Powered vehicle

Abstract

Propelled vehicle 1 comprising a chassis 2, at least two propellers 3 mounted on the chassis 2, each propeller 3 being mounted movably in rotation on the chassis 2 about two orthogonal axes of rotation, at least for each propeller 3, a first shaft 4, mounted rotatably on the chassis 2 about a first axis of rotation 5 and a second shaft 6 mounted rotatably on the first shaft 4 about a second axis of rotation 7 orthogonal to the first axis of rotation 5, the second shaft 6 supporting said propeller 3 of said propelled vehicle 1, at least a first drive system 8 connected to the first shaft 4 and capable of driving the first shaft 4 in rotation about the first shaft 4 of rotation and at least a second drive system 9 connected to the second shaft 6 and capable of driving the second shaft 6 in rotation about the second axis of rotation 7.According to the invention, the first shaft 4 comprises a half-fork shaped part, the second shaft 6 is mounted on the first shaft 4 on the free end of the half-fork of the first shaft 4, and said first and second shaft 6 are connected to each other, at one of said ends, by means of at least one ball joint 10. Figure to be published with the abstract: Fig. 1.

Description

Title of the invention: Propelled vehicle

[0001] The invention relates to the technical field of powered vehicles, particularly remotely piloted aerial vehicles, or drones. More specifically, the invention concerns a powered vehicle with minimized size and weight, while maintaining good structural resistance to the different thrust directions generated by an actuated propulsion system, having unlimited rotational thrust vector control in all spatial directions.

[0002] A propelled vehicle and particularly a remotely piloted aerial vehicle, also called a UAV (from the English "Unmanned Aerial Vehicle") or drone, includes in a known way several propulsion systems, for example equipped with propellers or blades, mounted on a chassis.

[0003] To control the drone's direction, each propeller can be equipped with a remotely controllable electric speed controller, for example, via a joystick operated by a user. The drone's direction can thus be controlled by increasing the rotational speed of the propellers on some propellers and / or decreasing the rotational speed of the propellers on other propellers.

[0004] While this type of drone technology does allow control of the drone's direction, it does not offer satisfactory maneuverability, particularly over a wide range of speeds and / or movements. To overcome this drawback, it is also known to arrange each propeller on a shaft mounted pivotally on the frame, the shaft being driven by a motor. The user is thus able to remotely control the shaft's motor to change the propeller's orientation and thereby control the drone's direction.

[0005] Such a drone is, for example, described in US patent 2018354607. This patent discloses an omnidirectional drone comprising a propulsion system mounted on a system of two concentric, rotationally mounted, rotating shafts of revolution. The drone is characterized in that the axis of rotation of the first shaft is orthogonal to the axis of rotation of the second shaft. Thus, given a propulsion direction command, the shafts pivot about their respective axes of rotation so as to orient the propulsion system according to said direction command.

[0006] In this type of architecture, the pivoting shaft on the chassis must be oriented to satisfy the thruster's direction command, thereby increasing the drone's overall size when the thruster is oriented in certain directions. The question then arises of how to reduce the drone's overall size without restricting its maneuverability in all directions.

[0007] Moreover, the thrusts exerted on the chassis architecture due to the movements made by the latter cause torsion problems, particularly on the ends of the chassis.

[0008] Thus, there is a need for a powered vehicle, preferably an omnidirectional drone that is easily maneuverable and whose size is more limited than that of known omnidirectional drones, all while having good mechanical resistance to its own movements.

[0009] The invention therefore falls within this context and seeks to meet all the aforementioned needs while resolving all the aforementioned drawbacks. Presentation of the invention

[0010] For these purposes, a powered vehicle has been developed comprising a chassis, at least two propellers mounted on a chassis, each propeller being mounted movably in rotation on the chassis about two orthogonal axes of rotation, at least for each propeller, a first shaft, mounted rotatably on the chassis about a first axis of rotation and a second shaft mounted rotatably on the first shaft about a second axis of rotation orthogonal to the first axis of rotation, the second shaft supporting said propeller of said powered vehicle, at least a first drive system connected to the first shaft and capable of driving the first shaft in rotation about the first axis of rotation and at least a second drive system connected to the second shaft and capable of driving the second shaft in rotation about the second axis of rotation.

