WO2016110317A1

WO2016110317A1 - Traveling unit

Info

Publication number: WO2016110317A1
Application number: PCT/EP2015/050064
Authority: WO
Inventors: Andreas Jutzeler; Rolf Bandhauer
Original assignee: Jst Multidrive Ag
Priority date: 2015-01-05
Filing date: 2015-01-05
Publication date: 2016-07-14

Abstract

The invention relates to a traveling unit, preferably in the form of a wheelchair, having a modular construction with a central support block (1), a use module (2), travel modules (3), and a drive unit. The use module (2) is secured to a central region of the support block (1), and a respective travel module (3) can be coupled to each of the opposing ends of the support block (1). One travel module (3) comprises at least one wheel (4) which can be rotated relative to the support block (1) and is provided so as to lie on an underlying surface as a running wheel (4'). The drive unit is provided for driving the travel module (6) and has a drive wheel (6) which can be coupled to at least one running wheel (4') of the travel module (3) without the use of a hub.

Description

driving unit

The present invention relates to a driving unit for driving on level, uneven and rising, or sloping terrain, especially for driving on steps and stairs, according to the preamble of the main claim. In particular, the invention relates to a driving unit, which is provided as a wheelchair for disabled people.

A speedy driving on even surfaces, overcoming obstacles or stairs and driving on uneven and bumpy terrain is to be mastered in many applications by one and the same driving unit. When load transport should thus z. B. transhipment from one vehicle to another vehicle can be avoided. Traction units used to search for objects, such as metal or land mines, require the

Drive units are suitable for any terrain. Above all, also in the transport of people, especially handicapped persons, it is desirable that the driving unit can move on and over different ground conditions and obstacles. For this purpose, different types of driving units have been developed.

From EP 903138, for example, a wheelchair is known which, instead of conventional wheels, which simultaneously serve as a handwheel for driving the wheelchair and as an impeller for driving on the ground, has on each side a large hand wheel as a drive wheel and three bicycles arranged in a triangle. The bicycles are driven by the hand wheel via a gear, wherein each bike has a planetary gear, which is driven by means of a toothing by the handwheel and allows a translation of the driving force on the bike. The bicycles are held in a wheel support block which sits on the axis of the handwheel and is rotatable relative to the axle. This makes it possible that in a driving position of the RadTrägerblocks only one bike contacted the ground and two bicycles rest on the ground in a climbing position, or a first bicycle on a lower level and a second level bicycle rest on an upper level so that the wheelchair can overcome the step. The wheelchair can be moved completely on its own and without outside help. With such an arrangement of the driving and handwheels, the possibilities are the handwheels, ie the drive wheels to position restricted and the handwheels can not be optimally dimensioned and mounted relative to the person in the wheelchair. In addition, the possibilities for designing the gearbox are limited. Overcoming uneven terrain or stairs can be problematic, depending on the nature of the terrain or the height of the stairs.

Wheelchairs are also known from US 3,283,839 and US 4,512,588, which have a plurality of arranged in a triangle or square bicycles, which are driven by a drive wheel and a transmission. Furthermore, these wheelchairs have support wheels that can be spaced apart by a linkage to the bicycles. The support wheels serve to support the wheelchair and their position relative to the bicycles can be adjusted to the height of a staircase or obstacle. However, the construction of the support wheels is expensive and they are not readily usable for any surface and different directions of travel.

To simplify the geometry of a wheelchair is known from DE 3819925 a wheelchair with drive wheels, which are mounted on an adjustable frame. With the frame, the position of the drive wheels can be adjusted relative to a seat. The drive wheels are on

Radumkreis mounted on the frame, so that the drive wheel without spokes manages that pose a risk to the driver. Next, the wheelchair has a small upstream support wheel. Like conventional wheelchairs, this wheelchair is not suitable for overcoming obstacles and driving on bumpy terrain, as this would require a great deal of effort and the wheelchair can tilt easily when crossing an obstacle.

It is therefore an object of the present invention to provide a driving unit that can be used in different terrain, especially in terrain with gradients or inclinations and steps, which has a simple design and different gears and can be quickly assembled and disassembled.

This object is achieved by the invention by a driving unit according to claim 1. Advantageous embodiments and further embodiments are described in the dependent claims. A drive unit according to the present invention has a modular design. The modular structure comprises a central support block on which different modules are mounted depending on the requirements of the driving unit. For this purpose, the modular structure comprises at least one utility module, two driving modules and a drive unit. The utility module has z. B. a seat unit for a person, a load area or equipment that serve a specific purpose, such as search devices, grippers, etc .. The utility module is attachable to a central region of the central support block. At the opposite ends of the central support block in each case a driving module can be coupled. Preferably, the same type of driving module is used, wherein the two driving modules are designed mirror-symmetrically to each other so that components of the driving module in a direction of travel have the same orientation. The driving module comprises at least one wheel or at least one rolling body, wherein the at least one wheel, or the rolling body, is rotatable relative to the support block and is provided as an impeller or running body resting on a substrate. In a preferred embodiment, the driving module comprises three wheels, which are rotatably arranged on a common wheel carrier in a triangular formation and can be driven by a common drive individually or jointly. In such a tricycle module and two wheels can simultaneously serve as wheels and rest on the ground, as it is z. B. is also provided in EP 903138. For this purpose, the wheel carrier is mounted relative to the support block preferably rotatable or tiltable.

According to the invention, a drive unit for driving the drive module is provided, which has a drive wheel, which is hubless with at least one serving as an impeller wheel of the drive module coupled. The drive wheel can be coupled directly or via further coupling wheels with the impeller or the wheels. Preferably, the drive unit has a transmission, with which a driving force can be transmitted from the drive wheel to the impeller or the wheels. The driving module may have a driving support, which is rotatably coupled to the carrier block and carries the gearbox. Thus, when the drive module is coupled to the carrier block, the carrier block and carrier form a fixed unit, so that the drive unit forms a solid construction as the basis for the drive unit. According to the invention, a central axis of the carrier block and thus also of the driving carrier and an axis of the drive wheel are preferably aligned eccentrically to one another. Preferably, the axes are also aligned at least approximately parallel. The axis of the drive wheel but can also include an angle to the axis of the support block. By a hubless power transmission from the drive wheel to an impeller, the drive wheel can be positioned on the drive unit in a more flexible manner compared to a hub technology. For example, the drive wheel can thereby be brought close to a seat. Due to the modular design of the different modules on the central support block, this flexibility can be advantageously exploited so as not to impair the use of the drive unit. At the same time, the drive unit has a stable construction in the mounted state, which allows safe driving of the drive unit in different terrain.

