RU2099230C1 - Walking vehicle - Google Patents

Walking vehicle Download PDF

Info

Publication number
RU2099230C1
RU2099230C1 RU95109632A RU95109632A RU2099230C1 RU 2099230 C1 RU2099230 C1 RU 2099230C1 RU 95109632 A RU95109632 A RU 95109632A RU 95109632 A RU95109632 A RU 95109632A RU 2099230 C1 RU2099230 C1 RU 2099230C1
Authority
RU
Russia
Prior art keywords
rod
carriages
speed
housing
elastic rod
Prior art date
Application number
RU95109632A
Other languages
Russian (ru)
Other versions
RU95109632A (en
Inventor
Е.С. Брискин
А.Е. Русаковский
Original Assignee
Волгоградский государственный технический университет
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Волгоградский государственный технический университет filed Critical Волгоградский государственный технический университет
Priority to RU95109632A priority Critical patent/RU2099230C1/en
Publication of RU95109632A publication Critical patent/RU95109632A/en
Application granted granted Critical
Publication of RU2099230C1 publication Critical patent/RU2099230C1/en

Links

Images

Abstract

FIELD: transport engineering; vehicles with propulsive devices other then wheels; cross-country vehicles. SUBSTANCE: walking vehicle has body 1, engine unit 2, horizontal guides 3, carriages 4 with reciprocating motion drives 5, telescopic posts 6, shoes 7 on free ends of telescopic posts furnished with cross rolling unit and limited torque clutch, system 8 to control order of operation and speed of carriages and supports with turnable lever 9, and also vibration damping mechanism with resilient rod 10 installed on body 1 for longitudinal displacement in proportion to change of speed. One end of rod has vibration damper 11 made in form of hollow housing partially filled with loose material and provided with hinge joint 19. Other end is hinge-connected with rod longitudinal displacement mechanism kinematically coupled with turnable lever 9 of carriage and support order and speed control system 8. EFFECT: enlarged operating capabilities. 3 cl, 6 dwg

