The way of movement and control of the vehicle and the vehicle for its implementation

 

(57) Abstract:

The invention relates to a muscular vehicles. The method consists in rolling the person on adjacent wheels associated with each other and with the saddle, a vertical plane which is rotated relative to the total vertical axis located between them. The rolling combined with elements of the walking motion, with each leg of a person connected with the wheel, and the control carried out by turning the legs and moving the center of gravity of the person. The vehicle is compact, easy to use, riding on it is accompanied by greater mobility and maneuverability. 2 C. and 21 C.p. f-crystals, 20 ill.

The invention relates to vehicles and in particular to methods of movement and control of traffic and transport engineering, in particular to an individual compact vehicles.

The known method of transportation implemented a vehicle, including acceleration by step with simultaneous conversion of the walking motion in motion rolling [1].

The disadvantages of this method are the low permeability and m obstacles by pereshagivaniya, as well as to facilitate control due to the rapid change of direction when chagani, because the energy of shahania is mainly used to drive the wheels.

Closest to the present invention is a method of movement and control of the vehicle, consisting in rolling a person in a sitting position on the adjacent wheels associated with each other and with the saddle, a vertical plane which is rotated relative to the total vertical axis located between them. In addition, producing consistent with the direction of rotation of the tilt of the upper body [2].

The disadvantages of this method are the low permeability and lack of controllability due to the rigid fixation of the center of gravity and the possibility of its small displacement only when rotating in the transverse plane by tilting the upper body, but also because of the inability to take advantage of elements of the walking motion when overcoming obstacles and traffic management.

Known vehicle implementing the method of the combined motion rolling with pereshagivaniya containing two connected through parallel posted by overrunning, a frame mounted on the cranks with additional tribes, each associated with a pair of cranks and platforms, in addition, is equipped with an auxiliary frame, made with rotating and non wheels between them with the possibility of vertical movement is frame with cranks, platforms and rollers and overrunning couplings [1].

The disadvantages of the known devices are of low permeability, which allows to move only on a level surface, low maneuverability, and lack of flexibility of control due to the impossibility of using elements of the natural walking motion for the reason that both platforms to accommodate the legs of a man, interconnected rigid links by means of cranks, and also due to the lack of degrees of freedom of the saddle, not allowing to manipulate the position of the center of gravity; and the bulky design and the impossibility of folding.

Closest to the present invention is odnoglazoe vehicle containing a frame made of front and rear sections, pivotally interconnected with the possibility of rotation around the common vertical axis of the connection, dwcu connection parts of the frame. In addition, the device includes a back, the steering lever and the axis of the connection is the steering column, which is placed under the seat, backrest attached to the front of the frame, the steering lever is rigidly connected to the rear part of the frame, and its length is less than the distance from the steering column to the front wheels [2].

The disadvantages of the known devices are low throughput, flexibility, and manageability through the use only of rolling, and also because of the inability to move the center of gravity of the device when managing and overcoming obstacles and cannot take advantage of elements of the walking movement, as well as the bulkiness of the design due to the use of wheels of large diameter.

The aim of the invention is to increase the permeability, flexibility and manageability by enabling the simultaneous combination of rolling elements of the walking motion and make possible balance of control and comfort at the expense of folding and enable the use of wheels of small diameter.

This objective is achieved in that in the known method of movement and control Tran is asah, related to each other and saddle, a vertical plane which is rotated relative to the total vertical axis located between them, in addition the rolling combined with elements of the walking motion, with each leg of a person connected with the wheel, and the control carried out by turning the legs and moving the center of gravity of the person. In addition, to overcome obstacles shift the center of gravity from one foot to the other and back in a sitting position or standing, while moving the center of gravity alternately raise each unloaded leg with the wheel. In addition, to facilitate changing the direction of rotation exercise using the leg by a coherent rotation of the foot with wheels around a vertical axis passing through the point of contact of the wheels of the earth, and simultaneously produces consistent with the direction of rotation of the tilt of the lower torso in the opposite direction of the turn. In addition, to ensure the change of direction is lifted up with the wheel located on the front, turn the foot of this leg with the wheel at the desired angle in the direction of rotation and lowered to the ground, and after turning the same operations are performed with the second namenda by jumping and turning in the air to the desired angle of rotation. In addition, to facilitate the change of direction in the process of alternately lift each unloaded feet make the step towards a new direction. In addition, to increase the permeability due to the motion of the stairs, the movement carried out at an angle to the normal steps, and synchronization of movements shahania and rolling depending on the size of the steps produced by changing the angle of movement relative to normals.

