EP3920862B1 - Electrical assistance device - Google Patents

Electrical assistance device Download PDF

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Publication number
EP3920862B1
EP3920862B1 EP20706801.6A EP20706801A EP3920862B1 EP 3920862 B1 EP3920862 B1 EP 3920862B1 EP 20706801 A EP20706801 A EP 20706801A EP 3920862 B1 EP3920862 B1 EP 3920862B1
Authority
EP
European Patent Office
Prior art keywords
wheelchair
tire
electric
motor
assist device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20706801.6A
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German (de)
French (fr)
Other versions
EP3920862A1 (en
Inventor
David Olsommer
Thomas PASUTTO
Alain Schmid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electricite de France SA
Compagnie Generale des Etablissements Michelin SCA
Original Assignee
Electricite de France SA
Compagnie Generale des Etablissements Michelin SCA
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Publication of EP3920862A1 publication Critical patent/EP3920862A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person

Definitions

  • the present invention relates to the field of mobility for the disabled, and more particularly relates to an electric assistance device for a wheelchair.
  • annular handle is arranged on the side of each rear wheel.
  • the wheelchair is propelled and guided either by the user using the ring handles to turn the rear wheels, or by a third person pushing the wheelchair.
  • a second type of known wheelchairs are motorized wheelchairs.
  • These chairs are often much more massive and heavy than manual chairs.
  • these wheelchairs include four or six wheels, of reduced diameter compared to the rear wheels of a manual wheelchair.
  • the wheelchair incorporates electric motors, large batteries and a guidance system.
  • the known motorized wheelchairs can only be controlled with a guidance system. Most often, it is a “joystick” type handle. This arrangement makes the wheelchair particularly useful in the case of multiple disabilities, but prohibits any manual maneuver.
  • the wheelchair can only move with the power of the motors, it is necessary to have large capacity batteries, which weighs down the chair enormously.
  • manual wheelchairs are known in which a motor is integrated into the hub of each rear wheel.
  • the motor is an electric assist motor. This means that the motors alone do not move the chair, but they provide additional force requiring less effort from the user.
  • This solution is particularly advantageous because it provides assistance when the user is climbing for example, or to avoid fatigue over long distances.
  • this solution can only be used on a wheelchair specifically adapted for. In other words, this solution is not adaptable to any manual wheelchair.
  • Another solution, to motorize a manual wheelchair consists in adding to the wheelchair a device with a motorized wheel. Most often, this device takes the form of a front wheel, with a handlebar. The device is then attached to the front of the wheelchair. The handlebar functions like a motorcycle handlebar with a rotating handle to control engine speed, and another handle to brake. This device is not an assistance system, but a complete motorization system. Thus, the user no longer uses his arms to move and orient the chair. In the event of a breakdown, as with a standard motorized chair, it is impossible for the user to move the chair.
  • US2798565 discloses an electric assistance device for a wheelchair, comprising a mobile arm which makes it possible to maneuver the motor between an engaged position and a disengaged position.
  • This application describes an electric assistance device for a wheelchair which comprises at least one motor having a rotor connected to a toothed pinion adapted to mesh with complementary toothing of a tire of a wheel of the wheelchair.
  • the present invention aims to improve an electric assistance device for a wheelchair.
  • the movable arm makes it possible to maneuver said motor between a engaged position in in which the pinion is in contact with the complementary toothing of said tire, a disengaged position in which the pinion is not in contact with the complementary toothing of said tire and a transport position in which the pinion is moved away from the tire and retracted under the seat .
  • the arm that can move between three positions (engaged, disengaged and transport position) makes it possible both to be able to engage/disengage the device at will, and to place the device in a retracted position, under the seat, particularly suitable for transport. Indeed, in the transport position, the device is less likely to be damaged, for example when the chair is in a vehicle trunk.
  • the mobile arm makes it possible to protect the device.
  • the arm can comprise a cam making it possible to position and hold the electric assistance device in the engaged position, in the disengaged position or in the transport position.
  • the cam may have at least three notches, and a substantially flat surface, each adapted to cooperate with a roller of a movable lever, to hold the electric assistance device in the engaged position, in the disengaged position or in the transport position.
  • the movable lever in rotation with respect to the arm can comprise the roller adapted to be engaged in a notch or on the substantially planar surface of the cam to maintain the electric assistance device in the engaged position, in the disengaged position or in the transport position.
  • the lever may comprise at one end the roller maintaining a force against the cam via a return spring.
  • the arm can include a distal part intended to be connected to the wheelchair and a proximal part connected to the motor.
  • the distal part and the proximal part being able to be articulated to one another by a concentric articulation with the cam.
  • the invention proposes a wheelchair comprising a seat and two rear wheels each having a tire.
  • the wheelchair comprises at least one electric assistance device according to the invention.
  • the wheelchair may comprise a frame consisting of a plurality of tubes, a seat, and two rear wheels, and two electric assistance devices, positioned under the seat, each connected to a tube and each adapted to engage a tire of a corresponding rear wheel.
  • the wheelchair may include a power assist device in which the distal portion of the arm of each power assist device is connected to a tube.
  • the invention relates to an electric assistance device 1 for a wheelchair 100 represented on the figure 8 and 9 .
  • the electric assistance device 1 essentially comprises a motor 2, a pinion 4 and an arm 6.
  • the electric assistance device 1 comprises a motor 2, preferably electric.
  • the motor 2 has a rotor 22 and a stator 21. According to the embodiment presented here, it is a motor 2 of the motor 2 type with an external rotor 22. It could be an alternative to a more conventional motor 2 with an internal rotor 22.
  • Rotor 22 is connected to pinion 4.
  • Rotor 22 is mounted on stator 21 using ball bearings.
  • Pinion 4 is driven directly by rotor 22. Alternatively, it can be driven by rotor 22 via a freewheel.
  • the pinion 4 is intended to cooperate with a tire 110 of a wheel 104, 105 of the wheelchair 100, i.e. to come into contact with a tread 110a or, preferably, a sidewall 110b of this tire 110, so to be able to transmit to it a force making it possible to rotate the tire 110 and move the wheelchair 100.
  • the pinion is 4 toothed, that is to say it is not smooth and has a toothing, in other words a plurality of protruding elements improving the contact and the friction between the pinion 4 and the tire 110.
  • the tire 110 is cleverly also toothed in a complementary manner, ie so as to be able to mesh with the teeth of the pinion 4. It is then understood that the force is transmitted much more effectively directly by pressing the teeth , and not by simple friction.
  • At least one of the sidewalls 110b, 110c of the tire 110 (preferably a so-called “internal" sidewall 110b because the wheel 104, 105 is often provided with an annular handle 106 on the side of the other side, called the outer side 110c , see below) has the toothing (not shown), which makes it possible to keep a sculpture on the tread 110a for good grip of the tire 110 on the ground.
  • each tire 110 has teeth on at least one side and can be used either for a right wheel 104 or a left wheel 105 of the chair 100, without being constrained by the particular geometry of the teeth when the latter has a symmetrical profile.
  • identical tires 110 are used, each comprising helical toothing with a symmetrical profile on an internal side 110b, which toothing cooperates with identical sprockets 4 (we understand having identical toothing) arranged one on the side of the right rear wheel 104 and the other from the left rear wheel 105 of the chair 100.
  • symmetrical toothing it is understood, a toothing allowing the meshing and the transmission of a force, whatever the direction of rotation of the pinion 4 (as opposed to an asymmetrical toothing in which a single direction of rotation of the pinion 4 would allow force transmission).
  • the toothing has a pitch of between 1 and 4 millimeters.
  • the toothing has a pitch of approximately 3 millimeters, which makes it possible to have an optimum transmissible torque for a reduced noise level.
  • the pinion 4 is preferably made of metal, for example steel by superimposing stamped sheets with a thickness of between 0.5 and 2 mm or by milling.
  • the toothing of the sidewall 110b, 110c of the tire is preferably made of a rubber mixture with a Shore A hardness preferably between 55 and 95 and even more preferably between 75 and 95 to favor the value of the driving force transmitted by the engine. .
  • the toothing is molded at the same time as the tire 110 or it can be attached to a tire 110 molded previously.
  • the motor 2 is connected to the wheelchair by the mobile arm 6.
  • the mobile arm 6 makes it possible to maneuver the motor between three positions, an engaged position ( figures 1 and 2 ) in which the toothing of pinion 4 is in contact (ie meshed) with the toothing of tire 110 (electric assistance is then possible), a disengaged position ( figures 3 and 4 ) in which the pinion 4 is not in contact with the tire 110 (ie not meshed with the teeth of the tire 110, in other words - slightly - away from the tire 110) (the chair 100 returns to manual mode) and a transport position ( figures 5 and 6 ) in which the pinion 4 is moved away from the tire 110 and retracted under the seat 103.
  • the arm 6 makes it possible to approach or move away the pinion 4 from the tire 110.
  • a proximal portion 63 of the arm 6 fixed to the motor 2 is oriented along an axis substantially parallel to a plane of the rear wheel 104 or 105. This arrangement allows a user to be able to easily position the electric assistance device 1 in the engaged position , if desired.
  • the motor is retracted under the seat 103, at a distance from the wheel 104 or 105 (ie in the transport position, the motor 2 is further from the wheel 104 or 105 than in the disengaged position) .
  • the proximal part 61 of the arm 6 is oriented along an axis substantially perpendicular to the plane of the rear wheel 104 or 105.
  • a disengaged position and a transport position are particularly advantageous.
