WO2017220546A1 - Dispositif d'aide à la montée pour une roue - Google Patents

Dispositif d'aide à la montée pour une roue Download PDF

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Publication number
WO2017220546A1
WO2017220546A1 PCT/EP2017/065039 EP2017065039W WO2017220546A1 WO 2017220546 A1 WO2017220546 A1 WO 2017220546A1 EP 2017065039 W EP2017065039 W EP 2017065039W WO 2017220546 A1 WO2017220546 A1 WO 2017220546A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
pivot lever
obstacle
actuator
pivoting
Prior art date
Application number
PCT/EP2017/065039
Other languages
German (de)
English (en)
Inventor
Martin Riedel
Tim Guhl
Original Assignee
Kuka Roboter Gmbh
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 Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2017220546A1 publication Critical patent/WO2017220546A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B62B5/023—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs using an upwards pushing device
    • 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
    • A61G5/061—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 for climbing stairs
    • 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
    • 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
    • A61G5/068—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 extensible supports pushing upwards, e.g. telescopic legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/40—General characteristics of devices characterised by sensor means for distance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A61H2201/5066—Limit switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors

Definitions

  • the invention relates to a climbing device for a wheel, in particular for wheels of a driving device and a corresponding driving device, wherein the climbing device has at least one pivot lever and an actuator.
  • Wheel-based rides come in many areas, such as the industrial one
  • radar-based driving is also an integral part of many healthcare and assistance products, such as non-propelled roilers or powered mobility support systems such as the KUKA Mobility Assistant MAID.
  • wheelsets offer advantages when driving on level surfaces, but can only pass over obstacles such as steps and / or thresholds.
  • the wheels To be able to run over curbs, the wheels must be sufficiently large to allow a safe crossing of the obstacles.
  • the object of the present invention is to provide a climbing aid
  • the climbing device should be used both for driven and for freely rotating wheels and for castors, actively steered wheels, wheels on rigid axles or in a chassis.
  • Wheels may be classic wheels, wheels or special forms of wheels, such as Mecanum wheels or omnidirectional wheels.
  • the climbing device is to be automatically activated both when driving up and down from an obstacle and not externally, in particular not by the user, must be triggered.
  • the up and down of an obstacle should be carried out at a reasonable speed, without the user having to wait consciously before an obstacle.
  • the climbing device should be protected against misuse and also tolerate an oblique approach of obstacles.
  • the object is achieved at least in part by a climbing aid device according to claim 1 and a driving device according to claim 9.
  • the object is achieved by a climbing device for at least one wheel of a driving device, wherein the climbing device a rigid pivot lever, which a first
  • Swivel lever end and a second pivot lever end comprises, and wherein the pivot lever is rotatably mounted, and at least one wheel can be assigned such that the first pivot lever end in the direction of travel A on the
  • the Steig Anlagenvorraum also includes at least one actuator which is adapted to the pivot lever from a first position to a second position
  • Driving devices in the sense of the present application can be any driving devices which have a wheel-based chassis.
  • driving devices are used in mobile robot applications, such as, for example, in mobile platforms which guide an industrial robot or in mobility assistance systems.
  • the rigid pivoting lever which comprises a first and a second pivot lever end typically has a bearing point on which it is rotatably mounted. This bearing point is located between the first and second pivot lever end. If one of the swivel lever ends is moved, the other swivel lever end is moved by means of the rigid swivel lever corresponding to the bearing point.
  • the rigid pivot lever may be adapted to one side, d. H. at a
  • the pivot lever may have a recess to at least partially enclose the associated wheel.
  • the rigid pivot lever can form a frame that encloses the wheel.
  • the pivot lever ends are adapted to intervene with an obstacle, wherein the intervention with the obstacle can be done either directly or indirectly.
  • a direct intervention leads to a sliding contact between the
  • Swivel lever end and the obstacle may be attached to the pivot lever end / the pivot lever ends.
  • the pivot lever end then engages indirectly, by means of the corresponding component with the obstacle.
  • the first pivot lever end which protrudes in the direction of travel over the wheel circumference of the wheel adapted to lift the wheel on an obstacle.
  • the first pivot lever end is placed on an upper side of the obstacle, so that the pivot lever end engages with the obstacle and then lowered by means of the actuator.
  • the wheel is raised and can be led up to the obstacle.
