Self-propelled vehicle with a climbing lever

Abstract

Self-propelled vehicle (1), in particular a soil cultivation implement, comprising a housing (3), a wheel (5) having a rotation axis (4), and a climbing lever (6) for overcoming an obstacle, wherein the climbing lever (6) is mounted on the wheel (5) on one side via a first pivot connection (9) so as to be pivotally eccentric, and on the other side via a second pivot connection (10) on a handlebar (7) pivotally mounted on the housing (3), wherein a contact surface (20) of the climbing lever (6) projects at least temporarily beyond a running surface (8) of the wheel (5) when the wheel (5) rotates and can thereby come into contact with an obstacle, characterized in thatthat the first pivot connection (9) can be released in a defined first pivot position of the climbing lever (6) while the second pivot connection (10) remains in place, by a pivoting movement of the climbing lever (6) away from a plane of rotation of the bicycle (5), and that the second pivot connection (10) can only be released when the first pivot connection (9) is released in a defined second pivot position of the climbing lever (6), which does not correspond to the first pivot position.

Description

field of technology

[0001] The invention relates to a self-propelled vehicle, in particular a soil cultivation implement, comprising a housing, a wheel having a rotation axis, and a climbing lever for overcoming an obstacle, wherein the climbing lever is mounted on the wheel in an eccentrically pivotable manner via a first pivot connection, and is mounted on a handlebar pivotably mounted on the housing via a second pivot connection, wherein a contact surface of the climbing lever projects at least temporarily beyond a running surface of the wheel during rotation of the wheel and can thereby come into contact with an obstacle.

[0002] Furthermore, the invention relates to a method for dismantling a climbing lever used to overcome an obstacle from a bicycle of a self-propelled vehicle, in particular a soil cultivation implement, wherein the climbing lever is on the one hand eccentrically pivotable on the bicycle via a first pivot connection, and on the other hand is mounted on a handlebar pivotably mounted on the housing via a second pivot connection, wherein a contact surface of the climbing lever projects at least temporarily beyond a running surface of the bicycle when the bicycle is rotated and can thereby come into contact with an obstacle. State of the art

[0003] Self-propelled vehicles, particularly soil cultivation equipment, with a climbing lever are known in the prior art. These vehicles can be, for example, mobile soil cultivation robots for vacuuming, mopping, polishing, lawn mowing, and the like. However, a self-propelled vehicle within the meaning of the invention can also be a purely transport vehicle, reconnaissance vehicle, or similar.

[0004] Patent EP 2 743 038 B1, for example, discloses a floor cleaning device with driven wheels for automatic movement of the floor cleaning device on a surface to be cleaned. To enable the floor cleaning device to automatically overcome low obstacles near the floor, for example up to 20 mm, the floor cleaning device has a climbing lever that is eccentrically pivotable on the wheel on one side and on the other side of the floor cleaning device housing. This allows the climbing lever to assume different positions and orientations relative to the wheel and the housing of the floor cleaning device depending on the rotational position of the wheel, and thus to brace itself against an obstacle, such as a door threshold, during one rotational revolution of the wheel in order to overcome it.At least in one rotational position of the bicycle, a front end section of the climbing lever—with reference to a projection in the direction of extension of a rotational axis of the bicycle—extends beyond the running surface of the bicycle in the usual direction of travel of the floor cleaning device, in order to be able to scan for any obstacles in front of the floor cleaning device. As soon as the climbing lever, with its end section extending beyond the running surface of the bicycle, encounters an obstacle raised above the ground, the climbing lever can brace itself against the obstacle and assist the floor cleaning device, acting as a lever, in overcoming the obstacle.

[0005] The climbing lever is connected to the drive wheel or the housing of the tillage implement in such a way that it pivots continuously as the drive wheel rotates. However, situations can arise during vehicle movement where the climbing lever's function leads to undesirable results. For example, the surface the vehicle is traveling on may have bumps that the vehicle should not cross, or cannot safely cross despite the climbing lever, and on which it could, in the worst case, become stuck. These could be, for example, the flat bases of furniture, such as rocking chairs. Summary of the invention

[0006] Based on the aforementioned prior art, the object of the invention is therefore to create a vehicle with a climbing lever in which a possibility is provided to disable the function of the climbing lever, so that the vehicle cannot climb over obstacles with the help of the climbing lever.

[0007] To solve this problem, it is proposed that the first pivot connection in a defined first pivot position of the climbing lever, while the second pivot connection remains in place, can be released by a pivoting movement of the climbing lever away from a plane of rotation of the bicycle, and that the second pivot connection can only be released when the first pivot connection is released in a defined second pivot position of the climbing lever, which does not correspond to the first pivot position.

