DE102016202878A1 - Climbing chassis for a driving device - Google Patents

Abstract

The invention relates to a steerable chassis 100 for a driving device 1, wherein the chassis 100 is at least one revolving crawler 110, which has an outwardly directed crawler belt tread, a rear axle of at least one rear wheel 125 is assigned, which has a rear wheel tread and a front axle, at least associated with a front wheel 128 having a front wheel tread. The wheels 125, 128 and the crawler 110 are arranged such that the rear wheel tread and the front wheel tread protrude toward the ground via the crawler belt tread so that propulsion of the treadmill 1 can be in-plane by means of the wheels, with the crawler belt tread at least partially in the direction of travel protrudes beyond the front wheel tread to be able to engage in the direction of travel with an obstacle 50, so that the crawler 110 can move the driving device 1 on and / or over the obstacle 50.

Description

Field of the invention

The invention relates to an ascending, in particular Stufensteigfähiges, suspension for a driving device, as well as a corresponding driving device, wherein the steerable chassis has at least one front wheel and at least one rear wheel and at least one crawler belt.

Background of the invention

Conventional driving devices typically have either a wheel 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. However, the high traction is also associated with disadvantages, for example, the damaged surface can be damaged. Damage is generated in particular by cornering, since the crawler belts are 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 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 chassis concepts for vehicles are required in particular in the field of unmanned vehicles, such as ground-based drones, as well as in the field of mobility support systems (mobile assistance systems).

Mobility support systems are systems designed to increase the mobility of people with reduced mobility. Mobility support systems may include, for example, travel devices in the sense of rollators, which support the walking of a person 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, passing over an obstacle such as a step or a staircase should be done automatically, i. H. it is not necessary to carry out a separate action for starting the overcoming of the obstacle. Rather, the device is to be moved to / over the obstacle by the obstacle is approached. Furthermore, such a suspension should cause as no damage to household floor coverings typical, or it should minimize such damage.

Detailed description of the invention

The object is achieved by a steerable chassis according to claim 1 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 protrude toward the ground via the crawler belt tread, so that the propulsion of the running gear in the plane can take place 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 is 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 chassis can be easily and manoeuvraously steered and propelled, in particular in the plane by means of the wheels, without damaging the floor covering and / or the substrate. 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 who uses, for example, the driving device as a mobility support system, due to the wheels make a simple navigation. This is particularly advantageous if only a limited navigation area, such as a housing corridor 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. If the landing gear and / or the driving device continue 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 landing gear should be set up to overrun 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, in a contact between the obstacle and caterpillar track running over the obstacle is automatically initiated when the crawler belt running surface engages with the obstacle. 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 can project in the direction of travel over the front wheel running surface in such a way that the crawler belt is guided obliquely upwards away 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, the driven wheel can also transmit drive power to the track 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 can have different rotational speeds in [m / s], wherein the rotational speed of the crawler belt is preferably less than the rotational speed of the driven wheel on the tread 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 chassis takes place in one plane by means of the driven wheel and the crawler belt is arranged primarily for moving the driving device on and / or over the obstacle, the driven wheel, which has a higher rotational speed, the suspension with the crawler belt against the obstacle to press.

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 running gear or the landing gear is directed toward the obstacle. If, for example, a step is approached, the crawler belt is pressed against the step according to the course of the step, typically vertically, and permits optimum engagement between the crawler belt running surface 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. Similarly, the rotational speed of the crawler belt is 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 with at least one of the wheels, wherein the coupling means is adapted 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 may 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 disk 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 disk.

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 circulating speeds achieve, in 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 connected to the corresponding wheel with a rigid axle, allows easy transmission 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 can furthermore have a drive which drives at least one rear wheel and / or one front wheel and / or the at least one crawler belt, the drive preferably comprising 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 driving over an obstacle and / or when moving the driving device to an obstacle, the driving power can be briefly increased in order to be able to drive over the obstacle without significant speed losses. 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 moved with the wheels, even if there are small obstacles or bumps on the ground. Especially in apartments smaller obstacles through carpet edges, door sills and / or the like may occur. In the outdoor area smaller obstacles may be present through different floor coverings, smaller stones and / or the like.

Depending on the distance "b", such smaller obstacles can be run over without the use of the crawler belt. If, on the other hand, there are obstacles that have a vertical extent that exceeds the distance "b", the crawler belt automatically engages with the obstacle and the chassis or the vehicle is moved onto / over the obstacle.

