EP3827502A1 - Rolling device adapted to roll on a ground surface - Google Patents

Rolling device adapted to roll on a ground surface

Info

Publication number
EP3827502A1
EP3827502A1 EP19737151.1A EP19737151A EP3827502A1 EP 3827502 A1 EP3827502 A1 EP 3827502A1 EP 19737151 A EP19737151 A EP 19737151A EP 3827502 A1 EP3827502 A1 EP 3827502A1
Authority
EP
European Patent Office
Prior art keywords
circular
rotor
stator
rolling device
fixing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19737151.1A
Other languages
German (de)
French (fr)
Inventor
Philippe CACHEUX
Georges Barakat
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite Le Havre Normandie
Original Assignee
Universite Le Havre Normandie
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universite Le Havre Normandie filed Critical Universite Le Havre Normandie
Publication of EP3827502A1 publication Critical patent/EP3827502A1/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • H02K1/2795—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
    • H01F1/01—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials
    • H01F1/03—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials characterised by their coercivity
    • H01F1/032—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials characterised by their coercivity of hard-magnetic materials
    • H01F1/04—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials characterised by their coercivity of hard-magnetic materials metals or alloys
    • H01F1/047—Alloys characterised by their composition
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/086—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
    • H02K7/088—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly radially supporting the rotor directly
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/09—Machines characterised by the presence of elements which are subject to variation, e.g. adjustable bearings, reconfigurable windings, variable pitch ventilators

Definitions

  • Rolling device suitable for rolling on ground
  • the invention relates to the field of motorized devices including motorized wheels.
  • the invention also relates to any rolling device and more particularly to wheelchairs equipped with motorized wheels.
  • the invention relates to any type of rolling device suitable for riding on a ground, such as a bicycle, a motorcycle, a moped, a scooter, a tricycle, a Segway, a car, an airplane, a robot. , etc.
  • the concept of a motorized wheel has been known for a long time.
  • the motorized wheel is set in motion by a motor generally located at a distance therefrom. This has a circular shape and is mounted on a hub.
  • the motorized wheel subsequently underwent changes.
  • the motor originally located outside the wheel was integrated into the wheel.
  • the motorized wheel can be assembled with different supports in order to make the latter mobile. This is how motorized wheels adaptable to different supports such as bicycles or even wheelchairs, came into being.
  • Existing motorized wheels include an electric motor.
  • This motor comprises a stator provided with a series of coils and a rotor movable relative to the stator.
  • the rotor is rotated under the effect of a magnetic field induced by the stator coils. This movement allows the wheel to be rotated.
  • the motorized wheels can support and move a large load. They must therefore generate significant torque at low speed.
  • motorized wheels are fitted with reducers, which considerably increases their mass, their production cost, decreases their reliability due to the large number of parts that these reducers include, and also increases the noise in use. .
  • These magnetic elements are generally permanent magnets made from rare earths. These rare earth magnets have several drawbacks. The extraction and exploitation of rare earths have a negative impact on the environment. In addition, the use of permanent rare earth magnets is problematic since these generate a magnetic force in the absence of an electric current, this due to the remanent induction of these magnets which can reach 1.5 Teslas. . This is inconvenient when you need to manually turn the wheel. Indeed, the rotor then systematically tends to return to a position of magnetic equilibrium. Despite the use of rare earth magnets, this magnetic restoring force can be reduced, but this requires a complex arrangement of the magnetic elements, which significantly complicates the motorized wheels, making them more difficult to produce and increasing their costs. .
  • motorized wheels lie in the fact that their height is fixed. Indeed, the fixing of the wheel to a support such as a wheelchair for example is done substantially in the vicinity of an area located in the center of said motorized wheel. Static mounting of the motorized wheel on its support can be uncomfortable.
  • a rolling device adapted to roll on a ground, comprising at least one motorized wheel and a housing (51) for controlling said at least one motorized wheel (1), said at least one motorized wheel comprising: a circular stator comprising a body defining a circular slot and comprising a plurality of electromagnetic coils located in the circular slot so that at least two electromagnetic coils are arranged facing each other, and
  • a circular rotor comprising on an inner periphery a circular blade having side walls and a free end edge connecting the side walls (34), the circular rotor comprising a contact surface with the ground, said contact surface extending on an outer periphery, and said circular blade comprising magnetic elements arranged on its side walls, the circular rotor and the circular stator being assembled by means of assembly means provided on the circular stator, the circular blade of the circular rotor being arranged in the circular slot of the circular stator so that the magnetic elements of said circular blade are located between the electromagnetic coils of the circular stator.
  • the body of the circular stator comprises two half-stators fixed to each other so that the circular slot is continuous;
  • each half-stator has fixing lugs capable of fixing the half-stators to one another, these fixing lugs being located on the inner periphery of said half-stators;
  • the assembly means hereinafter called rotary supports, are arranged on the inner periphery of the circular stator;
  • the rotary supports are arranged on the fixing lugs;
  • the rotary supports include:
  • the roller has a groove intended to receive the circular blade of the circular rotor and the groove is in section, at least in part, a counter-impression of the free end edge;
  • the magnetic elements of the circular rotor comprise an alloy of iron and silicon or ferromagnetic alloy, or permanent magnets without rare earths; the side walls (34) of the circular blade (45) comprising several openings (35) accommodating said magnetic elements (28);
  • the rolling device comprises adjustment means able to modify the inclination of the axis of the rotary supports so as to adjust a distance separating the circular rotor from the circular stator;
  • the adjustment means capable of modifying the inclination of the axis of the rotary supports are two eccentric bearings which interface between the axis and the fixing lugs, each eccentric bearing being mounted on either side of the axis;
  • the device comprises a device for adjusting the position of a point of attachment of said at least one motorized wheel, said adjustment device comprising means for fixing to a connecting axis;
  • the motorized wheel position adjustment device comprises:
  • a fixing pad comprising the means for fixing to the connecting axis, said fixing pad being mechanically coupled to the worm and to the guide rods so that the rotation of the worm allows the movement of the pad. fixing along the guide rods;
  • the rolling device includes:
  • a battery charger capable of charging the battery
  • a computer program is implemented in the microcontroller, said microcontroller being able to successively supply the electromagnetic coils of the circular stator to allow the circular rotor to rotate.
  • the power card can be a power electronics converter.
  • a rolling device for example a wheelchair, comprising two motorized wheels and a control box for motorized wheels.
  • control unit comprises a tilt sensor connected to the microcontroller, the tilt sensor being able to measure the attitude of the rolling device and to provide this measurement to the microcontroller so that said microcontroller modifies the position of the wheel attachment point motorized by actuating the electric motor of the motorized wheel height adjustment device.
  • the invention relates to any type of rolling device suitable for driving on a ground such as a vehicle intended to transport one or more people, animals or goods or equipment to perform ground services.
  • the ground is defined as a rolling surface on which the device is intended to roll.
  • it can be a road or street, a path or path, a sidewalk, or a natural ground not covered with a covering.
  • the invention relates in particular to electrically motorized vehicles such as bicycles, scooters, Segways, compact cars, mopeds, motorcycles, robots.
  • electrically motorized vehicles such as bicycles, scooters, Segways, compact cars, mopeds, motorcycles, robots.
  • the invention is not limited to these few examples given by way of illustration but aims more generally any type of vehicle that can be motorized and intended to move while rolling on the ground.
  • the invention finds a preferred application in the field of aeronautics, in particular for aircraft landing gear or so more general to any other type of vehicle adapted to move on the ground, in particular by means of thrusters, which cannot back up but can be pulled back.
  • Figure 1 is a perspective view of a motorized wheel according to the invention
  • Figure 2 is a perspective view of a stator of the motorized wheel
  • Figure 3 is a perspective view of a rotary support of the motorized wheel
  • FIG. 4 is an exploded perspective view of the rotary support of Figure 3;
  • Figure 5 is a close-up perspective view of the rotary support of Figures 3 and 4, mounted in the motorized wheel;
  • FIG. 6 is an exploded perspective view of the stator according to the invention.
  • FIG. 7 is a perspective view of the stator according to the invention.
  • FIG. 8 is another perspective view of the motorized wheel according to the invention.
  • Figure 9 is a sectional view of the motorized wheel along the plane IX-IX of Figure 1;
  • Figure 10 is an exploded perspective view of the rotor according to the invention.
  • FIG. 11 is a perspective view of the rotor of Figure 10;
  • FIG. 12 is a perspective view of a wheelchair comprising a motorized wheel from the preceding figures;
  • Figure 13 is a perspective view of a motorized wheel of the previous figures, equipped with a battery and additional electronic elements;
  • FIG. 14 illustrates an exemplary embodiment of an eccentric bearing
  • FIG. 15 shows in perspective the contacting of the rotor with the stator by activation of the eccentric bearings
  • FIG. 16 illustrates in perspective and in section a part of the rotor according to a particular embodiment
  • Figures 17a and 17b illustrate in perspective the rotor and the stator separately and assembled according to a particular embodiment.
  • FIG. 1 a motorized wheel 1.
  • the motorized wheel 1 comprises a circular stator 2 and a circular rotor 3.
  • the circular stator 2 comprises a body 4.
  • the body 4 is produced by the assembly of two half-stators 5.
  • the half-stators are integral with one another thanks to a plurality of fixing means.
  • Each half-stator 5 has lugs 7 for fixing.
  • the fixing lugs 7 are located on an inner periphery 8 of the half-stators 5 and these are provided with orifice 9 for fixing.
  • On the inside of the fixing lugs 7, the latter comprise an annular fixing housing 10 which is substantially concentric with the fixing orifice 9.
  • the fixing means are in the form of a cylindrical rod 6.
  • the cylindrical rod 6 is arranged between the half-stators 5 and more precisely between fixing lugs 7 located opposite one another. Ends of the fixing rod are housed in the annular housings of the fixing lugs 7.
  • the cylindrical rod 6 includes an internal threaded orifice 11. On each side of the threaded rod, a screw 12 is inserted through the orifice 9 for fixing inside the internal orifice 11 of the cylindrical rod 6. The half-stators 5 are then secured to one another.
  • the cylindrical rod 6 has a diameter greater than the fixing holes 9. This allows the threaded rod to fulfill an additional function, in addition to making the two half-stators 5 integral. This additional function consists in keeping the half-stators 5 at a distance from each other. The two half-stators 5 are never in direct contact.
  • the body 4 defines a circular slot 13.
  • the circular slot 13 is continuous over the entire periphery of the circular stator 2.
  • the circular slot 13 defines a circular path at 360 ° without any obstacle.
  • Each half-stator 5 has a plurality of teeth 14.
  • the teeth 14 are arranged on an inner face 15 of the half-stators 5 and project therefrom.
  • the teeth 14 have a cubic shape or that of a rectangular parallelepiped.
  • the teeth 14 may have a different shape.
  • the stator comprises a plurality of pairs of teeth 14 distributed over the periphery of the body 4.
  • Each pair comprises two teeth 14 arranged opposite one another.
  • a tooth 14 of a half-stator 5 faces the other tooth 14 of the other half-stator 5.
  • the circular stator 2 comprises electromagnetic coils 16.
  • the coils 16 are mounted on the teeth 14.
  • the stator comprises as many coils 16 as there are teeth 14.
  • the coils 16 of a half-stator 5 are located opposite the coils 16 on the other half-stator 5.
  • the circular stator comprises 36 pairs of electromagnetic coils, ie 72 electromagnetic coils.
  • the electromagnetic coils 16 are not distributed over the entire circumference of the half-stators 5 (not shown) but only over one or more parts of the circumference of the stator 2, so as to form one or more several wound segments.
  • the coils are distributed over half or only a quarter of the circumference of the half-stators, so as to form a so-called "arc" distribution.
  • Such a distribution of the coils advantageously makes it possible to lighten the structure in terms of weight.
  • the coils can be distributed so as to form an alternation of active segments known as active arcs and non-exploited segments known as inactive arcs.
  • each pair of coils 16 are continuously mounted on the two half-stators 5, forming a single segment so that the coils of each pair are opposite one of the other.
  • the two half-stators are assembled in a mirror, so that each tooth 14 of a half-stator 5 is face to face with a tooth 14 of the other half-stator 5.
  • the two half-stators 5 have the same number of teeth. According to another particular embodiment, the two half-stators 5 have a different number of teeth so that they do not form two twin mirror half-stators.
  • This embodiment of the two half-stators and of the rotor which results therefrom makes it possible to reduce the axial attraction force which the rotor undergoes by the action of the two half-stators and also to reduce potential vibrations of electromagnetic origin.
  • the two half-stators 5 are mounted offset from one another, so that the torques exerted by each of the half-stators are in opposition.
