Spherical wheels and cars

Abstract

The present invention provides a spherical wheel and a car. The spherical wheel is used to be installed on the car. The spherical wheel can rotate forward and backward as well as left and right. The spherical wheel may include: a wheel frame used to be installed on the car body; a wheel ball, the wheel ball having an annular slide extending around the center of the wheel ball and an engagement groove recessed from the bottom wall of the annular slide toward the center of the ball; a pair of support frames symmetrically arranged on the wheel frame, the support frames comprising a sliding member fixed to the wheel frame and a telescopic shaft arranged on the sliding member, the sliding member being inserted into the annular slide of the wheel ball; when the telescopic shaft extends out of the sliding member to engage with the engagement groove of the wheel ball, the wheel ball is used to rotate forward and backward around the sliding member; when the telescopic shaft retracts into the sliding member to disengage from the engagement groove of the wheel ball, the wheel ball is used to rotate left and right relative to the sliding member along the annular slide.

Description

Technical Field

[0001] The invention relates to the technical field of automobile wheels, in particular to a spherical wheel and an automobile. Background Art

[0002] With the development of science and technology, people's demands for automobile products are becoming more and more diversified, and the concept of multi-directional movement has been proposed for future automobiles. At present, the steering of automobiles is mainly achieved through the cooperation of the front and rear wheels. Specifically, when the front wheels change direction, the speed of the rear wheels on the outside of the curve is greater than the speed of the wheels on the inside of the curve under the action of the differential of the car, so that the car can turn. However, a car turning in this way requires a certain turning radius, and the faster the speed when turning, the larger the turning radius required. Under complex road conditions, the driver's driving skills are very tested.

[0003] Furthermore, with the development of automobile steering technology, a four-wheel steering technology has been proposed that deflects the vehicle body according to signals such as the front wheel steering and driving speed. The rear wheels of a four-wheel steering vehicle can maintain the same direction or opposite deflection as the front wheels. In the same-direction deflection mode, the turning radius of the vehicle is greater than that of the two-wheel steering, and the deflection angle of the vehicle is smaller, which can reduce the rotation and side slip of the vehicle when adjusting the steering; in the reverse deflection mode, the turning radius of the vehicle is less than that of the two-wheel steering, and the deflection angle of the vehicle is larger, which can pass through narrow corners. Although the four-wheel steering system has the advantages of improving the stability and safety of the vehicle and reducing the turning radius of the vehicle, in the long run, there is still a certain gap between the four-wheel steering technology and the two-wheel steering technology to achieve the multi-directional movement of the vehicle.

[0004] In order to realize the multi-directional movement of the car, it is not limited to the steering method of the car itself, but also necessary to comprehensively innovate the technology of the car's wheels. According to a double-axle driven spherical wheel proposed in the invention patent CN106985609A. The spherical wheel includes a forward supporting half wheel, a lateral side wheel, a spherical wheel bracket, a bracket connecting plate, an arc surface cover plate and a supporting half wheel mounting plate. The forward supporting half wheel and the lateral side wheel are driven by two drive shafts to rotate respectively to realize forward and backward or left and right movement respectively. Combined with the steering system of the car, the multi-directional movement of the car can be realized. However, the problem with this invention is that multiple transmission shafts are required to enable the drive shaft to drive the lateral side wheel to rotate, which makes the structure of the transmission mechanism too complicated, and the subsequent maintenance cost is high, which is not conducive to long-term use. Summary of the invention

[0005] An advantage of the present invention is that it provides a spherical wheel and a car, which can realize both forward and backward rotation and left and right rotation, and the structure of the transmission mechanism is simple.

[0006] Another advantage of the present invention is that it provides a spherical wheel and a car, which can drive the wheel ball to rotate forward and backward through the transmission mechanism of the car.

[0007] Another advantage of the present invention is to provide a spherical wheel and a car, which can drive the wheel ball to rotate left and right through an electromagnetic drive.

[0008] Based on this, in order to achieve at least one of the above advantages or other advantages and purposes of the present invention, the present invention provides a spherical wheel, comprising:

[0009] A wheel bag frame, used for installation on the main body of the car;

[0010] A wheel sphere, the wheel sphere having an annular slide extending around the center of the wheel sphere and an engagement groove recessed from the bottom wall of the annular slide toward the center of the sphere;

[0011] A pair of support frames are symmetrically arranged on the wheel bag frame, and the support frames include a sliding member fixed to the wheel bag frame and a telescopic shaft arranged on the sliding member, and the sliding member is inserted into the annular slideway of the wheel ball; when the telescopic shaft extends out of the sliding member to engage with the engagement groove of the wheel ball, the wheel ball is used to rotate back and forth around the sliding member; when the telescopic shaft retracts the sliding member to disengage from the engagement groove of the wheel ball, the wheel ball is used to rotate left and right along the annular slideway relative to the sliding member.

