Drive device for a wheelchair

Abstract

Drive device (100) for a wheelchair (500), comprising: at least one electrically driven drive wheel (110), an electronic control device for controlling functions of the auxiliary drive device (100) and a control satellite (200) arranged or attachable to the wheelchair (500) and connected to the electronic control device for controlling the drive device (100) and for controlling its functions by a user, wherein the operating satellite (200) has a rotary switching ring (203), wherein the rotary switching ring (203) is designed such that its rotation in a first direction causes an increase in the rotational speed of the electrically driven drive wheel (110) by generating a corresponding electrically generated drive torque and that its rotation in a second direction opposite to the first direction causes a decrease in the rotational speed of the electrically driven drive wheel (110) by reducing a corresponding electrically generated drive torque, characterized in that the rotary switching ring (203) has a detent and is designed so that the speed change during its rotation occurs in steps and each detent corresponds to a step, and that the speed change per locking step and thus the sensitivity of the operation of the rotary switching ring (203) can be changed by the user, preferably by a computer program made available to the user in the form of a smartphone app or a PC service application.

Description

The invention relates to a drive device for a wheelchair.Wheelchairs can be broadly classified into two categories, namely, on the one hand, wheelchairs which are primarily designed for manual driving, i.e. either manually driven by the person sitting in the wheelchair, for example, by gripping rings which are attached to large rear wheels of the wheelchair or by an assistant pushing the wheelchair, and, on the other hand, those wheelchairs which are already designed for electric driving in their design.Manually drivable wheelchairs are generally characterized by a significantly lower weight than those wheelchairs in which an electric drive is fixedly installed. In addition, manual wheelchairs are often designed as so-called folding wheelchairs which can be easily transported not only because of their lower weight, but also because of their smaller dimensions in the folded state, for example in the trunk of a passenger car.Manually drivable wheelchairs, when driven by the person sitting in the wheelchair, have a therapeutic effect, since the application of the driving power can represent a valuable physical exercise. On the other hand, when manually driving a wheelchair, particularly when handling slopes, on rough terrain or on longer distances, wheelchair riders sometimes quickly reach the limits of their physical performance. Moreover, continued many years of use of a manually powered wheelchair can result in injury from repeated high loads and premature wear in muscles, chords and joints. For these reasons, wheelchair accessories have been developed which, when retrofitted to a manually drivable wheelchair, assist the user in propelling that wheelchair.Such an auxiliary drive device for a wheelchair can be provided, for example, by replacing the two large rear wheels of the wheelchair with such 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.US 2014 / 0262575 A1 discloses another type of auxiliary drive device for a wheelchair, namely one which has an electrically drivable 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.Regardless of whether an electric drive device for a wheelchair as an auxiliary drive device is subsequently attached to a wheelchair designed for manual drive or whether a wheelchair has already been designed as an electrically drivable wheelchair and has a corresponding drive device, it is desirable that operation of the drive device by a person sitting in the wheelchair can be carried out easily and intuitively. In principle, various means are available for this purpose to the person skilled in the art. In this respect, US 2014 / 0262575 A1 mentions the pressing of a button, the activation of a switch or the pressing of a throttle device for accelerating or decelerating a wheelchair to a desired speed.WO 2013 / 006818 A2 discloses a device for operating the drive device by a person sitting in the wheelchair in the form of an operating satellite which can be attached to a cushion element of the wheelchair with a clip without tools. This known operating satellite has a button or switch for turning ON and OFF the driving device and enables selection of different driving modes such as HIGH or LOW.From US 2014 / 0262575 A1, it is known to attach such an operating satellite to a frame element of a wheelchair.From EP 3 061 435 A1 it is known to trigger operating processes in that the person sitting in the wheelchair places a correspondingly executed bracelet and control processes are initiated with movements detected by this bracelet.US 2015 0 209 207 A1 discloses a wheelchair system having a wheelchair with at least one adjustable seat function and a sensor system which detects the position thereof. A processor and storage system processes this data and can wirelessly transmit it to remote systems (e.g., servers) via a communication system. Via a user interface and an application stored in the memory, the user receives information about the sensor data and stored parameters in order to adapt the seat position.DE 10 2010 037 710 B4 also discloses an auxiliary drive device for a wheelchair with a motor, running wheel and sensor, which measures the manually introduced drive force. A controller controls the motor in response to this force and provides a user force analysis mode of operation in which physical performance data of the user is determined.From DE 20 2016 008 453 U1 a pretension steering device for a wheelchair with drivable wheels is also known, which has a pretension frame couplable to the wheelchair and a steerable wheel as well as a control device, which communicates with the drive device of the wheelchair.Furthermore, DE 10 2006 032 843 A1 discloses an additional drive device with a motor, steerable drive wheel, steering column and fastening elements for docking to a wheelchair, wherein a steering gear is arranged between the steering column and the drive wheel.The object of the invention is to improve the operation of a wheelchair provided with such a drive device by a person sitting in the wheelchair.This object is achieved by a drive device for a wheelchair having the features of claim 1. It is pointed out that the features listed individually in the patent claims can also be combined with one another in any desired and technologically meaningful manner and thus reveal further embodiments of the invention.The drive device for a wheelchair according to the invention has at least one electrically drivable drive wheel, an electronic control device for controlling the functions of the drive device and an operating satellite arranged on the wheelchair and connected to the electronic control device for controlling the drive device and for controlling its functions by a user. The operating satellite has a rotary switching ring. The rotary shift ring is designed such that its rotation in a first direction causes an increase in the speed of the rotational speed of the electrically drivable drive wheel by generating a corresponding electrically generated drive torque, and that its rotation in a second direction opposite the first direction causes a decrease in the speed of the rotational speed of the electrically drivable drive wheel by reducing a corresponding electrically generated drive torque. The rotary shift ring has a detent and is designed such that the change in speed takes place in stages during its rotation and each detent corresponds to one stage. The change in speed per locking step and thus the sensitivity of the operation of the rotary shift ring can be changed by the user, preferably by a computer program provided to the user in the form of a smartphone app or a PC service application.The variability of the change in speed per locking stage can be used to ensure that, despite a large displacement movement, only a very small change in speed takes place. This is particularly advantageous for users with limited coordinating abilities of the arms and hands, since the movements are performed in a roughly more motorized manner. A change in the opposite direction can be made, in particular, with unrestricted fine motoring of the user and for trained users. For this circle of people it may be advantageous if a comparatively large change in speed takes place already with a small displacement. This is particularly useful when driving in the outside area, where it is desired to reach its final speed quickly.The possibility of changing the sensitivity per latching stage in this way can thus represent a considerable ease of operation for the user.The configuration of the operating satellite according to the invention enables intuitive and safe operation of the drive device with one hand. The combination of a rotary shift ring with a push shift knob which permits immediate deactivation of the drive torque during travel, wherein the push shift knob is arranged within