FR3047660A1 - DEVICE FOR BASES OF ROBOTS OR WHEELCHAIRS TO RUN OR DESCEND STAIRS AND ROLL ON THE GROUND - Google Patents

DEVICE FOR BASES OF ROBOTS OR WHEELCHAIRS TO RUN OR DESCEND STAIRS AND ROLL ON THE GROUND Download PDF

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Publication number
FR3047660A1
FR3047660A1 FR1600244A FR1600244A FR3047660A1 FR 3047660 A1 FR3047660 A1 FR 3047660A1 FR 1600244 A FR1600244 A FR 1600244A FR 1600244 A FR1600244 A FR 1600244A FR 3047660 A1 FR3047660 A1 FR 3047660A1
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France
Prior art keywords
wheels
plates
sensors
motors
vehicle
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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
FR1600244A
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French (fr)
Inventor
Christian Coudevylle
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Individual
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Individual
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Publication date
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Priority to FR1600244A priority Critical patent/FR3047660A1/en
Publication of FR3047660A1 publication Critical patent/FR3047660A1/en
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Classifications

    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
    • A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/40—General characteristics of devices characterised by sensor means for distance

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de roues(1) équipé de moteurs électrique, pneumatique ou hydraulique permettant à un véhicule, type base de robot ou fauteuil roulant, de monter ou de descendre des marches (17) d'escaliers, de rouler sur terrain plat ou accidenté et d'éviter les obstacles horizontaux du sol. Il est constitué d'une ou deux platines(2) supportant trois à six roues(1) équidistantes et sur un même plan, d'un mécanisme de transmission de mouvement (4,5,6), de capteurs (9, 10), d'un système électronique (11) commandant les moteurs, d'un moteur(7) actionnant les roues, d'un moteur (8) actionnant la rotation partielle des platines(2) lorsque les capteurs(9) détectent une marche à la descente ou à la montée, ou un obstacle.The invention relates to a wheel device (1) equipped with electric, pneumatic or hydraulic motors enabling a vehicle, such as a robot base or a wheelchair, to go up or down stairs (17), to ride on the ground. flat or rugged and avoid horizontal obstacles from the ground. It consists of one or two plates (2) supporting three to six wheels (1) equidistant and on the same plane, a mechanism for transmitting motion (4,5,6), sensors (9, 10) , an electronic system (11) controlling the motors, a motor (7) actuating the wheels, a motor (8) actuating the partial rotation of the plates (2) when the sensors (9) detect a step to the descent or uphill, or an obstacle.

Description

L'invention concerne un dispositif de roues équipées de moteurs électrique, pneumatique ou hydraulique permettant à un véhicule, type base de robot ou fauteuil roulant, sur de monter ou descendre des marches(17) d'escaliers, rouler terrain plat ou accidenté et éviter les obstacles horizontaux du sol.The invention relates to a wheel device equipped with electric, pneumatic or hydraulic motors enabling a vehicle, such as a robot base or a wheelchair, to go up or down stairs (17), to ride flat or uneven terrain and to avoid horizontal obstacles of the ground.

Jusqu'à présent les bases robots et les fauteuils roulants utilisent des systèmes à chenilles pour monter ou descendre des marches, certains robots ont des mécanismes copiant 1'humain ou 1'animal.So far robot bases and wheelchairs use crawler systems to go up and down stairs, some robots have mechanisms copying humans or animals.

Le dispositif selon l'invention est constitué: d’une ou deux platines(2) supportant trois à six roues(1) équidistantes et sur un même plan; d'un mécanisme de transmission de mouvement par poulies(3),courroies(4) ou par engrenages; d'un système axes coaxiaux(5) transmettant le mouvement de la partie moteurs(7,8)à la partie platine roues; selon une version, d'un palier(6) à double roulements placé sur 1'axe solidaire des platines(2) assurant le maintient entre ces dernières(2) et le reste du véhicule notamment le supports des moteurs(7,8)et des capteurs(10); selon une autre version, d'une fourche munie de palier(14,15) enjambant les platine(2) et les roues(l), assurrant le maintient avec le reste du véhicule tout en permetant la rotation sur un axe vertical de l'ensemble du dispositif de manière à permettre au véhicule de tourner a gauche ou à droite; de capteurs de mouvements rotatifs(10) indiquant à l'électronique(ll) la position des roues(l) et des platines(2); de détecteurs de proximité(9) à ultrasons ou optiques repérant l'arrivée des marches; d'un système électronique(11) intelligent relié aux capteurs(10) et aux détecteurs(9), recevant les ordres extérieurs et commandant les moteurs(7,8); d'un ou plusieurs moteurs(7) actionnant les roues, d'un autre(8) actionnant la rotation des platines(2) lorsque les détecteurs(9) reperent une marche à la descente ou à la montée ou un obstacle.The device according to the invention consists of: one or two plates (2) supporting three to six wheels (1) equidistant and on the same plane; a motion transmission mechanism by pulleys (3), belts (4) or gears; a coaxial axis system (5) transmitting the movement of the motor part (7,8) to the platinum wheel part; according to one version, a bearing (6) with double bearings placed on the integral axis of the plates (2) ensuring the maintenance between these (2) and the rest of the vehicle including the motor supports (7,8) and sensors (10); according to another version, a fork provided with bearing (14,15) spanning the plate (2) and the wheels (l), assurrant maintains with the rest of the vehicle while allowing rotation on a vertical axis of the all of the device so as to allow the vehicle to turn left or right; rotary motion sensors (10) indicating to the electronics (11) the position of the wheels (1) and the plates (2); ultrasonic or optical proximity detectors (9) identifying the arrival of the steps; an intelligent electronic system (11) connected to the sensors (10) and the sensors (9), receiving the external commands and controlling the motors (7,8); one or more motors (7) actuating the wheels, another (8) actuating the rotation of the plates (2) when the detectors (9) locate a step on the way down or climb or obstacle.

