Control satellite for controlling a drive device for a wheelchair and drive device with a control satellite

Abstract

Control satellite (200) for controlling a drive device (100) for a wheelchair (500), comprising: an operating satellite control unit designed to send and receive signals to and from an electronic control device for controlling functions of the drive device (100), and Means for attaching the control satellite (200) to a wheelchair (500) such that the control satellite (200) can be operated by an operator at this attachment location, characterized in that a display device (205) is provided on an outer side of the control satellite (200) which displays information about operating states of the drive device (100), and that the display device (205) is designed such that its arrangement on the operating satellite (200) is adjustable, so that the visibility of the display device (205) for the operator can be taken into account depending on the location, wherein the display device (205) is provided on an outer circumference of an operating satellite switching part (202) and wherein the outer circumference of the operating satellite switching part (202) is rotatable in the circumferential direction with respect to an operating satellite mounting part (210) and is fixable in its respective rotational position, wherein the fixation is preferably effected by one or more fixing screws (207).

Description

[0001] The invention relates to a control satellite for controlling a drive device for a wheelchair and a drive device for a wheelchair with a control satellite.

[0002] Wheelchairs can basically be divided into two categories: on the one hand, wheelchairs that are primarily designed for manual propulsion, i.e. are either driven by hand by the person sitting in the wheelchair, for example via hand rings that are attached to the large rear wheels of the wheelchair or by an assistant pushing the wheelchair, and on the other hand, wheelchairs that are already designed for electric propulsion.

[0003] Manually propelled wheelchairs are generally significantly lighter than those with a built-in electric drive. In addition, manual wheelchairs are often designed as so-called folding wheelchairs, which are easy to transport, for example, in the trunk of a car, not only due to their lower weight but also due to their smaller dimensions when folded.

[0004] Manually propelled wheelchairs have a therapeutic effect when the person sitting in the wheelchair is the propulsion, as exerting the power can be a valuable physical exercise. On the other hand, wheelchair users can quickly reach the limits of their physical capabilities when propelling a wheelchair manually, particularly when negotiating inclines, over rough terrain, or over long distances. In addition, continued, long-term use of a manually propelled wheelchair can lead to injuries caused by repetitive high stress and to premature wear and tear in muscles, tendons, and joints. For these reasons, auxiliary drives for wheelchairs have been developed which, when retrofitted to a manually propelled wheelchair, assist the user in moving the wheelchair.

[0005] Such an auxiliary drive device for a wheelchair can be provided, for example, by replacing the two large rear wheels of the wheelchair with rear wheels in which a hub motor is integrated. Such an auxiliary drive device for a wheelchair is disclosed, for example, in DE 197 48 201 C1.

[0006] US 2014 / 0 262 575 A1 shows another type of auxiliary drive device for a wheelchair, namely one which has an electrically driven drive wheel, that is to say a drive wheel which is not exchanged for a wheel of a wheelchair, but is part of a separate device which has a coupling mechanism for coupling the auxiliary drive device to the wheelchair.

[0007] Regardless of whether an electric drive device for a wheelchair is retrofitted as an auxiliary drive device to a wheelchair designed for manual propulsion, or whether a wheelchair was already designed as an electrically powered wheelchair and has a corresponding drive device, it is necessary for independent travel that the drive device can be operated by the person sitting in the wheelchair. This requires, in particular, that a device for triggering operating processes is arranged on the wheelchair in such a way that it can be easily reached by an operator, in particular the person sitting in the wheelchair, but also by another operator, for example a person who pushes the wheelchair when the drive device is designed and used as a pushing aid, and that operation is simple to carry out.

[0008] To enable operation by an operator, such a device for triggering operating processes is usually located spatially separate from the drive mechanism itself and designed as a separate component. Such a device for triggering operating processes is therefore also called an operating satellite.

[0009] With regard to the type of operating means and their operation, US 2014 / 0 262 575 A1 mentions pressing a button, activating a switch or pressing a throttle device to accelerate or decelerate a wheelchair to a desired speed.

[0010] WO 2013 / 006 818 A2 discloses a device for operating the drive mechanism by a person sitting in a wheelchair in the form of a control satellite that can be attached to a cushion element of the wheelchair using a clip without the need for tools. This known control satellite has a button or switch for turning the drive mechanism ON and OFF and allows the selection of different drive modes such as HIGH or LOW.

[0011] From US 2014 / 0 262 575 A1 it is known to attach such a control satellite to a frame element of a wheelchair.

[0012] US 2012 / 0 143 393 A1 describes a device for setting or modifying programmable operating parameters of a motorized wheelchair. US 2014 / 0 083 225 A1 describes a control module for an electrically powered wheelchair that is configured to generate control signals in response to user inputs. DE 100 40 521 C2 also describes a wheelchair with a frame, at least one electrically powered drive wheel, and a control device. US 9 474 665 B1 also describes a wheelchair that has a seat, an electric drive unit, a footrest, and a control unit. The seat has two armrest frames, each with a connection panel attached. The electric drive unit is removably connected to the connection panels and consists of a support frame, a drive, and two rear wheels.Furthermore, DE 201 14 733 U1 describes a board device which is clamped horizontally in a chassis (e.g. wheelchair) and held by a king pin as a rotation axis.

[0013] The invention is based on the object of providing an operating satellite for controlling a drive device for a wheelchair, which offers an extended functionality compared to the prior art and at the same time is variable with regard to the needs of a user, as well as a drive device for a wheelchair with such an operating satellite.

[0014] This object is achieved by a control satellite for controlling a drive device for a wheelchair with the features of patent claim 1 and a drive device for a wheelchair with a control satellite according to patent claim 8. Advantageous embodiments are the subject of the dependent patent claims. It is pointed out that the features listed individually in the patent claims can also be implemented in any technologically expedient manner.

[0015] The control satellite according to the invention has a control satellite control unit designed to send signals to and receive signals from an electronic control device for controlling functions of the drive device. Such an electronic control device is required for appropriate control to take place. In addition to handling the pure operating functions, it may be desirable for a control satellite of the type in question not only to transmit operating commands from the user to the drive device, but also to make information relating to the drive device accessible to the user. For this purpose, the control satellite according to the invention has a display device that displays information about the operating states of the drive device.The display device is designed in such a way that its arrangement on the operating satellite is adjustable so that the visibility of the display device for an operator, that is to say, for example, a person sitting in the wheelchair or a person pushing the wheelchair, can be taken into account depending on the location of the installation.

[0016] The display device is provided on the outer circumference of a control satellite switching element. The outer circumference of the control satellite switching element is circumferentially rotatable relative to a control satellite mounting element and can be fixed in its respective rotational position.

[0017] The control satellite according to the invention can not only inform the operator about the operating states of the drive device, but can also, if it is attached to a wheelchair at different attachment points and in different attachment positions, depending on the specific needs of the operator, in particular a person sitting in a wheelchair, due to the adjustability according to the invention of the arrangement of the display device on the control satellite, ensure that the display device is in the field of vision of the operator, in particular a person sitting in a wheelchair, despite the different attachment points and attachment positions on the wheelchair.

[0018] The invention and the technical environment are explained in more detail below with reference to the figures. It should be noted that the figures show particularly preferred embodiments of the invention. However, the invention is not limited to the embodiments shown. In particular, the invention encompasses, to the extent technically feasible, any combination of the technical features listed in the claims or described in the description as relevant to the invention.

