RU2772603C2 - Method for placement and operation of a flexible drive and steering control of an all-wheel drive, full-turn vehicle, vehicle flexible drive, vehicle, modular vehicle (options) - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: inventions relates to the field of mechanical engineering, in particular to methods for placing and operating a flexible drive and controlling the rotation of an all-wheel drive vehicle. In the drive, the ends of the flexible shaft are rigidly attached to two wheels of the specified running gear so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel. The end of the flexible shaft is connected along the axis of rotation of the wheel with the wheel itself. The holder, inside which the flexible shaft is placed, is made in the form of an S-shaped tubular sleeve. The flexible drive of the vehicle is made with a flexible shaft to transfer the rotational force from one wheel to another. All-wheel drive vehicle contains running gear, running gear wheels, vehicle turning control unit and flexible drive with flexible shaft transferring rotation force from one wheel to another, moreover, flexible shaft is located in a fixed holder with possibility of rotation. The modular vehicle contains a running gear formed by joining identical modules into a platform, having wheels of the running gear with a drive for their rotation. The modules are connected side by side. Each module has an arrangement of 2 wheels of the undercarriage in series according to a single-track scheme or 4 wheels according to a two-track scheme.

EFFECT: lightening and simplification of the drive design is achieved.

19 cl, 10 dwg

Description

The invention relates to transport engineering, to transport technology, mainly to wheeled transport, in particular to drive the wheels of the running gear of the vehicle (TS) in motion.

According to the dictionary (/electronic resource/ https://dic.academic.ru/dic.nsf/polvtechnic/10340/%D0%A5%D0%9E%D0%94%D0%9E %D0%92%D0%90% D0%AF): Chassis is a set of chassis elements that form the bogie of a transport vehicle. For example, the X. part of the car includes: frame, axles, suspension and wheels (with a node and controls for their rotation).

The Wikipedia article: https://ru.wikipedia.org/wiki/ Chassis of a vehicle provides a description of the chassis of various vehicles.

Consider various categories and types of vehicles, as well as types of vehicle drives in motion. In accordance with

a. http://otts.pyc/otts_karegorii_transportnih_sredstv.html Vehicle classification by categories, and

b. http://.pyc/otts tipi-i-kategorii-ts.html Division of the vehicle into types and modifications,

distinguish the following wheeled vehicles (and chassis):

• motorcycles, mopeds, motorbikes, mokiks, tricycles, quadricycles (L1-L7)

• passenger cars (M1)

• buses and trolleybuses (M2, M3)

• trucks and their chassis (N1, N2, N3)

• off-road vehicles (NIG, N2G, N3G, M1G, M2G, M3G)

• trailers and semi-trailers (O1, O2, O3, O4)

• special and specialized vehicles

• vehicle chassis.

In general, the list of ground vehicles includes rail vehicles.

According to Wikipedia (see Axis (technique) https://ru.wikipedia.org/wiki/):

the wheel together with the shaft/axle is the bearing element of the running gear of the vehicle, through which the vehicle rests on the surface on which it moves.

Let's take cars as an example.

(http://systemsauto.ru/pendant/car_wheel.html Car wheel)

The wheel, being an element of the running gear, connects the car with the road. With the help of wheels, movement is carried out, vertical loads from the car are transmitted, shocks and vibrations from the road are perceived. In addition, the drive wheels create traction when in contact with the road, the steered wheels provide maneuvering.

(http://bibliotekar.ru/enc-Tehnika/34.htm Shafts and axles of machines)

The axle, as a rule, has supports at both ends. If the axle is fixed only at one end, and a wheel is installed on the other, it is called a semi-axle. On such semiaxes

the front wheels of the car are installed ... Shafts not only support

rotating parts (like axles), but also transmit rotational forces from one part of the mechanism to another (see Mechanism).

In accordance with the terminology (https://www.autocitroen.ru/company/news/tipy-privodov-avtomobiley/ The main types of car drives), the drive of a vehicle (in this case, a car) means a method of transferring rotational forces to the wheels of a vehicle ( type of power connection of the wheels with the engine or with the drive shaft of the vehicle). At the same time, all cars are divided into 3 types: rear-wheel drive, front-wheel drive and all-wheel drive.

In a rear-wheel drive car, the torque from the engine is transmitted to the rear axle, in a front-wheel drive car, the torque is transmitted to the front axle, and in an all-wheel drive car, the torque is transmitted to both axles: front and rear, that is, to all wheels of the car. Usually, in any drive scheme, torque is transmitted to the coaxial wheels in the same way (parallel).

At the same time, standard regulatory requirements are imposed on the wheels of the vehicle. For example, the wheels of cars and the wheels of vehicles using car wheels are subject to the requirements for wheels in accordance with GOST 33544-2015 (https://docs.cntd.ru/document/1200135004 Interstate standard. Automobile vehicles. Disk wheels. Technical requirements and test methods) entered into force on April 1, 2017.

In this case, it should be taken into account that, in the general case, the front and / or rear wheels of the vehicle are involved in controlling the rotation of the vehicle during its movement. Therefore, in a number of cases, the schemes for driving the vehicle into motion are linked to the schemes for controlling the rotation of the vehicle.

Therefore, we consider here the so-called fully controlled vehicles.

An example of a study of a fully controlled vehicle is the article: Markina, A.A., Chepkasov, S.N., & Berezhnaya, M.A. (2019). Study of the kinematics of a fully controlled car. Vestn. SibADI, 16(5 (69)), 580-591. https://doi.org/10.26518/2071-7296-2019-5-580-591.

The study distinguishes two types of fully controlled - full-turn schemes:

with positive or negative steering control of the vehicle.

With a positive turning scheme, both the front and rear wheels of the vehicle turn in one direction during control - to the right or left, in fact, a controlled skid of the vehicle to the right or left is obtained.

With a negative full-turn steering scheme, the front wheels turn in one direction, and the rear wheels in the opposite direction, while the vehicle turns in the direction of rotation of the front wheels. At the same time, the turning radius is almost halved and the maneuverability of the vehicle is increased.

In addition to motor vehicles, the invention can be used in muscle vehicles (including electrified vehicles), in motor vehicles (including motorcycles), on aircraft chassis and in personal mobility equipment - SIM. (See: Means of individual mobility: https://zakon.ru/blog/2020/4/21/sredstva_individualnoj_mobilnosti_i_drugie_izmeneniya _v_pdd) as well as in vehicles with electric, pneumatic or hydraulic drive.

A number of modern vehicles use motor-wheels:

a. https://enqineerinq-ru.livejournal.com/323209.html Motor wheel with internal combustion engine,

b. https://ru.wikipedia.org/wiki/ Motor wheel. Wikipedia. Motor wheel.