  • the disengaged position is particularly practical when driving, the proximity of the motor 2 to the wheel 104 or 105 makes it possible to quickly engage the electric assistance device 1.
  • the disengaged position does not allow the wheelchair to be folded 100, or at least does not make it possible to fold the wheelchair 100 in a compact manner, the system part 1 forming an impractical protrusion for transport.
  • the transport position for its part, makes it possible to fold the wheelchair 100 without protruding from the system 1.
  • the arm 6 includes a clamp 61 adapted to grip a tube 102 of the wheelchair 100.
  • the clamp 61 has two half-jaws.
  • the two half-jaws are screwed together. This assembly allows both to be able to fix, at will, the device 1 on a wheelchair 100, while guaranteeing maximum safety. In fact, when the two half-jaws are screwed on, they guarantee reliable holding of the device 1.
  • the arm 6 comprises a distal part 62 and a proximal part 63, hinged to each other.
  • the distal part 62 is comprised of the jaw 61 and the proximal part 63 is connected to the motor 2.
  • a joint connects the distal part 62 and the proximal part 63.
  • the joint is a pivot connection with axis A.
  • the joint is provided with a cam 7.
  • the cam 7 has a central bore 71 and a substantially oblong outer casing 72, and three inner bores 74.
  • Three notches 76, 77, and 78 are provided in the outer casing 72.
  • a substantially flat surface 79 on the outer casing 72 acts as a working surface in gear position mode.
  • the notches 76 and 77 make it possible to lock in rotation for the transport and disengaged modes respectively the proximal part 63 with respect to the distal part 62.
  • the substantially planar surface 79 for its part serves to maintain a force substantially constant between the pinion 4 and the toothing of the internal sidewall of the tire, this to accommodate any wheel runout and other positioning imperfections between the tire and the drive system.
  • the notch 78 serves as a stop in the event that the wheelchair wheel is removed while the system is in the engaged position, to limit the rotation of the arm 63.
  • the central hole 71 makes it possible to connect, in a pivot, the distal part 62 and the proximal part 63.
  • the three inner holes 74 make it possible to fix the cam 7 to the proximal part 63, according to an embedding-type connection.
  • the cam 7 is mobile in rotation with respect to the distal part 62 but is linked in rotation to the proximal part 63.
  • a rotation of the cam 7 causes the proximal part 63 to rotate with respect to the distal part 62 which is fixed and connected to the chair frame 100.
  • the electric assistance device 1 comprises a lever 8 movable in rotation of axis A with respect to the distal part 62.
  • the lever 8 has one end provided with a roller 81.
  • the roller 81 is configured to be engaged in the notches 76, 77 and 78, and resting on the substantially flat surface 79.
  • a return spring 82 tends to maintain a contact force between the roller 81 and the cam 7.
  • the roller is in the notches 76, 77 or 78 (the roller 81 in the notch 78 is only possible when the wheel is removed from the chair), these are stable positions in which the proximal part 63 is fixed in rotation with respect to the distal part.
  • the contact force of the roller 81 on this substantially flat surface has the effect of exerting a torque on the proximal part of the arm 63 resulting in a force between the pinion 4 and the tire sidewall. This torque is due to the fact that the substantially flat surface 79 is not normal to a radius starting from the center of rotation of the cam 7.
  • the passage from one position to the other can be achieved by maneuvering only the motor 2 or the proximal part 63. Under the force exerted, the roller 81 comes out of the notch 76, 77 or 78, or even from the surface substantially flat 79 and slides on the outer casing 72.
  • the electrical assistance device 1 comprises in a known manner a potentiometer (not shown) or another means making it possible to regulate the electrical energy supplied to the motor 2 and therefore to adjust its speed of rotation.
  • a single potentiometer can control several motors 2.
  • the electric assistance device 1 also comprises one or more electric batteries making it possible to supply the motor or motors 2.
  • the invention relates to a wheelchair 100 equipped with one or more electric assistance devices 1.
  • the wheelchair 100 is a known manual wheelchair, comprising a frame made up of a plurality of tubes 102, a seat 103, two rear wheels 104, 105 and two front wheels 107.
  • the two rear wheels 104, 105 have a diameter much greater than the diameter of the two front wheels 107.
  • the two rear wheels 104,105 are each provided with an annular handle 106.
  • the annular handles 106 allow a user to propel and steer the wheelchair 100.
  • each rear wheel 104, 105 is provided with a tire 110.
  • Each tire 110 has a tread 110a intended to come into contact with the ground, two flanks 110b and 110c, of which an internal flank 110b (oriented towards the middle of the chair 100 and an outer side 110c (oriented towards the outside of the chair 100 and on the side of which there is the annular handle 106).
  • the chair 100 is equipped with at least one electric assistance device 1 adapted to cooperate with at least one wheel 104, 105, in particular the right rear wheel 104 or left 105 (since these are larger wheels supporting the majority of the user's weight, and therefore capable of transmitting a significant tractive effort to the ground without loss of grip between the tire and the ground).
  • at least one wheel 104, 105 of the wheelchair is equipped with device 1.
  • the wheelchair 100 is equipped with at least two electric assistance devices 1, i.e. at least one for each rear wheel 104 and 105, in particular one with the left rear wheel 105 and one with the wheel rear right 104.
  • at least two electric assistance devices 1 i.e. at least one for each rear wheel 104 and 105, in particular one with the left rear wheel 105 and one with the wheel rear right 104.
  • Such an embodiment allows a more efficient symmetrical propulsion, and even allows, if necessary, to rotate the chair 100 by applying different speeds or rotational torques to the left and to the right. It is understood that it remains possible to mount several devices 1 on a single wheel, so as to multiply the power.
  • said tire 110 of a wheel 104, 105 provided with the device 1 has a toothing complementary to a toothing of the pinion 4 connected to the rotor 22 of the said motor 2 of the electric assistance device 1
  • At least one of the flanks 110b, 110c, and in particular the inner flank 110b, and preferably each of the flanks 110b, 110c, has symmetrical helical toothing, complementary to the symmetrical helical toothing of pinion 4.
  • the toothing of the flank 110b has a pitch of between 1 and 4 millimeters.
  • the toothing of the flank 110b has a pitch of approximately 3 millimeters, which makes it possible to have an optimum transmissible torque for a reduced noise level.
  • the use of symmetrical toothing, whether straight or helical makes it possible to use the same type of tire 110 indiscriminately for the right rear 104 or left rear 105 wheels, i.e. a configuration can be provided in which each of the rear wheels 104 is provided with a device 1, while having the same tire 110 (presenting the symmetrical toothing on each of its sides 110b, 110c).
  • a non-symmetrical toothing is used (for example of the type as described in the patent application WO2014086727 of the applicant) making it possible to further increase the transmissible torque.
  • asymmetrical teeth requires having a specific left tire and a specific right tire, or else identical tires on the left and on the right, but with teeth on both sides, thus slightly increasing the cost. Manufacturing.
  • each motor 2 is fixed by an arm 6 close to each rear wheel 104, 105. So that the pinion 4 connected to each motor 2 can be meshed with the toothing of the tire 110 of the rear wheel 104 , 105 corresponding.
  • the device 1 is oriented so that the motor 2 is towards the front wheels 107.
  • the motor 2 is towards the front wheels 107.
  • the device 1 is oriented so that the pinion 4 is towards the front wheels 107.
  • this second embodiment by traversing the device 1 in a direction going from the front wheels 107 towards the rear wheels 104, 105, there is first of all the pinion 4 then the motor 2.
  • This second embodiment can provide a surplus of ergonomics for a user and can make it possible to avoid a possible collision of the motor 2 with objects in front of the armchair, such as table legs for example.
  • this second embodiment makes the system more discreet, by concealing the motors behind the wheels, which is advantageous for users.
  • the arms 6 make it possible to maneuver the pinions 4 between an engaged position in which the pinions 4 are each meshed with a toothing of the corresponding tire 110, and a disengaged position in which the pinions 4 are spaced apart from the tires 110.
  • the pinions 4 are meshed with the tires and the motors 2 can apply a torque to the rear wheels 104, 105.
  • the pinions are at a distance from the tires and the motors 2 cannot apply no torque to the rear wheels 104, 105.
  • the arms also make it possible to maneuver the electric assistance devices 1 into the transport position.
  • the sprockets 4 are away from the tires 110 and are retracted under the seat 103.
  • This arrangement is particularly useful when the wheelchair is placed, for example, in the trunk of a vehicle.
  • This transport position is also useful when the user sits alone at the wheel of a motor vehicle, to pass the frame of the wheelchair laterally between his knees and the steering wheel, onto the passenger seat, and vice versa to descend alone from the vehicle and get back into their wheelchair.
  • the electric assistance devices 1 are less exposed to possible collisions, or shocks, which could damage them.
  • this arrangement is particularly advantageous in the case of a foldable wheelchair 100.
  • a single potentiometer can make it possible to control the speed or the rotation torque of the two motors 2.
  • a user can activate the electric assistance by placing the arms 6 in the engaged position.
  • the motors 2 will then be able to exert a torque on the rear wheels 104, 105.
  • the force transmitted by the motors 2 will relieve the user who will have less effort to provide to move the wheelchair using the force of his arms. It is specified that the electric assistance alone does not make it possible to move the wheelchair 100.
  • the potentiometer makes it possible to adjust the power of the electric assistance supplied.
  • the user can at any time place the arms 6 in the disengaged or transport position, thus disconnecting the electric assistance. In the disengaged or transport position, the user moves the wheelchair 100 solely by the force of his arms.
  • the invention proposes an electric assistance device adaptable to a manual wheelchair 100, allowing use of the wheelchair 100 without the electric assistance, and allowing the assistance devices to be retracted to facilitate transport of the wheelchair 100 .

