WO2017144320A1

WO2017144320A1 - Climbing chassis for a travelling device

Info

Publication number: WO2017144320A1
Application number: PCT/EP2017/053369
Authority: WO
Inventors: Wolfgang Schober; Martin Riedel
Original assignee: Kuka Roboter Gmbh
Priority date: 2016-02-24
Filing date: 2017-02-15
Publication date: 2017-08-31
Also published as: DE102016202878A1

Abstract

The invention relates to a climbing chassis (100) for a travelling device (1), where the chassis (100) has at least one revolving crawler belt (110) comprising an outwardly oriented crawler belt tread, a rear axle with which at least one rear wheel (125) is associated, comprising a rear wheel tread, and a front axle with which at least one front wheel (128) is associated, comprising a front wheel tread. The wheels (125, 128) and the crawler belt (110) are arranged such that the rear wheel tread and the front wheel tread project past the crawler belt tread towards the ground, such that the propulsion of the travelling device (1) can be carried out in-plane by means of the wheels, the crawler belt tread projecting at least partially past the front wheel tread in the direction of travel, in order to be able to engage with an obstacle (50) in the direction of travel such that the crawler belt (110) can move the travelling appliance (1) on and/or over the obstacle (50).

Description

ROCKABLE CHASSIS FOR A RIDING DEVICE

FIELD OF THE INVENTION The invention relates to an ascending, in particular step-stepless, running gear for a driving device, as well as a corresponding driving device, wherein the ascending running gear comprises at least one front wheel and at least one rear wheel and at least one

Caterpillar band has.

Background of the Invention Conventional vehicles typically include either a wheeled chassis or a crawler chassis. Basically, wheelsets offer advantages when driving on level surfaces, but can only pass over obstacles such as steps and / or thresholds. The off-road capability of wheeled bogies, i. their suitability for driving over obstacles depends in particular on the size of the wheels used. To be able to drive over obstacles, such as steps or curbs, with a wheel gear, the wheels must be sufficiently large to allow a safe driving over the obstacles. Due to the design, however, it is not always possible to realize the required wheel size. Nevertheless, wheels are particularly advantageous on flat surfaces, as they are easy to navigate and are characterized by a high maneuverability. Moreover, the wheels roll well on even ground, allowing for energy efficient driving.

Crawler tracks, however, are characterized by a high off-road capability, since the caterpillars are basically well suited to intervene with obstacles and to move a suitably equipped driving device over the obstacle. For example, the driving device can be moved by means of a crawler track on a step or down from a step.

Crawler tracks are known, for example, from excavators, bulldozers, snowmakers, military vehicles and the like. In particular, crawler tracks are characterized by a high level of traction, which means that even difficult terrain can be traversed. The high traction is also with disadvantages connected because, for example, the road surface can be damaged. Damage is generated in particular by cornering, since the crawler belts are thereby partially moved transversely to the crawler belt running direction over the ground. Object of the present invention is to combine the advantages of both suspension concepts together and provide a chassis for a driving device, which can be powered energy efficient on flat surfaces and has a high maneuverability. Furthermore, the chassis should have a high

Have off-road capability and gradeability and in particular be adapted to move a driving device on / over obstacles.

In particular, such trolleys for operation in closed spaces or buildings and equally for the operation outside of closed rooms, i. be suitable outdoors. Such suspension concepts for vehicles are particularly in the field of unmanned vehicles, such as

ground-based drones, as well as in the area of mobility support systems (mobile assistance systems).

Mobility support systems are mobility systems

movement-restricted people should increase.

Mobility support systems may include, for example, driving devices in the sense of roilators that assist a person's walking or driving devices in the sense of powered wheelchairs. Such mobility support systems are used in particular in the interior of closed rooms, such as in apartments and / or buildings. The use of outdoor mobility support systems extends the range of motion of the assisted person and allows her to leave a building or apartment.

In particular, when using the driving devices within buildings are often obstacles in the form of steps and / or stairs to overcome. Therefore, it is in particular the object of the present invention to provide a chassis for a driving device which is adapted to move the driving device on and / or over an obstacle, such as a step or a staircase. The obstacle, such as a step / stairs up and / or down can be exceeded. Furthermore, driving devices which can be used in the field of mobility support systems should have a high stability against tipping in order to allow an operator to rest on the driving device without falling. Moreover, the crossing of an obstacle, such as a step or a staircase should be done automatically, ie there should be no separate action to start the

Be exceeding the obstacle must be performed. Rather, the device is to be moved to / over the obstacle by the obstacle is approached.

Furthermore, should such a suspension as possible no damage

cause household-typical floor coverings, or it should minimize such damage.

Detailed description of the invention

The object is achieved by a steerable chassis according to claim l and a driving device according to claim 20.

In particular, the object is achieved by a riser chassis for a driving device (such as a mobility support system), wherein the chassis is assigned at least one revolving crawler belt, which has an outward crawler belt tread, a rear axle of at least one rear wheel, which has a rear wheel tread and a Front axle, which is associated with at least one front wheel, which has a front wheel tread comprises. The wheels and the crawler belt are arranged such that the rear wheel tread and the

Front wheel tread to the ground over the crawler belt running surface, so that the propulsion of the driving device in the plane can be done by means of the wheels. In contrast, the crawler belt running surface projects at least partially over the front wheel running surface in the direction of travel in order to be able to engage an obstacle in the direction of travel, so that the crawler belt can move the driving device up and / or over the obstacle.

