RU2584407C1 - Spheromobile - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to machine building and can be used as drive of car, robot etc. Spheromobile consists of bearing frame, and at least two or more wheels consisting of two series-connected spherical segments-one of which is truncated, and other - small - is installed on its truncated part aligned therewith to run around their common axis. Truncated segment is equipped with drive to drive latter on a small segment around their common axis. Wheels are fitted in main yokes on axis perpendicular to axis of rotation, and yokes are fixed on bearing frame. Axle is equipped with drive for wheel turning around it. Wheels are equipped with additional yoke and made in form of separate units, including two yokes - additional and main, interconnected by axis to turn and fixed stop of main yoke in both sides of drive installed on additional yoke. Controlled rotation of main yoke is possible, both simultaneously on all units of wheels, and on separate units.

EFFECT: technical result is broader technical capabilities of vehicle, its transmission and wider application of said transmission, both in robotics and transport.

1 cl, 8 dwg

Description

The invention relates to mechanical engineering and can be used as a drive for a car, tractor, robot, etc.

The world-famous car, which consists of a supporting frame, wheels and transmission, as a set of mechanisms and assemblies for transmitting torque from the engine to the drive wheels of the car. The transmission is designed to change the magnitude of the torque, as well as to change the direction of movement. If we have a front-wheel drive car, then the torque from the motor to the wheels is transmitted to the front wheels, if the rear-wheel drive - then to the rear wheels. Four-wheel drive vehicles are also available.

The disadvantage of this design is that it is limited in maneuverability and the ability to move over rough terrain.

Known engine system for a car according to international patent No. WO 0206063 A1 (publ. 24.01.2002), consisting of two or more wheels made in the form of coaxial hemispherical segments of the same radius with the possibility of their free rotation independently of each other. Each hemispherical wheel is mounted on two mutually perpendicular shafts, which are equipped with drives: one for rotating the wheel, the other for a controlled rotation of the latter. This transmission allows you to change the radius of contact with the surface along which the propulsion system moves and, accordingly, change the speed of movement. This allows you to have the additional ability to adjust the speed and repulsion force from the ground along which the propulsion system moves.

The disadvantage of this design is the lack of the possibility of a complete stop of the propulsion system with operating hemisphere rotation drives. Such an opportunity would allow the accumulation of kinetic energy before the start of movement.

The closest in design and functionality is a sphere car according to the application of the Russian Federation No. 2013131288 (publ. 01.20.2015). It consists of a supporting frame and at least two or more wheels, consisting of two spherical segments connected in series - one of which is truncated, and the other is small - mounted on its truncated part coaxially with it, with the possibility of free rotation around their common axis, and only the truncated segment is provided with a drive for driving the latter in a small segment around their common axis in any position of the wheel, the wheels are mounted on forks on an axis perpendicular to the axis of rotation, the axis is equipped with a drive for controlled rotation that wheel around it, wherein the controlled rotation of the wheels is possible simultaneously on all four wheels, and on individual wheels in both directions from the vertical position, with the fixed stop. Such a design of a spherical vehicle allows one to accumulate kinetic energy of rotation of wheels translated into vertical position by axles, due to a wheel design consisting of two segments interconnected by an axis with the possibility of free rotation relative to each other. This allows you to unload the drives during start-ups or not to turn them off completely during a short stop or change of direction.

As shown by the practice of operating the above construction, often there is a need to move progressively or perpendicular to the main course. The disadvantage of this design is the lack of such a possibility.

The present invention solves the problem of expanding the technical capabilities of the vehicle, its transmission and the possibility of wider use of this transmission, both in robotics and in transport in general.

To achieve this technical result, in a spherical vehicle, consisting of a supporting frame with forks fixed on it, in which at least two or more wheels are installed, consisting of two spherical segments connected in series - one of which is truncated, and the other - small - is mounted on its truncated the part is coaxial with it, with the possibility of free rotation around their common axis, and only the truncated segment is provided with a drive to bring the latter into rotation on a small segment around their common axis in any position of the wheel, count ECs are mounted in forks on an axis perpendicular to the axis of their rotation, the axis is equipped with a drive for a controlled rotation of the wheels around it, and a controlled rotation of the wheels is possible both simultaneously on all wheels and on individual wheels on either side of the vertical position with the possibility of a fixed stop, this wheel is equipped with an additional fork and is made in the form of blocks comprising two forks - additional and main; one in the other, interconnected by an axis with the possibility of controlled rotation and a fixed stop of the main fork in both directions by a drive mounted on an additional fork; moreover, a controlled rotation of the main fork is possible both simultaneously on all wheel blocks and on individual blocks, and the axes around which the wheels and the main fork can rotate are made passing through the center of the spherical segments.

Distinctive features of the proposed sphere car is that the wheels are equipped with an additional fork and are made in the form of blocks comprising two forks - an additional and a main one; one in the other, interconnected by an axis with the possibility of controlled rotation and a fixed stop of the main fork in both directions by a drive mounted on an additional fork; moreover, a controlled rotation of the main fork is possible both simultaneously on all wheel blocks and on individual blocks, and the axes around which the wheels and the main fork can rotate are made passing through the center of the spherical segments.

