阅读说明：本技术 适于在地表面上滚动的滚动设备 (Rolling device adapted to roll on ground surface ) 是由 菲利普·卡舍克斯 乔治斯·巴拉卡特 于 2019-07-12 设计创作，主要内容包括：一种适于在地表面上滚动的滚动设备,该滚动设备包括至少一个机动轮(1),该至少一个机动轮包括圆形定子(2)和圆形转子(3)。定子(2)包括圆形槽和位于圆形槽中的多个电磁线圈(16),使得至少两个电磁线圈(16)彼此面对地布置。圆形转子(3)包括圆形带(45)以及与地面接触的接触表面,该圆形带具有侧壁和连接侧壁的自由端边缘,所述圆形带包括布置在其侧壁上的磁性元件。圆形转子(3)和圆形定子(2)借助于设置在圆形定子(2)上的组装装置(17)进行组装。(A rolling device adapted to roll on a ground surface, the rolling device comprising at least one motorized wheel (1) comprising a circular stator (2) and a circular rotor (3). The stator (2) comprises a circular groove and a plurality of electromagnetic coils (16) located in the circular groove such that at least two electromagnetic coils (16) are arranged facing each other. The circular rotor (3) comprises a circular band (45) having a side wall and a free end edge connecting the side wall, said circular band comprising magnetic elements arranged on its side wall, and a contact surface for contacting the ground. The circular rotor (3) and the circular stator (2) are assembled by means of an assembly device (17) arranged on the circular stator (2).)

1. Rolling apparatus adapted to roll on a ground surface, the apparatus comprising at least one motorized wheel (1) and a housing (51) for controlling the at least one motorized wheel (1), the at least one motorized wheel comprising:

-a circular stator (2) comprising a body (4) defining a circular groove (13) and comprising a plurality of electromagnetic coils (16) located in the circular groove (13) such that at least two electromagnetic coils (16) are arranged facing each other, and

-a circular rotor (3) comprising on an inner periphery (8) a circular band (45) having a side wall (34) and a free end edge (33) connecting the side wall (34), the circular rotor (3) comprising a contact surface with the ground, the contact surface extending on an outer periphery, and the circular band (45) comprising magnetic elements (28) arranged on the side wall (34) of the circular band,

-the circular rotor (3) and the circular stator (2) are assembled by means of an assembly device (17) provided on the circular stator (2), the circular band (45) of the circular rotor (3) being arranged in the circular groove (13) of the circular stator (2) such that the magnetic elements (28) of the circular band (45) are located between the electromagnetic coils (16) of the circular stator (2).

2. Rolling device according to claim 1, characterised in that the body (4) of the circular stator (2) comprises two stator halves (5) fixed to each other so that the circular groove (13) is continuous.

3. Rolling device according to claim 2, wherein each stator half (5) comprises fixing pads (7) able to fix the stator halves (5) to each other, these fixing pads (7) being located on the inner perimeter (8) of the stator halves (5).

4. Rolling device according to claim 3, characterised in that said assembly means (17), called rotary support (17), are arranged on the inner perimeter (8) of said circular stator (2).

5. Rolling device according to claim 4, characterised in that the rotary support (17) is arranged on the fixed mat (7).

6. Rolling device according to claim 4 or 5, characterised in that said rotary support (17) comprises:

-a shaft (21),

-two ball bearings (22) mounted on the shaft (21), and

-a roller (23) mounted on said ball bearing (22).

7. Rolling device according to claim 6, characterised in that the roller (23) comprises a groove (27) intended to receive a circular strip (13) of the circular rotor (3), and in that the groove (27) at least partially corresponds, in cross section, to the free end edge (33).

8. Rolling device according to any one of the preceding claims, characterised in that the magnetic elements (28) of the circular rotor (3) comprise an iron-silicon alloy or a ferromagnetic alloy.

9. Rolling device according to any one of claims 1 to 7, characterised in that the magnetic elements (28) of the circular rotor (3) comprise permanent magnets free of rare earths.

10. Rolling device according to claim 8, characterised in that the side wall (34) of the circular band (45) comprises one or more openings (35) receiving the magnetic elements (28).

11. Rolling device according to any one of claims 6 to 10, characterised in that it comprises adjustment means (24) able to vary the inclination of the shaft (21) of the rotary support (17) to adjust the distance separating the circular rotor (3) from the circular stator (2).

