SPHEROMOBILE Russian patent published in 2016 - IPC B60B19/14 B62D57/00 

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