MOTOR VEHICLE FOR CROSSING OBSTACLES

Abstract

The invention relates to a motor vehicle (1) comprising a chassis, a wheel module (5) fixed to said chassis, and an engine (7), characterized in that said wheel module (5) comprises: a plurality of wheels (9), an epicyclic gear train (11) coupled to the engine (7), a gear train (13) coupled to each of said wheels (9) and to said epicyclic gear train (11), a rotatably mounted support part (15) on which the epicyclic gear train (11), the gear train (13) and the wheels (9) are mounted; said wheel module (5) being configured, on the one hand, so that the wheels (9) are driven in rotation by means of said at least one motor (7) via the epicyclic gear train (11) and the gear train (13) and, on the other hand, so that the support part (15) is driven in rotation by said motor (7) when a wheel (9) is blocked in rotation. Abstract figure: [Fig. 1]

Description

Title of the invention: MOTOR VEHICLE FOR CROSSING OBSTACLES

[0001] The present invention relates generally to the crossing of obstacles, for example stairs, by a motor vehicle. The invention relates more particularly to a motor vehicle, such as a wheelchair, comprising, on the one hand, several wheels, for example arranged in a star shape, and which is, on the other hand, configured for crossing obstacles or unevenness.

[0002] Such vehicles are generally used by people with reduced mobility and are commonly motorized to allow people to move with the least possible effort.

[0003] These vehicles generally include a seat installed on a chassis whose wheels are coupled to several motors, in order to allow the user to move and steer his vehicle. Said vehicles thus generally include central or manual controls allowing users to maneuver them easily.

[0004] These vehicles are light type vehicles and must be compact, in particular to pass through a door opening, making them usable in the most standard home possible.

[0005] In addition, these vehicles must also be able to move in an urban environment, and therefore must be able to move on steep terrain, or even be able to overcome obstacles of a certain height, such as curbs, steps, etc.

[0006] However, these vehicles are generally poorly suited to crossing such obstacles and even less so for going down or up stairs, such as turning or spiral staircases, for example located in homes.

[0007] The present invention thus proposes to remedy at least one of the aforementioned drawbacks by proposing a new type of motor vehicle comprising a main chassis, at least one wheel module fixed to said chassis, as well as at least one drive motor, characterized in that said at least one wheel module comprises: - a plurality of wheels; - an epicyclic gear train mechanically coupled to said at least one drive motor; - a gear train mechanically coupled, on the one hand, to each of the wheels and, on the other hand, to said epicyclic gear train; - a rotatably mounted support part on which the epicyclic gear train is mounted, the gear train and the plurality of wheels; said wheel module being configured, on the one hand, so that the wheels are driven in rotation by means of said at least one motor via the epicyclic gear train and the gear train and, on the other hand, so that the support part is driven in rotation by said at least one motor when at least one of said wheels is blocked in rotation.

[0008] The present invention thus makes it possible to optimize the compactness, stability, simplicity, comfort and maneuverability of such a vehicle. In addition, the vehicle according to the invention makes it possible to minimize the number of engines to be installed on said vehicle to enable it to move, thus making it simpler and less expensive to manufacture. Said vehicle according to the invention makes it possible, among other things, to avoid the use of a torque-detector engine.

[0009] Furthermore, the presence of an epicyclic gear train makes it possible to transmit and distribute the energy to the wheels and / or the support part according to the forces (or torques) exerted on the wheels. The epicyclic gear train also makes it possible, when going up or down stairs, to secure the position of the vehicle by automatically driving the wheels towards the risers. Furthermore, said vehicle allows the safe crossing of obstacles, such as stairs, sidewalks, uneven areas, etc., even if these have complex shapes and / or slopes, for example a spiral staircase.

[0010] According to a possible characteristic, said epicyclic train comprises a sun pinion, at least two satellites, as well as a crown mechanically coupled to said at least one motor. Advantageously, the epicyclic gear train thus comprises a central or sun pinion mechanically coupled to the satellites which are themselves mechanically coupled to the crown. Said at least one motor drives the crown in rotation which itself turns the satellites which drive the sun pinion in rotation (which itself communicates its movement to the gear train).

[0011] According to another possible characteristic, said crown has internal teeth cooperating with said at least two satellites and external teeth cooperating with said at least one drive motor. Advantageously, the crown has internal and external teeth to optimize the compactness of the epicyclic gear train and limit the number of gears required, thus reducing its manufacturing time and / or cost.

[0012] According to another possible characteristic, the gear train comprises a central gear mechanically coupled to said epicyclic gear train, and secondary gears which are each connected to one of said wheels. The central gear, for example, has a larger diameter than the sun gear, thus increasing the rotational speed of the central gear relative to the sun pinion.