/Analog-A1/ A motorcycle (2-wheeled, single-track) with all-wheel drive and steering on both wheels (full control) is known: https://zen.yandex.ru/media/id/5e6e91af5f50cb6af854daa1/drvsdale-drvvtech-2x2x2 -gidravlicheskoe-chudo-s-polnym-privodom-i-rulevym-upravleniem-na-oba-kolesa-5ebeb06372423a6de38c3a9e

On a motorcycle, both wheels are driven by a high-pressure hydraulic pump (310 bar) that drives two hydraulic motors in the wheel hubs. In this case, each wheel is fixed on its carrier rack cantilever, the racks with wheels are deployed antisymmetrically to one another. Given the high pressure, all lines are steel pipes. There are no disc brakes, but the hydraulic motor acts as a regenerative braking system. By means of pressure reducing valves, the torque can be adjusted for each wheel in parallel. In addition, with the help of a hydraulic pump, two steering wheel plungers are controlled.

Disadvantages: Difficulty in setting up and operating a hydraulic system that uses oil. Due to the high accuracy of manufacturing components and parts: valve impellers, the presence of many power transmission links, dependence on the composition of the oil, its cost has been significantly increased, the requirements for high reliability of the power transmission system to the wheels (use of strong steel pipes). If the system is disturbed and oil enters under the wheels, wheel slippage, an emergency, a fire hazard are possible. Highly qualified specialists are required to repair the system.

/A2/ A four-wheel drive motorcycle Ural is known (https://ok.ru/usamodelki/topic/68557132551636). The motorcycle has two road wheel schemes: a conventional (2-wheel single track) scheme and a sidecar scheme (3-wheel two-track scheme). The drive to the rear (driving) wheel of a motorcycle is known - mechanical with a gearbox. The wheel of a motorized carriage is free, without a drive. In accordance with the photo from the source, the power drive to the front wheel of the motorcycle is carried out from the rear wheel using a cardan shaft, the knees of which are connected by a cardan connection using hinges (4 Hooke's hinges), as well as the gearing of the ends of this shaft with the shafts / axles of the wheels. The steering of the motorcycle is controlled by turning the axis of one front wheel, while the specified cardan shaft bends (“breaks” in the hinges) in accordance with the direction of rotation of the steering wheel, while the rear drive wheel sits on a non-rotating shaft.

The disadvantages of the motorcycle are high power losses during the transmission of force through the cardan shaft and the gears of the connection with the wheels. Moreover, when turning the steering wheel from the cardan shaft, it is required to provide its additional length, and when it is turned in the opposite direction, a reduction in the length of the cardan shaft is required, this introduces additional restrictions on the use of the analogue. All of these design features require high additional engine power. Especially such losses are manifested at significant angles of rotation of the cardan shaft knees - for example, when the axis of one knee is rotated relative to the other by an angle of more than 15 ° -20 °, the stress concentration in the hinges increases significantly. Accordingly, the likelihood of their breakdown increases. The standard service life of the cardan shaft is reduced, and repair costs are increasing. This reduces the reliability of the system. Special equipment is required when removing propshaft elbows for repair or replacement.

/Prototype - P1/ Bicycle -MOMBAT/Bikes (http://mombatbicycles.com/MOMBAT/Bikes/1991_Leqacy2x2.html Bicycles -MOMBAT/Bikes -1991) is proposed as a prototype of the invention.

In this bicycle with a conventional chain drive to the rear wheel and with steering control when turning the steering wheel of the front fork of the bicycle, in addition to the rear (driving) wheel, a power drive is installed on the front wheel. The specified drive is a flexible cable with axial rotation (flexible shaft), on both ends of which, on the axis of its rotation, bevel gears are rigidly fixed, meshing with the response gears of the corresponding wheels, while these gears are made in the form of large open nylon bevel gears.

The front fork is 135mm wide, the same as the traditional rear wheel width, so that the wheel is designed to be attached (geared) to drive from the rear wheel. This design of the drive in the form of a flexible cable, which has the ability to rotate in a fixed shell, provides a solution to the problem of mutual "lag" of the bicycle wheels when turning. In the event of malfunctions or contamination, the auxiliary drive system is dismantled on site.

The disadvantages of the prototype include significant power loss in the drive when the force is transmitted through two pairs of gears, the complexity and cost of the design due to the manufacture of these nylon gears, their rapid wear. Also, losses are introduced by the point fastening of a semi-soft flexible clip-shell on the bicycle frame (due to the concentration of stresses between the flexible shaft and the points of fastening of the shell). Due to the structurally open meshing of these gears, their contamination, an increase in power transmission losses or a breakdown of the transmission system is possible. The design of the flexible drive, with a fixed longitudinal fixation of the flexible shaft in the holder, cannot ensure the rotation of the rear wheel of the bicycle in a fully controlled rotation scheme, in comparison with the claimed invention.

The flexible shaft is widely used in engineering to transmit rotation. (https://pro-techinfo.ru/konstruktsii-detalej-mashin-onlain/detali-peredach/valy-i-osi-2/gibkie-valy-silovyh-peredach/ Flexible power transmission shafts; also: GOST 13225- 80. Flexible shafts of power transmission).

/P2/ Another prototype is a modular vehicle, information from the site: https://os1.ru/article/7862-modulnye-transportnye-sredstva - Modular vehicles.

A well-known modular vehicle is a self-propelled and/or non-self-propelled vehicle with a chassis formed by a fixed connection of identical wheel modules into one or more platforms. A significant number of module modifications are produced. For example, there is a basic structure - a platform with the number of center lines from 2 to 8. The modules are joined both longitudinally and transversely.

The modules differ in design parameters, functional characteristics, dimensions. There is a project of a self-propelled Powermax module. This is a triple-acting machine that allows it to be used as a non-self-propelled module as part of a road train at speeds up to 80 km/h, as a push tractor as part of a modular vehicle, and as a single self-propelled vehicle.

There are modules in which high-torque hydraulic motors are built into the wheel hubs of the drive axle line, which drive the wheels. The pulling force that one axle line develops is greater than a ballast tractor with an 8x4 or 8x6 wheel formula can provide.

Previously, they used a mechanical suspension (mechanical rotation of the axles using a worm gear and a special hydraulic motor), now in a number of modern modifications they switched to a fully hydraulic suspension - each axle can move independently both up and down and right and left.

For example, modules with a mechanical steering system with a wheel turning angle of 55-60 ° to the right and left cannot turn around. Therefore, self-propelled modules with electronically controlled axle groups were developed. Electronic control is implemented by means of a gear transmission, which is driven by a hydraulic motor. New generation 2.4 m wide - PST/ESE. There are sub-modifications - lightweight THP / SL-L with a load of 27 tons per axle line compared to 45 tons for the standard 3-meter version. There is a version with a width of 3.6 m, a version with an increased center distance.