Description

 The invention relates to vehicles with propulsion devices other than wheeled, for example, with walking propulsors, and can be used for off-road vehicles.
 The closest in technical level and the achieved result is a walking machine containing a body with side-mounted horizontal longitudinal guides, on which carriages with vertical telescopic supports having support shoes at free ends, and a control system for order and the speed of movement of the carriages and supports (US patent N 3135345, CL 180-8, 1964).
 The specified walking machine solves the technical problem associated with increasing maneuverability, which is provided by changing the speed of movement of carriages, for example, one side, up to changing the direction of movement of carriages of one side, which is known from the general level of technology as "tank turning". However, such a solution has a low technical level, because this leads to an increase in lateral loads on telescopic supports, carriages and guides, as a result of which energy costs increase due to overcoming increased friction between the carriages and guides and the emergence of a bulldozer effect in the transverse direction. In addition, a significant drawback of such a walking machine is the presence of oscillations of the longitudinal axis of the body in a touching plane (yaw) and longitudinal vibrations of the body, due to the dynamic imbalance of the walking machine, due to the difference in the kinetic moments of the walking propellers in the phases of support and transfer relative to the center of mass of the walking machine.
 The most important task is to create a new constructive scheme of a walking machine based on a new interconnection of the speed and order control system for carriages and supports in combination with a new vibration damping mechanism equipped with a vibration absorber to absorb longitudinal body vibrations and body longitudinal axis vibrations in the transverse plane, depending from changes in speed, eliminating the dynamic imbalance of the walking machine, reducing the dynamic load on the supports and increasing stability The motion of a walking machine.
 The technical result of the claimed design of the walking machine is the creation of a multifunctional vibration damping mechanism, which dampens the longitudinal vibrations of the body and the vibrations of the longitudinal axis of the body in the transverse plane, by introducing a vibration absorber made in the form of a hollow body, partially filled with granular medium, having a perforated diaphragm and cover, which allows you to dampen the longitudinal and transverse vibrations of the body by dispersing the energy of vibrations due to friction between the particles of the media , friction of medium particles on the air throttling case, automatic control of the degree of damping by attaching a vibration absorber to the case through an elastic rod with the possibility of longitudinal displacements in proportion to the speed change by means of the longitudinal movement of the rod connected to the speed and order of movement of the carriages and supports, due to the execution of the above mechanism in the form of two hydraulic cylinders of different diameters, interconnected by a pipeline, the piston rod is one one of which is pivotally connected to an elastic rod, and the piston rod of the other is pivotally connected to a lever connected to a speed and order control system of the carriages and supports by means of two rods and a two-armed lever, as well as supplying each support with a transverse rolling unit and a torque limit clutch.
 This allows to exclude longitudinal vibrations of the body and “yaw” of its longitudinal axis, to exclude the possibility of spontaneous operation of the clutch of the limiting moment and, as a result of this, spontaneous movement of the walking machine in the transverse direction, which will increase the stability of movement and controllability of the walking machine, as well as reduce lateral loads on supports and energy consumption both in rectilinear motion, and when turning.
 The specified technical result is achieved by the fact that the walking machine, comprising a housing with side-mounted horizontal longitudinal guides, on which the carriages with vertical telescopic racks having support shoes at free ends, and a control system for the order and speed of movement are movably mounted carriages and supports, equipped with a vibration damping mechanism of the case, made in the form of a vibration absorber connected through a rod to the body with the possibility of longitudinal displacements in proportion to a change in speed by means of a mechanism for longitudinal displacement of the rod connected to a speed and order control system for carriages and supports, each support is provided with a transverse rolling unit and a limit torque coupling, and the mechanism of longitudinal movement of the elastic rod relative to the body is made in the form of two hydraulic cylinders of different diameters, while the larger cylinder is equipped with a spring-loaded piston, the rod of which is pivotally connected to an elastic rod, and its supra-piston cavity is connected to the sub-piston cavity of a smaller-diameter hydraulic cylinder by a pipeline, the piston rod of which is pivotally connected to a lever connected to the speed and order control system of the carriages and supports by means of two rods and a two-shouldered lever, while the case vibration damping mechanism is equipped with an absorber vibration, made in the form of a hollow body, partially filled with a granular medium, a perforated diaphragm with the possibility of axial movement relative to the hollow body and Ryshkov and the hollow body is provided with a hinge attached to the elastic rod mechanism with longitudinal displacement.
 Providing the walking machine with a body vibration damping mechanism made in the form of a vibration absorber allows damping the body longitudinal vibrations and “yawing” its longitudinal axis due to the dispersion of vibration energy in the vibration absorber. The connection of the vibration absorber to the body through an elastic rod allows you to increase the level of vibration intensity of the absorber, thereby dissipating a large energy of vibrations. The attachment of the vibration absorber to the housing through the elastic rod with the possibility of longitudinal displacements of the elastic rod is proportional to the speed change by means of the longitudinal movement of the elastic rod connected to the speed and order of movement of the carriages and supports, by changing the length of the rod automatically changes the level of vibration of the vibration absorber in depending on the change in speed, which provides multifunctionality of the mechanism of damping of fluctuations of cus and increases the stability and controllability of movement and reduces the side loads on the bearings and power consumption.
