Dynamically self-balancing vehicle

Abstract

The invention relates to a dynamically self-balancing vehicle (1) comprising a chassis (2), two wheels (3) for supporting the vehicle (1) on a surface (4), a drive unit (5) connected to the wheels (3) for balancing, accelerating, braking, and steering the vehicle (1), a seat (8), a front footboard (10), and at least one rear parking support (11) and at least one front parking support (12), wherein the parking supports (11, 12) are adjustable into a lowered parking position (PS) relative to the chassis (1), in which the wheels (3) and the parking supports (11, 12) are supported on the surface (4), and into a raised driving position (FS) relative to the chassis (2), in which the parking supports (11, 12) are spaced apart from the surface (4), wherein the footboard (10) is adjustable in the vertical direction (Z). of the vehicle (1) is adjustable and is in a rest position (RS) raised relative to the chassis (2),in which the footboard (10) is spaced away from the ground (4) and is adjustable into an access position (ZS) lowered relative to the chassis (2). Increased comfort is achieved if the parking supports (11, 12) can also be adjusted to at least one lift position (LS) beyond the parking position (PS), in which the parking supports (11, 12) are supported on the ground (4) and the wheels (3) are lifted off the ground (4).

Description

[0001] The present invention relates to a dynamically self-balancing vehicle according to the preamble of claim 1.

[0002] A generic vehicle is known from EP 2 371 695 B1 and comprises a chassis and two wheels arranged on the chassis for supporting the vehicle on a surface on which the vehicle is standing or traveling. Furthermore, a drive device connected to the wheels is provided for balancing, accelerating, braking, and steering the vehicle. A seat is arranged on the chassis on which a driver (male / female / diverse) can sit. A footboard is arranged at the front of the chassis on which the driver sitting on the seat can place his feet. A rear parking support is arranged at the rear of the chassis for supporting the stationary vehicle on the ground. This rear parking support is arranged on the chassis and can be adjusted vertically along the vehicle's length.In addition, a front parking stand is arranged at the front of the chassis for supporting the stationary vehicle on the ground. This stand is adjustable in the height direction of the vehicle. The parking stands can be adjusted into a parking position lowered relative to the chassis, in which the wheels and parking stands rest on the ground, and into a driving position raised relative to the chassis, in which the parking stands are spaced from the ground. The footboard is also adjustable in the height direction of the vehicle, so that it can be adjusted into a rest position raised relative to the chassis, in which the footboard is spaced from the ground, and into a access position lowered relative to the chassis. The lowered access position makes it easier for the driver to enter and exit the vehicle.In the known vehicle, the footboard is attached to the front parking supports so that it is raised and lowered with them.

[0003] The present invention addresses the problem of providing an improved or at least a different embodiment for a vehicle of the type described above, which is characterized by increased comfort and in particular by improved functionality and / or increased usability of the vehicle.

[0004] This problem is solved according to the invention by the subject matter of the independent claim. Advantageous embodiments are the subject matter of the dependent claims.

[0005] The invention is based on the general idea of ​​raising the parked vehicle and its driver from the ground via parking supports, allowing the driver to assume an elevated position. This elevated position allows the driver to better reach elevated objects that are easily accessible to standing people, but not to seated people. Particularly in a home environment, this can significantly improve the quality of life for a person (male / female / diverse) who relies on a wheelchair for mobility.

[0006] Specifically, the invention proposes that the parking supports be additionally adjustable into at least one lift position extending downwards beyond the parking position, in which the parking supports are supported on the ground and the wheels are lifted off the ground. In other words, the parking supports can be lowered or extended downwards from the driving position beyond the parking position, thereby lifting the chassis, including the wheels and seat, off the ground.

[0007] For this purpose, the footboard at the front of the chassis can be attached in a height-adjustable manner.