As described above, a driving unit according to the invention can be advantageously used in various fields. The use of the driving unit is usually determined by the selection of the utility module. Depending on the use of the driving unit, other rolling bodies may be used in the sense of the invention instead of wheels or running wheels. It can z. B. depending on the purpose and ball, tons, - or cylindrical body can be used.

In the following, the invention will be described in greater detail predominantly on the basis of a drive unit in the form of a wheelchair and its advantages and preferred variants will be described. As mentioned, the driving unit but also for other purposes can be used advantageously.

In such an advantageous embodiment of a driving unit of the invention as a wheelchair, the drive wheel is arranged with respect to an axis of the central support block between the utility module and the driving module, in particular between the utility module and the running wheel. Thus, the drive wheel is axially closer to the utility module, such as a seat for a person, than the wheel, or the wheels of the drive module. This results in a compact design for a wheelchair.

Advantageously, in a drive unit according to the invention, the drive wheel can be integrated in the drive module. Thus, it can be mounted together with the wheels on the central support block. The drive wheel is z. B. held by a frame which is fixedly provided on the driving beam. The frame may preferably also surround the transmission of the drive module. In a drive unit in the form of a wheelchair, the drive wheel can form a handwheel of the wheelchair or be attached to such a handwheel. According to the invention, a flexible positioning of the handwheel relative to the seat is possible and the position of the handwheel can be adapted to a user of the wheelchair. Furthermore, the drive wheel can assume an ergonomically meaningful position when the drive wheel is manually driven by a wheelchair user. In addition, the diameter of the manual drive wheel to the needs of a wheelchair, or its driver, to be adjusted, since this does not have to serve as conventional at the same time as an impeller.

In a variant of a driving unit according to the invention, the impeller is driven via a coupling wheel, wherein the coupling wheel according to the invention is driven without a hull by the drive wheel. Preferably, the coupling wheel is mounted concentrically to the central axis of the driving module, in particular a driving carrier, and the support block. In a tricycle module, the same coupling wheel may be designed and arranged to serve for power transmission to all three wheels. The impeller can then be driven via the coupling wheel, or the impellers can be driven via the drive wheel and possibly the transmission, for example by a tooth system. In principle, further transmission means, in particular gears and clutches, can be provided between the coupling wheel and the wheels.

In a preferred embodiment of a driving unit according to the present invention, the driving module on a gear transmission for transmitting power from the drive wheel to the impeller. The coupling wheel is advantageously arranged concentrically on the axis of the driver. In a tricycle module, the wheels are arranged uniformly around the coupling wheel and form a kind of star-shaped arrangement. As a result, the moving masses of the driving module are balanced with respect to the center of the carrier block. The coupling wheel is thus fixed, but provided rotating relative to the central support block. The wheels of the driving module can each be connected to an intermediate gear which meshes with the coupling wheel. It can also be provided to implement a power transmission from the drive wheel to the impeller more intermediate wheels. Also, the intermediate gears concentric sprockets with different radius z. B. for the reduction of power transmission. The gear transmission is designed according to the use of the driving unit. Through the mo- dularen structure of the driving unit driving modules of different types and dimensions can be used in a simple manner. In a wheelchair, for example, differently designed driving modules for home use and for use outside the home can be provided.

In a preferred embodiment of the invention, the driving unit as a driving module to a tricycle module, wherein the wheel carrier is provided relative to the Trä gerblock rotatably mounted on the driving beam. The drive wheel remains fixed relative to the carrier block and the wheel carrier. By the rotatable wheel carrier, the wheels can be rotated at a distance about the axis of the support block, so that the wheels can serve alternately as wheels. The wheels are preferably arranged in the same radius to the axis. In addition, the wheel carrier can also be rotated from a position with an impeller to a position with two impellers and vice versa. The drive wheel remains fixed relative to the driver. In an advantageous embodiment, the transmission of the driving module comprises a planetary gear for driving the wheel carrier relatively Fahrträger.

In a preferred embodiment, the transmission of the driving module on two different gears. In a first gear for riding on flat terrain, the transmission is in a drive-gear position and in a second gear for driving on uneven, graded or on / descending terrain, the transmission is in a climbing gear position. There is provided a clutch for switching the driving module between the driving gear position and the climbing gear position. In the driving gear position, the wheels are driven by the drive wheel. In the climbing gear position, the wheel carrier is driven by the drive wheel. For this purpose, in the driving gear position of the wheel carrier is firmly coupled to the carrier and in the climbing gear position of the wheel carrier is rotatable relative to the carrier.

The coupling wheel, which is coupled to the drive wheel, has a special configuration in order to realize the different transmission gears. For coupling with the drive wheel, the coupling wheel z. B. a first external toothing.

In the drive-gear position, a power flow from the drive wheel via the coupling wheel and at least one intermediate wheel on at least one impeller, as mentioned above. For this purpose, the coupling z. B. a second outer Have gear rim, which meshes with an intermediate gear of the gear train. The intermediate wheel transmits the force to a wheel of the driving module. The intermediate or intermediate wheels are provided in the radial region between the axis of the carrier and the wheels and use this area for power transmission.

