MOTORIZED TRANSPORT VEHICLE SUITED FOR CROSSING OBSTACLES

Abstract

A transport device (TD) comprises: - a movable structure (SS) capable of supporting at least one person or object, - at least one group (G) of two sets (ER1-ER2) of three wheels (R11-R13, R21-R23) mounted for rotation on a mount (MO1, MO2) at 120° intervals between them and capable of being driven in rotation by at least one first motor (MT1n), these mounts (MO1-MO2) being mounted for rotation on the structure (SS) and parallel to each other, - at least one drive element (EE) fixedly attached to a mount (MO1, MO2) of a group (G), and - at least one second motor (MT2) fixedly attached to the structure (SS) and capable of driving the drive element (EE) in rotation in the presence of an obstacle placed in front of a wheel (R11) of a set (ER1). Figure 2

Description

Title of the invention: MOTORIZED TRANSPORT VEHICLE ADAPTED TO CROSSING OBSTACLES Technical field of the invention

[0001] The invention relates to motorized transport vehicles intended to support and transport at least one person or object. State of the art

[0002] Certain motorized transport devices comprise a structure provided with wheels driven in rotation by at least one motor (generally electric), and capable of supporting at least one person or object. This is for example the case, although not limited to, of motorized armchairs which are intended to transport people with reduced mobility.

[0003] A main disadvantage of this type of transport device lies in the fact that it can only with great difficulty, if at all, pass a small obstacle, such as for example a step or a curb (not lowered), and that in addition it does not allow at all to climb a staircase. This notably limits the movement of people with reduced mobility and objects, and requires public and / or private arrangements which are sometimes expensive (such as for example ramps, or lifting platforms, or even stair lifts), and / or to provide a transport device on each floor of a building (with the inconvenience and / or difficulty caused by each transfer to a new transport device).

[0004] The invention therefore aims in particular to improve the situation. Presentation of the invention

[0005] For this purpose, it proposes in particular a transport device comprising a movable structure capable of supporting at least one person or one object.

[0006] This transport device is characterized by the fact that it also includes:

[0007] - at least one group of two sets of three wheels rotatably mounted on a mounts at 120° from each other and suitable for being driven in rotation by at least one first motor, these mounts being mounted in rotation on the structure while being parallel to each other,

[0008] - at least one drive element fixedly secured to a mount of a group, and

[0009] - at least one second motor fixedly secured to the structure and capable of driving rotating the drive element in the presence of an obstacle placed in front of a wheel of a set.

[0010] Thus, the transport device can advantageously overcome small individual obstacles. dualized, or go up or down a staircase, which significantly facilitates the movement of people with reduced mobility and objects.

[0011] The transport device according to the invention may include other characteristics which may be taken separately or in combination, and in particular:

[0012] - the mounts of a group can be secured to each other or independent hanging from each other;

[0013] - it may comprise a group installed in a front part of its structure and / or a group installed in a rear part of its structure;

[0014] - the drive element may be a circular toothed crown;

[0015] - in a first embodiment, each assembly may comprise a drive mechanism coupled to a first motor and capable, when the latter is in operation, of driving the three associated wheels in rotation relative to the associated mount;

[0016] - in this first embodiment, the drive mechanism can comprise, on the one hand, three first toothed wheels mounted to rotate freely on the associated mount and fixedly secured respectively to the three associated wheels, and, on the other hand, a second toothed wheel mounted to rotate freely on the associated mount and capable of simultaneously driving the first toothed wheels in rotation when it is driven in rotation by a first associated motor;

[0017] - in a second embodiment, each set may comprise three first motors fixedly attached to the associated mount and capable of driving the three associated wheels in rotation respectively;

[0018] - it can comprise at least one obstacle detector of its own, in the event of detection of an obstacle in front of a wheel of a set, to trigger operation of the second motor;

[0019] - in the presence of the last option, the obstacle detector may comprise at least a torque detector capable of determining a torque supplied by a first associated motor. In this case, the second motor can be put into operation when the determined torque becomes lower than a chosen torque, representative of an obstacle contacted by a wheel of a set. Alternatively, the obstacle detector can comprise at least one digital camera;

[0020] - it may include a braking device;

[0021] - each first motor and / or the (each) second motor may be one or more electric machine(s) associated with a rechargeable battery capable of storing electrical energy;

[0022] - in the presence of the last option, the electric machine can be suitable for recovering torque in a regenerative braking phase to recharge the rechargeable battery;

[0023] - it can constitute a motorized armchair. Brief description of the figures

