Vehicle with wheel-walking propulsion m. i. louchakova

 

(57) Abstract:

Usage: in vehicles with wheel - walking propulsion. The inventive vehicle includes a housing 1 and each of the propulsion units 2 - 5 drive shaft 6, the rocker 7, kinematically connected with the drive shaft 6, the wheels 8 and 9, the axes 10 and 11 which are installed along the edges 12 of the rocker arm 7 to rotate in the same direction as the rocker, gear, made with two planetary satellites mounted on respective axes 10 and 11 of the wheels 8 and 9. Drove performed double in the form of a rocker arm 7, the sun gear is still connected with the housing 1 and connected with satellites cylindrical or conical transmitters or flexible gears, providing the same direction and speed of rotation of the rocker arm and the satellite. Wheels 8 and 9 mounted on an eccentric located axes 10 and 11 of rotation with the same amount of eccentricity and the position of the wheels 8 and 9, when the diameters passing through the geometric centers and axes of rotation 10 and 11 coincide with the longitudinal axis of the rocker arm 7, an isometric shoulders eccentricity directed from the axis of rotation 10 and 11 of the wheels 8 and 9 in one direction, the value of external R is raznosti wheel 8. 3 C.p. f-crystals, 10 ill.

The invention relates to vehicles with wheel-walking propulsion. The predominant use of the invention, the vehicle-terrain.

The prior art is defined by the following analogues.

The first analogue. One of the ways to improve cross is the installation of the propulsion element, in contact with the ground on one side of the lever and the other end of the lever pivotally connected to the chassis. The minimum number of levers or two, they are rigidly connected to each other at an obtuse angle, forming a rocker. The propulsion element, in contact with the ground wheel is driven in rotation from the engine. The top beam is directed away from the ground; one lever is connected via a drive chassis. Rocker are placed on the sides of the chassis front, back, installed one wheel on each side. When approaching the obstacle, the actuator raises the shoulder of the rocker arm with the front wheel, rear wheel rocker will continue to roll on the ground, and the front wheel nachinat" on the obstacle and, continuing the rotation from the engine, together with the rise of another wheel drive will provide p the PTA overcome obstacles because the arm cannot rotate, and complexity - the complexity of the operation.

A second similar machine Lockheed. The mover has three lever installed at an angle of 120aboutto each other. The thrusters are placed on the sides of the chassis. On soft soils levers are rotated so that each three-node acts as a single wheel, equipped with large cylindrical lug.

A third analog - mover contains four levers at the ends of the levers established foot or wheels.

Fourth similar. Another direction of improvement of patency is to install the propeller on the axis of rotation eccentrically. For example, a device for climbing stairs, for example wheelchairs, representing two pairs of running wheels which are rotated by a separate eccentric shafts with a common drive and rolled so on a stair step or roll with it.

Fifth similar. The mover may be in the form of an isosceles triangle with wheels placed at angles that are driven in rotation simultaneously with the triangle integral with the shell and hand trucks axis of rotation located eccentric OODA (constant values clearance) chassis in ahausen mode when driving on a solid, level ground.

Sixth analogue. Another direction of improvement of permeability is the use of non-circular wheels in combination with a planetary gear. Thus, the known propulsion of a vehicle, containing a non-circular wheel variable radius rolling, consisting of identical convex arcs symmetrically relative to its shaft connected through a mechanical transmission driven rotation, while the power transmission is made in the form of a planetary gear, epicycle which is rigidly connected to the vehicle body, drove - driven rotation and the satellite with the shaft. Apical and satellite made in the form of toothed wheels which are fixed to each other via a parasitic gear, pivotally mounted on a drive rod. Epicycle and the satellite is made in the form of stars, geared to each other via a chain.

The disadvantage of this analogue (and earlier too) is to limit the height of the obstacles that can be overcome. The obstacle cannot be greater than the maximum diameter of the wheel.

Seventh similar. Another direction of improvement of permeability is the use of thrusters, alternately rolling over each other. So, isfavorite in the vehicle body rotation drive lever and wheel, kinematic transmission, located in the main lever, consisting of a sun gear with an idle gear, satellite and AC coupling the sun gear with the body and with the main lever, mainly the lever installed a second parasitic gear with satellite, launched around the wheel axis relative to the first gear 180aboutthe wheel consists of two segments, with further levers placed in them additional kinematic transmission, driven units are rigidly connected with their axes by segments, leading rigidly connected with the main lever coaxially with the axes of the satellites, and additional levers rigidly mounted on the axis of the latter.

