RU2318697C2 - Combination lighter-than-air flying vehicles (versions) - Google Patents

Abstract

FIELD: aircraft engineering.

SUBSTANCE: invention relate to semi-rigid airships. Proposed airship contains gondola car and follower-type manipulators operated from control gondola. Airship is equipped with electronic device for maneuvering in vertical plane. Provision is made for connection with agricultural facilities and machinery. According to one design version, airship contains detachable deck for crew and passengers. It can be outfitted with tools for agricultural works, communal works, garden works, fishing and construction. Airship can also be used for carrying passengers and as ferry crossing.

EFFECT: enlarged range of technical means.

6 cl, 31 dwg

Description

The invention relates to aircraft lighter than air of a semi-rigid structure, B64V 1/06. The airship contains the copy type manipulators, B25J 3/00, controlled from the driver's gondola. The device is equipped with electronic means of maneuvering in a vertical plane, V64V 1/70. The device contains special devices for connecting with agricultural implements and machines А01В 59/00, and can be equipped with other working bodies used for very different purposes.

The famous airship "Titan" (Arie Airships. Kiev: Naukova Dumka, 1981, pp. 107-108) with a lenticular-shaped shell, the rigid body of which has an internal power pack consisting of a central beam, partitions and braces, covered with multilayer aluminum sheathing. In the case there are 96 compartments with helium. The power plant consists of eight diesel engines, driving 16 superchargers, which supply compressed air to the rotary air nozzles, providing the movement of the airship, control and stabilization in flight, as well as in hover mode. The main purpose of the airship is to perform the functions of a flying crane during transportation and installation of superheavy loads. During loading and unloading, the airship is fixed by six mooring cables, its control is carried out using an onboard computer. The disadvantage of this airship is the suspension of cargo on cables, which is not always convenient, for example, when attaching agricultural implements to it. In addition, the ropes do not allow manipulating the load, because of which the latter can be fed to the installation site only from top to bottom, but not from the side of the indoor room with a dismantled wall or from below under the ceiling of the room with the whole upper part of all the walls on which this ceiling rests. In addition, the cables will not be able to manipulate individual parts of the cargo for the purpose of assembling or disassembling it.

A known method of processing a water-cement suspension for a concrete mixture by exposure to an electric discharge according to the copyright certificate of the Russian Federation for invention No. 20133422 of 12/13/1991, С04В 40/00, characterized in that the water-cement suspension is treated with one electric discharge with a specific pulse energy of 0.06-0, 3 kJ / dm ³ , with an electric capacity of 150-600 μF and a discharge duration of at least 120 μs. The disadvantage of this method is the lack of special devices that allow you to quickly enter an electric discharge into the concrete mixture.

There is a method of organizing construction during mass migrations (Salmin AI / Architecture and Construction 2000. Abstracts. Nizhny Novgorod: NGASU, part 5, p.60-61), including the construction in the workshop of a vertical skeleton of a building or part of it, consisting of double external reinforcement with fixed formwork covering both the internal and external walls of the building, delivered to the construction site inside the aerostatic shell. From the airship, the concrete mixture is fed into the formwork and thrombosed by the electro-hydraulic method. Horizontal floors of the rooms are delivered to the construction site separately and are installed inside the "wells" formed by the rooms of the rooms located one below the other on different floors. The disadvantage of this method is the lack of description of the airships capable of such construction.