To achieve this goal is known vehicle containing a frame made of front and rear sections, pivotally interconnected with the possibility of rotation around the common vertical axis of the connection, two knot of fastening of wheels mounted one after another on the ends of the frame, saddle, located above the vertical axis of the connection parts of the frame is further provided with a seatpost rack, one end of which is connected with the upper part of the axis by means of a hinge, allowing the rack to tilt back and forth while moving the other end of the rack is connected with the lower part of the seat by means of a hinge, tiltable seat in the vertical plane passing through the centers of the wheels, saddle pax is with is one fixedly mounted pedal with the elements fit. In addition, seatpost rack has an element of regulation and record its length, and a seat pivotally connected to one end of the thrust, which also have an element of regulation of its length and is installed parallel to the rack, the other end of the traction bar pivotally connected with the upper part of the axis. In addition, each of the mountings of the wheels is made in the form of a fork, in which the axis node is a freely rotating wheel and the pedal is located outside of the fork on the continuation of the axis of the hub, and on the front node pedal is located on one side of the wheel, on the back - with the opposite. In addition, each of the mountings of the wheels is made in the form of a trolley containing at least two pairs of wheels, each of which is located at the ends of its axis, the pedal is at the same time the base of the truck. In addition, the fastening axes of the wheels in the form of rollers at each node is made movable with rotation and samostalni. In addition, each of the mountings of the wheels is made in the form axis, the ends of which are at least one freely rotating wheel, a pedal on the front site is located on one side of the coupling of the frame and at the other node on the other side of the coupling of the frame. In addition, hinges, ball. In addition, additionally there is a drive connected to one of the attachment points of the wheels, or both mountings of the wheels, or each node has its own drive. In addition, the added cargo frame, mounting, United with the truck frame and holders for cargo located on the truck frame, the bottom of which is connected with the saddle. In addition, the device is further provided with a protective lantern-fairing located on the upper part of the truck frame and connected with it, the projection of which on the horizontal plane overlaps the projection of the saddle. In addition, to increase the compactness of each part of the frame is made in the form of a pipe connected at one end with a fork with the wheel with the possibility of rotation, and the other end with the upper part of the vertical axis, and this connection has an additional hinge allowing rotation of each of the frame in a vertical plane when the folding device further introduced two of rope, each of which is connected at one end with a roller, located on the lower part of the vertical axis of the connection can be rotated around her, and the other end with the corresponding end of the frame at the wheel. Except the first element is in the front axle, and the second rear in the direction of travel. Also, a bumper fairings covering the front and upper attachment points of the wheels with pedals and fixation of the feet. In addition, there is the case of the bell-shaped form and posts it mounts, one of which is located on the headrest truck frame and connected with the upper part of the body inside, and the other one end connected with the lower part of the truck frame and at the other end to the rear surface of the housing from the inside.

To achieve the objectives in the proposed vehicle containing the kit, added additional sets, at least one, United with the first set and with each other successively in circuit with the help of connecting rods, each of which is connected with the towing elements of adjacent sets, and the number of connecting rods to one less than the total number of sets. In addition, it introduced additional sets of at least one interconnected in parallel in a row, and connected by three points with the help of additionally introduced direct linkage connecting the connection of adjacent sets, each connection rod with kofoworola thrust in a vertical plane, perpendicular to the movement direction, and rotatably around the longitudinal axis.

In Fig. 1 shows a diagram of a method of motion.