  • the two half-stators are assembled in a mirror but the coils 16 can be mounted offset from one another, so that each of the coils of a half-stator is not not face to face with a coil fixed on the other half-stator.
  • This embodiment makes it possible to reduce the toothing torque applied to the rotor due to the variation in the permeance of the air gap. More precisely, this mode makes it possible to oppose the toothing pairs on one and the other of the faces of the rotor and therefore to reduce the total toothing torque.
  • the stator comprises assembly means below for rotary supports 17, illustrated in FIGS. 3 to 5.
  • the rotary supports 17 are attached and mounted on the fixing lugs 7.
  • each fixing lug 7 comprises a support hole 18 intended to receive one end 19 of a rotary support 17.
  • the fixing tab 7 has several adjustment orifices 20 formed around the support orifice 18.
  • Each rotary support comprises several elements visible in FIG. 4, namely:
  • An inner ring 25 of the ball bearings is mounted on the axis 21 of the support while an outer ring 26 is mounted on the roller 23.
  • the roller 23 can be rotated relative to the axis 21 of the support .
  • the roller 23 has a substantially U-shaped guide groove 27.
  • the rotary support is attached and mounted on two fixing lugs 7 located opposite one another as illustrated in FIG. 5 .
  • FIG. 14 An exemplary embodiment of the eccentric bearing 24 is illustrated in FIG. 14.
  • the bearing is "eccentric" in the sense that it has a housing 240 offset or eccentric relative to the rotation tax of the bearing A24, this housing being intended to receive one end of support tax 21.
  • the center of said eccentric housing 240 passing through Tax of symmetry of housing A240 does not coincide with the center of bearing 24 passing through Tax of rotation of bearing A24.
  • the axis of rotation of the roller 23 is offset relative to the axis of rotation of the bearing 24 according to an offset value as represented by the reference "e".
  • the real value of the offset is 5/10 of mm or a travel of +/- 1mm
  • the motorized wheel 1 comprises three rotary supports 17 arranged at substantially 120 ° from each other.
  • the motorized wheel 1 comprises a circular rotor 3.
  • the circular rotor 3 includes:
  • a rim 29 extending over an external contour 30, and a circular blade 45 extending over an interior contour 31.
  • the circular rotor 3 further comprises a tire 32 acting as a contact surface with a ground (not shown in the figures).
  • this tire 32 as illustrated in FIGS. 9, 17a and 17b is intended to roll on a road, a path, a trail or any type of terrain or rolling surface on which the tire can roll.
  • the tire 32 can be replaced by a set of rollers distributed on the outer periphery of the rotor 3, more particularly on the surface in contact with the ground so as to roll on the ground.
  • the rollers are those of an omnidirectional wheel without tire commonly known as "omni-wheel” or "omni-directional whee! in English.
  • the rotor 3 directly carries the rim 29 and the tire 32 on the rim or any other alternative to the tire adapted to roll on the ground, so that the motorized wheel can be considered as a "wheel motor", that is ie a motor in which the rotor acts as a wheel.
  • the circular blade 45 is fixed to the rim 29 by welding or gluing for example.
  • the circular blade 45 includes a free end edge 33 and side walls 34.
  • the edge 33 of free end is at least in part substantially a counterprint of the groove 27 of the roller 23.
  • the circular blade 45 is a thin plate in the form of a ring.
  • the side walls 34 of the circular blade 45 include several openings 35 intended to receive magnetic elements.
  • the rotor 3 and the stator are assembled so that the blade of the rotor 3 is arranged in the slot 13.
  • the magnetic elements of the rotor 3 are located between the electromagnetic coils 16 of the stator.
  • the rotor 3 comprises 24 magnetic elements 28.
  • the edge 33 of the free end of the circular blade 45 is housed in the groove 27 so that the stator is supported on the three rotary supports 17. The groove 27 thus makes it possible to guide the circular blade 45 in rotation, and consequently guide the circular rotor 3 in rotation.
  • the groove 27 is at least in part substantially a counterprint of the groove 27 makes it possible to prevent the free end edge 33 from being able to move in the groove 27. The wheel is thus better guided and this allows by elsewhere to avoid derailment of the rotor.
  • the electromagnetic coils 16 are oriented along the axis X of the wheel. This means that the axis passing through the center of the coils 16 is substantially oriented along the axis X. This makes it possible to reduce the thickness of the wheel unlike a different orientation.
  • the magnetic elements 28 of the rotor 3 comprise polar masses such as an alloy of iron and silicon.
  • the polar masses comprise a ferromagnetic alloy.
  • the insertion of polar masses in the rotor 3 is particularly advantageous for making the rotor passive on the electromagnetic plane, in the sense that it contains no electromagnetic source. Indeed, only the electromagnetic coils 16 disposed on the half-stators 5 are supplied by a current source.
  • the polar masses are arranged inside the side walls of the rotor 3, as illustrated in FIG. 16.
  • the circular blade 45 connects the guide ring 33 to the rim 29.
  • the circular blade 45 comprises anchoring means 35, such as slots or notches intended to fix the elements magnetic such as the polar masses 28.
  • these anchoring means are distributed at regular intervals over all or part of the circumference of the circular blade, so as to anchor or fix the polar masses equidistantly.
  • the side walls of the rotor 3 of the circular blade are made of a non-conductive material, such as fiberglass.
  • the two side walls of the rotor 3 including the polar masses 28 are covered, at least partially with a coating comprising a material with mechanical properties adapted to reinforce or stiffen the rotor 3.
  • this material is carbon fiber, to which is optionally added an epoxy resin.
  • this material is supplied in peripheral zones of the circular blade 45, as designated by the references 3A and 3B in FIG. 16.
  • the magnetic elements 28 are devoid of rare earths, which does not hinder the manual movement of the rotor 3 relative to the stator 2.
  • the air gap is the distance between the rotor 3 and the stator.
  • the adjustment of this distance is carried out using eccentric bearings 24.
  • the axis 21 of the support is inclined, which makes it possible to modify the trajectory of the circular blade 45 thanks to the action of the groove 27 of the roller 23 on the edge 33 free end.
  • the air gap can thus be adjusted in order to increase the performance of the motorized wheel 1, in particular in order to improve its torque when stationary and therefore move a large load despite its small thickness along the X axis.
  • FIG. 15 illustrates in perspective the positioning of the free end 33 of the rotor 3 (ie rolling rod) relative to the groove 27 of the roller 23 of a rotary support 17 between the two half-stators 5.
  • the position of the bearings eccentrics 24, when engaged in the openings 18 of the half-stators 5, can be adjusted by rotation.
  • a slot 242 is provided on the outer surface of the bearings 24 to rotate the eccentric bearing.
  • the rotor 3 In the "remote" position as shown in FIG. 15a, the rotor 3 is not in contact with the stator 2.
  • the eccentric bearings 24 are in a so-called remote position. For example, this position is materialized by an oblique orientation of the slot 242.
  • the rotation of the eccentric bearings 24 makes it possible to adjust the operating clearances of the rotor 3 radially and axially.
  • Figure 17a illustrates the rotor 3 and the stator 5 shown side by side.
  • the rotor 3 comprising the circular blade 45 and the polar masses 28 distributed at regular intervals on the circular blade 45 by anchoring in openings 35 as described above.
  • the polar masses 28 appear free, that is to say not covered on either side of the blade 45.
  • the stator 2 has a slot defined between the teeth around which the coils are wound 16.
  • the coils 16 are wound around the teeth in such a way that they do not protrude an extreme part of the teeth extending towards the center of the slot.
  • a continuous slit of width equal to the distance between the top of two teeth facing each other is formed.
  • FIG. 17b illustrates an assembly of the rotor 3 and the stator 2 of FIG. 17a, more precisely in the case where the guide ring 33 of the rotor 3 is in contact with the bearing 23 of the stator 2.
  • the motorized wheel thus comprises a central zone which can be used to house various operating and control elements of the motorized wheel 1.
  • the motorized wheel 1 includes:
  • a power electronics for example a power card 47 connected to the microcontroller 46,
  • a battery charger (not shown) connected to the power card 47.
  • said card is a power electronics converter 47 adapted to supply the motor and control the battery charger.
  • the motorized wheel 1 further comprises an inverter, for example of 48 V and 500 W for generating alternating voltages and currents.
  • the microcontroller is connected to a control unit 51 making it possible to give information such as the direction of movement, the speed of rotation as a function of the wish expressed by a user.
  • the control unit 51 can be connected to the microcontroller using appropriate wiring or wirelessly, in the latter case, the microcontroller is equipped with data transmission / reception means.
  • the microcontroller manages the supply of the electromagnetic coils 16.
  • the motorized wheel 1 is set in motion by supplying the electromagnetic coils 16 with an electric current coming from the battery.
  • the microcontroller supplies the electromagnetic coils 16 (in pairs) in turn. This alternation causes a rotation of the magnetic field and thus causes a movement of the rotor 3 advancing the motorized wheel 1.
  • control unit comprises a man / machine interface intended to send control signals to the motorized wheel to allow the user to control the rolling device on which the motorized wheel 1 is mounted.
  • control unit 51 includes a steering wheel and / or a joystick. It can be connected to one or more sensors, such as gyroscopes, accelerometers, intended to provide information relating to the environment in which the rolling device moves.
  • the motorized wheel 1 comprises a device 37 for adjusting the position of the wheel, as illustrated in FIGS. 1 and 8. More specifically, the device 37 makes it possible to adjust in real time the position of a fixing or anchoring point 42 of the motorized wheel 1 on the rolling device, so as to maintain optimal ground clearance of the rolling device according to the configuration of the ground (eg degree of inclination or slope of the rolling surface).
  • the stability of the rolling device is ensured by improved ground handling, at all times, especially when the device is rolling on the ground.
  • the adjustment device 37 comprises a rail 38 provided with two guide rods 39 fixed on the stator.
  • the guide rods 39 are oriented along a diameter of the stator and positioned on either side of this diameter.
  • the guide rods 39 are substantially parallel.
  • the device comprises an electric motor 40 mechanically coupled to a worm 41.
  • the endless screw 41 is arranged between the guide rods 39.
  • the device further comprises a fixing pad 42.
  • the fixing pad 42 includes an interface for mechanical coupling to a connecting pin.
  • a connecting pin advantageously makes it possible to free up space inside the wheel to install, for example, a battery and one or more electronic cards, an inductive battery charger for contactless charging, such as described with reference to Figure 13.
  • the shoe 42 also comprises orifices 43 for guiding intended to receive the rods 39 for guiding and orifices 44 tapped for receiving the screw 41 without threaded end.
  • a suitable endless screw 41 is for example a ball screw.
  • the housing 51 comprises a tilt sensor connected to the microcontroller.
  • the inclination sensor makes it possible to determine the attitude of the wheelchair 50 and thus give the necessary information to the microcontroller, such as a measurement of the attitude or degree of inclination of the wheelchair, so that it can act on the position of the fixing pad 42 along the endless screw 41, in the motorized wheel 1, in order to ensure the user seated on the wheelchair a horizontal position in all circumstances.
  • the microcontroller starts the motor 40 electric in order to reassemble the fixing pads and keep the seat of the wheelchair in a horizontal position.
  • the motorized wheels are advantageously equipped with an obstacle detector, a distance detector and a GPS chip. These elements connected to the microcontroller allow the motorized wheels to reach a battery recharging station independently in a confined space such as an apartment.
  • the motorized wheel described above has many advantages, namely: it develops a large torque at low speed without being energy-consuming, in particular thanks to the arrangement of the circular blade 45 in the circular slot,
  • the present invention has been described in detail in the context of a wheelchair but is obviously not limited to this application. It relates more generally to a device intended to roll on a ground and comprising at least one motorized wheel as described above.
  • the rolling device can be any type of motorized vehicle such as a bicycle or an electric bicycle, an electric scooter, a Segway, a compact electric car, a moped or an electric motorcycle, a robot.
  • motorized vehicle such as a bicycle or an electric bicycle, an electric scooter, a Segway, a compact electric car, a moped or an electric motorcycle, a robot.

Abstract

A rolling device adapted to roll on a ground surface, comprising at least one motorised wheel (1) comprising a circular stator (2) and a circular rotor (3). The stator (2) comprises a circular slot and a plurality of electromagnetic coils (16) located in the circular slot so that at least two electromagnetic coils (16) are arranged facing one another. The circular rotor (3) comprises a circular strip (45) having side walls and a free end edge connecting the side walls, as well as a contact surface with the ground, said circular strip comprising magnetic elements arranged on the side walls thereof. The circular rotor (3) and the circular stator (2) are assembled by means of assembly means (17) provided on the circular stator (2).