A known system for maneuvering a zeppelin in the vertical plane according to the certificate for utility model No. 19813, B64B 1/70 dated January 9, 2001, comprising a shell of a ballastless airship divided into isolated compartments placed on different sides of the plane passing through the center of gravity, characterized in that along the median the sagittal plane of the shell is a constant volume compartment filled with lifting gas, and the compartments to the left and right of it are made in the form of cells, most of which have movable pistons controlled by electric by the mechanical system and compensating for the absence of elevators on the tail of the airship, while the space on both sides of the pistons contains lifting gas, but the pressure in the compressible part of the cell significantly exceeds the pressure in its incompressible part, and the pressure in the incompressible part is equal to the pressure in the middle compartment communicating with it . In addition, in the described system, the main element of the electromechanical system is two telescopically folding cylinders with a common bottom that serves as their center of symmetry and with return springs, while the ends of the cylinders distant from the center of symmetry are attached at the first to the piston cell and a flexible branch of the air duct, at the second - to the wall of the middle compartment and the air pipe, elements of the electromechanical system are also a closed air pipe, close in diameter to the average diameter of the cylinders, including a ball With a pump and a pipe that conducts compressed air to the cylinders of the cells, the elements in the air duct of each compartment also include an electromechanical relay nozzle with an electromagnet, a core and a return spring, and two shutters with an electric motor driven by the same relay, which consists of two electrical circuits: the first includes a battery of photodiodes and a control winding, the second includes nozzles and electric motors in the compartments, a capacitor bank, a fixed contact and a magnetized ferromagnetic element closing it nt held in the center of the control winding by means of a magnet - in this case 3 batteries of photodiodes of three types of relays, regulating the operation of three types of compartments, are placed under the shutter of the compass needle or under one of the two level meters, and light is incident on the photodiodes through the slot in the compass arrow or air bubble in an opaque liquid level gauges. half of the number of photodiodes in the battery is equal to the number of sections of any of the telescopically folding cylinders, while the air in each pair of cylinders is removed from them through slots in flat annular flaps rotating under the action of the electric motor flywheel, the edges of the slots are bent over the edges of the duct, and the slots themselves are located on different the distance from the center of the damper and from its opposite sides, two on the same damper, occupying a quarter of the length of the circumferential arc including them and opening alternately access to two exhaust and two forcing air into the air pipe branch cylinders.

The disadvantages of this design are

1) the presence of a central compartment that is not separated by transverse partitions and communicates with the cells, in which the gas moves freely along its entire volume during the operation of the pistons, which will lead to trembling and trembling of the airship’s body when its differential is especially sharp,

2) changes in ambient temperature can lead to difficult to control pressure changes under the pistons and in the middle compartment, which will reduce the maximum amplitude of the aligned vibrations of the apparatus body,

3) the cell walls must be made of light flexible material, which will make it difficult to fit the pistons to the cell sizes, gas leakage between the piston and the cell wall is inevitable,

4) a cylinder with air and a pump, numerous electric motors, air ducts with separate walls make the apparatus heavier,

5) in the electric circuit, the use of diodes with one direction of current transmission determines the same reaction of the system to the movement of an air bubble or slit in the compass needle both in one and in the opposite directions, which will lead to a constant expansion or constant compression of the lifting gas under the pistons.

Known copying manipulator according to the author's certificate of the USSR No. 1646842 A1, B25J 3/00 from 06/14/1989, containing the master and the executive bodies fixed on the base and made according to a single kinematic scheme consisting of three links: shoulder, forearm and hand, interconnected by means of intermediate elements having universal joints, while on the driving body there is a lodgement for positioning the operator’s hand, characterized in that in order to improve ease of use by ensuring consistency of movement ı of the master body with the operator’s hand in the entire working area, it is equipped with a tension spring installed between the base and the shoulder of the master body, and the lodgement is located on the forearm and has a U-shape. The disadvantages of the described construction are the two-finger gripping system, which reduces the ability to manipulate objects, the lack of proportionality between the shoulder, forearm and the operator’s hand and similar parts of the executive body, which prevents the operator from subconsciously comparing their movements with the movement of the manipulator’s hand, it’s necessary to use consciousness instead to take care of the placement of the moving item in the right place.

