WO2019170305A1 - Transport device, particularly a pushchair, comprising an electrical drive unit - Google Patents

Abstract

A transport device (100), in particular a pushchair, comprising at least three wheels (116, 118, 120, 122) and a handle (110) for a user, wherein at least one wheel (116, 118) of the at least three wheels (116, 118, 120, 122) can be steered, and at least two wheels (120, 122) are drive wheels (132, 134), each of which can be motor driven by means of an associated electric drive unit (140, 142) in order to provide at least partial electromotive assistance for a manual pushing or pulling operation of the transport device (100) by the user, and comprising a control device (190) for controlling the at least two drive wheels (132, 134), wherein the at least two drive wheels (132, 134) can be controlled independently of each other. In said transport device, an automatic control (195) is provided which, when activated, is designed to control at least one of the at least two drive wheels (132, 134) in accordance with a steering torque acting on the transport device, so that the transport device (100) moves along its longitudinal axis (105).

Description

 description

title

 Transport device, in particular stroller, with an electric drive unit

State of the art

The present invention relates to a transport device, in particular a stroller, with at least three wheels and a handle for a user, wherein at least one wheel is at least steerable formed from the at least three wheels and at least two wheels are designed as drive wheels, each by means of an associated electric drive unit are driven by an electric motor to allow at least partially electromotive assistance of a manual sliding or pulling operation of the transport device by the user, and with a control device for controlling the at least two drive wheels, wherein the at least two drive wheels inde pendent - gig are controlled from each other.

Among other things, a transport device designed as a pram is known from the prior art, which has an electric drive for the active sliding support of a user. Such a stroller has three wheels and a handle for a user. Of the three wheels, a wheel designed as a front wheel is designed to be steerable, and the two wheels designed as rear wheels are designed as drive wheels. A control device is provided for controlling the two drive wheels, wherein the two drive wheels are independently controllable.

Disclosure of the invention

The present invention provides a transport device, in particular a stroller, with at least three wheels and with a handle for a at least one wheel is steerable from the at least three wheels and at least two wheels are designed as drive wheels, each of which can be driven by an associated electric drive unit by an electric motor to provide at least partially electromotive assistance of a manual shift or Pulling operation of the transport device to allow by the user, and with a control device for controlling the at least two drive wheels, wherein the at least two drive wheels are independently controllable from each other. A regulation is provided which is designed to regulate upon activation of at least one of the at least two drive wheels as a function of a steering moment acting on the transport device in such a way that the transport device moves along its longitudinal axis.

The invention thus makes it possible to provide a transport device in which the at least two drive wheels are controlled by the control device as a function of a steering torque acting on the transport device and an uncomplicated and secure control of the transport device can be made possible. Thus, a drive of the transport device can be made possible in a simple manner, in which an unwanted steering movement of the transport device can be prevented. A manual locking of the at least one steerable wheel is thus prevented and a simple and user-friendly handling of the transport device can be made possible.

Preferably, an input device for activating and / or deactivating the control by the user is provided. Thus, a user can easily and easily prevent a steering movement with activated control and / or allow a steering movement with deactivated control.

The input device is preferably arranged on the transport device or designed as an external device. Thus, an application-oriented and user-friendly operation can be made possible.

According to one embodiment, the input device is fixedly or detachably arranged on the transport device. Thus, a flexible arrangement of the input be made possible.

Preferably, the control is designed to regulate a wheel speed of at least one of the at least two drive wheels and / or a rotational speed of the transport device as a function of the steering moment acting on the transport device. Thus, in a simple manner, a steering torque acting on the transport device can be at least approximately compensated, wherein a manual locking of the at least one steerable wheel can be avoided and thus a straight-ahead travel can be made possible.

At least one sensor is preferably provided for determining the steering torque. Thus, a reliable and reliable determination of a steering torque acting on the transport device can be made possible, wherein the control controls the at least two drive wheels as a function of the determined steering torque.

The at least one sensor is preferably a rotational speed sensor and / or a gyro sensor. Thus, a suitable sensor for determining a respective current wheel speed and / or a rotational speed can be provided simply and simply.

According to one embodiment, the control device allows a deactivated steering control movement of the transport device. Thus, a transport device can be provided in which a straight-ahead driving with activated control and a steering movement with deactivated control can be made possible.

