Omnidirectional propelled vehicle comprising a chassis and a first rotary shaft
The invention relates to a propelled vehicle (D 1 ; D 2 ) comprising: an electrical power source (SE), a chassis (C), a first shaft (A 1 ) supporting a propulsion unit (P) and mounted such that it can rotate on the chassis about a first axis (AX 1 ), and a first device (E 1 ) for rotating the first shaft, characterized in that the chassis comprises a first member (OGR 1 ) for guiding the first shaft in rotation, in that the first shaft comprises a first complementary member (OC 1 ) mechanically cooperating with the first guide member, and in that the first guide member and the first complementary member are electrically conductive and are electrically connected to one another, the first guide member being electrically connected to the electrical power source and the first complementary member being electrically connected to the propulsion unit.
1 . A propelled vehicle comprising:
an electrical power source,
a chassis supporting the electrical power source,
a first shaft supporting a propulsion unit of said propelled vehicle, mounted so as to rotate on the chassis about a first axis of rotation, and
a first drive device for rotating the first shaft about said first axis of rotation,
wherein the chassis comprises a first guide member for guiding the first shaft in rotation about said first axis of rotation, and wherein the first shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member so as to remove at least one degree of freedom from the first shaft other than the rotation of the first shaft about the first axis of rotation, wherein the first guide member and the first complementary member are electrically conductive and are electrically connected to one another, the first guide member being electrically connected to the electrical power source and the first complementary member being electrically connected to the propulsion unit.
2 . The propelled vehicle as claimed in claim 1 , wherein the first drive device comprises a motor provided with a rotary shaft that rotates about the first axis of rotation; wherein the first shaft comprises a transmission member that is mechanically connected to the rotary shaft of the motor so that rotation of the shaft of the motor is transmitted to the first shaft; wherein the first complementary member comprises a first bearing which is mounted on the transmission member and wherein the first guide member comprises a second bearing which is mounted concentrically around the first bearing.
3 . The propelled vehicle as claimed in claim 2 , wherein the first shaft comprises a frame comprising two diametrically-opposed pivots, each pivotably mounted in a recess in the chassis, said recesses facing one another, wherein the transmission member is arranged on one of the pivots so as to extend into one of said recesses, the rotary shaft of the motor extends into the recess, wherein the first bearing is arranged in the recess, the profile of the recess corresponding substantially to that of the second bearing.
4 . The propelled vehicle as claimed in claim 1 , wherein the first shaft comprises a ring unit that is rotationally symmetrical about the first axis of rotation, wherein the first complementary member comprises a band mounted on the ring unit and wherein the first guide member comprises a pad bearing flat against said band.
5 . The propelled vehicle of claim 4 , wherein the pad further comprises a rod and wherein the chassis (C) comprises a pressing module for pressing the pad onto said band, and wherein the pressing module comprises a guide part into which the rod of the pad fits.
6 . The propelled vehicle as claimed in claim 1 , wherein the propelled vehicle further comprises a second guide member for guiding the first shaft in rotation about said first axis of rotation, and wherein the first shaft comprises a second complementary member arranged to mechanically cooperate with the second guide member so as to remove at least one degree of freedom from the first shaft other than the rotation of the first shaft about the first axis of rotation, wherein the second guide member and the second complementary member are electrically conductive and are electrically to one another, the second guide member being electrically connected to the electrical power source and the second complementary member being electrically connected to the propulsion unit.
7 . The propelled vehicle as claimed in claim 1 , further comprising a central control unit for the propelled vehicle which is capable of exchanging data with the propulsion unit, a plurality of fixed legs which extend from the chassis to a base; a plurality of movable legs which extend from a movable base, which is mounted on the base so as to rotate about the first axis of rotation, to the first shaft, wherein a rotary collector is arranged in the base and in the movable base; wherein at least one cable extends from the central control unit to the rotary collector through one of the fixed legs; wherein another cable extends from the rotary collector to the propulsion unit through one of the movable legs.
8 . The propelled vehicle as claimed in claim 1 , wherein the propelled vehicle comprises:
a second shaft mounted on the first shaft so as to rotate about a second axis of rotation, the second shaft supporting said propulsion unit of said propelled vehicle;
a second drive device for rotating the second shaft about said second axis of rotation,
wherein the first shaft comprises a first guide member for guiding the second shaft in rotation about said second axis of rotation; wherein the second shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member of the first shaft so as to remove at least one degree of freedom from the second shaft other than the rotation of the second shaft about the second axis of rotation, wherein the first guide member of the first shaft and the first complementary member of the second shaft are electrically conductive and are electrically connected to one another, the first guide member of the first shaft being electrically connected to the first complementary member of the first shaft and the first complementary member of the second shaft being electrically connected to the propulsion unit.
9 . The propelled vehicle as claimed in claim 8 , wherein the second drive device comprises a motor provided with a rotary shaft that rotates about the second axis of rotation; wherein the second shaft comprises a transmission member that is mechanically connected to the rotary shaft of the motor so that rotation of the shaft of the motor is transmitted to the second shaft; wherein the first complementary member of the second shaft comprises a first bearing which is mounted on the transmission member of the second shaft and wherein the first guide member of the first shaft comprises a second bearing which is mounted concentrically around the first bearing.
10 . The propelled vehicle as claimed in claim 9 , wherein the propelled vehicle further comprises a central control unit for the propelled vehicle which is capable of exchanging data with the propulsion unit, wherein the second shaft comprises two diametrically opposed pivots, each pivotably mounted in a recess in the first shaft, said recesses facing one another, wherein the transmission member of the second shaft is arranged on one of the pivots of the second shaft to extend into one of said recesses and the rotary shaft of the motor extends into this recess, wherein a rotary collector is arranged in the other of the recesses in the first shaft, and wherein at least one cable extends from the central control unit to the rotary collector through the first shaft and wherein another cable extends from the rotary collector to the propulsion unit through the second shaft.
