Walking mover

 

(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.

 

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