NL1039295C2 - VEHICLE, IN PARTICULAR MOVEMENT. - Google Patents

Description

Vehicle, in particular a mover

BACKGROUND OF THE INVENTION

The invention relates to a mobile vehicle, in particular a transporter.

The vehicle can be a self-moving service or work wagon or a wheeled mover, such as a forklift truck, goods platform wagon, hoist, (patient) hoist, for objects that can be moved or not, or people.

In particular, it is possible to envisage the displacement of persons, such as patients, in standing, sitting, lying or hanging condition, for example in an intramural or extramural environment such as, for example, a hospital or a house. Examples are a hospital bed, a patient lift, an operating table or a rehabilitation device.

Furthermore, one may think of moving goods in a logistics process or during assembly, a goods platform truck for distribution, a forklift truck or a forklift truck for moving pallets, for example. One could also think of a tool for an assembly process such as a mobile motor hoist.

By way of example, a number of patient lifts known from patents 20 are mentioned below, in which case each time there is a base located at the rear, a load carrier extending forward from the base and two legs extending forward from the base.

Such a displacer is shown in US 5,758,371, wherein the base is provided with two steerable drive wheels and between them a differential and fixed wheels at the front ends of the legs.

GB 2,337,030 shows such a displacer in which the base is provided with two swivel wheels and the legs are each provided with a drive comprising a motor-driven wheel and a wheel driven by said drive wheel via an angular transmission. With a lift mechanism in the leg, either the one drive wheel or the other drive wheel can be brought into contact with the ground.

In US 6,092,247 such a displacer is shown, wherein the base is provided with two swivel wheels and the legs are provided at their front end with drive wheels with drive motors attached thereto to the leg behind them. The legs are pivotable in the horizontal plane, after a box wheel has been lowered at the leg ends to lift the drive wheel off the ground.

US 2006/0137091 shows such a displacer, wherein the base is provided with two synchronously steerable drive wheels and the legs are provided with swivel wheels at their front ends. The legs are pivotable in the horizontal plane.

EP 1,595,519 and WO 2009/136359 show such displacers with swivel wheels at the leg ends and below the base a central, liftable drive wheel.

EP 2,208,487 shows such a displacer in which swiveling legs in the horizontal plane are provided with swivel wheels at their front ends and the base is provided with two steerable drive wheels whose pivot points are situated at different distances from the rear. A drawback of this existing system is that there is still limited freedom of direction and there is a delay in switching, but both control directions. In general, the maneuverability and deployability of these known displacers can be improved. In most known lifting devices the drive wheel is placed relatively far from the load point, this has an unfavorable effect on the stability and / or the drive. As a result, the assembly itself must be of heavy design in order to obtain sufficient traction on these driven wheels

SUMMARY OF THE INVENTION

An object of the invention is to provide a vehicle of the type mentioned in the preamble with which a reliable drive can be realized during use.

An object of the invention is to provide a vehicle of the type mentioned in the preamble with which a sufficient stability can be realized during use.

An object of the invention is to provide a vehicle of the type mentioned in the preamble with which safe and reliable transport of a load, person or object can be realized.

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An object of the invention is to provide a vehicle of the type mentioned in the preamble with which maneuvering can be carried out in an easy and / or reliable manner.

An object of the invention is to provide a vehicle of the type mentioned in the preamble 5 with which it is possible to accurately position during loading and unloading.

An object of the invention is to provide a vehicle of the type mentioned in the preamble with which the greatest possible maneuverability is possible within a small floor area.

From one aspect the invention provides for this purpose a vehicle as described in one or more of the appended claims.

From one aspect the invention provides a mobile vehicle, in particular a load-carrying device, such as a person or an object, comprising a frame with a work or front side and a rear side, a base located at the rear and at least one, connected to the base, therefrom, usually towards the front, preferably in the horizontal direction, protruding leg! preferably two of such legs, wherein the frame is provided with a load carrier, wherein at least one leg is provided at a location, viewed along the leg, at a distance from the base with a first drive wheel, the drive wheel being a first drive, such as comprises a motor, which is preferably in the vertical sense substantially below, preferably entirely below, the top of the tread of the first drive wheel in operating position, wherein at least partly, preferably substantially, mounted on the leg is a first direction control for the first drive wheel for controlling the position of the first drive wheel relative to the leg. The relevant leg and the base of the frame are thus highly controllable in orientation. Maneuvering is thereby facilitated, in particular when the vehicle is used to move a load taken from a load carrier or surface with a low / limited underpass height, such as a hospital bed in the case of a patient lift or a transport trailer or delivery truck floor from which goods must be charged. The steerable leg drive can be positioned accurately with little effort and in a position that is favorable for stability and weight distribution under the load to be moved. It is noted that "first drive" means both the drive source, motor, and the transmission between drive source and drive wheel.

The first directional control may comprise a first control drive 4 for adjusting the position of the first drive wheel, the first control drive being in the vertical sense substantially below, preferably entirely below, the top of the tread of the first drive wheel in the operating position. As a result, the usability of persons to be moved or objects to be taken from or transferred to supports with limited under-height, such as hospital beds, is further increased. The vehicle according to the invention therefore forms an advantageous means of transport for institutions in the healthcare sector. It is noted that "first control drive" means both the drive source, motor, and the transmission between drive source and drive wheel.

In one embodiment the first direction control comprises a first control drive for adjusting the position of the first drive wheel, the first control drive comprising a motor which is stationary with respect to the drive wheel.

In an embodiment with a low overall height, the first control drive intersects the plane in which the horizontal axis of rotation of the drive wheel is located. In a compact embodiment the first steering drive comprises a wheel holder with a first holder part which is attached to the first leg and a second holder part rotatable relative to a substantially vertical axis, in particular pure vertical axis, the second holder part being the first drive wheel, in particular a physical wheel axle (hollow or full) thereof, preferably on both sides of the drive wheel, for co-rotating rotation about the substantially vertical axis. The second holder part can herein be annular or comprise one or more ring segment-shaped parts that can be moved together as a whole and are rotatably guided around said vertical axis through the first holder part. The first holder part can herein comprise a hollow casing, in particular with a circular cross-section, and thereby surround the second holder part, whereby it is also shielded. The first drive can be placed in an advantageous, compact manner with the wheel within the first holder part and be rotatable within it about the vertical axis, in particular placed within a turntable formed by the first and second holder part.

In a compact embodiment the first and second holder parts work together in the form of an electric motor, wherein one ring part, preferably the first holder part, has a ring of electromagnets attached and on the other holder part, preferably the second holder part, ring of permanent magnets.

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The maneuverability of the vehicle, with any load to be moved, is increased if the first direction control has a range of at least 90 degrees, preferably more than 90 degrees, preferably 180 degrees or more, preferably a range of 360 degrees or more .

The first direction control may comprise means for recording the orientation of the first drive wheel relative to the leg or relative to the base.

In a compact embodiment, the first drive for the first drive wheel is arranged for co-steering control rotation with the first drive wheel by the first direction control.

In a compact embodiment, the first drive comprises a motor with a drive axis that is substantially parallel to the axis of rotation of the first drive wheel, in particular coinciding with it. The first drive preferably comprises a hub motor.

In a versatile embodiment, the top side of the running surface of the first drive wheel determines the highest point of the leg in question, at least the part of the leg in question that is located at the first drive wheel and further to the front. This further increases the usability of the vehicle according to the invention.

Maneuverability is promoted if the leg is provided with the first drive wheel at a location near its end.

In a first further development of the vehicle according to the invention, with two aforementioned legs, both legs are provided with the first drive wheel and a second drive wheel, respectively, preferably at a location near the end of the relevant leg. The first and the second drive wheels with their first and second drive, respectively, are preferably mutually corresponding.

Just like the first drive, the second drive wheel can be provided with a second direction control, which is preferably designed in accordance with the first direction control, wherein the vehicle is preferably provided with a central control unit for mutually coordinated and selective control of the first direction control. and second direction control. The two direction controls can, for example, be controlled simultaneously or one after the other, as desired. Control and maneuverability of the vehicle 3 5 are thereby greatly promoted.