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Description

DOMAINE DE L'INVENTIONFIELD OF THE INVENTION

La présente invention concerne le domaine de la mobilité pour les personnes handicapées, et concerne plus particulièrement un dispositif d'assistance électrique pour un fauteuil roulant.The present invention relates to the field of mobility for the disabled, and more particularly relates to an electric assistance device for a wheelchair.

ETAT DE LA TECHNIQUESTATE OF THE ART

D'une manière générale, on connait deux types de fauteuils roulants.In general, two types of wheelchairs are known.

D'une part, les fauteuils entièrement manuels, qui présentent classiquement deux grandes roues arrière et deux petites roues avant. Les roues avant sont mobiles en rotation autour d'un axe transversal et les roues arrière sont bloquées en rotation autour de ce même axe transversal.On the one hand, fully manual wheelchairs, which conventionally have two large rear wheels and two small front wheels. The front wheels are rotatable around a transverse axis and the rear wheels are locked in rotation around this same transverse axis.

Le plus souvent, une poignée annulaire est disposée sur le flanc de chaque roue arrière. La propulsion et le guidage du fauteuil sont assurés soit par l'utilisateur en utilisant les poignées annulaires pour faire tourner les roues arrière, soit par une tierce personne poussant le fauteuil.Most often, an annular handle is arranged on the side of each rear wheel. The wheelchair is propelled and guided either by the user using the ring handles to turn the rear wheels, or by a third person pushing the wheelchair.

Un deuxième type de fauteuils roulants connus est les fauteuils motorisés.A second type of known wheelchairs are motorized wheelchairs.

Ces fauteuils sont souvent beaucoup plus massifs et lourds que les fauteuils manuels. D'une manière traditionnelle ces fauteuils comprennent quatre ou six roues, de diamètre réduit par rapport aux roues arrière d'un fauteuil manuel. En outre, le fauteuil intègre des moteurs électriques, d'imposantes batteries et un système de guidage. En effet, les fauteuils motorisés connus ne peuvent être pilotés qu'avec un système de guidage. Le plus souvent, il s'agit d'un manche de type « joystick ». Cette disposition rend le fauteuil particulièrement utile dans le cas d'un polyhandicap, mais interdit toute manoeuvre manuelle.These chairs are often much more massive and heavy than manual chairs. Traditionally, these wheelchairs include four or six wheels, of reduced diameter compared to the rear wheels of a manual wheelchair. In addition, the wheelchair incorporates electric motors, large batteries and a guidance system. Indeed, the known motorized wheelchairs can only be controlled with a guidance system. Most often, it is a “joystick” type handle. This arrangement makes the wheelchair particularly useful in the case of multiple disabilities, but prohibits any manual maneuver.

En outre, le fauteuil ne pouvant se déplacer qu'à la force des moteurs, il est nécessaire d'avoir des batteries de grande capacité, ce qui alourdi énormément le fauteuil.In addition, the wheelchair can only move with the power of the motors, it is necessary to have large capacity batteries, which weighs down the chair enormously.

Un troisième type de fauteuils roulants, moins usuels, concerne les fauteuils manuels transformés en fauteuils électriques.A third type of wheelchair, less common, concerns manual wheelchairs transformed into electric wheelchairs.

Ainsi, on connait par exemple des fauteuils manuels dans lesquels un moteur est intégré dans le moyeu de chaque roue arrière. Le moteur est un moteur d'assistance électrique. Ce qui signifie, que les moteurs ne permettent pas à eux seuls de déplacer le fauteuil, mais ils fournissent un surcroit de force demandant moins d'efforts à l'usager.Thus, for example, manual wheelchairs are known in which a motor is integrated into the hub of each rear wheel. The motor is an electric assist motor. This means that the motors alone do not move the chair, but they provide additional force requiring less effort from the user.

Le contrôle du fauteuil est toujours réalisé avec les poignées annulaires. Cette solution est particulièrement avantageuse car elle permet d'avoir une assistance lorsque l'utilisateur est en montée par exemple, ou pour éviter la fatigue sur de longues distances. Néanmoins, cette solution n'est utilisable que sur un fauteuil roulant spécifiquement adapté pour. En d'autres termes, cette solution n'est pas adaptable à n'importe quel fauteuil manuel.The control of the wheelchair is always carried out with the ring handles. This solution is particularly advantageous because it provides assistance when the user is climbing for example, or to avoid fatigue over long distances. However, this solution can only be used on a wheelchair specifically adapted for. In other words, this solution is not adaptable to any manual wheelchair.

Une autre solution, pour motoriser un fauteuil manuel consiste à ajouter au fauteuil un dispositif avec une roue motorisée. Le plus souvent, ce dispositif prend la forme d'une roue avant, avec un guidon. Le dispositif est alors fixé à l'avant du fauteuil. Le guidon fonctionne comme un guidon de moto avec une poignée rotative pour commander la vitesse du moteur, et une autre poignée, pour freiner. Ce dispositif n'est pas un système d'assistance, mais bien un système de motorisation complète. Ainsi, l'utilisateur n'utilise plus ses bras pour déplacer et orienter le fauteuil. En cas de panne, de même que sur un fauteuil motorisé standard, il est impossible pour l'utilisateur de déplacer le fauteuil.Another solution, to motorize a manual wheelchair, consists in adding to the wheelchair a device with a motorized wheel. Most often, this device takes the form of a front wheel, with a handlebar. The device is then attached to the front of the wheelchair. The handlebar functions like a motorcycle handlebar with a rotating handle to control engine speed, and another handle to brake. This device is not an assistance system, but a complete motorization system. Thus, the user no longer uses his arms to move and orient the chair. In the event of a breakdown, as with a standard motorized chair, it is impossible for the user to move the chair.

US2798565 divulgue un dispositif d'assistance électrique pour un fauteuil roulant, comprenant un bras mobile qui permet de manœuvrer le moteur entre une position embrayée et une position débrayée. US2798565 discloses an electric assistance device for a wheelchair, comprising a mobile arm which makes it possible to maneuver the motor between an engaged position and a disengaged position.

La demande de certificat d'utilité FR1860425 déposée par l'un des demandeurs répond à ses carences en fournissant une nouvelle solution d'assistance électrique adaptable de façon universelle sur un grand nombre de fauteuils roulants, et qui ne présente pas les désavantages de l'art antérieur.Application for utility certificate FR1860425 filed by one of the applicants responds to its shortcomings by providing a new electrical assistance solution that can be universally adapted to a large number of wheelchairs, and which does not have the disadvantages of the prior art.

Cette demande décrit un dispositif d'assistance électrique pour un fauteuil roulant qui comprend au moins un moteur présentant un rotor relié à un pignon denté adapté pour engrener une denture complémentaire d'un pneumatique d'une roue du fauteuil roulant.This application describes an electric assistance device for a wheelchair which comprises at least one motor having a rotor connected to a toothed pinion adapted to mesh with complementary toothing of a tire of a wheel of the wheelchair.

EXPOSE DE L'INVENTIONDISCLOSURE OF THE INVENTION

La présente invention a pour objectif d'améliorer un dispositif d'assistance électrique pour un fauteuil roulant.The present invention aims to improve an electric assistance device for a wheelchair.

A cet effet, selon l'invention, un dispositif d'assistance électrique pour un fauteuil roulant présentant un siège, et au moins une roue arrière présentant un pneumatique, comprend :

  • au moins un moteur présentant un rotor relié à un pignon denté adapté pour engrener une denture complémentaire du pneumatique, et
  • un bras mobile reliant ledit moteur au fauteuil roulant.
To this end, according to the invention, an electric assistance device for a wheelchair having a seat, and at least one rear wheel having a tire, comprises:
  • at least one motor having a rotor connected to a toothed pinion adapted to mesh with complementary toothing of the tire, and
  • a movable arm connecting said motor to the wheelchair.

Le bras mobile permet de manoeuvrer ledit moteur entre une position embrayée dans laquelle le pignon est en contact avec la denture complémentaire dudit pneumatique, une position débrayée dans laquelle le pignon n'est pas en contact avec la denture complémentaire dudit pneumatique et une position de transport dans laquelle le pignon est éloigné du pneumatique et rétracté sous le siège.The movable arm makes it possible to maneuver said motor between a engaged position in in which the pinion is in contact with the complementary toothing of said tire, a disengaged position in which the pinion is not in contact with the complementary toothing of said tire and a transport position in which the pinion is moved away from the tire and retracted under the seat .

Le bras mobile entre trois positions (embrayée, débrayée et position de transport) permet à la fois de pouvoir embrayer/débrayer le dispositif à volonté, et de placer le dispositif dans une position rétractée, sous le siège, particulièrement adaptée au transport. En effet, en position de transport, le dispositif risque moins d'être endommagé, par exemple lorsque le fauteuil est dans un coffre de véhicule.The arm that can move between three positions (engaged, disengaged and transport position) makes it possible both to be able to engage/disengage the device at will, and to place the device in a retracted position, under the seat, particularly suitable for transport. Indeed, in the transport position, the device is less likely to be damaged, for example when the chair is in a vehicle trunk.

