(57) Abstract:Usage: the invention relates to walking vehicles and, in particular, to their supports, made in the form of hips and dump him in the Shin. Essence: is that hip, Glen and stop walking supports are made in the form of articulated chetyrehzvennoj interconnected through shared links, and the support is provided with a mechanism for adjusting the position of the foot during movement. 2 Il. The invention relates to walking vehicles and, in particular, to their supports, made in the form of hips and dump him in the Shin.Known for walking the driver of the vehicle that simulates the hip, thigh, made in the form of four hinged polygons, consisting of longitudinal and transverse links, and the anchor foot, pivotally interconnected, the actuator on the driver made in the form of a crank mechanism connected by a connecting rod with one of the links thighs, fixed the hinge on the body, and the foot is the lower transverse link of the leg.The disadvantage of this thruster is not change in the direction of the trajectory of the foot and the absence of active Grondona terrain and traction of the vehicle through control while moving the position of the foot and lug in the phase of support.This technical result is achieved by the fact that in ahausen the propulsion of the vehicle that simulates the hip, thigh, made in the form of four hinged polygons, consisting of longitudinal and transverse links, and the anchor foot, articulated interconnected, drive the propulsion device made in the form of a crank mechanism connected by a connecting rod with one of the links thighs, mounted pivotally on the body, and the foot is the lower transverse link of the tibia, a crank mechanism articulated through the cylinders associated with the casing and a second knee crank, a connecting rod which is connected with the lever, one end of which is pivotally suspended from the casing through the cylinders, and a second end pivotally connected with the swinging slide interacting with the rod of the first knee of the crank, the upper longitudinal link of the thigh is also connected with the hinge housing through the rear transverse link hip and hydraulic cylinders, one of the longitudinal links shank is equipped with a built-in shock absorber and the upper is a continuation of the front transverse link hip, the continuation is not associated with the longitudinal drive link femur is the upper transverse link of the lower leg, the foot is made in echnolo link tibia, rear lateral link is a continuation of the lower part of the longitudinal section of the shank, provided with a shock absorber, and the front transverse link are equipped with a mechanism, the rod of the actuator is pivotally connected to the link of the thigh.In Fig. 1 shows the thruster of Fig. 2 some possible consistent positioning of the feet and lug in the cycle of movement, where the solid line shows the position of the reference phase of the cycle, and strokes in the portable phase of the cycle.The thruster consists of a housing 1, which is movably mounted a leading double-throw crank 2 drive connected to one knee with the connecting rod 3 passing through the slider 4, a swivel mounted on the lever 5 mounted on the housing 1 and connected by a second connecting rod 6 with the second knee of the crank 2. The other end of the connecting rod 3 is pivotally connected to the upper longitudinal link 7 hip, connected by one end with the rear transverse link 8 hips, movably mounted on the body 1, and the other end connected to a continuation of the posterior longitudinal link 9 of the shank has a built-in shock absorber 10. The continuation of the link 8 is pivotally connected to the lower longitudinal element 11 hips whose extension intersects the hinge with the front 12 and rear 9 longitudinal SV is on one end with a continuation of the link 11 of the thigh, and the other with the upper longitudinal link 13 feet, which is the lower transverse link of the leg. The link 13 with one end connected with the lower continuation of the link 9 of the leg, and the other with the front transverse link 14, provided with lugs 15. The lower longitudinal link 16 foot pivotally connected with the links 9 and 14. To mitigate the interaction of the foot with the ground link 16 and the lugs 15 provided with elasticities 17, for example, tires. Supporting the hinge parts 2 and 6 of the drive link 8 guide mechanism connected to the housing 1 via a remotely controlled hydraulic cylinders 18.The thruster operates as follows.During the rotation of a driving crank 2 connected therewith a rod 3, moving in the slide 4, passes through the link 7 hip leg and foot with lugs portable pendulum movement of the links relative to the housing 1. In the relative movement of the links relative to each other change of the angle between them is transferred to the lugs 15, which rotates with the link of the foot 14, taking in the reference phase period optimal position in the soil, which results in high friction with the ground. Increase engine thrust is achieved by "straightening" of the hip, leg and foot at the end of the reference is actorii foot depending on the driving conditions of the vehicle (slope, climb the stairs, ropes, crevices, etc.)