In a first further development of the vehicle according to the invention, at least one leg, preferably both legs, is / are movable in a horizontal plane, in particular adjustable, connected to the base.

In one embodiment, the leg / legs are rotatably connected to the base in a horizontal plane. Alternatively or thereby at least one leg, preferably both legs, is linearly displaceable in a horizontal plane, preferably in a direction transverse to the relevant leg, connected to the base.

The first / second direction control here permits a position of the relevant drive wheel with which the desired movement of the leg relative to the base is made possible, in particular a position transverse to the leg. The leg is then, as it were, displaced relative to the base 10 by the relevant drive wheel.

In one embodiment, the directional control comprises means for controlling the position of the drive wheel relative to the leg while maintaining the direction of that drive wheel relative to the world.

In one embodiment, the direction control comprises means for controlling the position of the drive wheel relative to the world.

In a compact embodiment, the vertical axis of rotation (the axis about which the drive wheel is steered) of the relevant drive drive intersects the running surface of the drive wheel in question.

The vertical axis of rotation of the relevant control drive can intersect the horizontal axis of rotation of the relevant drive wheel.

The maneuverability of the vehicle is further increased if the base is provided with at least one further drive. With only the aforementioned first drive in the first leg, the controllability / adjustability of the position is already considerably promoted and even more so if there are said first and second drives. In both arrangements the controllability / adjustability of the position is further promoted by the at least one further drive at the base. In the latter case, the first and second and further drive wheels can form a polygon of drive points. The maneuverability is further promoted if the vehicle is provided with a further direction control for the further drive wheel for controlling the position of the relevant further drive wheel relative to the base.

The force resultant of the load gripper of the load carrier engaging the load, which resultant is spaced apart from the base in the horizontal direction, towards the front of the frame, can then, viewed in projection on a horizontal plane, be within the polygon, in particular at least near the center of the circumscribed circle of 7, said polygon. The combined weight of vehicle and load can hereby be distributed in a favorable manner over the drive wheels such that sufficient grip / traction can be obtained on the floor surface for each drive wheel for accurate displacement and control, whereby great stability of the load is guaranteed. In a simple embodiment there is one further drive wheel at the location of the base, so that there is a triangle of - independently controllable - drive points.

In general, the load carrier can be provided with a load gripper which engages the load with a force resultant which is situated in a horizontal direction, in the direction towards the front of the frame, at a distance from the base. Viewed in projection on a horizontal plane, the load gripper can be active between the legs, wherein preferably both legs are provided with a respective driving wheel at a location remote from the base.

In a second further development, the leg forms a platform 15 with a support surface for a load to be moved. The platform forms a load-engaging load gripper. The leg can herein be provided with both the first drive wheel and a second drive wheel, preferably at a location near the end of the leg, wherein, preferably, the first and the second drive wheels with their respective first and second drive 20 mutually designed accordingly to be. The second drive wheel can be provided with a second direction control, which is preferably designed in accordance with the first direction control, wherein the vehicle is preferably provided with a central control unit for mutually coordinated and selective control of the first and second direction control.

In an embodiment the first and / or second drive wheel is adjustable in position along the relevant leg. As a result, the location of the vertical force resultant can be adjusted almost optimally, as well as the maneuvering behavior can be influenced.

In a further development, the leg provided with the drive wheel is provided with an attached swivel wheel, preferably on the distal side of the drive wheel.

In addition, the leg in question can be provided with a lifting means for displacing the drive wheel between an operating position in contact with a ground and a free position at a distance therefrom. This can be advantageous for manual displacement of the vehicle and for positioning of the (in particular unloaded) vehicle, wherein the steerable drive wheel is preferably not brought into contact with the ground, and under certain circumstances when linear and rotatable movement and adjustment of the aforementioned legs. In the case of several controllable drives in the leg or in the legs, it is hereby possible to set a desired drive configuration (à la carte), such as with controllable drive in two legs, a controllable drive in one leg, whether or not in combination with a controllable drive in the base. The steering and driving behavior can hereby be favorably determined according to the circumstances (partly freely swiveling vehicle, partly driven driven).

For bringing the vehicle under an object with low components, it can be advantageous for the top of the drive wheel to remain in the free position within the transverse profile of the leg in question, preferably at a distance of approximately 30 cm or less, preferably Is 15 cm or less above the substrate.

The general maneuverability of the vehicle is further promoted if the frame is supported partly by means of one or more swivel wheels, with swivel wheels preferably being present at the rear, on either side of the base.

The invention thus provides, inter alia, in deviation from the aforementioned patents, that the vehicle has control elements and / or displacement elements which are arranged at a location on the vehicle which are considerably more favorable with regard to their functionality with respect to the vehicle. resulting center of gravity of the load and mass of the means of transport.

The vehicle according to the invention offers the possibility of being displaced in all compass directions and following every control curve.

From a further aspect the invention provides a mobile vehicle, in particular a vehicle according to any of the appended claims 1-38, provided with a double drive wheel with a primary drive wheel and a secondary drive wheel, the horizontal axes of which are perpendicular to each other, wherein the primary and the secondary drive wheel are provided with a lifting means for selectively moving the primary drive wheel between an operating position in contact with a substrate and a free position at a distance therefrom and at the same time the secondary drive wheel in the opposite sense, and vice versa. With this, the vehicle can optionally be driven in one direction or a direction perpendicular to it. In the case of the aforementioned vehicle according to the invention with steerable drive in one leg 9, the double drive wheel is arranged in the second leg and forms a supplement for improving maneuverability. Alternatively, there may be a double drive wheel in a single leg or in two parallel legs with a steerable drive in the base.

In a compact embodiment, the primary and the secondary drive wheel are supported in an auxiliary frame, which is tiltably mounted in the frame between a position in which the primary drive wheel is in the operating position and a position in which the secondary drive wheel is in the operating position, wherein , preferably, the auxiliary frame can be placed in an intermediate position 10 in which both drive wheels are free.

The primary and secondary drive wheels are preferably each provided with its own motor, so that one drive wheel is driven by one motor and the other drive wheel is driven by the other motor, preferably identical to the one motor.

As noted earlier, the vehicle according to the invention can be particularly suitable as a so-called hoist for patients to and from a hospital bed.

From a further aspect the invention provides a mobile vehicle, in particular a person-displacer, comprising a frame 20 with a base and two legs protruding therefrom, the legs forming a space between them such as a dock or bay for provide space for the load, wherein at least one of the legs is provided at a location remote from the base with a drive wheel and with means for steering the drive wheel relative to the leg, in particular drive wheel with the drive therefor.

From a further aspect, the invention provides a mobile vehicle, in particular a displacer for an object, such as a forklift truck, comprising a frame with a base and two legs protruding therefrom, the legs between a space such as a dock or bay, forms for accommodating the load, wherein at least one of the legs is provided at a location remote from the base with a drive wheel and with means for steering the drive wheel relative to the leg, in particular drive wheel with the drive therefor, wherein the drive wheel is steerable over an angle range of at least 90 degrees, preferably more than 90 degrees, preferably more than 180 degrees, preferably an angle range of 360 degrees or more.

In a further development of the vehicle according to the invention, the load carrier carries a load gripper attached thereto, such as a hook. The load gripper can be designed as a suspension for a person, in particular for use as a hoist. The load gripper can alternatively be designed as a suspension for an object, in particular for use as a hoist.

In a further development, the load gripper forms a load support surface on the load carrier. The load gripper can then be designed as a lifting fork for lifting pallets or other objects.

The invention further relates to a wheel control and a drive system with a drive wheel.

An object of the invention is to provide a wheel control with a driven or free-running wheel that is compact in the horizontal direction.

An object of the invention is to provide a wheel control with a driven or free-running wheel that has a relatively limited height.

An object of the invention is a mobile object provided with one or more of such wheel controls with driven or free-running wheel.

