DE102023104872A1 - Rear leg drive device - Google Patents

Abstract

The invention relates to a hind leg drive device (1) for mobilizing at least one hind leg (201) of a sick dog (200). It is designed for mounting on a trolley (200) and comprises: at least one hind leg holder (3) to which a hind leg (201) of the sick mammal (200) can be secured, a crankshaft (2) with at least one crank output (2a, 2b) which directly or indirectly drives the at least one hind leg holder (3); and a support device (5) with two support bodies (6, 7) for supporting the crankshaft (2) relative to the vertical supports (103) of the trolley (100). A drive connection (4) transmits a rotary movement of a running wheel (8, 9) to the crankshaft (2). The hind leg drive device (1) further comprises a first vertical support holder (10, 11) in which a vertical support (103) of the trolley (100) can be inserted, wherein the position of the crankshaft (2) relative to the vertical support holder (10, 11) can be adjusted in one or more axes; AND/OR a differential gear (12) so that a drive connection (4) is present which transmits an average value of the rotational movements of two running wheels (8, 9) to the crankshaft (2); AND/OR a crank adjusting device (13) which is designed to adjust the position of the at least one crank output (2a, 2b) relative to the axis of rotation of the crankshaft (2). The hind leg drive device (1) can be connected to a variety of different trolleys and adjusted to the therapeutic needs and the size of the dog (200).

Description

The invention lies in the field of therapeutic treatment of mobility restrictions in the area of the hind legs of four-legged mammals and pets, in particular dogs and cats.

It happens that mammals suffer from a temporary or permanent illness in the hind legs, which limits their mobility. This can lead to significant disadvantages for the animal and its owner. In particular, in the case of pets such as cats and dogs, to which the owner family has a particularly strong emotional bond, illnesses such as paraplegia, muscle atrophy, hip or bone damage and arthrosis can lead to a high level of impairment. The use of so-called trolleys has proven to be helpful in alleviating such impairments and promoting the mobility of the four-legged mammal. Various designs of trolleys are known from, among others, CN104473735A , ES 2868548 A1 , US 3,406,661 A , US 3,215,117 A and US design publications USD 919,200 S and USD 997,767 S .

9A and 9B show a typical structure of a known trolley (100) in a side view and a rear view. The trolley (100) comprises a U-shaped horizontal support (101) which can be fastened to the body of a dog (200) via a front harness (105) and a rear harness (106). A left and a right vertical support (103) are fastened to the left and right legs of the horizontal support (101) via a bearing point (102), at the ends of which a left and a right running wheel (104) are attached. In some of the previously known trolleys, an angle of inclination (N) of the vertical supports (103) relative to the horizontal or relative to the horizontal support (101) can be adjusted in the area of the bearing point (102). Furthermore, the angle of inclination (N) often depends on the size of the mammal (200). Furthermore, a first type of trolley is known in which the vertical supports have a substantially exactly vertical alignment, and on the other hand a type of trolley in which the vertical supports (103) are inclined outwards by a camber angle (S) relative to the vertical direction. The camber angle (S) can have a different angle depending on the manufacturer.

In some previously known trolleys (100), an adjustment of the height (H) of the horizontal support and/or an adjustment of the width (B) of the horizontal support (101) and thus a change of the distance between the vertical supports (103) is possible.

The trolley can support a large part of the mammal's (200) own weight in the area of the rear half of the body against the ground, so that the hind legs (201) are less stressed. Depending on the severity of an illness, reducing the force load may be enough to enable the mammal to move independently again. However, it is also possible to completely relieve the hind legs by tying them up. For this purpose, most trolleys are provided with carrying straps on the horizontal support (101), into which the hind legs (201) can be hooked. This measure completely demobilizes the hind legs, which can provide temporary relief if the animal (200) is no longer able to move its hind legs independently or with sufficient motor precision. The animal can move the trolley using only its front legs or pull it in any direction.

However, it has been shown that complete demobilization of an animal's hind legs can cause further damage, such as joint problems, tendon shortening or degradation of the muscles. Therefore, the aim is to mobilize the affected hind legs at least temporarily, i.e. to put the hind legs into a walking motion with the hind legs raising and lowering by means of an externally imposed movement.

From the EP 2 475 327 B1 A trolley is known in three different versions, in which a crankshaft with a rigid crank drive is mounted on a wheel suspension that is firmly connected to the vertical supports and is set in rotation on one side via one of the wheels. The movement of the crank pins can be used to mobilize the hind legs of the four-legged mammal. This type of construction has the advantage over earlier techniques that the hind legs are caused to move by 180° (angular degrees).

However, in the above publication, the crankshaft is only set in motion on one side, i.e. via one of the two wheels. From the animal's perspective, the force required for the raising and lowering movement of the hind legs acts as a decelerating force that only occurs on one side of the trolley (left or right). The animal therefore tends to constantly move in a curved path or has to place significantly more strain on the front leg on this side than on the side where a freely rotating wheel is arranged. This one-sided overload can lead to muscle tension if the trolley is used frequently or for long periods of time. tensions, poor posture, curvature of the spine or similar consequential damage.

As can be seen from the presentation of 10 As can be seen, the mammalian species to be treated, particularly dogs or cats, can have very different body sizes and shapes.

As can be seen from the above explanations, the techniques known to date for mobilizing the hind legs of a four-legged mammal are not optimally designed. The object of the present invention is to provide a hind leg drive device which better meets the therapeutic needs of a sick mammal, in particular a dog or a cat.

The invention solves this problem by the features of the main claim.

