DE102005060186B3 - Step-negotiable wheelchair has per main axle first braking device and second braking device which are functionally independent of each other, and with blocking device associated with each main wheel - Google Patents

Abstract

The step-negotiable wheelchair, with a main wheel (11) connected to each of two rotatably mounted main axles (10), has per main axle at least one first braking device (15), and at least one second braking device (17) which are functionally independent of each other. At least one blocking device is associated in each case with each main wheel. The first braking device of each main axle brakes the respective main axle in the non-operated state and releases it in the operated state. The second braking device blocks the main axle in one rotational direction and releases it in the other. An independent claim is included for an axle braking system for an axle of a wheelchair.

Description

The The invention relates to a stair-stepping wheelchair comprising a seat, at least one jockey wheel and two rotatably mounted main axes, with each of which at least a main wheel is connected, and at least one driving device for rotating the major axes, each major axis being at least two Hauptachsbremsvorrichtungen are assigned. The invention relates furthermore an axle brake system for an axle of a wheelchair.

Include conventional wheelchairs a seat, two front wheels and two rear wheels. In general, the front wheels as training wheels and the rear wheels as wheels or main wheels formed, with the wheels with handwheels equipped to allow a wheelchair user to get around Transfer torque to the wheels can. Such known wheelchairs but are not to overcome of obstacles or stairs or steps, which is why in and on many buildings next to staircases Wheelchair ramps are available.

A wheelchair with which even level obstacles can be overcome is in EP 0 903 138 B1 disclosed. This wheelchair has two sets of three wheels instead of two wheels, which are arranged on the circumference of a rotatable about an axis support. The wheelchair has on each side of the wheelchair a handwheel on which a wheelchair user can apply a torque in order to move. The torque is transmitted via a gear system, such as a planetary gear, to the arranged on the carrier three wheels. In addition, the handwheel can be verkuppelt with the carrier, so that an obstacle can be overcome by the rotation of the handwheel and thus the carrier with the wheels arranged thereon. The wheelchair can be equipped with a backstop, which prevents unintentional rolling back of the wheelchair when releasing the handwheel on inclines.

In FR 2 498 147 A1 is a motorized wheelchair described with star-shaped rear wheels, in which both the rear wheels and the support device for the rear wheels can be braked.

In both wheelchairs According to the prior art, it is possible that in case of failure of a brake or backstop the wheelchair runs unchecked, allowing safe overcoming of obstacles without a helper is not possible.

outgoing From this prior art, the invention is based on the object an alternative staircase Wheelchair available to provide, as well as components, with a safe and secure effortless overcoming of, in particular level, obstacles without the help of an assistant and a flexible and easy adaptation to different driving situations allows becomes.

These Task is solved through a staircase Wheelchair comprising a seat, at least one support wheel and two rotatably mounted main axes, with each of which at least a main wheel is connected, and at least one driving device for rotating the major axes, each major axis being at least two Associated Hauptachsbremsvorrichtungen, which further developed thereby is that per main axis at least a first Hauptachsbremsvorrichtung and at least a second Hauptachsbremsvor direction functional independently each other and the respective at least one main gear respectively at least one Hauptradsperrvorrichtung is assigned.

The Invention is based on the idea that a high degree of flexibility independent from each other functioning components, ie axles, main wheels, braking devices, drive devices etc. is achieved, depending on the requirements of a manageable Track or obstacles in a simple way in different ways Combinations are to be brought into operative connection with each other. Thereby it becomes possible at the same time a high level of safety due to the arrangement of several independent braking systems to achieve as well as the force to overcome in overcoming By stairs to keep it low, that at least one Drive device is used, which is on the main axes of the wheelchair according to the invention acts. The structure of the invention is also good for a modular design so that it is possible to use conventional wheelchairs, for example those with a known axle plug-in system, simple and fast by suitable components to a wheelchair according to the invention upgrade or upgrade.

in the Frame of the invention is a wheelchair whose front wheels support wheels and its rear wheels main wheels are included, as well as the reverse case in which the at least a support wheel Rear of the wheelchair and the main wheels are arranged in front.