[0011] According to the invention, the first shaft comprises a part in the shape of at least a half fork, the second shaft is mounted on the first shaft on the free end of the half fork of the first shaft, and said first and second shaft are connected to each other, at said ends, by means of at least one ball joint.

[0012] It is thus understood that the invention proposes to use a system of shafts cooperating mechanically with each other so as to be able to orient the drone's thruster in any spatial direction. Furthermore, the structure of the shaft system is arranged so as to minimize the drone's overall size during a thruster orientation maneuver by constraining the movement of the two shafts to the same plane. Indeed, when the first shaft is rotated, the second shaft remains contained within the plane of rotation of said first shaft. Moreover, when the second shaft is rotated around the second axis, the thrust force of the thruster can be oriented in any direction passing through its center and orthogonal to said second axis. Thus, by combining the rotations of the two shafts, it is possible to orient the thruster in any desired spatial direction without significantly increasing the drone's overall size.

[0013] Moreover, the presence of a half fork in the first shaft makes it possible to further lighten and declutter the propelled vehicle, all while having good mechanical resistance, in particular due to the presence of a ball joint at the junction between the first and second shaft.

[0014] In a particular embodiment, each thruster comprises two shafts, one of which is fixed in the middle of the other and pivots in orthogonal directions, like a gyroscope.

[0015] In a particular embodiment, the first shaft comprises a fork-shaped part, the second shaft is mounted on the first shaft between the two free ends of the fork of the first shaft, said first and second shaft are connected to each other, at one of said ends, by means of at least one ball joint.

[0016] Preferably, the ball joint between the first and second shafts is a finger ball joint.

[0017] In a particular embodiment, the chassis may comprise a plurality of spaces, in particular four spaces, and a plurality, in particular four, of first shafts, each supporting a thruster and each driven by a first drive system, may each be rotatably mounted on the chassis in one of these spaces. Advantageously, each first shaft arranged in one of the spaces of the plurality of spaces may comprise a second rotatably mounted shaft supporting a thruster and each driven by a second drive system.

[0018] Advantageously, the first shaft comprises, at least on the free end of the half-fork, a capsule defining a cavity that is at least partially spherical, the second shaft having, at one of these ends, a head of at least partially spherical shape, said head being housed in said spherical cavity, so that the capsule and the head together form said ball joint.

[0019] It is understood that the head surrounds the axis of the second shaft, so as to pivot with said second shaft. Thus, the head is connected directly or indirectly to the axis of the second shaft, the latter being driven in rotation by the second drive system.

[0020] In another embodiment, the first shaft comprises on at least one of its free ends of the fork, a capsule defining a cavity that is at least partially spherical, the second shaft having, at one of these ends, a head of at least partially spherical shape, said head being housed in said spherical cavity, so that the capsule and the head together form said ball joint.

[0021] In a preferred embodiment, the powered vehicle comprises a power source and / or a control unit, and each of the head and capsule has a slot, through which extends a first power supply sheath connecting the power source and / or the control unit to the second drive system.

[0022] Preferably, the energy source is an electrical energy source and the first supply sheath is an electrical supply sheath.

[0023] Without going out of the scope of the invention, the first supply duct can be an upstream or downstream data supply duct, or a fluid supply duct such as a gas or fuel.

[0024] It is thus understood that the electrical power source and / or the control unit is connected to the second drive system and is also connected to the thruster by a second sheath, said second sheath connecting the second drive system to the thruster.

[0025] Preferably, the second supply sleeve extends into an internal channel, formed in the axis of the second shaft between the propeller and the second drive system.

[0026] Advantageously, the drone may include an electrical power source capable of supplying the energy consumption of the drone's propulsion system. For example, the electrical power source may be an electric battery housed in a receptacle on the chassis designed for this purpose.

