Movable device

Abstract

The invention relates to a movable device (100), in particular a stair-climbing device. The device (100) comprises a support (64), a lifting device (1) with a thrust chain (10), and a scissor-type lift system (50). The lifting device (1) is equipped with at least one rotational element (41), and the lifting device (1) is designed to lift and / or lower the at least one rotational element (41). The scissor-type lift system (50) is used to guide the lifting device (1) when lifting and / or lowering the at least one rotational element (41). The lifting device (1), in particular the thrust chain (10), and the scissor-type lift system (50), in particular an upper plate (51) of the scissor-type lift system (50), are arranged on the support (64) at different heights in the lifting direction (501) of the lifting device (1).

Description

[0001] HOEFER & PARTNER

[0002] PHD251201 PCT-5 / EX 04.12.2025

[0003] Applicant:

[0004] HA-Consult UG (limited liability)

[0005] Shepherd's Way 14

[0006] 82041 Oberhaching

[0007] Movable device

[0008] Description

[0009] The invention relates to a movable device, in particular one capable of traveling up and down stairs. The device can be designed, in particular, as a cleaning robot or a transport system for transporting loads and / or people.

[0010] A transport system is known from DE102018209351 A1. DE102020133682 A1 further discloses a mobile cleaning robot.

[0011] The object of the invention is to propose a particularly compact, movable, especially stair-climbing, device.

[0012] The movable device, particularly one capable of traversing stairs, comprises a lifting device with a push chain and a scissor lift system. At least one rotating element is arranged on the lifting device, the lifting device being designed to raise and / or lower the at least one rotating element. The scissor lift system is designed to guide the lifting device, particularly the push chain, during the raising and / or lowering of the at least one rotating element.

[0013] The movable device offers the advantage of a compact design, as the push chain for raising and / or lowering the at least one rotating element requires little storage space when retracted.

[0014] The device is specifically designed to travel up and down stairs, particularly straight or spiral stairs, and / or to cover a distance on a horizontal and / or inclined plane. The device can be configured, in particular, as a cleaning robot or a transport system for moving loads and / or people. Advantageously, the transport system can also function as a stair-climbing aid.

[0015] It should be noted that the term "mobile" means that the device is movable. Furthermore, the term "robot" specifically means that the cleaning robot can move independently (autonomously) and automatically perform the cleaning of a floor surface.

[0016] It should further be noted that the scissor lift system serves only to guide the lifting device, in particular the push chain; in other words, only as a guide device, and not to raise and / or lower the at least one rotating element. This function is performed solely by the lifting device. Advantageously, the scissor lift system is the only guide device for guiding the lifting device, in particular the push chain.

[0017] It is understood that the push chain of the lifting device acts as a lifting element for raising and / or lowering the at least one rotating element. It is understood that, for movement, particularly for traversing stairs, the device comprises not only the described lifting device with the push chain, but also at least one further lifting device with at least one lifting element. Furthermore, the at least one further lifting device may be guided by another scissor lift system. However, for the aforementioned advantages of the device to materialize, the at least one further lifting device need not be designed like the (first) lifting device and / or the further scissor lift system need not be arranged like the (second) scissor lift system.

[0018] This means that to achieve a relatively compact device, it is sufficient if only one of the lifting elements is designed as a push chain and, in particular, guided by a scissor lift system. In other words, the movable device can have a lifting device arrangement with a plurality of lifting devices, comprising a first lifting device (the aforementioned lifting device) with a push chain on which at least one rotating element is arranged and which is designed to raise and / or lower the rotating element. The term "plural of lifting devices" here means that the lifting device arrangement comprises at least two lifting devices, i.e., two or more lifting devices.

[0019] The device advantageously comprises a plurality of lifting devices. The aforementioned lifting device is one of these plurality of lifting devices.

[0020] The movable device preferably also includes a housing. Preferably, the lifting device or the majority of the lifting devices are arranged in the housing.

[0021] The fact that the aforementioned lifting device or the plurality of lifting devices is / are arranged in the housing means in particular that, in the retracted state, the lifting device(s) is / are arranged for the most part, in particular completely, i.e., over its entire length, inside the housing.

[0022] At least two lifting devices, preferably all lifting devices, and the majority of lifting devices each have (at least) one push chain. Preferably, each lifting device can be assigned its own scissor lift system, which is designed (only) to guide the corresponding lifting device. The following features, relating to the lifting device or push chain and / or the scissor lift system, can advantageously be applied, separately or in combination, to any lifting device or push chain and any scissor lift system of the device.

[0023] Preferably, the scissor lift system is arranged at least partially outside the housing when folded.

[0024] An even more compact design is made possible, in particular, by the described arrangement of the scissor lift system. Because the scissor lift system is at least partially located outside the housing when folded, more space is available for the lifting device(s) (if the movable device comprises multiple lifting devices) or for other components of the device, such as electronics and drive element(s) for the lifting device(s). This is because, with such an arrangement, unfolding the scissor lift system, which requires considerable space, does not take place entirely within the housing. In other words, the scissor lift system is preferably arranged such that a portion of it is located outside the housing when unfolded.In comparison to a device where the scissor lift system is completely inside the housing when unfolded, the described arrangement of the scissor lift system allows for a more efficient positioning of the other components of the device relative to each other, which must be accommodated in the housing, so that the device can ultimately be designed to be very compact.

[0025] Preferably, the scissor lift system is arranged completely outside the housing when folded. This means, in particular, that the scissor lift system is located completely outside the housing when unfolded. This maximizes the space available for the lifting device(s) and other components of the movable device. Specifically, the scissor lift system has an upper plate located at the level of the lower edge of the housing. The upper plate is the plate of the scissor lift system that, during normal operation of the device (i.e., when the device is positioned on a level surface to fulfill its purpose), is closer to the underside of the housing than a lower plate of the scissor lift system.

[0026] Advantageously, the upper plate has an opening through which the push chain passes and can move freely. This means, in particular, that when the push chain is extended, it moves through the opening in the upper plate. This improves the guidance of the push chain.

[0027] Advantageously, the push chain, and in particular one end of the push chain, is fixed to the lower plate of the scissor lift system. This ensures particularly stable guidance of the push chain. This end of the push chain is specifically responsible for the connection to the rotating element.

[0028] The movable device preferably further comprises a support. The lifting device and the scissor lift system are advantageously arranged on the support.

[0029] Preferably, the lifting device, in particular the push chain, and the scissor lift system, in particular the upper plate of the scissor lift system, are arranged at different heights on the support in the lifting direction of the lifting device. In other words, this means in particular that the lifting device, in particular the push chain, and the scissor lift system, in particular the upper plate, are arranged at a distance from each other. Due to the described arrangement of the lifting device and the scissor lift system relative to each other, the space between these components can be used to arrange other components of the device, so that the device has a compact overall height.

[0030] Advantageously, the lifting device, in particular the push chain, is arranged on the support above the scissor lift system, in particular the upper plate. It is understood that the lifting device, in particular the push chain, is arranged on the support above the scissor lift system, in particular the upper plate, when the device is on a plane, i.e., when the at least one rotating element(s) are on a plane or in contact with the plane. In other words, advantageously, the arrangement plane / height of the scissor lift system, in particular the upper plate, on the support is closer to the at least one rotating element than the arrangement plane / height of the lifting device, in particular the push chain, on the support.

[0031] The support is advantageously arranged entirely within the housing. The housing and the support are preferably connected to each other. In particular, the housing can be detachably connected to the support. The support is preferably designed such that it defines / surrounds a support interior. The support interior advantageously corresponds to at least part of a housing interior.

[0032] The lifting device, in particular the push chain, is advantageously attached to an upper end region of the carrier, in particular to a bottom of the upper end region.

[0033] Preferably, the scissor lift system is arranged at a lower end region of the beam. Particularly preferably, an upper end of the scissor lift system, in particular the upper plate, especially its top surface, is attached to the lower end region of the beam.

[0034] Due to the arrangement of the scissor lift system at the lower end of the beam and the arrangement of the lifting device at the upper end of the beam, more space is available inside the beam for the lifting device(s) if the movable device comprises multiple lifting devices, or for other components of the device, such as electronics and drive element(s) for the lifting device(s). In particular, these components can each be arranged at the upper end.

[0035] The reason for this is that, in such an arrangement, the unfolding of the scissor lift system, which requires considerable space, takes place at least partially below the support or below the lower end of the support, and thus not entirely within the support's interior. In other words, at least part of the scissor lift system, when unfolded, is located below the support or its lower end and therefore outside the support's interior. Compared to a movable device where the scissor lift system is located at the upper end, the described invention allows for a more efficient positioning of the other components of the device relative to each other, which are arranged on the support, so that the device can ultimately be designed very compactly.

[0036] The support preferably comprises a base support element to which the lifting device(s), in particular the push chain(s), is / are attached. In particular, the lifting device(s), in particular the push chain(s), is / are arranged on the underside or on the upper side of the base support element. The underside of the base support element preferably corresponds to the underside of the upper end region, and the upper side of the base support element preferably corresponds to the upper side of the upper end region. The base support element advantageously extends on a plane perpendicular to the lifting direction of the device. The upper end region of the support preferably comprises the base support element, in particular the underside and / or the upper side of the base support element.