From one aspect the invention provides for this purpose a drive system as described in one or more of the appended claims.

From one aspect the invention provides for this purpose a wheel system as described in one or more of the appended claims.

From one aspect the invention provides a drive system with a drive wheel rotatable about a horizontal axis, a first drive for the wheel, and a wheel holder, the wheel holder being provided with a first holder part that can be mounted on an object to be moved, such as a vehicle or a mover, and a second holder part that engages the wheel and preferably runs in the horizontal direction around the wheel, further comprising a steering drive for rotating the second holder part relative to the first holder part about a substantially vertical axis, preferably purely vertical center line, wherein the second holder part engages the drive wheel, in particular a physical wheel axis thereof, preferably on both sides of the drive wheel, for co-rotation about the substantially vertical center line. This provides a drive unit which is compact in the horizontal plane and can be controlled in the horizontal and horizontal direction, which drive unit can be advantageous in many vehicles.

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The second holder part can be annular or comprise one or more ring segment-shaped parts that are movable as a whole with one another and are rotatably guided around said vertical axis through the first holder part. The second holder part is situated within the first holder part in a compact embodiment, wherein the first holder part in particular comprises a hollow casing, in particular with a circular cross-section, and thus surrounds the second holder part.

As previously indicated, the control drive may have a range of at least 90 degrees, preferably more than 90 degrees, preferably more than 180 degrees, preferably a range of 360 degrees or more.

The first drive for the drive wheel can be arranged for co-steering rotation with the drive wheel by the steering drive.

The first drive may comprise a motor with a drive axis that is substantially parallel to the axis of rotation of the first drive wheel, in particular coinciding with it. The first drive comprises in particular a hub motor. The drive wheel can be provided with a compact electric motor which is placed in the center of the wheel with surrounding tire.

In a compact, versatile use embodiment, the steering drive is situated in a vertical sense substantially below, preferably completely below, the top of the running surface of the driving wheel.

In a compact design, the vertical axis of rotation of the steering drive intersects the running surface of the drive wheel. The steering drive can thereby intersect the plane in which the horizontal axis of rotation of the drive wheel is situated.

In a compact embodiment, the first drive is in the vertical sense substantially below, preferably completely below, the top of the running surface of the drive wheel.

In a further development, the drive system according to the invention is provided with means for determining the angular position of the second holder part relative to the first holder part. The drive system may further comprise a control unit for controlling the first drive and / or control drive in coordination with the data of the means for determining the angular position.

The diameter of the drive wheel can be less than about 15 cm.

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The drive system according to the invention can be provided with means for keeping the drive wheel in a set orientation (and thereby direction of movement).

The controllable drive system according to the invention is characterized by a very compact design. The low installation height is particularly advantageous here. Such a system with a low installation height is desirable in, for example, a hospital environment where the drive can be driven entirely or partially under a hospital bed. But also in a logistics process for loading a trailer, a low installation height may be desirable because the driven wheel can drive under the loading floor.

In particular, the invention thus relates to a steered wheel that can be used as a driving wheel for self-propelled objects, such as rolling containers and mobile vehicles such as service or work cars (for example a sweeper or mower), and to mobile displacers, such as a wheel forklift truck, goods platform wagon, hoist, (patient) hoist, operating table, hospital bed, for movable or non-mobile objects or persons.

In particular, the invention can also relate to a steered wheel that can be used in said movable objects or displacers as a free-running support wheel.

From a further aspect the invention provides a wheel system with a wheel rotatable about a horizontal axis, and a wheel holder, wherein the wheel holder is provided with a first holder part that can be mounted on an object to be moved, such as a vehicle or a displacer, and a second holder part that engages the wheel and preferably runs in the horizontal direction around the wheel, wherein the second holder part is rotatable relative to the first part about a substantially vertical axis, preferably purely vertical axis, wherein the second holder part wheel, in particular drive wheel, in particular a physical wheel axle thereof, preferably on both sides of the wheel, for consecutive rotation about the substantially vertical axis, wherein the wheel system further comprises a steering drive for rotating the second part compared to the first part. Further embodiments are described in the appended claims 69-78, the content of which is incorporated herein by reference. The steerable wheel system can be designed for a free-rolling wheel or for a driven wheel.

From a further aspect, the invention provides a drive system as described in the appended claims 79-91, the content of which is to be regarded as inserted here.

From a further aspect the invention provides a mobile vehicle, in particular a load-carrying device, such as a person or an object, comprising a frame, wherein the frame is provided with one or more drive systems according to the invention and one or more wheel systems with free-rolling wheel according to the invention, in particular according to one of claims 68-76.

The aspects and measures described in this description and claims of the application and / or shown in the drawings of this application can, where possible, also be applied separately from each other. These individual aspects can be the subject of split-off patent applications that are aimed at this. This applies in particular to the measures and aspects that are described per se in the subclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be elucidated on the basis of a number of exemplary embodiments shown in the accompanying drawings. Shown are: Figures 1A-F respectively an oblique front / top view, four bottom views and a side view of a first embodiment of a device according to the invention;

Figures 2A and 2B show an oblique front / top view and a bottom view of a second embodiment of a device according to the invention, respectively;

Figures 3A and 3B show an oblique front / top view and a bottom view of a third embodiment of a device according to the invention, respectively;

Figures 4A-F show an oblique front / top view, four bottom views and a side view of a fourth embodiment of a device according to the invention, respectively;

Figures 5A-E show respectively an oblique top view, an exploded view, a top view, a side view and a vertical section of a first exemplary embodiment of a controlled drive unit according to the invention;

Figure 6 shows an alternative to the controlled drive unit of Figures 5A-E; 14

Figures 7A and 7B show an oblique plan view and a plan view, respectively, of a second exemplary embodiment of a controlled drive unit according to the invention;

Figures 8A and 8B show an oblique plan view of a second exemplary embodiment of a controlled drive unit according to the invention, in two operating positions;

Figures 9A and 9B show an oblique plan view of a third exemplary embodiment of a controlled drive unit according to the invention, in two operating positions; Figures 10A and 10B show an oblique plan view of a fourth exemplary embodiment of a controlled drive unit according to the invention, in two operating positions;

Figures 11A and 11B show an oblique plan view and an exploded view of a fifth exemplary embodiment of a controlled drive unit according to the invention;

Figures 12A and 12B show an oblique plan view of an exemplary embodiment of a blocking device for a steered drive wheel according to the invention;

Figures 13A-E show respectively an oblique top view, an oblique bottom view, a cut-away top view and two operating positions in side view of an exemplary arrangement with a retractable controlled drive unit according to the invention;

Figures 14A and 14B show an exemplary embodiment of a retractable controlled drive unit according to the invention, in two operating positions; Figures 15A-D show, in side view, respectively, three operating positions of an exemplary embodiment of a retractable double drive wheel according to the invention and an oblique top view thereon;

Figures 16A and 16B show an oblique front / top view and a side view, respectively, of a first exemplary embodiment of a device according to the invention with the retractable double drive wheel of figures 15A-D;

Figure 17 shows an oblique front / top view of a second exemplary embodiment of a device according to the invention with the retractable double drive wheel of Figures 15A-D; and

Figures 18A-D, respectively, an oblique front / top view, two operating positions in side view and a top view of a third exemplary embodiment of a device according to the invention with the retractable double drive wheel of figures 15A-D

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DETAILED DESCRIPTION OF THE DRAWINGS

Figures 1A-F 1 show a first lifting device 1, a patient lift or motor hoist. The device 1 comprises a frame 2, a main axis S running in front-rear direction and with a rear side 1a and a front side 1b, wherein the frame 2 comprises a base 6 with forwardly extending legs 3, which are pivotally connected at the location of 5 to the base 6, so that the width of the intermediate dock or bay can vary and the passage width (door) required can be adjusted.

At the rear two transverse arms 4 belonging to the base 6 protrude, thus fixed. A load carrier 8 which is movable with a cylinder 12 extends upwards from the base 6 and is provided at the end with a load gripper 9, which can for instance comprise a hook (not shown).