For the climbing gear position, the coupling wheel preferably forms a ring gear for the planetary gear for driving the wheel carrier. In the climbing gear position, a power flow from the drive wheel via the planetary gear on the wheel so as to drive the wheel carrier rotatably, so that the wheels rotate about the axis of the driver. For this purpose, the coupling z. B. egg nen inner ring gear, which meshes with planetary gears of the planetary gear. The planet gears transmit the driving force to the wheel carrier. In this case, another gear or more gears between planetary gears and wheel carriers can be used for power transmission. Preferably, in the climbing gear position, a sun gear of the planetary gear is fixedly formed on the carriage, d. H. the sun gear is fixed to the carrier block of the driving unit. The planet gears are preferably designed for a reduction of the power transmission and for this purpose each have two different sized, mutually fixed sprockets. The larger sprocket meshes with the tarpaulin gear and the smaller sprocket is coupled to the wheel carrier, if necessary via other gears. In a preferred embodiment of the planetary gear a difference of a number of teeth of the drive wheel and sun gear of the Pia netengetriebes at least by 20 divisible. Accordingly, there are a variety of planet gears between sun and coupling / ring gear.

The transmission of the driving module may include for transmission of power between the drive wheel and wheels, or between the drive wheel and wheel carrier, further intermediate wheels to correct the direction of rotation, the

To optimize power conversion and / or to optimize the geometry of the drive wheel and impeller / wheels.

The clutch for switching between driving gear position and climbing gear position may have a first coupling device, which connects to the wheel carrier from the planetary gear or decoupled. Furthermore, the clutch may have a second clutch device which connects or disconnects the wheel carrier from the carrier. The first coupling device can, for. Example, be a dog clutch, in which an annular coupling element can be moved axially to the driving carrier axis to the wheel towards and away from it, wherein it is moved into and out of engagement with the wheel. The coupling element is driven in rotation by the planetary gear. In the coupled state, the driving force is transmitted to the wheel carrier. In decoupled state, the planetary gear is in free-running.

The second coupling device may, for. B. be given by a radially to Fahrträ gerachse movable engagement element which engages in a radially further outward position in the wheel carrier, so that wheel and drive carriers are rotatably connected. In a radially further inward position, the engagement element is out of engagement with the wheel carrier, so that the wheel carrier and the carrier can rotate to each other.

Preferably, the first and the second coupling device can be actuated by a common switching element. Accordingly, simultaneously with the coupling of the wheel carrier to the planetary gear by the first coupling device, a decoupling of the wheel carrier from the driving carrier by the second coupling device and vice versa. The common switching element can, for. B. be actuated by a switching ring having a guide curve for the switching element. Depending on the rotational position of the switching ring and thus depending on the position of the switching element in the guide curve, the driving gear position or the climbing gear position is set. The switching element or the switching ring can, for. B. be operated manually or be brought by a motor in a desired switching position.

Furthermore, the driving unit may have a coupling device with which the wheels, which do not rest on a substrate, can be decoupled from the coupling wheel. The not resting on the ground wheels are thus not rotated, so that z. B. for a wheelchair user no risk of injury by moving in its immediate vicinity parts. The coupling device may, for. B. be given by a sliding clutch. In a disengaged position, the coupling device pushes a gear of the pinion gear out of engagement with the coupling wheel, so that no power transmission takes place. The sliding clutch z. B. sliding elements for each wheel drive train, the z. B. be actuated by a cam curve. The sliding elements are guided over the cam curve when turning the wheel carrier and couple the corresponding wheel drive train on or off. The cam curve can z. B. be provided on the driver.

According to a further aspect of the present invention, the drive unit has a jib module, which can also be attached to the central support block of the drive unit. The jib module thus forms another module of the modular structure of the driving unit. Preferably, the jib module is detachably mounted between the carrier block and the drive module at one end of the carrier block. At the opposite end of the support block, no mounting devices for the boom module are required, or the mounting devices can remain free, so that from this side unhindered access to the utility module of the drive unit is possible, such as to sit on a seat. According to the invention, the jib module Support wheel, which serves as a trailing wheel and is spaced from the wheels in the direction of a forward driving direction of the driving unit and is supported on the ground.

Preferably, the cantilever module has a cantilever arm which is attachable to the support block with a first end such that the cantilever arm is pivotable about the central axis of the support block. The cantilever thus is substantially perpendicular to the axis of the support block from this. For pivoting the boom z. B. serve a simple lever with locking function or a worm gear. At a second end, the cantilever arm has a support wheel carrier, such as a wheel fork, for supporting the support wheel. The Stützradträger can be rotatably mounted on the boom, so that the support wheel can rotate relative to the boom. Further, the Stützradträger may be pivotally mounted on the cantilever arm, that the Stützradträger is pivotable in a direction towards the central support block or away from it. The support wheel can thus occupy a variable distance to the support block. Preferably, the Stützradträger is biased in the direction of the central support block. Under a normal load in a driving operation, the support wheel is held by the bias in a position with a short distance, ie at a small angle between the support wheel and boom. In a climbing operation, in which an increased deflection force acts on the support wheel, the support wheel is deflected against the bias in a position with a longer distance, ie at a larger angle between support wheel and boom. An increased deflection force can, for. B. occur when the jockey wheel temporarily hangs on a step or other survey. According to a preferred embodiment, the jib module has a sliding guide between the support wheel carrier and the support wheel bearing, so that the support wheel bearing is displaceable relative to the support wheel carrier. The sliding guide can be given by a slide rail and a sliding member which is slidably held in the slide rail. The slide rail can be arranged on Stützradlager or on Stützradträger and the sliding element on the other by Stützradlager and Stützradträger. The sliding guide allows a sluggish mounting of the support wheel on the jib module. Thus, for a forward and a reverse driving of the driving unit, a caster of the support wheel can be provided relative to the wheels. Preferably, the support wheel is slidably mounted such that the Stützradlager strikes by a feed force when moving forward the driving unit on a front stop in the sliding and thus adjusts a caster for a forward direction. Accordingly, the Stützradlager is moved by a reverse thrust force when reversing the driving unit from the front stop and the Stützradlager slides along the sliding guide in a rear stop in the sliding, so that adjusts a tail for a reverse direction. The sliding guide is advantageously provided parallel to a substrate. The length of the sliding guide depends on the desired size of the tracking mass and is indirectly dependent on the wheel size used. In essence, the length of the sliding guide results from the two follower masses when driving forwards and backwards.