An important aspect is the compatibility of docking nodes. Models THP / SL and PST / SL are connected to each other - both electronically controlled and mechanically. Different models and their derivatives can be joined and combined with each other. There is a system for limiting the angle of rotation of the axes with electronic control to the angle of rotation of the mechanical axes.

Disadvantages /P2/. The main disadvantages of the presented modular vehicles are their high complexity (high accuracy and complexity of manufacturing modern vehicle components and parts, including electronic ones, as well as remote control of the system to ensure the consistency of the nodes), large mass and high cost of the vehicles themselves and their operation. .

These shortcomings arise from other tasks, in comparison with the tasks of the invention, which are solved by the known modular vehicles: the transportation of supermassive and bulky goods both on existing transport routes and, under certain conditions, off-road. In the event of a non-standard situation or an accident, the carrier and / or the customer incur multi-million dollar losses in foreign currency, they try to increase the reliability of transportation (high accuracy and complexity of the equipment for monitoring and managing transportation is added), which also increases the cost of transporting goods, the complexity of monitoring or repairing equipment (both on the road and in the hospital), while an emergency team of highly qualified specialists is required.

There are no relatively simple developments of such systems for universal all-terrain vehicles and / or other vehicles of various categories and types.

The objective of the invention is to implement a method for the operation of a flexible drive for the rotation of the wheels of the running gear of vehicles (Vehicles) and the creation of such vehicles with a flexible drive, during the movement of which the power transmission of rotation from one drive wheel to the second (driven) wheel or between a pair of driving wheels of the vehicle is carried out using flexible shaft. This provides all-wheel drive, which contributes to the fully controlled turn of the vehicle. In this case, the actual full-turn control scheme of the wheels connected through a flexible shaft is implemented.

We consider mainly schemes of all-wheel drive, as well as full-turning vehicles, namely, with a negative turning scheme.

/Explanation of the term “negative scheme for turning the vehicle…” is presented on page 3 of this invention (article: Markina A.A. et al., 2019. Study of the kinematics of a fully controlled car…)./

The invention presents vehicles of various types with a different number of support wheels, ranging from two or more wheels: velo-, motorcycle-vehicles and the like (two wheels - in series - single-track), two-track (including those with a symmetrical arrangement of wheels, assembled in paired groups, with an even total number of wheels - 4, 6, 8 ..., while in the group the wheels can be fixed together rigidly on one shaft, including one or more wheels, depending on the design load on the shaft (axle ), or on a trolley of wheels), two or three track: moto-vehicles, cars, quad-, quadri-cycles, self-propelled motorized vehicles, as well as bogies, semi-trailers and trailers.

Achieved the following technical result.

The flexible drive according to the invention is characterized by connecting the ends of the flexible shaft to two wheels of the specified running gear so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel, while it is necessary that the specified end of the flexible shaft is rigidly connected to the specified wheel or in the projection of the axis of rotation wheels, including on the shaft of this wheel (end to end), or by wire threads of the developed end of said shaft to the side of the wheel at points of a circle concentric with respect to the axis of rotation, moreover, these points and threads of the end wire are located symmetrically relative to the axis of rotation of the specified wheel. This makes it possible to carry out all-wheel drive with the least loss of the transmitted moment of force and costs, in comparison with analogues (compare with the drive through gears, cardan shafts and / or through a hydraulic drive), using the only part of the direct connection of the wheels through a flexible shaft.

At the same time, instead of one, the wheels with the road have two points of application of the engine traction force: through the front and through the rear wheels.

When this specified flexible drive can be installed between the two drive wheels, each of which has its own drive (for example, in the form of a motor-wheel).

The advantage of the flexible shaft is also manifested in the fact that it has two degrees of freedom (rotation and longitudinal movement inside the S-shaped sleeve-cage). The known schemes of the flexible shaft have its fastening in the holder (at least at two fixed points) with restrictions that prevent the specified longitudinal displacement of the shaft, which adds to the loss of torque, also in the known schemes there is no possibility of controlling the rotation of the axles of the wheels connected through the flexible shaft.

When using the specified flexible drive (including both drive wheels), the effect of front or rear wheel slippage on off-road mud is significantly reduced, since the drive flexible shaft equalizes the load on the front and rear wheels and gently synchronizes their rotation.

The use of the specified flexible drive contributes to the fully controlled operation of the vehicle steering control system, since when the axis of the first wheel is rotated, the displacement of the flexible shaft along the S-shaped tubular sleeve contributes to the rotation of the second wheel 2 relative to the first according to the negative steering control scheme. This allows the steering assembly to operate in a negative full turn pattern with less load, allowing the front and rear wheels to steer at the small required angles. This increases the sensitivity of the vehicle's steering control system, reduces wheel tire wear, and almost doubles the vehicle's maneuverability. Turning both wheels in a full-turn scheme improves the grip of the vehicle's wheels with the road, especially on sloping road sections.

A simple flexible drive scheme according to the invention is convenient to use in vehicles of various types from SIM, bicycle, motorcycle equipment to cars of various categories with internal combustion engines, gas, electric and muscle traction, including off-road vehicles. The technical effect is especially pronounced if motor wheels are used as a source of traction. The invention can also be used in rail transport, aircraft chassis and water transport.

The construction of the vehicle on a modular basis, by connecting the same modules with the presented flexible drive into one or more lines or platforms, allows you to transport bulky and super-heavy loads in difficult road conditions and off-road. At the same time, it is possible to complete the vehicle from modules with specified characteristics at the request of the customer.

As a result, thanks to the use of a group of inventions - relatively simple, convenient and inexpensive: a method, a flexible drive of the wheels of the running gear of the vehicle and vehicles of various types based on it, presented in the invention, the costs of manufacturing the vehicle, its operation and repair are significantly reduced, the technical vehicle capabilities (road and off-road driving, variability of vehicle modifications).

The specified technical result is achieved in the method of placing and operating a flexible drive and controlling the rotation of an all-wheel drive vehicle - a vehicle, which includes a chassis, wheels of the chassis, a vehicle steering control unit and a flexible shaft of the flexible drive, through which the rotation force is transmitted between the specified wheels,

moreover, the flexible shaft is placed inside the fixed cage with the possibility of its rotation, the flexible shaft is usually a cable product, in accordance with GOST 13225-80 (Flexible shafts of power transmission),

The method differs from the known ones in that

in the specified drive, the ends of the flexible shaft are rigidly attached to two wheels of the specified running gear so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel,

at the same time, the specified end of the flexible shaft is connected along the axis of rotation of the wheel with the wheel itself, with the shaft of this wheel - end to end, or with wire threads of the developed or untwisted end of the flexible shaft to the side of the wheel: for example, to the hub, disk or rim, in the central symmetrical points of a circle concentric with respect to the axis of rotation of the wheel.

