Walking support for multisupport handling funds terrain
(57) Abstract:The invention relates to walking vehicles. Bearing includes a housing (1), walking propellers (2), the actuator (3) and the beams (4), which are installed in pairs with right and left sides through linkage suspension (5) walking propulsion. To ensure rotation of the walking thrusters (2) provided with a rotation mechanism (10), made in the form of asynchronous drive shafts (11) connecting the actuator (3) walking supports and side gears (12) walking propulsion (2). To ensure a continuously variable powertogo the speed changing control points of boots (7) by changing the angle of inclination of the driving shaft (13) and driven shaft (14) drive shafts (11) relative to the intermediate shaft (15) the rotation mechanism (10) is provided with a power cylinder (16) for coupling the supporting beams (4) and housing (1). Hydraulic cylinders (16) of the rotation mechanism (10) is formed together with linkage suspension (5) the leveling system of the body (1). The invention is aimed at increasing agility, reducing power consumption by vertical oscillations of the body and improve performance. 5 Il. The invention Rel is ochotnych multisupport vehicles.Known for walking support for multisupport self-propelled vehicles and for vehicles terrain, made in the form of a walking support, containing bearing body on which each side uses two walking mover in the form of articulated chetyrehzvennoj lydiapandora type, equipped with a common Shoe, and a power drive and limited-slip center differential (RF Patent N 2063353, M. class. B 62 D 57/032, 1996).The disadvantages of these walking poles is a layout diagram with majorcool differential connection, intended to reduce the vertical oscillations of the body that do not provide the ability to rotate a walking support, and limited opportunities for installing on a walking pole loading equipment due to the lack of system leveling corps marching feet.The closest technical level and the achieved result is a device in the form of a walking support for vehicles terrain. Walking bearing includes bearing body on which each side uses two walking thruster, made in the form of articulated chetyrehzvennoj lydiapandora type, equipped with a common Shoe, and forces the LASS="ptx2">The disadvantage of this walking support is a layout diagram of a walking support using the simplest walking propulsion lambdarouter type is not providing turn walking supports, requiring an additional power supply on the growth of housing in each cycle (step) movement and do not provide the level of housing for mounting on a walking leg cargo manipulator or other loading equipment.This walking bearing has a relatively low technical level, due to the design pattern walking support and power drive walking engines that do not provide the possibility of stepless regulation of the turning radius of a walking support, cause uneven exchange rate movements and vertical vibrations of the housing. The result is reduced maneuverability walking supports are not provided with the uniform rectilinear motion of the vehicle and additional spending power is on the rise buildings in each cycle (step) movement. In addition, the absence of a walking support system of leveling housing limits the possibilities for installing on a walking pole loading equipment.The technical result of the claimed design walking support is the creation of a multifunctional layout schemes with stepless adjustment of the turning radius and the ability to perform system functions leveling corps marching supports new work cycle of walking propulsion for the rectilinear motion and rotation based on the new law of motion control points of the walking mover along the trajectory, which greatly increases the maneuverability walking supports, provides a significant reduction in the cost of power for vertical oscillations of the body and allows you to horizontality case handling tools when work is asany technical result is achieved by that walking support for multisupport handling funds terrain includes a housing transport and loading facilities with installed walking propellers, made in the form of articulated chetyrehzvennoj lydiapandora type located in a vertical plane with shoes, and power drive kinematically connected with the walking beam propulsion and equipped with a load bearing beams, fixed to the body with the right and left sides through linkage suspension, are installed in pairs walking propulsion mechanism having rotation walking supports, made in the form of asynchronous drive shafts connecting the actuator walking support and final drives walking propulsion, providing paportnoe change the speed of movement of the reference points of boots walking propulsion sweep by changing the angle of the leading and trailing shafts drive shafts relative to the intermediate shaft cardan transmission by means of the power cylinders of the rotation mechanism, a hinge mounted on the chassis and load-bearing beams, providing additional communication load-bearing beams and shell transport and loading facilities, with forks prom fundamentally new multi-function layout diagram on the basis of a new mechanism of rotation of the walking support with asynchronous drive gear, connecting the power drive walking support with onboard gearboxes walking propulsion, provides paportnoe change speed reference points Shoe trajectory by changing the angle of the leading and trailing shafts drive shafts relative to the intermediate shaft, allows to implement a new working cycle of walking propulsion for the rectilinear motion and rotation that provides stepless adjustment of the turning radius and greatly improves maneuverability walking support.Introduction to walking support asynchronous drive shafts, provide faster transfer curvilinear supports walking propulsion, helped to create the kinematic scheme of the actuator on the basis of the new law of motion control points along the trajectory using as a working area of the part of the trajectories of the points of walking propulsion, close to the horizontal and with almost uniform traffic control points, the result is greatly reduced unevenness of exchange rate movements, and vertical oscillations of the body.Introduction walking in support of the power cylinders of the engine rotation, providing additional communication load-bearing beams Sagaydachny casing handling tools, that facilitates the work is installed on a walking leg cargo manipulator or other loading equipment.