| 摘要 |
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 |