  • the second pivot lever end which protrudes counter to the direction of travel over the wheel circumference of the wheel to set the wheel of a To bring down the obstacle.
  • the second pivot lever end engages with the obstacle when the wheel has been led beyond an edge of the obstacle. Due to the second pivot lever end, the wheel does not simply descend / descend from the obstacle as the second pivot lever end engages the obstacle and so the suspension is damped down over the pivot lever. This is the second
  • the first pivot lever end is preferably arranged so that it is spaced further from the ground in the vertical direction than the axis of rotation of the wheel, which is associated with the pivot lever. The distance between the first
  • Pivoting lever end and the bottom in the vertical direction corresponds to the maximum rise height h max of the climbing aid device.
  • the maximum rise height hmax should be at least 120 mm, preferably at least 150 mm, and most preferably at least 210 mm. These heights allow a driving device on obstacles such as curbs up or lead down.
  • the second pivot lever end in the first position is preferably arranged so that it is not in contact with the ground.
  • the distance of the second pivot lever end to the ground in the vertical direction is to be selected so that the second pivot lever end is not in contact with the ground when driving on level ground and engages as quickly as possible with an obstacle during the descent.
  • the second pivot lever end is spaced vertically from the ground by at least 10 mm, preferably at least 20 mm, and most preferably at least 50 mm.
  • the actuator which pivots the pivoting lever from a first position to a second position, may for example be an electric motor.
  • the actuator may comprise a spring element which is adapted to move the pivot lever in only one direction.
  • the actuator may comprise a bimetallic element, a shape memory alloy element, a lift cylinder and pneumatic, electric and / or hydraulic actuators.
  • the pivot lever may be associated with a wheel of a driving device and rotatably mounted about an axis of the wheel, whereby space can be saved.
  • the axis of the wheel and the axis of the pivot lever can be integrally formed, whereby further space can be saved and the number of parts of the driving device can be reduced.
  • pivot lever it is also possible to assign the pivot lever to a wheel of a driving device and to support it rotatably about an axis which does not correspond to the axis of the wheel.
  • the axis of the pivoting lever may be offset in the vertical direction by a distance, which distance is preferably in the range of 0 to 10 cm, preferably in the range of 2 to 8 cm and most preferably in the range of 4 to 6 cm.
  • the maximum climbing height of the climbing device / the wheel can be increased.
  • a roller may be arranged on at least one of the swivel lever ends, wherein preferably at least one of the rollers, and in particular the roller, which is arranged on the second swivel lever end, is at least partially covered with a cover, wherein the cover is arranged with a Obstacle to intervene when the wheel is led down from the obstacle.
  • rollers on one or both of the pivot lever ends allows for efficient engagement with the obstacle, as the rollers on the pivot lever ends
  • the roller which is arranged on the first swivel lever end, can be arranged to be rotatable in only one direction, so that when the wheel is guided onto an obstacle, an accidental down-shift can be avoided.
  • the roller which is arranged on the second pivot lever end, may also be mounted stiff, so that too fast rolling down from the obstacle can be prevented.
  • the roller can be mounted so that the bearing friction of the role is dependent on the angle.
  • the roller may be provided with less bearing friction so that the last part of the downhill run can be made faster.
  • a cover can furthermore be provided, which is arranged on the second swivel lever end about the roller in such a way that during the descent of the Rades of an obstacle initially the cover with the obstacle is engaged, whereby a sliding contact with high friction is provided. That is, the lowering is initially performed slowly.
  • the cover can be brought out of engagement with the obstacle and the role can intervene with the obstacle, so that the last part of the down can be performed faster.
  • the rollers which are arranged on the swivel lever ends may have a wider running surface than the wheel, which is associated with the swivel lever.
  • a climbing ability can be provided even if the obstacle is not approached vertically, but for example at an angle which is in the range of 45 0 to 90 °, preferably in the range of 6o ° to 90 0, most preferably from 75 0 to 90 0 is.
  • the angle is the angle that includes the direction of travel A and an edge of the obstacle with each other.
  • the actuator may comprise a spring element and a return element, wherein the spring element is adapted to be biased in the first position and to pivot the pivot lever in the second position, and the
  • Reset element is adapted to bias the spring element.
  • the spring element may for example be a coil spring, a gas spring and / or another spring.
  • the spring element is characterized in that it can move the pivot lever from the first position to the second position.
  • the restoring element is in particular configured to bias the spring element.