Starting a special action to override the obstacle is not necessary. Rather, the chassis or the driving device will intervene directly with the obstacle and start driving over the obstacle. The distance "b" can be selected depending on the typical application of the chassis or the driving device. Thus, a distance of at least 1 cm in a predominant operation in confined spaces or on flat surfaces is 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 ground via the crawler belt tread at a distance "b", wherein the distance "b" may be variably adjustable, preferably in the range of 0 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. This allows the adaptation of 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 so that the distance "b" is automatically adjustable. For example, the adjustment of the distance via a lowering of the crawler belt or a lifting of the wheels take place. Thus, different driving modes are adjustable and the operator can, for example, respond to different substrates, such as parquet or laminate flooring, carpets, paved roads, cobblestones, dirt roads and / or the like.

Furthermore, the chassis may comprise at least one guide roller, which guide roller guides the rotating crawler belt, wherein the guide roller is arranged adjustable relative to the front wheel and / or rear wheel to the ground.

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 is arranged, for example, between a front wheel and a rear wheel, the crawler belt running surface can be 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 the 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 / chassis. 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 driven, a more uniform drive of the driving device 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 can 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 crawler belt and the wheels, it is possible to increase the tipping stability of the driving gear / 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 particularly advantageous when driving over obstacles, since 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 pushes when crossing not strong in the crawler belt or urges the crawler belt only slightly inward, so that the Crawler belt can be continued with essentially unchanged circulation geometry.

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 / the 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 moves in contact with the obstacle in the direction of 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 to provide, for example, an obliquely upwardly extending crawler which protrudes beyond the front wheel tread a suitable abutment when crossing 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 alignment and / or tilting of the chassis / the driving device when passing obstacles. 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 may have entrainment elements. The driver elements, which may be arranged on the crawler belt running surface, increase the traction between the crawler belt and the ground or the obstacle and thus facilitate the engagement 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 crawler belt, since, for example, a drive pulley can couple with the driver elements in order to transmit 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 tension of the crawler belt can indicate whether the crawler belt has encountered 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 are 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 an obstacle has been approached.

The chassis can have at least one lowering element, which lowering element protrudes counter to the direction of travel on a rear wheel tread, and is adapted to intervene in the crossing of an obstacle with the rear wheel with this obstacle and the lowering of the Rear wheel to brake, 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 are installed on the driving device. 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 visor prevents that a user or objects unintentionally come into contact with the crawler belt and this block 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 be exposed and pose a potential risk of injury to humans, pets and / or the like.

The chassis and / or the driving device may further comprise at least one inclination sensor. 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

1 two schematic views of a driving device;

2A a schematic view of a stepless chassis;

2 B a schematic view of part of the rising chassis of 2A ;

3A schematic views of the landing gear of 2A when moving the driving device to an obstacle;

3B schematic views of the landing gear of 2A when moving the driving device over an obstacle;

4A a schematic view of a stepless chassis with a lowering element;

4B a schematic view of a lowering element;

4C schematic views of the landing gear of 4A when moving the driving device over an obstacle, and

5 a schematic view of a steerable landing gear during a cross country drive.

In particular shows 1 two views of a driving device. The driving device 1 is a mobile assistance system, which is designed to assist people with limited walking while walking. The driving device 1 has handles 20 . 22 on which allow a user to hold on to it. Furthermore, the driving device 1 a suspension 100 on, which is described in more detail in the following figures. The chassis 100 is through the sliding panels 14 . 16 covered. The aperture 14 especially around the fulcrum 12 be panned to be moved. In particular, protect the panels 14 . 16 the user and the environment before contact with the caterpillars. Forward is the crawler of the chassis 100 exposed, so that the caterpillar band can intervene with obstacles and the obstacles can be driven over.

2A shows a chassis 100 which is a front axle 129 and a rear axle 126 includes. The front axle 129 is a front wheel 128 assigned, which is a front wheel tread 128a having. The rear axle 126 is a rear wheel 125 assigned, which is a rear wheel tread 125a having. Furthermore, the chassis has 100 over a caterpillar band 110 , which is an outward tread 110a as well as an inside 110b having.