[0024] Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings (obtained in CAD / CAM (“Computer Aided Design / Computer Aided Drawing”)), in which:

[0025] [Fig-1] schematically illustrates, in a side perspective view, an example of production of a transport device according to the invention, on which a person is installed,

[0026] [Fig.2] schematically illustrates, in a perspective view from above, the transport device of [Fig.l], without its seat (and therefore without people),

[0027] [Fig.3] schematically illustrates, in a perspective view from the front side, the front group of the transport machine of [Fig.l], and

[0028] [Fig.4] schematically illustrates, in a perspective view from the front side, an alternative embodiment of a straight part of a group of a transport machine according to the invention, with group mounts independent of each other. Detailed description of the invention

[0029] The invention aims in particular to propose a motorized ET transport device, intended to support and transport at least one person or object, and having the capacity to overcome small obstacles and to take stairs.

[0030] In the following, it is considered, by way of non-limiting example, that the transport device ET is a motorized wheelchair intended to transport a person with reduced mobility PMR, as illustrated in [Fig.l]. But the invention is not limited to this type of transport device. It in fact concerns any transport device making it possible to support and transport at least one person or one object. Thus, it also concerns delivery devices (or shuttles), possibly autonomous.

[0031] Figures 1 and 2 schematically illustrate, at least partially, an example of an embodiment of a transport device ET according to the invention (here a motorized chair on which a person with reduced mobility is installed).

[0032] As illustrated at least partially in Figures 1 and 2, a transport machine ET, according to the invention, comprises a structure SS, at least one group Gm of two sets ERj of three wheels Rjk associated with a mount MOj and at least one first motor MTln, at least one drive element EE, and at least one second motor MT2.

[0033] The structure SS is movable thanks, in particular, to the wheels Rjk and first MTln and second MT2 motors. In addition, this structure SS is capable of supporting at least one person with reduced mobility or an object. For this purpose, and as illustrated non-limitingly in the example of [Fig.l], the structure SS may comprise a seat SG intended to accommodate a person with reduced mobility PMR. But when the transport device ET is intended exclusively for the support and transport of object(s), the seat SG can be replaced by at least one receptacle, possibly closed.

[0034] It will be noted that in the example illustrated non-limitingly in Figures 1 and 2, the transport machine ET comprises a motorized group G installed in a front part PVS of its structure SS, and a non-motorized group G' installed in a rear part PRS of its structure SS. But the transport machine ET could comprise a first motorized group G installed in the front part PVS of its structure SS, and a second motorized group G installed in the rear part PRS of its structure SS.

[0035] Here, the term “non-motorized group” is understood to mean a group comprising two sets ERj' of three wheels Rjk' mounted to rotate freely on at least one mount MOj' at 120° from each other. It will be noted that in the presence of two mounts MOj' (j = 1 or 2), the latter (MOj') can be secured to each other or independent of each other, and are mounted to rotate freely on the structure SS while being parallel to each other. In the example illustrated, there are two mounts MOI' (j = 1) and MO2' (j = 2) very close together.

[0036] As illustrated in Figures 2 and 3, each group G (motorized) comprises two sets ERj, right (j = 1) and left (j = 2), of three wheels Rjk (k = 1 to 3).

[0037] The three wheels Rjk of an assembly ERj are mounted for rotation on a mount MOj at 120° from each other and are suitable for being driven in rotation by at least one first motor MTln.

[0038] The two mounts MOj (j = 1 or 2) of a group G are mounted to rotate on the structure SS while being parallel to each other. It will be noted that the two mounts MOj of a group G can be secured to each other, as illustrated non-limitingly in Figures 1 to 3, or can be independent of each other, as illustrated non-limitingly and partially in [Fig. 4]. In the first alternative (Figures 1 to 3), the two mounts MOj of a group G can be two parts which are secured to each other via rigid and strong added rods or bars, or sub-parts of a single-piece support assembly (possibly produced by molding a rigid and strong plastic material).

[0039] The (each) drive element EE is fixedly secured to a mount MOj of a group G.

[0040] It will be noted that a drive element EE can be a part which is attached to the internal face of a mount MOj (opposite its external face in front of which the three associated wheels Rjk are placed), or can be an integral part of this mount MOj at the level of its internal face (and in this case the mount MOj with its drive element EE can be produced by molding a rigid and resistant plastic material).

[0041] It will also be noted that in the two examples illustrated non-limitingly in Figures 1 to 4, the group G (motorized) comprises only a single drive element EE fixedly secured to one of its two mounts MOj (here the right one MOI (j = 1)). But in a variant embodiment not illustrated, each of the two mounts MOj of a group G (motorized) could comprise its own drive element EE.