It is known that the structure of domestic agriculture with the predominance of large farms in commodity production and the production of half of the products mainly for subsistence consumption based on manual labor (Klyuev N.N. Ecological appearance of Russia. / Library "First of September". M .: Chistye Prudy, 2005, issue 6, p.27) sets the task of mechanization of agriculture with the condition of intensive use of means of mechanization. That is, funds are needed that will work in the field in the summer, and will not stand idle in the winter, and will be used in industry, for example, in construction, in public utilities, for example, for snow removal. Such a tool was proposed by me. A flying autotractor is a type of airship with a wide speed range from small, designed for cultivating soil, to automobile, designed for transporting goods, with removable devices for cultivating the soil, harvesting, snowing, fishing, sawing and construction, with a container for transportation of goods and other similar structures (Salmin A.I. Peasants in urban civilization. / The new agricultural course of Russia and its implementation. Regional aspect. Materials of conference Penza: Volga House of Knowledge, 23-24 m cavity 2001 s.45-46).

It is known that the large-scale withdrawal of cultivated areas from circulation (over 33 million ha in 1990-2001) continues, while the lands that are removed from circulation are overgrown with shrubs and small-leaved forests. Re-involvement of these lands in the economic turnover will require costs comparable to the costs of the initial development of the territory. The wildness of an abandoned peripheral arable land is accompanied by intensification of land use in villages, suburbs, even in cities (N.N. Klyuyev. Ecological appearance of Russia. / Library "First of September". M.: Chistye Prudy, 2005, issue 6, p.26-27 ) The disadvantage of the described trend is the lack of universal technical means, greater productivity than the tractor, which can work both in the field and uproot shrubs and trees on lands taken out of circulation.

A seeders hitch is known according to the USSR author's certificate No. 1646494, A01B 59/04 of 04/18/1989, containing a crossbar with a transport trailer, longitudinal bars, self-aligning wheels and seeders with trailers mounted in two rows with an offset of the seeders of one row relative to the seeders of another row half of the inter-soshnikovy distance, characterized in that in order to reduce metal consumption and facilitate turning on headlands, each longitudinal beam is placed under the seeder of the first row and is equipped with a three-arm lever, mounting bathrooms on it using the middle arm, and the front shoulder a three-armed lever is fixed on the drill of the first row and the back shoulder of a three-armed lever mounted seeder trailer of the second row. The disadvantage of this invention, as well as all wheeled vehicles, is that it leaves traces of wheels on the beds, requires headlands, gets stuck in the mud after rain, needs frequent washing, has a low, limited by tractor speed, field speed.

A well-known deltlet for agricultural work, comprising a wing with a tubular spar and transverse stiffeners, a power unit, a trolley, a substance tank connected by hoses through a pumping unit with a distribution system to which liquid atomizers are connected, characterized in that the transverse stiffeners are made in in the form of tubes hydraulically connected to the spar and forming together with it a distribution system. The disadvantages of the proposed design are the small number of types of agricultural work carried out with the help of a hang-glider, low lift, relatively low flight ceiling.

A known machine for harvesting timber according to the author's certificate of the USSR 3 1791354, В66С 23/683 dated 06/25/1990, containing a self-propelled chassis, an arrow, the base of which is mounted on the latter with the possibility of rotation in a horizontal plane, a handle pivotally connected to the end of the arrow, a working body, placed on the handle, and the hydraulic cylinders of the boom and stick drives, characterized in that in order to improve operational characteristics by expanding the service area, the hinged connection of the handle with the end of the boom contains a pivotally attached to this end, a U-shaped clip with a vertical spline drive shaft placed on it and a L-shaped insert mounted at one end on the last and connected by a middle part to the handle, and the other end to the drive hydraulic cylinder of the latter, while the said clip is pivotally connected with the base of the arrow with the formation of an articulated parallelogram with this arrow. In addition, for this machine, the vertical spline shaft rotation drive contains a hydraulic cylinder mounted on the upper plane of the U-shaped cage and a rack-and-pinion gear, the gear of which is located on the splined shaft, and the hydraulic cylinder rail is its rod. The disadvantages of the described design are the impossibility of performing fine precise operations in connection with the actually two-finger structure of the gripping-cutting device, the inability to be placed on the aircraft is lighter than air, expressed, for example, in the use of heavy hydraulic cylinders.