In a wheelchair according to the invention both the main axis relative to the wheelchair is rotatably mounted on each side and the at least one main wheel relative to the main axis. For example, in one embodiment, when only one main gear is provided on a major axis at a time, the main wheels move on a flat surface in normal operation as in a conventional wheelchair unless both the main wheels relative to the main axes and the main axes are locked or braked against the wheelchair. In this operating state, the at least one drive device is inoperative. Instead, these main wheels preferably have hand wheels by means of which the wheelchair user drives the wheelchair in a known manner. Particularly easy to disassemble and put together is an embodiment of the wheelchair according to the invention, in which the main wheels are the usual wheels conventional wheelchairs, in particular with a known axle plug system.

Around To overcome obstacles such as stairs, the main wheels are advantageously formed deviating from a round shape. This happens, for example by the arrangement of spikes on the circumference of the main wheels, through the use of particularly deeply profiled tires or by a wavy Design of the wheel circumference.

at overcoming an obstacle, such as a staircase, become the components so interlocked with each other, that only certain, to overcome the obstacle necessary, movements are possible. This is for example in one embodiment with only one main wheel on each main axle the main wheel each side by means of a Hauptradsperrvorrichtung compared to respective main axis locked. This is how only the main axes turn across from the wheelchair. By means of the at least one drive device Then a torque is applied to the main axes, the is transferred directly to the locked main wheels, so that the Wheelchair is moved by the rotation of the main wheels.

When stabilizing and securing element act two Hauptachsbremsvorrichtungen, the independent interact with each other on the main axis and independently of each other to use. As a result, even when losing the braking effect a Hauptachsbremsvorrichtung ensured that the wheelchair is held by the other Hauptachsbremsvorrichtung and Do not roll uncontrollably from the obstacle or from the stairs or falls down.

In a preferred embodiment of the wheelchair according to the invention Brakes the at least one first Hauptachsbremsvorrichtung each major axis the respective main axis in the non-actuated state and gives it in the pressed Condition free. This ensures that the ground state of the Wheelchair, for example, when the drive device is not operated is, the first Hauptachsbremsvorrichtung without the intervention of the wheelchair user securing the wheelchair on the obstacle. When the drive device is operated, the rotation of the main axis is only active activity the first Hauptachsbremsvorrichtung released.

If Preferably, the at least one second Hauptachsbremsvorrichtung each main axis blocks the respective main axis in one direction of rotation and in the other direction of rotation releases, in particular the Locking direction of the at least one second Hauptachsbremsvorrichtung is reversible, is a particularly safe training of the wheelchair according to the invention reached. The second Hauptachsbremsvorrichtung then acts as a continuous emergency brake or like a backstop, which permanently prevents the wheelchair from obstruction or from a staircase rolls down. This requires the second Hauptachsbremsvorrichtung after being turned on during overcoming of the obstacle can no longer be operated separately, whereby the use is relieved.

Around Achieving a normal driving behavior on a level earth is advantageous on each main axle, the at least one first main-axle brake device and / or the at least one second Hauptachsbremsvorrichtung completely in a freewheel switchable. This is one or both Hauptachsbremsvorrichtungen for the Normal operation by an action of the user with a simple activity disengageable, decoupled or otherwise in an inactive state in which the main axle is free relative to the frame of the wheelchair is rotatable.

In A further advantageous development is each major axis with each a main wheel connected, are rotatably mounted on the at least two main wheels. The main wheels are even over the Circumference of the main wheel carrier arranged around the main axis, so that upon rotation of the main wheel carrier to the main axis of each one of the main wheels to the surface of next higher level a staircase is moved. The movement is similar to the of star wheels of staircase carts, although the main wheel of the wheelchair but not turn with the movement, but driven itself on the main axes become.

On level earth or in the overcoming of small obstacles or bumps are the main wheels either across from the wheelchair chassis locks or swing freely, leaving bumps balanced by small rotations or oscillations of the main wheel carrier become.