The hind leg drive device according to the present disclosure is designed to mobilize at least one hind leg of a sick four-legged mammal (200), in particular a dog or a cat. The hind leg drive device is a stand-alone device that is intended and designed to be mounted on an existing or newly acquired trolley (100). The trolley is in turn designed to be attached to the mammal (200). It is designed in particular to support the rear body section of the mammal (200) in the intended operating position.

The hind leg drive device according to the present disclosure is independent of the specific design of a trolley and can be used with different types of trolleys and also different types of mammals and in particular different dog breeds and dog sizes. It can preferably be individually adapted to the physical condition of a mammal to be treated. It can also preferably be adapted to the geometry of a specific trolley. And finally, it can preferably bring about an even distribution of the forces that result for the mobilization of one or more hind legs on the wheels.

The hind leg drive device comprises at least one hind leg mount to which a hind leg of the diseased mammal can be secured. It also comprises a crankshaft with at least one crank output that drives the at least one hind leg mount directly or indirectly. Preferably, two hind leg mounts are provided, i.e. one hind leg mount each for the right and left hind legs, and correspondingly two crank outputs.

The rear-end drive device is intended for mounting on the vertical supports (103) of a trolley (100). The trolley (100) and the vertical supports (103) form a generally rigid frame construction, but are not necessarily a component of the rear-end drive device according to the present disclosure.

The hind leg drive device comprises a support device for supporting the crankshaft relative to the vertical supports of the trolley in the intended assembly position, wherein the support device comprises a first support body and a second support body. The hind leg drive device further comprises a drive connection which transmits a rotary movement of at least one running wheel, and preferably from one running wheel each to the left and right side of the animal to be treated, to the crankshaft.

The present disclosure comprises several aspects, each of which, alone or in any combination, contributes to solving the above-mentioned problem.

According to a first aspect, the rear-end drive device comprises a first vertical support receptacle on the first support body and a second vertical support receptacle on the second support body, wherein one of the vertical supports of a trolley can be inserted into each of these vertical support receptacles. The support device is designed such that the position of the crankshaft relative to the vertical support receptacles can be adjusted in one or more axes. Preferably, at least two-axis or at least three-axis adjustability is provided.

The preferred forms of adjustability are explained below using separate setting parameters, each of which can be influenced via a separate device part. Alternatively, it is possible to set two or more of the parameters mentioned using a combined device.

The crankshaft can be adjustable relative to the vertical support mounts by a longitudinal offset (first parameter) along the direction of travel of the rollers. Such a longitudinal offset makes it possible to move the crankshaft far enough forwards or backwards relative to the body of the mammal that the hind leg mounts (3) can be arranged in a natural position below the hips of the mammal. The support device (5) can in particular comprise a sliding bearing (first device part) for adjusting the longitudinal offset.

The crankshaft can alternatively or additionally be adjustable by a roll angle (second parameter) relative to the vertical support mounts. A roll angle describes a rotation about an axis running in the longitudinal direction of the trolley or in the direction of travel of the trolley, whereby the pivot point can be arbitrary. By adjusting the roll angle, the rear drive device according to the present disclosure can be combined with vertical supports that can have any camber angle. The roll angle can in particular be adjusted such that the crankshaft axis runs (exactly) horizontally. By adjusting the roll angle, on the one hand the stability of the bearing of the crankshaft and on the other hand the coaxiality of the alignment of the bearing points for the crankshaft are improved or ensured. This enables the crankshaft to be rotated largely free of twisting or bending forces, which allows smooth running. The roll angle can in particular be adjusted via a (first) pivot bearing (second device part).

The crankshaft can be adjusted by a pitch angle (third parameter) as an alternative or in addition to the vertical support mounts. A pitch angle describes a rotation around an axis running transversely to the longitudinal direction of the trolley, whereby the pivot point can be arbitrary. By adjusting the pitch angle, the height of the crankshaft and thus the ground clearance can be adjusted. The rear drive device can therefore be used in combination with different trolleys, which can have any inclination angle of the vertical supports. The roll angle can preferably be adjusted using a (second) pivot bearing (third device part).

At least two of the aforementioned device parts can be combined to effect a combined adjustment of two or more of the aforementioned parameters. For example, instead of the pivot bearings, a ball joint can be provided which allows simultaneous adjustment of the pitch angle and the roll angle.

According to a further aspect, which can be used on its own or in combination with any of the other aspects, the rear leg drive device can comprise a differential gear, so that a drive connection is present which transmits an average value of the rotational movements of a first running wheel and a second running wheel to the crankshaft. The differential gear can in particular have a first torque input which has an operative connection to a first running wheel (e.g. left), a second torque input which has an operative connection to the second running wheel (e.g. right), and a torque output which has an operative connection to the crankshaft. By using a differential gear, it is achieved that the decelerating force which results on the running wheels from the operation of the rear leg drive device is generated in essentially equal parts on the left and right running wheels. At the same time, it is possible for the mammal to walk in a curved path with the trolley and with the rear leg drive device active or to turn on the spot without significant impairment. The one-sided delay observed with previous devices for mobilizing the hind legs is avoided. Consequently, the subsequent impairments for the mammal, such as muscle tension and posture problems, are avoided and more frequent or longer use of the trolley with active mobilization of the hind legs is possible.

According to yet another aspect, which can be used on its own or in any combination with the other aspects, the rear drive device and in particular the crankshaft can comprise a crank adjusting device which is designed to adjust the position of the at least one crank output relative to the rotational axis of the crankshaft. The position of a crank output can be adjusted in particular by changing an axial offset and/or by changing a radial offset of the at least one crank output. The axial offset and the radial offset can be adjusted separately or in combination.

