Star-shaped wheeled motor vehicle for stairs

Abstract

The invention relates to a motor vehicle, such as a wheelchair, comprising a main chassis (14), first ground connections fixed to the main chassis, second ground connections longitudinally at a distance from the first, and an articulation device (20) for the second ground connections relative to the main chassis. The articulation device comprises a bent body (34), a first longitudinal pivot connection (36) connecting the bent body to the main chassis, and a second vertical pivot connection (38) connecting the bent body to the second ground connections. The ground connections each comprise a hub (22) with a central axis of rotation (24), three wheels (26). The bent body comprises a concave surface (48) facing the second ground connections (18). Relative to the central axis of rotation of the hub of the second ground connections, the concave surface is radially at a distance from the associated wheels. Figure to be published with the abstract: Figure 3

Description

Title of the invention: Star-shaped wheeled motor vehicle for stairs

[0001] The invention relates to the crossing of stairs by a vehicle. The invention also relates to a wheelchair. The invention relates more specifically to a motor vehicle with wheels arranged in a star pattern for crossing stairs.

[0002] In order to compensate for the abilities of an individual with reduced mobility, we know of motorized wheelchairs allowing them to regain a certain autonomy. Such a vehicle has a seat on a chassis whose wheels are coupled to different motors in order to move forward and steer it. The motors are controlled by a central control or manual controls directly on certain wheels. These light vehicles are particularly compact, allowing them to pass through a doorway, which allows them to be used in a home.

[0003] In addition to the ability to move on flat terrain, it is necessary to consider the ability of a motorized chair to move on steep terrain. In practice, such a vehicle encounters curbs and steps in urban environments. These elevations of around 15 cm form obstacles; and even barriers despite their reduced height.

[0004] Document US4790548A discloses a vehicle for ascending and descending stairs. The vehicle essentially comprises a seat and a chassis with a pair of electrically controlled coaxial transverse axles. On each side, an axle rotatably has a set of wheels arranged in a star pattern. Each wheel set has at least three wheels, one at each equidistant end of its radial arms. Each axle drives either the spider or the associated wheels via a differential gear inside the spider. When ascending a staircase, the wheel sets immediately turn when the wheels are prevented from turning by encountering a riser. The differential also serves to ensure safety and smooth descent of the stairs.The vehicle is suitable for use as a wheelchair, in which case a seat shift device is provided to shift the vehicle's centre of gravity forward or backward depending on the gradient.

[0005] However, such a vehicle can only negotiate stairs in a straight line. In the event of a quarter turn, it is no longer at its advantage. In response to this physical constraint, some vehicles are equipped with tri-wheel modules and are articulated in several longitudinal sections.

[0006] Document CN106892014B presents an obstacle-clearing robot, and in particular of a spiral staircase. The crossing robot comprises a central platform, a front chassis and a rear chassis each pivotally connected to the central platform. Each chassis has an axle, each side of which is equipped with a hub receiving three wheels arranged in a star shape. In addition, the hubs are mounted using swing arms coupled with shock absorbers. The front chassis is connected to the central chassis using a vertical axis pivot link, while the rear chassis is connected to the central chassis using a vertical axis pivot link and a horizontal axis pivot link. These last two links are mounted on an L-shaped hinge bracket.

[0007] However, such a configuration has limited stability since in steeply curved staircases the central platform tilts outwards. Its load is likely to tip over, and in certain cases the robot is exposed to a loss of balance. The body of the vehicle may hit a wall delimiting the outside of the staircase, so it cannot use narrow staircases without damage.

[0008] Furthermore, the crossing robot remains complex and bulky. In order to preserve its loading capacity, the central platform is extended and close to the axles. This limits the pivoting amplitude of the chassis along their vertical pivot axis. The wheelbase is long. The steering angle is limited, and the crossing robot can therefore only use wide spiral staircases. Tight spiral staircases are therefore excluded.

