• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a mechanical stabilization system (1) on the ground for vehicles (2) with wheels (for example a surgical assistance robot used in an operating theater), which can take two stable states respectively disengaged, the vehicle (2) resting on the wheels (3), and activated, the vehicle (3) being immobilized on the ground. According to the invention the stabilization system (1) comprises: ground support feet (4) movable between a first retracted position, at a distance from the ground, and a contact position ensuring the immobilization of the vehicle (2) by mechanical friction against the ground; - Mechanical control means (5) of said support feet (4), said control means (5) being movable between two stable positions corresponding to the activated and disengaged states; - Mechanical transmission means (6) of the displacement of the control means (5) simultaneously to all the support feet (4).
    公开号:FR3043970A1
    申请号:FR1561381
    申请日:2015-11-25
    公开日:2017-05-26
    发明作者:Bertin Nahum；Fernand Badano；Lucien Blondel；Eric Roussel
    申请人:Medtech SA；
    IPC主号:
    专利说明:

    Mechanical ground stabilization system for vehicles with wheels
    The present invention is in the field of the equipment of wheeled vehicles and in particular in their stabilization on the ground.
    The present invention will find a more particular application in the stabilization of a medical device with wheels such as a surgical assistance robot with wheels.
    The quality of ground stabilization is a key factor in the use of such a device in assisting a surgical procedure. This stabilization makes it possible to block the device with respect to the anatomy of the patient when it is localized, and directly impacts the accuracy of the surgeon's movements, ensuring the immobility of the device with respect to said anatomy.
    At least five mechanical systems are known for stabilizing the floor of roller devices.
    A first system for stabilizing a roller device consists in directly blocking each wheel of the device by means of an independent mechanical brake arranged on each wheel. This first system is commonly used to equip devices. rollers such as an instrument trolley, a medical bed, etc. This first system has several disadvantages, the most unacceptable is the obligation to actuate the brake, independently for each wheel. Moreover, this stabilization system does not make it possible to compensate for ground flatness defects, which leads to an instability which can be problematic when the device is used in a manipulation which requires precision, such as for example a surgery.
    A second stabilization system of a roller device is provided for fitting frames. vehicle having a sill capable of supporting the. .sol, with wheels equipped with. electric or hydraulic cylinders to retract them and · immobilize the roller device by placing the rocker on the ground. Such a system, for example described in the document US2015 / 010O066 A1, has the disadvantages of being dependent on a power supply, and. to pose. typical maintenance and frailty issues for this type of design. A shock at a wheel is. for example likely, depending on its intensity, to damage the jack which is associated with it .. In addition, the rocker leaves one. space too small (less than 35 mm) between the floor and the wheeled device, which may compromise its movement when encountering obstacles such as cables running on the floor. In. furthermore, this stabilization system does not make it possible to compensate for a serious lack of ground plan ·.
    A third device stabilization system, on wheels, developed by the applicant, comprises a frame of. vehicle equipped with feet, each associated with a hydraulic cylinder. When the feet are deployed, they take support from. floor, compensate for at least a portion of the weight of the device acting on the wheels and stabilize the medical device. The complexity of the mechanism actuating the feet associated with a cylinder also causes dependence on a power supply, and generally induces the same disadvantages as in the previous solution. For the record, the feet are not fully retractable, they are exposed to shocks during movement of the roller device, and may also hinder the movement of the medical device because of their size. In addition, once deployed, the feet also do not make up for a lack of flatness of the ground, especially when it is consistent.
    A fourth system comprises a frame equipped with feet, each associated with a mechanical jack. When deployed, the feet rest on the ground and at least partly compensate for the weight on the wheels. This mechanical jack system has a large space under the frame, which can also compromise the movement of the medical device if it encounters obstacles. In addition, this system does not provide for compensation of .mechanical games: and ne. does not have enough flexibility to compensate for flatness defects.