The regulation is preferably associated with a limiting steering torque, wherein the regulation allows a steering movement of the transport device when the limiting steering torque is exceeded. Thus, an easy and reliable control for a straight ahead and a steering movement can be provided.

Preferably, the control system for controlling at least one of the at least two drive wheels has at least one algorithm. Thus, a suitable regulation can be provided in a simple manner. Brief description of the drawings

The invention is explained in more detail in the following description with reference to exemplary embodiments illustrated in the drawings. Show it:

1 shows a side view of a transport device designed as a pushchair with an input device arranged on the transport device for activating a control for a straight-ahead drive,

2 shows a side view of the transport device of FIG. 1 configured as a pram with an external input device for activating the control for a straight-ahead travel,

3 is a schematic plan view of the wheels of the transport device with deactivated control,

4 is a schematic plan view of the wheels of the transport device with activated control,

5 shows a schematic plan view of the wheels of the transport device with an alternative control for straight ahead driving, with control activated and a steering torque below a predetermined limiting steering torque, and

Fig. 6 is a schematic plan view of the wheels of the transport device with the control of Fig. 5, with activated control and a steering torque above the predetermined limiting steering torque.

Description of the embodiments

1 shows a transport device 100, which is illustratively and by way of example designed as a child carriage 101 and is referred to below as "stroller 101". The stroller 101 preferably has a chassis 102, for example, which folds up like a scissor, on which a couch or seat pan 104 is illustratively arranged. In this is preferably a mattress 106 as a support for at least one child 108 inserted. On the chassis 102, a handle 110 is preferably arranged, preferably as a height-adjustable, U-shaped bracket or as a handlebar for a sliding or pulling operation of the stroller 101 in the direction of a double arrow 105 on a substrate by a not shown in the drawings User is trained. A pushing operation of the baby carriage 101 is carried out by way of example in the direction of a user force Fu applied for pushing, and a pulling operation of the baby carriage 101 preferably takes place in the opposite direction.

Preferably, the stroller 101 at least three wheels 1 16, 1 18, 120, 122 on. Preferably, two wheels on a rear axle 130 and a wheel on a front axle 128 are arranged, however, two wheels on the front axle 128 and a wheel on the rear axle 130 may be arranged. Four wheels 116, 118, 120, 122 are provided here on the chassis 102 by way of example only, with the wheels 1 16, 120 which are only visible here and located further forward in relation to the plane of the drawing, the two wheels 1 18 located further back relative to the plane of the drawing. 122 each cover. The wheels 16, 118 are preferably arranged on both sides on the front axle 128 and the wheels 120, 122 are arranged on the rear axle 130 of the chassis 102 of the baby carriage 101.

Of the at least three wheels 120, 122, 124, 126, at least two wheels are preferably each designed as a drive wheel 132, 134. The at least two drive wheels 132, 134 are preferably drivable by means of at least one electric drive unit 140, 142 by an electric motor. Each drive wheel 132, 134 is preferably assigned a drive unit 140, 142. The drive unit 140 is preferably assigned to the drive wheel 132, and the drive unit 142 is assigned to the drive wheel 134. In this case, the at least two drive wheels 132, 134 may be arranged on the front axle 128 and / or the rear axle 130.

The two wheels 120, 122 assigned to the rear axle 130 are preferably designed in each case as drive wheels 132, 134, which preferably serve to at least partially support the manual pushing or pulling operation of the baby carriage 101 by the user. The drive wheels 132, 134 are preferably each independently by means of an electric drive unit 140, 142 can be driven directly or indirectly via preferably an unillustrated transmission.

In addition, a control device 190 is provided for controlling the at least two drive wheels 132, 134. In this case, the at least two drive wheels 132, 134 are preferably independently controllable. The at least two drive wheels 132, 134 are preferably precisely controllable by means of the control device 190 or control device arranged, for example, in the region of the rear axle 130.

According to one embodiment, a control 195 is provided, which is designed to activate at least one of the at least two drive wheels 132, 134 as a function of a steering torque (T in FIG. 3) impinging on the transport device 100 or the child carriage 101. in such a way that the stroller 101 moves along its longitudinal axis 105 or moves straight ahead. In this case, the control unit 195 for controlling at least one of the at least two drive wheels 132, 134 has at least one algorithm, preferably a plurality of algorithms. The control device 190 preferably allows a steering movement of the baby carriage 101 when the control unit 195 is deactivated. The control device 190 preferably allows at least one permit of a steering movement when the control 195 is deactivated. In addition, with control 195 deactivated, control device 190 may alternatively or optionally also amplify a steering movement.