In Fig. 2 shows a diagram of the complete method of vehicle control.

In Fig. 3 shows a diagram of the complete method of movement when moving on a level surface and overcoming obstacles.

In Fig. 4 shows a diagram of the process of turning on the proposed method, when viewed from above.

In Fig. 5 - same as in Fig. 4 when viewed from behind.

In Fig. 6 depicts move on the stairs.

In Fig. 7 shows a diagram of a vehicle that implements the proposed method, side view.

In Fig. 8 shows a diagram of the vehicle from the front.

In Fig. 9 shows a diagram of the vehicle underside.

In Fig. 10 shows the vehicle in a folded form.

In Fig. 11 depicts an embodiment of the vehicle side view.

In Fig. 12 shows a diagram of the device according to Fig. 11, when folded.

In Fig. 13 shows a diagram of the attachment points of the wheels with bumpers.

In Fig. 15 shows a diagram of a variant of the vehicle with two parallel widely spaced wheels at each node of attachment of the wheels.

In Fig. 16 depicts a collective version of the vehicle in series connection of the individual sets in the chain.

In Fig. 17 shows a diagram of a variant of the two parallel-connected vehicles, equipped with a body, side view.

In Fig. 18 shows the same pattern as in Fig. 17, a top view.

In Fig. 19 shows a diagram of the attachment of tie rods connecting the sets of interconnected parallel.

In Fig. 20 shows the collective running of the vehicle with a parallel connection kits.

The way the movement and control of the vehicle based on the use of elements of the walking movement, human overcoming obstacles, turns, sudden changes of direction, etc., and combining them with a rolling movement that allows you to combine the high speed of moving terrain, maneuverability and controllability inherent ageusia movement.

The way of movement and control vehicle the century and directly connect them with the soles of the feet. In the case of motion on a level surface (Fig. 1) carry out rolling on wheels, man leans on the seat 1 and the nodes 2, 3 wheel mounting 4. If the surface 5 meets the obstacle 6, then, without stopping the movement of rolling, taking the legs located on the front, together with the corresponding first node 2 wheel attachment 4 and simultaneously produce a deviation of the center of gravity 7 back on nodes 2 and 3 of attachment of the wheel 4 (Fig. 2) so that it was on the second node 3, which is located at the rear of or behind it in the direction of movement depending on the size of the obstacle 6 (Fig. 2). Then, without stopping the movement of rolling down the first leg with the node 2 to the surface 8 behind the obstacle 6, and move the center of gravity forward 7 to the position above the first node 2, or forward it, raise the other leg in the back with node 3 (Fig. 3), and drop the wheel 4 to the surface 8 for the obstacle 6. Thus, the movement of the rolling advantageously combined with elements of the walking motion, which allows to overcome the obstacles of considerable size, using wheels only small sizes, up to the rollers. At the same time the movement of a person is in a sitting position, as in full tra For controlling the movement also use only the movement of the legs and body. For example, if you turn produce a coherent sequence in time of the rotation of the feet together with nodes 2, 3 mounting 4 wheels and 4 wheels around a vertical axis 9 that passes through the points 10 of the contact wheel 4 with the ground (Fig. 4). At this feet with wheels become tangent to the arc of rotation 11 (Fig. 4), and the lower part of the body of a person rejects in the direction from the center of the arc of rotation 11 so that the position of the projection 12 of the center of gravity 7 on the surface of the earth has not changed, i.e., remained on the straight line connecting points 10 touch the wheels 4 of the earth (Fig.4, 5). This is due to the bending rigid connection 13 between nodes 2 and 3 in the Central vertical hinge 14. Rotate a small angle can be also carried out the lifting and lowering of the legs located on the front, with the front node 2 while turning the foot of this leg with node 2 and 4 wheel in a new direction during lifting legs. With the aim of preserving the stability of the movement produce the same manipulation case, as in the previous case. Bends to any angle can be performed by jumping with simultaneous separation of both feet with 4 wheels off the ground and turning in the air to the desired angle. To save osteichtyes to the center of the arc of rotation. When turning this way the angle is 180owithout stopping the translational motion before landing cutoff clutch, and after landing is smooth it enable to output to the desired mode.