[0019] It is also understood that the technical environment described below in connection with exemplary embodiments of the invention in conjunction with the figures serves merely as an example and does not limit the invention defined in the patent claims. In particular, it is understood that the invention encompasses any type of drive device for a wheelchair, i.e. both those which, as described by way of example in the description of the figures, are designed as auxiliary drive devices that can be attached via a coupling mechanism to a wheelchair designed as manually driven, and those which are designed as an original component of a wheelchair which is already conceived as an electrically driven wheelchair. In other words, the inventive design of the control satellite is suitable for all such drive devices.

[0020] They show: Fig. 1 is a perspective view of a first embodiment of an auxiliary drive device for a wheelchair according to the invention, which is coupled to an axle of a wheelchair, Fig. 2 a side view of the auxiliary drive device according to Fig. 1, with parts of the wheelchair omitted from the illustration, Fig. 3A is a perspective, partially cutaway view of another embodiment of an auxiliary drive device for a wheelchair according to the invention, wherein the drive wheel of the auxiliary drive device is in a straight-ahead forward driving position, Fig. 3B is a further perspective, partially cutaway view of the auxiliary drive device according to Fig. 3A, wherein the drive wheel of the auxiliary drive device is in a cornering forward position, Fig. 4 a rear view of the auxiliary drive device according to Fig. 3A, Fig. 3B, Fig. 5 a partially sectioned side view of the auxiliary drive device according to Fig. 3, wherein the drive wheel of the auxiliary drive device is in a straight-ahead driving position, Fig. 6 a representation according to Fig. 5 with a schematically illustrated wheelchair coupled, with the drive wheel of the auxiliary drive device in a straight-ahead forward driving position, Fig. 7 a schematic representation according to Fig. 6, wherein the drive wheel of the auxiliary drive device is in a straight-ahead reverse position, Fig. 8 a view of the auxiliary drive device according to Fig. 3 from below, with the drive wheel of the auxiliary drive device in a cornering reversing position, Fig. 9 a view of the auxiliary drive device according to Fig. 3 from above, with lateral frame elements of a coupled wheelchair shown schematically and the drive wheel of the auxiliary drive device in a cornering forward position, Fig. 10 is a partially sectioned perspective detail view of another embodiment of an auxiliary drive device for a wheelchair according to the invention, Fig. 11 a detailed view of another embodiment of an auxiliary drive device according to the invention for a wheelchair in a first stop position of the drive wheel, Fig. 12 a detailed view of the embodiment of the auxiliary drive device according to Fig. 11 in a second stop position of the drive wheel, Fig. 13 a perspective front view of an embodiment of a control satellite, Fig. 14 a perspective rear view of the control satellite according to Fig. 13, Fig. 15 a partial view of the control satellite according to Fig. 13 in a first twisting position, Fig. 16 a partial view of the control satellite according to Fig. 13 in a second twisting position, Fig. 17 a partial view of the control satellite according to Fig. 13 from behind with cover element removed, Fig. 18 an exploded view of the control satellite according to Fig. 13 with a wheelchair mounting element and a locking element, Fig. 19 a view of the control satellite mounting surface of the locking element according to Fig. 18, Fig. 20 a composite view of the operating satellite according to Fig. 13 with the wheelchair mounting element and the locking element, Fig. 21 is an exploded view of a deflection mechanism of a control satellite mounting swivel part, Fig. 22 a schematic representation of a release position of locking lugs of a control satellite mounting swivel part, Fig. 23 a schematic representation of a locking position of locking lugs of a control satellite mounting swivel part, Fig. 24 is a side view of a coupling mechanism of an embodiment of an auxiliary drive device for a wheelchair according to the invention together with a wheelchair connecting element in a coupling-ready position, Fig. 25 a side view of the coupling mechanism according to Fig. 24 in a locking operating position, Fig. 26 a side view of the coupling mechanism according to Fig. 24 and Fig. 25 in an unlocking position, Fig. 27 an exploded perspective view of the coupling mechanism according to Fig. 24 to 26, Fig. 28 a rear view of the coupling mechanism according to Fig. 24 to 27, Fig. 29 a representation of a user interface of a smartphone for adjusting the sensitivity of a rotary switching ring of a control satellite and Fig. 30 a representation of a user interface of a smartphone for setting an automatic adjustment of the cornering speed depending on a steering angle of a drive wheel.

[0021] Embodiments of the present invention and the related technical background are described below with reference to the accompanying drawings. The following description describes embodiments of the invention and should not be construed as limiting the present invention. Factors such as numerical values, shapes, materials, components, positions of components, and the manner in which the components are connected to one another are merely illustrative and not restrictive. Different scales have been used in some of the drawings for the sake of clarity and to improve recognizability.

[0022] Fig. 1 shows a perspective view of an embodiment of an auxiliary drive device 100 for a wheelchair, which is coupled to an axle 501 of a wheelchair 500. In the application shown, the axle 501 is the connecting axle between the two large rear wheels 502L, the left rear wheel in the forward direction of travel, and the right rear wheel 502R in the forward direction of travel. As is usual with manually propelled wheelchairs, hand rings 504 are attached to the two large rear wheels 502L, 502R, via which the wheelchair can be manually propelled and steered. Also usual, the wheelchair 500 has two small, freely pivoting front wheels 505, which are also called castors. Fig. 2 shows the embodiment of the auxiliary drive device 100 according to Fig. 1 in a side view, wherein parts of the wheelchair 500, in particular the right rear wheel 502R in the forward direction of travel, are omitted in this illustration.

[0023] The auxiliary drive device 100 serves as a supporting auxiliary drive for the essentially manually propelled wheelchair 500. Details of the function of the auxiliary drive device 100, as well as the coupling to the wheelchair 500 and the structure of a related coupling mechanism 300, will be explained in more detail later. Basic structure of the auxiliary drive device 100

[0024] Fig. 3A shows a perspective view of the auxiliary drive device 100, wherein a drive wheel 110 of the auxiliary drive device 100 is in a straight-ahead driving position. Fig. 3B shows the auxiliary drive device 100 according to Fig. 3 in an operating state in which the drive wheel 110 is in a curve-forward driving position. Fig. 4 shows the auxiliary drive device 100 in a rear view and Fig. 5 shows it in a partially sectioned side view.

[0025] The auxiliary drive device 100 has, as main components, in particular a drive wheel 110, an auxiliary drive device base body 120, and the aforementioned coupling mechanism 300. An operating satellite 200 is provided for controlling the auxiliary drive device 100 and its functions by a user.

[0026] The drive wheel 110 has an electric hub motor 111 as the drive motor, for example, a brushless DC motor with or without a gear, which is integrated into the drive wheel 110. The tire casing 112 of the drive wheel 110 is naturally subject to wear. Easy replaceability is therefore advantageous. In the embodiment shown in the figures, the tire casing is split in the middle, positively connected to the rotating part of the drive motor, and fastened by means of lateral screws 113. It is understood that other technical options are also available to those skilled in the art, including force-locking connections such as adhesives.

[0027] The electric hub motor 111 is electrically connected via a current conductor to a main energy storage device in the form of a rechargeable main battery 121, which is housed in the auxiliary drive device base body 120. Also housed in the auxiliary drive device base body 120 are components of a battery management system for managing the state of charge, in particular the charging and discharging of the main battery 121, components of power and control electronics, i.e., an electronic control device, for controlling the functions of the auxiliary drive device 100, in particular the electric hub motor 111, as well as other electrical components of the auxiliary drive device 100, for example, a rear light 124, which can be represented by LED elements and is preferably attached to a rear surface of the auxiliary drive device base body 120 in the operating position.

[0028] A rear light 122 can be arranged on the rear of the auxiliary drive device base body 120, for example in the form of an adhesive strip with LED lighting elements that are powered by the rechargeable main battery 121. A main switch 123 for switching the auxiliary drive device 100 between a switched-off state and a standby state, as well as a base body charging socket 124 arranged on the auxiliary drive device base body 120, for example in the form of a USB socket, with a connection in particular to the rechargeable main battery 121, can also be provided at a suitable location on the auxiliary drive device base body 120.