[0027] Advantageously, the head includes a base on which the second drive system is mounted.

[0028] In a preferred embodiment, the base has a substantially annular shape, the axis of the second tree extending through said base.

[0029] In order to properly separate the movements of the ball joint formed by the head and the capsule from the movements of the second drive system and the second shaft, the link between the second drive system and the base is offset with respect to the axis of the second shaft and with respect to the second drive system.

[0030] Preferably, the base includes a projecting part extending from the annular base, so as to be able to offset the link between the second drive system and the base is offset with respect to the axis of the second shaft and with respect to the second drive system.

[0031] Advantageously, the second drive system is mounted on the base via a link allowing at least one translational movement of the second drive system relative to the base.

[0032] It is understood that the link allowing at least one translational movement of the second drive system with respect to the base is in the form of an annular linear link, a sliding pivot link with play or a sliding link.

[0033] Preferably, the second drive system comprises a motor equipped with a rotating shaft around the second axis of rotation, the second shaft comprises a transmission element mechanically connected to the rotating shaft of the motor so that a rotation of the shaft of the motor is transmitted to the second shaft, the head of the second shaft comprising a first bearing mounted on the transmission element of the second shaft and a second bearing mounted concentrically around the first bearing, said second bearing being arranged between the head and the first bearing.

[0034] In a particular embodiment, the motor of the second drive system is connected to a plurality of pins engaged in holes in the axis of the second shaft.

[0035] It is thus understood that the second shaft and the motor of the second drive system are rigidly coupled to each other, so that said motor and the second shaft are fixed together, which allows for a strong responsiveness of the activity of the motor of the second drive system on the second shaft.

[0036] In another embodiment, the motor of the second drive system is connected so as to be offset from the second axis of rotation, which allows a flexible coupling between the motor of the second drive system and the second shaft.

[0037] In a preferred embodiment, the first and second bearings are made of electrically conductive materials and are electrically connected to each other, the second bearing being connected to the first supply sheath.

[0038] This configuration makes it possible to considerably reduce the size and weight of the elements involved in the transmission of the electrical power of the propulsion system.

[0039] Advantageously, the first bearing may be a ring or sleeve made of an electrically conductive material, in particular bronze and, for example, sintered bronze, impregnated with a lubricant such as electrically conductive or non-conductive grease, with a longitudinal axis substantially identical to the second axis of rotation and fixedly mounted on the second shaft, which is fitted into this first bearing. If necessary, at least one sheath electrically connected, directly or indirectly, to the thruster may be welded to the first bearing. Alternatively, said sheath may be inserted into a lug mounted and electrically connected to the first bearing.

[0040] Preferably, the second bearing may be a ring or sleeve made of an electrically conductive material, in particular bronze, with a longitudinal axis substantially identical to the second axis of rotation, mounted freely or fixedly on the first shaft and with a diameter substantially larger than that of the first bearing. Where applicable, at least one sheath electrically connected to the power source. can be welded to the second bearing. Alternatively, said sheath can be inserted into a lug mounted and electrically connected to the first bearing.

[0041] Advantageously, the inner surface of the second bearing and the outer surface of the first bearing are smooth and are in direct contact with each other. Alternatively, a coating, in particular a film of electrically conductive oil or grease coating or impregnating one or both of the bearings, may be interposed between the inner surface of the second bearing and the outer surface of the first bearing; said coating may be integrated into the bearing, in particular during its manufacture.

[0042] Advantageously, the second shaft comprises an axis surrounded by a tube.

[0043] The tube surrounding the second shaft can, without departing from the scope of the invention, be made of carbon, plastic, glass or even ceramic.

[0044] Preferably, the axis of the second shaft is produced by an additive manufacturing process.

[0045] In one particular embodiment, the chassis is made, for example, by stacking several layers, including, for example, two central layers made by 3D printing of a polymer, in particular one comprising polylactic acid (or PLA), or a lower layer of another material, for example, carbon or aluminum. In another example, the chassis is made by 3D printing using material extrusion.

