EP3280502B1 - Transportgerät mit räder - Google Patents

Transportgerät mit räder Download PDF

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Publication number
EP3280502B1
EP3280502B1 EP16719453.9A EP16719453A EP3280502B1 EP 3280502 B1 EP3280502 B1 EP 3280502B1 EP 16719453 A EP16719453 A EP 16719453A EP 3280502 B1 EP3280502 B1 EP 3280502B1
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EP
European Patent Office
Prior art keywords
castor
braking
footplate
angle
axis
Prior art date
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EP16719453.9A
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English (en)
French (fr)
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EP3280502A1 (de
Inventor
Thierry Hilt
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Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
    • A63C17/061—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type with relative movement of sub-parts on the chassis
    • A63C17/064—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type with relative movement of sub-parts on the chassis comprising steered wheels, i.e. wheels supported on a vertical axis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/14—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches
    • A63C17/1409—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches contacting one or more of the wheels
    • A63C17/1427—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches contacting one or more of the wheels the brake contacting other wheel associated surfaces, e.g. hubs, brake discs or wheel flanks
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/18—Measuring a physical parameter, e.g. speed, distance

Definitions

  • the invention relates to a locomotion apparatus with wheels for moving on a floor.
  • roller skates Many wheeled mobility devices are known as, for example, roller skates.
  • braking with roller skates or other similar locomotion apparatus, such as skateboards or roller skis requires great dexterity and requires many hours of practice before being perfectly mastered. Indeed, for this, it is often necessary to get skid wheels on the ground.
  • Advantage No. 2 is particularly interesting because it greatly facilitates the learning of the braking of the locomotion apparatus.
  • the wheel is a ball and the braking torque is obtained by rubbing pads on this ball.
  • the pads are placed on a bearing axis that passes through the center of the ball.
  • the friction, and therefore the braking torque appears only if the ball rolls in a non-collinear direction with this axis of rolling, that is to say if the steering angle is non-zero.
  • braking is achieved by friction between the pads and the ball. But the latter has the characteristic of having a great adhesion with the ground. Typically, it is fairly soft polymer as for the current known rollers. Under these conditions, it is difficult to control a friction on the small contact surface between the pad and the ball.
  • the invention therefore aims to provide a locomotion device which has the same advantages as the US205 device while allowing a more precise control of the braking torque. It therefore relates to such a locomotion apparatus according to claim 1.
  • the claimed device has the same advantages as that of US205. Indeed, the fact that the wheel can rotate around the axis of rotation allows to limit or prevent, that this wheel slips during braking. In addition, the fact that the braking torque exerted is a function of the amplitude of the steering angle also makes it possible to approach the behavior of an ice skate, a snowboard or a ski.
  • the amplitude of the braking torque depends mainly on the braking command established by the central unit as a function of a measured physical quantity representative of the steering angle.
  • it is much easier to adjust and adjust the relationship between braking torque amplitude and steering angle.
  • Embodiments of this locomotion apparatus may include one or more of the features of the dependent claims.
  • the figure 1 represents a part of a locomotion apparatus 2.
  • the device 2 allows a human being, called thereafter user, to move by rolling on a floor 4.
  • the surface of the ground 4 is flat and extends in a horizontal plane called the ground plane.
  • the device 2 is light enough to be directly transported by hand by its user.
  • the apparatus 2 weighs less than 25 kg or less than 15 kg and preferably less than 10 kg. Its size is also limited. For example, its volume is less than 50 cm 3 .
  • the apparatus 2 is devoid of propulsion means, that is to say of thermal engine or electric propellant on the ground 4 the device 2 and its user.
  • the apparatus 2 is described in the particular case where it consists of two roller skates. Each of these pads is intended to be shod on a respective foot of the user. To simplify the figure 1 and the following figures, only the right shoe 6 is shown. The left pad of the apparatus 2 is deduced by symmetry of the right pad.
  • the pad 6 comprises a sole 8 which extends mainly in a horizontal plane S ( figure 2 ), called the sole plane. On the Figures 1 and 2 this plane S is parallel to the ground 4.
  • the sole 8 is described in more detail with reference to the Figures 1 and 2 .
  • the sole 8 is made of a rigid material which deforms very little under the weight of the user. For example, the maximum amplitude of its deformation in the Z direction between a situation where the weight of the user rests on this sole 8 and a situation where the user is absent, is strictly less than 10 cm and generally less than 1 cm or 5 mm for roll-on applications.
  • the sole 8 has an upper face 10 ( figure 2 ) on which the user's right foot is resting when using the device 2.