[0012] According to one embodiment of the present application, the sliding connection member includes a supporting portion and a sliding connection portion slidably arranged in the annular slide, the two ends of the supporting portion are respectively fixed to the sliding connection portion and the wheel bag frame, and the annular slide includes a limiting sliding groove matching the sliding connection portion and a guide channel matching the supporting portion.

[0013] According to an embodiment of the present application, the sliding portion has a spherical structure.

[0014] According to one embodiment of the present application, the telescopic shaft includes an engagement shaft, a transmission shaft and a control mechanism, the engagement shaft is slidably engaged with the transmission shaft, and the control mechanism is installed on the sliding member to drive the engagement shaft to extend or retract the sliding member.

[0015] According to an embodiment of the present application, the support frame has an axial hole connecting the sliding portion and the support portion along the left-right direction, and the meshing shaft and the transmission shaft are inserted into the axial hole.

[0016] According to one embodiment of the present application, the shaft hole includes an engagement section and a transmission section, and the diameter of the engagement section is larger than the diameter of the transmission section.

[0017] According to one embodiment of the present application, the transmission shaft is used to be connected to a power mechanism of the automobile body, so as to drive the wheel ball to rotate forward and backward through the meshing shaft under the drive of the power mechanism.

[0018] According to one embodiment of the present application, the spherical wheel further includes an electromagnetic driver fixed to the support portion, the annular slide includes an annular electromagnetic groove recessed from the side of the guide channel, and the electromagnetic driver corresponds to the annular electromagnetic groove to drive the wheel ball to slide along the annular slide relative to the sliding member.

[0019] According to an embodiment of the present application, the wheel bag frame includes a hemispherical shell and fixing parts fixed on both sides of the hemispherical shell, and the supporting part is fixed on the fixing parts.

[0020] According to another aspect of the present application, the present application further provides a car, characterized in that it includes:

[0021] The body of the vehicle; and

[0022] A plurality of spherical wheels as described above are mounted on the automobile body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A three-dimensional schematic diagram of a spherical wheel provided in one embodiment of the present application;

[0025] Figure 2 An exploded schematic diagram of a spherical wheel according to the above embodiment of the present application is shown;

[0026] Figure 3 A three-dimensional schematic diagram of a support frame of a spherical wheel according to the above embodiment of the present application is shown;

[0027] Figure 4 An exploded schematic diagram of a support frame according to the above embodiment of the present application is shown;

[0028] Figure 5 A schematic side view of a wheel sphere of a spherical wheel according to the above embodiment of the present application is shown;

[0029] Figure 6 It is shown that according to this application Figure 5A schematic cross-sectional view of the wheel sphere taken along the AA section shown;

[0030] Figure 7 It is shown that according to this application Figure 5 A schematic cross-sectional view of the wheel sphere taken along the BB section shown;

[0031] Figure 8 A three-dimensional schematic diagram of a wheel frame of a spherical wheel according to the above embodiment of the present application is shown.

[0032] 1. Spherical wheel; 10. Wheel sphere; 11. Annular slideway; 111. Limiting slideway; 112. Guide channel; 113. Connecting channel; 114. Annular electromagnetic groove; 12. Engaging groove; 20. Support frame; 21. Sliding member; 211. Support part; 212. Sliding part; 213. Connecting part; 214. Axle hole; 215. Mounting part; 2151. Mounting hole; 22. Telescopic shaft; 221. Engaging shaft; 222. Transmission shaft; 23. Electromagnetic driver; 30. Wheel frame; 31. Hemispherical shell; 311. Avoidance groove; 32. Fixing part; 321. Guide hole; 33. Reinforcing rib. DETAILED DESCRIPTION

[0033] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0034] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0035] In the present invention, the term "one" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. Unless it is clearly indicated in the disclosure of the present invention that the number of the element is only one, the term "one" cannot be understood as unique or single, and the term "one" cannot be understood as a limitation on the quantity.