The crank adjustment device ensures that at least one hind leg holder in the transverse direction of the hind leg drive device can be adjusted to a natural step width of the mammal (lateral distance between the attachment points of the left and right hind legs). Alternatively or additionally, the amplitude of movement at which the hind legs are moved can be increased or reduced, in particular by adjusting to a natural step height of the mammal.

The hind leg drive device according to the present disclosure allows for retrofitting to any trolley (100) and flexible adaptation to the animal to be treated (200). It is suitable for both long-term use, for example in the case of a disability, and for temporary use, for example for rehabilitation or physiotherapy support. The various adjustment options also allow the movement imposed on the hind legs to be repeatedly adapted in form, speed or extent, so that the movement does not become monotonous. which is of great benefit for maintaining the mobility of the hind legs.

Finally, the rear-wheel drive device can preferably be easily removed from the trolley, whereby at least part of the support bodies to which the wheels are attached can remain on the trolley. In this way, the weight of the trolley is hardly increased when the rear-wheel drive device is temporarily unused, and on the other hand, it can be quickly reassembled. The removable part or parts of the rear-wheel drive device, in particular the crankshaft and a support body part connected thereto or a secondary shaft and a support body part connected thereto, preferably have a compact design so that they can be easily stowed in a backpack or similar carrying container. This also allows use that is easily adapted to the ambient conditions during a walk.

Further advantageous embodiments of the invention are specified in the subclaims as well as in the following description and the accompanying drawings.

• 1: bis 3: eine Hinterlaufantriebsvorrichtung gemäß der vorliegenden Offenbarung in einer Schrägansicht, einer Vorderansicht und einer Draufsicht;
• 4: eine Seitenansicht der Vorrichtung gemäß Pfeil IV in 3;
• 5 bis 7: Draufsichten auf alternative Ausführungsvarianten einer Hinterlaufantriebsvorrichtung;
• 8: eine schematische Seitenansicht auf eine Bewegungskinematik für zwei Hinterlauf-Aufnahmen.
• 9A und 9B: einen Rollwagen gemäß dem Stand der Technik in einer Seitenansicht und einer Rückansicht;
• 10: Beispieldarstellungen von verschiedenen Hundearten in proportionaler Vergleichsdarstellung;
• 11: Rückansichten von zwei Hunden mit unterschiedlichen Hüft- und Beinproportionen;
• 12: Eine alternative Ausbildung einer Kurbelwelle für das Ausführungsbeispiel der 1 bis 4.

The invention is illustrated by way of example and schematically in the drawings. These show:

• 1 : to 3: a rear leg drive device according to the present disclosure in an oblique view, a front view and a plan view;
• 4 : a side view of the device according to arrow IV in 3 ;
• 5 to 7 : Top views of alternative designs of a rear-end drive device;
• 8 : a schematic side view of a movement kinematics for two hind leg recordings.
• 9A and 9B : a trolley according to the state of the art in a side view and a rear view;
• 10 : Example representations of different dog species in proportional comparison representation;
• 11 : Rear views of two dogs with different hip and leg proportions;
• 12 : An alternative design of a crankshaft for the embodiment of the 1 to 4 .

1 shows an oblique view of a first embodiment of a rear drive device according to the present disclosure. The embodiment shown is designed with the features of the first and third aspects of the present disclosure, but does not include a differential gear. However, it would also be possible in this embodiment to provide a differential gear on the crankshaft. 12 outlines an alternative design of a crankshaft (2), which can be used as a replacement for the 1 to 4 shown crankshaft (2). In the example of 12 a differential gear (12) is formed on the crankshaft (12), wherein a drive connection (4) to the differential gear (12) is established by spur gear teeth at the ends of the shaft (23) and bevel gear teeth within the sections (23, 19, 15) of the crankshaft.

The rear leg drive device (1) according to 1 to 4 comprises a vertical support holder (10, 11) on each of the left and right sides (relative to a designated operating position and a vertical center plane of the mammal to be treated). The vertical support holder (10, 11) is preferably designed in several parts with a first holder element (10a) that can be connected directly to a vertical support (103) of a trolley (100). The first holder element (10a) can be prefabricated to fit a specific type of trolley (100) in particular. It can be exchanged if necessary when the hind leg drive device is mounted on a different type of trolley. Alternatively, the first holder element (10a) can have a standard shape and can be adapted to the geometry of a vertical support (103) using insert bodies, for example.

The first receiving element (10a) is preferably movably connected to a second receiving element (10b) of the vertical support receiving element (10), in particular to form the first pivot bearing (18) for adjusting the roll angle (R). The pivot bearing (18) can have any desired design. According to the exemplary illustration in 3 a pivot axis (K1). Alternatively, any other pivot element can be provided, for example a guide rail, a hinge or the like. In other words, a pivot bearing (18) for adjusting the roll angle (R) is arranged between the first receiving element (10a) and a second receiving element (10b) of the vertical support holder (10, 11). The first receiving element (10a) can be pivoted relative to the second receiving element (10b) about a pivot axis (K1). Preferably, the first receiving element (10a) can also be releasably fixed relative to the second receiving element (10b), in particular by means of a quick-release fastener that can be operated without tools. The roll angle (R) can be adjusted continuously or in stages. A locking mechanism or a clamping means, such as in for example a clamping screw or a tension lock.

The supporting bodies (6,7) of the support device (5) can have any desired design. In the embodiment according to 1 to 4 the support bodies (6,7) are designed to be essentially symmetrical to one another. They have an essentially rectangular cross-section, which can change in the course of the support force to be carried between the crankshaft (2) and/or a secondary shaft (16).

