Walking support for multisupport self-propelled machines of handling funds terrain

 

(57) Abstract:

The invention relates to walking vehicles terrain and can be used in self-propelled transport and handling tools. Walking bearing includes a vehicle body with each side installed four front and four rear walking beam propulsion and power drive. It also contains the sprung frame of the vehicle, which is installed on walking supports right and left sides. Each bearing includes a bearing beam, the ends of which are installed in pairs walking propulsion and onboard power drive, equipped with Sanatornaya transmission to ensure the irreversibility of the movements of walking engines at idle power the drive. Suspension of the vehicle contains the basic elastic elements of the suspension system, shock absorbers and additional axle, rigidly connected with the sprung frame of the vehicle and pivotally connected with walking beams supports right and left sides. As a result of increased resistance to rollover and allows transporting and discharging operations in complex terrain without the installation is referring to the walking vehicles terrain and can be used in self-propelled transport and handling tools.

Known for walking support vehicles all-terrain, made in the form of a lifting body on which each side has two front and two rear walking thruster, made in the form of articulated chetyrehzvennoj lambdarouter situated in the vertical plane (RF Patent N 2063354, M CL 62 D 57/032, 1996).

The disadvantage of these supports is the design of walking propulsion, not possessing sufficient resistance to overturning in operational conditions.

The closest technical level and the achieved result is a device in the form of a walking support for multisupport self-propelled vehicles and for vehicles terrain (RF Patent N 2063353, M. class. B 02 D 57/032, 1996). Walking bearing includes bearing body on which each side has two front and two rear walking thruster, made in the form of articulated chetyrehzvennoj lambdarouter type, power drive and limited-slip center differential symmetric differential.

The disadvantage of this walking support is the availability of walking propellers installed on the host body, not provided by the system cushioning and superior adapt the th differential connection.

This walking bearing has a relatively low technical level, due to the location of walking propulsion and complex majorcool differential connection of walking propulsion systems not covered by the cushioning system, which leads to high dynamic loads on the body of a walking support as it moves, due to the vertical and longitudinal vibrations of the hull caused by the principle of operation of the walking propulsion lambdarouter type, as well as poor resistance to overturning due to the small number of control points, the differential connection of the walking propulsion and reverse movements of walking engines at idle power the drive.

In this regard, the most important task is the creation of a new system of interaction of walking propellers, installed in pairs on independent walking cradles the right and left sides on the basis of a new suspension with a new cushioning system with independent walking propulsion of the right and left sides with improved adaptation of the walking support to the irregularities of the soil and increased resistance to rollover with possibility of installation on a tower crane, rigidly mounted on the ground through the connection of the reversibility of the movements of walking engines at idle power the drive.

The technical result of the claimed design walking support is the creation of a new system of interaction of walking propellers, installed in pairs on independent walking cradles the right and left side, due to the new suspension, including the core elements of suspension system with shock absorbers, additional hinge connection independent of walking supports the right and left sides, which gives them the opportunity for independent angular movement relative to the housing, and limiters side withdrawal, excluding the lateral tilt of the front walking propulsion, as well as a new kinematic scheme of the onboard power drive, providing: 1) hard kinematic relationship of walking engines of one Board in antiphase arrangement of the cranks of each pair of walking propulsion; 2) the braking walking engines at idle power the drive, eliminating the reversibility of the movements of walking engines at idle power the drive, which is hard to install crane walking support on the ground through exploded in different directions relative to the body for at least four legged propulsion simultaneously under support on the ground, the means of transport and loading operations in complex terrain without installing additional supports on the ground and without blocking of the suspension system, thereby greatly expands the scope of potential use stated walking support.