The change of direction in the change of gauge in the process of rolling can be performed through successive steps in the direction of both feet with nodes 2 and 3 and wheels 4 at the time of their separation from the earth.

When performing the movement on the stairs 15 (both up and down) movement exercise is not normal 16 to 15 steps, and at an angle thereto (Fig.6). Changing this angle allows you to adjust the amount of paths, walkable each wheel one step and allows depending on the specific width of each step and the speed of movement of the roller triggering walking motion of the foot when pereshagivaniya steps with the movement of rolling on them. Pereshagivaniya can be accomplished through several steps, depending on their particular size.

The vehicle (Fig. 7-9) contains the seat 17, the front 18 and rear 19 mountings of the wheels 20 and 21, each of which represents a plug 22 with the axis 23, which rotates freely to the plane of the pedal 24 is perpendicular to the plane of the wheel 20 (21), both nodes pedals 24 are located on opposite sides of the wheels 20, 21, for example, on the front node 18 to the right, and rear 19 - left truck frame 26 in the form of a tubular frame, the bottom of which is connected with the rear part of the seat 17 with a removable, the upper part of the truck frame 26 ends headrest 27, height adjustable; to the top of the truck frame 26 is also attached with the removable transparent closed fairing-lantern 27; fixation 29 of the driver in the form of shoulder straps, connected to the front part (direction) cargo frame 26; tubular seatpost rack 30, with the possibility to adjust and fix the length of the element 31 of the regulation; hinge 32, which is connected with the lower end of the seatpost rack 30, the upper end of which by means of the hinge 33 is connected to the protrusion 34 of the saddle 17 and the hinge 32 allows the rack 30 to bend back and forth movement in a vertical plane, and a hinge 33 allowing you to turn the seat 17 in the same plane; rod 35, which is parallel seatpost rack 30, the length of which can be adjusted and fixed element 36, the lower end of the thrust 35 is connected by means of a hinge 37 which two parts - front 39 and the rear 40 articulated among themselves can be rotated relative to each other around a vertical axis 43 connect; actuator 41 on one of the wheels 20 or 21 with the motor 42; 44 right and left arm 45, located perpendicular to the vertical plane of symmetry and connected to the upper part of the seatpost rack 30; controls 46 of the actuator 241, motor 42 and brake located on the arms 44, 45.

A variant of the vehicle (Fig. 11) another configuration of folding includes two frame parts 39 and 40, made in the form of a single pipe, the lower ends of which the wheels 20, 21 are connected by wires 47 with roller 48 located at the lower end of the axis of the connection 43, the upper ends of the pipes 39 and 40 of the front and rear frames are connected by means of hinges 49 and 50, respectively, with bushings, freely rotating on the axis of the connection 43 in its upper part; on one or both of the tubular portions 39 and 40 of the frame are one or two motor 42 with the actuator 41 on one or on each wheel 20, 21.

The vehicle (Fig. 13) may have bumpers 51 on the nodes clipline wheels 18 and 19 located on the continuation of the axis 23 of nodes that cover the front side of the wheels 20, 21 and pedal 24 with part respol and lights 59.

