WO2016110317A1 - Unité de déplacement - Google Patents

Unité de déplacement Download PDF

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Publication number
WO2016110317A1
WO2016110317A1 PCT/EP2015/050064 EP2015050064W WO2016110317A1 WO 2016110317 A1 WO2016110317 A1 WO 2016110317A1 EP 2015050064 W EP2015050064 W EP 2015050064W WO 2016110317 A1 WO2016110317 A1 WO 2016110317A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
driving
drive
unit according
module
Prior art date
Application number
PCT/EP2015/050064
Other languages
German (de)
English (en)
Inventor
Andreas Jutzeler
Rolf Bandhauer
Original Assignee
Jst Multidrive Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jst Multidrive Ag filed Critical Jst Multidrive Ag
Priority to PCT/EP2015/050064 priority Critical patent/WO2016110317A1/fr
Publication of WO2016110317A1 publication Critical patent/WO2016110317A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
    • A61G5/026—Cranks or hand wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/021—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular propulsion mechanisms
    • A61G5/022—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular propulsion mechanisms acting on wheels, e.g. on tires or hand rims
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • A61G5/0875—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable dismountable, e.g. where the wheelchair can be disassembled for transportation or storage

Definitions

  • 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.
  • 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.
  • 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.
  • a wheelchair 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the wheel carrier is mounted relative to the support block preferably rotatable or tiltable.
  • a drive unit for driving the drive module 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the drive wheel in a drive unit according to the invention, 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.
  • the drive wheel in a drive unit in the form of a wheelchair, can form a handwheel of the wheelchair or be attached to such a handwheel.
  • 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.
  • the drive wheel can assume an ergonomically meaningful position when the drive wheel is manually driven by a wheelchair user.
  • 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.
  • the coupling wheel is mounted concentrically to the central axis of the driving module, in particular a driving carrier, and the support block.
  • 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.
  • further transmission means in particular gears and clutches, can be provided between the coupling wheel and the wheels.
  • 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.
  • the wheels are arranged uniformly around the coupling wheel and form a kind of star-shaped arrangement.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the transmission of the driving module comprises a planetary gear for driving the wheel carrier relatively Fahr nie.
  • 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.
  • the coupling wheel For coupling with the drive wheel, the coupling wheel z. B. a first external toothing.
  • 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.
  • the coupling wheel preferably forms a ring gear for the planetary gear for driving the wheel carrier.
  • 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.
  • 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.
  • another gear or more gears between planetary gears and wheel carriers can be used for power transmission.
  • 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.
  • 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
  • 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 prevailrä 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.
  • the first and the second coupling device can be actuated by a common switching element.
  • the common switching element can, for. B. be actuated by a switching ring having a guide curve for the switching element.
  • 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.
  • 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.
  • 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.
  • the jib module is detachably mounted between the carrier block and the drive module at one end of the carrier 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.
  • 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.
  • 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.
  • the boom z. B. serve a simple lever with locking function or a worm gear.
  • the cantilever arm has a support wheel carrier, such as a wheel fork, for supporting the support wheel.
  • the Stauerradffy can be rotatably mounted on the boom, so that the support wheel can rotate relative to the boom.
  • the Stauerradffy may be pivotally mounted on the cantilever arm, that the Stauerradffy 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.
  • the Stauerradffy is biased in the direction of the central support block.
  • the support wheel 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.
  • 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.
  • 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 Stauerradlager or on Stauerradisme and the sliding element on the other by Stauerradlager and Stauerradyes.
  • the sliding guide allows a sluggish mounting of the support wheel on the jib module.
  • a caster of the support wheel can be provided relative to the wheels.
  • the support wheel is slidably mounted such that the Stauerradlager 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.
  • the Stauerradlager is moved by a reverse thrust force when reversing the driving unit from the front stop and the Stauerradlager 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.
  • 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.
  • a jib module with a sliding guide improves the off-road capability of a wheelchair.
  • 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.
  • 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.
  • the drive wheel, the planet gears and the coupling wheel are made of plastic, so that the driving module is not too heavy,