[0037] The support structure preferably further comprises an auxiliary support element to which the scissor lift system, in particular the upper plate, is attached. The auxiliary support element is arranged on the main support element. In particular, the auxiliary support element extends in the lifting direction, preferably parallel to the lifting direction, of the device. In particular, the upper end, in particular the upper plate, of the scissor lift system is arranged on the underside of the auxiliary support element, preferably at the level of the underside of the auxiliary support element. The lower end region of the support structure advantageously comprises a lower region of the auxiliary support element, in particular the underside of the auxiliary support element.

[0038] Advantageously, the support extends in the lifting direction of the device from the upper surface of the main support element to the lower surface of the auxiliary support element.

[0039] The support preferably comprises a plurality of auxiliary support elements. Any scissor lift system, in particular its upper plate, can be arranged, in particular, on two auxiliary support elements, especially on their undersides. If the support has a plurality of auxiliary support elements, the lower end region of the support comprises the lower regions of the auxiliary support elements, in particular their undersides.

[0040] The scissor lift system preferably comprises, in addition to the upper plate and the lower plate, a first scissor arm, a second scissor arm, a third scissor arm, and a fourth scissor arm, wherein the first and second scissor arms are pivotably arranged relative to each other, and the third and fourth scissor arms are pivotably arranged relative to each other. The first scissor arm intersects with the second scissor arm, and the third scissor arm intersects with the fourth scissor arm.

[0041] The at least one rotating element can, according to an advantageous configuration, comprise at least one freely rotatable rotating element, in particular designed as a freely rotatable wheel or freely rotatable sphere. Within the scope of the invention, "freely rotatable" means, in particular, that the rotating element is rotatable on a surface when the rotating element is in contact with the ground and the device is moving. That is to say, the freely rotatable rotating element is not designed to set the device in motion. Thus, the freely rotatable rotating element can (only) be used as a support element. Within the scope of the invention, the term "rotatable" can be replaced by the term "rotatable," particularly in combination with the feature of the rotating element being designed as a sphere.The difference between a freely rotatable wheel and a freely rotatable sphere is that the freely rotatable wheel can only rotate around one axis, whereas the sphere can rotate around any number of axes.

[0042] According to an alternative advantageous configuration, the at least one rotating element can comprise at least one drive wheel, also referred to as a driveable rotating element. Within the scope of the invention, a drive wheel is provided to set the device in motion. This means that the drive characteristic of the drive wheel relates to its serving as the drive device for the device. For this purpose, an electric motor is advantageously attached to the drive wheel such that the drive wheel can be rotated by the electric motor. The drive wheel can, in particular, be designed as a conventional wheel. A conventional wheel is a wheel which has a running surface whose axis of rotation coincides with the axis of rotation of the conventional wheel. However, the drive wheel can also be an omnidirectional wheel, in particular a Mecanum wheel. Other types of omnidirectional wheels, such as the Liddiard wheel, are also possible.Also possible are drive-rotation drives that allow rotational movement around both the horizontal and vertical axes.

[0043] Preferably, each drive wheel of the device is designed as an omnidirectional wheel. The movement of the device can advantageously be controlled via the rotational speeds of the drive wheels.

[0044] Advantageously, the movable device can, in addition to the aforementioned lifting device, also include a further lifting device with a push chain. At least one rotating element is arranged on the further lifting device and is designed to raise and / or lower the at least second rotating element.

[0045] In particular, the lifting device, which can also be referred to as the first lifting device, and the further lifting device, which can also be referred to as the second lifting device, can be the only lifting devices of the movable device. In other words, according to this embodiment, the movable device can comprise only two lifting devices, namely the first lifting device and the second lifting device, for traversing a staircase.

[0046] In particular, the at least one rotating element of the lifting device can comprise at least one freely rotatable rotating element, wherein the at least one rotating element of the further lifting device can comprise at least one drive wheel. Alternatively, the at least one rotating element of the lifting device can comprise at least one drive wheel, wherein the at least one rotating element of the further lifting device can comprise at least one freely rotatable rotating element. Furthermore, the lifting device can be arranged in a forward direction of the movable device, particularly in front of the further lifting device. In other words, the device can be designed such that the lifting device is used for / during the ascent of a staircase or...The placement of the at least one rotating element arranged on the lifting device onto a stair step for raising the stairs is advantageously positioned closer to the stair step compared to the other lifting device. In particular, if the at least one rotating element of the lifting device comprises at least one drive wheel and the at least one rotating element of the other lifting device comprises at least one freely rotatable rotating element, a very lightweight design and excellent weight distribution of the device can be achieved.

[0047] In particular, the at least one rotating element of the lifting device can be arranged in the forward direction of the movable device in front of the at least one rotating element of the further lifting device. This can apply especially when the push chain of the lifting device and / or the push chain of the further lifting device is / are in the extended and / or retracted state.

[0048] The forward direction is advantageously understood to be the main direction of movement of the movable device, in which the device as a whole can be moved, for example, to ascend or descend stairs. If the movable device has a front end, a rear end, a right end, and a left end, then the forward direction of the movable device preferably corresponds to the direction from the rear end to the front end. If a coordinate system with a longitudinal axis, a transverse axis, and a vertical axis analogous to the axes of a vehicle is incorporated into the movable device, particularly in a control device of the movable device, then the forward direction of the movable device corresponds to the positive direction of the longitudinal axis. The forward direction is preferably horizontal.Particularly preferably, the forward direction corresponds to a direction that is perpendicular to the axis of rotation of the rotating element(s) and parallel to the surface on which the rotating element(s) is / are rotatable.

[0049] Furthermore, the movable device preferably comprises at least one freely rotatable rotating element and / or at least one drive wheel, which has a fixed position. In particular, the at least one freely rotatable rotating element and / or the at least one drive wheel is / are fixedly arranged on the support, i.e., the at least one freely rotatable rotating element and / or the at least one drive wheel is / are not movable relative to the support. However, the at least one freely rotatable rotating element and / or the at least one drive wheel can perform a rotational movement. The at least one freely rotatable rotating element fixedly arranged on the support can be designed as a freely rotatable wheel or a freely rotatable ball.

[0050] The at least one drive wheel, which is fixedly mounted on the support, can be positioned in front of the lifting device, particularly in the forward direction of the device. In other words, the device can be designed such that the at least one drive wheel, which is fixedly mounted on the support, is positioned closer to the stair step compared to the lifting device when raising a staircase or placing the at least one rotating element of the lifting device, which is mounted on the lifting device, onto a stair step for raising the staircase.

[0051] In particular, the at least one drive wheel fixed to the support can be arranged in the forward direction of the movable device in front of the at least one rotating element of the lifting device. This can be advantageous when the push chain of the lifting device is in the extended and / or retracted state.

[0052] Furthermore, the at least one freely rotatable rotating element fixed to the support can be arranged in the forward direction of the movable device, particularly behind the lifting device. In other words, the movable device can be designed such that the lifting device of the movable device, for raising a staircase or placing the at least one rotating element arranged on the lifting device onto a stair step for raising the staircase, is arranged closer to the stair step compared to the at least one freely rotatable rotating element fixed to the support.

[0053] In particular, the at least one freely rotatable rotating element fixed to the housing can be arranged in the forward direction of the movable device in front of the at least one rotating element of the further lifting device. This can apply especially when the push chain of the further lifting device is in the extended and / or retracted state.

[0054] Each push chain of a lifting device, advantageously each push chain of the device, is slidably arranged on the support. Furthermore, each push chain of a lifting device, and in particular each push chain of the device, has a retracted position (first end position) and an extended position (second end position). In the retracted position, the respective push chain extends essentially parallel to a surface of the support, in particular the previously described base support element, on which the push chain is arranged. This means, in particular, that the portion of the push chain parallel to this surface of the support is longer than the portion of the push chain perpendicular to the surface. In the extended position, the portion of the push chain perpendicular to the surface of the support is longer than the portion in the retracted position.

[0055] Furthermore, the movable device may include a control device which is configured to control the movement of a respective lifting device, in particular all lifting devices, and / or the driving of the drive wheels and thus the movement of the movable device.

[0056] Each lifting device of the movable apparatus serves to raise and / or lower the associated at least one rotating element. This allows the respective rotating element to be raised to a height sufficient, for example, to overcome a step of a staircase. It should be noted that lowering the lifting devices or the rotating elements raises the apparatus when the apparatus is in its neutral position (lifting devices folded in) and on the rolling plane. Each drive wheel is used to move the apparatus in one direction when driven. Preferably, one drive element, in particular an electric motor, is provided for each drive wheel.

[0057] When the lifting devices are in the lowered position, the rotating elements are in contact with the rolling plane.

[0058] This means that by combining a lifting and / or lowering movement of the rotating elements (by driving the lifting devices) and a rotating movement of the drive wheels, the device can travel on stairs or a level.

[0059] The device is therefore specifically designed to travel up and down stairs and / or to cover a distance on a horizontal or inclined plane. For the purposes of this invention, "plane" can also be understood to mean an uneven surface.

[0060] In order to enable movement of the device in any direction, e.g. diagonally, and rotation of the movable device about an axis perpendicular to the rolling plane, the movable device can have at least four drive wheels, two on each axle, which are designed as omnidirectional wheels (e.g. Mecanum wheels or rotary drive units).

[0061] The following describes a first advantageous embodiment of the movable device. The previously mentioned lifting device is a first lifting device of the device, wherein the at least one rotating element is at least a first rotating element of the device.