A support body (6, 7) can comprise a wheel carrier (30) for a running wheel (8, 9). The wheel carrier can be designed in any way. It is preferably arranged in an area which is located in the direction of travel of the running wheels (8, 9) essentially at the height of the vertical carrier holder (10, 11). This allows the dead load and the payload of the trolley (100) to be supported as directly as possible via the running wheels (8, 9). Alternatively, a wheel carrier (30) can be provided at a different location.

The running wheel (8, 9) can, for example, be a running wheel (104) previously removed from the trolley (100). Accordingly, the wheel carrier (30) can be an exchangeable device part, the design of which can be adapted to a specific trolley type. Alternatively, one or more separate running wheels (8, 9) can be provided as a component or an accessory of the rear-wheel drive device (1). The wheel carrier (30) can preferably be designed as an axle stub that projects outwards from one of the support bodies (6, 7) essentially in a horizontal direction. A part of the drive connection (4) can also be placed on such an axle stub, in particular a gear that can be set in motion by a rotary movement of the associated running wheel (8, 9). The design of the drive connection (4) can be of any type. The drive connection can have any and in particular an adjustable transmission ratio between the rotary movement of one or both running wheels (8, 9) and the rotary movement of the crankshaft (2). The adjustment of the gear ratio can preferably be carried out in such a way that the rhythm of the raising and lowering movement of the hind legs (201) can be approximated to the walking rhythm of the forelegs of the mammal (200).

According to a preferred embodiment, the hind leg drive device (1) can comprise an active transmission gear, by means of which the transmission ratio between the rotational movement of one or both wheels (8, 9) and the rotational movement of the crankshaft (2) is adapted depending on the current rotational speed of the wheels. In particular, the rotational speed of the crankshaft (2) can increase at a lower ratio as the rotational speed of the wheels (8, 9) increases. This brings the rhythm of the movement of the hind legs closer to the increased stride length of the front legs at faster gaits.

With a preferred education that exemplifies 3 As shown on the right, the rear-wheel drive device (1) can comprise at least one clutch (29) in order to partially or completely cancel a torque transmission between a running wheel (8, 9) and the associated part of the drive connection (4), in particular the first gear in the torque transmission. In the illustration according to 3 the clutch (29) is provided on a wheel carrier (30), which is a purely exemplary arrangement position. The clutch can be provided at any point in the drive connection (4) between an impeller (8, 9) and the crankshaft (2) and/or a driven auxiliary shaft (16). If the rear drive device (1) is equipped with a differential gear (12) (see 5 to 7 ), a single clutch (29) may be sufficient. Alternatively, several clutches may be provided, in particular a right and a left clutch (29). If a directly driven crankshaft (2) and also a separately driven auxiliary shaft (16) are provided (compare 8 ) a separate coupling (29) can be provided in the drive connection (4) for each of these shafts.

The clutch (29) can have any design. It can have one or more functions for influencing the torque transmission, which are explained separately below for the sake of simplified representation.

The clutch (29) can have the function of a clutch and can be switched between an active and a passive state. In an active state, the clutch (29) can transmit a torque. In a passive state, the clutch (29) can prevent the torque transmission so that the wheel or wheels (8, 9) rotate freely.

Alternatively or additionally, the clutch (29) can have the function of a slip clutch and can only transmit an applied torque up to a torque threshold value or limit it to the torque threshold value. If the applied torque exceeds the torque threshold value, a transmission of an excess torque component can be prevented or can take place at a significantly reduced level.

Alternatively or additionally, the clutch (29) can have the function of a speed-dependent clutch, in particular a centrifugal clutch, and only allow torque transmission until a threshold value of the rotational speed is reached. If a rotational speed of the impeller occurs that exceeds the threshold value, the clutch (29) can reduce or in particular interrupt the torque transmission.

A coupling (29) according to one or more of the aforementioned types of construction can prevent excessive mobilization of the affected hind legs. Furthermore, one or more threshold values can preferably be set.

As shown in the illustration by 4 illustrated, a support body (6, 7) can preferably be designed to be divisible. It can in particular comprise a first support body part (6a, 7a) which is intended to remain on the vertical support (103) for a longer period of time and on which the wheel carrier (30) and possibly a first part of the drive connection (4) are preferably arranged. The support body (6, 7) can further comprise a second support body part (6b, 7b) and/or a third support body part (6c, 7c). The second support body part (6b, 7b) is preferably designed to receive the crankshaft (2) and to support it with at least one suitable bearing. The third support body part (6c, 7c) can be designed to support a secondary shaft (16), which will be discussed further below.

In the example according to 1 to 4 a first gearwheel, which can be connected to an impeller (8, 9) directly or via the clutch (29), is mounted on the first support body part (7a). An intermediate gearwheel and a further gearwheel, which can be connected or is directly connected to a shaft (23) of the crankshaft (2), are provided on the second support body part (7b). The parting plane between the two support body parts (7a, 7b) can be designed as desired. 4 shows a preferred course of a parting plane in an exemplary representation.

When removing a second or third support body part (7b, 7c), the drive connection (4) to the crankshaft (2) and/or to a secondary shaft (16) can be interrupted. When reinserting the support body part (7b, 7c), the drive connection (4) can be closed again. The design of the drive connection and the type of action for interrupting and closing the drive connection (4) can be chosen as desired. In the embodiment of the 1 to 4 a significant part of the drive connection is formed by a spur gear toothing and the separation / closure of the drive connection takes place by removing / restoring the engagement between two gears, here in particular between the first gear and the intermediate gear. In the examples of 5 to 7 a significant part of the drive connection (4) is provided by bevel gear teeth and shafts arranged between them. Suitable shaft-hub connections can be provided on these shafts, which can be inserted into one another to close the drive connection and pulled apart to separate the drive connection.