Preferably, the main wheels on a main wheel carrier via a power transmission device, in particular comprising a chain, a V-belt, a toothed belt or gears, in particular a planetary gear, connected to each other, wherein in particular special for the main wheels on a main wheel at least one Hauptradsperrvorrichtung is provided. By blocking the main wheels, the rotational movement exerted on the main wheel carrier is used directly to move the wheelchair and the wheelchair does not roll back. The Hauptradsperrvorrichtung can be for example a disc brake or a comparable, acting on a main wheel brake, for example in the form of a gear engaging in a locking mechanism.

advantageously, is a main wheel drive device on each side of the wheelchair in particular a handwheel, provided. The main wheel drive device works exclusively on the main wheel or the main wheels on a main wheel carrier, but not on the main axes. By means of the main wheel drive device is it possible for the wheelchair user to move with the wheelchair on level terrain as with a usual Wheelchair.

advantageously, will overcome facilitated by stage obstacles, if that is at least one stabilizer has a radius greater than is a step or if ever rotatable at least two support wheels mounted on at least one support wheel carrier rotatable about a horizontal axis in particular, a braking device for the at least one support wheel and / or for the Support wheel provided is.

In the first alternative without support wheel carrier becomes a hooking of the at least one support wheel to the stepped obstacle avoided by its radius is greater than the height of the obstacle. Important is that the point of the obstacle where the jockey wheel is the Obstacle touched first, lower lies as the center of the support wheel. Because the movement of the support wheel tangential to the circumference of the support wheel at this point, the direction of movement thus points beside one vertical component also has a horizontal component on it to overcome of the obstacle. Vice versa would be with a small support wheel, for example, is pending against a stair, the tangent on the support wheel at the point of contact purely vertical, so that the wheelchair on the sloping stairs jammed.

In the alternative version this is at least a support wheel designed as a star wheel with two, preferably with three or more wheels, the also big enough is about to hang out wheelchair at one step.

Around the balance in overcoming To keep steep obstacles, there is an advantageous development in that the seat around at least one horizontal axis, in particular is arranged transversely to an axis of symmetry of the wheelchair, pivotable is stored on the wheelchair, in particular advantageously the seat is freely pivotable or a tilting device to the controlled Pivoting the seat is provided. The seat is opposite the main wheels and / or opposite the support wheels swiveled. With the pivoting of the seat it is ensured that the center of gravity the mass distribution of the wheelchair and the wheelchair user not so far forward or backward is that the wheelchair tip over. For a freely swiveling seat with a suitable high pivot point the center of gravity of the wheelchair, including the occupants, is always well adjusted, independently from the steepness of the to be overcome Obstacle. If a tilting device is provided, the distance the front edge and / or the rear edge of the seat relative to the Front or rear wheels enlarged or Shrinked, the same effect in a stable manner reached.

Preferably the at least one drive device for rotation comprises at least a main axis a lever which is connected to a ratchet, which locks in at least one direction of rotation and in the other direction of rotation free running, being the ratchet directly or via an over- or reduction, in particular by means of gears, connected to the main axis is, in particular, the reverse direction of the ratchet reversible is and / or the ratchet for both directions of rotation can be switched to freewheel at the same time. These Construction allows it the user, to overcome an obstacle both the leverage and possibly an over- or Reduction of lever movement on the main axis exploit, so that only a small amount of force to overcome the obstacle is necessary.

Further Preferably, the at least one drive device and / or the tilting device and / or the main wheels and / or the braking devices by muscle power and / or by engine power, in particular by means of an electric or internal combustion engine operated. The operation by Muscle strength allows a simple construction and a light and unobtrusive design. Support Motor power makes it easier for the driver to get around and overcoming them of obstacles.

In order to facilitate the simple transport and a flexible change of the wheelchair, advantageously the main carriers with the main wheels, in particular in addition the at least one drive device individually or in conjunction with the main carrier device, in a modular design against individual wheels interchangeable. This means This means that even with conventional wheelchairs with two single large wheels on the existing main axles or on new main axles the different components can be mounted in different combinations. In this way, with little installation effort results in a flexible equipment or upgrading a conventional to a staircase wheelchair.

