WO2020178495A1

WO2020178495A1 - Motorised vehicle with seated driver

Info

Publication number: WO2020178495A1
Application number: PCT/FR2020/050329
Authority: WO
Inventors: Joseph COLLIBAULT; Gérard Lecomte
Original assignee: R.S.A. Concept
Priority date: 2018-11-26
Filing date: 2020-02-21
Publication date: 2020-09-10
Also published as: FR3088821A1; FR3088821B1; FR3088822A3

Abstract

Disclosed is a motorised vehicle (100) with seated driver, comprising a rear support (1) laterally supported on two drive modules (3), bearing a seat (13), a central beam (4) connected to the rear support and to the front support (5), itself connected to the end of the central beam (4), bearing a steering column (51) with steering axis (511) having a fork (513) mounted in a bearing (512) of the support (5) integral with the lower end of the steering axis (511) and bearing a directional module (3). A directional member (52) integral with the steering axis (511) and the guidance module (3) bears control members (521). A drive means (6) is associated with the drive modules (2), and a control unit (7) controls the drive means (6).

Description

DESCRIPTION

Title: "MOTORIZED VEHICLE WITH SITTING DRIVER" TECHNICAL FIELD

The present invention relates to a motorized vehicle for a seated driver and in particular a vehicle for transporting a person at a low speed, for example, of the order of a few kilometers per hour, or even ten kilometers per hour.

STATE OF THE ART

Such motorized vehicles carrying a single person, for example, vehicles for transporting a handicapped person, having difficulty in walking exist in multiple embodiments. These vehicles are fitted with drive wheels and steer wheels. But these vehicles are only intended to travel on smooth surfaces, without obstacles or drops such as a sidewalk.

Although in some cases the sidewalks are fitted out with passages of reduced height, for example, at the entry or exit of a protected passage, there nevertheless remains a discontinuity which may be difficult to cross.

Moreover, such arrangements exist only to a very limited extent. There are also other irregularities that can be found on a surface such as the passage of an area under construction on a sidewalk or the passage of a curb, which may be the only means of access to a pavement.

Finally, irregularities or discontinuities in the circulation surface may exist in exhibition areas, lounges or others, requiring the intervention of third parties to allow such a motor vehicle to cross the obstacle.

There are also other cases in which it would be desirable to be able to use a motorized vehicle with a seated driver to reduce visitor fatigue in certain exhibitions, lounges or protected areas. PURPOSE OF THE INVENTION

The object of the present invention is to develop a motorized vehicle with a seated driver making it possible to travel on irregular surfaces or with unevenness such as the edges of sidewalks, entrances to public places or public transport vehicles.

DISCLOSURE AND ADVANTAGES OF THE INVENTION

To this end, the invention relates to a motorized vehicle with a seated driver according to the invention has the advantage of being able to circulate on irregular surfaces comprising uneven or passages that cannot be easily crossed by a vehicle equipped with wheels, ie because the surface is irregular, or because the surface is partially unstable and causes the sinking and blocking of the wheels, as can be the case, for example, in the case of trenches filled in sidewalks but whose surface traffic (asphalt) is not restored.

The motorized vehicle also facilitates circulation in public places such as museums, exhibitions and others in which there is not necessarily a perfectly continuous surface without unevenness or for which the realization of a continuous surface without unevenness. leveling is not possible for economic or other reasons.

The vehicle according to the invention is particularly practical to use for a driver having difficulty walking or standing. The driver will be able to easily access the seat without requiring outside assistance since he will be able to stand in front of the seat before taking a sitting position. It is the same for the reverse movement.

According to one characteristic, the directional module is a pin module.

According to an advantageous characteristic, the crawler module comprises a crawler track formed by a main wheel, at least one intermediate wheel and a return wheel, the main wheel and the intermediate wheel forming the support segment of the caterpillar on the ground, the intermediate wheel and the return wheel forming a ramp at the front of the module for crossing obstacles.

This embodiment of the tracked modules both for the drive module and for the directional module constitutes a very simple solution mechanically, efficient, and light and easy to maneuver. According to one variant, the directional module is a steering wheel module and in particular the directional module comprises a steering wheel equipped with a drive unit.

According to another advantageous characteristic, the drive means is an electric drive comprising a power supply unit and a battery for supplying the electric drive unit combined with the main wheel of the drive modules and / or of the steering module.

According to a variant, the radius of the steering wheel is at least greater than the average height of the obstacles to be overcome.

The drive means with motor units associated directly with the drive module and where appropriate with the guide module is a particularly simple and effective solution to implement with components readily available and mass-produced for multiple electric drive applications.

Advantageously, the electric drive means comprises an electronic differential connected to the motor units of the drive modules and, where appropriate, of the guide module if the latter is also driven.