Description

Dispositif roulant adapté à rouler sur un sol  Rolling device suitable for rolling on ground
L'invention a trait au domaine des dispositifs motorisés incluant des roues motorisées. L'invention a également trait à tout dispositif roulant et plus particulièrement aux chaises roulantes équipées de roues motorisées. The invention relates to the field of motorized devices including motorized wheels. The invention also relates to any rolling device and more particularly to wheelchairs equipped with motorized wheels.
De manière plus générale, l'invention concerne tout type de dispositif roulant adapté à rouler sur un sol, tel qu'un vélo, une moto, une mobylette, une trottinette, un tricycle, un gyropode, une voiture, un avion, un robot, etc.  More generally, the invention relates to any type of rolling device suitable for riding on a ground, such as a bicycle, a motorcycle, a moped, a scooter, a tricycle, a Segway, a car, an airplane, a robot. , etc.
Le concept de roue motorisée est connu de longue date. La roue motorisée est mise en mouvement par un moteur généralement situé à distance de celle-ci. Celle-ci présente une forme circulaire et est montée sur un moyeu.  The concept of a motorized wheel has been known for a long time. The motorized wheel is set in motion by a motor generally located at a distance therefrom. This has a circular shape and is mounted on a hub.
La roue motorisée a par la suite subi des évolutions. Le moteur initialement situé à l'extérieur de la roue a été intégré à la roue.  The motorized wheel subsequently underwent changes. The motor originally located outside the wheel was integrated into the wheel.
La roue motorisée peut être assemblée à différents supports afin de rendre ces derniers mobiles. C'est ainsi que des roues motorisées adaptables sur différents supports comme par exemple des vélos ou encore des chaises roulantes, ont vu le jour.  The motorized wheel can be assembled with different supports in order to make the latter mobile. This is how motorized wheels adaptable to different supports such as bicycles or even wheelchairs, came into being.
Les roues motorisées existantes comprennent un moteur électrique. Ce moteur comporte un stator muni d'une série de bobines et un rotor mobile par rapport au stator. Le rotor est mis en rotation sous l'effet d'un champ magnétique induit par les bobines du stator. Ce mouvement permet à la roue d'être mise en rotation.  Existing motorized wheels include an electric motor. This motor comprises a stator provided with a series of coils and a rotor movable relative to the stator. The rotor is rotated under the effect of a magnetic field induced by the stator coils. This movement allows the wheel to be rotated.
Les roues motorisées peuvent supporter et déplacer une charge importante. Elles doivent donc générer un couple important à basse vitesse.  The motorized wheels can support and move a large load. They must therefore generate significant torque at low speed.
Bien que certaines roues motorisées développent un couple important, un inconvénient est que celles-ci demeurent énergivores. Leur rendement est donc particulièrement bas et l'autonomie des batteries est fortement impactée.  Although some motorized wheels develop significant torque, a drawback is that they remain energy-consuming. Their performance is therefore particularly low and the autonomy of the batteries is strongly impacted.
Un autre inconvénient réside dans les dimensions de la roue. Les roues motorisées destinées à développer un couple important sont épaisses afin que la motorisation puisse être insérée dans son espace central. Ces dimensions imposantes disqualifient ces roues motorisées de forte puissance pour des applications telles que des vélos ou chaises roulantes. Another drawback lies in the dimensions of the wheel. The motorized wheels intended to develop a high torque are thick so that the motorization can be inserted in its central space. These imposing dimensions disqualify these high power motorized wheels for applications such as bicycles or wheelchairs.
Un autre inconvénient des roues motorisées est qu'elles sont équipées de réducteurs, ce qui augmente considérablement leur masse, leur coût de production, diminue leur fiabilité en raison du nombre important de pièces que ces réducteurs comprennent, et augmente par ailleurs le bruit en utilisation.  Another disadvantage of motorized wheels is that they are fitted with reducers, which considerably increases their mass, their production cost, decreases their reliability due to the large number of parts that these reducers include, and also increases the noise in use. .
Un autre inconvénient de ces roues motorisées réside dans les éléments magnétiques utilisés. Ces éléments magnétiques sont en général des aimants permanents fabriqués à base de terres rares. Ces aimants à terres rares présentent plusieurs inconvénients. L'extraction et l'exploitation de terres rares ont un impact négatif sur l'environnement. De plus l'utilisation d'aimants permanents à terres rares est problématique puisque ceux-ci génèrent une force magnétique en l'absence d'un courant électrique, ceci en raison de l'induction rémanente de ces aimants qui peut atteindre 1,5 Teslas. Ceci est gênant lorsque l'on a besoin de tourner manuellement la roue. En effet, le rotor a alors systématiquement tendance à revenir vers une position d'équilibre magnétique. En dépit de l'utilisation d'aimants à terres rares, cette force magnétique de rappel peut être réduite, mais ceci requiert un agencement complexe des éléments magnétiques, ce qui complexifie significativement les roues motorisées, les rendant plus difficiles à produire et augmentant leurs coûts.  Another drawback of these motorized wheels lies in the magnetic elements used. These magnetic elements are generally permanent magnets made from rare earths. These rare earth magnets have several drawbacks. The extraction and exploitation of rare earths have a negative impact on the environment. In addition, the use of permanent rare earth magnets is problematic since these generate a magnetic force in the absence of an electric current, this due to the remanent induction of these magnets which can reach 1.5 Teslas. . This is inconvenient when you need to manually turn the wheel. Indeed, the rotor then systematically tends to return to a position of magnetic equilibrium. Despite the use of rare earth magnets, this magnetic restoring force can be reduced, but this requires a complex arrangement of the magnetic elements, which significantly complicates the motorized wheels, making them more difficult to produce and increasing their costs. .
Un autre inconvénient des roues motorisées réside dans le fait que la hauteur de celles-ci est fixe. En effet, la fixation de la roue à un support tel qu'une chaise roulante par exemple se fait sensiblement au voisinage d'une zone située au centre de ladite roue motorisée. Une fixation statique de la roue motorisée sur son support peut être inconfortable.  Another disadvantage of motorized wheels lies in the fact that their height is fixed. Indeed, the fixing of the wheel to a support such as a wheelchair for example is done substantially in the vicinity of an area located in the center of said motorized wheel. Static mounting of the motorized wheel on its support can be uncomfortable.
L'invention vise à remédier à l'un au moins des inconvénients précités pour les dispositifs roulant. A cet effet, il est proposé un dispositif roulant adapté à rouler sur un sol, comprenant au moins une roue motorisée et un boîtier (51) de pilotage de ladite au moins une roue (1) motorisée, ladite au moins une roue motorisée comprenant : un stator circulaire comprenant un corps définissant une fente circulaire et comprenant une pluralité de bobines électromagnétiques situées dans la fente circulaire de sorte qu'au moins deux bobines électromagnétiques sont agencées en regard l'une de l'autre, et The invention aims to remedy at least one of the aforementioned drawbacks for rolling devices. To this end, there is proposed a rolling device adapted to roll on a ground, comprising at least one motorized wheel and a housing (51) for controlling said at least one motorized wheel (1), said at least one motorized wheel comprising: a circular stator comprising a body defining a circular slot and comprising a plurality of electromagnetic coils located in the circular slot so that at least two electromagnetic coils are arranged facing each other, and
- un rotor circulaire comprenant sur une périphérie intérieure une lame circulaire ayant des parois latérales et un bord d'extrémité libre reliant les parois (34) latérales, le rotor circulaire comprenant une surface de contact avec le sol, ladite surface de contact s'étendant sur une périphérie extérieure, et ladite lame circulaire comprenant des éléments magnétiques agencés sur ses parois latérales, le rotor circulaire et le stator circulaire étant assemblés par l'intermédiaire de moyens d'assemblage prévus sur le stator circulaire, la lame circulaire du rotor circulaire étant agencée dans la fente circulaire du stator circulaire de sorte que les éléments magnétiques de ladite lame circulaire sont situés entre les bobines électromagnétiques du stator circulaire. - a circular rotor comprising on an inner periphery a circular blade having side walls and a free end edge connecting the side walls (34), the circular rotor comprising a contact surface with the ground, said contact surface extending on an outer periphery, and said circular blade comprising magnetic elements arranged on its side walls, the circular rotor and the circular stator being assembled by means of assembly means provided on the circular stator, the circular blade of the circular rotor being arranged in the circular slot of the circular stator so that the magnetic elements of said circular blade are located between the electromagnetic coils of the circular stator.
Diverses caractéristiques supplémentaires peuvent être prévues seules ou en combinaison :  Various additional characteristics can be provided alone or in combination:
le corps du stator circulaire comporte deux demi-stators fixés l'un à l'autre de sorte que la fente circulaire soit continue ;  the body of the circular stator comprises two half-stators fixed to each other so that the circular slot is continuous;
chaque demi-stator comporte des pattes de fixation aptes à fixer les demi-stators l'un à l'autre, ces pattes de fixation étant situées sur la périphérie intérieure desdits demi-stators ;  each half-stator has fixing lugs capable of fixing the half-stators to one another, these fixing lugs being located on the inner periphery of said half-stators;
les moyens d'assemblage, ci-après dits supports rotatifs, sont agencés sur la périphérie intérieure du stator circulaire ;  the assembly means, hereinafter called rotary supports, are arranged on the inner periphery of the circular stator;
les supports rotatifs sont agencés sur les pattes de fixation ;  the rotary supports are arranged on the fixing lugs;
- les supports rotatifs comprennent : - the rotary supports include:
- un axe,  - an axe,
- deux roulements à billes montés sur l'axe, et  - two ball bearings mounted on the axle, and
- un galet monté sur les roulements à billes ; le galet comporte une rainure destinée à recevoir la lame circulaire du rotor circulaire et la rainure est en section, au moins en partie, une contre-empreinte du bord d'extrémité libre ; - a roller mounted on the ball bearings; the roller has a groove intended to receive the circular blade of the circular rotor and the groove is in section, at least in part, a counter-impression of the free end edge;
les éléments magnétiques du rotor circulaire comprennent un alliage de fer et de silicium ou alliage ferromagnétique, ou des aimants permanents sans terres rares ; les parois (34) latérales de la lame (45) circulaire comprenant plusieurs ouvertures (35) accueillant lesdits éléments magnétiques (28); the magnetic elements of the circular rotor comprise an alloy of iron and silicon or ferromagnetic alloy, or permanent magnets without rare earths; the side walls (34) of the circular blade (45) comprising several openings (35) accommodating said magnetic elements (28);
le dispositif roulant comprend des moyens de réglage aptes à modifier l'inclinaison de l'axe des supports rotatifs de sorte à régler une distance séparant le rotor circulaire du stator circulaire ; the rolling device comprises adjustment means able to modify the inclination of the axis of the rotary supports so as to adjust a distance separating the circular rotor from the circular stator;
les moyens de réglage aptes à modifier l'inclinaison de l'axe des supports rotatifs sont deux paliers excentriques faisant interface entre l'axe et les pattes de fixation, chaque palier excentrique étant monté de part et d'autre de l'axe ; the adjustment means capable of modifying the inclination of the axis of the rotary supports are two eccentric bearings which interface between the axis and the fixing lugs, each eccentric bearing being mounted on either side of the axis;
le dispositif comprend un dispositif de réglage de la position d'un point de fixation de ladite au moins une roue motorisée, ledit dispositif de réglage comportant des moyens de fixation à un axe de liaison ; the device comprises a device for adjusting the position of a point of attachment of said at least one motorized wheel, said adjustment device comprising means for fixing to a connecting axis;
le dispositif de réglage de la position de la roue motorisée comprend : the motorized wheel position adjustment device comprises:
- des tiges de guidages sensiblement parallèles fixées au stator circulaire, - substantially parallel guide rods fixed to the circular stator,
- un moteur électrique, - an electric motor,
- une vis sans fin couplée au moteur électrique,  - a worm screw coupled to the electric motor,
- un patin de fixation comprenant les moyens de fixation à l'axe de liaison, ledit patin de fixation étant couplé mécaniquement à la vis sans fin et aux tiges de guidage de sorte que la rotation de la vis sans fin permette le déplacement du patin de fixation le long des tiges de guidage ;  a fixing pad comprising the means for fixing to the connecting axis, said fixing pad being mechanically coupled to the worm and to the guide rods so that the rotation of the worm allows the movement of the pad. fixing along the guide rods;
le dispositif roulant comprend : the rolling device includes:
- un microcontrôleur,  - a microcontroller,
- une carte de puissance connectée au microcontrôleur,  - a power card connected to the microcontroller,
- une batterie connectée à la carte de puissance ;  - a battery connected to the power card;
- un chargeur de batterie apte à charger la batterie, et un programme informatique est implémenté dans le microcontrôleur, ledit microcontrôleur étant apte à alimenter successivement les bobines électromagnétiques du stator circulaire pour permettre la mise en rotation du rotor circulaire. - a battery charger capable of charging the battery, and a computer program is implemented in the microcontroller, said microcontroller being able to successively supply the electromagnetic coils of the circular stator to allow the circular rotor to rotate.