[0008] An advantageous embodiment is one in which the footboard is coupled to the respective front parking leg in such a way that the footboard follows the movement of the front parking leg when adjusted from the parked position to the driving position, so that the footboard assumes its access position when the respective front parking leg is in the parked position and assumes its rest position when the respective front parking leg is in the driving position. With this design, a separate drive for adjusting the footboard relative to the chassis is not necessary. The footboard is raised from the access position to the rest position via the coupling to the respective front parking leg, so that the respective front parking leg takes the footboard with it when raised from the parked position to the driving position. Conversely, the footboard follows the movement of the parking leg when adjusted from the driving position to the parked position and is thereby transferred from the rest position to the access position.The following of the footboard can be achieved by the weight of the footboard and / or by a corresponding mechanical coupling between the footboard and the respective front parking support.

[0009] According to an advantageous embodiment, the footboard can be coupled to the respective front parking support in such a way that, when the parking supports are adjusted from the parked position to the lifted position, the footboard remains in the access position relative to the chassis and moves away from the ground. This allows the driver to keep their feet on the footboard when they want to lift the vehicle from the ground. This allows a relatively comfortable seating position for the driver even in the lifted position.

[0010] In another embodiment, the footboard can be pivotally connected to the chassis via at least one guide link, which is pivotally mounted on the chassis at one end about a pivot axis running parallel to a transverse direction of the vehicle and which is fastened to the footboard at the other end, such that the guide link and thus also the footboard pivot about the pivot axis when the footboard is adjusted between the rest position and the access position. In addition, at least one stop is formed on the chassis, with which the respective guide link interacts in the area of ​​the access position of the footboard and prevents further pivoting of the guide link. As a result, further lowering of the footboard beyond the position defined by the stop is also prevented.The footboard is now coupled to the respective front parking leg via at least one driver, with the respective driver being configured such that the respective front parking leg moves the footboard from the access position to the rest position when adjusted from the parked position to the driving position. In contrast, the weight of the footboard and the respective guide rod allows the footboard to follow the respective front parking leg when adjusting the respective front parking leg from the driving position to the parked position. This results in a particularly simple design for the height adjustment of the footboard, which is characterized by a high level of reliability.

[0011] In the present context, a ‘configuration’ is synonymous with a ‘design’ and / or ‘programming’, so that the phrase ‘configured so that’ is synonymous with the phrase ‘designed and / or programmed so that’.

[0012] The respective front parking stanchions can be conveniently designed as a linear drive or have a linear drive comprising a housing articulated to the chassis and a rod that can be retracted and extended relative to the housing. The respective driver can then interact with the respective rod in such a way that the rod moves the footboard along when the respective front parking stanchions are adjusted from the parked position to the drive position. This facilitates a simple and reliable design.

[0013] The respective driver can expediently have a through-opening through which the respective rod is guided. The respective rod can have a cross-sectional widening on a side of the driver facing away from the housing, the cross-section of which is larger than the opening cross-section of the through-opening. Furthermore, the rod can have a rod cross-section that is smaller than the opening cross-section. This design allows the respective driver to adjust along the rod, while the cross-sectional widening ensures the mechanical coupling between the driver and the rod in order to entrain the footboard when the respective front parking support is raised.

[0014] For practical purposes, each front parking support can have a support leg attached to the rod, which supports the front parking support against the ground in the parked position and in the respective lift position. The cross-sectional extension can be formed by the support leg itself or arranged as a separate component between the support leg and the carrier. In particular, integrating the cross-sectional extension into the support leg results in a particularly simple design.

[0015] In another advantageous embodiment, the access position of the footboard in the parked position of the parking support can be defined by the flat and horizontal surface on which the footboard rests. The stop against which the respective guide rod rests in the raised position of the parking supports can define a stop position of the footboard that is slightly below the access position of the footboard. This measure ensures that the footboard can be placed on the ground in the parked position even if the ground is inclined relative to a horizontal plane. This allows for increased comfort.This design also means that when the parking supports are adjusted from the parking position to the lifting position, the footboard resting on the flat and horizontal ground is first lowered from the access position to the stop position relative to the chassis and then remains in the stop position and lifts off the ground with the chassis.

[0016] A suitable embodiment is one in which the parking supports are configured to set a lift position in which a distance, measured in the vertical direction, between the footboard and the ground is at least as large as in the driving position. This allows the vehicle as a whole to be lifted significantly from the ground, which improves the driver's degree of freedom with regard to reaching objects located higher up in the vehicle. It is clear that a control device for actuating the parking supports can be configured such that the parking supports can be stopped at any time when the vehicle is raised, allowing virtually any number of lift positions to be set, which differ from one another in terms of the distance of the chassis and the footboard from the ground.