According to another advantageous feature, the steering column has a pivot sensor, etc. This characteristic combined with the electronic differential enables particularly efficient and precise driving of the vehicle regardless of the maneuvers in forward or reverse.

According to another advantageous characteristic, the central beam is a telescopic beam formed of a rear part connected to the rear support and of a front part connected to the front support and in particular that the telescopic central beam comprises an adjustment member adjusting its position. length.

This telescoping central beam allows the front and rear of the vehicle to be moved apart for easy access in front of the seat. This access is even simpler if the steering organs such as the handlebars equipped with the controls can be raised and further clear the gap between the steering column and the seat.

Then, the handlebars are folded back by tilting into their position of use and the driver, seated on the seat, can then control the retraction movement of the steering column to arrive at the appropriate length for driving the vehicle.

Advantageously, the seat carried by the rear support is adjustable relative to the rear support to release the seat or, on the contrary, to move it forward to facilitate the passage into the seated position.

The length of the telescopic central beam is adjusted by an adjustment member, in particular an electrically controlled adjustment member, for example, an electric cylinder which allows the driver to adjust his position relative to the handlebars or to move the telescopic central beam to its maximum extension or maximum retraction limit switch position.

The maximum extension position is the position used for seat access or seat descent. The maximum retraction position, the other end-of-stroke position is advantageously the stowed position or safety position.

When the chassis is thus in this position grouped together by the retracted central beam, the seat is inaccessible and the vehicle cannot be used.

As this position is controlled by the control unit to which access is protected by a code or a magnetic card or the like, the vehicle is protected against theft.

Advantageously, to increase the ability to overcome an obstacle without excessively increasing the diameter of the steering wheel, the steering module is fitted with a satellite such as a satellite wheel or a pair of satellite wheels or binoculars or a smooth ramp or with a row of single or twin wheels, or offset mounted upstream of the steered wheel. Advantageously, the axis of the planet wheels or the low point of the satellite ramp are above the axis of the steering wheel, the radius being greater than the difference in height between the two axes, that of the steering wheel and that of the satellite wheels.

It is also advantageous that the satellite wheel or the pair of satellite wheels are preceded by a secondary wheel whose axis is above that of the planetary wheels and its radius is greater than the difference in height between the axis. of the satellite wheel and the axis of the secondary wheel.

Advantageously, the directional module is provided with a ramp or with a pair of satellite ramps, upstream of the steering wheel. Advantageously, this ramp is a crawler ramp.

The ramp makes it possible to use the thrust of the drive modules when the vehicle faces an obstacle such as a step. The ramp rests on the nose of the step and allows the directional module to move up the ramp to pass over the nose of the step and then pass the steered wheel over the nose of the step and onto the bearing.

The ramp, in particular the crawler ramp, is a particularly simple and effective solution. This ramp does not have to be motorized. The simple fact of rolling the rollers on the ramp allows you to benefit from a component to push the front support of the cart on the step.

This also makes it possible to reduce the size of the steering wheel which without this satellite would have to be relatively large for crossing obstacles such as a step whose height can go up to 20 possibly 30cm.

According to an advantageous characteristic, the drive module is a crawler module formed of a driving wheel and a return wheel over which the caterpillar passes.

For the flexibility of the passage of obstacles or steps, the drive modules are mounted to pivot around an axis such as the axis of the drive wheel or an axis between the two wheels receiving the track, of the drive module respective with a spring return means. This allows the load to be distributed over the length of the pivotally mounted drive module.

Finally, to avoid lateral tilting, for some users it is advantageous for the vehicle to include side stands located at the level of the footrests to prevent excessive tilting of the vehicle, these stands preferably being provided with casters.

In general, the vehicle according to the invention offers many fields of application both for people with reduced mobility and for facilitating movement in protected areas or areas to be visited combining the enjoyment of a position. seated or mobile to visit the exhibition or to avoid pedestrian traffic in certain areas visited. The motor vehicle according to the invention is of a particularly simple and light construction, facilitating its transport and storage.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be described below, in more detail with the aid of the accompanying drawings in which:

[Fig. 1] is a perspective view of a vehicle according to the invention,

[Fig. 2] is a side view of the vehicle,

[Fig. 3] is a perspective view from below of the vehicle

[Fig. 4] is a schematic side view of the vehicle,

[Fig. 5] is a schematic rear view of the vehicle,

(Fig. 6] is a schematic top plan view,

[Fig. 7A] is a side view of a drive or guide module, [Fig. 7B] is a view of an open drive or guide module, [Fig. 8] is a diagram of the control unit and the drive means.

[Fig. 9] is a simplified perspective view of another embodiment of the motor vehicle according to the invention,

[Fig. 10] is a simplified front view of a variant of the embodiment of FIG. 9,

[Fig. 11] in its parts A-E shows the different stages of crossing an obstacle by the motorized vehicle according to the invention,

[Fig. 12] in its parts 12A-12F shows the crossing of an obstacle constituted by a step by the motorized vehicle according to the variant of figure 10.

