Floating walking apparatus and method of its motion

FIELD: transport.

SUBSTANCE: invention relates to floating walking equipment. Proposed apparatus comprises housing, walking engine consisting of case and guide mechanisms supported by opposed rockers. Said housing accommodates two sets of guide mechanisms, one comprising four (1-3-5-7) said mechanisms and another four (2-4-6-8) said mechanisms interacting between themselves and with drive components to turn cross beams. Proposed method consists in displacing supports of opposite arms in rectilinear motion of guide mechanisms. Proposed method differs from known ways in that supports are lifted with advanced vertical turn of cross beams.

EFFECT: expanded performances.

4 cl, 11 dwg

 

The invention relates to the field of underwater technology relates to a multifunctional transport and technological devices such as amphibians, able to move sagayam on the surface of the bottom under the water and outside the water environment, and may find application in the study and industrial development of the resources of the World ocean.

Most effectively the invention can be used when carrying out dredging on the continental; in particular, on the Arctic shelf in the mode of movement: "coast-the bottom of the sea-shore:

- in the development of mineral deposits;

- when carrying out engineering and construction and other works on the seabed;

- when laying and maintenance of submarine communications;

- when carrying out rescue operations at the bottom of the sea, etc.;

as (with appropriate equipment):

- bottom of the mining machine;

- subsea crane and a drilling device, trencher, pipe - and cable-handling vessel,

- bottom bulldozer, tractor tug, etc.

Famous walking underwater vehicle containing a horizontal enclosure with installed on its end of the support elements (legs), sealed containers (cameras) with alternating variable positive and negative buoyancy and horizontal screws [1].

Capacity (camera) (by pumping ballast the second liquid alternately from one to the other and, thus, changing their buoyancy) that serve as actuators to rotate the ends of the housing with supports in a vertical plane with the lifting-lowering supports.

Horizontal screws are drives to rotate in a horizontal plane podospevshego together with support the end of the housing relative standing on ground supports the other end. Due to this is Sagana this unit over the surface of the bottom.

Sustainability in the process of shahania is provided by hydropattern tanks (cameras) buoyancy.

Disadvantages: - intermittent sinusoidal gait and low speed (due to inertia, low speed drives, cameras, variable buoyancy).

Closest to the invention is known floating-walking bottom apparatus equipped with means including a variable positive and negative buoyancy horizontal case and installed along its length rectilinearly guiding mechanisms that contains the associated actuators turns relative to the body of the bar and set them on the joint-palsonic devices of an angular arm support elements (pillars) on their opposite shoulders, flexibly jointed arm half arm length of the beam with the cross beams [2].

Tools of the variable buoyancy in the form of hermeti the different tanks (camera) is set for each side (along both sides of the hull sides) on the opposite arms of the rocker and collectively serve as a means of hydropattern apparatus over the surface of the bottom.

At the same time these cameras are actuators for vertical rotation of the traverse with the lifting-lowering poles of opposite arms of the rocker, which is onboard the rotation of the supports.

Actuators for horizontal rotation of the rocker arm relative to the body, providing reciprocating along the body moving (Sagana) bearings are installed on each side shoulders rocker horizontal screws.

Way peredvijenie sagayam apparatus of the prototype, which is afloat above the bottom surface, by repulsion from the bottom in turn supports the opposite shoulder rocker rectilinearly guiding mechanisms.

Since the resistance of the device is provided by hydropattern cameras-drives (and possible other means of buoyancy), neither the number of simultaneously supported on the bottom surface rectilinearly guiding mechanisms, nor the sequence of changing the supports do not have to maintain the stability of values.

The disadvantages of the apparatus of the prototype, which eliminates the described invention, the following.

Non-sustainable continuous movement of sagayam without constant hydropattern in the aquatic environment and, especially, outside of it land.

Inapplicability to move sagayam out of water among the s drives (cameras variable buoyancy for vertical rotation of the traverse and winding engines for horizontal rotation of the rocker arm).

Both of these are interrelated (towards the goal) lack completely eliminate the ability of the prototype to the land movement.

Along with this, due to the high efficiency of the actions used drives (inertia, low speed cameras variable buoyancy and working in the reverse mode of screws horizontal rotation of the rocker arm) machine-prototype when moving sagayam even in the aquatic environment may not have a sufficiently high speed.

Furthermore, the method of movement by sagayam prototype does not exclude the stumbling of the supports when their staging ground and braking otchakovsky supports, which significantly reduces the quality of movement (evenness, smoothness).

The above-mentioned disadvantages of the prototype together significantly reduce its overall functionality and effectiveness, narrow the scope of its use as multifunctional transport and technological apparatus amphibian.

To expand the functionality, effectiveness and the use of the apparatus due to the stability of the continuous movement of sagayam without hydropattern under water on the bottom of the sea and out of the water environment, land at improving its quality and speed and features of this invention.

the goal is achieved by that floating or equipped with adjustable positive and negative buoyancy housings installed two groups containing one to four (1-3-5-7) and the other four (2-4-6-8) in the order of successive locations along the length of the housing through a single, straightforward guide mechanism, interacting in concert among themselves and drives the drive mechanism with the possibility of simultaneous, with alternate rotation of finding one group in the state riznosortnoho vertical rotation of the traverse with the formation of alternately supports the opposite shoulder of the rocker arm support quadrangles, and the other is in a state of horizontal rotation of the rocker educated with reference rectangle.