    A fifth existing stabilization system is based on mechanically independent feet which are deployable by the actuation of a pedal via a transmission system comprising an eccentric. When the pedal is actuated, the foot associated with it unfolds, and when all the feet are deployed, they partially compensate for the weight exerted on the wheels and thus stabilize the pedal. This stabilization system has the disadvantage of not compensating for them. mechanical games in, the transmission system deploying the feet, and it forces an operator to operate independently each foot. Finally, it is hardly effective in catching up with a lack of planeness of the soil.
    The present invention overcomes the previously discussed problems and aims to provide a mechanically robust stabilization system of a device with wheels, allowing a reliable immobilization and easily actuable, to better adapt the positioning of the device, for example with respect to a patient in the course of a surgical operation.
    The stabilization system according to the invention is advantageous in that it makes it possible to limit the encumbrance under the medical device facilitating its mobility, to compensate for a lack of flatness of the ground while keeping all the support feet in permanent contact. with the ground, and reduce the complexity and cost of maintenance. Λ these effects, the mechanical stabilization system, on the ground for wheeled vehicles of the present invention, which can take two stable states respectively disengaged, the vehicle resting on the wheels, and activated, the vehicle being immobilized on the ground, . characterizes in Cô :. it comprises: ground support feet movable between a first retracted position, away from the ground, and a contact position ensuring the immobilization of the vehicle by mechanical friction against the ground; mechanical control means of said support feet, said control means being movable between two stable positions corresponding to the activated and disengaged states; mechanical means for transmitting the movement of the control means simultaneously to all the support feet. The use of exclusively mechanical means for activating the stabilization system on the ground makes it possible to get rid of a power supply, and to eliminate any problem related to the maintenance and fragility of a system. , stabilization dependent on external energy, while ensuring a reliable immobilization of the wheeled vehicle by friction of the feet against the ground resulting in off the wheels of the fraction of the weight of the vehicle they support.
    According to a feature of the invention, when the mechanical ground stabilization system is activated, each support foot exerts on the ground an inclined action whose horizontal component is in the opposite direction to that of at least one other foot of support. The mechanical system used is therefore structurally balanced for its stable holding function of the mobile device, all the more so that, preferably, said horizontal component is oriented in the direction of at least one other support foot. In addition, in one possible configuration, the ground contact surfaces of the support legs are elongated, tend toward linearity and are oriented in the same direction.
    According to a feature of the invention, the control means consist of a rotary pedal relative to the frame of the vehicle, operating in rotation, an axle equipped with excentives each connected to a linkage actuating at least one foot support. To ensure better mechanical safety, the axis actuated by the pedal is preferably equipped with two eccentric disposed on either side of the pedal, each linkage controlling the movement of two support feet.
    According to a possible configuration, each eccentric actuates a rod whose distal end of the eccentric rotates an angle pivoting relative to the vehicle frame at the intersection of its two branches and arranged to ··········································· to tip a support foot. In a more precise manner, the link is rotatably connected to a first branch of the angle, the support foot being connected to. The other branch. The use of a .biellette connecting, on the one hand, the eccentric mounted on the axis. rotation of the pedal, and secondly, the angle · pivoting relative to the frame of the vehicle allows to actuate · a support foot by converting the rotary movement of the pedal in translational motion of the rod, which in turn activates the support feet via a suitable linkage.
    Thus, in a suitable configuration, a rod is articulated to the first leg of the angle, the other end of said rod being connected to a support foot that tilts when the angle turns. This feature allows the linkage to operate, via the rod ·, · a foot support that is away from the angle ·. And so, simultaneously operate at least two support feet connected to a ·, the same linkage.
    Advantageously, the support foot according to the invention consists of a return piece, angle connected to the angle or to. the. rod and a stirrup piece whose free end. is · provided with a support pad on the ground, lesdi.tes. parts being free to rotate about an axis. pivoting in bearings connected to the frame of the vehicle, the corner piece driving the piece in. stirrup when it is. moves, elastic means being of. more interposed between them. Preferably, said elastic means consist of a stack of spring blades.