[0009] The invention aims to address at least one of the problems or drawbacks encountered in the prior art. In particular, the invention aims to improve the ability of a motor vehicle to navigate a narrow spiral staircase. The invention also aims to optimize the compactness, stability, simplicity, and maneuverability of a motor vehicle. The invention also aims to improve the comfort of a wheelchair.

[0010] According to a first aspect, the invention proposes a motor vehicle comprising a main chassis, first ground connections fixed to the main chassis, at least one second ground connection longitudinally at a distance from the first ground connections, a device for articulating the at least one second ground connection relative to the main chassis, the articulation device comprising a bent body, a first pivot connection with a longitudinal pivot axis connecting the bent body to the main chassis, a second pivot connection with a vertical pivot axis connecting the bent body to the at least one second ground connection; the first ground connections and the at least one second ground connection each comprising a hub with a central axis of rotation, a plurality of wheels distributed around the central axis of rotation; remarkable in that the bent body comprises a concave surface facing the at least one second ground connection;relative to the central axis of rotation of the hub of; the at least one second ground connection, the concave surface is radially distant from the wheels of said at least one second ground connection.

[0011] The configuration of the bent body makes it possible to accommodate each second ground connection, and to provide them with an internal space without physical constraints for their angular movements. Maneuverability is improved, which leads to better adaptation to low-curvature spiral staircases. Furthermore, this gain is achieved while occupying a minimum of space in the motor vehicle.

[0012] Preferably, the motor vehicle is a wheelchair, said wheelchair comprising a seat mounted on the main chassis.

[0013] Preferably, the wheelchair comprises a third pivot connection connecting the seat to the main chassis in a pivoting manner, and an actuator for tilting the seat forward and backward relative to the main chassis.

[0014] Preferably, the bent body comprises a lower portion vertically at the level of the main chassis and integrating the first pivot connection, and an upper portion above the at least one second connection to the ground and integrating the second pivot connection.

[0015] Preferably, the motor vehicle comprises an offset device with a longitudinal portion extending from the at least one second pivot connection to the central axis of rotation of the hub of the at least one second ground connection; and preferably, a transverse hub mounting portion of the at least one second ground connection, the longitudinal portion extending longitudinally from the transverse portion towards the main chassis.

[0016] Preferably, the motor vehicle has a first width at the level of the first ground connections, and a second width at the level of the at least one second ground connection, the first width being wider than the second width; preferably the first width is at least three times wider than the second width.

[0017] Preferably, the wheels comprise a diameter, the at least one second ground connection comprises two second ground connections separated by a first distance less than or equal to said diameter; preferably, the at least one second ground connection is transverse to the center of the motor vehicle.

[0018] Preferably, the first ground connections comprise a drive motor; preferably, each first ground connection comprises a drive motor.

[0019] Preferably, the motor vehicle comprises energy storage means fixed to the main chassis; and / or the first ground connections form a first axle rigidly connected to the main chassis.

[0020] Preferably, the motor vehicle comprises a driving system autonomous with sensors on the main chassis, preferably, the second pivot link includes a directional motor connected to the elbow body.

[0021] Preferably, the main chassis comprises a chassis width greater than the second width.

[0022] Preferably, the first ground connections are transversely on each side of the main chassis.

[0023] Preferably, the first width is twice as wide as the second width.

[0024] Preferably, the vertical pivot axis is longitudinally between the main chassis and the central rotation axis of the hub of the at least one second ground connection.

[0025] Preferably, each plurality of wheels comprises three wheels distributed at 120° around the axis of rotation of the first axle or the second axle.

[0026] Preferably, the arched body comprises a first portion connected to the main frame, and a second portion inclined relative to the first portion and above the second frame.

[0027] Preferably, each hub forms a star with branches, each branch being associated with one of the wheels.

[0028] Preferably, each central axis of rotation is a transverse axis of rotation.

[0029] Preferably, the motor vehicle is a single-seater vehicle.