  • the pad 6 comprises a fastening device 12 for attaching the user's foot to the face 10 of the sole 8 so that the user can lift the pad 6 by raising the foot.
  • the attachment device 12 is a shoe inside which the user can enter his foot.
  • any other attachment device may be suitable as, for example, straps or loops for attaching the foot on the face 10 of the sole 8.
  • the sole 8 also has a lower face 14 ( figure 2 ) opposite the face 10 and on which are fixed rollers.
  • the orthogonal projection of the sole 8 in the plane S defines a shape that is longer than wide.
  • the longitudinal axis 16 of the sole 8 is defined as being the axis which passes through the center of this orthogonal projection of the sole 8 in the plane S and which is parallel to the largest side of the smaller area rectangle which contains entirely this orthogonal projection.
  • the center of an object is here defined as being the center of gravity of all the points of this object by assigning to each of its points the same weight.
  • the X direction of the XYZ mark is parallel to the axis 16.
  • the transverse axis of the sole 8 is an axis contained in the plane S and parallel to the Y direction.
  • the shoe 6 comprises four wheels 20 to 23.
  • Each wheel is rotatably mounted about a respective bearing axis passing through its center.
  • the rolling axles are always parallel to the S plane.
  • Figures 1 and 2 the rollers 20 to 23 are shown in a particular position, hereinafter referred to as "aligned position".
  • the aligned position the rolling axes of each of the rollers 20 to 23 are all perpendicular to the axis 16.
  • the braking torque which is exerted on each of these rollers is minimum and, preferably, none.
  • the rollers 20 to 23 are aligned one behind the other along the axis 16.
  • the rollers 20 and 23 are the rollers which are, respectively, the most forward and the further back in the X direction.
  • Each wheel 20 to 23 is also movable in rotation about a respective axis of rotation parallel to the Z direction. figure 2 these axes of rotation of the rollers 20 to 23 carry, respectively, the numerical references 26 to 29.
  • the bearing axis of the wheel 20 is referenced 34.
  • the wheel 20 comprises a tread 36 intended to come into direct contact with the ground 4 when the wheel 20 rolls on the ground 4.
  • the tread 36 is often made of polymer and, preferably, in a polymeric material having a significant coefficient of friction.
  • the tread 36 also has on each side of the wheel 20 vertical flanks 38 which do not come into direct contact with the ground 4.
  • the axis 34 is offset towards the front of the axis 26 of rotation.
  • the shortest distance ⁇ between the axis 34 and the axis 26 is non-zero.
  • this distance ⁇ is greater than 1 cm, 2 cm or 3 cm.
  • the axis 34 is in front of the axis 26 in the direction of displacement of the sole 8.
  • the distance ⁇ is chosen so that the point of contact between the ground 4 and the wheel 20 is as close as possible to the position of the point of contact that would be obtained by keeping the wheel 20 locked in the aligned position.
  • the wheel 20 also comprises a toothed wheel 40 rotatably mounted about the axis 26. More precisely, the axis of revolution of this wheel 40 coincides with the axis 26.
  • the toothed wheel 40 is fixed without any degree of freedom to the axis 34 and thus pivots at the same time as this axis 34 about the axis 26.
  • the figure 4 is used to define what is designated by "steering angle ⁇ B " and "angle ⁇ I inclination" of the sole 8.
  • roulette 20 is schematically represented by a circle.
  • the plane S and the axes 16, 26 and 34 correspond to the previously defined plane and axes.
  • the instantaneous direction VD of displacement of the sole 8 by a vector is also represented.
  • the angle ⁇ B is the angle between the axis 16 and the orthogonal projection of the direction VD on the plane S.
  • the angle ⁇ I is the angle between the plane S and the direction VD.
  • the rolling plane R of the wheel 20 and the plane passing through the center of the wheel 20 is perpendicular to its axis 34 rolling. As will be seen later, the rotation of the wheel 20 about its axis 26 is controlled to permanently maintain the plane R parallel to the direction VD to prevent the wheel 20 from skidding on the ground 4 when braking.
  • the figure 5 schematically represents the wheel 20 and a part of the sole 8 in a situation where the direction VD is horizontal and the angle ⁇ B is equal to 90 °.
  • the rolling plane of the wheel 20 is parallel to the direction VD.
  • the position of the wheel 20 in the case where the distance ⁇ is non-zero is represented in solid lines.
  • the position of the wheel 20 in the case where the distance ⁇ is zero is shown in dashed line.
  • the position of a wheel 40 is also represented in solid lines by an oblong shape.
  • the wheel 40 is identical to the wheel 20 except that it is locked in rotation about the axis 26 in the aligned position. Consequently, the position of the wheel 40 corresponds to that observed with a known shoe when the user inclines the sole of the shoe to skid in the direction VD perpendicular to the longitudinal axis of the sole in order to brake quickly
  • the points P 1 and P 2 correspond to the positions of the points of contact between the wheel 20 and the ground, respectively, in the position shown in dotted lines and in the position shown in solid lines.
  • the point P 3 corresponds to the position of the point of contact between the wheel 40 and the ground 4. To simplify, as a first approximation, the position of the point P 3 coincides with the intersection of the axis 26 and the ground 4.
  • ⁇ p D * sin ( ⁇ I ) / sin ( ⁇ B ), where D is the distance between the lower face 14 of the sole 8 and the ground 4 along the axis 26.