De préférence, la carte de puissance peut être un convertisseur d'électronique de puissance.  Preferably, the power card can be a power electronics converter.
En particulier, il est proposé un dispositif roulant, par exemple une chaise roulante, comprenant deux roues motorisées et un boîtier de pilotage des roues motorisées.  In particular, a rolling device is proposed, for example a wheelchair, comprising two motorized wheels and a control box for motorized wheels.
Diverses caractéristiques supplémentaires peuvent être prévues seules ou en combinaison :  Various additional characteristics can be provided alone or in combination:
le boîtier de pilotage comprend un capteur d'inclinaison connecté au microcontrôleur, le capteur d'inclinaison étant apte à mesurer l'assiette du dispositif roulant et à fournir cette mesure au microcontrôleur afin que ledit microcontrôleur modifie la position du point de fixation de la roue motorisée en actionnant le moteur électrique du dispositif de réglage de la hauteur de la roue motorisée.  the control unit comprises a tilt sensor connected to the microcontroller, the tilt sensor being able to measure the attitude of the rolling device and to provide this measurement to the microcontroller so that said microcontroller modifies the position of the wheel attachment point motorized by actuating the electric motor of the motorized wheel height adjustment device.
De manière plus générale, l'invention vise tout type de dispositif roulant adapté à rouler sur un sol tel qu'un véhicule destiné à transporter une ou plusieurs personnes, des animaux ou des biens ou équipement pour effectuer des services au sol.  More generally, the invention relates to any type of rolling device suitable for driving on a ground such as a vehicle intended to transport one or more people, animals or goods or equipment to perform ground services.
Dans le cadre de la présente invention, le sol est défini comme une surface de roulage sur laquelle le dispositif est destiné à rouler. Par exemple, il peut s'agir d'une route ou rue, d'un chemin ou sentier, d'un trottoir, ou un terrain naturel non recouvert d'un revêtement.  In the context of the present invention, the ground is defined as a rolling surface on which the device is intended to roll. For example, it can be a road or street, a path or path, a sidewalk, or a natural ground not covered with a covering.
L'invention vise en particulier des véhicules motorisés de manière électrique tels que des vélos, trottinettes, gyropodes, voitures compactes, mobylettes, motos, robots. Bien évidemment, l'invention n'est pas limitée à ces quelques exemples donnés à titre illustratif mais vise de manière plus générale tout type de véhicule pouvant être motorisé et destiné à se déplacer en roulant sur le sol.  The invention relates in particular to electrically motorized vehicles such as bicycles, scooters, Segways, compact cars, mopeds, motorcycles, robots. Obviously, the invention is not limited to these few examples given by way of illustration but aims more generally any type of vehicle that can be motorized and intended to move while rolling on the ground.
L'invention trouve une application privilégiée dans le domaine de l'aéronautique, en particulier pour des trains d'atterrissage d'avions ou de manière plus générale à tout autre type de véhicule adapté à se déplacer au sol, notamment au moyens de propulseurs, ne pouvant pas reculer mais pouvant être tirés en arrière. The invention finds a preferred application in the field of aeronautics, in particular for aircraft landing gear or so more general to any other type of vehicle adapted to move on the ground, in particular by means of thrusters, which cannot back up but can be pulled back.
D'autres particularités et avantages de l'invention apparaîtront dans la description ci-après en relation avec les dessins annexés, donnés à titre d'exemples non limitatifs et dans lesquels :  Other particularities and advantages of the invention will appear in the description below in relation to the appended drawings, given by way of nonlimiting examples and in which:
la figure 1 est une vue en perspective d'une roue motorisée selon l'invention ; la figure 2 est une vue en perspective d'un stator de la roue motorisée ;  Figure 1 is a perspective view of a motorized wheel according to the invention; Figure 2 is a perspective view of a stator of the motorized wheel;
la figure 3 est une vue en perspective d'un support rotatif de la roue motorisée ;  Figure 3 is a perspective view of a rotary support of the motorized wheel;
- la figure 4 est une vue éclatée en perspective du support rotatif de la figure 3 ; la figure 5 est une vue en perspective rapproché du support rotatif des figures 3 et 4, monté dans la roue motorisée ;  - Figure 4 is an exploded perspective view of the rotary support of Figure 3; Figure 5 is a close-up perspective view of the rotary support of Figures 3 and 4, mounted in the motorized wheel;
la figure 6 est une vue éclatée en perspective du stator selon l'invention ;  Figure 6 is an exploded perspective view of the stator according to the invention;
la figure 7 est une vue en perspective du stator selon l'invention ;  Figure 7 is a perspective view of the stator according to the invention;
- la figure 8 est une autre vue en perspective de la roue motorisée selon l'invention ;  - Figure 8 is another perspective view of the motorized wheel according to the invention;
la figure 9 est une vue en coupe de la roue motorisée selon le plan IX-IX de la figure 1 ;  Figure 9 is a sectional view of the motorized wheel along the plane IX-IX of Figure 1;
la figure 10 est une vue éclatée en perspective du rotor selon l'invention ;  Figure 10 is an exploded perspective view of the rotor according to the invention;
- la figure 11 est une vue en perspective du rotor de la figure 10 ;  - Figure 11 is a perspective view of the rotor of Figure 10;
la figure 12 est une vue en perspective d'une chaise roulante comportant une roue motorisée des figures précédentes ;  FIG. 12 is a perspective view of a wheelchair comprising a motorized wheel from the preceding figures;
la figure 13 est une vue en perspective d'une roue motorisée des figures précédentes, équipée d'une batterie et d'éléments électroniques supplémentaires ;  Figure 13 is a perspective view of a motorized wheel of the previous figures, equipped with a battery and additional electronic elements;
la figure 14 illustre un exemple de réalisation d'un palier excentrique;  FIG. 14 illustrates an exemplary embodiment of an eccentric bearing;
la figure 15 représente en perspective la mise en contact du rotor avec le stator par activation des paliers excentriques ;  FIG. 15 shows in perspective the contacting of the rotor with the stator by activation of the eccentric bearings;
la figure 16 illustre en perspective et en coupe une partie du rotor selon un mode de réalisation particulier ; les figures 17a et 17b illustrent en perspective le rotor et le stator séparément et assemblés selon un mode de réalisation particulier. FIG. 16 illustrates in perspective and in section a part of the rotor according to a particular embodiment; Figures 17a and 17b illustrate in perspective the rotor and the stator separately and assembled according to a particular embodiment.
Sur la figure 1 est représentée une roue 1 motorisée. La roue 1 motorisée comprend un stator 2 circulaire et un rotor 3 circulaire. Le stator 2 circulaire comprend un corps 4. Le corps 4 est réalisé par l'assemblage de deux demi-stators 5. Les demi- stators sont solidaires l'un à l'autre grâce à une pluralité de moyens de fixation. Chaque demi-stator 5 comporte des pattes 7 de fixation. Les pattes 7 de fixation sont situées sur une périphérie 8 intérieure des demi-stators 5 et celles-ci sont munies d'orifice 9 de fixation. Du côté intérieur des pattes 7 de fixation, ces dernières comprennent un logement 10 annulaire de fixation sensiblement concentrique avec l'orifice 9 de fixation. Les moyens de fixation se présentent sous la forme d'une tige 6 cylindrique. La tige 6 cylindrique est agencée entre les demi-stators 5 et plus précisément entre des pattes 7 de fixation situées en regard l'une de l'autre. Des extrémités de la tige de fixation logent dans les logements annulaires des pattes 7 de fixation.  In Figure 1 is shown a motorized wheel 1. The motorized wheel 1 comprises a circular stator 2 and a circular rotor 3. The circular stator 2 comprises a body 4. The body 4 is produced by the assembly of two half-stators 5. The half-stators are integral with one another thanks to a plurality of fixing means. Each half-stator 5 has lugs 7 for fixing. The fixing lugs 7 are located on an inner periphery 8 of the half-stators 5 and these are provided with orifice 9 for fixing. On the inside of the fixing lugs 7, the latter comprise an annular fixing housing 10 which is substantially concentric with the fixing orifice 9. The fixing means are in the form of a cylindrical rod 6. The cylindrical rod 6 is arranged between the half-stators 5 and more precisely between fixing lugs 7 located opposite one another. Ends of the fixing rod are housed in the annular housings of the fixing lugs 7.
La tige 6 cylindrique comprend un orifice 11 interne fileté. De chaque côté de la tige filetée, une vis 12 est insérée au travers de l'orifice 9 de fixation à l'intérieur de l'orifice 11 interne de la tige 6 cylindrique. Les demi-stators 5 sont alors solidaires l'un de l'autre.  The cylindrical rod 6 includes an internal threaded orifice 11. On each side of the threaded rod, a screw 12 is inserted through the orifice 9 for fixing inside the internal orifice 11 of the cylindrical rod 6. The half-stators 5 are then secured to one another.
Avantageusement, la tige 6 cylindrique présente un diamètre supérieur aux orifices 9 de fixation. Ceci permet à la tige filetée de remplir une fonction supplémentaire, outre de rendre solidaires les deux demi-stators 5. Cette fonction supplémentaire consiste à maintenir à distance l'un de l'autre les demi-stators 5. Les deux demi-stators 5 ne sont jamais en contact direct.  Advantageously, the cylindrical rod 6 has a diameter greater than the fixing holes 9. This allows the threaded rod to fulfill an additional function, in addition to making the two half-stators 5 integral. This additional function consists in keeping the half-stators 5 at a distance from each other. The two half-stators 5 are never in direct contact.
Ainsi le corps 4 définit une fente 13 circulaire. La fente 13 circulaire est continue sur toute la périphérie du stator 2 circulaire. En d'autres termes, la fente 13 circulaire définit un chemin circulaire à 360° sans aucun obstacle. Ceci est rendu possible notamment grâce à l'utilisation de deux demi-stators 5 pour obtenir le corps 4 du stator 2. Chaque demi-stator 5 comporte une pluralité de dents 14. Les dents 14 sont agencées sur une face 15 intérieure des demi-stators 5 et font saillie de celle-ci. Les dents 14 présentent une forme cubique ou celle d'un parallélépipède rectangle. Les dents 14 peuvent avoir une forme différente. Ainsi le stator comporte une pluralité de paires de dents 14 réparties sur la périphérie du corps 4. Chaque paire comporte deux dents 14 agencées en regard l'une de l'autre. Autrement dit, dans chaque paire, une dent 14 d'un demi-stator 5 fait face à l'autre dent 14 de l'autre demi-stator 5. Thus the body 4 defines a circular slot 13. The circular slot 13 is continuous over the entire periphery of the circular stator 2. In other words, the circular slot 13 defines a circular path at 360 ° without any obstacle. This is made possible in particular by the use of two half-stators 5 to obtain the body 4 of the stator 2. Each half-stator 5 has a plurality of teeth 14. The teeth 14 are arranged on an inner face 15 of the half-stators 5 and project therefrom. The teeth 14 have a cubic shape or that of a rectangular parallelepiped. The teeth 14 may have a different shape. Thus, the stator comprises a plurality of pairs of teeth 14 distributed over the periphery of the body 4. Each pair comprises two teeth 14 arranged opposite one another. In other words, in each pair, a tooth 14 of a half-stator 5 faces the other tooth 14 of the other half-stator 5.
Le stator 2 circulaire comprend des bobines 16 électromagnétiques. Les bobines 16 sont montées sur les dents 14. Ainsi le stator comprend autant de bobines 16 que de dents 14. Tout comme les dents 14, les bobines 16 d'un demi-stator 5 sont situées en vis-à-vis des bobines 16 de l'autre demi-stator 5.  The circular stator 2 comprises electromagnetic coils 16. The coils 16 are mounted on the teeth 14. Thus the stator comprises as many coils 16 as there are teeth 14. Just like the teeth 14, the coils 16 of a half-stator 5 are located opposite the coils 16 on the other half-stator 5.
Dans le mode de réalisation représenté sur les figures, le stator circulaire comprend 36 paires de bobines électromagnétiques soit 72 bobines électromagnétiques.  In the embodiment shown in the figures, the circular stator comprises 36 pairs of electromagnetic coils, ie 72 electromagnetic coils.
