Walking machine

 

(57) Abstract:

Usage: the invention relates to vehicles with engines other than the wheel, for example, walking beam propulsion and can be used in vehicles terrain. The inventive walking machine includes a housing 1, a power unit 2, the horizontal rails 3, the carriage 4 with 5 drives their reciprocating motion, the telescopic leg 6, the shoes 7 at their free ends with a node of the cross-rolling and slipping clutch, the control system 8 the order and speed of movement of the carriages and bearings, equipped with a rotary lever 9, and the mechanism of damping, which contains elastic rod 10 mounted on the housing 1 with the possibility of longitudinal displacement is proportional to the speed change, one end of which is equipped with a vibration absorber 11, made in the form of a hollow casing partially filled with granular medium, and provided with a hinge 19 and the other end pivotally connected with the mechanism of longitudinal movement of the rod, kinematically associated with the pivoting arm 9 of the control system 8 the order and speed of movement of the carriages and bearings. 2 is x, for example, walking beam propulsion, and can be used for vehicles terrain.

The closest technical level and the achieved result is a walking machine, comprising a housing with each side spaced horizontal longitudinal guide rails are adjustably mounted are connected to the actuators of the reciprocating movement of the carriage and the vertical telescopic support legs having a support shoes at the free ends, and control the order and speed of movement of the carriages and bearings (U.S. patent N 3135345, CL 180-8, 1964).

Specified walking machine solves the technical problem associated with increased maneuverability, which is achieved by changing the speed of movement of the carriages, for example, one Board, up to changing the direction of movement of the carriages one Board that is known from the General prior art as "tank rotation. However, such a solution has a low technical level, because it leads to increased lateral loads telescopic masts, carriages and rails, resulting in increased energy consumption due to overcome the increased friction between the carriage and the guide in the setup portion of the machine is the presence of oscillations of the longitudinal axis of the housing in the contact plane (yaw) and longitudinal vibrations of the hull, due to the dynamic unbalance of a walking machine, owing to the difference of the values of the kinetic moments of walking propulsion phases of support and transfer relative to the center of mass of a walking machine.

The most important task is the creation of a new structural scheme of the walking machine, based on a new relationship management system speed and order of movement of the carriages and bearings in combination with a new mechanism for damping oscillations of a body, provided with a vibration absorber for damping of longitudinal oscillations of the body and the fluctuations of the longitudinal axis of the body in the transverse plane, depending on the speed change, excluding dynamic imbalance of a walking machine that reduces the dynamic loads on the bearings and increase the stability of motion of a walking machine.

The technical result of the claimed design a walking machine is a multifunctional mechanism of damping, providing damping of longitudinal oscillations of the body and the fluctuations of the longitudinal axis of the body in the transverse plane due to the introduction of the vibration absorber, made in the form of a hollow casing partially filled with granular media having perforated and vibrations due to friction between the particles of the medium, the friction of the particles of the medium on the body of the throttling of air, automatic control of the degree of quenching by the addition of an absorber of vibrations to the frame via an elastic rod with a possibility of longitudinal displacement is proportional to the speed change mechanism through longitudinal movement of the rod connected to the speed control and the procedure for moving the carriage and supports, by performing the above mechanism in the form of two cylinders of different diameters, connected by a pipe, a piston one of which is pivotally connected with the elastic rod and the piston rod of the other pivotally connected with the lever, connected to a speed control and order of movement of the carriages and bearings by means of two rods and two shoulders of the lever, and supply each support node of the cross-rolling and slipping clutch.

This prevents longitudinal oscillations of the body and "yaw" to its longitudinal axis, to eliminate the possibility of inadvertent operation of the slipping clutch and, as a consequence, spontaneous movement of a walking machine in the transverse direction, which will increase the resistance movement and manageability walking machine

This technical result is achieved by the fact that the walking machine, comprising a housing with each side spaced horizontal longitudinal guide rails are adjustably mounted connected to drive the reciprocating motion of the carriage and the vertical telescopic racks having a support shoes at the free ends, and control the order and speed of movement of the carriages and bearings, are equipped with a mechanism for absorbing vibrations of the hull, made in the form of a vibration absorber that is attached via a rod to the housing with a possibility of longitudinal displacement is proportional to the speed change mechanism through longitudinal movement of the rod connected to the speed control and the procedure for moving the carriages and bearings, each support is provided with a node of the cross-rolling and slipping clutch and the mechanism of longitudinal movement of the elastic rod relative to the housing made in the form of two cylinders of different diameters, the cylinder of larger diameter provided with a spring-loaded piston, the rod of which is pivotally connected with an elastic rod, and his nadporshnevaya cavity connected with podpornoy the cylinder chamber smaller d is korostil and order of movement of the carriages and bearings by means of two rods and two shoulders of the lever, thus, the mechanism of the damping housing is equipped with a vibration absorber made in the form of a hollow casing partially filled with granular medium, a perforated diaphragm for axial movement relative to the hollow housing and the cover, and a hollow body provided with a hinge attached to the elastic rod with a mechanism of longitudinal movement.

