Fork with integrated motor

Abstract

An electric propulsion device that powers a vehicle via a motor unit integrated into a fork. This assembly, pivoting around its axis (10), eliminates visible electrical cables while allowing 360° free movement. It assists the user with propulsion while promoting continuous physical effort. It consists of a wheel motor (1), a battery (3), its power electronics (4) and control electronics (5), as well as its interface section (6). The device according to the invention is primarily intended for use on wheelchairs, but it can also be used on other types of vehicles.

Description

Title of the invention: Fork with integrated motor

[0001] The present invention relates to a fork equipped with a motorized wheel, its servo system and its battery in order to motorize a vehicle, for example a wheelchair via its pivot wheel forks.

[0002] Prior art:

[0003] The propulsion of a wheelchair is traditionally carried out by the user via their upper limbs or, if their functional abilities allow, via their lower limbs (foot traction), which leads to fatigue, pain and injuries to the shoulders, respiratory problems, risks of retroversion of the pelvis with forward sliding and often difficulties in maintaining a course in steering the said wheelchair.

[0004] A wheelchair can also be propelled by adding a motorization kit that attaches to the wheelchair. This considerably increases the overall weight (wheelchair + motorization kit), hindering the user's ability to handle the assembly and requiring more effort when the motorization system is switched off. Another drawback of this solution is that these motorization kits do not take into account the surface condition or the environment in which the wheelchair is moving, which can lead to collisions with other users, staff, furniture, etc. Description of the invention

[0005] The propulsion device according to the invention makes it possible to overcome these drawbacks. It comprises, in a first characteristic, a motor integrated into a pivoting fork replacing the one originally present.

[0006] In a second feature the device is equipped with a set of sensors allowing the learning of the environment in which the user is located, the system therefore adapts its operation by interacting on its own current, torque, speed and power.

[0007] A third feature of this device is the possible addition of an ergonomic handle, allowing the user of the chair equipped with this device to steer their chair from left to right using their upper limbs.

[0008] A fourth feature of this device is the addition of a force sensor (strain gauge) in the arm (mentioned in the third feature), allowing the user to control forward and reverse movement in addition to left and right direction, proportionally. The main advantage of this type of assembly is the complete freedom of rotation of the fork thanks to the integration of all the components constituting a motor. It can therefore rotate freely. around its axis without being connected by a wire to its chassis.

[0009] The device according to the invention can be mounted in place of a traditional (non-electrified) pivot fork, for example, a wheelchair fork. It is also possible to add this device in addition to existing forks and wheels, for example, at the rear and between the two large wheels of a manual wheelchair.

[0010] The fork comprises a motorized wheel at its center, a battery on one side, an electronic assembly consisting of boards with microprocessors, sensors, and various electronic components on the other, a pivot axle support (8) compatible with the structure receiving the device, and a pivot axle system allowing the fork to rotate at its center. It is compatible with the bearings present on the frame or chassis. The pivot axle support (8) is determined according to the vehicle to be adapted; its shape and size vary depending on the support's location and the required height. For example, in the case of replacing the fork of a manual wheelchair, the pivot axle support (8) must maintain the same characteristics of the original wheelchair, especially with regard to its seat-to-floor height, and therefore allow for four points of contact with the ground (the four wheels), as originally designed.

[0011] [Fig-1] and [Fig.2] represent an overview of the invention.

[0012] [Fig.3] represents a variant equipped with an ergonomic directional arm

[0013] In one embodiment and with reference to these drawings, the propulsion device comprises a motorized wheel (1) which is fixed to the fork (2). This motor requires a battery (3) connected to a servo control board (4), which is controlled by a data acquisition board equipped with sensors (5). The Human-Machine Interface is provided via buttons and indicator lights (6). The entire product is fixed to the frame (for example, a wheelchair) via a compatible axle. The shape of the pivot support (7) is determined according to the model receiving the device.The sensors present with the acquisition card (5) can be of the gyroscopic type via an inertial measurement unit, allowing the detection of the vehicle's tilt; some can also measure the current absorbed, reflecting the torque required for the vehicle's movement and / or for safety in the event of an obstacle; some sensors can determine the vehicle's speed, thus allowing the detection of the impulse emitted by the user when they wish to move forward, and also allow the speed to be regulated according to the other sensors.

[0014] It should also be noted that the propulsion device can be used by a third party with or without the participation of the vehicle user, for example in the case of using the propulsion device for a child's wheelchair or for bariatric use, the caregiver can intervene by pushing the wheelchair in the traditional way and activate the device, which will provide him with considerable assistance during the handling and propulsion of the wheelchair.

[0015] When the steering arm (8) is added, it is fixed to the side of the fork. It can be equipped with a height adjustment system (not shown here) allowing it to be adjusted to the user's needs. Depending on the requirements, it can be mounted on the right or left. The end of this arm is an ergonomic and comfortable palm rest (9). Inside this arm, a strain gauge can be placed, allowing the pressure to be measured forward or backward on the arm. This measurement is then sent to the control electronics, allowing the user to move the arm forward by pushing it and backward by pulling it. Since the strain gauge provides proportional feedback, it allows for smooth operation because the motor's response is proportional to the force exerted by the user on the arm.

Claims

Claims

1. Electric propulsion device motorizing a vehicle by replacing its original fork, characterized in that it comprises a motorized wheel (1), its battery (3), its power electronics (4) and control (5) as well as its HMI part (6). This assembly pivots around the axis (10).

2. Electric propulsion device according to claim 1 characterized by a lever (8) allowing via a rotation action of the palm support (9) to steer said vehicle to the right or left.

3. Electric propulsion device according to claim 2 characterized by a strain gauge type sensor placed in the lever (8) allowing, via a pushing or pulling action of the lever (8), to propel forward or backward the vehicle equipped with the device.

4. Electric propulsion device according to claim 1 or 2 characterized by the use of a set of sensors (5) and algorithms. The device is autonomous in its forward and reverse movement thanks to a set of sensors detecting the will of the user, as well as an analysis of the state of the ground on which the vehicle is moving, giving it use by the user or by a third party without a control box.

5. Variant of claim 1, Electric propulsion device motorizing a vehicle by the addition of a fork characterized in that it comprises a motorized wheel (1), its battery (3), its power electronics (4) and control (5) as well as its HMI part (6). This assembly pivots around the axis (10).