The crawler belt is typically a self-contained chain that serves to move the driving device up and / or over an obstacle. In particular, the crawler belt tread provides improved traction over the wheel treads, such that the crawler belt is adapted to engage obstacles to move the tackle over the obstacle.

The rear axle of the driving device is typically a rigid rear axle, but can also be arranged to be pivotable. Likewise, the front axle of the chassis typically a rigid front axle. However, in order to achieve an improved maneuverability of the driving gear / chassis, the front axle of the chassis can be arranged to be pivotable.

If the wheels and the crawler belt are arranged in such a way that the rear wheel running surface and the front wheel running surface protrude toward the ground via the crawler belt running surface, then at least one of the wheels can be used for propulsion.

Furthermore, the suspension can be easily and manoeuvraously directed and propelled in particular in the plane by means of the wheels, without the floor covering and / or the

Damage the surface. For example, in a building or in an apartment by means of the wheels carpets or other floor coverings can be run over without damage.

In this case, an operator, for example, the driving device as

Mobility support system uses, due to the wheels make easy navigation. This is particularly advantageous, if only a limited

Navigation area, such as a walk or small rooms are available. The arrangement of the crawler belt relative to the wheels allows obstacles such as steps to be run over.

Since the crawler belt protrudes at least partially over the front wheel running surface in the direction of travel, first the crawler belt running surface will come into contact with an obstacle and intervene with the obstacle. Will the suspension and / or the

If the driving device continues to move toward the obstacle, then the crawler belt can align itself along the obstacle, intervene with it and then move the driving device up and / or over the obstacle. If, for example, a step is not approached perpendicularly but at a certain angle, then before driving over the step or obstacle, the driving device can be moved toward the obstacle in such a way that the crawler belt aligns along the obstacle. Thus, steps are preferably run over perpendicular to their course direction.

In particular, the chassis should be set up to override an obstacle or to move the rider onto an obstacle or to descend from the obstacle, which obstacle has a height of at least 5 cm, preferably of at least 10 cm and most preferably of at least 15 cm. Since the crawler belt is arranged relative to the wheels such that it at least partially projects beyond the front wheel tread, no separate manual start action is necessary, which initiates the passage of the obstacle. Rather, at a Contact between obstacle and caterpillar track running over the

Obstacle automatically initiated when the crawler belt tread with the

Obstacle intervenes. For this purpose, the obstacle, such as a step, preferably be approached at any angle. A vertical approach of the obstacle is not necessary.

In particular, the crawler belt running surface in the direction of travel on the

Front wheel tread survive that the crawler belt is led away obliquely upward from the ground. This allows a particularly efficient intervention with an obstacle and thus an efficient movement of a driving device on and / or over an obstacle.

Furthermore, at least one rear wheel and / or one front wheel can be a driven wheel, wherein the crawler belt can transmit drive power to the driven wheel and / or receive from it.

A driven wheel can be driven directly or by means of the crawler belt. If the driven wheel is a directly driven wheel, so can

driven wheel drive power also transferred to the crawler belt. For this purpose, suitable coupling agents should be provided. If the driven wheel is not driven directly, drive power can be transmitted from a driven crawler belt to the driven wheel. Thus, only one drive is necessary for driving the crawler belt and the driven wheel, which costs and weight can be saved.

The at least one driven wheel and the at least one crawler belt may have different rotational speeds in [m / s], wherein the

Circulation speed of the crawler belt is preferably less than that

Speed of rotation of the driven wheel on the running surface of the wheel. In this way, obstacles are automatically overrun at a reduced speed, which material-friendly and - depending on the application - possibly user-friendly.

Different speeds of rotation of crawler belt and a running surface of the wheel also make it possible to press the chassis and in particular the crawler belt when approaching and driving over an obstacle to the obstacle. Since the propulsion of the landing gear takes place in one plane by means of the driven wheel and the crawler belt primarily for moving the driving device on and / or over the obstacle is set, the driven wheel, which is a higher

Has circulating speed, press the chassis with the crawler belt against the obstacle.

Consequently, due to the applied force, the crawler belt can intervene very well with the obstacle and move the driving device to / via the obstacle. Likewise, due to this circulating speed difference, the driving device or the

Chassis aligned towards the obstacle. If, for example, a step is approached, then the crawler belt is moved against the step according to the step progression,

typically perpendicular, pressed and allows optimal engagement between the crawler belt tread and the step or obstacle. It should be noted that the orbital velocity does not describe the angular velocity of the wheel, but rather the velocity in meters per second [m / s] at which the tread of the driven wheel is moved. Analog is the

Circulation speed of the crawler belt The speed in [m / s] with which the crawler belt running surface is moved.