Aerobol is known - a type of competition where a helium-filled balloon without a load with a heavy shell that balances the weight of its weight with aerostatic lifting force is used as a ball, and airships are athletes on airships playing according to football and hockey rules (Salmin A.I. Aerobol and the return of prestige to mental work. / Actual issues of the development of education and production. Abstracts of the second conference. Nizhny Novgorod: VGIPI, May 22-23, 2001, p.117). As a field, a sky section is used, the edges of which are fenced with long ropes or strips of dense fabric stretched in the air parallel to the surface of the earth due to the attachment to balloons attached by ropes to the cargo on the ground. The gates are a huge frame made of ropes with a grid and are suspended at opposite ends of the field by balloons. To blow the ball and throw the ball into the field, you can use air blown out of the air ducts that open in the front and nose side parts of the airship with adjustable force. A simple ball ram is possible. The total number of airships should not exceed 6 on each side, one of them can defend the gate. Unlike football, to achieve greater entertainment and speed, as in hockey, they play three periods of 20 minutes, replacing every 5 minutes of airship pilots who are not standing at the goal. The goalkeeper’s airship should be equipped with a trap, and the game ones should have standard engines and standard power of air-throwing pumps. The disadvantage of the proposed sport is the lack of a technical description of the apparatus capable of participating in it.

Known examples of nozzles containing an electromagnet attracted to the body, the needle connected to the magnetic circuit acts on the valve, and overcoming the force of the spring, opens it (GP Pokrovsky. Electronics in the fuel supply systems of automobile engines. M .: Mechanical Engineering, 1990, p. 113-121). The disadvantages of the nozzles are not discussed, since they are applicable in the present invention.

Known gondola stratospheric balloon parachute SP-2 (S.V. Revzin. Stratospheric balloon parachute. M: DOSAAF, 1946, p.32-36) with a diameter of 2.1 m, a height (with shock absorber) of 2.6 m and a weight of 250 kg The gondola frame consists of six vertical duralumin pipes (posts) with a section of 30 × 28 mm located along the edges of a regular hexagonal prism. The upper and lower ends of these racks are connected by horizontal pipes. The nacelle shell is made of 12 duralumin sheets 1.4 mm thick, knocked out around the sphere and interconnected by hermetic riveted seams. Inside the gondola, at its equatorial section, there is a table of 5 mm plywood, glued with dermantine. The table is connected by the upper and lower nodes of the frame 12 inclined duralumin pipes with a cross section of 25 × 23 mm Most instruments and other gondola equipment are attached to the table. The floor of the gondola with an area of 1.35 m ² consists of four detachable parts. In the center of the floor there is a cutout with a lid for observation through the upper porthole. A lightweight folding chair is attached to one of the uprights. In addition, for the seat it was possible to use two footboards located under the hatch. A shock absorber is mounted under the gondola for landing. The gondola shell has 7 portholes: one in the upper pole for observing the balloon and the shaft, as well as for special photographs of the sky at the zenith, one in the lower pole for observing and photographing the Earth, three in the lower and two in the upper hemisphere for observing rigging and viewing to the sides. Glasses with a thickness of 8 mm and a diameter in the light of 150 mm are inserted into the windows. In case of damage to the glass, they can be closed with sealed safety caps. The following requirements are imposed on the gondola hatches: full tightness, lightness, maximum speed of opening and closing both inside and outside the gondola, the possibility of free exit of people with parachutes. The manhole cover is not fixed, but only tightly pressed against the saddle: in the future, it is reliably held by internal overpressure when lifting the device. The hatch is arranged as follows. A cutout in a sheath with a diameter of 600 mm is reinforced with an annular seat molded from silumin and having a groove around the circumference for a rubber seal ring. The saddle is attached to the shell with two rows of rivets. The manhole cover, which opens inside the nacelle, has at the base an annular siluminium casting with a sealing protrusion, which is pressed into the rubber ring of the saddle. The gondola has two hatches that open on the outside and inside for 2-3 seconds. If during landing one of the hatches was pressed to the ground, the crew could exit through the second, without waiting for outside help. In flight, hatches can be opened only after the pressure in the nacelle is equal to the outside, which is achieved using the emergency valve. The control valve is designed to regulate the pressure inside the nacelle and is a small-sized needle valve, opening which you can let out the air and lower the overpressure in the nacelle. The disadvantages of the described gondola are its adaptability to flights in the upper atmosphere, which makes it heavier, and low visibility through round portholes.