[Fig. 13] in its parts 13A-13D shows the start of crossing an obstacle formed by a step by the motor vehicle, according to a variant, the directional module.

DESCRIPTION OF EXAMPLES

FIGS. 1, 2 and 3 show a motorized vehicle 100 with a seated driver, intended to transport the driver on a traffic surface such as a sidewalk or an irregular surface, cluttered with low obstacles such as road blocks. sidewalks or boat passages, or even unevenness. The vehicle travels at a relatively low speed, for example, the speed of a walker. The front front and rear rear as described are shown in figures 1-3.

The vehicle 100 consists of a chassis 101 equipped with a rear support 1 fitted with two tracked drive modules 2 and a front support 5 connected to the rear support 1 by a central beam

telescopic 4. The front support 5 carries a guide module 3 with a pin and a steering column 51 whose steering axis 511 has a guide 52 provided with control members 521 for steering the vehicle and controlling its. movements.

The vehicle 100 has an electric drive means 6 for the drive modules 2 and, where appropriate, for the guide module 3 and a control unit 7.

According to a variant, the length of the central beam 4 is adjustable by an actuator such as an electric jack controlled from the handle 52 or from an armrest 134 of the seat 13 and which makes it possible to adjust the length of the central beam. 4 between its retracted length, which takes up less space for the vehicle (and thus preventing access to the seat) and the maximum extension for access to the seat, via the length suitable for the driving position. The end-of-travel positions are permanently memorized in the control unit 7 while the driving position chosen by the driver is memorized in the control unit 7 at his initiative.

In more detail, according to schematic Figures 4, 5, 6, the rear support 1 of the frame 101 is formed of a box 11 housing the drive means 6 with its power unit 61 and its electric battery 62. as well as the control unit 7.

The drive modules 2 attached to the sides of the box 11 are connected to the battery 62 by the power supply unit 61.

The box 11 integrated into the tray (above or below it) is closed by a cover 12, for example, connected to the box 11 by hinges 121 to open by tilting.

The cover 12 carries the driver's seat 13. Depending on the case, the driver's seat 13 is provided with an electric actuator for adjusting the backrest 131 and the seat 132 and possibly an actuator adjusting the longitudinal position. of seat 13 relative to box 11 or cover

12. The preferably enveloping seat 13 is provided with armrests 133 thus forming lateral means for retaining the driver.

The armrests 133 can be equipped with control members 524 to adjust the seat 13. The seat actuators (not shown) are then activated by the power supply unit 61 from the signals supplied by the control members 524 to 'control unit 7.

The box 11 also houses various equipment such as an anti-theft system locking the drive unit 6 and activating an audible alarm and / or sending a message by radio.

The seat 13 is connected to the cover 12 by a suspension 134 and the drive modules 2 are connected to the box 11 by a suspension

28.

The front of the rear support 1 forms, under the seat 132 of the seat 13, a plate 14 constituting a small footrest 14 and under which the central beam 4 is fixed.

The telescopic central beam 4 is formed of two parts 41, 42, one of which 41 is integral with the rear support 1, (14) and the other 42 is integral with the front support 5. The telescopic assembly of the two parts 41, 42 is blocked by a locking member 43, for example a clamping screw or an adjusting member also ensuring the locking.

The two parts 41, 42 of the telescopic central beam 4 are two tubes 41, 42 of rectangular section, fitted one into the other: the receiving tube 41 is integral with the rear support 1 and opens into the box 11; the other tube 42 or front tube is fitted into the receiving tube 41. The telescopic tube forming the central beam can also be constituted by a telescopic Car- dan transmission tube with "lemon" section or in a triangle or serrated section. according to the most common embodiments, which are industrial components for automobile construction or for the construction of agricultural vehicles, having the advantage of being perfectly adjusted, lubricated and of resisting significant forces in torsion.

The telescopic cardan tube as defined above is a telescopic tube in two parts, making it possible to transmit torsional forces and conversely to resist torsional forces.

The rear support is thus rigidly connected in torsion to the front support. Depending on the case, the telescopic adjustment has a reduced range of 10 to 20 centimeters to adjust the spacing of the seat 13 and of the steering column 51 with the handlebar 52 according to the size of the driver.

According to a variant, the telescopic adjustment is greater in order to enable the greater part of the front tube 42 to be engaged in the receiver tube 41, taking advantage of the length available in the box 11 to reduce the bulk as much as possible. the vehicle 100, for example, to store or transport it; the handlebar 52 then comes practically above the seat 13.

The tubular central beam 4 also allows the passage of the signal transmission cables of the handlebar 52 and the power supply of the guide module 3.