[0046] Furthermore, the second shaft also includes at least one accelerometer, at least one power collector, at least one data collection device, and at least one electronic stability control device. All of these elements can be combined or used individually without departing from the scope of the invention.

[0047] Preferably, the first drive system includes a second drive device connected to the half-fork, so as to drive the half-fork in rotation around the first axis of rotation.

[0048] In a particular embodiment, the first drive system comprises a second drive device connected to a core, made for example of carbon, arranged in the half-fork, so as to drive the half-fork in rotation about the first axis of rotation

[0049] In another embodiment, the first drive system includes a second drive device connected to a fork, so as to drive the fork in rotation about the first axis of rotation.

[0050] The first drive system comprises at least one propulsion control unit, at least one information collector, and at least one power collector. All of these elements can be combined or used individually without departing from the scope of the invention.

[0051] Advantageously, the first shaft includes a linking element with the first drive system, the half-fork extending from the linking element.

[0052] In a particular embodiment, the connecting element comprises a core, for example said core is made of monolithic carbon, said core is surrounded by a layer made for example by an additive manufacturing process.

[0053] In a particular embodiment, the half-fork or the fork is formed by a polyurethane foam surrounded by a skin.

[0054] By reference, the skin surrounding the polyurethane foam is made of carbon, preferably monolithic carbon.

[0055] Advantageously, the first sheath extends into an internal channel formed in the printed layer of the bonding element and extends into the polyurethane foam up to the capsule.

[0056] Other advantages and features of the present invention are now described by means of purely illustrative and in no way limiting examples of the scope of the invention, and from the accompanying drawings, in which the various figures represent:

[0057] [Fig-1] is a schematic representation of a perspective view of the vehicle propelled according to the invention.

[0058] [Fig.2] is a schematic representation of a perspective view of the first forked shaft and the second shaft of a propeller of the propelled vehicle.

[0059] [Fig.3A] is a schematic perspective representation of the ball joint between the first shaft and the second shaft of the powered vehicle.

[0060] [Fig.3B] is a schematic representation of a horizontal section of the ball joint connecting the first shaft to the second shaft.

[0061] [Fig.3C] is a schematic representation of a vertical section of the ball joint connecting the first shaft to the second shaft.

[0062] [Fig.4] is a schematic representation of a vertical section of the second tree.

[0063] [Fig.5] is a schematic representation of a cross-section of the first system training connected to the first shaft.

[0064] For reasons of simplicity and clarity of illustration, the elements shown in the figures have not necessarily been drawn to scale. Thus, the dimensions and relative proportions of certain elements may be exaggerated or reduced.

[0065] In the following description, identical elements, by structure or by function, appearing on different figures retain, unless otherwise specified, the same references.

[0066] It should be noted that in these figures the structural and / or functional elements common to the different variants may have the same references.

[0067] Of course, various other modifications can be made to the invention within the scope of the annexed claims.

[0068] With reference to [Fig.1] to [Fig.5], the invention relates to a propelled vehicle 1, in particular remotely piloted aerial vehicles, or drones.

[0069] In the example illustrated in [Fig.1], the powered vehicle 1 comprises a chassis 2 on which four propellers 3 are mounted.

[0070] Each propulsion unit 3 comprises a first shaft 4, rotatably mounted on the chassis 2 around a first axis of rotation 5 and a second shaft 6 rotatably mounted on the first shaft 4 around a second axis of rotation 7 orthogonal to the first axis of rotation 5, the second shaft 6 supporting said propulsion unit 3 of said propelled vehicle 1.

[0071] Figure 2 illustrates, for each propulsion unit 3 of the propelled vehicle 1, the fact that the latter comprise a first drive system 8 connected to the first shaft 4 and capable of driving the first shaft 4 in rotation around the first axis of rotation 5 and at least a second drive system 9 connected to the second shaft 6 and capable of driving the second shaft 6 in rotation around the second axis of rotation 7.