The vehicle (Fig. 14) with the nodes 18 and 19 of the wheel mounting in the form of a multiwheel trolley (Fig. 14) contains the nodes 18 and 19 in the form of pedals 24 feet with fixing elements 25, each pedal 24 serves as a platform truck, which is connected to the axis 23 is rigidly or can be rotated in the plane of the pedal 24 which freely rotating wheel, for example in the form of rollers 52; parts 39 and 40 are connected pivotally with the pedals 24, and the forward trolley 18 is connected with the part 39 on one side of the vertical plane of symmetry, for example to the right, and the rear trolley 19 is connected with a part 40 on the other hand, for example to the left (Fig. 14); swivel trucks 18 and 19 with the parts 39 and 40 are made so as to allow the trucks 18 and 19 to rotate around an axis parallel to the axes of the rollers 52, the actuator 41 is made on one or several pairs of rollers 52 of one or both of the nodes 18 and 19; the connection axis 23 of each of the roller 52 with the pedal 24 may be made movable, i.e., with the possibility of rotation axis 23 in the plane of the pedal 24; or axis 23 can be fixed relative to the pedal 24 with simultaneous implementation of hinge units 32 and 37 gimbal or ball; hinge 32 is made integral with the hub 37 and at the same time with the front 54 and 55 rear tow elements.

The collective embodiment of the vehicle (Fig. 16) contains several sets of 53 vehicles, connected in series between a chain through the front 54 and rear 55 towing elements of each set 53, and the rear element 55 subsequent set 53 is connected with the front element 54 of the previous set of 53 in circuit with the help of arc thrust 56, while the number of rods 57 to one less than the number of 53 sets; each set 53 in the circuit may have a motor 42, or only part sets, in the particular case of one, while all the rest are passive.

In Fig. 17 depicts a vehicle consisting of a parallel connection of two sets 53, comprising a housing 57 with and without bottom, in the top case 57 is connected internally with the truck frame 26 by means of the rack 58, which is a continuation of the headrest 27, and in the waist Department of housing 57 is fixed on the racks 59 (one or more), connecting it with the rear part of the seat 17 or the lower part of the truck frame 26; sets 53 are interconnected by means of three rods 60, the first of which is located between the front nodes 18 of the mounting of the wheels 20, 21, and the second between the rear node 19, and the third between the upper parts of the seatpost racks 30, each rod 60 with both ends fixed in a double hinge, the first 61 of which allows it to rotate around the longitudinal axis, and the second 62 is rotatable around an axis perpendicular to the longitudinal axis of the thrust 60 and located at its end vertically relative to the set 53 (Fig. 19). The housing 57 is composed of two halves, with half 63 of the housing 57 has the ability to turn up at the hinge 64 at an angle close to 90oat the top node 58 of the lugs 57 and fixed in this position.

In addition, the device in all variants (Fig. 7-20) contains the gas tank 65, which may be located on a seatpost rack 30 or around it; as shown in Fig. 7, 8. Variants of the device with odnoklasniki depicted payload 67, located behind the driver on the truck frame 26 and secured in gusterath 68.

The vehicle that implements the proposed method, use the following.

The driver is located (Fig. 7) in a sitting position in the seat 17, the foot of one leg is placed in the first node 18, and a foot of the other leg is in the second node 19 mounting the wheels 20, 21, which represents a plug 22 with the axes 23, on which the freely rotating wheels 20, 21. This is due to the placement of the feet on the pedals 24 with the retaining elements fixing 25. The back can rely on a truck frame 26, and the head on the headrest 27 and is closed at the top and front, if necessary, the lamp 28. Items 26-28 can be installed and removed when needed. In this position of the driver is fixed by the fixation elements 29, such as shoulder straps. The length of the seatpost rack 30 pick up along the length of the legs of the driver element 31 of regulation and record its length. When traveling by vehicle elements of the walking movement is performed in the proposed method, alternately raising one or the other leg together with the parts 18, 19 of the mounting of the wheels 20, 21 with wheels 20, 21 to facilitate overcoming prepayme seatpost rack 30 in the hinge 32 in a vertical plane, passing through seatpost rack 17 and the centers of the wheels 20, 21. The horizontal position of the seat 17 is provided by turning seatpost rack 30 in the hinge 33 relative to the ledge of the seat 34, and also through the draft 35, the length of which is equal to the length seatpost rack and pre-regulated element 36, but is above it, resulting in it parallelogram. Moving thrust 35 per seatpost rack 30, thereby providing a horizontal position of the saddle 17 is carried by rotation of the thrust 35 in the bottom 37 and the upper hinges 38 similarly seatpost rack 30. Wheels 20, 21 rotate on axes that are installed in the forks 22 39 front and rear 40 of the frame. The actuator 41 of the motor 42 can be on front or rear wheel 20 or 21 or both wheels 20 and 21 of the two motors 42. The two parts 39 and 40 of the frame to freely rotate relative to each other around the vertical axis of the connection 43, which is connected via a hinge 32 with a seatpost rack 30. Regarding the parts 39 and 40 of the frame axis 43 can be rotated only along with a seatpost rack 30. When turning the vehicle the first 39 and second 40 of the frame are rotated around the vertical axis of the connection 43 and form an obtuse angle less 1H entire vehicle in the direction of rotation, and the projection of the center of gravity on the earth remains in place, thus achieving stability in the rotation. In order to achieve a more sustainable position in the vehicle when driving, people can hold hands by the handles 44 and 45, located under the seat on the upper end of the seatpost rack 30. Operation of the actuator 41, a motor 42 and the brake can be accessed by using the remote control, which is held in the hand and is connected with the vehicle by a flexible cable, or by using the controls 46 (gas, brake, clutch), located on the arms 44 and 45.