[0042] The (each) second motor MT2 is fixedly secured to the structure SS, and is capable of rotating the drive element EE (a drive element EE) when an obstacle (such as for example a step (possibly of a staircase) or a curb (not lowered)) is placed in front of a wheel Rjk of an assembly ERj.

[0043] It will be understood that when one of the wheels Rjk of each of the two sets ERj of a group G is in front of an obstacle, the operation of the second motor MT2 causes the rotation of the drive element EE of this group G and therefore the rotation of the associated mount MOj, which then causes the rotation of each of the two sets ERj of three wheels Rjk. The obstacle can then be crossed (by raising or lowering), and the operation can be repeated with one or more other possible obstacles such as for example in the case of a staircase, of course provided that the height of each obstacle is less than the center distance between two wheels Rjk of each set ERj.

[0044] The invention therefore very advantageously allows not only the crossing of small individual obstacles, such as for example single steps or curbs (not lowered), but also the going up or down of a staircase. This makes it possible to significantly facilitate the movement of people with reduced mobility PRM and objects, and avoids having to make public and / or private arrangements (such as for example ramps, or lifting platforms, or even stair lifts), and / or having to provide a transport device on each floor of a building.

[0045] For example, and as illustrated non-limitingly in Figures 1 to 4, the drive element EE may be a toothed circular crown. But it could be a toothed wheel or a toothed cylinder, for example. In this case, the rotation axis of the second motor MT2 comprises a toothed circular part which meshes with the teeth of the drive element EE in order to drive it in rotation when an obstacle must be crossed (or passed).

[0046] Also for example, in a first embodiment illustrated non-limitingly in Figures 1 to 4, each assembly ERj may comprise a drive mechanism MEj which is coupled to a single first motor MTln. This drive mechanism MEj is arranged, when this first motor MTln is in operation, so as to drive in rotation the three associated wheels Rjk relative to to the associated MOj mount. This allows the wheel Rjk, which is in contact with the ground at the instant considered, to move the ET transport machine. It should be noted that to move the ET transport machine in a straight line, the wheels Rjk of the two ERj assemblies of a group G, in contact with the ground, must be simultaneously rotated at the same speed by their respective first motors MTln. It should also be noted that to rotate the ET transport machine "on the spot", the wheels Rjk of one of the two ERj assemblies of a group G, in contact with the ground, must be rotated. The trajectory followed by the ET transport machine can be controlled by its PMR user by acting on a control device fitted to the ET transport machine, such as a "joystick" type controller or a voice synthesis device.

[0047] Also for example, in this first embodiment, as illustrated non-limitingly in FIGS. 1 to 4, the drive mechanism MEj of each assembly ERj may comprise three first toothed wheels RDI and a second toothed wheel RD2.

[0048] The first three toothed wheels RDI are mounted to rotate freely on the associated MOj mount (here on the side of its external face), and are fixedly secured respectively to the three associated Rjk wheels.

[0049] The second toothed wheel RD2 is capable of being driven in rotation relative to the associated mount MOj by the first associated motor MTln, which is fixedly secured to this mount MOj or to the support assembly comprising the latter MOj. For this purpose, this first motor MTln may comprise a rotary shaft possibly passing through the mount MOj and having a free end to which the second toothed wheel RD2 is fixedly secured. It will be understood that this rotational driving of the second toothed wheel RD2 by the first associated motor MTln makes it possible to simultaneously drive in rotation the three first associated toothed wheels RD1 which mesh with it.

[0050] It will be noted that other types of MEj drive mechanism can be used. Thus, instead of a gear type MEj drive mechanism, a belt type MEj drive mechanism could be used, for example.

[0051] In a second embodiment (not illustrated), each assembly ERj of a group G may comprise three first motors MTln (n = 1 to 3) which are fixedly secured to the associated mount MOj, and are suitable for driving the three associated wheels Rjk in rotation respectively. This second embodiment makes it possible to avoid having to provide a drive mechanism MEj on each mount MOj.

[0052] It will also be noted that the transport device ET can also comprise at least one obstacle detector which is capable, in the event of detection of an obstacle in front of a wheel Rjk of an assembly ERj, of triggering the temporary operation of the second MT2 motor. Preferably, the detection of an obstacle in front of a wheel Rjk of an ERj assembly also triggers the temporary stopping of the operation of each first motor MTln of this ERj assembly, because the three associated Rjk wheels no longer need to be driven in rotation relative to their MOj mount (it is in fact this MOj mount which turns to cross (or pass) the obstacle).