/Here and below: the scheme for connecting the end of the flexible shaft to the wheel is determined by the wheel design, the technical requirements of the customer and, in fact, does not affect the operation of the flexible drive when transmitting torque from one wheel to another./

At the same time, both single wheels on the axle/shaft and groups of 2-4 wheels rigidly attached to each other and/or to the shaft on which they sit are used as part of the wheels of the chassis of the vehicle, while the number of wheels in the group is determined by the load on shaft (per axle).

/ Further, in the essential features and in the claims, the term "wheel" denotes both one wheel and a group of several identical wheels connected to each other and / or to the shaft on which they sit,

The rationale for this approach is that the specified group of wheels performs the same functions as a single wheel, except that it carries a large load/.

Moreover, the specified ends or threads of the end of the flexible shaft are attached to the specified wheels from those sides that provide the ability to rotate the wheels in one direction: forward or backward,

moreover, the cage, inside which the flexible shaft is placed, is made in the form of an S-shaped tubular sleeve,

which is attached by the middle part to the fixed elements of the chassis in the middle between the axles and at the same level with the axles of the wheels of the specified drive,

wherein the flexible shaft has the possibility of longitudinal movement along the S-shaped generatrix of the specified sleeve,

at the same time, of the two wheels connected by a flexible shaft, one or both wheels can be driving,

thus, the flexible drive is all-wheel drive, which allows you to control the rotation of both axles of the indicated wheels of the vehicle,

at the same time, the vehicle steering control unit itself is performed according to a negative full-turn scheme, containing elements: rocker-lever, mechanical transmission, hydraulic or pneumatic transmission, electrical or electronic components, or their possible combination, in accordance with the calculations and requirements of the Terms of Reference.

In particular, in the method, the end or threads of the end of the flexible shaft are fastened to the wheel directly or through a coupling, adapter or compression sleeve.

In particular, in the method, the S-shaped sleeve is attached to the chassis elements of the vehicle with a rigid connection.

In particular, in the method, one or both wheels connected by a flexible shaft are motor-wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of the above.

In particular, in the method, the vehicle steering control unit contains a mechanism for coordinating the rotation of the axes of the respective wheels.

Also, the presented technical result is achieved in a flexible drive of a vehicle (V) containing the wheels of the running gear, elements of the vehicle turning control unit, while the vehicle drive is made with a flexible shaft to transfer the rotational force between these wheels, and this shaft is located inside a fixed cage with possibility of rotation

the specified flexible drive differs from the known ones in that

in it, the ends of the flexible shaft are rigidly connected to two wheels of the specified chassis so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel,

at the same time, the specified end of the flexible shaft is connected along the axis of rotation of the wheel with the wheel itself, with the shaft of this wheel - end to end, or by wire threads of the developed or untwisted end of the flexible shaft to the side of the wheel, for example, to the hub, disk or rim, in the central symmetrical points of a circle concentric with respect to the axis of rotation of the wheel,

at the same time, said ends or threads of the end of the flexible shaft are fastened to the said wheels on those sides that allow the wheels to rotate in one direction: forward or backward,

moreover, the cage, inside which the flexible shaft is located, has the form of an S-shaped tubular sleeve, which is attached, with its middle part, to the fixed elements of the chassis in the middle between the axles and at the same level with the axles of these wheels,

while the flexible shaft has the ability to move longitudinally along the S-shaped generatrix of the specified sleeve,

at the same time, of the two wheels connected by a flexible shaft, one or both wheels can be driving,

thus, the flexible drive is all-wheel drive, which makes it possible to control the rotation of both axles of the indicated wheels of the vehicle,

at the same time, the vehicle steering control unit itself is made according to a negative full-turn scheme, containing elements: rocker-lever, mechanical transmission, hydraulic or pneumatic transmission, electrical or electronic components, or their possible combination, in accordance with the calculations and requirements of the Terms of Reference.

In particular, in the specified drive, the end or threads of the end of the flexible shaft are fastened to the wheel directly or through an adapter, coupling or compression sleeve.

In particular, in said drive, the S-shaped sleeve is rigidly attached to the chassis elements of the vehicle.

In particular, in the specified drive, one or both wheels connected by a flexible shaft are motor-wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of the above.

In addition, the specified technical result is achieved in an all-wheel drive vehicle (TC), containing a running gear, wheels of the running gear, a vehicle turning control unit and a flexible drive with a flexible shaft that transmits the rotation force from one wheel to another, and the flexible shaft is in a fixed cage rotatable,

different from the known ones in that the running gear of the vehicle is made in accordance with options i, ii1, ii2:

i - with the arrangement of two wheels of the running gear of the vehicle in series according to a single-track scheme, the full flexible drive of these wheels and the complete steering control unit are made with the same features as those presented above in this invention, a flexible drive with a flexible shaft;

ii1 - when 4 wheels of the chassis of the vehicle are arranged according to a two-track scheme - two wheels in front and two wheels in the back - so that the centers of the wheels are at the vertices of a rectangle, the sides of which denote two tracks of the specified scheme,

in a flexible drive, one flexible shaft is connected with one of its ends to the first left wheel, and the other end to the second left wheel,

and the second flexible shaft is connected in a symmetrical geometry relative to the first flexible shaft with a plane of symmetry coinciding with the median longitudinal plane of the chassis of the vehicle so that its one end is connected to the first right wheel, and the other end to the second right wheel,

at the same time, the flexible drive for connecting each flexible shaft with the corresponding wheels is made with the same features as the flexible drive with a flexible shaft presented above in this invention,

at the same time, the vehicle steering control unit has a mechanism for coordinated full rotation of all wheels of the vehicle connected according to the specified flexible drive scheme, or without it,

ii2 - when 4 wheels of the chassis of the vehicle are arranged according to a two-track scheme - two wheels in front and two wheels in the back - so that the centers of the wheels are at the vertices of a rectangle, the sides of which denote two tracks of the specified scheme,

in a flexible drive, one flexible shaft is connected with one of its ends to the first left wheel, and the other end to the second right wheel,

and the second flexible shaft is connected in a symmetrical geometry relative to the first flexible shaft with a plane of symmetry coinciding with the median longitudinal plane of the chassis of the vehicle so that its one end is connected to the first right wheel, and the other end to the second left wheel,

at the same time, the flexible drive for connecting each flexible shaft with the corresponding wheels is made with the same features as the flexible drive with a flexible shaft presented above in this invention,

at the same time, the vehicle steering control unit is made according to the negative scheme of full rotation, with or without a mechanism for coordinating the rotation of the axes of the corresponding wheels.

In particular, in the specified vehicle, one or both wheels connected by a flexible shaft are motor-wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of the above.