Ainsi le bras mobile permet de protéger le dispositif.Thus the mobile arm makes it possible to protect the device.

Le bras peut comprendre une came permettant de positionner et maintenir le dispositif d'assistance électrique en position embrayée, en position débrayée ou en position de transport.The arm can comprise a cam making it possible to position and hold the electric assistance device in the engaged position, in the disengaged position or in the transport position.

La came peut présenter au moins trois encoches, et une surface sensiblement plane, adaptées chacune pour coopérer avec un galet d'un levier mobile, pour maintenir le dispositif d'assistance électrique en position embrayée, en position débrayée ou en position de transport.The cam may have at least three notches, and a substantially flat surface, each adapted to cooperate with a roller of a movable lever, to hold the electric assistance device in the engaged position, in the disengaged position or in the transport position.

Le levier mobile en rotation par rapport au bras peut comprendre le galet adapté pour être engagé dans une encoche ou sur la surface sensiblement plane de la came pour maintenir le dispositif d'assistance électrique en position embrayée, en position débrayée ou en position de transport.The movable lever in rotation with respect to the arm can comprise the roller adapted to be engaged in a notch or on the substantially planar surface of the cam to maintain the electric assistance device in the engaged position, in the disengaged position or in the transport position.

Le levier peut comprendre à une extrémité le galet maintenant un effort contre la came par l'intermédiaire d'un ressort de rappel.The lever may comprise at one end the roller maintaining a force against the cam via a return spring.

Le bras peut comprendre une partie distale destinée à être reliée au fauteuil roulant et une partie proximale reliée au moteur. La partie distale et la partie proximale pouvant être articulées l'une à l'autre par une articulation concentrique à la came.The arm can include a distal part intended to be connected to the wheelchair and a proximal part connected to the motor. The distal part and the proximal part being able to be articulated to one another by a concentric articulation with the cam.

Selon un autre aspect, l'invention propose un fauteuil roulant comprenant un siège et deux roues arrière présentant chacune un pneumatique. Le fauteuil roulant comprend au moins un dispositif d'assistance électrique l'invention.According to another aspect, the invention proposes a wheelchair comprising a seat and two rear wheels each having a tire. The wheelchair comprises at least one electric assistance device according to the invention.

Le fauteuil roulant peut comprendre un châssis constitué d'une pluralité de tubes, un siège, et deux roues arrière, et deux dispositifs d'assistance électrique, positionnés en sous-face du siège, reliés chacun à un tube et adaptés chacun pour engrener un pneumatique d'une roue arrière correspondante.The wheelchair may comprise a frame consisting of a plurality of tubes, a seat, and two rear wheels, and two electric assistance devices, positioned under the seat, each connected to a tube and each adapted to engage a tire of a corresponding rear wheel.

Le fauteuil roulant peut comprendre un dispositif d'assistance électrique dans lequel la partie distale du bras de chaque dispositif d'assistance électrique est reliée à un tube.The wheelchair may include a power assist device in which the distal portion of the arm of each power assist device is connected to a tube.

DESCRIPTION DES FIGURESDESCRIPTION OF FIGURES

D'autres caractéristiques, buts et avantages de l'invention ressortiront de la description qui suit, qui est purement illustrative et non limitative, et qui doit être lue en regard des dessins annexés sur lesquels :

  • La figure 1 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position embrayée.
  • La figure 2 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position embrayée, selon un autre angle de vue.
  • La figure 3 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position débrayée.
  • La figure 4 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position débrayée, selon un autre angle de vue.
  • La figure 5 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position de transport.
  • La figure 6 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon l'invention, en position de transport, selon un autre angle de vue.
  • La figure 7 est une représentation détaillée, en perspective d'une came d'un dispositif d'assistance électrique selon l'invention.
  • La figure 8 est une représentation schématique partielle, en perspective d'un fauteuil roulant équipé de deux dispositifs d'assistance électrique selon l'invention.
  • La figure 9 est une représentation schématique partielle, en perspective d'un fauteuil roulant équipé de deux dispositifs d'assistance électrique selon un autre mode de réalisation de l'invention.
  • La figure 10 est une représentation partielle, en perspective, d'un fauteuil roulant muni d'un dispositif d'assistance électrique selon un autre mode de réalisation de l'invention, en position embrayé.
Other characteristics, objects and advantages of the invention will emerge from the description which follows, which is purely illustrative and not limiting, and which must be read in conjunction with the appended drawings in which:
  • The figure 1 is a partial representation, in perspective, of a wheelchair provided with an electric assistance device according to the invention, in the engaged position.
  • The picture 2 is a partial representation, in perspective, of a wheelchair fitted with an electric assistance device according to the invention, in the engaged position, from another angle of view.
  • The picture 3 is a partial representation, in perspective, of a wheelchair fitted with an electric assistance device according to the invention, in the disengaged position.
  • The figure 4 is a partial representation, in perspective, of a wheelchair fitted with an electric assistance device according to the invention, in the disengaged position, from another angle of view.
  • The figure 5 is a partial representation, in perspective, of a wheelchair fitted with an electric assistance device according to the invention, in the transport position.
  • The figure 6 is a partial representation, in perspective, of a wheelchair fitted with an electric assistance device according to the invention, in the transport position, from another angle of view.
  • The figure 7 is a detailed representation, in perspective, of a cam of an electric assistance device according to the invention.
  • The figure 8 is a partial schematic representation, in perspective, of a wheelchair equipped with two electric assistance devices according to the invention.
  • The figure 9 is a partial schematic representation, in perspective, of a wheelchair equipped with two electric assistance devices according to another embodiment of the invention.
  • The figure 10 is a partial representation, in perspective, of a wheelchair provided with an electric assistance device according to another embodiment of the invention, in the engaged position.

Sur l'ensemble des figures, les éléments similaires portent des références identiques.In all the figures, similar elements bear identical references.

DESCRIPTION DETAILLEE DE L'INVENTIONDETAILED DESCRIPTION OF THE INVENTION Dispositif d'assistance électriqueElectric assist device

Selon un premier aspect, l'invention concerne un dispositif d'assistance électrique 1 pour un fauteuil roulant 100 représenté sur les figures 8 et 9.According to a first aspect, the invention relates to an electric assistance device 1 for a wheelchair 100 represented on the figure 8 and 9 .

Le dispositif d'assistance électrique 1 comprend essentiellement un moteur 2, un pignon 4 et un bras 6.The electric assistance device 1 essentially comprises a motor 2, a pinion 4 and an arm 6.

Plus particulièrement, comme on peut le voir sur les figures 1 à 6 et 10, le dispositif d'assistance électrique 1 comprend un moteur 2 préférentiellement électrique. Le moteur 2 présente un rotor 22 et un stator 21. Selon le mode de réalisation ici présenté, il s'agit d'un moteur 2 de type moteur 2 à rotor 22 extérieur. Il pourrait s'agir de manière alternative à un moteur 2 plus conventionnel à rotor 22 interne.More specifically, as can be seen in the figures 1 to 6 and 10 , the electric assistance device 1 comprises a motor 2, preferably electric. The motor 2 has a rotor 22 and a stator 21. According to the embodiment presented here, it is a motor 2 of the motor 2 type with an external rotor 22. It could be an alternative to a more conventional motor 2 with an internal rotor 22.

Le rotor 22 est relié au pignon 4. Le rotor 22 est monté sur le stator 21 à l'aide de roulements à billes. Le pignon 4 est entraîné directement par le rotor 22. Dans une variante, il peut être entraîné par le rotor 22 par l'intermédiaire d'une roue libre.Rotor 22 is connected to pinion 4. Rotor 22 is mounted on stator 21 using ball bearings. Pinion 4 is driven directly by rotor 22. Alternatively, it can be driven by rotor 22 via a freewheel.

Le pignon 4 est destiné à coopérer avec un pneumatique 110 d'une roue 104, 105 du fauteuil roulant 100, i.e. à venir en contact avec une bande de roulement 110a ou, de façon préférée, un flanc 110b de ce pneumatique 110, de sorte à pouvoir lui transmettre une force permettant de mettre en rotation le pneumatique 110 et déplacer le fauteuil roulant 100.The pinion 4 is intended to cooperate with a tire 110 of a wheel 104, 105 of the wheelchair 100, i.e. to come into contact with a tread 110a or, preferably, a sidewall 110b of this tire 110, so to be able to transmit to it a force making it possible to rotate the tire 110 and move the wheelchair 100.