The presence of each group of four linearly-guiding mechanisms allows for different Bortnik vertical turns them traverse education alternately supports the opposite shoulder of the rocker arm support quadrangles, ensuring the stability of the apparatus during movement.

And execution apparatus with two such groups rectilinearly guiding mechanisms is achieved an alternate, at each step without stopping the movement of the turnover generated by each group supporting quadrangles, which ensures the continuity of motion./p>

Together, these two essential qualities provide stable, continuous movement of the apparatus sagayam under water on the surface of the bottom without any hydropattern.

However, for efficient movement of sagayam in water and, especially, land only these necessary qualities is not enough.

Therefore, to allow efficient movement of sagayam and under water on the surface of the bottom, and out of the water environment, land, and with a simultaneous increase of speed, the drive mechanism of the device is made consisting of coherently interacting drives the vertical rotation of the traverse, made in the form of torque hydraulic motors of the reciprocating rotary action, housing which is mounted on a horizontal body, and a rod through the transmission device is connected with the pivoting devices traverse, and drives the horizontal rotation of the rocker, made in the form of along the traverse of the power cylinders, the casing of which is mounted on the traverse or horizontal body, and a rod pivotally connected with articulated personname devices rocker.

The purpose of the compact design drives the horizontal rotation of the rocker arm can be made in the form of hydraulic power cylinders double-acting, piston rods are fixed is fixed on a horizontal case and serve as traverse, and movable casings are provided with hinges to install the rockers and are articulated personname devices.

For the purpose of consistent interaction straightforward guide and drive mechanisms torque hydraulic vertical rotation of the traverse and the cylinders horizontal rotation of the rocker arm included in a single hydraulic system with a common pump, consisting of two hydraulic circuits, one of which is formed of torque hydraulic motors of both groups rectilinearly guiding mechanisms, and the other cylinders of these groups, and the pump is connected to the set in (on) the body of the device to an onboard diesel generator.

How perediraniya described apparatus, consisting in moving the lifting-lowering poles of opposite arms of the rockers - vertical rotation of the traverse and repulsion from the reference surface for horizontal rotation of the rocker rectilinearly guiding mechanisms is as follows.

Moving bearings are produced with the formation of alternately supports the opposite shoulder rocker alternately successive groups (1-3-5-7) and (2-4-6-8) rectilinearly guiding mechanisms supporting quadrangles.

In each of the groups rectilinearly guiding mechanisms when lowering the supports by timing the beginning of the horizon is a high rotation of the rocker end of the vertical rotation of the traverse supports give priority to their statement on the bearing surface moving in the direction of repulsion, with speed not lower than the current speed of the device, and the rise of the supports, by timing the beginning of the vertical rotation of the traverse to the end of the horizontal rotation of the rocker arm, carry out ahead of the end of the repulsion of the supports.

While alternately changing the reference quadrangles groups (1-3-5-7) and (2-4-6-8) linearly-guiding mechanisms, by timing the end of the vertical rotation of the traverse with the lowering of the supports of one group of the beginning of the vertical rotation of the traverse with the rise of the supports of the other group, the statement supports the reference quadrangle on the supporting surface groups, lowering the support, produce ahead of detachment from the supports of the reference quadrangle group, raising support.

Giving supports reference quadrangles advance their statement on the bearing surface moving in the direction of repulsion, and at a speed not lower the current speed of the device (set in uniform motion and more at accelerated), exclude the possibility of tripping the supports on the ground and interrupt the movement.

And ahead of the lifting anchor quadrangles completion of their supports phase repulsion prevents braking otchakovsky supports.

This increases the quality (smoothness, evenness) of continuous motion apparatus by sagayam./p>

In turn, ahead of the staging of support quadrangles on the abutment surface being separated from her when alternating group change linearly-guiding mechanisms is achieved by overlapping the steps of the supports successive reference quadrangles.

This excludes the possibility of failure (drop) in the process of continuous motion.

Collectively the above new technical solutions allow you to effectively implement sustainable continuous quality movement apparatus by sagayam without hydropattern under water on the surface of the bottom and land on the shore.

The invention is illustrated in the following drawings.

Figure 1 shows some variants of the General form described floating-walking apparatus for various purposes.

Figure 2 shows the design of the walking module chassis of the device with linearly-guiding mechanism.

Figure 3 shows structural kinematic scheme of the walking mechanism.

Figure 4 shows the design of the drive of the vertical rotation of the linearly-guiding mechanism.

Figure 5, 6 shown the ways to drive the horizontal rotation of the linearly-guiding mechanism.

7 shows the hydraulic circuit diagram of the drive mechanism.

On Fig scheme is shown IU the of anima negotiation interaction straightforward-guide and drive mechanisms.

Figure 9 shows the walking trajectory chart move support straightforward-guide mechanism.

Figure 10 shows the trajectory chart moving poles alternately successive straight-guiding mechanisms.

Figure 11 shows the phase-time diagram of the implementation of the described method of movement of the device.

The described apparatus includes a floating or tools with adjustable positive and negative buoyancy horizontal casing 1 and mounted along its length linearly-guiding mechanisms 2, which together form a his suspension for moving sagayam (walking mover), and depending on the destination may have a different design and, accordingly, a General view (figure 1).