To fold the vehicle (Fig. 10) turn in either direction one of the parts of the frame, for example 39, the vertical axis of the connection 43 by an angle close to 180o. Seatpost rack 30 with the seat 17 and a thrust of 35 incline toward the folded parts of the frame 39 and 40 to the limit, i.e., before contact with them or with the actuator 41, 42 (Fig.10). Truck frame 26 with the shoulder 27 and the lamp 28 may be released. In this position the vehicle occupies very little space.

In case the parts 39 and 40 of the frame in the form of a single pipe with strengthening their cables 47, attached to the roller 48 on the lower Diwaniya it is only necessary to lift it above the ground for saddle 17 to the wheels 20, 21 does not touch the surface of the earth. When this occurs, the rotation of the two parts 39 and 40 in the vertical plane passing through the wheel 20, 21, wheels 20 and 21 down. This rotation occurs in the hinges 49 and 50. The cables 47 are freely suspended on the roller 48 (Fig. 12), and the entire vehicle can be suspended, for example, on a hook on the wall behind the saddle 17. He takes a very small area of the wall. Thus, since all parts of the hinges are free to move relative to each other both in the desktop and in the folded position and the fixation elements are missing, then folding and putting in a working position of the vehicle is made almost instantaneously.

If the nodes 18 and 19 of the wheel mounting is made in the form of four - or more-wheeled carts with wheels roller 52 (Fig. 14) in the case of a freely rotatable in a horizontal plane axes (vertical rotation axis passing through the centers of the axes of the rollers 52), i.e., their self-selected direction of movement, the movement of the vehicle and controlled at all points of the method is similar vehicle according to Fig. 7-9. In the case of performing the axes or with two wheels 20, 21 the increased size (Fig.15) the execution of turns while driving and stopping perform similarly to the previous variants of the proposed method, due to the fact that the slopes of the lower part of the body of the driver in the opposite direction of the turn or the upper part of the housing in the direction of rotation for maintaining the position of the center of gravity and increase stability at the turn of the implement tilt seatpost rack 30 from right to left in the direction perpendicular to the direction of movement in the ball joint or cardan joint node 32 together with the corresponding inclination of the thrust 35 in a similar hinge 37. Multiwheel execution nodes 18 and 19, especially in the case of Fig. 15, allows to increase the stability of the vehicle during movement and to maintain its stability in a stationary state, but few increase the weight / size parameters.

The proposed vehicle can be used in a collective movement. In this case, separate sets 53 movably connected for towing elements 54 and 55 with one another through the arcuate rod 56 (Fig. 16). The arcuate shape of the rod 56 and the hinge connection to the towing elements 54 and 55 p which of them can have its own actuator 42 on one or both nodes 18 and 19, or part sets 53 are passive, i.e., the drive does not have. Passive can be all sets 53, except one.