[0008] According to the invention, the climbing lever is now attached to the vehicle in a way that allows it to be detached without damage, thus disabling the vehicle's climbing function. The climbing lever can be removed via the detachable pivot connections between the climbing lever and the bicycle, and between the climbing lever and the handlebars. This allows the vehicle user to detach the climbing lever at will, rendering it unavailable for overcoming obstacles. Both the first and second pivot connections of the climbing lever to the bicycle and handlebars, respectively, can be easily released by the user. This is preferably achieved through defined pivoting movements of the climbing lever, which the user can perform to first move the climbing lever into a defined first pivot position and then into a defined second pivot position.The first pivot position is used to release the shift lever from the bicycle. The second pivot position is used to release the shift lever from the handlebars mounted on the frame. For release by rotating the bicycle, the first pivot connection between the shift lever and the bicycle must be positioned so that the first pivot connection reaches its first pivot position. In this position, the shift lever can be released by pivoting it perpendicular to the bicycle's plane of rotation, thus removing it from a bearing area of ​​the bicycle. The shift lever is then only connected to the handlebars via the second pivot connection. However, the second pivot connection cannot be released in the defined first pivot position of the shift lever, but only in a defined second pivot position, which does not correspond to the first pivot position.This ensures that the shift lever cannot detach itself from the handlebars during the bicycle's rotation and thus become ineffective. Furthermore, the pivoting movement required in the first pivot position, perpendicular to the bicycle's plane of rotation, prevents the shift lever from unintentionally detaching from the bicycle and remaining suspended only from the handlebars. Therefore, the shift lever cannot be accidentally removed from the bicycle during operation, but only by a user who has been properly instructed to execute the two defined pivot positions of the shift lever sequentially.

[0009] It is proposed that the position of the first pivot connection for releasing the pedal lever from the bicycle, relative to one rotation of the bicycle, be located as far as possible from the position of a third pivot connection that pivotally connects the handlebars to the frame. To release the pedal lever, the position of the first pivot connection, as proposed (i.e., the defined first pivot position of the pedal lever), is located as far as possible from the position of the third pivot connection (i.e., the connection between the handlebars and the frame of the bicycle), insofar as this is possible within the bicycle's rotational range. This ensures that the pedal lever and handlebars together have the greatest possible lever length, which is advantageous for releasing the first pivot connection perpendicular to the bicycle's plane of rotation.The longer lever arm of the assembly, consisting of the climbing lever and handlebar, requires a smaller angle of movement for the pivoting motion away from the plane of rotation than would be necessary with a shorter lever arm to release the climbing lever from the bicycle. Play in the first, second, and third pivot points, or even elasticity of the materials used, may contribute to the climbing lever being released from the bicycle in this initial pivot position.

[0010] Furthermore, it is proposed that the climbing lever and the handlebar be designed such that the second pivot connection can be released when the climbing lever and the handlebar are oriented essentially parallel to each other, so that the first pivot connection, the second pivot connection, and a third pivot connection, which pivotally connects the handlebar to the housing, lie essentially on a straight line. In principle, any orientation of the climbing lever relative to the handlebar that does not coincide with the first pivot position is suitable as the second pivot position, i.e., for releasing the climbing lever from the handlebar. However, the hand movement required for this is more intuitive for a user if it proceeds from an angled position of the climbing lever relative to the handlebar to a parallel position of the climbing lever relative to the handlebar.The second pivot position, in which the climbing lever and the handlebar are essentially parallel to each other, means that the climbing lever represents a longitudinal extension of the handlebar, such that the first pivot point, the second pivot point, and the third pivot point lie on an imaginary straight line. By pivoting the climbing lever from the first to the second pivot position, the second pivot point, i.e., the connection between the climbing lever and the handlebar, becomes disengageable. To move the climbing lever into the second pivot position, the user advantageously grasps the climbing lever in the manner of a handle.

[0011] In this regard, it is specifically proposed that the permissible angular deviation between the orientations of the climbing lever and the handlebars for releasing the second pivot connection be a maximum of + / - 10°. The climbing lever and the handlebars, i.e., in particular, a connecting line between the first and second pivot connections, and a connecting line between the second and third pivot connections, do not need to be exactly aligned, i.e., have an angular deviation of 0°, but can have an angle relative to each other between +10° and -10°. Thus, to release the second pivot connection, i.e., to remove the climbing lever from the handlebars, the user does not need to align the climbing lever and the handlebars exactly, but can pivot the climbing lever so that it essentially forms an extension of the handlebars. This facilitates the user's removal of the climbing lever.If necessary, an end stop can be provided on the climbing lever and / or handlebar to limit the angular deviation. This gives the user not only a visual but also a tactile indication of reaching the second swivel position.