On the crawler belt tread 110a are driver elements 112 arranged, which are formed in the form of projections. These projections facilitate engagement with an obstacle and increase the traction of the crawler belt tread 110a , On the inside 110b of the caterpillar band 110 are driver elements 114 applied, which are formed in the form of a toothed belt. The driver elements 110b can with a drive pulley 138 engage and serve the drive of the crawler belt 110 ,

The drive pulley 138 for example, by an electric motor 140 driven. About the caterpillar band 110 can be a coupling disc 132 be driven, which concentric with the rear wheel 125 is arranged and with this over the rear axle 126 is coupled. Consequently, over the coupling disc 132 Drive power from the track belt 110 on the rear wheel 125 be transmitted. The rear wheel is thus a driven wheel. The front wheel 128 is not driven and is passively moved. Because the coupling disc 132 a smaller diameter than the rear wheel 125 has, the crawler belt runs 110 with a lower rotational speed [m / s] than the rear wheel 125 ,

The rear wheels 125 and the front wheel 128 form a wheel chassis 120 which is in 2 B shown in detail. The chassis also includes guide rollers 134 and 136 , The leadership 136 which the caterpillar band 110 is over a swingarm 152 and about a spring 150 or a spring damper element spring-mounted.

A button / sensor 160 is adapted to the tension of the crawler belt 110 to monitor. This is done in the embodiment shown in that upon contact of the crawler belt with an obstacle, the leadership role 136 which is on the swingarm 152 is mounted, is pushed inwards and the button 160 actuated. Consequently, a change in tension of the crawler belt 110 be detected. Furthermore, the front wheels / rear wheels and the crawler belt are arranged such that the running surfaces 125a . 128a the wheels 125 . 128 towards the ground with a distance "b" over the crawler belt tread 110a survive.

2 B shows the wheel gear 120 , which is a part of the chassis according to the invention, and which is a frame 122 includes. Furthermore, the wheels gear includes 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 axis, which may be formed, for example, as a swing axle. The front axle 129 is the front wheel 128 assigned. The rear axle 126 are the rear wheels 124 and 125 assigned, which each have a rear wheel tread 124a . 125a exhibit. Particularly preferably, the wheel chassis comprises three wheels 124 . 125 . 128 , where a swiveling front wheel 128 and two rigid rear wheels 124 . 125 are provided. The wheel gear 120 serves in the plane the propulsion of the chassis 100 or the driving device 1 ,

3A shows schematic views of the steerable chassis 100 when moving the driving device 1 on an obstacle 50 , The obstacle 50 is a step in the example shown. In step S1, the crawler belt comes 110 with the obstacle 50 an intervention. The leadership role springs 136 one to the shock of the impact between caterpillar band 110 and obstacle 50 cushion. In particular, a driver element engages 112 with the obstacle 50 in order to move the driving device to the obstacle in step S2 50 up move.

First, the front wheel 128 raised. Because the caterpillar band 110 a lower circulation speed than the rear wheel 125 has, the crawler belt against the obstacle 50 pressed, whereby a secure intervention is possible. In step S3, the front wheel is 128 already been moved across the stage. The caterpillar band 110 gets off the stage 50 against a sliding plate 142 urged, which sliding plate 142 as an abutment for the caterpillar band 110 serves. This makes it possible the obstacle 50 run over at a shallow angle. Furthermore, thus also the rear wheel 125 on the obstacle 50 be moved up, as the caterpillar band 110 engages with the obstacle and temporarily takes over the propulsion. In step S4, the front wheel is 128 already back in contact with the ground and the rear wheel 125 just comes in contact with the obstacle 50 , From this point, the propulsion can be made with the wheels again. The caterpillar band 110 is after crossing the obstacle 50 again spaced from the ground / floor.

3B shows the opposite case, namely the descent of a step or an obstacle 50 by means of the chassis 100 , First, the landing gear 100 over the step 50 out moves (step S5). In step S6, the front wheel is 128 of the landing gear 100 in the air. The caterpillar band 110 gets through the step / obstacle 50 against the sliding plate 142 urged, causing the drive by means of the track belt 110 is realized. In step S7, the crawler belt hits 110 , which over the front wheel 128 gets up on the floor. This is the lead role 136 pushed inward and absorbs the resulting shock. The caterpillar band 110 is still used for propulsion in step S7. In step S8, the rear wheel comes 125 with the step / obstacle 50 engaged and leads the landing gear 100 further forward. Consequently, the chassis / driving device can be moved down from the step. In particular, due to the sliding plate 142 can be realized when driving up as well as when descending stairs / obstacle a flat travel angle. This is particularly advantageous in mobile assistance systems.