  • 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.
  • FIG. 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,
  • 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
  • FIG. 6 is a side view of the wheelchair in a climbing operation on a
  • FIG. 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,
  • FIG. 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,
  • FIG. 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
  • Fig. 12 is a sectional view of the transmission elements of the driving module in the
  • FIG. 13 is a three-dimensional representation with partial sections through the drive module according to an embodiment of the present invention.
  • FIGS. 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.
  • the wheelchair has a central support block 1.
  • a utility module 2 is mounted in the form of a seat module with seat and backrest.
  • footrests 14 are attached.
  • 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.
  • 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.
  • 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.
  • 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.
  • the driving module can take various positions in which either one or two wheels 4 'rest on the ground.
  • 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 Stauerradisme 10 and a sliding guide 1 1 for the support wheel 9.
  • the wheelchair is in a driving operation for a substantially horizontal ground.
  • the support wheel 9 can be moved along the slide 1 1 between a front end 12 and a rear end 13.
  • 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 Stauerradlagers 15.
  • the end of Stauerradismes 10 has a sliding member which is slidably mounted in the slide rail.
  • the end of Stauerradismes 10 is bent in the usual way to obtain in both stop positions the caster of the support wheel.
  • the Stauerradzi 10 is pivotally mounted on the boom 8. By pivoting the Stauerradmons 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.
  • the Stauerradzi 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.
  • 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.
  • 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.
  • 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.
  • 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 Stauerradisme 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.
  • FIG 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.
  • 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.
  • no support wheels are required because the wheelchair by the total of four wheels 4 'is stable on the ground.
  • an assistant is required for a climbing operation, however, again an assistant is required.
  • a drive unit with a drive wheel 6 for driving a drive module 3 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.
  • 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.
  • FIG. 9 shows a diagram of a transmission of such a driving module.
  • FIG. 9 shows a driving gear position
  • FIG. 10 shows a climbing gear position.
  • 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.
  • the carrier 20 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the locking pin 70 releases the wheel carrier 5 so that it can rotate relative to the carrier 20.
  • the slider 34 run for coupling and decoupling of the gear transmission via the cam curve 35.
  • 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
  • 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 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.
  • 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.
  • 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.
  • the wheels 4 of the driving module 3 are successively placed on successive stages of the stairs.
  • 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.
  • 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.
  • 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.
  • the wheels of the driving module can be switched on and off individually by means of the coupling device as described above.
  • FIG 1 the structure of the gear transmission for driving the wheels 4 is shown in the drive-gear position.
  • 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.
  • 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.
  • the driving module may have a frame that encloses components of the driving module.
  • 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.
  • 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.
  • the intermediate wheels 26 with the coupling sprocket 32 and the driven wheels 27 can be seen.
  • 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.
  • the web 46 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.
  • a driving module 3 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.
  • Utility module 32 coupling sprocket
  • Support wheel 43 first sprocket
  • Support wheel support block 44 second sprocket
  • Coupling wheel 71 Claw coupling first outer ring gear 72 Coupling end

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

L'invention concerne une unité de déplacement, se présentant de préférence sous la forme d'une chaise roulante, qui a une structure modulaire pourvue d'un bloc de support central (1), un module d'utilisation (2), des modules de déplacement (3) et une unité d'entraînement. Le module d'utilisation (2) est fixé à une zone centrale du bloc de support (1) et un module d'entraînement (3) peut être accouplé à chacune des extrémités opposées du bloc de support (1). Un module déplacement (3) comprend au moins une roue (4) qui est rotative par rapport au bloc de support (1) et qui est prévue comme roue de roulement (4') sur un sol. L'unité d'entraînement est prévue pour entraîner le module de déplacement (6) et comporte une roue d'entraînement (6) qui peut être accouplée sans moyeu à au moins une roue de roulement (4') du module de déplacement (3).
PCT/EP2015/050064 2015-01-05 2015-01-05 Unité de déplacement WO2016110317A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/050064 WO2016110317A1 (fr) 2015-01-05 2015-01-05 Unité de déplacement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/050064 WO2016110317A1 (fr) 2015-01-05 2015-01-05 Unité de déplacement