The front support 5, integral with the front end of the beam 4 carries the steering column 51 housing the steering axis 511 carrying the handlebar 52. The support 5 is equipped with a fork 513 mounted in a bearing 512 and carrying the guide module 3; the fork 513 is connected to the steering axis 511 to steer the vehicle 100 by orienting the guide module 3.

The support 5 has two footrests 53a, b on either side of the steering column 51.

The steering column 51 comprises a sensor 522 for sensing the pivoting of the steering axis 511 and supplying a steering signal to the control unit 7. The pivoting sensor 522 is advantageously located in the column 51 , for example, above the bearing 512 of the fork 513.

According to a first embodiment, the control members 521 of the movement (acceleration, speed, braking) equip the handlebars 52.

According to a second embodiment, the brake control and the speed control are each performed by the brake pedal and the accelerator pedal associated with the two footrests 53a, b as in an automobile. This version can also be combined with the first version, leaving the driver to choose one or the other control mode with just a simple switching of the functions associated with the handlebar 52.

The braking of the vehicle 100 can also be done with the speed control since the vehicle 100 travels at a relatively reduced speed, for example of the order of 5 to 10 km / h, at the most, and in this case. the absence of acceleration is equivalent to slowing down to zero speed.

The drive means 6 comprises a single electric motor connected to the two drive modules 2 by a drive shaft with a mechanical differential, or two electric motors each associated with a drive module 2, in particular integrated in a gear wheel. each module 2 and supplied by an electronic differential 63. The latter solution will be described below.

The electronic differential 63 can be produced in a simple manner since the two drive modules 2 are equipped with two drive units (electric motors or geared motors) 62 associated with the two main wheels 21, by simply increasing the speed of one of the modules 2 and by correspondingly reducing that of the other module 2 in relation to the setpoint speed requested by the driver; this setpoint speed is then the average speed which will be that of directional module 3.

Figures 4, 7A, 7B show the structure of a module 23 consisting of a main wheel 21 at the rear, an intermediate wheel 22 in front of it and a return wheel 23 at the front.

The schematic side view of Figure 4 shows the interior of modules 2, 3, the outer flange 27, 37 having been removed. This simplified view shows the wheels 21, 22, 23, 31, 32, 33, smooth and the tracks 24, 34 also smooth on the outside, whereas in reality the tracks 24, 34 have an external surface provided. of transverse reliefs. The inner surface of the tracks 24, 34 can also have shapes that favor the attachment of the drive wheel 21, 31.

The wheels can also be split to leave between the two twin parts, an interval of passage of a longitudinal relief on the inner surface of the tracks 24, 34, to guide the tracks on the wheels and prevent them from jerking off under certain conditions. brutal use.

The course of the path followed by the caterpillar 24 on the wheels consists of a support segment 25 between the main wheel 21 and the intermediate wheel 22 and of a ramp 26 between the intermediate wheel 22 and the return wheel 23; the return of the track 24 is between the return wheel 23 and the main wheel 21.

The wheels 21, 22, 23 are each carried by an axis 21a, 22a, 23a mounted in a frame or more simply in two flanges 27 of either side of the group of wheels 21, 22, 23; in the case of modules 2, the flanges 27 are provided with a connecting member 28 for fixing each module 2 to the side of the box 11 of the frame 101. The connecting member 28 can incorporate a suspension with a shock absorber.

The height difference of the ramp 26 defines the ability to pass an obstacle such as a sidewalk step and thus imposes the height of the module 2 and the diameter of the main wheel 21 which is also the driving wheel.

The intermediate wheel 22 is of reduced diameter as is the return wheel 23. The gap between the intermediate wheel 22 and the return wheel 23 is at least partially covered by an internal support 29 in the form of a guide or a shoe, for prevent that in contact with the obstacle, the edge of the obstacle deforms the track 24 and pushes it between the intermediate wheel 22 and the return wheel 23 and no longer allows the obstacle to pass.

To take account of a possible sagging or crushing of the pin 24 on the ramp 26 when passing an obstacle and a possible catching of the module 2, the flange 27 has a concave edge 271 on the segment forming the ramp 26.

The drive modules 2 and the guide module 3 have the same structure, but the guide module 3 is preferably smaller so that it can be placed under the steering column and its support segment 35 is crossed. by the geometric pivot axis of the steering column or is close to the geometric pivot axis.

The guide module 3 consists of a main wheel 31, an intermediate wheel 32 and a return wheel 33 defining, as in the case of the drive module 2, a support segment 35 between the wheel main 31 and the intermediate wheel 32 and a ramp 36 between the intermediate wheel 32 and the return wheel 33. The caterpillar 34 follows this path.

The main wheel 31 is preferably driven by integrating a drive unit 62 with an electric motor or geared motor powered by the power unit 61.