12. Rolling device according to the preceding claim, wherein the adjustment means (24) capable of varying the inclination of the shaft (21) of the rotary support (17) are two eccentric bearings (24) forming the junction between the shaft (21) and the fixed pad (7), each eccentric bearing (24) being mounted on both sides of the shaft (21).

13. Rolling device according to any of the preceding claims, characterized in that it comprises an adjustment device (37) for adjusting the position of a point (42) for fixing said at least one motorized wheel (1) to the rolling device, said adjustment device (37) comprising means for fixing to a connecting shaft.

14. Rolling device according to the preceding claim, wherein the adjustment device (37) for adjusting the position of the fixing point (42) of the at least one motorized wheel (1) comprises:

-substantially parallel guide rods (39) fixed to the circular stator (2),

-an electric motor (40),

-a worm screw (41) coupled with the electric motor (40),

-a fixing slide (42) comprising means for fixing to the connecting shaft, the fixing slide (42) being mechanically coupled with the worm screw (41) and the guide bar (39) such that rotation of the worm screw (41) enables displacement of the fixing slide (42) along the guide bar (39).

15. Scrolling device according to any of the preceding claims, wherein the scrolling device comprises:

a microcontroller (46),

-a power card (47) connected to the microcontroller (46),

-a battery (48) connected to the power card (47), and

-a battery charger capable of charging the battery (48),

a computer program is implemented in the microcontroller (46), the microcontroller (46) being able to continuously supply the electromagnetic coils (16) of the circular stator (2) to enable the circular rotor (3) to rotate.

16. A rolling apparatus according to any one of the foregoing claims, characterised in that the rotor (3) further comprises a tyre (32) or a set of rollers distributed on the outer periphery of the rotor (3), the tyre or the set of rollers serving as contact surfaces with the ground.

17. A rolling device according to any one of the preceding claims, characterized in that the control housing (51) comprises an inclination sensor connected to the microcontroller, which inclination sensor is able to measure the smoothness of the rolling device (50) and to provide this measurement to the microcontroller (46), so that the microcontroller (46) changes the position of the fixed point of the at least one motorized wheel (1) by actuating the electric motor (40) of the adjustment device (37) for adjusting the position of the fixed point of the at least one motorized wheel (1).

18. Rolling device according to any one of the preceding claims, wherein the rotor (3) comprises a rim (29) extending on an outer edge (30), and the circular band (45) connects the free end edge (33) to the rim (29).

19. Rolling device according to any one of the preceding claims, characterised in that the walls of the belt (45) are reinforced at least at the level of the ends (3A, 3B) of the belt by a carbon fibre covering comprising an epoxy-based resin.

Technical Field

The present invention relates to the field of motorized equipment comprising motorized wheels. The invention also relates to any rolling device, and more particularly to a wheelchair equipped with motorized wheels.

More broadly, the present invention relates to any type of rolling device suitable for rolling on a ground surface, such as bicycles, motorcycles, scooters, tricycles, segaways, cars, airplanes, robots, etc.

Background

Motorized wheel designs have long been known. The motorized wheels are moved by a motor, usually at a distance therefrom. The motorized wheel has a circular shape and is mounted on a hub.

Motorized wheels have been developed later. The motor, which is initially located outside the wheel, has been integrated into the wheel.

Motorized wheels may be assembled to different supports to make the supports movable. Thus, motorized wheels have emerged that can be adapted to different supports (for example bicycles or wheelchairs).

Current motorized wheels include an electric motor. The motor includes a stator provided with a series of coils and a rotor movable relative to the stator. The rotor is rotated by the magnetic field induced by the coils of the stator. This movement enables the wheel to rotate.

Motorized wheels can support and transfer heavy loads. Thus, the motorized wheels must produce a significant low speed torque.

Although some motorized wheels produce a significant amount of torque, a disadvantage is that these wheels still consume a significant amount of energy. As a result, the efficiency of these motorized wheels is particularly low and battery life is greatly affected.

Another disadvantage is the size of the wheel. The motorized wheels intended to generate a high torque are so thick that the engine can be inserted in the central space of the motorized wheels. These surprising dimensions make these motorized wheels impractical for use in high power applications such as bicycles or wheelchairs.

Another drawback of motorized wheels is that they are equipped with reducers, which, due to the high number of components they comprise, considerably increase the mass and production costs of the motorized wheels and reduce their reliability, in addition to increasing the noise in use.

