HETEROGENEOUS MODULAR RECONFIGURABLE MOBILE ROBOT CHAIN DRIVE Russian patent published in 2020 - IPC F16H9/24 F16H48/00 B60K17/16 

FIELD: machine building.

SUBSTANCE: group of inventions relates to differential transmissions. Chain drive consists of chassis, on which upper sprocket (US) drive and lower sprocket (LS) drive are installed, as well as housing axis, inside which to the left and on the right there are two fixed axes of support gear, from top and bottom are freely rotating axes of upper and lower sprockets respectively, extending beyond body. On each of axes of support gears there are two supporting gears, on axis US inside housing closer to chassis there is a supporting gear, further from chassis inside housing - drive gear US, and outside housing - US, on axis LS closer to chassis there is drive gear LS, further from chassis - support gear, and outside housing is rigidly connected with axis LS inner sprocket, two-way gear wheel US rotates, covering inner side of support gears, support gear on axis LS and drive gear US, and by external side engages with drive gear of US drive, two-side gear wheel LS rotates, enveloping with inner side support gears located on two axes of support gear, support gear on US axis and drive gear LS, and outer side engages with drive gear of drive LS. Also disclosed is a method of controlling said chain drive.

EFFECT: wider range of technical means.

2 cl, 3 dwg