The guide module 3 consists of two flanges holding the wheels 31-33. It is connected to the fork 513, the two teeth 513a, b of which are L-shaped to receive the axis 31a of the main wheel 31 and that 32a of the intermediate wheel 32, that is to say to hold the segment support 35 downstream of the ramp 36. The edge 371 of the flanges 37 associated with the ramp 36 is concave in shape for the same reasons as the edge 271 of the drive modules 2.

The support segment 35 is relatively short to reduce the sliding forces of the track 34 during steering maneuvers, for example, in the event of accentuated pivoting for certain maneuvers, for example, a storage maneuver requiring alternating steering movements one way and the other. This reduction of the support surface is possible because, since the main load is above the drive modules 2, the support of the guide module 3 on the ground is relatively low.

Accessibility to seat 13 is practical and easy because the driver can first stand on the ground in front of seat 13 on either side of the central beam 4. This access is even more comfortable if the handlebar 52 is connected to the steering axis 511 by a horizontal articulation 523 making it possible to raise the handlebars 52 from its lowered position to a raised position.

The center of gravity of the vehicle 100 with the driver seated is advantageously located slightly in front of the support polygon formed by the two ground support segments 25 of the two drive modules 2 in order to apply a fraction of the total load. on the guide module 3.

According to a variant, the seat 13 is movable in longitudinal translation between an advanced position and a retracted position for access, this mobility is such that the center of gravity of the vehicle and of the driver seated on the seat 13 does not protrude towards the rear the support polygon of the two drive modules 2. Depending on the applications of the vehicle 100, the chassis 101 includes a rear support beyond the drive modules 2 and the box to prevent tilting towards the rear. rear of the vehicle in the event of a false maneuver or impact. This support is not represented.

The electric heater 62 is installed as low as possible in the box 11 in an advantageous manner for the stability of the vehicle.

The height of the seat 132 from the ground is preferably the height of a conventional seat. Its longitudinal access position is preferably forward with respect to the driver standing in front of the seat 132, so that he is in front of the nose of the tracks 24 without being hampered and without touching them with his legs or his pants. The nose and the top of the tracks 24 are preferably covered by a cover to prevent contact with clothing. The backrest 131 may include a briefcase or a net for storing objects or a pole support for an awning.

Figure 6 is a simplified top view supplementing Figures 4 and 5. This top view shows the arrangement of the various elements such as the seat 13 on the cover 12 between the drive modules 2, the small footrest 141 in front the seat, the guide member or handlebar 52 with the control members 521 as well as the front support 5 carrying the steering column 51, the steering axis, the fork 13 and the guide module 3.

FIGS. 7A, 7B, already partially described above show the mounting of the pin 23a, 33a on a tensioner 231, 331 formed by a nut 232, 332 associated with each end of the pin 23a, 33a and screwed onto a threaded rod 233, 333 fixed in translation to move the nut and to tension or relax the track 24, 34.

The tensioners 231 rest, for example, on the fastener 28 which comes inside the module 2 and carries the two flanges 27 on each side of the module 2, 3.

In the case of the guide module 3, the tensioner 331 is supported on one of the flanges 37.

The tensioners 231, 331 are covered by a cover 234, 334 allowing access to the tensioner to tension or relax the track 24, 34.

Figure 8 shows schematically the drive means 6 and the control unit 7 housed in the box 11.

Although the drive means may consist, as already indicated, of an electric motor managed by the control unit 7 and connected to the axes of the two drive wheels 21 of the drive module 2 by a mechanical differential, it is more economical and simpler for many applications, to equip each drive module 2 with a drive unit 62 connected to the drive wheel 21 in the module 2; this drive unit 62 can be integrated directly into the drive wheel 21. The drive unit 62 consists of a geared motor connected to the power supply unit 61 via an electronic differential 63 thus controlling powering the two drive units 62 of the drive modules 2 as a function of the speed set by the driver and the steering angle of the handlebar 52. This drive of the modules 2 with an electronic differential 63 also facilitates the realization of the guide module 3 with a drive wheel 31 equipped with an electric drive unit 62 integrated in this wheel.

The drive unit 6 and the control unit 7 make it possible to operate the drive units 62 in a reversible manner to facilitate storage maneuvers of the vehicle 100.

FIGS. 9 and 10 show in perspective and in a simplified side view another embodiment and a variant of the vehicle 100h which differ from the embodiment described above by their drive modules 2h and their directional module. 3h. The description of the elements common to the embodiment already described above will not be systematically repeated in detail, but the common elements will bear the same references supplemented by the suffix h.

The 2h drive module is connected to the 10h chassis by a link allowing angular pivoting (a) about a horizontal axis on either side of the horizontal direction. This swivel link is preferably produced by an extension of the 21 ha axis of the 21h main wheel of the 2h module. This is the rear wheel in the normal direction of movement of the truck. The pivoting can also be done around an intermediate axis between the ends of the drive module

2h.