Another disadvantage of these motorized wheels is the magnetic element used. These magnetic elements are usually permanent magnets made of rare earth bases. These rare earth magnets have some disadvantages. Extraction and utilization of rare earths have adverse effects on the environment. In addition, the use of rare earth permanent magnets is problematic because they generate magnetic forces in the absence of electrical current, since the residual induction of these magnets can reach 1.5 tesla. This is undesirable in situations where a manually rotated wheel is required. Thus, the rotor actually systematically tends to return to the magnetically balanced position. This magnetic return force can be reduced despite the use of rare earth magnets, but this requires a complex arrangement of magnetic elements, which significantly increases the complexity of the motorised wheels, makes them more difficult to manufacture and increases their cost.

Another drawback of motorized wheels lies in the fact that: the height of these motorized wheels is fixed. In practice, for example, the fixing of the wheels to a support such as a wheelchair is substantially done in the vicinity of an area located in the centre of said motorized wheels. It can be uncomfortable to statically fix the motorized wheel to its support.

Disclosure of Invention

It is an object of the present invention to overcome at least one of the above-mentioned disadvantages of a scrolling device. To this end, a rolling device adapted to roll on a ground surface is proposed, the rolling device comprising at least one motorized wheel and a housing (51) for controlling said at least one motorized wheel (1), said at least one motorized wheel comprising:

-a circular stator comprising a body defining a circular slot and comprising a plurality of electromagnetic coils located in the circular slot such that at least two electromagnetic coils are arranged facing each other, and

-a circular rotor comprising on the inner periphery a circular band with a side wall and a free end edge connecting the side wall (34), the circular rotor comprising a contact surface with the ground, said contact surface extending on the outer periphery, and said circular band comprising magnetic elements arranged on the side wall of said circular band, the circular rotor and the circular stator being assembled by means of an assembly device provided on the circular stator, the circular band of the circular rotor being arranged in the circular slot of the circular stator such that the magnetic elements of said circular band are located between the electromagnetic coils of the circular stator.

Various additional features may be provided, either alone or in combination:

the body of the circular stator comprises two stator halves fixed to each other so that the circular slot is continuous;

-each stator half comprises fixing pads capable of fixing the stator halves to each other, these fixing pads being located on the inner perimeter of the stator half;

an assembly device, hereinafter referred to as rotary support, is arranged on the inner periphery of the circular stator;

-the rotary support is arranged on a fixed pad;

-the rotary support comprises;

-a shaft, which is rotatable about a rotation axis,

two ball bearings mounted on a shaft, and

-a roller mounted on a ball bearing;

the roller comprises a groove intended to receive the circular band of the circular rotor and which, in cross section, at least partially corresponds to the free end edge;

the magnetic elements of the circular rotor comprise an iron-silicon alloy or a ferromagnetic alloy, or permanent magnets free of rare earths;

-the side wall (34) of the circular band (45) comprises a plurality of openings (35) receiving the magnetic elements (28);

the rolling device comprises adjustment means able to vary the inclination of the shaft of the rotary support to adjust the distance separating the circular rotor from the circular stator;

the adjustment means capable of varying the inclination of the shaft of the rotary support are two eccentric bearings forming a joint between the shaft and the fixed pad, each eccentric bearing being mounted on both sides of the shaft;

the device comprises an adjustment device for adjusting the position of the point for fixing the at least one motorized wheel, said adjustment means comprising means for fixing to the connecting shaft;

-the adjustment device for adjusting the position of the motorized wheel comprises:

-substantially parallel guide bars fixed to the circular stator,

-an electric motor for driving the motor,

-a worm screw coupled with the electric motor,

-a fixing slide comprising means for fixing to the connecting shaft, said fixing slide being mechanically coupled with the worm screw and the guide bar, so that rotation of the worm screw can displace the fixing slide along the guide bar;

-the scrolling device comprises:

-a microcontroller for controlling the operation of the microprocessor,

-a power card connected to the microcontroller,

-a battery connected to the power card,

-a battery charger capable of charging the battery,

and the computer program is implemented in a microcontroller that can continuously power the electromagnetic coils of the circular stator to enable the circular rotor to rotate.

Preferably, the power card may be a power converter.

In particular, a rolling device (for example a wheelchair) is proposed, which comprises two motorized wheels and a housing for controlling the motorized wheels.

Various additional features may be provided, either alone or in combination:

the control housing comprises an inclination sensor connected to the microcontroller, which is able to measure the smoothness of the rolling device and to provide the measured values to the microcontroller, so that said microcontroller changes the position of the point fixing the motorized wheels by actuating the electric motor of the device for adjusting the height of the motorized wheels.