    The fact of interposing elastic means between the angular return piece and the stirrup part confers a flexibility which makes it possible to stabilize the vehicle reliably on a ground presenting a flatness defect, the supporting feet adapting their deployment in function of an elevation or a lowering of the soil.
    According to an additional feature, the linkage according to the invention comprises a mechanical self-locking system of the pedal in the locked position and unlocked. In practice, when the pedal is in the vicinity of the position corresponding to the activated state, the. vertical component of the force exerted by the rod on the eccentric: changes direction, soliciting · the pedal to a locked position. On the other hand, when the pedal is in the vicinity of the position corresponding to the deflected state, a jack connected to the first leg of at least one angle exerts a force biasing the pedal towards this position, amplifying the effort. to the stable position disengaged.
    Advantageously, this mechanical self-locking system of the pedal facilitates the effort of locking and unlocking the pedal and thus prevent the pedal from taking an intermediate position. Other features and advantages of the present invention will appear in the detailed description of an exemplary embodiment, not limiting of the invention, illustrated in the figures placed in the appendix ·: - .La. Figure 1. is one. representation, in perspective of a stabilization system mounted under the frame of a vehicle... in this case: a robot ·, surgical assistance used in the operating room, the mechanical stabilization system comprising feet d. support in the contact position;
    Figure 2 is a perspective view of the stabilization system mounted on the vehicle frame, the support feet being in the contact position;
    Figure 3 shows a perspective representation of the system. mechanical stabilization. ground according to the invention, the support feet are in the retracted position;
    Figure 4 illustrates, in perspective view, the stabilization system showing the disengaged position of the rollers with the support feet in ground contact position;
    Figure 5 is a side view of the stabilization system mounted on the vehicle frame, the support feet being in the retracted position;
    Figure 6 is a side view of the stabilization system mounted on the frame of the vehicle, the support feet being in the contact position; - Figure 7 shows in. perspective an isolated support foot; and
    FIG. 8 is a front view representation of a support foot connected to a rod controlling its displacement,
    The ground stabilization system (1) of the invention is used with vehicles (2) with wheels (3), for example medical and / or surgical assistance robots such as that illustrated in FIG. The vehicle locking mechanism (2) comprises feet (4) which are frictionally supported against the ground and are arranged and oriented relative to one another so as to prevent any movement of the carriage (2) supporting the surgical assistance robot.
    As illustrated in more detail in Figure 2, in which it is isolated, this mechanical, stabilizing system Cl), on the ground is intended to take two stable states; a first disengaged state, in which the vehicle: (2) rests on the wheels (3), and a second activated state in which the vehicle (2) is immobilized on the ground. For this purpose, the system 'mechanical stabilization. (.1) on the ground comprises ground support feet (4), at least three and preferably four support feet (41) which have the characteristic of being movable between two stable positions. retracted, in which they are at a distance from the ground, the device then resting on its wheels, and a second position, extended contact, in which the support feet (4) rest on the ground, making the wheels (3) inactive The immobilization of the vehicle (2) is ensured by a force of thrust exerted by each support foot (4) against the ground, which has a vertical component canceling the partly the fraction of the weight of the vehicle (2) which is exerted in each wheel (3), and a horizontal component which blocks its displacement by balancing with the horizontal component of the opposite side of at least another foot support (4) .This pushing force therefore immobilizes the vehicle (2) by mechanical friction by relieving a portion of the weight exerted on the wheels (3) of the vehicle (2). The particular design of the support feet (4), which will be seen in more detail in the following, allows an adjustable load shedding of the weight exerted on the wheels (3).