When executing the vehicle body 57 (Fig. 17, 18) due to the mounting of the latter in the top of the rack 58 and belt division on the racks 59 and due to the absence of the bottom of the housing 57 is released, the chassis and is still possible combinations of rolling with walking movements. Under one chassis can accommodate one or more parallel-connected sets of 53 vehicles. Movement and control is performed as a single set 53, i.e., each of the parallel connected sets 53 is controlled individually according to the needs. Independent control of each set 53 allow three thrust 60, a hinge connecting the first and second sets 53 (Fig. 17, 18), each of which can be rotated around its axis (longitudinal) in the hinges 61 and hinges 62 at the ends of the thrust relative to the axis perpendicular to the longitudinal axis (Fig.19). The front portion 63 of the housing 57 goes up by turning it into the top hinge 64 and is fixed in this position when the input and output drivers.

Parallel connection b is inoe management of each set of 53 due to the hinge connecting them tagum 60. This connection sets 53 allows the elements of the walking motion independently in each set 53 to the needs of the process and implement the necessary displacement of the center of gravity in each set 53.

The proposed method of movement and control of the vehicle in comparison with the known tool is a prototype and known ways peers, has the following advantages:

- terrain that is not dependent on the size of the wheels, because it uses pereshagivaete movement in conjunction with the movement of the rolling elements, in particular allowing us to move even the stairs;

- high maneuverability and controllability by introducing the possibility of combining mechanical motion rolling with natural human elements of the walking motion, perfect in nature, allowing high flexibility compared with methods that use mechanical similarity of walking movements, which are imperfect due to the low accuracy of their reproduction;

We offer you the vehicle in comparison with the known, including the prototype has the following advantages:


- high degree of compactness due to the small size and, thanks to the added items proposed by the United way, the convenience of folding;

little time bringing into position because of the lack of locking elements;

- multifunctionality and diversity of devices that enable its use in various areas, for the carriage of goods for collective use, comfortable and high-speed variants, housing, etc.

The sources of information.

1. USSR author's certificate N 1747304, IPC6B 62 K 5/00, 1992.

2. USSR author's certificate N 1650512, IPC6B 62 K 21/00, 1991.

1. The way of movement and control of the vehicle, consisting in rolling a person in a sitting position on the adjacent wheels associated with each other and saddle, a vertical plane which is rotated relative to the total vertical axis located between them, characterized in that the rolling combined with elements of the walking motion, with each leg of coveka.

2. The method according to p. 1, characterized in that to overcome obstacles shift the center of gravity from one foot to the other and back in a sitting position, and when moving the center of gravity alternately raise each unloaded leg with the wheel.

3. The method according to p. 1, characterized in that to facilitate changing the direction of rotation exercise using the leg by a coherent rotation of the foot with wheels around a vertical axis passing through the point of contact of the wheels of the earth, and simultaneously produces consistent with the direction of rotation of the tilt of the lower torso in the opposite direction of the rotation.

4. The method according to p. 1, characterized in that to facilitate the change of direction is lifted up with the wheel located on the front, turn the foot of this leg with the wheel at the desired angle in the direction of rotation and lowered to the ground, and after turning the same operations are performed with the second leg.

5. The method according to p. 1, characterized in that to facilitate the change of direction produces a separation from the land both wheels at the same time by jumping and turning in the air to the desired angle of rotation.

6. The method according to p. 1, Otley is th unloaded feet make the step towards a new direction.

7. The method according to PP.1 and 2, characterized in that to increase the permeability due to the motion of the steps of movement of the implement at an angle to the normal steps, and synchronization of movements shahania and rolling depending on the size of the steps produced by changing the angle of movement relative to normals.