Publications (1)

Publication Number Publication Date
WO2016110317A1 true WO2016110317A1 (fr) 2016-07-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/050064 WO2016110317A1 (fr) 2015-01-05 2015-01-05 Unité de déplacement

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WO (1) WO2016110317A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109505927A (zh) * 2018-12-28 2019-03-22 内蒙古工业大学 一种实现重物上楼梯搬运的电动小车
CN109771164A (zh) * 2019-03-08 2019-05-21 哈工大机器人（合肥）国际创新研究院 一种爬楼装置
US10905607B2 (en) 2019-01-29 2021-02-02 Toyota Motor North America, Inc. Modular power base arrangement
US11759379B2 (en) * 2017-11-10 2023-09-19 Orbilift Pty Ltd Conveyance for surmounting obstacles

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3283839A (en) 1965-03-02 1966-11-08 Ronald K Brown Stair-climbing wheel chair
GB2043554A (en) * 1979-02-02 1980-10-08 Biddle Eng Co Ltd Motorised wheelchairs
US4512588A (en) 1983-04-15 1985-04-23 Cox Kenneth R Stair climbing wheel chair
DE3819925A1 (de) 1987-10-02 1989-04-20 Medizin Labortechnik Veb K Rollstuhl fuer koerperbehinderte
US5037120A (en) * 1989-12-26 1991-08-06 Parisi Paul J Wheelchair manual drive mechanism
EP0903138A1 (fr) 1997-09-19 1999-03-24 Jesag Fauteuil roulant
US6257608B1 (en) * 1999-07-13 2001-07-10 Hill-Rom, Inc. Apparatus for propelling a wheel chair
JP2006223372A (ja) * 2005-02-15 2006-08-31 Nagatoshi Yasukawa 車椅子の駆動機構
FR2943531A1 (fr) * 2009-03-26 2010-10-01 Brousse Olivier Philippe Dispositif de motricite manuelle pour fauteuil roulant

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3283839A (en) 1965-03-02 1966-11-08 Ronald K Brown Stair-climbing wheel chair
GB2043554A (en) * 1979-02-02 1980-10-08 Biddle Eng Co Ltd Motorised wheelchairs
US4512588A (en) 1983-04-15 1985-04-23 Cox Kenneth R Stair climbing wheel chair
DE3819925A1 (de) 1987-10-02 1989-04-20 Medizin Labortechnik Veb K Rollstuhl fuer koerperbehinderte
US5037120A (en) * 1989-12-26 1991-08-06 Parisi Paul J Wheelchair manual drive mechanism
EP0903138A1 (fr) 1997-09-19 1999-03-24 Jesag Fauteuil roulant
US6257608B1 (en) * 1999-07-13 2001-07-10 Hill-Rom, Inc. Apparatus for propelling a wheel chair
JP2006223372A (ja) * 2005-02-15 2006-08-31 Nagatoshi Yasukawa 車椅子の駆動機構
FR2943531A1 (fr) * 2009-03-26 2010-10-01 Brousse Olivier Philippe Dispositif de motricite manuelle pour fauteuil roulant

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11759379B2 (en) * 2017-11-10 2023-09-19 Orbilift Pty Ltd Conveyance for surmounting obstacles
CN109505927A (zh) * 2018-12-28 2019-03-22 内蒙古工业大学 一种实现重物上楼梯搬运的电动小车
CN109505927B (zh) * 2018-12-28 2023-08-04 内蒙古工业大学 一种实现重物上楼梯搬运的电动小车
US10905607B2 (en) 2019-01-29 2021-02-02 Toyota Motor North America, Inc. Modular power base arrangement
CN109771164A (zh) * 2019-03-08 2019-05-21 哈工大机器人（合肥）国际创新研究院 一种爬楼装置
CN109771164B (zh) * 2019-03-08 2024-04-19 合肥哈工慈健智能科技有限公司 一种爬楼装置

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