The chassis may further comprise a coupling means for coupling the crawler belt to at least one of the wheels, wherein the coupling means thereto

is set up to transmit forces between the crawler belt and the wheel or the wheels. If a coupling means is used to couple the crawler belt to at least one of the wheels, forces can be transmitted between the crawler belt and the wheel (s). Forces or moments can be transmitted from the crawler belt to one or more wheels or forces or moments can be transmitted from one wheel or several wheels to the crawler belt. The transmission can also be done in both directions. If forces are to be transmitted only in one direction, it is possible to provide a freewheel and / or a coupling which allows the transmission of forces / moments only in a desired direction.

Furthermore, it is possible to select a coupling means such that forces and / or moments can be transmitted only in one direction of rotation. Thus, for example, the crawler belt can be driven and drive power transmitted during the forward travel on one of the driven wheels. During a backward travel (direction against the direction of travel) then no forces and / or moments could be transmitted. Furthermore, the coupling means may comprise a transmission, so that different rotational speeds of crawler belt and the wheels / the wheel can be achieved.

The coupling means may further be a coupling disc over which the

Crawler belt runs, wherein the coupling disc can be arranged concentrically to the at least one rear wheel and / or front wheel, and is preferably connected thereto via a common axis.

If the coupling means is a coupling disc, over which the crawler belt runs, wherein the coupling disc is arranged concentrically to the at least one rear wheel and / or front wheel, then different rotational speeds of wheel and

Crawler belt can be realized simply by dimensioning the coupling disc.

Typically, the wheels (the front wheel and / or the rear wheel) have a wheel diameter in the range of 5-40 cm, preferably in the range of 10-30 cm, and most preferably in the range of 15-25 cm. The wheels, in particular front and rear wheels / wheels may have different diameters. In particular, the coupling disc can be chosen smaller than the corresponding wheel to

To achieve rotational speeds at which the rotational speed of the wheel / wheels is greater than the rotational speed of the crawler belt. In this case, no gear or other means is necessary to provide different peripheral speeds. Furthermore, the concentrically aligned coupling disc, when with a rigid axis with the

corresponding wheel is connected, a simple transfer of forces and / or moments between the wheel and the crawler belt.

The chassis may further comprise a drive pulley, which is adapted to drive the at least one crawler belt. The use of a

Drive pulley for driving the crawler belt is advantageous because the drive of the crawler belt can be placed almost anywhere in / or on the chassis. Since the crawler belt is a circulating crawler belt, the drive letter can be placed anywhere along the course of the crawler belt to drive the crawler belt. This allows a high degree of design freedom and thus the use of the chassis in different driving devices, such as in mobile assistance systems. The chassis may further comprise a drive, which at least one

Rear wheel and / or a front wheel and / or the at least one crawler belt drives, wherein the drive preferably comprises an electric motor.

Electric motors are particularly advantageous for use in confined spaces, as there are no exhaust gases. Furthermore, electric motors can be easily controlled, whereby the chassis and / or the driving device can be used in many ways. In particular, the power provided to the electric motor can be easily adjusted. For example, when crossing an obstacle and / or when moving the driving device on an obstacle, the

Drive power can be increased briefly to override the obstacle without significant speed losses can. This allows a fluid overrun of the obstacle.

The rear wheel tread and / or the front wheel tread may protrude toward the ground via the crawler belt tread at a distance "b", wherein the distance "b" may be at least 1 cm, preferably at least 2 cm, and most preferably at least 5 cm.

A distance "b" between the rear wheel tread and / or the front wheel tread and the crawler belt surface towards the ground allows the running gear to be driven with the wheels, even if there are small obstacles or bumps on the ground Obstacles through carpet edges, door thresholds and / or the like may occur In the outside area, smaller obstacles may be present due to different floor coverings, smaller stones and / or the like.

Depending on the distance "b", such smaller obstacles may be run over without the use of the crawler belt, but if obstacles with a vertical extent exceeding the distance "b" are encountered, the caterpillar belt automatically engages with the obstacle and the landing gear or chassis The driving device is moved to / over the obstacle.

Starting a special action to override the obstacle is not necessary. Rather, the chassis or the driving device directly with the

Intervene obstacle and start overcoming the obstacle. The distance "b" can be selected depending on the typical field of application of the chassis or the driving device, for example, a distance of at least 1 cm in the case of a predominant Operation in confined spaces or on flat surfaces advantageous. In particular, if the driving device is to be used as a mobile assistance system and the assisted person can only walk very cumbersome, a support when driving over obstacles can be advantageous even with very small obstacles. On the other hand, if the supported person is more agile, larger distances can be selected in order to be able to drive over even larger obstacles without the help of the caterpillar track.

The rear wheel tread and / or the front wheel tread may protrude toward the floor via the crawler belt tread at a distance "b", wherein the distance "b" may be variably adjustable, preferably in the range of o cm to 10 cm, preferably in the range of 1 cm to 8 cm, and most preferably in the range of 2 to 5 cm.

In particular, it is advantageous to make the distance "b" variably adjustable, which makes it possible to adapt the chassis or the driving device to changing conditions, such as ground conditions.The distance "b" can be manually adjustable or the chassis can be set up in such a way. For example, the distance can be adjusted by lowering the crawler belt or lifting the wheels so that different driving modes can be set and the operator can, for example, work on different surfaces such as parquet or laminate flooring, carpets, paved paths .