    In order to manage the disengaged and activated states of the vehicle (2), the mechanical stabilization system (1) according to the invention provides for equipping the vehicle (2) with mechanical control means (5) for controlling the retracted position or contacting said support feet (4). Said control means (5) are provided movable between two stable positions corresponding to the activated and disengaged states of the vehicle (2).
    As illustrated in FIGS. 2 to 6, the mechanical stabilization system (1) is equipped with mechanical transmission means (6) for moving the control means (S) aimi 1 to all the support feet (4). According to the example described, the control means (5) consist of a pedal (7) rotatable relative to the frame (8) of the vehicle (2).
    As illustrated in Figures 2, 5 and 6, the pedal (7) is mounted on an axis (9) fixed to the frame (8) of the vehicle (2) via bearings (10) arranged on either side pedal (7). An eccentric (11) is connected on the one hand to the axis (9) of the pedal (7), and on the other hand generally to a linkage (12) adapted to actuate the support feet (4). . Thus the pedal (7) allows to actuate the axis (9) of the pedal (7) which requests, via the eccentric (11), 1 'of the assembly of the linkage (12) actuating in turn the feet of support (4).
    Preferably and as illustrated in Figures 2 to 4, for better mechanical safety, the axis (9) of the pedal (7) is equipped with two eccentric (11) arranged on either side of the pedal (7) each eccentric (11) being connected to a linkage (12) controlling the movement of two bearing feet (4), a proximal support foot (13) of the pedal and a distal support foot (14) thereof.
    According to the invention, the mechanical stabilization system (1) of the vehicle (2) goes from the state, disengaged to the activated state by lowering the pedal (7) to a locked position, Conversely ·, in order to move the system, mechanical stabilization (1) of the vehicle (2) from the activated state, to the disengaged state, an upward thrust must be exerted on the pedal (7) in order to make it leave its locked position and the. return to an unlocked position. Advantageously, the pedal (7) can be maneuvered using the foot.
    According to the invention and generally speaking, the mechanical stabilization system (1) of the vehicle (2) with wheels makes it possible to actuate the support feet (4) by transforming the movement of the pedal (7) in translation movement, linkages (12) in turn actuating the support feet · (.4) so as to move them from a retracted position to a contact position and vice versa from a position of contact at a retracted position.
    More particularly, as illustrated in Figures 2 to 6, the linkage (12) is adapted to simultaneously actuate a proximal support foot (13) and a distal support foot (14), by rotating them. For these purposes, the linkage (12) comprises a rod (15) which is actuated by the eccentric (11) connected to the axis (9) of the pedal (7). The rod (15) comprises a distal end (16) of the eccentric which actuates in rotation a bracket (.17.) Rotatably mounted at the intersection of its two branches, on a rotary axis on a bearing (18) fixed to the frame (8) of the vehicle (2).
    According to one particularity of the invention, illustrated in FIGS. 2, 3, 5 and 6, the mechanical stabilization system (1) comprises a mechanical self-locking system. Thus, when the mechanical stabilization system (1) is in the disengaged state the vertical component of the force exerted by the link (15) on the eccentric (11) is oriented towards the. top (shown in Figures 3- and 5). During the transition from the mechanical stabilization system (1) of the activated state to the activated state, when the pedal (7) comes into the vicinity of the activated position, the vertical component of the force exerted by the link ( 15) on the eccentric (11) changes direction, urging the pedal (7) to a locked position (illustrated in Figures 2 and 6). This characteristic makes it possible to stably maintain the mechanical stabilization system (1) in an activated state. In addition, to facilitate the return of the pedal (7) to the unlocked state, when the position of the pedal (7) returns to the vicinity of the position corresponding to the disengaged state, a cylinder (19) connected to the first limb (20) of at least one angle (17) exerts a force urging the pedal (7) to this position. Advantageously, the jack (19) facilitates the effort of return to the disengaged state and avoids any unstable intermediate positions that could take the pedal (7) and the mechanical stabilization system (1) it operates {Illustrated in Figure 3).