the outer circumference and on an end face of the rotary shift ring, connects an intuitive operation in which the hand of the user, if the latter wants, can rest on the operating satellite with a high level of operational reliability, since not only acceleration and deceleration but also immediate deactivation of the drive torque from the same hand position are possible in a simple and intuitive manner.The invention and the technical field are explained in more detail below with reference to the figures. It should be noted that the figures show particularly preferred embodiment variants of the invention. However, the invention is not limited to the embodiments shown. In particular, the invention comprises, insofar as it is technically expedient, any combinations of the technical features listed in the claims or described as relevant to the invention in the description.It is also to be understood that the technical environment described below in connection with exemplary embodiments of the invention in connection with the figures serves merely as an example and does not limit the invention defined in the claims.In particular, it is understood that the invention comprises any type of drive device for a wheelchair, i.e. both those which, as described in the description of the figures, are designed as auxiliary drive devices which can be attached via a coupling mechanism to a wheelchair designed as manually drivable, and those which are designed as an original component of a wheelchair which, in terms of design, is already intended as an electrically drivable wheelchair. In other words, the configuration of the operating satellite according to the invention is suitable for all such drive devices.The following are shown: 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 is a side view of the auxiliary driving device of FIG. 1, with portions of the wheelchair omitted from illustration, FIG. 3A is a perspective view, partially cut away, 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 position, FIG. 3B is another perspective view, partially cut away, of the auxiliary drive device according to FIG. 3A, wherein the drive wheel of the auxiliary drive device is in a cornering forward travel position, FIG. 4 is a rear view of the auxiliary drive device according to FIGS. 3A, 3B , FIG. 5 is a side view, partly in section, of the auxiliary drive device of FIG. 3 with the drive wheel of the auxiliary drive device in a straight-ahead forward position, FIG. 6 is a diagram according to FIG. 5 with the coupled wheelchair shown schematically, wherein the drive wheel of the auxiliary drive device is in a straight-ahead forward travel position, FIG. 7 is a schematic diagram of FIG. 6 with the drive wheel of the auxiliary drive device in a straight-ahead reverse position, FIG. 8 is a bottom view of the auxiliary drive device of FIG. 3 with the drive wheel of the auxiliary drive device in a cornering reverse position, FIG. 9 is a top view of the auxiliary drive device of FIG. 3, wherein side frame members of a coupled wheelchair are shown schematically and the drive wheel of the auxiliary drive device is in a cornering forward position, FIG. 10 is a partially cut-away perspective detailed view of another embodiment of an auxiliary drive device for a wheelchair according to the invention, FIG. 11 shows a detailed representation of a further embodiment of an auxiliary drive device according to the invention for a wheelchair in a first stop position of the drive wheel, FIG. 12 shows a detailed illustration of the embodiment of the auxiliary drive device according to FIG. 11 in a second stop position of the drive wheel, FIG. 13 is a front perspective view of an embodiment of an operating satellite, FIG. 14 is a rear perspective view of the operating satellite according to FIG. 13, FIG. 15 shows a partial view of the operating satellite according to FIG. 13 in a first rotated position, FIG. 16 shows a partial view of the operating satellite according to FIG. 13 in a second rotated position, FIG. 17 shows a partial view of the operating satellite according to FIG. 13 from behind with the cover element removed, FIG. 18 is an exploded view of the operating satellite of FIG. 13 with a wheelchair mounting member and a locking member, FIG. 19 is a view of the operating satellite mounting surface of the locking element according to FIG. 18 , FIG. 20 is an assembled view of the operating satellite according to FIG. 13 shows the wheelchair mounting element and the locking element, FIG. 21 is an exploded view of a reversing mechanism of an operating satellite mounting pivot, FIG. 22 shows a schematic illustration of a release position of latching lugs of an operating satellite mounting pivot part, FIG. 23 shows a schematic illustration of a latching position of latching lugs of an operating satellite mounting pivot part, FIG. 24 is a side view of a coupling mechanism of an embodiment of an assist drive apparatus for a wheelchair according to the present invention, together with a wheelchair connector in a coupling standby position, FIG. 25 is a side view of the coupling mechanism of FIG. 24 in a locking operating position, FIG. 26 shows a side view of the coupling mechanism according to FIGS. 24 and 25 in an unlocked position, FIG. 27 is an exploded perspective view of the coupling mechanism of FIGS. 24-26, FIG. 28 is a rear view of the coupling mechanism of FIGS. 24 to 27, FIG. 29 is a diagram of an operating surface of a smartphone for setting a sensitivity of a rotary switch ring of an operating satellite; and FIG. 30 shows an illustration of an operating surface of a smartphone for setting an automatic adaptation of the cornering speed as a function of a steering angle of a drive wheel.Hereinafter, embodiments of the present invention and related technical field will be described 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 how the components are joined together are illustrative only and not limiting. In the drawings, different scales are used in some cases for reasons of clarity and for improving the visibility.FIG. 1 shows a perspective illustration 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 case of application shown, the axle 501 is the connecting axle between the two large rear wheels 502L, the left rear wheel in the forward direction, and the right rear wheel 502R in the forward direction. As is customary in manually drivable wheelchairs, gripping rings 504 are attached to the two large rear wheels 502L, 502R, by means of which rings the wheelchair can be manually driven and steered. In a likewise conventional manner, the wheelchair 500 has two small, freely pivotable 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 lateral illustration, wherein parts of the wheelchair 500, in particular the rear wheel 502R on the right in the forward direction of travel, are omitted in this illustration.The auxiliary drive device 100 serves to be used as an auxiliary drive for the wheelchair 500 which is basically manually drivable. Details of the function of the auxiliary drive device 100 and of the coupling to the wheelchair 500 and of the design of a coupling mechanism 300 in this respect will be explained in more detail later.Basic Structure of Auxiliary Drive Apparatus 100FIG. 3A shows a perspective illustration of the auxiliary drive device 100, wherein a drive wheel 110 of the auxiliary drive device 100 is in a straight-ahead forward travel 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 cornering forward travel position. FIG. 4 shows the auxiliary drive device 100 in a rear view and FIG. 5 shows it in a partially cut side view.The auxiliary drive device 100 includes, as main components, in particular, a drive wheel 110, an auxiliary drive device main body 120, and the aforementioned coupling mechanism 300. An operating satellite 200 is provided for controlling the auxiliary drive device 100 and for controlling its functions by a user.The drive wheel 110 has an electric hub motor 111 as a drive motor, for example a brushless direct current motor with or without a transmission, which is integrated into the drive wheel 110. The tire cover 112 of the drive wheel 110 is naturally subject to wear. Easy exchangeability is therefore advantageous. In the embodiment shown in the figures, the tyre cover is divided centrally, connected positively to the rotating part of the drive motor and fastened by means of lateral screws 113. It is understood that other technical possibilities are also available to the person skilled in the art, including force-fit connections such as, for example, adhesive bonding.The hub electric motor 111 is electrically connected via a power conductor to a main power storage device in the form of a main rechargeable battery 121 housed in the auxiliary driving device main body 120. Also accommodated in the auxiliary drive device main body 120 are components of a battery management system for managing the state of charge, in particular the charge and discharge of the main battery 121, components of power and control electronics, that is to say an electronic control device, for controlling the functions of the auxiliary drive device 100, in particular of the electric hub motor 111, and also further electrical components of