Cobblestone, dirt roads and / or the like react. Furthermore, the chassis may comprise at least one guide roller, which

Guide roller leads the rotating crawler belt, wherein the guide roller is arranged relative to the front wheel and / or rear wheel to the bottom adjustable.

The use of a guide roller makes it possible to adjust a part of the crawler belt to the ground relative to the running surfaces of the front wheel and / or the rear wheel. The circulation geometry of the crawler belt is changed by the adjustment of the guide roller. If the adjustable guide roller, for example, arranged between a front wheel and a rear wheel, so can

Caterpillar tread surface are pressed onto the ground. It may also be possible, if the crawler belt so over the tread of the front wheel protrudes, that it is guided obliquely forward in the direction of travel, to adjust the angle of the crawler under which it protrudes beyond the front wheel. This allows a different obstacle overshoot characteristic. In particular, the angle at which the chassis / driving device passes over obstacles can thus be adjusted. The crawler belt may be arranged to be adjustable relative to the front wheel and / or rear wheel to the ground, so that the crawler belt running surface relative to

Rear wheel tread and front wheel tread is set up so that the propulsion of the driving device can be done by means of the crawler belt. Thus, the crawler belt permanently for propulsion - even on flat surfaces - are used. This improves the off-road capability of the driving device /

Landing gear. Especially outdoors, different surfaces can be used. If the ground is just enough to ensure propulsion with the wheels, an energy-efficient driving mode can be selected. However, if the ground is sufficiently uneven, such as a dirt road or a meadow, or if the ground is slippery, such as snowfall and smoothness, can be switched from propulsion by means of the wheels on a propulsion means of the track belt. This leads to increased traction and safe movement of the chassis / the driving device. At least two wheels from the group of the rear wheels and / or the front wheels may be driven wheels, wherein the chassis preferably comprises at least two caterpillars, wherein each crawler preferably one of the driven wheels is assigned, and wherein each crawler belt is preferably arranged to drive power to the associated to transmit and / or receive driven wheel.

If two driven wheels are provided powered, so can one

more uniform drive of the drive can be ensured. In particular, the two driven wheels may be two rear wheels or two front wheels. This allows the drive of the chassis / driving device, even if only a slight traction for a wheel is available on one side. The crawler belt can be guided in this case between the driven wheels. Alternatively, two crawler belts may be provided, wherein each crawler belt is preferably associated with one of the driven wheels. In particular, the two

Crawler belts or two driven wheels each have their own drive, whereby a high maneuverability can be achieved. In particular, it is thus possible to drive the wheels and / or crawler belts at different speeds or in opposite directions. Alternatively, the at least two driven wheels and / or crawler belts can be driven by only one drive and / or be coupled via a differential gear. By providing the caterpillar belt and the wheels it is possible the

Increase the tipping stability of the drive / chassis. In particular, when the crawler belts are arranged so as to enclose the wheels therebetween, the tipping stability of the chassis can be significantly increased. If the chassis tilted while driving in the plane, the crawler belts could catch a tipping over and push the chassis / the driving device back into the starting position.

The chassis may further comprise at least one guide roller, which guide roller is adapted to tension the crawler belt, wherein the at least one guide roller is resiliently mounted. If the crawler belt tensioned by a guide roller, so a constant crawler belt tension can be maintained. This is especially true

Overcoming obstacles advantageous because the contact with the obstacle allows rapid intervention between crawler belt and obstacle. In contrast to non-tensioned crawler belts, it is not necessary initially to build up a sufficiently high tension in order to engage the crawler belt with the obstacle in order to start overcoming the obstacle.

Furthermore, a tensioned crawler allows the obstacle to drive over at shallow angles, since the obstacle has only a minor influence on the circulating geometry of the crawler belt. In other words, the obstacle does not press strongly when driving over in the crawler belt or pushes the crawler belt only slightly inward, so that the crawler belt can be continued with substantially unchanged Umlaufgeometrie.

The at least one guide roller can be arranged in front of the chassis in the direction of travel, so that the chassis is sprung with the intervention of the crawler belt running surface with an obstacle. If the at least one guide roller, which is spring-mounted, arranged on the front of the chassis, a shock, which arises when starting the obstacle, be cushioned. This leads to an obstacle to a liquid transition between the ride in the plane and the crossing of the obstacle. When descending from an obstacle, the spring-loaded guide roller leads to a gentle placement of the chassis /

Driving device on the ground. This is particularly advantageous when the driving device is used as a mobile assistance system, since the resulting shock is not transmitted or only attenuated to the user. In particular, the guide roller may be mounted on a resilient rocker which is in contact with the obstacle moved towards the inside of the crawler belt. Other resilient bearings, such as axially guided sprung bearings, are also possible.

The landing gear may further comprise at least one sliding plate, which sliding plate is disposed adjacent to an inner side of the crawler belt, and forms an abutment for the crawler belt when an obstacle to be crossed urges the crawler belt in the direction of the sliding plate.