Known and proposed as a prototype, a combined semi-rigid guided aircraft is lighter than air according to the patent for the invention of the Russian Federation No. 21411911 C1, BV 1/06 dated 03/25/1999, comprising a housing in the form of a spherical elastic shell filled with gas lighter than air with flexible coupling elements of adjustable length and mounted on it by means of a suspension with a gondola with a chassis, a control system, a device for gripping loads and marching engines located symmetrically to its longitudinal axis, characterized in that it is equipped with a with a fixture in the form of a hard torus in contact with the inner surface of the elastic shell with rigid bow and stern cowls, brackets for securing the mid-flight engines and a blowing system to reduce the resistance to movement in the form of nozzles forming a front concentric on the outer surface of the spherical elastic shell, rear and intermediate vertical annular zones placed between them, the chassis is made with hinged support legs, marching the engines are made with turbochargers connected by means of high pressure hoses with nozzles, the elastic spherical shell is made with an elastic funnel-shaped gas-tight membrane, dividing its cavity into a sealed gas compartment located above it, lighter than air, and a thermostatic ballasting compartment located below it, which has devices for feeding into it and the release of heated gas and outboard air from it, the aforementioned hard torus is displaced upward, and the horizontal plane of its arrangement the longitudinal axis is separated from the horizontal plane passing through the center of the spherical elastic shell by 0.005-0.1 of its diameter, and said flexible coupling elements of adjustable length form a nacelle suspension linking it with a rigid torus of said spacer and with an elastic shell, while on it the outer surface of the said nozzles are located from each other with a step h in the horizontal and with a step h in the vertical plane, respectively 0.05-0.5 and 0.0025-0.125 of the diameter of the elastic shell. In addition, the hard torus is made with compartments to accommodate ballast. In addition, the device for capturing cargo is made in the form of longitudinally fixed elements of adjustable length fixed on a nacelle with gripping devices mounted on their free ends. In addition, it is equipped with fuel cells, water electrolysers and a battery, and the spherical elastic shell is made with a cladding fixed to its outer surface in the form of a film with a photoelectric effect.

The disadvantages of the described invention are

- suspension of the gondola on the ropes, which makes it difficult for people to penetrate into the gas compartment in flight in case of an accident to the engines or a torn shell element,

- the inability of the pilot to approach the apparatus to an object on the surface of the earth, being in a gondola, without help from the ground,

- the inability to move the load relative to the apparatus using grippers, except for vertical movement, which is not always convenient, for example, during installation, this leads to the conventionality of the universality of the apparatus, which boils down to the transportation of any cargo, but not to any actions with the cargo,

- the external location of the marching engines, which will interfere with the work of people near the apparatus, generating air flows, and will interfere with the harvest from the devices suspended from the apparatus, bending the stems of the cut, excavated plants by air currents.

The aim of the invention is the adaptation of the airship semi-rigid design to perform ground, near earthworks by combining it with the corresponding work tools.

The technical result of the invention are

- a stool-shaped airship equipped with copy-type manipulators and deck supports in the form of trusses with grooves for installing deck beams or mounted implements,

- an airship equipped with a roll compensation system by electronic control of the volume of chambers with lifting gas,

- the airship, which is equipped with an electronic system for changing the direction of flight when changing flight altitude,

- an airship that can be used for sports for playing aerobol,

- an airship that can be used as a ferry to cross a river, gorge, ravine,

- an airship that can be used in agricultural work with the placement of removable arable, sowing, harvesting and other equipment,

- an airship that can be used in construction as a crane and transporting concrete mixers, equipment for electric-discharge thrombosis of concrete mix, building materials and other removable construction equipment and goods,

- an airship that can be used to launch reusable planes and spacecraft,

- an airship that can be used to transport disassembled gas and oil refining and producing equipment and for the installation of this equipment,

- an airship that can be used in logging, gardening,

- an airship that can be used for passenger traffic,

- an airship that can be used in public utilities,

- an airship that can be used in fishing and fish farming,

- An airship that can be used to deliver variable-mold molds and other machine tools to the place of temporary deployment.