The support device (5) of the rear drive device (1) preferably comprises at least one sliding bearing (17), in particular a first sliding bearing (17) to the left and a second sliding bearing (17) to the right of the crankshaft (2). The at least one sliding bearing (17) preferably comprises a first bearing element (17a) which is connected to the respective vertical support holder (10, 11) and a second bearing element (17b) which is connected to a support body (6, 7). The bearing elements (17a, 17b) form in the embodiment according to 1 to 4 a linear rail guide, which is a purely exemplary embodiment. Alternatively, a sliding bearing (17) can be a curved rail guide or have another suitable type of guide. The first bearing element (17a) can also preferably be longitudinally displaceable and releasably fixed relative to the second bearing element (17b), in particular by means of a quick-release fastener that can be operated without tools. The longitudinal offset (L) can be adjusted continuously or in stages. A locking connection, a plug pin or a tension lock are suitable fixing means, for example.

The support device (5) of the rear drive device (1) preferably comprises at least one (second) pivot bearing (22) for adjusting the pitch angle (N), more preferably one such pivot bearing (22) on the left and right side of the crankshaft (2). The pivot bearing (22) can be designed and arranged as desired. In the embodiment of the 1 to 4 the pivot bearing (22) comprises a first bearing section (22a) which is connected to a vertical support holder (10, 11) (directly or indirectly), and a second bearing section (22b) which is connected to one of the support bodies (6, 7). The first bearing section (22a) is preferably pivotable relative to the second bearing section (22b) about a pivot mechanism, in particular a pivot axis (K2) and can be releasably fixed, in particular by means of a quick-release fastener which can be operated without tools. The position of the pivot axis (K2) is shown in the 1 to 4 It preferably extends essentially parallel to the axis of rotation (A1) of the crankshaft (2) and possibly parallel to the axis of rotation (A2) of the Secondary shaft (16). The (second) pivot axis (K2) can be formed, for example, by an axle bolt that is arranged between a vertical support holder (10) and a support body (6, 7). The (second) pivot axis (K2) can be different from a rotation axis of the wheel carrier (30). Alternatively, the pivot axis (K2) and an axis of the wheel carrier (30) can be aligned collinearly and in particular be formed by a common body (not shown).

In the example of 1 to 4 the crankshaft (2) has a left crank pin and a right crank pin, which run essentially parallel to the axis of rotation (A1) of the crankshaft (2) and are spaced apart from the crankshaft by a radial offset (dR). The radial offset (dR) can be fixed or adjustable according to a preferred embodiment. In particular, it can be separately adjustable for each of the crank pins.

In the example of 1 to 4 furthermore, a first example of a crank adjusting device (13) is shown, which is designed to adjust the position of the crank pins and thus of the respective crank outputs (2a, 2b) by changing an axial offset (dA) relative to the axis of rotation (A1) of the crankshaft (2). The crank adjusting device (13) here has a slide guide in the area of a (middle) crank arm (20) of the crankshaft (2). Alternatively or additionally, other designs and functions of a crank adjusting device (13) can be present, which are explained further below.

The crankshaft (2) can be mounted in any manner on or opposite the support bodies (6, 7). 1 to 5 and 7 show embodiments in which a crankshaft (2) is mounted at the ends, in particular on one of the support bodies (6, 7). In 6 An alternative design is shown in which the crankshaft (2) is mounted (only) in a central area. The aforementioned types of bearings can be used alone or in combination.

In the following, various design features of a crankshaft (2) are explained, each of which can be used alone or in combination.

A shaft (23) aligned along the rotational axis (A1) of the crankshaft (2) can preferably form an axial end of the crankshaft (2) and is preferably mounted in one or more axle receptacles (21) of the rear-end drive device (1). The bearing of the shaft (23) can preferably be designed to be movable and releasably fixable. This makes it possible in particular to adjust the width of the rear-end drive device (1) along the rotational axis (A1) of the crankshaft (2). Alternatively, a width adjustment can be provided in any other way.

5 to 7 show embodiments of a rear drive device (1) according to the present disclosure, each designed with the feature according to the third aspect. These embodiments comprise a differential gear (12), via which a drive connection (4) is formed, which transmits an average value of the rotational movements of the first impeller (8) and the second impeller (9) to the crankshaft (2). The differential gears shown each comprise a first torque input (12a), which has an operative connection to a first impeller (8), a second torque input (12b), which has an operative connection to a second impeller (9), and a torque output (12c), which has an operative connection to the crankshaft (2). The differential gears can have any physical structure. In the drawings, in particular, a design with a bevel gear toothing between the beige torque inputs (12a, 12b) and the torque output (12c) is shown, which is completely accommodated in a differential cage. Alternatively, it is possible to provide an epicyclic gear, a spur gear differential gear or a helical gear differential gear.

In the example of 5 the operative connection between the torque inputs (12a, 12b) and the impellers (8, 9) is formed via rotary shafts and bevel gear teeth. The rotary shafts can in particular have shaft-hub connections (24) which enable length adjustment and/or detachment and connection of the shaft parts.

In the examples of 5 and 6 an operative connection from the torque output (12c) to the crankshaft (2) is provided via a rotating drive means (25), which can have any desired design, in particular as a chain or as a belt.

In examples of 5 and 6 the differential gear (12) is also formed on a secondary shaft (16) of the rear drive device (1). The secondary shaft (16) serves here to transmit the torque, but does not comprise a crank drive. According to an alternative embodiment, which is described in 8 As shown, a crank drive can also be provided on the secondary axis (16).