[0030] Preferably, the wheels of the first ground connections comprise a diameter lower than the wheels of at least one second ground connection.

[0031] Preferably, the wheels of the first ground connections are front wheels of the wheelchair.

[0032] According to another aspect, the invention proposes a motor vehicle comprising: a longitudinal direction, a transverse direction, a first chassis and a second chassis longitudinally opposite the first chassis; a first axle secured to the first chassis; a second axle secured to the second chassis; a device for articulating the first chassis to the second chassis with a vertical pivot axis and a horizontal pivot axis; each chassis is equipped with ground connections comprising a hub with a central rotation axis, a plurality of wheels distributed around the central rotation axis; remarkable in that the vertical pivot axis is vertically above the hubs of the ground connections of the second chassis; preferably above the wheels of the ground connections of the second chassis. This aspect preserves the capacity of the ground connections of the second chassis to pivot around a vertical axis.

[0033] According to another aspect, the invention provides a motor vehicle comprising a main chassis, first ground connections fixed to the main chassis, at least a second ground connection longitudinally at a distance from the first ground connections, a device for articulating the at least one second ground connection relative to the main chassis, the articulation device comprising a bent body, a first pivot connection with a longitudinal pivot axis connecting the bent body to the main chassis, a second pivot connection with a vertical pivot axis connecting the bent body to the at least one second ground connection; the first ground connections and the at least one second ground connection each comprise a hub with a central axis of rotation, a plurality of wheels distant from the central axis of rotation; remarkable in that the central axes of rotation of the first ground connections are fixed relative to the main chassis. Such an arrangement makes it possible to improve stability.

[0034] Each characteristic introduced by the expression “preferably” given in relation to one of the aspects of the invention applies to all the other aspects of the invention.

[0035] The invention will be well understood and other aspects and advantages will appear clearly on reading the description which follows, given with reference to the figures appended and listed below.

[0036] [Fig.l] shows a motor vehicle according to the invention in a spiral staircase.

[0037] [Fig.2] illustrates a motor vehicle according to the invention in a spiral staircase.

[0038] [Fig.3] is a cross-sectional view of the at least one second ground connection of a motor vehicle according to the invention.

[0039] [Fig.4] is an isometric view of the first ground connections for a main chassis of a motor vehicle according to the invention.

[0040] [Fig.5] is a top view of the at least one second ground connection of a motor vehicle according to the invention.

[0041] In the following description, the term "comprise" is synonymous with "include" and is not limiting in that it allows the presence of other elements in the motor vehicle to which it relates. It is understood that the term "comprise" includes the terms "consist of". The terms "external" and "internal" will designate respectively that which is oriented towards the outside of the vehicle and towards the inside of the vehicle.

[0042] In the present description, the term “longitudinal”, the term “longitudinally”, the term “transverse”, and the term “transversely” are used according to the reference frame of the motor vehicle, in the mounting configuration. The reference frame of the motor vehicle is attached to the main chassis. The term “longitudinal” corresponds to the main direction of movement of the vehicle. The term “transverse” corresponds to a direction perpendicular to the main direction of movement of the vehicle. The term “front” refers to the main direction of movement of the vehicle. The term "rear" refers to the opposite of the front of the vehicle.

[0043] The X axis represents the longitudinal direction, the Y axis represents the transverse direction, and the Z axis represents the vertical direction of the motor vehicle. These three axes define a direct trihedron whose orientation is preserved throughout the figures.

[0044] In the present description, the term "vertical" and the term "horizontal" are not to be understood in the strict sense of the term. Indeed, they allow an inclination of at most 20°, preferably at most 10°, more preferably at most 5°, even more preferably at most 2°; compared to the strict sense of these terms.

[0045] In this description, the technical characteristics are defined in the assembly configuration of the motor vehicle, unless explicitly mentioned otherwise.

[0046] Throughout the description, the different figures use the same reference signs to designate identical or similar entities.