On figa shown walking submarine with a crew building 3, structurally related to housing 1 of her walking mover.

On figb, shows a General view of the underwater floating-walking apparatus in which the individual, in particular end, portions of the housing 1 is made in the form of a solid (inhabited or not inhabited) capsules with 4 adjustable buoyancy.

5 - seabed surface (bearing surface, soil).

6 - possible power platform for mounting various technological, energy, navigation is about and other things used in underwater technology equipment and working tool.

For example, conventionally shown:

7 - mechanical manipulators, 8 and 9 - drilling and welding device, 10 - power grips for carrying cargo such as pipes; Figg shows a possible view of the floating-walking bulldozer-tyagach with a vertical housing 11 with adjustable buoyancy. 12 - horizontal and vertical thrusters, such as a screw, for movement afloat.

Automatic control mode of transportation coast-the bottom of the sea-shore may be carried by cable from the shore or a vessel (not shown).

Depending on purpose and area of application are possible, and other architectural design schema.

Each EDL 2 contains related actuators turns relative to the housing 1 cross-yoke 13 and installed it on articulated polsonom device (hereinafter, silos) 14 of an angular arm 15 with the supporting elements (legs) 16 mounted on its opposite shoulders (figure 2).

The middle of the opposite shoulder of the rocker arm 15 by means of hinges 17, 18 are connected with the levers 19, 20 are half the width of his shoulders. The levers 19, 20 with hinge-palsonic devices (silo) 21, 22 are connected with the head plate 13.

Each EDL 2 head plate 13 with slanting racks 23, 24 mounted on the rotary device 25 associated with the actuator 26 of the vertical rotation relative to the housing 1 (forward and reverse, the arrows shown is 27) beam 13, resulting in lifting and lowering the supports 16 of the opposite shoulder of the rocker arm 15 (on the view along arrow a of figure 2 is shown by arrows up and down).

So is alternately changing the supports 16 of the opposite shoulder of the rocker arm 15.

Close-Packed 14 is connected with a drive (DAMI) 28 horizontal rotation relative to the housing 1 (forward and reverse, the arrow 29) of the rocker arm 15.

When the reciprocating (arrow 30) moving the silo 14 to traverse 13 support 16 opposite shoulder of the rocker arm 15 do siteline move (arrow 31).

In total, the area of the housing 1 and mounted on the rotary device 25 ISM 2 actuators 26 and 28, respectively, the vertical rotation of the bar 13 and horizontal rotation of the rocker arm 15 is a separate walking module (figure 2), from which by successive coupling formed walking the chassis of the device and its walking mover. 32 is a conventional connecting nodes.

To ensure stable, continuous movement of sagayam in the aquatic environment (surface of the bottom of the sea) without any hydrosaluric and out of the water environment (land) on the horizontal body 1 of the described apparatus has two groups of EDL 2, containing one to four (1-3-5-7) and the other four (2-4-6-8), in the order of successive locations along the length of the housing through one, EDL, which is haunted interact consistently between themselves and the actuators 26, 28 of the drive mechanism with the possibility of simultaneous, with alternate rotation of finding one group EDL able riznosortnoho vertical rotation of the traverse 13 education alternately supports 16 opposite arms of the rocker arm 15 supporting quadrangles, and the other is in a state of horizontal rotation of the rocker arm 15 with an educated supports 16 reference quadrangle (figure 3).

To explain this structural kinematic scheme 3 line numbers 1, 2, 3, 4, 5, 6, 7, 8 on top of the drawing are consecutively numbered EDL on the housing 1, and column 1, 2, 3, 4 marked their group sequential steps. (To simplify the drawing, the actuators and other structural elements not shown.)

In the drawing supports 16 groups of EDL in a state of horizontal rotation of the rocker arm 15 (respectively, in the phase of support on the ground and pushing away from him), marked by filled circles, and educated them reference the selected quadrangles in phantom lines.

Supports 16 groups EDL, located in the state of the vertical rotation of the traverse 13 (respectively, in-phase side shift supports 16 opposite arms of the rocker 15), marked by empty circles.

The mechanism of formation of alternately supports 16 opposite arms of the rocker arm 15 EDL each group (1-3-5-7) and (2-4-6-8) reference chetyrehugol the Cove is as follows.

In the ISM band (1-3-5-7) reference quadrilaterals are formed alternately single-breasted (located in the support on the ground on one side of the Board body 1) supports EDL under the numbers 1, 3, 5, 7, and in the ISM band (2-6-4-8) - single-breasted supports EDL under the numbers 2, 4 and 6, 8. However, if at step 1 the ISM band (1-5-3-7) is in a state of horizontal rotation of the rocker arm 15 (in-phase support and repulsion educated supports EDL under the numbers 1, 3, 5, 7 quadrangle), the group of EDL (2-6-4-8) is in a state of vertical rotation of the traverse 13 with the lifting-lowering of the supports 16 opposite shoulder their rocker 15 (in-phase side shift supports).