A length of the sliding guide corresponds for example to at least one radius of the support wheel. The support wheel preferably has a radius of at least 15 cm. Thus, the support wheel can be designed larger than the wheels of the drive module. Such a large jockey wheel ensures trouble-free driving over steps and obstacles of 15 - 20 cm.

A boom module with a sliding guide for a support wheel forms, independently of a drive unit for driving the drive module according to the present invention, an advantageous development of conventional leading support wheels. However, especially in combination with a tricycle module, a jib module with a sliding guide improves the off-road capability of a wheelchair.

Furthermore, the driving unit can have a control module for controlling the driving unit. The control module is used for. B. to control a clutch of the transmission, a brake unit and / or a rear brake. The control module can, for. B. be within reach of a driver on a wheelchair drive unit. The control module can also be designed as a device for remote control of the driving unit.

Instead of a manual drive of the drive wheel, as in a wheelchair, the drive wheel can also be driven by a drive motor. The drive motor can also be removably mounted as a motor module on the central support block of the drive unit.

Preferably, the drive wheel, the planet gears and the coupling wheel are made of plastic, so that the driving module is not too heavy,

The invention has been illustrated with reference to several embodiments. The individual technical features of an embodiment may well be used in combination with another embodiment with the stated advantages. The description of the technical features according to the invention is therefore not limited to the respective embodiment. In particular, an eccentrically mounted and hubless drive wheel is also advantageous for a wheelchair without driving module with planetary gear and a sliding guide for a traction wheel improves the driving characteristics of a wheelchair without the use of a tricycle module.

Advantageous embodiments of the invention are illustrated below with reference to the drawings, which are merely illustrative and not restrictive interpreted. Features of the invention which will become apparent from the drawings are to be considered individually and in any combination as belonging to the disclosure of the invention. In the drawings show:

1 is a three-dimensional representation of a driving unit according to the present invention in the form of a wheelchair with two wheels lying,

2 is a three-dimensional representation of the wheelchair with a superimposed impeller,

Fig. 3 is a side view of the wheelchair with a support wheel in one

Forward driving position, 4 is a side view of the wheelchair with a support wheel in a reverse position,

Fig. 5 is a side view of the wheelchair in a climbing operation on a

Stairs in a first position,

6 is a side view of the wheelchair in a climbing operation on a

Stair in a second position with deflected support wheel carrier,

7 shows a three-dimensional representation of another embodiment of a drive unit according to the present invention in the form of a wheelchair with a lying impeller with conventional support wheels,

8 shows a three-dimensional view of yet another embodiment of a driving unit according to the present invention in the form of a wheelchair without support wheels with four wheels,

9 shows a diagram of a driving module with a transmission in a driving gear position,

10 is a diagram of the driving module with the transmission in a climbing gear position,

Fig. 1 1 is a sectional view of the transmission elements of the driving module in the

Driving gear position,

Fig. 12 is a sectional view of the transmission elements of the driving module in the

Climbing gear position and

13 is a three-dimensional representation with partial sections through the drive module according to an embodiment of the present invention.

As already mentioned, a driving unit according to the present invention is explained using the example of a wheelchair. However, a driving unit according to the invention can also be provided for a different purpose of use. Figures 1 to 6 show the wheelchair in different positions, ie when driving on a level surface (Figure 2), an uneven surface (Figure 1), when driving forward (Figure 3), when reversing (Figure 4) and when climbing a staircase (Figures 5 and 6).

The wheelchair according to the invention has a modular structure. In the figures 1 to 6 of the wheelchair is shown in assembled condition. The wheelchair has a central support block 1. At the central region of the support block 1, a utility module 2 is mounted in the form of a seat module with seat and backrest. On use module 2 or on the support block 1 footrests 14 are attached. At the opposite ends of the support block 1, d. H. right and left of the seat module, in each case a driving module 3 is coupled to the carrier block 1. The driving module is designed in this embodiment as a tricycle module and has a wheel carrier 5, on which three wheels rotatably mounted in a triangle 4 are provided. The wheels 4 are arranged uniformly on a circumference and thus have the same distance from the axis of the carrier block 1. In the position shown in Figure 1, the driving module 3 is arranged in a position on the support block 1, in which two of the wheels 4 as wheels 4 'rest on the ground. In the position shown in Figure 2, the driving module 3 is positioned in another position on the support block 1, that only one of the wheels 4 rests as an impeller 4 'on the ground. Further, a drive unit in the form of a drive wheel 6 is provided on the support block 1 for driving the drive module, wherein the drive wheel 6 forms a hand drive wheel of the wheelchair in this embodiment. The drive wheel 6 is rotatably supported by the wheel carrier 5. The drive wheel 6 is hubless in the wheel 5 coupled to the wheels 4 of the drive module, as will be explained in detail below.

In Figure 1, the wheelchair is shown in a position in which two wheels rest as wheels 4 'on the ground. In this position, the wheelchair is particularly suitable for driving on bumps and obstacles, since two wheels on each side of the wheelchair offer great stability against tilting of the wheelchair and lower the center of gravity of the driving unit. The arrangement of the three wheels 4 of the driving module 3 can rotate relative to the support block 1 and be detected in different rotational positions, as will be explained in more detail below. Thus, the driving module can take various positions in which either one or two wheels 4 'rest on the ground.

Further, in FIGS. 1 to 6, a jib module 7 is shown, which at one end of the support block 1, here on the right in the direction of travel of the Wheelchair, is provided. The jib module may be conventionally attached to the support block by a releasable attachment mechanism. However, the jib module 7 remains rotatable relative to the axis of the support block 1. The boom module 7 has a boom 8, a support wheel 9, a Stützradträger 10 and a sliding guide 1 1 for the support wheel 9.

In Figures 3 and 4, the wheelchair is in a driving operation for a substantially horizontal ground. As can be seen in Figures 3 and 4, the support wheel 9 can be moved along the slide 1 1 between a front end 12 and a rear end 13. In Figure 3, the support wheel 9 is in a forward stop position for forward movement of the wheelchair, and in Figure 4, the support wheel 9 is in a rearward stop position for reversing the wheelchair. The support wheel 9 acts as a trailing wheel when driving the wheelchair and by the displacement of the trailing wheel whose caster can be adapted for driving in different directions. The sliding guide 1 1 extends in the form of a slide rail on both sides of a Stützradlagers 15. The end of Stützradträgers 10 has a sliding member which is slidably mounted in the slide rail. The end of Stützradträgers 10 is bent in the usual way to obtain in both stop positions the caster of the support wheel.