[0047] [Fig. 1] represents a motor vehicle 10 according to the invention. The motor vehicle 10 climbs a turning staircase 12; in this case a spiral staircase 12, also called a spiral staircase insofar as its steps describe a helicoid.

[0048] The motor vehicle 10 comprises a main chassis 14, forming in this case a front chassis, or more generally a first chassis. The main chassis 14 forms a support and / or the underbody of the motor vehicle 10. It may be generally triangular. The motor vehicle 10 also comprises first ground connections 16 fixed to the main chassis 14. The first ground connections 16 are transversely on each side of the main chassis 14. The main chassis 14 transversely connects the first ground connections 16.

[0049] The motor vehicle 10 further comprises at least one second ground connection 18, in this case two second ground connections 18. The second ground connections 18 are longitudinally spaced from the first ground connections 16. They are longitudinally spaced from the main chassis 14.

[0050] The motor vehicle 10 comprises an articulation device 20 for the second ground connections 18 relative to the main chassis 14. The articulation device 20 allows a rotational movement of the second ground connections 18 relative to the main chassis 14, along at least one pivot axis. This aspect promotes directional movements and twists in order to adapt to the roughness formed by the steps of the staircase 12. Each ground connection comprises a hub 22 with a central rotation axis 24, a plurality of wheels 26 distributed around the central rotation axis 24.

[0051] The central axes of rotation 24 of the first ground connections 16 are collinear. The central axes of rotation 24 of the second ground connections 18 are collinear; but here inclined relative to those of the first ground connections 16. However, they remain parallel to the ground. It is observed that thanks to the articulation device 20, the central axes of rotation 24 are parallel to the step noses that the wheels 26 cross or encounter. These aspects make it possible to avoid tilting outwards of the staircase 12. Balance is preserved, both when going up and down the staircase.

[0052] When a first ground connection encounters a step at an angle, a wheel hits it. Then, thanks to the drive motors, the corresponding axle pivots until it comes parallel against this step. Two opposite wheels of the axle come against this step. Then, the hub 22 tilts in order to climb the step. It then changes support wheels, that is to say in connection with the ground.

[0053] In this case, the motor vehicle 10 is a wheelchair 28. The wheelchair 28 comprises a seat 30 mounted on the main chassis 14. The seat 30 accommodates a passenger 32. It has a seat, a backrest, and optionally means (not shown) for holding the passenger 32.

[0054] According to one option of the invention, the wheelchair 28 comprises a third pivot connection (not shown) pivotally connecting the seat 30 to the main chassis 14, and an actuator (not shown); such as a jack; in order to tilt the seat 30 forwards and backwards relative to the main chassis 14. Thus, when the wheelchair 28 goes up or down the stairs 12, the seat 30 remains upright, which contributes to balance and comfort. Generally, the motor vehicle comprises means for tilting the seat relative to the first chassis in order to maintain its verticality.

[0055] [Fig.2] shows a motor vehicle 10 in the curvature of a staircase 12. The motor vehicle corresponds to that shown in relation to [Fig.l]. The seat is not shown for visibility.

[0056] The articulation device 20 comprises a bent body 34, for example in the form of a quarter-turn arch. The articulation device 20 generally forms a device for coupling the main chassis 14 to the second ground connections 18. It comprises a first pivot connection 36 with a longitudinal pivot axis connecting the bent body 34 to the main chassis 14, a second pivot connection 38 with a vertical pivot axis connecting the bent body 34 to the at least one second ground connection 18. The first pivot connection 36 and the second pivot connection 38 are spaced apart vertically and / or longitudinally.