[0012] Furthermore, it is proposed that the second pivot connection feature a bayonet fitting, screw lock, and / or snap lock. According to the first-mentioned design variant, the shift lever and the handlebars have corresponding elements of a bayonet fitting that forms the second pivot connection. For example, a section of the shift lever can engage with a corresponding section of the handlebars and be connected or disconnected by a push-and-turn motion. In the connected state, the shift lever and the handlebars remain movable relative to each other, allowing the shift lever to rotate with the bicycle, on which it is eccentrically pivoted. Releasing the bayonet fitting is only possible in the second pivot position of the shift lever described above, which requires that the shift lever has first been disconnected from the bicycle.As an alternative to a bayonet fitting, the second pivot connection can also have a screw-type closure, which incorporates a standard screw thread between the corresponding sections of the shift lever and the handlebar. The thread exit marks the second pivot position between the shift lever and the handlebar, allowing the shift lever to be detached from the handlebar. Alternatively, the second pivot connection can also have a locking mechanism. For example, the locking mechanism could have a hook that engages in a corresponding groove, behind a corresponding undercut, or similar feature.

[0013] The second pivot connection may have a connecting element formed integrally with the climbing lever, which is shaped to correspond to a section of the handlebar. Alternatively, the second pivot connection may have a separate connecting element that can be connected to the climbing lever, preferably glued or screwed to the lever. The connecting element may be designed to suit the type of second pivot connection, such as a bayonet fitting, screw fitting, or snap-lock mechanism, for example, a latch, threaded element, hook, pin, or the like.

[0014] Furthermore, it is proposed that the first pivot connection be a plug-in and / or screw connection. If the first pivot connection is a plug-in connection only, parts of the climbing lever and the bicycle are simply plugged together, making the first pivot connection a loose connection. The user can disconnect such a plug-in connection from the bicycle without using tools such as hand tools. Alternatively, the first pivot connection could be a screw connection. In this case, the connection between the climbing lever and the bicycle is additionally secured against disconnection. In either case, the pivot connection remains rotatable despite the axial screw locking mechanism.

[0015] According to one embodiment, it is proposed that the first pivot connection has a rotatably mounted rotating shaft on the bicycle, which has an internal thread and an angular cross-sectional outer contour, and that a partial area of ​​the climbing lever that can be connected to the rotating shaft has an angular cross-sectional inner contour that corresponds in shape to the cross-sectional outer contour of the rotating shaft, so that the partial area of ​​the climbing lever can be slid coaxially onto the rotating shaft and the first pivot connection can be fixed from the side of the climbing lever with a screw inserted into the internal thread of the rotating shaft.Due to the movable mounting of the rotating shaft on the bicycle, the climbing lever, which is rotationally fixed to the rotating shaft, is also movable relative to the bicycle. The bicycle and the climbing lever are not pressed together between the rotating shaft and the corresponding screw, thus ensuring the pivoting movement of the climbing lever relative to the bicycle. Preferably, an inner cross-sectional contour of the climbing lever section has a guide, for example, a groove, which optimally aligns the outer cross-sectional contour of the rotating shaft when the sections of the bicycle and climbing lever are axially engaged. Preferably, the climbing lever is located on the outside of the bicycle, allowing the user to access the climbing lever and loosen the screw of the first pivot connection without disassembling the bicycle.

[0016] Alternatively, it is proposed that the first pivot connection be secured by a combination of a screw located on the shift lever side and a nut located on the wheel side, or by a combination of a screw with an internal thread located on the shift lever side and a screw with an external thread located on the wheel side. The respective kinematic reversal is also conceivable. All versions share the common feature that the shift lever remains eccentrically pivotable on the bicycle. The first pivot connection is thus not fixed in such a way that the bicycle and shift lever are rotationally fixed to each other by the screw connection or screw-nut connection.

[0017] In addition to the self-propelled vehicle with a climbing lever described above, the invention further proposes a method for dismantling a climbing lever used to overcome an obstacle from the drive wheel of a self-propelled vehicle, in particular a soil cultivation implement, wherein the climbing lever is mounted on the drive wheel via a first pivot connection so as to be pivotally eccentric, and is mounted on a handlebar pivotally mounted on the housing via a second pivot connection, wherein a contact surface of the climbing lever projects at least temporarily beyond a running surface of the drive wheel during rotation and can thereby come into contact with an obstacle, whereby the climbing lever is thereby detached from the drive wheel without being destroyed.that the first pivot connection is released in a defined first pivot position of the climbing lever while the second pivot connection remains in place, by a pivoting movement of the climbing lever away from a plane of rotation of the bicycle, and subsequently the second pivot connection is released with the first pivot connection released in a defined second pivot position of the climbing lever, which does not correspond to the first pivot position.