The presence of distinctive features allows the spherical vehicle to move in any direction - translationally, without changing the position of the body, as well as move, as with a conventional transmission. For example, a spherical car can go round objects at right angles, move to an object located on the right, left or back without making an additional turn, i.e. can move in a straight line connecting the spherical vehicle and the given object. This greatly increases the maneuverability of the vehicle.

A variant of the proposed field vehicle is illustrated by the drawings shown in FIG. 1-8.

In FIG. 1 is a side view of a spherical vehicle with three blocks of wheels (the position of the wheels when stopped is horizontal);

in FIG. 2 - the same, top view;

in FIG. 3 - front view of the wheel block (the position of the wheels is horizontal);

in FIG. 4 is a top view of a block of wheels;

in FIG. 5 is a front view of a block of wheels;

in FIG. 6 is a section along BB;

in FIG. 7 is a side view of a block of wheels (maximum rotation around two axles);

in FIG. 8 is the same, isometric view.

An embodiment of the proposed vehicle with three blocks is presented in the form of a model (Fig. 1-8). The spherical car (Fig. 1-2) consists of a supporting frame 1 and three blocks of wheels 2. Block 2 consists of a main fork 3 with mutually perpendicular axes 4-5 (Fig. 3-8), an additional fork 6, wheel 7, consisting of truncated segment 8 and small segment 9, drive 10, drive controlled rotation of the wheel 11, drive controlled rotation of the fork 12.

Spheromobile works as follows. The movement of a spherical vehicle in any direction begins by turning the axis of rotation of the hemispherical wheels 7 (Fig. 1), consisting of truncated segments 8-9 around axes 4-5.

To move forward at a certain speed, the hemispherical wheels 7 are simultaneously rotated around the axis 5 by the drive 12. The spherical vehicle will begin to move forward at a speed determined by the radius of contact of the hemispherical wheel 7 with the surface on which it moves. The magnitude of the speed depends on the angle of inclination of the axis of rotation of the wheel 7, driven by the drive 10. To move the spherical car backward, the axis of rotation of the wheels 7 around the same axis 5 is simultaneously tilted to the opposite side from the vertical position of the axis of rotation of the wheel 7 by drive 10. To reduce energy costs when going through the vertical position of the axis of rotation of the wheel 7 with the drive 10, the latter is equipped with a segment 9, which can freely rotate on the axis of the wheel 7. Thus, in the vertical position, the segment 8 of the wheel 7 rotates by the drive 10 on the segment 9, without interacting with the surface on which the spherical car moves. From this position, without stopping the rotation of the drive 10 and without changing its direction of rotation, it is possible to move the spherical car forward and backward while simultaneously tilting the axes of rotation of all wheels 7 around axles 5 by the drives 11.

To move the spherical vehicle perpendicularly or at any other angle to the above-described main movement, the axis of rotation of the wheels 7 around the axles 4 by the drives 11 is simultaneously inclined. on which he moves. The magnitude of the speed also depends on the angle of inclination of the axis of rotation of the wheel 7 around the axis 4. To move the spherical vehicle in the opposite direction, as described above, without stopping the rotation of the drive 10 and without changing its direction of rotation, the main fork 3 of all wheels 7 is simultaneously tilted in the opposite direction side around axis 4.

Combining the inclination of the axes of rotation of the wheels 7 around the axles 4-5, the spherical car will move, changing the direction of movement both translationally (without changing the position of the carrier frame 1 (Fig. 1-2)), and with the possibility of rotation of the carrier frame 1 in the plane of motion of the latter.

The possibilities of moving this design in terms of maneuverability are unlimited. A spherical car can move in the plane as you like: with the simultaneous rotation of the carrier frame 1, a change in direction of movement ninety degrees to the main course or at any other angle. It all depends on the control of the inclination of the axes of rotation of the wheels 7 around the axles 4-5 drives 11-12.

The most important application of this transmission is robotics, where shunting capabilities are most in demand.

Claims (1)

A spherical car, consisting of a supporting frame with forks fixed on it, in which at least two or more wheels are installed, consisting of two spherical segments connected in series - one of which is truncated, and the other - small - is mounted on its truncated part coaxially with it, with the possibility of free rotation around their common axis, and only the truncated segment is equipped with a drive for bringing the latter into rotation on a small segment around their common axis in any position of the wheel, the wheels are mounted in forks on the axis perpendicular their rotation, the axis is equipped with a drive for a controlled rotation of the wheels around it, and a controlled rotation of the wheels is possible, both on all wheels and on separate wheels on both sides of the vertical position with the possibility of a fixed stop, characterized in that the wheels are equipped with an additional fork and made in the form of blocks, including two forks - additional and main, one in the other, interconnected by an axis with the possibility of controlled rotation and fixed stop of the main fork in both Torons drive mounted on the additional plug, wherein the controlled rotation of the primary forks is possible simultaneously on all wheels of the blocks and the individual blocks, and the axis about which the wheel can be rotated and the main plug are formed extending through the center of spherical segments.

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