[0057] The motor vehicle 10 has a first width 40 at the level of the first ground connections 16, and a second width 42 at the level of the at least one second ground connection 18. The first width 40 is wider than the second width 42. Optionally, the first width 40 is at least twice, preferably at least twice, the width 40. least three times wider than the second width 42. The main chassis 14 comprises a chassis width greater than the second width 42. These aspects have the effect of improving the compactness of the motor vehicle 10, and therefore the advantage of improving the ability of the motor vehicle 10 to navigate narrow and tightly curved staircases 12. The widths are measured outside the wheels 26 of the first ground connections 16 and the at least one second ground connection 18. Since the second width 42 is significantly narrower than the first width 40, the motor vehicle 10 has more freedom with regard to the trajectory of the second ground connection 18. In the case of a spiral staircase, the wheels 26 of the first ground connections will pass more centrally than those of the second ground connection. The position of the latter is no longer a constraint.

[0058] The motor vehicle 10 comprises energy storage means 44 fixed to the main chassis 14. The energy storage means 44 comprise, for example, an electric battery or a capacitor. They are capable of powering the drive motors of the motor vehicle 10. The installation of the energy storage means 44 improves the stability of the motor vehicle 10 since it brings the center of gravity closer to the main chassis 14. In order to further improve stability, the first ground connections 16 form a first axle 46 rigidly connected to the main chassis 14. The first axle 46 is a rigid axle. The central axes of rotation 24 of the first ground connections 16 are fixed relative to the main chassis 14.

[0059] According to one option of the invention, the motor vehicle comprises an autonomous driving system (not shown) with sensors 70 on the main chassis 14. The second pivot link 38 comprises a directional motor. The autonomous driving system comprises a computer capable of steering the motor vehicle 10 as a function of the obstacles detected via the sensors 70. The sensors 70 comprise, for example, a radar and / or a camera.

[0060] According to one embodiment of the invention, the motor vehicle is an autonomous delivery vehicle with a loading space; for example on the main chassis. Such a motor vehicle is able to make deliveries to each apartment in a building by using the spiral staircases; regardless of their cramped nature.

[0061] According to one embodiment, the wheels 26 of the first ground connections 16 comprise a diameter smaller than the diameter of the wheels 26 of the at least one second ground connection 18. These wheels 26 may be front wheels and rear wheels respectively. This aspect allows the front, right and left wheels to rest on the inside of a spiral staircase where the width of the steps is very reduced. Thus, the motor vehicle 10 remains stable on a narrower step.

[0062] [Fig. 3] shows an articulation device 20 associated with at least a second ground connection 18 of a motor vehicle. The motor vehicle corresponds to that presented in relation to one of figures 1 to 2. A portion of the seat 30 is shown. Only one second ground connection 18 is visible, and masks the one which is optional and behind. In the remainder of the description, each characteristic given in reference to one of the second ground connections 18 applies to the other.

[0063] The articulation device 20 connects the second ground connection 18 relative to the main chassis 14. The articulation device 20 comprises a bent body 34, for example with a constant curvature of 90° around the central axis of rotation 24. The second ground connections 18 are transverse to the center of the motor vehicle 10.

[0064] The bent body 34 has two ends, receiving on the one hand the first pivot connection 36 with a longitudinal pivot axis, and on the other hand the second pivot connection 38 with a vertical pivot axis. These ends are opposite angular ends. They are also vertical and longitudinal ends. The bent body 34 is generally inclined between a point at the main chassis 14 and a point above the second ground connection 18.

[0065] The plurality of wheels 26 forms a set of coplanar wheels 26. The wheels 26 are arranged in a star shape. They are offset 120° relative to the central axis of rotation 24, and are connected to each other by the hub 22. In the present embodiment, the hub 22 is triangular. However, it may have any other shape.

[0066] The central rotation axis 24 is longitudinally at the center of the second ground connection 18. It is longitudinally offset, for example backward, relative to the vertical pivot axis of the second pivot connection 38. Thus, in the event of contact with a step, each second ground connection 18 automatically pivots around the second pivot connection 38, and comes perpendicular to its contact. This increases stability and traction when the second pivot connection 38 is driven.