  • the return element can be designed such that it uses the movement of the wheel to bias the spring element. For example, a belt that is wound around the axis of the wheel can be used to bias the spring element.
  • the restoring element should be adapted to bias the spring element in a time span of less than 15 seconds, preferably less than 10 seconds, and most preferably less than 5 seconds, so that the actuator is ready again after the time has elapsed to release the pivoting lever from the move the first position to the second position, ie to guide the wheel when approaching an obstacle.
  • the spring element may be formed as a compression spring, and engage between the bearing of the pivot lever and the first pivot lever end with the pivot lever or configured as a tension spring and be executed between the bearing point of the pivot lever and the second pivot lever end wherein the spring element in these cases in the vertical direction above the
  • Swing lever is attached. Other arrangements are also possible.
  • the climbing aid device may comprise a locking device which is adapted to block the actuator.
  • the blocking of the actuator prevents pivoting of the pivoting lever by means of the actuator from the first position to the second position.
  • the locking device thus prevents the accidental release of the climbing device and it can be ensured that the climbing device only move up or
  • the locking device can block a spring element such that the
  • Locking device unlocked, the spring element is released and moves the pivot lever from the first position to the second position.
  • the actuator and the pivot lever can be set up so decoupled that the pivot lever can be pivoted from the first position to the second position to lead down the wheel of the obstacle, without activating the actuator.
  • the pivot lever can always be pivoted passively. If the swivel lever is in the first position, the wheel can be guided downwards by an obstacle without the need to activate the actuator. This allows obstacles to descend without having to stop driving to activate the actuator.
  • the climbing aid device may comprise a retarding device, wherein the retarding device is adapted to delay a pivoting of the pivoting lever from the first position to the second position, wherein the retarding device preferably comprises a spring element and / or a
  • the spring element is preferably adapted to move the pivot lever after the lowering of the wheel from an obstacle from the second position to the first position.
  • the delay device preferably comprises a spring element, which in turn may be designed as a compression spring or tension spring.
  • the spring element of the deceleration device is adapted to apply a weaker force and / or a weaker moment to the pivot lever, as it engages the actuator or the spring element of the actuator on the pivot lever.
  • the pivot lever move.
  • a speed-dependent damping element can control the speed of descent from an obstacle.
  • the climbing device may comprise at least one mechanical stop limiting the pivoting of the pivot lever beyond the first and / or the second position, wherein the climbing device preferably comprises a sensor which is adapted to detect the achievement of the second position and to cause that the pivoting of the pivot lever is stopped and / or the direction of the pivoting is reversed.
  • the pivoting range of the pivoting lever can be limited.
  • the stop which limits the first position of the pivot lever, defines the maximum rise height h max of the climbing device.
  • an elastically deformable element can be arranged on at least one mechanical stop, in particular on the mechanical stop, which limits the pivoting of the pivot lever beyond the second position.
  • the elastically deformable element may be arranged on the stop so that it comes into contact with the pivoting lever during the pivoting of the pivoting lever from the first to the second position and then from the pivoting lever
  • Swivel lever is elastically deformed.
  • the second stop which determines the second position of the pivot lever, is preferably arranged and formed such that the pivot lever first only leads the wheel underside to below an obstacle upper side, so that the wheel underside is arranged by the distance ⁇ d below the obstacle upper side.
  • an elastic element can be arranged on the second stop.
  • the wheel can be driven up by further travel drives due to the wheel circumference on the level / the obstacle.
  • Swivel lever end by the amount ⁇ d spaced from the top of the obstacle and the actuator may further lower the first pivot lever and deform the resilient element until the second stop is fully reached. If the second stop is reached, for example, a button or a sensor can be actuated, which activates the return element of the actuator to bias the spring element of the actuator again.
  • the actuator itself may be the rear portion of the
  • a time monitoring device such as a timer can be provided, which is set up to specify how long the pivot lever is to be moved from the first position to the second position. When the timer has expired, the swivel lever can be moved back to the first position.
  • the timer or the time monitoring device may include electronic and / or mechanical components.
  • the pivot lever moves from the first position into the second position without lifting, because the swivel lever end or a corresponding roller on the
  • the climbing aid device may comprise at least one obstacle detection device which is adapted to detect a surmountable obstacle and to cause the actuator to pivot the pivot lever from the first position to the second position.