[0036] In the description of the present invention, it should be understood that "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] For details, please refer to 1 to Figure 8The present application provides a spherical wheel 1, which may include a wheel frame 30, a wheel sphere 10 and a pair of support frames 20. The wheel frame 30 is used to be installed on a car body. The wheel sphere 10 has an annular slide 11 extending around the center of the wheel sphere 10 and an engagement groove 12 recessed from the bottom wall of the annular slide 11 toward the center of the sphere. The support frames 20 are symmetrically arranged on the wheel frame 30. The support frames 20 include a sliding member 21 fixed to the wheel frame 30 and a telescopic shaft 22 arranged on the sliding member 21. The sliding member 21 is inserted into the annular slide 11 of the wheel sphere 10. When the telescopic shaft 22 extends out of the sliding member 21 to engage with the engagement groove 12 of the wheel ball 10, the wheel ball 10 is used to rotate back and forth around the sliding member 21; when the telescopic shaft 22 retracts into the sliding member 21 to disengage from the engagement groove 12 of the wheel ball 10, the wheel ball 10 is used to rotate left and right along the annular slide 11 relative to the sliding member 21. In other words, when the telescopic shaft 22 is engaged with the engagement groove 12, the wheel ball 10 is locked by the telescopic shaft 22 and can rotate forward and backward relative to the sliding member 21. When the telescopic shaft is powered, the telescopic shaft can drive the wheel ball 10 to rotate forward and backward. When the telescopic shaft 22 is disengaged from the engagement groove 12, the wheel ball 10 is unlocked from the telescopic shaft 22. At this time, the wheel ball 10 can slide along the annular slideway 11 under the guidance of the sliding member 21. When the wheel ball 10 is powered in the left and right directions, the wheel ball 10 can rotate left and right. In this way, the telescopic shaft 22 and the sliding member 21 respectively support the forward and backward rotation and left and right rotation of the spherical wheel 1. No complex transmission mechanism is required to change the forward and backward rotation into left and right rotation, and the overall structure is simpler.

[0039] For example, Figure 3 , Figure 5 and Figure 6 According to an embodiment of the present application, the sliding member 21 includes a support portion 211 and a sliding portion 212 slidably disposed in the annular slideway 11, and the two ends of the support portion 211 are respectively fixed to the sliding portion 212 and the wheel bag frame 30; the annular slideway 11 includes a limiting slide groove 111 matched with the sliding portion 212 and a guide channel 112 matched with the support portion 211. In this way, the sliding portion 212 abuts against the limiting slide groove 111, one end of the support portion 211 is fixed to the support portion 211, and the other end extends from the guide channel 112. The wheel ball 10 is fixed to the wheel bag frame 30, so that the support frame 20 can support the wheel ball 10. On the other hand, the limiting slide groove 111 limits the sliding portion 212 in the wheel ball 10, which can prevent the sliding portion 212 from sliding out of the limiting slide groove 111 to cause safety hazards.

[0040] Preferably, if Figure 5As shown, according to an embodiment of the present application, the sliding portion 212 has a spherical structure. With this arrangement, the contact between the sliding portion 212 and the limiting slide groove 111 is smoother, and the forward and backward rotation and left and right rotation of the wheel ball 10 become smoother.

[0041] More preferably, if Figure 6 and Figure 7 As shown, according to an embodiment of the present application, the cross section of the limiting slide groove 111 is circular. In this way, the limiting slide groove 111 is more closely fitted to the spherical sliding portion 212, so that the sliding portion 212 slides more smoothly along the limiting slide groove 111.

[0042] More preferably, if Figure 3 , Figure 6 and Figure 7 As shown, according to one embodiment of the present application, the sliding member 21 further includes a connecting portion 213 respectively connected to the sliding portion 212 and the supporting portion 211, the connecting portion 213 is cylindrical, and the diameter of the connecting portion 213 is smaller than the size of the supporting portion 211. The annular slideway 11 further includes a connecting channel 113 located between the limiting slide groove 111 and the guide channel 112, and the size of the connecting channel 113 is smaller than the size of the guide channel 112. The connecting channel 113 matches the connecting portion 213. In this way, the sliding portion 212 can be further limited to prevent it from sliding out of the limiting slide groove 111.

[0043] In particular, if Figure 2 As shown, according to one embodiment of the present application, the telescopic shaft 22 includes a meshing shaft 221, a transmission shaft 222 and a control mechanism, wherein the meshing shaft 221 is slidably meshed with the transmission shaft 222, and the meshing shaft 221 is slidably meshed with the transmission shaft 222, and the control mechanism is installed on the sliding member 21 to drive the meshing shaft 221 to extend or retract the sliding member 212. In this way, when the wheel ball 10 needs to rotate forward and backward, the meshing shaft 221 can be controlled by the control mechanism to extend from the sliding member 21 and then mesh with the meshing groove 12, so that the meshing shaft 221 is locked with the wheel ball 10. When the wheel ball 10 needs to rotate left and right, the meshing shaft 221 can be controlled by the control mechanism to disengage from the meshing groove 12 and then retract the sliding member 21, so that the meshing shaft 221 is unlocked from the wheel ball 10.