Further, the Stützradträger 10 is pivotally mounted on the boom 8. By pivoting the Stützradträgers 10, the support wheel 9 can be pivoted to the support block 1 and away from it, whereby the distance between the utility module 2 and support wheel 9 changes. Preferably, the Stützradträger 10 is biased such that the support wheel 9 has a short distance from the support block 1. The bias can z. B. are generated by a spring which is arranged on the boom 8. As can be seen in Figures 1 and 2, the cantilever arm at the end where it holds the support wheel carrier 10, a bend, preferably of 90 °, have. The spring can be housed in this bend, so that the support wheel carrier 10 rotates when pivoting in the pivot bearing at the end of the bend about the axis of this end while the spring continues to tension.

With reference to Figures 5 and 6, the movement is explained when ascending a staircase with a variety of steps. The staircase is overcome by the wheelchair in reverse. The wheelchair is in a climbing operation, in which the driving modules are in a climbing gear position, such as will be explained below. As shown in Figures 5 and 6, the boom arm 8 of the boom module 7 is pivoted relative to the driving module down. This ensures that the seat remains horizontal, while the support wheel can be supported on the ground.

When climbing the stairs in climbing the wheel carrier 5 rotates with the wheels 4 on the support block 1, so that the individual wheels 4 successively on the ground, d. H. put on a step. In FIG. 5, one of the wheels 4 is located as an impeller 4 'on a lower step. The other two wheels 4 have no contact with the ground and are free. The support wheel 9 is located in the sliding guide 1 1 in a stop position at the rear end 13 and abuts a step edge. If the drive wheel 6 is further rotated by the wheelchair user, the wheel carrier 5 is driven, so that the right free wheel 4 strikes the next upper stage and becomes an impeller 4 ', as shown in FIG. In this case, the wheelchair moves a little along the stairs, so that the Stützradträger 10 is deflected relative to the boom 8, since the support wheel 9 abuts the step edge. The bias of Stützradträgers 10 is increased.

In a further rotation of the drive wheel, the left of the two wheels 4 'of Figure 6 is raised and the wheelchair moves to the upper stage (not shown). The support wheel 9 is thereby pulled over the step edge, so that the resistance of the edge is eliminated and the Stützradträger 10 pivots back by the bias in the direction of the support block. The support wheel 9 is thus time delayed pulled up the stairs, which reduces the total effort required to climb the stairs. By further turning the drive wheel, the wheelchair can climb the stairs step by step.

In Figure 7 is another embodiment of a driving unit according to the present invention in the form of a wheelchair with an overlying impeller 4 'and conventional support wheels 16. The driving module 3 is aligned so that one of the wheels 4 as an impeller 4' rests on the ground. However, without the jib module, climbing operation is only possible with an assistant to ensure that the wheelchair does not tip over.

FIG. 8 shows a further embodiment of a wheelchair driving unit according to the present invention with two resting wheels 4 'on each side of the wheelchair. In this embodiment, no support wheels are required because the wheelchair by the total of four wheels 4 'is stable on the ground. For a climbing operation, however, again an assistant is required.

In a drive unit according to the invention, a drive unit with a drive wheel 6 for driving a drive module 3 is provided, in which the drive wheel 6 is hublessly coupled to the wheels 4 'of the drive module 3. The driving module 3 advantageously has a driving support 20 on which the wheel carrier 5 is rotatably mounted. The carriage 20 is rotatably coupled to the support block 1 for mounting the drive module 3. Next carries the carrier 20 a transmission of the drive unit having different gears for driving and climbing operation. There is provided a clutch for switching the drive module 3 between a drive-transmission position of the transmission for driving on flat terrain (driving mode) and a climbing gear position of the transmission for driving on uneven or uphill terrain (climbing mode). The embodiments of Figures 1 to 8 have z. B. on such a driving module.

Figures 9 and 10 show a diagram of a transmission of such a driving module. FIG. 9 shows a driving gear position and FIG. 10 shows a climbing gear position. In addition, further details of the driving module can be seen from these diagrams. The transmission has a coupling wheel 21, which has a first outer ring gear 22, which meshes with an internal toothing of the drive wheel 6 and is thereby driven by the drive wheel 6.

The coupling wheel 21 has a bell-like shape, which encloses an inner space 23 with a large diameter, in which a planetary gear 40 can be accommodated for the climbing operation. From the interior 23 with a large diameter, the diameter decreases and forms a storage area 24, with which the coupling wheel 21 can be rotatably mounted on the carriage 20. At the storage area, a second outer toothed rim 25 is provided, which has a smaller diameter than the first outer toothed ring 22.

When driving the wheel carrier 5 is coupled by a coupling device in the form of a radially movable locking pin 70 with the carrier 20 and can not rotate relative to this. The carrier 20 can be fixed in one of several positions. He can z. B. in a position with an impeller 4 'at the bottom, as in Figure 2, or in another position with two wheels 4' at the bottom, as in Figure 1, fixed. As can be seen in the lower half of the diagram of Figure 9, the coupling wheel 21 is coupled to the second outer ring gear 25 via an intermediate 26 to a driven gear 27, with which the impeller 4 'is driven. The intermediate gear 26 has a first sprocket 28 and a second sprocket 29, wherein the diameter of the first sprocket 28 is greater than the diameter of the second sprocket 29. The sprocket 28 of the intermediate 26 is rotatably mounted a coupling sprocket 32. The coupling sprocket 32 is axially displaceable relative to the sprocket 28 and the wheel carrier 5 and has an outer sprocket 33 which is coupled to the second outer sprocket 25 of the coupling wheel 21. The output gear 27 has a first toothed rim 30 and a wheel rim 31, wherein the diameter of the first toothed rim 30 is smaller than the diameter of the wheel rim 31. The sprockets and wheel rims and their diameter are tuned to a desired reduction of the driving force from the coupling wheel to the impeller 4 '.