[0018] This procedure for disassembling the shift lever ensures that, as previously described in relation to the vehicle, the shift lever cannot be unintentionally detached from the handlebars during a rotational movement of the bicycle. Instead, the user must perform several defined, sequential steps to detach it: first, move the shift lever into the first pivot position; then, pivot the shift lever away from the bicycle's plane of rotation in this position to detach it; and finally, move the shift lever into the second pivot position, where it is detached from the handlebars. Detachment from the handlebars is achieved by a linear pulling motion of the shift lever in a direction parallel to the pivot axis of the second pivot point.The process steps and associated features and advantages have previously been described in detail with regard to the vehicle according to the invention, so reference is made here to avoid repetition.

[0019] Finally, with regard to the method, it is further proposed that, to achieve the defined first pivot position of the climbing lever by means of a rotation of the bicycle, the first pivot connection is positioned as far as possible from a third pivot connection, which pivotably connects the handlebars to the housing. The climbing lever, released from the bicycle, is then oriented essentially parallel to the handlebars via the second pivot connection to achieve the defined second pivot position, such that the first, second, and third pivot connections lie essentially on a straight line, and the climbing lever can be released from any engagement with the handlebars. This procedure has already been described in relation to the vehicle, so the corresponding advantages and features apply analogously to the method. Brief description of the drawings

[0020] The invention will now be explained in more detail using exemplary embodiments. The figures shown are: Fig. 1 a vehicle according to the invention with a bicycle to which a climbing lever is assigned; Fig. 2 the climbing lever (from the in Fig. 1 (not visible page); Fig. 3 a handlebar, on which according to Fig. 1. The climbing lever is storable, in a three-dimensional representation; Fig. 4. A top view of the handlebars; Fig. 5 a side view of the handlebars; Fig. 6 a connecting element for connecting the climbing lever to the handlebar; Fig. 7 a section of the vehicle comprising the bicycle, the climbing lever, the handlebars and a section of a housing; Fig. 8. Position the climbing lever in a defined first pivot position; Fig. 9 the climbing lever when separating the climbing lever and the bicycle in the first pivot position; Fig. 10 the climbing lever, which is separate from the bicycle but still connected to the handlebars; Fig. 11 a defined second pivot position of the climbing lever relative to the handlebar; Fig. 12 the separation of the pivot connection between the climbing lever and the handlebar in the second pivot position; Fig. 13 the shift lever (rear) detached from the bicycle and the handlebars; Fig. 14 a pivot connection between the climbing lever and the bicycle according to a first embodiment; Fig. 15 a pivot connection between the climbing lever and the bicycle according to a second embodiment; Fig. 16 a pivot connection between the climbing lever and the bicycle according to a third embodiment; Fig. 17 a pivot connection between the climbing lever and the bicycle according to a fourth embodiment. Description of the embodiments

[0021] Fig. Figure 1 shows, by way of example, a self-propelled vehicle 1, which here is designed as a floor-cleaning device, specifically a cleaning robot. The vehicle 1 has a housing 3 with a chassis, which, on its underside facing the surface to be cleaned, has electrically driven wheels 5. The vehicle 1 has a cleaning element (not shown), preferably electrically driven, which serves to clean the surface. The cleaning element can be, for example, a brush roller, a cleaning cloth, or something similar. The cleaning element passes through a suction opening, for example, through which suction air can be drawn in by means of a motor-blower unit. The electrical supply for the individual electrical components of the vehicle 1 is provided by a rechargeable battery (not shown).

[0022] Vehicle 1 is equipped with a navigation device 2, which enables it to autonomously navigate its surroundings and determine its own position. The navigation device 2 includes, for example, a distance measuring device located in housing 3, which can measure distances to obstacles in the environment. Based on this distance data, an environmental map can be created, which serves the vehicle 1 for localization and navigation within its surroundings. The navigation device 2 can, for example, include a triangulation measuring device comprising an optical light source and an optical sensor. The light source emits light into the environment of vehicle 1. This light may be reflected by obstacles and at least a portion of it reaches the sensor of the distance measuring device. Based on the received measurement signal, the distance to the respective obstacle can be calculated.

[0023] In order for the vehicle 1 to overcome flat obstacles, such as a door threshold, when moving within its surroundings, the vehicle 1 has a climbing lever 6, the function of which is initially described with reference to Fig. 1 will be explained in more detail.

[0024] Fig. Figure 1 shows a perspective view of the vehicle 1 with a cutaway view (for illustrative purposes only) of the housing 3, so that at least one of the drive wheels 5 is visible in the figure. A climbing lever 6 is associated with the drive wheel 5. The drive wheel 5 has a rotation axis 4 in the usual manner, via which the drive wheel 5 is rotatably mounted on the chassis of the housing 3 of the vehicle 1. This mounting can be achieved, for example, by means of a wheel swing arm movably mounted on the housing 3. The drive wheel 5 has a running surface 8 which rolls on a surface when the vehicle 1 is in motion.