Selon une variante de l'invention, les moteurs électriques actionnant les roues(1)sont placés dans le moyeux des roues, de manière à simplifier la transmission mécanique.According to a variant of the invention, the electric motors actuating the wheels (1) are placed in the hub of the wheels, so as to simplify the mechanical transmission.

La figure n°1 représente le dispositif vue de côté, placé sur une marche(3).Figure 1 shows the device seen from the side, placed on a step (3).

La figure n°2 représente le dispositif vue de dessus, avec le palier à double roulement(6).Figure 2 shows the device seen from above, with the double bearing bearing (6).

La figure n°3 représente le dispositif vue de face avec la frouche(12).Figure 3 shows the device seen from the front with the frouche (12).

La figure n°4 montre le dispositif installé sous un fauteuil roulant en train de monter ou descendre des marches d'escalier.Figure 4 shows the device installed under a wheelchair going up or down stairs.

Les reperts sur les figures 1,2,3 sont: en(l)les trois roues, en(2) la ou les platines, en(3) les poulies, en(4) les courroies, en(5) les axes coaxiaux, en(6) le palier à double roulement, en(7) le moteur actionnant les roues, en(8) le moteur actionnant la rotation de la platine, en(9) les détecteurs de proximité, en(10) les capteurs rotatifs, en (11) le système électronique intelligent, en(12) la fourche, en(14) les paliers fourche-platine, en(15) les paliers de rotation de l'axe vertial de la fourche, en(16) le support moteurs-capteurs.The references in FIGS. 1, 2, 3 are: in (1) the three wheels, in (2) the plate (s), in (3) the pulleys, in (4) the belts, in (5) the coaxial axes (6) the double-bearing bearing, (7) the motor actuating the wheels, (8) the motor actuating the rotation of the plate, (9) the proximity sensors, (10) the rotary sensors. , in (11) the intelligent electronic system, in (12) the fork, in (14) the fork-plate bearings, in (15) the rotational bearings of the vertial axis of the fork, in (16) the support motor-sensors.

Claims (10)