[0017] The parking pillars can each have an electric motor drive unit for adjusting the respective parking pillar. Furthermore, each parking pillar can be assigned a limit switch configured to interrupt the power supply to the drive unit when the respective parking pillar reaches its park position when the respective parking pillar is moved from the drive position to the park position. These limit switches, which are assigned separately to the parking pillars, allow the vehicle to be parked safely even on uneven ground.

[0018] The vehicle can be conveniently equipped with a bypass circuit that electrically bypasses the respective limit switch for adjusting the parking legs to the raised position. Such a bypass circuit is particularly easy to implement and can be integrated, for example, into a control unit that can be used to control the parking legs for adjustment between the park position, the drive position, and the raised position.

[0019] According to another embodiment, the respective parking support can be designed as a linear drive comprising the drive unit, a housing, and a rod that can be retracted and extended relative to the housing. A rocker arm can be pivotably mounted on the chassis about a rocker axis, to which the housing is articulated and which is designed to actuate the limit switch such that when the parking support is adjusted from the drive position to the park position, upon contact of the respective parking support with the ground, the extending rod lifts the housing relative to the chassis, causing the rocker arm to pivot about the rocker axis and actuate the respective limit switch. This results in a mechanically simple and particularly reliable design.

[0020] A particularly advantageous embodiment is one in which two front parking supports are provided, arranged on the chassis at a distance from one another in the transverse direction of the vehicle. Each parking support has a support foot, with which the respective parking support is supported on the ground in the parked position and in the raised position. A particularly advantageous configuration is one in which the support feet are each designed as support rollers, so that the vehicle can be moved along the ground in the raised position using the support rollers. This provides an additional degree of freedom for the driver in the raised position. Each support roller has at least one rotatable roller.

[0021] An advantageous embodiment is one in which at least one of the support rollers is designed as a driven support roller, which has an electric motor drive for rotating the respective support roller or the respective roller and is coupled to a control device operable by the driver. This measure also increases the driver's degree of freedom in the lift position.

[0022] A particularly useful configuration is one in which at least the two front parking supports are equipped with driven support rollers and are coupled to the control unit. The control unit can then be configured to control the two driven support rollers or their rollers to rotate at different speeds for steering the vehicle. This allows the driver to move the vehicle relative to the ground even in the lift position while steering, thus providing the driver with a particularly high degree of freedom.

[0023] Alternatively, it is also possible to design at least one of the support rollers to be steerable by an electric motor and to couple it to a driver-operated control device for steering the vehicle. In particular, it is conceivable for a single support roller to be designed as an electric motor-driven and electric motor-steerable support roller, as this is generally sufficient to drive and steer the vehicle in the lift position.

[0024] Further important features and advantages of the invention emerge from the subclaims, from the drawing and from the associated description of the figures based on the drawing.

[0025] It is understood that the features mentioned above and those to be explained below can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. Components of a higher-level unit, such as a device, apparatus, or arrangement, mentioned above and to be mentioned below, which are designated separately, may form separate parts or components of this unit or be integral areas or sections of this unit, even if this is shown differently in the drawing.

[0026] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0027] They show, schematically, Fig. 1 a highly simplified side view of the vehicle in a driving position, Fig. 2 a side view of the vehicle as in Fig. 1, but in a parking position, Fig. 3 a side view of the vehicle as shown in the Fig. 1 and Fig. 2, but in a lift position, Fig. 4 a highly simplified front view of the vehicle in the lift position.

[0028] According to the Fig. 1 to 4, a dynamically self-balancing vehicle 1 comprises a chassis 2 and two wheels 3 arranged on the chassis 2, each of which is arranged on the chassis 2 so as to be rotatable about a wheel axis R and of which in the Fig. 1 to 3, only one of each is visible. The two wheels 3 serve to support the vehicle 1 on a surface 4 on which the vehicle 1 is standing or traveling. The vehicle 1 also has a drive device 5 connected to the wheels 3, which is configured for balancing, steering, braking, and steering the vehicle 1. In the Fig. 1 to 4, only one electric motor 6 of the drive device 5 is shown for driving the respective wheel 3. It is clear that the drive device 5 also includes a vehicle control system equipped with inclination sensors and the like. To supply electrical power to the electrical components, such as the drive device 5, the vehicle 1 is equipped with a battery 7.