  • This value ⁇ p varies as a function of the values of the angles ⁇ I and ⁇ B.
  • the distance ⁇ is constant.
  • the distance ⁇ is here taken equal to D * sin ( ⁇ IC ) / sin ( ⁇ BC ) to plus or minus 20% or plus or minus 10% or more or less than 5%, where ⁇ IC and ⁇ BC are taken equal to 20 ° and 30 °, respectively.
  • the values ⁇ IC and ⁇ BC correspond to average values observed on known pads during a skid braking.
  • the distance D is equal to 90 mm, which leads to a distance ⁇ equal to 61.5 mm.
  • the inertial unit 50 is fixed without any degree of freedom to the sole 8.
  • the inertial unit 50 comprises a triaxial gyro 56 and a triaxial accelerometer 58.
  • the gyro 56 measures the rotational angular velocity of the sole 8 around three non-collinear axes and, advantageously, orthogonal to each other.
  • the measurement axes of the gyrometer 56 are parallel to the X, Y and Z directions.
  • the measurement axes of the accelerometer 58 are preferably parallel to the X, Y and Z directions.
  • the accelerometer 58 makes it possible to measure the direction VD whereas the integration of the measurements of the gyrometer 56 makes it possible to calculate the angles ⁇ B and ⁇ I.
  • the central unit 52 typically comprises a programmable electronic calculator 60 adapted to execute instructions recorded on an information recording medium.
  • the central unit 52 also comprises a memory 62 which contains the instructions necessary to execute the method of the figure 9 .
  • the device 54 is a controllable electrical device capable of simultaneously rotating the rollers 20 to 23 in response to the pivoting commands transmitted by the central unit 52.
  • this device 54 comprises a worm 70 which extends in parallel. to the axis 16 of the sole 8.
  • This screw 70 is located under the sole 8 and meshes directly and simultaneously each of the toothed wheels of the rollers 20 to 23.
  • the notched wheels of the rollers 21 to 23 bear, respectively, the numerical references 72, 73 and 74.
  • the meshing of the toothed wheel 40 with the screw 70 is shown in more detail on the figure 7 .
  • the screw 70 rotates on itself about its longitudinal axis which extends parallel to the axis 16.
  • a conical or frustoconical toothed wheel 76 is fixed without any degree of freedom on a proximal end of the screw 70.
  • the axis of revolution of this wheel 76 coincides with the longitudinal axis of the screw 70.
  • the wheel 76 meshes directly with another conical or frustoconical toothed wheel 78 whose axis of revolution is perpendicular and parallel to the direction Z.
  • the device 54 also comprises a controllable electric actuator 79 which rotates the toothed wheel 78 about its axis of revolution.
  • the actuator 79 is controlled by the central unit 52.
  • the actuator 79 is a stepping electric motor or the like.
  • the pad 6 also comprises an electro-mechanical braking device 80 of each of the casters 20 to 23 shown in FIG. figure 8 .
  • an electro-mechanical braking device 80 of each of the casters 20 to 23 shown in FIG. figure 8 To simplify the description and figure 8 , only the braking of the wheel 20 is shown and described in detail. The braking of the other rollers 21 to 23 is obtained in the same way as described for the wheel 20.
  • the actuator that pulls the brake cable is typically common to all the wheels to be braked.
  • the device 80 here comprises two buffers 82 and 84 braking. Each of these buffers 82 and 84 is movable between an advanced position and a retracted position. Only the retracted position is represented on the figure 8 . In the position advanced, the buffers 82 and 84 exert pressure on the wheel 20 to slow it down. For example, the pads 82 and 84 rub on the flanks 38 of the wheel 20 to slow it down. In the retracted position, the pads 82 and 84 do not exert or exert a minimum pressure on the roller 20 so that it is not braked. Here, in the retracted position, the pads 82 and 84 do not rub on the wheel 20. Typically, the pads 82 and 84 are made of polymer to increase the coefficient of friction.
  • each buffer 82, 84 is placed vis-à-vis a respective sidewall 38 of the wheel 20.
  • the buffers 82 and 84 are each placed on a respective end of jaws 86 and 88 of a pincer 90.
  • These jaws 86, 88 are rotatably mounted about the same axis 92 parallel to the Z direction.
  • each jaw 86, 88 is extended, respectively, by handles 94 and 96.
  • the handle and the corresponding jaw form only one rigid piece.
  • Each distal end of the handles 94 and 96 is mechanically attached to a respective end of a brake cable 100.
  • the dots that appear in the representation of the cable 100 only indicate that the cable 100 is not represented in full.
  • the cable 100 extends from the distal ends of the handles 94, 96 to the axis 26, then rises along the axis 26 in the Z direction to the sole 8 and then extends under the sole 8 to an actuator 104.
  • the actuator 104 is capable of pulling the proximal end of the cable 100 until the pressure exerted by the pads 82, 84 on the sidewalls 38 is equal to a pressure setpoint.
  • the pressure setpoint is contained, typically, in the brake control transmitted to the actuator 104 by the central unit 52. More specifically, when the actuator 104 pulls on the cable 100, the distal ends of the handles 94, 96 move closer to each other, which moves the buffers 82, 84 from their retracted position to their advanced position.
  • the actuator 104 is an electric actuator controllable by the central unit 52.
  • the device 80 also includes a return block 106 which automatically returns the buffers 82 and 84 from their advanced position to their retracted position as soon as the cable 100 relaxes.
  • the block 106 permanently urges the buffers 82 and 84 to their retracted position.