4A shows a chassis 100 , which additionally with a lowering element 170 at the rear wheel 125 Is provided. As in 4B you can see the lowering element 170 over the tread 125a of the rear wheel 125 over and over is by means of the spring damper system 176 . 178 in the in 4B biased position shown. The lowering element 170 includes a swingarm 172 and a lower stop 174 ,

In 4C is the functioning of the lowering element 170 shown schematically. In particular, in steps S9 to S11, the landing gear is moved down 100 , which only by the rear wheel 125 is illustrated schematically. Will the rear wheel 125 over the step / obstacle 50 moved out, so the lowering element comes 170 with the stage 50 Engage before the rear wheel 125 sits on the ground. Because of the spring damper system 176 . 178 the lowering of the rear wheel is slowed down. If the rear wheel is now moved further, and the lowering element comes out of engagement with the step 50 , so this vibrates due to the spring force of the spring 178 back to the starting position and ready to support a new descent.

5 shows the chassis 100 in a cross country drive. As can be seen, the ground or surface has unevenness. In this case, the guide rollers 134 . 136 towards the ground relative to the wheels 125 . 128 be moved. This will cause the crawler belt running surface 110a brought into contact with the ground, so that now the crawler belt running surface projects beyond the running surfaces of the wheels to the ground. In this configuration drives the crawler 110 the driving device or the chassis 100 at. This embodiment makes it possible to adjust the distance b between the crawler belt running surface and the wheel treads to the bottom variable. The adjustability can of course also be done by other means. The other reference signs of 5 correspond to the reference characters of 2A ,

LIST OF REFERENCE NUMBERS

1

driving device

12

 pivot point

14, 16

 cover

20, 22

 Handle

100

landing gear

110

 The track

110a

 The track tread

110b

 inside

112, 114

 dogging

120

 wheeled undercarriage

122

 frame

124, 125

 rear wheel

124a, 125a

 Rear tread

126

 rear axle

128

 front

128a

 Front tread

129

 Front

132

 coupling disc

134, 136

 leadership

138

 sheave

140

 Motor / drive

142, 144

 sliding plate

150

 Spring damper element

152

 wing

50

 Obstacle / level

b

 distance

Claims (23)