[0053] For example, the obstacle detector may comprise at least one torque detector which is capable of determining the torque supplied by a first associated motor MT1n. In this case, the second motor MT2 is put into operation when the determined torque becomes lower than a chosen torque which is representative of an obstacle contacted by a wheel Rjk of an assembly ERj. It will be understood in fact that when a wheel Rjk contacts an obstacle this slows down its rotation speed, which causes a reduction in the torque at the output of the first motor MT1n. Consequently, when this reduction in torque is sufficiently large, this means that an obstacle is present and must be crossed (or passed) by rotating a mount MOj.

[0054] Alternatively, the obstacle detector may comprise at least one digital camera responsible for analyzing the environment in front of the transport machine ET (and more precisely just in front of the wheels Rjk of its group G or G'). In this case, when an obstacle is detected in front of the wheels Rjk in the digital images acquired by the digital camera, this triggers at least the temporary operation of the second associated motor MT2.

[0055] It will be noted that instead of using an obstacle detector, it is the PMR user of the ET transport machine who can detect an obstacle to pass (or cross) and who decides to temporarily operate the (each) second MT2 motor concerned. In this case, the ET transport machine must comprise at least one control member (possibly a voice synthesis device) which, when actuated (or requested) triggers at least the temporary operation of the second MT2 motor concerned.

[0056] It will also be noted that the obstacle detector could deliver an audible message to the PMR user to signal the presence of an obstacle, and in this case it is the PMR user who decides whether or not to temporarily start operating the second MT2 motor concerned by an action on the control member (possibly a voice synthesis device).

[0057] It will also be noted that the transport device ET may also be equipped with a braking system, in particular to slow it down when going downhill (in particular on a staircase). This braking system may be controlled by the PRM user of the transport device ET by means of another control unit, or may be automated (and in this case the PRM user does not intervene).

[0058] It will also be noted that each first motor MT1n and / or the (each) second motor MT2 may be one or more electrical machines associated with a rechargeable battery equipping the transport machine ET and capable of storing electrical energy in particular to power them when they must operate. But in an alternative embodiment, each first motor MT1n and / or the (each) second motor MT2 may be one or more non-electric machines, and for example thermal machines.

[0059] In the presence of first reversible electric MTln motors, the latter (MTln) can be arranged so as to recover torque in a regenerative braking phase and to transform this recovered torque into electric current to recharge the battery.

Claims

Claims

1. Transport machine (ET) comprising a movable structure (SS) capable of supporting at least one person or object, characterized in that it further comprises i) at least one group (G) of two sets (ERj) of three wheels (Rjk) mounted for rotation on a mount (MOj) at 120° from each other and capable of being driven in rotation by at least one first motor (MTln), said mounts (MOj) being mounted for rotation on said structure (SS) while being parallel to each other, ii) at least one drive element (EE) fixedly secured to a mount (MOj) of a group (G), and iii) at least one second motor (MT2) fixedly secured to said structure (SS) and capable of driving said drive element (EE) in rotation in the presence of an obstacle placed in front of a wheel (Rjk) of a set (ERj).

2. Transport device according to claim 1, characterized in that said mounts (MOj) of a group (G) are secured to each other.

3. Transport device according to claim 1, characterized in that said mounts (MOj) of a group (G) are independent of each other.

4. Transport machine according to one of claims 1 to 3, characterized in that it comprises a group (G) installed in a front part (PVS) of said structure (SS).

5. Transport machine according to one of claims 1 to 4, characterized in that it comprises a group (G) installed in a rear part (PRS) of said structure (SS).

6. Transport machine according to one of claims 1 to 5, characterized in that said drive element (EE) is a circular toothed crown.

7. Transport machine according to one of claims 1 to 6, characterized in that each assembly (ERj) comprises a drive mechanism (MEj) coupled to a first motor (MTln) and capable, when the latter (MTln) is in operation, of driving said three associated wheels (Rjk) in rotation relative to said associated mount (MOj).

8. Transport machine according to one of claims 1 to 6, characterized in that each assembly (ERj) comprises three first motors (MTln) fixedly secured to the associated mount (MOj) and capable of driving said three associated wheels (Rjk) in rotation respectively.

9. Transport device according to one of claims 1 to 8, characterized in that

10. that it comprises at least one obstacle detector capable, in the event of detection of an obstacle in front of a wheel (Rjk) of an assembly (ERj), of triggering operation of said second motor (MT2). Transport machine according to one of claims 1 to 9, characterized in that it constitutes a motorized chair.

Images