This technical result is achieved by the fact that walking support for multisupport self-propelled machines of handling funds terrain that contains the body of the vehicle with each side installed four front and four rear walking beam propulsion, made in the form of articulated chetyrehzvennoj lambdarouter type located in a vertical plane and provided with shoes, and the actuator contains a spring frame of the vehicle, which is installed on walking supports the right and left sides, each walking bearing includes a bearing beam, the ends of which are installed in pairs front pair and rear pair of walking propulsion, with a rigid kinematic relationship, and side actuator, equipped with Sanatornaya transmission to ensure the irreversibility of the movements of walking engines at idle power the drive, and the suspension of the vehicle contains the basic elastic elements of the suspension system and shock absorbers, providing provodenciales communication sprung frame t is Korennoy frame of the vehicle and pivotally connected with the supporting beams of walking supports right and left sides, and stops the on-Board withdrawal of walking supports right and left sides, made in the form of hard centers rigidly mounted on the supporting beams and allowing movement of the sprung frame of the vehicle only in a vertical direction, a support rotating part of the crane, made in the form of a plate, provided with lugs mounted on the axis and mounted on the carrier beam of one of the walking poles.

The new system of interaction of walking movers on the new suspension, including the core elements of suspension system with shock absorbers and additional axle pivotally connecting the beams independent of walking supports the right and left sides, giving them the opportunity for independent angular movement relative to the body and stops the lateral withdrawal of walking propulsion, helps to ensure effective progressirovanie vehicle on the basis of the proposed walking support and improve adaptation to uneven ground.

The proposed new kinematic scheme of the onboard power drive, including senatormenendez transmission and rigid kinematic relationship of walking engines of one Board in cookfest movements of walking engines at idle power the actuator, due to this tight coupling of walking feet to the ground during loading and unloading.

New suspension design combined with the new kinematic scheme of the onboard power drive provides rigid installation of the crane on the ground by at least four legged propulsion, both located in areas of support on the ground, allows the transportation of goods in conditions of difficult terrain and loading-unloading operations without installing additional supports on the ground and without blocking of the suspension system.

Conducted by the applicant's analysis of the prior art, including the search for patents 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 signs, identical to all the essential features 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 in relation to perceived technical result of the distinctive features in the claimed objecpany "novelty" by applicable law.

To verify compliance of the claimed invention to the demand level, 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 meets the requirement of "inventive step".

In Fig. 1 presents a General view of the walking support; Fig. 2 - her left side view of Fig. 3 is a kinematic diagram of the actuator of Fig. 4 is an enlarged section a-a General view of Fig. 5 is a trajectory of the reference point of walking propulsion.

Walking foot (Fig. 1, 2) contains the vehicle body 1 with each side installed four front and four rear walking beam propulsion 2 made in the form of articulated chetyrehzvennoj lambdarouter type located in a vertical plane and provided with pads 3 and the actuator 4 (Fig. 3), which includes an independent source of electric current, for example, diesel generator set 5 containing diesel 6 and the generator 7.

The body of trapezii to the unevenness of the ground and ensure the comfort of movement, which, in turn, mounted on the walking poles 9 of the right and left sides.

Each walking bearing 9 includes a bearing beam 10, the ends of which are installed in pairs front pair and rear pair of walking propulsion 2. Each of the walking propulsion 2 includes a curved support 11 with shoes 3 and pivotally connected to the crank 12 and the swinging lever 13, the other end of which is hinged to the support beam 10. The cranks of each pair of walking propulsion 2 installed in antiphase on the total axles 14 to provide rotation of the reference phase and the phase transfer both walking propulsion, and leading axis 14 of the front and rear of walking movers have 2 hard kinematic connection between each other to provide two points of support on the ground and stability when moving the supports and handling. On the support beam 10 is also installed on-Board actuator 15, consisting of the traction motors 16 and gear 17, the shaft 18 and two side gears 19, which includes senatormenendez transmission 20, for example a worm, to ensure the irreversibility of the movements of walking propulsion 2 at idle power the drive.