[0029] The vehicle 1 defines a longitudinal direction X, a transverse direction Y, and a vertical direction Z, which are perpendicular to each other. The longitudinal direction X is defined by the direction of travel of the vehicle 1 when traveling straight ahead. The transverse direction Y is defined by the direction in which the two wheels 3 are spaced from each other.

[0030] A seat 8 is arranged on the chassis 2, on which a driver can sit. A backrest 9 can also be provided optionally. At the front of the chassis 2, at least one footboard 10 is arranged, on which the driver sitting on the seat 8 can place at least one foot. In the example shown here, only a single footboard 10 is provided, which is suitable for placing two of the driver's feet. In another embodiment, two footboards 10 can also be provided, each of which the driver can place one foot on.

[0031] The vehicle 1 also has at least one rear parking support 11 at the rear of the chassis 2 and at least one front parking support 12 at the front of the chassis 2. The parking supports 11, 12 serve to support the stationary vehicle 1 on the ground 4 and are arranged on the chassis 2 so as to be adjustable in the vertical direction Z of the vehicle 1. The relative location specifications "front" and "rear" refer to the vehicle 1 when moving forward and are defined by the position of the footboard 10 on the chassis 2.

[0032] The parking supports 11, 12 are in a Fig. 1, in which the parking supports 11, 12 are spaced from the ground 4, as well as in a driving position FS shown in Fig. 2, in which the wheels 3 and the parking supports 11, 12 are supported on the ground 4. In the driving position FS, the vehicle 1 is supported on the ground 4 via the wheels 3 and can therefore move along the ground 4 via the wheels 3. In the vehicle 1 shown here, the footboard 10 on the chassis 2 is also arranged so as to be adjustable in the height direction Z, such that it can be adjusted in a Fig. 1 shown, raised relative to the chassis 2, in which the footboard 10 is spaced from the base 4, as well as in a Fig. 2, which is lowered relative to the chassis 2. In the access position ZS, the footboard 10 can rest, in particular, on the ground 4. The access position ZS of the footboard 10 facilitates access to the vehicle 1 in the parking position PS of the parking supports 11, 12, i.e., getting into and out of the vehicle 1.

[0033] The parking supports 11, 12 are now also configured to be Fig. 3 are adjustable at least into a lift position LS which goes beyond the parking position PS, in which the parking supports 11, 12 are supported on the ground 4 and the wheels 3 are lifted from the ground 4.

[0034] In the embodiment shown here, the footboard 10 is coupled to the respective front parking support 12 in such a way that the footboard 10 can follow the movement of the respective front parking support 12 when adjusted from the parking position PS to the driving position FS. Accordingly, the footboard 10 assumes its access position ZS in the parking position PS of the respective front parking support 12, while the footboard 10 assumes its rest position RS in the driving position FS of the respective front parking support 12. Furthermore, the footboard 10 is coupled to the respective front parking support 12 in such a way that when the parking supports 11, 12 are adjusted from the parking position PS to the lifting position LS, the footboard 10 remains in the area of ​​the access position ZS relative to the chassis 2 and moves away from the ground 4.As can be seen in the example shown here, in the parking position PS of the parking supports 11, 12, the footboard 10 rests on the ground 4 in the access position ZS, while the footboard 10 in the driving position FS of the footrests 11, 12 is spaced from the ground 4 in its rest position RS. Furthermore, the footboard 10 in the lifting position LS of the parking supports 11, 12 is also spaced from the ground 4 in its access position ZS.