The power flow in the driving gear position is shown in the lower half of the diagram of Figure 9 by arrows. The driving force is transmitted from the drive wheel 6 via the toothing with the first outer ring gear 22 to the coupling wheel 21, from there via the second outer ring gear 25 of the coupling wheel 21 and the outer ring gear 33 of the coupling ring gear 32 on the first ring gear 28 of the intermediate 26, from the second Sprocket 29 of the intermediate gear 26 on the first sprocket 30 of the driven gear 27 and the rim 31 of the driven gear 27 on the impeller 4 '.

The tricycle module has such a powertrain for each wheel. Since the wheels 4 are arranged in a star-like manner on the wheel carrier 5, these drive trains also project in a star-like manner from the circumference of the coupling wheel 21. The drive wheel 6, the coupling wheel 21 and the drive trains with the intermediate wheels 26, the driven wheels 27 and the coupling ring gear 32 form a gear transmission for driving the wheels during driving.

The transmission for driving the wheels 4 while driving has a coupling device for disconnecting and coupling the wheels 4 to the drive train. With the coupling device can be ensured that the impeller 4 ', which touch the ground and serve to drive the wheelchair, driven (see the lower half of the diagram in Figure 9) and wheels 4, which protrude upwards in the radius of action of the driver, are disconnected from the drive train (see upper half of the diagram in Figure 9). The coupling device For this purpose, the coupling toothed ring 32, which can be displaced between a coupling-in position in which the outer toothed rim 33 meshes with the second outer toothed rim 25, and a coupling-out position in which the outer toothed rim 33 is displaced and decoupled relative to the second outer toothed rim 25, can be displaced. Advantageously, the coupling toothed ring 32 is biased in the coupling-in position.

The displacement of the coupling sprocket 32 is effected by a slider 34 having an inclined surface which presses against an inclined surface on the coupling sprocket 32 and axially displaces the coupling sprocket 32 so far that the outer sprocket 33 is out of engagement with the second outer sprocket 25 of the coupling wheel 21. For this purpose, the slide 34 is mounted for radial movement in the wheel carrier 5 and is actuated by a cam curve 35, which is provided on the outer circumference of the drive carrier 20. During the rotation of the wheel carrier 5 relative to the carriage 20, the slider 34 is thus guided over the cam curve 35. In the upper half of the diagram of Figure 9 it can be seen how the slider 34 is lifted by a cam 36 of the cam curve 35 and thereby pushes the coupling ring gear 32 of the drive train for the overhead free wheel 4 out of engagement with the second outer ring gear 25. In contrast, the slider 34 in the lower half of the diagram of Figure 9 is not lifted by a cam of the cam curve 35 and is in a more inward position. The coupling sprocket 32 of the drive train for the lower impeller 4 'is not deflected and thus meshes with the second outer sprocket 25 of the coupling wheel 21st The coupling device for decoupling and coupling the wheels 4 is given by a kind of sliding clutch.

The coupling device acts both in driving operation and in climbing operation such that the wheels 4, which do not act as wheels 4 ', are decoupled from the drive train. The non-driven wheels 4 can also be braked by a braking device 60, which is preferably provided in each of the drive trains of the tricycle module for each associated wheel 4. The braking device has z. B. a brake disc and a brake block. It can be operated manually or by a control module.

FIG. 10 shows the power flow in the climbing gear position of the transmission. In summary, the power flow runs from the drive wheel 6 via the coupling wheel 21 and the planetary gear 40, which is housed in the interior 23 of the coupling wheel 21, to the wheel carrier 5. In climbing operation the locking pin 70 releases the wheel carrier 5 so that it can rotate relative to the carrier 20. During the rotation of the wheel carrier 5 on the carriage 20, the slider 34 run for coupling and decoupling of the gear transmission via the cam curve 35. In the position of the wheel carrier 5 shown in Figure 10, the drive trains of the two wheels shown are decoupled from the coupling wheel 21, ie the Coupling sprocket 32 is out of engagement with the second outer sprocket 25th

For the drive of the planetary gear, the coupling wheel 21 has an inner ring gear 41, which meshes with planet wheels 42 of the planetary gear. The coupling wheel 21 forms a ring gear of the planetary gear. The planetary gears 42 are rotatably mounted on a web 46, wherein the web 46 is rotatably mounted on the carriage 20. The planet gears 42 have a first sprocket 43 and a second sprocket 44. The first sprocket 43 has a larger diameter than the second sprocket 44. The first ring gear 43 meshes with a sun gear 45. The sun gear is fixed to the carrier 20 and preferably integrated into the carrier 20. The sun gear is therefore also stationary to the carrier block 1, on which the driving carrier 20 is mounted. The second ring gear 44 of the planetary gears 42 meshes with a toothed ring 47 which is rotatably mounted about the driving beam 20. The toothed ring 47 forms a kind of second sun gear of the planetary gear.

The toothed ring 47 opens with its inner portion 48 in a coupling device in the form of a dog clutch 71, which is designed as a coupling ring and is arranged around the driving beam 20 around. The inner portion 48 of the toothed ring 47 is axially slidably but rotatably held in the dog clutch 71, so that it drives the dog clutch 71 rotate. The jaw clutch 71 is in turn slidably mounted on the carrier 5. In Figure 10, the dog clutch 71 is coupled into a coupling end of the wheel carrier 5 and thus drives the wheel carrier in rotation.

The power flow in the climbing gear position of the transmission extends from the drive wheel 6 via the first outer ring gear 22 to the coupling wheel 21, via the inner ring gear 41 of the coupling wheel 21 on the first ring gear 43 of the planet gears 42, wherein the planet gears 42 rotated about the sun gear 45 from the second sprocket 44 of the planetary gears 42 to the toothed ring 47, via the inner region 48 of the toothed ring 47 to the dog clutch 71 and from there to the coupling end 72 of the wheel carrier 5. Thus, the wheel carrier 5 is rotating driven and the wheels 4 are rolled over the ground. The braking devices 60 can be synchronized as required.