    Advantageously and as illustrated in FIGS. 2 to 6, said bracket (17) is arranged in such a way as to tilt simultaneously the distal support foot (14) and the proximal support foot (13). For these purposes, the biellete (15) is connected in rotation to the limb (20) of the angle (17), the proximal support foot (14) being connected to the other limb (21), the tilting of the angle (17) causing the tilting of the proximal support foot (13). In order to simultaneously communicate the tilting of the angle (17) to the distal support foot (14), the linkage (12) is equipped with a rod (22) whose first end (23) is articulated via a pivot connection (24) to the first leg (20) of the angle (17), the other end (25) of said rod (22) being connected to the distal support foot (14) by a second pivot connection (26) having a shaft (27) integral with a corner piece (28) itself connected to the distal support foot (14) (shown in Figure 8).
    Said rod (22) is adjustable via at least one thread, for finely adjusting the transmission of the movement of the pedal (7) to the support feet (4) by modulating the length of said rod (22). This characteristic secondly makes it possible to adjust the amplitude of rotation of the support feet (4) and thus to adjust the position of the support feet (4). For this, one of the end links of the rod (22) is equipped with a right-hand thread and the other with a left-hand thread. Thus, when the length of said rod (22) is increased, the amplitude of rotation of the support feet (4) decreases, inversely when the length of said rod (22) is shortened, the amplitude of rotation of the feet of support (4) is increased.
    In a similar configuration, the distal end (16 ·) of the rod (15) has a pivot connection mounted on a rigid axis of the first leg (20) of the bracket (17). The link (15) comprises a proximal end (29) of the eccentric (11) with which it is connected by another pivot connection (30 ') mounted on an axis integral with the eccentric (11). Each of these end links of the link (15) is. also equipped with .de. way to. adjust its length, in the same conditions as above, with a right-hand thread on one side and a thread on the left of the other. When the length of the rod (15) is shortened by screwing, the force exerted by the rod (15) on the angle (17) increases, and when the system of. mechanical stabilization (1) step, in an activated state, 1-e. tilting of the angle (17) is greater and, in fact, the amplitude of rotation of the support feet (4) is increased.
    In sum, the combination of said threads disposed on the rod (15) and on the rod (22) allow to adjust even more finely the position of the support feet (4) and improve the conditions of their operation.
    As illustrated in FIG. 7, a support foot (4) comprises a so-called angle return piece (28) which is articulated to the rod (22) in the case of a distal support foot (14). or at the angle (17) in the case of a proximal support foot (13). The support foot (4) also comprises a stirrup piece (31) whose free end (32) is provided with a pad (33) ground support.
    According to one characteristic of the invention, in order to improve the adhesion to the ground, the material and / or the sculpture of the adhesion surface of the shoe (33) can be adapted according to the nature of the ground on which the vehicle (2) is intended to be used.
    As illustrated in FIGS. 2 to 8, the shoe (33) has a rounded shape, with an elongate ground contact surface, tending towards linearity. Said contact surfaces · pads (33) are oriented, during activated operation, in a. same direction. The support feet (.4) could obviously have different shapes, for example circular, orthogonal, triangular, star-shaped, etc., with the following consequences: modifying the contact surface on the ground, according to the needs and in particular the nature of the soil.
    According to an additional characteristic of the invention illustrated in FIG. 8, the corner return piece. (28) and the stirrup piece (31) are mounted free in rotation around a pivoting axis in precision bearings (34) secured to a lower face (35). of the frame (8) of the vehicle (2). Preferably, these two levels. (34) are · plain bearings ... elastic means (37.) comprising in. A stack of blades (38) is connected by means of at least one mechanical connecting means (33) (such as a rivet or a screw), the stirrup piece (31) and the return piece. An angled connection (28) is therefore provided between said parts (28, 31). Thus, a possibility of elastic modulation, such as an effort absorption for example due to the absence of ground planing, is possible.