This technical result is achieved in that the combined aircraft is lighter than air, including an elastic shell filled with gas lighter than air, a torus spacer, a gas-tight membrane that separates the shell cavity into an airtight compartment lighter than air and a thermostatic ballasting compartment having an outboard air, nozzles, marching engines, a nacelle, batteries, a device for capturing goods, characterized in that the cavity of the said torus is divided into the aforementioned pressurized gas compartment is lighter than air and the thermostatic ballasting compartment underneath it, the torus is formed by a spacer in the form of two fastened spirals over which an elastic shell is stretched, a tunnel is formed for the thermostatic ballasting compartment to move air from two inlet nozzles to two outlet nozzles located respectively in the front part of the torus and its rear part, in the nozzles there are fans with marching engines, at the entrance of the front nozzles there are also electric heating elements for air heating, the cavity inside the smaller radius of the torus is divided into four equal chambers of variable volume - front left and right, rear left and right, under which the lower central chamber of constant volume is located, with the possibility of electronic regulation of the volume of the compartments depending on the roll of the apparatus, to the torus four oblong ballonets with gas lighter than air are attached below: the front left and right, the rear left and right, having spacers in the form of two fastened spirals on which they are pulled an elastic shell, the lower ends of the ballonets are connected to a triangular lattice by trusses that form a rectangular frame and have grooves for installing beams intersecting at right angles, on which a deck with attached handrails is mounted, made with the possibility of dismantling the boards and located below the gondola, a gondola with a control system and two seats for the pilot and the driver of the manipulator are attached to the lower central chamber, the manipulators are attached to the gondola on the movable levers symmetrically to the left and right type and their counterweight with massive batteries, the shell of the device is double and made with the possibility of air movement between its layers, the device includes left and right cables with the possibility of movement along them in the front and rear directions due to the presence of gears driven by electric motors, the device includes a first ladder wrapping around one of the oblong ballonettes leading to a torus compartment with air, and a second ladder, fenced off from the gas of the lower central chamber, descending into the gondola with the possibility lifting a person into the torus along the first ladder and lowering him from there to the gondola along the second ladder, the torus room has hatches separating him from the rooms with ladders, the gondola also has a hatch and ladder for lowering the counterweight to the batteries into the hatch.

In addition, the combined aircraft is lighter than air in that agricultural implements are hung on the farm for tillage, sowing or harvesting.

In addition, the combined aircraft is lighter than air, characterized in that the deck is surrounded by a board and is waterproof with the possibility of partial immersion in the water of the reservoir.

In addition, the combined aircraft is lighter than air in that it carries an axial fan with inlet and outlet corrugated hoses.

In addition, the combined aircraft is lighter than air, including an elastic shell filled with gas lighter than air, a torus spacer, a gas-tight membrane that separates the shell cavity into a sealed compartment lighter than air and a thermostatic ballasting compartment, which has a device for supplying outboard air into it, nozzles, marching engines, a nacelle, batteries, a device for capturing cargo, characterized in that the cavity of the said torus is divided into the aforementioned airtight compartment with gas lighter than air and the thermostatic ballasting compartment underneath it, the torus is formed by a spacer in the form of two fastened spirals over which an elastic shell is stretched, a tunnel is formed for the thermostatic ballasting compartment to move air from two inlet nozzles to two outlet nozzles located respectively in front of the torus and its back, in the nozzles there are fans with marching engines, at the entrance of the front nozzles there are also electric heating elements for heating the air, the cavity inside is smaller of the radius of the torus is divided into four equal chambers of variable volume - front left and right, rear left and right, under which the lower central chamber of constant volume is located, with the ability to electronically control the volume of the compartments depending on the roll of the apparatus, a nacelle with a control system and two seats for the pilot and the driver of the manipulator is attached to the lower central chamber, an electronic system for changing the flight altitude depending on the direction of its flight relative to the mag itnogo field of the Earth, to the gondola on movable arms symmetrically left and right paddles attached feeler type and a counterweight to the massive batteries, and a double shell unit is configured to air movement between its layers.

