EP 3658096 B1 20210707 - SELF-BALANCING, SINGLE-AXLE RUNNING-GEAR UNIT HAVING A STAIR-CLIMBING FUNCTION
Title (en)
SELF-BALANCING, SINGLE-AXLE RUNNING-GEAR UNIT HAVING A STAIR-CLIMBING FUNCTION
Title (de)
SELBSTBALANCIERENDES, EINACHSIGES FAHRGESTELL MIT TREPPENSTEIGFUNKTION
Title (fr)
CHÂSSIS UNIAXE À AUTOSTABILISATION, À FONCTION MONTE-ESCALIER
Publication
Application
Priority
- DE 102017007184 A 20170725
- EP 2018070067 W 20180724
Abstract (en)
[origin: WO2019020645A1] The invention relates to a self-balancing, single-axle running-gear unit (10), comprising: a movement module (12) having a drive axle (14) on which two drive wheels (16, 18) are rotatably mounted, and a drive (28) which can be coupled to the two drive wheels; a stair-climbing module (46) having two spoked stars (54) which are mounted so as to be rotatable about the drive axle (14), wherein each spoked star (54) has a plurality of radially extending supporting spokes (56) which are arranged with an offset in the circumferential direction and which have a radially outer, free end on which a ground contact element is fitted, and wherein each spoked star (54) is arranged laterally next to one of the drive wheels (16, 18); and a controller which contains an inclination sensor and/or an acceleration sensor and is configured, by controlled application of a torque to the drive wheels (16, 18) and/or to the spoked stars (54), to prevent or to limit tilting of the load-receiving interface (42) relative to a vertical (V) extending through the load-receiving interface (42) in an initial state.
IPC 8 full level
A61G 5/06 (2006.01)
CPC (source: EP)
A61G 5/065 (2013.01); A61G 5/04 (2013.01); A61G 2203/42 (2013.01)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
WO 2019020645 A1 20190131; EP 3658096 A1 20200603; EP 3658096 B1 20210707
DOCDB simple family (application)
EP 2018070067 W 20180724; EP 18749316 A 20180724