More broadly, the present invention is directed to any type of rolling equipment suitable for rolling on a ground surface, for example intended to transport one or more persons, animals or property or apparatus for servicing on the ground.

Within the scope of the present invention, the ground is defined as the rolling surface on which the device is intended to roll. For example, the ground may be a road or street, a trail or path, a sidewalk, or natural terrain not covered by a covering.

The invention is particularly directed to motor vehicles such as bicycles, scooters, segaways, scooters, motorcycles, robots. Of course, the invention is not limited to these examples given as illustrations, but is more broadly directed to any type of vehicle that can be motorized and intended to be displaced by rolling on a ground surface.

The invention has good application in the field of aeronautics, in particular for aircraft landing strips, or more generally for any type of vehicle adapted to be displaced on the ground, in particular by means of propellers, which cannot be moved backwards but can be pulled backwards.

Drawings

Other characteristics and advantages of the invention will appear in the following description, with reference to the attached drawings, given as non-limiting examples, in which:

figure 1 is a perspective view of a motorized wheel according to the invention;

figure 2 is a perspective view of the stator of the motorized wheel;

figure 3 is a perspective view of the rotating support of the motorized wheel;

figure 4 is an exploded perspective view of the rotary support of figure 3;

figure 5 is a close-up perspective view of the rotating support of figures 3 and 4, mounted in a motorized wheel;

figure 6 is an exploded perspective view of a stator according to the invention;

figure 7 is a perspective view of a stator according to the invention;

figure 8 is another perspective view of a motorized wheel according to the invention;

figure 9 is a cross-sectional view of the motorized wheel along the plane IX-IX of figure 1;

figure 10 is an exploded perspective view of a rotor according to the invention;

figure 11 is a perspective view of the rotor of figure 10;

figure 12 is a perspective view of a wheelchair comprising motorized wheels of the previous figures;

figure 13 is a perspective view of a motorized wheel of the previous figures, equipped with a battery and additional electronic components;

figure 14 shows an example of embodiment of an eccentric bearing;

figure 15 shows, as a perspective view, the contact of the rotor with the stator by the action of the eccentric bearing;

figure 16 shows, as a perspective view and in cross section, a portion of a rotor according to a particular embodiment;

figures 17a and 17b show, as perspective views, a rotor and a stator, separated and assembled according to a particular embodiment.

Detailed Description

In fig. 1, a motorized wheel 1 is shown. The motorized wheel 1 comprises a circular stator 2 and a circular rotor 3. The circular stator 2 comprises a body 4. The body 4 is made by assembling two stator halves 5 together. Due to the plurality of fixing means, the stator halves are formed integrally with each other. Each stator half 5 comprises a fixing pad 7. The fixing pads 7 are located on the inner periphery 8 of the stator half 5 and these are provided with fixing apertures 9. On the inner side of the fixing mat 7, the latter comprises an annular housing 10, which is fixed substantially concentrically with the fixing orifice 9. The fixing means are in the form of cylindrical rods 6. A cylindrical bar 6 is arranged between the stator halves 5, more specifically between the fixing pads 7 facing each other. The ends of the fixing rods are received in the annular receiving portions of the fixing pads 7.

The cylindrical rod 6 comprises a threaded inner bore 11. On each side of the threaded rod, a screw 12 is inserted through the fixing aperture 9 into the inner aperture 11 of the cylindrical rod 6. Thus, the stator halves 5 are formed integrally with each other.

Advantageously, the diameter of the cylindrical rod 6 is greater than the diameter of the fixing aperture 9. This enables the threaded rod to perform an additional function, further integrating the two stator halves 5. This additional function consists in keeping the stator halves 5 at a distance from each other. The two stator halves 5 are never in direct contact.

Thus, the body 4 defines a circular groove 13. The circular groove 13 is continuous over the entire circumference of the circular stator 2. In other words, the circular groove 13 defines a 360 ° circular path without any obstacle. This is made possible in particular because the body 4 of the stator 2 is obtained using two stator halves 5.

Each stator half 5 comprises a plurality of teeth 14. The teeth 14 are arranged on and project from an inner face 15 of the stator half 5. The teeth 14 have a cubic shape or a rectangular parallelepiped shape. The teeth 14 may have different shapes. Thus, the stator comprises a plurality of pairs of teeth 14 distributed over the circumference of the body 4. Each pair comprises two teeth 14 arranged facing each other. In other words, in each pair, the teeth 14 of the stator half 5 face the other teeth 14 of the other stator half 5.

