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DE202024000238U1 - Drive to support the movement of loads - Google Patents

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Publication number
DE202024000238U1
DE202024000238U1 DE202024000238.1U DE202024000238U DE202024000238U1 DE 202024000238 U1 DE202024000238 U1 DE 202024000238U1 DE 202024000238 U DE202024000238 U DE 202024000238U DE 202024000238 U1 DE202024000238 U1 DE 202024000238U1
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drive
transport device
drive system
wheel
influences
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Priority to PCT/EP2025/053434 priority patent/WO2025168840A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B62B5/0056—Energy recuperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/20—Vehicles specially adapted for children, e.g. toy vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/24—Personal mobility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/30—Trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/34—Wheel chairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/14—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by provisions for nesting or stacking, e.g. shopping trolleys

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

Abstract

Fahrantrieb, der mit einer Transporteinrichtung verbunden ist, die bei Bewegung wirkende Rollreibungskraft mißt und durch Veränderung des Antriebsmomentes beeinflußt insbesondere teilweise oder ganz kompensiert.

Figure DE202024000238U1_0000
Travel drive which is connected to a transport device which measures the rolling friction force acting during movement and influences it by changing the drive torque, in particular partially or completely compensating it.
Figure DE202024000238U1_0000

Description

Anwendungsbereiche des erfindungsgemäßen Fahrantriebs sind Transporteinrichtungen jeglicher Art - sowohl für gewerbliche wie private Zwecke. Beispielsweise benötigen insbesondere volle Einkaufswagen erhebliche Kräfte zum Rangieren - durch Einsatz des neuartigen Antriebs können diese erheblich reduziert werden ohne daß der Aufbau des Fahrzeugs wesentlich geändert oder erweitert werden muß.Areas of application for the drive system according to the invention include transport systems of all kinds – for both commercial and private purposes. For example, full shopping carts in particular require considerable force for maneuvering – by using the innovative drive system, this force can be significantly reduced without the need to significantly modify or expand the vehicle's structure.

Insbesondere bei Transporteinrichtungen für logistische Zwecke aber auch bei Sportgeräten sind bereits seit Jahren Antriebssysteme im Einsatz, bei denen eine Erfassung der vom Bediener aufgebrachten Kraft stattfindet, die vom Antriebssystem auf einen komfortablen Wert eingeregelt wird. Die Sensorik zur Kraftmessung ist in der Regel mit den Antrieben über Kabel verbunden, die im Fahrzeug geeignet verlegt werden müssen. In der Regel ist auch ein Energiespeicher vorhanden, der in gewissen Abständen im Fahrzeug oder auch außerhalb geladen werden muß.Drive systems have been in use for years, particularly in transport equipment for logistical purposes, but also in sports equipment. These systems measure the force exerted by the operator and adjust it to a comfortable level. The force measurement sensors are usually connected to the drives via cables that must be appropriately routed within the vehicle. Typically, an energy storage device is also present, which must be charged at regular intervals, either inside or outside the vehicle.

Der erfindungsgemäße Antrieb benötigt nur noch die mechanische Verbindung zum Fahrzeug und gegebenenfalls eine elektrische. Wenn der Antrieb die Energie, die zu seiner Funktion nötig ist, in entsprechend günstigen Betriebsphasen sammeln und puffern kann, ist keine elektrische Verbindung zum Fahrzeug und kein externes Laden mehr nötig. Ohne eine derartige Verbindung können dann auch nachlaufende, beliebig rotierbare Antriebsrollen einfach realisiert werden. Ein gutes Beispiel ist ein Einkaufswagen, der unter günstigen Rollbedingungen Energie puffert, so daß in schwierigen Bewegungsphasen - beispielsweise bei Richtungsänderung durch Schwenken über einen ungünstigen Hebelarm - unterstützt wird. Ein wesentlicher Puffer, der ja nicht unerhebliche Kosten verursachen kann, ist nicht mehr nötig, wenn als Generatoren wirkende Aktoren die Energie erzeugen, die gerade unterstützende Aktoren benötigen - bei komplexeren Bewegungsabläufen unter Beteiligung einer Mehrzahl von Antrieben ist dies nicht selten möglich.The drive according to the invention only requires a mechanical connection to the vehicle and, if necessary, an electrical connection. If the drive can collect and buffer the energy required for its function during appropriately favorable operating phases, an electrical connection to the vehicle and no external charging are necessary. Without such a connection, trailing, freely rotatable drive rollers can then be easily implemented. A good example is a shopping cart, which buffers energy under favorable rolling conditions, thus providing support during difficult movement phases - for example, when changing direction by pivoting via an unfavorable lever arm. A significant buffer, which can incur considerable costs, is no longer necessary if actuators acting as generators generate the energy required by the supporting actuators at that time - this is often possible in more complex movement sequences involving multiple drives.