11 . The propelled vehicle as claimed in claim 1 , wherein the propelled vehicle is an omnidirectional aerial drone.
12 . A propelled vehicle comprising:
an electrical power source,
a chassis supporting the electrical power source,
a first shaft supporting a propulsion unit of said propelled vehicle, mounted so as to rotate on the chassis about a first axis of rotation, and
a first drive device for rotating the first shaft about said first axis of rotation,
wherein the chassis comprises a first guide member for guiding the first shaft in rotation about said first axis of rotation, and wherein the first shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member so as to remove at least one degree of freedom from the first shaft other than the rotation of the first shaft about the first axis of rotation, wherein the first guide member and the first complementary member are electrically conductive and are electrically connected to one another, the first guide member being electrically connected to the electrical power source and the first complementary member being electrically connected to the propulsion unit,
wherein the first drive device comprises a motor provided with a rotary shaft that rotates about the first axis of rotation; wherein the first shaft comprises a transmission member that is mechanically connected to the rotary shaft of the motor so that rotation of the shaft of the motor is transmitted to the first shaft; wherein the first complementary member comprises a first bearing which is mounted on the transmission member and wherein the first guide member comprises a second bearing which is mounted concentrically around the first bearing.
13 . The propelled vehicle as claimed in claim 12 , wherein the first shaft comprises a frame comprising two diametrically opposed pivots, each pivotably mounted in a recess in the chassis, said recesses facing one another, wherein the transmission member is arranged on one of the pivots so as to extend into one of said recesses, the rotary shaft of the motor extends into the recess, wherein the first bearing is arranged in the recess, the profile of the recess corresponding substantially to that of the second bearing.
14 . The propelled vehicle as claimed in claim 12 , wherein the first shaft comprises a ring unit that is rotationally symmetrical about the first axis of rotation, wherein the first complementary member-comprises a band mounted on the ring unit and wherein the first guide member comprises a pad bearing flat against said band.
15 . The propelled vehicle of claim 14 , wherein the pad further comprises a rod and wherein the chassis comprises a pressing module for pressing the pad onto said band, and wherein the pressing module comprises a guide part into which the rod of the pad fits.
16 . The propelled vehicle as claimed in claim 12 , wherein the propelled vehicle comprises a second guide member for guiding the first shaft in rotation about said first axis of rotation, and wherein the first shaft comprises a second complementary member arranged to mechanically cooperate with the second guide member so as to remove at least one degree of freedom from the first shaft other than the rotation of the first shaft about the first axis of rotation, wherein the second guide member and the second complementary member are electrically conductive and are electrically to one another, the second guide member being electrically connected to the electrical power source (and the second complementary member being electrically connected to the propulsion unit.
17 . The propelled vehicle as claimed in claim 12 , further comprising a central control unit for the propelled vehicle which is capable of exchanging data with the propulsion unit, a plurality of fixed legs which extend from the chassis to a base; a plurality of movable legs which extend from a movable base, which is mounted on the base so as to rotate about the first axis of rotation, to the first shaft, wherein a rotary collector is arranged in the base and in the movable base; wherein at least one cable extends from the central control unit to the rotary collector through one of the fixed legs; wherein another cable extends from the rotary collector to the propulsion unit through one of the movable legs.
18 . The propelled vehicle as claimed in claim 12 , wherein the propelled vehicle comprises: a second shaft mounted on the first shaft so as to rotate about a second axis of rotation, the second shaft supporting said propulsion unit of said propelled vehicle;
a second drive device for rotating the second shaft about said second axis of rotation, wherein the first shaft comprises a first guide member for guiding the second
shaft in rotation about said second axis of rotation; wherein the second shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member of the first shaft so as to remove at least one degree of freedom from the second shaft other than the rotation of the second shaft about the second axis of rotation, wherein the first guide member of the first shaft and the first complementary member of the second shaft are electrically conductive and are electrically connected to one another, the first guide member of the first shaft being electrically connected to the first complementary member of the first shaft and the first complementary member of the second shaft being electrically connected to the propulsion unit,
wherein the second drive device comprises a motor provided with a rotary shaft that rotates about the second axis of rotation; wherein the second shaft comprises a transmission member that is mechanically connected to the rotary shaft of the motor so that rotation of the shaft of the motor is transmitted to the second shaft; wherein the first complementary member of the second shaft comprises a first bearing which is mounted on the transmission member of the second shaft and wherein the first guide member of the first shaft comprises a second bearing which is mounted concentrically around the first bearing.
19 . The propelled vehicle as claimed in claim 18 , wherein the propelled vehicle further comprises a central control unit for the propelled vehicle which is capable of exchanging data with the propulsion unit, wherein the second shaft comprises two diametrically opposed pivots, each pivotably mounted in a recess in the first shaft, said recesses facing one another, wherein the transmission member of the second shaft is arranged on one of the pivots of the second shaft to extend into one of said recesses and the rotary shaft of the motor extends into this recess, wherein a rotary collector is arranged in the other of the recesses in the first shaft, and wherein at least one cable extends from the central control unit to the rotary collector through the first shaft and wherein another cable extends from the rotary collector to the propulsion unit through the second shaft.
20 . The propelled vehicle as claimed in claim 12 , wherein the propelled vehicle is an omnidirectional aerial drone.