In the wheel-ahausen mode one of the segments in contact with the ground, rolled over him, and the other rapidly moved over the ground surface before contact with him. At this point, the two segments are separated from each other at a distance equal to the step. The vehicle body during this time will move by an amount equal to half of the step. Further, the segment that had previously been in contact with the ground, breaks away from him and moves in the same way as described visich the radius of the segment.

Eighth analogue (prototype). Known vehicle walking beam wheel propulsion containing suspension and each propulsion drive shaft, the rocker arm is kinematically associated with the drive shaft, wheels, axles are installed along the edges of the rocker arm to rotate in the same direction as the arm, while the value of the distance between the axes of the wheels on the beam more than the value of the external diameter of the wheel, the gearbox. During the rotation of the drive rotation is transmitted to the axis of the rocker arm rotates so that one of the wheels remain on the support surface and the other wheel up, describe an arc and landed on the reference surface, i.e., the toy makes one step. Then Vice versa. Together with this toy then lifted above the support surface, it is omitted.

A disadvantage of the known solutions are insufficient reliability of overcoming obstacles, because the wheels are not the leading, and change the value of height clearance when driving on firm, level ground.

The aim of the invention is to meet public needs for vehicles with wheel walking beam propulsion, highly reliable in overcoming obstacles and amenities experienee reliability in overcoming obstacles, size height greater than the diameter of the wheel, and the stabilization value of clearance when moving on a solid, level ground.

This technical result is achieved in that in the vehicle with the wheel-walking thrusters, each of which is made in the form of a rigidly installed in the center on the drive shaft of the rocker arm, the ends of which are rotatably fixed wheels, these wheels are made driving through the kinematic connection with the shaft of the rocker arm and mounted on eccentric shafts. In addition, this kinematic relationship is made in the form of a planetary gear drive drove that includes two diametrically spaced satellites that are installed on the shafts of the wheels, a sun gear rigidly fixed to the vehicle body and connected to the satellite via an intermediate gear to ensure unidirectional rotation of the rocker arm and wheels. Rocker separate propellers installed with a phase shift relative to each other by an angle the value of which does not exceed 90about.

A causal relationship between the set of essential features of the invention and achieved technical result is someone obstacles the wheels are positioned at the edges of the dual carrier (beam) of the planetary gear wheels mounted on the eccentric spaced axes of rotation, which axis of rotation of the two satellites that the wheels are positioned so that they can work, in particular the value of the outer radius of the satellite is less than the distance between the center of rotation of the wheel and the nearest point on the outer perimeter that satellites cannot directly be coupled with epicycles (otherwise the arm will cling to the ground) that rocker separate propulsion shifted relative to each other by an angle the value of which does not exceed 90about.

In Fig. 1 shows a view in plan of the vehicle walking beam wheel propulsion (wheels hereinafter shown without tires), and Fig. 2 - the same, lateral view; Fig. 3 and 4 - section a-a in Fig. 2 (kinematic scheme of planetary gearboxes are given in Fig. 2 with a conical gear of Fig. 3 with chain transmission) of Fig. 5 is an intermediate position of the walking wheel mover, when the arm perpendicular to the ground; Fig. 6 - vehicle, side view, when the mismatch in the positions of the rocker different propulsion; Fig. 7 - position of the thruster after a half-step; Filene obstacles the vehicle; in Fig. 10 - position of the thruster after a full step.

Vehicle walking beam wheel propulsion (for example, a vehicle with four propulsion number of engines may be different) includes a housing 1 and each of the propulsion 2-5 drive shaft 6, the rocker 7, kinematically connected with the drive shaft 6 (connection not shown), the wheels 8 and 9, the axes 10 and 11 which are installed along the edges 12 of the rocker arm 7 to rotate in the same direction as the arm 7, thus (Fig. 2) the value of the distance between the axes 10 and 11 of the wheels 8 and 9 on the rocker 7 (the value of the distance between points B and C) more than the value of the external diameter of the wheel 8 (the distance between points D and e), the gearbox 13.

New features are the following.

