RU2245259C2 - Vehicle - Google Patents

Abstract

FIELD: transport engineering; amphibian vehicles.

SUBSTANCE: proposed vehicle has trimaran water displacement body, wheeled propulsive device and water propulsor. Two pressure chambers with fans are installed in bow of body. Surface of body bottom part is provided with bend having two slot-like holes connected with pressure chambers to let out air jets created by fans and forming air cushion in under-bottom space. Wheeled propulsive device is of rolling type and it has individual drive from geared motors. Wheels of propulsive device are made in form of cylindrical housing with flanges on outer surfaces of which round-shape cross slots are milled in number corresponding to number of support and rest flexible members of rim secured by pins in holes of flanges for turning through angle of roll out to form, together with wheel rim and inner engagement of support-and-drive device of vehicle, mechanism with three degrees of freedom implementing rolling system with negative friction providing translational movement of vehicle owing to upward-forward (backward-up-ward) displacement of center of masses. Support-and-drive device can be furnished with covers interconnected by studs. End of upper stud can be made in form of cylinder fitted into extensible grip installed in upper part of vehicle body on its side to change mode of operation of wheel. Water propulsor can be made in form of paddle wheels installed on vertical posts for vertical displacement and containing cylindrical housing fitted in bearings on axle and paddles of rectangular shape or paddles with bevels to build additional traction force and increase efficiency when moving in water or negotiating bogged terrains.

EFFECT: improved operating characteristics of amphibian vehicle.

3 cl, 6 dwg

Description

The invention relates to the field of vehicles - amphibians used to perform transport work on different surfaces of movement (soil, swamp, water).

A vehicle analogue (TS) is known, which contains a sealed enclosure that includes three sections that are interconnected by end hollow elements with the ability to rotate the extreme sections relative to the average 180 ° from the drive and are equipped with clamps for their relative position, motor installation, transmission units, associated with wheel propulsion and water propulsion [1].

The disadvantages of the analogue include the complexity of the design of the body, which must be re-arranged for movement on water, which involves movable seals, since the front and rear parts of the body rotate 180 ° relative to the middle section, which is structurally difficult to implement considering the placement of the power plant and transmission units inside it related to wheel propulsion.

Closest to the proposed invention, the technical essence should include a vehicle, including a displacement housing, a caterpillar mover with locking devices of the middle and rear track rollers, a water reflector, a front hydrodynamic shield, a stern hydrodynamic grille, an insulating casing, an onboard hydrodynamic grill [2].

The disadvantages of this vehicle include the low efficiency of the mover, especially when moving on water, as well as the need to install hydrodynamic shields, locking devices that complicate the chassis design, and, as a result, reduced reliability of the mover and an increase in the cost of the product.

The technical result of the invention is the creation of a universal vehicle due to the use of a transmission-free system with an individual drive wheels of the rolling type, implementing a power flow with negative friction and forced synchronization (gripping effect), paddle navigable wheels and blower fans, creating together with the housing TS air cushion, the combined use of which allows to achieve a high overall efficiency of the vehicle and the effectiveness of its work on different surfaces of movement (soil, swamp, water).

This is achieved by the fact that the vehicle contains a trimaran-type displacement body, in the bottom of which a kink is made with two slit-like openings separated by a keel beam (keel) for air to escape from the blower-fans, creating an air cushion in the underbody space, and a wheeled one a rolling type propeller including a supporting-drive device [3], made in the form of a cylindrical body, on the outer surface of which elastic elements are mounted with the possibility of rotation It can be adjusted by the value of the angle of rolling out (of the track) of the wheel, thus forming, together with the internal engagement of the support-drive device, a mechanism with three degrees of freedom that implements the rolling pattern with “negative” friction, and when moving through water, forced synchronization or effect can be performed if necessary "Capture" of the wheel rims (diagram of Fig.7).

The scheme with an individual drive of the wheels of the rolling type and the propeller wheels of the navigable propulsion device allows to reduce the mass of the vehicle, to assemble the propulsion engines based on considerations of minimizing the circulation of “parasitic” power, and also to increase reliability, durability and overall efficiency.

The essence of the invention lies in the fact that the proposed vehicle design allows you to effectively use it on different surfaces of motion due to the use of a rolling type propulsion device, a water propulsion device, as well as blower fans that create an air cushion in the underbody space and are able to adjust to maximum efficiency when they joint and separate work.

In figure 1. presents a general view of the vehicle with the image of the discharge chamber and fans; figure 2 is a section aa the wheels of the rolling type, figure 3 is a section of the propeller wheel of the navigational propulsion device; figure 4 is a left side view of the paddle wheel with the image of the device for its vertical movement; figure 5 - diagram of the wheel rolling type on the water in the mode of "capture"; figure 6 - scheme of the wheel rolling type on the ground.