To activate and / or deactivate the control 195 by the user, an input device 180, 182 is preferably provided. The input device 182 is arranged on the transport device 100 or the stroller 101 or as an external device (282 in FIG. 2). Here, the input device 180 is fixedly arranged on the stroller 101, or detachably, for example via a clamping connection to an associated holding device. Illustratively and preferably, the input device 182 in FIG. 1 is arranged on the handle 1 10. In this case, the input device 182 is preferably designed as a switch, button, touch display and / or as a smartphone with a corresponding app, which is arranged on the stroller 101. Activation and / or deactivation of the control 195 can be effected by a manual operation, for example, of a switch or a key and / or by voice input. Through the input device 180, using the baby carriage 101 may set at least a first and second operating mode. In this case, the first operating mode preferably corresponds to a normal drive, in which the control 195 is deactivated and thus a steering movement is made possible by a loading of the pushchair 101 with a steering torque (T in FIG. 3). In the exemplary first operating mode, at least partial support of the manual pushing or pulling operation of the baby carriage 101 can take place or a manual pushing or pulling operation of the baby carriage 101 can take place. The second operating mode preferably corresponds to a straight-ahead driving, in which the controller 195 is activated and the stroller 101 moves along its longitudinal axis 105. The control system 195 preferably controls the at least two drive wheels 132, 134 in such a way that a steering torque (T in FIG. 3) applied to the pushchair 101 is compensated for and the child carriage 101 moves straight ahead. It should be noted that the design of the pushchair 101 with two modes of operation has only exemplary character and is not to be seen as limiting the invention.

According to one embodiment, the control unit 195 is configured to control a wheel speed of at least one of the at least two drive wheels 132, 134 and / or a rotational speed of the baby carriage 101 as a function of the steering torque acting on the stroller 101 (T in FIG. 3) , To determine the steering torque (T in FIG. 3), at least one sensor 192 is preferably provided. The at least one sensor 192 is preferably a rotational speed sensor and / or a gyrosensor.

Illustratively and preferably, the control device 190, the control unit 195 and the at least one sensor 192 are arranged on an underside of the lying-down or seat pan 104 facing the wheels 120, 122, 124, 126. However, the control device 190, the controller 195 and / or the at least one sensor 192 may also be arranged at any other location on the stroller 101, or the transport device 100.

Deviating from the embodiment of a classic pushchair 101 shown here by way of example only, it can also be used as a sports cart or buggy or as a twin or tandem pushchair or as a two-seat buggy. leads his. It should be noted that the design of the transport device 100 as a stroller 101 has only exemplary character and is not to be understood as limiting the invention. Thus, the transport device 100 can also be embodied in the manner of any other transport device having a control device according to the invention with a control for straight-ahead driving, for example in the manner of a trolley, a wheelbarrow, a sack truck, or a garbage can.

FIG. 2 shows the transport device 100 of FIG. 1 with the input device 180 embodied by way of example as a pushchair 101. The input device 180 is alternatively designed as an external device 282. The input device 180 is preferably designed as an external remote control, smartphone with an app or microphone. This allows a user to carry the input device 282 with him. Activation can, as described above, take place as actuation of a key and / or as voice input.

FIG. 3 shows the wheels 1 16, 1, 18, 120, 122 assigned to the transport device 100 of FIGS. 1 and 2, which are designed by way of example as stroller 101, in the first operating mode. Illustratively and preferably, the at least two drive wheels 132, 134 are assigned to the rear wheels 120, 122 and preferably form two drive units 140, 142. In this case, the drive wheel 132 is assigned to the drive unit 140 and the drive wheel 134 is assigned to the drive unit 142. Furthermore, the preferably two front wheels 1 16, 1 18 are designed to be steerable. Preferably, the rear wheels 120, 122 are designed as fixed castors and / or the front wheels 16, 118 are designed as castors.