  • the block 106 is a spring or a piece of rubber housed between the jaws 86 and 88 and which permanently exerts a restoring force on these jaws which move them away from each other.
  • the buffers 82, 84, the pincer 90 and the block 106 are integral with the wheel 20 and pivot at the same time as the wheel 20 pivots about its axis 26.
  • the actuator 104 is fixed without any degree of freedom on the sole 8.
  • the actuators 80 and 104, the central unit 52 and the inertial unit 50 are housed inside the same housing 110 ( figure 1 ) fixed without any degree of freedom on the sole 8.
  • this housing 110 is attached to the rear of the liner 12.
  • the housing 110 has a source 112 ( figure 1 ) power supply that supplies electricity to all the elements of the pad 6 which require such a power supply.
  • the source 112 is an electric battery or a rechargeable battery or not.
  • the inertial unit 50 continuously measures the angular velocity and the acceleration of the sole 8 around the X, Y and Z directions and then transmits each of these measurements to the central unit 52.
  • the central unit 52 acquires these measures to process them.
  • the central unit 52 calculates the values of the angles ⁇ I and ⁇ B. Steps 120 and 122 are reiterated continuously as long as the apparatus 2 is used.
  • the user starts with a phase 124 of acceleration or displacement at a constant speed during which he does not wish to brake.
  • the user moves by doing what is known as the "skater's step".
  • the axis 16 and the direction VD are aligned.
  • the central unit 52 keeps the rollers in their aligned position at least when they roll on the ground 4. Therefore, during this phase 124, no braking torque is exerted on the wheels 20 to 23 by the device 80.
  • the buffers 82 and 84 are thus maintained in their retracted position.
  • the central unit 52 establishes a pivoting control of the rollers 20 to 23 to maintain their respective rolling surfaces parallel to the direction VD and to place their rolling axes. respective to their respective axes of rotation in the direction of the direction VD.
  • the central unit 52 establishes a pivot control that rotates each of the rollers 20 to 23 about its axis of rotation by an angle - ⁇ B opposite the calculated angle ⁇ B.
  • This pivoting instruction is incorporated in the pivot control which is transmitted to the steering device 54 and more specifically to its actuator 79.
  • a step 134 in response, the actuator 79 rotates the toothed wheel 78 by an angle corresponding to the setpoint contained in the received pivot control.
  • the rotation of the toothed wheel 78 causes a rotation corresponding to the screw 70 by means of the toothed wheel 76.
  • the rotation of the screw 70 on itself rotates, simultaneously, all the toothed wheels 40 and 72 to 74. This therefore causes a simultaneous pivoting of each wheel 20 to 23 around their respective axes of rotation which maintains the running surface of each of these wheels parallel to the direction VD.
  • the sole 8 and more precisely, the axis 16 of this sole is no longer parallel to the direction in which the rollers 20 to 23 roll.
  • the central unit 52 establishes a braking control of the rollers 20 to 23 to exert a braking torque on each of the rollers 20 to 23 whose amplitude increases as the absolute values of angles ⁇ B and ⁇ I , calculated in step 130, increases.
  • the central unit 52 calculates a pressure setpoint that increases proportionally to the absolute values of the angles ⁇ B and ⁇ I.
  • the setpoint Cp thus determined is then incorporated into a braking command established by the unit 52 and then transmitted to the braking device 80 and more precisely to its actuator 104.
  • the actuator 104 pulls the cable 100 until the pressure exerted by the buffers 82 and 84 on the sidewalls 38 of the rollers is equal to the pressure setpoint Cp contained in the command braking received.
  • step 134 returns the rollers 20 to 23 in their aligned position.
  • step 140 leads to a zero pressure setpoint. Therefore, at the next execution of step 142, the actuator 104 relaxes the cable 100 until the buffers 82 and 84 no longer exert any pressure on the wheel 20. The block 106 then automatically returns the buffers 82 and 84 to their retracted position.
  • the braking phase then ends and the user returns to the displacement phase 124.
  • the device 2 allows the user to brake in "snowplow", that is to say, by placing the pads in the same position as it would have to brake snowplow with skis or ice skates.
  • the figure 10 represents a shoe 150 identical to the pad 6 except that the braking device 80 is replaced by an electro-mechanical device 152 braking. To simplify the figure 10 , only the elements of the shoe 150 which differ from those of the shoe 6 are shown is described in more detail. The other elements are identical to those of the pad 6. In particular, the wheel steering device 20 23 of the shoe 150 is the same as that of the shoe 6. Only the braking device of the wheel 20 is shown on the figure 10 . The braking device of the other rollers 21 to 23 is identical to the braking device of the wheel 20.
  • the device 152 includes buffers movable from a retracted position to an advanced position when the brake cable 100 is pulled. These pads automatically return to their retracted position as soon as the cable 100 is loosened.
  • the device 152 comprises the pincer 90 and the pads 82, 84. figure 10 the tongs 90 and the buffers 82, 84 are schematized by a rectangular block bearing the reference 154.
  • the cable 100 is stretched and, alternately relaxed, not by a specific actuator such as the actuator 104 but using the same electric actuator 79 as used in the steering device 54.
