WO2017152902A1 - Dispositif de transport pouvant être déplacé manuellement - Google Patents

Dispositif de transport pouvant être déplacé manuellement Download PDF

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Publication number
WO2017152902A1
WO2017152902A1 PCT/DE2017/100128 DE2017100128W WO2017152902A1 WO 2017152902 A1 WO2017152902 A1 WO 2017152902A1 DE 2017100128 W DE2017100128 W DE 2017100128W WO 2017152902 A1 WO2017152902 A1 WO 2017152902A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport device
user
wheels
gravity
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE2017/100128
Other languages
German (de)
English (en)
Inventor
Rolf Strothmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to EP17708967.9A priority Critical patent/EP3426539A1/fr
Publication of WO2017152902A1 publication Critical patent/WO2017152902A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B1/00—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor
    • B62B1/10—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor in which the load is intended to be transferred totally to the wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0076—Remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2202/00—Indexing codes relating to type or characteristics of transported articles
    • B62B2202/40—Sport articles
    • B62B2202/404—Golf articles, e.g. golfbags

Definitions

  • the invention relates to a manually movable transport device, in particular a golf caddy, with coaxially spaced-apart wheels and a pivotally connected to the wheels about the axis of rotation of the wheels connected structure.
  • a two-wheeled golf caddy of this type is known from EP 0 662 012 A1.
  • This well-known Caddy has an electric auxiliary drive, which supports the user and each takes a share of the required for his movement in the field driving or braking forces.
  • a located in the handle of a pull / push rod of the Golfcaddy force sensor detects each applied by the user pulling or pushing force. Based on a predetermined functional relationship between the signal of the force sensor and the force generated by the auxiliary drive, the respective force component of the auxiliary drive is controlled.
  • the golf caddy is much easier to handle than a caddy to be operated solely by muscle power, but of it, emphasizing the athleticism of the user, hardly distinguishable externally.
  • the invention has for its object to provide a new, convenient to use transport device of the type mentioned.
  • control device ensures a self-alignment of the structure in a specific pivot position, so that the transport device without manual exercise can handle the structure in this pivotal position halternder torques convenient.
  • this pivotal position can also be maintained at standstill of the transport device without the user's intervention, in particular without touching the transport device by the user.
  • a connected to a pull / push rod handle then remains at a standstill advantageous in its suitable for immediate further movement of the transport device height position.
  • control devices which comprise an eccentrically engaging on at least one of the wheels, the construction against the wheels twisting drive
  • the center of gravity of the structure above the axis of rotation and the control means are provided for Einregelung an equilibrium state of the structure , in which the axis of rotation of the wheels under the
  • Focus is located in a vertical plane containing the center of gravity of the construction.
  • control devices have a tilt sensor detecting the pivot position of the structure.
  • a tilt sensor detecting the pivot position of the structure.
  • control means comprise an electric wheel drive, e.g. generated in the context of the adjustment of the equilibrium position oppositely directed drive torque, which counteract deflections of the axis of rotation of the wheels from the vertical axis containing vertical axis.
  • the manually movable transport device comprises an electric motor comprising a motor drive, which is provided for moving the transport device without the user's intervention and / or as an auxiliary drive to assist the user.
  • the electric machine can also be a part of the above-mentioned wheel drive.
  • the transport device is provided for driving movement entirely without contact by the user.
  • the transport device can advantageously be used for further travel when the user is released from the transport device. be set up at a current speed. The user can then temporarily leave the transport device alone, so that he has both hands free, if necessary, without interrupting his movement.
  • the transport device for the non-contact travel movement is remotely controllable and in particular automatically follows a remote control device carried by the user and stops when the user stops.
  • the control device ensures that the golf caddy continues to maintain its equilibrium position taken by the pushing movement by hand.
  • the adjustment of the equilibrium position only starts when the user releases the transport device.
  • the transport device comprises means for automatically detecting changes in the center of gravity of the structure, as they may arise in particular by different loading of golf clubs.
  • the device for detecting the change in the center of gravity has an analysis device which detects the effects of control pulses and, for example, determines the changed position of the center of gravity on the basis of ascertained asymmetries.
  • the transport device described above using the example of a golf caddy for manually guided co-movement with a user can also be characterized by devices for the autonomous further movement of the transport device with the user when the user is released from the transport device.