[0044] It can be understood that, according to an embodiment of the present application, the control mechanism is to attract the meshing shaft 221 to slide relative to the transmission shaft 222 through electromagnetic control. Electromagnetic control has good adjustment ability, can more accurately adjust the magnitude of the magnetic force, and can more accurately control the sliding of the meshing shaft 221. In addition, electromagnetic control can pass through obstacles to attract the meshing shaft 221, which is simpler in the overall structural layout of the sliding member 21.

[0045] Alternatively, if Figure 4 As shown, according to an embodiment of the present application, the meshing shaft 221 is sleeved on the transmission shaft 222. In this way, the diameter of the meshing shaft 221 is larger than that of the transmission shaft 222, the controllable area is larger, and the meshing shaft 221 can be more flexibly extended or retracted by the control mechanism.

[0046] Preferably, if Figure 2 and Figure 3 As shown, according to one embodiment of the present application, the support frame 20 has an axial hole 214 connecting the sliding portion 212 and the support portion 211 in the left-right direction, and the meshing shaft 221 and the transmission shaft 222 are inserted into the axial hole 214. In this way, the meshing shaft 221 can be received in the axial hole 214 to save the internal space of the wheel ball 10.

[0047] More preferably, according to an embodiment of the present application, the shaft hole 214 includes a meshing shaft hole and a transmission shaft hole, and the diameter of the meshing shaft hole is larger than the diameter of the transmission shaft hole. In this way, the meshing shaft hole and the transmission shaft hole are matched with the meshing shaft 221 and the transmission shaft 222 respectively, so that the transmission shaft 222 fits more closely with the transmission shaft hole, which can prevent the transmission shaft 222 from shaking, thereby improving the stability of the spherical wheel 1.

[0048] It is worth noting that according to an embodiment of the present application, the meshing groove 12 and the meshing shaft 221 can be splined, and the meshing shaft 221 and the transmission shaft 222 can also be splined. The spline connection has a strong load-bearing capacity, making the spherical wheel 1 more reliable and more load-bearing.

[0049] In particular, the spherical wheel 1 can be used as a driven wheel to rotate with the driving wheel of the car, or as a driving wheel connected to the transmission shaft 222 of the car. Therefore, according to an embodiment of the present application, the transmission shaft 222 is used to be connected to the power mechanism of the car body, so as to drive the wheel ball 10 to rotate forward and backward through the meshing shaft 221 under the drive of the power mechanism. In this way, when the spherical wheel 1 is used as the driving wheel of the car, it can actively realize the forward and backward rotation to drive the car forward or backward.

[0050] Furthermore, if Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, according to an embodiment of the present application, the spherical wheel 1 further includes an electromagnetic driver 23 fixed to the support portion 211, the annular slideway 11 includes an annular electromagnetic groove 114 recessed from the side of the guide channel 112, and the electromagnetic driver 23 corresponds to the annular electromagnetic groove 114 to drive the wheel ball 10 to slide along the annular slideway 11 relative to the sliding member 21. In this way, when the electromagnetic driver 23 is turned on, it interacts with the magnetic field generated by the annular electromagnetic groove 114 to generate a driving force that drives the wheel ball 10 to rotate left and right, so that the spherical wheel 1 can be used as a driving wheel of the car to drive the car to the left or right.

[0051] More preferably, if Figure 3 As shown, according to one embodiment of the present application, the support frame 20 further includes a mounting portion 215 protruding from the support portion 211, the mounting portion 215 is provided with a mounting hole 2151, and the electromagnetic driver 23 is mounted in the mounting hole 2151. In this way, the electromagnetic driver 23 avoids the position of the shaft hole 214 to avoid interference with the meshing shaft 221 and the transmission shaft 222.

[0052] In particular, if Figure 8 As shown, according to an embodiment of the present application, the wheel frame 30 includes a hemispherical shell 31 and fixing parts 32 fixed on both sides of the hemispherical shell 31, and the support part 211 is fixed on the fixing parts 32. In this way, the wheel frame 30 provides a mounting carrier for the support frame 20, so that both sides of the wheel sphere 10 have sufficient support. In addition, the wheel sphere 10 is wrapped in the hemispherical shell, which can prevent sand or mud from entering the car during the wheel transmission process, thereby protecting the aesthetics of the car.

[0053] Preferably, if Figure 8 As shown, according to one embodiment of the present application, the fixing portion 32 of the wheel bag frame 30 has a guide hole 321 connected to the shaft hole 214. In this way, the transmission shaft 222 passes through the guide hole 321 and is connected to the transmission mechanism of the vehicle, and the fixing portion 32 can provide support for the transmission shaft 222 to prevent the transmission shaft 222 from shaking.