[0013] According to another possible characteristic, each of the wheels is connected to one of the secondary gears by means of a connecting shaft defining the common axis of rotation of the wheel and the associated wheel gear. The central gear and the sun gear are fixedly mounted on the connecting shaft, while the latter is fixed to (and passes through) the support part by being rotatably mounted (on the support part), for example by means of one or more ball bearings on said support part

[0014] According to another possible characteristic, said vehicle comprises at least two wheel modules mechanically coupled to each other. Said vehicle may comprise one or more wheel modules depending on the purpose of the motor vehicle, transport of people and / or goods, types of terrain, etc. In addition, having a mechanical coupling allows for a transmission of movements and forces between the wheels and the support part, while having a reduction gear for the support part, thus allowing a better transition in terms of forces between moving forward or climbing. The vehicle according to the invention moves forward faster and climbs obstacles, such as steps or a sidewalk, more easily (with less speed and more torque). In addition, it is no longer necessary to manage the reversal of the direction of rotation of the engine when there is a transition between driving and crossing an obstacle.

[0015] According to another possible characteristic, said vehicle comprises connecting axes mechanically coupling each of the wheel module support parts together. Said at least two wheel modules are advantageously mechanically coupled to each other at their respective support parts, this making it possible to coordinate a change of direction of the wheels of said wheel modules. It will also be noted that said connecting axles are a simple and inexpensive means of mechanically coupling two wheel modules together, while reinforcing the mechanical strength of the running gear of the motor vehicle.

[0016] According to another possible characteristic, said satellites are each rotatably mounted on one of said connecting axes. The connecting shafts connecting the support parts together are fixedly mounted on the support parts, while the satellites are rotatably mounted, for example by means of one or more ball bearings, on said connecting shafts.

[0017] According to another possible characteristic, said vehicle comprises at least two drive motors, each of said wheel modules being mechanically coupled to one of said drive motors. The vehicle according to the invention can thus operate with only two engines, one per wheel module (modules located on each side of the central chassis).

[0018] According to another possible characteristic, said vehicle comprises a differential train making it possible to mechanically couple said wheel modules with each other. The differential train advantageously allows the vehicle to be equipped with a single drive motor to move said motor vehicle.

[0019] According to another possible characteristic, each plurality of wheels comprises three wheels distributed at 120° around an axis of rotation.

[0020] According to another possible characteristic, the plurality or pluralities of wheels are star wheels.

[0021] According to another possible characteristic, said motor vehicle is a single-seater vehicle.

[0022] According to another possible characteristic, said motor vehicle is a wheelchair.

[0023] The invention may also relate to a wheel module for a motor vehicle, characterized in that said road module is configured to be mounted on a vehicle as defined above.

[0024] The invention will be better understood, and other aims, details, characteristics and advantages thereof will appear more clearly during the following description of a particular embodiment of the invention, given solely for illustrative and non-limiting purposes, with reference to the appended drawings, in which: - [Fig.l] illustrates a schematic, partial and perspective view of a motor vehicle according to the invention; - [Fig.2] is another enlarged, partial and perspective view of the vehicle of [Fig.l]; - [Fig.3] is a functional and partial diagram of a wheel module of the vehicle of [Fig.l] and [Fig.2],

[0025] 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 vehicle, or the structure to which it relates. It is understood that the term "comprise" includes the terms "consist of".

[0026] Similarly, the terms "lower", "upper", "front", "rear", "longitudinal" and "transverse" will be understood in relation to the general orientation of the motor vehicle, unless otherwise indicated. The term "lower" will designate a greater proximity to the ground than "upper" along the vertical axis. Furthermore, it will be noted that in the different figures, the same references designate identical or similar elements.

[0027] In the present application, it will be noted that “substantially parallel” means a direction deviating by at most 20°, or even by at most 10° or by at most 5° from a direction parallel. It should also be noted that "substantially orthogonal" means a direction deviating by at most 20°, or even at most 10° or at most 5° from an angle of a value of 90°.

[0028] [Fig.l] thus illustrates a very schematic, partial and perspective view of a motor vehicle 1 comprising a main chassis 3 (more particularly visible in [Fig.2]), at least one wheel module 5 fixed to said chassis 3, as well as at least one drive motor 7. Said motor vehicle 1 is for example a single-seater vehicle, such as a wheelchair, and may therefore comprise a seat (not shown), for example mounted or fixed on the main chassis.