The circular stator 2 includes an electromagnetic coil 16. The coil 16 is mounted on the teeth 14. Thus, the stator comprises as many coils 16 as there are teeth 14. Just like the teeth 14, the coils 16 of the stator half 5 are positioned opposite the coils 16 of the other stator half 5.

In the embodiment shown in the drawings, the circular stator includes 36 pairs of electromagnetic coils, i.e., 72 electromagnetic coils.

According to an embodiment variant, the electromagnetic coils 16 are not distributed over the entire circumference of the stator half 5 (not shown), but only over one or more portions of the circumference of the stator 2 to form one or more coiled sections.

For example, the coils are distributed over half or only a quarter of the circumference of the stator halves to form a so-called "arch" distribution. Advantageously, this distribution of the coils makes it possible to reduce the weight of the structure.

According to a particular embodiment, the coils may be distributed to form an alternation of active segments, referred to as active arches, and unused segments, referred to as inactive arches.

According to the embodiment shown in fig. 2, seven pairs of coils 16 are mounted in succession on the two stator halves 5 by forming a single segment, so that each pair of coils faces each other.

According to the embodiment shown in fig. 7, the two stator halves are assembled together in mirror image with each tooth 14 of the stator half 5 facing the tooth 14 of the other stator half 5.

According to the embodiment shown in fig. 2, 6 and 7, both stator halves 5 have the same number of teeth. According to another particular embodiment, the two stator halves 5 have a different number of teeth, so that they do not form two mirror-image twinned stator halves. This resulting embodiment of the two stator halves and the rotor makes it possible to reduce the axial attraction forces of the rotor under the action of the two stator halves and also to reduce the potential vibrations of the electromagnetic source.

According to another particular embodiment, the two stator halves 5 are mounted offset from each other so that the torque exerted by each of the stator halves is opposite.

According to an alternative embodiment (not shown), the two stator halves are assembled mirror-image of each other, but the coils 16 may be mounted offset from each other so that each of the coils of a stator half is not face-to-face with a coil fixed on the other stator half. This embodiment makes it possible to reduce the geared torque exerted on the rotor due to the variation in the permeability of the air gap. More specifically, the method makes it possible to resist the geared torque on either face of the rotor, thereby reducing the total geared torque.

The stator includes an assembly device (hereinafter referred to as a rotary support 17) shown in fig. 3 to 5. A rotating support 17 is applied and mounted on the fixed pad 7. To this end, each fixing pad 7 comprises a support aperture 18 intended to receive an end 19 of the rotary support 17. The fixing pad 7 includes a plurality of adjustment apertures 20 formed around the support aperture 18. Each rotary support comprises a plurality of elements that can be seen in fig. 4, namely:

-the axis 21 of the support element,

two ball bearings 22 mounted on the shaft 21 of the support,

a roller 23 mounted on a ball bearing 22,

two eccentric bearings 24 forming the joint between the shaft 21 of the support and the fixed pad 7.

The inner race 25 of the ball bearing is mounted on the shaft 21 of the support and the outer race 26 is mounted on the rollers 23. Thus, the roller 23 can rotate relative to the shaft 21 of the support. The roller 23 comprises a substantially U-shaped guide groove 27. The rotary support is applied and mounted on two fixed pads 7 positioned opposite each other, as shown in fig. 5.

An example of an embodiment of the eccentric bearing 24 is shown in fig. 14. By "eccentric" the bearing is meant that the bearing has an off-centre receptacle 240 or is eccentric with respect to the axis of rotation a24 of the bearing, which receptacle is intended to receive the end of the support shaft 21. Thus, the center of the eccentric receptacle 240, which passes through the axis of symmetry a240 of the receptacle, does not coincide with the center of the bearing 24, which passes through the axis of rotation a24 of the bearing. It can be determined that the axis of rotation of the roller 23 is eccentric with respect to the axis of rotation of the bearing 24, according to an eccentricity value, for example, denoted by reference numeral "e". For example, the actual value of eccentricity is 5/10mm, which may be the exact value (d bettement) +/-1 mm.