FIG. 3 illustrates the above-described first operating mode in which a steering torque T permits a steering movement or pivoting of the steerable front wheels 1 16, 118, in FIG. 3 illustratively to the left. Such a steering torque T can preferably be generated by a downhill force, frictional forces and / or user power, for example by a user acting on the handle 1 10 or the user force Fu. In FIG. 3, the two drive wheels 132, 134 are preferably driven uniformly, and due to the steering torque T, the stroller 101 is acted upon illustratively to the left. FIG. 4 shows the wheels 116, 118, 120, 122 of the stroller 101 of FIG. 3 and illustrates the second mode of operation. In the second operating mode, as described above, the control unit 195 is activated and the two drive wheels 132, 134 are controlled in such a way that the steering torque T acted upon by the user force Fu on the stroller 101 is compensated for. The front wheels 1 16, 1 18 remain straight and the stroller 101 moves along its longitudinal axis 105. The two drive wheels 132, 134 are preferably controlled such that the speeds and / or rotational speeds are different and thus, for example 4, left-acting steering torque T, illustratively left drive wheel 132 has a higher wheel speed than right drive wheel 134, and / or illustratively right drive wheel 134 has a lower wheel speed than left drive wheel 132. has.

FIG. 5 shows the wheels 116, 118, 120, 122 of the baby carriage 101 of FIGS. 3 and 4 and illustrates an alternative or optional automatic mode of operation. In the alternative or optional automatic mode of operation, the controller 195 is assigned a limiting steering torque Tmax. When the automatic operating mode is activated and the limiting steering torque Tmax is exceeded, the control 195 allows a steering movement of the stroller 101 or an operation in the first operating mode and at a steering torque T the limiting steering torque Tmax is prevented from steering or is operated in the second Operation mode. In this case, the limiting steering torque Tmax can be preset, be set by a user and / or be determined by a test drive.

5 illustrates a straight-ahead driving at a steering torque T that is smaller than the limiting steering torque Tmax. In this case, the steering torque T by the control 195, which moves the drive wheels 132, 134 analogous to the second operating mode shown in Fig. 4 along its longitudinal axis 105 and straight ahead.

FIG. 6 shows the wheels 116, 118, 120, 122 of the stroller 101 of FIGS. 3 to 5 and illustrates the alternative or optional automatic operating mode in the first operating mode. In this case, the steering torque T is greater than the limiting steering torque Tmax, as a result of which the control 195 generates a steering movement. permitting. Illustratively, a steering movement of the front wheels 116, 1 18 takes place to the left.

Claims

claims 1. Transport device (100), in particular stroller, with at least three wheels (1 16, 1 18, 120, 122) and with a handle (110) for a user, wherein of the at least three wheels (116, 118, 120 , 122) at least one wheel (1 16, 118) is steerable and at least two wheels (120, 120, 122) are formed as drive wheels (132, 134), each of which can be driven by an electric drive unit (140, 142) by an electric motor assisting a manual pushing or pulling operation of the transport device (100) by the user and with a control device (190) for controlling the at least two drive wheels (132, 134), wherein the at least two drive wheels (132, 134) are independently controllable, characterized in that a control (195) is provided , which is designed to regulate upon activation of at least one of the at least two drive wheels (132, 134) as a function of a steering device (100) acting on the steering torque (T) such that the transport device (100) along its longitudinal axis (105) emotional. 2. Transport device according to claim 1, characterized in that an input device (180, 182, 282) for activating and / or deactivating the control (195) is provided by the user. 3. Transport device according to claim 2, characterized in that the input device (182) on the transport device (100) is arranged or as an external device (282) is formed. 4. Transport device according to claim 2 or 3, characterized in that the input device (180, 182) fixed or detachable on the transport device (100) is arranged. 5. Transport device according to one of the preceding claims, characterized in that the control (195) is adapted to a wheel speed of at least one of the at least two drive wheels (132, 134) and / or a rotational speed of the transport device (100) in Ab- dependence of the transport device (100) acting on steering torque (T) to regulate. 6. Transport device according to one of the preceding claims, characterized in that at least one sensor (192) for determining the steering torque (T) is provided. 7. Transport device according to claim 6, characterized in that the at least one sensor (192) is a rotational speed sensor and / or a gyrosensor. 8. Transport device according to one of the preceding claims, characterized in that the control device (190) with deactivated control (195) allows a steering movement of the transport device (100). 9. Transport device according to one of the preceding claims, characterized in that the control (195) is assigned a Grenzlenkmoment (Tmax), wherein the control (195) at a Grenzlen the Grenzenkenkmoments (Tmax) a steering movement of the transport device (100 ). 10. Transport device according to one of the preceding claims, characterized in that the control (195) for controlling at least one of the at least two drive wheels (132, 134) has at least one algorithm.