The The object underlying the invention is also achieved by an axle brake system for a Axis of a wheelchair, for example, as described above, the is further developed in that at least two independently functioning axle brake devices and a wheel lock device are provided, in particular at least one first Achsbremsvorrichtung the axle is not actuated Condition slows down and in the pressed State releases and / or at least a second Achsbremsvorrichtung locks the axis in one direction of rotation and releases it in the other direction, wherein in particular the reverse direction of the at least one second Achsbremsvorrichtung is reversible and / or these can be switched in freewheel is. The operation of the Achsbremssystems invention is like described above.

The Achsbremssystem is either stuck in a stairwell wheelchair built-in or in modular design with a conventional non-staircase wheelchair buildable, which makes this staircase.

The Invention will be described below without limiting the general inventive concept of exemplary embodiments with reference to the drawings, with respect to all not closer in the text explained Details of the invention expressly is referred to the drawings. Show it:

1 a schematic representation of a staircase according to the invention wheelchair in normal position for level ground,

2 a schematic representation of the wheelchair 1 on an oblique plane,

3 a schematic representation of a Hauptradträgers with four main wheels,

4 a schematic representation of a drive device for the main axis of a wheelchair according to the invention,

5 a side view of a drive and brake unit of a main axis of a wheelchair according to the invention in a schematic representation and

6 a schematic representation of a wheelchair according to the invention, each with a plurality of main and support wheels.

In The following figures are each the same or similar elements or corresponding parts provided with the same reference numerals, so that a corresponding renewed idea is ignored.

1 shows a wheelchair according to the invention 1 with seat 2 with seat 2a and seat back 2 B on a rack 3 , The wheelchair 1 has two support wheels 4 each having a Stützradbremsvorrichtung 6 in the form of a disc brake 6a have, which are suspended in a conventional manner decentralized on a vertical axis. At the front edge of the seat 2a of the seat 2 is a tilting device 8th provided by means of the distance between the front edge of the seat 2a and the training wheels 4 can be adjusted.

The rear wheels of the wheelchair 1 are main wheels 11 with handwheels 19 and tires 12 , The tires 12 can be equipped to overcome obstacles, for example, with spikes or have a deep profiling.

The wheelchair 1 has footrests 9 as well as levers 31 for the drive devices 30 on that in ratchets 30a they end up with gears 32 . 33 Torques acting on the levers 31 be exercised on the major axes 10 transferred (cf. 4 ). The levers 31 also have brake levers 7 . 16 for the support wheel brake devices 6 or the first Hauptachsbremsvorrichtungen 15 on. Next to the gear 32 is a second main-axle brake device 17 shown in the released position. This is a rocker that enters the teeth of the gear 32 engages and upon engagement, a rotation of the gear 32 only allow in one direction.

2 is a schematic representation of the wheelchair 1 out 1 but on an oblique plane. In contrast to 1 is in this case the tilting device 8th adjusted so that a large distance between the front edge of the seat 2a and the training wheels 4 consists. This is the focus of the wheelchair 1 together with driver (not shown) between the wheels 4 . 11 so the wheelchair 1 does not tip.

In 3 is a schematic representation of a main wheel 20 for four main wheels 11a - 11d with tires 12a - 12d which are on main wheel axles 13a - 13d are rotatably supported, reproduced. Every main wheel 11a - 11d has a gear 21a - 21d on to the one chain 23 it is curious about the pulleys 22a - 22d is diverted. In this way are all the main wheels 11a - 11d connected to each other via a power transmission device. To the individual gears 21a - 21c are main wheel lock devices 24a - 24d provided in the form of hooks in the gears 21a - 21d can intervene and prevent their further rotation. Instead of the hooks and rockers may be provided to allow, for example, the rotation in one direction only. It can also be provided that an actuating device for the Hauptradsperrvorrichtungen 24a - 24d is provided so that the user of the wheelchair one or all Hauptradsperrvorrichtungen 24a - 24d can engage at the same time with an operation.

On the main axis 10 is a brake disc 15a a disc brake 15a . 15b as the first main-axle brake device 15 attached. In normal operation of the wheelchair 1 this disc brake is released, so that the main wheel carrier 20 free on the main axis 10 can move. If the disc brake 15a . 15b permanently locked, takes the main carrier 20 always the same position opposite the wheelchair 1 at.