The frame 2 is supported on four steerable drive wheels 7, accommodated in drive units 10, which drive units 10 are arranged at the ends of the legs 3 and arms 4. The drive wheels 7 are arranged according to a quadrangle. As can be seen in figure 1F, the drive unit 10, which will be further explained below, does not protrude above the rest of the leg 3, it even remains slightly lower. As a result, the legs 3, despite being provided with controllable drive wheels 7, can come under a carrier with low free space above the substrate, such as the hospital bed 100 shown in Figure 1F. The legs 3 can pass just below the low frame tubes 101 and the load gripper 9 can be brought to the right place above a person on the bed. When the person is received by the load carrier 8, a force G1 is exerted thereon. The resultant Fr of G1 and the own weight of the device 1 G2 are located in front of the base 6 and, as indicated in Figure 1B, near the center of the circumscribed circle of the said quadrangle. As a result, the total load is advantageously distributed over the steerable drive wheels 7, as a result of which these can have sufficient grip / traction on the ground and the maneuvering is strongly promoted.

The steerability of the drive wheels 7 makes it possible to move in all directions in an easy manner. In figure 1B forwards or backwards, in figure 1C and pivoting movement to the right, in figure 1D a rotation and in figure 1E a displacement in transverse direction. The rotation of Figure 1D in particular is advantageous, wherein the device 1 could turn around the load, as is desirable in an environment with little space, such as a toilet or shower room. In figure 1D

16 also shows how the drive wheels 7 can be placed transversely on the legs 3, so that by activating the drive wheels 7 the legs can be pivoted about hinges 5 to a desired position. The drive wheels 7 can in this way also be used if the legs 3 can be moved (shifted) from and to each other relative to the base 6 while retaining their direction.

The legs 3 can thereby remain limited in length. The weighting of the basis for improving the traction is not necessary, so that the weight of the device can remain limited. The lifting device 1 can also be designed with fewer drive wheels, see figures 2A, B and 3A, B. In the device 1 of figures 2A, B, only one leg 3 is provided near its end with a drive unit 10, wherein both legs 3 and arms 4 are provided with a swivel wheel 11. Furthermore, the base 6 is provided with a controllable drive wheel 7.

In the device 1 of figures 3A, B again only one leg 3 is provided near the end thereof with a drive unit 10, the other leg 3 and one arm 4 being provided with a swivel wheel 11. Furthermore, the other arm 4 is provided with a steerable drive wheel 7.

Figures 4A-F show another exemplary embodiment of a device according to the invention, wherein both legs 3 are provided near their end with a controllable drive wheel 7 and with a swivel wheel 11, and the base 6 is also provided with a steered drive wheel 7. Both arms are provided with swivel wheels 11. Also with this embodiment, in which there are three drive units, an advantageous maneuvering behavior is obtained, as can be seen in figure 4B (forward, backward), figure 4C (bend), figure 4D ( rotation about itself) and Figure 4E (transverse displacement). The aforementioned is again close to the center of the circumscribed circle of the drive points, see figure 4D.

The device according to the invention can comprise a control unit 30 for controlling both the direction of the drive motor and the speed and the steering direction of the wheel (turning about the steering axle). For the control of direction, speed and steering direction one can think of a single or double joystick for the control, or a remote control or a touch sensitive system. The controller must be able to control all drive units related to the desired steering direction (direction and speed).

The support legs with the drive unit can, despite the presence of a drive motor, be constructed low so that the bed can be driven under 17.

If such a lift is used in a care environment, it is advantageous that the patient lift can largely be driven under, for example, a hospital bed. The support legs (3) must therefore be very low because, according to current standards, the minimum headroom for such hospital beds must be 150 mm.

The same problem is recognizable for a device such as a forklift truck where the wheels of the support legs must be able to be driven under the trailer or truck. io In the case of a motor hoist, the same applies, the support legs must be able to drive under the body of the vehicle.

The drive units 10 are very compact and have a low height, despite the presence of a control therefor. Some examples are given in Figures 5-15.

The drive unit 10 shown in Figs. 5A-E comprises a drive wheel 7 with a hub motor 13 therein, a brushless outerrunner motor, optionally coupled to an internal planetary gear which can cause the hub of the wheel 7 with tread 14 to rotate about axis of rotation H, in the desired axis direction 20 and speed, forward or backward.

The wheel 7 has two shaft ends 15a, b which are accommodated in vertical slots 16b of forks 16 in a snug but rotatable manner. The forks 16 form one whole with a flat ring 17 which is received in a turntable 18, for example between two plastic rings 18a, b with low frictional resistance. The turntable 18 is suitably accommodated in a right-circle cylindrical housing / casing 19. The turntable 18 rests on its underside against a flange 19 'which is integral with the housing 19. The turntable 18 ensures that the mounted wheel hub motor 7 is horizontal. radial plane can rotate but is locked in the other directions. The housing 19 forms a first holder part of the wheel holder shown and the ring 17 with forks 16 the second holder part.

The wheel 7 with tread 14 will extend through the opening in the flange 19a and can rotate about the center line H without hindrance.

The turntable 18 is enclosed at the top by a removable retaining plate or pressure plate 20, which is attached to the housing 19 with lips 21. The retaining plate 20 here consists of two parts 20a, 20b, a part 20a which is fixedly mounted to the housing 19 and a pressure plate 20b which 18 can be adjusted by means of adjusting timber 22 such that the turntable bearing 18 achieves a correct bias and the play can be adjusted. This pressure plate 20b is fixedly connected to the fixed part 20a by means of blocking pins 23 so that the plate 20b cannot rotate about vertical axis of rotation V, but can be adjusted in height.

A drive can be coupled to the rotatable part 16,17 that holds the wheel 7. If it is desirable for the application, the wheel can hereby be steered in all compass directions. For this purpose, a toothed belt drive 24 is provided in the example, which comprises a belt-driven plate 25, which is provided with holes 26 into which the upper ends 16a of the forks 16 fit tightly. Stops on the forks 16, not shown, form a support for the plate 25, so that it comes to lie slightly above the upper edge of the housing 19, see figures 5D, 5E. A toothed belt 27 runs in a driving manner around the plate 25 provided with driving teeth, and is itself driven by a second gear 28, which is driven via transmission 29 by an electric motor 30, control motor. The steering motor 30, which may be mounted on a rigid plate (not shown) fixedly attached to casing 19, may be a worm gear transmission motor or another type of motor with or without a mechanical final transmission. In certain cases it is desirable for the motor with reduction to be self-braking and thus be able to retain the selected steering angle. In other cases this is not desirable and the steering motor can work as an active steering servo. The steering motor is stationary with respect to the drive wheel which can be rotated by the described steering drive about vertical axis of rotation V, which intersects the running surface 14. Due to the steering drive, the drive wheel 7 can be rotated through 360 degrees and more about center line V.

In figures 5D and 5E it can be seen that the upper point of the tread 14 forms the highest point of the drive unit 10. The steering drive with steering motor 30, toothed belt 27, toothed belt plates 25.28, fork 16 lie below the horizontal plane H1 by that highest point. As a result, the steering drive does not add any construction height to the drive wheel 7 itself, so that a low installation height is obtained. The drive 13 for the wheel itself also remains below that highest point. The drive unit 10 does not, therefore, by reason of the wheel diameter, constitute a determining factor in the height of the frame parts of a device carrying that wheel 3. This is also indicated in Figure 1F, with h1 as the upper side of leg 3 and with h2 as the upper side of wheel 7, as the highest point of the steerable drive unit 10.

19

In figures 5A-5E another analog angle sensor 31 is shown, which detects the rotation of the turning opportunity 25. It is also possible to measure on the axis of the steering motor 30 or in another way where an angular rotation can be recorded between the two parts that are rotated relative to each other in the steering movement, namely the first holder part and the second holder part.

To achieve the desired steering angle, use can be made of known servo steering technology in combination with a suitable PID function by means of the steering motor and position feedback.