Selon une variante de réalisation, les bobines électromagnétiques 16 ne sont pas distribuées sur l'intégralité de la circonférence des demi-stators 5 (non représenté) mais seulement sur une ou plusieurs parties de la circonférence du stator 2, de manière à former un ou plusieurs segments bobinés.  According to an alternative embodiment, the electromagnetic coils 16 are not distributed over the entire circumference of the half-stators 5 (not shown) but only over one or more parts of the circumference of the stator 2, so as to form one or more several wound segments.
Par exemple, les bobines sont distribuées sur une moitié ou seulement un quart de la circonférence des demi-stators, de manière à former une distribution dite "en arc". Une telle répartition des bobines permet avantageusement d'alléger la structure en termes de poids.  For example, the coils are distributed over half or only a quarter of the circumference of the half-stators, so as to form a so-called "arc" distribution. Such a distribution of the coils advantageously makes it possible to lighten the structure in terms of weight.
Selon un exemple de réalisation particulier, les bobines peuvent être distribuées de manière à former une alternance de segments actifs dits arcs actifs et de segments non exploités dits arcs inactifs.  According to a particular embodiment, the coils can be distributed so as to form an alternation of active segments known as active arcs and non-exploited segments known as inactive arcs.
Selon le mode de réalisation illustré à la figure 2, sept paires de bobines 16 sont montées de manière continue sur les deux demi-stators 5 en formant un seul segment de sorte que les bobines de chaque paire soient en regard l'une de l'autre. Selon le mode de réalisation illustré à la figure 7, les deux demi-stators sont assemblés en miroir, de sorte que chaque dent 14 d'un demi-stator 5 soit en face à face avec une dent 14 de l'autre demi-stator 5. According to the embodiment illustrated in FIG. 2, seven pairs of coils 16 are continuously mounted on the two half-stators 5, forming a single segment so that the coils of each pair are opposite one of the other. According to the embodiment illustrated in Figure 7, the two half-stators are assembled in a mirror, so that each tooth 14 of a half-stator 5 is face to face with a tooth 14 of the other half-stator 5.
Selon le mode de réalisation illustré aux figures 2, 6, 7, les deux demi-stators 5 disposent d'un même nombre de dents. Selon un autre mode de réalisation particulier, les deux demi-stators 5 ont un nombre de dents différent de sorte qu'ils ne forment pas deux demi-stators jumeaux en miroir. Ce mode de réalisation des deux demi- stators et du rotor qui en résulte, permet de réduire la force d'attraction axiale que subit le rotor par l'action des deux demi-stators et de réduire aussi les vibrations potentielles d'origine électromagnétique.  According to the embodiment illustrated in Figures 2, 6, 7, the two half-stators 5 have the same number of teeth. According to another particular embodiment, the two half-stators 5 have a different number of teeth so that they do not form two twin mirror half-stators. This embodiment of the two half-stators and of the rotor which results therefrom makes it possible to reduce the axial attraction force which the rotor undergoes by the action of the two half-stators and also to reduce potential vibrations of electromagnetic origin.
Selon un autre mode de réalisation particulier, les deux demi-stators 5 sont montés en décalage l'un par rapport à l'autre, de sorte que les couples exercés par chacun des demi-stators soient en opposition.  According to another particular embodiment, the two half-stators 5 are mounted offset from one another, so that the torques exerted by each of the half-stators are in opposition.
Selon un mode de réalisation alternatif (non illustré), les deux demi-stators sont assemblés en miroir mais les bobines 16 peuvent être montées en décalage les unes par rapport aux autres, de sorte que chacune des bobines d'un demi-stator ne soit pas en face à face avec une bobine fixée sur l'autre demi-stator. Ce mode de réalisation permet de réduire le couple de denture s'appliquant sur le rotor du fait de la variation de la perméance de l'entrefer. Plus précisément, ce mode permet d'opposer les couples de denture sur l'une et l'autre des faces du rotor et donc de réduire le couple de denture totale.  According to an alternative embodiment (not illustrated), the two half-stators are assembled in a mirror but the coils 16 can be mounted offset from one another, so that each of the coils of a half-stator is not not face to face with a coil fixed on the other half-stator. This embodiment makes it possible to reduce the toothing torque applied to the rotor due to the variation in the permeance of the air gap. More precisely, this mode makes it possible to oppose the toothing pairs on one and the other of the faces of the rotor and therefore to reduce the total toothing torque.
Le stator comprend des moyens d'assemblage ci-après supports 17 rotatifs, illustrés sur les figures 3 à 5. Les supports 17 rotatifs sont rapportés et montés sur les pattes 7 de fixation. A cet effet chaque patte 7 de fixation comprend un orifice 18 de support destiné à accueillir une extrémité 19 d'un support 17 rotatif. La patte 7 de fixation comporte plusieurs orifices 20 de réglage pratiqués autour de l'orifice 18 de support. Chaque support rotatif comporte plusieurs éléments visibles sur la figure 4 à savoir :  The stator comprises assembly means below for rotary supports 17, illustrated in FIGS. 3 to 5. The rotary supports 17 are attached and mounted on the fixing lugs 7. To this end, each fixing lug 7 comprises a support hole 18 intended to receive one end 19 of a rotary support 17. The fixing tab 7 has several adjustment orifices 20 formed around the support orifice 18. Each rotary support comprises several elements visible in FIG. 4, namely:
un axe 21 du support,  an axis 21 of the support,
- deux roulements 22 à billes montés sur l'axe 21 du support, un galet 23 monté sur les roulements 22 à billes, - two ball bearings 22 mounted on the axis 21 of the support, a roller 23 mounted on the ball bearings 22,
deux paliers 24 excentriques faisant interface entre l'axe 21 du support et les pattes 7 de fixation.  two eccentric bearings 24 interfacing between the axis 21 of the support and the fixing lugs 7.
Une bague 25 intérieure des roulements à bille est montée sur l'axe 21 du support tandis qu'une bague 26 extérieure est montée sur le galet 23. Ainsi, le galet 23 peut être mis en rotation par rapport à l'axe 21 du support. Le galet 23 comporte une rainure 27 de guidage sensiblement en forme de U. Le support rotatif est rapporté et monté sur deux pattes 7 de fixation situées en vis-à-vis l'une de l'autre ainsi qu'illustré sur la figure 5.  An inner ring 25 of the ball bearings is mounted on the axis 21 of the support while an outer ring 26 is mounted on the roller 23. Thus, the roller 23 can be rotated relative to the axis 21 of the support . The roller 23 has a substantially U-shaped guide groove 27. The rotary support is attached and mounted on two fixing lugs 7 located opposite one another as illustrated in FIG. 5 .
Un exemple de réalisation du palier excentrique 24 est illustré sur la figure 14. An exemplary embodiment of the eccentric bearing 24 is illustrated in FIG. 14.
Le palier est "excentrique" dans le sens où il présente un logement 240 désaxé ou excentré par rapport à Taxe de rotation du palier A24, ce logement étant destiné à recevoir une extrémité de Taxe 21 de support. Ainsi, le centre dudit logement excentré 240 passant par Taxe de symétrie du logement A240 ne coïncide pas avec le centre du palier 24 passant par Taxe de rotation du palier A24. Il s'en suit que l'axe de rotation du galet 23 est excentré par rapport à l'axe de rotation du palier 24 selon une valeur d'excentration telle que représentée par la référence "e". Par exemple, la valeur réelle de l'excentration est de 5/10 de mm soit un débattement de +/- 1mm The bearing is "eccentric" in the sense that it has a housing 240 offset or eccentric relative to the rotation tax of the bearing A24, this housing being intended to receive one end of support tax 21. Thus, the center of said eccentric housing 240 passing through Tax of symmetry of housing A240 does not coincide with the center of bearing 24 passing through Tax of rotation of bearing A24. It follows that the axis of rotation of the roller 23 is offset relative to the axis of rotation of the bearing 24 according to an offset value as represented by the reference "e". For example, the real value of the offset is 5/10 of mm or a travel of +/- 1mm
Des extrémités de l'axe 21 du support sont insérées chacune dans un orifice 18 de support d'une patte 7 de fixation. Un palier 24 excentrique est ensuite rapporté du côté extérieur de la patte 7 de fixation et inséré dans l'orifice 18 de support. L'axe 21 du support est alors inséré dans le palier 24 excentrique qui est lui-même fixé à la patte 7 de fixation grâce à plusieurs vis insérées à travers le palier 24 excentrique dans les orifices 20 de réglage de la patte 7 de fixation. Le galet 23 tourne librement par rapport aux paliers 24 excentriques. Dans le mode de réalisation représenté sur les figures, la roue 1 motorisée comprend trois supports 17 rotatifs agencés à sensiblement 120° les uns des autres.  Ends of the axis 21 of the support are each inserted into an orifice 18 for supporting a fixing tab 7. An eccentric bearing 24 is then attached to the outside of the fixing tab 7 and inserted into the orifice 18 for support. The axis 21 of the support is then inserted into the eccentric bearing 24 which is itself fixed to the fixing lug 7 by means of several screws inserted through the eccentric bearing 24 in the orifices 20 for adjusting the fixing lug 7. The roller 23 rotates freely relative to the eccentric bearings 24. In the embodiment shown in the figures, the motorized wheel 1 comprises three rotary supports 17 arranged at substantially 120 ° from each other.
Ainsi que précédemment évoqué, la roue 1 motorisée comporte un rotor 3 circulaire. Le rotor 3 circulaire comprend :  As previously mentioned, the motorized wheel 1 comprises a circular rotor 3. The circular rotor 3 includes:
- une jante 29 s'étendant sur un contour 30 extérieur, et une lame 45 circulaire s'étendant sur un contour 31 intérieur. a rim 29 extending over an external contour 30, and a circular blade 45 extending over an interior contour 31.
Le rotor 3 circulaire comprend en outre un pneu 32 faisant office de surface de contact avec un sol (non représenté sur les figures). Par exemple, ce pneu 32 comme illustré sur les figures 9, 17a et 17b est destiné à rouler sur une route, un chemin, un sentier ou tout type de terrain ou surface de roulage sur lequel le pneu peut rouler.  The circular rotor 3 further comprises a tire 32 acting as a contact surface with a ground (not shown in the figures). For example, this tire 32 as illustrated in FIGS. 9, 17a and 17b is intended to roll on a road, a path, a trail or any type of terrain or rolling surface on which the tire can roll.
Selon une variante de réalisation (non représentée), le pneu 32 pourra être remplacé par un ensemble de rouleaux distribués sur la périphérie extérieure du rotor 3, plus particulièrement sur la surface de contact avec le sol de manière à rouler sur le sol. Par exemple, les rouleaux sont ceux d'une roue omnidirectionnelle sans pneumatique communément dénommée "omni-wheel" ou "omni-directional whee!" en anglais.  According to an alternative embodiment (not shown), the tire 32 can be replaced by a set of rollers distributed on the outer periphery of the rotor 3, more particularly on the surface in contact with the ground so as to roll on the ground. For example, the rollers are those of an omnidirectional wheel without tire commonly known as "omni-wheel" or "omni-directional whee!" in English.
Ainsi, le rotor 3 porte directement la jante 29 et le pneu 32 sur la jante ou tout autre alternative au pneu adaptée pour rouler sur le sol, de telle sorte que la roue motorisée peut être considérée comme un "moteur roue", c'est-à-dire un moteur dans lequel le rotor fait office de roue.  Thus, the rotor 3 directly carries the rim 29 and the tire 32 on the rim or any other alternative to the tire adapted to roll on the ground, so that the motorized wheel can be considered as a "wheel motor", that is ie a motor in which the rotor acts as a wheel.
Par conséquent, il est possible de motoriser des véhicules roulant en remplaçant simplement tout ou partie des roues existantes par au moins une roue motorisée ou "moteur roue" selon la présente invention.  Consequently, it is possible to motorize rolling vehicles by simply replacing all or part of the existing wheels with at least one motorized wheel or "wheel motor" according to the present invention.
La lame 45 circulaire est fixée à la jante 29 par soudage ou collage par exemple. La lame 45 circulaire comprend un bord 33 d'extrémité libre et des parois 34 latérales. Le bord 33 d'extrémité libre est au moins en partie sensiblement une contre empreinte de la rainure 27 du galet 23. La lame 45 circulaire est une mince plaque en forme d'anneau. Les parois 34 latérales de la lame 45 circulaire comprennent plusieurs ouvertures 35 destinées à accueillir des éléments magnétiques.  The circular blade 45 is fixed to the rim 29 by welding or gluing for example. The circular blade 45 includes a free end edge 33 and side walls 34. The edge 33 of free end is at least in part substantially a counterprint of the groove 27 of the roller 23. The circular blade 45 is a thin plate in the form of a ring. The side walls 34 of the circular blade 45 include several openings 35 intended to receive magnetic elements.