Le pignon est 4 denté, c'est-à-dire qu'il n'est pas lisse et présente une denture, en d'autres termes une pluralité d'éléments saillants améliorant le contact et le frottement entre le pignon 4 et le pneumatique 110. Comme on le verra, le pneumatique 110 est astucieusement également denté de manière complémentaire, i.e. de sorte à pouvoir s'engrener avec la denture du pignon 4. On comprend alors que l'effort est transmis bien plus efficacement directement par appui des dentures, et non par simple friction. Ainsi, préférentiellement au moins l'un des flancs 110b, 110c du pneumatique 110 (préférentiellement un flanc dit « interne » 110b car la roue 104, 105 est souvent munie d'une poignée annulaire 106 du côté de l'autre flanc dit externe 110c, voir plus loin) présente la denture (non représentée), ce qui permet de garder sur la bande de roulement 110a une sculpture pour une bonne adhérence au sol du pneumatique 110.The pinion is 4 toothed, that is to say it is not smooth and has a toothing, in other words a plurality of protruding elements improving the contact and the friction between the pinion 4 and the tire 110. As will be seen, the tire 110 is cleverly also toothed in a complementary manner, ie so as to be able to mesh with the teeth of the pinion 4. It is then understood that the force is transmitted much more effectively directly by pressing the teeth , and not by simple friction. Thus, preferably at least one of the sidewalls 110b, 110c of the tire 110 (preferably a so-called "internal" sidewall 110b because the wheel 104, 105 is often provided with an annular handle 106 on the side of the other side, called the outer side 110c , see below) has the toothing (not shown), which makes it possible to keep a sculpture on the tread 110a for good grip of the tire 110 on the ground.

Alternativement, on pourra utiliser des dentures droites, hélicoïdales ou encore, à chevrons.Alternatively, it is possible to use straight, helical or even herringbone teeth.

Il est précisé que dans le cas d'une denture hélicoïdale ou à chevrons, au moins l'un des flancs de chaque pneumatique 110, notamment le flanc interne 110b peut présenter une denture. Ainsi chaque pneumatique 110 présente une denture sur au moins un côté et peut indifféremment être utilisé pour une roue droite 104 ou une roue gauche 105 du fauteuil 100, sans être contraint par la géométrie particulière de la denture lorsque celle-ci présente un profil symétrique. Dans le premier mode de réalisation illustré aux figures 1 à 4, on utilise des pneumatiques 110 identiques comportant chacun une denture hélicoïdale à profil symétrique sur un flanc interne 110b, denture qui coopère avec des pignons 4 identiques (on comprend ayant des dentures identiques) agencés l'un du côté de la roue arrière droite 104 et l'autre de la roue arrière gauche 105 du fauteuil 100.It is specified that in the case of a helical or herringbone toothing, at least one of the sidewalls of each tire 110, in particular the internal sidewall 110b can have a toothing. Thus each tire 110 has teeth on at least one side and can be used either for a right wheel 104 or a left wheel 105 of the chair 100, without being constrained by the particular geometry of the teeth when the latter has a symmetrical profile. In the first embodiment illustrated in figures 1 to 4 , identical tires 110 are used, each comprising helical toothing with a symmetrical profile on an internal side 110b, which toothing cooperates with identical sprockets 4 (we understand having identical toothing) arranged one on the side of the right rear wheel 104 and the other from the left rear wheel 105 of the chair 100.

Quel que soit le mode de réalisation choisi (denture droite, hélicoïdale ou en chevron), on préférera utiliser une denture symétrique. Par denture symétrique, il est entendu, une denture permettant l'engrènement et la transmission d'un effort, quel que soit le sens de rotation du pignon 4 (par opposition à une denture asymétrique dans laquelle un seul sens de rotation du pignon 4 permettrait la transmission d'efforts).Whatever the embodiment chosen (straight, helical or herringbone toothing), it is preferable to use symmetrical toothing. By symmetrical toothing, it is understood, a toothing allowing the meshing and the transmission of a force, whatever the direction of rotation of the pinion 4 (as opposed to an asymmetrical toothing in which a single direction of rotation of the pinion 4 would allow force transmission).

Avantageusement, la denture présente un pas compris entre 1 et 4 millimètres. D'une manière particulièrement avantageuse, la denture présente un pas d'environ 3 millimètres, ce qui permet d'avoir un couple transmissible optimal pour un niveau de bruit réduit.Advantageously, the toothing has a pitch of between 1 and 4 millimeters. In a particularly advantageous manner, the toothing has a pitch of approximately 3 millimeters, which makes it possible to have an optimum transmissible torque for a reduced noise level.

Le pignon 4 est de préférence réalisé en métal, par exemple en acier par superposition de tôles étampées d'épaisseur comprise entre 0,5 et 2 mm ou par fraisage.The pinion 4 is preferably made of metal, for example steel by superimposing stamped sheets with a thickness of between 0.5 and 2 mm or by milling.

La denture du flanc 110b, 110c du pneumatique est de préférence constituée de mélange de caoutchouc d'une dureté Shore A comprise de préférence entre 55 et 95 et encore plus préférentiellement entre 75 et 95 pour favoriser la valeur de la force motrice transmissible par le moteur. La denture est moulée en même temps que le pneumatique 110 ou alors, elle peut être rapportée sur un pneumatique 110 moulé précédemment.The toothing of the sidewall 110b, 110c of the tire is preferably made of a rubber mixture with a Shore A hardness preferably between 55 and 95 and even more preferably between 75 and 95 to favor the value of the driving force transmitted by the engine. . The toothing is molded at the same time as the tire 110 or it can be attached to a tire 110 molded previously.

Le moteur 2 est relié au fauteuil roulant par le bras 6 mobile.The motor 2 is connected to the wheelchair by the mobile arm 6.

Tel que cela sera détaillé, selon le mode de réalisation ici présenté, le bras 6 mobile permet de manoeuvrer le moteur entre trois positions, une position embrayée (figures 1 et 2) dans laquelle la denture du pignon 4 est en contact (i.e. engrenée) avec la denture du pneumatique 110 (l'assistance électrique est alors possible), une position débrayée (figure 3 et 4) dans laquelle le pignon 4 n'est pas en contact avec le pneumatique 110 (i.e. non-engrené avec la denture du pneumatique 110, en d'autres termes - légèrement - éloigné du pneumatique 110) (le fauteuil 100 revient en mode manuel) et une position de transport (figures 5 et 6) dans laquelle le pignon 4 est éloigné du pneumatique 110 et rétracté sous le siège 103. En d'autres termes, le bras 6 permet d'approcher ou d'éloigner le pignon 4 du pneumatique 110.As will be detailed, according to the embodiment presented here, the mobile arm 6 makes it possible to maneuver the motor between three positions, an engaged position ( figures 1 and 2 ) in which the toothing of pinion 4 is in contact (ie meshed) with the toothing of tire 110 (electric assistance is then possible), a disengaged position ( figures 3 and 4 ) in which the pinion 4 is not in contact with the tire 110 (ie not meshed with the teeth of the tire 110, in other words - slightly - away from the tire 110) (the chair 100 returns to manual mode) and a transport position ( figures 5 and 6 ) in which the pinion 4 is moved away from the tire 110 and retracted under the seat 103. In other words, the arm 6 makes it possible to approach or move away the pinion 4 from the tire 110.

Il est remarquable qu'en position débrayée, le moteur 2 reste à proximité de la roue 104 ou 105, et a fortiori en position débrayée le pignon 4 n'est pas retracté sous le siège 103. En outre, comme on peut le remarquer sur les figures 3 et 4, une portion proximale 63 du bras 6 fixée au moteur 2 est orientée selon un axe sensiblement parallèle à un plan de la roue arrière 104 ou 105. Cette disposition permet à un utilisateur de pouvoir aisément positionner le dispositif d'assistance électrique 1 en position embrayée, s'il le souhaite. A contrario, en position de transport, le moteur est rétracté sous le siège 103, à distance de la roue 104 ou 105 (i.e. en position de transport, le moteur 2 est plus loin de la roue 104 ou 105 qu'en position débrayée). En outre, comme on peut le remarquer sur les figures 5 et 6, en position de transport la partie proximale 61 du bras 6 est orientée selon un axe sensiblement perpendiculaire avec le plan de la roue arrière 104 ou 105.It is remarkable that in the disengaged position, the motor 2 remains close to the wheel 104 or 105, and a fortiori in the disengaged position the pinion 4 is not retracted under the seat 103. In addition, as can be seen on them figures 3 and 4 , a proximal portion 63 of the arm 6 fixed to the motor 2 is oriented along an axis substantially parallel to a plane of the rear wheel 104 or 105. This arrangement allows a user to be able to easily position the electric assistance device 1 in the engaged position , if desired. Conversely, in the transport position, the motor is retracted under the seat 103, at a distance from the wheel 104 or 105 (ie in the transport position, the motor 2 is further from the wheel 104 or 105 than in the disengaged position) . Furthermore, as can be seen from the figures 5 and 6 , in the transport position the proximal part 61 of the arm 6 is oriented along an axis substantially perpendicular to the plane of the rear wheel 104 or 105.

La présence distincte d'une position débrayée et d'une position de transport est particulièrement avantageuse. En effet, la position débrayée est particulièrement pratique lors du roulage, la proximité du moteur 2 avec la roue 104 ou 105 permet d'embrayer rapidement le dispositif d'assistance électrique 1. En revanche la position débrayée ne permet pas de replier le fauteuil roulant 100, ou du moins ne permet pas de replier le fauteuil roulant 100 de manière compacte, la partie système 1 formant une excroissance peu pratique pour le transport. La position de transport, quant à elle, permet de replier le fauteuil roulant 100 sans excroissance du système 1. Ainsi, ces deux positions (position débrayée et position de transport) sont complémentaires et ont des effets différents.The distinct presence of a disengaged position and a transport position is particularly advantageous. In fact, the disengaged position is particularly practical when driving, the proximity of the motor 2 to the wheel 104 or 105 makes it possible to quickly engage the electric assistance device 1. On the other hand, the disengaged position does not allow the wheelchair to be folded 100, or at least does not make it possible to fold the wheelchair 100 in a compact manner, the system part 1 forming an impractical protrusion for transport. The transport position, for its part, makes it possible to fold the wheelchair 100 without protruding from the system 1. Thus, these two positions (disengaged position and transport position) are complementary and have different effects.