  • the device 152 comprises a mechanism 156 which converts a pivoting of the wheel 20 about the axis 26 into a tension of the cable 100.
  • the mechanism 156 tends all the more the cable 100 than the absolute value of the pivoting angle of the wheel 20 about the axis 26 increases.
  • the mechanism 156 converts a pivoting wheel 20 into a displacement of the buffers 82, 84 to their advanced position. Conversely, the more the pivot angle decreases, the more the tension on the cable 100 decreases.
  • the mechanism 156 includes an anchor point 158 to which is attached, without any degree of freedom, the proximal end of the cable 100.
  • the point 158 is fixed without any degree of freedom on the 8.
  • the opposite ends of the cable 100 are attached, without any degree of freedom, to the ends of the handles 94 and 98 as described with reference to FIG. figure 8 .
  • the mechanism 156 also comprises two pairs 160, 162 of pions vis-à-vis.
  • the pair 160 is fixed without any degree of freedom under the sole 8.
  • the pair 162 is secured to the wheel 20 and pivots at the same time as the wheel 20 about the axis 26.
  • the pair 162 is placed forward the axis 26 of rotation, that is to say the side of the axis 26 opposite the side where the pincer 90 and the axis 34 of rolling.
  • the shortest distance between the pair 162 and the axis 26 is greater than 5 mm or 1 cm and generally less than 10 cm.
  • Each pair 160, 162 comprises two pins, respectively 164, 165 and 166, 167.
  • the cable 100 passes between the two pins 164 and 165 and between the two pins 166 and 167.
  • the pins 164 and 165 are symmetrical to each other. other relative to a plane parallel to the X and Z directions and passing through the axis 26.
  • the two pins 166 and 167 are symmetrical to one another with respect to a plane perpendicular to the axis 34 and passing through the axis 26.
  • the pair 160 is the symmetrical pair 162 relative to a plane perpendicular to the axis 16.
  • the pin 164 is now described in more detail with reference to the figure 12 .
  • the pin 164 here corresponds to a quarter of a wheel having a circular groove 170 on its outer periphery.
  • the dimensions of this groove 170 are sufficient to receive the cable 100 and prevent it from sliding in the Z direction when the cable is supported and received inside this groove.
  • the pins 165 and 166 abut on the cable 100 and the curve. Since the proximal end of the cable 100 is attached without any degree of freedom to the anchoring point 158, this curvature of the cable 100 results in traction on the distal ends of the handles 94 and 96. jaws 86 and 88 and thus the braking of the wheel 20 by friction with the pads 82 and 84.
  • the amplitude of the braking torque is greater than the amplitude of the pivoting of the wheel 20 around the axis 26 is important, that is to say that the absolute value of the angle ⁇ B is large. In contrast, in this embodiment, the amplitude of the braking torque is independent of the value of the angle ⁇ I.
  • the control of the braking torque as a function of the angle ⁇ I can be omitted.
  • the pad 6 can be simplified.
  • the measurement of the angle ⁇ I can be omitted.
  • the braking torque exerted on the wheels is not necessarily proportional to the absolute value of the angle ⁇ B.
  • the amplitude of the braking torque is constant and non-zero as soon as the angle ⁇ B is greater than a predetermined threshold.
  • the amplitude of the braking torque may also increase non-linearly, for example exponentially, as a function of the absolute value of the angle ⁇ B.
  • Braking a wheel can be done differently.
  • braking can also be achieved by using electromagnetic forces.
  • one or more permanent magnets are fixed without any degree of freedom on the wheel and the braking device comprises coils capable of generating magnetic fields which slow the movement of the permanent magnets.
  • the braking device has only one buffer or on the contrary more than two buffers may come rub on the same wheel.
  • the braking device can also be realized, for example, as described in the application US2013277924 except that the brake cable is pulled by the actuator 104 and not by a movement towards the rear of the user.
  • the mechanism 156 can be realized differently.
  • the number of pions may be different.
  • other embodiments of the pin 164 are possible.
  • the groove 170 is omitted.
  • the face of the pin intended to bear on the cable 100 does not present no roughness likely to hurt or wear this cable 100.
  • this support surface does not need to be circular, it can also be elliptical.
  • the braking device can also be provided to brake only a limited number of rollers and not all the wheels of the apparatus 2. For example, only the rollers 20 and 23 are braked. The other wheels 21 and 22 are not braked.
  • the toothed wheel 40 can be replaced by a simple notched angular sector.
  • the steering device comprises a roller actuator which directly drives the wheel in rotation about its axis of rotation. In this case, the worm 70 and the toothed wheels 40 and 72 to 74 are omitted.
  • a damper can be housed between each wheel and the sole to cushion the bumps and asperities of the ground.
  • a damper typically introduces an additional degree of freedom of movement of the wheel relative to the sole in the Z direction.
  • rollers are always entirely under the sole as in the examples described above. Indeed, it is sufficient that at least a portion of the tread of the wheel is under the sole. The other part of the tread may protrude above the sole through a housing provided for this purpose in this sole.
  • the number of wheels can be any.
  • the locomotion apparatus comprises only one or two or more wheels.
  • the locomotion device may also include additional free wheels.
  • These free rollers are mounted free to rotate about their respective axes of rotation.
