GB875504A - Improvements in or relating to load transportation means - Google Patents

Abstract

875,504. Propelling vehicles. EISENWERK WESERHUTTE A.G. Jan. 29, 1958 [Feb. 2, 1957], No. 3004/58, Classes 79(3) and 79(5). The forces exerted on striding mechanisms for transporting a load are controlled by a device corresponding geometrically and in arrangement with the mechanisms and carrying,out the movements of the latter or similar movements on a smaller scale. The load 11, Fig. 1, is carried by striding mechanisms in which the angular movements of members 5, 6, 7 about pivots 8, 9, 10 to produce the striding movement are controlled by corresponding members of a smaller control mechanism. On the latter, angular movement of a member 5<SP>1</SP>, Fig. 4, for example, rotates a pulley 17 which is connected by a wire rope 52 to a pulley 17, Fig. 5, connected to a spring- loaded arm 54 carrying electric contacts which engage contacts 75 or'76 carried by the arm 5 to complete a circuit to' a motor 98 which raises or lowers the arm until the contacts separate. The wire rope is provided with a spring to prevent excessive strain after the motion of the arm 54 has been arrested by engagement of the electrical contacts. Movement of the members 6 and 7 is similarly controlled. Each leg 2 of each striding mechanism is connected by ball joints 12..16 and links 3, 4 with a foot 1 and the members 5, 6 and 7. The lower ends of the legs in the control mechanism are connected by ball joints, such as that shown at 16<SP>1</SP>, to a base plate 18 carried by a turntable 21 which may be adjusted by a pinion 22 on a shaft 23 co-operating with a scale 24. Vertical and horizontal reciprocations corresponding to those required at the feet 1 are imparted to the plate 18 by cams 39 and 40 while to enable the load to be turned on the spot a pendulum movement may also be imparted to it by a third cam (not shown). The cams are carried on a common shaft driven by a motor with a variable speed gear and are axially adjustable with a non- uniform cross-section so that the motions imparted to their followers may be varied. Linkages 26, 28, 30, 32, 40, 41 and 33, 35, 36 and 37 are connected to each other by a horizontal joint 'and transmit the horizontal and vertical reciprocations to the base plate and turntable. The linkage between the third cam and the base plate includes a parallelogram so that the pendulum motion may take place independently of the other movements. An alternative mechanism for actuating the legs 2<SP>1</SP> of the control mechanism is described, the legs being coupled to those of the striding mechanisms by electrical means. An arrangement in which the legs of the control mechanism are more closely joined than those of the striding mechanism and are engaged by arcuate slots having their centres displaced from the turntable centre is also described. The control mechanism may be coupled to the striding mechanisms by pneumatic, hydraulic or electrical means, including radio,