FR3093918A1 - Detachable electric propulsion system wheel gripper for rolling object - Google Patents

Abstract

The present invention relates to an electric propulsion system (1) for a rolling object, comprising a frame (2) with at least one motorized wheel (3), and at least one non-motorized wheel (4), a handlebar (6), and coupling means (5). The coupling means are provided for gripping, orienting, immobilizing and lifting at least one wheel (14) of the rolling object (13). The rolling object wheel orienting means orient the wheel in a direction perpendicular to the longitudinal direction (x) of the frame. The gripping means comprise at least one set of two gripping elements (18) perpendicular to the longitudinal direction adapted to come into contact with the wheel of the rolling object. The present application also relates to a coupling comprising the electric propulsion system and a method of using the electric propulsion system. Figure 6A to publish

Description

Removable electric propulsion system wheel gripping device for a rolling object

The invention relates to the field of transporting rolling objects, in particular rolling beds, for example hospital beds.

The movement of rolling heavy loads by a user can lead to difficulties for the user, especially if this action is repeated, such as musculoskeletal disorders.

In order to make the movement of heavy rolling loads easier and more ergonomic, it was considered to equip these heavy loads with electric machines. For example, an early idea was to equip every hospital bed with an electric wheel drive system. Such a solution is expensive, because it requires the replacement or modification of all the beds, which hospitals cannot afford. In addition, the drive system and its battery increase the weight of the bed. Therefore, when the battery is discharged, the efforts required to move the bed are greater.

In the same way, in the field of logistics or trade, it was planned to make all the trolleys electric. Again, such a solution is expensive.

An alternative is to provide a removable system for propelling rolling objects. Several technical solutions have been considered.

For example, patent application WO 01/85086 describes a motorized propulsion system for a bed. The propulsion system is configured to hitch to one or more points of the bed. Due to the coupling means provided for this propulsion system, this system cannot be universal and adapted to different rolling objects. Indeed, it cannot be hitched to a rolling object not equipped with a hitching part. In addition, for this propulsion system, all the wheels of the rolling object remain in contact with the ground. Consequently, the orientation of the coupling (propulsion system and bed) is more complicated, the friction forces are high, and the motorized wheel requires more power.

Patent application WO 2012/171079 describes a second propulsion system for a hospital bed. The propulsion system is configured to lift two wheels from the bed. However, the mechanism for gripping the wheels is complex and cumbersome: the lateral dimension (direction parallel to the axis of the motorized wheels) is large (greater than the width of the wheels of the bed) and may exceed the lateral dimensions of the bed, which can be inconvenient for moving the bed, especially in a confined space such as a hospital hallway or elevator.

Patent application WO 2013/156030 describes a third propulsion system for a hospital bed. The propulsion system is configured to lift two wheels from the bed. However, the system has lateral dimensions (direction parallel to the axis of the motorized wheels) and longitudinal (direction perpendicular to the axis of the wheels) which are important: the rear platform exceeds the bed and the distance between the non-motorized wheels can exceed the dimensions of the bed, which can be inconvenient for moving the bed, especially in a small space, such as a hallway or a hospital elevator.

To overcome these drawbacks, the present invention relates to an electric propulsion system/device for a rolling object, comprising a frame with at least one motorized wheel, and at least one additional wheel, preferably non-motorized, a handlebar, and means of 'coupling. The coupling means are provided for carrying out the gripping, orientation, immobilization and lifting of at least one wheel of the rolling load. The means for orienting the wheel of the rolling object orient the wheel in a direction perpendicular to the longitudinal direction of the chassis. Thus, moving heavy rolling objects is made easy and ergonomic. In addition, the dimensions of the coupling means are reduced, in particular the lateral dimensions, and the propulsion system is more compact, which makes it possible to move the rolling object, including in a small space. In addition, these coupling means are universal and are suitable for many types of rolling objects, because the rolling object does not require specific coupling means.

According to a first aspect, the invention relates to a removable electric propulsion system for a rolling object, the propulsion system comprising a frame provided with at least one wheel driven by an electric machine, and at least one undriven wheel, a handlebar and means for coupling the propulsion system to the rolling object, said coupling means comprising means for gripping, orienting, immobilizing and lifting at least one wheel of the rolling object , in which: the gripping means comprise at least a set of two gripping elements whose main axes are substantially perpendicular to the longitudinal direction of the frame, the two gripping elements being adapted to come into contact with the wheel of the object rolling; the orientation means are adapted to orient the at least one wheel of the rolling object in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system.

According to one or more embodiments, the two gripping elements are adapted to allow the wheel of the rolling object to be introduced between said gripping elements so that the axis of rotation of the wheel of the rolling object is substantially perpendicular to the main axes of the two gripping elements.

According to one or more embodiments, the distance between the two gripping elements is predetermined to be: strictly less than the diameter of the wheel of the rolling object; and greater than equal to the thickness of the wheel of the rolling object.

According to one or more embodiments, one of the two input elements is longer than the other input element of the set of input elements, along the main axes.

According to one or more embodiments, the gripping element arranged on the side of the motorized wheel is longer than the other gripping element by the set of the two gripping elements.

According to one or more embodiments, an abutment element is arranged on the inside of the coupling means with respect to the gripping elements in a direction substantially perpendicular to the main axes of the gripping elements, the abutment element being adapted to guide the wheel of the rolling object so that said wheel comes into abutment against the gripping element arranged on the side of the motorized wheel.

According to one or more embodiments, the abutment element is arranged on a gripping element.

According to one or more embodiments, the distance between the stop element and a gripping element is predetermined to be strictly greater than the diameter of the wheel of the rolling object.

According to one or more embodiments, a moving part is connected to at least one gripping element through an axis of rotation perpendicular to the main axis of the gripping element, the moving part being adapted to rotate around the axis of rotation and extend the input element along the main axis of the input element.

According to one or more embodiments, the main axis of the moving part is vertical and the axis of rotation is parallel to the longitudinal direction of the chassis.

According to one or more embodiments, the movable part comprises a substantially horizontal main axis, and parallel to the longitudinal direction of the chassis, the said movable part being arranged on the side opposite to the adjacent gripping element, and comprising an axis of vertical rotation.

According to one or more embodiments, the moving part comprises an internal portion arranged on the side facing the adjacent gripping element.

According to one or more embodiments, at least one of the wheels of the propulsion system comprises a braking system.

According to a second aspect, the invention relates to a removable electric propulsion system for a rolling object, the propulsion system comprising a frame provided with at least one wheel driven by an electric machine, and at least one undriven wheel, a handlebar and means for coupling the propulsion system to the rolling object, said coupling means comprising means for gripping, orienting, immobilizing and lifting at least one wheel of the rolling object , in which: the orientation means are adapted to orient the at least one wheel of the rolling object in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system; and the immobilization means comprise a substantially horizontal securing arm, carrying an immobilization element at one of its ends.

According to one or more embodiments, the immobilization element is oriented towards the outside of the chassis along the axis perpendicular to the longitudinal direction of the chassis, or in which the immobilization element is oriented towards the interior of the chassis along the axis perpendicular to the longitudinal direction of the chassis.

According to one or more embodiments, the immobilization element comprises a support element adapted to support the wheel of the rolling object by actuation of the securing arm.

According to one or more embodiments, the support element comprises a flat, inclined or curved part adapted to pass under the wheel of the rolling object.

According to one or more embodiments, the support element comprises a spoon-shaped element, a shovel or a square.

According to one or more embodiments, the support element is adapted to pass under, support and immobilize the wheel of the rolling object.

According to one or more embodiments, the support element comprises a substantially horizontal part, adapted to pass under the wheel of the rolling object, and a substantially vertical part, adapted to come into contact with the wheel of the rolling object. by actuation of the lashing arms.

According to one or more embodiments, an abutment element is disposed on the securing arm.

According to one or more embodiments, the abutment element is adapted to guide the wheel of the rolling object so that said wheel can be placed between the abutment element and the immobilizing element.

According to one or more embodiments, the abutment element is arranged on the inside of the securing arm with respect to the immobilizing element.

According to one or more embodiments, in which two securing arms movable in translation along principal axes substantially parallel to one another, or comprising two securing arms movable in rotation around pivot axes respective verticals.

According to one or more embodiments, the two securing arms are moved relative to each other by means of an actuator connected to each of said securing arms, or in which the two stowage are set in motion by means of respective actuators connected to the frame.

According to one or more embodiments, the gripping means comprise at least one set of two gripping elements whose main axes are substantially perpendicular to the longitudinal direction of the chassis, the two gripping elements being adapted to come into contact with the wheel of the rolling object, said gripping elements being disposed at one end of said securing arm.

According to a third aspect, the invention relates to a removable electric propulsion system for a rolling object, the propulsion system comprising a chassis provided with at least one wheel driven by an electric machine, and at least one wheel not driven by a handlebars and means for coupling the propulsion system to the rolling object, said coupling means comprising means for gripping, orienting, immobilizing and lifting at least one wheel of the rolling object, in which: the orientation means are adapted to orient the at least one wheel of the rolling object in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system; and the lifting means comprise an articulated structure in the central part of the frame between the at least one motorized wheel and the at least one non-motorized wheel.

According to one or more embodiments, the articulated structure comprises, on the one hand, a first chassis portion supported by the at least one motorized wheel, and comprises, on the other hand, a second chassis portion supported by the at least a non-motorized wheel.

According to one or more embodiments, said frame portions are hinged relative to each other around a horizontal axis of rotation substantially perpendicular to the longitudinal direction of the frame.

According to one or more embodiments, immobilizing elements adapted to immobilize the wheel of the rolling object are linked to the horizontal axis of rotation.

According to one or more embodiments, the horizontal axis of rotation is linked to securing arms, the securing arms being substantially horizontal and carrying the immobilization elements at one of their ends.

According to one or more embodiments, a first actuator is connected to each of the frame portions and makes it possible to control the position of one frame portion relative to the other.