Der erfindungsgemäße Antrieb besteht aus einem oder mehreren Laufrädern, zugehörigen Motoren und einer Meßeinrichtung für die zwischen Fahrzeug und Antrieb wirkenden Kräfte sowie einer Steuereinheit, die auf Basis der ermittelten Kräfte das Drehmoment der Motoren reguliert. Wird beim Betrieb auf nahezu ebenem Untergrund die zum Untergrund parallel wirkende Kraft ermittelt, kann eine vollständige oder teilweise Kompensation der Rollreibung auch bei variierenden Lasten durchgeführt werden. Wenn alle Räder eines Fahrzeugs einen derartigen Antrieb enthalten, werden sämtliche Rollreibungskräfte entsprechend kompensiert - nachlaufende Rollen behalten dabei vollständig ihre Lenkeigenschaften. Nur die zur Überwindung der Massenträgheit erforderlichen Kräfte werden nicht ausgeglichen, was jedoch für eine sichere Handhabung vorteilhaft sein kann. Neben den erwähnten Einkaufswagen gibt es eine Vielzahl ganz ähnlicher Anwendungen wie Krankenbetten, Flurförderfahrzeuge, usw. - Transporteinrichtungen, die überwiegend oder ausschließlich in the Ebene bewegt werden. Transporteinrichtungen im weiteren Sinne sind aber auch bewegliche Möbel oder Teile davon.The drive according to the invention consists of one or more wheels, associated motors, and a measuring device for the forces acting between the vehicle and the drive, as well as a control unit that regulates the motor torque based on the determined forces. If the force acting parallel to the ground is determined during operation on a nearly level surface, complete or partial compensation of the rolling friction can be achieved, even with varying loads. If all wheels of a vehicle contain such a drive, all rolling friction forces are compensated accordingly – trailing rollers fully retain their steering characteristics. Only the forces required to overcome mass inertia are not compensated, which can, however, be advantageous for safe handling. In addition to the shopping carts mentioned, there are a multitude of very similar applications such as hospital beds, industrial trucks, etc. – transport equipment that is moved predominantly or exclusively on a level surface. Transport equipment in the broader sense also includes movable furniture or parts thereof.

Wenn alle auf den Fahrantrieb wirkenden Kräfte erfasst werden, können auch Hangabtriebs- und Rollreibungskräfte kompensiert werden. Antriebe mit diesen Eigenschaften können noch wesentlich breiter eingesetzt werden - beispielsweise in Kinderwagen, Fahrrädern, Rollatoren, Rollstühle, usw.If all forces acting on the drive system are captured, downhill and rolling friction forces can also be compensated. Drive systems with these properties can be used much more widely—for example, in strollers, bicycles, walkers, wheelchairs, etc.

In ist schematisch ein Teil einer Transporteinrichtung mit einem daran befestigten Fahrantrieb in einer Hangsituation dargestellt. Die Gesamtmasse - gegebenenfalls um eine Halte-Kraft modifiziert - bewirkt eine Hangabtriebskraft und eine Anpresskraft auf den Untergrund. Wenn beispielsweise der Schwerpunkt der gesamten Einrichtung rechts vom Abstützpunkt (Rad) liegt, wirkt neben der Gesamtmasse noch die in diesem Beispiel nach unten wirkende Haltekraft - liegt der Schwerpunkt links vom Rad, muß die Haltekraft nach oben wirken und reduziert die Wirkung der Masse. Weitere Räder stellen Abstützungen dar und reduzieren die am betrachteten Rad wirkende Masse - gleiches gilt für die Zugkräfte. Jedes Antriebsrad ist somit nur für die von ihm unterstützte „Masse“ zuständig.In This diagram shows part of a transport device with an attached drive system on a slope. The total mass - possibly modified by a holding force - causes a downhill force and a contact force on the ground. If, for example, the center of gravity of the entire device is to the right of the support point (wheel), in addition to the total mass, the holding force also acts, which in this example acts downwards. If the center of gravity is to the left of the wheel, the holding force must act upwards and reduces the effect of the mass. Additional wheels represent supports and reduce the mass acting on the wheel in question - the same applies to the tractive forces. Each drive wheel is therefore only responsible for the "mass" it supports.