the auxiliary drive device 100, for example a rear lamp 124, which can be represented by LED elements and is preferably attached to a surface of the auxiliary drive device main body 120 which is to the rear in the operating position.A tail lamp 122 may be disposed on the rear side of the auxiliary driving device main body 120, for example, in the form of a bonded tape having LED light elements supplied with power from the main rechargeable battery 121. In addition, at a suitable location of the auxiliary drive device main body 120, a main switch 123 for switching over the auxiliary drive device 100 between a switched-off state and a standby state, and a main body charging socket 124, for example in the form of a USB socket, arranged on the auxiliary drive device main body 120 and connected in particular to the rechargeable main battery 121, can be provided.The power and control electronics are also connected to the operating satellite 200, the functions thereof and sensors used for this purpose are described in more detail later.The connection of the auxiliary drive device 100 to the axle 501 of the wheelchair 500 that can be seen from FIGS. 1 and 2 and enables the auxiliary drive device 100 to be pivoted in a plane that lies vertically to the axle 501, but does not, however, enable the drive wheel 110 to be pivoted in a plane in which the axle 501 lies, requires that the drive wheel 110 must enable a steering operation if side slip of the drive wheel 110 in this respect 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 which is arranged rigidly with respect to its running direction with respect to the wheelchair is brought about by side rollers arranged along the wheel circumference of the drive wheel.In the embodiment of an auxiliary drive device 100, as illustrated in the attached figures and described below, a fundamentally different technical path is taken. The drive wheel 110 of this auxiliary drive device 100 is steerable as such, that is to say its running direction can be pivoted with respect to the wheelchair 500 in the ready state, that is to say 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 embodiment shown, the drive wheel 110 is guided in a steering fork 131, which is connected to the steering shaft 130 in a rotationally fixed manner. It is obvious to the person skilled in the art that other means are also available for connecting the drive wheel 110 to the steering shaft 130.The steering shaft 130 is rotatably supported in the auxiliary driving device main body 120 so as to be freely rotatable over a wide range of rotation. Preferably, the steering shaft 130 can perform an unhindered rotation over a rotation range of at least 360°, in a special 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 with respect to the auxiliary drive device base body 120 and thus also, when the latter is coupled to the wheelchair 500, with respect to the wheelchair 500.In a preferred embodiment, for operating 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 which lies centrally between the rear wheels 502R, 502L.In this preferred embodiment, when the assist drive device 100 is operatively coupled to the wheelchair 500, the steering shaft 130 assumes a position that is ideally perpendicular to a footprint of the wheelchair 500. In other words, when the wheelchair 500 stands on a planar and horizontal surface, the steering shaft 130 is perpendicular to this planar and horizontal surface, i.e. vertical (see FIG. 6 ), when the auxiliary drive device 100 is operatively coupled to the wheelchair. The deviation from the ideal case of the vertical should preferably be not greater than 5°, most preferably not greater than 3°.A further geometric feature of the advantageous embodiment according to FIG. 6 consists in that an imaginary line through the axis of rotation of the drive wheel 110 and the axial center of the steering shaft 130 has an inclination with respect to the steering shaft, that is to say with respect to the central axis of the steering shaft 130, of about 25° and preferably deviates from this value by not more than 5°, most preferably by not more than 3°, and a run-on is provided, that is to say a distance of a perpendicular through the axis of rotation 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 not more than 20 mm, most preferably by not more than 10 mm. In addition, in the described embodiment, the footprint of the drive wheel 110 is located behind the footprint of the rear wheels 502R, 502L at each angular position of the steering shaft 130, as viewed in the forward travel direction of the wheelchair 500.In operation, i.e., when driven by the electric hub motor 111, the drive wheel 110, although freely pivotable through the steering shaft 130, automatically assumes a position that enables easy steering of the wheelchair by the user via the gripping rings 504. The drive wheel is always aligned in the direction which is initiated and thus predefined for the two rear wheels 502R, 502L, for example, by the relevant manual intervention via the gripping rings 504. This includes straight ahead driving forward and backward, cornering with curves of arbitrary curve radii and even turning the wheelchair on the spot.It is to be considered that auxiliary driving devices of the type in question here must be attachable to a plurality of wheelchairs. Wheelchairs themselves are adapted to the body dimensions of the user. This has the consequence, among other things, that the seat heights of the wheelchairs and in particular also the diameters of the rear wheels 502R, 502L vary. The latter has the result that the height of an axle rod connecting the rear wheels 502R, 502L also varies. Commercially available wheelchairs usually use rear wheels whose diameters are, for example, 22'', 24'', 25'' and 26''. Corresponding to these commercially available gradations, different length variants of the steering fork 131 can therefore be kept ready for adapting the auxiliary drive device 100 to a given wheelchair geometry, in particular with regard to the geometric aspects explained above. Since medical tools are often used several times and can be fitted to several wheelchairs during the life cycle, the ease of exchangeability of the components to be fitted thereby is a significant economic factor.Steering movement and power supplyAs explained above, it is advantageous if the drive wheel 110 can assume any desired pivot position, i.e. the steering shaft 130 can rotate freely through 360°. This then basically includes the possibility that the steering shaft 130 rotates several times in succession in the same direction of rotation.As also stated above, the hub electric motor 110 is connected via a power conductor to the main rechargeable battery 121 disposed in the auxiliary driving device main body 120. If this current conductor is represented by a cable, care must be taken that a multiple rotation of the steering shaft 130 in the same direction does not lead to a winding-up of the cable, which finally inhibits the rotation of the steering shaft 130 and thus impairs the functionality of the auxiliary drive device 100.One way to achieve this is to provide power transfer via a slip ring 118 in the area where a rotating and a stationary component must be bypassed. Such a possibility is shown in FIG. 10.A further possibility is to provide a stop for the rotation of the steering shaft 130, which although allowing a rotation of preferably more than 360°, prevents multiple complete rotation. Such a solution is shown in Figures 11 and 12. A stop slide 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 slide element 134 is displaceably guided. When the steering shaft 130 is rotated in a first rotational direction (see FIG. 11 ), the stop slide member 134 comes into abutment with a first side 135A of a stop member 135 which is stationary with respect to the auxiliary drive device main body 120, and bears against a first end of the elongated hole 133. When the steering shaft 130 is rotated in a direction opposite to the first rotational direction (see FIG. 12 ), the stop slide element 134 likewise comes into abutment with a second side 135B of the stop element 135; it resting against a second end of the slot 133.Due to the displaceability of the stop slide element 134 in the slot 133, it can be achieved, given a suitable selection of the dimensions of the components mentioned, that the steering shaft 130 can be rotated over a rotation range of, for example, 380° before it reaches a stop in each case. This enables the drive wheel 110 to be able to pivot by more than 360°, and therefore to assume all directions preferably to be provided for the driving operation, and nevertheless a multiple complete rotation of the steering shaft 130 one after the other in the same direction and thus a winding-up of a power cable which connects the drive motor 111 to the rechargeable main battery 121 in the auxiliary drive device main body 120 is prevented.Motion-Based System and Operating SatelliteIn one embodiment, the auxiliary drive device 100 can be operated as a purely movement-based system, that is to say as a system in which a movement, in particular of the drive wheel 110, is detected and this movement is then assisted or amplified by electric