According to one or more embodiments, the first actuator controls the height of the central part of the frame comprising the horizontal axis of rotation.

According to one or more embodiments, the first actuator is adapted to move the horizontal axis of rotation upwards by modifying an angle between the frame portions at the horizontal axis of rotation.

According to one or more embodiments, the horizontal axis of rotation is arranged on a lower end of the frame portions, and the angle is increased to pass from a low position to a high position of the frame portions.

According to one or more embodiments, the first actuator is connected on the one hand, to a central portion of the first frame portion, and on the other hand, to a rear end portion of the second frame portion.

According to one or more embodiments, the first actuator is unique and connected to a central portion of the frame portions according to a top view.

According to one or more embodiments, the first actuator is assisted by a complementary actuator, each actuator being connected to a lateral end portion of the frame portions according to a top view.

According to one or more embodiments, the first actuator is unique and is connected to an end portion of the frame portions according to a top view.

According to one or more embodiments, the first actuator is suitable for: actuating, on the one hand, a cross connecting rod connected to a first end of the first actuator; and actuating, on the other hand, a non-crossed connecting rod connected to the second end of the first actuator, and in which one of the said connecting rods is connected along the longitudinal axis of the frame to a central portion of the first frame portion, and the other of said connecting rods is connected along the longitudinal axis of the frame to a rear end portion of the second frame portion.

According to one or more embodiments, the first actuator is suitable for: actuating, on the one hand, a cross connecting rod connected to a first end of the first actuator through an element itself linked to a central portion of the first portion frame; and actuating on the other hand, a non-crossed connecting rod connected to the second end of the first actuator through the element itself linked to a central portion of the first frame portion, and in which said connecting rods are each connected along the longitudinal axis of the frame at their other end to a rear end portion of the second frame portion.

According to a fourth aspect, the invention relates to a removable electric propulsion system for a rolling object, the propulsion system comprising a frame provided with at least one wheel driven by an electric machine, and at least one undriven wheel, a handlebar and means for coupling the propulsion system to the rolling object, said coupling means comprising means for gripping, orienting, immobilizing and lifting at least one wheel of the rolling object , the propulsion system further comprising: driving aid means comprising at least one arm of variable length adapted to vary the distance between the at least one driven wheel and the at least one non-driven wheel.

According to one or more embodiments, the variable-length arm is, on the one hand, supported by the non-driven wheel, and, on the other hand, connected to the frame or connected to the coupling means carrying an immobilizing element.

According to one or more embodiments, the extendable arm is, on the one hand, supported by the non-driven wheel, and, on the other hand, connected to a non-motorized portion of the chassis.

According to one or more embodiments, the variable-length arm is substantially horizontal and comprises a main axis substantially parallel to the longitudinal direction of the frame.

According to one or more embodiments, an actuator is connected to said variable-length arm and to the non-motorized portion to vary the length of said variable-length arm.

According to one or more embodiments, the removable electric propulsion system comprises directional locking means suitable for locking/unlocking the rotation of the non-motorized wheel around a vertical axis, and in which the directional movement of the non-motorized wheel is adapted to be left free during actuation of the actuator.

According to one or more embodiments, the orientation means are adapted to orient the at least one wheel of the rolling object in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system.

According to one or more embodiments, the gripping means comprise at least one set of two gripping elements whose main axes are substantially perpendicular to the longitudinal direction of the chassis, the two gripping elements being adapted to grip the wheel of the rolling object.

According to one or more embodiments, the immobilization means comprise a substantially horizontal securing arm, carrying an immobilization element at one of its ends.

According to one or more embodiments, the variable length arm is adapted to vary the distance between the at least one undriven wheel and the securing arm.

According to one or more embodiments, the variable length arm is adapted so that the distance between the at least one non-driven wheel and the securing arm can be varied by at least 150 mm.

According to one or more embodiments, the variable length arm is adapted so that the distance between the at least one non-driven wheel and the securing arm can be varied between 200 and 500 mm.

According to one or more embodiments of the aforementioned aspects, the lifting means comprise an articulated structure in the central part of the frame between the at least one motorized wheel and the at least one non-motorized wheel.

According to one or more embodiments of the aforementioned aspects, when said propulsion system is coupled to a rolling object, said undriven wheels are arranged under said rolling object.

In accordance with an implementation of the aforementioned aspects, when said propulsion system is coupled to a rolling object, said wheel driven by said electric machine is arranged outside of said rolling object.

According to one or more embodiments of the aforementioned aspects, when said propulsion system is coupled to a rolling object, said wheel driven by said electric machine is arranged under the rolling object.

According to one or more embodiments of the aforementioned aspects, said chassis comprises a platform, in particular for supporting a user.

According to one or more embodiments of the aforementioned aspects, when said propulsion system is coupled to a rolling object, said platform is placed under said rolling object.

According to one or more embodiments of the aforementioned aspects, said handlebar is articulated with respect to the frame around a horizontal axis.

According to one or more embodiments of the aforementioned aspects, said handlebar is articulated relative to an orientation axis of said wheel driven around a horizontal axis, said orientation axis being in rotation relative to the frame around a vertical axis.

According to one or more embodiments of the aforementioned aspects, said non-driven wheels are steerable wheels around a vertical axis, preferably steerable off-center wheels.

According to one or more embodiments of the aforementioned aspects, said non-driven wheels comprise directional locking means.

According to one or more embodiments of the aforementioned aspects, said propulsion system comprises three or four wheels.

According to one or more embodiments of the aforementioned aspects, said rolling object is a rolling bed, a trolley, a rolling piece of furniture, a wheelchair.

According to one or more embodiments of the aforementioned aspects, said handlebar comprises means for controlling said electric machine and/or said coupling means.

According to one or more embodiments of the aforementioned aspects, said wheel driven by said electric machine is arranged at one end of said frame opposite the end of said frame on which said undriven wheels are arranged.

According to a fifth aspect, the invention relates to a coupling comprising a rolling object and an electric propulsion system according to at least one of the aforementioned aspects, the rolling object being hitched to the electric propulsion system by said coupling means.

According to a sixth aspect, the invention relates to a method for coupling a rolling object to an electric propulsion system according to at least one of the aforementioned aspects, comprising at least one of the following steps: contacting the wheel of the rolling object with at least one input element; orient the wheel of the rolling object in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system; immobilize the wheel of the rolling object with the immobilization element by actuation of the securing arm; and varying the distance between the at least one driven wheel and the at least one undriven wheel by means of at least one variable length arm.

Other characteristics and advantages of the invention will appear on reading the following description of non-limiting examples of embodiments, with reference to the appended figures and described below.

List of Figures

Figure 1 is a top view of a propulsion system according to one or more embodiments of the invention.

Figure 2 is a side view of a propulsion system according to one or more embodiments of the invention.

Figure 3 is a side view of a propulsion system according to one or more embodiments of the invention.

Figure 4 is a top view of a propulsion system according to one or more embodiments hitched to a rolling object.

Figure 5 is a side view of a propulsion system according to one or more embodiments of the invention for moving a user.

Figure 6A is a top view of a propulsion system according to one or more embodiments of the invention while gripping a wheel of a rolling object.

Figure 6B is a top view of a propulsion system according to one or more embodiments of the invention during rotation of wheels of a rolling object along a vertical pivot axis.

FIG. 6C is a top view of a propulsion system according to one or more embodiments of the invention at the end of wheel rotation of an object rolling along a vertical pivot axis.

Figure 6D is a top view of a propulsion system according to one or more embodiments of the invention during immobilization of wheels of a rolling object.

Figure 7A is a top view of a propulsion system according to one or more embodiments of the invention while gripping a wheel of a rolling object.

Figure 7B is a top view of a propulsion system according to one or more embodiments of the invention during rotation of wheels of a rolling object along a vertical pivot axis.

FIG. 7C is a top view of a propulsion system according to one or more embodiments of the invention at the end of wheel rotation of an object rolling along a vertical pivot axis.

Figure 7D is a top view of a propulsion system according to one or more embodiments of the invention during immobilization of wheels of a rolling object.

Figure 8A is a top view of a propulsion system according to one or more embodiments of the invention while gripping a wheel of a rolling object.

FIG. 8B is a top view of a propulsion system according to one or more embodiments of the invention at the end of wheel rotation of an object rolling along a vertical pivot axis.

Figure 8C is a top view of a propulsion system according to one or more embodiments of the invention during immobilization of wheels of a rolling object.

Figure 9A is a top view of a propulsion system according to one or more embodiments of the invention while gripping a wheel of a rolling object.

FIG. 9B is a top view of a propulsion system according to one or more embodiments of the invention at the end of wheel rotation of an object rolling along a vertical pivot axis.

Figure 9C is a top view of a propulsion system according to one or more embodiments of the invention during immobilization of wheels of a rolling object.

FIG. 10A is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention before the sequence of immobilization of the wheels of a rolling object.

FIG. 10B is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention after the immobilization sequence of the wheels of a rolling object.

FIG. 10C is a rear view of the coupling means by gripping and external immobilization of a propulsion system according to one or more embodiments of the invention after the wheel immobilization sequence of a rolling object.

FIG. 11A is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention after the sequence of immobilization of the wheels of a rolling object oriented towards the left.

FIG. 11B is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention after the sequence of immobilization of the wheels of a rolling object oriented towards the law.

FIG. 11C is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention after the sequence of immobilization of the wheels of a rolling object oriented in opposition .

FIG. 11D is a rear view of the coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention after the sequence of immobilization of the wheels of a rolling object oriented in a screw -opinion.

Figure 12A is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12B is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12C is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12D is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12E is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12F is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention.

Figure 12G is a 3D view of the coupling means of a propulsion system according to one or more embodiments of the invention comprising an internal fulcrum portion.

FIG. 12H is a 3D view of the coupling means by external gripping of a propulsion system according to one or more embodiments of the invention comprising a stop element arranged on a securing arm.