[0035] The footboard 10 can expediently be pivotally connected to the chassis 2 via at least one guide link 13. Two such guide links 13 are expediently provided, namely one on each side of the vehicle. Each guide link 13 is pivotally mounted on the chassis 2 at one end about a pivot axis S running parallel to the transverse direction Y of the vehicle 1. Furthermore, each guide link 13 is fastened to the footboard 10 at the other end. The attachment between the guide link 13 and the footboard 10 is rigid. In other words, the guide link 13 is firmly connected to the footboard 10. For example, the guide link 13 can be welded or screwed to the footboard 10. When the footboard 10 is adjusted between the rest position RS and the access position ZS, the guide link 13 pivots about the pivot axis S.The pivoting movement of the guide link 13 is indicated by a double arrow and designated 14. The vertical adjustment movement of the footboard 10 is indicated by a double arrow and designated 15. The articulated connection of the footboard 10 via the respective guide link 13 to the chassis 2 means that the vertical movement 15 of the footboard 10 is also coupled to the pivoting movement 14 of the guide link 13, so that the footboard 10 also pivots about the pivot axis S and changes its inclination relative to the horizontal when the height is adjusted. However, due to the relatively large distance between the footboard 10 and the pivot axis S, only a comparatively small angle of inclination results for the footboard 10 in the raised rest position RS.

[0036] The height adjustability of the parking supports 11, 12 is also indicated in the figures by double arrows, which are designated 16.

[0037] A stop 17 is expediently formed on the chassis 2, with which the respective guide link 13 interacts in the area of ​​the access position ZS of the footboard 10, such that further pivoting of the guide link 13 is prevented. The stop 17 also prevents further lowering of the footboard 10 beyond the position defined by the stop 17. The footboard 10 is equipped with at least one driver 18, which is coupled to the respective front parking support 12 and is configured such that the front parking support 12 takes the footboard 10 from the access position ZS to the rest position RS when adjusted from the parking position PS to the driving position FS.Conversely, the footboard 10 can follow the respective front parking support 12 due to the weight of the footboard 10 and the guide arm 13 when adjusting the respective front parking support 12 from the driving position FS to the parking position PS, so that the footboard 10 moves from the rest position RS to the access position ZS driven by the weight.

[0038] The respective parking support 11, 12 can have a linear drive 36 or be designed as a linear drive 36. The linear drive 36 has a housing 19 articulated to the chassis 2 and a rod 20 that can be extended and retracted relative to the housing 19. The respective driver 18 interacts with the respective rod 20 in such a way that the rod 20 entrains the footboard 10 when the respective front parking support 12 is adjusted from the parking position PS to the driving position FS. For this purpose, the respective driver 18 can have a through-opening 21 through which the respective rod 20 is guided. The rod 20 has, on a side of the footboard 10 or the driver 18 facing away from the housing 19, a cross-sectional extension 22 whose cross-section is larger than an opening cross-section of the through-opening 21. The rod 20, in turn, has a rod cross-section that is smaller than the opening cross-section of the through-opening 21.This allows the rod 20 to move through the through-opening 21, while the cross-sectional extension 22 cannot be adjusted through the through-opening 21. The cross-sectional extension 22 is fixedly attached to the rod 20 and, when the front parking support 12 is raised, interacts with the driver 18 to move or raise the footboard 10.

[0039] The parking supports 11, 12 have a support foot 23 attached to the rod 20, with which the respective parking supports 11, 12 are supported on the ground 4 in the parking position PS and in the lifting position LS. The aforementioned cross-sectional extension 22 can be formed by the respective support foot 23 itself or, as in the example shown, can be arranged firmly on the rod 20 in the form of a separate component between the support foot 23 and the driver 18. The cross-sectional extension 22 can be a washer, a screw, or a cotter pin and can be fixed to the rod 20.

[0040] The access position ZS of the footboard 10 can be adjusted according to Fig. 2 in the parking position PS of the parking supports 11, 12 be defined by the ground 4 if the ground 4 is flat and horizontal. The footboard 10 in the access position ZS rests on the flat and horizontal ground 4. The stop 17, against which the respective guide link 13 rests in the lift position LS of the parking supports 11, 12, can define a stop position AS for the footboard 10 that is slightly below the access position ZS of the footboard 10. In Fig. 3, the guide rod 13 rests against the stop 17, so that in the lift position LS the footboard 10 assumes the stop position AS, which is in the area of ​​the access position ZS, but slightly below it. In contrast, in Fig. 2, a gap 24 is present between the stop 17 and the guide link 13, while the footboard 10 rests on the horizontal base 4 in its access position ZS. If the base 4 is inclined relative to the horizontal, the footboard 10 can be pivoted beyond the access position ZS into the stop position AS, which facilitates entry and exit.

