RU2554905C2 - Spheromobile - Google Patents

Abstract

FIELD: transport engineering.

SUBSTANCE: invention relates to machine building and can be used as drive of the vehicle, tractor, robot. The spheromobile contains carrying frame, transmission engine and wheels installed on mutually perpendicular axes or shafts ensuring the wheels rotation. Each wheel is made as two connected in series spherical segments, one of them in truncated, and another one is small installed on its truncated part coaxially with it, with possibility of free rotation around their common axis. Each hemispherical segment has drives: one for rotation, another one for controlled turn of latter. The truncated segment is provided with drive, and in vertical position can be put in rotation on the lower segment around their common axis. The wheels turn is possible both simultaneously for all wheels, and either on right or left wheels at any angle from the horizontal position to vertical with possibility of locked stop in this position, and from vertical towards internal side of the carrying frame of the spheromobile.

EFFECT: increased passability, widening of range of adjustment of the torque on rim of the driven wheel, and increased manoeuvrability.

13 dwg

Description

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

According to the description of the patent of the Russian Federation No. 2297356 (published on June 10, 2004), a ballast is known in which the cargo frame, on which the cab and propulsion system with a wheel propulsion are located, is articulated through four horizontally arranged wheels with an annular frame, which is four vertically arranged the wheels are articulated to the inside of the sphere. The rotation from the propulsion system of the wheel propulsion device, frictionally articulated with the sphere in its lower part, is transmitted to the sphere and ensures the movement of the ball chamber with an adjustable speed. Changing the angular position of the wheel propulsion relative to the vertical axis provides a change in the direction of movement of the ball.

The disadvantage of this design is that the transmission of torque is carried out by gravity, which, acting on the inner frame with wheels moving along the inner surface of the sphere-ball, displaces its center of gravity, creating torque. The limited technical capabilities of the design lies in the fact that the torque cannot exceed the weight moving inside the ball of the frame. In addition, this design can move well mainly on a horizontal plane, the angle of elevation is limited by the action of the same gravity.

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.

The closest in design and functionality is the propulsion 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 friend. 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 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, a transmission engine and at least two or more wheels mounted on mutually perpendicular axes or shafts, which rotate the latter, the wheels being made in the form of hemispherical segments of the same radius, and each hemispherical segment equipped with drives: one for its rotation, the other for a controlled rotation of the latter, and the rotation of the wheels is possible both simultaneously on all wheels, or on the right, or on the left wheels under any angle from horizontal to vertical with the possibility of a fixed stop in this position and from vertical to the inside of the carrier frame of the spherical vehicle. Each wheel is made in the form 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 the truncated segment is provided with a drive and can be brought into a vertical position rotation on a small segment around their common axis.

A distinctive feature of the proposed car is the presence of hemispherical wheels, each of which is made in the form 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 the truncated segment equipped with a drive and in a vertical position can be brought into rotation on a small segment around their common axis.

The presence of distinctive features allows you to store the kinetic energy of rotation of the hemispherical wheels, change the direction of movement, the speed of the vehicle, as well as overcome difficult passable places.

A variant of the proposed field vehicle is illustrated by the drawings shown in FIG. 1-13.

In FIG. 1 - front view (the position of the wheels when moving forward);

in FIG. 2 - the same, isometric view;

in FIG. 3 - front view (wheel position - horizontal);

in FIG. 4 - the same, isometric view;

in FIG. 5 - front view (when moving forward - turn left);

in FIG. 6 is the same, isometric view;

in FIG. 7 - front view (when moving forward - turn right);

in FIG. 8 is the same, isometric view;

in FIG. 9 is a front view when moving backward;

in FIG. 10 is the same, isometric view;

in FIG. 11 is a front view (the position of the wheels is horizontal);

in FIG. 12 is a section along aa;

in FIG. 13 - view B, enlarged along section AA

An embodiment of the proposed vehicle is presented in the form of a model (Fig. 1-13). A spherical car consists of two platforms 1, which are a supporting frame, a connecting strip 2, wheels 3, made in the form of coaxial hemispherical segments 4 and 5 of the same radius (Fig. 11-13), a drive of rotation of the wheel 6, the shaft of the wheel 7 (Fig. 13 ), the axis of the wheel 8 (Fig. 13), the rotation drive of the wheel 9 (Fig. 1-3), the rotation lever of the wheel 10 (Fig. 2, 13), the traction drive of the rotation of the wheel 11, the connecting shaft 12.

Spheromobile works as follows. With the synchronous transmission of torque to the wheels 3 from the drives 6, the spherical vehicle begins to move in a straight line according to the direction of the transmitted torque (Fig. 1-2). All wheels 3 of the sphere car rotate, synchronously moving it according to the direction of its rotation. The shaft 7 and the axis 8 of the wheel 3 (Fig. 13) are suppressed at a point that is the center of the hemispherical wheel 3. When the angle L (Fig. 1) is synchronously changed on all wheels 3, the linear speed of the movement of the spherical car changes synchronously - it decreases or increases, as it changes contact radius at point K with the maximum possible R to r (Fig. 1).