[0062] The movable device further comprises a second lifting device with a push chain. At least one second rotating element is arranged on the second lifting device, the second lifting device being designed to raise and / or lower the at least one second rotating element.

[0063] The at least one first rotating element is arranged in the forward direction of the movable device in front of the at least one second rotating element.

[0064] Furthermore, the at least one first rotating element comprises two drive wheels, wherein the at least one second rotating element comprises two freely rotatable rotating elements.

[0065] Furthermore, the movable device comprises at least one (additional) drive wheel, which is arranged in the forward direction of the movable device in front of the at least one first rotating element.

[0066] The device further comprises at least one (additional) freely rotatable rotational element, which is arranged in the forward direction of the movable device between the at least one first rotational element and the at least one second rotational element.

[0067] The at least one (additional) drive wheel and the at least one (additional) freely rotatable rotating element have a fixed position in the lifting direction of the lifting devices. In other words, the at least one drive wheel and the at least one freely rotatable rotating element cannot be lifted by means of a lifting element, unlike the at least one first rotating element and the at least one second rotating element. This means, in particular, that the respective position of the at least one (additional) drive wheel and the at least one (additional) freely rotatable rotating element relative to the housing and, in particular, to the support, is constant or fixed.

[0068] The at least one (additional) drive wheel is arranged, in particular, on a first axle which is fixed. The at least one first rotating element is arranged, in particular, on a second axle which is vertically displaceable. The at least one freely rotatable rotating element is arranged, in particular, on a third axle which is fixed. The at least one second rotating element is arranged, in particular, on a fourth axle which is vertically displaceable. In particular, at least two (additional) drive wheels can be arranged on the first axle. In other words, the at least one (additional) drive wheel on the first axle can comprise at least two (additional) drive wheels.

[0069] Depending on the design, i.e., all drive wheels on the first and second axles can advantageously be designed as rotary drive units.

[0070] Furthermore, at least two freely rotatable rotating elements can be arranged on the third axis. In other words, the at least one freely rotatable rotating element on the third axis can comprise at least two freely rotatable rotating elements. Similarly, at least two freely rotatable rotating elements can be arranged on the fourth axis.

[0071] The configuration in which at least two drive wheels are arranged on the first axle, at least two drive wheels on the second axle, at least two freely rotatable rotating elements on the third axle, and at least two freely rotatable rotating elements on the fourth axle, with all drive wheels on the first and second axles being rotary drives, can be particularly advantageous when traversing a spiral staircase. Thus, regardless of the type of spiral staircase, the device can be operated in such a way that at least one rotary drive is always positioned on each step, enabling the device to move.

[0072] A second advantageous embodiment of the movable device is described below.

[0073] The aforementioned lifting device is the only lifting device of the movable device. The at least one rotating element comprises two drive wheels.

[0074] The movable device further comprises an additional drive wheel, which is arranged in a forward direction of the movable device in front of the at least one rotating element. The additional drive wheel is, in particular, arranged on a first axis.

[0075] The movable device further comprises two freely rotatable rotating elements, which are arranged in the forward direction of the movable device between the at least one rotating element and the freely rotatable rotating element. The two freely rotatable rotating elements are arranged, in particular, on a second axis. The at least one rotating element is arranged, in particular, on a third axis, which is vertically displaceable. The additional drive wheel and the freely rotatable rotating elements have a fixed position in the lifting direction of the lifting device. This means, in particular, that the first axis and the second axis are fixed. The explanations regarding the fixed position given for the first embodiment of the device apply accordingly to the additional drive wheel and the freely rotatable rotating elements in the second advantageous embodiment of the device.The movable device further comprises a pivotable lever arm for stabilizing the movable device, which is arranged on the lifting device and is pivotable about an axis parallel to the lifting direction. At least one freely rotatable lever arm rotation element is arranged on the lever arm.

[0076] The movable device according to the first and second advantageous embodiments can be designed, in particular, as a cleaning robot, since it can be made very compact by providing only one or two lifting devices. The fact that the device is designed as a cleaning robot means, in particular, that the device also has a cleaning device. Advantageously, the cleaning device can be arranged in the housing. The cleaning robot can, in particular, be designed as a vacuum robot. In this case, the cleaning device can be designed as a vacuum device. However, it is also possible for the cleaning device to have two or more, in particular different, cleaning devices, so that a large number of cleaning tasks can be performed by means of the movable cleaning robot.

[0077] The following describes a device according to a third advantageous embodiment.

[0078] Here, the lifting device is a first lifting device of the device, wherein the at least one rotational element is at least a first rotational element of the device.

[0079] The movable device further comprises a second lifting device with a push chain. At least one second rotating element is arranged on the second lifting device, the second lifting device being designed to raise and / or lower the at least one second rotating element.

[0080] The movable device according to the third advantageous embodiment further comprises a third lifting device with a push chain. At least one third rotating element is arranged on the third lifting device, the third lifting device being designed to raise and / or lower the at least one third rotating element. The movable device further comprises at least one drive wheel, which has a fixed position in the lifting direction of the lifting devices. In particular, the at least one drive wheel is arranged on a first axle, which is fixed. The previous explanations regarding the fixed position also apply accordingly to the at least one drive wheel.

[0081] The at least one first rotating element is arranged in a forward direction of the movable device after the at least one drive wheel and comprises two drive wheels.

[0082] The at least one second rotating element is arranged in the forward direction of the movable device between the at least one first rotating element and the at least one third rotating element and comprises two freely rotatable rotating elements.

[0083] The at least one third rotation element comprises two freely rotatable rotation elements.

[0084] The at least one first rotating element is arranged, in particular, on a second axis that is vertically displaceable. The at least one second rotating element is arranged, in particular, on a third axis that is vertically displaceable. The at least one third rotating element is arranged, in particular, on a fourth axis that is vertically displaceable.

[0085] An advantageous variant of the third advantageous embodiment of the device is described below.

[0086] The third lifting device also features an additional push chain. This push chain and the additional push chain are arranged parallel to the forward direction of the movable device and / or laterally.

[0087] Advantageously, the first lifting device can comprise the aforementioned push chain of the first lifting device and a further push chain configured as a Tsubaki chain system. Similarly, the second lifting device can advantageously comprise the aforementioned push chain of the second lifting device and a further push chain configured as a Tsubaki chain system. Within the scope of the invention, the term "Tsubaki chain system" refers in particular to a push chain system in which two push chains lie side by side in a magazine and, upon exiting the magazine, are guided in such a way that they support each other by interlocking. This increases the rigidity of the push chain system while simultaneously achieving a very small footprint.The push chain(s) of the first lifting device and / or the push chain(s) of the second lifting device can advantageously be arranged in the longitudinal or transverse direction of the device, particularly depending on the type and position of the corresponding drive element, especially the drive motor, for driving the respective push chain. The longitudinal direction advantageously corresponds to the forward direction of the device, with the transverse direction being perpendicular to the forward direction of the device and the lifting direction.

[0088] The device according to the third advantageous embodiment or its variant can, due to the presence of three lifting devices, be designed in particular as a transport system for transporting loads and / or persons. For this purpose, the device further comprises a load and / or person support element for receiving a load and / or a person. The load and / or person support element can advantageously be designed as a platform. The aforementioned longitudinal and transverse directions of the device can be understood here in particular as the longitudinal and transverse directions of the platform.

[0089] The third advantageous embodiment or its variant can be modified by replacing the freely rotatable rotating elements with drive wheels and the drive wheels with freely rotatable rotating elements, i.e., in other words, by interchanging the position of the freely rotatable rotating elements and the drive wheels.

[0090] In particular, the following can be achieved with the device according to this modification:

[0091] • that the at least one first rotating element comprises at least one freely rotatable rotating element, in particular two freely rotatable rotating elements (first axis), instead of one or more drive wheels,

[0092] • comprising at least one second rotating element instead of one or more drive wheels, or at least one freely rotatable rotating element, in particular two freely rotatable rotating elements (second axis),

[0093] which includes at least one third rotating element instead of one or more freely rotatable rotating elements, at least one drive wheel, in particular two drive wheels (third axis), and

[0094] At least one drive wheel, in particular two drive wheels, may be arranged on the fourth axis instead of one or more freely rotatable rotating elements. In all previously described embodiments of the device, in the forward direction of the movable device, the first axis is arranged in front of the second axis, the second axis in front of the third axis, and the third axis in front of the fourth axis.

[0095] Advantageously, the at least one rotating element can be rotated about an axis parallel to the lifting direction of the lifting device by means of a rotating device. This can be used in all previously described embodiments of the device. Advantageously, the rotating device comprises a drive element coupled to the at least one rotating element for rotating it. In particular, the drive element is an electric motor. In other words, the at least one rotating element is advantageously rotatable by a motor. In particular, the at least one rotating element can comprise two drive wheels.

[0096] Advantageously, each drive wheel can be rotatable by means of a separate rotating device. Alternatively, the two drive wheels can be rotatable by means of a common rotating device. The common rotating device preferably comprises two rotary tables and a toothed belt. One drive wheel is connected to one rotary table and the other drive wheel to the other rotary table, the rotary tables being rotatable by means of the toothed belt for rotating the two drive wheels. The invention further relates to a push chain.