Suspension tra is that provodenciales communication sprung vehicle chassis with 8 walking legs 9 of the right and left sides and the secondary axis 23 (Fig. 1, 4), rigidly connected with the sprung frame of the vehicle 8 and pivotally connected with the supporting beams 10 walking poles 9 of the right and left sides to provide at least four points of contact between the pads 3 of walking thrusters 2 and ground, and limiters side withdrawal 24 walking poles 9, made in the form of centers rigidly mounted on the supporting beams 10 and passing inside the grooves made in the sprung frame of the vehicle 8 to allow it to move only in the vertical direction.

To ensure stability and prevent tipping during loading and unloading operations of the walking support is provided unsprung support 25 of the rotating part of the crane 26, made in the form of a plate and provided with eyelets. Bearing 25 mounted on the axle 23 and mounted on the carrier beam 10 one of the walking poles 9, for example, the left side, causing it to always rigidly mounted on the ground by at least four legged propulsion, while under support on the ground.

Walking support for multisupport self-propelled machines of handling funds terrain works following the left and right sides through the axis 23, providing independent angular movement relative to the vehicle body 1, and out-of-phase arrangement of the cranks 12 on the leading axis 14 of each pair of walking propulsion 2, each of the walking poles 9 will rest on the ground two shoes 3, for example, shoes 3 front left and rear right walking propulsion 2 left walking support 9 and the shoes 3 front right and rear left walking propulsion 2 right walking support 10.

After starting the diesel-generator set 5 torque of the traction motor 16 is transmitted through the gear 17 and the shaft 18 on the side gears 19 of the right and left walking poles 9, resulting in the movement of the wheel axis 14 and cranks 12 walking propulsion 2. The cranks 12 start to rotate, drive the walking propulsion 2, thereby begins to be working stroke. Through the interaction of shoes 3 walking propulsion 2 with ground walking bearing starts to move.

Further work cycle walking poles 9, because walking the movers left and right walking poles 9 are the same, can be divided into the following two main stages:

- front left and rear right walking thrusters 2 naramachi stroke, and front right and rear left walking thrusters 2 are the phase transfer of BUDA, which includes the expansion phase of the foot BV and the phase of the lowering of the foot on the ground YES;

- front left and rear right walking thrusters 2 out of phase of support on the ground and pass into the phase transfer of BUDA, and front right and rear left walking thrusters 2 pass into the phase of support on the ground AB and perform a working stroke.

Consider the cycle of walking propulsion 2 walking support 9 from the moment when the reference point of the front left and rear right walking propulsion 2 are at the point of A trajectory (Fig. 5) based on the soil and anchor points, front right and rear left walking propulsion 2 are at the point In the trajectory. In this position, the front left and rear right walking thrusters 2 are in the stage of support on the ground, and front right and rear left walking thrusters 2 are in-phase transfer.

The torque is transmitted from the traction motors 16 through the gears 17, the shaft 18 and side gear 19 on the cranks 12, providing them with the rotation angular velocity of the stroke. The cranks 12 turn curvilinear bearing 11 and the rocker arms 13 of the front and rear of walking digitala 2 left bearing beam 10 is moving along the trajectory from point A to point B, and anchor points, front right and rear left walking propulsion 2 left bearing beam 10 is moved along the trajectory from point b to point D. as anchor points, front left and rear right walking propulsion 2 left bearing beams 10 are on the ground, remaining stationary relative to the ground, they contribute to the movement of a walking support relative to the ground on the working stroke length AB.

When the reference point of the front left and rear right walking propulsion 2 will be at point B, the trajectory will be released from engagement with the ground and go into the recovery phase of the foot BV, anchor points, front right and rear left walking propulsion 2 will be in the point D. the path and go into a phase of lower foot YES, in the end which will come into contact with the ground.

Next, anchor points, front left and rear right walking propulsion 2, after the expansion phase of the foot BV, will be in the point B of the trajectory and begin to move from point B to the point D and the reference point of the front right and rear left walking propulsion 2, to come into contact with the ground, go into the control phase AB, moving from point A to point B path. In a further cycle of operation is repeated.