8. The vehicle containing the frame made of the front and rear, pivotally interconnected with the possibility of rotation around the common vertical axis of the connection, two knot of fastening of wheels mounted one after another on the ends of the frame, saddle, located above the vertical axis of the connection parts of the frame, characterized in that it is provided with a seatpost rack, one end of which is connected with the upper part of the axis by means of a hinge, allowing the rack to tilt back and forth while moving the other end of the rack is connected with the lower part of the seat by means of hinge tiltable seat in a vertical plane, passing through the centers of the wheels, saddle, together with the axle configured to rotate in a horizontal plane, the axis of each of the mountings of the wheels located on one fixedly mounted pedal with elements fit.

10. Vehicle under item 8, characterized in that each of the mountings of the wheels is made in the form of a fork, in which the axis node is a freely rotating wheel and the pedal is located outside of the fork on the continuation of the axis of the hub, and on the front node pedal is located on one side of the wheel, on the back - with the opposite.

11. Vehicle under item 8, characterized in that each of the mountings of the wheels is made in the form of a trolley containing at least two pairs of wheels, each of which is located at the ends of its axis, the pedal is at the same time the base of the truck.

12. Vehicle on p. 11, characterized in that the mounting axes of the wheels in the form of rollers at each node is made movable to rotate and self-talk.

13. Vehicle under item 8, characterized in that each of the mountings of the wheels is made in the form axis, the ends of which are at least one freely rotating wheel, a pedal on the front uslay.

14. Vehicle on PP.11 and 13, characterized in that the hinge connecting the lower part of the seatpost rack and frame with the upper part of the specified axis is executed gimbal or ball.

15. Vehicle under item 8 and any of paragraphs.9 to 11, characterized in that it further comprises an actuator connected to one of the attachment points of the wheels, or both mountings of the wheels, or each node has its own drive.

16. Vehicle under item 8 and any of paragraphs.9 to 15, characterized in that additionally introduced truck frame mounting connected to the truck frame, and the holders of the cargo located on the truck frame, the bottom of which is connected to the saddle.

17. Vehicle under item 8 and any of paragraphs.9 - 15 and 16, characterized in that it includes a protective lantern-fairing located on the upper part of the truck frame and connected with it, the projection of which on the horizontal plane overlaps the projection of the saddle.

18. Vehicle under item 8 and any of paragraphs.9 to 11, characterized in that to increase the compactness of each part of the frame is made in the form of a pipe connected at one end with a fork with the possibility of its rotation, and other end - Yat rotate each part of the frame in a vertical plane when the folding device, additionally introduced two of rope, each of which is connected at one end with a roller, located on the lower part of the vertical axis of the connection can be rotated around her, and the other end with the corresponding end of the frame at the wheel.

19. Vehicle under item 8 and any of paragraphs.9 to 18, characterized in that additionally introduced towing elements located on the upper part of the vertical axis, and the first element is located on the front axle and the second rear in the direction of travel.

20. Vehicle under item 8 and any of paragraphs.9 to 19, characterized in that the bumper fairings covering the front and upper attachment points of the wheels with pedals and fixation of the feet.

21. Vehicle under item 8, any one of paragraphs.9 - 16, 18 and 19, characterized in that the bell-shaped housing forms and hours of fixing, one of which is located on the headrest truck frame and connected with the upper part of the body inside, and the other one end connected with the lower part of the truck frame and at the other end to the rear surface of the housing from the inside.

22. The vehicle containing the set under item 8 and any of paragraphs.9 - 20 and 21, characterized in that the m and to each other successively in circuit with the connecting rod, each of which is connected with the towing elements of adjacent sets, and the number of connecting rods to one less than the total number of sets.

23. The vehicle containing the set under item 8 and any of paragraphs.9 - 20 and 21, characterized in that it introduced additional sets of at least one interconnected in parallel in a row, and connected by three points with the help of additionally introduced direct linkage connecting the same nodes wheel mounting and the upper ends of the vertical axes of connection of adjacent sets; each connection rod with set is made hinge, each hinge has two degrees of freedom, namely the possibility of rotation of the thrust in the vertical plane, perpendicular to the direction of movement, and rotatably around the longitudinal axis.

 

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FIELD: transport engineering.

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10 cl, 8 dwg

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6 cl, 16 dwg

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