  • An obstacle recognition device is preferably attached to the climbing device so that only surmountable obstacles are detected as obstacles that exceed a certain minimum height h m i n . This can be achieved, for example, in which the obstacle recognition device comprises a button which must mechanically come into contact with an obstacle in order to be actuated.
  • the button is mounted at the height h m i n , then it comes into contact only with obstacles that have at least one height h m i n .
  • optical sensors and / or the like can be used to detect obstacles.
  • a corresponding button or the obstacle detection device may be arranged so that it can only mechanically come into contact with an obstacle when the obstacle has a height h which is smaller than that maximum height of rise h max . This can for example be achieved by the button in the direction of travel not over the first pivot lever end, or the role at the first pivot lever end (climbing roller), protrudes.
  • the actuator can be activated only if the obstacle is an insurmountable obstacle with h m i n ⁇ h ⁇ h max .
  • the obstacle detection device may be a purely mechanical system which, for example, by contact with an obstacle
  • the obstacle recognition device comprises a sensor and a control device, which control device controls an actuator based on a sensor signal of the sensor such that the pivot lever is pivoted from the first position to the second position.
  • the obstacle recognition device may be arranged such that it can only be operated when the obstacle is smaller than the maximum height of rise hmax. Thus, it can be prevented that the climbing device is activated when the wheel is steered, for example, against a wall.
  • the climbing aid device may comprise an edge sensor, which is preferably an optical sensor.
  • the edge sensor may detect an edge of an obstacle such as a step edge after passing the obstacle with the wheel, and a controller may use a corresponding sensor signal to control a climbing aid or to control the actuator of the climbing aid to cause an accidental Shut down from the step / obstacle is prevented.
  • Edge detection sensor is preferably an optical sensor.
  • the object is further achieved by a driving device which comprises at least one wheel and a climbing aid device, as described above.
  • a driving device such as a mobility support system or a mobile manipulator platform provided with a corresponding climbing device, so the device itself can be carried out rising and, for example, steps and / or descend or descend stairs.
  • Fig. L is a schematic representation of a climbing aid device
  • FIG. 2 shows a schematic sequence of the rising by means of the climbing aid device from FIG. 1;
  • FIG. 3 shows a schematic sequence of the lowering by means of the climbing aid of FIG.
  • Fig. 4 is a schematic representation of a climbing aid device, wherein the roller is partially covered at the second pivot lever end, and
  • Fig. 5 is a schematic representation of another climbing device.
  • FIG. 1 shows a climbing aid device 1, which comprises a wheel 10 and a pivoting lever 20.
  • the wheel 10 includes an axle 12 which is rotatably supported.
  • the axle 12 may be rigid or pivotable.
  • the wheel 10 may be a freely rotatable or driven wheel.
  • the wheel 10 is part of a driving device, which is not shown.
  • the pivot lever 20 includes a first pivot lever end 22, which in
  • the pivot lever 20 comprises a second pivot lever end 24, which projects beyond the circumference of the wheel 10 counter to the direction of travel A.
  • rollers 32, 34 are arranged at the pivot lever ends 22, 24 respectively. The rollers are preferably wider than the width of the wheel so that they project beyond the running surface of the wheel on both sides.
  • the pivot lever 20 is pivotable from a first position, as seen in Figure 1, in a second position.
  • the first position is limited by the stop 26, wherein the second position is limited by the stop 28.
  • the ascending device 1 shown is adapted to guide the wheel over obstacles which have a minimum height h m i n and / or a maximum height h max . If an obstacle is less than h m i n , then the wheel 10 can independently drive over the obstacle.
  • the climbing aid device 1 comprises a deceleration device 40, which comprises a speed-dependent damping element 42 and a spring element 44. The operation of the delay device will be explained in more detail with reference to Figures 2 and 3.
  • the climbing aid device 1 comprises an edge sensor 50, which is preferably designed as an optical sensor.
  • Obstacle detecting device 60 is attached to the climbing device 1 at the height h m i n .
  • the actuator 70 which is adapted to move the pivoting lever 20 from the first position to the second position, comprises a spring element 72 and a return element 74.
  • the spring element 44 of the deceleration device is designed such that it acts on the pivoting lever 20 a smaller Can exert torque than the spring element 72 of the actuator 70.
  • the actuator 70 can by a
  • Locking device 80 are blocked, which has a locking pin 82 and a spring element 84.
  • Fig. 2 shows in the illustrations A to D the climbing aid device 1 described with reference to Fig. 1 in bringing the wheel up on an obstacle 100 which is for example a step such as a curb.