[0029] In the embodiment currently described, said vehicle 1 comprises at least two wheel modules 5 arranged on either side of the main chassis 3. Said wheel modules 5 are furthermore advantageously mechanically coupled to each other.

[0030] [Fig.2] is another enlarged, partial and perspective view of the vehicle of [Fig.l]. It will be noted that [Fig.l] and [Fig.2] represent only one of the sides of the main chassis 3 of the vehicle 1, here the right side, but said vehicle 1 comprises similar wheel modules 5 at the right and left sides of said chassis 3.

[0031] Each of said wheel modules 5 comprises a plurality of wheels 9 arranged in a star shape. In the embodiment described herein, said vehicle 1 comprises at least two modules 5 arranged on opposite sides of the main chassis 3, as well as three wheels 9 per module 5, but the number of wheel modules 5 depends on the size and / or weight of the vehicle 1, while the number of wheels 9 can be any number between two and twelve, and depends for example on the type of terrain on which the vehicle 1 is intended to travel.

[0032] Furthermore, said vehicle 1 comprises, in the embodiment presently described, at least two motors 7, each of said at least two wheel modules 5 being mechanically coupled with a separate motor 7.

[0033] Each of said wheel modules 5 further comprises: - an epicyclic gear train 11 mechanically coupled to said at least one drive motor 7; - a gear train 13 mechanically coupled, on the one hand, to each of the wheels 9 and, on the other hand, to said epicyclic gear train 11; - a rotatably mounted support part 15 on which the epicyclic gear train 11, the gear train 13 and the plurality of wheels 9 are mounted.

[0034] The support piece 15 here has a substantially three-pointed star shape with two opposite main faces: - a first face, called the external face, which is, in the mounted position, the face intended to be oriented towards the exterior of the vehicle 1; - a second face 15a, called the internal face, which is, in the mounted position, the face intended to be oriented towards the vehicle 1.

[0035] Thus, in the present embodiment of the invention, each plurality of wheels 9 comprises three wheels 9, for example one wheel 9 per branch of the star-shaped support piece 15, distributed at 120° around an axis which corresponds substantially to the central axis of the support piece 15.

[0036] The plurality of wheels 9 and the gear train 13 are located on the first face of the support piece 15, while the epicyclic gear train 11 is located on the second face 15a of said support piece 15.

[0037] The motor(s) 7 are for example electric motors which comprise a drive pinion 7a which is in mechanical cooperation with the epicyclic gear train 11.

[0038] Said epicyclic train 11, for its part, comprises among other things at least: - a sun gear 17 mechanically coupled to said gear train 13; - at least two satellites 19, and preferably three as illustrated in the present embodiment, in mechanical cooperation with the sun gear 17; - a crown 21 mechanically coupled to one of said motors 7 and to said satellites 19.

[0039] Said crown 21 has an internal toothing 21a cooperating mechanically with said satellites 19 and an external toothing 21b cooperating mechanically, by means of the drive pinion 7a, with one of said drive motors 7.

[0040] The gear train 13, for its part, comprises a central gear 23 mechanically coupled to said epicyclic gear train 11, and secondary gears 25 which are each connected to one of said wheels 9.

[0041] The central gear 23 of the gear train 13 and the sun pinion 17 of the epicyclic train 11 are fixedly mounted on a central connecting shaft 18, a central shaft which is itself rotatably mounted on and through the support part 15, for example by means of one or more ball bearings.

[0042] Furthermore, each of the wheels 9 is connected to one of the secondary gears 25 via a connecting shaft 24 defining the common axis of rotation of the wheel 9 and the associated wheel gear 25.

[0043] Said vehicle 1 further comprises connecting axes 29 mechanically coupling each of the support parts 15 of the wheel module 5 together. In addition, said satellites 19 are each rotatably mounted on one of said connecting axes 29.

[0044] Furthermore, said vehicle 1 comprises a support piece 31 which is, on the one hand, fixed to the chassis 3 and, on the other hand, configured to support the connecting pins 29. Said support piece 31 is configured to rotate around a vertical axis, allowing thus maintaining the connecting axes 29 in position during a change of direction of said vehicle 1.

[0045] Furthermore, said vehicle 1 comprises a frame 33 which is fixed on the chassis 3, on which said motors 7 are fixed. Said frame 33 is also configured to rotate around a vertical axis. The motors 7 can thus accompany the changes of direction of the vehicle 1, making it possible to maintain the mechanical cooperation between the motor 7 and the epicyclic gear train, whatever the position (and / or orientation) of the wheel modules 5.

[0046] [Fig. 3] illustrates, for its part, a functional and partial diagram of a wheel module 5 and the various mechanical connections of the epicyclic gear trains 11 and 13.