The walking machine supply mechanism for damping oscillations of a body made in the form of a vibration absorber, allows to damp the longitudinal oscillations of the body and "yaw" to its longitudinal axis due to the dissipation of the vibration energy of the vibration absorber. The accession of the vibration absorber to the frame via an elastic rod can increase the level of intensity fluctuations of the absorber, thereby dissipating more energy fluctuations. The accession of the vibration absorber to the frame via an elastic rod, with the possibility of longitudinal movement of the elastic rod is proportional to the speed change mechanism through the longitudinal displacement of the elastic rod connected to the speed control and the procedure for moving the carriages and bearings allows for changing the length of the rod to automatically change the level vozbuzhdennosti mechanism of the damping body, increases stability and control of motion and reduces the side load on bearings and power.

The execution mechanism of longitudinal movement of the rod relative to the housing in the form of two cylinders of different diameters, in which the cylinder of larger diameter equipped with a spring-loaded piston, the rod of which is pivotally connected with the movable rod, and nadporshnevaya cavity pipe connected to podpornoy cavity of the hydraulic cylinder of smaller diameter, the piston rod of which is provided with a hinge for joining the kinematic connection to communicate with the control system the speed of travel of the carriages, allows to provide the reciprocating movement of the elastic rod relative to the housing with minimum effort on the governing body of the movement is proportional to the moving speed of the carriage.

The supply mechanism of the damping body absorber of vibrations made in the form of a hollow casing partially filled with granular medium, a perforated diaphragm for axial movement relative to the hollow housing and the cover, allows to dissipate the vibrational energy due to friction between the particles of the granular medium, the friction between the diaphragm allows you to adjust the vibration absorber to the desired level of absorption and automatically maintain the desired level when changing the level of excitation of vibrations.

Conducted by the applicant's analysis of the prior art, including searching by the patent and scientific and technical information sources and identify sources that contain information about the equivalents of the claimed invention, has allowed to establish that the applicant is not detected similar, characterized by the signs of the claimed invention, and the definition from the list of identified unique prototype, as the most similar set of features analogue, has identified a set of essential towards perceived by the applicant to the technical result of the distinctive features in the claimed object set forth in the claims. Therefore, the claimed invention meets the requirement of "novelty" by applicable law.

To verify compliance of the claimed invention to the requirement of inventive step, the applicant conducted an additional search of the known solutions, in order to identify characteristics that match the distinctive features of the prototype of the characteristics of the claimed invention, the results of which show that the claimed invention is not necessary for the expert in the obvious way from the prior art.

Therefore, the claimed invention southwatch. 2 is a structural diagram of an elastic rod with absorber vibration and movement of the elastic rod; Fig. 3 section a-a in Fig. 1; Fig. 4 - the lower part of the telescopic leg; Fig. 5 cross-section B-B in Fig. 4; Fig. 6 is a graph of the dependence of absorption coefficient on the intensity of excitation.