In the next step 2 (after the quadrangle 1, 3, 5, 7 otahal) the group of EDL (2-4-6-8) is in a state of horizontal rotation of the rocker arm 15 (in-phase support and repulsion educated supports EDL under the numbers 2, 4, 6, 8 quadrangle), and a group of EDL (1-5-3-7) is in a state of vertical rotation of the traverse 13 with the lifting-lowering of the supports 16 opposite shoulder their rocker 15 (in-phase side shift supports).

In the following steps 3 and 4, the pattern was repeated, but the reference quadrangles already supports are formed opposite shoulder rocker these EDL.

And so on.

So that in each of the above groups EDL support quadrangles alternately, through the step formed by the supports 16 leva is, the right shoulder of the rocker arm 15. And group change reference quadrangles EDL is performed alternately at each step, the vertical group turn their traverse 13.

Thus, there is a mechanism of continuous education and alternate turnover reference quadrangles, providing a sustainable process of continuous movement by sagayam.

Performing this drive mechanism consists of coherently interacting actuators 26 of the vertical rotation of the traverse 13, made in the form of: torque hydraulic motors of the reciprocating rotary action and actuators 28 of horizontal rotation of rocker arm 15, is made in the form of hydraulic power cylinders (4, 5, 6).

Torque hydraulic motors of the reciprocating rotary action 26 (figure 4) is installed and secured their housings 33 in the housing 1 and the piston rods 34 are connected with the transfer device 35 mounted in toothed engagement with a turning device 25.

The transfer device 35 is made in the form of a planetary gear, for example (as shown in figure 4), with three satellites 36, interacting with internal gear rotary device 25.

37 - slit window in the housing 1 for mounting the satellites 36.

38 is a leading gear rod 34 of the hydraulic motor 26.

Power cylinders 28 are located along the beam 13, the stationary housing is and fixed to the body 1 or the traverse 13, and moving the rod 39 by means of hinges 40, 41 are connected with the silo 14 of the bar 13 (figure 5).

To compact design ISM 2 drive horizontal rotation of the rocker arm 15 is made in the form of a hydraulic cylinder 42 double-acting, piston rod 43 which is fixed to the stationary housing 1 and serves as the head plate 13 and the movable body 44 provided with a hinge 45 to install the rocker arm 15 and is, silos (6).

Thus to avoid twisting the silo relative to the traverse figure 5,6 shows the structure of an EDL with mutually parallel dual cross beams 13 with a single silo 21, 22.

By itself, the design torque hydraulic motors and cylinders are known.

Synchronization group action drives the drive mechanism (torque hydraulic motors 26 and cylinder 28 or 42) within each group EDL (within group and between groups ISM (inter-group) can be ensured by including them in a single hydraulic circuit with a common pump 46 (Fig.7). The pump 46 is connected to the set in (on) a housing 1 on-Board diesel generator 47.

7 shows a possible hydraulic diagram dvuhkrugovoy (with EDL (1-3-5-7) and (2-4-6-8) design of the walking mechanism.

This hydraulic system is made consisting of two hydraulic circuits containing connected to the working cavities torque hydraulic motors 26 and hydrotrend the s 28 pressure 48 and outlet (drain) 49 pipelines, moreover, the torque hydraulic motors 26 both groups EDL form associated with the pump 46 one, and the cylinders 28 - other hydraulic circuits.

Intra - and inter-group coordinated interaction of the ISM and the actuators 26, 28 of the drive mechanism can be provided by use of known means of automation.

In particular, in accordance with the General hydraulic circuit (7) for Fig for example, two separate EDL, selected from groups (1-3-5-7) and (2-4-6-8) and marked, respectively, as PNM and PNM (which corresponds to the ordinal EDL figure 3) shows a possible schematic diagram of the mechanism of coordination of such interaction.

Legend:

GD1 GD - torque hydraulic motors

HZ1, GC - cylinders, related, respectively, to PNM and PNM;

KGd and KGD - automatic control valves and switches them working cavities to carry out the direct and reverse action. CGD, CGD and CGC, CGC - automatic valves to include in operation and shutdown, respectively GD1 GD and HZ1, GC.

The operation of the control valves electronic components, conventionally BU and BU connected (shown by dashed lines) to define a common mode of action software block PB associated with body motion control system.

The matching mechanism according to this scheme is described below in connection with the implementation of the act is both the movement of the device.

The way of movement of the described apparatus, which consists in moving the supports 16 of the opposite arms of the rocker arm 15 with the lifting-lowering - vertical rotation of the traverse 13 and away from the supporting surface 5 is in the horizontal rotation of the rocker arm 15 ISM 2, is as follows.

Moving the supports 16 are produced with the formation of alternately supports the opposite shoulder of the rocker arm 15 alternately successive groups of EDL (1-3-5-7) and (2-4-6-8) reference quadrangles.

And do this with continuous movement of the device.

In the figure 3 diagram shows the complete phase cycle process shahania alternately successive reference quadrangles of the two above mentioned groups EDL (1-3-5-7) and (2-4-6-8), consisting of four steps (or stages), denoted in the diagram by a vertical column of numbers 1, 2, 3, 4.

Hereinafter for the sake of simplicity, EDL, corresponding to the ordinal numbers 1, 2, 3..., labeled PNM, PNM, PNM etc.

Arrow 50 shows the direction of shahania.