  • the obstacle detection device 60 which is formed in the form of a button, first comes in contact with the obstacle 100 and releases the locking device 80, so that the locking element 82 is retracted. Thereupon, the prestressed spring element 72 can apply a compressive force to the pivoting lever 20.
  • the first pivot lever end, on which the roller 32 is disposed, is disposed so as to protrude beyond the obstacle when the obstacle detection device 60 comes in contact with the obstacle 100. Consequently, the roller 32 engages the obstacle 100 when the spring member 72 moves the pivot lever 20 clockwise as shown in FIG. 2A.
  • the wheel 10 is raised. This is particularly possible because the wheel 10 is part of a driving device, which is not shown here. If the wheel 10 is raised so far that the lowest point of the wheel 10 by one
  • the pivot lever 20 comes with a stop 28 and in particular with a on the
  • Stop 28 attached elastic element in contact. As a result, that will interrupted further movement of the wheel 10 and the wheel 10,
  • Spring member 72 of the actuator 70 continue to pivot the pivot lever 20 in a clockwise direction until the elastic element, which is attached to the stop 28 is compressed and a sensor 29 detects the reaching of the second position.
  • the sensor 29 may be, for example, a button which is actuated by the pivot lever 20. Based on this sensor signal of the sensor 29, the return element 74 can be activated, whereby the spring element 72 is retracted and re-biased.
  • a mechanical device may also be provided.
  • a timer 27 may also be provided which commands the activation of the reset element 74 for a predetermined period of time.
  • the spring element 72 When the spring element 72 is re-biased by the return element 74, no force is applied to the pivot lever 20 by means of the spring element 72, and the spring element 44 of the delay device 40 returns the pivot lever 20 from the second position, as seen in FIG. 2D in the first position. If the spring element 72 of the actuator 74 is fully biased, it may be locked by means of the locking device 80 in the preloaded configuration. Thus, the climbing device 1 is ready for reactivation.
  • FIGS. 3A-C show a climbing device 1 as shown in FIG. 1, wherein the climbing device 1 lowers the wheel 10 from an obstacle 100. If the climbing device or the wheel 10 is moved beyond the edge of the step 100, then the roller 34, which is arranged on the second pivot lever end of the pivot lever 20, as seen in Fig. 3B, comes into contact with the top of the obstacle 100. On the other hand, if the wheel 10 rolls on a flat surface, the roller 34 is located just above the flat surface. This corresponds to the arrangement in the first position (see Fig. 3A).
  • the downward movement of the wheel 10 from the obstacle 100 is decelerated / decelerated by the speed-dependent damper element 42.
  • the wheel 10 can be moved further in the direction of travel A, so that the roller 34 is moved down from the obstacle 100.
  • the spring element 44 of the Retarder 40, the pivot lever 20 move back from the deflected position to the first position.
  • a cover 36 which is arranged on the second swivel lever end 24 about the roller 34, can furthermore be arranged on the climbing aid device 1 so that when the wheel 10 descends from an obstacle 100, the cover 36 first moves along the obstacle 100 is engaged, thereby providing a sliding contact with high friction. That means that
  • Fig. 5 shows a further climbing device 2.
  • Fig. 5 shows a further climbing device 2.
  • the riser device 2 shown in FIG. 4 comprises an actuator 90, which via a Hubaktuator 92 and a
  • Delay device 94 comprises.
  • the lift actuator 92 may include a shape memory alloy member configured to move the pivot lever 20 from the first position (as shown) to the second position.
  • the delay device 94 may include, for example
  • a spring damper system adapted to delay the descent of the wheel 10 from an obstacle as described above.
  • the deceleration device 94 may be configured to move the pivot lever 20 from a second position back to the first position.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Handcart (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La présente invention concerne un dispositif d'aide à la montée (1) pour au moins une roue (10) d'un appareil de conduite comprenant : un levier pivotant (20) rigide, doté d'une première extrémité du levier pivotant (22) et d'une deuxième extrémité du levier pivotant (24), le levier pivotant étant monté de manière rotative et pouvant être associé à au moins une roue de sorte que la première extrémité du levier pivotant fait saillie dans la direction A sur la circonférence de la roue afin d'agir, dans la direction de conduite, face à un obstacle (100) de sorte que la roue peut être guidée par l'obstacle vers le haut, et la deuxième extrémité du levier pivotant faisant saillie contre la direction de conduite sur la circonférence de la roue, afin d'agir face à un obstacle de sorte que la roue peut être guidée par l'obstacle vers le bas. En outre, le dispositif d'aide à la montée comprend au moins un actionneur (70), lequel est conçu pour faire pivoter le levier pivotant (20) d'une première position à une deuxième position de sorte que la première extrémité du levier pivotant (22) s'abaisse et la deuxième extrémité du levier pivotant (24) se soulève.
PCT/EP2017/065039 2016-06-21 2017-06-20 Dispositif d'aide à la montée pour une roue WO2017220546A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016003870.3 2016-06-21
DE202016003870.3U DE202016003870U1 (de) 2016-06-21 2016-06-21 Steighilfevorrichtung für ein Rad