[0097] The push chain comprises a multitude of chain links and extends in a longitudinal direction. The chain links are designed and arranged such that the push chain is asymmetrical in this longitudinal direction. This can be achieved, in particular, by an asymmetrical design and / or arrangement of the chain links relative to each other in this longitudinal direction. The longitudinal direction of the push chain is specifically the direction in which the push chain is formed by connecting chain links.

[0098] Preferably, the ratio of the height of each chain link to the width of the chain link is between 0.6 and 0.7, in particular 2:3.

[0099] It should be noted that the width of a chain link is equal to its dimension in the longitudinal direction of the push chain. The height of a chain link corresponds to its dimension perpendicular to its width and thickness.

[0100] According to an advantageous embodiment, all chain links can be identical. This means, in particular, that the chain links have the same shape and size. According to an alternative advantageous embodiment, at least two chain links can be different from each other. That is, at least two chain links have different shapes.

[0101] According to an advantageous embodiment of the push chain, the plurality of chain links comprises first chain links and second chain links. The first chain links are plate-shaped, and the second hook-and-loop links each have a plate-shaped area and two pins.

[0102] The pins extend from the plate-shaped area, in particular from a surface of the plate-shaped area, in the same direction. A second chain link is advantageously connected to an adjacent first chain link via the corresponding pin. In particular, a first chain link and a second chain link that are adjacent can be screwed together.

[0103] In a first advantageous connection method, two adjacent first chain links are connected to each other by means of one of the second chain links to form the push chain. The first chain links and the one second chain link are arranged on top of each other in a planar arrangement. That is, each chain link of the two adjacent first chain links and the second chain link are arranged on top of each other in a planar arrangement.

[0104] According to a second advantageous connection method, to form the push chain, two adjacent first chain links are connected to each other by means of one of the second chain links in such a way that each pin of the second chain link is arranged between the plate-shaped area of ​​the second chain link and one of the two adjacent first chain links. In other words, the first chain links and the second chain links are positioned and connected to each other in such a way that the surfaces of the plate-shaped areas of the second chain links, from which the pins extend, are opposite each other to the first chain links. That is, according to the second advantageous connection method, the two adjacent chain links and the second chain link do not lie flat against each other.

[0105] Advantageously, the chain links can be designed such that adjacent chain links overlap in the longitudinal direction of the push chain and are connected to each other in the overlap area. In particular, the chain links can have a zigzag cross-section. If one considers a chain link with a zigzag cross-section as a chain link with a first link section and a second link section arranged relative to each other in such a way as to form the zigzag shape, the first link section of one chain link is connected to the second link section of the adjacent chain link. It should be noted that the push chain of the lifting device of the movable, in particular stair-climbing, device according to the invention, or each push chain of the device if it comprises a plurality of lifting devices, each of which has (at least) one push chain, can be designed as the push chain described above.

[0106] Advantageously, any lifting device, in particular a push chain, and any scissor lifting system of the device are designed such that they each ensure a step height of greater than or equal to 180mm, in particular of 200mm.

[0107] Further details, advantages, and features of the present invention will become apparent from the following description of exemplary embodiments with reference to the drawing. Figure 1 shows a simplified, schematic perspective view of a device according to a first embodiment of the present invention.

[0108] Figure 2 shows a simplified, schematic top view of the device according to a first embodiment.

[0109] Figure 3 shows a simplified, schematic side view of the device according to the first embodiment.

[0110] Figure 4 shows a further simplified, schematic perspective view of part of the device according to the first embodiment,

[0111] Figure 5 shows a further simplified, schematic perspective view of part of the device according to the first embodiment,

[0112] Figure 6 shows a further simplified, schematic perspective view of part of the device according to the first embodiment,

[0113] Figure? A simplified, schematic perspective view of part of the device according to the first embodiment,

[0114] Figure 8 shows a simplified, schematic perspective view of part of the device according to the first embodiment.

[0115] Figure 9 is a simplified, schematic perspective view of an area of ​​the device according to the first embodiment in a first state; Figure 10 is a simplified, schematic perspective view of an area of ​​a device in a first state for comparison with the device from Figure 9; Figure 11 is a simplified, schematic perspective view of an area of ​​the device according to the first embodiment.

[0116] Figure 12 is a simplified, schematic perspective view of an area of ​​a device according to a modification of the first embodiment; Figure 13 is a simplified, schematic front view of the area from Figure 12; Figure 14 is an illustration of the movement sequence of the device according to the first embodiment or its modification.

[0117] Figure 15 shows a simplified, schematic top view of a device according to a second embodiment.

[0118] Figure 16 shows a schematic, simplified side view of the device from Figure 15 in a first position when ascending a staircase.

[0119] Figure 17 shows a schematic, simplified side view of the device from Figure 47 16 in a second position when raising the stairs,

[0120] Figure 18 shows a schematic, simplified perspective view of a device according to a third embodiment.

[0121] Figure 19 shows a schematic, simplified perspective view of a push chain according to a first embodiment.

[0122] Figure 20 shows a schematic, simplified perspective view of a chain link of the push chain according to the first embodiment,

[0123] Figure 21 shows a schematic, simplified perspective view of another chain link of the push chain according to the first embodiment.

[0124] Figure 22 shows a schematic, simplified perspective view of a push chain according to a second embodiment.

[0125] Figure 23 shows another schematic, simplified perspective view of the push chain according to a second embodiment,

[0126] Figure 24 shows a schematic, simplified perspective view of a push chain according to a third embodiment.

[0127] Figure 25 shows a simplified, schematic top view of a device according to a modification of the first embodiment, and Figure 26 shows a simplified, schematic top view of a device according to a further modification of the first embodiment.

[0128] With reference to Figures 1 to 14, a movable, in particular stair-climbing, device 100 according to a first embodiment of the present invention and a modification of the first embodiment is described in detail below. The device 100 is designed in particular as a cleaning robot.

[0129] The device 100 comprises a plurality of lifting devices, in particular a first lifting device 1 and a second lifting device 2. The first lifting device 1 and the second lifting device 2 are the only lifting devices of the device 100.

[0130] The first lifting device 1 has at least one first rotating element 41 arranged, the first lifting device 1 being designed to raise and lower the at least one rotating element 41. The at least one first rotating element 41 comprises two drive wheels 70, which can be raised and lowered by a push chain 10 of the first lifting device 1.

[0131] The second lifting device 2 has at least one second rotating element 42 arranged on it, the second lifting device 2 being designed to raise and lower the at least second rotating element 42. The at least one second rotating element 42 comprises two freely rotatable rotating elements 80, which can be raised and lowered by a push chain 10 of the second lifting device 1.

[0132] To drive the push chains 10 of the first lifting device 1 and the second lifting device 2, the device 100 according to Figure 1 has a drive element 14 for each push chain, which is in particular designed as an electric motor. The drive elements 14 are in particular parts of the first lifting device 1 and the second lifting device 2.

[0133] The movable device 100 further comprises a second drive wheel 70, which is arranged on a first axis 601. The at least one first rotational element 41, i.e., the two drive wheels 70, is / are arranged on a second axis 602. The second drive wheel 70 on the first axis 601 is arranged in the forward direction 500 of the movable device 100 in front of at least one first rotational element 41, i.e., in front of the two drive wheels 70 of the second axis 602, which can be raised and lowered by means of the first lifting device 1.

[0134] Furthermore, the movable device 100 comprises two freely rotatable rotational elements 80, which are arranged on a third axis 603. The at least second rotational element 42 is arranged on a fourth axis 604 and comprises two further freely rotatable rotational elements 80.

[0135] The two freely rotatable rotational elements 80 of the third axis 603 are arranged in the forward direction 500 of the movable device 100 between the at least one first rotational element 41, i.e. the two drive wheels 70 of the second axis 602, and the at least one second rotational element 42, i.e. the two further freely rotatable rotational elements 80 of the fourth axis 604.

[0136] Both the additional drive wheel 70 on the first axis 601 and the two further freely rotatable rotary elements 80 on the fourth axis 604 have a fixed position in the lifting direction 501 of the lifting devices 1, 2. The lifting direction 501 of the lifting devices 1, 2 corresponds in particular to the lifting direction of the device 100.

[0137] The first lifting device 1, the second lifting device 2, the further drive wheel 70 and the two further freely rotatable rotating elements 80 are located in a housing 60 of the device 100.

[0138] To guide the first lifting device 1 and the second lifting device 2, the device 100 has a separate scissor lift system 50 (Figures 1, 4 to 9) for each lifting device. Each scissor lift system 50 has an upper plate 51, a lower plate 52, and scissor arms 53 which are pivotably arranged on the upper plate 51 and on the lower plate 52 and relative to each other.

[0139] Figure 7, which shows the scissor lift system 50 for guiding the push chain 10 of the first lifting device 1 in the unfolded state, shows that the upper plate 51 has an opening 54. The push chain 10 passes through the opening 54 and is freely movable through it. The push chain 10, in particular an end of the push chain 10 on the rotating element side, is fixed to the lower plate 52. Thus, the push chain 10 is supported and guided by the upper plate 51 when it is extended, whereby the scissor lift system 50 is moved from its folded state to its unfolded state.

[0140] Accordingly, the arrangement of the push chain 10 of the second lifting device 2 is relative to the other scissor lift system 50, which is provided for guiding the push chain 10 of the second lifting device 2.