In particular, said vehicle is a car, quad, quadricycle, self-propelled motorized cart, motorcycle, bicycle, scooter, semi-trailer or trailer.

In particular, in the specified vehicle, the vehicle steering control unit is composed according to a negative rotation scheme and contains mechanical transmission elements, including rocker-lever elements, hydraulic, pneumatic transmission elements, with electrical or electronic components, or a combination thereof.

Also, the presented technical result is achieved in a modular vehicle (V) containing a running gear formed by connecting identical modules into a platform, having running gear wheels with a rotation drive,

at the same time, the vehicle steering control unit has a circuit and intermodular elements with the possibility of full control for the coordinated rotation of the wheels of all vehicle modules,

characterized in that these modules are connected by their sides, each module has an arrangement of 2 wheels of the undercarriage in series according to a single-track scheme or 4 wheels according to a two-track scheme,

moreover, the wheel drive in each module is a flexible all-wheel drive, made with the same features as presented above in this invention, a flexible drive with a flexible shaft.

In particular, in said modular vehicle, the platform preferably comprises 2 to 4 modules.

In particular, in the specified modular vehicle, the geometry of the location of the elements of the flexible drive of one module relative to the same elements of the flexible drive of another module can be mirror symmetrical with respect to the connection line of the modules or with the symmetry of the parallel transfer of these elements.

In particular, in the specified modular vehicle, the vehicle turning control unit is composed according to a negative turning scheme and contains mechanical transmission elements, including rocker-lever elements, hydraulic, pneumatic transmission elements, with electrical or electronic components, or a combination thereof.

In particular, in the specified modular vehicle, one or both wheels connected in the module by a flexible shaft are motor-wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of the above.

In particular, said modular vehicle is a car, quad, quadri cycle, self-propelled motorized trolley, semi-trailer or trailer, with the corresponding execution of the running gear of the vehicle modules.

The present invention is illustrated by the following examples.

In FIG. 1 (A1, A2, P1, P2) illustrates examples of analogues and prototypes of the present invention from the "Prior Art" section under the appropriate symbols. A1 - a motorcycle with a hydraulic drive, A2 - a Ural motorcycle with a crankshaft drive, P1 - a bicycle with a flexible shaft, P2 - a modular semi-trailer platform for transporting heavy and bulky goods.

In FIG. 2 (a - c) schematically shows the location of the flexible drive and the position of the wheels of the undercarriage of a 1-track 2-wheel (all-wheel drive, full-turn) vehicle - TS, installed for the direction of its movement to the left, straight and right.

In FIG. 3 (a, b) shows options for attaching the end of the specified flexible shaft to the wheel of the running gear of the vehicle: - a) using wire threads of the developed (untwisted) specified end of the flexible shaft, - b) direct attachment of the end of the flexible shaft to the end of the wheel shaft.

The following drawings show diagrams, examples and elements of all-wheel drive and full-turn vehicles according to the invention. These drawings show the control elements for turning the vehicle schematically conditionally (simplified so that there is no loss of clarity of perception), while as part of the vehicle, including modular ones, in the steering control unit there are elements for coordinating the control of the rotation of the corresponding axes of the wheels of the running gear of the vehicle.

When considering the examples, a number of units and components of the vehicle are not mentioned, such as the brake system, alarm or lubrication system, cabin (salon), vehicle body, etc. The author of the invention considers them not essential for considering the invention, and also believes that in of the considered vehicles, the technical solutions known from the indicated ones are used in accordance with the terms of reference of the customer of the vehicle.

Here are the designations of the elements of the vehicle, essential for the presentation of this invention:

1 - conditional boundary of the running gear of the vehicle (shown by a dotted line),

2 - running gear wheel in a flexible drive,

2.1 - wheel in the drive in the form of a motor-wheel,

3 - flexible cable shaft that transmits rotation from one wheel 2 or 2.1 to another,

3.1 - wire threads of the developed (untwisted) end of the flexible shaft 3,

3.2 - compression sleeve at the transition point from flexible shaft 3 to wheel 2,

4 - tubular S-shaped sleeve (cage), inside which is placed a flexible shaft 3, with the possibility of rotation and longitudinal shift along the sleeve,

5 - vehicle steering control unit and its elements for coordinated rotation of the wheel axles (in the diagrams, the elements of the steering unit are conditionally shown as rocker-lever, although they may be of a different design: in accordance with the calculations and requirements of the Terms of Reference).

In the example, FIG. 2 shows the running gear 1 of a single-track vehicle (TS) with two wheels 2 in series. Such a vehicle can be a muscular vehicle or with an auxiliary engine, including motor wheels 2.1 (for example, a scooter - Fig. 8, a bicycle Fig. 9), as well as a motorized vehicle with motor-wheels 2.1 and wheels 2 (for example, a motorcycle, scooter or all-terrain vehicle shown in Fig. 10).

In FIG. 2 shows three images of the chassis 1 of the vehicle with different positions of the wheels 2 (a - turn left, b - go straight, c - turn right). In the scheme of the vehicle, the upper front wheel 2 is conventionally assumed to be the front upper wheel 2. At the same time, the steering control unit 5 of the vehicle is assembled according to the negative scheme of the complete rotation of the wheels 2 and may contain mechanical transmission elements, in this example, rocker-lever, or in other cases, elements of hydraulic, pneumatic transmission , with electrical or electronic components, or a combination thereof.

Also, the chassis 1 contains a flexible drive in the form of a flexible cable shaft 3, in accordance with GOST 13225-80 (Flexible shafts of power transmission), transmitting rotation from one wheel 2 to another.

In the specified flexible drive, the ends of the flexible shaft 3 are rigidly connected to two wheels 2 of the specified chassis so that the axis of rotation of each end of the flexible shaft 3 coincides with the axis of rotation of the corresponding wheel 2, while the specified end of the flexible shaft 3 is connected along the axis of rotation of the wheel 2, with the shaft of this wheel - end to end (see Fig. 3b), although it can be attached to the wheel itself in the projection of the axis of rotation or in the variant shown in Fig. 3a, with wire threads 3.1 of the developed or untwisted end of the flexible shaft 3 to the side of the wheel 2, at six centrally symmetrical points of a circle concentric with respect to its axis of rotation. For example, the connection can be to the hub, disk or rim of wheel 2. The scheme of connecting the end of flexible shaft 3 to wheel 2 (or 2.1) is determined by the design of this part of the wheel, the technical requirements of the customer and, in fact, does not affect the operation of the flexible drive when transmitting torque torque from one wheel 2 to another.

In this case, one or both wheels can be driven from the wheels connected by the flexible shaft (accordingly, the traction driver - the engine - can be external or combined with the wheel 2, 2.1).