Walking machine includes a housing 1, a power unit 2, the horizontal rails 3, the carriage 4 with 5 drives their reciprocating motion (Fig. 1, 2) and the telescopic legs 6 having a support shoes 7 at the free ends, the control system 8 to control the order and speed of movement of the carriages and bearings, equipped with a rotary lever 9, the mechanism of damping. The mechanism of damping contains elastic rod 10 mounted on the housing 1 with the possibility of longitudinal displacement is proportional to the speed change, one end of which is equipped with a vibration absorber. The vibration absorber 11 includes a hollow body 12, (Fig. 3) partially completed bulk material 13, a cover 14, a perforated diaphragm 15 that is installed with the possibility of axial movement relative to the hollow housing 12 and dividing the internal cavity of the hollow body 12 to the working chamber 16 and support the designations symmetric cones, connected by a cylinder of less diameter D1which is chosen equal to 1.2 to 1.5 of the maximum overall size of the particles of the bulk material, and a larger diameter D2larger base equal to twice the value of the same overall size particles that focuses the particle and provides it free without jamming monotropoideae. The vibration absorber 11 (Fig. 2) attached to the rod 10 by a hinge 19. The mechanism of longitudinal movement of the elastic rod 10 includes two hydraulic cylinders of different diameters. The cylinder 20 of larger diameter with a piston 21 that is supported by the spring 22, the piston rod of which is connected via a hinge 12 with the elastic rod 10. Nadporshnevaya cavity 23 of the cylinder 20 through conduit 24 is connected with podpornoy cavity 25 of the hydraulic cylinder 26 of smaller diameter. The piston 27 of the cylinder 26 and its piston rod through the hinge 28 is connected with the lever 29 is held by the spring 30. The lever 29 is connected by a thrust 31 with one shoulder connected to the control system 8 speed and order of movement of the carriage and supports two shoulders of the lever 32, the other arm of which is connected by a thrust of 33 rotary lever 9 of the control system 8. The elastic connection rod 10 through a hinge 12 with the piston 21 of the cylinder 20 and the cavity 23 through the Tr the definition connection through the rod 31, two shoulders lever 32 and rod 33, with rotary lever 9 of the control system 8 allows by moving the lever 29 to move the elastic rod 10 relative to the housing and change the moving speed of the carriage 4. To eliminate dry friction shoes 7 on the ground when cornering, which is carried by the inclusion of different speeds of movement of the carriages 4 different sides, the Shoe 7 of each support 6 is equipped with a host of cross rolling her on the ground, which is equipped with a slipping clutch, preventing arbitrary "slipping" walking machine on the slopes of the terrain. Node cross-rolling (Fig. 4) is made, for example, in the form of an endless belt 34, covering the horizontal rollers 35, the axis of which is parallel to the longitudinal guides 3, and the slipping clutch (Fig. 5) is made, for example in the form of a friction sleeve 37, the inner surface of which is conical and covered with a friction material, the rim 38 of the rink 35, connected with the sleeve 37 through the slot 39, the thrust bearings 40, reinforcing rim 38 between the cheeks 41, and a calibrated spring 42 becoming jammed nut 37 on the axis 36.

Powered walking machine as follows.

On the stationary walking machine the rod 10 with the vibration absorber 11 completely, icag 29 is in its original position in which the spring 30 is not deformed. Under the weight of the granular material 13 of the body 12 of the vibration absorber 11 is a vertical position, and the perforated diaphragm 15 is installed in the correct position for optimal clearance between it and the free surface of the granular material 13 when the intensity levels of excitation corresponding to the lower limit of the specified range of effective operation of the vibration absorber 11.

When pressing on the lever 29 and rod 31 rotates the two shoulders of the lever 32 and through the lever 33 of the rotary lever 9 of the control system 8. During rectilinear movement of the actuators 5 are starting to move in the horizontal direction of the carriage 4 along the guide rails 3 and the telescopic leg 6 with shoes 7 vertically in sequence in the same horizontal velocities on both sides, resulting in the housing 1 acquires the longitudinal and transverse vibrations, which can be explained by the action of the laws of motion of the center of mass of the system and changes the angular momentum of the system. When the lever 29 spring 30 is stretched. Through the hinge 28 of the lever 29 moves the piston 27 of the cylinder 26 to the right, while the fluid from the cavity 25 to Truboprovod 21 through a hinge 12 moves to the right the rod 10 with the absorber 11, pushing thereby the rod 10 of the housing 1. Due to the elasticity, the terminal 10 begins to oscillate in a horizontal plane relative to the body 1 and along the longitudinal axis with the housing 1. The vibration absorber begins to move together with the rod 10 along the longitudinal axis and relative to the elastic rod 10 by a hinge 19. Particles of granular material 13 start to move a relatively small housing 12, colliding with each other and with the walls of the hollow housing 12 when this occurs the dry friction between the particles of granular material 13 and the dry friction between particles and the hollow body 12, and the throttling of air through the opening 18 of the perforated membrane 15, which dissipates the energy of both longitudinal and transverse oscillations. The vibration absorber 11, due to transverse vibrations, begins to take on the hinge 19 angular oscillation in the vertical plane, the amplitude of which depends on the frequency and amplitude of oscillation of the rod 10 in the horizontal plane, which, in turn, increases the absorption rate. Click on the lever 29 of the rotary lever 9 is rotated at a greater angle, moving speed of the carriage 4 along the guide rails 3 and the vertical supports 6 increases, the frequency cont rsen 21 of the cylinder 20 to the right, pushing the elastic rod 10 with the vibration absorber 11 at great length that provides a higher level of intensity of the excitation oscillation of the vibration absorber 11. The vibration absorber 11, due to the known effect of vibration maintain rotation, starts to rotate in a transverse vertical plane around the hinge 19, with some particles of granular material 13 grosseserrata through the perforated diaphragm 15 from the working chamber 16 in the auxiliary chamber 17, which is equivalent to changing the gap between the top of the granular medium 13 in the absence of vibrations and the diaphragm 15, the bounding volume of the working chamber 16 of the vibration absorber 11. This establishes a dynamic equilibrium that determines the optimal value of the gap between the bulk of the granular material 13 located in the working chamber 16, and a perforated diaphragm 14, which automatically maintains the settings for optimum damping of vibrations at different levels of intensity of excitation (Fig. 6). Spring 42, compressing the friction sleeve 37 to the axis 36, prevents the rollers 35 to slide in the transverse direction, however, the increase in absorption coefficient with increasing intensity vozbujdeniya longitudinal vibrations of the housing 1. When releasing the lever 29, the latter, due to the compression of the spring 30, comes in its original position, with rod 31 rotates the lever 32 in the opposite direction, the rod 33 rotates the lever 9 in the reverse direction, the speed of movement of the carriage 4 along the guide rails 3 and racks 6 decreases, the intensity of excitation of the oscillations decreases. The lever 29 through the hinge 28 moves the piston 27 of the cylinder 26 to the left, the volume of the cavity 25 is increased, and the pipe 24 there flows the fluid from the cavity 23 of the cylinder 20 through the movement of the piston 21 to the left under the action of the spring 22. The piston 21 through a hinge 12 retracts into the housing 1 elastic rod 10 with the vibration absorber 11. The last stops to make the rotation in the transverse vertical plane. Particles of granular material 13 is transferred from the auxiliary chamber 17 into the working chamber 16 through the perforated diaphragm 15, the absorption coefficient decreases. Walking machine comes in its original state.