[0041] In Fig. 3 shows a maximum lift position LS, in which in the height direction Z a distance 25 between the footboard 10 and the ground 4 is greater than the distance 25 that occurs in the driving position FS between the footboard 10 and the ground 4.

[0042] The parking pillars 11, 12 each have an electric motor drive unit 27, which is suitably coupled to the battery 7 and which causes the rod 20 to extend and retract relative to the housing 19. Each parking pillar 11, 12 is assigned a limit switch 26, which is configured such that, when the respective parking pillar 11, 12 is moved from the drive position FS to the park position PS, it interrupts the power supply to the drive unit 27 as soon as the respective parking pillar 11, 12 reaches its park position PS. The park position PS is achieved by the respective parking pillar 11, 12 being supported on the ground 4 with sufficient pressure. Accordingly, the park position PS for the parking pillars 11, 12 can be different depending on the uneven ground 4. This allows the vehicle 1 to be parked safely even on uneven ground 4.Even if the ground 4 is inclined relative to the horizontal, the vehicle 1 can be parked horizontally, i.e., inclined relative to the ground 4. A corresponding bridging circuit can be provided for transferring the parking supports 11, 12 to the lift position LS, which then electrically bridges the respective limit switch 26. Such a bridging circuit can be integrated, in particular, into a control device or the like.

[0043] For the actuation of the limit switches 26, a rocker lever 28 can be mounted on the chassis 2 for each parking support 11, 12, pivotable about a rocker axis W. In the Fig. 1 to 4, the rocking axis W extends parallel to the transverse direction Y. The housing 19 of the respective linear drive 36 of the respective parking supports 11, 12 is pivotally mounted on the rocker lever 28. Furthermore, the respective rocker lever 28 is configured to actuate the respective limit switch 26. When adjusting the parking supports 11, 12 from the driving position FS to the parking position PS, upon contact of the respective parking support 11, 12 with the ground 4, the rod 20, which continues to extend, lifts the housing 19 relative to the chassis 2, so that the rocker lever 28 pivots about the rocker axis W and actuates the respective limit switch 26. As a result, the extension movement of the rod 20 relative to the housing 19 is terminated. Fig. 1 to 3, it is provided that the respective housing 19 is pivotally mounted on the rocker arm 28 on the one hand, while the limit switch 26 is arranged on the other hand, on the rocker arm W. This has the consequence that in the travel position FS, the rocker arm 28 rests on the respective limit switch 26, whereby the power supply of the respective drive unit 27 is closed. However, as soon as the housing 19 is raised upon reaching the parking position PS and the rocker arm 28 pivots about the rocker arm W, the rocker arm 28 lifts according to the Fig. 3 and Fig. 2 from the limit switch 26, whereby the power supply to the respective drive unit 27 is interrupted or disconnected.

[0044] In the example of vehicle 1 shown here, two front parking supports 12 are provided, while only a single rear parking support 11 is provided. It is clear that, in principle, two rear parking supports 11 can also be provided. In any case, the two front parking supports 12 are arranged on the chassis 2 at a distance from one another in the transverse direction Y. In the particularly advantageous example shown here, the support feet 23, with which the parking supports 11, 12 can be supported on the ground 4, are each configured as a support roller 29, so that the vehicle 1 can be moved along the ground 4 in the lift position LS using the support rollers 29. The support rollers 29 can be Fig. 4 can be configured as double rollers, comprising two rollers 30 that are rotatably mounted on a connecting shaft 31. The rod 20 is then supported between the two rollers 30 on the connecting shaft 31.

[0045] A particularly advantageous configuration is one in which at least one of the support rollers 29 is designed as a driven support roller 32, which has an electric motor drive 33 for rotating the respective support roller 32 or the rollers 30 and which is coupled to a control device 34 operable by the driver. The control device 34 is shown purely as an example as a joystick. The control device 34 is coupled to the respective drive 33 of the driven support rollers 32 via corresponding control lines 35. The respective drive 33 is coupled to the battery 7 via supply lines 37.

