# US 2019/0168105 A1 · Locomotion device with rollers

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- Number: US 2019/0168105 A1
- Document ID: US20190168105A1
- Status: Published application
- Kind: A1
- Application number: 16/314,579
- Filed: 2017-06-30
- Published: 2019-06-06
- Earliest claimed: 2016-07-04
- Assignees: Commissariat A L'energie Atomique Et Aux Energies Alternatives
- Applicants: Commissariat A L'energie Atomique Et Aux Energies Alternatives
- Inventors: Thierry HILT
- Web page: https://patentgrep.com/patent/US20190168105A1

## CPC

- A63C 17/1427: {the brake contacting other wheel associated surfaces, e.g. hubs, brake discs or wheel flanks}
- A63C 17/06: single-track type
- F16H 1/225: {with two or more worm and worm-wheel gearings}
- F16H 7/06: with chains
- A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00)
- F16H: GEARING

## Abstract

This locomotion device includes a mechanism suitable for converting the pivoting of a roller into a movement of a pad to an advanced position in which it brakes this roller, this mechanism includes a planetary gear set having: a planetary wheel attached to a sole and the axis of revolution of which coincides with a pivoting axis of the roller and a satellite gear rotated by the planetary wheel about an axis of revolution attached without any degree of freedom to the roller and a pin movable by the satellite gear between: a near position in which it pushes and maintains the pad in an advanced position and a distant position in which it allows the movement of the pad from its advanced position to a retracted position.

## Claims

### Claim 1

A locomotion device with rollers for travel on a ground, this device comprising:
a sole which extends mainly on a plane known as the “sole plane”, and on which at least one of the feet of the user is designed to be supported during use of the device by this user;
at least one roller which is mechanically connected to the sole in order to roll on the ground, this roller being fitted such as to rotate around a rolling axis parallel to the plane of the sole, and also around an axis of pivoting perpendicular to the plane of the sole;
a braking device which can exert a braking torque on the roller, the amplitude of which varies according to a turning angle, the turning angle being the angle between:
a longitudinal axis of the sole, this longitudinal axis being set without any degree of freedom for the sole, and contained on the plane of the sole; and
the orthogonal projection, on the plane of the sole, of the instantaneous direction of displacement of this sole,
this braking device comprising:
a pad which can be displaced between an advanced position, in which it exerts pressure on the roller in order to brake it, and a retracted position, in which it does not exert any pressure on the roller, or exerts lower pressure on it;
a mechanism which can transform the pivoting of the roller in a direction around its axis of pivoting into displacement of the pad from its retracted position to its advanced position, and pivoting of the roller in the opposite direction around its axis of pivoting into displacement of the pad from its advanced position to its retracted position,
characterized in that this mechanism comprises:
a planetary gear set comprising:
a planetary wheel which is secured without any degree of freedom on the sole, and the axis of revolution of which coincides with the axis of pivoting of the roller; and
a satellite gear which is rotated by the planetary wheel around a rotational shaft which is secured without any degree of freedom on the roller; and
a pin which can be displaced by the satellite gear between:
a close position in which it thrusts the pad and retains it in its advanced position; and
a distant position in which it permits displacement of the pad from its advanced position to its retracted position.

### Claim 2 (depends on 1)

The device as claimed in claim 1, wherein:
the roller comprises:
a tread which is designed to come directly into contact on the ground when the roller is rolling on this ground; and
lateral flanks which extend mainly perpendicularly to the tread; and
the pad is disposed opposite one of these lateral flanks, such as to exert the pressure on this lateral flank in the advanced position.

### Claim 3 (depends on 1)

The device as claimed in claim 1, wherein the planetary gear set comprises a belt or a chain which connects the planetary wheel mechanically to the satellite gear, in order to rotate the satellite gear around its axis of revolution in response to pivoting of the roller around its axis of pivoting.

### Claim 4 (depends on 1)

The device as claimed in claim 1, wherein the diameter of the planetary wheel is equal to twice the diameter of the satellite gear.

### Claim 5 (depends on 1)

The device as claimed in claim 1, wherein the pad comprises:
a runner with a front face which can rub directly on the roller when the pad is in its advanced position, and a rear face situated on the side opposite the front face; and
a spring interposed between the pin and the rear face of the runner, in order to transform the displacement of the pin into pressure exerted by the front face of the runner on the roller.

### Claim 6 (depends on 1)

The device as claimed in claim 1, wherein the device additionally comprises:
a controllable electromechanical device for turning of the roller, this device being able to make the roller pivot around its axis of pivoting by an angle which is determined on the basis of a pivoting command received;
an inertia system which can measure a physical value representative of the turning angle; and
a central unit which is programmed, at each instant of the command for pivoting of the roller, and in accordance with the physical value measured by the inertia system at that instant, to establish a pivoting command which maintains the rolling axis of the roller perpendicular to the instantaneous direction of displacement of the sole.

### Claim 7 (depends on 6)

The device as claimed in claim 6, wherein the turning device comprises:
a notched wheel which is secured without any degree of freedom on the roller, and is fitted such as to rotate around the axis of pivoting of this roller;
an endless screw which is engaged with the notched wheel, and extends parallel to the plane of the sole; and
an electrical actuator which can make the endless screw turn by a number of turns determined on the basis of the pivoting command received in order to make the roller pivot by a corresponding angle around its axis of pivoting.

### Claim 8 (depends on 1)

The device as claimed in claim 1, wherein the locomotion device can be transported directly by hand by its user.

### Claim 9 (depends on 1)

The device as claimed in claim 1, wherein the device comprises:
two soles which are mechanically independent from one another, a respective foot of the user being designed to be placed by this user on each of these soles during use of the device;
secured on each sole, at least one specimen of said at least one roller and a specimen of the braking device.