[0029] The power and control electronics are also connected to the control satellite 200, which and its functions as well as the sensors used for this purpose will be described in more detail later.

[0030] The ones from the Fig. 1 and Fig. The connection of the auxiliary drive device 100 to the axle 501 of the wheelchair 500, as shown in Figure 2, which enables pivoting of the auxiliary drive device 100 in a plane perpendicular to the axle 501, but not pivoting in a plane in which the axle 501 lies, requires that the drive wheel 110 must enable a steering operation if lateral slippage of the drive wheel 110 is to be avoided when the wheelchair is cornering. In an auxiliary drive device, as disclosed in US 2014 / 0262575 A1, this steerability of a drive wheel arranged rigidly with respect to the wheelchair with respect to its direction of travel is achieved by side rollers arranged along the circumference of the drive wheel.

[0031] In the embodiment of an auxiliary drive device 100, as illustrated in the attached figures and described below, a fundamentally different technical approach is taken. The drive wheel 110 of this auxiliary drive device 100 is steerable as such, i.e., its direction of travel can be pivoted relative to the wheelchair 500 in the operational state, i.e., when the auxiliary drive device 100 is coupled to the wheelchair 500. To provide this steering function, a steering shaft 130 is provided, to which the drive wheel 110 is connected. In the illustrated embodiment, the drive wheel 110 is guided in a steering fork 131, which is connected in a rotationally fixed manner to the steering shaft 130. It will be understood by those skilled in the art that other means are also available for connecting the drive wheel 110 to the steering shaft 130.

[0032] The steering shaft 130 is rotatably mounted in the auxiliary drive device base body 120, specifically such that it can rotate unhindered over a wide range of rotation. Preferably, the steering shaft 130 can rotate unhindered over a range of rotation of at least 360°, in a specific embodiment over a rotation angle of, for example, 380°. In other words, the steering fork 131 and thus also the drive wheel 110 mounted therein are freely pivotable relative to the auxiliary drive device base body 120 and thus also, when coupled to the wheelchair 500, relative to the wheelchair 500.

[0033] In a preferred embodiment, for operation of the auxiliary drive device 100, the auxiliary drive device base body 120 is coupled to the wheelchair 500 such that the steering shaft 130 and the drive wheel 110, when in the straight-ahead position, lie in a plane centrally located between the rear wheels 502R, 502L.

[0034] In this preferred embodiment, when the auxiliary drive device 100 is operatively coupled to the wheelchair 500, the steering shaft 130 assumes a position that is ideally perpendicular to a contact surface of the wheelchair 500. In other words, when the wheelchair 500 is standing on a flat and horizontal surface, the steering shaft 130 is perpendicular to this flat and horizontal surface, i.e., vertically (see Fig. 6). The deviation from the ideal vertical position should preferably not be greater than 5°, most preferably not greater than 3°.

[0035] A further geometric feature of the advantageous embodiment according to Fig. 6 is that an imaginary line through the rotational axis of the drive wheel 110 and the axial center of the steering shaft 130 has an inclination to the steering shaft, i.e., to the center axis of the steering shaft 130, of approximately 25° and preferably deviates from this value by no more than 5°, most preferably no more than 3°, and a caster is provided, i.e., a distance of a perpendicular through the rotational axis of the drive wheel 110 to the horizontal contact surface of the wheelchair 500 to the steering shaft, which is, for example, 60 mm and preferably deviates from this value by no more than 20 mm, most preferably no more than 10 mm. Furthermore, in the described embodiment, the contact surface of the drive wheel 110 lies behind the contact surface of the rear wheels 502R, 502L in every angular position of the steering shaft 130, as viewed in the forward travel direction of the wheelchair 500.

[0036] Although the drive wheel 110 is freely pivotable by the steering shaft 130, during operation—that is, when it is driven by the electric hub motor 111 and propelling the coupled wheelchair 500—it automatically assumes a position that allows the user to easily steer the wheelchair using the hand rims 504. The drive wheel always aligns itself in the direction initiated, for example, by the corresponding manual intervention via the hand rims 504 on the two rear wheels 502R, 502L. This includes driving straight ahead and backward, cornering with curves of any radius, and even turning the wheelchair on the spot.

[0037] It should be considered that auxiliary drive devices of the type in question here must be attachable to a variety of wheelchairs. Wheelchairs, in turn, are adapted to the user's body dimensions. This results, among other things, in the seat heights of the wheelchairs and, in particular, the diameters of the rear wheels 502R, 502L varying. The latter also results in the height of an axle rod connecting the rear wheels 502R, 502L varying. Commercially available wheelchairs typically use rear wheels with diameters of, for example, 22", 24", 25", and 26". Accordingly, according to these commercially available gradations, different length variants of the steering fork 131 can be provided to adapt the auxiliary drive device 100 to a given wheelchair geometry, particularly with regard to the geometric aspects explained above.Since medical aids are often used multiple times and can be fitted to multiple wheelchairs over the course of their life cycle, the resulting easy interchangeability of the components to be adapted is an important economic factor. Steering movement and power supply

[0038] As stated above, it is advantageous if the drive wheel 110 can assume any pivoting position, i.e., the steering shaft 130 can rotate freely through 360°. This then fundamentally includes the possibility of the steering shaft 130 rotating several times in succession in the same direction of rotation.

[0039] As also stated above, the electric hub motor 110 is connected via a power conductor to the rechargeable main battery 121, which is arranged in the auxiliary drive device base body 120. If this power conductor is represented by a cable, care must be taken to ensure that multiple rotations of the steering shaft 130 in the same direction do not result in the cable becoming wound up, which ultimately inhibits the rotation of the steering shaft 130 and thus impairs the functionality of the auxiliary drive device 100.

[0040] One way to achieve this is to provide power transmission in the area where a rotating and a stationary component must be bridged, via a slip ring 118. Such a possibility is described in Fig. 10 shown.

[0041] Another possibility is to provide a stop for the rotation of the steering shaft 130, which allows a rotation of preferably more than 360°, but prevents multiple complete rotations.

[0042] Such a solution is in the Fig. 11 and Fig. 12. A stop sliding element guide element 132, which is connected to the steering shaft 130 in a rotationally fixed manner, is provided with an arcuate slot 133 in which a stop sliding element 134 is slidably guided. Upon rotation of the steering shaft 130 in a first direction of rotation (see Fig. 11), the stop sliding element 134 comes into contact with a first side 135A of a stop element 135 that is stationary with respect to the auxiliary drive device base body 120, wherein it bears against a first end of the elongated hole 133. Upon rotation of the steering shaft 130 in a direction opposite to the first direction of rotation (see Fig. 12), the stop sliding element 134 also comes into abutment with a second side 135B of the stop element 135; whereby it bears against a second end of the elongated hole 133.