Le rotor 3 et le stator sont assemblés de sorte que la lame du rotor 3 est agencée dans la fente 13. Ainsi les éléments magnétiques du rotor 3 sont situés entre les bobines 16 électromagnétiques du stator. Dans le mode de réalisation représenté sur les figures, le rotor 3 comprend 24 éléments 28 magnétiques. Le bord 33 d'extrémité libre de la lame 45 circulaire loge dans la rainure 27 de sorte que le stator prend appui sur les trois supports 17 rotatifs. La rainure 27 permet ainsi de guider en rotation la lame 45 circulaire, et par conséquent guider en rotation le rotor 3 circulaire. The rotor 3 and the stator are assembled so that the blade of the rotor 3 is arranged in the slot 13. Thus the magnetic elements of the rotor 3 are located between the electromagnetic coils 16 of the stator. In the embodiment shown in the figures, the rotor 3 comprises 24 magnetic elements 28. The edge 33 of the free end of the circular blade 45 is housed in the groove 27 so that the stator is supported on the three rotary supports 17. The groove 27 thus makes it possible to guide the circular blade 45 in rotation, and consequently guide the circular rotor 3 in rotation.
Le fait que la rainure 27 soit au moins en partie sensiblement une contre empreinte de la rainure 27 permet d'éviter que le bord 33 d'extrémité libre ne puisse se déplacer dans la rainure 27. La roue est ainsi mieux guidée et ceci permet par ailleurs d'éviter un déraillement du rotor.  The fact that the groove 27 is at least in part substantially a counterprint of the groove 27 makes it possible to prevent the free end edge 33 from being able to move in the groove 27. The wheel is thus better guided and this allows by elsewhere to avoid derailment of the rotor.
En positionnant les pattes 7 de fixation sur la périphérie 8 intérieure des demi- stators, il est possible de dégager un espace suffisamment important entre les demi- stators 5 pour permettre un assemblage le plus compact possible du rotor à l'intérieur dudit stator d'une part et pour participer à la réduction de l'entrefer.  By positioning the fixing lugs 7 on the inner periphery 8 of the half-stators, it is possible to clear a sufficiently large space between the half-stators 5 to allow the most compact possible assembly of the rotor inside said stator. a share and to participate in the reduction of the air gap.
En positionnant les supports 17 rotatifs sur une périphérie intérieure, et plus précisément sur les pattes 7 de fixation, l'assemblage du rotor et du stator est plus compact au profit d'une meilleure tenue mécanique.  By positioning the rotary supports 17 on an inner periphery, and more precisely on the fixing lugs 7, the assembly of the rotor and the stator is more compact in favor of better mechanical strength.
Lorsque le rotor 3 circulaire est mis en rotation, la lame 45 circulaire en appui sur les supports 17 rotatifs peut tourner sans difficultés.  When the circular rotor 3 is rotated, the circular blade 45 bearing on the rotary supports 17 can rotate without difficulty.
Les bobines 16 électromagnétiques sont orientées selon l'axe X de roue. Ceci signifie que l'axe passant au centre des bobines 16 est sensiblement orienté selon l'axe X. Cela permet de réduire l'épaisseur de la roue contrairement à une orientation différente.  The electromagnetic coils 16 are oriented along the axis X of the wheel. This means that the axis passing through the center of the coils 16 is substantially oriented along the axis X. This makes it possible to reduce the thickness of the wheel unlike a different orientation.
Avantageusement, les éléments magnétiques 28 du rotor 3 comprennent des masses polaires telles qu'un alliage de fer et de silicium.  Advantageously, the magnetic elements 28 of the rotor 3 comprise polar masses such as an alloy of iron and silicon.
De préférence, les masses polaires comprennent un alliage ferromagnétique. Preferably, the polar masses comprise a ferromagnetic alloy.
L'insertion de masses polaires dans le rotor 3 est particulièrement avantageuse pour rendre le rotor passif sur le plan électromagnétique, dans le sens où il ne contient aucune source électromagnétique. En effet, seules les bobines électromagnétiques 16 disposées sur les demi-stators 5 sont alimentées par une source de courant. The insertion of polar masses in the rotor 3 is particularly advantageous for making the rotor passive on the electromagnetic plane, in the sense that it contains no electromagnetic source. Indeed, only the electromagnetic coils 16 disposed on the half-stators 5 are supplied by a current source.
De préférence, les masses polaires sont agencées à l'intérieur des parois latérales du rotor 3, comme illustré sur la figure 16. La lame circulaire 45 relie le jonc de guidage 33 à la jante 29. Par exemple, la lame circulaire 45 comprend des moyens d'ancrage 35, telles que des fentes ou encoches destinées à fixer les éléments magnétiques tels que les masses polaires 28. De manière avantageuse, ces moyens d'ancrage sont distribués à intervalle régulier sur tout ou partie de la circonférence de la lame circulaire, de manière à ancrer ou fixer les masses polaires de façon équidistante. Preferably, the polar masses are arranged inside the side walls of the rotor 3, as illustrated in FIG. 16. The circular blade 45 connects the guide ring 33 to the rim 29. For example, the circular blade 45 comprises anchoring means 35, such as slots or notches intended to fix the elements magnetic such as the polar masses 28. Advantageously, these anchoring means are distributed at regular intervals over all or part of the circumference of the circular blade, so as to anchor or fix the polar masses equidistantly.
Les parois latérales du rotor 3 de la lame circulaire sont constituées d'un matériau non conducteur, tel que de la fibre de verre.  The side walls of the rotor 3 of the circular blade are made of a non-conductive material, such as fiberglass.
Dans l'exemple de la figure 16, les deux parois latérales du rotor 3 incluant les masses polaires 28 sont recouvertes, au moins partiellement d'un revêtement comprenant un matériau aux propriétés mécaniques adaptées pour renforcer ou rigidifier le rotor 3. Par exemple, ce matériau est de la fibre de carbone, auquel est éventuellement ajoutée une résine de type époxy. Par exemple, ce matériau est fourni dans des zones périphériques de la lame circulaire 45, telles que désignées par les références 3A et 3B sur la figure 16.  In the example of FIG. 16, the two side walls of the rotor 3 including the polar masses 28 are covered, at least partially with a coating comprising a material with mechanical properties adapted to reinforce or stiffen the rotor 3. For example, this material is carbon fiber, to which is optionally added an epoxy resin. For example, this material is supplied in peripheral zones of the circular blade 45, as designated by the references 3A and 3B in FIG. 16.
Ainsi, les éléments magnétiques 28 sont dépourvus de terres rares, ce qui n'entrave pas le déplacement manuel du rotor 3 par rapport au stator 2.  Thus, the magnetic elements 28 are devoid of rare earths, which does not hinder the manual movement of the rotor 3 relative to the stator 2.
A noter qu'en variante, il est tout de même possible d'utiliser des aimants permanents sans terres rares, mais ce choix ne constitue pas un mode préféré de réalisation puisqu'il implique une gêne résiduelle pour une utilisation manuelle.  Note that as a variant, it is still possible to use permanent magnets without rare earths, but this choice does not constitute a preferred embodiment since it involves residual discomfort for manual use.
L'entrefer est la distance qui sépare le rotor 3 du stator. Le réglage de cette distance est effectué à l'aide des paliers 24 excentriques. En déplaçant les paliers 24 excentriques vers le haut ou vers le bas, l'axe 21 du support est incliné, ce qui permet de modifier la trajectoire de la lame 45 circulaire grâce à l'action de la rainure 27 du galet 23 sur le bord 33 d'extrémité libre. L'entrefer peut ainsi être réglé afin d'augmenter les performances de la roue 1 motorisée, en particulier afin d'améliorer son couple à l'arrêt et donc déplacer une charge importante en dépit de sa faible épaisseur selon l'axe X.  The air gap is the distance between the rotor 3 and the stator. The adjustment of this distance is carried out using eccentric bearings 24. By moving the eccentric bearings 24 up or down, the axis 21 of the support is inclined, which makes it possible to modify the trajectory of the circular blade 45 thanks to the action of the groove 27 of the roller 23 on the edge 33 free end. The air gap can thus be adjusted in order to increase the performance of the motorized wheel 1, in particular in order to improve its torque when stationary and therefore move a large load despite its small thickness along the X axis.
La figure 15 illustre en perspective le positionnement de l'extrémité libre 33 du rotor 3 (i.e. jonc de roulage) par rapport à la rainure 27 du galet 23 d'un support rotatif 17 entre les deux demi-stators 5. La position des paliers excentriques 24, lorsqu'ils sont engagés dans les ouvertures 18 des demi-stators 5, peut être ajustée par rotation. A cet effet, une fente 242 est prévue sur la surface extérieure des paliers 24 pour faire tourner le palier excentrique. FIG. 15 illustrates in perspective the positioning of the free end 33 of the rotor 3 (ie rolling rod) relative to the groove 27 of the roller 23 of a rotary support 17 between the two half-stators 5. The position of the bearings eccentrics 24, when engaged in the openings 18 of the half-stators 5, can be adjusted by rotation. AT For this purpose, a slot 242 is provided on the outer surface of the bearings 24 to rotate the eccentric bearing.
Ainsi, la rotation simultanée des deux paliers 24 sur chaque demi-stator 5 permet de rapprocher ou d'éloigner le galet de guidage 23 par rapport au jonc de roulage 33 du rotor 3, grâce aux logements excentrés 240 prévus sur chacun des paliers excentriques 24. La position du support 21 reliant les deux paliers 24 est ajustée par rotation des paliers 24.  Thus, the simultaneous rotation of the two bearings 24 on each half-stator 5 makes it possible to move the guide roller 23 closer or further away from the rolling rod 33 of the rotor 3, by virtue of the eccentric housings 240 provided on each of the eccentric bearings 24 The position of the support 21 connecting the two bearings 24 is adjusted by rotation of the bearings 24.
En position " éloignée " telle que représentée sur la figure 15a, le rotor 3 n'est pas en contact avec le stator 2. Les paliers excentriques 24 sont dans une position dite éloignée. Par exemple, cette position est matérialisée par une orientation oblique de la fente 242.  In the "remote" position as shown in FIG. 15a, the rotor 3 is not in contact with the stator 2. The eccentric bearings 24 are in a so-called remote position. For example, this position is materialized by an oblique orientation of the slot 242.
Dans la position "en contact" telle que représentée sur la figure 15b, le rotor 3 est en contact avec le stator 2. Cette position est obtenue par rotation des paliers excentriques 24 autours de leur axe de rotation A24, tel que défini sur la figure 14. Par exemple, cette position dite "en contact" est matérialisée par une orientation horizontale de la fente 242. Du fait de l'excentricité des logements 240, la rotation des paliers 24 a pour effet de déplacer l'axe 21 de sorte que l'extrémité libre 33 du jonc de guidage entre en contact avec la fente du galet 23.  In the "in contact" position as shown in FIG. 15b, the rotor 3 is in contact with the stator 2. This position is obtained by rotation of the eccentric bearings 24 around their axis of rotation A24, as defined in the figure 14. For example, this position called "in contact" is materialized by a horizontal orientation of the slot 242. Due to the eccentricity of the housings 240, the rotation of the bearings 24 has the effect of displacing the axis 21 so that the free end 33 of the guide ring comes into contact with the slot in the roller 23.
Ainsi, la rotation des paliers excentriques 24 permet de régler radialement et axialement les jeux de fonctionnement du rotor 3.  Thus, the rotation of the eccentric bearings 24 makes it possible to adjust the operating clearances of the rotor 3 radially and axially.
La figure 17a illustre le rotor 3 et le stator 5 représentés côte à côte. Le rotor 3 comprenant la lame circulaire 45 et les masses polaires 28 distribuées à intervalle régulier sur la lame circulaire 45 par ancrage dans des ouvertures 35 comme décrit précédemment. Pour des raisons de clarté de représentation, les masses polaires 28 apparaissent libres, c'est-à-dire non recouvertes de part et d'autre de la lame 45.  Figure 17a illustrates the rotor 3 and the stator 5 shown side by side. The rotor 3 comprising the circular blade 45 and the polar masses 28 distributed at regular intervals on the circular blade 45 by anchoring in openings 35 as described above. For reasons of clarity of representation, the polar masses 28 appear free, that is to say not covered on either side of the blade 45.
Le stator 2 présente une fente définie entre les dents autour desquelles sont enroulées les bobines 16. Dans cet exemple de réalisation, les bobines 16 sont enroulées autour des dents de telle sorte qu'elles ne dépassent pas une partie extrémale des dents s'étendant vers le centre de la fente. Ainsi, une fente continue de largeur égale à la distance séparant le sommet de deux dents en face à face est formée. The stator 2 has a slot defined between the teeth around which the coils are wound 16. In this embodiment, the coils 16 are wound around the teeth in such a way that they do not protrude an extreme part of the teeth extending towards the center of the slot. Thus, a continuous slit of width equal to the distance between the top of two teeth facing each other is formed.