FIG. 12I is a 3D view of the coupling means by external gripping of a propulsion system according to one or more embodiments of the invention comprising an abutment element placed on a gripping element.

Figure 13A is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the low position.

Figure 13B is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the high position.

Figure 14A is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the low position.

Figure 14B is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the high position.

Figure 15A is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the low position.

Figure 15B is a 3D view of one embodiment of the lifting means of Figure 15A.

Figure 15C is a 3D view of one embodiment of the lifting means of Figure 15A.

Figure 15D is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the high position.

Figure 15E is a 3D view of one embodiment of the lifting means of Figure 15D.

Figure 15F is a 3D view of one embodiment of the lifting means of Figure 15D.

Figure 16A is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the low position.

Figure 16B is a 3D view of one embodiment of the lifting means of Figure 16A.

Figure 16C is a side view of the lifting means of a propulsion system according to one or more embodiments of the invention in the high position.

Figure 16D is a 3D view of one embodiment of the lifting means of Figure 16C.

FIG. 17A is a top view of the driving aid means for coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention in the retracted position.

FIG. 17B is a top view of the driving aid means for coupling means by gripping and internal immobilization of a propulsion system according to one or more embodiments of the invention in the lying position.

FIG. 18A is a top view of the driving aid means for coupling means by external gripping of a propulsion system according to one or more embodiments of the invention in the retracted position.

FIG. 18B is a top view of the driving aid means for coupling means by external gripping of a propulsion system according to one or more embodiments of the invention in the lying position.

The present invention relates to an electric propulsion system for a rolling object. An electric propulsion system is a removable system making it possible to assist the movement of the rolling object, in order to limit the efforts required for the movement of the rolling object. This electric propulsion system comprises at least one electric machine for its drive. A rolling object is an object that has at least two wheels in order to move it.

The rolling object can be of any shape, in particular a rolling bed, such as in particular those used in hospitals, a wheelchair, a trolley, such as used for logistics, for example hospital logistics or commercial logistics (according to example a supermarket trolley), any rolling furniture. Such a rolling object comprises at least two wheels, preferably three or four. Advantageously, at least one wheel, preferably two wheels of the rolling object are idler wheels, in other words they are off-center wheels that can be steered around a vertical axis. The rolling object is preferably non-motorized.

• Un châssis muni d’au moins une roue motorisée, c’est-à-dire une roue entraînée par une machine électrique, et au moins une roue supplémentaire, de préférence deux, préférablement non motorisée, c’est-à-dire non entraînée(s) par une machine électrique,
• Un guidon, permettant la manipulation, le déplacement et l’orientation du système de propulsion par un utilisateur,
• Des moyens d’attelage du système de propulsion à un objet roulant, les moyens d’attelage comportent des moyens de préhension, d’orientation, d’immobilisation et de levage d’au moins une roue, de préférence plusieurs roues, et de manière préférée deux roues, de l’objet roulant, de préférence deux roues de l’objet roulant, en d’autres termes, les moyens d’attelage sont configurés pour capturer (e.g. saisir, agripper, lover), orienter, immobiliser et lever au moins une roue de l’objet roulant.

The electric propulsion system according to the invention comprises:

• A frame provided with at least one motorized wheel, that is to say a wheel driven by an electric machine, and at least one additional wheel, preferably two, preferably not motorized, that is to say not driven (s) by an electric machine,
• A handlebar, allowing manipulation, movement and orientation of the propulsion system by a user,
• Means for coupling the propulsion system to a rolling object, the coupling means comprise means for gripping, orienting, immobilizing and lifting at least one wheel, preferably several wheels, and so preferred two wheels, of the rolling object, preferably two wheels of the rolling object, in other words, the coupling means are configured to capture (eg seize, grip, coil), orient, immobilize and lift at least one wheel of the rolling object.

Coupling is therefore achieved by at least one wheel of the rolling object, preferably by at least one idler wheel of the rolling object. The rolling object therefore does not need to be adapted for the electric propulsion system, which makes the electric propulsion system universal to different rolling objects.

According to one or more embodiments of the invention, the electric propulsion system can be configured so that the non-motorized wheel or wheels are located under the rolling object (either in the area inside the wheels of the rolling object, or zone external to the wheels of the rolling object and remaining under the rolling object), when the electric propulsion system is coupled to the rolling object. Thus, part of the electric propulsion system does not protrude from the rolling object, which facilitates its use in small spaces.

According to one or more embodiments, the electric propulsion system can be configured so that the motorized wheel is located outside the rolling object, in the longitudinal direction of the frame, when the electric propulsion system is hitched to the rolling object. In other words, the part of the chassis which supports the motorized wheel protrudes from the rolling object in the longitudinal direction of the chassis, when the electric propulsion system is coupled to the rolling object.

According to one or more embodiments, the electric propulsion system can be configured so that the motorized wheel is located under the rolling object, when the electric propulsion system is hitched to the rolling object. Thus, part of the electric propulsion system does not protrude from the rolling object, which facilitates its use in small spaces.

According to one or more embodiments, the propulsion system can be configured so that the major part of the propulsion system is located under the rolling object, when the propulsion system is hitched to the rolling object. Only the part of the chassis corresponding to the motorized wheel and the handlebar protrude from the rolling object in the longitudinal direction of the chassis.

According to one or more embodiments, the propulsion system can include three or four wheels. When the propulsion system comprises three wheels, a single wheel can be driven by an electric machine. When the propulsion system has four wheels, two wheels can be driven by an electric machine.

According to one or more embodiments, the motorized wheel can be arranged at one longitudinal end of the frame, and the non-motorized wheels can be arranged at the other longitudinal end of the frame.

The frame can be produced by a mechanically welded assembly.

According to one or more embodiments, the coupling means are linked to the frame between the motorized wheel and the non-motorized wheel or wheels. Thus, the longitudinal bulk of the propulsion system is limited. According to one or more embodiments, the coupling means are supported by the non-motorized wheels. Thus, the stability of the coupling means is increased.

The means for gripping the wheel of the rolling object allow the gripping of the wheel. For example, these gripping means can comprise a gripper system, a wedging system, magnetic means, adhesive means or any similar system. Advantageously, the gripping means can be moved so as to adapt to all wheel sizes and to any wheel spacing. The movement of the gripping means can be implemented by means of one or more cylinders, for example an electric cylinder, a screw-nut system, a rack and pinion system or any similar means.

According to one or more embodiments, the gripping means comprise a first set of at least two gripping elements, such as rods or plates (eg metal), preferably substantially horizontal, the main axes of which are substantially parallel to the one another (preferably in a substantially horizontal plane) and are perpendicular to the longitudinal direction of the frame. According to one or more embodiments, the gripping elements are substantially horizontal and perpendicular to the longitudinal direction of the frame. In the present application, a main axis corresponds by default to the axis crossing the middle part of the element considered according to its largest dimension. According to one or more embodiments, the two gripping elements are adapted to allow the introduction of a wheel of the rolling object between said gripping elements so that the axis of rotation of the wheel is substantially perpendicular to the axes principal of the two input elements. According to one or more embodiments, the distance between the two gripping elements is predetermined to be: strictly less than the diameter of the wheel of the rolling object, such as less than 0.8 times, preferably between 0.3 and 0 .5 times the diameter of the wheel of the rolling object; and greater than equal to the thickness of the wheel of the rolling object, such as between 1 and 1.5 times, preferably between 1 and 1.2 times, the thickness of the wheel of the rolling object. According to one or more embodiments, a gripping element is longer than the other gripping element forming the set of gripping elements, in the direction substantially perpendicular to the longitudinal direction of said frame. According to one or more embodiments, the gripping element arranged on the side substantially opposite to the direction of introduction of the electric propulsion system under the rolling object, is longer than the other gripping element forming the play of input items. Preferably, the gripping element arranged on the side of the motorized wheel is longer than the gripping element arranged on the side of the non-motorized wheel or wheels. According to one or more embodiments, the gripping element arranged on the side of the motorized wheel is 1 to 2.5 times longer, such as 1.5 to 2 times, than the gripping element arranged on the side of the non-powered wheel or wheels. According to one or more embodiments, an abutment element is arranged on the inside of the coupling means with respect to the gripping elements (in a direction substantially parallel to the longitudinal direction of said chassis), the abutment element being provided for guide the wheel of the rolling object so that said wheel comes into abutment against the gripping element arranged on the side of the motorized wheel. According to one or more embodiments, the distance between the stop element and a gripping element is predetermined to be strictly greater than the diameter of the wheel of the rolling object. According to one or more embodiments, the distance between the stop element and the gripping element arranged on the side of the non-motorized wheel is predetermined to be strictly greater than the diameter of the wheel of the rolling object. According to one or more embodiments, the gripping means comprise a moving part connected to at least one gripping element through an axis of rotation perpendicular to the main axis of the gripping element, the moving part being adapted to rotate around the axis of rotation and extend the gripping element along the main axis of the gripping element, in particular when the wheel of the rolling object is introduced between the gripping elements.

According to one or more embodiments, the coupling means further comprise means for orienting the gripped wheel (by the gripping means) in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system (in other words , the wheel of the rolling object is placed in a direction parallel to the lateral axis of the frame). The longitudinal direction of the frame is defined by the direction which connects the motorized wheel to the non-motorized wheel. The longitudinal direction corresponds to the main direction of movement of the electric propulsion system. Preferably, the term “substantially perpendicular” means a direction forming an angle of between 80 and 100° with respect to the longitudinal direction. Thus, during the propulsion of the rolling object, at least one wheel of the rolling object is seized, oriented in a direction perpendicular to the longitudinal direction of the chassis, immobilized and lifted. In this way, the coupling means act in the direction of the thickness of the wheels of the rolling object and not in the direction of the diameter of the wheels. This contributes to the coupling means having reduced lateral dimensions compared to the lateral dimensions of the propulsion systems of the prior art (for example those described in patent applications WO 2012/171079 and WO 2013/156030), making it easy to use in tight spaces, such as hallways and elevators. The means for orienting the wheel of the rolling object can be implemented by moving the gripping means of the wheel.