The sliding plate can be arranged in particular between the front wheel and the rear wheel. Likewise, a sliding plate in the direction of travel be mounted on the front of the chassis, for example, an obliquely upward caterpillar track, which protrudes beyond the Vorderradlauffläche a suitable abutment when exceeding

To offer obstacles. If an obstacle is exceeded, the crawler belt is forced to the inside. The sliding plate is arranged such that the post-inner urging is limited and the crawler belt can slide with its inside over the slide plate. Thus, the sliding plate is an abutment. This allows obstacles to drive over at a shallow angle and prevents a steep

Aligning and / or tilting the chassis / drive when obstacles are exceeded. Likewise, it is ensured by the sliding plate, that the driving equipment / the chassis can be moved up completely on an obstacle. Due to the counter-bearing function of the sliding plate, a secure engagement between the crawler belt and the obstacle is made possible.

The crawler belt tread and / or the inside of the crawler belt can

Have driving elements. The driver elements, which on the

Track belt running surface can be arranged, increase the traction between crawler belt and ground or the obstacle and thus facilitate the

Intervention of the crawler belt with the obstacle. The driver elements may be in the form of projections, such as knobs or ribs or in the form of recesses and / or the like.

Traction elements on the inside of the crawler belt allow efficient transmission of drive power to the track belt, such as a

Drive pulley can couple with the driver elements to transfer drive power to the crawler belt. In particular, the driver elements may be formed on the inside of the crawler belt as a toothed belt and / or the like. The crawler belt may comprise an elastomeric plastic and / or a metal, and be formed in one piece or comprise a plurality of crawler belt links.

Crawler belts of elastomeric plastics are characterized in particular by the fact that the crawler belt can be formed in one piece. Furthermore, tracks made of elastomeric plastics are particularly suitable for interiors, as they are less prone to damage to surfaces. Metallic caterpillars, on the other hand, have a long service life and can be particularly advantageous in outdoor use. Metallic crawler belts are typically formed as caterpillars or caterpillars, which are composed of several caterpillar belt links. The chassis may further comprise at least one sensor for monitoring the tension of the crawler belt. A sensor for monitoring the voltage of the

Crawler belt can indicate if the crawler belt has hit an obstacle. If this is detected, the drive power can be increased in order to be able to drive over the obstacle at a constant speed, for example. The sensor may be designed, for example, as a button, which is triggered during the inward urging of the crawler belt. Likewise, optical, acoustic, mechanical

Sensors and / or the like possible. If a plurality of crawler belts are used, and the crawler belt tension of each crawler belt is monitored, it can be determined by means of the sensors whether and / or at what angle

Obstacle was approached.

The chassis can have at least one lowering element, which lowering element protrudes counter to the direction of travel over a rear wheel tread, and is adapted to intervene when crossing an obstacle with the rear wheel with this obstacle and to brake the lowering of the rear wheel, wherein the lowering element is preferably biased such that it returns to its original position after exceeding the obstacle.

The lowering element is preferably designed in the form of a rocker, which is coupled via a spring damper system with the chassis. In particular, when descending from an obstacle, the lowering, after the rear wheel has moved down from the obstacle, but has not reached the ground, engage with the obstacle. The lowering of the rear wheel on the ground is braked by the spring damper system, so that a gentle positioning of the rear wheel is possible. This is particularly advantageous when using the driving device as a mobile assistance system, or if, for example, sensitive sensors on the driving device is installed. The pre-tensioned lowering element makes it possible to run over obstacles or descend obstacles in quick succession, for example in the case of a staircase, in order to reduce and / or avoid impacts when placing the chassis / driving device with the rear wheel on the ground. The above object is further achieved by a stepless driving device, which driving device has an inventive chassis, wherein the driving device is preferably a mobile assistance system. The use of the chassis in mobile assistance systems makes it possible to use such driving devices or mobile assistance systems indoors and outdoors. Likewise, other driving devices, such as ground-based drones can be equipped with the chassis and used indoors and outdoors.

The driving device may comprise at least one aperture which at least partially conceals the crawler belt, wherein the aperture is arranged to be displaceable.

The aperture prevents a user or objects unintentionally with the

Crawler belt come into contact and block this and / or damage. Likewise, the risk is reduced that a user, a pet or the like is injured by the circumferential crawler. The panels are slidably adjusted so as not to restrict the functionality of the chassis. In particular, in the front region of the chassis, the panels are preferably arranged such that the crawler belt can engage with obstacles. When obstacles are crossed, the cover, which covers the crawler belt at least partially, is displaced in such a way that the crawler belt can engage with the obstacle. Likewise, the aperture can be moved so that when the crawler belt is to be used for propulsion of the driving device, no interference is caused by the aperture. The driving device may further include at least one sensor, wherein the sensor is adapted to detect a position and / or speed of the at least one aperture. A sensor which can detect the position and / or the speed of the diaphragm can, for example, be used to determine from which side and / or at which angle an obstacle has been approached. It is also possible to monitor whether the diaphragm (s) are in the desired position or whether there may be an error. If there is an error, the crawler belt can be stopped. A possible cause of the error may be that the diaphragm (s) is moved unintentionally. In this case, the caterpillars would pose a potential risk of injury to humans, pets and / or the like.

The chassis and / or the driving device can continue to at least one

Tilt sensor have. Inclination sensors make it possible to determine whether an obstacle is being driven over and at what angle it is being driven over. Thus, the control of the drive / the chassis can be adjusted.