[0067] The bent body 34 forms an offset part. It comprises a concave surface 48 facing the second ground connection 18, and a convex surface 50 both towards the main chassis 14 and opposite the concave surface 48. The concave surface 48 is curved. It is a lower surface, facing the ground. The bent body 34 separates the second ground connection 18 from the seat 30.

[0068] With respect to the central axis of rotation 24 of the hub 22 of the second ground connection 18, the concave surface 48 is radially spaced from the wheels 26 of said second ground connection 18. Thus, the bent body 34 delimits a recess housing each second ground connection 18; which allows it to pivot when it climbs a step, and to pivot when the motor vehicle turns. Thus, the motor vehicle remains compact, and allows free rotation of the second ground connection 18 with respect to the vertical pivot axis. The second ground connection 18 can rotate 360° by relative to the bent body 34. This allows the motor vehicle to turn on itself; for example around the main chassis 14. Furthermore, the wheelbase decreases. All these aspects improve the steering angle, and therefore the ability to navigate stairs with a small radius of curvature.

[0069] The bent body 34 comprises a lower portion 52 vertically at the level of the main chassis 14 and integrating the first pivot connection 36. In addition, the bent body 34 comprises an upper portion 54 above the at least one second ground connection 18. The upper portion 54 integrating the second pivot connection 38.

[0070] The second pivot link 38 optionally comprises a directional motor 56. This aspect makes it possible to orient the second ground connection 18 around the vertical pivot axis, and thus to actively steer the motor vehicle. The directional motor 56 is fixed to the bent body 34, for example above.

[0071] According to an alternative of the invention, each plurality of wheels comprises at least four wheels.

[0072] [Fig.4] shows the first ground connections 16, left and right, of a motor vehicle. The motor vehicle corresponds to that presented in relation to one of figures 1 to 3. The main chassis between them is not shown for the sake of visibility.

[0073] The first ground connections 16 each comprise a drive motor 58. Each drive motor 58 is an electric motor. According to one embodiment, the drive motor 58 drives the associated wheels 26, and the hub 22 in the event of the wheels 26 locking.

[0074] Each hub 22 may comprise sets of cascading pinions connecting each wheel 26. It may comprise a star shape. Each hub 22 comprises concentric branches regularly offset around the corresponding central axis of rotation 24. The wheels 26 are at the free ends of the branches.

[0075] According to an alternative of the invention, the motor vehicle comprises a drive motor common to the first two ground connections. This configuration makes it possible to materialize a more rigid axle, and therefore more stable on stairs.

[0076] According to an alternative or an option of the invention, the at least one second ground connection comprises a drive motor.

[0077] [Fig. 5] is a top view of the second ground connections 18 of a motor vehicle. The motor vehicle corresponds to that presented in relation to one of FIGS. 1 to 4.

[0078] In the present embodiment, the at least one second ground connection 18 comprises two second ground connections 18. They form a second axle.

[0079] The motor vehicle comprises an offset device 60 connected to the second ground connections 18 and to the second pivot connection 38. The offset device 60 comprises a longitudinal portion 62 extending from the second pivot connection 38 to the central axes of rotation 24 of the hubs 22 of the second ground connections 18. In this embodiment, the central axes of rotation 24 are collinear, and therefore coincident.

[0080] The offset device 60 comprises a transverse portion 64 for mounting the hub 22 of the second ground connection 18. The longitudinal portion 62 extends longitudinally from the transverse portion 64 towards the main chassis (not shown). The offset device 60 generally forms a second chassis having a “T” shaped profile.

[0081] The wheels 26 comprise a diameter 66, understood as their outer diameter. The wheels 26 below are shown in solid lines, and the wheels 26 at the top are shown in dotted lines. The motor vehicle has a first distance 68 between the second ground connection 18 on the left and the second ground connection 18 on the right. The first distance is measured transversely between the left wheels 26 and the right wheels 26. The first distance 68 is less than or equal to said diameter 66. This ratio improves the compactness of the motor vehicle. It also contributes to its maneuverability.