Die Anpresskraft kann entweder unmittelbar am Rad gemessen werden oder in der Befestigung - dort allerdings reduziert um die Wirkung des Gewichts des Antriebs selbst. Die aus der Anpresskraft resultierende Rollreibungskraft tritt bei Bewegung gegen die Laufrichtung auf. Sie könnte ebenfalls an der Achse des Rades gemessen werden oder - ohne die Notwendigkeit einer Korrektur - auch in der Befestigung. Mithilfe von Beschleunigungssensoren kann die Raumlage des Fahrantriebs und der damit fest verbundenen Transporteinrichtung ermittelt und somit von der Anpresskraft auf die wirkende Gesamtmasse geschlossen werden, wobei in der Realität noch der Effekt der hier nicht behandelten dritten Dimension berücksichtigt werden muß. Somit sind alle wirkenden Kräfte bekannt und können im Rahmen der zur Verfügung stehenden Antriebskraft beeinflußt und insbesondere kompensiert werden - eine Kenntnis der wirkenden Zug- und Halte-Kräfte ist nicht erforderlich.The contact force can be measured either directly at the wheel or at the attachment – although this is reduced by the effect of the weight of the drive itself. The rolling friction force resulting from the contact force occurs when moving against the direction of travel. It could also be measured at the wheel axle or – without the need for correction – at the attachment. Using acceleration sensors, the spatial position of the drive and the transport device firmly connected to it can be determined, and the total mass acting can be deduced from the contact force. In reality, the effect of the third dimension, not discussed here, must also be taken into account. Thus, all acting forces are known and can be influenced and, in particular, compensated for within the scope of the available drive force – knowledge of the acting tensile and holding forces is not required.

Ein besonders interessantes Beispiel ist ein Rollator. Durch den erfindungsgemäßen Antrieb kann die durch das Abstützverhalten des Nutzers beim Gehen variierende Last erfaßt und so berücksichtigt werden, daß der Rollator auch im Hang nicht wegrollt - allein eine zum Boden parallel ausgeführte Zug- oder Schubkraft bewirkt eine dann rollreibungskompensierte Bewegung.A particularly interesting example is a rollator. The drive system according to the invention The load, which varies due to the user's support behavior when walking, can be recorded and taken into account in such a way that the rollator does not roll away even on slopes - only a pulling or pushing force parallel to the ground causes a rolling friction-compensated movement.

Claims (5)

Fahrantrieb, der mit einer Transporteinrichtung verbunden ist, die bei Bewegung wirkende Rollreibungskraft mißt und durch Veränderung des Antriebsmomentes beeinflußt insbesondere teilweise oder ganz kompensiert.Travel drive which is connected to a transport device which measures the rolling friction force acting during movement and influences it by changing the drive torque, in particular partially or completely compensating it. Fahrantrieb nach Anspruch 1, der zusätzlich durch Messung der auf den Untergrund wirkenden Anpresskraft sowie Messung und Berücksichtigung der Raumlage die Hangabtriebskraft bestimmt und diese durch Änderung des Antriebsmomentes beeinflußt insbesondere ganz oder teilweise kompensiert.Drive system according to Claim 1 , which additionally determines the slope force by measuring the contact force acting on the ground as well as measuring and taking into account the spatial position and influences this by changing the drive torque, in particular compensating it completely or partially. Fahrantrieb nach Anspruch 1 oder 2, der mit der Transporteinrichtung drehbar um eine gegenüber der Mitte des Rades horizontal versetzten vertikalen Achse mechanisch und elektrisch verbunden ist.Drive system according to Claim 1 or 2 which is mechanically and electrically connected to the transport device so that it can rotate about a vertical axis that is horizontally offset from the center of the wheel. Fahrantrieb nach Anspruch 1 oder 2, der mit der Transporteinrichtung drehbar um eine gegenüber der Mitte des Rades horizontal versetzten vertikalen Achse mechanisch verbunden ist und über einen eigenen Energiespeicher verfügt, der zum Zwecke des Ladens herausnehmbar ist und/oder in günstigen Bewegungsphasen durch generatorisches Bremsen nachgeladen wird.Drive system according to Claim 1 or 2 which is mechanically connected to the transport device so that it can rotate about a vertical axis that is horizontally offset from the center of the wheel and has its own energy storage device that can be removed for charging and/or recharged by regenerative braking during favorable movement phases. Fahrantrieb nach Anspruch 3, der zum Austausch von Energie mit anderen Antrieben der Transporteinrichtung vorgesehen ist.Drive system according to Claim 3 , which is intended for the exchange of energy with other drives of the transport device.
DE202024000238.1U 2024-02-08 2024-02-08 Drive to support the movement of loads Active DE202024000238U1 (en)

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DE202024000238.1U DE202024000238U1 (en) 2024-02-08 2024-02-08 Drive to support the movement of loads
PCT/EP2025/053434 WO2025168840A1 (en) 2024-02-08 2025-02-10 Traction drive for assisting in the movement of loads

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DE202024000238.1U DE202024000238U1 (en) 2024-02-08 2024-02-08 Drive to support the movement of loads

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