[0046] In the example shown here, the two front parking supports 12 are each equipped with a driven support roller 32, both of which are coupled to the control device 34. The control device 34 can also be configured to control the two driven support rollers 32 for steering the vehicle 1 in the lift position LS, so that their rollers 30 rotate at different speeds. For example, for a right-hand turn, the rollers 30 of the right support roller 32 rotate at a lower rotational speed than the rollers 30 of the left support roller 32. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 371 695 B1

[0002]

Claims

[1] Dynamic self-balancing vehicle (1), - with a chassis (2), - with two wheels (3) arranged on the chassis (2) for supporting the vehicle (1) on a surface (4) on which the vehicle (1) is standing or traveling, - with a drive device (5) connected to the wheels (3) for balancing, accelerating, braking and steering the vehicle (1), - with a seat (8) arranged on the chassis (2) on which a driver can sit, - with at least one footboard (10) arranged at the front, on which the driver sitting on the seat (8) can place at least one foot, - with at least one rear parking support (11) arranged at the rear of the chassis (2) for supporting the stationary vehicle (1) on the ground (4), which is arranged on the chassis (2) so as to be adjustable in a height direction (Z) of the vehicle (1), - with at least one front parking support (12) arranged at the front of the chassis (2) for supporting the stationary vehicle (1) on the ground (4), which is arranged on the chassis (2) so as to be adjustable in the height direction (Z) of the vehicle (1), - wherein the parking supports (11, 12) are adjustable into a parking position (PS) lowered relative to the chassis (1), in which the wheels (3) and the parking supports (11, 12) are supported on the ground (4), and into a driving position (FS) raised relative to the chassis (2), in which the parking supports (11, 12) are spaced from the ground (4), - wherein the footboard (10) is arranged to be adjustable in the height direction (Z) of the vehicle (1) and can be adjusted into a rest position (RS) raised relative to the chassis (2), in which the footboard (10) is spaced from the ground (4), and into an access position (ZS) lowered relative to the chassis (2), characterized by , - that the parking supports (11, 12) are also adjustable into at least one lift position (LS) extending beyond the parking position (PS), in which the parking supports (11, 12) are supported on the ground (4) and the wheels (3) are lifted off the ground (4). [2] Vehicle (1) according to claim 1, characterized by , - that the footboard (10) is coupled to the respective front parking support (12) in such a way that the footboard (10) follows the movement of the front parking support (12) when adjusted from the parking position (PS) to the driving position (FS), so that the footboard (10) assumes its access position (ZS) in the parking position (PS) of the respective front parking support (12) and assumes its rest position (RS) in the driving position (FS) of the respective front parking support (12). [3] Vehicle (1) according to claim 2, characterized by , - that the footboard (10) is coupled to the respective front parking support (12) in such a way that the footboard (10) remains in the area of ​​the access position (ZS) relative to the chassis (2) when the parking supports (11, 12) are adjusted from the parking position (PS) to the lifting position (LS) and moves away from the ground (4). [4] Vehicle (1) according to claim 3, characterized by , - that the footboard (10) is pivotally connected to the chassis (2) via at least one guide link (13), which is pivotally mounted at one end on the chassis (2) about a pivot axis (S) running parallel to a transverse direction (Y) of the vehicle (1) and which is fastened at the other end to the footboard (10), so that the guide link (13) pivots about the pivot axis (S) when the footboard (10) is adjusted between the rest position (RS) and the access position (ZS), - that at least one stop (17) is formed on the chassis (2), with which the respective guide link (13) interacts in the area of ​​the access position (ZS) of the footboard (10) and prevents further pivoting of the guide link (13), - that the footboard (10) is coupled to the respective front parking support (12) via at least one driver (18) which is configured such that the respective front parking support (12) takes the footboard (10) from the access position (ZS) to the rest position (RS) when adjusting from the parking position (PS) to the driving position (FS). [5] Vehicle (1) according to claim 4, characterized by , - that the respective front parking support (12) has a linear drive (36) which has a housing (19) articulated on the chassis (2) and a rod (20) which can be extended and retracted relative to the housing (19), - that the