[0141] Figures 1, 7 and 9 show the scissor lift systems 50 in the unfolded state and figures 4 to 6 and 8 show the scissor lift systems 50 in the folded state.

[0142] The at least one first rotating element 41, i.e., the drive wheels 70, is / are directly attached to one scissor lift system 50, with the two further freely rotatable rotating elements 80 being directly attached to the other scissor lift system 50. In order for the scissor lift systems 50 to serve as guide devices for the first lifting device 1 and the second lifting device 2, the first lifting device 1 and the second lifting device 2 are each connected to a scissor lift system 50.

[0143] Figures 4 and 5 further show that the movable device 100 also comprises a support 64 with a base support element 65 and a plurality of auxiliary support elements 66 extending to the base support element 65. The base support element 65 extends / is formed on a plane perpendicular to the lifting direction 501 of the device 100. In the lifting direction 501 of the device 100, the support 64 extends between a base support element upper surface 651 and the auxiliary support element lower surfaces 660, in other words, from the base support element upper surface 651 to the auxiliary support element lower surfaces 660. An upper end region 67 of the support 64 comprises the base support element 65 and, in particular, the base support element upper surface 651 and a base support element lower surface 650. A lower end region 68 of the support 64 comprises a lower region of the auxiliary support elements 66, in particular the auxiliary support element lower surfaces 660.The support 64 extends from the top of the main support element 651 to the bottom of the auxiliary support element 660.

[0144] As shown in Figure 6, the support 64 is completely arranged within the housing 60. The housing 60 and the support 64 are connected to each other. In particular, the housing 60 can be detachably connected to the support 64.

[0145] The main support element 65 and the auxiliary support elements 66 are arranged relative to each other such that the support 64 defines / surrounds a support interior 69, as can be seen in Figures 4 to 6. The support interior 69 advantageously corresponds to at least part of a housing interior 61 (Figure 6).

[0146] The lifting devices 1, 2, in particular their push chains 10, and the associated scissor lifting systems 50, in particular their upper plates 51, are arranged at different heights on the support 64 in the lifting direction 501 of the lifting devices 1, 2. In other words, the lifting devices 1, 2, in particular the push chains 10, and the scissor lifting systems 50, in particular their upper plates 51, are spaced apart from each other. For illustrative purposes, only the push chain 10 of the first lifting device 1 is shown in Figures 5 and 6.

[0147] As can be seen in Figures 4 and 5, the push chain 10 of the first lifting device 10 is arranged on the support 64 above the corresponding scissor lift system 50, in particular its upper plate 51. In other words, a scissor lift system arrangement level 503 (first arrangement level) in the lifting direction 501 or arrangement height (first arrangement height) of the scissor lift system 50, in particular the upper plate 51, on the support 64 is closer to the drive wheels 70 than a lifting device arrangement level 504 (second arrangement level) or arrangement height (second arrangement height) of the push chain 10 on the support 64. The push chain 10 of the second lifting device 2 is arranged accordingly.

[0148] The first lifting device 1 and the second lifting device 2, in particular their push chains 10, are attached directly to the base support element 65. The push chains 10 are arranged to be slidably mounted on the base support element 65 to fulfill their purpose. Specifically, the push chains 10 are arranged on / at the upper surface 651 of the base support element.

[0149] Furthermore, the additional drive wheel 70 of the first axle 601 is directly attached to one of the auxiliary support elements 66, with the two further freely rotatable rotational elements 80 of the third axle 603 being directly attached to two other auxiliary support elements 66.

[0150] Each of the scissor lift systems 50 is attached directly to the support 64, in particular to two auxiliary support elements 66.

[0151] In particular, the upper plate 51 of one scissor lift system 50 for guiding the first lifting device 1 is attached directly to two auxiliary support elements 66, specifically at their lower ends, which are arranged on the second axis 602. The lower end of each auxiliary support element 66 corresponds in particular to its underside 660. In particular, the upper plate 51 of the scissor lift system 50, or its upper surface 510, is positioned at the level of the underside 660 of the auxiliary support elements. It should be noted that the upper surface 510 of an upper plate 51 of a scissor lift system 50 also includes the portion of the surface of a recess formed in the upper plate 51.

[0152] Accordingly, the upper plate 51 of the other scissor lift system 50 for guiding the second lifting device 2 is attached directly to the auxiliary support elements 66, in particular at their lower ends, i.e., at their auxiliary support element undersides 660, to which the two further freely rotatable rotational elements 80 of the third axis 603 are also directly attached.

[0153] In particular, the upper plates 51 of the scissor lift systems 50 are arranged at the level of the lower housing edge 63, as can be seen in Figures 1 and 6. In this configuration, the scissor lift systems 50 are located completely outside the housing 60 when folded. Consequently, the scissor lift systems 50 are also located completely outside the housing 60 when unfolded. The unfolded state of one of the scissor lift systems 50 is shown in Figure 9. The described arrangement of the scissor lift systems 50 has the advantage that the installation space inside the housing 60, i.e., in the housing interior 61 or in the support interior 69, which would otherwise have to be kept clear due to the unfolding of the scissor lift systems 50, can now be used to accommodate components of the device 100. Thus, the support 64, and consequently the housing 50 and therefore the entire device 100, can be designed to be particularly compact.

[0154] To illustrate this, for comparison purposes a comparison device 100' is presented in Figure 10, in which a comparison scissor lift system 50' has a different arrangement than that of the scissor lift systems 50 of the present invention.

[0155] In contrast to the present invention, the comparative scissor lift system 50' of Figure 10 is arranged completely within a comparative housing 60' in the folded state, so that the comparative scissor lift system 50' is also completely within the comparative housing 60' in the unfolded state shown in Figure 10. An upper comparative plate 51' of the comparative scissor lift system 50' is arranged close to or at the upper end of the comparative housing 60' or on a comparative base support element of a comparative carrier, and not at the level of the lower edge 63' of the comparative housing. In particular, the comparative push chain 10' and the comparative scissor lift system 50', especially the upper comparative plate 51' of the comparative scissor lift system 50', are arranged at different heights on the comparative carrier in the lifting direction of the comparative lifting device 1'.Therefore, the installation space inside the comparison housing 60', which is required for unfolding the comparison scissor lift system 50', cannot be used to accommodate components of the comparison device 100'. This results in a larger comparison housing to accommodate all components, and consequently a larger comparison device 100'. It should be noted that each comparison component of the comparison device 100' corresponds to the component of the device 100 with the corresponding name.

[0156] With reference to Figure 11, for increased movement flexibility of the device 100, the drive wheels 70 of the second axis 602 are each rotatable about an axis 502, which runs parallel to the lifting direction 501, by means of a common rotating device 130. The rotating device 130 comprises two rotary tables 131 and a toothed belt 132, wherein one drive wheel 70 is connected to one rotary table 131 and the other drive wheel 70 is connected to the other rotary table 131. The rotary tables 131 are rotatable by means of the toothed belt 132 to rotate the two drive wheels 70. Figures 12 and 13 show a modification of the device 100 of the first embodiment.

[0157] In contrast to the device 100 described above according to the first embodiment, in which both drive wheels 70 of the second axle 602 are rotatable by means of a common rotating device 130, in the modified device 100 each drive wheel 70 of the second axle 602 is rotatable about an axis 502 parallel to the lifting direction 501 by means of a separate rotating device 130. The operating mode or the sequence of movements of the movable device 100 according to the first embodiment and its modification for / during the raising of a staircase 700 are described with reference to Figures 14(a) to (g).

[0158] First, the device 100 must approach the staircase 700 (Figure 14(a)). To overcome the first step 701 of the staircase 700, the push chain 10 of the first lifting device 1 and the push chain 10 of the second lifting device 2 are lowered. For this purpose, the drive elements 14 are activated to move the push chains 10 from their respective retracted positions to their respective extended positions. In the retracted position of the lifting devices 1 and 2, the device 100 is in its folded position.

[0159] The lowering of the push chains 10 results in the device 100 being lifted, so that finally the two further freely rotatable rotational elements 80 of the third axis 603 and the further drive wheel 70 of the first axis 601 are at a height that is greater than or equal to the height of the first stage 501. This state of the cleaning robot 100 is shown in Figure 14(b).

[0160] The device 100 then moves forward so that the further drive wheel 80 of the first axle 601 is positioned above the first step 701 of the staircase 700 and contacts the surface of the first step 701 (Figure 14(c)). For this purpose, the drive wheels 70 arranged on the push chain 10 of the first lifting device 1 are driven.

[0161] To position the freely rotatable rotary elements 80 of the third axis 603 onto the first stage 501, the push chain 10 of the first lifting device 1 is raised, i.e., moved from its respective extended position to its respective retracted position. This state is shown in Figure 14(d). Simultaneously, the drive wheel 70 of the first axis 601 is driven, causing the device 100 to move forward. This also results in the freely rotatable rotary elements 80 arranged on the second lifting device 2 approaching the first stage 501. This state is shown in Figure 14(e). Finally, to position the freely rotatable rotary elements 80 arranged on the second lifting device 2 onto the first stage 501, the push chain 10 of the second lifting device 2 is raised.Thus, the device 100 can now be moved forward by driving the drive wheels 70 of the first axle 601 and the second axle 602 until the entire device 100 is on the first step 501. By appropriately driving all drive wheels 70 and, in particular, rotating the drive wheels of the second axle 602, the device 100 can move as desired on the first step 501 until the first step 501 is cleaned. When the cleaning process of the first step 501 is complete, the previously described operating procedure of the device 100 is repeated so that, finally, the device 100 is positioned on the second step. The reverse procedure can be followed when descending the staircase 500.