Description of the figures

In the following, different aspects of the invention will be explained in more detail with reference to the figures. In particular shows

Figure l is two schematic views of a driving device;

Figure 2A is a schematic view of a stepless chassis;

Figure 2B is a schematic view of part of the steerable chassis of

Figure 2A;

Figure 3A is schematic views of the steerable chassis of Figure 2A at

Moving the driving device to an obstacle;

FIG. 3B shows schematic views of the steerable chassis of FIG. 2A in FIG

Moving the driving device over an obstacle;

Figure 4A is a schematic view of a steerable chassis with a

lowering member;

Figure 4B is a schematic view of a lowering element;

Figure 4C are schematic views of the riser chassis of Figure 4A at

Moving the driving device over an obstacle, and

Figure 5 is a schematic view of a steerable landing gear during a

Cross-country drive.

In particular, Figure 1 shows two views of a driving device. The driving device 1 is a mobile assistance system which is set up to assist persons with restricted walking ability while walking. The driving device 1 has handles 20, 22, which allow a user to hold on to it. Furthermore, the Drive l a chassis 100, which is described in more detail in the following figures. The chassis 100 is covered by the sliding panels 14, 16. In particular, the diaphragm 14 can be pivoted about the pivot point 12 in order to be displaced. In particular, the panels 14, 16 protect the user and the environment from contact with the crawler belts. Towards the front, the crawler belt of the chassis 100 is exposed, so that the crawler with

Obstacles can intervene and the obstacles can be run over.

FIG. 2A shows a chassis 100, which comprises a front axle 129 and a rear axle 126. The front axle 129 is associated with a front wheel 128 having a front wheel tread 128a. The rear axle 126 is associated with a rear wheel 125 having a rear wheel tread 125a. Furthermore, the chassis 100 has a crawler belt 110, which has an outwardly directed tread 110a and an inner side 110b.

On the crawler belt running surface 110a driver elements 112 are arranged, which are formed in the form of projections. These projections simplify the

Engagement with an obstacle and increase the traction of the crawler belt tread 110a. On the inner side 110b of the crawler belt 110 driver elements 114 are applied, which are formed in the form of a toothed belt. The

Carrier elements 110b can engage with a drive pulley 138 and serve to drive the crawler belt 110.

The drive pulley 138 is, for example, by an electric motor 140th

driven. Via the crawler belt 110, a coupling disk 132 can be driven, which is arranged concentrically with the rear wheel 125 and is coupled thereto via the rear axle 126. Consequently, via the coupling disc 132nd

Drive power from the track 110 on the rear wheel 125 are transmitted. The rear wheel is thus a driven wheel. The front wheel 128 is not driven and is moved passively. Since the coupling disk 132 has a smaller diameter than the rear wheel 125, the crawler belt 110 runs with a smaller one

Circumferential speed [m / s] as the rear wheel 125. The rear wheels 125 and the front wheel 128 form a wheel gear 120, which is shown in detail in Figure 2B. The chassis further comprises guide rollers 134 and 136. The guide roller 136, which guides the crawler belt 110, is resiliently mounted via a rocker 152 and via a spring 150 or a spring damper element. A button / sensor 160 is configured to monitor the tension of the crawler belt 110. This is done in the embodiment shown in that upon contact of the crawler belt with an obstacle, the guide roller 136, which on the

Rocker 152 is mounted, is pushed inward and the button 160 is actuated. Consequently, a change in tension of the crawler belt 110 can be detected.

Furthermore, the front wheels / rear wheels and the crawler belt are arranged such that the running surfaces 125a, 128a of the wheels 125, 128 project toward the ground at a distance "b" above the crawler belt running surface 110a.

FIG. 2B shows the wheel chassis 120, which is a part of the chassis according to the invention, and which comprises a frame 122. Furthermore, this includes

Wheels 120 the rear axle 126 and the front axle 129. The rear axle 126 is preferably a rigid axle, while the front axle 129 is a pivotable axle, which may be formed for example as a swing axle. Of the

Front axle 129 is associated with the front wheel 128. The rear axle 126 is associated with the rear wheels 124 and 125, each having a rear wheel tread 124a, 125a. Particularly preferably, the wheel chassis comprises three wheels 124, 125, 128, wherein a pivotable front wheel 128 and two rigid rear wheels 124, 125 are provided. FIG. 3A shows schematic views of the steerable chassis 100 when moving the driving device 1 onto an obstacle 50. The obstacle 50 is a step in the illustrated example. In step S 1, the crawler belt 110 engages with the obstacle 50. In this case, the guide roller 136 springs in to cushion the impact of the impact between the crawler belt 110 and the obstacle 50. In particular, a driver element 112 engages with the obstacle 50 in order to move the driving device onto the obstacle 50 in step S2.