  • a transport device with means for independent further movement need not be limited to two-wheeled transport devices with pivotable construction, but may also have more than two wheels and a rotationally fixed structure.
  • the means for autonomous further movement include a detachable from the user of the Tra nsportvorides the drive of the transport device acquiring electrical machine, wherein it is provided in particular that the electrical machine automatically takes on detachment of the user from the transport device, the electric machine in operation.
  • the means for autonomously advancing the arrangement of the tra nsportvoriques are provided in a predetermined position relative to the user detached from the tra nsportvortechnik, i.
  • the tra Sport device moves or parks in each case near the user.
  • the devices for autonomous further movement may further include a sensor detecting the respective position of the user relative to the traction device.
  • the senor may be provided for detecting the detachment of the user from the transport device.
  • the senor detects a starting from the detection of the
  • the sensor may e.g. a sensor provided for image processing or e.g. Evaluate light and / or sound reflection signals that are reflected by the user.
  • a user-worn mark is erka nnt, for example, a specific piece of clothing.
  • the invention is explained below with reference to embodiments and the accompanying, relating to these embodiments drawings.
  • 1 shows an example of a Golfcaddy the operation of a control device according to the invention explanatory representation
  • Fig. 2 is a circuit diagram of a motor drive of the Golfcaddy of Fig. 1, in which a control device according to the invention is integrated.
  • a golf caddy comprises two spaced-apart coaxial wheels 1 and a structure 2 connected to the wheels 1.
  • the body 2 comprises a chassis 3, a pull / push rod 4 and a container 5 for receiving golf clubs 6.
  • a force sensor 8 is housed, which determines a tensile or thrust force that exerts a user of the Golfcaddy on the handle 7.
  • the stator is rigidly connected to the extending between the wheels 1 wheel axle of the chassis 3 and the rotor is firmly connected to the ground 10 contacting wheel rim of the respective wheel 1.
  • a power control device 1 1 applies the voltage of a battery 12 for operating the electric machine 9 as a motor to the electric machine 9 or a generator voltage of the electric machine 9 is determined by the
  • Power control device 1 1 used to charge the battery 12.
  • the power control device 1 1 is in turn connected to a higher-level controller 13 in connection, to which further the force sensor 8, an inclination sensor 14 and a rotation angle sensor 20 are connected.
  • the inclination sensor 14 detects the inclination of the structure 2 of the Golfcaddy with respect to a vertical, parallel to the axis of rotation 1 6 of the wheels 1 level 15.
  • the rotation angle sensor 20 detects changes in the rotational position of the respective rotor and thus rotational positions of the wheels l.
  • at least the propulsion takes place solely by muscular force of the user who exercises a pulling or pushing force via the handle 7.
  • the controller 13 and the electric machine 9 ensure that the body 2 maintains a tilted position in which it is in an equilibrium state with respect to the rotational axis 16 of the wheels 1.
  • the user of the Golfcaddy needs in addition to its pulling or pushing force on the handle 7 no pivoting movements of the body 2 counteracting forces apply. Accordingly, the Golfcaddy can be handled comfortably like a multi-axle car despite only one wheel axle.
  • FIG. 1 generated in the context of Einregelung the state of equilibrium motor-driven electric machine of the movement of the Golfcaddy superimposed movements according to arrows 17 and 18, wherein the
  • Position of the axis of rotation 16 of the wheels 1 is adjusted so that the axis of rotation 16 is located in the center of gravity 19 contained vertical plane, as shown in Fig. 1 b, which shows the state of equilibrium.
  • the user may, if desired, override, e.g. to prevent rapid discharge of the battery 12.
  • the electric machine 9 can be used as a generator brake for charging the battery 12.
  • the force sensor 8 can be omitted in the described embodiment or operating mode.
  • the electric machine 9 forms an auxiliary drive to assist the user.
  • About a predetermined functional relationship between the measurement signal of the accommodated in the handle 7 force sensor 8 and a through the Electric machine 9 generated or required propulsion or braking force regulates a politicianomeder by the user share of a desired propulsion or braking force.
  • the remainder is taken over by the electric machine 9, with the propulsion or braking torque of the electric machine 9 being alternately superimposed by opposing moment changes for the purpose of controlling the equilibrium state.
  • the proportion of the user to be applied possibly adjustable proportion of the propulsion or braking force can go to zero.
  • the electric machine 9 then forms a full drive.
  • the Golfcaddy can be operated entirely without manual contact by the user.
  • the transport device is provided for further travel with a speed which is present when the user disconnects from the transport device.
  • the user can temporarily break away from the transport and, while moving along with the golf cart, has both hands free.
  • the remote control device 20 In another mode, the remote control device 20 is used, which causes the golf caddy to follow the user automatically at a certain distance and stop when the user stops.
  • the regulation described above ensures that the structure 2 always maintains its equilibrium position.
  • the direction control of the Golfcaddy takes place in this remote control mode by corresponding different control of the electrical machines in the wheels. 1