The climbing gear position of the driving modules 3 is particularly advantageous for overcoming obstacles and climbing stairs suitable, as described in Figures 5 and 6. By turning the wheel carrier 5, the wheels 4 of the driving module 3 are successively placed on successive stages of the stairs. As mentioned above, the wheels preferably have a radius of at least 15 cm to facilitate climbing up the steps. The braking device 60 can, when climbing up, brake at least the impeller 4 'resting on a step and thus form a rear-end brake.

Furthermore, FIGS. 9 and 10 illustrate a switching device for switching the first coupling device in the form of the dog clutch 71 and the second coupling device in the form of the locking bolt 70. The shift device comprises a shift slide 73 and a shift tire 74. The shift shift 73 is displaceable relative to the carrier 20 and axially fixedly connected to the dog clutch 71. The switching slide 73 acts by means of an inclined surface on the locking pin 70. The shift tire 74 is rotatably mounted on the carriage 20 and has a guide curve 75 in which a guide pin 76 runs, which is attached to the shift gate 73. The guide cam 75 is designed such that upon rotation of the shift tire 74 of the guide pin 76 and together with this the slide valve 73 is axially displaced, wherein the slide valve 73 entrains the dog clutch. The shift tire 74 can be rotated manually or by motor.

In Figure 9, ie in the drive-gear position, the slide valve 73 is in a pushed to the right position (see arrow A in the slide switch). Accordingly, the dog clutch 71 is shifted to the right, ie out of engagement with the coupling end 72 of the wheel carrier 5. The inclined surface of the slide valve 73 is removed from the locking pin 70 to the right, so that the locking pin 70 rotatably connects the carrier 20 with the wheel 5. For this purpose, the locking pin 70 z. B. protrude through openings in the carrier 20 and the wheel 5. The planetary gear is decoupled from the wheel 5 and is in a freewheel. The driving force from the drive wheel 6 is transmitted to the impeller 4 'of the drive module as described above. In Figure 10, ie in the climbing gear position, the slide valve 73 is in a pushed to the left position (see arrow B in the slide switch). Accordingly, the dog clutch 71 is shifted to the left and engaged with the coupling end 72 of the wheel carrier 5. The inclined surface of the slide valve 73 acts on the locking pin 70 and urges this radially inward, so that the locking pin 70 is out of engagement with the wheel carrier 5. For this purpose, the locking pin 70 is pulled out of the opening in the wheel carrier 5. The driving force from the drive wheel 6 is transmitted to the wheel carrier 5 via the planetary gear as described above.

The first clutch device, the second clutch device and the shifting device form a clutch for shifting between the driving gear position and the climbing gear position. In addition, the wheels of the driving module can be switched on and off individually by means of the coupling device as described above.

In Figure 1 1, the structure of the gear transmission for driving the wheels 4 is shown in the drive-gear position. Next, the arrangement of the three gear trains for the three wheels of a tricycle module is shown relative to each other from Figure 1 1. Each of the gear trains is essentially the same. The gear trains extend radially from a center to the outside. The center is formed by the driver 20 and thus by the coupling wheel 21. The drive wheel 6 is mounted without hubs in the three-wheel module and provided eccentrically to the center of the coupling wheel 21. The drive wheel 6 has an internal toothing 61, which meshes with the first outer ring gear 22 of the coupling wheel 21. The radially extending drive trains show the intermediate gear 26 with the outer ring gear 33 and the first ring gear 28 for the sliding clutch. At the intermediate gear 26, the output gear 27 connects to the rim 31 and the first ring gear 30 at. The gears of the gear transmission are rotatably mounted as shown in Figures 9 and 10 in the driving module 3 on the wheel 5 or on the driving beam 20. To the gear transmission and for storage of the drive wheel 6, the driving module may have a frame that encloses components of the driving module.

In Figure 12, the structure of the planetary gear for driving the wheel carrier 5 is shown in the climbing gear position. The drive wheel 6 in turn meshes with the internal teeth 61 on the first outer ring gear 22 of the coupling wheel 21st The coupling wheel 21 assumes the function of the ring gear in Planetary gear, on whose inner sprocket 41 twenty planetary gears 42 with their first sprocket 43 are engaged. Furthermore, the planetary gears 42 run on the external teeth of the sun gear 45, which is fixed to the carrier 20. Via the jaw clutch 71 (not shown) thus the wheel carrier 5 is driven in rotation. The planet gears 42 are preferably made of plastic and allow for the plurality of planetary gears in the planetary gear a significant weight savings.

FIG. 13 shows a three-dimensional representation with partial sections of a driving module 3. Two drive trains of the wheels 4 are shown. In the drive trains, the intermediate wheels 26 with the coupling sprocket 32 and the driven wheels 27 can be seen. Furthermore, a brake disc of the brake device 60 is shown. The coupling wheel 21 sits above the carriage 20 and around the web 46. Inside the driver 20, the shift tire 74 with the guide curve 75 can be seen. In the guide curve 75 of the guide pin 76 engages, which moves the dog clutch 71. In the interior of the coupling wheel 21, the web 46 is arranged, which carries the planetary gears 42 (not shown). The mode of operation of the driving module 3 corresponds to that which is described for the driving gear position and the climbing gear position in FIGS. 9 to 12.

As can be seen from FIG. 13, in a driving module 3 according to the present invention, the center about the axis of the driving carrier and the wheel carrier remain free of components. This free space can be advantageous for. B. used for controls or other components of the driving unit, if necessary.