 The mechanism of the longitudinal movement of the rod relative to the housing in the form of two hydraulic cylinders of different diameters, in which the larger hydraulic cylinder is equipped with a spring-loaded piston, the rod of which is pivotally connected to the movable rod, and the supra-piston cavity is connected by a pipeline to the sub-piston cavity of a smaller diameter hydraulic cylinder, the piston rod of which is equipped with a hinge for connecting to kinematic connection for interaction with the control system of the speed of movement of the carriages, allows you to provide the reciprocating movement of the elastic rod relative to the housing with minimal effort on the moving control is proportional to the movement of the speed of the carriages.
 The supply of the vibration damping mechanism of the body with a vibration absorber made in the form of a hollow body partially filled with granular medium, a perforated diaphragm with the possibility of axial movement relative to the hollow body and the cover, allows to dissipate the vibration energy due to friction between particles of the granular medium, friction between particles of the granular medium and hollow body and throttling air, while the mobility of the perforated diaphragm allows you to adjust the vibration absorber to the desired level of absorption and hered automatically requested level when changing the excitation level fluctuations.
 The analysis of the prior art by the applicant, including a search by patent and scientific and technical sources of information and identification of sources containing information about analogues of the claimed invention, allowed to establish that the applicant did not find an analogue characterized by the features of the claimed invention, and the definition from the list of identified analogues of the prototype, as the closest in the totality of the characteristics of the analogue, allowed to identify the set of essential in relation to perceived by the applicant the technical result of lichitelnyh features claimed in the object set forth in the claims. Therefore, the claimed invention meets the requirement of "novelty" under applicable law.
 To verify the conformity of the claimed invention to the requirements of the inventive step, the applicant conducted an additional search for known solutions in order to identify features that match the distinctive features of the claimed invention from the prototype, the results of which show that the claimed invention does not explicitly follow from the prior art.
 Therefore, the claimed invention meets the requirement of "inventive step".
 In FIG. 1. presents a general view of a walking machine; in FIG. 2 is a structural diagram of an elastic rod with a vibration absorber and a mechanism for moving the elastic rod; in FIG. 3, section AA in FIG. one; in FIG. 4 - the lower part of the telescopic support; in FIG. 5 a section BB in FIG. 4; in FIG. 6 is a graph of absorption coefficient versus excitation intensity.
The walking machine comprises a housing 1, a power unit 2, horizontal guides 3, carriages 4 with drives 5 for their reciprocating motion (Fig. 1, 2) and telescopic supports 6 having support shoes 7 at their free ends, a control system 8 for controlling the order and the speed of movement of the carriages and supports, equipped with a rotary lever 9, a vibration damping mechanism. The vibration damping mechanism comprises an elastic rod 10 mounted on the housing 1 with the possibility of longitudinal movements in proportion to the change in speed, one end of which is equipped with a vibration absorber. The vibration absorber 11 comprises a hollow body 12, (Fig. 3) partially made of granular material 13, a cover 14, a perforated diaphragm 15, mounted axially movable relative to the hollow body 12 and separating the internal cavity of the hollow body 12 to the working chamber 16 and the auxiliary chamber 17 Each of the holes 18 of the diaphragm 15 is made in the form of two symmetrical cones facing each other with smaller bases connected by a cylinder, the smaller diameter D 1 of which is chosen equal to 1.2-1.5 of the maximum overall dimension of a particle of bulk material, and a larger diameter D 2 of a larger base is equal to twice the same overall particle size, which orientates the particle and ensures its monopassage free without jamming. The vibration absorber 11 (Fig. 2) is connected to the rod 10 by a hinge 19. The mechanism of longitudinal movement of the elastic rod 10 includes two hydraulic cylinders of different diameters. A hydraulic cylinder 20 of a larger diameter with a piston 21 resting on a spring 22, the rod of which is connected through a hinge 12 to an elastic rod 10. The under-piston cavity 23 of the hydraulic cylinder 20 is connected through the pipe 24 to the under-piston cavity 25 of the smaller cylinder 26. The piston 27 of the hydraulic cylinder 26 is connected through its hinge 28 to a lever 29 held by a spring 30. The lever 29 is connected by a rod 31 with one shoulder connected to the speed control system 8 and the order of movement of the carriages and supports of the two shoulders of the lever 32, the second shoulder of which is connected by a rod 33 with a swivel the lever 9 of the control system 8. The connection of the elastic rod 10 through the hinge 12 with the piston 21 of the hydraulic cylinder 20, and the cavity 23 of the latter through the pipe 24 with the cavity 25 of the hydraulic cylinder 26, the rod of which is connected through the hinge 28 to the lever 29 having a kinematic The communication through the link 31, the two-arm lever 32 and the link 33, with the rotary lever 9 of the control system 8 allows you to move the elastic rod 10 relative to the housing by moving the lever 29 and change the speed of the carriages 4. To eliminate the dry friction of the shoes 7 on the ground during turns that carried out by the inclusion of different speeds of the carriages 4 different sides, the shoe 7 of each support 6 is equipped with a node for its transverse rolling on the ground, which is equipped with a clutch of maximum torque, preventing arbitrary "sliding" walking machines s on the slopes. The transverse rolling unit (Fig. 4) is made, for example, in the form of an endless belt 34, covering horizontal rollers 35, the axes of which are parallel to the longitudinal guides 3, and the limit torque coupling (Fig. 5) is made, for example, in the form of a friction sleeve 37, the inner surface which is conical and coated with friction material, the rim 38 of the roller 35, connected to the sleeve 37 by means of the slots 39, thrust bearings 40, which strengthen the rim 38 between the cheeks 41, and a tared spring 42, jamming the sleeve 37 on the axis 36.
 The walking machine works as follows.
 On a stationary walking machine, the rod 10 with the vibration absorber 11 is completely retracted into the housing 1, the piston 21 of the hydraulic cylinder 20 and the piston 27 of the hydraulic cylinder 26 are in the extreme left position, the lever 29 is in the initial position in which the spring 30 is not deformed. Under the influence of the weight of the bulk material 13, the body 12 of the vibration absorber 11 is in a vertical position, and the perforated diaphragm 15 is set to a position corresponding to the optimal gap between it and the free surface of the bulk material 13 at excitation intensity levels corresponding to the lower boundary of the specified range of effective operation of the vibration absorber 11.