respective driver (18) cooperates with the respective rod (20) in such a way that the rod (20) takes the footboard (10) with it when the respective front parking support (12) is adjusted from the parking position (PS) to the driving position (FS). [6] Vehicle (1) according to claim 5, characterized by , - that the respective driver (18) has a through-opening (21) through which the respective rod (20) is guided, - that the respective rod (20) has a cross-sectional widening (22) on a side of the driver (18) facing away from the housing (19), the cross-section of which is larger than an opening cross-section of the through opening (21), - that the rod (20) has a rod cross-section which is smaller than the opening cross-section. [7] Vehicle (1) according to claim 6, characterized by , - that the respective front parking support (12) has a support foot (3) attached to the rod (20), with which the respective front parking support (12) is supported on the ground (4) in the parking position (PS) and in the respective lifting position (LS), - that the cross-sectional extension (22) is formed by the support foot (23) or is arranged between the support foot (23) and the driver (18). [8] Vehicle (1) according to one of claims 4 to 7, characterized by , - that the access position (ZS) of the footboard (10) in the parking position (PS) of the parking supports (11, 12) is defined by the flat and horizontal surface (4) on which the footboard (10) rests, - that the stop (17) against which the respective guide link (13) rests in the lift position (LS) of the parking supports (11, 12) defines a stop position (AS) of the footboard (10) which lies below the access position (ZS) of the footboard (10). [9] Vehicle (1) according to one of the preceding claims, characterized by , - that the parking supports (11, 12) are configured to set a lift position (LS) in which a distance (25) measured in the height direction (Z) between the footboard (10) and the ground (4) is at least as large as in the driving position (FS). [10] Vehicle (1) according to one of the preceding claims, characterized by , - that the parking supports (11, 12) each have an electric motor drive unit (27) for adjusting the respective parking support (11, 12), - that the parking supports (11, 12) are each assigned a limit switch (26) which is configured such that when the respective parking support (11, 12) is moved from the driving position (FS) to the parking position (PS), it interrupts a power supply to the drive unit (27) as soon as the respective parking support (11, 12) reaches its parking position (PS). [11] Vehicle (1) according to claim 10, characterized by , - that the respective parking support (11, 12) is designed as a linear drive (36) which has the drive unit (27), a housing (19) and a rod (20) which can be extended and retracted with respect to the housing (19), - that a rocker arm (28) is mounted on the chassis (2) so as to be pivotable about a rocker axis (W), on which rocker arm the housing (19) is articulated and which is designed to actuate the limit switch (26) in such a way that when the parking supports (11, 12) are adjusted from the driving position (FS) into the parking position (PS), when the respective parking support (11, 12) comes into contact with the ground (4), the extending rod (20) lifts the housing (19) relative to the chassis (2) so that the rocker arm (28) pivots about the rocker axis (W) and actuates the respective limit switch (26). [12] Vehicle (1) according to one of the preceding claims, characterized by , - that two front parking supports (12) are provided, which are arranged on the chassis (2) at a distance from one another in the transverse direction (Y), - that the parking supports (11, 12) each have a support foot (23) with which the respective parking support (11, 12) is supported on the ground (4) in the parking position (PS) and in the lifting position (LS), - that the support feet (23) are each designed as a support roller (29), so that the vehicle (1) can be moved along the ground (4) in the lifting position (LS) with the aid of the support rollers (29). [13] Vehicle (1) according to claim 12, characterized by , - that at least one of the support rollers (29) is designed as a driven support roller (32) which has an electric motor drive (33) for rotatingly driving the respective support roller (29) and which is coupled to a control device (34) which can be actuated by the driver. [14] Vehicle (1) according to claim 13, characterized by , - that at least the two front parking supports (12) are equipped with support rollers (29) designed as driven support rollers (32) which are coupled to the control device (34), - that the control device (34) is configured such that it controls the two driven support rollers (32) to rotate at different speeds in order to steer the vehicle (1) in the lift position (LS).

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