[0043] Due to the displaceability of the stop sliding element 134 in the elongated hole 133, with a suitable selection of the dimensions of the aforementioned components, it can be achieved that the steering shaft 130 can be rotated over a rotation range of, for example, 380° before it comes to a stop. This allows the drive wheel 110 to pivot by more than 360°, thus assuming all directions preferably available for driving operation, while still preventing multiple complete rotations of the steering shaft 130 in succession in the same direction and thus preventing the winding of a power cable that connects the drive motor 111 to the rechargeable main battery 121 in the auxiliary drive device base body 120. Motion-based system and operating satellite

[0044] In one embodiment, the auxiliary drive device 100 can be operated as a purely movement-based system, that is, as a system in which a movement, in particular of the drive wheel 110, is detected and this movement is then supported or amplified by an electric motor.If, for example, the wheelchair 500, to which the auxiliary drive device 100 is coupled, is manually driven by the user in the direction of forward travel via the hand rings 504 on the rear wheels 502R, 502L, the power and control electronics for controlling the functions of the auxiliary drive device 100 detects this movement by means of corresponding sensors, which may include, but are not limited to, one or more of the sensors mentioned below, namely, for example, a yaw rate sensor that detects the rotational speed and direction of rotation of the drive wheel 110, and / or one or more acceleration sensors that detect accelerations in different spatial directions, a gyro sensor and other optical, capacitive, inductive sensors, and possibly also a steering shaft rotation angle sensor 105 (see . Fig. 3B), which detects the position of the steering shaft 130, and controls the hub motor 111 for electromotive rotation in the forward direction.

[0045] In another embodiment, although this embodiment may also include the sensors listed above, but may additionally or alternatively use them for other functions, operation is performed via a user-operated control satellite 200. Its structure is described below. A description of the control functions and travel follows subsequently.

[0046] An embodiment of the operating satellite 200 is shown in the Fig. 13 to 20. A possible mounting location on a wheelchair 500 is shown in Fig. 2 can be seen.

[0047] The Fig. 13 and Fig. 14 show, in perspective representations, a front view and a rear view of an embodiment of an operating satellite 200. The operating satellite 200 serves to control the auxiliary drive device 100 and has, particularly in its interior, the electrical and electronic components required for this purpose (not shown in the figures), which are summarized below under the term operating satellite control unit for the further description of this embodiment. The bidirectional communication between the operating satellite control unit of the operating satellite 200 and the power and control electronics for controlling the functions of the auxiliary drive device 100 can take place via cable (not shown in the figures) or wirelessly, for example, via a Bluetooth connection.

[0048] The control satellite has a control satellite switching part 202 and a control satellite mounting part 210.

[0049] The operating satellite mounting part 210 is used to mount the operating satellite 200 on a wheelchair 500. For this purpose, it can be locked to a operating satellite mounting pivot part 220 via a quick-release device by hooking an undercut 201 of the operating satellite mounting part 210 into a fixing hook 222 of the operating satellite mounting pivot part 220, the operating satellite mounting part 210 is then brought into contact with the operating satellite mounting pivot part 220, so that a locking hook 211 provided on the operating satellite mounting part 210 with spring-loaded locking lugs 221 locks onto the operating satellite mounting pivot part 220 (see also with regard to the run-on bevels provided in this regard, the Fig. 18 to 20). Detachment of the operating satellite mounting part 210 from the operating satellite mounting pivot part 220 occurs in the reverse order, whereby the spring-loaded locking lugs 221 of the operating satellite mounting pivot part 220 can be retracted, i.e. lowered downwards, by a likewise spring-loaded release button 223, which is connected to the spring-loaded locking lugs 221 of the operating satellite mounting pivot part 220 via a deflection mechanism.

[0050] As in the Fig. 21 to 23, the two locking lugs 221 are formed at the upper ends of respective locking lug rods 221A. The locking lug rods 221A are pushed into the positions shown in Fig. 23 and are connected via a lever 226 to a push rod 224, which in turn is connected to the release button 223. If now, starting from the locking position according to Fig. 23, the release button is pressed against the spring action of the compression springs 225 in the direction of the housing of the operating satellite mounting pivot part 220, the locking lug rods 221A move in the opposite direction of the push rod 224 as a result of the deflection levers 226 and cause the locking lugs 221 to lower, so that the operating satellite mounting pivot part 220 is released. This state of a release position of the locking lugs 221 is in Fig. 22. If the release button 223 is released, the locking lugs 221 return to their locking position according to the spring force of the compression springs 225. Fig. 23 back.

[0051] The control satellite mounting pivot part 220 can in turn be connected to a wheelchair mounting part 230 via a mounting screw 231, wherein the control satellite mounting pivot part 220 can assume a freely definable rotational position relative to the wheelchair mounting part 230 and can be fixed in this position via the mounting screw 231.

[0052] The wheelchair mounting part 230 is provided with a screw clamp element 232 which makes it possible to attach the wheelchair mounting part 230 to a suitable location on a wheelchair 500 on its frame tubes.

[0053] The described structure results in a large variety of possible attachment points and attachment positions for the control satellite 200 on the wheelchair 500, in particular on both the right and left sides of the wheelchair, which enables practical operation for both right-handed and left-handed people.

[0054] The operating satellite switching part 202 has switching elements by means of which the control of the auxiliary drive device 100 is effected via corresponding actuation processes, in particular via a rotary switching ring 203 which is arranged on the outer circumference of the operating satellite switching part 202 and is provided with gripping webs 208, and a push-button switch 204 which is arranged within the outer circumference of the operating satellite switching part 202 and thus also within the outer circumference of the push-button switch 204, can be actuated in the direction of the axis of rotation of the rotary switching ring 203, has a large surface area and is arranged on the end face of the operating satellite switching part 202 and thus also of the push-button switch 204 which faces outwards when mounted on the wheelchair 500.

[0055] The rotary switching ring 203 can be rotated to any desired extent in both circumferential directions, clockwise and counterclockwise. A stop is not provided for this purpose. However, the rotary switching ring 203 is provided with a clearly noticeable detent, which provides the user with tactile and / or audible actuation feedback when turning. In other words, the rotary switching ring 203 can be rotated to any desired extent, over any number of revolutions, in any direction. However, the angular range of 360° of a full revolution is divided into a certain number of sub-ranges, so that each time such a sub-range is exceeded, a corresponding detent is felt and / or audible.

[0056] Exceeding such a partial range triggers a signal from the operating satellite control unit, the properties of which are programmable and which is transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100, whereby the direction of rotation of the actuation also influences the content of the signal.

[0057] Details of the control functions transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100 by actuating the operating satellite 200 via the operating satellite control unit are described below.

[0058] The push button 204 can be actuated by spring-loaded pressure.

[0059] Its actuation also triggers a signal from the operating satellite control unit, which is transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100, whereby the duration of the actuation can also influence the content of the signal.

[0060] On an outer side of the control satellite 200, in the embodiment shown on the outer circumference of the control satellite switching part 202, a display device 205, for example in the form of an LED display, is provided, which displays information about the operating states of the drive device or auxiliary drive device 100 and, in the embodiment shown, for example, provides information about the charge state of the main battery 121 in the auxiliary drive device base body 120, for example by a strip of several white LED elements 205A, wherein the number of illuminated elements corresponds to the charge state, as well as about the charge state of a rechargeable control satellite battery integrated in the control satellite (not shown), for example a single RGB LED element 205B, which communicates the charge state by changing its color.

[0061] The display device 205 is designed such that its arrangement on the control satellite 200 is adjustable, i.e., it can be changed. This makes it possible to adapt the orientation of the display device 205 with respect to its visibility for a person sitting in the wheelchair 500 to the respective mounting location of the control satellite 200 on a wheelchair 500. In the embodiment shown, this is achieved, for example, by the configuration described below.

[0062] On the front side of the control satellite switching part 202 facing inwards when mounted on the wheelchair 500, a cover 206 is arranged, which can be removed and reattached manually by actuating a spring-loaded release element 209 (see Fig. 14 and Fig. 17). Removing the cover 206 provides access to three fixing screws 207, to an adapter charging socket 218 located on the control satellite 200, for example in the form of a USB socket, and to a pairing button 219.