In this case (as shown in this and other figures with examples of the vehicle), the flexible shaft 3 is placed inside the S-shaped tubular (cage) sleeve 4 with two degrees of freedom of movement: with the possibility of rotation in the sleeve and longitudinal shift along the sleeve 4. This provides minimum losses for the transfer of rotation of the flexible shaft 3 in the sleeve from wheel to wheel. The sleeve 4 itself is rigidly attached to the fixed elements of the chassis (chassis 1) in the middle between the axles and at the same level with the axles of the indicated wheels 2.

It is also important that the ends of the flexible shaft 3 approach the corresponding wheels 2 from those sides that would ensure the rotation of these wheels in one direction: forward or backward. In FIG. 2, since the end of shaft 3 is connected to the left end of the shaft (front) of wheel 2, the second end of shaft 3 is connected to the right end of the shaft of (rear) wheel 2). If both wheels 2 of the flexible drive are driving, then the traction drive of the wheel/wheels 2 (in the form of a motor-wheel 2.1) can be: an electric motor, internal combustion engine, gas, pneumatic, hydraulic, or a combination of the above.

Thus, the considered flexible drive is made of all-wheel drive, which allows you to control the rotation of both axles of these wheels 2 of the vehicle.

At the same time, the vehicle steering control unit 5 is made according to a negative scheme of full rotation, and in this example, with rocker-lever elements of the mechanism for coordinated rotation of the axes of the corresponding wheels 2.

Also, in accordance with the calculations and requirements of the Terms of Reference, the steering control unit 5 of the vehicle may contain other elements: mechanical transmission, hydraulic or pneumatic transmission, electrical or electronic components, or their possible combination, and in addition, it may have a mechanism for coordinating (joint) rotation of all wheels 2.

The operation of the flexible drive vehicle. For example, with the initial position of the wheels of the vehicle in a straight track (Fig. 2b) and one (front) driving wheel 2, the traction driver ensures the rotation of this wheel, due to this the vehicle moves, for example, forward. In this case, the end of the flexible shaft 3 in the drive rotates together with the end of the drive wheel 2, respectively, the entire flexible shaft 3 rotates along with its second end, which is rigidly attached to the end of the shaft of the other (rear) wheel 2. Due to the cruelty of the twisting of the flexible shaft on the second wheel 2 the moment of rotation of the flexible shaft 3 begins to act, which causes it to rotate, regardless of the adhesion to the road surface (in this case, there is a joint action on the wheel 2 of the forces of adhesion to the road and the moment of rotation of the flexible shaft). Instead of one in the track, there are two points of application of engine thrust from each wheel 2. This convenience allows you to more effectively distribute the traction force and reduce engine losses on the movement of the vehicle, especially to prevent wheel slippage 2 on soft soils or in other difficult conditions (traction with road on its slopes). If the drive uses the connection of two driving wheels 2 with a flexible shaft 3, having their own traction stimulators, then the flexible shaft of the drive of these wheels 2 acts as an additional mechanism that ensures the coordination of the speeds of rotation of these wheels 2.

When the vehicle turns, for example, to the left (Fig. 2a), using the vehicle's turn control mechanism, the front wheel 2 (wheel axle) turns to the left, and the rear wheel to the right, at this moment the flexible shaft 3 is displaced along the sleeve to the rear wheel 2. This displacement occurs almost freely, since the displacement of the flexible shaft section 3 from the front wheel 2 is compensated by the displacement of another section of the shaft in the same direction along the sleeve 4 to the rear wheel 2. Thus, when the axis of the first wheel 2 is rotated, the displacement of the shaft 3 along the sleeve 4 contributes to the rotation of the second wheel 2 relative to the first, helping to implement the negative scheme of rotation of the vehicle.

In this case, the rotation control mechanism 5 ensures the corresponding rotation of the rear wheel 2 - to the right. Usually, the steering angles of the wheels are equal, while the sensitivity of the system to the steering angle of the vehicle increases by about 2 times. This results in a corresponding reduction in the force transmission load in the steering control system. At the same time, the maneuverability of the vehicle is increased.

Turning the vehicle to the right (Fig. 2c) occurs in a mirror-symmetrical geometry with a plane of symmetry passing through the centers of both wheels, in the same sequence as in Fig. 2 a.

A variant of the vehicle (not shown in the drawings), similar to that shown in this example, is a single-track vehicle, in which, in a flexible drive, the end of the flexible shaft 3 is connected not to the left (as shown in Fig. 2), but to the right end of the shaft (front) of the wheel 2, and the second end of the shaft 3 is respectively connected to the left end of the shaft of the (rear) wheel 2.

Also, a variant of the vehicle (also not shown in the drawings) similar to that shown in the example in FIG. 2 is a two-track vehicle (for example, an all-wheel drive, full-revolving motorcycle with a sidecar), in which a pair of wheels 2 of the motorcycle itself is located in one track with the specified flexible drive - flexible shaft 3, as in the running gear 1 in FIG. 2, and in the second track the third wheel of free rotation of the sidecar of the motorcycle is located. In this case, the axis of the third wheel is located perpendicular to the line segment connecting the centers of the axles of the wheels 2 connected through the flexible shaft 3, and the base of this perpendicular lies on the specified segment.

The operation of these TS is similar to the operation of the TS in Fig. 2.

Another group of examples is the double track vehicle, variants of which are shown in FIG. 4 and 5.

In the example (Fig. 4), when 4 wheels of the chassis 1 of the vehicle are arranged according to a two-track scheme - two wheels 2 in front and two wheels 2 in the rear - so that the centers of the wheels are at the vertices of the rectangle, the sides of which denote two tracks of the specified scheme,

- one flexible shaft 3 is connected by one end to the end of the shaft of the first left wheel 2, and by the other end to the end of the shaft of the second right wheel 2,

- and the second flexible shaft 3 is connected in a symmetrical geometry relative to the first shaft 3 with a plane of symmetry coinciding with the median longitudinal plane of the chassis 1 of the vehicle so that its one end is connected to the end of the shaft of the first right wheel 2, and the second end is connected to the end shaft of the second left wheel 2. At the same time, in the drive, for each flexible shaft 3 with the corresponding wheels 2, their connection scheme and operation is carried out in the same way as for a flexible drive with a flexible shaft 3, shown in Fig. 2, with the corresponding driving mode of two pairs of wheels. At the same time, the lever mechanism 5 of the coordinated full rotation of all associated wheels 2 of the vehicle is shown in the vehicle turning control unit.

In the example (Fig. 5), when 4 wheels of the chassis 1 of the vehicle are arranged according to a two-track scheme - two wheels 2 in front and two wheels 2 in the rear - so that the centers of the wheels are at the vertices of a rectangle, the sides of which denote two tracks of the specified scheme,

- one flexible shaft 3 is connected by one end to the end of the shaft of the first left wheel 2, and the other end to the end of the shaft of the second left wheel 2,

- and the second flexible shaft 3 is connected in a symmetrical geometry relative to the first flexible shaft with a plane of symmetry coinciding with the median longitudinal plane of the chassis 1 of the vehicle so that its one end is connected to the end of the shaft of the first right wheel 2, and the second end is connected to the end shaft of the second right wheel 2.