[0025] The climbing lever 6 is preferably located on an end face of the bicycle 5 and is mounted to the bicycle 5 via a first pivot connection 9. The bicycle 5 can be equipped with one or two such climbing levers 6. The climbing lever 6 has an elongated shape and is pivotally mounted to the bicycle 5 eccentrically via the first pivot connection 9. The first pivot connection 9 of the climbing lever 6 is arranged on a circular path of the bicycle 5 that is oriented concentrically to the axis of rotation 4 and has a defined diameter. Extending from the first pivot connection 9, the climbing lever 6 projects freely forward in the direction of travel of the vehicle 5. When the bicycle 5 rotates, the climbing lever 6 projects transversely to the axis of rotation 4, at least temporarily, beyond the running surface 8 of the bicycle 5 and may come into contact with obstacles that rise from a surface on which the bicycle 5 travels.This allows vehicle 1 to brace itself against the obstacle using the climbing lever 6 and to assist in overcoming it.

[0026] The climbing lever 6 is further connected via a second pivot connection 10 to a handlebar 7, which is pivotally mounted on a section of the housing 3, for example, on a wheel swingarm associated with the bicycle 5. The second pivot connection 10 is preferably located above the axis of rotation 4 with respect to the orientation of the vehicle 1 shown. The connection of the handlebar 7 to the housing 3 is provided by a third pivot connection 11. The axes of rotation of the first pivot connection 9, the second pivot connection 10, and the third pivot connection 11 are preferably oriented parallel to the axis of rotation 4 of the bicycle 5.

[0027] The climbing lever 6 is preferably driven directly via the drive wheel 5, with the free end region of the climbing lever 6 extending from the first pivot connection 9 following an at least approximately elliptical path. The climbing lever 6 has a base body and a contact surface 20, which serves for contact with an obstacle to be overcome. The contact surface 20 initially tends to point vertically downwards, but preferably extends further into an end region of the climbing lever 6. The contact surface 20 can be made of a soft material, for example, a rubber-like material. The base body of the climbing lever 6 is preferably made of a hard plastic.

[0028] Due to the eccentric movement of the climbing lever 6 on the bicycle 5 and the pendulum bearing via the handlebar 7, the contact surface 20 is guided on an almost elliptical path, whereby the climbing lever 6, when the vehicle 1 moves in a normal direction of travel, tends to move upwards and forwards as it shifts from a rearward position to a forward position, preferably due to the proposed eccentric linkage of the climbing lever 6 above the axis of rotation 4 of the bicycle 5.When the first pivot point 9 of the climbing lever 6 reaches approximately below the axis of rotation 4 of the bicycle 5, the climbing lever 6 tilts downwards with its contact surface 20 towards the surface being traversed, while simultaneously retracting the climbing lever 6 to a retracted position in which the contact surface 20 preferably does not protrude beyond the running surface 8 of the bicycle 5. Provided there is no obstacle in the path of travel of the vehicle 1, the climbing lever 6 never comes into contact with the surface being traversed, allowing the vehicle 1 to move freely. However, if there is an obstacle in the path of travel, such as a flat barrier, a door threshold, or the like, the climbing lever 6 may come into contact with the obstacle with its contact surface 20.Due to the continued rotation of the bicycle 5, the frictional support of the contact surface 20 on the obstacle results in the bicycle 5 being lifted, and thus also the entire vehicle 1. In the continued movement of the climbing lever 6, this pulls the bicycle 5 towards the obstacle if necessary, so that the bicycle 5 can drive onto the obstacle from a suitable angle of approach.

[0029] In certain situations, it may be undesirable for the vehicle 1 to attempt to overcome obstacles using the climbing lever 6. This can occur, for example, if there are numerous flat obstacles in the vicinity of the vehicle 1, such as pieces of furniture. These could include, for instance, the footrests of rocking chairs, which stand on the surface as a flat frame structure. As explained in more detail below, the user can disable the function of the climbing lever 6 by disassembling it. To disassemble it, first the first pivot connection 9 between the climbing lever 6 and the bicycle 5 is disconnected, and then the second pivot connection 10 between the climbing lever 6 and the handlebars 7 is disconnected. This is done sequentially, each time in a defined pivot position of the climbing lever 6 relative to the bicycle 5 and the handlebars 7, respectively. This prevents the climbing lever 6 from accidentally, i.e.,without user intervention, from which vehicle 1 can be separated.

[0030] Before discussing the disassembly steps in detail, the climbing lever 6 will first be described using the Fig. 2 explained, and the driver 7 based on the Fig. 3 and Fig. 5. A connecting element 12, which is part of the second pivot connection 10, shows Fig. 6.