Means for immobilizing the wheel of the rolling object make it possible to immobilize (block, secure) the seized wheel. For example, the immobilization means may comprise a clip system, a wedging system, magnetic means, adhesive means or any similar system. Advantageously, the immobilization means can be moved so as to adapt to all wheel sizes and to any wheel spacing. The displacement of the immobilization means can be implemented by means of one or more cylinders, for example an electric cylinder, a screw-nut system, a rack and pinion system or any similar means.

According to one or more embodiments, the immobilization means are compact and simple and are designed to be secured to the wheels of the rolling object when the latter are oriented perpendicular to the longitudinal axis of the chassis (the wheels of the rolling object can be oriented in the same direction whether it is towards one side or the other, but they can also be in opposition or vis-à-vis).

According to one or more embodiments, the immobilization means comprise a first arm and a second so-called substantially horizontal "stowage" arm, each carrying an immobilization element at one of its ends. According to one or more embodiments, each immobilization element is extended by two gripping elements (gripping means used for the gripping and orientation sequences). According to one or more embodiments, the securing arms comprise main axes called “axes of displacement” substantially parallel to one another, and preferably substantially coaxial. According to one or more embodiments, the two securing arms are arranged in opposition on the electric propulsion system. According to one or more embodiments, each securing arm is rotatable about a vertical pivot axis. According to one or more embodiments, the main axis of a securing arm forms, with respect to the longitudinal axis of the frame, an angle of between 70° and 45° in the separated position (ie, before the sequence of immobilization), and an angle between 45° and 20° in the tight position (ie, after the immobilization sequence). According to one or more embodiments, the main axis of a securing arm forms with respect to the longitudinal axis of the chassis, an angle substantially greater than 45° in the separated position (ie, before the immobilization sequence) , and an angle substantially less than 45° in the tight position (ie, after the immobilization sequence).

According to one or more embodiments, the immobilizing element is arranged between two gripping elements, seen from above. According to one or more embodiments, the immobilizing element comprises a support element (flat, inclined or curved part adapted to pass under the wheel of the rolling object), for example in the shape of a spoon, a shovel or a bracket, adapted in particular to support and then immobilize the wheel of the rolling object by actuation of the securing arm. According to one or more embodiments, the support element comprises a curve adapted to pass under the wheel of the rolling object. According to one or more embodiments, the support element comprises a substantially horizontal part, adapted in particular to pass under the wheel of the rolling object, and a substantially vertical part, adapted in particular to come into contact with said wheel when actuation of the lashing arms.

According to one or more embodiments, each immobilization element is oriented outwards along an axis perpendicular to the longitudinal direction of the chassis (immobilization elements arranged in opposition). According to one or more embodiments, the securing arms are separated from each other by means of suitable systems such as one or more jacks, until the wheels of the rolling object are immobilized by fixed assets. According to one or more embodiments, the immobilization elements are installed opposite each other on the electric propulsion system. According to one or more embodiments, the securing arms are brought closer to each other by means of suitable systems such as one or more jacks, until the wheels of the rolling object are immobilized by fixed assets.

According to one or more embodiments, each securing arm is movable relative to the chassis (along the axis perpendicular to the longitudinal direction of the chassis, or by rotation around a vertical pivot axis) by means of a component movement, such as a cylinder, itself connected to said securing arm and to said frame. According to one or more embodiments, each securing arm is set in motion relative to the other by means of a component such as a jack, itself connected to each of said securing arms, regardless of the position of the frame. For example, when a first immobilization element of a first securing arm comes into contact then abuts with a first wheel of the rolling object, it is the second immobilizing element of the second securing arm which moves until it comes into contact and then abuts with a second wheel of the rolling object. According to one or more embodiments, the securing arms are set in motion one independently of the other by means of components such as cylinders, each cylinder being connected to a securing arm and to the frame.

Compact and easy to use, the means of lifting the wheel or wheels make it possible to raise the wheel or wheels of the rolling object, so that this wheel of the rolling object no longer touches the ground. The mass of the rolling object supported by this wheel is then transferred to the electric propulsion system. In particular, this provides the grip necessary for the traction of the motorized wheel of the electric propulsion system. At the same time, the attachment of the rolling object to the electric propulsion system provides the stability necessary for the operation of the electric propulsion system, which is all the more useful as the track width of the electric propulsion system is reduced The lifting can be put implemented by means of one or more jacks, for example an electric jack, screw-nut system, rack-and-pinion system or any similar means.

According to one or more embodiments, the lifting means comprise an articulated structure in the central part of the frame (e.g. between the at least one motorized wheel and the at least one non-motorized wheel). The articulated structure comprises on the one hand, a first frame portion called "driving portion" supported by at least one motorized wheel, the motorized wheel being able to pivot about a vertical axis integral with said driving portion, preferably not concurrent with the axis of rotation of the motorized wheel, and further comprises a second frame portion called the “non-motorized portion” supported by at least one non-motorized wheel. According to one or more embodiments, said frame portions are articulated with respect to each other around a horizontal axis of rotation called "axis of articulation" substantially perpendicular to the longitudinal direction of the frame. According to one or more embodiments, the immobilizing elements are arranged adjacent to the axis of rotation. According to one or more embodiments, the immobilizing elements adapted to immobilize the wheel of the rolling object are linked directly or indirectly to the hinge pin. According to one or more embodiments, the axis of articulation is located adjacent to the main axes of the securing arms. According to one or more embodiments, the hinge pin is linked directly or indirectly to the securing arms. According to one or more embodiments, a first actuator such as a jack, connected to each of the frame portions, makes it possible to control the position of one frame portion relative to the other. Accordingly, the first actuator allows the control of the height of the central part of the chassis comprising the horizontal axis of rotation and the main axes of the lashing arms, and the control of the distance between the lashing arms and the ground , and consequently, the lifting of the wheels of the rolling object in the immobilizing means.

According to one or more embodiments, before the implementation of the invention to immobilize and lift one or more wheels of the rolling object, a preliminary sequence of actuation of the first actuator can be controlled so as to cause a movement substantially vertical towards the ground of the hinge pin present between the two frame portions. Since the axes of movement of the lashing arms are located in a zone close to said axis of articulation, the lashing arms also undergo a vertical displacement towards the ground. Advantageously, this preliminary sequence makes it possible to predispose the immobilization elements as close as possible to the ground to facilitate the immobilization sequence. According to one or more embodiments, the preliminary sequence can be carried out before the gripping sequence to predispose the gripping elements at a height relative to the ground substantially equal to the height relative to the ground of the axis of rotation of the wheels of the rolling object.

According to one or more embodiments, the electric propulsion system can perform the following sequence of steps for coupling: gripping the wheel of the rolling object, orienting the wheel or wheels of the rolling object according to a direction perpendicular to the longitudinal direction of the frame, immobilization of the wheel or wheels of the rolling object, and lifting of the wheel or wheels of the rolling object.

According to one or more embodiments, the electric propulsion system performs the gripping sequence by approaching the gripping means to one of the wheels of the rolling object until the wheel of the rolling object is introduced between the two gripping elements, the axis of rotation of the wheel of the rolling object being perpendicular to the main axis of the two gripping elements. According to one or more embodiments, the distance between the gripping elements and the ground during the gripping sequence is between 0.2 and 0.8 times the diameter of the wheel of the rolling object, preferably between 0.3 and 0 .7 times the wheel diameter of the rolling object.

According to one or more embodiments, the electric propulsion system carries out the orientation sequence by rotating the wheel of the rolling object around the point of contact on the ground, while substantially maintaining contact between the gripping means and the wheel of the rolling object. The rotation by the electric propulsion system (or by a manual movement of the user) of the wheel of the rolling object around its point of contact with the ground, itself linked to the rolling object by a vertical axis of rotation not passing through said point of contact, has the consequence of causing a slight displacement of the rolling object. The displacement of the rolling object then causes a rotation of a second wheel of the rolling object around its point of contact with the ground. The rotation of the second wheel is similar to that imposed on the first wheel by the electric propulsion system (Caddy ^TM effect). The rotation of the electric propulsion system is applied until said second wheel of the rolling object is in a direction substantially perpendicular to the longitudinal direction of said frame of said propulsion system. According to one or more embodiments, the rotation of the electric propulsion system is applied until a second set of two gripping elements comes into contact with said second wheel of the rolling object, for example until that the input element disposed on the side of the motorized wheel of the second set of two elements comes into contact with said second wheel of the rolling object. According to one embodiment, the rotation sequence is started when at least one gripping element contacts the wheel of the rolling object. Advantageously, it is not necessary for the wheel of the rolling object to be gripped to perform the orientation step; it suffices, for example, for at least one of the gripping elements to be able to guide the wheel of the rolling object during the rotation sequence. During the orientation sequence, the directional movement of the non-motorized wheels of the structure is preferentially left free.

According to one or more embodiments, the electric propulsion system performs the immobilization sequence by positioning the immobilization elements between the wheels (or outside the wheels) of the rolling object, in the same axis of said wheels to be secured to the electric propulsion system, and being substantially or almost in contact with the ground. According to one or more embodiments, the distance between the immobilization elements and the ground during the immobilization sequence is less than 0.2 times the diameter of the wheel of the rolling object, preferably between 0 and 0, 05 times the wheel diameter of the rolling object. According to one or more embodiments, the positioning of the immobilization elements between the wheels, or outside the wheels, is achieved once the orientation sequence has been carried out, given that the immobilization elements are arranged between two input elements, seen from above. According to one or more embodiments, the securing arms are moved apart (or brought together) from each other (by translation along respective horizontal axes, or by rotation around respective vertical axes) by means of adapted systems (eg cylinders), until one of the immobilization elements of a securing arm comes into contact then abuts with a wheel of the rolling object, and the other immobilization element of the other securing arm comes into contact then abuts with the other wheel of the rolling object. According to one or more embodiments, the securing arms are set in motion one independently of the other by means of components such as cylinders, each cylinder being connected to a securing arm and to the frame. According to one or more embodiments, the securing arms are moved with each other by means of components such as cylinders, each cylinder being connected to the two securing arms and is independent of the chassis. During the immobilization sequence, the directional movement of the non-motorized wheels of the structure is preferentially left free.