In the example of 5 the crankshaft (2) is mounted so as to rotate essentially freely relative to the support bodies (6, 7). The crankshaft (2) here comprises two (outer) crank arms (19), between which a crank pin (15) is mounted. Shafts (23) are attached to the outside of the crank arms (19) and are mounted in axle mounts (21) via an optional length adjustment (24). The crank pin (15) runs through a (middle) crank arm (20) of the crankshaft (2) and is set in a rotary motion via this, which is impressed via the drive means (25).

According to a preferred embodiment, the rear-wheel drive device (1) can comprise a crank adjusting device (13) which has a crank pin (15) running obliquely to the crankshaft rotation axis (A1) or one or two crank pin sections (15a, 15b). Furthermore, a rear-wheel mount (3) can preferably be mounted on such an oblique crank pin (15) or crank pin section (15, 15b) via an oblique bearing (26). The embodiments of the 5 to 7 explain various suitable designs of a crank adjusting device (13).

The skew bearing (26) can have a fixed or a variable skew angle. In the example of 5 For example, a skew bearing (26) is designed with a spherical or crowned bearing body, the skew angle of which can be adapted to an angle of attack (W) of the crank pin. The position (P) of the at least one crank output (2a, 2b) can be adjustable and in particular displaceable along the crank pin (15) or crank pin section (15a, 15b). Alternatively or additionally, the angle of attack (W) of the crank pin (15) or crank pin section (15a, 15b) can be adjustable.

The angle of attack (W) of a crank pin (15) or crank pin section (15a, 15b) aligned obliquely to the axis of rotation (A1) of the crankshaft (2) can have any value. However, it has been shown that for a majority of mammal species, in particular dog species, an essentially proportional relationship can be established between a normal step lift (F) of the hind leg and the buttock width (D) or hip width of the hind legs. This is exemplified in 11 shown. The wider the buttocks or hips of the animals in this group, the essentially proportionally greater is a usual step lift (F) of the hind leg when moving in a normal gait. Accordingly, it may be sufficient to provide the angle of attack (W) of the crank pin (15) or the crank pin sections (15a, 15b) with a fixed amount according to a correspondingly derived proportionality constant (ratio F/D).

In the embodiment according to 6 the support device (5) comprises an intermediate carrier (31) fastened to the support bodies (6, 7). This supports the crankshaft (2) in the region of a (middle) crank arm (20) and extends essentially centrally between and parallel to the support bodies (6, 7). A crank pin section (15a, 15b) running obliquely to the crankshaft axis of rotation (A1) is arranged on the left and right side of the (middle) crank arm (20). These crank pin sections (15a, 15b) are also arranged so as to be adjustable in the radial direction outwards or inwards, so that here too a crank adjusting device (13) is formed in which a radial offset (dR) of the crank pin section (15a, 15b) relative to the crankshaft axis of rotation (A1) is adjustable. Furthermore, the position (P) of the crank outputs (2a, 2b) is possible by a displacement along the crank pin sections (15).

7 shows a further embodiment of a rear drive device (1), in which a differential gear (12) is arranged on the crankshaft (2). The differential gear (12) has essentially the same design as in the 5 and 6 shown in an enlarged view.

In the example of 7 the crankshaft (2) comprises at least one hollow shaft section (23), in particular a left and a right hollow shaft section (23), in which or in which a torque transmission means is arranged. The hollow shaft section (23) can preferably be a multiply bent tube which comprises a section located towards the centre, which forms a crank pin section (15a, 15b), and an outward-facing section which is aligned collinearly with the axis of rotation (A1) and serves for bearing (directly or indirectly) relative to one of the support bodies (6, 7). In between there can be a further section which runs obliquely with respect to the axis of rotation (A1) and which connects the two aforementioned sections. Bending points with the largest possible radius are preferably provided between these sections.

Within the hollow shaft section (23), a rotary Bowden cable (14) can be provided as a rotation transmission means. A rotary Bowden cable (14) is essentially torsionally rigid with respect to torsion around its longitudinal extension, but is flexible in a direction transverse to the longitudinal extension. A drive connection for torque transmission can thus be made at opposite ends of a rotary Bowden cable without the Bowden cable having to run straight between these ends. For example, the rotary Bowden cable can be arranged as shown in 7 each with one end connected to a gear of the differential gear (12) or and with the other end to a gear on the support body (6,7). The internal structure of the crankshaft (2) according to 7 thus leads to the same kinematic effect, such as the one in 12 sketched crankshaft, but comes with a much simplified structure.

In the examples of 1 to 7 In each case, a rear-end mount (3) is mounted directly on a crank pin or crank pin section, so that the rear-end mount (3) essentially executes a circular movement corresponding to the rotation of the crankshaft (2) about the crankshaft axis (A1).

Alternatively, a rear-end mount (3) can be connected indirectly via one or more intermediate drive means to a crank pin (15) or to a crank pin section (15a, 15b) of the crankshaft (2). Furthermore, a crank drive can also be provided on the auxiliary shaft (16). Such modifications can serve to provide a more complex driven movement for the rear-end mounts (3).

8 shows, by way of example, in a schematic side view, a rear-end mount (3) which is connected via an intermediate element (28) on the one hand to the crankshaft (2) and on the other hand to the auxiliary shaft (16) and any crank drive additionally arranged there.

The imprinting of the movement takes place in the example of 8 on the one hand by the crank drives (2a, 2b) on the crankshaft (2), which rotates around the axis of rotation (A1). The crank drives (2a, 2b) characterize the 8 left end of the intermediate element (28) performs a circular movement. The other end of the intermediate element (28) can be mounted on the secondary axis (16) or, if necessary, on a crank mechanism additionally arranged there, if necessary with an additional sliding bearing. The 8 The crank drive shown on the right can have a radial offset which is preferably adjustable between a minimum value, in particular zero, and a maximum value.