The ends of the shafts 21 of the support are each inserted into the support aperture 18 of the fixing pad 7. The eccentric bearing 24 is then applied on the outside of the fixing pad 7 and the eccentric bearing 24 is inserted into the support aperture 18. The shaft 21 of the support is therefore inserted in an eccentric bearing 24, which is itself fixed to the fixed pad 7 by means of a plurality of screws inserted through the eccentric bearing 24 in the adjustment apertures 20 of the fixed pad 7. The roller 23 is free to rotate relative to the eccentric bearing 24. In the embodiment shown in the figures, motorized wheel 1 comprises three rotary supports 17 arranged substantially at 120 ° to each other.

As mentioned above, motorized wheel 1 comprises a circular rotor 3. The circular rotor 3 includes:

a rim 29 extending over the outer edge 30, and

a circular band 45 extending over the inner edge 31.

The circular rotor 3 further comprises a tyre 32 serving as a contact surface for contact with a ground surface (not shown in the drawings). Such a tire 32 as shown in fig. 9, 17a and 17b, for example, is intended to roll on a road, a trail, a path or any type of undulating terrain or surface over which the tire may roll.

According to an embodiment variant (not shown), the tyre 32 can be replaced by a set of rollers distributed on the outer perimeter of the rotor 3, more particularly on the contact surface with the ground, to roll on the ground surface. For example, a roller is an omni-directional wheel without a tire, commonly referred to as an "omni-directional wheel" or "omni-directional wheel".

The rotor 3 thus directly carries the rim 29 and the tyre 32 on the rim, or any other alternative to a tyre suitable for rolling on the ground surface, so that the motorized wheel can be considered as a "wheel motor", i.e. a motor in which the rotor acts as a wheel.

Thus, a rolling vehicle can be motorized by simply replacing all or some of the current wheels with at least one motorized wheel or "wheel motor" according to the invention.

The circular band 45 is fixed to the rim 29, for example by welding or gluing. The circular band 45 comprises a free end edge 33 and a side wall 34. The free end edge 33 at least partially corresponds substantially to the groove 27 of the roller 23. The circular band 45 is a thin annular plate. The side wall 34 of the circular band 45 comprises a plurality of openings 35 intended to receive magnetic elements.

The rotor 3 and the stator are assembled together such that the strips of the rotor 3 are arranged in the slots 13. Thus, the magnetic elements of the rotor 3 are located between the electromagnetic coils 16 of the stator. In the embodiment shown in the figures, the rotor 3 comprises 24 electromagnetic elements 28. The free end edge 33 of the circular band 45 is housed in the groove 27 so that the stator bears on the three rotary supports 17. The grooves 27 thus make it possible to guide the circular belt 45 and thus the circular rotor 3 in rotation.

The fact that the groove 27 at least partly substantially corresponds to the groove 27 makes it possible to prevent the free end edge 33 from being displaced in the groove 27. The wheel is thus better guided, which, in addition, makes it possible to avoid derailment of the rotor.

By positioning the fixing pads 7 on the inner periphery 8 of the stator halves, a considerable space between the stator halves 5 can be eliminated, in order on the one hand to enable the rotor to be assembled as compactly as possible within the stator and on the other hand to contribute to a reduction of the air gap.

By positioning the rotary support 17 on the inner periphery, and more specifically on the fixed pad 7, the assembly of rotor and stator is more compact, with better mechanical strength.

When the circular rotor 3 rotates, the circular belt 45 supported on the rotary support 17 can rotate without difficulty.

The electromagnetic coil 16 is oriented along the wheel axis X. This means that the axis passing through the centre of the coil 16 is oriented substantially along the axis X. This makes it possible to reduce the thickness of the wheel, as opposed to a different orientation.

Advantageously, the magnetic element 28 of the rotor 3 comprises a polar block, for example an iron-silicon alloy.

Preferably, the polar block comprises a ferromagnetic alloy.

The insertion of the polar blocks in the rotor 3 is particularly advantageous for rendering the rotor electromagnetically passive in case the rotor 3 does not contain an electromagnetic source. In practice, only the electromagnetic coils 16 arranged on the stator half 5 are supplied by a current source.

Preferably, the polar blocks are arranged within the inner wall of the rotor 3, as shown in fig. 16. Circular band 45 connects guide snap ring 33 to rim 29. For example, the circular band 45 comprises anchoring means 35, for example a groove or notch intended to fix a magnetic element such as the polar block 28. Advantageously, these anchoring means are distributed at regular intervals over the whole or part of the circumference of the circular band, so as to anchor or fix the polar blocks equidistantly.

The side wall of the rotor 3 with the circular band is made of a non-conductive material such as glass fiber.