    When the mechanical stabilization system (1) is activated, the support feet (4) are actuated in the contact position, the pads (33) exerting an action on the ground to immobilize the frame (8) of the vehicle (2) by mechanical friction against the ground. Depending on the desired pushing force, or even the nature of the floors, the invention provides that the thickness and hence the stiffness of the stack, of the. Spring blades (38) can be modulated: the more important it is, the greater the thrust force and the greater the load shedding, the weight on the wheels. (3) is important. This is the possibility of adjustment of load shedding that has been mentioned before., The stack of blades spring. (.38) presents also the advantage of allowing the mechanical stabilization system (1) of the vehicle (2) to compensate for any ground flatness defects. More particularly, in the case of a localized elevation of the ground, the position of the support foot (4) involves a greater rotation and the stack of leaf spring (38) absorbs this higher amplitude of the rotation, which compensates the elevation of the soil. Conversely, in the case of lowering the floor, the stack of: · leaf spring ¢ 27) urges the movement of the stirrup piece (31). Until the shoe (33) comes into contact with. floor.
    Advantageously, and 'as illustrated' in Figure 8, a washer, spring (40) is disposed between, a bolt (4.1) located at the end of the shaft (36) and palliate (34). This particular arrangement mechanically forces the shaft (36) with the bearings. (34), which compensates the axial mechanical play at this level and further improve the stabilization of the vehicle. (2).
    As illustrated in Figures 2 to 6, the support feet (4) are mounted to the frame (8) of the vehicle (.2) so that, on the same linkage (12), the distal foot. (.14) unfolds against the proximal foot · (15). De facto, in the position of contact, each support foot (4) exerts on the ground an inclined action whose horizontal component is in the opposite direction of that of at least one other support foot (4), said horizontal component being oriented in the direction of at least one other support foot (4).
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1. Mechanical stabilization system (1) on the ground for vehicles (2) on wheels, which can take two stable states respectively disengaged, the vehicle (2) resting on the wheels (3), and activated, the vehicle (2) being immobilized Sut the ground, characterized in that it comprises: - ground support feet (4) movable between a first retracted position, away from the ground, and a contact position ensuring the immobilization of the vehicle (2) by mechanical friction against the ground; mechanical control means (5) for said support feet (4), said control means (5) being movable between two stable positions corresponding to the activated and disengaged states; - Mechanical transmission means (6) of the displacement of the control means (5) simultaneously to all the support feet (4).
    [2" id="c-fr-0002]
    2. Stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim, characterized in that each support foot (4) exerts on the ground an inclined action whose horizontal component is in the opposite direction to that of at least one other support foot (4),
    [3" id="c-fr-0003]
    3. Stabilization system (1) ground year for vehicles (2) movable on wheels (3) according to the preceding claim, characterized in that said horizontal component is oriented towards at least one other support foot (4) ,
    [4" id="c-fr-0004]
    4. Stabilization system (1) on the ground for vehicles (2) movable on wheels (3) according to one of the preceding claims, characterized in that the ground contact surfaces of the support feet (4) are elongated, tend towards linearity and are oriented in the same direction.
    [5" id="c-fr-0005]
    5. Stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim, characterized in that the control means (5) consist of a pedal (7) rotatable relative to the frame (8) of the vehicle (2), actuating in rotation an axis (9) equipped with eccentrics (11) each connected to a linkage (12) actuating at least one support foot (4).
    [6" id="c-fr-0006]
    6. stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim, characterized in that the axis (9) operated by the pedal ( ) Is equipped with two eccentric (11). ) arranged on either side of the pedal (7), each trinqlerie (12) controlling the movement of two support feet (4).
    [7" id="c-fr-0007]
    7. Stabilization system (1) on the ground for vehicles (2) movable on wheels (3) according to one of claims 5 and 6, characterized in that each eccentric (11) actuates a rod (15) whose end distal (16) of the eccentric (11) activates in rotation an angle (17) pivoting relative to the frame (8) of the vehicle (2) at the intersection of its two branches (20, 21) and arranged for tilt a support foot (4).