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif de transport pouvant être déplacé manuellement, notamment un chariot de golf, présentant des roues (1) montées coaxialement à distance l'une de l'autre et une structure (3-5) pouvant pivoter autour de l'axe de rotation (16) des roues (1) et raccordée à ces dernières. Selon l'invention, ce dispositif de transport présente également des dispositifs servant à régler automatiquement une position de pivotement prédéfinie de la structure. En particulier lorsque la position du centre de gravité de la structure (3-5) se trouve au-dessus de l'axe de rotation (16), le réglage est effectué, selon l'invention, sur une position d'équilibre de la structure (3-5).
PCT/DE2017/100128 2016-03-08 2017-02-17 Dispositif de transport pouvant être déplacé manuellement Ceased WO2017152902A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17708967.9A EP3426539A1 (fr) 2016-03-08 2017-02-17 Dispositif de transport pouvant être déplacé manuellement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016104147.5A DE102016104147A1 (de) 2016-03-08 2016-03-08 Von Hand bewegbare Transportvorrichtung, insbesondere Golfcaddy
DE102016104147.5 2016-03-08

Publications (1)

Publication Number Publication Date
WO2017152902A1 true WO2017152902A1 (fr) 2017-09-14

Family

ID=58231320

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2017/100128 Ceased WO2017152902A1 (fr) 2016-03-08 2017-02-17 Dispositif de transport pouvant être déplacé manuellement

Country Status (3)

Country Link
EP (1) EP3426539A1 (fr)
DE (1) DE102016104147A1 (fr)
WO (1) WO2017152902A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2584134A (en) * 2019-05-23 2020-11-25 Collyer Alan A sports trolley
US20220089208A1 (en) * 2020-09-18 2022-03-24 Data-Metalcraft, Inc. Tilt Brake Mechanism For Hand Truck

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018200826A1 (de) * 2018-01-18 2019-07-18 Robert Bosch Gmbh Fahrzeug
DE202020105169U1 (de) 2020-09-08 2021-12-09 Rolf Gseller Vorrichtung mit einem Behälter und einem Antriebsmodul

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9311075U1 (de) * 1993-07-24 1994-11-24 Strothmann, Rolf, Dr., 66123 Saarbrücken Elektrischer Antrieb eines von Hand gezogenen oder geschobenen, fahrbaren Gegenstands
WO2012095302A1 (fr) * 2011-01-10 2012-07-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Système de transport multifonctionnel comprenant plusieurs unités de transport déplaçables
US20140114559A1 (en) * 2011-06-28 2014-04-24 Hitachi, Ltd. Inverted Pendulum Type Moving Body Having Velocity Planning Device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015121797A1 (fr) * 2014-02-12 2015-08-20 Kaddymatic Inc Système de commande d'un chariot automoteur, en particulier un chariot de golf

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9311075U1 (de) * 1993-07-24 1994-11-24 Strothmann, Rolf, Dr., 66123 Saarbrücken Elektrischer Antrieb eines von Hand gezogenen oder geschobenen, fahrbaren Gegenstands
EP0662012A1 (fr) 1993-07-24 1995-07-12 Rolf Strothmann Commande auxiliaire electrique d'un dispositif mobile, mu principalement par force humaine ou animale, notamment tracte ou pousse
WO2012095302A1 (fr) * 2011-01-10 2012-07-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Système de transport multifonctionnel comprenant plusieurs unités de transport déplaçables
US20140114559A1 (en) * 2011-06-28 2014-04-24 Hitachi, Ltd. Inverted Pendulum Type Moving Body Having Velocity Planning Device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2584134A (en) * 2019-05-23 2020-11-25 Collyer Alan A sports trolley
US20220089208A1 (en) * 2020-09-18 2022-03-24 Data-Metalcraft, Inc. Tilt Brake Mechanism For Hand Truck
US12428046B2 (en) * 2020-09-18 2025-09-30 Data-Metalcraft, Inc. Tilt brake mechanism for hand truck

Also Published As

Publication number Publication date
DE102016104147A1 (de) 2017-09-14
EP3426539A1 (fr) 2019-01-16

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