When the carriage is supported on a flat surface (Figure 10) the drive mo- dule 2h can rotate the angle (a) for example of the order of ^15C to 25 ° relative to the horizontal direction ( d) which is also the direction of the central beam (4h).

According to one embodiment, the drive module is an electric motor gear unit connected to two output shafts via a differential. The axles each carry a drive wheel of the respective 2h drive module.

According to another embodiment, the 2h drive module is provided with an unreferenced electric motor, integrated in the main wheel 21h with, where appropriate, a motor integrated in the return wheel 23h. This integrated motor constitutes a motor unit within the meaning of the present description and it is managed by the control unit 7.

In both embodiments, the pivoting link connecting the drive module 2h to the frame 10h is completed by a return means, not shown. This return means is a mechanical or pneumatic spring acting in the opposite direction to that of the lifting of the front end, that is to say of the return wheel 23h. The 3h directional module consists of a 31h steering wheel which is the running wheel of the 3h module. It is connected to the axis of the steering column 51h by a fork 513h. The steered wheel 31h can integrate an electric motor, managed by the control unit 7 not shown in this embodiment.

FIG. 9 shows the embodiment of a motorized vehicle 100ha with a steered wheel 31h constituting the directional module 3h. Depending on the case and the applications of the 100h vehicle, this 31h wheel has a relatively large diameter compared to the diameter of the caterpillar wheels of the 2h drive modules, which makes it possible to easily overcome irregularities in the track. traffic. The obstacle clearance performance is improved by a steerable wheel of the same diameter if it is driving as provided in a variant. This advantage will be all the easier to achieve since the load is mainly located at the rear, above the 2h training modules.

FIG. 10 shows, in a more schematic representation, a front view of a motorized vehicle 100h according to the previous embodiment with a variant for the directional module 3h in which the steering wheel 31h is completed by a satellite consisting of an auxiliary wheel 32h carried by the fork 513h and located upstream of the steering wheel 31h; its axis 32ha is above the level of the axis 31ha by a height DH1, greater than the radius of the satellite wheel 32h to facilitate the passage of obstacles having a height greater than that of the non-driven steering wheel 31h, could cross alone.

The 32h satellite wheel is advantageously split (twin wheels) so that this 32h satellite wheelset can overlap the 31h steering wheel on each side, thus reducing the distance between the 31ha, 32ha axles and therefore the front footprint.

According to a variant not shown, the steering wheel is preceded by a single or twin ramp, smooth or with wheels. The twin wheels themselves can be shifted from side to side on this double ramp.

In the case of a drive wheel 31h, the possibilities of crossing obstacles are increased because, in contact with the obstacle, the steering wheel 31h prints a component of vertical force.

Figure 11 in its parts AE shows the crossing of a narrow obstacle Obstacle, placed on the path of one of the training modules 2h. In this example, the obstacle Ob is neither on the path of the 3h directional module, nor on the path of the other 2h drive module.

The 2h drive module arrives on the obstacle Ob (Figure 1 IA) and its front rises relative to the 10 lh frame; he initiates the passage of the obstacle (Figure 1 IB) then passes it (Figure 1 IC) and then descends; the 2h drive module tilts down around the 21ha pivot axis (figure 11D) to touch the ground (figure 11E) allowing the obstacle to be cleared without collisions or untimely tipping.

Figure 12 in its parts A-F shows the passage of a step M by the motorized vehicle 100h for different characteristic phases of this movement. According to figure 12A, the vehicle 100H arrives at the counter-step CM via its satellite wheel 32h whose axis 32ha is above the level of the step M. Pushed by the 2h modules, the wheel 33h passes the nose ( figure 2B) until the steerable wheel 31h reaches the reverse gear CM. As it is lifted, its axis 31h is above the level of the step M. It in turn passes the nose of the step M (FIG. 12C). In this example, the dimensions and the dimensional relationships between the height of the step M and the size of the wheels and their position with respect to the chassis 10 lh cause the pivoting of the chassis 10 lh visualized by the inclination of the central beam 4h is such that the 2h modules remain in a horizontal or almost horizontal position and can effectively push the 100H frame even on difficult ground.

Then the 2h modules arrive at the counter step CM and go up (figure 12D) to pass, pivoted (figure 12E) progressively on the nose of the step and arrive on the landing (figure 12F). The lifting movement of the front of the vehicle requires less effort since the load is carried largely by the rear of the vehicle. The pivoting of the 2h drive modules favors the pressure on the ground during the movements of obstacle clearance OB or of a step M. It allows a greater efficiency of the push while smoothing the tilting movement of the chassis 10 lh and the wheelchair with the driver.

The pivoting of the 2h drive modules also makes it possible to simplify the production of these 2h modules by making them almost interchangeable, except for the traction of the driving wheel at 21h. This does not represent any difficulty since the wheels 21h, 23h are of the same diameter.