The vehicle (Fig. 1) contains a housing 1, in the bow of which there are two discharge chambers 2 with fans 3, the bottom of the housing has an inflection with two slit-like openings 4 for the exit of air flows from the fans, creating an air cushion in the underbody space.

On the sides of the vehicle, in its lower part, wheels 5 are fastened. The rim 6 of the wheels 5 consists of two types of elastic elements 7 and supporting 8, which with their eyes are installed in the transverse grooves of a round shape made on the outer surface of the cylindrical body 11 of FIG. 2 and connected by fingers 9, form a kinematic pair of the first kind - a cylindrical hinge that allows their relative movement (rotation through an angle φ / 2), thus forming a mechanism with three degrees of freedom. This makes it possible to adapt the rim 6 well to changing driving conditions.

The elastic elements 8, located under the supporting elements 7 (Fig. 1, 6) (inside the outer rim), on the one hand, are supporting elements of the outer rim (elements 7), and on the other hand, increase its stiffness and dampen the vibrations of the housing when hitting obstacles. The elastic elements 8 are mounted in grooves of a round shape on the outer surface of the cylindrical body 11, similarly to the elements 7.

The ribs 10 are structural elements of the cylindrical housing 11, including the supporting-drive device 12 (figure 2), in the inner surface of which are mounted the gears 13, forming together with the gear shaft 14 installed in the bearings 15 of the vehicle body 1, gear engagement that implements the torque of the gearmotor 16. The support rollers 17 mounted on the pinion shaft 14 support the vehicle body and shift the center of mass (instantaneous pressure centers) - forward - up (back - up), realizing the rolling pattern ESA with "negative" friction, and cause the translational motion of the vehicle by accumulating the level of total mechanical energy to the value of the resistance to rolling equal to the overturning moment M _opr .

The side covers 18 (Fig. 2), interconnected by pins 19, ensure the stability of the internal engagement of the support-drive device 12 at large angles of rotation of the support rollers 17 of the pinion shaft 14, as well as the upper belts that fix the axles 20 holding the elastic elements 7 and 8 the rim 6 from falling out, provide the rigidity of the design of the movable part of the support-drive device when turning the vehicle and protect the internal cavity of the engagement from the ingress of foreign objects during movement.

The end of the upper stud 19, facing the side of the vehicle, is made in the form of a chamfered cylinder that enters the retractable gripper 21 installed in the upper part of the body (Fig. 2), and this makes it possible to change the operating mode of the wheel.

In the spaces between the wheels of the rolling type 5, vertical struts 22 of FIGS. 3, 4 are installed with grooves in which the guides of the gearmotor bodies 23 of the propeller wheels 24 are moved vertically, a water propulsion device comprising a cylindrical housing 25 mounted in bearings on the shaft 26. On the outer the surface of the cylindrical body 25 inside the fan discs 27 around the perimeter are attached rowing blades 28.

The rowing wheel 24 together with the geared motor 23 using the pushing mechanism 29, the upper eye attached to the bracket 30 mounted on the vehicle, can move vertically, adjusting to the desired mode of operation depending on the surface of movement (water, swamp).

The principles and options of the vehicle can be represented as follows.

The movement on the ground is carried out by summing the torque M _cr from the gear motor 16 to the supporting-drive device 12 by means of the pinion shaft 14, the support rollers 17, which are rolled along the inner surface of the supporting-drive device 12 to shift the center of mass forward - up (back - up). A tipping moment M _{def is created} on the rim of the wheel, consisting of elastic supporting elements (diagram, Fig.6) and forming a mechanical system with three degrees of freedom, which implements the scheme with "negative" friction, the essence of which is as follows.

The magnitude of the input torque M _cr and, accordingly, the level of energy spent on rolling friction is determined by the coefficient of friction b> 0, which is greater than zero and the differential equation of motion has the form:

whose conversion gives the following result:

from which it can be seen that the left-standing terms express the change in the kinetic and potential energy of the system (“skating rink - soil”) over time τ. Since b> 0, the integral on the right is positive and the change in the total energy is negative, i.e. the total energy consumption for rolling friction occurs, which is typical for a conventional rotating wheel that does not have the property of accumulating total energy.

In the considered design of the vehicle propulsion system, the system has the property of accumulating total energy due to the displacement of the center of mass (instantaneous center of pressure) forward and upward relative to a stable equilibrium position and, therefore, we have the coefficients b <0 and h <0, where h = b / 2m .

Then the equation of motion of the system “roller - soil” can be written in the form:

- функция, характеризующая зависимость силы трения от относительной скорости u и является характеристикой трения.Where

is a function characterizing the dependence of the friction force on the relative velocity u and is a characteristic of friction.