[0162] In the following, with reference to Figures 15 to 17, a device 100 according to a second embodiment of the present invention and its sequence of movements when raising a staircase 700 are described.

[0163] According to Figure 15, the device 100 according to the second embodiment, in contrast to the device 100 according to the first embodiment, comprises a single lifting device 1 with a push chain 10. Two drive wheels 70 are arranged on the lifting device 1.

[0164] A further drive wheel 70 is arranged in the forward direction 500 of the movable device 100 in front of the two drive wheels 70. The further drive wheel 70 is arranged on a first axle 601.

[0165] Furthermore, the device 100 comprises two freely rotatable rotating elements 80, which are arranged in the forward direction 500 of the device 100 between the two drive wheels 70 and the further drive wheel 70 and are in particular designed as ball rollers. The two freely rotatable rotating elements 80 are arranged on a second axis 602, with the drive wheels 70 being arranged on a third axis 603.

[0166] The further drive wheel 70 and the freely rotatable rotational elements 80 have a fixed position in the lifting direction 501 of the lifting device 1, i.e. they are attached directly to the support 64.

[0167] Like the device 100 according to the first embodiment, the device 100 according to the second embodiment has a scissor lift system 50 for guiding the lifting device 1 when raising and / or lowering the drive wheels 70. The design, arrangement, and connection of the scissor lift system 50 with the lifting device 1 and the drive wheels 70 correspond to those of the corresponding scissor lift system 50 in the device 100 according to the first embodiment.

[0168] To stabilize the device 100, it further comprises a pivotable lever arm 140, which is arranged on the lifting device 1 and is pivotable about an axis 502 parallel to the lifting direction 501. At least one freely rotatable rotating element 141, in particular a ball roller, is arranged on the lever arm 140.

[0169] To raise the staircase 700, the additional drive wheel 70 of the first axle 601 must first be positioned on the first step 701 of the staircase 700.

[0170] Firstly, the push chain 10 of the lifting device 1 is extended, which raises the device 100. Secondly, the lever arm 140 is pivoted about the axis 502 in such a way that the device 100 is stabilized. In particular, the lever arm 140 assumes a position parallel to the forward direction 500.

[0171] The device 100 then moves forward in the direction 500 by driving the drive wheels 70 of the third axle 603. The state in which the other drive wheel 70 of the first axle 601 is on the first step 701 of the staircase 700 is shown in Figure 16. The device 100 continues to move forward in the direction 500 until the freely rotatable rotational elements 80 of the second axle 602 are also positioned on the first step 701. To move the device 100 forward, the drive wheels 70 of the third axle 603 and / or the other drive wheel 70 of the first axle 601 can be driven. As the device 100 approaches the first step 701, the lever arm 140 is pivoted about the axle 502 in the direction of the drive wheels 70 to prevent it from colliding with the staircase 700. In its final position, the lever arm 140 can be in particular perpendicular or almost perpendicular to the forward direction 500 and lifting direction 501.This condition is shown in Figure 17.

[0172] When the freely rotatable rotating elements 80 are positioned on the first step 701, the push chain 10 of the lifting device 1 can be retracted. By driving the additional drive wheel 80 of the first axle 601, the device 100 can finally be completely positioned on the first step 501. The reverse procedure can be followed to lower the staircase 500.

[0173] It should be noted that the drive wheels 70 of the third axle 603 can be rotated about an axis parallel to the lifting direction 501. For example, the rotation device 130 according to Figure 11 or 12 can be used for this purpose. In the following, with reference to Figure 18, a device 100 according to a third embodiment of the present invention is described. The device 100 is designed in particular as a transport system for transporting loads and / or persons and thus has a load and / or person support element for receiving a load and / or a person.

[0174] The device 100 comprises a first lifting device 1, a second lifting device 2 and a third lifting device 3.

[0175] Furthermore, the device 100 comprises two drive wheels 70, which have a fixed position in the lifting direction 501 of the lifting devices. The drive wheels 70 are arranged on a first axle 601.

[0176] Two drive wheels 70 are arranged on the first lifting device 1. The drive wheels 70, which correspond to the previously described at least one first rotating element 41, are arranged on a second axis 602.

[0177] Due to the larger size resulting from the third lifting device 3, omnidirectional wheels (such as Mecanum Wheels, drive-rotation drives) are particularly suitable for all drive wheels 70.

[0178] The first lifting device 1 is designed for raising and / or lowering the drive wheels 70 and comprises two push chains 10, which together are designed in particular as a Tsubaki chain system. This means that the push chains 10 of the first lifting device 1 lie side by side in a magazine and, upon exiting the magazine, are guided in such a way that they support each other by interlocking.

[0179] The second lifting device 2 has two freely rotatable rotating elements 80. These two freely rotatable rotating elements 80 are arranged on a third axis 603 and correspond to the previously described at least one second rotating element 42. The second lifting device 2, which includes a push chain 10, is designed for raising and / or lowering the freely rotatable rotating elements 80. Like the first lifting device 1, the second lifting device 2 includes two push chains 10, which lie side by side in a magazine and are guided upon exiting the magazine in such a way that they support each other by interlocking (the push chains 10 of the second lifting device 1), thus forming a Tsubaki chain system.

[0180] The third lifting device 3 is equipped with two freely rotatable rotating elements 80. These two freely rotatable rotating elements 80 correspond to at least one third rotating element 43. The freely rotatable rotating elements 80 are arranged on a fourth axis 604. The third lifting device 3 is designed for raising and / or lowering the two freely rotatable rotating elements 80 and has two push chains 10 for this purpose. These chains are arranged parallel to the forward direction 500 of the device 100 and laterally on the device 100.

[0181] The drive wheels 70 of the second axis 602 are arranged in the forward direction 500 of the movable device 100 after the drive wheels 70 of the first axis 601. Furthermore, the freely rotatable rotational elements 80 of the third axis 603 are arranged between the drive wheels 70 of the second axis 602 and the freely rotatable rotational elements 80 of the fourth axis 604.

[0182] All drive wheels 70 are advantageously designed as omnidirectional wheels.

[0183] To guide the push chains 10, the device 100 further comprises three scissor lift systems 50. In particular, the push chain 10 of the first lifting device 1 is guided by the first scissor lift system 50, the push chain 10 of the second lifting device 2 by the second scissor lift system 50, and the two push chains 10 of the third lifting device 3 by the third scissor lift system 50. The design, arrangement, and connection of the scissor lift systems 50 with the lifting devices 1, 2, and 3, as well as the corresponding rotating elements, correspond to those of the scissor lift systems 50 of the devices 100 described above.

[0184] The provision of three lifting devices in the device 100 according to the third embodiment offers the advantage that, due to its high stability, the device 100 is particularly suitable for raising and / or lowering a staircase with a load and / or person on the device. In particular, the design of the device 100 according to the third embodiment, especially the arrangement of the drive wheels 70 on the first axle 601 and the second axle 602, and the freely rotatable rotational elements 80 on the third axle 603 and the fourth axle 604, has the advantage that the rotational elements 80, which have to be lifted over a height of approximately 400 mm, are relatively light compared to the drive wheels 80 or their drive elements (drive motors) 14.

[0185] It would also be possible, however, to interchange the positions of the freely rotatable rotary elements 70 and the drive wheels 80. Thus, according to a modification of the third embodiment, drive wheels 80 can be arranged on the first axis 601 and the second axis 602 instead of the corresponding freely rotatable rotary elements 70, and freely rotatable rotary elements 70 can be arranged on the third axis 603 and the fourth axis 604 instead of the corresponding drive wheels 80. Figures 19 to 21 relate to a push chain 10 according to a first embodiment of the present invention.

[0186] As can be seen from Figure 19, the push chain 10 comprises a plurality of first chain links 11 and second chain links 12 which are connected to each other and extends in a push chain longitudinal direction 600.

[0187] The first chain links 11 are plate-shaped according to Figure 20, and the second burr links 12 each have a plate-shaped area 121 and two pins 122 according to Figure 21. Figure 20 also shows a chain link surface 11. Each plate-shaped area 121 has a constant thickness.

[0188] The pins 122 extend from the plate-shaped area 121, in particular from a surface 124 of the plate-shaped area 121, in the same direction and can also be described as projections. The pins 122 are in particular cylindrical in shape.

[0189] Each second chain link 12 is connected to the corresponding adjacent first chain link 11 via the corresponding pin 122. For this purpose, each first chain link 11 has, in particular, two through-holes 110 and each second chain link 12 has two through-holes 123. The chain link recesses 110 are, in particular, stepped.

[0190] A connecting element 13 can be inserted through the chain link recess 110 of a first chain link 11 and the pin recess 123 of a second chain link 12, by means of which the first chain link 11 and the second chain link 12 can be pivotably connected to each other. For example, adjacent first chain links 11 and second chain links 12 can be screwed together.