Le bras 6 comprend une pince 61 adaptée pour enserrer un tube 102 du fauteuil roulant 100.The arm 6 includes a clamp 61 adapted to grip a tube 102 of the wheelchair 100.

La pince 61 présente deux demie-mâchoires. Les deux demie-mâchoires sont vissées l'une à l'autre. Cet assemblage permet à la fois de pouvoir fixer, à volonté, le dispositif 1 sur un fauteuil roulant 100, tout en garantissant une sécurité maximale. En effet, lorsque les deux demie-mâchoires sont vissées elles garantissent une tenue fiable du dispositif 1.The clamp 61 has two half-jaws. The two half-jaws are screwed together. This assembly allows both to be able to fix, at will, the device 1 on a wheelchair 100, while guaranteeing maximum safety. In fact, when the two half-jaws are screwed on, they guarantee reliable holding of the device 1.

En outre, selon le mode de réalisation ici présenté, le bras 6 comprend une partie distale 62 et une partie proximale 63, articulées l'une à l'autre.Furthermore, according to the embodiment presented here, the arm 6 comprises a distal part 62 and a proximal part 63, hinged to each other.

La partie distale 62 est comprend la mâchoire 61 et la partie proximale 63 est reliée au moteur 2.The distal part 62 is comprised of the jaw 61 and the proximal part 63 is connected to the motor 2.

Une articulation relie la partie distale 62 et la partie proximale 63. L'articulation est une liaison pivot d'axe A. L'articulation est pourvue d'une came 7.A joint connects the distal part 62 and the proximal part 63. The joint is a pivot connection with axis A. The joint is provided with a cam 7.

En référence à la figure 7, la came 7 présente un perçage central 71 et une enveloppe extérieure 72 sensiblement oblongue, et trois perçages intérieurs 74. Trois encoches 76, 77, et 78 sont ménagées dans l'enveloppe extérieure 72. Une surface sensiblement plane 79 sur l'enveloppe extérieure 72 fait office de surface de travail en mode position embrayée. Tel que cela sera décrit ultérieurement, les encoches 76 et 77 permettent de verrouiller en rotation pour les modes respectivement transport et débrayée la partie proximale 63 par rapport à la partie distale 62. La surface sensiblement plane 79 quant à elle sert à maintenir un effort sensiblement constant entre le pignon 4 et la denture du flan interne du pneumatique, ceci pour s'accommoder d'éventuels voilages de roues et autres imperfections de positionnements entre pneumatique et système d'entrainement. L'encoche 78 sert de butée au cas où la roue du fauteuil serait retirée alors que le système est en position embrayée, pour limiter la rotation du bras 63.With reference to the figure 7 , the cam 7 has a central bore 71 and a substantially oblong outer casing 72, and three inner bores 74. Three notches 76, 77, and 78 are provided in the outer casing 72. A substantially flat surface 79 on the outer casing 72 acts as a working surface in gear position mode. As will be described later, the notches 76 and 77 make it possible to lock in rotation for the transport and disengaged modes respectively the proximal part 63 with respect to the distal part 62. The substantially planar surface 79 for its part serves to maintain a force substantially constant between the pinion 4 and the toothing of the internal sidewall of the tire, this to accommodate any wheel runout and other positioning imperfections between the tire and the drive system. The notch 78 serves as a stop in the event that the wheelchair wheel is removed while the system is in the engaged position, to limit the rotation of the arm 63.

Le perçage central 71, permet de relier, en pivot, la partie distale 62 et la partie proximale 63. Les trois perçages intérieurs 74 permettent de fixer la came 7 à la partie proximale 63, selon une liaison de type encastrement. Ainsi, la came 7 est mobile en rotation par rapport à la partie distale 62 mais est liée en rotation à la partie proximale 63. En d'autres termes, une rotation de la came 7 entraine en rotation la partie proximale 63 par rapport à la partie distale 62 qui est fixe et reliée au châssis du fauteuil 100.The central hole 71 makes it possible to connect, in a pivot, the distal part 62 and the proximal part 63. The three inner holes 74 make it possible to fix the cam 7 to the proximal part 63, according to an embedding-type connection. Thus, the cam 7 is mobile in rotation with respect to the distal part 62 but is linked in rotation to the proximal part 63. In other words, a rotation of the cam 7 causes the proximal part 63 to rotate with respect to the distal part 62 which is fixed and connected to the chair frame 100.

En outre, le dispositif d'assistance électrique 1, comprend un levier 8 mobile en rotation d'axe A par rapport à la partie distale 62. Le levier 8 présente une extrémité munie d'un galet 81. Le galet 81 est configuré pour être engagé dans les encoches 76, 77 et 78, et en appui sur la surface sensiblement plane 79.In addition, the electric assistance device 1 comprises a lever 8 movable in rotation of axis A with respect to the distal part 62. The lever 8 has one end provided with a roller 81. The roller 81 is configured to be engaged in the notches 76, 77 and 78, and resting on the substantially flat surface 79.

Un ressort de rappel 82 tend à conserver une force de contact entre le galet 81 et la came 7. Lorsque le galet se trouve dans les encoches 76, 77 ou 78 (le galet 81 dans l'encoche 78 n'est possible que lorsque la roue est retirée du fauteuil), il s'agit de positions stables dans lesquelles la partie proximale 63 est fixé en rotation par rapport à la partie distale. Lorsque le galet se trouve sur la surface sensiblement plane 79, la force de contact du galet 81 sur cette surface sensiblement plane a pour effet d'exercer un couple de rotation de la partie proximale du bras 63 ayant pour conséquence un effort entre le pignon 4 et le flan du pneumatique. Ce couple de rotation est dû au fait que la surface sensiblement plane 79 n'est pas normale à un rayon partant du centre de rotation de la came 7.A return spring 82 tends to maintain a contact force between the roller 81 and the cam 7. When the roller is in the notches 76, 77 or 78 (the roller 81 in the notch 78 is only possible when the wheel is removed from the chair), these are stable positions in which the proximal part 63 is fixed in rotation with respect to the distal part. When the roller is on the substantially flat surface 79, the contact force of the roller 81 on this substantially flat surface has the effect of exerting a torque on the proximal part of the arm 63 resulting in a force between the pinion 4 and the tire sidewall. This torque is due to the fact that the substantially flat surface 79 is not normal to a radius starting from the center of rotation of the cam 7.

Le passage d'une position à l'autre peut être réalisé en manoeuvrant uniquement le moteur 2 ou la partie proximale 63. Sous l'effort exercé, le galet 81 sort de l'encoche 76, 77 ou 78, ou encore de la surface sensiblement plane 79 et glisse sur l'enveloppe extérieure 72.The passage from one position to the other can be achieved by maneuvering only the motor 2 or the proximal part 63. Under the force exerted, the roller 81 comes out of the notch 76, 77 or 78, or even from the surface substantially flat 79 and slides on the outer casing 72.

En sus, le dispositif d'assistance électrique 1 comprend de façon connue un potentiomètre (non représenté) ou un autre moyen permettant de réguler l'énergie électrique fournie au moteur 2 et donc d'en ajuster la vitesse de rotation.In addition, the electrical assistance device 1 comprises in a known manner a potentiometer (not shown) or another means making it possible to regulate the electrical energy supplied to the motor 2 and therefore to adjust its speed of rotation.

Selon une disposition particulièrement avantageuse, un seul potentiomètre peut commander plusieurs moteurs 2.According to a particularly advantageous arrangement, a single potentiometer can control several motors 2.

Avantageusement, le dispositif d'assistance électrique 1 comprend aussi une ou plusieurs batteries électriques permettant d'alimenter le ou les moteurs 2.Advantageously, the electric assistance device 1 also comprises one or more electric batteries making it possible to supply the motor or motors 2.

L'homme du métier pourra utiliser des algorithmes connus de contrôle du ou des moteurs 2 pour fournir une assistance électrique optimale.Those skilled in the art will be able to use known algorithms for controlling the motor(s) 2 to provide optimal electrical assistance.

Fauteuil roulantWheelchair

Selon un deuxième aspect, l'invention concerne un fauteuil roulant 100 équipé d'un ou plusieurs dispositifs d'assistance électrique 1.According to a second aspect, the invention relates to a wheelchair 100 equipped with one or more electric assistance devices 1.

D'une manière classique, le fauteuil roulant 100, est un fauteuil roulant manuel connu, comprenant un châssis constitué d'une pluralité de tubes 102, un siège 103, deux roues arrière 104, 105 et deux roues avant 107. D'une manière traditionnelle, les deux roues arrière 104, 105 présentent un diamètre nettement supérieur au diamètre des deux roues avant 107. Les deux roues arrière 104,105 sont munies chacune d'une poignée annulaire 106. Les poignées annulaires 106 permettent à un utilisateur de propulser et diriger le fauteuil roulant 100.Conventionally, the wheelchair 100 is a known manual wheelchair, comprising a frame made up of a plurality of tubes 102, a seat 103, two rear wheels 104, 105 and two front wheels 107. traditional, the two rear wheels 104, 105 have a diameter much greater than the diameter of the two front wheels 107. The two rear wheels 104,105 are each provided with an annular handle 106. The annular handles 106 allow a user to propel and steer the wheelchair 100.