motor. If, for example, the wheelchair 500 to which the auxiliary drive device 100 is coupled is driven manually in the direction of forward travel by the user via the gripping rings 504 on the rear wheels 502R, 502L, the power and control electronics for controlling the functions of the auxiliary drive device 100 detect this movement by means of corresponding sensors, which may include, without being limited thereto, one or more of the sensors mentioned below, namely, for example, a rotation rate sensor which detects the rotational speed and rotational direction of the drive wheel 110, and / or one or more acceleration sensors which detect accelerations in different spatial directions, a gyro sensor and further optical, capacitive, inductive sensors, optionally 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 to be electromotively rotated in the forward direction.In another embodiment, although this embodiment can likewise have the sensors listed above, but optionally additionally or alternatively also uses these for other functions, the operation takes place via an operating satellite 200 to be operated by the user. The construction thereof will be described below. A description of operating functions and travel is given below.One embodiment of the operating satellite 200 is illustrated in FIGS. 13 to 20. A possible mounting location on a wheelchair 500 is shown in Fig. 2.FIGS. 13 and 14 show a front view and a rear view of an embodiment of an operating satellite 200 in a perspective illustration, respectively. The operating satellite 200 serves for controlling the auxiliary drive device 100 and has, in particular in its interior, the electrical and electronic components (not shown in the figures) required for this purpose, 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 be effected by means of cables, not shown in the figures, or wirelessly, for example by a Bluetooth connection.The operation satellite has an operation satellite switching part 202 and an operation satellite mounting part 210.The operation satellite mounting part 210 serves to mount the operation satellite 200 on a wheelchair 500. For this purpose, it can be latched to an operating satellite mounting pivot part 220 via a quick-action closure device by an undercut 201 of the operating satellite mounting part 210 being hooked into a fixing hook 222 of the operating satellite mounting pivot part 220, the operating satellite mounting part 210 then being brought into contact with the operating satellite mounting pivot part 220, with the result that a latching hook 211 provided on the operating satellite mounting part 210 latches with spring-loaded latching noses 221 on the operating satellite mounting pivot part 220 (see FIGS. 18 to 20 also with regard to the ramp provided in this respect). The operating satellite mounting part 210 is released from the operating satellite mounting pivot part 220 in the reverse sequence, wherein the spring-loaded latching noses 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 via a deflection mechanism to the spring-loaded latching noses 221 of the operating satellite mounting pivot part 220.As shown in FIGS. 21 to 23, the two latching noses 221 are formed at upper ends of respective latching nose rods 221A. The latching lug rods 221A are pressed into the latching position shown in FIG. 23 by means of a respective compression spring 225 and are connected via deflection levers 226 to a push rod 224, which in turn is connected to the release button 223. If, starting from the latched position according to FIG. 23, the release button is now 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 latching lug rods 221A move as a result of the deflection levers 226 in the opposite direction of the push rod 224 and cause the latching lugs 221 to be lowered, so that the operating satellite mounting pivot part 220 is released. This state of a release position of the latching noses 221 is shown in FIG. 22. If the release button 223 is released, the latching noses 221 return into their latching position according to FIG. 23 again by the spring force of the compression springs 225.The operating satellite mounting pivot part 220 can in turn be connected to a wheelchair mounting part 230 via a mounting screw 231, wherein the operating satellite mounting pivot part 220 assumes a freely determinable rotational position with respect to the wheelchair mounting part 230 and can be fixed therein via the mounting screw 231.The wheelchair mounting part 230 is provided with a screw clamping element 232 which makes it possible to fasten the wheelchair mounting part 230 to the frame tubes thereof at a suitable location of a wheelchair 500.The described construction results in a great variety of possible fastening locations and fastening positions for the operating satellite 200 on the wheelchair 500, in particular also on both the right and the left side of the wheelchair, whereby practical operation is possible both for right-handed and for left-handed people.The operating satellite switching part 202 has switching elements by means of which the actuation of the auxiliary drive device 100 is effected via corresponding actuation processes, specifically 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 switching knob 204 which is arranged within the outer circumference of the operating satellite switching part 202 and therefore also within the outer circumference of the push switching knob 204, can be actuated in the direction of the axis of rotation of the rotary switching ring 203, is of large-area design and is arranged on the end face, which faces outwards when mounted on the wheelchair 500, of the operating satellite switching part 202 and therefore also of the push switching knob 204.The rotary switching ring 203 can be rotated in both circumferential directions, clockwise and counter-clockwise, as desired. A stop in this respect is not provided. However, the rotary switch ring 203 is provided with a clearly perceptible latching which gives the user a tactile and / or audio actuation feedback during rotation. In other words, the rotary switching ring 203 can be rotated in any direction over any desired number of revolutions. The angle range of 360° of a full revolution is, however, divided into a certain number of sub-ranges, so that each time such a sub-range is exceeded, a corresponding latching is perceptible and / or audible.The exceeding of such a sub-region triggers a signal of the operating satellite control unit, which is programmable in its properties and is transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100, wherein the direction of rotation of the actuation also influences the content of the signal.Details of the control functions transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100 by operation of the operating satellite 200 by means of the operating satellite control unit will be described further below.The push button 204 can be actuated by pressure under spring load. Its actuation likewise triggers a signal of the operating satellite control unit, which signal is transmitted to the power and control electronics for controlling the functions of the auxiliary drive device 100, wherein the duration of the actuation can also influence the content of the signal.On an outer side of the operating satellite 200, in the embodiment shown on the outer periphery of the operating satellite switching part 202, a display device 205, for example in the form of an LED display, is provided, which displays information about operating states of the drive device or auxiliary drive device 100 and, in the embodiment shown, informs, for example, both the state of charge of the main battery 121 in the auxiliary drive device main body 120, for example by a strip of a plurality of white LED elements 205A, the number of illuminated elements corresponding to the state of charge, and also about the state of charge of a rechargeable operating satellite battery (not shown), for example a single RGB LED element 205B, which communicates the state of charge via the change in color.The display device 205 is designed such that its arrangement on the operating satellite 200 is adjustable, that is to say that 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 a respective mounting location of the operating satellite 200 on a wheelchair 500. In the embodiment shown, this is achieved, for example, by the removal described below.On the end face of the operating satellite switching part 202 facing inward when mounted on the wheelchair 500, a cover 206 is arranged, which can be removed and reattached manually by actuation of a resilient unlocking element 209 (see FIGS. 14 and 17 ). Removal of the cover 206 allows access to three fixing screws 207, to an adapter charging socket 218 arranged on the operating satellite 200, for example in the form of a USB socket, and to a coupling pushbutton (pairing button) 219.The loosening of the three fixing screws 207 enables the outer periphery of the operating satellite switching part 202 to be rotated in the circumferential direction (see FIGS. 15 and 16 ). The subsequent tightening of the three fixing screws 207 fixes the outer periphery of the operation satellite switching part 202 in the new position with respect