According to one or more embodiments, the electric propulsion system performs the lifting sequence by actuating the first actuator so as to cause a substantially vertical upward displacement of the hinge axis by modifying an angle between the frame portions at the axis of articulation. Since the axes of movement of the lashing arms are located in a zone close to said axis of articulation, the lashing arms also undergo a lifting movement. Advantageously, this lifting sequence makes it possible to lift the wheels of the rolling object moored to the electric propulsion system. During the lifting sequence, the directional movement of the non-motorized wheels of the structure is preferentially left free.

According to one or more embodiments, the chassis may comprise a platform. The platform can be used for the load support, in particular of a user. Preferably, this platform is arranged above the non-motorized wheels or between the non-motorized wheels. According to a variant of this embodiment, the electric propulsion system is configured so that the platform is located under the rolling object when the electric propulsion system is coupled to the rolling object, which makes it possible to reduce the dimensions of the electric propulsion. For this embodiment, the platform cannot be used as a load support when the electric propulsion system is hitched to a rolling object. For example, the platform can be used by a user to use the propulsion system as an electric scooter, when the electric propulsion system is not hitched to a rolling object, which makes it possible to facilitate the movement of users, between the moving two rolling objects Alternatively, the platform can be used to move loads, when the propulsion system is not coupled to a rolling object.

According to one or more embodiments of the invention, the handlebar can be articulated relative to the frame along a horizontal axis fixed to the frame. This horizontal axis can preferably be in the lateral direction of the frame. Thus, the handlebar can rotate around a horizontal axis.

For one or more embodiments of the positioning of the handlebar, the handlebar is not attached to any wheel, and the movement of the propulsion system is carried out in a manner similar to the movement of a trolley (for example as for a supermarket trolley ).

According to one or more embodiments, the motorized wheel can be a wheel that can be oriented with respect to the frame along a vertical axis of orientation, preferably not concurrent with the axis of rotation of the motorized wheel, and the handlebar can be articulated or fixed to the vertical orientation axis of the motorized wheel. In other words, the motorized wheel can pivot relative to the frame around a vertical orientation axis, the pivoting around this vertical axis being able to be controlled by the movement of the handlebar. This embodiment substantially corresponds to the control of the movement of a pallet truck type system.

In order to facilitate movement of the electric propulsion system by a user, the handlebar may comprise control means, such as means for controlling the electric machine and/or means for controlling the coupling means. The means of control of the electric machine allow the switching on, the stopping, the adjustment of the speed and/or the torque of the electric assistance. The coupling means control means allow the control of the gripping means for gripping the wheel or wheels of the rolling object, the control of the lifting means of the wheel or wheels of the rolling object, and the control of the means of orientation of the wheels of the rolling object. These checks may consist of moving the elements constituting the coupling means.

According to one or more embodiments of the invention, the handlebar can be telescopic, foldable and/or removable, so as to facilitate storage of the electric propulsion system by limiting its size. This can also make it possible to limit the size of the propulsion system coupled to a rolling object in a small space such as an elevator.

According to one or more embodiments, when the propulsion system is coupled to the rolling object, the control of the propulsion system is not necessarily done by the handlebars, the control can be carried out by the control means of the object rolling, for example a handle, a handlebar or the like of the rolling object.

The electric propulsion system may further comprise an electric battery for powering the electric machine. The electric battery can be placed on or under the frame, for example at the longitudinal end of the frame near the motorized wheel, or at the longitudinal end of the frame near the non-motorized wheels. Alternatively, the battery can be placed on the handlebar. In addition, the battery can be removable in order to facilitate its recharging or replacement. Alternatively, the battery may not be removable.

According to one or more embodiments, the non-motorized wheels can be idler wheels, that is to say off-center wheels that can be steered around a vertical axis. In other words, the non-powered wheels can pivot relative to the frame around a vertical orientation axis, and the rotation axis of the wheel can be off-center (non-concurrent) relative to the axis of orientation. vertical orientation.

According to one or more embodiments, the non-motorized wheels can be wheels that can be steered around a vertical axis in a non-off-center manner. In other words, the non-motorized wheels can pivot relative to the frame around a vertical axis of orientation, and the axis of rotation of the wheel is aligned with this vertical axis of orientation (competing with the axis vertical orientation).

Preferably, for the embodiment for which the non-motorized wheels are wheels that can be steered around a vertical axis (off-center or not), the electric propulsion system may include directional locking means which can block the rotation of the non-motorized wheels. motorized around their vertical axis. Thus, the control of the directional blocking means can facilitate the movement of the electric propulsion system. According to one or more embodiments, the directional blocking means can be controlled when the electric propulsion system is coupled to a rolling object, and when the wheels of the rolling object in contact with the ground are idler wheels. When coupling, the non-motorized wheels can preferably be unblocked by the directional blocking means. When the electric propulsion system is not coupled to the rolling object, the directional blocking means is preferentially actuated.

The invention further relates to a coupling formed of a rolling object, such as a rolling bed, with an electric propulsion system according to any of the combinations of variants described above. The rolling object is hitched to the propulsion system by the coupling means. In other words, at least one wheel of the rolling object is gripped, oriented perpendicular to the longitudinal direction of the chassis, and lifted, by the coupling means of the propulsion system.

According to one or more embodiments, the electric propulsion system further comprises driving aid means to assist the user in maneuvering the coupling. According to one or more embodiments, the driving aid means comprise at least one third arm of variable length called "extendable" adapted to control the distance between the at least one driven wheel and the at least one non-driven wheel. trained. According to one or more embodiments, the extendable arm is adapted to control the distance between the at least one non-driven wheel and the tie-down arms. According to one or more embodiments, the extendable arm is, on the one hand, supported by the non-driven wheel, and on the other hand, connected to the non-motorized portion. According to one or more embodiments, the extendable arm is substantially horizontal and comprises a main axis substantially parallel to the longitudinal direction of the frame. According to one or more embodiments, the extendable arm is movable relative to the non-motorized portion (along the axis parallel to the longitudinal direction of the frame) by means of a second actuator, such as a cylinder, itself connected to said extendable arm and to the non-motorized portion. According to one or more embodiments, the extendable arm is adapted so that the distance between the at least one non-driven wheel and the lashing arms can be increased by at least 150 mm, preferably increased between 200 and 500 mm. Advantageously, the at least one non-driven wheel thus moved towards the central part of the rolling object, allows increased maneuverability known as the "5th wheel effect", in particular during rotation and/or movement of the coupling in parts. and/or cramped corridors, in particular when the directional movement of said undriven wheel is blocked.

According to one or more embodiments, the electric propulsion system performs a driving assistance sequence by actuating the second actuator so as to move the extendable arm and increase the distance between the at least one undriven wheel and the arms stowage. Preferably, the directional movement of the non-motorized wheels of the structure is preferentially left free during actuation of the actuator.

Preferably, the driving assistance sequence is performed before the lifting sequence. It is understood that the driving assistance sequence can be carried out independently of the sequences mentioned above.

According to one or more embodiments, at least one of the wheels of the electric propulsion system comprises a braking system. According to one or more embodiments, at least one of the non-motorized wheels comprises a braking system. Advantageously, the braking of one of the non-motorized wheels associated with the drive of the motorized wheel allows the user to turn the hitch effortlessly.

According to one or more embodiments, when the electric propulsion system is coupled to the rolling object, the electric propulsion system performs a following directional movement blocking sequence. Case 1: the directional movement of the non-motorized wheels of the electric propulsion system is preferentially left free, and the directional movement of at least one of the wheels of the bed is preferentially blocked, preferentially one of the wheels farthest from the electric propulsion system. Case 2: the directional movement of at least one of the non-motorized wheels of the electric propulsion system is preferentially blocked, and the directional movement of all the wheels of the rolling object is preferentially left free. Preferably, when the driving assistance sequence is performed, the electric propulsion system performs the directional movement blocking sequence called “Case 2”.

Figure 1 illustrates, schematically and in a non-limiting manner, an electric propulsion system according to one or more embodiments of the invention. Figure 1 is a top view of the electric propulsion system 1. The electric propulsion system 1 comprises a frame 2. The x axis corresponds to the longitudinal axis of the frame 2 and to the main direction of movement of the propulsion system 1, and the axis y corresponds to the lateral axis of the chassis 2. The chassis 2 supports three wheels (alternatively the chassis 2 can comprise four wheels). Frame 2 supports a motorized wheel 3 (alternatively frame 2 can support two wheels 3), which is a wheel driven by an electric machine (not shown). The motorized wheel 3 can be oriented with respect to the frame 2, around a vertical axis 8. At the other end, the frame 2 supports two non-motorized wheels 4, which are two wheels not driven by an electric machine. The non-motorized wheels 4 can be oriented with respect to the chassis around vertical axes 9. The electric propulsion system 1 further comprises coupling means 5. According to the illustrated embodiment, the electric propulsion system 1 comprises two means coupling 5 on either side of the frame in the lateral direction (y axis) in order to achieve the coupling by means of two wheels of the rolling object (not shown). The coupling means 5 are represented in a simplified way as a clamp. The lateral movement of the coupling means is indicated by a double arrow. This lateral displacement can be used for gripping and orienting the wheels of the rolling object. The coupling means 5 are placed, in the direction x, between the motorized wheel 3 and the non-motorized wheels 4. In addition, the electric propulsion system 1 comprises a handlebar 6, for example in the form of a rod equipped a handle (not shown) articulated relative to the frame 2. In addition, the electric propulsion system 1 comprises a support platform 7 (for example of a user). Platform 7 is located at the end of frame 2 which supports non-motorized wheels 4.