Reference numeral central support block 31 Radkranz

Utility module 32 coupling sprocket

Driving module 33 Outside ring gear

Wheel 34 sliding

Impeller 35 cam curve

Wheel carrier 36 cams

Drive wheel 40 planetary gear

Jib module 41 inner sprocket

Cantilever arm 42 planetary gear

Support wheel 43 first sprocket

Support wheel support block 44 second sprocket

Sliding guide 45 sun gear front end 46 bridge

rear end 47 toothed ring

Footrests 48 Interior

Support wheel bearing 60 braking device

Support wheels 61 internal toothing

Carrier 70 locking bolt

Coupling wheel 71 Claw coupling first outer ring gear 72 Coupling end

Interior 73 slide switch

Storage area 74 Schaltreif

second outer tooth75 guide cam rim 76 guide pin

idler

output gear

first sprocket A Arrow Shifter second sprocket B Arrow Shifter first sprocket

Claims

claims

Drive unit, preferably in the form of a wheelchair, with a modular structure having a central support block (1), wherein

- At the central region of a utility module (2) can be fastened and

- At the opposite ends in each case a driving module (3) can be coupled,

- wherein the driving module (3) comprises at least one wheel (4) or a rolling body which is rotatable relative to the support block (1) and as impeller (4 '), or running body, is provided resting on a substrate, characterized in that

- A drive unit for driving the drive module (3) is provided, wherein the drive unit comprises a drive wheel (6) which is hubless with at least one impeller (4 ') of the drive module (3) coupled.

Drive unit according to claim 1, characterized in that the driving module (3) has a driving support (20) which is non-rotatably coupled to the support block (1) and carries a gear which drives the at least one impeller (4).

Drive unit according to claim 1 or 2, characterized in that a central axis of the carrier block (1) and an axis of the drive wheel (6) extend eccentrically and preferably in parallel.

Drive unit according to one of the preceding claims, characterized in that the drive wheel (6) with respect to an axis of the central support block (1) between the utility module (2) and impeller (4 ') is arranged.

Drive unit according to one of the preceding claims, characterized in that the drive wheel (6) in the driving module (3) is integrated.

Drive unit according to one of the preceding claims, characterized in that the drive wheel (6) forms a manual drive wheel of a wheelchair or is attached to such a manual drive wheel.

7. Driving unit according to one of the preceding claims, characterized in that the impeller (4 ') via a coupling wheel (21) is driven, wherein the coupling wheel (21) concentric with the central axis of the support block (1) on the driving carrier (20) and hubless driven by the drive wheel (6).

8. Drive unit according to one of the preceding claims, characterized in that the transmission of the driving module (3) has a gear transmission for driving the at least one impeller (4 ').

9. Driving unit according to one of the preceding claims, character- ized in that the driving module (3) comprises three wheels (4) which are rotatably mounted on a common wheel carrier (5) in a triangular geometry.

10. Driving unit according to claim 9, characterized in that the wheel carrier (5) relative to the carrier block (1) is rotatably provided on the carriage (20) hen.

1 1. Drive unit according to one of the preceding claims, characterized in that the transmission of the driving module (3) has a planetary gear for driving the wheel carrier (5) relative driving carrier (20).

12. Driving unit according to one of the preceding claims, character- ized in that a clutch for switching the driving module (3) between a driving gear position of the transmission for driving on flat terrain and a climbing gear position of the transmission for driving on uneven or sloping terrain is provided.

13. Drive unit according to one of the preceding claims, character- ized in that in a driving gear position, a force flow from the drive wheel (6) via the coupling wheel (21) and at least one intermediate wheel (26) on at least one impeller (4 ').

14. Drive unit according to one of the preceding claims, characterized in that in a climbing gear position, a power flow from the drive wheel (6) via the planetary gear on the wheel carrier (5) for driving the wheel carrier (5).

15. Drive unit according to one of the preceding claims, characterized in that in the climbing gear position, a sun gear (45) of the planetary gear on the carrier (20) is formed fixed.

1 6. Driving unit according to claim 15, characterized in that a difference of a number of teeth of the drive wheel (6) and sun gear (45) of the planetary gear at least by 20 is divisible.

17. Drive unit according to one of the preceding claims, characterized in that in the climbing gear position, a reduction by a planet gear (42) with two different sized, mutually fixed sprockets (43; 44) takes place by the larger toothed rim (43) engages in the planetary gear and the smaller sprocket (44) with the wheel carrier (5) can be coupled.

18. Driving unit according to one of the preceding claims, characterized in that in the driving gear position of the wheel carrier (5) is fixedly coupled to the driving carrier (20) and in the climbing gear position of the wheel carrier (5) relative to the driving carrier (20) rotatable is.

19. Drive unit according to one of the preceding claims, characterized in that the clutch for switching between driving gear position and climbing gear position, a first coupling means (71) which connects the wheel carrier (5) from the planetary gear or coupled.

20. Drive unit according to one of the preceding claims, characterized in that the coupling for switching between driving gear position and climbing gear position, a second clutch device (70) which connects or disconnects the wheel carrier (5) from the carrier (20).

21. Drive unit according to one of the preceding claims, characterized in that a coupling device (34) is provided, the wheels (4) which do not rest on a substrate, from the coupling wheel

(21) decouple.

22. Drive unit according to one of the preceding claims, characterized in that a cantilever module (7) with one of the wheels (4 ') spaced support wheel (9) is provided, wherein the cantilever module at one end of the support block (1) between driving module (3) and

Support block (1) can be attached.

23. Drive unit according to claim 22, characterized in that the jib module (7) has a cantilever arm (8), wherein the cantilever arm (8) with a first end on the support block (1) is attachable such that the cantilever arm (8) to the Central axis of the support block (1) is pivotable, and at a second end a Stützradträger (10) for supporting the support wheel (9).

24. Driving unit according to claim 23, characterized in that the Stützradträger (10) is pivotally mounted on the cantilever arm (8) that the Stützradträger (10) in the direction of the central support block (1) is pivotable.

Drive unit according to claim 24, characterized in that the Stützradträger (10) is biased in the direction of the central support block (1).

26. Driving unit according to one of claims 22 to 25, characterized in that the Stützradträger (10) has a Stützradlager (15) for rotatably supporting the support wheel (9) and a sliding guide (1 1) between the Stützradträger (10) and the Stützradlager (15) is provided.

27. Drive unit according to claim 26, characterized in that a length of the sliding guide (1 1) corresponds to at least the two follower masses in forward and reverse drive.

28. Driving unit according to one of claims 22 to 27, characterized marked, that the support wheel (9) has a radius of at least 15 cm.

29. Driving unit according to one of the preceding claims, characterized in that a control module is provided for controlling a clutch of the transmission, a brake unit and / or a Rückfahrbremse.