[0031] The climbing lever 6 according to Fig. 2 is shown with respect to its rear side facing the bicycle 5. The climbing lever 6 has an elongated basic shape with a contact surface 20, which is formed at the free end region of the climbing lever 6 and serves for contact with an obstacle to be overcome. Here, for example, approximately in the middle of the climbing lever 6, there is a pin 24, which is part of the first pivot connection 9 with the bicycle 5. This pin 24 can be inserted into a corresponding section, namely, for example, the one in Fig. The bearings 25 of the bicycle 5, as shown in Figure 9, are inserted to establish the first pivot connection 9. As part of the second pivot connection 10, the climbing lever 6 has an end section with a through-opening 26, which here, for example, serves to connect to the bearing 25 of the bicycle 5. Fig. The connecting element 12 shown in section 6 serves (see Fig. 13). The connecting element 12 can be inserted with its portion facing away from the climbing lever 6 into a corresponding opening 21 of the in the Fig. 3, Fig. 4 to Fig. The handlebar shown in section 5 is inserted into section 7.

[0032] The Fig. 3, Fig. 4 to Fig. Figure 5 shows the handlebar 7 in detail. This also has a generally elongated shape with two end sections, one of which forms part of the second pivot connection 10 and the other part of the third pivot connection 11. The second pivot connection 10 serves to connect the climbing lever 6 to the handlebar 7. For this purpose, the connecting element 12, which is connected to the through-opening 26 of the climbing lever 6, can be inserted into the opening 21 of the handlebar 7. The opening 21 has two recesses 22 opposite each other with respect to a center point of the opening 21, through which the connecting element 12 can be inserted and rotated in the manner of a bayonet fitting.As soon as the connecting element 12 passes through the opening 21 with the recesses 22, the shift lever 6, and thus also the connecting element 12, pivots relative to the handlebar 7, so that the shift lever 6 is connected to the handlebar 7 via the second pivot connection 10, which is designed as a bayonet fitting. The second pivot connection 10 is not fixed with respect to the rotational movement, so that the shift lever 6 can continue to pivot relative to the handlebar 7. This is necessary so that the handlebar 7, or rather the shift lever 6, can follow the rotational movement of the bicycle 5.

[0033] Starting from the in Fig. In the mounted position of the climbing lever 6 shown in Figure 1 on vehicle 1, the disassembly of the climbing lever 6 with reference to the Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. 13 explained. The user can disassemble this climbing lever 6 without the aid of tools, so that the climbing lever 6 can be released particularly easily and quickly.

[0034] Fig. Figure 7 shows a section of the vehicle 1 with the bicycle 5, a section of the housing 3, a motor 23 for driving the bicycle 5, as well as the climbing lever 6 and the handlebar 7. Fig. 7 the climbing lever 6 is in any position and orientation relative to the bicycle 5. In this position the first pivot connection 9 and the second pivot connection 10 cannot be released, so that the climbing lever 6 can perform its usual function.

[0035] Fig. Figure 8, in contrast, shows a first defined pivot position of the climbing lever 6 relative to the bicycle 5, in which it can be released from the bicycle 5. The second pivot position shown is characterized by the fact that the first pivot connection 9 has the greatest possible distance to the third pivot connection 11, namely the maximum possible distance allowed by the path of movement of the first pivot connection 9 on the rotating bicycle 5. In this position, the stroke required to separate the pin 24 of the climbing lever 6 from the bearing 25 of the bicycle 5 can be achieved by a smaller pivot angle of the climbing lever 6 relative to a plane of rotation of the bicycle 5 than in the other pivot positions of the climbing lever 6.

[0036] Fig. Figure 9 shows how the climbing lever 6, in its first pivot position and with the second pivot connection 10 still in place, is released from the bicycle 5 by a pivoting movement directed away from the plane of rotation of the bicycle 5. For this purpose, the pin 24 of the climbing lever 6 is pulled out of the bearing 25 of the bicycle 5, which requires no additional aids such as tools. The pivoting movement of the climbing lever 6 is carried out as shown in Fig. 9 remains visible, supported by a slight tilting of the handlebar 7 relative to the rotational plane of the bicycle 5. Furthermore, play in the second pivot connection 10 and / or third pivot connection 11, as well as, if applicable, material flexibility of the climbing lever 6 and / or handlebar 7, can contribute to this.

[0037] After releasing the first pivot connection 9, i.e., separating the climbing lever 6 from the bicycle 5, the climbing lever 6 can be, as in Fig. 10 shown, with reference to its pin 24 outside the bearing 25 of the bicycle 5, or directly afterwards, as in Fig. As shown in Figure 11, the second pivot connection 10 is pivoted relative to the handlebar 7 such that the handlebar 7 and the climbing lever 6 are essentially aligned, and the climbing lever 6, with respect to its section formed between the first pivot connection 9 and the second pivot connection 10, lies on the same straight line as a section formed between the second pivot connection 10 and the third pivot connection 11. This parallel position of the climbing lever 6 and the handlebar 7 defines a second pivot position in which the second pivot connection 10 can be released. By pivoting the climbing lever 6 into the defined second pivot position, the bayonet lock of the second pivot connection 10 is released, so that the connecting element 12 of the climbing lever 6 can be removed from the opening 21 of the handlebar 7. This is shown in Figure 11. Fig. Figure 12 shows that the user can therefore, without any further aids, detach and remove the climbing lever 6 from the bicycle 5 and the housing 3 of the vehicle 1.