At the same time, in the drive, for each flexible shaft 3 with the corresponding wheels 2, their connection scheme and operation is carried out in the same way as for a flexible drive with a flexible shaft 3, shown in Fig. 2, with a parallel mode of movement of two pairs of wheels. At the same time, the steering control unit of the vehicle shows the rocker-lever mechanism 5 of the coordinated full rotation of all associated wheels 2 of the vehicle.

The same fig. 5 can be considered as an example of a modular vehicle consisting of a two-module platform (the modules are separated by a double dotted line along the longitudinal center line of the platform), while the modules contain the same flexible drives of the wheels of the running gear 1 according to the scheme of connecting the flexible shaft 3 to the wheels with mirror symmetry.

In FIG. 6 shows an example of a modular vehicle, consisting of a two-module platform (the separation of the modules by a double dotted line along the longitudinal center line of the platform is shown), while the modules contain the same flexible drives of the wheels of the running gear 1 according to the scheme of connecting the flexible shaft 3 to the wheels 2 with parallel transfer symmetry.

In FIG. 7 shows an example of a modular vehicle consisting of a three-module platform (the modules are separated by two double dotted lines that are parallel to the longitudinal center line of the platform), while the modules contain the same flexible drives of the wheels of the running gear 1 according to the scheme of connecting the flexible shaft 3 to the wheels 2 with the symmetry of parallel transfer.

Meanwhile, in FIG. 4-7 in the drive, for each flexible shaft 3 with the corresponding wheels 2, their connection scheme and operation is carried out in the same way as in the flexible drive with a flexible shaft 3 shown in figure 2, with a parallel mode of movement of the corresponding wheels 2. At the same time, in node turning control of the vehicle shows (conditionally as an example) rocker-lever mechanism 5 coordinated complete rotation of all associated wheels 2 of the vehicle.

In these variants of modular vehicles, when the total load of the vehicle exceeds the load capacity of its single wheels, several identical wheels 2 can be rigidly mounted (mounted) on one shaft (axle) 2: a group of 2-4 wheels. In the calculation model of the load on the wheels and in terms of their functions, a group of several wheels rigidly mounted on one shaft is equivalent to one wheel. Therefore, in the indicated versions of the vehicle, wheel 2 means the possible specified group of several wheels.

In FIG. 8 shows a schematic drawing of (a) a side view and b) from above - in the cross section of the wheel axes) of a full-wheel drive full-turn road electric scooter with the proposed flexible drive with a flexible shaft 3, with a front motor-wheel 2.1. The sleeve 4 for accommodating the flexible shaft 3 is built into the foot pad (deck) of the scooter. Flexible shaft 3 approaches each wheel 2 with its ends along their axis of rotation, each end is rigidly connected to wheel 2 directly in the projection of the axis of rotation onto this wheel. The turning control unit 5 of the electric scooter is cable.

In FIG. 9 shows a schematic drawing (view: a) from the side and b) from above - in the section of the wheel axes) of a full-wheel drive full-revolving touring bicycle, supplemented by electric traction from the rear electric motor wheel 2.1, with the proposed flexible drive. The sleeve 4 for accommodating the flexible shaft 3 is built into the foot pad (deck) of the bicycle. Flexible shaft 3 approaches each wheel 2 with its ends along their axis of rotation, each end is rigidly connected to wheel 2 directly in the projection of the axis of rotation onto this wheel. The steering control unit 5 of the bicycle is cable.

In FIG. 10 shows a schematized drawing (view: a) from the side, b) from above - in the section of the wheel axes, and c) in axonometry) of an all-wheel drive all-terrain vehicle with the proposed flexible drive. In this vehicle, each wheel 2 is fixed on its carrier rack cantilever, the racks with wheels are deployed antisymmetrically to one another. The engine of the all-terrain vehicle is mounted, mounted on the front wheel rack 2 and connected to the wheel by a gearbox. The sleeve 4 for accommodating the flexible shaft 3 is built into the foot pad (deck) of the all-terrain vehicle. Flexible shaft 3 approaches each wheel 2 with its ends along their axis of rotation, each end is rigidly connected to wheel 2 directly in the projection of the axis of rotation onto this wheel. The steering control unit 5 of the ATV can be of any type, in this case it is a rocker-lever (conventionally shown by a dotted line along the center line under the ATV seat).

Claims (55)