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 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 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 Appl is positive, the claimed invention meets the requirement of "inventive step".In Fig. 1 presents a General view of the walking support; Fig. 2 is a left side view walking on the support; Fig. 3 is a diagram of the operation of the rotation mechanism; Fig. 4 is a trajectory of the reference point of walking propulsion walking support for the rectilinear motion; Fig. 5 - path reference chutes walking propulsion runner side when turning.Walking support for multisupport handling funds terrain includes a housing 1 of the transport and loading facilities with installed walking propulsion 2, the actuator 3, kinematically associated with walking propulsion 2, and provided with load bearing beams 4, fixed to the body 1 from the right and left sides through linkage suspension 5 (Fig. 1, 2).On the supporting beams 4 pairs of walking installed propulsion 2, made in the form located in the vertical plane of the hinge chetyrehzvennoj lambdarouter type. Walking thrusters 2 contain curved supports 6 with shoes 7, pivotally connected to the cranks 8 and rocker arm 9. The free ends of the swinging lever 9 pivotally mounted on the supporting beams 4.lowland rotation 10 walking supports are made in the form of asynchronous drive shafts 11, connecting the actuator 3 walking supports and side gears 12 walking propulsion 2. To ensure a continuously variable powertogo the speed changing control points shoes 7 walking propulsion 2 sweep by changing the angle of inclination of the driving shaft 13 and output shaft 14 of the drive shafts 11 relative to the intermediate shaft 15, the rotation mechanism 10 is equipped with hydraulic power cylinders 16, the left and right sides, providing additional connectivity supporting beams 4 and the housing 1 of the transport and loading facilities. For this power cylinders 16 hinged to the housing 1 and the right and left supporting beams 4.The cylinders 16 of the turning mechanism 10, in addition, form together with linkage suspension 5 system leveling of the housing 1, which is designed to ensure the normal operation is installed on the transport and handling tool, freight manipulator 17 or other loading equipment.To achieve the non-uniformity of rotation of the driven shaft 14 of the drive shafts 11 and, respectively, of the crank 8 in each cycle of movement and ensure rapid transfer of curvilinear supports 4 legged propulsion 2 forks intermediate rolls 15 CT the supports for a series of two areas with accelerated rotation of the driven shaft 14, to ensure normal operation of walking propulsion 2 - with one phase of support on the ground and one phase of accelerated transfer per cycle gear ratio final drive 12 is selected so that one revolution of the drive shaft 13 of the drive shafts 11 corresponds to two revolutions of the crank 8. At the same time to ensure rapid movement of the control points of the curved supports 6 and the shoes 7 it is in the phase of transfer of the mutual position of the fork shaft 14 of the drive shafts 11 and the crank 8 of the walking mover 2 is selected so that when the position of the fork corresponding to the largest angular speed of the driven shaft 14, the crank 8 occupies a position in which the pivot curved support 6 is in the upper part of the trajectory is on the plot, corresponding to the phase of accelerated migration.Ensuring accelerated phase transfer can be used as a working area of the trajectories of the points (Fig. 4, 5) walking propulsion 2, close to the horizontal and with almost uniform traffic control points. This reduces the unevenness of exchange rate movements and vertical vibrations of the housing 1 walking support.Walking support for mehoopany the of torque from the actuator 3 walking support is served on the drive shafts 11 and through the final reduction gear 12 is transmitted to the cranks 8 walking propulsion 2 (Fig. 1, 2, 3). The cranks 8 walking propulsion 2 start to rotate and drive the curved supports 6 and the swinging lever 9, thereby effecting movement of walking propulsion 2. Because at least one of each pair of walking propulsion 2 is resting on the ground, due to the interaction of the shoes 5 of these walking propulsion 2 with ground walking bearing starts to move.When the movement of the walking support walking thrusters 2 sequentially perform a work cycle comprising a phase of support on the ground, corresponding to the section AB of the trajectory of the reference point (Fig. 4) and the phase corresponding to the area BA of the trajectory. Complete workflow (step) is carried out for half of the turnover of the drive shaft 13 of the drive shafts 11, since one revolution of the drive shaft 13 of the drive shafts 11 corresponds to two revolutions of the crank 6 walking mover 2.At uniform rotation of the drive shaft 13 of the hinge Shaft-gook will provide uneven rotation of the intermediate shaft 15 asynchronous drive shafts 11. Since the fork of the intermediate shaft 15 of drive shafts 11 are located in mutually perpendicular planes, the uneven rotation of the driven shaft 14 increases. In re the transfer of curved supports 6 walking propulsion 2. Cardan transmission 11 provides for one revolution of two areas with accelerated rotation of the driven shaft 14. However, as one revolution of the drive shaft 13 asynchronous drive shafts 11 corresponds to two revolutions of the crank 8, the walking mover 2 commits two working cycle. The mutual position of the fork shaft 14 of the drive shafts 11 and the crank 8 of the walking thruster 2 provides an accelerated motion of the reference points of the curved supports 6 and the shoes 7 directly in the phase.Straight-line walking supports walking the propulsion of the right and left side do the same work cycle.Each half cycle of each pair of walking propulsion 2 can be divided into the following three main stages:
first walking mover 2 each pair of walking propulsion is in the phase of support on the ground at the beginning of the work area AB of the trajectory of the reference point (Fig. 4), the second - in the end phase of support on the ground at the point D trajectory and together with the first walking beam propulsion device 2 performs a working stroke;
first walking mover is still in the phase of support on the ground, reaches point C of the trajectory and continues to make a working stroke, the second - pass accuracy is on the ground and its reference point approaches the point D of the trajectory, the second ends a phase of accelerated migration is A point of the trajectory is engaged with the ground and begins to carry out together with the first walking beam propulsion stroke.After reaching the reference point of the second walking propulsion point A trajectory begins the second half of the operating cycle, similar to the first. When first walking mover 2 each pair of walking propulsion 2 changes place with the second.Such a new working cycle with a phase of accelerated migration shoes 7 allows you as a working area AB to take one relatively small part of the trajectory, where it is close to horizontal, and where the movement of a reference point on the trajectory is almost uniform (see Fig. 4, where the point on the trajectory spaced at equal intervals of time). This dramatically reduces the non-uniformity of the course of motion of walking supports and minimizes vertical oscillations of the body in each cycle of movement.After a full working cycle of walking propulsion 2 he repeated.When turned, for example, to the left of the operator handling by means of a cylinder 16 of the pivoting mechanism 10 right (runner) omogo shaft 14 of the drive shafts 11 relative to the intermediate shaft 15 of the drive shafts 11. The reduction of the specified angle reduces the non-uniformity of rotation of the driven shaft 14 and consequently of the cranks 8 walking propulsion 2 runner Board. As a result of walking propulsion 2 runner Board changes the law of motion of the reference points on the trajectory (Fig. 5) decreases the speed in the phase of accelerated migration, and in the support phase, on the contrary, the growth rate, which leads to an increase of the speed of the Board. Because the speed of the opposite (backward) side walking support does not change, then handling the tool begins to move on a curved carrying out the rotation.The minimum turning radius is zero when the angle of the leading 13 and the driven shaft 14 of the drive shafts 11 relative to the intermediate shaft 15. In this case, the driven shaft 14 of the drive shafts 11 and accordingly the cranks 8 walking propulsion 2 runner flanges rotate evenly and in the working cycle phase transfer will not be accelerated.The rotation mechanism 10 allows the operator to infinitely change the turning radius of a walking support. This greatly increases the maneuverability of handling money and giving him that support loading equipment, for example, the cargo arm 17, the power cylinders 16 of the pivoting mechanism 10 allows on the basis of linkage suspension 5 to organize a system of leveling of the housing 1. At idle power the actuator 3, the horizontal position of the housing 1 is achieved by changing the angles of the levers lever 5 by means of the suspension of the power cylinder 16 of the pivoting mechanism 10. The result varies the position of the bearing beams 4 of the right and left sides with respect to the housing 1, thus achieving horizontal mounting of the housing 1 on the ground.Horizontal installation of the housing 1 walking support improves functionality installed on vehicle loading vehicle loading equipment and gives her the opportunity to work with a large slope.Thus, the above data suggest the implementation of the use of the invention the following cumulative conditions:
walking support for multisupport handling funds terrain intended for use in transport and technological tools operating on ecologically fragile and with low bearing capacity soils, and the new mnogofunkcionalniy and rotation on the basis of the new rotation mechanism with the ability to perform system functions leveling corps provides stepless adjustment of the radius of the turn and accelerated transfer of boots walking propulsion, which greatly improves the flexibility and functionality of a walking support and reduces energy costs on the rise of the housing during movement;
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;
walking support for multisupport handling funds terrain, as 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". Walking support for multisupport handling of funds-terrain vehicles, comprising a housing transport and loading facilities with installed walking propellers, made in the form of articulated chetyrehzvennoj lambdarouter type located in a vertical plane with shoes, and power drive kinematically associated with walking propulsion, characterized in that it is equipped with load bearing beams, mounted on the housing and, with the mechanisms of rotation of the walking support, made in the form of asynchronous drive shafts connecting the actuator walking support and final drives walking engines, allowing paportnoe change the speed of movement of the reference points of boots walking propulsion sweep by changing the angle of the leading and trailing shafts drive shafts relative to the intermediate shaft cardan transmission, by means of the power cylinders of the rotation mechanism, a hinge mounted on the chassis and load-bearing beams, providing additional communication load-bearing beams and casing handling tools, this plug intermediate shafts drive shafts arranged in mutually perpendicular planes.
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