  • the running axis of these free wheels is also offset by a non-zero distance ⁇ of their axis of rotation so that they are automatically aligned without the aid of an electric actuator on the instantaneous direction of movement of the device.
  • One of these free wheels can, for example, be used to measure the angle ⁇ B.
  • the locomotion device comprises only free wheels.
  • the steering device is omitted.
  • the locomotion apparatus comprises a mechanism for adjusting the distance ⁇ .
  • this mechanism is a sliding rail or slide mechanism that adjusts the distance ⁇ even during use of the locomotion device.
  • the locomotion apparatus also comprises a controllable electric actuator that moves the adjustment mechanism according to a distance adjustment command ⁇ generated by the central unit 52.
  • the central unit generates, at each control instant, an adjustment command which maintains the distance ⁇ during braking equal to the distance D * sin ( ⁇ I ) / sin ( ⁇ B ) .
  • the distance ⁇ is constant and zero.
  • the central unit 52 may comprise one or more electronic computers. In the case where it comprises several electronic computers, one of them is for example specifically programmed to control the steering device while another of these electronic computers is specifically programmed to control the braking device.
  • the first central unit fixed on the first sole and the second central unit fixed on the second sole comprise, respectively, a first and a second transceiver.
  • These transceivers allow data exchange between the first and second CPUs.
  • the first central unit transmits to the second central unit data on the braking torque and / or the steering angle that it controls.
  • the second CPU takes into account the data received to determine the braking torque and / or the steering angle to be applied to the wheels attached to the second sole.
  • the difference between the braking torques applied on the wheels fixed on each of these insoles is limited.
  • These transceivers are typically wireless transceivers such as radio-frequency transceivers, Bluetooth or Wifi.
  • the central unit 52 can be programmed differently. For example, alternatively, during the phase 124, the unit 52 controls the devices 54 and 80 to keep the rollers 20 to 23 in the aligned position. As soon as the unit 52 detects that the user wants to brake, in response, it immediately proceeds to the phase 128 during which it maintains the rolling plane of each wheel aligned with the direction VD and, at the same time, brakes each wheel as previously described. For example, the unit 52 detects that the user wants to brake when the angle ⁇ B varies abruptly. A sudden variation of the angle ⁇ B can be detected by continuously comparing the derivative, with respect to time, of the angle ⁇ B to a predetermined threshold SB. As long as this threshold SB is not crossed, the unit 52 remains in the phase 124 where the rollers are maintained in the aligned position. As soon as this threshold SB is crossed, the unit 52 proceeds to the phase 128.
  • the inertial unit 50 may comprise additional sensors such as, for example, a triaxial magnetometer. These additional sensors measure additional information that is transmitted to the central unit 52. The central unit 52 can use this additional information on the displacement. the sole 8 to improve the determination of the angle ⁇ B or ⁇ I. This CPU can also use this additional information to establish pivoting or braking commands which are, in addition, a function of its orientation in the Earth's magnetic field.
  • additional sensors such as, for example, a triaxial magnetometer. These additional sensors measure additional information that is transmitted to the central unit 52.
  • the central unit 52 can use this additional information on the displacement. the sole 8 to improve the determination of the angle ⁇ B or ⁇ I.
  • This CPU can also use this additional information to establish pivoting or braking commands which are, in addition, a function of its orientation in the Earth's magnetic field.
  • the gyro 56 is replaced by a gyroscope which directly measures the rotation around the X, Y and Z directions rather than the angular velocity around these directions.
  • the power source 112 may include an energy recovery system for generating electricity to power the braking and steering devices.
  • the energy recovery system comprises photovoltaic panels or a dynamometric machine whose rotor is rotated by the rotation of the rollers about their respective bearing axis.
  • the energy recovery system can be used to directly power the braking and steering devices or simply to recharge a battery.
  • the energy recovery system can also exploit other sources of energy present in the environment where the locomotion device is used, for example, the vibrations of the wheels caused by irregularities of the soil on which the vehicle moves. apparatus.
  • the housing 110 may be placed elsewhere than behind the liner 12.
  • the housing may be housed on or under the sole 8.
  • the mechanism for transmitting the movement of the actuators is adapted according to this new position of the housing .
  • the use of truncated notched wheels may become unnecessary depending on the position of the housing.
  • the locomotion apparatus has been described above in the particular case where it is a roller skate. However, all that has been described above applies to any type of wheeled locomotion device used by a user to move on a floor. In particular, what has been described above applies to skateboards, scooters, roller skis or roller skis. In the case of a skateboard or a scooter, the locomotion device does not include a device for attaching the feet of the user on the sole.

