(57) Abstract:Usage: in robotics. The inventive design of the propulsion of the mobile robot can operate in a mode wheel mover, and in the walking mode of propulsion. 4 C.p. f-crystals, 7 Il. The invention is intended for use in robotics, as well as in the sectors of human activity, in which to avoid human presence is dangerous to his health or life environments, the use of remote-controlled multi-function robotic device.Known manipulator F-3, designed for use in remotely managed mode. The kit includes two Electromechanical manipulator installed on multi-link crawler carrier containing four independent crawler unit, is able to swing relative to the carrier in a vertical plane. The design of the media allows it to change its geometry, which provides the following advantages over mobile robots with conventional carriers:
the device is able to navigate the steep stairs, steadily and can not be removed even on slopes up to 60abouthas Vosloo when the lateral slope of the ground.However, with all the benefits of this design can't change direction without turning, and moves through the creation of the force of sliding friction between the tracks and the ground, which can be considered irrational to ensure good traction during movement of the carrier on slippery and loose soils.A device representing a media manipulator and other systems and devices, while the suspension medium is executed in six (three on each side) track Assembly, and the average propulsion stationary relative to the medium, and the front and rear have the ability to swing in a vertical plane. This design media provides him with a high cross, but no rotation of the propellers in a horizontal plane and the presence of caterpillars reduce the maneuverability of the device.Known mobile robot AMR-2 with improved characteristics (prototype), coinciding with the proposed device to the technical essence and the maximum number of signs. Mobile robot AMR-2 contains media that is made in the form of a housing that has four propulsion is able to rotate relative to the vertical about the and the lever, which sequentially installed on the two driven wheels. Rocker arms with wheels allow the media to change its geometry and thus increase the permeability of the robot in terms of overcoming the stairs, barriers, trenches, etc., the Rotation of the propellers relative to the carrier provides the robot increase agility by giving him the opportunity to start moving from any point in any direction without changing the orientation of the carrier relative to the external environment.Design media has the following disadvantages:
the ability to efficiently move only method of rolling; when implementing the method of the walk in the device are utilized in synchronous mode, while four pillars, all thrusters, and the amplitude of the vertical cycloidal movement of the carrier is equal to the distance between the axis of the swing lever and the most remote point of the rim of the speaker of the wheel; at the end of the lever round body, which is unable to perform the functions of hooks that can give an additional opportunity to improve cross and overcome obstacles, type the ledge; the impossibility of providing in one design equally high efficient movement of nologo diameter, and in the second case, the required wheel smaller in relation to the dimensions of the stairs diameter.The aim of the invention is to increase the permeability of the media.This is achieved by that in a mobile robot, comprising a housing that has multiple feature drives rotatable about their own vertical axes of the propellers, and the composition of each propeller is rotatable around a horizontal axis, on which consistently is driven by two wheels, between each propeller and the hull entered the device stabilization of the spatial position of the housing relative to the horizontal plane, and the composition of each thruster put two rods, the longitudinal axes of which are arranged along the axis of the lever and rod are located on different sides of the wheels and each arm is pivotally connected with each wheel in one located on the rim of the wheel points so that each rod forms a parallelogram mechanism: bar-one spoke wheels 1-lever-spoke another wheel and able to make a plane-parallel motion, with at least one end of each bar stands for the dimensions of the wheels.Set out a set of presencebroadcast compared to the prototype. In addition, this goal is promoted by the hinge connection of one rod to the wheel diametrically opposite the hinges of the other arm on the other side of the wheels, the wheels of one thruster kinematically connected, for example, an endless chain with gear ratio 1, the two wheels of each thruster are in synchronous rotation from one of the engine and the axis of swing of the lever passes through the axis of the wheel, the dimensions of which are rods. The second wheel has a rim, the diameter of which is smaller than the diameter of the first wheel, through which passes the axis of swing of the lever, protruding ends of the rods are provided with hook fastenings located in a plane parallel to the plane of the wheels. In addition, the device stabilization of the spatial position of the housing relative to the horizontal plane is made gearless and passive, for example, in the form of torsion.The proposed device allows to combine in one design media mobile robot such methods of movement as running and walking, which increases the permeability of the mobile robot. In addition, the media due to the presence of hooks acquires a new method of moving in space is a method of grasping-pulling to the places and surfaces with solid high ledges.In Fig. 1 shows