So, in the first step (stage 1) group EDL (1-3-5-7) is in a state of horizontal rotation of rocker arm 15, respectively, in the phase of support and repulsion (shahania) reference quadrilateral formed (see arrow 50) single-breasted right supports PNM and PNM and left PNM and PNM, and a group of EDL (2-4-6-8) is in status is anii vertical rotation of the traverse 13, accordingly, in the phase side of the shift of the supports 16.

In the second step (step 2) in phase support and repulsion (shahania) is the reference quadrilateral formed by a single-breasted left supports PNM and PNM and right supports PNM and PNM group (2-4-6-8), and a group of EDL (1-3-5-7) is in a state of vertical rotation of the traverse 13, respectively, in-phase side shift supports.

In the third step (step 3) in the phase of shahania is the reference quadrilateral formed by the left supports PNM and PNM and right PNM and PNM group (1-3-5-7); and group EDL (2-4-6-8) is in phase side shift supports.

Finally, the fourth step (step 4) in the phase of shahania is the reference quadrangle group (2-4-6-8), formed the right supports PNM and PNM and left legs PNM and PNM, and a group of EDL (1-3-5-7) is in phase side shift supports.

At this phase of the cycle consisting of four steps (stages), ends and a walking mechanism is returned to its original position in the first step (stage 1).

As can be seen from the drawing, the shape and position relative to the housing formed by the reference quadrangle at each step, mutate, but the center of mass always remains in the area of support that provides resistance movement.

To ensure continuous quality movement sagayam when changing the reference quadrangles alternately successive g is PP (1-3-5-7) and (2-4-6-8) EDL proceed as follows (see figures 9, 10).

First, in each of the groups (1-3-5-7) and (2-4-6-8) EDL when lowering the supports 16 they give priority to their placement on the supporting surface 5 moving in the direction of repulsion, and at a rate not lower than the current speed of the device.

The chart Fig depicted explaining that walking the path of the supports 16 of the opposite shoulder of the rocker arm 15 separate EDL 2 relative to the housing 1.

Here and below:

the arrows on the respective plots of the trajectories shows the direction of movement of the supports 16 sweep. While the dash-dotted line is conventionally separated plots of the trajectories of the supports 16 of the opposite shoulder of the rocker arm 15;

So - full (nominal) step bearing 16 that corresponds to the nominal angle of horizontal rotation relative to the housing 1 of the rocker arm 15;

S - reference step (walking moving body 1),

S - value without reference to the movement of the supports 16 when lowering and raising.

According to the above before putting on the primer 5, by estimated timing of the beginning of the horizontal rotation of the rocker arm 15 the end of the vertical rotation of the bar 13 of the support 16 give the displacement in the direction of shahania.

The horizontal velocity V p of the moving support 16 (horizontal component of the full speed of its movement with simultaneous vertical rotation t the obverse 13 and the horizontal position of the beam 15) must be equal to (or greater speed Vo of movement at the moment of the apparatus, ie V p=Vo (or V p>Vo when the acceleration shahania).

This excludes the possibility of tripping the supports 16 in the formulation of the reference quadrangle on the supporting surface 5.

Secondly, the rise of the supports 16 of the reference quadrangle produce from the settlement ahead of the end of their shahania (repulsion from soil 5).

This excludes the possibility of braking the movement of the apparatus otchakovsky supports 16.

Do this within each group EDL estimated by timing the beginning of the vertical rotation of the traverse 13 with the rise of the reference rectangle and the isolation of its support 16 from the supporting surface 5 of the end of the horizontal rotation of rocker arm 15. Obviously, due to this reduced the length of the reference step So=So-2So

However, (thirdly) under the sequential change groups EDL (see figure 10) the statement on the support surface of the support quadrangle group EDL, the final stage side shift supports 16 with their lowered on the supporting surface 5, is produced ahead of the estimated time period of time of separation of the supports 16 of the reference quadrangle from the reference surface 5 group EDL, the final phase of repulsion and raising support.

And they do so by clearing ahead of the end of the vertical rotation of the traverse 13 with the lowering of the reference quadrilateral one group EDL start vertical rotation Proc. of the PERC 13 with the rise of the reference quadrangle another group EDL, which replaces the first.

This excludes the possibility of failures (crashes) of the housing 1 when alternate group change EDL during continuous movement of the device.

This mechanism is illustrated by the combined trajectory chart, move the supports 16 successive PNM and PNM (consider supporting quadrangles groups EDL (1-3-5-7) and (2-4-6-8)) (figure 10).

Indices "l" and "PR" in the drawing and hereinafter denoted by left and right support 16. The other designations remain the same.

The chart shows how the trajectory supports PNM and PNM at each step overlap each other on the calculated value S.

This chart should be read in conjunction with the figure 11 combined phase-time diagram, also built for two interacting consistently between themselves and drives PNM and PNM (consider for groups of EDL (1-3-5-7) and (2-4-6-8)).

Chart 11 shows:

K1, K2 - rocker, V1, V1 - support, TP1, TP2 - beam related, respectively, to PNM and PNM.

Shaded horizontal bars shows the time periods during which the elements of the EDL are in motion, namely, the rocker arm 16 make horizontal turns, traverse 13 - vertical curves, and supports 16 - siteline move.

At this time without reference sagatelova move the supports 16 p the cauldrons shaded areas of these bands.