Landscapes

  • Braking Arrangements (AREA)
  • Braking Elements And Transmission Devices (AREA)
  • Rehabilitation Tools (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Manipulator (AREA)

Claims (12)

  1. Fortbewegungsgerät mit Rollen, um sich auf einem Boden zu bewegen, wobei dieses Gerät umfasst:
    - eine Sohle (8), die sich hauptsächlich in einer "Ebene der Sohle" genannten Ebene erstreckt und auf die mindestens einer der Füße des Verwenders gesetzt wird, wenn das Gerät von diesem Verwender verwendet wird,
    - mindestens eine Rolle (20-23), die mechanisch mit der Sohle verbunden ist, um auf dem Boden zu rollen, wobei diese Rolle um eine Rollachse (34), die parallel zur Ebene der Sohle verläuft, und auch um eine Drehachse (26-29), die senkrecht zur Ebene der Sohle verläuft, drehend gelagert ist,
    - eine Bremsvorrichtung (80; 152), die geeignet ist, auf die Rolle ein Bremsmoment auszuüben, dessen Amplitude in Abhängigkeit von einem Einschlagwinkel variiert, wobei der Einschlagwinkel der Winkel ist zwischen:
    • einer Längsachse der Sohle, wobei diese Längsachse ohne einen Freiheitsgrad an der Sohle festgelegt ist und in der Ebene der Sohle enthalten ist, und
    • der orthogonalen Projektion der momentanen Bewegungsrichtung dieser Sohle auf die Ebene der Sohle,
    dadurch gekennzeichnet, dass:
    - die Bremsvorrichtung (80; 152) eine steuerbare elektromechanische Vorrichtung ist, die geeignet ist, ein Bremsmoment auf die Rolle auszuüben, das in Abhängigkeit von einem empfangenen Bremsbefehl variiert, und
    - das Fortbewegungsgerät umfasst:
    • eine Inertial-Messeinheit (50), die geeignet ist, eine für den Einschlagwinkel repräsentative physikalische Größe zu messen, und
    • eine Zentraleinheit (52), die dazu programmiert ist, den Bremsbefehl in Abhängigkeit von der von der Inertial-Messeinheit gemessenen physikalischen Größe zu generieren und den generierten Bremsbefehl zur Bremsvorrichtung zu übertragen, so dass auf die Rolle ein Bremsmoment ausgeübt wird, das in Abhängigkeit vom Einschlagwinkel variiert.
  2. Gerät nach Anspruch 1, wobei:
    - das Gerät zusätzlich eine steuerbare elektromechanische Vorrichtung (54) zum Einschlagen der Rolle umfasst, wobei diese Vorrichtung geeignet ist, die Rolle um ihre Drehachse (26) um einen Winkel schwenken zu lassen, der ausgehend von einem empfangenen Schwenkbefehl bestimmt wird, und
    - die Zentraleinheit (52) ferner auch dazu programmiert ist, zu jedem Zeitpunkt der Schwenksteuerung der Rolle und in Abhängigkeit von der von der Inertial-Messeinheit zu diesem Zeitpunkt gemessenen physikalischen Größe einen Schwenkbefehl zu generieren, der die Rollachse der Rolle senkrecht zur momentanen Bewegungsrichtung der Sohle hält.
  3. Gerät nach Anspruch 2, wobei die Bremsvorrichtung (152) und die Einschlagvorrichtung (54) ein gemeinsames steuerbares elektrisches Stellorgan (79) umfassen, das geeignet ist, die Rolle als Reaktion auf einen Schwenkbefehl um einen vorgegebenen Winkel um ihre Drehachse schwenken zu lassen.
  4. Gerät nach einem der vorhergehenden Ansprüche, wobei die Bremsvorrichtung (152) umfasst:
    • mindestens einen Puffer (82, 84), der zwischen einer vorgeschobenen Position, in der er einen Druck auf die Rolle ausübt, um sie zu bremsen, und einer zurückgezogenen Position, in der er keinen Druck oder einen geringeren Druck auf die Rolle ausübt, bewegbar ist, und
    • einen Mechanismus (156), der geeignet ist, das Schwenken der Rolle in eine Richtung um ihre Drehachse in eine Bewegung des Puffers aus seiner zurückgezogenen Position in seine vorgeschobene Position und ein Schwenken der Rolle in die entgegengesetzte Richtung um ihre Drehachse in eine Bewegung des Puffers aus seiner vorgeschobenen Position in seine zurückgezogene Position umzusetzen.
  5. Gerät nach Anspruch 4, wobei:
    - die Bremsvorrichtung (152) eine Rückstelleinheit (106) umfasst, die ständig eine Kraft ausübt, die den Puffer in seine zurückgezogene Position zurückführt, und
    - der Mechanismus (156), der geeignet ist, ein Schwenken der Rolle in eine Bewegung des Puffers umzusetzen, umfasst:
    • ein Seil (100), das auf einer Seite an einem ohne Freiheitsgrad an der Sohle fixierten Verankerungspunkt (158) und auf der anderen Seite an dem Puffer befestigt ist, und
    • mindestens einen Block (164, 165, 166, 167), der durch die Drehung der Rolle bewegbar ist zwischen:
    - einer außermittigen Position, in der er das Seil spannt und so die Bewegung des Puffers aus seiner zurückgezogenen Position in seine vorgeschobene Position gegen die Rückstellkraft der Rückstelleinheit bewirkt, und
    - einer fluchtenden Position, in der das Seil entspannt ist und so die Bewegung des Puffers aus seiner vorgeschobenen Position in seine zurückgezogene Position unter der Wirkung der Rückstellkraft der Rückstelleinheit zulässt.