In 4 is the drive device 30 shown schematically. A lever 31 is with a ratchet 30a connected with a gear 32 rotatably connected. At the lever 31 is still a Sperrrichtungs- and freewheel lever 35 arranged, which has a recess into which a blocking direction selector 34 the ratchet 30a intervenes. By means of the blocking direction and freewheel lever 35 is selected by selecting the position of the reverse direction selector 34 on the ratchet 30a selected if the ratchet 30a clockwise and counter-clockwise, or vice versa, or free in both directions.

Furthermore, a trained as a rocker second Hauptachsbremsvorrichtung 17 illustrated, with two end-facing fingers, one or each of which is in the ring gear of the gear 32 intervenes. The rocker rotates about a centrally located pin, so that, for example, by depressing the right side of the rocker left finger from the sprocket of the gear 32 Will get removed. When the rocker is fully depressed, the right finger engages with the sprocket. The fingers are designed so that a rotation of the gear 32 in each case only one direction is possible and locked in the other direction. For example, in the in 4 illustrated position of the rocker of the left fingers in engagement with the gear 32 , whereby its rotation is locked clockwise and free in the counterclockwise direction.

Below the gear 32 with the ratchet 30a is the main axis 10 with a gear fixedly connected thereto 33 arranged, the ring gear in engagement with the ring gear of the gear 32 stands. Also stuck with the main axis 10 connected is the brake disc 15a the first Hauptachsbremsvorrichtung 15 , Furthermore, brake shoes 15b for the brake disc 15a intended.

In normal operation on level terrain, the rocker of the second Hauptachsbremsvorrichtung 17 placed in a neutral position, as well as the reverse direction selector 34 the ratchet 30a , If the brake shoes 15b the disc brake 15a . 15b be solved, the main axis rotates 10 free in their wheelchair storage 1 ,

To overcome an obstacle, by means of an in 3 illustrated Hauptradsperrvorrichtung 24a - 24d the rotation of the main wheels 11 . 11a - 11d with the main axes 10 prevented. First, the disc brake 15a . 15b placed in the braking position and the rocker of the second Hauptachsbremsvorrichtung 17 adjusted so that the gear 32 can only turn in the desired direction. Likewise, by means of the blocking selector 34 the desired direction of action of the ratchet 30a set. For actuating the drive device 30 is then in each case at egg nem loaded train or push the lever 31 the disc brake 15a . 15b solved, so that the main axis 10 can turn.

When retrieving the lever 31 the drive device 30 will the disc brake 15a . 15b no longer operated, leaving the brake shoes 15b the brake disc 15a grab and in this way the wheelchair 1 is secured against rolling down from the obstacle. The second main-axle brake device 17 serves, especially in the area of the beginning and end of the lever movement on the drive device 30 to prevent the wheelchair 1 at the moment in which the braking effect of the disc brake 15a . 15b not yet fully deployed, moved back.

5 shows a schematic representation of a side view of a drive device according to the invention 30 , On the left side of the picture, on the not shown frame of the wheelchair 1 is the ratchet 30a the drive device 30 that with a gear 32 rotatably connected. The gear 32 is in operative connection with a gear 33 on the main axis 10 , in addition to a brake disc 15a is attached. In the side view, the brake shoes 15b , which is the outer end of the brake disc 15a include, shown.

On the main axis 10 is still a main wheel carrier 20 attached, are rotatably mounted on the plurality of main wheels, of which two main wheels 11a . 11b are shown. Between the main wheel carrier 20 and the main wheels 11a . 11b are gears 21a . 21b on the common axes against rotation with the main wheels 11a . 11b angeord net. Not shown is the in 3 illustrated chain 23 ,

In 6 is an alternative embodiment of a wheelchair according to the invention 1 to the in 1 shown embodiment is provided. Unlike the embodiment according to 1 has the in 6 illustrated wheelchair 1 on every major axis 10 a main wheel carrier 20 on, like in 3 shown. Instead of the individual support wheels 4 are support wheel carriers 5 each with three training wheels 4a - 4c shown. These can rotate freely or in turn be connected to each other by means of a power transmission device, wherein in each case a Stützradbremsvorrichtung can be provided by means of which the rotation of the support wheels is controllable.