Revendications 1) Dispositif permettant à un véhicule, type base de robot ou fauteuil roulant, de monter ou descendre des marches(17) d'escaliers, rouler sur terrain plat ou accidenté et éviter les obstacles horizontaux du sol, caractérisé en ce qu'il est constitué d'une ou deux platines(2) supportant trois à six roues(l) équidistantes et sur un même plan.1) Device enabling a vehicle, such as a robot base or a wheelchair, to go up or down stairs (17), to run on flat or uneven ground and to avoid horizontal obstacles on the ground, characterized in that consists of one or two plates (2) supporting three to six wheels (1) equidistant and on the same plane. 2) Dispositif selon la revendication N°1 caractérisé en ce qu'il est constitué de moteurs électrique, pneumatique ou hydraulique, un ou plusieurs moteurs(7) actionnant les roues et un moteur(8) actionnant la rotation de la ou des platines.2) Device according to claim No. 1 characterized in that it consists of electric, pneumatic or hydraulic motors, one or more motors (7) actuating the wheels and a motor (8) actuating the rotation of the or plates. 3) Dispositif selon la revendication N°2 caractérisé en ce qu'il est constitué de détecteurs de proximité(9) à ultrasons ou optiques repérant l'arrivée des marches montantes ou descendantes ou des obstacles.3) Device according to claim No. 2 characterized in that it consists of ultrasound or optical proximity sensors (9) identifying the arrival of rising or falling steps or obstacles. 4) Dispositif selon la revendication N°3 caractérisé en ce qu'il est constitué de capteurs de mouvements rotatifs(10) indiquant à l'électronique la i position des roues(l) et des platines(2).4) Device according to claim No. 3 characterized in that it consists of rotary motion sensors (10) indicating to the electronics i i position of the wheels (l) and plates (2). 5) Dispositif selon la revendication N°4 caractérisé en ce qu'il est constitué d'un système électronique intelligent(11) relié aux capteurs(10)et aux détecteurs(9), recevant les ordres extérieurs et commandant » les moteurs(7,8).5) Device according to claim No. 4 characterized in that it consists of an intelligent electronic system (11) connected to the sensors (10) and the sensors (9), receiving external orders and command "the motors (7). 8). 6) Dispositif selon la revendication N° 5 caractérisé en ce qu'il est constitué d'un mécanisme de transmission de mouvement par poulies(3), courroies(4)ou par engrenages. )6) Device according to claim No. 5 characterized in that it consists of a mechanism for transmitting movement by pulleys (3), belts (4) or by gears. ) 7) Dispositif selon la revendication N° 6 caractérisé en ce qu'il est constitué d'un système axes coaxiaux(5) transmettant le mouvement de la partie moteurs(7,8) à la partie platines(2) roues(1).7) Device according to claim No. 6 characterized in that it consists of a coaxial axis system (5) transmitting the movement of the motor part (7,8) to the part plates (2) wheels (1). 8)Dispositif selon la revendication N°7 caractérisé en ce qu'il est constitué d'un palier(6) à double roulement placé sur l'axe solidaire des platines(2) assurant la liaison entre ces dernières(2)et le reste du véhicule notamment les supports des moteurs(7,8)et des capteurs(10).8) Device according to claim No. 7 characterized in that it consists of a bearing (6) with double bearing placed on the integral axis of the plates (2) ensuring the connection between the latter (2) and the rest of the vehicle in particular the supports of the motors (7,8) and the sensors (10). 9) Dispositif selon la revendication N°7 caractérisé en ce qu’il est constitué d'une fourche munie de paliers(14,15) enjambant les platines(2) et les roues(l), assurrant le maintient avec le reste du véhicule tout en permetant la rotation sur un axe vertical de l'ensemble du dispositif de manière à permettre au véhicule de tourner à gauche ou à droite.9) Device according to claim No. 7 characterized in that it consists of a fork provided with bearings (14,15) spanning the plates (2) and the wheels (l), assurrant maintains with the rest of the vehicle while allowing rotation on a vertical axis of the entire device so as to allow the vehicle to turn left or right. 10) Dispositif selon les revendication N°8 ou N°9 caractérisé en ce que les moteurs actionnant les roues(l) sont montés dans le moyeu des roues ( 1 ).10) Device according to claim 8 or 9 characterized in that the motors actuating the wheels (1) are mounted in the wheel hub (1).
FR1600244A 2016-02-15 2016-02-15 DEVICE FOR BASES OF ROBOTS OR WHEELCHAIRS TO RUN OR DESCEND STAIRS AND ROLL ON THE GROUND Pending FR3047660A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1600244A FR3047660A1 (en) 2016-02-15 2016-02-15 DEVICE FOR BASES OF ROBOTS OR WHEELCHAIRS TO RUN OR DESCEND STAIRS AND ROLL ON THE GROUND

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Application Number Priority Date Filing Date Title
FR1600244A FR3047660A1 (en) 2016-02-15 2016-02-15 DEVICE FOR BASES OF ROBOTS OR WHEELCHAIRS TO RUN OR DESCEND STAIRS AND ROLL ON THE GROUND

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193473A1 (en) * 1985-01-31 1986-09-03 Pierre Brunet Motorized transporting device, for example for climbing and descending stairs
EP1738734A2 (en) * 2005-06-28 2007-01-03 D Cubed S.r.l. Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly
US20130127233A1 (en) * 2013-01-18 2013-05-23 Ktech Concepts, Llc Obstacle Traversing Wheel Assembly
US20150272793A1 (en) * 2014-03-31 2015-10-01 Clive Lu Electric mobility vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0193473A1 (en) * 1985-01-31 1986-09-03 Pierre Brunet Motorized transporting device, for example for climbing and descending stairs
EP1738734A2 (en) * 2005-06-28 2007-01-03 D Cubed S.r.l. Powered tripod wheel assembly, in particular for a wheelchair, and wheelchair featuring such a wheel assembly
US20130127233A1 (en) * 2013-01-18 2013-05-23 Ktech Concepts, Llc Obstacle Traversing Wheel Assembly
US20150272793A1 (en) * 2014-03-31 2015-10-01 Clive Lu Electric mobility vehicle

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