The gear 13 is made (Fig. 3) with two planetary satellites 14 and 15 mounted on the respective axes 10 and 11 of the wheels 8 and 9, drove performed dual (two drove 16 and 17) in the form of a rocker arm 7, the sun gear 18 is still connected with the housing 1 and connected with satellites 14 and 15 of the cylindrical (not shown) or conical 19 passes, or (Fig. 4) flexible, in particular, chain drives 20, providing the same direction and speed of rotation of the rocker arm and sa is Noah eccentricity (distance between points B and E of the wheel 8 and the points V and W wheels 9 are the same, where B and C are the centers of the axes 10 and 11, and E and W is the geometric centers of the wheels 8 and 9, respectively), and in the position of the wheels 8 and 9, when their diameters 3I and CL, passing (Fig. 5) through the geometric centers E and W wheels and centers B and C axes of rotation coincide with the longitudinal axis 21 of the rocker arm 7, an isometric shoulders eccentricity (for example, BI and VL) are directed from the axis of rotation 10 and 11 of the wheels 8 and 9 in one direction (in Fig. 5 up), the value of the outer radius of the satellites 14 and 15 (Fig. 3 and 4) is less than the distance (Fig. 5) between the center B of the axis 10 of rotation of the wheel and the nearest point C of the outer circumference of the wheel 8.

In addition, the rocker arm 7 individual drivers, such as 2, 4 and 3, 5, shifted in phase (Fig. 6) relative to each other by an angle the value of which does not exceed 90about(the angle between the longitudinal axes 21 of the rocker arm 7 drivers 2, 4 and 3, 5).

The driving shaft 6 may be connected either with a common drive for all four propellers 2-5, either with an individual motor for each thruster and can rotate in any direction, providing forward and reverse moves.

Here is the description shown on the drawings.

It is evident from Fig. 1 and 2 shows that the walking beam vehicle wheel propulsion includes a housing 1, four number of walking the forest 8 and 9, axis 10 and 11 which are installed along the edges 12 of the rocker arm 7 to rotate in the same direction as the arm 7.

In Fig. 2 additionally shows that the wheels 8 and 9 in the propulsion device 4 (and all propulsion 2-5) are mounted on the eccentric spaced axes 10 and 11 of rotation with the same value of eccentricity (the magnitude of the distances between points B and E of the wheel 8 and the points G and W wheels 9 are the same, where B and D - centers of the axes 10 and 11, and W is the geometric centers of the wheels 8 and 9 respectively), while the value of the distance between the axes 10 and 11 of the wheels 8 and 9 on the rocker 7 (the value of the distance between points B and C) more than the value of the external diameter (the distance between points D and e) wheels 8 wheels 8 and 9, as well as the other, same). Rocker and wheel can rotate on the arrows M in a direct course with the same angular velocity.

In Fig. 3 shows that case 1 is the driving shaft 6, on the end with the gear 22 connected with the gear 23 through which rotation is transmitted through the dual carrier 16 and 17 of the rocker arm 7, is made hollow. The rocker arm 7 mounted on bearings 24 for rotation relative to the rod 25, on the end of which has a conical sun gear 18, a stationary Rel is echnol gear 18 bevel gear 19. Each bevel gear includes a shaft 26 mounted on the bearings and the bearings 27 on the yoke 7 and provided at the ends of bevel gears 28. On the axes 10 and 11 set the wheels 8 and 9. The yoke 7 and the axis 10 and 11 are rotated from the drive shaft 6 in one given direction.

In Fig. 4 shows that out of the casing 1 is the driving shaft 6 passing through the sun gear 18, made in the form of sprockets fixedly connected to the housing 1 is a hollow rod 29 within which is installed bearings 30. Drive shaft ends 6 dual measured including carriers 16 and 17, located on the same line. Inside the hollow of the rocker arm 7 mounted on axes 10 and 11 star satellites 14 and 15, United forming two eights endless chain 31 with a sun gear 18. Top each satellite 14 and 15 of the descending branch of the chain 31 are at the bottom in the drawing, a sun gear 18, and the bottom of each satellite 14 and 15 of the ascending branch of the chain 31 are top top drawing a sun gear 18. On the axes 10 and 11 set the wheels 8 and 9. The yoke 7 and the axis 10 and 11 are rotated from the drive shaft 6 in one given direction.