In the process of ka is due to the kinematics of walking propulsion lambdarouter type. When the movement of the walking support in difficult terrain there are also vertical and angular oscillation of the bearing beams 10, due to the unevenness of the ground. Angular oscillation of the beam 10 is not transmitted to the vehicle body 1 due to the articulated connection of the frame of the vehicle 8 with bearing beams 10 through the axis 23. Vertical oscillations of the beam 10, in contrast to the angular, are transmitted to the vehicle body 1, but because of the sprung vehicle chassis 8 associated with walking legs 9 by means of elastic elements of the suspension system 21 and the shock absorbers 22, providing provodenciales communication frame of the vehicle 8 with bearing beams 10, the vertical vibrations of the vehicle body 1 is suppressed. When moving, walking supports, for lack of a rigid connection of the right and left bearing beams 10 between them in the horizontal plane, possible side withdrawal walking propulsion 2 relative to the vehicle body 1. To limit the lateral drift of the front walking propulsion 2 beams 10 are connected with the sprung frame of the vehicle 8 using limiters side skid 24 is e of the vehicle 8, which provide the ability to move only in the vertical direction.

When carrying out cargo handling walking support is always installed on the ground by at least four legged propulsion, while under support on the ground and exploded in different directions, due to the articulated connection of a walking support 9 of the right and left sides through the axis 23, antiphase arrangement of the cranks 12 of each pair of walking thrusters 2 and rigid kinematic connection of the front and rear of walking propulsion 2 each stride support 9. Somatropina transmission 20 exclude the reversibility of movement of the links of walking propulsion 2 at idle power the drive when loading and unloading operations, providing a rigid connection of the load-bearing beams 10 with the ground. In turn, the bearing 25 of the rotating part of the crane 26 (Fig. 1, 2, 4) installed using the lugs on the axle 23 is rigidly connected to, to prevent rotation of the support 25 about the axis 23, with one of the supporting beams 10, resulting in the crane 26 is always fixed on the ground by at least four points of contact that provides stability and prevents tipping walking TNA is nipulator 26 without installing on the ground of additional supports.

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

- the walking support for multisupport self-propelled machines for the transport and handling of funds vehicles for use in multisupport self-propelled walking machines operating in difficult conditions as handling tool using the new suspension system that provides smoothness and improved adaptation to the irregularities of the soil, and also in conjunction with the new kinematic scheme of the onboard power drive provides increased stability of the walking support to the tipping during loading and unloading mounted on the walking leg of the crane, thus achieved a qualitatively new principle and new opportunities walking machine on the basis of the proposed walking support;< / BR>
for the claimed invention in the form as it is characterized in the claims, confirmed the possibility of its implementation using the above design solutions and applications;

- the walking bearing multisupport self-propelled machines handling of high pass is considered by the applicant achieved technical result.

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

Walking support for multisupport self-propelled machines of handling funds terrain that contains the body of the vehicle with each side installed four front and four rear walking beam propulsion, made in the form of articulated chetyrehzvennoj lambdarouter type located in a vertical plane and provided with shoes, and the actuator, characterized in that it contains a spring frame of the vehicle, which is installed on walking supports the right and left sides, each walking bearing includes a bearing beam, the ends of which are installed in pairs front pair and rear pair of walking propulsion with a rigid kinematic relationship, and on-Board power drive, equipped with Sanatornaya transmission to ensure the irreversibility of the movements of walking engines at idle power the drive, and the suspension of the vehicle contains the basic elastic elements of the suspension system and shock absorbers, providing provodenciales communication sprung vehicle chassis walking with Oprescu and pivotally connected with the supporting beams of walking supports right and left sides, as well as limiting the lateral withdrawal of walking supports right and left sides, made in the form of hard centers rigidly mounted on the supporting beams and allowing movement of the sprung frame of the vehicle only in a vertical direction, a support rotating part of the crane, made in the form of a plate provided with lugs mounted on the axis and mounted on the carrier beam of one of the walking poles.

 

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