[0191] In particular, two adjacent first chain links 12 are connected to each other by means of one of the second chain links 12 to form the push chain 10. The first chain links 10 and the one second chain link 12 are arranged flat against each other. This means that the plate-shaped area 121 of each second chain link 12 is arranged directly on the two adjacent first chain links 11.

[0192] As can be seen from Figure 19, the push chain 10 is asymmetrically designed in the longitudinal direction 600. This is achieved by the asymmetrical design of the second chain links 12 in the longitudinal direction 600 and the arrangement of the first chain links 11 and the second chain links 12 relative to each other. Preferably, the ratio of the height 801 of each first chain link 11 to the width 802 of the first chain link 11 is between 0.6 and 0.7, in particular 2:3. Similarly, the ratio of the height 801 of each second chain link 12 to the width 802 of the second chain link 12 is between 0.6 and 0.7, in particular 2:3. This ratio is the same for all first chain links 11 and all second chain links 12.

[0193] Figures 22 and 23 refer to a push chain 10 according to a second embodiment of the present invention.

[0194] The push chain 10 according to the second embodiment differs from the push chain 10 according to the first embodiment of figures 19 to 21 in the way the first chain links 11 and the second chain links 12 are connected to each other.

[0195] To form the push chain 10 according to the second embodiment, two adjacent first chain links 11 are connected to each other by means of one of the second chain links 12 such that each pin 122 of the second chain link 12 is arranged between the plate-shaped area 121 of the second chain link 12 and one of the two adjacent first chain links 122.

[0196] In other words, the first chain links 11 and the second chain links 12 are positioned and connected to each other in such a way that the surfaces 124 of the plate-shaped areas 121 of the second chain links 12 are opposite the first chain links 11, in particular their surfaces 111.

[0197] Like the push chain 10 according to the first embodiment, the push chain 10 according to the second embodiment is also asymmetrically designed in the longitudinal direction 600. Figure 24 shows a push chain 10 according to a third embodiment.

[0198] The push chain 10 according to the third embodiment differs from the push chain 10 according to the second embodiment by the design of the first chain links 11.

[0199] The first chain links 11 are designed such that adjacent first chain links 11 overlap in the longitudinal direction 600 of the push chain and are connected to each other in the overlap area 115. In particular, the first chain links 11 have a zigzag cross-section. Specifically, each first chain link 11 has a first link section 113 and a second link section 114, which are arranged relative to each other to form the zigzag shape. Here, a first link section 113 of a first chain link 11 and a second link section 114 of an adjacent second chain link 12 are connected to each other. For this purpose, a first chain link recess 117 and a second chain link recess 118 are provided in each first chain link 11 for receiving a connecting element 13. The first chain link recesses 117 and the second chain link recesses 118 are through recesses.The first chain link recesses 117 are formed in the first link sections 113, and the second chain link recesses 118 are formed in the second link sections 114. The second chain links 12 each have a corresponding third chain link recess 119. A first chain link 11 is connected to a second chain link 12 via the connecting element 13, which is inserted into the first chain link recess 117, the second chain link recess 118, and the third chain link recess 119.

[0200] It should be understood that at one end of the push chain 10, the first chain link 11 is connected only to the second chain link 12 and not also to an adjacent first chain link 11. This end is the left end in Figure 24.

[0201] In particular, the first chain links 11 and the second chain links 12 are designed, and especially their dimension (width) in the longitudinal direction of the push chain 600 is selected, such that every second chain link 12 is connected to two first chain links 11. For this purpose, every second chain link 12 has a width that is essentially equal to the sum of the widths of the first link sections 114 of two adjacent first chain links 11. The second chain links 12 are plate-shaped.

[0202] Within the scope of this description, chain links that have a zigzag cross-section are not to be considered plate-shaped.

[0203] The described push chains 10 according to figures 19 to 24 are particularly compact, which has the advantage that they are particularly suitable as lifting elements for the lifting devices 1 to 3 of the previously described devices 100.

[0204] Figure 25 shows a device 100 according to a modification of the device 100 according to the first embodiment.

[0205] In the device 100 according to this modification, two freely rotatable rotating elements 80 are arranged on the second axis 602, instead of the two drive wheels 70 in the device 100 according to the first embodiment. Furthermore, in the device 100 according to this modification, two drive wheels 70 are arranged on the fourth axis 604, instead of the two freely rotatable rotating elements 80 in the device 100 according to the first embodiment. In other words, the drive wheels 70 on the second axis 602 are interchanged with the freely rotatable rotating elements 80 on the fourth axis. Figure 26 shows a device 100 according to a further modification of the device 100 according to the first embodiment. In Figure 26, the device 100 is shown in three different positions on a staircase 700, which is designed as a spiral staircase.

[0206] In the device 100 according to this modification, two drive wheels 70 are arranged on the first axis 601, two further drive wheels 70 on the second axis 602, two freely rotatable rotary elements 80 on the third axis 603, and two further freely rotatable rotary elements 80 on the fourth axis 604. All drive wheels 70 on the first axis 601 and the second axis 602 are designed as drive-rotary drives.

[0207] Here, "axis" should not be understood as a real axis, but rather as an imaginary one. The reason for this is that in a spiral staircase, it must be assumed that the drive wheels and the freely rotating elements are located on different steps and therefore can also be at different heights.

[0208] In addition to the foregoing written description of the invention, explicit reference is hereby made to the graphic representation of the invention in the figures for its supplementary disclosure. List of reference symbols

[0209] 1 lifting device (first lifting device)

[0210] 1' Comparison lifting device

[0211] 2 second lifting device

[0212] 3 third lifting device

[0213] 10 Push chain

[0214] 11 first chain link

[0215] 12 second chain link

[0216] 13 Connecting element

[0217] 14 Drive element

[0218] 41 Rotation element (first rotation element) 42 Second rotation element

[0219] 43 third rotational element

[0220] 50 scissor lift system

[0221] 50' Comparison scissor lift system

[0222] 51 upper plate

[0223] 51 ' upper comparison plate

[0224] 52 lower plate

[0225] 53 Scissor arm

[0226] 54 Opening

[0227] 60 cases

[0228] 60' Comparison case

[0229] 61 Interior of the housing

[0230] 63 Case edge

[0231] 63' Comparison case edge

[0232] 64 carriers

[0233] 65 Main support element 66 Auxiliary support element

[0234] 67 upper end area

[0235] 68 lower end range

[0236] 69 Carrier interior

[0237] 70 drive wheel

[0238] 80 freely rotatable rotating element

[0239] 100 Device

[0240] 100' comparison device

[0241] 110 chain link recess

[0242] 111 area

[0243] Area 112

[0244] 113 first section

[0245] 114 second section

[0246] 115 Overlap area

[0247] 117 first chain link recess 118 second chain link recess 119 third chain link recess

[0248] 121 plate-shaped area

[0249] 122 cones

[0250] 123 Tap recess

[0251] 124 area

[0252] 130 Rotating device

[0253] 131 turntables

[0254] 132 Timing belts

[0255] 140 Lever arm 141 Freely rotatable lever arm rotary element

[0256] 500 forward direction

[0257] 501 Lifting direction

[0258] 502 Axle

[0259] 503 Scissor lift system arrangement level 504 Lifting device arrangement level

[0260] 510 Top

[0261] 600 Push chain longitudinal direction

[0262] 601 first axis

[0263] 602 second axis

[0264] 603 third axis

[0265] 604 fourth axis

[0266] 650 Base support element - underside

[0267] 651 Base support element - top

[0268] 660 Auxiliary support element - underside

[0269] 700 stairs

[0270] 701 first stage

[0271] 801 Height

[0272] 802 width

Claims

37 Claims 1. Movable, in particular stair-traveling, device (100), comprising: • a carrier (64), • a lifting device (1) with a push chain (10), wherein at least one rotating element (41) is arranged on the lifting device (1) and the lifting device (1) is designed to raise and / or lower the at least one rotating element (41), and • a scissor lift system (50) for guiding the lifting device (1) when raising and / or lowering the at least one rotating element (41), . wherein the lifting device (1), in particular the push chain (10), and the scissor lifting system (50), in particular an upper plate (51) of the scissor lifting system (50), are arranged at different heights on the support (64) in the lifting direction (501) of the lifting device (1).

2. Movable device (100) according to claim 1, wherein a scissor lift system arrangement plane (503) of the scissor lift system (50), in particular the upper plate (51), is closer to the at least one rotating element (41) on the support (64) than a lifting device arrangement plane (504) of the lifting device (1), in particular the push chain (10), on the support (64).

3. Movable device (100) according to one of the preceding claims, wherein the lifting device (1), in particular the push chain (10), is arranged at an upper end region (67) of the carrier (64) and the scissor lifting system (50), in particular the upper plate (51), is arranged at a lower end region (68) of the carrier (64).

4. Movable device (100) according to one of the preceding claims, wherein the support (64) comprises a base support element (65) and an auxiliary support element (66), wherein the auxiliary support element (66) extends in the lifting direction (501) of the lifting device (1) to the base support element (65), wherein the lifting device (1), in particular the push chain (10), is arranged on the base support element (65) and the scissor lifting system (50), in particular the upper plate (51), is arranged on the auxiliary support element (66).

5. Movable device (100) according to claim 4, wherein the lifting device (1), in particular the push chain (10), is arranged on / at a base support element upper surface (651) and the scissor lifting system (50), in particular the upper plate (51), is arranged on an auxiliary support element lower surface (660).38 6. A movable device (100) according to one of the previous descriptions, further comprising a housing (60), wherein the scissor lift system (50) is arranged at least partially outside the housing (60) when folded in the folded state.