Positions To T1.T2.T3... on top of the marked points in time of the beginning and end of these rotations and displacements in phase cycle process shahania shown in figure 3.

So, step, while specifying actions and technical means of execution as shown in Fig scheme described by way of movement of the apparatus is as follows (see 11, 10 together with Fig, 9).

Let's assume for the moment That alternately successive PNM and PNM (consider quadrilaterals groups EDL (1-3-5-7) and (2-4-6-8)) are in the following phase conditions.

ISM 1 terminates side shift supports, and at the time T1, for example, the right bearing Appr ready to get on the ground, and PNM is still in a state of completion of the contact phase repulsion, and the right bearing Appr ready to break away from the ground (figure 10).

At the moment with the calculated ahead of time T1 productions OPP ground (opening CC and including HZ1 working together with GD1 and GC) (this is included in the diagram Fig) start horizontal rotation K1 and unsupported relocation (Sagana) Appr (figure 10), and at a rate equal to the current speed of the device (V p=Vo) (see Fig.9).

(T1) - current period unsupported (S) shahania Appr.

This eliminates the possibility of tripping App when setting ground 5.

At the time T1 along the production Appr ground (closing CGD and off GD1 when included in the work HZ1 and still working HZ) stop vertical rotation TP1.

Since this GC continues to work and K2 performs horizontal rotation, during the period (T2-T1) overlap (S) steps together walking Appr and Appr (figure 10).

This eliminates the failure of the housing when changing App on App (like when changing quadrangle ISM band (2-4-6-8) on the quadrangle ISM band (1-3-5-7)).

(T2-T1) - the period of joint shahania App and App with overlapping steps (S).

In the next moment T2 ahead to the settlement time period of time T3 the end of the rotation K2 and complete shahania Appr (opening CGD and inclusion HD when working HZ and switching KGD working cavity GD) start reverse previous vertical turning TR2 with the rise and isolation from soil Appr and lowering OPL.

(T3-T2) - current period unsupported (S6on) move App when lifting (figure 10, 9.).

This eliminates the possibility of braking Appr during its ascent.

T3 - the end of shahania Appr (closing KC and off GC).

At the time T4 with the calculated ahead of time T5 productions OPL ground (opening CC and inclusion GC when working GD) start horizontal rotation K2 with unsupported relocation OPL, and at a rate equal to the current speed of the device (V p=Vo) (Fig.9).

(T5-T4) - current period unsupported (S) shahania OPL.

This exclude in moznosti trips OPL when setting on the ground.

At the time T5, together with statement of OPL ground (closing CGD and off GD) stop vertical turning TR2.

Since this HZ1 continues to work and K1 performs horizontal rotation, during the period (T6-T5) overlap of steps (S) walking together Oppr and OPL (figure 10).

This eliminates the failure of the housing when changing App on OPL.

In the next moment T6 ahead to the settlement period of time of time T7 termination turn K1 and complete shahania Appr (opening CGD and inclusion GD1 when working HZ1 and switching KGD working cavity CGD) start reverse vertical rotation TP1 with a margin Oppr from the ground and lowering OPL.

(T7-T6) - current period unsupported (S6on) move App when lifting.

This eliminates the possibility of braking Oppr when lifting and isolation from ground.

T7 - the end of shahania Appr (closing KC and off HZ1).

In the next moment T8 with the calculated ahead of time T9 productions OPL ground (opening CC and inclusion HZ1 when working GD1) start horizontal rotation with K1 without reference moving OPL, and at a speed equal to the speed of movement of the apparatus (V p=Vo) (Fig.9).

(T9-T8) - current period unsupported (S) shahania OPL (figure 10).

This eliminates the possibility of tripping OPL when setting on the ground.

At the time T9, together with statement of OPL ground (closing CGD and off GD1) stop vertical rotation TP1.

At the time T10 ahead to the settlement period of time of time T11 the end of the rotation K2 and complete shahania OPL (opening CGD and inclusion HD when working HZ and switching KGD working cavity CGD) start reverse vertical turning TR2 with a margin OPL from the ground and lowering Appr.

(T11-T10) - current period unsupported (S) move OPL when lifting.

This eliminates the possibility of braking OPL when lifting and isolation from ground.

Since this GD continues to work and K2 performs horizontal rotation, during the period (T10-T9) overlap (S) steps together walking OPL and Appr (figure 10).

This eliminates the failure of the housing when changing App on OPL.

T11 - the end of shahania OPL (closing KC and off GC).

And so on until the end phase of the cycle (figure 3), after which similarly are all following.

The effectiveness of the invention is characterized as follows.

Floating-walking apparatus amphibious provides high-quality sustainable continuous movement of sagayam without hydropattern under water on the bottom of the sea and out of the water environment, land.

When moving sagayam the unit has a high the second speed, straight, back and side stroke and sustainable when chagani uphill, downhill and side slope.

The transverse spacing of the shoulders rocker jacket provides maximum lateral (side) stability.

As the centipede machine has increased the support and traction characteristics.

Thanks to these new features the device has extended the functionality, effectiveness and scope of application, particularly in the mode of movement "coast-the bottom of the sea-shore.