значительно меньше v₀ (большая скорость), разложив функцию F в ряд, получим уравнение движения, имеющее вид:At

significantly less than v ₀ (high speed), expanding the function F in a series, we obtain the equation of motion, having the form:

where the term after the equal sign denotes only the displacement of the system from the equilibrium position by the amount F (ν ₀ ) / k in the direction of movement of the wheel.

и его знак определяет вид и характеристику трения и соответственно свойства контактирующих поверхностей.Coefficient b + F '(ν ₀ ) at

and its sign determines the type and characteristic of friction and, accordingly, the properties of the contacting surfaces.

The value of F '(ν ₀ ) represents the slope of the friction characteristic for a given ν ₀ , which for a steeply falling characteristic (b + F' (ν ₀ ) <0), characteristic of the rolling wheel, represents a system with “negative” friction [equation (4)].

Thus, the movement of the vehicle on the ground, the diagram of Fig.6, taking into account the foregoing, is carried out with high overall efficiency.

The movement of a vehicle through a swamp involves the simultaneous use of a rolling type propeller and a navigational propulsion device and, if necessary, air-cushion blower-fans are switched on.

The movement of the vehicle through the swamp is carried out using both the mover of the rolling type and the navigational mover, adjusted in height and kinematic parameters. If necessary, blower fans that create an air cushion can be turned on.

The movement of water can be carried out in different modes, in particular in a displacement mode, the bypass of the wheel propulsion will take a position in accordance with the scheme of figure 5 and, when summing up the torque, forms a self-oscillating system similar to the Frode pendulum. In the case of a sufficiently small difference between the rotation speed of the contour and the frequency of rotation of the force factor (torque M _cr ), the stable periodic motion of the self-oscillating system acquires the frequency of the external force factor (M _cr ). In this case, there is a forced synchronization or grip effect, in which the wheel rim will move in accordance with the scheme of figure 5.

To implement the movement of the vehicle in planing mode, the wheel rim is fixed with the upper stop-latch in the upper position, and we get a gear with internal gearing. The movement is due to the rotation of the rim and the operation of the blower fans creating an air cushion. At high loads, a navigational propulsion device may also be included in the work, however, it will be necessary to solve the issue of synchronizing their work, including regulating tools (angular velocity sensors, longitudinal forces, etc.).

The design features discussed above, using the principle of operation of the rolling type propulsion, the effect of "negative" friction, and when working on water, the effect of "capture", provide high traffic and vehicle performance on different surfaces of movement.

The movement on the ground created by the support-drive device with rotating support elements significantly reduces the negative impact on the soil (due to the practical absence of the tangential stress component during the formation of the track), which is very important from an environmental point of view.

Economic efficiency is achieved by reducing the metal consumption of the structure (transmission-free scheme with an individual drive of the propulsion) and the use of a rolling propulsion type with the effect of “negative” friction when driving on the ground and the effect of “trapping” when moving on water, as well as the integrated use of an air cushion, self-adjusting navigable and mover rolling type.

Literary sources

1. USSR Copyright Certificate No. 1159806, class In 60 F 3/00, 1985.

2. Multipurpose tracked chassis, VV Platonov, VS Kozhevnikov and others. Ed. V.F. Platonov. - M.: Mechanical Engineering, 1998, 342 p.

3. Copyright certificate of the Russian Federation No. 2038218, IPC 60 V 19/00, VK 17/32, 1995

Claims (3)

1. A vehicle containing a trimaran-type displacement casing, a wheel propulsion device and a water propulsion device, characterized in that two pressure chambers with fans are located in the front part of the body, the surface of the bottom part of the body is made with an inflection in which two slit-shaped openings are made connected with discharge chambers for the exit of air flows created by fans and forming an air cushion in the underbody space, the wheel mover is made of a rolling type with indie ideal drive from gearmotors, its wheels are made in the form of a cylindrical body with flanges, on the outer surface of which transverse grooves of round shape are milled according to the number of supporting and supporting flexible elements of the rim, fixed with fingers in the holes of the flanges and having the ability to rotate by rolling out angle, forming at this, together with the wheel rim and the internal engagement of the support-drive device with which the vehicle is equipped, a mechanism with three degrees of freedom that implements the rolling pattern Ia "negative" friction, causing the translational motion of the vehicle due to the displacement of the center of mass of the vehicle up and down (back-up). 2. The vehicle according to claim 1, characterized in that the supporting-drive device is made with covers interconnected by studs, while the end of the upper stud is made in the form of a cylinder with the possibility of its entry into a retractable grip installed in the upper part of the vehicle body on board to change the mode of operation of the wheel. 3. The vehicle according to claim 1, characterized in that the navigational propulsion device is made in the form of paddle wheels mounted on vertical uprights with the possibility of vertical movement and containing a cylindrical body mounted in bearings on the axis, and paddle blades of a rectangular shape or with bevels to create additional traction and increased overall efficiency when moving through water and swamps.

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