[0072] In order to obtain mechanical resistance to the thrusts exerted on the first 4 and second 6 shafts during the movements of the propelled vehicle 1, the first shaft 4 includes a fork-shaped part, in which the second shaft 6 is mounted between the two free ends of the fork of the first shaft 4, said first and second shafts are connected to each other by means of a ball joint 10.

[0073] As illustrated in [Fig.3A], the first shaft 4 includes on one of the free ends of the fork, a capsule 11 defining a cavity at least partially spherical forming the cavity of the ball joint 10.

[0074] Furthermore, the second shaft 6 having, at one of its ends, a head 12 of at least partially spherical shape, forming the head of the ball joint 10.

[0075] Thus, it is understood that the head 12 is housed in the spherical cavity of the capsule 11, so that the capsule 11 and the head 12 together form said ball joint 10.

[0076] It is also understood that the head 12 surrounds the axis of the second shaft 6. Thus, the head 12 is connected directly or indirectly to the axis of the second shaft 6, the latter driven in rotation by the second drive system 9.

[0077] In addition, the head 12 has a base 121 of substantially annular shape on which the second drive system 9 is mounted.

[0078] In order to clearly separate the movements of the ball joint 10 formed by the head 12 and the capsule 11 from the movements of the second drive system 9 and the second shaft 6, the connection between the second drive system 9 and the base 121 is offset from the axis of the second shaft 6 and from the second drive system 9.

[0079] The base 121 thus includes a projecting part extending from the annular base 121, so as to be able to offset the connection between the second drive system 9 and the base 121. Consequently, the connection is offset with respect to the axis of the second shaft 6.

[0080] Thus, the second drive system 9 is mounted on the base 121 via a link allowing at least one translational movement of the second drive system 9 with respect to the base 121, more precisely by an annular linear link.

[0081] As illustrated in [Fig.3C], the second drive system 9 comprises a motor 91 equipped with a rotating shaft 911 around the second axis of rotation 7, the second shaft 6 comprises a transmission element 61 mechanically connected to the rotating shaft 911 of the motor 91 so that a rotation of the shaft of the motor 91 is transmitted to the second shaft 6.

[0082] Furthermore, the head 12 of the second shaft 6 comprising a first bearing 13 mounted on the transmission member 61 of the second shaft 6 and a second bearing 14 mounted concentrically around the first bearing 13, said second bearing 14 being arranged between the head 12 and the first bearing 13.

[0083] The first 13 and the second bearing 14 are made of electrically conductive materials and are electrically connected to each other, the second bearing 14 being connected to a first supply sheath (not shown).

[0084] The motor 91 of the second drive system 9 is connected to a plurality of pins 912 engaged in holes in the axis of the second shaft 6.

[0085] It is thus understood that the second shaft 6 and the motor 91 of the second drive system 9 are rigidly coupled to each other, so that said motor 91 and the second shaft 6 are fixed together, which allows for a strong responsiveness of the activity of the motor 91 of the second drive system 9 on the second shaft 6.

[0086] Fig. 3B, for its part, illustrates the presence of a slot 15 provided in the head 12 and the capsule 11, through which extends the first power supply sheath (not shown) connecting a power source and / or the control unit, provided in the propelled vehicle 1, to the second drive system 9.

[0087] It is thus understood that the electrical power source and / or the control unit is connected to the second drive system 9 and also connected to the thruster 3 by a second sheath (not shown) connected to the second drive system 9 and to the thruster 3.

[0088] The second supply sleeve extends into an internal channel 25, formed in the axis of the second shaft 6 between the propeller 3 and the second drive system 9.

[0089] Fig. 4 also illustrates the fact that the second shaft 6 has an axis produced by an additive manufacturing process surrounded by a carbon tube 26.

[0090] The second shaft 6 also includes an accelerometer 16, a power collector 17, an information collection device 18 and an electronic stability control device 19.

[0091] Finally, and as illustrated in [Fig.5], the first drive system 8 includes a second drive system 9 connected to a carbon core 20 arranged in the fork, so as to drive the fork in rotation around the first axis of rotation 5.