to the operation satellite mounting part 210. This makes it possible to ensure that, regardless of at which location of the wheelchair 500 and in which position relative to the latter the operating satellite 200 is attached, the display device 205 is always in the viewing angle of the user.The operating satellite battery of the operating satellite 200 can be charged via the adapter charging socket 218, even during travel, wherein the energy for this purpose can be provided either by a separate energy source or by connection to the main body charging socket 124 provided on the auxiliary drive device main body 120.Pairing button (Pairing Button) 219 is used to establish a Bluetooth connection with the power and control electronics to control the functions of auxiliary drive device 100 in auxiliary drive device base 120.Operating functions and travelThe operation of the auxiliary drive device 100 and the travel of a wheelchair 500 connected thereto will be explained by way of example below. It is understood that many modifications thereof are possible to the person skilled in the art.Starting from a rest state in which the auxiliary drive device 100 is switched off, by actuating the main switch 123 on the auxiliary drive device main body 120, the auxiliary drive device 100 is moved from the switched-off state into the standby state. In this standby state, the power and control electronics for controlling the functions of the auxiliary drive device 100 disposed in the auxiliary drive device main body 120 receive signals from the operation satellite control unit disposed in the operation satellite 200.In this standby state of the auxiliary driving device 100, when the push button 204 on the operation satellite switching part 202 of the operation satellite 200 is pushed for longer than a related threshold value, which may be 3 seconds, for example, the auxiliary driving device 100 is placed in a travel standby state. In this travel standby state, when the rotating dial 203 is rotated on the operation satellite switching part 202 of the operation satellite 200 in a first direction, for example, in a forward direction as viewed from a user seated in the wheelchair, the power and control electronics for controlling the functions of the auxiliary drive device 100 receive corresponding signals from the operation satellite control unit, and drive the motor 111 to output a torque that causes the drive wheel 110 to rotate.The rotation of this switching element, i.e. of the rotary switching ring 203, is a direction-bound actuation process which, depending on the actuation direction, brings about a control of the drive device 100 corresponding to this actuation direction, wherein the relationship between the actuation direction of the rotary switching ring 203 and the control of the drive device or auxiliary drive device 100 triggered by this rotation can be changed.The direction of rotation of the rotary switching ring 203, which initiates forward travel, can be changed, for example, by appropriate programming. This means that, regardless of whether the operating satellite is mounted on the left or right side of a wheelchair, which can be done, for example, depending on whether the user is right-handed or left-handed, forward travel is initiated by forward rotation, which enables intuitive operation. Such programming, as well as other user-accessible programming possibilities, can be carried out by a PC, but also via a smartphone with the aid of an app in this regard, i.e. a related user program that is provided to the user.The magnitude of the torque is in each case dimensioned such that a specific speed is achieved. The speed is measured according to how many detents the rotary shift ring have been moved.In other words, after turning on to the standby state by operating the main switch 123 and turning on the running standby state by continuously pressing the push button 204, the user can start running by the electromotive force of the auxiliary driving device by rotating the rotary dial 203 in the forward direction. The travel speed is set by the user by how far it exceeds the rotary shift ring 203, that is to say, how many detents it exceeds in this case.The ratio between locking and speed is freely programmable, wherein only an upper speed limit can be provided such that it cannot be changed by the user. The ratio between locking and speed is expressed in how many lockings must be exceeded in order to bring about a specific speed change, i.e. an increase in speed or a reduction in speed. This adjustability makes it possible to change the response behavior or the sensitivity of the rotary switching ring 203 and in this case to adapt individually to the requirements of different user groups and their disability characteristic. This is advantageous in particular for users with limited coordinating capabilities of the arms and hands, since the adjustment movements can then be carried out roughly more motor-driven if necessary.An exemplary setting may be adopted such that the upper speed limit is set to 12 km / h and the ratio between the cogging and the speed is set such that exceeding a cogging means a speed increase of 1 km / h. Under these conditions, when a user of the prior art rotates the rotary shift ring 203 forward by one click, the wheelchair 500 receives a travel speed of 1 km / h by the electromotive driving force of the auxiliary driving device 100. Any further forward rotation of the rotary shift ring 203 increases the travel speed by a further 1 km / h. Another setting could, for example, have the effect that the speed change per locking is only 0.5 km / h. If the set maximum speed is reached, that is to say in the first example described here after 12 catches have been exceeded, in the second example after 24 catches, continued rotation of the rotary selector ring 203 in the forward direction is indeed possible mechanically, but remains without any effect in terms of control technology.A reverse rotation of the rotary switching ring 203 in the reverse direction correspondingly decreases the speed, that is to say by the set speed value per latching. A reverse rotation of the rotary shift ring 203 in the reverse direction can thus cause a speed reduction and, after a corresponding number of detents, also a complete stopping, i.e. a termination of the generation of drive torque. In this case too, further reverse rotation is then mechanically possible, but without any effect from the control point of view.Complete stopping is also possible by pressing the push button 204 during travel. A brief pressing is sufficient here. Pressing the push button 204, even for only a short time, thus enables the generation of drive torque to be terminated immediately.In the travel standby state of the auxiliary driving device 100, when the push button 204 on the operation satellite switching part 202 of the operation satellite 200 is pushed for longer than a related threshold value, which may also be 3 seconds, for example, the auxiliary driving device 100 is placed back in the standby state.The above describes principles of operating the auxiliary drive device 100 by means of the related electrical and electronic components such as switches, adjusting elements and programming. Next, the operation and travel with a wheelchair 500 to which an embodiment of the auxiliary driving device 100 is coupled will be described.As explained above, the drive wheel 110 is mounted via the steering shaft 130 and is freely pivotable. Power is basically developed by the auxiliary drive device 100 only with respect to propulsion. Steering takes place via the gripping rings 504 at the rear wheels 502R, 502L by decelerating the rear wheel on the inside of the curve when cornering is intended. The freely pivotable drive wheel 110 behaves in this case with regard to its pivoting behavior, in spite of the provided drive force, like a freely pivotable castor and is automatically aligned accordingly.The freely pivotable drive wheel 110, in particular in contrast to a drive wheel which is arranged fixedly in the direction of travel, leads to a superior wendiness and enables a simple initiation of cornering which is associated with little exertion of force. Since the drive wheel 110 always independently adjusts itself in the direction of the vector of the curve which is traversed by one-sided deceleration initiated, for example, manually via one of the gripping rings 504, motorized assisted cornering is initiated which, when a wheelchair wheel is completely decelerated, leads to rotation on the spot and, in addition, enables reverse travel in a position of the drive wheel which is directed opposite that in forward travel. The physical conditions, which include in particular the freely pivotable drive wheel, the trailing end and the central connection and the force effect of the drive behind the contact point of the large wheelchair wheels, result in an extremely wending driving behavior which can be controlled with little force exertion.Since the steering is performed via the grip rings 504 on the rear wheels 502R, 502L, the mounting location of the operation satellite is preferably to be selected so as to be quickly and intuitively reachable from a position where the hand of a