In Fig. 5 shows an intermediate position of any propulsion, in particular mover 4, when the rotation of the rocker arm 7 and the wheels 8 and 9 about the centers E and W wheels and centers B and C axes of rotation 10 and 11 coincide with the longitudinal axis 21 of the rocker arm 7 (which at this time is the vertical position), isometric shoulder eccentricity (for example, BI and VL) are directed from the axis of rotation 10 and 11 of the wheels 8 and 9 in one direction, the magnitude of the radius of the satellites 14 and 15 (Fig. 3 and 4) is less than the distance in Fig. 5 between the center B of the axis 10 of rotation of the wheel and the nearest point C of the outer circumference of the wheel 8, in contact with the ground 32. The value of the distance between points C and is equal to the maximum value of the height overcome obstacles.

In Fig. 6 shows that the propellers 3 and 5 axis 21 of the rocker arm 7 is moved relative to the axis 21 of the rocker arm 7 thrusters 2 and 4 at an angle , for example 90aboutso at the time recorded on the drawing, of the eight wheels touches the ground 32 only six wheels.

The movement of the vehicle with the wheel walking beam propulsion is illustrated in figures 2, 5, 7, 8, 9, and 10.

In Fig. 2 the vehicle is in contact with the ground 32 to all four wheels. But as the rocker arm 7 and all wheels are fitted to revolve in one direction, for example counterclockwise, then soon the wheel 9 (next move only propulsion 4) leave the ground and moving in an arc, after some time, will be located above the wheel 8, which will continue all this time to roll on the ground 32. This position of the wheels , is the wheel 9 has become the front wheels 8 and the next moment the wheel 8 due to the rotation of the rocker arm 7 and the wheels 8 and 9 on the arrows M coming off of the ground 32 and will begin the second half-step, moving in an arc over the wheel 9. When you are finished with the second half-step (mover will make a full step), its wheels will again occupy the position shown in Fig. 2 (wheel 8 is front wheel 9). During this time, the suspension will be the path equal to twice the magnitude of the circumference of the wheel plus the distance between the centers of the axes 10 and 11 (the value of the distance between points B and C in Fig. 2). When smooth ground surface 32 when making a full step, the amount of clearance will remain constant.

In Fig. 8 shows Narayana thruster 4 during the rotation of the rocker arm 7 and the wheels 8 and 9 on the arrows M on the obstacle, the height dimension which is larger than the radius of the wheel, but less than the size of the clearance. The propellers 4 and 5 in this example does not have the shift rocker arm 7 of these drivers - they are parallel. Case 1 remains parallel to the ground surface 32 and the magnitude of the clearance will be the same.

In Fig. 9 shows that the propulsion device 4 upon further rotation of the rocker arm 7 and the wheels 8 and 9 on the arrows M away from the ground (wheel 8 is moved away from the ground 32 and the wheel 9 of the underlying.to. mover 5 continues to roll on the ground surface 32.

In Fig. 10 shows that the propulsion device 4 upon further rotation of the rocker arm 7 and the wheels 8 and 9 on the arrows M overcame the obstacle 33, and the driver 5 has not yet reached the obstacles. The housing 1 is again parallel to the ground surface 32.

Upon further rotation of the rocker arm 7 and the wheels 8 and 9 on the arrows M in the propellers 4 and 5 mover 5 will overcome the obstacle 33 in the same way as it was done mover 4, and the Rover will take the position shown in Fig. 2.

The maximum height of the obstacle, which can overcome the stated vehicle is larger than the diameter of the wheel (if the obstacles are arranged on both sides of the road just under the drivers).

VEHICLE WITH WHEEL-WALKING PROPULSION M AND LOUCHAKOVA.

1. Vehicle with wheel-walking thrusters, each of which is made in the form of a rigidly installed in the center on the drive shaft of the rocker arm, the ends of which are rotatably attached to the wheel, wherein the wheel is made live via the kinematic connection with the shaft of the rocker arm and mounted on eccentric shafts.

2. Transport is CLASS="ptx2">

3. Vehicle under item 1, characterized in that the kinematic connection is made in the form of a planetary gear drive drove that includes two diametrically spaced satellites that are installed on the shafts of the wheels, a sun gear rigidly fixed to the vehicle body and connected to the satellite via an intermediate gear to ensure unidirectional rotation of the rocker arm and wheels.

4. Vehicle under item 1, characterized in that the rocker separate propellers installed with a phase shift relative to each other by an angle the value of which does not exceed 90o.

 

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