First, the front wheel 128 is raised. Since the crawler belt 110 has a lower circulation speed than the rear wheel 125, the crawler belt is pressed against the obstacle 50, whereby a secure engagement is possible. In step S3, the front wheel 128 has already been moved over the step. The

Crawler belt 110 is urged by the step 50 against a sliding plate 142, which slide plate 142 serves as an abutment for the crawler belt 110. This makes it possible to drive over the obstacle 50 at a shallow angle. Furthermore, thus, the rear wheel 125 can be moved up to the obstacle 50, since the Crawler belt 110 engages with the obstacle and temporarily takes over the propulsion. In step S4, the front wheel 128 is already back in contact with the ground and the rear wheel 125 is just in contact with the obstacle 50. From this point, the propulsion can be made again with the wheels. The track belt 110 is again spaced from the ground / floor after passing over the obstacle 50.

FIG. 3B shows the opposite case, namely the descent of a step or obstacle 50 by means of the chassis 100. First, the landing gear 100 is moved beyond the step 50 (step S5). In step S6, the front wheel 128 of the undercarriage 100 is in the air. The crawler 110 is urged by the step / obstacle 50 against the slide plate 142, whereby the propulsion is realized by means of the crawler belt 110. In step S7, the crawler 110, which projects beyond the front wheel 128, hits the ground. In this case, the guide roller 136 is urged inwards and absorbs the resulting shock. The crawler belt 110 is still used for propulsion in step S7. In step S8, the rear wheel 125 engages the step / obstacle 50 and guides the chassis 100 further forward. Consequently, the chassis / driving device can be moved down from the step. In particular, due to the slide plate 142 may when driving uphill as well as when descending

Stages / obstacles a flat travel angle can be realized. This is particularly advantageous in mobile assistance systems. Figure 4A shows a chassis 100, which is additionally equipped with a lowering element 170 on the rear wheel 125. As can be seen in FIG. 4B, the lowering element 170 projects beyond the running surface 125a of the rear wheel 125 and is secured by means of the

Spring damper system 176, 178 biased in the position shown in Figure 4B. The lowering element 170 comprises a rocker 172 and a lower stop 174. FIG. 4C schematically illustrates the mode of operation of the lowering element 170. In particular, in steps S9 to Sil, the lowering of the chassis 100, which is illustrated here only by the rear wheel 125, is shown schematically. When the rear wheel 125 is moved beyond the step / obstacle 50, the lowering member 170 engages the step 50 before the rear wheel 125 touches the ground. Because of the spring damper system 176, 178, the lowering of the rear wheel is decelerated. If the rear wheel is now moved further, and the Absenkelement comes out of engagement with the step 50, this oscillates due to the spring force of the spring 178 back to the starting position and is ready to support a new ride down. FIG. 5 shows the landing gear 100 during an off-road drive. As can be seen, the ground or surface has unevenness. In this case, the guide rollers! _34>! 36 can be moved towards the ground relative to the wheels 125, 128th As a result, the crawler belt running surface 110a is brought into contact with the ground, so that now the crawler belt running surface projects beyond the running surfaces of the wheels towards the ground. In this configuration, the crawler 110 drives the carriage 100. This embodiment allows the distance b between the

Caterpillar track running surface and the wheel treads to the bottom to set variable. The adjustability can of course also be done by other means. The further reference symbols of FIG. 5 correspond to the reference symbols of FIG. 2A.

LIST OF REFERENCE NUMBERS

1 driving device

12 pivot

14, 16 aperture

20, 22 handle

100 chassis

110 crawler belt

110a crawler belt tread

110b inside

112, 114 driver element

120 wheels chassis

122 frame

124, 125 rear wheel

124a, 125a rear wheel tread

126 rear axle

128 front wheel

128a front wheel tread

129 front axle

132 coupling disc

134, 136 Leadership

138 drive pulley

140 motor / drive

142, 144 sliding plate

150 spring damper element

152 swingarm Obstacle / level distance

Claims

Claims 1 to 23

1. A climbing chassis (100) for a driving device (1), wherein the chassis (100) comprises:

at least one circumferential crawler belt (110) having an outward crawler belt tread (110a);

a rear axle (126) associated with at least one rear wheel (124, 125) having a rear wheel tread (124a, 125a);

a front axle (129) associated with at least one front wheel (128) having a front wheel tread (128a),

wherein the wheels and the crawler belt are arranged such that the

Rear wheel tread (124a, 125a) and the front wheel tread (128a) protrude to the ground over the crawler belt tread (110a), so that the propulsion of the driving device in the plane can take place by means of the wheels,

and wherein the crawler belt running surface (110 a) in the direction of travel at least partially beyond the front wheel tread surface (128 a) protrudes in the direction of travel with a

To be able to intervene obstacle (50), so that the crawler belt, the driving device (1) on and / or over the obstacle (50) can move.

2. A climbing chassis (100) according to claim 1, wherein at least one rear wheel (124, 125) and / or a front wheel (128) is a driven wheel (124, 125), and wherein the crawler belt (110) drives power to the driven wheel (124, 125) transmits and / or receives from this.

3. A climbing chassis (100) according to claim 2, wherein the at least one driven wheel (124, 125) and the at least one crawler belt (110)

have different rotational speeds in [m / s], wherein the

Circumferential speed of the crawler belt (110) is preferably less than the rotational speed of the driven wheel (124, 125) on the running surface of the wheel.