user is located on the grip ring 504.In the case of all settings which can be carried out by the user, it is possible, as already mentioned above, to carry out this by means of a computer program, for example a smartphone app or a PC service application. This relates not only to the above-described operating steps, for example the operating sensitivity of the rotary switching ring 203. Also, turning on and off operations can be performed by the user by means of a smartphone and an app related thereto. If, for example during travel on public traffic routes in the event of dark interruptions, the switching on of the rear light 122 is required and a switch provided on the auxiliary drive device base body 120 for switching on the rear light 122 is not accessible or is difficult to reach for the user sitting in the wheelchair, the user can cause this switching on conveniently from the wheelchair 500 by means of a smartphone app. It is therefore not necessary to carry a separate battery lamp for such cases.Corner Speed LimitIn an auxiliary driving device of the above-described type which electromotively drives a wheelchair, it is possible to reduce the running speed when a turn is made.By reducing the drive power when driving in tight turns in particular, the controllability of the wheelchair can be improved, in particular for wheelchair riders with a higher cross-sectional view and a limited hand and finger function, which are difficult to control the wheelchair under demanding driving conditions.In particular for such user groups, a curve speed limitation or an automatic reduction of the curve speed can be a contribution to increased safety.Also in other aspects, a reduction in the drive power, i.e. the drive torque of the motor 111 of the drive wheel 110, as required, can optionally be indicated. For example, when driving in confined surrounding conditions such as in interior spaces, for example when moving furniture or objects, or in heavily frequencyd pedestrian zones and generally in narrow curve radii, a curve speed limitation according to requirements can represent an additional safety function.To implement such a curve speed limitation, at least one sensor is provided, by means of which a curve travel can be detected and a curve speed can be detected. In the embodiment shown, the power and control electronics for controlling the functions of the auxiliary drive device 100 use a plurality of corresponding sensors, which also include, as in the embodiment described above, but are not limited to, a steering shaft rotational angle sensor 105 (see FIG. 3B ) which detects the position of the steering shaft 130, a rotational rate sensor which detects the rotational speed and rotational direction of the drive wheel 110, a plurality of acceleration sensors which detect accelerations in different spatial directions, a gyro sensor and further optical, capacitive and / or inductive sensors, and controls the hub motor 111 such that an electromotive drive torque is generated only in the manner appropriate to the current driving situation.For example, a drive torque that results in constant straight-ahead travel may be reduced depending on a detected curve radius, the reduction increasing as the curve radius decreases and / or the curve speed increases.The values in this respect can be stored, for example, 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, based on the current sensor signals, rely on such a characteristic diagram during the calculation. Alternatively, a real-time calculation can be carried out in the control program on the basis of these sensor signals.If, for example, the steering shaft rotational angle sensor 105, which detects the position of the steering shaft 130, is used as, in addition to monitoring the travel speed, one of the main input variables for the function of the cornering speed limitation, the steering angle of the drive wheel 110 can be monitored permanently via this sensor.In addition, a computer program and an (external) interface can be used to set the amount by which the drive power or the drive torque is to be reduced as a function of the curve radius or the steering angle. Furthermore, when the curve radius increases again and / or a transition is made to straight travel, the drive power or the drive torque can be automatically increased again.Coupling Mechanism (Structure)The coupling of the auxiliary drive device 100 to the wheelchair 500 must ensure a secure coupling. In addition, the coupling and decoupling should be easily feasible, 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 embodiment of a coupling mechanism 300 described below with reference to Figures 24-28 fulfills all of these requirements.In the embodiment shown in FIGS. 24 to 28, the coupling mechanism 300 is shown as a structural unit which has a coupling mechanism base body 320, in which coupling grooves 321 are formed, which serve for mounting functional elements of the coupling mechanism 300, in particular a handle 310 with a tilting lever 311 connected thereto, and which can be attached to an end side of the auxiliary drive device base body 120.However, it is obvious to the person skilled in the art that the functions of the coupling mechanism base body 320 can also be performed by correspondingly formed elements of the auxiliary drive mechanism base body 120, that is to say that the coupling mechanism base body 320 and the auxiliary drive mechanism base body 120 can be formed in the same material.The coupling grooves 321 are substantially V-shaped in order to allow an 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 for effecting the coupling. It is understood that such a component to be held in a form-fitting manner for effecting the coupling can also have other shapes and can be formed differently. The coupling pin 381 described in the present embodiment may be configured in two parts and attached to both sides of a coupling bracket 380, which may be detachably attached to an axle 501 of a wheelchair 500 (see FIGS. 1 and 2 ). If a wheelchair does not have such an axle, a component (not shown) in this respect, which fulfills the holding function of the axle for the coupling clamp 380, can also be provided separately and screwed to the wheelchair.The rocker lever 311, which is fixedly and rigidly connected to the hand lever 310, is mounted in the coupling mechanism base body 320 via a bearing pin 312 in such a way that it can be rotated about the central axis of the bearing pin 312 over a specific angular range, namely in particular can assume positions between a locking operating position shown in FIG. 25 and an unlocking position shown in FIG. 26 with a coupling standby position lying therebetween and shown in FIG. 24.Bore 313 is formed on both sides in the rocker lever 311, each of which receives an actuating pin 314 which, in the operatively mounted state of the coupling mechanism 300, runs through a slotted-link window 331 of a locking element 330 which, for its part, is mounted in the coupling mechanism base body 320 via a locking element bearing pin 332 and is spring-loaded in the clockwise direction, with reference to the representation plane of FIGS. 24 to 26, via a leg spring 338.The locking element 330 is movably mounted in the coupling mechanism base body 320. It allows positive locking in a locking position, in which the auxiliary drive device 100 is coupled to the wheelchair 500, and can be brought by actuating the handle 310 into an unlocking position, in which decoupling of the auxiliary drive device 100 from the wheelchair 500 is possible. The locking element 330 is designed such that it can completely or at least partially close the coupling groove 321 by spring-loaded, in the embodiment shown 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 being able to emerge from the coupling groove 321.Figure 28, in conjunction with Figure 27, shows the symmetrical construction of the coupling mechanism 300 having two locking elements 330 and corresponding two torsion springs 338. In principle, the provision of a locking element 330 and a leg spring 338 is sufficient. The redundant embodiment shown in the figures with two locking elements 330 and correspondingly two leg springs 338, however, ensures a so-called one-fault safety.Coupling Mechanism (Coupling and Decoupling)The functionality and the interaction and details of the configuration of the relevant elements of the coupling mechanism 300 are explained below in connection with the process of coupling and decoupling an auxiliary drive device 100 to a wheelchair 500.First, a coupling bracket 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, because it is for example a so-called folding wheelchair with lateral folding mechanism in the form of cross braces, to a corresponding auxiliary axle (not shown) which can be provided for this purpose and fastened to the wheelchair. The attachment of the coupling clamp 380 can be achieved by a clamping mechanism.Of particular importance is the height above the roadway, that is to say the height distance with respect to the level of contact of the wheels of the wheelchair which the coupling pin or, in the case of a redundant embodiment with two locking elements 330, the coupling pins assume in this case. This height