The relative position of the vertical support mounts (10, 11), the sliding bearing (17) and the sliding bearing(s) (18, 22) can be chosen arbitrarily. It is shown in the figures purely as an example. In the examples of the 1 to 5 and 7 In each case, a vertical support holder (10, 11) is arranged on an inward-facing side of the respective support body (6, 7), while a running wheel (8, 9) is arranged on the outward-facing side. This arrangement is chosen purely as an example and can be changed and in particular interchanged. 6 shows an example of a reversed arrangement in which the running wheels (8, 9) are each located on the inside of the associated support body (6, 7), and the vertical support receptacles (10, 11) on the outside.

According to a preferred embodiment, the support bodies (6, 7) can have such a modular structure that a crankshaft (2) and/or a secondary shaft (16) can be arranged and in particular used optionally on a left or a right side, or optionally on a side facing the impeller (8, 9) or on a side facing the vertical support holder (10, 11). This can further increase the variability of the rear-end drive device (1). By arranging the support bodies (6, 7) so that they can rotate about their central axis, the rear-end drive device (1) can be used with a particularly large variety of trolleys (100).

• Schiebelager (17) oder vergleichbares Element zur Einstellung des Längsversatzes (L);
• (Erstes) Schwenklager (18) oder vergleichbares Element zur Einstellung des Rollwinkels (R);
• (Zweites) Schwenklager (22) zur Einstellung des Nickwinkels (N).

The rear-end drive device (1) preferably comprises at least two elements from the following group:

• Sliding bearing (17) or comparable element for adjusting the longitudinal offset (L);
• (First) pivot bearing (18) or comparable element for adjusting the roll angle (R);
• (Second) pivot bearing (22) for adjusting the pitch angle (N).

The different design variants of the crankshaft (2) according to the illustrations in 1 to 7 and 12 can be combined with each other in any way. Furthermore, the auxiliary shaft (16) can also be designed with a crank drive in a corresponding design.

In the examples explained above, it was assumed that the trolley (100) forms a substantially rigid frame or that its vertical struts (103) are in a fixed geometric relationship to one another. Accordingly, it may be sufficient to adjust the left and right components of the rear-end drive device (1) in such a way that the parts in between, in particular the crankshaft (2) and/or the auxiliary shaft (16), are aligned with one another. Furthermore, the various shafts (2, 16) or the additional body (31) can have a supporting function. It is also possible to provide an additional strut (27) between the supporting bodies (6, 7) and/or between the vertical support receptacles (10, 11), which can be provided, for example, in 7 is shown. Such an additional strut can serve, for example, to increase the internal rigidity of the rear leg drive device (1) and/or to align the support bodies (6, 7) with each other. Such an additional strut can also be attached only temporarily during the initial setting of the various parameters of the rear leg drive device (1), which can simplify handling.

According to a preferred embodiment, the one or more hind leg mounts men (3) and/or the first receiving element (10a) and/or the wheel carriers (30) are exchangeable and in particular manufactured individually for the customer. They can preferably be manufactured using a rapid manufacturing process and in particular formed by 3D printing. In this way, an exact adaptation can be made on the one hand to the hind legs of the mammal to be treated (200) and on the other hand to the geometry of the vertical support (103) and/or the wheels (104) of the respective trolley (100). Particularly preferably, impressions of the paw shape and/or the vertical support shape and/or the wheel hubs can be created and digitized by 3D scanning. Suitable contour adjustments for the respective hind leg holder (3) and/or the first receiving element (10a) and/or the wheel carriers (30) can then be made and these parts can be manufactured.

Reference symbols

1

Rear leg drive device

2

crankshaft

2a

Crank output

2b

Crank output

3

Hind leg recording

4

Drive connection

5

Carrying device

6

Support body

6a

First supporting body part

6b

Second supporting body part

6c

Third supporting body part

7

Support body

7a

First supporting body part

7b

Second supporting body part

7c

Third supporting body part

8

Wheel

9

Wheel

10

Vertical beam holder

10a

First recording element

10b

Second receiving element

11

Vertical beam holder

12

Differential gear

12a

Torque input

12b

Torque input

12c

Torque output

13

Crank adjusting device

14

Rotating Bowden cable

15

Crank pin

15a

Crank pin section

15b

Crank pin section

16

Secondary shaft

17

Sliding bearing

17a

First bearing element

17b

Second bearing element

18

Pivot bearing (first) for pitch angle

18a

First camp section

18b

Second camp section

19

Crank arm (outer)

20

Crank arm (middle)

21

Axle mount

22

Pivot bearing (second) for roll angle

23

Shaft / hollow shaft / hollow shaft section

24

Shaft-hub connection / length adjustment

25

Drive / Chain / Belt

26

Skew bearing / ball bearing

27

Additional strut

28

Intermediate element

29

Clutch / Shift clutch / Slip clutch / Centrifugal clutch

30

Wheel carrier

100

Trolley

101

Horizontal beam

102

Storage location

103

Vertical beams

104

Wheel

105

Dishes (front)

106

Dishes (rear)

200

Four-legged mammal / Four-legged pet / Dog / Cat

201

Hind leg

A1

Crankshaft rotation axis

A2

Axis of rotation of the auxiliary shaft

B

Width

F

Step lift hind leg

dA

Axial offset

dR

Radial offset

D

Hip width of hind legs / buttock width

H

Height of the horizontal beam

K1

First swivel axis

K2

Second swivel axis

L

Longitudinal offset

N

Inclination angle of the vertical support

P

Position of a crank output

R

Roll angle

S

Camber angle of the vertical beam

W

Angle of attack

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• CN104473735A [0002]
• ES 2868548 A1 [0002]
• US 3406661 A [0002]
• US 3215117 A [0002]
• US 919200 S [0002]
• US 997767 S [0002]
• EP 2475327 B1 [0007]