  6. Gerät nach Anspruch 2, wobei der kürzeste Abstand Δ zwischen der Rollachse (34) der Rolle und der Drehachse (26) derselben Rolle mindestens 1 cm beträgt und die Zentraleinheit (52) dazu programmiert ist, zu jedem Steuerungszeitpunkt einen Schwenkbefehl zu erzeugen, der zusätzlich die Rollachse der Rolle vor ihrer Drehachse in Richtung der momentanen Bewegungsrichtung der Sohle hält.
  7. Gerät nach Anspruch 2, wobei die Einschlagvorrichtung (54) umfasst:
    - ein Zahnrad (40), das ohne einen Freiheitsgrad an der Rolle (20) fixiert ist und um die Drehachse (26) dieser Rolle drehend gelagert ist,
    - eine Schnecke (70), die im Eingriff mit dem Zahnrad steht und sich parallel zur Ebene der Sohle erstreckt, und
    - ein elektrisches Stellorgan (79), das geeignet ist, die Schnecke um eine Anzahl von Umdrehungen drehen zu lassen, die ausgehend vom empfangenen Schwenkbefehl bestimmt wird, um die Rolle um einen entsprechenden Winkel um ihre Drehachse schwenken zu lassen.
  8. Gerät nach einem der vorhergehenden Ansprüche, wobei die Bremsvorrichtung (80) umfasst:
    - mindestens einen Puffer (82, 84), der zwischen einer vorgeschobenen Position, in der er einen Druck auf die Rolle ausübt, um sie zu bremsen, und einer zurückgezogenen Position, in der er keinen Druck oder einen geringeren Druck auf die Rolle ausübt, bewegbar ist, und
    - ein steuerbares elektrisches Stellorgan (104), das mechanisch mit dem Puffer verbunden ist, wobei dieses Stellorgan geeignet ist, auf den Puffer einen Druck in Richtung der vorgeschobenen Position auszuüben, der gleich einem Bremssollwert ist, der in dem empfangenen Bremsbefehl enthalten ist.
  9. Gerät nach einem der vorhergehenden Ansprüche, wobei die Zentraleinheit (52) dazu programmiert ist, dass das von der Bremsvorrichtung auf die Rolle ausgeübte Bremsmoment zunimmt, je größer der absolute Wert des Einschlagwinkels ist.
  10. Gerät nach einem der vorhergehenden Ansprüche, wobei:
    - die Inertial-Messeinheit (50) auch geeignet ist, eine physikalische Größe zu messen, die für einen Neigungswinkel der Sohle repräsentativ ist, wobei der Neigungswinkel der Winkel zwischen der Ebene der Sohle und der momentanen Bewegungsrichtung dieser Sohle ist,
    - die Zentraleinheit (52) auch dazu programmiert ist, den Bremsbefehl ferner in Abhängigkeit von der gemessenen physikalischen Größe, die für den Neigungswinkel repräsentativ ist, zu generieren, wobei der in Abhängigkeit von der physikalischen Größe, die für den Neigungswinkel repräsentativ ist, generierte Bremsbefehl einem Bremsmoment entspricht, das umso größer ist, je größer der absolute Wert des Neigungswinkels ist.
  11. Gerät nach einem der vorhergehenden Ansprüche, wobei sich das Fortbewegungsgerät von seinem Verwender direkt mit der Hand transportierbaren lässt.
  12. Gerät nach einem der vorhergehenden Ansprüche, wobei das Gerät umfasst:
    - zwei mechanisch voneinander unabhängige Sohlen, wobei jeweils ein Fuß des Verwenders auf jede dieser Sohlen gesetzt wird, wenn das Gerät von diesem Verwender verwendet wird,
    - an jeder Sohle fixiert, mindestens ein Exemplar der mindestens einen Rolle, ein Exemplar der Bremsvorrichtung, ein Exemplar der Inertial-Messeinheit, ein Exemplar der Zentraleinheit und einen Sender/Empfänger, der geeignet ist, die Kommunikation zwischen den an jeder der Sohlen befestigten Zentraleinheiten zu ermöglichen.
EP16719453.9A 2015-04-09 2016-04-04 Transportgerät mit räder Active EP3280502B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1553079A FR3034680B1 (fr) 2015-04-09 2015-04-09 Appareil de locomotion a roulettes
PCT/FR2016/050758 WO2016162619A1 (fr) 2015-04-09 2016-04-04 Appareil de locomotion a roulettes

Publications (2)

Publication Number Publication Date
EP3280502A1 EP3280502A1 (de) 2018-02-14
EP3280502B1 true EP3280502B1 (de) 2019-05-08

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EP16719453.9A Active EP3280502B1 (de) 2015-04-09 2016-04-04 Transportgerät mit räder

Country Status (7)

Country Link
US (1) US10272321B2 (de)
EP (1) EP3280502B1 (de)
CN (1) CN107592823B (de)
BR (1) BR112017021539A2 (de)
CA (1) CA2981546A1 (de)
FR (1) FR3034680B1 (de)
WO (1) WO2016162619A1 (de)

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Also Published As

Publication number Publication date
CN107592823A (zh) 2018-01-16
FR3034680A1 (fr) 2016-10-14
FR3034680B1 (fr) 2017-04-28
US10272321B2 (en) 2019-04-30
WO2016162619A1 (fr) 2016-10-13
EP3280502A1 (de) 2018-02-14
CA2981546A1 (fr) 2016-10-13
CN107592823B (zh) 2019-07-12
BR112017021539A2 (pt) 2018-07-03
US20180093164A1 (en) 2018-04-05

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