Figure 13 in its parts AD shows the passage of a step M by a motorized vehicle 100 with a variant of directional module 3k comprising a steered wheel 31k equipped with a satellite 32k in in the form of a crawler ramp, non-motorized, upstream of the steering wheel and carried by the fork 313k of the wheel 31k. This ramp 32k can be doubled on either side of the plane of the steering wheel 31k. The other elements of the vehicle 100k bear the same reference numerals as in the embodiment of FIG. 10 with the suffix k.

The various elements of this embodiment, identical to the preceding ones, will not be systematically repeated in the following description.

The 32k satellite ramp, optionally carried in a retractable manner by the 313k fork, is a ramp of reduced dimensions since it simply serves as a support for the 3k directional module which only supports a small fraction of the vehicle load.

The 32k ramp is made up of two 321k rollers at each end and an intermediate support over which a 322k track passes. This ramp has its low point, below the axis 31ka of the steerable wheel 31k, and its high end gives the maximum ability to overcome an obstacle such as a step.

Such an obstacle is usually around 15 to 30cm high. The ramp 32k makes it possible to reduce the diameter of the steering wheel 31k relative to the diameter which would be necessary to overcome such an obstacle. This is advantageous in particular for reducing the size of the vehicle, in particular when it is folded up.

The start of the crossing of the step M by the directional module 3k can be explained with the help of parts A, B, C, D of figure 13, the continuation of the crossing movement is the same as for the embodiment. of the vehicle 100h according to parts DF of figure 12.

According to FIG. 13A, the vehicle 100k arrives in front of the step M and touches the nose with its inclined ramp 32k. The thrust by the 2k drive modules is exerted by the fork on the body of the 32k ramp and the component of the thrust in the direction of inclination of the ramp causes the rollers of the ramp to roll on its track (figure 13B ) to go up until passing the nose of the step M. The steerable wheel 31k then abuts against the nose of the step and as its axis 31k is above the nose the wheel 31k passes the nose (figure 13C) and rolls on the landing. This passage of the nose can also be done thanks to the impulse produced by the movement, even if the axis of the steered wheel is still slightly below the level of the bearing or the nose of the step.

The sequence of movement is the same as that described using the 100h embodiment in Figures 12D-12F.

To compare the passage capacities of an obstacle by the ramp-shaped satellite 32k and the wheel-shaped satellite 32h, this has been shown in dotted lines in FIG. 13A; we note that the height of the axis 32ha of this satellite wheel 32h only makes it possible to cross a step Mo markedly lower than step M. It should also be noted in conclusion that the conditions for crossing an ob- tackle such as a step M have been described as if the operation were carried out at practically zero speed without taking into account the kinetic energy. However, at non-zero speed, as is the case when crossing a single step, it is not necessary for the satellite 32h, 32k to lift the axis 32ha, 32ka above the level of the step M. This makes it possible to reduce the geometric parameters relating to the radius of the satellite wheel 32h relative to the radius of the steering wheel 31h and of its axis 31 ha or even the position of the lowest point of the ramp 32k relative to the axis 31ka of the steering wheel 31k.

In the case of the steered wheel 31h, without satellite 32h, 32k, this condition of the height of the axis 32ha relative to the level of the nose of the step can also be reduced. If the axis is slightly below the level of the step, the kinetic energy of the steerable wheel 31h which when it meets the step generates an impulse lift the steered wheel 3lh and allowing it to pass. the nose of the step even if, as indicated, its axis is slightly below the level of the step.