Figure 2 illustrates, schematically and in a non-limiting manner, an electric propulsion system according to one or more embodiments of the invention. Figure 2 is a side view of the electric propulsion system1. The electric propulsion system 1 comprises a frame 2. The x axis corresponds to the longitudinal axis of the frame 2 and the main direction of movement of the propulsion system, and the z axis corresponds to the vertical axis of the frame 2 The chassis supports three wheels. The frame 2 supports a motorized wheel 3, which is a wheel driven by an electric machine 10 by means of a drive 17, for example a belt or a chain (alternatively the electric machine 10 can be directly connected to the motorized wheel 3) . The motorized wheel 3 can be oriented with respect to the frame 2, around a vertical axis 8. The electric machine 10 can be fixed to the pivot 8 of the motorized wheel 3. At the other end, the frame 2 supports two non-motorized wheels 4, which are two wheels not driven by an electric machine. The non-motorized wheels 4 can be oriented with respect to the chassis around vertical axes 9. The electric propulsion system 1 further comprises coupling means 5. According to the illustrated embodiment, the electric propulsion system 1 comprises two means coupling 5 on either side of the frame in the lateral direction (y axis) in order to achieve the coupling by means of two wheels of the rolling object (not shown). The coupling means 5 are represented in a simplified way as a clamp. The vertical displacement of the coupling means 5 is indicated by a double arrow. This vertical movement of the coupling means allows in particular the lifting of the wheels of the rolling object. The coupling means 5 are placed, in the direction x, between the motorized wheel 3 and the non-motorized wheels 4. In addition, the electric propulsion system 1 comprises a handlebar 6, for example in the form of a rod equipped a handle (not shown) articulated with respect to the frame 2 by means of a hinge 12 with a horizontal axis, in the lateral direction of the frame 2 (perpendicular to the plane of the figure). In addition, the electric propulsion system 1 includes a battery 11. The battery 11 is placed on the frame 2 close to the electric machine 10 and the motorized wheel 3.

Figure 3 illustrates, schematically and in a non-limiting manner, an electric propulsion system according to one or more embodiments of the invention. Figure 3 is a side view of the electric propulsion system 1. The electric propulsion system 1 comprises a frame 2. The x axis corresponds to the longitudinal axis of the frame 2 and to the main direction of movement of the propulsion system , and the z axis corresponds to the vertical axis of the frame 2. The frame supports three wheels. The frame 2 supports a motorized wheel 3, which is a wheel driven by an electric machine 10 by means of a drive 17, for example a belt or a chain. The motorized wheel 3 can be oriented with respect to the frame 2, around a vertical axis 8. The electric machine 10 can be fixed to the pivot 8 of the motorized wheel 3. At the other end, the frame 2 supports two non-motorized wheels 4, which are two wheels not driven by an electric machine. The non-motorized wheels 4 can be oriented with respect to the chassis around vertical axes 9. The electric propulsion system 1 further comprises coupling means 5. According to the illustrated embodiment, the electric propulsion system 1 comprises two means coupling 5 on either side of the frame in the lateral direction (y axis) in order to achieve the coupling by means of two wheels of the rolling object (not shown). The coupling means 5 are represented in a simplified way as a clamp. The vertical displacement of the coupling means 5 is indicated by a double arrow. This vertical movement of the coupling means allows in particular the lifting of the wheels of the rolling object. The coupling means 5 are placed, in the direction x, between the motorized wheel 3 and the non-motorized wheels 4. In addition, the propulsion system 1 comprises a handlebar 6, for example in the form of a rod equipped with a handle (not shown) hinged with respect to the vertical orientation axis 8 of the motorized wheel 3 by means of a hinge 12 with a horizontal axis, parallel to the axis of rotation of the motorized wheel. In addition, the electric propulsion system 1 includes a battery 11. The battery 11 is placed on the frame 2 near the non-motorized wheels 4.

Figure 4 illustrates, schematically and in a non-limiting manner, an electric propulsion system according to one or more embodiments of the invention coupled to a rolling object 13. Figure 1 is a top view of the electric propulsion system 1 and of the rolling object 13. The embodiment of FIG. 4 corresponds to the embodiment of FIG. 1. The rolling object 13 can be of any type, in particular a rolling bed. The rolling object comprises two wheels 14, arbitrarily called rear wheels, and two wheels 15, arbitrarily called front wheels. The electric propulsion system 1 comprises a frame 2. The x axis corresponds to the longitudinal axis of the frame 2 and the main direction of movement of the propulsion system, and the y axis corresponds to the lateral axis of the frame 2 The chassis supports three wheels. Frame 2 supports a motorized wheel 3, which is a wheel driven by an electric machine (not shown). The motorized wheel 3 can be oriented with respect to the frame 2, around a vertical axis 8. At the other end, the frame 2 supports two non-motorized wheels 4, which are two wheels not driven by an electric machine. The non-motorized wheels 4 can be oriented with respect to the chassis around vertical axes 9. The electric propulsion system 1 further comprises coupling means 5. According to the illustrated embodiment, the electric propulsion system 1 comprises two means coupling 5 on either side of the frame in the lateral direction (y axis) in order to achieve the coupling by means of two rear wheels 14 of the rolling object. The coupling means 5 are represented in a simplified way as a clamp. The rear wheels 14 of the rolling object are placed in the gripper, and are oriented along the y axis, that is to say along an axis perpendicular to the longitudinal axis (x axis) of the frame 2. In addition , the front wheels 15 of the rolling object are free and uncoupled. The electric propulsion system 1 also comprises a handlebar 6, for example in the form of a rod equipped with a handle (not shown) articulated relative to the frame 2. In addition, the electric propulsion system 1 comprises a platform 7 of support (for example of a user). The platform 7 is located at the end of the frame 2 which supports the non-motorized wheels 4. For the embodiment of Figure 4, the coupling means 5, the non-motorized wheels 4, the platform 7, and a major part of the frame 2 are located below the rolling object. Only the motorized wheel 3 and the handlebar 6 can protrude from the rolling object 13 in the longitudinal direction x of the frame 2.

Figure 5 illustrates, schematically and in a non-limiting manner, an electric propulsion system according to one or more embodiments of the invention, the electric propulsion system 1 being used as a scooter by a user 16. Figure 5 is a side view of the propulsion system 1. The propulsion system of Figure 5 substantially corresponds to the propulsion system of Figure 3. The electric propulsion system 1 comprises a frame 2. The axis x corresponds to the longitudinal axis of the chassis 2 and to the main direction of movement of the propulsion system, and the z axis corresponds to the vertical axis of the chassis 2. The chassis supports three wheels. The frame 2 supports a motorized wheel 3, which is a wheel driven by an electric machine 10 by means of a drive 17, for example a belt or a chain. The motorized wheel 3 can be oriented with respect to the frame 2, around a vertical axis 8. The electric machine 10 can be fixed to the pivot 8 of the motorized wheel 3. At the other end, the frame 2 supports two non-motorized wheels 4, which are two wheels not driven by an electric machine. The non-motorized wheels 4 can be oriented with respect to the chassis around vertical axes 9. The electric propulsion system 1 further comprises coupling means 5. According to the illustrated embodiment, the electric propulsion system 1 comprises two means coupling 5 on either side of the frame in the lateral direction (y axis) in order to achieve the coupling by means of two wheels of the rolling object (not shown). The coupling means 5 are represented in a simplified way as a clamp. The coupling means 5 are placed, in the direction x, between the motorized wheel 3 and the non-motorized wheels 4. In addition, the electric propulsion system 1 comprises a handlebar 6, for example in the form of a rod equipped a handle (not shown) articulated with respect to the pivot 8 by means of an articulation 12 with a horizontal axis, parallel to the axis of rotation of the motorized wheel In addition, the electric propulsion system 1 comprises a battery 11 The battery 11 is placed on the handlebar 6. The chassis 2 comprises in its longitudinal end near the non-motorized wheels 4, a platform 7. For the illustrated use of the uncoupled electric propulsion system 1, the electric propulsion system is used as a scooter by the user 16: the user is standing on the platform 7 and holds and/or operates the handlebars 6.

Figure 6A illustrates (in top view), schematically and in a non-limiting way, the gripping sequence of an electric propulsion system 1 according to one or more embodiments of the invention by approaching the coupling means 5 d a rear wheel 14 of the rolling object 13 until the introduction of the wheel of the rolling object between two gripping elements 18, the axis of rotation of the rear wheel 14 being perpendicular to the main axis of the two gripping elements 18. In this example, the distance between the gripping elements 18 and the ground during the gripping sequence is substantially 0.5 times the diameter of the wheel 14 of the rolling object and the distance between the two elements seizure is 8 cm, ie, distance greater than the thickness (6 cm) of the wheel 14 of the rolling object. In this example, the gripping element 18 disposed on the side of (facing) the motorized wheel 3, is longer than the gripping element 18 disposed on the side of the non-motorized wheels 4. In this example, the input 18 disposed on the side of the motorized wheel 3, is 6 cm longer than the input element 18 disposed on the side of the non-motorized wheels 4. The input element 18 can be a rod or a plate.