Environmental clean thruster is to create them discrete gauge chain of foot prints in the tracks, the minimum compacting the soil.The result of applying the proposed propulsion will increase the yield of the fields, reducing soil erosion, fuel economy, ability to operate equipment all year round.The thruster can be applied to the creation of off-road vehicles for movement after earthquakes, avalanches, landslides, floods and other disasters, and can also be applied to funds development of extraterrestrial territories. Walking the driver of the vehicle that simulates the hip, thigh, made in the form of four hinged polygons, consisting of longitudinal and transverse links, and the anchor foot, pivotally interconnected, the actuator on the driver made in the form of a crank mechanism connected by a connecting rod with one of the links thighs, mounted pivotally on the body, and the foot is the lower transverse link of the tibia, wherein the crank mechanism articulated through the cylinders associated with the casing and a second knee crank, sooner pivotally connected with the rocking slide, interacting with the connecting rod of the first knee of the crank, the upper longitudinal link of the thigh is also connected with the hinge housing through the rear transverse link hip and hydraulic cylinders, one of the longitudinal links shank is equipped with a built-in shock absorber and the upper is a continuation of the front transverse link hip, the continuation is not associated with the longitudinal drive link femur is the upper lateral part of the leg, the foot is made in the form of an articulated four of the polygon, the upper link which is a continuation of the lower transverse link leg, the rear transverse link is a continuation of the lower part of the longitudinal section of the shank, provided with a shock absorber, and the front transverse link provided with lugs.
FIELD: transport engineering; cross-country vehicles.
SUBSTANCE: invention relates to design of steering gear of walking vehicles. Proposed walking vehicle with paired step movement and at least six supports has post with drive crank whose upper end is fitted in guide made in form of rocking leverage, lift crank, reversible turning drive with control lever, steering mechanism, for instance, made in form of steering linkage. Vehicle turning drive consists of two reversible turning drives, being each coupled with levers of rocking leverages of half of supports by common rocking shaft and provided with common control lever. Leverage levers are installed in middle position at angle to vehicle vertical described by expression given in description of invention.
EFFECT: improved economy and reliability.
FIELD: transport engineering; self-propelled vehicles.
SUBSTANCE: proposed swamp tractor can be used for towing freight trailers. Said tractor with hollow supports at edges provides minimum load on surface of swamp which, firstly, brings to minimum resistance of swamp to movement of tractor and, secondly, unloads crawler propulsion unit making it possible to use track links of increased height of horns.
EFFECT: considerable increase in tractor pulling force owing to difference in lower edges of idler wheels and driving sprockets equal to height of horn.
FIELD: mechanical engineering; performing operations in various soils: chernozem (black soil), sand, plowed fields, river bottom and in pipes.
SUBSTANCE: proposed transport facility has bodies equipped with units for fixation of them relative to surface of motion; they are interconnected by means of motion means. Located on either side from central member are similar groups of members turned through 180° relative to one another. Fixation units are made in form of at least two members-retainers which may be increased in planes perpendicular to axis of transport facility when pressure gas is delivered to member-retainer unit from thermo-sorption gas apparatus. Motion means consist of at least two members-bellows filled with pressure gas; each of them is connected with member-retainer on one side and with end portion of transport facility on other side; end portion is taper in shape; it is forced into soil by member-bellows; it also includes two elastic members with tension-compression springs for motion of transport facility in required direction and return to initial state.
EFFECT: increased operational capabilities.
FIELD: mechanical engineering.
SUBSTANCE: invention can be used for automation of operations to be carried out in difficult to get at places and dangerous zones. Proposed vehicle contains two platform furnished with vacuum grips and interconnected by articulated joint. Each platform has independent wheeled propulsion unit. Vacuum grips are arranged between wheels. Articulated joint between platform is made in form of gas bellows connected with platforms by means of 360° turning devices square in section on one face of which joint is mounted in middle which is connected with members fastening bellows to one or other platform and providing flexible of bellows from 0° to 90° when gas under controllable pressure is fed from thermosorption gas apparatus secured in one of indicated fastening members and provided with outlet to space of gas bellows.
EFFECT: improved speed of maneuvering and stability.
FIELD: mechanical engineering.
SUBSTANCE: stepping engine comprises right and left parallelogram members provided with cranks that are mounted on the axles and coupled with the links. The parallelogram members receives more than three links made of bearing legs. The cranks are arranged in the spaced parallel planes so that when the bearing leg passes through the pin of the crank the members are not in a contact.