1. The method of placement and operation of a flexible drive and control of the rotation of an all-wheel drive vehicle (TC), which includes: a running gear, running gear wheels, a vehicle turning control unit and a flexible drive flexible shaft, through which the rotation force is transmitted between the specified wheels, and the flexible shaft is placed inside a fixed cage with the possibility of its rotation, characterized in that in the specified drive, the ends of the flexible shaft are rigidly attached to two wheels of the specified running gear so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel, at the same time, the specified end of the flexible shaft is connected along the axis of rotation of the wheel with the wheel itself, with the shaft of this wheel - end to end or with wire threads of the developed or untwisted end of the flexible shaft to the side of the wheel at centrally symmetrical points of a circle concentric with respect to the axis of rotation of the wheel, at the same time, both single wheels on the axle/shaft and groups of 2-4 wheels rigidly attached to each other and/or to the shaft on which they sit are used as part of the wheels of the chassis of the vehicle, while the number of wheels in the group is determined by the load on shaft / axle, in all claims, the term "wheel" denotes both one wheel and a group of several identical wheels rigidly connected to each other and / or to the shaft on which they sit, moreover, the specified ends or threads of the end of the flexible shaft are attached to the specified wheels from those sides that provide the ability to rotate the wheels in one direction: forward or backward, moreover, the cage, inside which the flexible shaft is located, is made in the form of an S-shaped tubular sleeve, which is attached with its middle part to the fixed elements of the chassis in the middle between the axles and at the same level with the axes of the wheels of the specified drive, wherein the flexible shaft has the possibility of longitudinal movement along the S-shaped generatrix of the specified sleeve, at the same time, of the two wheels connected by a flexible shaft, one or both wheels can be driving, thus, the flexible drive is all-wheel drive, which allows you to control the rotation of both axles of the indicated wheels of the vehicle, at the same time, the vehicle steering control unit itself is performed according to a negative full-turn circuit, containing elements: rocker-lever, mechanical transmission, hydraulic or pneumatic transmission, electrical or electronic components, or their possible combination. 2. The method according to claim 1, characterized in that the end or threads of the end of the flexible shaft are fastened to the wheel directly or through a connecting, adapter or compression sleeve. 3. The method according to p. 1, characterized in that the S-shaped sleeve is attached to the vehicle chassis elements with a rigid connection. 4. The method according to claim 1, characterized in that one or both wheels connected by a flexible shaft are motor wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of these. 5. The method according to claim 1, characterized in that the vehicle steering control unit has a mechanism for coordinated rotation of the axes of the respective wheels. 6. A flexible drive of a vehicle (V) containing the wheels of the running gear, elements of the control unit for turning the vehicle, while the drive of the vehicle is made with a flexible shaft to transfer the rotational force from one wheel to another, and this shaft is inside a fixed cage with the possibility of rotation , characterized in that in the drive, the ends of the flexible shaft are rigidly connected to two wheels of the specified chassis so that the axis of rotation of each end of the flexible shaft coincides with the axis of rotation of the corresponding wheel, wherein the specified end of the flexible shaft is connected along the axis of rotation of the wheel with the wheel itself, with the shaft of this wheel - end to end or wire threads of the developed or untwisted end of the flexible shaft to the side of the wheel at centrally symmetrical points of a circle concentric with respect to the axis of rotation of the wheel, at the same time, said ends or threads of the end of the flexible shaft are fastened to the indicated wheels on those sides that allow the wheels to rotate in one direction: forward or backward, moreover, the cage, inside which the flexible shaft is located, has the form of an S-shaped tubular sleeve, which is attached, with its middle part, to the fixed elements of the chassis in the middle between the axles and at the same level with the axles of these wheels, wherein the flexible shaft has the possibility of longitudinal movement along the S-shaped generatrix of the specified sleeve, at the same time, of the two wheels connected by a flexible shaft, one or both wheels can be driving, thus, the flexible drive is all-wheel drive, which makes it possible to control the rotation of both axles of the indicated wheels of the vehicle, at the same time, the vehicle steering control unit itself is made according to a negative scheme of full rotation, containing elements: rocker-lever, mechanical transmission, hydraulic or pneumatic transmission, electrical or electronic components, or their possible combination. 7. The drive according to claim 6, characterized in that the end or threads of the end of the flexible shaft are fastened to the wheel directly or through an adapter, coupling or compression sleeve. 8. The drive according to claim 6, characterized in that the S-shaped sleeve is rigidly attached to the chassis elements of the vehicle. 9. The drive according to claim 6, characterized in that one or both wheels connected by a flexible shaft are motor wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic, or a combination of these. 10. An all-wheel drive vehicle (TC) containing a running gear, running gear wheels, a vehicle turning control unit and a flexible drive with a flexible shaft that transmits the rotation force from one wheel to another, the flexible shaft being in a fixed cage with the possibility of rotation, characterized in that the chassis of the vehicle is made in accordance with options i, ii1, ii2: i - when two wheels of the running gear of the vehicle are arranged in series according to a single-track scheme, the full flexible drive of these wheels with the full steering control unit is made according to claim 6 of this claim; ii1 - when 4 wheels of the chassis of the vehicle are arranged according to a two-track scheme so that the centers of the wheels are at the vertices of a rectangle, the sides of which denote two tracks of the specified scheme, in a flexible drive, one flexible shaft is connected with one of its ends to the first left wheel, and the other end to the second left wheel, and the second flexible shaft is connected in a symmetrical geometry relative to the first flexible shaft with a plane of symmetry coinciding with the median longitudinal plane of the chassis of the vehicle so that its one end is connected to the first right wheel, and the other end to the second right wheel, at the same time, the flexible drive for connecting each flexible shaft with the corresponding wheels is made according to claim 6 of this claim, at the same time, the control unit for turning the vehicle has a mechanism for the coordinated full rotation of all wheels of the vehicle connected according to the specified flexible drive scheme or without it; ii2 - when 4 wheels of the chassis of the vehicle are arranged according to a two-track scheme so that the centers of the wheels are at the vertices of a rectangle, the sides of which designate two tracks of the specified scheme, in a flexible drive, one flexible shaft is connected with one of its ends to the first left wheel, and the other end to the second right wheel, and the second flexible shaft is connected in a symmetrical geometry relative to the first flexible shaft with a plane of symmetry coinciding with the median longitudinal plane of the chassis of the vehicle so that its one end is connected to the first right wheel, and the other end to the second left wheel, at the same time, the flexible drive for connecting each flexible shaft with the corresponding wheels is made according to claim 6 of this claim, at the same time, the vehicle turning control unit is made according to the negative scheme of full rotation and has a mechanism for coordinating the rotation of all wheels of the vehicle connected according to the specified schemes of the flexible drive or without it. 11. The vehicle according to claim 10, characterized in that one or both wheels connected by a flexible shaft are motor wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic or a combination of the above. 12. The vehicle according to claim 10, characterized in that the specified vehicle is a car, ATV, quadricycle, self-propelled motorized cart, motorcycle, bicycle, scooter, semi-trailer or trailer. 13. Vehicle according to claim 10, characterized in that the vehicle steering control unit contains mechanical transmission elements, including rocker-lever elements, hydraulic, pneumatic transmission elements, with electrical or electronic components, or a combination thereof. 14. Modular vehicle (TC), containing a running gear formed by connecting identical modules into a platform, having wheels of the running gear with a drive for their rotation, at the same time, the vehicle steering control unit is made with the possibility of a negative full rotation and has intermodular elements for controlling and coordinated rotation of the wheels of all vehicle modules, characterized in that these modules are connected by their sides, each module has an arrangement of 2 wheels of the undercarriage in series according to a single-track scheme or 4 wheels according to a two-track scheme, moreover, the wheel drive in each module is a flexible all-wheel drive, made according to claim 6 of this claim, with a complete rotation of these wheels. 15. Modular vehicle according to claim 14, characterized in that the specified platform contains mainly from 2 to 4 modules. 16. Modular vehicle according to claim 14, characterized in that the geometry of the flexible drive elements of one module relative to the same flexible drive elements of another module can be mirror symmetrical with respect to the module connection line or with parallel transfer symmetry of these elements. 17. Modular vehicle according to claim 14, characterized in that the vehicle turning control unit is composed according to a negative turning scheme and contains mechanical transmission elements, including rocker-lever elements, hydraulic, pneumatic transmission elements, with electrical or electronic components, or a combination thereof. 18. Modular vehicle according to claim 14, characterized in that one or both wheels connected in the module by a flexible shaft are motor-wheels with a traction booster: electric, ICE, gas, pneumatic, hydraulic or a combination of the above. 19. Modular vehicle according to claim 14, characterized in that the specified vehicle is a car, ATV, quadricycle, self-propelled motorized trolley, semi-trailer or trailer with the corresponding chassis of the vehicle modules.

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