[0063] Loosening the three fixing screws 207 allows the outer circumference of the operating satellite switching part 202 to be rotated in the circumferential direction (see Fig. 15 and Fig. 16). The subsequent tightening of the three fixing screws 207 fixes the outer circumference of the control satellite switching part 202 in the new position relative to the control satellite mounting part 210. This ensures that, regardless of the location of the wheelchair 500 and the position relative to it in which the control satellite 200 is mounted, the display device 205 is always within the user's field of vision.

[0064] The control satellite battery of the control satellite 200 can be charged via the adapter charging socket 218, even while driving, whereby the energy for this purpose can be provided either by a separate energy source or by connection to the base body charging socket 124 provided on the auxiliary drive device base body 120.

[0065] The pairing button 219 is used to establish a Bluetooth connection with the power and control electronics for controlling the functions of the auxiliary drive device 100 in the auxiliary drive device base body 120. Operating functions and driving

[0066] The operation of the auxiliary drive device 100 and the travel of a wheelchair 500 connected thereto are explained below by way of example. It is understood that numerous modifications are possible for those skilled in the art.

[0067] Starting from a rest state in which the auxiliary drive device 100 is switched off, the auxiliary drive device 100 is switched from the switched off state to the standby state by actuating the main switch 123 on the auxiliary drive device base body 120. In this standby state, the power and control electronics for controlling the functions of the auxiliary drive device 100, which are arranged in the auxiliary drive device base body 120, receive signals from the operating satellite control unit, which is arranged in the operating satellite 200.

[0068] If, in this standby state of the auxiliary drive device 100, the push-button switch 204 on the operating satellite switching part 202 of the operating satellite 200 is pressed for longer than a corresponding threshold value, which may be, for example, 3 seconds, the auxiliary drive device 100 is placed in a drive-ready state. If, in this drive-ready state, the rotary switching ring 203 on the operating satellite switching part 202 of the operating satellite 200 is rotated in a first direction, for example, in a forward direction as viewed from a user sitting in the wheelchair, the power and control electronics for controlling the functions of the auxiliary drive device 100 receive corresponding signals from the operating satellite control unit and control the motor 111 to deliver a torque that causes the drive wheel 110 to rotate.

[0069] The rotation of this switching element, i.e. the rotary switching ring 203, is a direction-dependent actuation process which, depending on the actuation direction, causes the drive device 100 to be actuated in a manner corresponding to this actuation direction, wherein the relationship between the actuation direction of the rotary switching ring 203 and the actuation of the drive device or auxiliary drive device 100 triggered by this rotation is variable.

[0070] The direction of rotation of the rotary switching ring 203, which initiates forward travel, can be changed, for example, through appropriate programming. This means that regardless of whether the control satellite is mounted on the left or right side of a wheelchair—which can be determined, for example, depending on whether the user is right-handed or left-handed—forward travel is initiated by forward rotation, enabling intuitive operation. Such programming, as well as other user-accessible programming options, can be performed via a PC, but also via a smartphone with the help of a dedicated app, i.e., a dedicated application program provided to the user.

[0071] The torque level is always adjusted to achieve a specific speed. The speed level is determined by the number of clicks the rotary switching ring has been moved.

[0072] In other words, after switching to the standby mode by operating the main switch 123 and switching to the drive-ready mode by continuously pressing the push-button switch 204, the user can start driving using the electromotive force of the auxiliary drive device by rotating the rotary switch ring 203 in the forward direction. The user sets the driving speed by how far he rotates the rotary switch ring 203, i.e., by how many notches he exceeds.

[0073] The relationship between detent and speed is freely programmable, whereby only an upper speed limit can be set so that it cannot be changed by the user. The relationship between detent and speed is expressed in how many detents must be exceeded to effect a certain speed change, i.e., an increase or decrease in speed. This adjustability makes it possible to change the response behavior or sensitivity of the rotary switching ring 203 and to adapt it individually to the needs of different user groups and their disability levels. This is particularly advantageous for users with limited coordination skills in the arms and hands, as the adjustment movements can then be performed with more gross motor skills if necessary.

[0074] An exemplary setting may be such that the upper speed limit is set at 12 km / h and the ratio between detent and speed is adjusted such that exceeding a detent represents a speed increase of 1 km / h. Under these conditions, if a user rotates the rotary switching ring 203 forward by one detent from a standstill, the wheelchair 500 will reach a travel speed of 1 km / h due to the electric motor drive force of the auxiliary drive device 100. Each further rotation of the rotary switching ring 203 forward increases the travel speed by a further 1 km / h. Another setting could, for example, result in the speed change being only 0.5 km / h per detent.If the set maximum speed is reached, i.e. after exceeding 12 detents in the first example described here, and after 24 detents in the second example, further rotation of the rotary switching ring 203 in the forward direction is mechanically possible, but has no effect on the control system.

[0075] Turning the rotary switching ring 203 backwards correspondingly reduces the speed, i.e., by the set speed value per detent. Turning the rotary switching ring 203 backwards can thus result in a speed reduction and, after a corresponding number of detent positions, even a complete stop, i.e., a cessation of the generation of drive torque. In this case, further backward rotation is mechanically possible, but has no effect on the control system.

[0076] A complete stop is also possible by pressing the push-button 204 while driving. A brief press is sufficient. Pressing the push-button 204, even briefly, thus enables the immediate cessation of drive torque generation.

[0077] If, in the drive-ready state of the auxiliary drive device 100, the push-button switch 204 on the operating satellite switching part 202 of the operating satellite 200 is pressed for longer than a corresponding threshold value, which may also be 3 seconds, for example, the auxiliary drive device 100 is returned to the standby state.

[0078] The above describes the basic principles of operating the auxiliary drive device 100 using the associated electrical and electronic components, such as switches, actuators, and programming. The following describes the operation and travel of a wheelchair 500 to which an embodiment of the auxiliary drive device 100 is coupled.

[0079] As explained above, the drive wheel 110 is mounted on the steering shaft 130 and is freely pivotable. Power is generally only generated by the auxiliary drive device 100 for propulsion. Steering occurs via the hand rings 504 on the rear wheels 502R, 502L, by decelerating the inside rear wheel during an intended turn. The freely pivoting drive wheel 110 behaves like a freely pivoting castor wheel in terms of its pivoting behavior, despite the provided drive force, and automatically aligns itself accordingly.

[0080] The freely pivoting drive wheel 110, particularly in contrast to a drive wheel fixed in the direction of travel, results in superior maneuverability and enables easy initiation of cornering with little effort. Since the drive wheel 110 always automatically positions itself in the direction of the vector of the curve being negotiated by, for example, manually initiated one-sided deceleration via one of the hand rims 504, a motor-assisted cornering movement is initiated, which, when a wheelchair wheel is fully decelerated, leads to the wheelchair turning on the spot and also enables reverse travel in a drive wheel position that is opposite to that in forward travel.The physical conditions, which include in particular the freely pivoting drive wheel, the caster and the central connection as well as the force effect of the drive behind the contact point of the large wheelchair wheels, result in extremely agile driving behavior that can be controlled with little effort.

[0081] Since steering takes place via the grip rings 504 on the rear wheels 502R, 502L, the mounting location of the control satellite should preferably be selected so that it can be reached quickly and intuitively from a position in which the hand of a user is on the grip ring 504.

[0082] As already mentioned above, all settings that can be made by the user can be performed using a computer program, for example, a smartphone app or a PC service application. This applies not only to the functional steps described above, such as the operating sensitivity of the rotary switching ring 203. Switching on and off processes can also be carried out by the user using a smartphone and a corresponding app. Should it become necessary to switch on the rear light 122, for example while driving on public roads as darkness falls, and a switch provided on the auxiliary drive device base body 120 for switching on the rear light 122 is not accessible or difficult to reach for the user sitting in the wheelchair, the user can conveniently switch it on from the wheelchair 500 using a smartphone app.Carrying a separate battery-powered light for such cases is therefore not necessary. Curve speed limit

[0083] With an auxiliary drive device of the type described above, which drives a wheelchair by means of an electric motor, it is possible to reduce the driving speed when negotiating a curve.