[0054] More preferably, if Figure 8 As shown, according to one embodiment of the present application, the outer shell of the wheel frame 30 has an avoidance groove 311, and the avoidance groove 311 is located outside the guide hole 321. Such a configuration can avoid interference between the transmission shaft 222 and the wheel frame 30.

[0055] Most preferably, Figure 8As shown, according to one embodiment of the present application, the wheel bag frame 30 further includes a reinforcing rib 33 located between the fixing portion 32 and the shell. The reinforcing rib 33 is used to fill the gap between the fixing portion 32 and the shell to enhance the structural strength of the fixing portion 32.

[0056] In summary, the present application provides a spherical wheel 1. When the engagement groove 12 of the wheel body is engaged with the telescopic shaft 22, the wheel ball 10 can rotate relative to the sliding member 21 through the telescopic shaft 22, so that the spherical wheel 1 can rotate forward and backward. When the engagement groove 12 of the wheel body is disengaged from the telescopic shaft 22, the wheel ball 10 can slide along the annular slideway 11 relative to the sliding member 21, so that the spherical wheel 1 can rotate left and right.

[0057] According to another aspect of the present application, the present application further provides a car, comprising: a car body and a plurality of spherical wheels 1 as described above, the spherical wheels 1 being mounted on the car body. The spherical wheels 1 can be used as driven wheels, driven to rotate by other driving wheels of the car. The spherical wheels 1 can also be used as driving wheels, used to drive the car forward and backward or to the left or right.

[0058] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. Spherical wheel, characterized in that: include: A wheel bag frame, used for installation on the main body of the car; A wheel sphere, the wheel sphere having an annular slide extending around the center of the wheel sphere and an engagement groove recessed from the bottom wall of the annular slide toward the center of the sphere; A pair of support frames are symmetrically arranged on the wheel bag frame, and the support frames include a sliding member fixed to the wheel bag frame and a telescopic shaft arranged on the sliding member, and the sliding member is inserted into the annular slideway of the wheel ball; when the telescopic shaft extends out of the sliding member to engage with the engagement groove of the wheel ball, the wheel ball is used to rotate back and forth around the sliding member; when the telescopic shaft retracts the sliding member to disengage from the engagement groove of the wheel ball, the wheel ball is used to rotate left and right along the annular slideway relative to the sliding member.

2. The spherical wheel according to claim 1, characterized in that: The sliding member includes a supporting portion and a sliding portion slidably arranged in the annular slideway, the two ends of the supporting portion are respectively fixed to the sliding portion and the wheel bag frame, and the annular slideway includes a limiting sliding groove matching the sliding portion and a guide channel matching the supporting portion.

3. The spherical wheel according to claim 2, characterized in that: The sliding portion has a spherical structure.

4. The spherical wheel according to claim 3, characterized in that: The telescopic shaft comprises an engagement shaft, a transmission shaft and a control mechanism. The engagement shaft is slidably engaged with the transmission shaft. The control mechanism is installed on the sliding member to drive the engagement shaft to extend or retract the sliding member.

5. The spherical wheel according to claim 4, characterized in that: The support frame has an axial hole connecting the sliding portion and the support portion in the left-right direction, and the engagement shaft and the transmission shaft are inserted into the axial hole.

6. The spherical wheel according to claim 5, characterized in that: The shaft hole comprises an engagement section and a transmission section, and the diameter of the engagement section is larger than the diameter of the transmission section.

7. The spherical wheel according to claim 6, characterized in that: The transmission shaft is used to be connected to the power mechanism of the automobile body, so as to drive the wheel ball to rotate forward and backward through the meshing shaft under the drive of the power mechanism.

8. The spherical wheel according to any one of claims 2 to 7, characterized in that: The spherical wheel further includes an electromagnetic driver fixedly mounted on the support portion, the annular slide includes an annular electromagnetic groove recessed from the side of the guide channel, and the electromagnetic driver corresponds to the annular electromagnetic groove to drive the wheel ball to slide along the annular slide relative to the sliding member.

9. The spherical wheel according to claim 2, characterized in that: The wheel bag frame comprises a hemispherical shell and fixing parts fixedly arranged on both sides of the hemispherical shell, and the supporting part is fixedly arranged on the fixing parts.

10. An automobile, characterized in that include: Car body; as well as A plurality of spherical wheels according to any one of claims 1 to 9, wherein the spherical wheels are mounted on the automobile body.

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