A preferred method for overcoming an obstacle or a staircase is that the wheelchair 1 with the main wheels 11a - 11d is approached to the obstacle or the first step and the first Hauptachsbremsvorrichtung 15 and the Hauptradsperrvorrichtung 24a - 24d be brought into locked position. The rocker of the second Hauptachsbremsvorrichtung 17 engages with the gear 32 brought so that the main axis 10 can only turn in the direction of the obstacle. Thereafter, by means of the tilting device 8th the seat 2 tilted backwards so that the center of gravity of the wheelchair user towards the main wheels 11a - 11d is shifted towards. The inclination of the seat can also gradually increase with the beginning of the increase to the respective inclination of the wheelchair 1 be adjusted. When the seat 2 is suspended freely swinging, the seating position adjusts the position of the wheelchair 1 on the obstacle without further action.

To move the wheelchair 1 will now be pushing or pulling on the lever 31 the drive devices 30 exercised over the ratchets 30a and gears 32 . 33 the main axes 10 to turn. The proportions of the gears 32 . 33 are chosen so that the wheelchair user and the wheelchair 1 can move up a staircase without overstraining. Simultaneously with the operation of the lever 31 is by means of brake levers 16 for the first main-axle brake device 15 the disc brake 15a . 15b solved, so the main axes 10 can turn. When retrieving the lever 31 no torque is applied to the main axes 10 transferred because the ratchet 30a is spinning. After overcoming the obstacle or after reaching the top level, the seat position is moved back to the original flat position and, for example, the Hauptachsbremsvorrichtungen 15 . 17 and the Hauptradsperrvorrichtung solved. Now the wheelchair can 1 roll freely.

To descend a staircase is also the seat 2 Correspondingly inclined so that the center of gravity is maintained even on the sloping staircase so that the wheelchair 1 not upset. The wheelchair 1 following gravity, roll down the stairs, with the down-facing movement controlled by releasing the support wheel brake device 6 or the first and / or second Hauptachsbremsvorrichtungen 15 . 17 , or is controlled by both. Also the support wheel brake device 6 Brakes in the non-actuated state and reduces the brake pressure on the support wheels when actuated 4a - 4c , For driving on a level surface is the Stützradbremsvorrichtung 6 completely detachable or disengageable.

1

wheelchair

2

Seat

2a, 2 B

Seat, backrest

3

frame

4, 4a-4c

stabilizer

5

supporting wheel beam

6 6a

Stützradbremsvorrichtung, disc brake

7

Stützradbremshebel

8th

tilt device

9

footrest

10

main axis

11 11a-11d

main wheel

12 12a-12d

tires

13 13a-13d

main wheel

15

first Hauptachsbremsvorrichtung

15a, 15b

brake disc, brake shoes

16

lever for the first main-axle brake device

17

second Hauptachsbremsvorrichtung

19

handwheel

20

Hauptradträger

21a-21d

gear

22a-22d

guide rollers

23

Chain

24a-24d

Hauptradsperrvorrichtung

30

driving device

30a

ratchet

31

lever

32 33

gear

34

Sperrrichtungsselektor

35

Sperrrichtungs- and freewheel lever

Claims (16)