[0084] By reducing the drive power, especially when cornering tightly, wheelchair control can be improved, especially for wheelchair users with severe spinal cord injuries and limited hand and finger function, who find it difficult to control the wheelchair under challenging driving conditions. A cornering speed limit or automatic cornering speed reduction can contribute to increased safety, especially for these user groups.

[0085] A demand-based reduction in drive power, i.e., the drive torque of motor 111 of drive wheel 110, may also be indicated under other aspects. For example, when driving in confined spaces, such as indoors, for example, when avoiding furniture or objects, or in busy pedestrian zones, as well as generally in tight curve radii, a demand-based cornering speed limit can represent an additional safety function.

[0086] To implement such a cornering speed limitation, at least one sensor is provided, by means of which cornering can be detected and a cornering speed can be recorded. In the illustrated embodiment, the power and control electronics utilize several corresponding sensors to control the functions of the auxiliary drive device 100, which also include, as in the embodiment described above, but without being limited thereto, a steering shaft rotation angle sensor 105 (see Fig. 3B), which detects the position of the steering shaft 130, a rotation rate sensor which detects the rotational speed and direction of rotation of the drive wheel 110, several acceleration sensors which detect accelerations in different spatial directions, a gyro sensor and other optical, capacitive and / or inductive sensors, and controls the hub motor 111 such that an electromotive drive torque is generated only in a manner appropriate to the current driving situation.

[0087] For example, a drive torque that results in constant straight-ahead travel can be reduced depending on a detected curve radius, with the reduction increasing as the curve radius becomes smaller and / or the curve speed increases.

[0088] The relevant values ​​can, for example, be stored in characteristic maps, the values ​​of which are determined in practical tests. A control program of the power and control electronics for controlling the functions of the auxiliary drive device 100 can then use such a characteristic map for the calculation based on the current sensor signals. Alternatively, a real-time calculation can be performed in the control program based on these sensor signals.

[0089] For example, if the steering shaft rotation angle sensor 105, which detects the position of the steering shaft 130, is used as one of the main input variables for the cornering speed limiter function in addition to monitoring the driving speed, the steering angle of the drive wheel 110 can be permanently monitored via this sensor.

[0090] In addition, a computer program and an (external) interface can be used to adjust the amount by which the drive power or torque should be reduced depending on the curve radius or steering angle. Furthermore, when the curve radius increases again and / or the vehicle transitions to straight-line driving, the drive power or torque can be automatically increased again. Coupling mechanism (structure)

[0091] The coupling of the auxiliary drive device 100 to the wheelchair 500 must ensure a secure coupling. Furthermore, coupling and uncoupling should be easy to perform, and the coupling should preferably allow a so-called tilting of the wheelchair 500, i.e., a lifting of the front wheels, to overcome obstacles such as a curb. The following with reference to Fig. The embodiment of a coupling mechanism 300 described in Figures 24 to 28 meets all these requirements.

[0092] In the Fig. In the embodiment shown in Figures 24 to 28, the coupling mechanism 300 is shown as a structural unit having a coupling mechanism base body 320 in which coupling grooves 321 are formed, which serves to support functional elements of the coupling mechanism 300, in particular a handle 310 with a rocker arm 311 connected thereto, and which can be attached to an end face of the auxiliary drive device base body 120.

[0093] However, it will be understood by those skilled in the art that the functions of the coupling mechanism base body 320 can also be taken over by correspondingly designed elements of the auxiliary drive mechanism base body 120, i.e., the coupling mechanism base body 320 and the auxiliary drive mechanism base body 120 can be formed from the same material.

[0094] The coupling grooves 321 are substantially V-shaped to allow easy insertion of a preferably cylindrical coupling pin 381. The coupling pin 381 is an embodiment of a component to be held in a form-fitting manner to effect the coupling. It is understood that such a component to be held in a form-fitting manner to effect the coupling can also have other shapes and be designed differently. The coupling pin 381 described in the present embodiment can be designed in two parts and attached to either side of a coupling clamp 380, which can be removably attached to an axle 501 of a wheelchair 500 (see Fig. 1 and Fig. 2). If a wheelchair does not have such an axle, a corresponding component (not shown) that fulfills the holding function of the axle for the coupling clamp 380 can also be provided separately and screwed to the wheelchair.

[0095] The rocker arm 311, which is firmly and rigidly connected to the hand lever 310, is mounted via a bearing pin 312 in the coupling mechanism base body 320 in such a way that it can be rotated over a certain angular range about the central axis of the bearing pin 312, and in particular can assume positions between a Fig. 25 shown locking operating position and one in Fig. 26 shown unlocking position with an intermediate and in Fig. 24 shown docking standby position.

[0096] In the rocker arm 311, bores 313 are formed on both sides, each of which receives an actuating pin 314, which, in the operationally mounted state of the coupling mechanism 300, runs through a slotted window 331 of a locking element 330, which in turn is mounted in the coupling mechanism base body 320 via a locking element bearing pin 332 and is moved clockwise, relative to the plane of the illustration, via a leg spring 338. Fig. 24 to 26, is spring loaded.

[0097] The locking element 330 is movably mounted in the coupling mechanism base body 320. In a locking position, it enables a positive locking, in which the auxiliary drive device 100 is coupled to the wheelchair 500, and can be brought into an unlocking position by actuating the handle 310, in which the auxiliary drive device 100 can be uncoupled from the wheelchair 500. The locking element 330 is designed such that it can completely or at least partially close the coupling groove 321 under spring load, in the illustrated embodiment via the leg spring 338. In other words, in the locking position, the locking element prevents a coupling pin 381 inserted into the coupling groove 321 from escaping from the coupling groove 321.

[0098] Fig. 28 shows in connection with Fig. 27 shows the symmetrical design of the coupling mechanism 300 with two locking elements 330 and correspondingly two leg springs 338. In principle, the provision of one locking element 330 and one leg spring 338 is sufficient. However, the redundant design shown in the figures with two locking elements 330 and correspondingly two leg springs 338 ensures so-called single-fault safety. Coupling mechanism (coupling and decoupling)

[0099] The functionality and interaction as well as details of the design of the relevant elements of the coupling mechanism 300 are explained below in connection with the process of coupling and uncoupling an auxiliary drive device 100 to a wheelchair 500.

[0100] First, a coupling clamp 380 is attached, preferably centrally between the rear wheels 502R, 502L of the wheelchair, to an axle 501 of a wheelchair 500 or, if the wheelchair 500 does not have such an axle 501, for example because it is a so-called folding wheelchair with a lateral folding mechanism in the form of cross braces, to a corresponding additional axle (not shown) that can be provided for this purpose and attached to the wheelchair. The attachment of the coupling clamp 380 can be achieved by a clamping mechanism.

[0101] Of particular importance is the height above the roadway, i.e., the height difference in relation to the contact plane of the wheelchair wheels, which the coupling pin or, in a redundant design with two locking elements 330, the coupling pins assume. This height influences the driving geometry of the auxiliary drive device 100 and thus the driving behavior, in particular the position of the steering shaft 130, which should ideally run perpendicular to the contact surface of the wheelchair. The height is influenced in particular by the diameter of the wheelchair's rear wheels 502R, 502L, which are commercially available in versions of, for example, 24 inches (609.6 mm) or 25 inches (635 mm). In practice, this leads to effective wheel diameters of 595 mm to 620 mm or 620 mm to 645 mm, depending on the selected tires, and the location of an additional axle (not shown).