 When the lever 29 is pressed, the rod 31 rotates the two-arm lever 32 and, through the lever 33, the rotary lever 9 of the control system 8. With a rectilinear movement, the actuators 5 begin to move the carriage 4 horizontally along the guides 3 and the telescopic supports 6 with the shoes 7 vertically in the given sequence for identical horizontal speeds on both sides, as a result of which case 1 acquires longitudinal and transverse vibrations, which can be explained by the action of the laws of motion of the center of mass of the system and changes in the angular momentum of the system s. When moving the lever 29, the spring 30 is stretched. Through the hinge 28, the lever 29 moves the piston 27 of the hydraulic cylinder 26 to the right, while the liquid from the cavity 25 enters the cavity 23 of the hydraulic cylinder 20 through the pipe 24 and moves the piston 21 to the right, overcoming the force of the spring 22, and the piston 21 moves the rod 10 with the absorber to the right through the hinge 12 11, thereby pushing the rod 10 out of the housing 1. Due to the elasticity, the rod 10 begins to oscillate in a horizontal plane relative to the housing 1 and along the longitudinal axis together with the housing 1. The vibration absorber begins to move with the wall reaper 10 along the longitudinal axis and relative to the elastic rod 10 on the hinge 19. Particles of the granular medium 13 begin to move relative to the small body 12, colliding with each other and with the walls of the hollow body 12 when this occurs, dry friction between the particles of the granular medium 13 and dry friction between particles and a hollow body 12, as well as air throttling through the hole 18 of the perforated membrane 15, which dissipates the energy of both longitudinal and transverse vibrations. The vibration absorber 11, due to transverse vibrations, begins to perform angular vibrations on the hinge 19 in the vertical plane, the amplitude of which depends on the frequency and amplitude of the vibrations of the rod 10 in the horizontal plane, which, in turn, increases the absorption coefficient. With further pressing the lever 29, the rotary lever 9 is rotated by a larger angle, the speed of movement of the carriages 4 along the guides 3 and the vertical supports 6 increases, the frequency of longitudinal and transverse vibrations of the body 1 increases. The piston 27 of the hydraulic cylinder 26, moving further to the right, moves the piston 21 of the hydraulic cylinder 20 to the right, pushing the elastic rod 10 with the vibration absorber 11 to a large length, which provides an increase in the level of intensity of excitation of the vibration absorber 11. The vibration absorber 11, due to the known effect of vibrational rotation support, begins to rotate in a transverse vertical plane around the hinge 19, while some particles of the granular medium 13 are throttled through the perforated diaphragm 15 from the working chamber 16 to about the auxiliary chamber 17, which is equivalent to changing the gap between the upper boundary of the granular medium 13 in the absence of vibrations and the diaphragm 15, limiting the volume of the working chamber 16 of the vibration absorber 11. In this case, a dynamic equilibrium is established that determines the optimal gap between the bulk of the granular medium 13 located in the working chamber 16, and the perforated diaphragm 14, which automatically supports parameters that provide optimal vibration damping at various levels of excitation intensity (Fig. 6). The spring 42, pressing the friction sleeve 37 against the axis 36, does not allow the rollers 35 to roll in the transverse direction, however, an increase in the absorption coefficient with increasing excitation intensity leads to a decrease in the dynamic loads on the supports, and also increases the comfort of movement due to damping the longitudinal vibrations of the housing 1 . When you release the lever 29, the latter, due to the compression of the spring 30, comes to its original position, while the rod 31 rotates the lever 32 in the opposite direction, the rod 33 rotates the lever 9 in the opposite direction, the speed of movement of the carriages 4 along the guides 3 and racks 6 decreases, the intensity of the excitation of oscillations decreases. The lever 29 through the hinge 28 moves the piston 27 of the hydraulic cylinder 26 to the left, the volume of the cavity 25 increases, and fluid flows from the cavity 23 of the hydraulic cylinder 20 through the pipe 24 there by moving the piston 21 to the left under the action of the spring 22. The piston 21 pulls the elastic through the hinge 12 into the housing 1 rod 10 with vibration absorber 11. The latter ceases to rotate in the transverse vertical plane. Particles of granular medium 13 pass from the auxiliary chamber 17 to the working chamber 16 through the perforated diaphragm 15, the absorption coefficient decreases. The walking machine returns to its original state.
 When the walking machine rotates when the lever 29 is pressed, the rod 10 extends, as a result of which the vibration absorber 11 starts working. The control system 8 provides different speeds for the carriage 4 to move along the sides, which causes the appearance of a turning moment in the transverse plane. On the bearings 6 in contact with the supporting surface, lateral forces arise that create moments relative to the axis 36 of the shoe 7. When this moment is exceeded, the frictional moment of the friction sleeve 37 is increased, the roller 35 begins to roll in the transverse direction, as a result of which the bending of the supports energy costs are reduced due to the lack of a cut of the soil and the formation of a bulldozer effect. When this occurs, the absorption of transverse vibrations by the vibration absorber 11, which provides increased controllability, comfort and reduced energy consumption and dynamic loads on the supports.
Thus, the above information indicates that when using the invention the following set of conditions:
the walking machine is a new structural scheme based on the new interconnection of the speed and order control system for carriages and supports in combination with the new damping mechanism for longitudinal and transverse vibrations of the body, which eliminates the dynamic imbalance of the walking machine and reduces dynamic loads on the supports, thereby increasing stability movements, controllability of the machine and increasing its functionality;
for the claimed invention in the form described in the claims, the possibility of its implementation using the above-described design solutions and methods of application is confirmed;
the walking machine embodied in the claimed invention, when implemented, is capable of ensuring the achievement of the technical result perceived by the applicant.
 Therefore, the claimed invention meets the requirement of "industrial applicability".