Sources of information

1. A.S. No. 504873, AS 50/00, 1976

2. RF patent №2214940, MKI B63G 8/00, AS 50/00, 2003 - the prototype.

1. Floating-walking apparatus, including floating or equipped with buoyancy horizontal case and installed sequentially along its length linearly-guiding mechanisms that contains the associated actuators turns relative to the body of the bar and set them on the joint-palsonic devices of an angular arm supports on the opposite shoulders, the United movable arm half arm length of the beam with the cross beams, characterized in that, with the aim of expanding the functionality, effectiveness and the use of the apparatus due to the stability of the continuous movement of sagayam without hydropattern under water, on the bottom of the sea and nevodnoi environment while improving its quality and speed, on the body there are two groups containing one to four (1-3-5-7) and another four (2-4-6-8) in the order of successive locations along the length of the housing through one linearly-guiding mechanisms that interact in concert among themselves and drives the drive mechanism with the ability to alternate the rotation of finding one group in the state riznosortnoho vertical rotation of the traverse with the formation of alternately supports the opposite shoulder of the rocker support of the quadrangle, and the other is in a state of horizontal rotation of the rocker educated with reference rectangle.

2. Floating-walking apparatus according to claim 1, characterized in that the drive mechanism is made consisting of coherently interacting drives the vertical rotation of the traverse, made in the form of torque hydraulic motors of the reciprocating rotary action, housing which is mounted on a horizontal body, and a rod through the transmission device is connected with the pivoting devices traverse and drives the horizontal rotation of the rocker, made in the form of along the traverse of the power cylinders, the casing of which is mounted on the traverse or horizontal body, and a rod pivotally connected with the hinge-peltoniemi devices rocker.

3. Floating-walking apparatus Popp and 2, characterized in that, for the purpose of consistent interaction torque hydraulic vertical rotation of the traverse and the cylinders horizontal rotation of the rocker drive mechanism included in a single automatic valve device hydraulic system with a common pump, consisting of two circuits, one of which is formed of torque hydraulic motors of both groups rectilinearly guiding mechanisms, and the other of the cylinders and the pump is connected to the set in (on) a body-Board diesel generator.

4. The way of movement of the floating-walking apparatus, consisting in moving the supports opposite arms of the rocker arm with a lifting-lowering vertical rotation of the traverse and repulsion from the reference surface for horizontal rotation of the rocker rectilinearly guiding mechanisms, characterized in that the movement of the supports is made with the education alternately supports the opposite shoulder rocker alternately successive groups (1-3-5-7) and (2-4-6-8) rectilinearly guiding mechanisms supporting quadrangles, thus lowering the supports by timing the beginning of the horizontal rotation of the rocker end of the vertical rotation of the traverse supports give priority to their statement on the bearing surface moving in a directed and repulsion, with speed not lower than the current speed of the device, and the rise of supports by timing the beginning of the vertical rotation of the traverse to the end of the horizontal rotation of the rocker carried out ahead of the end of the repulsion of the supports from the supporting surface, and under the sequential change of the reference quadrangle group (1-3-5-7) and (2-4-6-8) rectilinearly guiding mechanisms by timing the end of the vertical rotation of the traverse with the lowering of the supports of one group of the beginning of the vertical rotation of the traverse with the rise of the supports of the other group statement supports the reference quadrangle on the supporting surface groups, lowering the support, produce ahead of discontinuing it supports the reference quadrangle group, raising support.



 

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4 cl, 4 dwg

FIELD: production processes.

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4 cl, 5 dwg

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FIELD: ship building.

SUBSTANCE: invention relates to ship building, particularly to marine transport facilities for transportation of oil, diesel fuel, kerosene, gasoline etc. Underwater tanker features a submarine hull with necessary compartments and tanks, flexible vessels for fluid cargoes. Said hull has a hollow tight vertical rudder terminating in a float, constantly above water on waterline. Around said vertical rudder, above water line, a wing system is arranged to develop additional lift force for tanker with wings in underwater position. Rudder lower part accommodates ice-cutter operating in tanker rise to surface position.

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3 dwg

FIELD: transport.

SUBSTANCE: invention relates to amphibious vehicles, particularly to aircraft that can navigate underwater. Proposed apparatus comprises airframe/hull with water propeller, wing with keel and air-and-underwater control surfaces accommodated thereon. It incorporates engines, ballast tanks and compressor. Apparatus wings have isolated chambers receiving ends of the posts rigidly fixed on aforesaid airframe/hull and communicating said chambers with compressor. Engines are isolated from ambient medium in dive by both extra casing and clamping devices.

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4 dwg

FIELD: shipbuilding.

SUBSTANCE: invention is related to shipbuilding and refers to development of arctic large-capacity transport vessels. Arctic large-capacity transport vessel has underwater cargo hull and above-water part in the form of main deck with superstructure. Underwater hull is joined with main deck by means of sleetproof pylon, along which cargo waterline passes and which is installed in stern part of underwater hull right behind forepeal symmetrically relative to diametral plate of vessel hull. Upper deck of underwater hull in the pylon area has reinforced structure. Structure of pylon is bearing for the main deck. Underwater hull in its cross section may be arranged in the form of rectangle with rounded angles, height of which makes not more than 10 m, and ratio of height to width is at least 1:6. Underwater hull may have extensible mooring bollards in stern along both sides. Sleetproof pylon for connection of underwater vessel hull to its above-water part is arranged in the form of strong body with transverse and longitudinal framing, having symmetrical oblong or round shape in plan. Width or diametre of pylon is significantly less than width of vessel cargo hull, and also practical width of channel made by icebreaker. Height of pylon provides for motion of vessel main deck above ice, and underwater hull - below lower edge of ice.