a mobile robot in position rolling, side view; Fig. 2 - mobile robot in position rolling, front view; Fig. 3 is a kinematic diagram of the propulsion of the mobile robot; Fig. 4 - mobile robot in position away; Fig. 5 - propulsion of the robot and the trajectory of movement of the point of attachment of the propulsion device to the carrier; Fig. 6 - execution rods propulsion, their attach and diameters of the wheels; Fig. 7 - the three phases of the movement of the mobile robot on the stairs.The proposed device consists of a casing 1 carrying the container 2 with the apparatus, the pointing device 3 and four thruster 4, which are installed in the corners of the housing 1 by means of a parallelogram mechanisms. Each parallelogram mechanism consists of a support 5 that is installed using a uniaxial hinge 6, the swinging of the levers 7 and uniaxial hinges 8 and 9 on the housing 1, and the bearing 5 can make a plane swing in the plane of the lever 7 relative to the housing 1. The hinge 9 is installed torsion bar 10, one end of which is connected with the lever 7, and the other with the housing 1 in the support 11, the torsion bar 10 passes through the hinge 9 and the lever 7 torque whose magnitude is chosen with the aim of introducing an elastic suspension of the housing 1 when Digi 13, an output element of the gearbox 14 and the motor 15 of the drive rotation of the propulsion device 4 relative to the vertical axis. The gear 13, the gear 14 and the motor 15 is rigidly installed in the rack 16 of the propulsion unit 4, fixed to the support 5 is made by means of a bearing Assembly, which has a vertical axis 17, is rigidly connected with the stand 16. In the bottom of the rack 16 is a horizontal axis, on which is mounted a rocking lever 19. With the lever 19 is rigidly connected gear 20, meshing with the gear 21, gear 22 and the motor 23 to drive the swing arm 19. On the axis 18, the inside lever 19, is fixed a sprocket 24 and bevel gear 25, and the ends of the axle 18 mounted wheel 26. With the toothed wheel 25 is in engagement bevel gear 27, which is the output gear 28 and motor 29, the drive wheels 26, which is rigidly connected with the lever 19. The connection of the lever 19 with a rack 16 implemented where it passes through the lever 19 axis 18, which is produced by means of bearings. Through the lever 18 parallel to the axis 18 passes axis 30, the ends of which is equipped with small wheels 31, and the inside lever 19 with the axis rigidly connected to the sprocket 32, through which passes the endless chain 33, covering also the second transmission is 1. Each of the wheels 26 and 31 has a disk similar to axis 34 installed at the same distance R from the axis of the wheels 26 and 31. On the axes 34 of the wheels 26 and 31 on each side of the lever 19, the rod 35. As the distance between the holes of the rod 35, which includes the axis 34, is equal to the distance between the axes of the wheels 26 and 31, and the distance from the axis 34 to the axes of the wheels 26 and 31 is the same, the result is a parallelogram mechanism which includes a rod 35, the wheels 26 and 31 and the lever 19. When the rod 35 by the rotation axis 18 and wheels 26 and 31 makes a plane-parallel movement in a vertical plane, and each point of the rod 35 rotates on a circle with radius R. One end of the rod 35 is nominated for the dimensions of the propeller 4 and ends with a hook 36.In Fig. 6 shows a variant of the propulsion device 4, in which the wheels 26 and 31 are made in one diameter, and the rod 35 is made and installed so that when the lower position of the axes 34 and the lower surface of the rod 35 coincides with the outer surface of the rims of the wheels 26 and 31, i.e., in this position, the rod 35 may perform the functions of skis or rest on a support surface (ground floor) between the wheels 26 and 31.The robot works as follows.
and at best, speed, position and torque.During the movement of the rod 35 with the lever 19 (see Fig. 1) is rotated by the actuator (21, 22, 23) of the swing lever 19 in a horizontal position and the propellers 4 rest on the ground (floor) of the rim 26. Small wheel 31 in contact with the ground do not have, like the hooks 36 of the rod 35. Thus, when depicted in Fig. 1 the provision of mechanisms for the transfer occurs with the wheel - rolling and torsion bar 10 through the levers 7 holds its moment of spin bearing 5 in an intermediate position of the tilting lever 7, while the passive stabilization (depreciation) of the spatial position of the housing 1 relative to the irregularities of the ground.Torque on the wheel 26 is transmitted from the motor 29 through the gear 28, the gear 27, a gear wheel 25 and the axis 18. The lever 19 is held in a horizontal position through the transfer: motor 23 to the gear 22 and pinion 21 is a gear wheel 20. Through the axle 30 rotates the small wheels 31, i.e., chain transfer provides synchronization of rotation of the wheels 26 and 31 with the same angular velocity, and hence the possibility of a plane-parallel motion (without jamming) rods 35 and rotational motion of each point of the rod 35 and dazepam 36 p CLASS="ptx2">S p o o b 1. The rotation produced by the tank circuit, when the wheels of one side have a speed of less than (or greater than) the speed of the wheels of the other side. Sometimes the wheels of one side can be inhibited or wheel flanges rotate in opposite directions. In this way, rotation of the housing 1 changes its orientation in space, and the actuators 12 - 15 turning racks 16 may not be invoked.S p o o b 2. The rotation of the mobile robot with the reversal of the propulsion devices 4 in the bearings 