Rigid chassis ( 100 ) for a driving device ( 1 ), the landing gear ( 100 ) comprises: at least one circumferential caterpillar band ( 110 ), which has an outwardly directed caterpillar belt running surface ( 110a ) having; a rear axle ( 126 ) the at least one rear wheel ( 124 . 125 ), which has a rear wheel tread ( 124a . 125a ) having; a front axle ( 129 ), which has at least one front wheel ( 128 ), which has 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 ) to the ground over the crawler belt tread ( 110a ), so that the driving of the driving device in the plane can take place by means of the wheels, and wherein the crawler belt running surface ( 110a ) in the direction of travel at least partially over the front wheel tread ( 128a ) to face in the direction of travel with an obstacle ( 50 ) to be able to intervene so that the crawler belt the driving device ( 1 ) on and / or over the obstacle ( 50 ) can move. Rigid chassis ( 100 ) according to claim 1, wherein at least one rear wheel ( 124 . 125 ) and / or a front wheel ( 128 ) a driven wheel ( 124 . 125 ), and wherein the caterpillar band ( 110 ) Drive power to the driven wheel ( 124 . 125 ) transmits and / or receives from this. Rigid chassis ( 100 ) according to claim 2, wherein the at least one driven wheel ( 124 . 125 ) and the at least one caterpillar band ( 110 ) have different rotational speeds in [m / s], wherein the rotational speed of the crawler belt ( 110 ) is preferably less than the rotational speed of the driven wheel ( 124 . 125 ) on the tread of the wheel. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) further comprises a coupling agent ( 132 ) has for coupling the crawler belt ( 110 ) with at least one of the wheels, and wherein the coupling means ( 132 ) is adapted to transmit forces between the crawler belt and the wheel (s). Rigid chassis ( 100 ) according to claim 4, wherein the coupling agent ( 132 ) is a coupling disc, over which the crawler belt runs, wherein the coupling disc concentric with the at least one rear wheel ( 124 . 125 ) and / or front wheel ( 128 ), and is preferably connected thereto via a common axis. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) further comprises a drive pulley ( 138 ), which is adapted to the at least one caterpillar band ( 110 ) to drive. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) continue to drive ( 140 ), which at least one rear wheel ( 124 . 125 ) and / or a front wheel ( 128 ) and / or the at least one caterpillar band ( 110 ), whereby the drive ( 140 ) preferably comprises an electric motor. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the rear wheel tread ( 124a . 125a ) and / or the front wheel tread ( 128a ) to the ground over the crawler belt tread ( 110a ) with a distance (b), and wherein the distance (b) is at least 1 cm, preferably at least 2 cm, and most preferably at least 5 cm. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the rear wheel tread ( 124a . 125a ) and / or the front wheel tread ( 128a ) to the ground over the crawler belt tread ( 110a ) with a distance (b), and wherein the distance (b) is variably adjustable, preferably in the range of 0 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. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis has at least one guiding roller ( 134 . 136 ), which leadership role ( 134 . 136 ) the circulating crawler belt ( 110 ) and where the leadership ( 134 . 136 ) relative to the front wheel ( 128 ) and / or rear wheel ( 124 . 125 ) is arranged adjustable to the ground. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the caterpillar band ( 110 ) 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 ( 110a ) relative to the rear wheel tread ( 124a . 125a ) and front wheel tread ( 128a ) can be set up so that the propulsion of the driving device can be done by means of the crawler belt. Rigid chassis ( 100 ) according to one of the preceding claims, wherein at least two wheels from the group of rear wheels ( 124 . 125 ) and / or the front wheels ( 128 ) driven wheels ( 124 . 125 . 128 ) and where the landing gear ( 100 ) preferably at least two caterpillars ( 110 ), each track ( 110 ) preferably one of the driven wheels ( 124 . 125 ), and wherein each caterpillar band ( 110 ) is preferably arranged to drive power to the associated driven wheel ( 124 . 125 . 128 ) and / or to receive from it. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) continue to have at least a leading role ( 134 . 136 ), which leadership ( 134 . 136 ) is adapted to tension the crawler belt, wherein the at least one guide roller ( 134 . 136 ) is spring-mounted. Rigid chassis ( 100 ) according to claim 13, wherein the at least one guiding roll ( 136 ) in the direction of travel at the front of the chassis ( 100 ) is arranged so that the landing gear ( 100 ) when engaging the crawler belt tread ( 110a ) with an obstacle ( 50 ) is sprung. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) at least one sliding plate ( 142 . 144 ), which sliding plate ( 142 . 144 ) adjacent to an inside ( 110b ) of the caterpillar band ( 110 ), and an abutment for the crawler belt ( 110 ) when an obstacle to be crossed ( 50 ) the caterpillar band ( 110 ) in the direction of the sliding plate ( 142 . 144 ) urges. Rigid chassis ( 100 ) according to any one of the preceding claims, wherein the crawler belt tread ( 110a ) and / or the inside ( 110b ) of the caterpillar band ( 110 ) Entrainment elements ( 112 ; 114 ) exhibit. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the caterpillar band ( 110 ) comprises an elastomeric plastic and / or metal, and is integrally formed or comprises a plurality of crawler belt links. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) at least one sensor ( 160 ) for monitoring the tension of the crawler belt ( 110 ) having. Rigid chassis ( 100 ) according to one of the preceding claims, wherein the chassis ( 100 ) at least one lowering element ( 170 ), which lowering element ( 170 ) counter to the direction of travel via a rear wheel tread ( 125a ) and is set up when an obstacle is exceeded ( 50 ) with the rear wheel ( 124 . 125 ) with this obstacle ( 50 ) and the lowering of the rear wheel ( 124 . 125 ), wherein the lowering element ( 170 ) is preferably biased such that it returns to its initial position after exceeding the obstacle. Climbing driving device ( 1 ), whereby the driving device ( 1 ) a chassis ( 100 ) according to one of claims 1 to 17, wherein the driving device ( 1 ) is preferably a mobile assistance system. Climbing driving device ( 1 ) according to claim 20, wherein the driving device ( 1 ) at least one aperture ( 14 . 16 ), which the caterpillar band ( 110 ) at least partially obscured, wherein the aperture ( 14 . 16 ) is arranged displaceably. Climbing driving device ( 1 ) according to claim 21, wherein the driving device ( 1 ) further comprises at least one sensor, wherein the sensor is adapted to a position and / or speed of the at least one aperture ( 14 . 16 ) capture. Rigid 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.

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