Claims (11)

Hind leg drive device for mobilizing at least one hind leg (201) of a sick four-legged mammal (200), in particular a dog, wherein the hind leg drive device (1) is designed for mounting on a trolley (200) which, in the intended operating position, supports the rear body section of the mammal (200), wherein the hind leg drive device comprises the following: - at least one hind leg mount (3) to which a hind leg (201) of the sick mammal (200) can be secured; - a crankshaft (2) with at least one crank output (2a, 2b) which drives the at least one hind leg mount (3) directly or indirectly; - a support device (5) for supporting the crankshaft (2) relative to the vertical supports (103) of the trolley (100) in the intended mounting position, wherein the support device (5) comprises a first support body (6) and a second support body (7); - A drive connection (4) which transmits a rotary movement of an impeller (8, 9) to the crankshaft (2); characterized in that the rear-end drive device (1) further comprises: - a first vertical support receptacle (10) on the first support body (6) and a second vertical support receptacle (11) on the second support body (7), wherein a vertical support (103) of the trolley (100) can be inserted into each of the vertical support receptacles (10, 11), and wherein the support device (5) is designed such that the position of the crankshaft (2) relative to the vertical support receptacles (10, 11) can be adjusted in one or more axes; AND/OR - a differential gear (12) with a first torque input (12a) which has an operative connection to a first impeller (8), a second torque input (12b) which has an operative connection to a second impeller (9), and with a torque output (12c) which has an operative connection to the crankshaft (2), so that a drive connection (4) is present which transmits an average value of the rotational movements of the first impeller (8) and the second impeller (9) to the crankshaft (2); AND/OR - a crank adjusting device (13) which is designed to adjust the position of the at least one crank output (2a, 2b) relative to the axis of rotation (A1) of the crankshaft (2), in particular by changing the axial offset (dA) and/or the radial offset (dR) of the at least one crank output (2a, 2b). Rear leg drive device according to Claim 1 , wherein the crankshaft (2) is adjustable relative to the vertical support receptacles (10, 11) - by a longitudinal offset (L) along the direction of travel of the rollers (8, 9), in particular by means of a sliding bearing (17); AND/OR - by a roll angle (R), in particular by means of a first pivot bearing (18); AND/OR - by a pitch angle (N), in particular by means of a second pivot bearing (22); Rear-end drive device according to one of the preceding claims, wherein the sliding bearing (17) comprises a first bearing element (17a) which is connected to a vertical support receptacle (10, 11), and a second bearing element (17b) which is connected to a support body (6, 7), wherein the first bearing element (17a) is longitudinally displaceable and releasably fixable relative to the second bearing element (17b), in particular by means of a quick-release fastener which can be operated without tools. Rear-end drive device according to one of the preceding claims, wherein the (first) pivot bearing (18) is provided for adjusting the roll angle (R) and is arranged between a first receiving element (10a) and a second receiving element (10b) of the vertical support holder (10, 11), and wherein the first receiving element (10a) can be pivoted and releasably fixed relative to the second receiving element (10b) about a pivot axis (K1), in particular by means of a quick-release fastener that can be operated without tools. Rear-end drive device according to one of the preceding claims, wherein the (second) pivot bearing (22) provided for adjusting the pitch angle (N) comprises a first bearing section (22a) which is connected to a vertical support holder (10, 11) and a second bearing section (22b) which is connected to a support body (6, 7), wherein the first bearing section (22a) can be pivoted and releasably fixed about a pivot axis (K2) relative to the second bearing section (22b), in particular by means of a quick-release fastener which can be operated without tools. Rear-end drive device according to one of the preceding claims, wherein the support bodies (6, 7) are designed to be divisible, in particular with a first support body part (6a, 7a) which is intended to remain on the vertical support (103) for a longer period of time, and a second support body part (6b, 7b) which supports the crankshaft (2), and optionally a third support body part (6c, 7c) which supports a secondary shaft (16). Rear leg drive device according to Claim 1 or 2 , wherein the differential gear (12) - is arranged on a driven auxiliary shaft (16) and is connected to the crankshaft (2) via a drive means (25), in particular to a central crank arm (20) of the crankshaft (2); OR - is arranged on the crankshaft (2). Rear leg drive device according to Claim 1 , 2 or 3 , wherein the crank adjusting device (13) has a crank pin (15) or crank pin section (15a, 15b) running obliquely to the crankshaft axis of rotation (A1), wherein in particular - the position of the at least one crank output (2a, 2b) along the crank pin (15) or crank pin section (15a, 15b) is adjustable, and/or - the angle of attack of the crank pin (15) or crank pin section (15a, 15b) relative to the crankshaft axis of rotation (A1) is adjustable, and/or - a radial offset (dR) of the crank pin section (15a, 15b) relative to the crankshaft axis of rotation (A1) is adjustable. Rear-end drive device according to one of the preceding claims, wherein the at least one rear-end mount (3) is mounted on an inclined crank pin (15) or short crank pin section (15a, 15b) via an inclined bearing (26). Rear-end drive device according to one of the preceding claims, wherein the crankshaft (2) comprises at least one hollow shaft section (23) in which a torque transmission means is arranged, wherein the hollow shaft section (23) is in particular a bent tube and/or the torque transmission means is a rotary Bowden cable (14). Rear-end drive device according to one of the preceding claims, wherein the one or more rear-end mounts (3) and/or the first mount element (10a) and/or the wheel carriers (30) are exchangeable and in particular are manufactured individually for the customer, further in particular by 3D printing.

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