[0092] The first drive system 8 includes a propulsion control unit 21, an information collector 22 and a power collector 23.

[0093] Advantageously, the first shaft 4 includes a connecting element 24 with the first drive system 8, the fork extending from the connecting element 24, the connecting element includes the monolithic carbon core 20 surrounded by a layer made by an additive manufacturing process, and the fork is formed by a polyurethane foam surrounded by a carbon skin 27.

[0094] In any event, the invention cannot be limited to the embodiments specifically described in this document, and extends in particular to all equivalent means and to any technically operative combination of these means.

Claims

Demands

1. A powered vehicle (1) comprising: - A chassis (2); - At least two propellers (3) mounted on the chassis (2), each propeller (3) being movably mounted for rotation on the chassis (2) about two orthogonal axes of rotation; - At least for each propeller (3), a first shaft (4), rotatably mounted on the chassis (2) about a first axis of rotation (5) and a second shaft (6) rotatably mounted on the first shaft (4) about a second axis of rotation (7) orthogonal to the first axis of rotation (5), the second shaft (6) supporting said propeller (3) of said powered vehicle (1); - At least a first drive system (8) connected to the first shaft (4) and capable of rotating the first shaft (4) about the first axis of rotation (5);and - At least one second drive system (9) connected to the second shaft (6) and capable of rotating the second shaft (6) around the second axis of rotation (7), characterized in that the first shaft (4) comprises a part in the shape of at least one half-fork, in that the second shaft (6) is mounted on the first shaft (4) on the free ends of the half-fork of the first shaft (4), and in that said first and second shafts (6) are connected to each other, at the end, by means of at least one ball joint (10).

2. Vehicle (1) according to the preceding claim, characterized in that the first shaft (4) comprises on the free end of the half fork, a capsule (11) defining a cavity at least partially spherical, the second shaft (6) having, at one of these ends, a head (12) of at least partially spherical shape, said head (12) being housed in said spherical cavity, so that the capsule (11) and the head (12) together form said ball joint (10).

3. Vehicle (1) according to the preceding claim, characterized in that it comprises a power source and / or a control unit and in that each of the head (12) and the capsule (11) has a slot (15), through which extends a supply sheath connecting the power source and / or the control unit to the second drive system (9).

4. Vehicle (1) according to the preceding claim, characterized in that the head (12) comprises a base (121) on which the second drive system (9) is mounted.

5. Vehicle (1) according to the preceding claim, characterized in that the second drive system (9) is mounted on the base (121) via a link allowing at least one translational movement of the second drive system (9) relative to the base (121).

6. Vehicle (1) according to the preceding claim, characterized in that the second drive system (9) comprises a motor (91) equipped with a rotating shaft (911) about the second axis of rotation (7), the second shaft (6) comprises a transmission member (61) mechanically connected to the rotating shaft (911) of the motor (91) so that a rotation of the shaft of the motor (91) is transmitted to the second shaft (6), the head (12) of the second shaft (6) comprising a first bearing (13) mounted on the transmission member (61) of the second shaft (6) and a second bearing (14) mounted concentrically about the first bearing (13), said second bearing (14) being arranged between the head (12) and the first bearing (13).

7. Vehicle (1) according to the preceding claim, characterized in that the first (13) and the second bearing (14) are made of electrically conductive materials and are electrically connected to each other, the second bearing (14) being connected to the power supply sheath.

8. Vehicle (1) according to any one of the preceding claims, characterized in that the second shaft (6) comprises an axle surrounded by a tube (26).

9. Vehicle (1) according to any one of the preceding claims, characterized in that the first drive system (8) comprises a second drive device connected to the half-fork, so as to drive the half-fork in rotation about the first axis of rotation (5).

10. Vehicle (1) according to any one of the preceding claims, characterized in that the first shaft (4) comprises a linking element (24) with the first drive system (8), the half-fork extending from the linking element (24).

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