Figures 6B and 6C illustrate (in top view), schematically and in a non-limiting manner, the orientation sequence of an electric propulsion system 1 according to one or more embodiments of the invention by rotating the wheel 14 input around its point of contact with the ground in order to orient the wheel 14 input (by the input elements 18) in a direction substantially perpendicular to the longitudinal direction of the chassis of the propulsion system. In this example, the orientation is carried out by the rotation of the electric propulsion system 1 around the vertical axis of the wheel 14 gripped until the wheel 14 gripped is placed in a direction parallel to the lateral direction of the chassis. 2. As shown in Figures 6B and 6C, the rotation by the electric propulsion system 1 of the wheel 14 seized (itself linked to the rolling object 13 by a vertical axis of rotation not passing through said point of contact), has the consequence of causing a slight displacement of the rolling object 13. The displacement of the rolling object 13 then causes a rotation of a second wheel 14 of the rolling object around its point of contact with floor. The rotation of the second wheel 14 of the rolling object is similar to that imposed on the first rear wheel 14 (Caddy ^TM effect). In this example, the rotation of the electric propulsion system 1 is applied until the second set of two gripping elements 18 come into contact with said second wheel 14 of the rolling object. In this example, the directional movement of the non-motorized wheels 4 of the structure is preferentially left free.

FIG. 6D illustrates (in top view), schematically and in a non-limiting manner, the immobilization sequence of an electric propulsion system 1 according to one or more embodiments of the invention by moving an immobilization branch 19 , arranged between the gripping elements 18, so as to contact and block the wheels 14 seized, for example, by means of one or more jacks, for example an electric jack, a screw-nut system, a rack and pinion system or any analogous means. In this example, the immobilization branches 19 are arranged on the inside of the frame 2 with respect to the gripping elements 18. In this example, the securing arms 20 are spaced apart, one from the other (ie, moved towards the outside of the frame 2, for example by means of jacks), until the immobilizing branches 19 come into contact and then abut with the wheels 14 seized. In this example, the directional movement of the non-motorized wheels 4 of the structure is preferentially left free.

Figures 7A, 7B, 7C and 7D illustrate (in top view), schematically and in a non-limiting manner, the gripping, orientation and immobilization sequences similar to the sequences defined above with reference to Figures 6A, 6B , 6C and 6D, with the difference that the immobilization branches 19 are arranged on the outside of the frame 2 with respect to the gripping elements 18. In the example of FIG. 7A, the gripping sequence is not finished. Between FIG. 7A and 7B, the user can cause the gripping elements 18 to move around the wheel 14 to complete the gripping sequence, before, during or after the rotation sequence.

In the example of FIG. 7D, the securing arms 20 are brought closer together (ie, moved towards the inside of the frame 2, for example by means of cylinders), until the immobilizing branches 19 come into contact and then abut with the wheels 14 seized. In these examples, the directional movement of the non-motorized wheels 4 of the structure is preferably left free.

Figures 8A, 8B and 8C illustrate (in top view), schematically and in a non-limiting manner, the gripping, orientation and immobilization sequences similar to the sequences defined above with reference to Figures 7A, 7B, 7C and 7D, with the difference that the coupling means 5 comprise an abutment element 21 disposed on the inside of the coupling means 5 with respect to the gripping elements 18, the abutment element 21 being provided to guide the wheel 14 of the rolling object 13 so that said wheel 14 comes into abutment against the gripping element 18 arranged on the side of the motorized wheel 3. FIGS. 8A and 8B illustrate in particular that the gripping element 18 arranged on the side of the motorized wheel 3 and the stop element 21 make it possible to guide the wheel 14 of the rolling object 13 during the orientation sequence without it being necessary to introduce said wheel 14 between the two gripping elements 18. Figure 8C illustrates the grasping and immobilization sequences ending at the same time when the securing arms 20 are brought together, one from the other (ie, moved towards the inside of the frame 2, for example by means of cylinders), until the branches of immobilization 19 come into contact and then abut with the wheels 14 seized. In these examples, the directional movement of the non-motorized wheels 4 of the structure is preferably left free.

Figures 9A, 9B and 9C illustrate (in top view), schematically and in a non-limiting manner, the gripping, orientation and immobilization sequences similar to the sequences defined above with reference to Figures 8A, 8B and 8C , with the difference that the coupling means 5 are supported by the non-motorized wheels 4 and that the immobilization branches 19 form a clamp system which can be clamped by a jack adapted to bring the securing arms 20 closer together, the one from the other by a rotational movement. In this example, the securing arms 20 are interconnected and are set in motion by a common actuator, such as a cylinder. As shown in Figures 9B and 9C, each lashing arm is movable in rotation about a vertical pivot axis, the main axis of a lashing arm forming, relative to the longitudinal axis of the chassis ( ie, the x axis), an angle α substantially greater than 45° at the end of the rotation sequence (FIG. 9B), and an angle α substantially less than 45° at the end of the immobilization sequence (FIG. 9C).

Figures 10A, 10B and 10C illustrate (in side view in the transverse direction), schematically and in a non-limiting manner, immobilization sequences similar to the sequences defined above with reference to Figures 6C, 6D and 7D, respectively, in which the immobilizing branches 19 comprise a support element 22 (flat, inclined or curved part or in the shape of a square adapted to pass under the wheel 14 seized and support the wheel 14 immobilized). As shown in Figures 10B and 10C, during the immobilization session, the support element 22 is adapted to pass under the wheel 14 seized during the actuation of the securing arms 20 and thus support the immobilized wheel 14 .

Figures 11A and 11B illustrate (in side view along the transverse direction), schematically and in a non-limiting manner, immobilization sequences, in which the immobilized wheels 14 are oriented in the same direction along the axis perpendicular to the direction longitudinal frame (fixing elements arranged in opposition). Figure 11C illustrates, schematically and in a non-limiting way, an immobilization sequence, in which the immobilized wheels 14 are oriented in different directions and arranged in opposition along the axis perpendicular to the longitudinal direction of the chassis. Figure 11D illustrates, schematically and in a non-limiting manner, an immobilization sequence, in which the immobilized wheels 14 are oriented in different directions and arranged opposite each other along the axis perpendicular to the longitudinal direction of the chassis. Although Figures 11A, 11B, 11C and 11D are illustrated with immobilizing branches 19 arranged on the inside of the frame 2 with respect to the gripping elements 18, it is also envisaged to immobilize the wheels 14 of the rolling object. in the same direction, in opposition or opposite with immobilization branches 19 arranged on the outside of the frame 2 with respect to the gripping elements 18.

Figures 12A-12I illustrate (in three-dimensional view), schematically and in a non-limiting manner, gripping and immobilization means according to one or more embodiments. Specifically, FIG. 12A shows a securing arm 20, comprising an immobilizing leg 19 provided with a support element 22 in the form of a spoon or shovel, the securing arm 20 being extended by two gripping elements 18 of roughly the same length. Figure 12B shows an example in which one grip element 18 is substantially longer than the other grip element. Preferably, the gripping element 18 disposed on the side of (the closest to) the motorized wheel 3, is substantially longer than the gripping element 18 disposed on the side of the non-motorized wheel or wheels 4, thus making it possible to facilitate the gripping sequence by serving as a guide when gripping the wheel 14 of the rolling object 13. Figures 12C-12G show examples in which a moving part 23, such as a rod or a plate (eg metal), is connected to at least one gripping element 18 through an axis of rotation 24, the movable part 23 being arranged on the end of the gripping element 18 opposite to the immobilizing arm 19. The movable part 23 makes it possible to limit the bulk of the gripping element 18 during the gripping sequence, and facilitates holding the wheel 14 gripped between the gripping elements 18 during the rotation sequence. Referring to Figures 12C and 12D, the moving part 23 comprises a substantially vertical main axis and the axis of rotation 24 is parallel to the longitudinal direction of the chassis. The moving part 23 is preferably arranged downwards relative to the gripping element 18 in order to increase the compactness of the coupling means. Referring to Figures 12E and 12F, the movable part 23 comprises a substantially horizontal main axis, is parallel to the longitudinal direction of the frame, is arranged on the side opposite to the adjacent gripping element 18, and comprises an axis of rotation 24 vertical. Referring to Figure 12G, the movable part 23 as described in Figure 12E further comprises an internal portion 25 disposed on the side facing the adjacent gripping element 18. The length of the internal portion is strictly less than the distance between the two gripping elements 18 to allow the introduction of the wheel 14 gripped between the gripping elements 18. The internal portion 25 makes it possible in particular to serve as a point of support for the actuation of the moving part around the axis of rotation when the wheel 14 of the rolling object comes into abutment against said internal portion 25. FIG. 12H shows an example of a securing arm 20 of coupling means by external grip, in which a stop element 21 is arranged on the securing arm 20. FIG. 12I shows an example of securing arm 20 of coupling means by external grip, in which the stop element 21 is arranged on the input element 18.

Figures 13A, 13B, 14A and 14B illustrate (in side view in a lateral direction), schematically and without limitation, lifting means in the low position (Figures 13A and 14A) and in the high position (Figure 13B and 14B ) according to one or more embodiments, comprising an articulated structure in the central part of the frame (eg between the at least one motorized wheel and the at least one non-motorized wheel). The articulated structure comprises on the one hand, a first frame portion called "driving portion 26" supported by the at least one motorized wheel 3, and includes on the other hand, a second frame portion called "non-motorized portion 27" supported by at least one non-motorized wheel 4. The frame portions 26 and 27 are hinged relative to each other around a horizontal axis of rotation called "hinge axis 28" substantially perpendicular to the longitudinal direction of the frame. The electric propulsion system 1 carries out the lifting sequence by actuating a first actuator so as to cause a substantially vertical upward displacement of the hinge pin 28 by modifying the angle β between the frame portions 26 and 27 at the level of the hinge pin 28. Referring to Figures 13A and 13B, the hinge pin 28 is arranged on a lower end of the frame portions 26 and 27, and the angle β is increased to pass from the low position to high position. Referring to Figures 14A and 14B, the hinge pin 28 is arranged on a high end of the frame portions 26 and 27, and the angle β is reduced to pass from the low position to the high position.