An electronic control system 40 incorporated in the device 1 is adapted to control both the direction and the speed of the hub wheel motors 7, selectively, so possibly also independently of each other, and to control the steering direction in the desired position by controlling the steering motor 30. partly based on the value of the angle sensor.

In figure 6 it is indicated that instead of a toothed belt or chain drive a gear wheel drive can be used, wherein a gear wheel 32 driven by the steering motor 30 is in driving engagement with gear wheel 33, which forms one unit rotatable about axis V with the fork (not shown) 16, so that rotation of gear 33 causes the wheel 7 to rotate. Thanks to the steering drive, the driving wheel 7 can be rotated 360 degrees and 20 more around center line V.

In figures 7A and 7B another alternative is shown, wherein inside the housing 19 a wheel 37 is arranged, the (hollow) wheel axle of which is driven by the outgoing shaft of right-angled transmission 35 which is driven by drive motor 36, wherein transmission 35 and motor 36 are rigidly mounted on said flat ring 17, which is rotatable with fork ends 16a with plate 38, which is provided on its circumference with a toothing 39 driven by gear 98, driven by steering motor / servo motor 42 via right angle transmission 41. Furthermore, an angle sensor 31 is shown which determines the steering angle and outputs data to the central control unit. In this embodiment the drive wheel 37 is free on one side. Here too, the aforementioned low construction height has been reached. The steering drive allows the driving wheel 37 to be rotated through 360 degrees and more about center line V.

Figures 8A, B, 9A, B and 10A, B show further alternatives 35, wherein the aforementioned low construction height has again been achieved. In all these cases, use is made of an electrically adjustable linear actuator 45. In Figs. 8A, B, the actuator 35 drives a rack 46, which is in tooth engagement with a gear plate 47 which forms one whole with wheel rotatable about axis V 7. In figures 9A, B, the expandable end of the actuator 45 is attached to the end of a flexible toothed belt 48, which drives toothed wheel 47 and is attached at the other end to a spring 49 with which a correct engagement of band 48 on toothed wheel 47 is insured. In figures 10A, B, the expandable end of the actuator 45 is pivotally attached to the plate 51 by means of a hinge pin 50, which plate rotates the wheel 7 during rotation about axis V.

Yet another embodiment is shown in figures 11A, B, in which first and second holder parts work together in the form of an electric motor. A ring 55 of permanent magnets is attached to the plate 25 and a ring of electromagnets 56 is attached to the housing 19 on the inner surface. These electromagnets 56 can be driven in three phases or as a stepper motor. The resulting structure forms an electric motor which can steer the wheel 7 with hub wheel motor about axis V, over a range of more than 360 degrees.

The steerable hub wheel motor can optionally be mechanically controlled by means of cable rods and chains.

In all cases the diameter of the rotatable part 20 can remain limited, while furthermore the height is limited.

In a type of embodiment, means are provided for holding the desired control position when it is reached.

This is possible, for example, with a worm gear transmission in the steering motor which is self-braking, so that if a certain steering position is reached, this position will not change. Another possibility is to use a mechanical blocking system, with which the steering angle can be fixed in predetermined steering angle. An example is given in Figs. 12A, B, in which a part, the plate 25, that turns with the steering of the wheel-aligning part (second holder part) is provided on the circumference with a number of recesses 60. On either side of the plate 25 has hooks 61a, b arranged which are urged towards each other by spring force (62) and thereby into recesses 60. The hooks can be unlocked by forcing them apart, for example with solenoids 63a, b, or an actuator, servo or cable control. This blocking mechanism can also be designed such that it remains below the upper point of the tread 14.

For blocking, one can also think of a friction brake of which the drum or disc rotates with the turning chance or on the control motor.

21

This friction brake can be blocked with the required holding force if a certain steering angle is achieved. The mechanical blocking or the friction braking action must then be actively canceled if a different steering direction is desired. The release of the blocking can for instance take place in an electromechanical or mechanical manner, with a solenoid or an actuator.

The system with a mechanical block has the advantage that the steering motor can make a steering angle very quickly and does not have to take care of blocking once the result has been reached. As a result, a compact motor can be used at a high speed, whereby the motor itself does not have to provide the holding force.

To achieve the desired steering result it may be necessary to use a system with a feedback of the current steering result. This can be an analog or digital angle sensor, a pulse counter or switching points.

As already shown in figures 1-4, several of this type of controllable drive systems can be placed under a vehicle. This makes it possible for the vehicle to drive / move in all compass directions. An electronic control unit can then ensure that all steerable wheels are steered in the right direction relative to each other. It may also be necessary for the control unit to provide for the differential operation of the different wheels, depending on the required individual speed of rotation per wheel in relation to the position and direction of travel of the vehicle.

It is also conceivable for the steering to be effected entirely mechanically, by connecting cables or chains or track rods or a combination thereof between the different steering wheels.

The wheel hub motor can be equipped with a mechanical or electromechanical brake. The motor itself can also act as a counter-torque brake.

An aspect of an embodiment of the system according to the invention is that the motor for the wheel is placed directly within the turning probability.

Instead of a drive wheel, in particular hub wheel motor, the examples given can also be applied with a free-running wheel.

For certain applications it may be desirable to pull the drive wheel off the floor. This is handy when it concerns a vehicle which can also be moved by other means. For example, by a towing vehicle or manually on muscle power. This can, for example, simplify empty positioning without drive.

If the driven wheel is pulled up, the vehicle will rest on another non-driven wheel or be movable. This can, for example, be a castor.

To make this possible, the steerable drive system can be attached to the frame such that it can move in the vertical plane. Examples of this are given in Figures 13-15.

In Figures 13A-E, a first example of a pull-up mechanism 70 is shown for a drive unit 10 near the end of a leg 3. The mechanism 70 comprises an actuator 71 which is hingedly attached at one end to a transverse pin 72 mounted on not further shown is fixedly fixed in the leg 3 and with the other movable end is pivotally attached to a transverse pin 73, which is connected via strips 74 to a transverse pin 75 which is also attached to the walls 3a, b. Also attached to the transverse pin 73 is the hinged end of a gas spring 76, which is hingedly attached at the other end to an L-shaped lever 77. The lever 77 is hingedly mounted to the transverse pin 72. The horizontal leg 77a of the lever 77 extends between two pins 78a, b which are respectively mounted on an upper and a lower rod 79a, b of a parallelogram construction. The upper and lower bars 79a, b are pivotally attached to the wall 3a at the location of pins 80a, b. It will be understood that a similar parallelogram construction is also provided on wall 3b. The other ends of the rods 79a, b are pivotally attached to the housing 19 at the location of pins 81a, b.

When the drive wheel 7 is to be pulled up, the housing 19 is also pulled up, see figure 13D. This is done by actuating the actuator 71, whereby the pin 73 in the drawing is forced to the left, the lever 77 is rotated counterclockwise and lever leg 77a exerts a lifting force on pins 78a. The rods 79a, b are then forced upwards, hinged about pins 80a, b. The leg end 3 then only rests on the castor 11. When the drive wheel 7 has to be lowered, the actuator 71 is operated in the other direction. The gas spring 72 is forced to the right, and the lever 77 is rotated clockwise, whereby the lever leg 77a pushes the pins 78b downwards. The tread 14 of the wheel 7 then comes to the ground, and further actuation of the actuator 71 compresses the gas spring 72, so that the lever leg 77a is forcefully pressed against the pins 78b and thus the wheel 7 is pressed against the ground. 23 sufficient traction.

The pull-up mechanism may, for example, consist of a linear actuator with a pull cable or another pull-up motor with eccentric system or lever. It is also possible to opt for a mechanical pull-up function, for example a spindle or hand brake handle with hold function connected by means of a cable.

The drive units are hereby arranged such that they can be lifted off the ground, so that the device there still rests solely on the castors. In that situation it is possible to move freely without a drive.