    [8" id="c-fr-0008]
    8. Stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim, characterized in that when the pedal (7) is '' in the vicinity of the position corresponding to the activated state the vertical component of "Ί" force exerted by the link (15) on the eccentric (H) changes direction, urging the pedal (7) to a locked position,
    [9" id="c-fr-0009]
    9. Stabilization system (1) on the ground for vehicles (2) movable on wheels (3) according to one of claims 7 and 8, characterized in that when the pedal (7) is in the vicinity of the position corresponding to the disengaged state, a jack (19) connected to a first limb (20) of at least one angle (17) exerts a force urging the pedal (7) towards this position,
    [10" id="c-fr-0010]
    10. Stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim, characterized in that the rod (15) is connected in rotation to the first leg (20) of the angle ( 17), the support foot (4) being connected to the other branch (21).
    [11" id="c-fr-0011]
    11. Stabilization system (1) ground for vehicles (2) mobile wheel (3) according to the preceding claim characterized in that a rod (22) is articulated to the first branch (20) of the bracket (17). ), the other end (25) of said rod (22) being connected to a support foot (4) which it tilts when the angle. (17) turns.
    [12" id="c-fr-0012]
    12. Stabilization system (1) on the ground for vehicles (2) movable on wheels (3) according to claim 11. "characterized in that the support foot (4) consists of an angle part (28) ) connected to the angle (17) or the rod (22) and a stirrup piece (31) whose free end (32) is provided with a pad (33) ground support, said pieces (28, 31) being free to rotate about an axis (27) pivoting in bearings (34) connected to the frame (8) of the vehicle (2), the angle return piece (28) driving the piece stirrup (31) when it moves, elastic means (37) being interposed between them.
    [13" id="c-fr-0013]
    13. Stabilization system (1) on the ground for vehicles (2) movable on wheels (3) according to the preceding claim, characterized in that the elastic means (37) consist of a stack of spring blades (38).
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    EP3380388B1|2020-04-15|
    CA3005282C|2020-07-21|
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    JP6773784B2|2020-10-21|
    US20180346008A1|2018-12-06|
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    法律状态:
    2016-11-28| PLFP| Fee payment|Year of fee payment: 2 |
    2017-05-26| PLSC| Publication of the preliminary search report|Effective date: 20170526 |
    2017-10-12| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-15| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-17| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-07| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-12| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1561381A|FR3043970B1|2015-11-25|2015-11-25|MECHANICAL GROUND STABILIZATION SYSTEM FOR VEHICLES WITH CASTERS|
    FR1561381|2015-11-25|FR1561381A| FR3043970B1|2015-11-25|2015-11-25|MECHANICAL GROUND STABILIZATION SYSTEM FOR VEHICLES WITH CASTERS|
    AU2016359906A| AU2016359906B2|2015-11-25|2016-11-25|Mechanical system for stabilization on the floor for vehicles on castors|
    CA3005282A| CA3005282C|2015-11-25|2016-11-25|Mechanical system for stabilization on the floor for vehicles on castors|
    CN201680069209.0A| CN108290596B|2015-11-25|2016-11-25|Mechanical system for stabilizing a vehicle on casters on the floor|
    PCT/EP2016/078768| WO2017089515A1|2015-11-25|2016-11-25|Mechanical system for stabilization on the floor for vehicles on castors|
    US15/778,919| US10640136B2|2015-11-25|2016-11-25|Mechanical system for stabilization of vehicles on castors|
    EP16801762.2A| EP3380388B1|2015-11-25|2016-11-25|Mechanical system for stabilization on the floor for vehicles on castors|
    JP2018526938A| JP6773784B2|2015-11-25|2016-11-25|Mechanical system to stabilize the vehicle on the casters on the floor|
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