Figures 15A to 15F illustrate (Figures 15A and 15D in side view in a lateral direction, and Figures 15B, 15C, 15E and 15F in three-dimensional view), schematically and in a non-limiting manner, lifting means in the low position (Figures 15A, 15B and 15C) and in the high position (Figure 15D, 15E and 15F) according to one or more embodiments, in which the hinge pin 28 is arranged on a lower end of the frame portions 26 and 27 , and the angle β is increased to pass from the low position to the high position. In this example, the first actuator 29 is connected along the longitudinal axis of the frame 2 (ie, according to the view xz of the figures) on the one hand, to a central portion 30 of the driving portion 26, and on the other hand, at a rear end portion 31 of the non-motorized portion 27 (ie, end facing the driving portion 26). With reference to FIGS. 15B and 15E, the first actuator 29 can be single and disposed adjacent to a central portion 30' according to a top view (along a substantially horizontal axis and substantially perpendicular to the longitudinal direction of the chassis 2) of the portions of frames 26 and 27. Advantageously, a single lifting actuator is necessary. With reference to FIGS. 15C and 15F, the first actuator 29 is assisted by a complementary actuator 29', each actuator being arranged adjacent to the lateral end portions 30'' according to a top view (ie, according to the xy view of the figures ) of the drive portion 26. Advantageously, the lifting actuators are arranged on the sides of the frame in order to free up space in the middle of the frame and to make the coupling means more compact.

Figures 16A to 16D illustrate (Figures 16A and 16C in side view in a lateral direction, and Figures 16B, and 16D in three-dimensional view), schematically and in a non-limiting manner, lifting means in the low position (Figures 16A and 16B) and in the high position (FIGS. 16C and 16D) according to one or more embodiments, in which the hinge pin 28 is arranged on a lower end of the frame portions 26 and 27, and the angle β is increased to go from the low position to the high position. In this example, the first actuator 29 is connected along the longitudinal axis of the frame 2 (ie, according to the view xz of the figures) on the one hand, to a central portion 30 of the driving portion 26, and on the other hand, at a rear end portion 31 of the non-motorized portion 27 (ie, end facing the driving portion 26). With reference to FIGS. 16B and 16D, the first actuator 29 is unique and is arranged adjacent to an end portion 30'' according to a top view (ie, according to the xy view of the figures) of the chassis portions 26 and 27. Advantageously, a single lifting actuator is necessary and said actuator is arranged on the sides of the frame in order to free up space in the middle of the frame and to make the coupling means more compact. In this example, the first actuator 29 is suitable for: actuating on the one hand, a cross connecting rod 32 connected to a first end of the first actuator 29, for example via a reference 33; and actuating, on the other hand, a non-crossed connecting rod 34 connected to the second end of the first actuator 29, for example via a shaft 35 passing through the central portion 30 (ie, shaft horizontal and perpendicular to the longitudinal direction of the frame). One of said connecting rods 32, 34 is connected along the longitudinal axis of frame 2 at one of its ends to a central portion (30) of first frame portion 26 via reference 33, and at its other end to a rear end portion 31 of the second frame portion 27. The other of said connecting rods 32, 34 is connected along the longitudinal axis of the frame 2 at one of its ends to a central portion (30) of the driving portion 26 by through the element 35, and at its other end at a rear end portion 31 of the non-motorized portion 27. In this example, the cross rod 32 is on the same side as the actuator 29 and the non-motorized rod cross link 34 is connected to actuator 29 by means of shaft 35. It is also contemplated that the uncrossed link 34 is on the same side as the actuator 29 and that the cross link 32 is connected to the actuator 29 at the middle of shaft 35.

With reference to FIGS. 16A to 16C, according to one or more embodiments the angle β is modified from 20° to 90°, preferably from 60° to 90°, between a low position and a high position of the frame portions 26 and 27.

Figures 17A and 17B illustrate, schematically and in a non-limiting manner, driving aid means according to one or more embodiments adapted to assist the user in maneuvering the hitch and comprising two extendable arms 36 making it possible to modify the distance between the at least one non-motorized wheel 4 and the securing arms 20. Each extendable arm 36 is, on the one hand, supported by the non-motorized wheel 4 through the vertical axis 9, and on the other hand , connected to the non-motorized portion 27. Advantageously, the extendable arms 36 make it possible to position the non-motorized wheels 4 as close as possible to the central part 37 of the rolling object (in the longitudinal direction of the frame). This results in increased so-called “5th wheel effect” maneuverability, in particular when rotating and/or moving the coupling in cramped rooms and/or corridors, in particular when the directional movement of said non-motorized wheel 4 is blocked. Referring to Figure 17A, extendable arms 36 are in a retracted position. Referring to Figure 17B, when the electric propulsion system performs the driving assistance sequence, the second actuator is actuated so as to lengthen the extendable arms 36 and increase the distance between the non-motorized wheels 4 of the arms. lashing 20.

Figures 18A and 18B illustrate, schematically and in a non-limiting manner, driving aid means according to one or more embodiments similar to the driving aid means with reference to Figures 17A and 17B, with the difference that the wheels 14 of the rolling object 13 are immobilized by gripping and external immobilization. Specifically, Figure 18A shows the extendable arms 36 in the retracted position and Figure 18B shows the extendable arms 36 in the extended position. Preferably, the directional movement of the non-motorized wheels 4 of the structure is preferably left free during actuation of the actuator. Although FIGS. 18A and 18B show that the coupling means 5 are supported by the non-motorized wheels 4, it is also envisaged that the coupling means 5 are by external grip without being supported by the non-motorized wheels (see by example, Figures 7A-8C).

In this application, the term "include" is synonymous with (means the same as) "include" and "contain", and is inclusive or open ended and does not exclude other unrecited material. It is understood that the term “include” includes the exclusive and closed term “consist”. In addition, in the present description, the terms "about", "substantially", "substantially", "essentially", "only" and "almost" are synonymous by default with a lower and/or upper margin of 20%, preferably 10%, most preferably 5%, of the given value. For example, approximately perpendicular corresponds by default to an angle of 78° to 108°; substantially parallel corresponds by default to an angle of -18° to 18°; substantially vertical corresponds by default to vertical +/- 18°; substantially horizontal corresponds by default to horizontal +/- 18°.

Claims (15)

Removable electric propulsion system for a rolling object (13), the propulsion system (1) comprising a frame (2) provided with at least one wheel (3) driven by an electric machine (10), and at least a non-driven wheel (4), a handlebar (6) and coupling means (5) of the propulsion system (1) to the rolling object (13), said coupling means (5) comprising means of gripping, orientation, immobilization and lifting of at least one wheel (14) of the rolling object (13), in which:
the gripping means comprise at least a set of two gripping elements (18) whose main axes are substantially perpendicular to the longitudinal direction (x) of the frame (2), the two gripping elements (18) being adapted to come into contact with the wheel (14) of the rolling object (13);
the orientation means are adapted to orient the at least one wheel (14) of the rolling object (13) in a direction substantially perpendicular to the longitudinal direction (x) of the chassis (2) of the propulsion system (1) . Removable electric propulsion system according to Claim 1, in which the two gripping elements (18) are adapted to allow the introduction of the wheel (14) of the rolling object (13) between the said gripping elements (18) of so that the axis of rotation of the wheel (14) of the rolling object (13) is substantially perpendicular to the main axes of the two gripping elements (18). Removable electric propulsion system according to Claim 1 or Claim 2, in which the distance between the two gripping elements (18) is predetermined to be: strictly less than the diameter of the wheel (14) of the rolling object (13) ; and greater than equal to the thickness of the wheel (14) of the rolling object (13). A detachable electric propulsion system according to any preceding claim, wherein one of the two gripping elements (18) is longer than the other gripping element (18) of the set of gripping elements (18), according to the main axes. Removable electric propulsion system according to any one of the preceding claims, in which the gripping element (18) arranged on the side of the motorized wheel (3) is longer than the other gripping element (18) of the set of two input elements (18). Removable electric propulsion system according to any one of the preceding claims, comprising an abutment element (21) arranged on the inside of the coupling means (5) with respect to the gripping elements (18) in a direction substantially perpendicular to the axes main gripping elements (18), the abutment element (21) being adapted to guide the wheel (14) of the rolling object (13) so that said wheel comes into abutment against the gripping element ( 18) arranged on the side of the motorized wheel (3). A removable electric propulsion system according to claim 6, wherein the abutment member (21) is disposed on a gripping member (18). Removable electric propulsion system according to any one of Claims 6 to 7, in which the distance between the abutment element (21) and a gripping element (18) is predetermined to be strictly greater than the diameter of the wheel (14 ) of the rolling object (13). Removable electric propulsion system according to any one of the preceding claims, comprising a movable part (23) connected to at least one gripping element (18) through an axis of rotation (24) perpendicular to the main axis of the gripping element (18), the movable part (23) being adapted to rotate around the axis of rotation (24) and extending the gripping element (18) along the main axis of the gripping element (18). Removable electric propulsion system according to claim 9, in which the main axis of the movable part (23) is vertical and the axis of rotation (24) is parallel to the longitudinal direction (x) of immobilization and of the frame ( 2). Removable electric propulsion system according to claim 9, wherein the movable part (23) comprises a substantially horizontal main axis, and parallel to the longitudinal direction (x) of the chassis (2), the said movable part (23) being arranged on the side opposite the adjacent gripping element (18), and comprising a vertical axis of rotation (24). Removable electric propulsion system according to Claim 11, in which the movable part (23) comprises an internal portion (25) arranged on the side facing the adjacent gripping element (18). Removable electric propulsion system according to any one of the preceding claims, in which at least one of the wheels (3, 4) of the propulsion system (1) comprises a braking system. Coupling comprising a rolling object (13) and an electric propulsion system (1) according to one of the preceding claims, the rolling object (13) being coupled to the electric propulsion system (1) by the said coupling means (5 ). Method of coupling a rolling object (13) to an electric propulsion system (1) according to any one of claims 1 to 13, comprising the following steps:
contacting the wheel (14) of the rolling object (13) with at least one gripping element (18); and
orienting the wheel (14) of the rolling object (13) in a direction substantially perpendicular to the longitudinal direction (x) of the frame (2) of the propulsion system (1).