D'une manière particulièrement avantageuse, chaque roue arrière 104,105 est munie d'un pneumatique 110. Chaque pneumatique 110 présente une bande de roulement 110a destinée à entrer en contact avec le sol, deux flancs 110b et 110c, dont un flanc interne 110b (orienté vers le milieu du fauteuil 100 et un flanc externe 110c (orienté vers l'extérieur du fauteuil 100 et du côté duquel on trouve la poignée annulaire 106).In a particularly advantageous manner, each rear wheel 104, 105 is provided with a tire 110. Each tire 110 has a tread 110a intended to come into contact with the ground, two flanks 110b and 110c, of which an internal flank 110b (oriented towards the middle of the chair 100 and an outer side 110c (oriented towards the outside of the chair 100 and on the side of which there is the annular handle 106).

Le fauteuil 100 est équipé d'au moins un dispositif d'assistance électrique 1 adapté pour coopérer avec au moins une roue 104, 105, en particulier la roue arrière 104 droite ou gauche 105 (puisqu'il s'agit des roues de plus grande taille supportant la majorité du poids de son utilisateur, et donc capables de transmettre un effort de traction important au sol sans perte d'adhérence entre le pneumatique et le sol). Par abus de langage, on pourra dire qu'au moins une roue 104, 105 du fauteuil est munie du dispositif 1.The chair 100 is equipped with at least one electric assistance device 1 adapted to cooperate with at least one wheel 104, 105, in particular the right rear wheel 104 or left 105 (since these are larger wheels supporting the majority of the user's weight, and therefore capable of transmitting a significant tractive effort to the ground without loss of grip between the tire and the ground). By abuse of language, we can say that at least one wheel 104, 105 of the wheelchair is equipped with device 1.

De façon préférée, le fauteuil 100 est équipé d'au moins deux dispositifs d'assistance électrique 1, i.e. au moins un pour chaque roue arrière 104 et 105, en particulier l'un avec la roue arrière gauche 105 et l'un la roue arrière droite 104. Un tel mode de réalisation permet une propulsion symétrique plus efficace, et permet même le cas échéant de faire tourner le fauteuil 100 en appliquant des vitesses ou des couples de rotation différentes à gauche et à droite. On comprend qu'il reste possible de monter plusieurs dispositifs 1 sur une seule roue, de sorte à démultiplier la puissance.Preferably, the wheelchair 100 is equipped with at least two electric assistance devices 1, i.e. at least one for each rear wheel 104 and 105, in particular one with the left rear wheel 105 and one with the wheel rear right 104. Such an embodiment allows a more efficient symmetrical propulsion, and even allows, if necessary, to rotate the chair 100 by applying different speeds or rotational torques to the left and to the right. It is understood that it remains possible to mount several devices 1 on a single wheel, so as to multiply the power.

Comme expliqué, ledit pneumatique 110 d'une roue 104, 105 munie du dispositif 1 présente une denture complémentaire d'une denture du pignon 4 relié au rotor 22 dudit moteur 2 du dispositif d'assistance électrique 1As explained, said tire 110 of a wheel 104, 105 provided with the device 1 has a toothing complementary to a toothing of the pinion 4 connected to the rotor 22 of the said motor 2 of the electric assistance device 1

Avantageusement, au moins l'un des flancs 110b, 110c, et en particulier le flanc interne 110b, et préférentiellement chacun des flancs 110b, 110c, présente une denture hélicoïdale symétrique, complémentaire de la denture hélicoïdale symétrique du pignon 4. Avantageusement, la denture du flanc 110b présente un pas compris entre 1 et 4 millimètres. D'une manière particulièrement avantageuse, la denture du flanc 110b présente un pas d'environ 3 millimètres, ce qui permet d'avoir un couple transmissible optimal pour un niveau de bruit réduit. L'utilisation d'une denture symétrique, qu'elle soit droite ou hélicoïdale, permet d'utiliser indistinctement, le même type de pneumatique 110 pour les roues arrière droite 104 ou arrière gauche 105, i.e. on peut prévoir une configuration dans laquelle chacune des roues arrière 104 est munie d'un dispositif 1, tout en ayant le même pneumatique 110 (présentant la denture symétrique sur chacun de ses flancs 110b, 110c).Advantageously, at least one of the flanks 110b, 110c, and in particular the inner flank 110b, and preferably each of the flanks 110b, 110c, has symmetrical helical toothing, complementary to the symmetrical helical toothing of pinion 4. Advantageously, the toothing of the flank 110b has a pitch of between 1 and 4 millimeters. In a particularly advantageous manner, the toothing of the flank 110b has a pitch of approximately 3 millimeters, which makes it possible to have an optimum transmissible torque for a reduced noise level. The use of symmetrical toothing, whether straight or helical, makes it possible to use the same type of tire 110 indiscriminately for the right rear 104 or left rear 105 wheels, i.e. a configuration can be provided in which each of the rear wheels 104 is provided with a device 1, while having the same tire 110 (presenting the symmetrical toothing on each of its sides 110b, 110c).

Dans un autre mode de réalisation, on utilise une denture non symétrique (par exemple du type tel que décrit dans la demande de brevet WO2014086727 de la demanderesse) permettant d'augmenter encore le couple transmissible. Cependant, l'utilisation d'une telle denture asymétrique nécessite d'avoir un pneu spécifique gauche et un pneu spécifique droite, ou alors des pneus identiques à gauche et à droite, mais avec une denture sur les deux flancs, augmentant ainsi légèrement le coût de fabrication.In another embodiment, a non-symmetrical toothing is used (for example of the type as described in the patent application WO2014086727 of the applicant) making it possible to further increase the transmissible torque. However, the use of such asymmetrical teeth requires having a specific left tire and a specific right tire, or else identical tires on the left and on the right, but with teeth on both sides, thus slightly increasing the cost. Manufacturing.

D'une manière préférentielle, chaque moteur 2 est fixé par un bras 6 à proximité de chaque roue arrière 104, 105. De sorte que le pignon 4 relié à chaque moteur 2 puisse être engrené à la denture du pneumatique 110 de la roue arrière 104, 105 correspondante.Preferably, each motor 2 is fixed by an arm 6 close to each rear wheel 104, 105. So that the pinion 4 connected to each motor 2 can be meshed with the toothing of the tire 110 of the rear wheel 104 , 105 corresponding.

Selon un premier mode de réalisation présenté notamment aux figures 1 et 8, le dispositif 1 est orienté de sorte que le moteur 2 soit vers les roues avant 107. En d'autres termes, selon ce mode de réalisation, en parcourant le dispositif 1 dans une direction allant des roues avant 107 vers les roues arrière 104, 105, on trouve tout d'abord le moteur 2 puis le pignon 4.According to a first embodiment presented in particular to figure 1 and 8 , the device 1 is oriented so that the motor 2 is towards the front wheels 107. In other words, according to this embodiment, by traversing the device 1 in a direction going from the front wheels 107 towards the rear wheels 104, 105, we first find the motor 2 then the pinion 4.

Inversement, selon un deuxième mode de réalisation présenté aux figures 9 et 10, le dispositif 1 est orienté de sorte que le pignon 4 soit vers les roues avant 107. En d'autres termes, selon ce mode de réalisation, en parcourant le dispositif 1 dans une direction allant des roues avant 107 vers les roues arrière 104, 105, on trouve tout d'abord le pignon 4 puis le moteur 2. Ce second mode de réalisation peut procurer un surplus d'ergonomie pour un utilisateur et peut permettre d'éviter une éventuelle collision du moteur 2 avec des objets à l'avant du fauteuil, tels que des pieds de tables par exemple. De plus, ce second mode de réalisation rend le système plus discret, en dissimulant les moteurs derrière les roues, ce qui est avantageux pour les utilisateurs.Conversely, according to a second embodiment presented to the figures 9 and 10 , the device 1 is oriented so that the pinion 4 is towards the front wheels 107. In other words, according to this embodiment, by traversing the device 1 in a direction going from the front wheels 107 towards the rear wheels 104, 105, there is first of all the pinion 4 then the motor 2. This second embodiment can provide a surplus of ergonomics for a user and can make it possible to avoid a possible collision of the motor 2 with objects in front of the armchair, such as table legs for example. In addition, this second embodiment makes the system more discreet, by concealing the motors behind the wheels, which is advantageous for users.

Lors du roulage, les bras 6 permettent de manoeuvrer les pignons 4 entre une position embrayée dans laquelle les pignons 4 sont engrenés chacun à une denture du pneumatique 110 correspondant, et une position débrayée dans laquelle les pignons 4 sont écartés des pneumatiques 110.During travel, the arms 6 make it possible to maneuver the pinions 4 between an engaged position in which the pinions 4 are each meshed with a toothing of the corresponding tire 110, and a disengaged position in which the pinions 4 are spaced apart from the tires 110.