La figure 17b illustre un assemblage du rotor 3 et du stator 2 de la figure 17a, plus précisément dans le cas où le jonc de guidage 33 du rotor 3 est en contact avec le palier 23 du stator 2.  FIG. 17b illustrates an assembly of the rotor 3 and the stator 2 of FIG. 17a, more precisely in the case where the guide ring 33 of the rotor 3 is in contact with the bearing 23 of the stator 2.
La roue motorisée comprend ainsi une zone centrale qui peut être utilisée pour loger divers éléments de fonctionnement et de contrôle de la roue 1 motorisée.  The motorized wheel thus comprises a central zone which can be used to house various operating and control elements of the motorized wheel 1.
La roue 1 motorisée comprend :  The motorized wheel 1 includes:
un microcontrôleur 46,  a microcontroller 46,
- une électronique de puissance, par exemple une carte 47 de puissance connectée au microcontrôleur 46,  a power electronics, for example a power card 47 connected to the microcontroller 46,
une batterie 48 connectée à la carte 47 de puissance, et  a battery 48 connected to the power card 47, and
un chargeur de batterie (non représenté) connecté à la carte 47 de puissance. De préférence, ladite carte est un convertisseur d'électronique de puissance 47 adapté pour alimenter le moteur et contrôler le chargeur de batterie. Ces deux fonctions peuvent être mises en œuvre au sein d'une même carte électronique.  a battery charger (not shown) connected to the power card 47. Preferably, said card is a power electronics converter 47 adapted to supply the motor and control the battery charger. These two functions can be implemented within the same electronic card.
La roue 1 motorisée comporte en outre, un onduleur, par exemple de 48 V et 500 W pour générer des tensions et des courants alternatifs.  The motorized wheel 1 further comprises an inverter, for example of 48 V and 500 W for generating alternating voltages and currents.
Le microcontrôleur est connecté à un boîtier 51 de commande permettant de donner des informations telles que le sens du mouvement, la vitesse de rotation en fonction du souhait exprimé par un utilisateur. Le boîtier 51 de commande peut être connecté au microcontrôleur à l'aide d'un câblage approprié ou de manière sans fil, dans ce dernier cas, le microcontrôleur est équipé de moyens d'émission/réception de données.  The microcontroller is connected to a control unit 51 making it possible to give information such as the direction of movement, the speed of rotation as a function of the wish expressed by a user. The control unit 51 can be connected to the microcontroller using appropriate wiring or wirelessly, in the latter case, the microcontroller is equipped with data transmission / reception means.
Le principe de fonctionnement de la roue 1 motorisée va dorénavant être décrit.  The operating principle of the motorized wheel 1 will now be described.
En fonction du souhait exprimé par l'utilisateur, le microcontrôleur gère l'alimentation des bobines 16 électromagnétiques.  Depending on the wish expressed by the user, the microcontroller manages the supply of the electromagnetic coils 16.
La roue 1 motorisée est mise en mouvement en alimentant les bobines 16 électromagnétiques grâce à un courant électrique provenant de la batterie. Le microcontrôleur alimente les bobines 16 électromagnétiques (par paires) à tour de rôle. Cette alternance provoque une rotation du champ magnétique et entraîne ainsi un mouvement du rotor 3 faisant avancer la roue 1 motorisée. The motorized wheel 1 is set in motion by supplying the electromagnetic coils 16 with an electric current coming from the battery. The microcontroller supplies the electromagnetic coils 16 (in pairs) in turn. This alternation causes a rotation of the magnetic field and thus causes a movement of the rotor 3 advancing the motorized wheel 1.
Dans ce qui suit, un exemple d'application de la roue motorisée va être décrit. A titre d'exemple deux roues motorisées sont montées sur un axe de liaison de la chaise roulante. Le tableau ci-dessous résume le fonctionnement des roues motorisées en fonction du souhait exprimé par un utilisateur sur un boîtier 51 de pilotage connecté aux roues motorisées :  In the following, an example of application of the motorized wheel will be described. For example, two motorized wheels are mounted on a connecting axis of the wheelchair. The table below summarizes the operation of the motorized wheels according to the wish expressed by a user on a control box 51 connected to the motorized wheels:
De manière générale, le boîtier de pilotage comprend une interface homme/machine destinée à envoyer des signaux de commande à la roue motorisée pour permettre à l'utilisateur de piloter le dispositif roulant sur lequel est monté la roue motorisée 1. A titre d'exemple illustratif, le boîtier de pilotage 51 comprend un volant et/ou un joystick. Il peut être raccordé à un ou plusieurs capteurs, tels que des gyroscopes, accéléromètres, destinés à fournir des informations relatives à l'environnement dans lequel se déplace le dispositif roulant. In general, the control unit comprises a man / machine interface intended to send control signals to the motorized wheel to allow the user to control the rolling device on which the motorized wheel 1 is mounted. By way of example Illustrative, the control unit 51 includes a steering wheel and / or a joystick. It can be connected to one or more sensors, such as gyroscopes, accelerometers, intended to provide information relating to the environment in which the rolling device moves.
Avantageusement, la roue 1 motorisée comprend un dispositif 37 de réglage de la position de la roue, comme illustré sur les figures 1 et 8. Plus précisément, le dispositif 37 permet de régler en temps réel la position d'un point de fixation ou d'ancrage 42 de la roue motorisée 1 sur le dispositif roulant, de manière à maintenir une garde optimale au sol du dispositif roulant en fonction de la configuration du sol (e.g. degré d'inclinaison ou pente de la surface de roulage). Ainsi, la stabilité du dispositif roulant est assurée par une tenue au sol améliorée, à chaque instant, notamment lorsque le dispositif est en train de rouler sur le sol. Advantageously, the motorized wheel 1 comprises a device 37 for adjusting the position of the wheel, as illustrated in FIGS. 1 and 8. More specifically, the device 37 makes it possible to adjust in real time the position of a fixing or anchoring point 42 of the motorized wheel 1 on the rolling device, so as to maintain optimal ground clearance of the rolling device according to the configuration of the ground (eg degree of inclination or slope of the rolling surface). Thus, the stability of the rolling device is ensured by improved ground handling, at all times, especially when the device is rolling on the ground.
Le dispositif 37 de réglage comprend un rail 38 muni de deux tiges 39 de guidage fixées sur le stator. Les tiges 39 de guidage sont orientées selon un diamètre du stator et positionnées de part et d'autre de ce diamètre. Les tiges 39 de guidage sont sensiblement parallèles. Le dispositif comprend un moteur 40 électrique couplé mécaniquement à une vis 41 sans fin. La vis 41 sans fin est agencée entre les tiges 39 de guidage. Le dispositif comprend en outre un patin 42 de fixation. Le patin 42 de fixation comprend une interface de couplage mécanique à un axe de liaison.  The adjustment device 37 comprises a rail 38 provided with two guide rods 39 fixed on the stator. The guide rods 39 are oriented along a diameter of the stator and positioned on either side of this diameter. The guide rods 39 are substantially parallel. The device comprises an electric motor 40 mechanically coupled to a worm 41. The endless screw 41 is arranged between the guide rods 39. The device further comprises a fixing pad 42. The fixing pad 42 includes an interface for mechanical coupling to a connecting pin.
L'utilisation d'un axe de liaison permet avantageusement de libérer de l'espace à l'intérieur de la roue pour y installer par exemple une batterie et une ou plusieurs cartes électroniques, un chargeur de batterie inductif pour une recharge sans contact, comme décrit en référence à la figure 13.  The use of a connecting pin advantageously makes it possible to free up space inside the wheel to install, for example, a battery and one or more electronic cards, an inductive battery charger for contactless charging, such as described with reference to Figure 13.
Le patin 42 comprend par ailleurs des orifices 43 de guidage destinés à recevoir les tiges 39 de guidage et des orifices 44 taraudés destinés à recevoir la vis 41 sans fin filetée. Lorsque la vis 41 sans fin est mise en rotation, le patin se déplace le long des tiges de guidage. Une vis 41 sans fin adaptée est par exemple une vis à billes.  The shoe 42 also comprises orifices 43 for guiding intended to receive the rods 39 for guiding and orifices 44 tapped for receiving the screw 41 without threaded end. When the endless screw 41 is rotated, the shoe moves along the guide rods. A suitable endless screw 41 is for example a ball screw.
Avantageusement, le boîtier 51 comprend un capteur d'inclinaison relié au microcontrôleur. Le capteur d'inclinaison permet de déterminer l'assiette de la chaise 50 roulante et ainsi donner les informations nécessaires au microcontrôleur, telles qu'une mesure de l'assiette ou degré d'inclinaison de la chaise roulante, pour que celui-ci puisse agir sur la position du patin 42 de fixation le long de la vis 41 sans fin, dans la roue 1 motorisée, afin d'assurer à l'utilisateur assis sur la chaise roulante une position horizontale en toutes circonstances. Par exemple, lorsque la chaise roulante s'engage sur une route inclinée, en pente, le microcontrôleur enclenche le moteur 40 électrique afin de remonter les patins de fixation et maintenir le siège de la chaise roulante en position horizontale. Advantageously, the housing 51 comprises a tilt sensor connected to the microcontroller. The inclination sensor makes it possible to determine the attitude of the wheelchair 50 and thus give the necessary information to the microcontroller, such as a measurement of the attitude or degree of inclination of the wheelchair, so that it can act on the position of the fixing pad 42 along the endless screw 41, in the motorized wheel 1, in order to ensure the user seated on the wheelchair a horizontal position in all circumstances. For example, when the wheelchair engages on an inclined, sloping road, the microcontroller starts the motor 40 electric in order to reassemble the fixing pads and keep the seat of the wheelchair in a horizontal position.
Les roues motorisées sont avantageusement équipées d'un détecteur d'obstacle, d'un détecteur de distance et d'une puce GPS. Ces éléments reliés au microcontrôleur permettent aux roues motorisées de rejoindre une station de rechargement des batteries de manière autonome dans un lieu confiné tel qu'un appartement.  The motorized wheels are advantageously equipped with an obstacle detector, a distance detector and a GPS chip. These elements connected to the microcontroller allow the motorized wheels to reach a battery recharging station independently in a confined space such as an apartment.
La roue motorisée décrite ci-dessus présente de nombreux avantages à savoir : elle développe un couple important à faible vitesse sans pour autant être énergivore notamment grâce à l'agencement de la lame 45 circulaire dans la fente circulaire,  The motorized wheel described above has many advantages, namely: it develops a large torque at low speed without being energy-consuming, in particular thanks to the arrangement of the circular blade 45 in the circular slot,
elle présente une faible épaisseur, adéquate pour une utilisation sur chaise roulante ou encore vélo,  it has a small thickness, suitable for use on a wheelchair or even a bicycle,
elle ne requiert pas l'utilisation de réducteurs, ce qui diminue considérablement sa masse, sont coût de production et améliore sa fiabilité tout en diminuant le bruit en utilisation,  it does not require the use of reducers, which considerably reduces its mass, its production cost and improves its reliability while reducing noise in use,
aucun aimant permanent à terres rares n'est utilisé, ce qui permet de tourner la roue manuellement sans difficultés, ce qui est tout à fait adéquat pour une chaise roulante ou encore un vélo par exemple.  no permanent rare earth magnet is used, which allows the wheel to be turned manually without difficulty, which is perfectly suitable for a wheelchair or even a bicycle for example.
La présente invention a été décrite de manière détaillée dans le cadre d'un fauteuil roulant mais ne se limite bien évidemment pas à cette application. Elle vise plus généralement un dispositif destiné à rouler sur un sol et comprenant au moins une roue motorisée telle que décrite ci-dessus.  The present invention has been described in detail in the context of a wheelchair but is obviously not limited to this application. It relates more generally to a device intended to roll on a ground and comprising at least one motorized wheel as described above.
En particulier, le dispositif roulant peut être tout type de véhicule motorisé tel qu'une bicyclette ou un vélo électrique, une trottinette électrique, un gyropode, une voiture électrique compacte, une mobylette ou une moto électrique, un robot. Cette liste est donnée à titre illustratif et ne doit en aucun être interprétée de manière limitative.  In particular, the rolling device can be any type of motorized vehicle such as a bicycle or an electric bicycle, an electric scooter, a Segway, a compact electric car, a moped or an electric motorcycle, a robot. This list is given for illustrative purposes and should in no way be interpreted in a restrictive manner.

