, 28a to have a self-learning algorithm that learns the user's motion sequence and adapts to it.

In addition to the movement in the axial direction of movement 72, the drive device 10 can also include a height component, so that during the movement in the axial forward direction 72 a cyclical movement "upwards" is also superimposed. This then corresponds to "lifting the feet" when walking.

Figure 13 shows a flow chart of a method for moving two movement elements of a movement device in an axial forward direction. The method 100 begins at step 110 with the detection, by the sensor unit 26, of an inherent movement of the first movement element 12. This can be, for example, the acceleration that occurs when the first movement element 12 is lifted or pushed forward, which is detected by the sensor unit 26. The method 100 is continued by shortening 120, by the drive unit 20, the first length section 30 and, at the same time, lengthening 130, by the drive unit 20, the second length section 32, so that the first movement element 12 is moved relative to the second movement element 14 in the axial forward direction 72. Subsequently, the sensor unit 26 detects 140 an inherent movement of the second movement element 14. This can also be a detected acceleration, which occurs, for example, when the first movement element 12 is lowered relative to the second movement element 14 or when the second movement element 14 is raised relative to the first movement element 12. Due to the detected inherent movement, the drive unit 20 then shortens 150 the second length section 32 and the drive unit 20 lengthens 160 the first length section 30 at the same time as the shortening 150 of the second length section 32, so that the second movement element 14 is moved relative to the first movement element 12 in the axial forward direction 72.

The present method 100 is described by way of example only in connection with a single drive unit 20 and thus essentially corresponds to the method 100 for moving two movement elements 12, 14 of a movement device 58 in the axial forward direction 72 according to the exemplary movement device 58 as shown in Figure 2 Of course, additional process steps are to be added in an obvious manner if, instead, in addition to the drive unit 20, a further drive unit 50 is used, as for example in connection with the exemplary movement devices 58 according to the Figures 2 to 6 intended.

The features of the invention disclosed in the above description, in the drawings and in the claims may be essential for the realization of the invention both individually and in any combination.

List of reference symbols

10

Drive device

12

first movement element

14

second movement element

16

Traction drive

18

Traction device

20

Drive unit

22

Traction device deflection device

24

Energy storage

24a

additional energy storage

26

Sensor unit

26a

additional sensor unit

28

Control device

28a

additional control device

30

first length section

32

second length section

34

Tensioning device

36

End

38

End

40

Point

42

Point

44

Crossing point

46

additional traction drive

48

additional traction device

50

additional drive unit

52

additional traction device

54

Coupling element

56

other traction clamping devices

58

Movement device

60

Binding elements

62

Retaining element

64

Retaining element

66

axial reverse direction

68

fixed storage

70

fixed storage

72

axial forward direction

74

shoe

74a

shoe

76

Rolling roller

78

Rolling roller

80a

first coupling element

80b

second coupling element

82

Groove

84

Feather

86

Deflection pulley

88

Drive roller

90

Tension roller

92

Pivot bearing

100

Proceedings

110

Recognize

120

Shorten

130

Extend

140

Recognize

150

Shorten

160

Extend

Claims (13)

Drive device (10) for two movement elements (12, 14) attachable to extremities of a user, comprising: - a traction drive (16) with a traction means (18) and a drive unit (20), - a traction means deflection device (22); - an energy storage device (24); - a sensor unit (26) for detecting a spatial movement; and - a control device (28) for controlling the drive unit (20); - wherein the drive unit (20) and the traction means deflection device (22) can be fastened to a first of the two movement elements (12), and - wherein the traction mechanism drive (16) is designed such that the traction mechanism (18) comprises a first and a second length section (30, 32), the respective first and second lengths of which are periodically varied by means of the drive unit (20) when the drive device (10) is used, wherein an increase in the length of the first length section (30) is accompanied by a decrease in the length of the second length section (32) and vice versa. Drive device (10) according to claim 1, wherein the traction means deflection device (22) and/or the drive unit (20) comprises traction means tensioning means (34). Drive device (10) according to claim 1 or 2, wherein the traction means (18) comprises two unconnected ends (36, 38) which can be fastened to a second of the two movement elements (14) at two different spaced-apart points (40, 42). Drive device (10) according to claim 3, wherein a vertical projection of the traction means (18) onto a plane defined by the two movement elements (12, 14) has an intersection point (44). Drive device (10) according to claim 4, wherein the first longitudinal section (30) extends between the crossing point (44) and the drive unit (20) and wherein the second longitudinal section (32) extends between the crossing point (44) and the traction means deflection device (22). Drive device (10) according to claim 1 or 2, wherein the drive unit (20) further comprises: - a further traction drive (46) with a further traction means (48) and a further drive unit (50), wherein the further drive unit (50) can be fastened to a second of the two movement elements (14), - a further traction means deflection device (52) and - a coupling element (54) which fixes the traction means (18) and the further traction means (48) in its interior. Drive device (10) according to claim 6, wherein the further traction means deflection device (52) and/or the further drive unit (50) comprises further traction means tensioning means (56). Drive device (10) according to claim 6 or 7, wherein the traction means (18) and the further traction means (48) each form a self-contained loop. Drive device (10) according to one of claims 6 to 8, wherein the first longitudinal section (30) extends between the coupling element (54) and the drive unit (20) and wherein the second longitudinal section (32) extends between the coupling element (54) and the traction means deflection device (22). Movement device (58) with a drive device (10) according to one of the preceding claims, further comprising the two movement elements (12, 14) and binding elements (60) for releasably connecting the two movement elements (12, 14) to one extremity of a user. A movement device (58) according to claim 10, wherein the two movement elements (12, 14) comprise retaining elements (62, 64) on one side which hinder movement in an axial rearward direction (66). Movement device (58) according to claim 10, wherein the movement device (58) further comprises two spatially fixed bearings (68, 70), each of which movably supports one of the two movement elements (12, 14). Method (100) for moving two movement elements (12, 14) of a movement device (58) in an axial forward direction (72), wherein the movement device (58) comprises the two movement elements (12, 14) and a drive device (10), the two movement elements (12, 14) are provided with binding elements (60) which are each detachably connected to an extremity of a user, and the drive device (10) is provided with a traction drive (16) comprising a traction means (18) and a drive unit (20), a traction means deflection device (22), an energy storage device (24), a sensor unit (26) for detecting a spatial movement and a control device (28) for controlling the drive unit (20), wherein the drive unit (20) and the traction means deflection device (22) are attached to a first of the two movement elements (12), and the method (100) comprising: the detection (110), by the sensor unit (26), of an inherent movement of the first movement element (12); the shortening (120), by the drive unit (20), of the first length section (30); the lengthening (130), by the drive unit (20), of the second length section (32), simultaneously with the shortening (120) of the first length section (30), so that the first movement element (12) is moved relative to the second movement element (14) in the axial forward direction (72); the detection (140), by the sensor unit (26), of an inherent movement of the second movement element (14); the shortening (150), by the drive unit (20), of the second length section (32); and the lengthening (160), by the drive unit (20), of the first length section (30), simultaneously with the shortening (150) of the second length section (32), so that the second movement element (14) is moved relative to the first movement element (12) in the axial forward direction (72).

Images