7. Movable device (100) according to claim 6, wherein the scissor lift system (50) is arranged completely outside the housing (60) in the folded state.

8. Movable device (100) according to claim 7, wherein the scissor lift system (50) has an upper plate (51) which is arranged at the level of the lower housing edge (63).

9. Movable device (100) according to claim 8, wherein the upper plate (51) has an opening (54) through which the push chain (10) passes and is freely movable, and / or wherein the scissor lift system (50) has a lower plate (52) to which the push chain (10), in particular an end of the push chain (10), is fixed.

10. Movable device (100) according to one of the preceding claims, • wherein the lifting device (1) is a first lifting device and the at least one rotating element (41) is at least a first rotating element, • wherein the movable device (100) further comprises a second lifting device (2) with a push chain (10), wherein at least one second rotating element (42) is arranged on the second lifting device (2) and the second lifting device (2) is designed for raising and / or lowering the at least one second rotating element (42), • wherein the at least one first rotating element (41) is arranged in a forward direction (500) of the movable device (100) in front of the at least one second rotating element (42), • wherein the at least one first rotating element (41) comprises two drive wheels (70) and the at least one second rotating element (42) comprises two freely rotatable rotating elements (80), and • wherein the movable device (100) further comprises: • at least one drive wheel (70) which is arranged in the forward direction (500) of the movable device (100) in front of the at least one first rotating element (41), and • at least one freely rotatable rotating element (80) which is arranged in the forward direction (500) of the movable device (100) between the at least one first rotating element (41) and the at least one second rotating element (42), wherein the at least one drive wheel (70) and the at least one freely rotatable rotating element (80) have a fixed position in the lifting direction (501) of the lifting devices.

11. Movable device (100) according to any one of claims 1 to 9, • wherein the lifting device (1) is a first lifting device and the at least one rotating element (41) is at least a first rotating element, • wherein the movable device (100) further comprises a second lifting device (2) with a push chain (10), wherein at least one second rotating element (42) is arranged on the second lifting device (2) and the second lifting device (2) is designed for raising and / or lowering the at least one second rotating element (42), • wherein the at least one first rotating element (41) is arranged in a forward direction (500) of the movable device (100) in front of the at least one second rotating element (42), • wherein the at least one first rotating element (41) comprises two freely rotatable rotating elements (80) and the at least one second rotating element (42) comprises two drive wheels (70), and • wherein the movable device (100) further comprises: • at least one drive wheel (70) which is arranged in the forward direction (500) of the movable device (100) in front of the at least one first rotating element (41), and • at least one freely rotatable rotational element (80) which is arranged in the forward direction (500) of the movable device (100) between the at least one first rotational element (41) and the at least one second rotational element (42), wherein the at least one drive wheel (70) and the at least one freely rotatable rotating element (80) have a fixed position in the lifting direction (501) of the lifting devices.

12. Movable device (100) according to any one of claims 1 to 9, • wherein the lifting device (1) is the only lifting device of the movable device (100), • wherein the at least one rotating element (41) comprises two drive wheels (70), • wherein the movable device (100) further comprises a further drive wheel (70) which is arranged in a forward direction of the movable device (100) in front of the at least one rotating element (41), • wherein the movable device (100) further comprises two freely rotatable rotating elements (80) which are arranged in the forward direction of the movable device (100) between the at least one rotating element (41) and the freely rotatable rotating element (80), • wherein the further drive wheel and the freely rotatable rotational elements (80) have a fixed position in the lifting direction (501) of the lifting device (1), and • wherein the movable device (100) further comprises a pivotable lever arm for stabilizing the movable device (100), which is arranged on the lifting device (1), is pivotable about an axis parallel to the lifting direction (501) and on which at least one freely rotatable lever arm rotational element (141) is arranged.

13. Movable device (100) according to one of the preceding claims, which is designed as a cleaning robot.

14. Movable device (100) according to any one of claims 1 to 9, • wherein the lifting device (1) is a first lifting device and the at least one rotating element (41) is at least a first rotating element, • wherein the movable device (100) further comprises a second lifting device (2) with a push chain (10), wherein at least one second rotating element (42) is arranged on the second lifting device (2) and the second lifting device (2) is designed for raising and / or lowering the at least one second rotating element (42), • wherein the movable device (100) further comprises a third lifting device (3) with a push chain (10), wherein at least one third rotating element (43) is arranged on the third lifting device (3) and the third lifting device (3) is designed to raise and / or lower the at least one third rotating element (43), • wherein the movable device (100) further comprises at least one drive wheel (70) which has a fixed position in the lifting direction (501) of the lifting devices, • wherein the at least one first rotational element (41) is arranged in a forward direction (500) of the movable device (100) after the at least one drive wheel (70) and comprises two further drive wheels (70), • wherein the at least one second rotation element (42) is arranged in the forward direction (500) of the movable device (100) between the at least one first rotation element (41) and the at least one third rotation element (43) and comprises two freely rotatable rotation elements (80), and wherein the at least one third rotation element (43) comprises two freely rotatable rotation elements (80).

15. Movable device (100) according to any one of claims 1 to 9, • wherein the lifting device (1) is a first lifting device and the at least one rotating element (41) is at least a first rotating element, • wherein the movable device (100) further comprises a second lifting device (2) with a push chain (10), wherein at least one second rotating element (42) is arranged on the second lifting device (2) and the second lifting device (2) is designed for raising and / or lowering the at least one second rotating element (42), • wherein the movable device (100) further comprises a third lifting device (3) with a push chain (10), wherein at least one third rotating element (43) is arranged on the third lifting device (3) and the third lifting device (3) is designed to raise and / or lower the at least one third rotating element (43), • wherein the movable device (100) further comprises at least one freely rotatable rotational element (80) which has a fixed position in the lifting direction (501) of the lifting devices, • wherein the at least one first rotational element (41) is arranged in a forward direction (500) of the movable device (100) after the at least one freely rotatable rotational element (80) and comprises two further freely rotatable rotational elements (70), • wherein the at least one second rotating element (42) is arranged in the forward direction (500) of the movable device (100) between the at least one first rotating element (41) and the at least one third rotating element (43) and comprises two drive wheels (70), and • wherein the at least one third rotating element (43) comprises two drive wheels (70).

16. Movable device (100) according to claim 14 or 15, • wherein the third lifting device (3) further comprises a further push chain (10), wherein the push chain (10) and the further push chain (10) of the third lifting device (3) are arranged parallel to the forward direction of the movable device (100) and laterally, and / or • wherein the first lifting device (1) comprises the push chain (10) of the first lifting device (1) and a further push chain (10) which is a Tsubaki-42 chain system, and / or second lifting device (2) comprises the push chain (10) of the second lifting device (2) and a further push chain (10) which is designed as a Tsubaki chain system.

17. Movable device (100) according to one of claims 14 to 16, which is designed as a transport system for transporting loads and / or persons and has a load and / or person support element for receiving a load and / or a person.

18. Movable device (100) according to one of the preceding claims, wherein the at least one rotational element (41) is rotatable about an axis (502) which runs parallel to the lifting direction (501) of the lifting device (1) by means of a rotation device (130).

19. Movable device (100) according to claim 18, wherein the at least one rotational element (41) comprises two drive wheels (70), each drive wheel (70) being rotatable by means of a separate rotation device (130).

20. Movable device (100) according to claim 19, wherein the at least one rotating element (41) comprises two drive wheels (70), wherein the drive wheels (70) are rotatable by means of a common rotating device (130), wherein the rotating device (130) in particular comprises two rotary tables (131) and a toothed belt (132), wherein one drive wheel (70) is connected to one rotary table (131) and the other drive wheel (70) is connected to the other rotary table (131), and the rotary tables (131) are rotatable by means of the toothed belt (132) for rotating the two drive wheels (70).

21. Push chain (10) comprising a plurality of chain links (11, 12; 11) and extending in a push chain longitudinal direction (600), wherein the chain links (11, 12; 11) are designed and arranged such that the push chain (10) is asymmetrical in the push chain longitudinal direction (600).

22. Push chain (10) according to claim 21, wherein the ratio of the height of a respective chain link (11, 12; 11) to the width of the chain link is between 0.6 and 0.7, in particular 2:

3.

23. Push chain (10) according to claim 21 or 22, wherein the plurality of chain links (11, 12) comprises first chain links (11) and second chain links (12), wherein the first chain links (11) are plate-shaped and the second chain links (12) each have a plate-shaped area (121) and two pins (122), wherein: two adjacent first chain links (11) are connected to each other by means of one of the second chain links (12) to form the push chain (10), wherein the first chain links (11) and the one second chain link (12) are arranged planarly on top of each other, or Each pair of adjacent first chain links (11) are connected to each other by means of one of the second chain links (12) to form the push chain (10) such that each pin (122) of the second chain link (12) is arranged between the plate-shaped area (121) of the second chain link (12) and one of the two adjacent first chain links (11).

24. Push chain (10) according to claim 21 or 22, wherein the chain links (11) are designed such that adjacent chain links (11) overlap in the longitudinal direction (600) of the push chain and are connected to each other in the overlap area (115).

Images