When turning a walking machine by pressing the lever 29 is the extension of the rod 10, resulting begins to work the vibration absorber 11. The control system 8 provides a different speed of movement of the carriage 4 on the sides, what causes powerac lateral forces, which create moments about the axis 36 of the Shoe 7. If you exceed this time the magnitude of the friction torque of the friction sleeve 37, rink 35 starts to move in the transverse direction, avoiding bending supports and reduced energy consumption, due to the lack of a slice of soil and education bulldozer effect. When this occurs, the absorption of the transverse vibrations of the vibration absorber 11, which provides greater control, comfort and reduce energy consumption and dynamic loads to the supports.

Thus, the above data confirm that the implementation of the use of the invention the following cumulative conditions:

walking machine is a new design concept based on the new relationship management system speed and order of movement of the carriages and bearings in combination with a new mechanism of damping of longitudinal and transverse oscillations of a body, which eliminates dynamic imbalance of a walking machine and reduces the dynamic loads on the bearings, thereby increasing the resistance movement, the handling of the car and increasing its functionality;

for the claimed invention in the form as it characterising solutions and applications;

walking machine embodied in the claimed invention, it is able to achieve perceived by the applicant achieved technical result.

Therefore, the claimed invention meets the requirement of "industrial applicability".

1. Walking machine, comprising a housing with each side spaced horizontal longitudinal guide rails are adjustably mounted connected to the drive of the reciprocating movement of the carriage and the vertical telescopic support legs having a support shoes at the free ends, and control the order and speed of movement of the carriage and a support, characterized in that it is provided with mechanism for damping oscillations of a body made in the form of a vibration absorber that is attached via elastic rod to the housing with a possibility of longitudinal displacement is proportional to the speed change mechanism through the longitudinal displacement of the elastic rod connected to the speed control and the procedure for moving the carriages and bearings, and each support is provided with a node of the cross-rolling and slipping clutch.

2. Machine under item 1, characterized in that mechanic diameters, when this cylinder is of larger diameter provided with a spring-loaded piston, the rod of which is pivotally connected with an elastic rod, and his nadporshnevaya cavity pipe connected to podpornoy cavity of the hydraulic cylinder of smaller diameter, the piston rod of which is pivotally connected with a lever connected to a speed control and order of movement of the carriages and bearings by means of two rods and two shoulders of the lever.

3. Machine under item 1, characterized in that the mechanism for damping oscillations of a casing provided with a vibration absorber made in the form of a hollow casing partially filled with granular medium, a perforated diaphragm for axial movement relative to the hollow housing and the cover, and a hollow body provided with a hinge attached to the elastic rod with a mechanism of longitudinal movement.

 

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