influences the travel 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 footprint of the wheelchair. The diameter of the rear wheels 502R, 502L of the wheelchair, which are commercially available in variants of, for example, 24 inches (609.6 mm) or 25 inches (635 mm), in particular influence the height, which in practice, in particular depending on the tire selected, leads to effective wheel diameters of 595 mm to 620 mm or 620 mm to 645 mm and the mounting location of an additional axle (not shown).The skilled person is provided with numerous possibilities for setting it in this respect. For example, the steering fork 131 may be provided in various lengths, for the purpose of variant reduction, a fork having two or more hole positions may be used, or a slotted fork into which a so-called "flip chip" allowing two or more mounting heights may be inserted. In addition, the height of the fastening can also be taken into account, for example, by variants of the coupling clip 380, and the correct height of the coupling pin 381 can be adjusted and checked with a gauge.When a coupling bracket 380 is attached to a wheelchair 500 and the coupling pin 381 or the coupling pins 381 are set at the proper height, the wheelchair 500 is ready for coupling the auxiliary driving device 100. The coupling mechanism of the auxiliary driving device 100 is at first in the coupling standby position shown in FIG. 24. In this coupling ready position, the locking element 330, acted upon by the force of the leg spring 338 and delimited by the stop of the actuating pin 314 at an angle of the correspondingly designed slotted-link window 331 in this respect, assumes an end position with respect to a pivoting about the central axis of the locking element bearing pin 332 in the clockwise direction, with respect to the plane of the drawing in the representations according to FIGS. 24 to 26, which also represents the reference for subsequent relevant directional information.In this coupling ready position, no further pivoting of the locking element 330 can be effected by the handle 310. The handle 310 therefore assumes a fixed position relative to the auxiliary drive device base body in such a way that it enables the auxiliary drive device 100 to be raised and supported by means of the handle 100 in order to place it above the coupling pin 381 in such a way that, when the auxiliary drive device 100 is lowered, it enters the coupling groove 321 and in the process pivots the locking element 330 about the central axis of the locking element bearing pin 332 counter to the spring force of the leg spring 380 by bearing against a first locking element abutment surface 333, wherein this pivoting is enabled by a corresponding configuration of the link window 331.When the coupling pin 381 completely penetrates into the coupling groove 321, the coupling pin 381 comes into contact with a correspondingly formed base of the coupling groove 321 and in the process partially releases the locking element 330, with the result that the locking element pivots back clockwise about the central axis of the locking element bearing pin 332 as a result of the spring force of the leg spring 380 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 configuration of the slotted link window 331. As a result, the coupling pin 381 is held positively in the coupling groove 321 and the auxiliary drive device 100 is operatively and reliably coupled to the wheelchair 500 in the locking operating position of the coupling mechanism 300 shown in FIG. 25, wherein tilting of the wheelchair 500 is possible.The locking element is designed such that during the coupling process, namely when it is closed off, it impinges, under spring load, on a component to be held in a form-fitting manner for effecting the coupling, that is to say, in the embodiment described here, on the coupling pin 381. This impingement produces a metallic noise.In the present embodiment, this principle is implemented in that after releasing the locking element 330, when 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 hits the coupling pin 381, whereby a metallic noise is generated in the form of a click or clunk, which represents an acoustic feedback for the complete and secure coupling process in a simple manner without the provision of additional components. This is advantageous in particular when the coupling process is carried out by a person sitting in the wheelchair who cannot or can only with difficulty carry out an optical check from this position.The interaction of the leg spring 338, the locking element 330 and its geometric configuration, in particular with respect to the pivot point about the central axis of the locking element bearing pin 332, the slotted guide window 331 and the two locking element contact surfaces 333 and 334 and the coupling groove 321, enables a secure three-point bearing of the coupling pin 381, which bearing is free of play and compensates tolerances and wear. In particular in conjunction with a drive system having a steering shaft 130, a play-free connection of auxiliary drive device 100 and wheelchair 500 is of particular importance.A tendency of the coupling pin 381 to move downward, i.e. towards the opening of the V-shaped coupling groove 312, has the effect, due to the said geometric configuration, in particular the shape and orientation of the second locking element abutment 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, that the pivot moment of the locking element 330 about the central axis of the locking element bearing pin 332 increases in the clockwise direction and the clamping force is further increased. This further increases the safety against unintentional decoupling.A wanted decoupling of the auxiliary drive device 100 from the wheelchair 500 carried out by the operator is effected in that the handle 310 of the coupling mechanism 300 is pulled upward and thus pivoted clockwise together with the rocker arm 311 about the central axis of the rocker arm bearing pin 312. This causes the actuating pin 314 to swivel the locking element 330 counterclockwise about the center axis of the locking element bearing pin 332 by corresponding engagement in the correspondingly configured slotted guide window 331 of the locking element 330, so that the coupling groove 321 is released. In the unlocking position shown in FIG. 26, the auxiliary drive device can then be raised by means of the handle 310 and uncoupled from the wheelchair 500. The directions of force for releasing the lock and for lifting the auxiliary driving device for disengaging from the wheelchair 500 by means of the handle 310 are practically identical, so that the unlocking and disengaging operation can be effected in a fluid manner with a simple hand movement. In other words, the actuation of the handle 310 that moves the locking element 330 into the unlocking position has the same direction of force as a carrying of the auxiliary drive device by means of the handle 310.When the handle 310 is released, it and the locking element 330 return to the coupling ready position according to FIG. 24 by the force of the leg spring 338.Adjustment and Setting of Operating SatelliteIn connection with the explanation of the structure and function of the operating satellite 200, individual features including the adjustable latching sensitivity have already been discussed. A summary of this topic is given below.The latching during the rotation of the rotary switching ring 203 provides an acoustically perceptible latching noise and tactile feedback via the hand of the operator by means of a correspondingly selected encoder, as is provided, for example, by the company ELMA as encoder type E33.On the software side, in such an encoder, the sensitivity of the latching travel of the rotary switching ring 203 can be individually adapted to the requirements of different user groups and their disability characteristic by means of a computer program, for example by means of a smartphone app or a PC service application. Thus, it may be desirable that despite a large adjustment movement, only a very small change in speed takes place. This is particularly advantageous for users with limited coordinating abilities of the arms and hands, since the movements are performed in a roughly more motorized manner. In the case of unrestricted fine motoring and for skilled users, it may, on the other hand, be advantageous if a comparatively large speed change takes place even with a small displacement movement. This is particularly useful when driving in the outside area, where it is desired to reach its final speed quickly. Exemplary values for a "click" (or click) can be taken from Table 1 below.0,1 km / hLow Low0,2 km / h0,3 km / h0,4 km / h0,5 km / h0,6 km / h0,7 km / h0,8 km / h0,9 km / h1,0 km / hHigh High LevelFIG. 