[0038] Fig. Figure 13 finally shows the removed climbing lever 6 with reference to its reverse side, which is also already in Fig. 2 was shown. Fig. Figure 13 also shows the arrangement of the connecting element 12 on the climbing lever 6.

[0039] The Fig. 14, Fig. 15, Fig. 16 to Fig. Figure 17 shows further embodiments of possible first pivot connections 9, which, in contrast to the first pivot connection 9 described above, are not designed as a loose connection, but connect the climbing lever 6 to the bicycle 5 in such a way that a tool, such as a screwdriver, is required to disassemble the climbing lever 6.

[0040] Fig. Figure 14 shows, for example, a first pivot connection 9 with the bearing 25 of the bicycle 5 and the pin 24 of the climbing lever 6, which are connected to each other from opposite sides by a rotary shaft 13 and a screw 17. The rotary shaft 13 has an internal thread 14 into which an external thread of the screw 17 can be screwed. The rotary shaft 13 is rotatably mounted in the bearing 25 of the bicycle 5. A form-corresponding design of a cross-sectional outer contour 15 of the rotary shaft 13 and a cross-sectional inner contour 16 of the pin 24 ensures a rotationally fixed connection between the rotary shaft 13 and the pin 24 of the climbing lever 6. In this embodiment, the climbing lever 6 is rotationally fixed to the rotary shaft 13 and can pivot relative to the bearing 25 of the bicycle 5.

[0041] Fig. Figure 15 shows an embodiment in which a screw nut 18, which has a conventional internal thread 14, is connected to the bearing 25 of the bicycle 5 in a rotationally fixed manner. The pin 24 of the climbing lever 6, which is inserted into the bearing 25, is rotatable relative to the bearing 25 as well as to the screw nut 18, whereby axial displacement is secured by means of a screw 17, which can be screwed into the internal thread 14 of the screw nut 18.

[0042] Fig. Figure 16 shows an alternative embodiment with a screw 19 which is rotationally fixed to the bearing 25 of the bicycle 5. An external thread of this screw 19 can be screwed into a corresponding screw 17 with an internal thread 14. The climbing lever 6 remains pivotable relative to the bicycle 5 even when the screws 17 and 19 are connected.

[0043] Fig. Figure 17 shows an alternative embodiment with a first screw 19, which has an internal thread 14 and is non-rotatably connected to the bearing 25 of the bicycle 5, and a second screw 17, which has an external thread and can be screwed into the internal thread 14 of the first screw 19. The relative rotatability of the climbing lever 6 to the bicycle 5 is also maintained in this embodiment.

[0044] Although not shown in the embodiments described above, the second pivot connection 10 between the climbing lever 6 and the handlebar 7 can also have different designs. Besides the bayonet fitting proposed here as an example, it is also possible for the second pivot connection 10 to have a screw lock and / or a snap lock. Furthermore, the Fig. The defined second pivot position shown in Figure 11 for releasing the second pivot connection 10 may also specify a different position and orientation of the climbing lever 6 and the handlebar 7. In particular, the position shown in Figure 11 may also be different. Fig. In the second pivot position shown in Figure 11, an angular deviation of + / - 10° is permissible. However, completely different angles between the climbing lever 6 and the handlebar 7 are also possible, whereby care must be taken to ensure that the defined first position for releasing the first pivot connection 9 (shown in Figure 11) is correct. Fig. 8) is not identical to the defined second pivot position for releasing the second pivot connection 10. List of reference symbols 1 vehicle 2 Navigation system 3 cases 4 Rotation axis 5 bicycles 6 ascenders 7 handlebars 8 Running surface 9 First swivel connection 10 Second swivel connection 11 Third swivel connection 12 Connecting element 13 Rotational shaft 14 internal threads 15 Cross-sectional outer contour 16 Cross-sectional inner contour 17 screw 18 screw nuts 19 screw 20 contact area 21 Opening 22 recess 23 Engine 24 cones 25 warehouses