En d'autres termes, en position embrayée, les pignons 4 sont engrenés aux pneumatiques et les moteurs 2 peuvent appliquer un couple sur les roues arrière 104, 105. En position débrayée, les pignons sont à distance des pneumatiques et les moteurs 2 ne peuvent appliquer aucun couple aux roues arrière 104, 105.In other words, in the engaged position, the pinions 4 are meshed with the tires and the motors 2 can apply a torque to the rear wheels 104, 105. In the disengaged position, the pinions are at a distance from the tires and the motors 2 cannot apply no torque to the rear wheels 104, 105.

En sus, les bras permettent aussi de manœuvrer les dispositifs d'assistances électrique 1 en position de transport. Dans cette position, les pignons 4 sont éloignés des pneumatiques 110 et sont rétractés sous le siège 103. Cette disposition est particulièrement utile lorsque le fauteuil roulant est placé par exemple dans le coffre d'un véhicule. Cette position de transport est également utile lorsque l'utilisateur s'installe seul au volant d'un véhicule automobile, pour faire passer le cadre du fauteuil latéralement entre ses genoux et le volant, jusque sur le siège passager, et inversement pour redescendre seul du véhicule et s'installer à nouveau sur son fauteuil roulant. En étant rétractés sous le siège 103, les dispositifs d'assistance électrique 1 sont moins exposés à d'éventuels accrochages, ou chocs, qui pourraient les endommager. De plus, cette disposition est particulièrement avantageuse, dans le cas d'un fauteuil roulant 100 pliable.In addition, the arms also make it possible to maneuver the electric assistance devices 1 into the transport position. In this position, the sprockets 4 are away from the tires 110 and are retracted under the seat 103. This arrangement is particularly useful when the wheelchair is placed, for example, in the trunk of a vehicle. This transport position is also useful when the user sits alone at the wheel of a motor vehicle, to pass the frame of the wheelchair laterally between his knees and the steering wheel, onto the passenger seat, and vice versa to descend alone from the vehicle and get back into their wheelchair. By being retracted under the seat 103, the electric assistance devices 1 are less exposed to possible collisions, or shocks, which could damage them. In addition, this arrangement is particularly advantageous in the case of a foldable wheelchair 100.

Selon une disposition particulière, un seul potentiomètre peut permettre de commander la vitesse ou le couple de rotation des deux moteurs 2.According to a particular arrangement, a single potentiometer can make it possible to control the speed or the rotation torque of the two motors 2.

A l'usage, un utilisateur, peut actionner l'assistance électrique en plaçant les bras 6 en position embrayée. Les moteurs 2 pourront alors exercer un couple sur les roues arrière 104, 105. La force transmise par les moteurs 2 soulagera l'utilisateur qui aura moins d'effort à fournir pour déplacer le fauteuil roulant à la force de ses bras. Il est précisé que l'assistance électrique ne permet pas à elle seule de déplacer le fauteuil roulant 100. Le potentiomètre permet d'ajuster la puissance de l'assistance électrique fournie. L'utilisateur peut à tout moment placer les bras 6 en position débrayée ou de transport, déconnectant ainsi l'assistance électrique. En position débrayée, ou de transport, l'utilisateur déplace le fauteuil roulant 100 uniquement à la force de ses bras.In use, a user can activate the electric assistance by placing the arms 6 in the engaged position. The motors 2 will then be able to exert a torque on the rear wheels 104, 105. The force transmitted by the motors 2 will relieve the user who will have less effort to provide to move the wheelchair using the force of his arms. It is specified that the electric assistance alone does not make it possible to move the wheelchair 100. The potentiometer makes it possible to adjust the power of the electric assistance supplied. The user can at any time place the arms 6 in the disengaged or transport position, thus disconnecting the electric assistance. In the disengaged or transport position, the user moves the wheelchair 100 solely by the force of his arms.

Ainsi, l'invention propose un dispositif d'assistance électrique adaptable sur un fauteuil roulant 100 manuel, permettant une utilisation du fauteuil roulant 100 sans l'assistance électrique, et permettant de rétracter les dispositifs d'assistance pour faciliter le transport du fauteuil roulant 100.Thus, the invention proposes an electric assistance device adaptable to a manual wheelchair 100, allowing use of the wheelchair 100 without the electric assistance, and allowing the assistance devices to be retracted to facilitate transport of the wheelchair 100 .

Claims (9)

  1. Electric assistance device (1) for a wheelchair (100) having a seat (103), and at least one rear wheel (104, 105) having a tire (110), the electric assistance device (1) comprising :
    - at least one motor (2) having a rotor (22) connected to a toothed pinion (4) adapted to engage a complementary toothing of the tire (110), and
    - a mobile arm (6) for connecting said motor (2) to the wheelchair (100),
    the electric assistance device (1) being characterized in that the movable arm (6) makes it possible to maneuver said motor (2) between an engaged position in which the pinion (4) is in contact with the complementary toothing of said tire (110), a disengaged position in which the pinion (4) is not in contact with the complementary toothing of said tire (110), and a transport position in which the pinion (4) is moved away from the tire (110) and retracted under the seat (103).
  2. The electric assist device (1) according to claim 1, wherein the arm (6) comprises a cam (7) for positioning and holding the electric assist device (1) in an engaged position, a disengaged position or a transport position.
  3. The electric assist device (1) according to claim 2, wherein the cam (7) has at least three notches (76, 77, 78), and a substantially flat surface (79), each adapted to cooperate with a roller (81) of a movable lever (8), to hold the electric assist device (1) in an engaged position, in a disengaged position or in a transport position.
  4. The electric assist device (1) according to claim 3, wherein the lever (8) rotatable with respect to the arm (6) comprises the roller (81) adapted to be engaged in a notch (76, 77, 78) or on the substantially flat surface 79 of the cam (7) to hold the electric assist device (1) in the engaged position, in the disengaged position or in the transport position.
  5. The electric assist device (1) according to claim 4, wherein the lever (8) comprises at one end the roller (81) maintaining a force against a cam (7) via a return spring (82).
  6. An electric assist device (1) according to any of the preceding claims, wherein the arm (6) comprises a distal portion (62) to be connected to the wheelchair (100) and a proximal portion (63) connected to the motor (2), the distal portion (62) and the proximal portion (63) being articulated to each other by a joint concentric to the cam (7).
  7. Wheelchair (100) comprising a seat (103) and two rear wheels (104, 105) each having a tire (110), characterized in that it comprises at least one electric assistance device (1) according to one of claims 1 to 6.
  8. A wheelchair (100) according to claim 7, comprising a frame made up of a plurality of tubes (102), a seat (103), and two rear wheels (104, 105), characterized in that it comprises two electric assistance devices (1), positioned on the underside of the seat (103), each connected to a tube (102) and each adapted to engage a tire (110) of a corresponding rear wheel (104, 105).
  9. A wheelchair (100) according to claim 8, comprising an electric assist device (1) according to claim 6, wherein the distal portion (62) of the arm (6) of each electric assist device (1) is connected to a tube (102).
EP20706801.6A 2019-02-07 2020-02-07 Electrical assistance device Active EP3920862B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901231A FR3092489B1 (en) 2019-02-07 2019-02-07 Electric assistance device
PCT/FR2020/050218 WO2020161447A1 (en) 2019-02-07 2020-02-07 Electrical assistance device

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EP3920862B1 true EP3920862B1 (en) 2022-12-21

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AU (1) AU2020217975B2 (en)
CA (1) CA3127270C (en)
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EP4277586A1 (en) * 2021-01-15 2023-11-22 Motion Composites Inc. Articulated motor support for wheelchair

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JP3705378B2 (en) * 1996-07-01 2005-10-12 ヤマハ発動機株式会社 Electric wheelchair
EP0829246B1 (en) * 1996-09-12 2002-10-09 Honda Giken Kogyo Kabushiki Kaisha Electrically driven wheelchair
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US20100200311A1 (en) * 2009-02-11 2010-08-12 Southern Taiwan University Manually operatable motorized wheel chair
FR2998859B1 (en) 2012-12-05 2014-11-21 Michelin & Cie ELECTRICAL ASSISTANCE DEVICE FOR BICYCLE AND ELECTRONICALLY ASSISTED BIKE EQUIPPED WITH SAID DEVICE
FR2998858B1 (en) 2012-12-05 2014-11-21 Michelin & Cie ELECTRICAL ASSISTANCE DEVICE FOR BICYCLE AND ELECTRONICALLY ASSISTED BIKE EQUIPPED WITH SAID DEVICE
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FR3008067B1 (en) 2013-07-04 2016-06-03 Michelin & Cie ELECTRICAL ASSISTANCE DEVICE FOR BICYCLE AND BIKE EQUIPPED WITH SAID DEVICE
FR3008068B1 (en) 2013-07-04 2017-12-29 Michelin & Cie ELECTRICAL ASSISTANCE DEVICE FOR BICYCLE AND BIKE EQUIPPED WITH SAID DEVICE
FR3032416B1 (en) 2015-02-11 2017-02-10 Michelin & Cie ELECTRICAL ASSISTANCE DEVICE FOR BIKE AND BIKE EQUIPPED WITH SUCH A DEVICE
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CA3127270C (en) 2022-05-17
FR3092489B1 (en) 2023-02-24
US11413199B2 (en) 2022-08-16
AU2020217975A1 (en) 2021-09-30
FR3092489A1 (en) 2020-08-14
AU2020217975B2 (en) 2022-10-20
WO2020161447A1 (en) 2020-08-13
CA3127270A1 (en) 2020-08-13
US20220031537A1 (en) 2022-02-03

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