[0047] Thus, each of said wheel modules 5 is configured so that the wheels 9 are driven in rotation by means of at least one motor 7 via the epicyclic gear train 11 and the gear train 13.

[0048] In fact, the motor 7 drives the crown 21 in rotation which drives the sun pinion 17 in rotation via the satellites 19. The central gear 23 of the gear train 11 is then driven in rotation via the central connecting axis 18.

[0049] This setting in motion of the central gear 23 causes the rotation of the secondary gears 25 which communicate their rotational movement, via their respective connection shaft 24, to each of the wheels 9. The set of wheels 9 therefore begins to turn and allows the vehicle to move 1 (i.e. move forward or backward).

[0050] However, from the moment when one of the wheels 9 encounters an obstacle, such as a stair step, at least one wheel 9 is blocked in its rotation, and said wheel 9 can therefore no longer turn, despite the drive generated by the motor 7 via the epicyclic gear train 11 and the gear train 13.

[0051] Thus, the motor 7 continues to mesh, by means of the drive pinion 7a, the crown 21, at the level of its external toothing 21b, but the sun pinion 17 and the satellites 19 being blocked (in their rotation), there is creation of a torque which causes the rotation of the support part 15 around its central axis 18.

[0052] This rotation of the support part 15 thus makes it possible to turn one of the wheels 9 (generally the one which does not touch the ground) in the direction of the obstacle and to take support on it to allow the vehicle 1 to cross it. Thus, as long as one of the wheels 9 is in a blocked position, none of the wheels 9 turn, and the support part 15 begins to rotate to cross the obstacle (whether going uphill or downhill).

[0053] In a variant embodiment of the invention not shown, said vehicle comprises a differential train making it possible to mechanically couple said modules wheel modules 5 with each other. Said vehicle can then comprise a single motor 7 mechanically coupled to one or other of said wheel modules 5, the differential gear being a mechanical system which has the function of distributing the torque supplied by the single motor 7 to the two wheel modules 5.

Claims

Claims

1. Motor vehicle (1) comprising a main chassis (3), at least one wheel module (5) fixed to said chassis (3), as well as at least one drive motor (7), characterized in that said at least one wheel module (5) comprises: - a plurality of wheels (9); - an epicyclic gear train (11) mechanically coupled to said at least one drive motor (7); - a gear train (13) mechanically coupled, on the one hand, to each of said wheels (9) and, on the other hand, to said epicyclic gear train (11); - a rotatably mounted support part (15) on which the epicyclic gear train (11), the gear train (13) and the plurality of wheels (9) are mounted;said wheel module (5) being configured, on the one hand, so that the wheels (9) are driven in rotation by means of said at least one motor (7) via the epicyclic gear train (11) and the gear train (13) and, on the other hand, so that the support part (15) is driven in rotation by said at least one motor (7) when at least one of said wheels (9) is blocked in rotation.;

2. Vehicle (1) according to the preceding claim, characterized in that said epicyclic train (11) comprises a sun pinion (17), at least two satellites (19), as well as a crown (21) mechanically coupled to said at least one motor (7).

3. Vehicle (1) according to the preceding claim, characterized in that said crown (21) has an internal toothing (21a) cooperating with said at least two satellites (19) and an external toothing (21b) cooperating with said at least one drive motor (7).

4. Vehicle (1) according to any one of the preceding claims, characterized in that the gear train (13) comprises a central gear (23) mechanically coupled to said epicyclic gear train (11), and secondary gears (25) which are each connected to one of said wheels (9).

5. Vehicle (1) according to the preceding claim, characterized in that each of the wheels (9) is connected to one of the secondary gears (25) by means of a connecting shaft (24) defining the common axis of rotation of the wheel (9) and of the associated secondary gear (25).

6. Vehicle (1) according to any one of the preceding claims, characterized in that said vehicle (1) comprises at least two wheel modules (5) mechanically coupled to each other.

7. Vehicle (1) according to the preceding claim, characterized in that said vehicle (1) comprises connecting axes (29) mechanically coupling each of the support parts (15) of the wheel module (5) together.

8. Vehicle (1) according to the preceding claim, characterized in that said satellites (19) are each rotatably mounted on one of said connecting axes (29).

9. Vehicle (1) according to any one of claims 6 to 8, characterized in that said vehicle (1) comprises at least two drive motors (7), each of said wheel modules (5) being mechanically coupled to one of said drive motors (7).

10. Vehicle (1) according to claim 6, characterized in that said vehicle (1) comprises a differential train allowing said wheel modules (5) to be mechanically coupled to each other.

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