Claims

REVENDICATIONS
1. Dispositif roulant adapté à rouler sur un sol, ledit dispositif comprenant au moins une roue (1) motorisée et un boîtier (51) de pilotage de ladite au moins une roue (1) motorisée, ladite au moins une roue motorisée comprenant : 1. Rolling device adapted to roll on a ground, said device comprising at least one motorized wheel (1) and a housing (51) for controlling said at least one motorized wheel (1), said at least one motorized wheel comprising:
un stator (2) circulaire comprenant un corps (4) définissant une fente (13) circulaire et comprenant une pluralité de bobines (16) électromagnétiques situées dans la fente (13) circulaire, de sorte qu'au moins deux bobines (16) électromagnétiques sont agencées en regard l'une de l'autre, et  a circular stator (2) comprising a body (4) defining a circular slot (13) and comprising a plurality of electromagnetic coils (16) located in the circular slot (13), so that at least two electromagnetic coils (16) are arranged opposite one another, and
- un rotor (3) circulaire comprenant sur une périphérie intérieure (8) une lame (45) circulaire ayant des parois (34) latérales et un bord d'extrémité (33) libre reliant les parois (34) latérales, le rotor (3) circulaire comprenant une surface de contact avec le sol, ladite surface de contact s'étendant sur une périphérie extérieure, et ladite lame (45) circulaire comprenant des éléments (28) magnétiques agencés sur ses parois (34) latérales, - a circular rotor (3) comprising on an inner periphery (8) a circular blade (45) having side walls (34) and a free end edge (33) connecting the side walls (34), the rotor (3 ) circular comprising a contact surface with the ground, said contact surface extending over an external periphery, and said circular blade (45) comprising magnetic elements (28) arranged on its side walls (34),
le rotor (3) circulaire et le stator (2) circulaire étant assemblés par l'intermédiaire de moyens (17) d'assemblage prévus sur le stator (2) circulaire, la lame (45) circulaire du rotor (3) circulaire étant agencée dans la fente (13) circulaire du stator (2) circulaire de sorte que les éléments (28) magnétiques de ladite lame (45) circulaire sont situés entre les bobines (16) électromagnétiques du stator (2) circulaire.  the circular rotor (3) and the circular stator (2) being assembled by means of assembly means (17) provided on the circular stator (2), the circular blade (45) of the circular rotor (3) being arranged in the circular slot (13) of the circular stator (2) so that the magnetic elements (28) of said circular blade (45) are located between the electromagnetic coils (16) of the circular stator (2).
2. Dispositif roulant selon la revendication 1, caractérisé en ce que le corps (4) du stator (2) circulaire comporte deux demi-stators (5) fixés l'un à l'autre de sorte que la fente (13) circulaire soit continue. 2. Rolling device according to claim 1, characterized in that the body (4) of the circular stator (2) comprises two half-stators (5) fixed to one another so that the circular slot (13) is keep on going.
3. Dispositif roulant selon la revendication 2, caractérisé en ce que chaque demi- stator (5) comporte des pattes (7) de fixation aptes à fixer les demi-stators (5) l'un à l'autre, ces pattes (7) de fixation étant situées sur la périphérie (8) intérieure desdits demi-stators (5). 3. Rolling device according to claim 2, characterized in that each half-stator (5) has lugs (7) for fixing capable of fixing the half-stators (5) to one another, these lugs (7 ) of fixing being located on the inner periphery (8) of said half-stators (5).
4. Dispositif roulant selon la revendication 3, caractérisé en ce que les moyens (17) d'assemblage dits supports (17) rotatifs, sont agencés sur la périphérie (8) intérieure du stator (2) circulaire. 4. Rolling device according to claim 3, characterized in that the means (17) of assembly called rotary supports (17), are arranged on the inner periphery (8) of the stator (2) circular.
5. Dispositif roulant selon la revendication 4, caractérisé en ce que les supports (17) rotatifs sont agencés sur les pattes (7) de fixation. 5. Rolling device according to claim 4, characterized in that the rotary supports (17) are arranged on the fixing lugs (7).
6. Dispositif roulant selon la revendication 4 ou 5, caractérisé en ce que les supports (17) rotatifs comprennent : 6. Rolling device according to claim 4 or 5, characterized in that the rotary supports (17) comprise:
- un axe (21),  - an axis (21),
- deux roulements (22) à billes montés sur l'axe (21), et  - two ball bearings (22) mounted on the axis (21), and
- un galet (23) monté sur les roulements (22) à billes. 7. Dispositif roulant selon la revendication 6, caractérisé en ce que le galet (23) comporte une rainure (27) destinée à recevoir la lame (13) circulaire du rotor (3) circulaire et en ce que la rainure (27) est en section, au moins en partie, une contre-empreinte du bord d'extrémité (33) libre. 8. Dispositif roulant selon l'une des revendications précédentes, caractérisé en ce que les éléments (28) magnétiques du rotor (3) circulaire comprennent un alliage de fer et de silicium ou un alliage ferromagnétique.  - a roller (23) mounted on the ball bearings (22). 7. Rolling device according to claim 6, characterized in that the roller (23) has a groove (27) intended to receive the circular blade (13) of the rotor (3) circular and in that the groove (27) is in section, at least in part, a counter-impression of the free end edge (33). 8. Rolling device according to one of the preceding claims, characterized in that the magnetic elements (28) of the circular rotor (3) comprise an alloy of iron and silicon or a ferromagnetic alloy.
9. Dispositif roulant selon l'une des revendications 1 à 7, caractérisé en ce que les éléments (28) magnétiques du rotor (3) circulaires comprennent des aimants permanents sans terres rares. 9. Rolling device according to one of claims 1 to 7, characterized in that the magnetic elements (28) of the circular rotor (3) comprise permanent magnets without rare earths.
10. Dispositif roulant selon la revendication 8, caractérisé en ce que les parois (34) latérales de la lame (45) circulaire comprennent une ou plusieurs ouvertures (35) accueillant lesdits éléments magnétiques (28). 10. Rolling device according to claim 8, characterized in that the side walls (34) of the circular blade (45) comprise one or more openings (35) receiving said magnetic elements (28).
11. Dispositif roulant selon l'une des revendications 6 à 10, caractérisé en ce qu'il comprend des moyens (24) de réglage aptes à modifier l'inclinaison de l'axe (21) des supports (17) rotatifs de sorte à régler une distance séparant le rotor (3) circulaire du stator (2) circulaire. 11. Rolling device according to one of claims 6 to 10, characterized in that it comprises means (24) for adjustment capable of modifying the inclination of the axis (21) of the supports (17) which rotate so as to set a distance separating the circular rotor (3) from the circular stator (2).
12. Dispositif roulant selon la revendication précédente, caractérisé en ce que les moyens (24) de réglage aptes à modifier l'inclinaison de l'axe (21) des supports (17) rotatifs sont deux paliers (24) excentriques faisant interface entre l'axe (21) et les pattes (7) de fixation, chaque palier (24) excentrique étant monté de part et d'autre de l'axe (21). 12. Rolling device according to the preceding claim, characterized in that the adjustment means (24) able to modify the inclination of the axis (21) of the rotary supports (17) are two eccentric bearings (24) interfacing between the 'axis (21) and the lugs (7) for fixing, each eccentric bearing (24) being mounted on either side of the axis (21).
13. Dispositif roulant selon l'une des revendications précédentes, caractérisé en ce qu'il comprend un dispositif (37) de réglage de la position d'un point de fixation (42) de ladite au moins une roue (1) motorisée audit dispositif roulant, ledit dispositif (37) de réglage comportant des moyens de fixation à un axe de liaison. 13. Rolling device according to one of the preceding claims, characterized in that it comprises a device (37) for adjusting the position of a fixing point (42) of said at least one wheel (1) motorized to said device rolling, said adjusting device (37) comprising means for fixing to a connecting pin.
14. Dispositif roulant selon la revendication précédente, caractérisé en ce que le dispositif (37) de réglage de la position du point de fixation (42) de ladite au moins une roue (1) motorisée comprend : 14. Rolling device according to the preceding claim, characterized in that the device (37) for adjusting the position of the fixing point (42) of said at least one motorized wheel (1) comprises:
- des tiges (39) de guidages sensiblement parallèles fixées au stator (2) circulaire,  - substantially parallel guide rods (39) fixed to the circular stator (2),
- un moteur (40) électrique,  - an electric motor (40),
- une vis (41) sans fin couplée au moteur (40) électrique,  - an endless screw (41) coupled to the electric motor (40),
- un patin (42) de fixation comprenant les moyens de fixation à l'axe de liaison, ledit patin (42) de fixation étant couplé mécaniquement à la vis (41) sans fin et aux tiges (39) de guidage de sorte que la rotation de la vis (41) sans fin permette le déplacement du patin (42) de fixation le long des tiges (39) de guidage. - A fixing pad (42) comprising the means for fixing to the connecting pin, said fixing pad (42) being mechanically coupled to the endless screw (41) and to the guide rods (39) so that the rotation of the endless screw (41) allows the displacement of the fixing shoe (42) along the guide rods (39).
15. Dispositif roulant selon l'une des revendications précédentes, caractérisé en ce qu'il comprend : 15. Rolling device according to one of the preceding claims, characterized in that it comprises:
un microcontrôleur (46),  a microcontroller (46),
une carte de puissance (47) connectée au microcontrôleur (46), - une batterie (48) connectée à la carte de puissance (47),  a power card (47) connected to the microcontroller (46), - a battery (48) connected to the power card (47),
un chargeur de batterie apte à charger la batterie (48), et en ce qu'un programme informatique est implémenté dans le microcontrôleur (46), ledit microcontrôleur (46) étant apte à alimenter successivement les bobines (16) électromagnétiques du stator (2) circulaire pour permettre la mise en rotation du rotor (3) circulaire.  a battery charger capable of charging the battery (48), and in that a computer program is implemented in the microcontroller (46), said microcontroller (46) being capable of successively supplying the electromagnetic coils (16) of the stator (2) ) circular to allow the rotation of the circular rotor (3).
16. Dispositif roulant selon l'une quelconque des revendications précédentes, caractérisé en ce que le rotor (3) comprend en outre un pneu (32) ou un ensemble de rouleaux distribués sur la périphérie extérieure du rotor (3) faisant office de surface de contact avec le sol. 16. Rolling device according to any one of the preceding claims, characterized in that the rotor (3) further comprises a tire (32) or a set of rollers distributed on the outer periphery of the rotor (3) acting as a surface for contact with the ground.
17. Dispositif roulant selon l'une quelconque des revendications précédentes, caractérisé en ce que le boîtier (51) de pilotage comprend un capteur d'inclinaison connecté au microcontrôleur, le capteur d'inclinaison étant apte à mesurer l'assiette du dispositif (50) roulant et à fournir cette mesure au microcontrôleur17. Rolling device according to any one of the preceding claims, characterized in that the control box (51) comprises a tilt sensor connected to the microcontroller, the tilt sensor being able to measure the attitude of the device (50 ) rolling and providing this measurement to the microcontroller
(46) afin que ledit microcontrôleur (46) modifie la position du point de fixation de ladite au moins une roue (1) motorisée en actionnant le moteur (40) électrique du dispositif (37) de réglage de la position du point de fixation de ladite au moins une roue (1) motorisée. (46) so that said microcontroller (46) modifies the position of the attachment point of said at least one motorized wheel (1) by actuating the electric motor (40) of the device (37) for adjusting the position of the attachment point of said at least one motorized wheel (1).
18. Dispositif roulant selon l'une quelconque des revendications précédentes, caractérisé en ce le rotor (3) comprend une jante (29) s'étendant sur un contour extérieur (30) et en ce que la lame (45) circulaire relie le bord d'extrémité libre (33) à ladite jante (29). 18. Rolling device according to any one of the preceding claims, characterized in that the rotor (3) comprises a rim (29) extending over an external contour (30) and in that the circular blade (45) connects the edge free end (33) to said rim (29).
19. Dispositif roulant selon l'une quelconque des revendications précédentes, caractérisé en ce que les parois de la lame (45) sont renforcées au moins au niveau de ses extrémités (3A, 3B) par un revêtement en fibre de carbone comprenant une résine de type époxy. 19. Rolling device according to any one of the preceding claims, characterized in that the walls of the blade (45) are reinforced at least at its ends (3A, 3B) by a coating of carbon fiber comprising a resin of epoxy type.
EP19737151.1A 2018-07-24 2019-07-12 Rolling device adapted to roll on a ground surface Pending EP3827502A1 (en)

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FR1856876A FR3084300B1 (en) 2018-07-24 2018-07-24 MOTORIZED WHEEL
PCT/EP2019/068914 WO2020020673A1 (en) 2018-07-24 2019-07-12 Rolling device adapted to roll on a ground surface

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