[0102] Numerous adjustment options are available to the specialist. For example, the steering fork 131 can be provided in different lengths; to reduce the number of variants, a fork with two or more hole positions can be used, or a slotted fork into which a so-called "flip chip" can be inserted, allowing for two or more mounting heights. Furthermore, the height of the attachment can also be accommodated, for example, by varying the coupling clamp 380, and the correct height of the coupling pin 381 can be adjusted and checked using a gauge.

[0103] If a coupling clamp 380 is attached to a wheelchair 500 and the coupling pin 381 or the coupling pins 381 are set at the correct height, the wheelchair 500 is ready for coupling the auxiliary drive device 100. The coupling mechanism of the auxiliary drive device 100 is initially in the Fig. 24. In this coupling-ready position, the locking element 330, acted upon by the force of the leg spring 338 and limited by the stop of the actuating pin 314 at an angle of the correspondingly designed link window 331, assumes an end position with respect to pivoting about the central axis of the locking element bearing pin 332 in a clockwise direction, relative to the plane of the drawing in the illustrations according to the Fig. 24 to 26, which also represents the reference for subsequent directions.

[0104] In this ready-to-couple position, the handle 310 cannot cause any further pivoting of the locking element 330. The handle 310 therefore assumes a fixed position relative to the auxiliary drive device base body, which allows the auxiliary drive device 100 to be lifted and carried by means of the handle 100 in order to place it over the coupling pin 381 in such a way that, when the auxiliary drive device 100 is lowered, the coupling pin enters the coupling groove 321 and, in doing so, pivots the locking element 330 counterclockwise about the central axis of the locking element bearing pin 332 by bearing against a first locking element contact surface 333, against the spring force of the leg spring 380. This pivoting is made possible by a corresponding design of the link window 331.

[0105] Upon complete penetration of the coupling pin 381 into the coupling groove 321, the coupling pin 381 comes into contact with a correspondingly designed bottom of the coupling groove 321 and thereby partially releases the locking element 330, so that the locking element, due to the spring force of the leg spring 380, pivots back clockwise around the central axis of the locking element bearing pin 332 until a second locking element contact surface 334 comes into contact with the coupling pin 381, wherein this pivoting is made possible by a corresponding design of the gate window 331. As a result, the coupling pin 381 is held in a form-fitting manner in the coupling groove 321 and the auxiliary drive device 100 is ready for operation and reliable in the Fig. 25, the wheelchair 500 is coupled to the locking operating position of the coupling mechanism 300, whereby tilting of the wheelchair 500 is possible.

[0106] The locking element is designed in such a way that during the coupling process, namely when this is completed, it impacts, in a spring-loaded manner, on a component which is to be held in a form-fitting manner in order to effect the coupling, that is to say on the coupling pin 381 in the embodiment described here. This impact produces a metallic noise.

[0107] In the present embodiment, this principle is implemented in that, after the locking element 330 is released and the coupling pin 381 has passed the first locking element contact surface 333, the locking element 330 snaps back under the action of the leg spring 338 until the second locking element contact surface 334 strikes the coupling pin 381, thereby generating a metallic sound in the form of a click or clack. This simply provides acoustic feedback for the complete and safe coupling process without the need for additional components. This is particularly advantageous when the coupling process is carried out by a person sitting in the wheelchair who cannot or only with difficulty perform a visual inspection from this position.

[0108] The interaction of the leg spring 338, the locking element 330 and its geometric design, in particular with regard to the pivot point around the central axis of the locking element bearing pin 332, the link window 331 and the two locking element contact surfaces 333 and 334 as well as the coupling groove 321 enables a secure, play-free, tolerance- and wear-compensating three-point bearing of the coupling pin 381. A play-free connection between the auxiliary drive device 100 and the wheelchair 500 is of particular importance, particularly in conjunction with a drive system having a steering shaft 130.

[0109] A tendency of the coupling pin 381 to move downward, i.e., toward the opening of the V-shaped coupling groove 312, due to the aforementioned geometric configuration, in particular the shape and orientation of the second locking element contact surface 334 with respect to the course of the coupling groove 321 and the position of the pivot point of the locking element 330 about the central axis of the locking element bearing pin 332, causes the pivoting moment of the locking element 330 about the central axis of the locking element bearing pin 332 to increase in a clockwise direction and the clamping force to be further increased. This further increases security against unintentional uncoupling.

[0110] Intentional uncoupling of the auxiliary drive device 100 from the wheelchair 500 by the operator is achieved by pulling the handle 310 of the coupling mechanism 300 upwards and thereby pivoting it clockwise together with the rocker arm 311 about the central axis of the rocker arm bearing pin 312. This causes the actuating pin 314, by corresponding engagement in the correspondingly designed slotted window 331 of the locking element 330, to pivot the locking element 330 counterclockwise about the central axis of the locking element bearing pin 332, so that the coupling groove 321 is released. Fig. In the unlocked position shown in Figure 26, the auxiliary drive device can then be lifted and uncoupled from the wheelchair 500 using the handle 310. The directions of force for releasing the lock and for lifting the auxiliary drive device for uncoupling from the wheelchair 500 using the handle 310 are virtually identical, so that the unlocking and uncoupling process can be effected smoothly with a simple hand movement. In other words, the actuation of the handle 310, which moves the locking element 330 into the unlocked position, has the same direction of force as carrying the auxiliary drive device using the handle 310.

[0111] When the handle 310 is released, the handle and the locking element 330 return to the ready-to-couple position according to the force of the leg spring 338. Fig. 24 back. Adjustment and setting of the control satellite

[0112] In connection with the explanation of the structure and function of the control satellite 200, individual features, including the adjustable detent sensitivity, have already been discussed. A summary of this topic is provided below.

[0113] The detent when turning the rotary switching ring 203 provides an acoustically perceptible detent sound and tactile feedback via the operator's hand by means of an appropriately selected encoder, such as that provided by ELMA as encoder type E33.

[0114] In terms of software, the sensitivity of the detent travel of the rotary switching ring 203 in such an encoder can be individually adapted to the needs of different user groups and their degree of disability using a computer program, for example using a smartphone app or a PC service application. It may be desirable for only a very small change in speed to occur despite a large adjustment movement. This is particularly advantageous for users with limited coordination skills in the arms and hands, as the movements are carried out with more gross motor skills. However, with unrestricted fine motor skills and for experienced users, it can be advantageous if a comparatively large change in speed occurs even with a small adjustment movement. This is particularly useful when driving outdoors, where you want to reach your top speed quickly. Example values ​​for a "detent" (orone click) can be found in Table 1 below. Geschwindigkeitsveränderung pro Rastung Eingestellte Empfindlichkeit: 0,1 km / h Niedrig 0,2 km / h 0,3 km / h 0,4 km / h 0,5 km / h 0,6 km / h 0,7 km / h 0,8 km / h 0,9 km / h 1,0 km / h Hoch

[0115] Fig. 29 shows a representation of a user interface of a smartphone for adjusting the sensitivity of the rotary switching ring 203 of the control satellite 200. The sensitivity can be adjusted between low and high using an electronic slider. Setting the automatic adjustment of the curve speed

[0116] As explained in connection with the description of the structure of the auxiliary drive device 100, a sensor can be attached to the steering shaft 130 of the auxiliary drive device 100, which sensor permanently monitors the steering angle of the drive wheel 110.

[0117] For example, using a computer program or a smartphone app, you can then set the angle at which the drive power should be reduced or increased. By reducing the drive power during tight cornering, controllability and ultimately safety are increased, as cornering speed is automatically reduced. This gives wheelchair users with severe spinal cord injuries and limited hand and finger function, in particular, more control over their driving performance.