4. A climbing chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises a coupling means (132) for coupling the crawler belt (110) to at least one of the wheels, and wherein the coupling means (132) is adapted to to transmit forces between the crawler belt and the wheel or the wheels.

5. Climbing chassis (100) according to claim 4, wherein the coupling means (132) is a coupling disc over which the crawler belt runs, wherein the coupling disc is arranged concentrically to the at least one rear wheel (124, 125) and / or front wheel (128) , and is preferably connected to it via a common axis.

6. A climbing chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises a drive pulley (138) which is adapted to drive the at least one crawler belt (110).

7. Steigfähiges chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises a drive (140), which at least one rear wheel (124, 125) and / or a front wheel (128) and / or the at least one Crawler belt (110) drives, wherein the drive (140) preferably comprises an electric motor.

8. A climbing chassis (100) according to any one of the preceding claims, wherein the rear wheel tread (124a, 125a) and / or the front wheel tread (128a) project toward the ground beyond the crawler belt tread (110a) at a distance (b), and wherein

the distance (b) at least 1 cm, preferably at least 2 cm and on

most preferably at least 5 cm.

9. A climbing chassis (100) according to any one of the preceding claims, wherein the rear wheel tread (124a, 125a) and / or the front wheel tread (128a) project toward the ground beyond the crawler belt tread (110a) at a distance (b), and wherein

the distance (b) is variably adjustable, preferably in the range of o cm to 10 cm, preferably in the range of 1 cm to 8 cm and most preferably in the range of 2 to 5 cm.

10. A climbing chassis (100) according to one of the preceding claims, wherein the chassis comprises at least one guide roller (134, 136), which guide roller (i34 _> 136) guides the circulating crawler belt (110), and wherein the guide roller (134, 136) relative to the front wheel (128) and / or rear wheel (124, 125) is arranged adjustable to the ground.

11. Steigfähiges chassis (100) according to any one of the preceding claims, wherein the crawler belt (iio) relative to the front wheel (128) and / or rear wheel (124, 125) is arranged adjustable to the ground, so that the crawler belt running surface (110 a) relative to the rear wheel tread (124a, 125a) and front wheel tread (128a) can be set up such that the propulsion of the driving device by means of the crawler belt can be done.

12. Steigfähiges chassis (100) according to any one of the preceding claims, wherein at least two wheels from the group of rear wheels (124, 125) and / or the

Front wheels (128) are driven wheels (124, 125, 128), and wherein the chassis (100) preferably comprises at least two crawler belts (110), each one

Crawler belt (110) is preferably associated with one of the driven wheels (124, 125), and wherein each crawler belt (110) is preferably configured to transmit and / or receive drive power to and from the associated driven wheel (124, 125, 128) ,

13. Steigfähiges chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises at least one guide roller (134, 136), which guide roller (134, 136) is arranged to tension the crawler belt, wherein the at least one guide roller (134, 136) is resiliently mounted.

14. Steigfähiges chassis (100) according to claim 13, wherein the at least one guide roller (136) in the direction of travel front of the chassis (100) is arranged, so that the chassis (100) upon intervention of the crawler belt running surface (110 a) with an obstacle (50) sprung becomes.

15. A climbing chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises at least one sliding plate (142, 144), which sliding plate (142, 144) adjacent to an inner side (110b) of the crawler belt (110) is and forms an abutment for the crawler belt (110) when an obstacle (50) to be traveled urges the crawler belt (110) in the direction of the slide plate (142, 144).

16. A climbing chassis (100) according to any one of the preceding claims, wherein the crawler belt running surface (110a) and / or the inside (110b) of the crawler belt (110) driving elements (112; 114).

17. A climbing chassis (100) according to any one of the preceding claims, wherein the crawler belt (110) comprises an elastomeric plastic and / or metal, and is integrally formed or comprises a plurality of crawler belt links.

18. Steigfähiges chassis (100) according to any one of the preceding claims, wherein the chassis (100) further comprises at least one sensor (160) for monitoring the

Has tension of the crawler belt (110).

19. A climbing chassis (100) according to one of the preceding claims, wherein the chassis (100) has at least one lowering element (170), which

Lowering element (170) counter to the direction of travel via a rear wheel tread

(125a) survives, and is set up

when an obstacle (50) with the rear wheel (124, 125) with this obstacle (50) to intervene and braking the lowering of the rear wheel (124, 125), wherein the lowering element (170) is preferably biased so that it exceeds the obstacle returns to its original position.

20. Steigfähiges driving device (1), wherein the driving device (1) comprises a chassis (100) according to one of claims 1 to 17, wherein the driving device (1) is preferably a mobile assistance system.

21, climbing device (1) according to claim 20 wherein the driving device (1) at least one aperture (14, 16), which covers the crawler belt (110) at least partially, wherein the aperture (14, 16) is arranged displaceably.

22. A climbing capable driving device (1) according to claim 21, wherein the driving device (1) further comprises at least one sensor, wherein the sensor is adapted to detect a position and / or speed of the at least one diaphragm (14, 16).

23. Steigfähiges chassis (100) or driving device (1) according to one of the preceding claims, wherein the chassis (100) and / or the driving device (1) have at least one tilt sensor.