Another embodiment, suitable inter alia for the drive unit of figures 11A, B, is shown in figures 14A.B. Arranged in leg 3 is an actuator 85, the expandable end of which is pivotally attached to a U-shaped holder 86. The legs 86a, b of the holder 86 are provided with horizontal slots 87a, b and with run-on edges 88a, b. The housing 19 is slidably accommodated in a sleeve 89, which is provided with vertical slots 90a, b. Transversely projecting pins 91a, b are attached to the sleeve 89 and extend into the slots 87a, b. Transversely projecting pins 19a, b are attached to the housing 19 and extend into the slots 90a, b. When the actuator 85 is operated from the position of Fig. 14A, the holder 86 is retracted and the pins 19a, b run over the edges 88a, b and are thereby forced upwards. The housing 19 follows that movement, so that the wheel 7 is released from the ground. The order of placing the wheel 7 on the ground is reversed. A spring element (not shown) can be present for tensioning the wheel downwards against the ground.

It is noted that the principles shown can also be applied to retractable wheels without steering and / or without drive.

Another example of an arrangement for raising (drive) wheels is shown in figures 15A-D. This is a pair of driven wheels which have a fixed bearing and which are perpendicular to each other with their axes of rotation. By means of a controllable tilting mechanism, either the one or the other drive wheel or both drive wheels can be lifted separately from the ground. Steering can then be done manually or by electronic differential operation between the motors.

Figures 15A-D show a pull-up mechanism 200, which is provided with two drive wheels 201a, 201b with perpendicular to each other center lines Sa, Sb. Both wheels are supported by an auxiliary frame 24 203 which comprises a frame part 203a for drive wheel 201a and a frame part 203b for drive wheel 201b. The auxiliary frame 203 is pivotally attached to a downward leg 204a of a beam 204, which itself is pivotally attached at one end to an inverted U-frame 202 attached to the frame 2,3,3,6. The beam 204 is tensioned downwards by a gas spring 205 and can be pivoted up and down by an actuator 206. A second actuator 207 is pivotally attached to the beam 204 at one end and is pivotally attached to an upstanding leg 203c of auxiliary frame 203 with the other, movable end.

The position of the auxiliary frame 203 in the vertical plane containing the indicated direction A is thus determined with the aid of two actuators 206,207.

In Fig. 15A, the auxiliary frame 203 is adjusted by actuating the actuator 207 for an expanding displacement to keep the drive wheel 201b in contact with the substrate to effect displacement in direction A, in Fig. 15C by actuating the actuator 206 for a retracting displacement to keep the drive wheel 201a in contact with the ground to effect displacement in the direction B. In both cases, the gas spring 205 provides for an increase in the pressing force of the wheel in question against the ground. In Fig. 15C, the auxiliary frame is adjusted to hold both drive wheels 201 a, b in the free position. To this end, the actuator 206 is operated for a retracting displacement, against the action of the gas spring 205.

Figures 16A, B show an application of the lifting mechanism 200 "25 with tiltable drive wheel pair of Figures 15A-D, built into the base 6. Figure 17 shows that such a drive wheel pair can also be accommodated in one or both legs If they are aligned, the device can be driven in two main directions perpendicular to each other, after selection of the drive wheels thereof, wherein if there is a differential between the two pairs of drive wheels, a bend path can also be traversed. the wheels 201a can be used to move the legs 3 apart or towards each other, see directions C.

Figures 18A-D show an example of a fork-lift truck suitable for moving pallets provided with the invention, with parallel legs 3, in each of which a tilt-benefit drive wheel pair 200 is arranged.

Delaying the support legs can therefore be done in at least two ways, namely by releasing the drive unit from the substrate and then moving the legs rolling on castors, or by steering the drive units in the position so that the axle line of the wheel intersects with the pivot point of the support leg. The support legs can then adjust, possibly even driven by the drive unit.

For this it is advantageous if the angle of the support leg 3 and the base 6 of the assembly can be measured electronically so that the wheel can be steered in the correct manner in the steering direction relative to the base of the assembly. A sensor 95 functionally connected to the control unit 40 above is shown in Figure 1D.

Each drive unit 10 can also be provided with a position sensor, for example a potentiometer or angle sensor, so that the control electronics have data about the steering angle in which the wheel is located at any time. By controlling each wheel related to each other but independently from the data from the position sensor of the drive unit 10, it is possible to drive / move in any position 15 with the device 1 according to the invention.

For the correct tracking of the wheels relative to each other and also the steering according to the ackermann principle can be carried out electronically in any direction of movement. Hereby also taking into account the angle in which the support legs are placed.

The invention provides an electric drive system which provides that the displacement of a rolling load in each compass direction can take place in a simple manner with as little physical effort as possible.

With the drive system, both the direction and the speed can be controlled / controlled electronically.

It is noted that swivel wheels also include swivel balls.

It is noted that instead of two legs there may be one platform projecting forward, and that one or more drive wheel units according to the invention are then arranged at a distance from the base.

The above description is included to illustrate the operation of preferred embodiments of the invention, and not to limit the scope of the invention. Starting from the above explanation, many variations will be apparent to those skilled in the art that fall within the spirit and scope of the present invention.

1039295

Claims (98)