5 are produced in such a way that located on the diagonal of the housing 1 drivers 4 take the position so that the rod 35 become parallel and tangent to a circle drawn through the center of the mobile robot. In this case, all thrusters 4 during the rotation of the wheel 26 rotates around the circumference and the housing 1 is rotated around its center.S p o C o b 3. Maneuvering produce without changing the orientation of the housing 1. All of the propulsion devices 4 are arranged so that the levers 19 are parallel. For example, if the position of the robot (see Fig. 1) all of the propulsion devices 4 to rotate in bearings 5 on the 90aboutclockwise (viewed from above), the robot without changing the position of the body 1 starts (when the rotation of the wheels 26 to move to the observer, sotramadol point in different directions.The invention improves the patency of a mobile robot by adding a certain way installed rod protruding beyond the dimensions of the propellers, thereby giving the robot the ability to use appropriate method walk. Installation at the ends of the rods hooks allows you (automatically) the robot to use the new method is grasping for small ledges and pull to them. When running wheels of the same diameter and installing rods tangent to the rim of the robot can be used for walking on loose and sticky soils, where you have low specific ground pressure, for example, in a swampy area. The proposed combination of mechanisms and provide them ways to move allow you to take the proposed design of the media as a basis for creating moving chairs for people with disabilities. 1. MOBILE ROBOT, comprising a housing installed on it can be rotated about the vertical axis propellers, each of which is made in the form mounted on a horizontal axis to rotate a drive around her arm, on which the axes sequentially placed two driven wheels, wherein prepon located one on different sides of the dual wheels and installed them with education together with a wheel of a parallelogram mechanism two rods, pivotally mounted on each wheel, with at least one of the ends of the rods are located behind the gauge wheels.2. Robot under item 1, characterized in that the hinges mount to the wheels one rod diametrically opposite the hinge mounting the other arm.3. Robot under item 1, characterized in that the axis of swing of the lever passes through the axis of the wheel, the dimensions of which are rods.4. Robot under item 1, characterized in that the wheels are made of different diameters.5. Robot under item 1, characterized in that projecting beyond the dimensions of the wheels and the ends of the rods are provided with hook fastenings located in a plane parallel to the plane of the wheels.
FIELD: walking devices.
SUBSTANCE: proposed walking propulsive device contains wheel hub, pairs of levers hinge coupled with supports. Supports pivots are hinge connected with housing of hinge joints arranged over periphery of free of hub hinge coupled with axle or shaft of machine through said pairs of articulated levers. Prestressed rubber pads in contact with support of lever are hinge-mounted in housing space. In free position, pivots are arranged square to axes of levers under action of forces of prestressing of pads. With wheel rotating, forward heel of pivot touches support area bending, by gravity of propulsive device on pads, joints of levers relative to their axles and creating reactive force directed to side of movement relative to support area when weight of propulsive device is transferred to forward pivot.
EFFECT: equalizing action of forces on device at cocking of support area relative to direction of movement of machine.
FIELD: transport engineering; cross-country vehicles.
SUBSTANCE: proposed wheeled-walking propulsion unit has hollow housing with straight-line and curvilinear sections of surface which accommodates wheel whose axle is connected with vehicle engine. U-shaped bracket is mounted on bearings on wheel axle. Said bracket is stationary secured on vehicle. Two similar pressure rollers are installed in lower part of U-shaped bracket at both sides of wheel on axles of rotation. Said pressure rollers rest on connected walls following outline on hollow housing whose radii of curvatures of curvilinear sections exceed radius of wheel curvature. Curvilinear sections of outer surfaces of hollow housing feature lower coefficient of frictions as compared with straight-line sections.
EFFECT: provision of reliable pressing of main wheel to surface of hollow housing along which wheel is rolling.
2 cl, 3 dwg
FIELD: vehicles with wheel-walking propellers, mainly military equipment.
SUBSTANCE: the vehicle has a frame, power plant positioned inside the frame, an walking propellers with wheels located on both boards. Each walking propeller has a protective cover, for example of the Kevlar fabric, hollow metal sections having a movable joint to the frame or to one another by means of hollow hinges and four power components, for example in the form of a belt, for control of the position of each section relative to the frame, or of the subsequent section with the aid of four rubber chambers positioned between the sections and the power components. Control hydraulic hoses are positioned in the cavities of the sections and hinges, they are connected respectively to the rubber chambers and to the power plant, a carriage with four wheels is installed on the free end of the extreme sections of the propeller, the wheels are positioned on two axles in pairs with a common hydraulic drive in each pair. The carriage can be turned around the central axis through preset angle within 0 to 90 degrees to both sides.