29 is a diagram showing an operation surface of a smartphone for adjusting sensitivity of the rotating dial 203 of the operation satellite 200. By means of an electronic slider, the sensitivity can be adjusted between low and high.As explained in connection with the description of the structure of the auxiliary drive device 100, a sensor may be attached to the steering shaft 130 of the auxiliary drive device 100, which permanently monitors the steering angle of the drive wheel 110.For example, a computer program or a smartphone app can then be used to set the angle from which the drive power is to be reduced or increased. By reducing the drive power when driving in tight turns, controllability and ultimately safety is increased, since the cornering speed is automatically reduced. Especially wheelchair riders with higher cross-sectional size and limited hand and finger function thus get more control over the driving performance.In confined environmental conditions such as in interior spaces, for example when pieces of furniture or objects are moving or in heavily frequented pedestrian zones and generally in the case of narrow curve radii, angle monitoring represents an additional safety function, since the drive power is reduced as required. If the steering angle reaches lower values again up to straight-ahead travel, the drive power is increased again.In a further embodiment, as a special safety function, the drive can also be completely switched off 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 pivot range of 110° in total.In order to program such driving properties, the auxiliary drive device 100 is coupled via a Bluetooth module to a terminal device, for example a computer or smartphone. The corresponding software application for the auxiliary drive has previously been installed on the terminal. Alternatively, the auxiliary drive device 100 can also be connected to a computer via a USB cable and thus programmed via the cable connection.FIG. 30 shows, by way of example, a representation of an operating surface of a smartphone for setting the automatic adaptation of the cornering speed as a function of a steering angle of a drive wheel 110. By means of an electronic slider, the angle monitoring can be completely switched off and set up to a maximum value of 110°, for example.It is understood that other settings and switching-on or switching-off processes can also be effected in the manner shown, for example the switching-on and switching-off of the rear light 124. In addition, with such an app, operating parameters such as the state of charge of the main battery 121 and the operating satellite battery can be displayed on the smartphone.The control functions of the described embodiments make use of electronic control devices, with related components being arranged in particular in the operating satellite 200, the auxiliary drive base body 120 and the drive wheel 110. These control functions are implementable 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 perform all or part of the control functions. Such a medium may take several forms, such as, 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 nonvolatile memory.- List of reference numerals -100 Auxiliary drive device 105 Steering shaft rotational angle sensor 110 Drive wheel 111 Hub motor 112 Tire cover 113 Wheel screws 118 Slip ring 120 Auxiliary drive device main body 121 Main battery 122 Rear lamp 123 Main switch 124 Main body charging socket 130 Steering shaft 131 Steering fork 132 Stop slide element guide element 133 Elongated hole 134 Stop slide element 135 Stop element 135A First side Stop element 135B Second side Stop element 200 Operating satellite 201 Undercut 202 Operating satellite switching part 203 Rotational switching ring 204 Pressure switching knob 205 Display device 205A LED elements white 205B LED element RGB 206 Cover 207 Fixing screw 208 Gripping webs 209 Unlocking element 210 Operating satellite mounting part 211 Latching hook 218 Adapter charging socket 219 Coupling pushbutton (pairing button) 220 Operating satellite mounting pivot part 221 Latching noses 221A Latching nose rod 222 Fixing hook 223 Release button 224 Push rod 225 Compression spring 226 Reversing lever 230 Wheelchair mounting part 231 Mounting screw 232 Screw clamping element 300 Coupling mechanism 310 Handle 311 Tilting lever 312 Tilting lever bearing pin 313 Actuating pin receiving bore 314 Actuating pin 320 Coupling mechanism base body 321 Coupling groove 330 Locking element 331 Slotted gate window 332 Locking element bearing pin 333 First locking element contact surface 334 Second locking element contact surface 338 Leg spring 380 Coupling clip 381 Coupling pin 500 Wheelchair 501 Axle 502L Left rear wheel 502R Right rear wheel 504 Gripping ring 505 Front wheel

Claims

A drive device (100) for a wheelchair (500), comprising: at least one electrically drivable drive wheel (110), an electronic control device for controlling functions of the auxiliary drive device (100), and an operating satellite (200), which is arranged or can be arranged on the wheelchair (500) and is connected to the electronic control device, for driving the drive device (100) and for controlling its functions by a user, wherein the operating satellite (200) comprises a rotary switching ring (203), wherein the rotary switching ring (203) is designed such that, that its rotation in a first direction causes an increase in the speed of rotation of the electrically drivable drive wheel (110) by generating a corresponding electrically generated drive torque and that its rotation in a second direction opposite the first direction causes a decrease in the speed of rotation of the electrically drivable drive wheel (110) by reducing a corresponding electrically generated drive torque, characterized in that the rotary switching ring (203) has a latching and is designed such that the change in speed takes place in stages during its rotation and each latching corresponds to a stage, and that the change in speed per latching stage and thus the sensitivity of the operation of the rotary switching ring (203) can be changed by the user, preferably by a computer program provided to the user in the form of a smartphone app or a PC service application.Drive device (100) according to Claim 1, characterized in that the rotary switching ring (203) is designed such that the exceeding of a latching during the rotation of the rotary switching ring (203) generates an acoustically perceptible latching noise and / or a tactile feedback via the hand of the operator.Drive device (100) according to Claim 1 or 2, characterized in that the operating satellite (200) has a push button (204), and in that the push button (204) is designed such that its actuation during travel driven by electric motor causes the generation of electrically generated drive torque to be ended.The drive device (100) according to claim 3, characterized in that the push button (204) is disposed inside the outer periphery and on an end face of the rotary shift ring (203),Drive device (100) according to one of the preceding claims, characterized in that the rotary shift ring (203) is designed such that, after a maximum speed has been reached by correspondingly rotating the rotary shift ring (203) in the first direction, a further rotation of the rotary shift ring (203) in the first direction does not cause a speed change, and that, after the electrically generated drive torque of the electrically drivable drive wheel (110) has been reduced to zero, a further rotation of the rotary shift ring (203) in the second direction does not cause a speed change by rotating the rotary shift ring (203) in the second direction.The driving device (100) according to any one of the preceding claims, characterized in that it comprises a main switch (123), by means of which a switched-off state (idle state) and a standby state of the driving device (100), in which signals can be received from the operating satellite (200), can be switched, and that the push button (204) is configured such that its actuation during the standby state of the driving device (100) for a period of time longer than a predetermined threshold causes the driving device (100) to be placed in a driving standby state, in which a speed selection is possible by rotating the rotating switching ring (203).The driving device (100) according to claim 6, characterized in that the push button (204) is configured such that its actuation during the travel standby state of the driving device (100) for a period of time longer than a predetermined threshold causes the driving device (100) to be placed in the standby state in which speed selection by rotating the rotating shift ring (203) is not possible.Drive device (100) according to one of the preceding claims, characterized in that it has at least one sensor (105), by means of which a curve radius can be determined when cornering, and in that the electronic control device is designed to influence the travel speed as a function of the curve radius.Drive device (100) according to one of the preceding claims, characterized in that it is designed as an auxiliary drive device (100) for coupling to a wheelchair (500) and has a coupling mechanism (300) for coupling to the wheelchair (500).Drive device (100) according to Claim 9, characterized in that the electrically drivable drive wheel (110) is mounted on a steering shaft (130) in a freely pivotable manner, and the steering shaft (130) is arranged in such a way that, when the auxiliary drive device (100) is operatively coupled to a wheelchair (500), there is a follow-up for the electrically drivable drive wheel (110).

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