EFFECT: simplified structure and enhanced reliability.
FIELD: mechanical engineering.
SUBSTANCE: invention can be used for operation in difficult-to-get-at places and hazardous zones. Proposed vehicle for traveling along surface arbitrary orientated in space contains links with rotary units connected with platforms provided with vacuum grips for fixing on surface and at least two platforms with independent vacuum grips interconnected by four links connected to each other and at side of platform square to surface along which vehicle moves through rotary units. Each link is made in from of bellows of rectangular section flexing through angle from 0 to 90 degrees under action of gas (hydrogen) pressure-fed from thermosorption gas device.
EFFECT: improved maneuverability and stability when moving along surfaces arbitrary in space.
FIELD: transport engineering; self-propelled vehicles.
SUBSTANCE: invention relates to self-propelled vehicles capable of traveling over inclined and vertical surfaces, and it can be used for carrying technological equipment in difficult-to-get-at places and in dangerous zones. Proposed vehicle has body and step travel motion mechanism made in form of double-acting pneumatic cylinders arranged square to each other and connected to each other and to body. Extensible supports with lifting-lowering drives are installed on ends of rods of pneumatic cylinders. Step travel motion mechanism is provided with cylindrical sealed chambers installed parallel to two pneumatic cylinders, and their inner spaces are coupled with compressed air sources and furnished with hollow rods whose ends are connected by crossmembers with extensible supports. Hollows rods are provided with holes communicating space with inner space of sealed chamber.
EFFECT: simplified design of device, reduced number of air distributing sets and simplified control systems.
FIELD: transportation of loads.
SUBSTANCE: according to proposed method, resting of chassis on support surface at one side is interrupted and free turning of chassis together with load cabin under action of own weight around point of hinge connection of chassis with second support in contact at this moment with support surface is provided. After passing of chassis with load cabin of lower point and continuation of movement under action of inertia forces of other side of acting support, resting of chassis on support surface which has been interrupted is restored and then resting of chassis on support surface from side of acting support is then interrupted. So, cyclic repeated turns of chassis with load cabin under action of their weight is provided. According to first version of interruption of chassis resting of support surface from one of its sides, matched change of height of acting support of chassis at its other side is provided by value commensurable in each moment of time with change of height of load cabin. According to other versions, at movement of chassis under action of its own weight, due to available kinematic couplings, chassis shifts belt of transport platform which, in its turn, displaces load cabin. When chassis moves under action of its weight, force impulse can be conveyed to chassis to compensate for friction in units of vehicle and provide lifting of chassis under inertia forces to required height.
EFFECT: enlarged functional capabilities of vehicle without limitation in weight of handled load and character of support surface, no necessity of powerful engine for movement.
19 cl, 3 dwg
FIELD: transport engineering.
SUBSTANCE: invention relates to walking vehicles and automobiles made on such base. Proposed automobile has frame, bearings with shafts, closed chains fitted on sprockets, steering wheel, pins on links of closed chains and posts with support parts. Sprockets with fitted on closed chains coupling horizontally arranged shafts are secured on ends of shafts. Said shafts are coupled by other sprockets secured on them and closed chains fitted on said sprockets, with shafts arranged one over the other. Tires are installed between strands of closed chains whose lower ribs rest on bushing of pins coupled with posts. Road wheels are installed on sides in rear part of automobile on rotary plates secured on frame higher than roadbed with possibility of lowering road wheels onto roadbed at flexing of rotary plate on which they are mounted by means of flexible tie connected with lever or by means of rod of piston arranged in cylinder to provide braking of road wheel by brake band and cornering of automobile.
EFFECT: reduced power consumption in motion.
3 cl, 7 dwg
FIELD: transport vehicles.
SUBSTANCE: walking off-road vehicle refers to transport vehicles and can be used as walking robot. Walking off-road vehicle contains platform, engine, drives and supports connected with them. Additionally, off-road vehicle contains control unit that controls walking direction changing and kinematically connected central unit of support movement direction changing. The supports are performed in a form of six peripheral hydrotelescopic struts communicating with corresponding units of transforming rotational motion into reciprocal motion.
EFFECT: structure simplification and increase of walking off-road vehicle passability.
8 cl, 10 dwg