NOMENCLATURE OF THE MAIN ELEMENTS

100, 100h Vehicle

101 Chassis

1, lh Rear support

11 Box

12 Cover

121 Hinge

13 Seat

131 File

132 Sitting

133 Armrest

134 Suspension

14 Tray

141, 141h small footrest

2, 2h, 2k Drive module

21, 21h Main wheel / drive wheel 21a, 21ha Main wheel axle

22 Intermediate wheel

22a Intermediate wheel axle

23, 23h Return wheel

23a, 23h Axis of the return wheel

231 Tensioner

232 Nut

233 Threaded rod

234 Hood

24, 24h Chenille

25, 25h Support segment

26 Ramp

27 Flask

271 Concave edge of the flange

28 Fixation / suspension

29 Interior support

3, 3h, 3k Directional module

31, 31h, 31k Main wheel / Steer wheel 31a, 31ha, 31ka Main wheel axle

32 Satellite

32h Satellite wheel

32k Ramp / Satellite ramp

321k Pebbles

322h Caterpillar

32a Axis of the satellite wheel

32ha Axis of the satellite wheel

33 Return wheel

33a Return wheel axle 331 Tensioner

332 Nut

333 Threaded rod

334 Hood

34 Caterpillar

35 Support segment

36 Ramp

37 Flask

371 Concave edge

39 Interior support

4, 4a, 4k Center beam / telescopic beam

41 Rear part / receiving part

42 Front section

43 Locking and / or adjusting device

5, 5h, 5k Front support

51, 51h Steering column

511 Steering axis

512 Landing

513, 513h, 513k Fork

513a, b Teeth

52, 52h Steering unit / handlebars

521 Handlebar controls

522 Swing sensor

523 Handlebar joint

524 Armrest controls

53a, b Footrest

6 Means of training

61 Power unit

62 Drive unit

63 Electronic differential

64 Battery

7 Control unit

Claims

1. Motorized vehicle (100) with a seated driver comprising a frame (101) with a rear support (1) connected by a central beam (4) to a front support (5), a drive means (6) and a control unit (7), the rear support (1), resting laterally on two crawler drive units (2), carrying a seat (13), the front support (5), having a steering column (51) whose steering axis (511) is connected to a steering module (3) at its lower end and to a steering member (52) at its upper end, the drive means ( 6) being associated at least with the drive modules (2).

2. Motor vehicle according to claim 1,

characterized in that the directional module (3) is a pin module (3)

3. Motor vehicle according to claims 1 and 2,

characterized in that

each crawler module (2,3) comprises a crawler track (24, 34) formed by a main wheel (21, 31), at least one intermediate wheel (22, 32) and a return wheel (23, 33) , the main wheel (21, 31) and the intermediate wheel (22, 32) forming the support segment (25, 35) of the caterpillar (24, 34) on the ground, the intermediate wheel (22, 32) and the return wheel (23, 33) forming a ramp (26) at the front of the module (2, 3) for crossing obstacles.

4. Motor vehicle according to claim 1,

characterized in that

the directional module (3h) is a steering wheel module (31h).

5. Motor vehicle according to claim 4,

characterized in that

the radius of the steered wheel (31) is at least greater than the average height of the obstacles to be overcome, such as a step

6. Motor vehicle according to claim 1,

characterized in that

the directional module (3 hrs) includes a steerable wheel (31 hrs) equipped with a drive unit.

7. Motor vehicle according to claim 1 or 6,

characterized in that the drive means (6) is an electric drive comprising a power unit (61) and a battery (64) for powering the electric drive unit (62), combined with the wheel main (21, 31) of the drive modules (2) and / or to a wheel of the directional module (3).

8. Motor vehicle according to claims 7,

characterized in that

the drive unit is integrated into the main wheel (21, 31) of the drive module (2) and / or the steering module (3) and / or a steering wheel (31h).

9. Motor vehicle according to claim 7,

characterized in that

the electric drive means (6) comprises an electronic differential (63) connected to each drive unit (62) of the drive modules (2).

10. Motor vehicle according to claims 7 and 9,

characterized in that

the steering column (51) has a pivot sensor (522) supplying a steering signal corresponding to the steering angle, to a control unit (7) managing the electronic differential (63) of the unit d power (61) from the direction signal.

11. Motor vehicle according to claim 1,

characterized in that

the central beam (4) is a telescopic beam formed of a rear part (41) connected to the rear support (1) and a front part (42) connected to the front support (5).

12. Motor vehicle according to claim 11,

characterized in that

that the telescopic central beam (4) comprises an adjusting member (43) adjusting its length.

13. Motor vehicle according to claim 4,

characterized in that

the directional module (3h) is fitted with a satellite wheel or a pair of satellite wheels (32h) carried upstream of the steering wheel (31h)

14. Motor vehicle according to claim 13,

characterized in that

V axis (32ha) of the planet wheels is above the axis (31ha) of the steerable wheel (31h), its radius being greater than the height difference (D Hl) between the two axes (31ha / 32ha ).

15. Motor vehicle according to claim 13, characterized in that

the planet wheel or pair of planet wheels (32h) are preceded by a secondary wheel whose axis is above that of the planet wheels (32h) and its radius is greater than the difference in height between the axis ( 32ha) of the satellite wheel (32h) and the axis of the secondary wheel.

16. Motor vehicle according to claim 13,

characterized in that

the directional module (3k) is fitted with a ramp or a pair of satellite ramps (32k) upstream of the steering wheel (31k).

17. Motor vehicle according to claim 16,

characterized in that

the ramp (32k) is a crawler ramp.

18. Motor vehicle according to claim 1,

characterized in that

the drive modules (24) are mounted to pivot, around the axis of the drive wheel of the respective drive module (2h) with a spring return means.

19. Motor vehicle according to claim 1,

characterized in that

the drive module (2h) is a tracked module made up of a driving wheel (21h) and a return wheel (23h) over which the caterpillar passes (24h).

20. Motor vehicle according to claim 1,

characterized in that it comprises

side crutches located at the level of the footrests to prevent the vehicle from tilting excessively, these crutches being fitted with casters.