Claims (3)

 1. Walking machine, comprising a housing with side-mounted horizontal longitudinal guides, on which carriages with vertical telescopic supports having support shoes at free ends, and a control system for the order and speed of movement of carriages and a support, differing the fact that it is equipped with a vibration damping mechanism of the housing, made in the form of a vibration absorber connected through an elastic rod to the housing with the possibility NOSTA longitudinal displacement proportional to the change speed mechanism by longitudinal movement of the elastic rod, connected to the speed control system and the order of displacement of the carriages and supports and each support is provided with a cross-rolling assembly and clutch torque limit.
 2. The machine according to claim 1, characterized in that the mechanism of longitudinal movement of the elastic rod relative to the housing is made in the form of two hydraulic cylinders of different diameters, while the larger cylinder is equipped with a spring-loaded piston, the rod of which is pivotally connected to the elastic rod, and its nadporshne cavity is connected by a pipeline with a piston cavity of a smaller diameter hydraulic cylinder, the piston rod of which is pivotally connected to a lever connected to the speed and order control system of the carriages and bearings by means of woof rods and two shoulders lever.
 3. The machine according to claim 1, characterized in that the vibration damping mechanism of the housing is equipped with a vibration absorber made in the form of a hollow body partially filled with a granular medium, a perforated diaphragm with the possibility of axial movement relative to the hollow body and cover, and the hollow body is equipped with a hinge attached to an elastic rod with a longitudinal movement mechanism.
RU95109632A 1995-06-07 1995-06-07 Walking vehicle RU2099230C1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
RU95109632A RU2099230C1 (en) 1995-06-07 1995-06-07 Walking vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
RU95109632A RU2099230C1 (en) 1995-06-07 1995-06-07 Walking vehicle