In the example of fig. 16, the two side walls of the rotor 3 comprising the polar blocks 28 are at least partially covered by a covering comprising a material having mechanical properties suitable for reinforcing or hardening the rotor 3. For example, the material is carbon fiber to which an epoxy resin may be added. For example, the material is disposed in a peripheral region of the circular band 45, such as shown by reference numerals 3A and 3B in fig. 16.

Thus, the magnetic element 28 is free of rare earths, which does not hinder the manual displacement of the rotor 3 with respect to the stator 2.

It has to be noted that in variants permanent magnets without rare earths can still be used, but this option does not constitute a preferred embodiment, since it involves a residual destruction to manual use.

The air gap is the distance separating the rotor 3 from the stator. The adjustment of this distance is achieved by using an eccentric bearing 24. By displacing the eccentric bearing 24 upwards or downwards, the shaft 21 of the support is tilted, which makes it possible to vary the trajectory of the circular band 45 due to the action of the groove 27 of the roller 23 on the free end edge 33. The air gap can thus be adjusted to improve the performance of the motorized wheel 1, in particular to improve the torque of the motorized wheel when stopped, so as to transfer very large loads, despite the small thickness of the motorized wheel along the axis X.

Fig. 15 shows in perspective the positioning of the free end 33 of the rotor 3 (i.e. the rolling snap ring) between the two stator halves 5 with respect to the groove 27 of the roller 23 of the rotary support 17. When the eccentric bearing 24 is engaged in the opening 18 of the stator half 5, the position of the eccentric bearing 24 can be adjusted by rotation. To this end, a groove 242 is provided on the outer surface of the bearing 24 to rotate the eccentric bearing.

Thus, due to the eccentric accommodation portion 240 provided on each of the eccentric bearings 24, the synchronous rotation of the two bearings 24 on each stator half 5 makes it possible to move the guide rollers 23 closer to or away from the rolling snap ring 33 of the rotor 3. The position of the support 21 connecting the two bearings 24 is adjusted by the rotation of the bearings 24.

In a "keep-off" position such as that shown in fig. 15a, the rotor 3 is not in contact with the stator 2. The eccentric bearing 24 is in a so-called remote position. This position is achieved, for example, by the angled orientation of the slot 242.

In a "contact" position such as that shown in fig. 15b, the rotor 3 is in contact with the stator 2. This position is obtained by rotating the eccentric bearing 24 about its axis of rotation a24 (e.g. as defined in fig. 14). This so-called "touch" position is achieved, for example, by the horizontal orientation of the slot 242. Due to the eccentricity of the housing 240, the rotation of the bearing 24 has the effect of displacing the shaft 21 so that the free end 33 of the guide snap ring comes into contact with the groove of the roller 23.

Thus, the rotation of the eccentric bearing 24 makes it possible to adjust the operating clearance of the rotor 3 radially and axially.

Fig. 17a shows the rotor 3 and the stator 5 shown side by side. As described above, the rotor 3 comprises the circular band 45 and the polar blocks 28, which are distributed at regular intervals on the circular band 45 by being anchored in the openings 35. For clarity of presentation, the polar blocks 28 appear free, i.e., not covered on both sides of the belt 45.

The stator 2 has slots defined between teeth around which the coils 16 are wound. In this embodiment, the coil 16 is wound around the tooth so that the coil does not exceed the extreme portion of the tooth extending towards the centre of the slot. Thus, a continuous groove is formed, the width of which is equal to the distance separating the tops of two teeth facing each other.

Fig. 17b shows the assembly of the rotor 3 and the stator 2 of fig. 17a, more specifically the assembly of the rotor 3 and the stator 2 with the guide snap ring 33 of the rotor 3 in contact with the bearing 23 of the stator 2.

The motorized wheel therefore comprises a central region which can be used to house the various operating and control elements of the motorized wheel 1.

Motorized wheel 1 comprises:

-a microcontroller 46 for controlling the operation of the motor,

power electronics, such as a power card 47 connected to the microcontroller 46,

a battery 48 connected to the power card 47, an

A battery charger (not shown) connected to the power card 47.

Preferably, the card is a power converter 47 adapted to supply power to the motor and control the battery charger. Both functions may be implemented within the same circuit board.

Motorized wheel 1 further comprises an inverter, for example of 48V and 500W, to generate voltage and alternating current.

The microcontroller is connected to the control housing 51 so that information such as direction of movement, speed of rotation can be given according to the desires expressed by the user. The control housing 51 may be connected to the microcontroller using a suitable cable or in a wireless manner, in which case the microcontroller is equipped with data transmission/reception means.