[0118] In confined spaces, such as indoors, for example, when avoiding furniture or objects, in busy pedestrian zones, or generally in tight curves, angle monitoring provides an additional safety function, as drive power is reduced as needed. When the steering angle returns to a lower value, down to straight-line driving, drive power is increased again.

[0119] In a further embodiment, as a special safety function, the drive can also be switched off completely as soon as a critical steering angle is reached, for example when a steering angle of > 55° to the right or left is exceeded, which in this example then results in a total swivel range of 110°.

[0120] To program such driving characteristics, the auxiliary drive device 100 is coupled to a terminal device, such as a computer or smartphone, via a Bluetooth module. The corresponding software application for the auxiliary drive has previously been installed on the terminal device. Optionally, the auxiliary drive device 100 can also be connected to a computer via a USB cable and thus programmed via the cable connection.

[0121] Fig.30 shows an example of a user interface of a smartphone for setting the automatic adjustment of the cornering speed depending on a steering angle of a drive wheel 110. By means of an electronic slider, the angle monitoring can be switched off completely and set up to a maximum value of, for example, 110°.

[0122] It is understood that other settings and switching on and off processes can also be effected in the manner shown, for example switching the rear light 124 on and off. In addition, such an app can be used to display operating parameters such as the charge level of the main battery 121 and the control satellite battery on the smartphone.

[0123] The control functions of the described embodiments make use of electronic control devices, with related components being arranged in particular in the control satellite 200, the auxiliary drive body 120, and the drive wheel 110. These control functions can be implemented by circuits that may include at least one semiconductor integrated circuit, such as at least one processor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). At least one processor may be configurable by reading instructions from at least one machine-readable, non-transient tangible medium to execute all or part of the control functions.Such a medium may take several forms, including, but not limited to, any type of magnetic media such as a hard disk, any type of optical media such as a compact disc (CD) and a digital video disc (DVD), and any type of semiconductor memory (i.e., semiconductor switches), such as volatile memory and non-volatile memory. - List of reference symbols - 100 Auxiliary drive device 105 Steering shaft angle sensor 110 drive wheel 111 hub motor 112 tire cover 113 wheel bolts 118 slip ring 120 Auxiliary drive device base body 121 Main Battery 122 rear light 123 Main switch 124 Main body charging socket 130 steering shaft 131 Steering fork 132 Stop sliding element guide element 133 slot 134 Stop sliding element 135 stop element 135A First side stop element 135B Second side stop element 200 operating satellites 201 undercut 202 Control satellite switching unit 203 Rotary switching ring 204 Push button 205 Display device 205A LED elements white 205B LED element RGB 206 Cover 207 Fixing screw 208 grab bars 209 Release element 210 Control satellite mounting part 211 locking hooks 218 Adapter charging socket 219 Pairing Button 220 Control satellite mounting swivel part 221 locking lugs 221A locking rod 222 fixing hooks 223 release button 224 push rod 225 compression spring 226 bell crank 230 Wheelchair assembly part 231 Mounting screw 232 screw-clamp element 300 coupling mechanism 310 handle 311 rocker arm 312 rocker arm bearing pin 313 Actuating pin receiving hole 314 Actuating pin 320 Coupling mechanism base body 321 coupling groove 330 locking element 331 backdrop windows 332 Locking element bearing pin 333 first locking element contact surface 334 second locking element contact surface 338 torsion spring 380 coupling clamp 381 coupling pin 500 wheelchairs 501 Axis 502L Left rear wheel 502R Right rear wheel 504 Grip ring 505 front wheel

Claims

[1] Control satellite (200) for controlling a drive device (100) for a wheelchair (500), comprising: an operating satellite control unit designed to send and receive signals to and from an electronic control device for controlling functions of the drive device (100), and Means for attaching the control satellite (200) to a wheelchair (500) such that the control satellite (200) can be operated by an operator at this location, characterized by that a display device (205) is provided on an outer side of the operating satellite (200) which displays information about operating states of the drive device (100), and that the display device (205) is designed such that its arrangement on the operating satellite (200) is adjustable, so that the visibility of the display device (205) for the operator can be taken into account depending on the location, wherein the display device (205) is provided on an outer circumference of an operating satellite switching part (202) and wherein the outer circumference of the operating satellite switching part (202) is rotatable in the circumferential direction with respect to an operating satellite mounting part (210) and is fixable in its respective rotational position, wherein the fixation is preferably effected by one or more fixing screws (207). [2] Operating satellite (200) according to claim 1, characterized byin that the operating satellite switching part (202) has a cover (206) which can be removed and reattached manually by actuating a resilient unlocking element (209), wherein the removal of the cover (206) allows access to the fixing screw(s) (207). [3] Operating satellite (200) according to claim 2, characterized by that removing the cover (206) provides access to an adapter USB socket (218) and a pairing button (219). [4] Operating satellite (200) according to one of the preceding claims, characterized bythat the display device (205) provides information about the charge level of a main battery (121) of a drive device (100) for a wheelchair (500), preferably by means of a strip of several LED elements (205A) of one color, the number of illuminated elements corresponding to the charge level, and / or about the charge level of a rechargeable control satellite battery integrated in the control satellite (200), preferably by means of a single RGB LED element (205B), which communicates the charge level by changing the color. [5] Operating satellite (200) according to one of the preceding claims, characterized by , that the control satellite (200) has a wheelchair mounting part (230) which can be attached to a frame element of a wheelchair (500), and a control satellite mounting pivot part (220) which can be fastened to the wheelchair mounting part (230) in a plurality of positions, that the operating satellite switching part (202) has switching elements (203, 204) by means of which the drive device (100) can be controlled via corresponding actuation processes by the operator and that the operating satellite switching part (202) can be attached to the operating satellite mounting pivoting part (220) via an operating satellite mounting part (210) by means of a quick-release device. [6] Operating satellite (200) according to claim 5, characterized by , that the wheelchair mounting part (230) has a screw clamp element (232) and that the control satellite mounting pivot part (220) can be connected to the wheelchair mounting part (230) via a screw (231), wherein the control satellite mounting pivot part (220) can assume a freely definable rotational position relative to the wheelchair mounting part (230) and can be fixed in this position via the mounting screw (231). [7] Operating satellite (200) according to claim 6, characterized bythat the operating satellite mounting part (210) is designed such that it can be locked to the operating satellite mounting pivoting part (220) by hooking an undercut (201) of the operating satellite mounting part (210) into a fixing hook (222) of the operating satellite mounting pivoting part (220) and then bringing the operating satellite mounting part (210) into contact with the operating satellite mounting pivoting part (220) so that a locking hook (211) provided on the operating satellite mounting part (210) locks to the operating satellite mounting pivoting part (220) with spring-loaded locking lugs (221). [8] Drive device (100) for a wheelchair (500) with an operating satellite (200) according to one of the preceding claims 1 to 7. [9] Drive device (100) according to claim 8, characterized by , characterized in that it is designed as an auxiliary drive device for a wheelchair (500), and further comprising: a coupling mechanism (300) for coupling the auxiliary drive device (100) to a wheelchair (500), wherein the coupling mechanism (300) has a spring-loaded locking element (330) which enables a positive coupling to the wheelchair (500) which can be unlocked via a handle (310), and an electrically driven drive wheel (110) which is mounted on a steering shaft (130) in a freely pivotable manner, wherein the steering shaft (130) is arranged such that a caster is produced for the electrically driven drive wheel (110) when the auxiliary drive device (100) is coupled to a wheelchair (500) in an operational manner.

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