EFFECT: invention makes it possible to increase icebreaking capability of vessel; in thick ices as it follows icebreaker in areas of arctic shelf with small depths, and also to reduce resistance to vessel motion in broken ice and to reduce height of vessel underwater hull.

8 cl, 4 dwg

Polar station // 2376192

FIELD: construction.

SUBSTANCE: polar station is represented with cylindrical double-storied structure provided with two chimneys. The polar station is fixed to the location by freezing to the lower part of ice cake ensuring possibility of people and machinery lifting. The polar station contains rooms where group of 18-20 individuals can comfortably live for a long period of time and machinery can be placed. The polar station is delivered to the location independently by means of electric reverse motors. Power is supplied to the station by single-phase petroleum or diesel electric plant.

EFFECT: improved working and relaxing conditions for polar explorers.

4 cl, 1 dwg

FIELD: transportation.

SUBSTANCE: stern cruciform control surfaces of submersible craft include horizontal and vertical stabilisers, which have bow fixed and stern movable parts. A semi-ring is installed on fixed bow parts of horizontal and upper vertical stabilisers. Semi-ring has a wing-shaped section with alternating lengths of chords and setting angles of sections along perimeter of semi-ring. Besides setting angles are selected in compliance with local angles of approach flow attack. Radius of semi-ring corresponds to 1.2-1.3 of submersible craft body in area of semi-ring installation. Semi-ring is arranged as metal, hollow and cast-welded. Cavity of semi-ring is filled with composite material. Semi-ring may be made of two parts joined by fixtures, between which a vibration-absorbing film is placed.

EFFECT: reduced noise emission and level of cavitation and vibroacoustic characteristics of stern control surfaces and the submersible craft itself.

3 cl, 4 dwg

FIELD: transportation.

SUBSTANCE: body of deep-water manned chamber comprises hatch, observation windows, curvilinear wall, which is bent with creation of hollow torus, and connected by pipe to wall installed lower/higher, with creation of at least double-level structure.

EFFECT: increased body capacity without considerable losses of its strength.

6 dwg

FIELD: transportation; salvage operations.

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EFFECT: immediacy, efficiency and reliability of works on rescue of people from sunk submarine.

6 cl, 6 dwg

FIELD: shipbuilding.

SUBSTANCE: invention relates to shipbuilding, particularly, to production of underwater apparatuses. The proposed underwater apparatus comprises a hollow hull representing a biconvex lens with propelling screws, a deck house, a rudder, portlights, a hatch, elements of fastening to water area bed and a through channel. The latter houses the propulsion unit represented by a reversing Archimedes' screw to propel the proposed underwater apparatus in vertical direction. The through channel represents an axis of rotation of, at least, one rotor. Aforesaid propelling screws are mounted opposite each other along the hull perimetre, fixed brackets with due allowance for changing the sense of rotation.

EFFECT: expanded range of operations on underwater apparatuses at minor depths.

4 dwg

FIELD: shipbuilding.

SUBSTANCE: invention relates to sea transport, namely, to underwater transport complex allowing transportation of cargoes in extreme conditions of Arctic Ocean. The underwater transport complex comprises the adequately equipped sea-based ports, surface icebreaking sea sips or submarines with load-bearing radial plating and necessary complex of systems, seaports, underwater lines connecting them, underwater stationary navigation system and a team of freight submarines. A signaling cable is rigidly fixed all along the route axis. Note here that each seaport incorporates an internal reservoir and a platform with the elevating device located in the said reservoir to accept and ship freight submarines in underwater position.

EFFECT: higher traffic safety of freight submarines plus increased underwater traffic speed.

4 cl, 22 dwg

FIELD: transport.

SUBSTANCE: invention relates to versions of walking vehicle designs. Walking vehicle comprises rectilinear-guiding mechanism mounted on housing and including cross beam arranged on rotary device. Crossbeam supports angle-shaped bell cranks with supports on opposite arms. In compliance with first version, rectilinear-guiding mechanism comprises angle-like rocker with opposite arms centers pivoted to levers, which, in their turn, are pivoted to cross beams with the help of hinge-and-slide devices. Cross beam vertical rotation drive comprises torque reciprocation hydraulic motor attached inside vehicle housing. Hydraulic motor rod is linked up, via transfer mechanism, with cross beam rotation device. Rocker horizontal rotation drive comprises power hydraulic cylinders with their rods pivoted to rocker hinge-and-slide device. In compliance with second version, rectilinear-guiding mechanism comprises angle-like rocker with opposite arms centers pivoted to levers, which, in their turn, are pivoted to cross beams with the help of hinge-and-slide devices, while levers are pivoted to cross beams. Rocker horizontal rotation drive comprises power two-way hydraulic cylinder with its rod rigidly fixed on the housing to make a cross beam. Moving housing is furnished with hinge to accommodate rocker and makes hinge-and-slide mechanism.

EFFECT: higher speed and reliability.

3 cl, 4 dwg

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