The operating principle of the motorized wheel 1 will now be described.

The microcontroller manages the powering of the solenoid 16 according to the desires expressed by the user.

The motorized wheel 1 is moved by supplying power to the electromagnetic coil 16, due to the current from the battery. The microcontroller alternately supplies power to the solenoids 16 (in pairs). This alternation causes a rotation of the magnetic field and therefore a movement of the rotor 3, thus advancing the motorized wheel 1.

An example of an application of the motorized wheel will be described below. As an example, two motorized wheels are mounted on the connecting shaft of the wheelchair. The following table summarizes the operation of the motorized wheels according to the requirements expressed by the user for the control housing 51 to be connected to them:

typically, the control housing comprises a human-machine interface intended to send control signals to the motorized wheels to enable the user to control the rolling device on which the motorized wheels 1 are mounted. As an illustrative example, the control housing 51 includes a steering wheel and/or a joystick. The control housing may be connected to one or more sensors (e.g. gyroscopes, accelerometers) for the purpose of providing information about the environment in which the scrolling device is displaced.

Advantageously, motorized wheel 1 comprises a device 37 for adjusting the position of the wheel, as shown in fig. 1 and 8. More specifically, the device 37 makes it possible to adjust in real time the position of the fixed or anchoring point of the motorized wheel 1 on the rolling device, so as to maintain an optimal hold of the ground of the rolling device according to the configuration of the ground (for example, the inclination or slope of the rolling surface). Thus, the stability of the rolling device is ensured by improving the hold on the ground at each moment, in particular when the device is rolling on the ground surface.

The adjustment device 37 comprises a track 38 provided with two guide rods 39 fixed to the stator. The guide rods 39 are oriented along the diameter of the stator and are positioned on either side of the diameter. The guide rods 39 are substantially parallel. The apparatus comprises an electric motor 40 mechanically coupled to a worm screw 41. A worm screw 41 is arranged between the guide rods 39. The device further comprises a fixed slide 42. The fixed slider 42 includes a mechanical coupling interface coupled with the connecting shaft.

The use of a connecting shaft advantageously makes it possible to clear the space inside the wheel for mounting therein the battery and one or more circuit boards, for example an inductive battery charger for contactless charging, as shown in fig. 13.

Furthermore, the slide 42 comprises a guide aperture 43 intended to receive the guide rod 39 and a threaded aperture 44 intended to receive the threaded worm screw 41. When the worm screw 41 rotates, the slider is displaced along the guide bar. A suitable worm screw 41 is for example a ball screw.

Advantageously, the housing 51 comprises a tilt sensor connected to the microcontroller. The inclination sensor makes it possible to determine the smoothness (assette) of the wheelchair 50, providing the microcontroller with the necessary information (for example a measure of the smoothness or inclination of the wheelchair) so that this can act on the position of the fixed slide 42 along the worm screw 41 in the traction wheel 1 to ensure that in any case the user sitting on the wheelchair is always in a horizontal position. For example, when the wheelchair is engaged on a sloping ramp, the microcontroller triggers the electric motor 40 to raise the fixed slide and maintain the seat of the wheelchair in a horizontal position.

The motorized wheel is advantageously equipped with an obstacle detector, a distance detector and a GPS chip. These elements connected to the microcontroller enable the motorized wheel to autonomously connect the battery charging station in a closed place, such as an apartment.

The motorized wheel described above has a number of advantages, namely:

in particular due to the arrangement of the circular band 45 in the circular groove, the motorized wheel generates a very low-speed torque without consuming a large amount of energy,

the motorized wheel has a small thickness, suitable for use on a wheelchair or a bicycle,

the motorized wheel does not require the use of a reducer, which greatly reduces the quality, production costs and reliability of the motorized wheel, while reducing the noise in use,

the absence of rare-earth permanent magnets makes it possible to rotate the wheel manually without difficulty, which is absolutely suitable for example for wheelchairs or bicycles.

The invention has been described in detail in the context of a wheelchair, but of course the invention is not limited to this application. More broadly, the object of the present invention is a device intended to roll on a ground surface and comprising at least one motorized wheel as described above.

In particular, the rolling device may be any type of motor vehicle, such as a bicycle or an electric bicycle, an electric scooter, segway, a small electric car, a moped or an electric motorcycle, a robot. This list is given for illustrative purposes and is not to be construed in a limiting manner in any way.