To change the direction of movement - the rotation of a spherical vehicle, we change the angle (L) (Fig. 1) of the rotation of the shafts 7 of the wheels 3 (Fig. 5-8) by turning the wheels 3 around the axes of these wheels 8 by the turning drives of the wheels 9 of the right or left. As a result of changing the angle of inclination of the axis of rotation of the wheel 3, its contact radius with the surface along which the spherical car moves from the maximum possible R to r decreases, as shown in FIG. 1. With this change, the linear speed of movement of the right or left wheels 3 decreases (the contact radius at point K decreases to r), while the opposite wheels 3 are in contact with the surface along which the spherical car travels with a radius greater than r (Fig. 5-8). The spherical vehicle turns toward a smaller contact radius r. Changing the radius of contact of the wheels 3 of two right or two left, we change the direction of movement of the spherical car - turn right or left. For turns, a sphere car does not need steering, as in a car. The control of a sphere car is carried out by changing the angle of inclination of the wheels in pairs 3.

In addition to the high maneuverability that is achieved by the proposed design of the sphere car, the latter can change the speed of movement and torque - the repulsive force from the ground on which it moves if the change in the angle of inclination L of the axes of rotation of the wheels 3 occurs synchronously - all four. With such a simultaneous change in the angle of inclination of the shafts of rotation 7 of all four wheels 3 in the place of their contact with the ground, the speed of movement of the spherical vehicle increases and, accordingly, the torque and, as a result, the repulsive force from the ground (as the contact radius of the spherical wheels decreases). If we take the angular speed of rotation of the wheels 3 of the spherical vehicle at a constant moment transmitted to them by the drives 6 for ω, then the dependence of the speed of the spherical vehicle on the ground V on the angle of inclination L and the radius of the wheel 3 - R (Fig. 1-2) can be expressed by the dependence:

V = COS (L) * ω * R

Thus, it is possible to change the speed of a sphere car, its acceleration at a constant torque, which is transmitted to the wheels 3 from the drives 6, by synchronously changing the angle L of rotation of the shafts of rotation 7 of the wheels 3 around the horizontal axis 8 by synchronously rotating the latter by a certain angle L by the rotation drives 9 wheels to the right or left. Also, due to this, it is possible to slow down or transfer the spherical car to a stationary state when the shafts 7 of the wheels 3 are turned into a vertical position (Fig. 13). In this position, part of the wheel segment 5 will rotate on the segment 4, which is driven by the rotation drive 6 of the wheel 3. This state of the spherical vehicle allows you to accumulate kinetic energy of rotation of the wheels and at any time translate it into the translational motion of the entire spherical vehicle. When the spherical vehicle moves backward, the wheels 3 rotate around the axles 8 towards the supporting frame of the spherical vehicle (Fig. 9-10).

The described variant of a sphere car is a prototype of vehicles with technical characteristics that expand the possibility of its use.

For example, with large hemispherical wheels 3, the latter, when turning around the horizontal axles 8 of all four hemispherical wheels 3, will form a moving surface between the ground and the bottom of the vehicle. This will allow the latter to overcome difficult places (swamp, sand, snow, dirt, etc.) much more effectively than tracked or auger vehicles, since the dead zone between the bottom of the vehicle and the ground on which it moves decreases.

In practice, we get a wheel that changes its radius and can significantly reduce the dead zone, which is present in most such vehicles. The capabilities of the proposed vehicle will allow the creation of new amphibians, as well as the use of this design in robotics, since a gearbox gearbox is not required to change the moment or it can be much simpler and less. In addition, the proposed transmission may accumulate kinetic energy of rotation of the hemispherical wheels, as well as a smooth or almost instantaneous change in vehicle speed due to the rate of change of the angle of inclination of the axis of rotation of the spherical wheels.

Claims (1)

A spherical car, consisting of a supporting frame, a transmission engine and at least two or more wheels mounted on mutually perpendicular axles or shafts, which rotate the latter, the wheels being made in the form of hemispherical segments of the same radius, and each hemispherical segment is equipped with drives: one for it rotation, other for the controlled rotation of the latter, and the rotation of the wheels is possible both simultaneously on all wheels, or on the right, or on the left wheels at any angle from horizontal to vertical with the possibility of a fixed stop in this position and from the vertical to the inner side of the bearing frame of the spherical vehicle, characterized in that each wheel is made in the form 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 the truncated segment is provided with a drive and in a vertical position can be brought into rotation on a small segment around their common axis.

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