A mobile vehicle, in particular a load-bearing mover, such as a person or an object, comprising a frame with a work or front side and a rear side, a rear base and at least one base connected thereto, leg normally protruding towards the front, preferably in the horizontal direction, preferably two of such legs, wherein the frame is provided with a load carrier, wherein at least one leg is provided at a location, seen along the leg, at a distance from the base of a first drive wheel, wherein the drive wheel comprises a first drive, such as a motor, which is situated in the vertical sense substantially below, preferably entirely below, the upper side of the tread of the first drive wheel in the operating position, wherein at least partly at preferably substantially, a first direction control is provided on the leg for the first drive wheel for controlling the position of the first drive wheel l relative to the leg. Vehicle as claimed in claim 1, wherein the first directional control comprises a first steering drive for adjusting the position of the first drive wheel, the first steering drive being situated in a vertical sense substantially below, preferably entirely below, the top of the tread of the tread first drive wheel is in operating position. A vehicle according to claim 1 or 2, wherein the first directional control comprises a first control drive for adjusting the position of the first drive wheel, the first control drive comprising a motor which is stationary with respect to the drive wheel. 4. Vehicle according to claim 2 or 3, wherein the first steering drive intersects the plane in which the horizontal axis of rotation of the driving wheel is situated. 5. Vehicle as claimed in claim 2, 3 or 4, wherein the first steering drive comprises a wheel holder with a first holder part which is attached to the first leg and a second rotatable relative to it about a substantially vertical axis, in particular pure vertical axis. holder part, wherein the second holder part engages the first drive wheel, in particular a physical wheel axis thereof, preferably on both sides of the drive wheel, for consecutive rotation about the substantially vertical axis. Vehicle as claimed in claim 5, wherein the second holder part 5 is ring-shaped or comprises one or more ring segment-shaped parts which are movable as a whole with each other and which are rotatably guided around said vertical axis by the first holder part. 7. Vehicle as claimed in claim 5 or 6, wherein the first drive with the wheel is placed inside the first holder part and inside it is rotatable about the vertical axis, in particular placed within a slewing ring formed by the first and second holder part. A vehicle according to claim 5, 6 or 7, wherein the first holder part comprises a hollow casing, in particular with a circular cross-section, and thus surrounds the second holder part. A vehicle according to any one of the preceding claims, wherein the first directional control has a range of at least 90 degrees, preferably more than 90 degrees, preferably of 180 degrees or more, preferably a range of 360 degrees or more. 10. Vehicle as claimed in any of the foregoing claims, wherein the first directional control comprises means for recording the orientation of the first drive wheel relative to the leg. A vehicle according to any one of the preceding claims, wherein the first drive for the first drive wheel is arranged for concomitant steering rotation with the first drive wheel by the first direction control. A vehicle according to any one of the preceding claims, wherein the first drive comprises a motor with a drive axis that is substantially parallel to the axis of rotation of the first drive wheel, in particular coincides with it, wherein, preferably, the first drive comprises a hub motor. A vehicle according to any one of the preceding claims, wherein the top side of the tread of the first drive wheel determines the highest point of the leg in question, at least the part of the leg in question that is located at the first drive wheel and further to the front. 14. Vehicle as claimed in any of the foregoing claims, wherein the diameter of the first drive wheel is less than approximately 15 cm. A vehicle according to any one of the preceding claims, wherein the leg is provided with the first drive wheel at a location near its end. 16. Vehicle as claimed in any of the foregoing claims, with two said legs, which are provided with the first drive wheel and a second drive wheel respectively, preferably at a location near the end of the relevant leg, wherein, preferably, the first and the second drive wheels 5 with their first and second drive, respectively, mutually designed. 17. Vehicle as claimed in claim 16, wherein the second drive wheel is provided with a second direction control, which is preferably designed in accordance with the first direction control, wherein the vehicle is preferably provided with a central control unit for mutually coordinated and selective control of the first and second direction control. A vehicle according to any one of the preceding claims, wherein at least one leg, preferably both legs, is movable in a horizontal plane, preferably adjustable, is / are connected to the base. A vehicle according to claim 18, wherein at least one leg, preferably both legs, are rotatably connected to the base in a horizontal plane. 20. Vehicle as claimed in claim 18 or 19, wherein at least one leg, preferably both legs are linearly displaceable in a horizontal plane, preferably 20 in a direction transverse to the relevant leg, is / are connected to the base. A vehicle according to claim 18, 19 or 20, wherein the first / second direction control enables a position of the relevant drive wheel with which the desired movement of the leg relative to the base is made possible, in particular a position transverse to the leg . A vehicle according to any one of the preceding claims, wherein the directional control comprises means for controlling the position of the drive wheel relative to the leg while maintaining the direction of said drive wheel relative to the world. 23. Vehicle as claimed in any of the foregoing claims, wherein the directional control comprises means for controlling the position of the drive wheel relative to the world. A vehicle according to any one of the preceding claims, dependent on claim 2, wherein the vertical axis of rotation of the relevant steering drive intersects the running surface of the relevant driving wheel. A vehicle according to any one of the preceding claims, dependent on claim 2, wherein the vertical axis of the relevant control drive intersects the horizontal axis of rotation of the relevant drive wheel. A vehicle according to any one of the preceding claims, wherein the base is provided with at least one further drive. 27. Vehicle as claimed in claim 26, provided with a further direction control for the further drive wheel for controlling the position of the further drive wheel relative to the base. A vehicle according to claim 27 and claim 16 or a claim dependent thereon, wherein the first, second and further drive wheels are arranged according to a polygon, in particular a triangle. 29. Vehicle as claimed in claim 28, wherein the load carrier is provided with a load gripper which engages the load with a force resultant which is situated in the horizontal direction, in the direction towards the front of the frame, remote from the base and, viewed in projection lies on a horizontal surface, within the polygon, at least near the center of the circumscribed circle of said polygon. A vehicle according to any one of the preceding claims, when dependent on claim 16, wherein the load carrier is provided with a load gripper which engages the load with a force resultant which is spaced from the base in the horizontal direction, towards the front of the frame. is situated, wherein the load gripper, viewed in projection on a horizontal plane 20, operates between the legs, wherein preferably both legs are provided with a respective driving wheel at a location remote from the base. A vehicle according to any one of claims 1-15, wherein the leg forms a platform with a support surface for a load to be moved. 32. Vehicle as claimed in claim 31, wherein the leg is provided with both the first drive wheel and a second drive wheel, preferably at a location near the end of the leg, wherein, preferably, the first and the second drive wheels with their respective first and second drive are mutually designed accordingly. A vehicle according to claim 32, wherein the second drive wheel is provided with a second direction control, which is preferably designed in accordance with the first direction control, wherein the vehicle is preferably provided with a central control unit for mutually coordinated and selective control. of the first and second direction control. 34. Vehicle as claimed in any of the foregoing claims, wherein the first and / or second drive wheel is adjustable in its position along the relevant leg. A vehicle according to any one of the preceding claims, wherein the leg provided with the drive wheel is provided with an attached castor, preferably on the distal side of the drive wheel. 36. A vehicle according to claim 35, wherein the leg in question is provided with a lifting means for displacing the drive wheel between an operating position in contact with a surface and a free position at a distance therefrom. The vehicle of claim 36, wherein the top of the drive wheel remains in the free position within the transverse profile of the leg in question, preferably at a distance of approximately 30 cm or less, preferably 15 cm or less above the ground . 38. Vehicle as claimed in any of the foregoing claims, wherein the frame is supported partly with the aid of one or more swiveling wheels, wherein swiveling wheels are preferably present at the rear, on either side of the base. A mobile vehicle, in particular a vehicle according to any one of the preceding claims, provided with a double drive wheel with a primary drive wheel and a secondary drive wheel, the horizontal axes of which are perpendicular to each other, wherein the primary and the secondary drive wheel are provided with lifting means for selectively moving the primary drive wheel between an operating position in contact with a substrate and a free position at a distance therefrom and at the same time the secondary drive wheel in the opposite sense, and vice versa. 40. A vehicle according to claim 39, wherein the primary and the secondary drive wheel are supported in an auxiliary frame, which is tiltably mounted in the frame between a position in which the primary drive wheel is in the operating position and a position in which the secondary drive wheel is in the operating position, wherein, preferably, the auxiliary frame can be placed in an intermediate position in which both drive wheels are free. 41. A vehicle according to claim 39 or 40, wherein the primary and secondary drive wheels are each provided with its own motor, so that one drive wheel is driven by one engine and the other drive wheel is driven by the other, preferably to the one engine. identical engine. 42. Vehicle according to claim 39, 40 or 41 and claim 16 or one claim dependent thereon, wherein the double drive wheel is arranged in the second leg. 43. Vehicle as claimed in any of the foregoing claims, wherein the load carrier designed as a lifting means for a person, in particular for use as a hoist. 