Publications (2)

Publication Number Publication Date
RU95109632A RU95109632A (en) 1997-04-27
RU2099230C1 true RU2099230C1 (en) 1997-12-20

Family

ID=20168757

Family Applications (1)

Application Number Title Priority Date Filing Date
RU95109632A RU2099230C1 (en) 1995-06-07 1995-06-07 Walking vehicle

Country Status (1)

Country Link
RU (1) RU2099230C1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8061436B2 (en) * 2004-08-06 2011-11-22 Roberto Zannini Mobile basket for consolidation work on walls
CN106074024A (en) * 2016-06-07 2016-11-09 洛阳理工学院 Go downstairs in one mechanism
CN110338709A (en) * 2019-06-25 2019-10-18 广东博智林机器人有限公司 The traveling method of running gear, clean robot and clean robot
CN111422277A (en) * 2020-05-08 2020-07-17 山东大学 Robot with buffer feet

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
US, патент, 3135345, кл. 180-8, 1964. *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8061436B2 (en) * 2004-08-06 2011-11-22 Roberto Zannini Mobile basket for consolidation work on walls
CN106074024A (en) * 2016-06-07 2016-11-09 洛阳理工学院 Go downstairs in one mechanism
CN110338709A (en) * 2019-06-25 2019-10-18 广东博智林机器人有限公司 The traveling method of running gear, clean robot and clean robot
CN111422277A (en) * 2020-05-08 2020-07-17 山东大学 Robot with buffer feet

Also Published As

Publication number Publication date
RU95109632A (en) 1997-04-27

Similar Documents

Publication Publication Date Title
US7857325B2 (en) Adjustable-height suspension system
US8776961B2 (en) Shock absorber and suspension apparatus
CN107953937B (en) Improved structure of walking system of walking combined type mobile robot
RU2099230C1 (en) Walking vehicle
US20180105007A1 (en) Electric damper for vehicle
US8960386B2 (en) Damping arrangement
EP2165863B1 (en) Hydraulic damper
KR100890430B1 (en) Elastic leg structure and robot having the same
US20070138755A1 (en) Hybrid-response for suspension system
JP3140718B2 (en) Vibration reduction method and active control device for vibration reduction
CN208760368U (en) A kind of damping suspension gear and mobile robot for mobile robot
CN103950481A (en) Mechanical joint and leg structure of bionic mechanical dinosaur
JPH03186424A (en) Roll damper device
US8733519B2 (en) Linear impelled module damper
JP2002127727A (en) Suspension device
CN203780646U (en) Mechanical joint and leg structure of bionic mechanical dinosaur
RU180781U1 (en) Hydraulic shock absorber
US6193251B1 (en) Automotive suspension system having a plurality of hydraulic cylinders
CN208233201U (en) A kind of endless-track vehicle swing arm Zhi Chongji structure
CN100365316C (en) Kinematic damp variable hydraulic damper and direction stabilizer for vehicle with flat tyre
US11001119B2 (en) Vehicle shock absorber
RU2657720C1 (en) Tractor-robot
US5711541A (en) Stabilization apparatus
JP2007050786A (en) Suspension device
RU187775U1 (en) Vehicle on a sliding surface