Claims

[1] Self-propelled vehicle (1), in particular a soil cultivation implement, comprising a housing (3), a wheel (5) having a rotation axis (4) and a climbing lever (6) for overcoming an obstacle, wherein the climbing lever (6) is on one side eccentrically pivotable on the wheel (5) via a first pivot connection (9) and on the other side is mounted on a handlebar (7) pivotally mounted on the housing (3) via a second pivot connection (10), wherein a contact surface (20) of the climbing lever (6) projects at least temporarily beyond a running surface (8) of the wheel (5) when the wheel rotates and can thereby come into contact with an obstacle, characterized by, that the first pivot connection (9) in a defined first pivot position of the climbing lever (6) while the second pivot connection (10) remains in existence can be released by a pivoting movement of the climbing lever (6) away from a plane of rotation of the bicycle (5), and that the second pivot connection (10) can only be released when the first pivot connection (9) is released in a defined second pivot position of the climbing lever (6) which does not correspond to the first pivot position. [2] Self-propelled vehicle (1) according to claim 1, characterized by , that the position of the first pivot connection (9) for releasing the climbing lever (6) from the bicycle (5) is maximally far away from a position of a third pivot connection (11) which pivotably connects the handlebar (7) to the housing (3) with respect to one rotation of the bicycle (5). [3] Self-propelled vehicle (1) according to claim 1 or 2, characterized by, that the climbing lever (6) and the linkage (7) are designed such that the second pivot connection (10) is releasable when the climbing lever (6) and the linkage (7) are oriented substantially parallel to each other, so that the first pivot connection (9), the second pivot connection (10) and a third pivot connection (11), which pivotably connects the linkage (7) to the housing (3), lie substantially on a straight line. [4] Self-propelled vehicle (1) according to claim 3, characterized by , that the permissible angular deviation between the orientations of the climbing lever (6) and the handlebar (7) for releasing the second pivot connection (10) is a maximum of + / - 10°. [5] Self-propelled vehicle (1) according to any of the preceding claims, characterized by , that the second swivel connection (10) has a bayonet lock, screw lock and / or snap lock. [6] Self-propelled vehicle (1) according to any of the preceding claims, characterized by , that the second pivot connection (10) has a connecting element (12) formed in one part with the climbing lever (6), which is shaped to correspond to a part of the handlebar (7), or that the second pivot connection (10) has a separate connecting element (12) that can be connected to the climbing lever (6), which is preferably glued or screwed onto the climbing lever (6). [7] Self-propelled vehicle (1) according to any of the preceding claims, characterized by , that the first pivot connection (9) has a plug connection and / or screw connection. [8] Self-propelled vehicle (1) according to any of the preceding claims, characterized by, that the first pivot connection (9) has a rotating shaft (13) rotatably mounted on the bicycle (5), which has an internal thread (14) and a square cross-sectional outer contour (15), and that a partial area of ​​the climbing lever (6) connectable to the rotating shaft (13) has a form corresponding to the cross-sectional outer contour (15) of the rotating shaft (13). <orrespondierende eckige Querschnittsinnenkontur (16) aufweist, so dass der Teilbereich des Steighebels (6) koaxial auf die Rotationswelle (13) schiebbar ist und die erste Schwenkverbindung (9) ausgehend von der Seite des Steighebels (6) mit einer in das Innengewinde (14) der Rotationswelle (13) geführten Schraube (17) fixierbar ist. [9] Self-propelled vehicle (1) according to any one of claims 1 to 7, characterized by, that the first pivot connection (9) is secured by a combination of a screw (17) arranged on the step-lever side and a screw nut (18) arranged on the wheel side or by a combination of a screw (17) arranged on the step-lever side with internal thread (14) and a screw (19) arranged on the wheel side with external thread. [10] Method for dismantling a climbing lever (6) used to overcome an obstacle from a wheel (5) of a self-propelled vehicle (1), in particular a soil cultivation implement, wherein the climbing lever (6) is on one side eccentrically pivotable on the wheel (5) via a first pivot connection (9), and on the other side is mounted on a handlebar (7) pivotally mounted on the housing (3) via a second pivot connection (10), wherein a contact surface (20) of the climbing lever (6) projects at least temporarily beyond a running surface (8) of the wheel (5) when the wheel (5) rotates and can thereby come into contact with an obstacle, characterized by, that the climbing lever (6) is detached from the bicycle (5) without destruction by releasing the first pivot connection (9) in a defined first pivot position of the climbing lever (6) while the second pivot connection (10) remains in existence, by a pivoting movement of the climbing lever (6) away from a plane of rotation of the bicycle (5), and subsequently releasing the second pivot connection (10) with the first pivot connection (9) released in a defined second pivot position of the climbing lever (6) which does not correspond to the first pivot position. [11] Method according to claim 10, characterized by, that the first pivot connection (9) is moved as far as possible from a position of a third pivot connection (11) which pivotably connects the handlebar (7) to the housing (3) by means of a rotation of the bicycle (5) to achieve the defined first pivot position of the climbing lever (6), and that the climbing lever (6) released from the bicycle (5) is subsequently oriented substantially parallel to the handlebar (7) via the second pivot connection (10) to achieve the defined second pivot position, so that the first pivot connection (9), the second pivot connection (10) and the third pivot connection (11) lie substantially on a straight line and the climbing lever (6) can be released from engagement with the handlebar (7).

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