Stepping wheel vehicle

 

(57) Abstract:

Usage: the invention relates to the propulsion of the terrain and can be applied on the transport device. The inventive stepping offer wheel of a vehicle includes a rotary body 1 is connected with a drive of rotation (shaft) 4, the support legs 6, mounted on the axis 5 in diametrically opposite directions, fixed to the body 1, and the rotation mechanism of the uprights 6 relative to the housing 1, made in the form of a stationary non-circular gear 11, which interacts with a non-circular gear 10 mounted on the intermediate axles 9 are provided with a round toothed wheels 8 for engagement with a gear 7 mounted on the slave axis 5, the supporting legs 6, moving with small angular deviations from a position of stable equilibrium. The positive effect of simplifying the design while reducing energy consumption. 2 Il.

The invention relates to the propulsion of the terrain and can be applied at the transport devices.

Known stepping wheel of a vehicle (Veh. St. USSR N 703366, CL 60 In 19/00, 1979), containing rotatable in the x-channel distributor of pressure fluid, the cylinders are installed on the rotary spring rings and provided with a rotation stops.

However, this technical solution requires a complex system of waterproofing, a complex system cleaning rod cylinders from dirt, there is a strong dependence of the hydraulic characteristics from environmental parameters. The presence, in addition, two independent drives movement of the racks along with the disk and move the racks relative to the disk substantially complicates the design.

Closest to the present invention is stepping wheel of a vehicle (Veh. St. USSR N 1579796, CL 60 In 19/00, 1990), comprising a housing mounted rotatably driven on an axis fixed to the vehicle body, legs, mounted on shafts mounted in the housing in diametrically opposite directions, and the rotation mechanism of the uprights relative to the body.

The disadvantage of this technical solution is that due to the absence of small angular deviations from a position of stable equilibrium posts due to the fact that the mechanism of rotation of the racks relative to the housing moves the racks through a position of unstable balance the AZE support, stepping wheel has a large inertia, which increases energy consumption, which has a peak load, due to the peak of the change is given to the rotation axis moment of inertia, which complicates the design.

The above-mentioned disadvantages are eliminated proposed technical solution, namely, that in ahausen wheel of the vehicle, comprising a housing mounted rotatably driven on an axis fixed to the vehicle body, legs, mounted on shafts mounted in the housing in diametrically opposite directions, and the rotation mechanism of the uprights relative to the housing, the steering rack is formed of a non-circular gear mounted stationary on the specified axis and meshed with a non-circular gear mounted on the intermediate axis and connected through a cylindrical gear with shaft, bearing support columns.

In Fig. 1 shows a stepping wheel of the vehicle, General view; Fig. 2 kinematic scheme of the walking wheel of the vehicle.

Stepping wheel of the vehicle consists of a body 1 mounted with a possibility of rotation relative neodvija shaft 4, connected at one end with the housing 1 and the other with a source of rotation. In the housing 1 mounted in diametrically opposite directions slave axis 5, which are the supporting rack 6. On the slave axis 5 mounted gear 7, which interacts with a toothed wheels 8 mounted on the intermediate axis 9. Intermediate axes 9 are also non-circular gears 10, which interacts with a non-circular gear 11, is rigidly connected with the fixed axis 2. The intermediate axis 9 are mounted in diametrically opposite directions and aligned with the non-driven axles 5, thereby providing accurate orientation of a non-circular gears and gear.

Its final drive ratio non-circular gear formed non-circular gear 11 and a non-circular gears 10, on the site of the stroke BV 6 hours at a fixed value magnetronnogo distance N r11+ r10selects so that the trajectory BV the speed of the reference point relative to the stationary body was straight and constant. This is done when the value of the radius of the gear 10 of the intermediate shaft 9 is equal to

r10= N sin where is the angle of inclination of the rack 6 to the mountains of the spine, described slave axis 5;

l is the length of the support legs 6;

N. clearance.

For example, the following ratios in relative values (r11and r11/r10).

In the area of migration, the choice of wheel profiles is determined, for example, by the ratio

(r10+r11r10d

Its final drive ratio gear consisting of a toothed wheel 8 mounted on the intermediate shaft 9, and a gear 7 mounted on the drive axis 5, is equal to 1, while the gear train eliminates the rotation of the rack 6 360aboutaround the casing 1 and causes a small angular deviation 6 hours around the position of stable equilibrium.

Stepping wheel of the vehicle operates as follows (Fig. 2).

The shaft 4, beginning to rotate, transmits rotation to the casing 1, which starts to make a rotational movement about a fixed axis 2. Slave axis 5 begin to make a rotational movement together with the housing 1 about a fixed axis 2 and move around a stationary axis 2 support columns 6, thereby making the portable movement of the support legs 6. The intermediate axis 9 begin together with the body 1 to perform a rotational movement around nepodvizni axis 9 acquire rotation relative to the housing 1. The toothed wheel 8 rotates together with the intermediate axes 9, transmits rotation through the gear 7 to the slave axis 5, who receive a rotation around its own axis and rotates the supporting rack 6 attached to them, relative to the housing 1, thereby creating a relative movement of the support legs 6.

The absolute motion of the free parts of the support legs 6, as the sum of portable and relative movements, represents a curve A (Fig. 1) with a straight base section BV.

Non-circular gear 11 and the gear 10 provide at point B, the speed equal to the longitudinal speed of the vehicle, which contributes unstressed lowering support stands on the ground without longitudinal collapse of the latter, and a constant equal to the longitudinal speed of the vehicle, the speed of the free parts of the support legs 6 on the trajectory BV for smooth, without longitudinal vibrations of the vehicle and to avoid drawing support stands on the ground at the point In the trajectory and plot BV trajectories. When one leg 6 is lowered to the ground at point B, the other leg 6 is detached from the ground to the point In the cycle is repeated.

To changed the TH MEANS, comprising a housing mounted rotatably driven on an axis fixed to the vehicle body, legs, mounted on shafts mounted in the housing in diametrically opposite directions, and the rotation mechanism of the uprights relative to the housing, characterized in that the steering rack is formed of a non-circular gear mounted stationary on the specified axis and meshed with a non-circular gear mounted on the intermediate axis and connected through a cylindrical gear with shaft, bearing support columns.

 

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