Staircase wheelchair ( 1 ), comprising a seat ( 2 ), at least one jockey wheel ( 4 ; 4a - 4c ) and two pivotally mounted main axes ( 10 ), with each of which at least one main wheel ( 11 ; 11a - 11d ), and at least one drive device ( 30 ) for rotation of the main axes ( 10 ), each main axis ( 10 ) at least two Hauptachsbrems devices ( 15 . 17 ) are assigned, characterized in that per main axis ( 10 ) at least one first Hauptachsbremsvorrichtung ( 15 ) and at least one second Hauptachsbremsvorrichtung ( 17 ) are functionally independent of each other and the at least one main wheel ( 11 ; 11a - 11d ) at least one Hauptradsperrvorrichtung ( 24a - 24d ) assigned. Wheelchair ( 1 ) according to claim 1, characterized in that the at least one first Hauptachsbremsvorrichtung ( 15 ) of each main axis ( 10 ) the respective main axis ( 10 ) brakes in the non-actuated state and releases in the actuated state. Wheelchair ( 1 ) according to claim 1 or 2, characterized in that the at least one second Hauptachsbremsvorrichtung ( 17 ) of each main axis ( 10 ) the respective main axis ( 10 ) locks in one direction of rotation and releases in the other direction of rotation. Wheelchair ( 1 ) according to claim 3, characterized in that the locking direction of the at least one second Hauptachsbremsvorrichtung ( 17 ) is reversible. Wheelchair ( 1 ) according to one of claims 1 to 4, characterized in that on each main axis ( 10 ) the at least one first Hauptachsbremsvorrichtung ( 15 ) and / or the at least one second Hauptachsbremsvorrichtung ( 17 ) is completely switchable in a freewheel. Wheelchair ( 1 ) according to one of claims 1 to 5, characterized in that each main axis ( 10 ) each having a main wheel carrier ( 20 ), on which at least two main wheels ( 11a - 11d ) are rotatably mounted. Wheelchair ( 1 ) according to claim 6, characterized in that the main wheels ( 11a - 11d ) on a main wheel carrier ( 20 ) via a power transmission device ( 21a - 21d . 22a - 22d . 23 ), whereby for the main wheels ( 11a - 11d ) on a main wheel carrier ( 20 ) at least one Hauptradsperrvorrichtung ( 24a - 24d ) is provided. Wheelchair ( 1 ) according to one of claims 1 to 7, characterized in that a main wheel drive device is provided on each side. Wheelchair ( 1 ) according to one of claims 1 to 8, characterized in that at least two support wheels ( 4a - 4c ) rotatable on at least one about a horizontal axis rotatable Stützradträger ( 5 ) are mounted, wherein a braking device ( 6 ) for the at least one support wheel ( 4 ; 4a - 4c ) and / or for the support wheel carrier ( 5 ) is provided. Wheelchair ( 1 ) according to one of claims 1 to 9, characterized in that the seat ( 2 ) about at least one horizontal axis transverse to an axis of symmetry of the wheelchair ( 1 ), pivotable on the wheelchair ( 1 ) is stored. Wheelchair ( 1 ) according to one of claims 1 to 10, characterized in that the at least one drive device ( 30 ) for rotation of at least one major axis ( 10 ) a lever ( 31 ) equipped with a ratchet ( 30a ), which locks in at least one direction of rotation and runs freely in the other direction of rotation, wherein the ratchet ( 30a ) directly or via a transmission or reduction, with the main axis ( 10 ) connected is. Wheelchair ( 1 ) according to claim 11, characterized in that the locking direction of the ratchet ( 30a ) is reversible and / or the ratchet ( 30a ) can be switched to freewheel for both directions of rotation at the same time. Wheelchair ( 1 ) according to one of claims 1 to 12, characterized in that the at least one drive device ( 30 ) and / or the tilting device ( 8th ) is operated by muscle power and / or by engine power. Wheelchair ( 1 ) according to one of claims 6 to 13, characterized in that the main wheels ( 20 ) with the main wheels ( 11a - 11d ) individually or in conjunction with the main wheel carrier device ( 20 ) are modular in modular design against individual wheels interchangeable. Wheelchair ( 1 ) according to claim 14, characterized in that in addition the at least one drive device ( 30 ) individually or in conjunction with the main wheel carrier device ( 20 ), is modular in modular design against individual wheels interchangeable. Axle braking system for one axle ( 10 ) of a wheelchair ( 1 ) according to one of claims 1 to 14, characterized in that at least two independently operating axle brake devices ( 15 . 17 ) and a wheel lock device ( 24a - 24d ), wherein at least one first axle brake device ( 15 ) the axis ( 10 ) brakes in the non-actuated state and releases in the actuated state and / or at least one second axle brake device ( 17 ) the axis ( 10 ) locks in one direction of rotation and releases in the other direction of rotation, wherein the reverse direction of the at least one second axle brake device ( 17 ) is reversible and / or this is freewheeling switchable.