EFFECT: enhanced cross-country capability of the vehicle.
FIELD: armored equipment.
SUBSTANCE: the vehicle has an inflatable hull, whose cavities are connected to an air-operated compressor by flexible pipe-lines, a power plant installed in the hull, and an undercarriage with walking propellers positioned on both sides. The inflatable hull is made of hermetically isolated rubber shells that are placed in armor-protective cylinders fastened to one another, the wall of each cylinder is made of several alternating layers of heat-resistant fabric, for example, Kevlar fabric, its thickness makes up 40 to 80 mm, the power plant has an internal combustion engine and a hydraulic pump, the undercarriage is made with four drive wheels with carriages having a movable joint installed on the walking propellers.
EFFECT: enhanced cross-country capability and armor protection.
FIELD: transport engineering; invalid chairs.
SUBSTANCE: invention is designed for moving man or load up and down the stairs or over even surface. Chassis of vehicle contains base 1, wheel pair 2, 3 with drive to rotate wheels around their axles 4, 5 and mechanism to lift wheel pair 2, 3 with base on step 13. Said lifting mechanism contains lever type stops 6, 7 with friction pivots 8, 9 in planes spaced along width of chassis and parallel to planes of wheels 2, 3. Working end of stops 6, 7 is provided with L-shaped bent free end furnished with said friction pivot 8 which intersect plane of rotation of near wheel 2. Provision is made for power contact of friction pivot 8 with wheel 2 for braking of wheel at standstill and/or in motion.
EFFECT: improved operating characteristics of vehicle chassis as to smoothness of running, dynamic stability on stairs and road capacity, reduced energy consumption and facilitated design of lifting mechanism.
5 cl, 7 dwg
SUBSTANCE: every wheel (2) is linked with the vehicle body by two rocking levers (7, 9) and furnished with a rotary lever (3), rotary cam (4) with hinge (5) and yoke (6). One rocking lever (7) mover coupled with yoke (6), while additional rocking lever (9) moves coupled with rotary lever (3). Rocking levers (7, 9) are linked by pairs by coaxial worm gearing, have an equal length and, interacting with rotary lever (3), form a hinged parallelogram. Rotary levers (3), rocking levers (9) and transverse hydraulic cylinder (11) with two-way con-rod 10 form a steering trapezium.
EFFECT: higher controllability.
2 cl, 1 dwg
FIELD: automotive industry.
SUBSTANCE: invention relates to automobiles with high cross-country ability. Each support in four-bearing chassis consists of two motor-wheels being arranged in tandem. The motor-wheels are installed on rocking shaft interconnected cinematically. The tandem wheel naves are provided with turning axes being free in circumferential direction and interconnected by turning lever. The vehicle is turned by means of hydraulic cylinders with turning axes coupling rods arranged cross wise.
EFFECT: improved performance characteristics of automobile.
3 cl, 2 dwg
SUBSTANCE: invention is related to transport vehicle of high cross-country ability with walking links. Transport vehicle comprises frame, driving unit (9) and axial structure with two wheels or tracks. Frame mainly consists of two telescopic pipes installed parallel to each other and approximately parallel to the ground, which are arranged accordingly from fixed pipe (5) and movable pipe (3). At the free end of movable pipes (3) there is a support element (4), which is accordingly installed with the possibility of rotation in plane of longitudinal axis of telescopic pipe around point of support (10).
EFFECT: provision of possibility for independent movement of transport vehicle in walking mode with support not only on two wheels but at least on walking support.
18 cl, 13 dwg
SUBSTANCE: invention relates to wheeled vehicles that features increased road-holding. Proposed vehicle incorporates propulsor which represents disks with their both sides accommodating staggered pockets (12). The latter house wheels (13) attached to disks. Shafts with disks and wheels (13) are lever-mounted and coupled with engine. Disk side surfaces can accommodate staggered working members, e.g. plates, buckets.
EFFECT: increased cross-country capacity.
2 cl, 4 dwg
SUBSTANCE: invention relates to automotive industry. Proposed transport facility comprises frame made up of top and bottom platforms, mechanism to inclined seat relative to top platform and that to control driven device motion. Bottom platform is mounted on drive supports while seat is mounted on top platform. Bottom platform is made up of two parts articulated over their length at center. Top platform is also made up of two parts in similar way. Ball support is arranged at joint between all parts of top and bottom platforms. Each of drive support of top platform is made up of central rollers arranged one after another, and several peripheral rollers that displace in vertical plane. Motion and drive control mechanism is made up of control board connected with mechanical instruction converter.
EFFECT: device to transfer cargoes and people on various flat, inclined and rough surfaces.
5 cl, 5 dwg