[0082] According to an alternative of the invention, the at least one second ground connection comprises a single ground connection with a single plurality of wheels.

[0083] The invention comprises the combination of all the embodiments shown by all the figures.

[0084] Figures 1 to 4 are isometric views. They each respect a specific scale, real angles and real proportions.

Claims

Claims

1. Motor vehicle (10) comprising a main chassis (14), first ground connections (16) fixed to the main chassis (14), at least one second ground connection (18) longitudinally at a distance from the first ground connections (16), an articulation device (20) of the at least one second ground connection (18) relative to the main chassis (14), the articulation device (20) comprising a bent body (34), a first pivot connection (36) with a longitudinal pivot axis connecting the bent body (34) to the main chassis (14), a second pivot connection (38) with a vertical pivot axis connecting the bent body (34) to the at least one second ground connection (18); the first ground connections (16) and the at least one second ground connection (18) each comprising a hub (22) with a central axis of rotation (24), a plurality of wheels (26) distributed around the central axis of rotation (24);characterized in that the bent body (34) comprises a concave surface (48) facing the at least one second ground connection (18); relative to the central axis of rotation (24) of the hub (22) of the at least one second ground connection (18), the concave surface (48) is radially distant from the wheels (26) of said at least one second ground connection (18).;

2. A motor vehicle (10) according to claim 1, characterized in that the motor vehicle (10) is a wheelchair (28), said wheelchair (28) comprising a seat (30) mounted on the main chassis (14).

3. Motor vehicle (10) according to claim 2, characterized in that the wheelchair (28) comprises a third pivot connection connecting the seat to the main chassis (14) in a pivotable manner, and an actuator for tilting the seat (30) forwards and backwards relative to the main chassis (14).

4. Motor vehicle (10) according to one of claims 1 to 3, characterized in that the bent body (34) comprises a lower portion (52) vertically at the level of the main chassis (14) and integrating the first pivot connection (36), and an upper portion (54) above the at least one second ground connection (18) and integrating the second pivot connection (38).

5. Motor vehicle (10) according to one of claims 1 to 4, characterized in that the motor vehicle (10) comprises a device offset (60) with a longitudinal portion (62) extending from the at least one second pivot connection (38) to the central rotation axis (24) of the hub (22) of the at least one second ground connection (18); and preferably, a transverse portion (64) for mounting the hub (22) of the at least one second ground connection (18), the longitudinal portion (62) extending longitudinally from the transverse portion (64) towards the main chassis (14).

6. Motor vehicle (10) according to one of claims 1 to 5, characterized in that the motor vehicle (10) has a first width (40) at the first ground connections (16), and a second width (42) at the at least one second ground connection (18), the first width (40) being wider than the second width (42); preferably the first width (40) is at least three times wider than the second width (42).

7. Motor vehicle (10) according to one of claims 1 to 6, characterized in that the wheels (26) comprise a diameter (66), the at least one second ground connection (18) comprises two second ground connections (18) separated by a first distance (68) less than or equal to said diameter (66); preferably, the at least one second ground connection (18) is transverse to the center of the motor vehicle (10).

8. Motor vehicle (10) according to one of claims 1 to 7, characterized in that the first ground connections (16) comprise a drive motor (58); preferably, each first ground connection (16) comprises a drive motor (58).

9. Motor vehicle (10) according to one of claims 1 to 8, characterized in that the motor vehicle (10) comprises energy storage means (44) fixed to the main chassis (14); and / or the first ground connections (16) form a first axle (46) rigidly connected to the main chassis (14).

10. Motor vehicle (10) according to one of claims 1 to 9, characterized in that the motor vehicle (10) comprises an autonomous driving system with sensors (70) on the main chassis (14), preferably, the second pivot connection (38) comprises a directional motor (56) connected to the bent body (34).

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