44. A mobile vehicle, in particular a person's mover, comprising a frame with a base and two legs protruding therefrom, the legs forming a space between them, such as a dock or bay, for accommodating the load, wherein at least one of the legs at a location remote from the base is provided with a drive wheel and with means for steering the drive wheel relative to the leg, in particular drive wheel with the drive therefor. io 45. A mobile vehicle, in particular an object displacer, such as a forklift truck, comprising a frame with a base and two legs protruding therefrom, the legs forming a space between them, such as a dock or bay, for accommodating the load, wherein at least one of the legs is provided at a location remote from the base with a drive wheel 15 and with means for steering the drive wheel relative to the leg, in particular drive wheel with the drive therefor, the drive wheel being steerable is over an angle range of at least 90 degrees, preferably more than 90 degrees, preferably more than 180 degrees, preferably an angle range of 360 degrees or more. A vehicle, in particular a mover, according to claim 45, provided with one or more of the measures described in claims 1-38. A vehicle, in particular a mover, as claimed in any one of the preceding claims, wherein the load carrier carries a load gripper attached thereto, such as a hook. A vehicle, in particular a mover as claimed in claim 47, wherein the load gripper is designed as a suspension for a person, in particular for use as a hoist. A vehicle, in particular a mover according to claim 47, wherein the load gripper is designed as a suspension for an object, in particular 3. for use as a hoist. A vehicle, in particular a mover according to any one of claims 1-46, wherein the load gripper forms a load support surface on the load carrier. A vehicle, in particular a mover according to claim 50, wherein the load gripper is designed as a lifting fork for lifting pallets or other objects. 52. Drive system with a drive wheel rotatable about a horizontal axis, a first drive for the wheel, and a wheel holder, the wheel holder being provided with a first holder part that can be mounted on an object to be moved, such as a vehicle or a mover, and a second holder part that engages the wheel and preferably runs in the horizontal direction around the wheel, further comprising a steering drive for rotating the second holder part relative to the first holder part about a substantially vertical center line, preferably purely vertical center line, the second holder part engages the drive wheel, in particular a physical wheel axis thereof, preferably on both sides of the drive wheel, for co-rotating rotation about the substantially vertical axis. 53. Drive system as claimed in claim 52, wherein the second holder part is ring-shaped or comprises one or more ring segment-shaped parts which are movable as a whole with each other and which are rotatably guided around said vertical axis by the first holder part. 54. Drive system as claimed in claim 52 or 53, wherein the first drive with the wheel is placed within the first holder part and is rotated within it about the vertical axis, in particular placed within a turntable formed by the first and second holder part. 55. Drive system according to claim 52, 53 or 54, wherein the second holder part is located within the first holder part, in particular the first holder part comprises a hollow casing, in particular with a circular cross-section, and thus surrounds the second holder part. The drive system of any one of claims 52-55, wherein the control drive has a range of at least 90 degrees, preferably more than 90 degrees, preferably more than 180 degrees, preferably a range of 360 degrees or more. A drive system according to any of claims 52-56, wherein the first drive for the drive wheel is arranged for co-steering rotation with the drive wheel by the steering drive. 58. Drive system as claimed in any of the claims 52-57, wherein the first drive comprises a motor with a drive axis that is substantially parallel to the axis of rotation of the first drive wheel, in particular coincides with it. The drive system of claim 58, wherein the first drive comprises a hub motor A drive system according to any of claims 52-59, wherein the steering drive is located in the vertical sense substantially below, preferably entirely below, the top of the running surface of the drive wheel. A drive system according to any one of claims 52-60, wherein the drive wheel comprises a drive which is located in the vertical sense substantially below, preferably entirely below, the top of the running surface of the drive wheel. A drive system according to any of claims 52-61, wherein the vertical axis of rotation of the steering drive intersects the running surface of the drive wheel. The drive system of claim 62, wherein the control drive intersects the plane in which the horizontal axis of rotation of the drive wheel is located. 10 64. Drive system as claimed in any of the claims 52-63, provided with means for determining the angular position of the second holder part relative to the first holder part. 65. Drive system as claimed in claim 64, comprising a control unit for controlling the first drive and / or control drive in coordination with the data of the means for determining the angular position. The drive system of any one of claims 52 to 65, wherein the diameter of the drive wheel is less than about 15 cm. 67. Drive system as claimed in any of the claims 52-66, provided with 2 o means for keeping the drive wheel in a set orientation. 68. Wheel system with a wheel rotatable about a horizontal axis, preferably with a diameter of about 15 cm or less, and a wheel holder, the wheel holder being provided with a first holder part that can be mounted on an object to be moved, such as a vehicle or a displacer, and a second holder part that engages the wheel and preferably runs around the wheel in a horizontal direction, the second holder part being rotatable relative to the first part about a substantially vertical axis, preferably purely vertical axis, wherein the second holder part engages the wheel, in particular drive wheel, in particular a physical wheel axle thereof, preferably on both sides of the wheel, for co-rotating rotation about the substantially vertical axis, the wheel system further comprising a steering drive for rotating of the second part relative to the first part. 69. Wheel system according to claim 68, wherein the second holder part 35 is ring-shaped or comprises one or more ring segment-shaped parts which are movable as a whole with one another and which are rotatably guided around said vertical axis by the first holder part. A wheel system according to claim 68 or 69, wherein a first drive for the wheel with the wheel is placed within the first holder part and is rotated within it about the vertical axis, in particular placed within a slewing ring formed by the first and second holder part . A wheel system according to claim 68, 69 or 70, wherein the second holder part is located within the first holder part, in particular the first holder part comprises a hollow casing, in particular with a circular cross-section, and thus surrounds the second holder part. A wheel system according to any of claims 68-71, wherein the steering drive has a range of at least 90 degrees, preferably more than 90 degrees, preferably of more than 180 degrees, preferably a range of 360 degrees or more. 73. Wheel system as claimed in any of the claims 68-72, wherein the steering drive is situated in a vertical sense substantially below, preferably entirely below, the top of the tread of the wheel A wheel system according to any of claims 68-73, wherein the steering drive intersects the plane in which the horizontal axis of rotation of the wheel is located and / or wherein the vertical axis of rotation of the steering drive intersects the tread of the wheel. A wheel system according to any one of claims 68-74, provided with means for determining the angular position of the second holder part relative to the first holder part. The wheel system of any one of claims 68-75, wherein the wheel is free-rolling. A wheel system according to any of claims 68-75, wherein the wheel is driven, the wheel system further comprising a drive for said wheel, preferably a motor mounted on the wheel for co-rotation therewith about the vertical axis of rotation. 78. Wheel system as claimed in any of the claims 68-77, provided with means for keeping the wheel in a set orientation. 79. Drive system with a drive wheel rotatable about a horizontal axis, a first drive for the wheel, and a wheel holder, the wheel holder being provided with a first part that can be mounted on an object to be moved, such as a vehicle or a mover, and a second part 35 which engages the wheel and preferably runs in the horizontal direction around the wheel, wherein the second part is rotatable relative to the first part about a substantially vertical axis, the drive system further comprising a second (steering) drive for rotating the second part relative to the first part. The drive system of claim 79, wherein the second part is located within the first part. 81. Drive system as claimed in claim 79 or 80, wherein the second drive is situated in a vertical sense substantially below, preferably entirely below, the top of the running surface of the drive wheel. The drive system of claim 81, wherein the second drive intersects the plane in which the horizontal axis of rotation of the drive wheel 10 is located. 83. Drive system as claimed in any of the claims 79-82, provided with means for determining the angular position of the second part relative to the first part. 84. Drive system according to claim 83, comprising a control unit for controlling the first and / or second drive in coordination with the data of the means for determining the angular position. 85. Drive system according to one of claims 79-84, wherein the first part forms a vertical bush, preferably with a circular cross-section. The drive system of any preceding claim, wherein the vertical axis intersects the horizontal axis. The drive system of any one of claims 79-85, wherein the second drive has a range of at least 180 degrees, preferably a range of 360 degrees or more. 88. Drive system as claimed in any of the claims 79-87, wherein the drive wheel comprises a drive which is situated in a vertical sense substantially below, preferably entirely below, the top of the running surface of the drive wheel. The drive system of claim 88, wherein the drive wheel has a 3 o hub motor. The drive system of any one of claims 79-89, wherein the diameter of the drive wheel is less than about 15 cm. 91. Drive system as claimed in any of the claims 79-90, provided with means for keeping the drive wheel in a set orientation. 92. A vehicle according to claim 5 or a claim dependent thereon, wherein the first and second holder parts work together in the form of an electric motor, wherein one ring part, preferably the first holder part, has a ring of electromagnets attached and the other holder part at preferably the second holder part, a ring of permanent magnets attached. 93. Drive system as claimed in any of the claims 52-67 or 79-91, wherein the first and second holder parts work together in the form of an electric motor, one holder part, preferably the first holder part, being secured with a ring of electromagnets and on the other holder part, preferably the second holder part, a ring of permanent magnets attached. A wheel system according to any one of claims 68-78, wherein the first and second holder parts work together in the form of an electric motor, wherein the one holder part, preferably the first holder part, is attached to a ring of electromagnets and to the other holder part, preferably the second holder part, a ring of permanent magnets attached. 95. A mobile vehicle, in particular a load moving device, such as a person or an object, in particular a vehicle according to any one of claims 1-51,92, comprising a frame, wherein the frame is provided with one or more drive systems according to one of claims 52-67 or 79-93, and one or more wheel systems according to one of claims 68-76,94. 96. Drive system provided with one or more of the characterizing measures described in the attached description and / or shown in the attached drawings. 97. Wheel system provided with one or more of the characterizing measures described in the attached description and / or shown in the attached drawings. 98. Vehicle provided with one or more of the characterizing measures described in the attached description and / or shown in the attached drawings. -o-o-o-o-o-o-o-o-1 0392 9 5