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WO2017220546A1 true WO2017220546A1 (fr) 2017-12-28

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018132976A1 (de) * 2018-12-19 2020-06-25 Aat Alber Antriebstechnik Gmbh Transportvorrichtung und Verfahren zum Transport einer Last auf einer Treppe
US20210122188A1 (en) * 2018-05-16 2021-04-29 Mitsubishi Electric Corporation Mobile carriage
US11312404B2 (en) * 2018-09-19 2022-04-26 Yonghai FEI Dual-function electric stair-climbing vehicle capable of transporting goods and assisting people

Citations (6)

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US2641325A (en) * 1950-06-05 1953-06-09 George L Hoffman Stair lift hand truck
GB2201926A (en) * 1987-03-04 1988-09-14 Monticolombi C G R Improvements in or relating to a stair-climbing device
EP0774398A1 (fr) * 1995-11-14 1997-05-21 Wanzl Metallwarenfabrik Gmbh Chariot adapté pour des escaliers roulants
DE19810417A1 (de) * 1998-03-11 1999-09-16 Rudolf Kreuzpointner Zusatzgerät für Kinderwagen (Einkaufswagen) zur Überwindung von Treppen und Stufen
DE202007008797U1 (de) * 2007-06-21 2007-08-16 Landsberg, Gerhard Motorisch betriebener treppengängiger Wagen
EP2003039A2 (fr) * 2007-06-12 2008-12-17 Alan Liva Chariot pour monter/descendre des escaliers

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GB2325903A (en) * 1997-06-06 1998-12-09 Robert George Hester Kerb mounting wheeled conveyance
DE20021060U1 (de) * 2000-11-21 2002-04-04 Kotlarov, Peter, 27283 Verden Treppensteigender Alltagsrollstuhl
US7066290B2 (en) * 2001-10-19 2006-06-27 Invacare Corp. Wheelchair suspension having pivotal motor mount
CN2882586Y (zh) * 2006-03-08 2007-03-28 唐承慧 一种新型中驱电动轮椅车的前后臂连接机构
FR2946246B1 (fr) * 2009-06-08 2012-08-31 Ass Fr Contre Les Myopathies Fauteuil roulant.
EP3238682A3 (fr) * 2009-10-09 2018-01-10 Invacare Corporation Suspension de chaise roulante avec mouvement opposé du bras antibasculements

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2641325A (en) * 1950-06-05 1953-06-09 George L Hoffman Stair lift hand truck
GB2201926A (en) * 1987-03-04 1988-09-14 Monticolombi C G R Improvements in or relating to a stair-climbing device
EP0774398A1 (fr) * 1995-11-14 1997-05-21 Wanzl Metallwarenfabrik Gmbh Chariot adapté pour des escaliers roulants
DE19810417A1 (de) * 1998-03-11 1999-09-16 Rudolf Kreuzpointner Zusatzgerät für Kinderwagen (Einkaufswagen) zur Überwindung von Treppen und Stufen
EP2003039A2 (fr) * 2007-06-12 2008-12-17 Alan Liva Chariot pour monter/descendre des escaliers
DE202007008797U1 (de) * 2007-06-21 2007-08-16 Landsberg, Gerhard Motorisch betriebener treppengängiger Wagen

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210122188A1 (en) * 2018-05-16 2021-04-29 Mitsubishi Electric Corporation Mobile carriage
US11312404B2 (en) * 2018-09-19 2022-04-26 Yonghai FEI Dual-function electric stair-climbing vehicle capable of transporting goods and assisting people
DE102018132976A1 (de) * 2018-12-19 2020-06-25 Aat Alber Antriebstechnik Gmbh Transportvorrichtung und Verfahren zum Transport einer Last auf einer Treppe

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