In addition, the combined aircraft is lighter than air in that the nacelle carries an axial fan with inlet and outlet corrugated hoses.

Description of figures 1-31,

where: Figure 1 - a combined aircraft lighter than air, front view in the right half and a cross section AA in the left half. Figure 2 - combined aircraft lighter than air, side view. Figure 3 - combined aircraft lighter than air, top view. Figure 4 - the receiving part of the roll detector, a side cut. Figure 5 - the receiving part of the direction detector, top view, part of the curtain is absent. Figure 6 - the receiving part of the direction detector, side view of the BB. 7 - fastening of the spiral contactor 50 to the axis of the magnetic arrow with the open position of the contactor. Fig. 8 shows the fastening of the spiral contactor 50 to the axis of the magnetic arrow in the closed position of the contactor. Fig.9 is an enlarged side view of the GG open contactor. Figure 10 is an electrical diagram of the direction and roll detectors. 11 is a diagram of the device link movers (phalanx, hand, shoulder or forearm) of the manipulator in the vertical and horizontal (or frontal) planes, type DD. 12 is a diagram of a device of the same manipulator link mover, view EE. Fig. 13 is a sectional articulation of a manipulator joint. Fig - receiving device of the bend of the fingers and hands. Fig - sensing device of the bend of the shoulder. Fig - inductor 78 or 79, perceiving bending, in section. Fig is a schematic diagram of the control link of the manipulator. Fig. 18 is a control diagram for clove 67. Fig. 19 is a deck, bottom view. Fig - location on the deck of the pump for playing aerobol. Fig - drill plow, side view. Fig. 22 is a diagram of an arrangement of drill plows on a frame of farms 21. Fig. 23 is a diagram of an arrangement of seeders on a frame of farms 21. Fig. 24 is a cross-sectional view of a seeder. Fig - location of the harvester on the transverse beams of the farm 21. Fig. 26 is a geometric diagram of the cables 33 supporting the apparatus at a constant height. Fig. 27 is a diagram of a device of a mover of a shoulder or forearm around its own longitudinal axis. Fig - a diagram of the device of the same propulsion of the shoulder or forearm, view LJ. Fig. 29 is a sensing device for turning a shoulder or forearm around its own longitudinal axis, top view. Fig - horseshoe-curved inductor, perceiving the rotation of the forearm around its own axis. Fig - connection of the outer and inner layers of the shell.

The numbers in the figures are indicated.

In Fig. 1 and below: 1 - a toroidal chamber with gas, 2 - a left rear balloon with gas, 3 - a right rear balloon with gas, 4 - a right front chamber with gas of variable volume, 5 - a lower central chamber with gas, 6 - the membrane separating the tunnel 7 with air from the chamber 1, 8 - the fan, 9 - the inlet and outlet nozzles of the tunnel 7, 10 - the nacelle of the drivers, 11 - the front glass of the cab, 12 - the bolt-axis holding the manipulator, 13 - the counterweight of the manipulator with battery batteries 14, 15 - the arm of the manipulator, 16 - the joints of the joints of the manipulator, 17 - the shoulder, 18 - the forearm, 19 - the palm, 20 - phalanxes of fingers, 21 - truss with a triangular lattice, 22 - grooves of truss 21 for installing deck beams or attachments, 23 - electric motor, 24 - motor axis with thread, 25 - nut, 26 - bellows-shaped fold of the chamber 4 around axis 24, 27 - suspension cables of the electric motor 23 to the chamber walls, 28 - a corridor for lifting from the cabin 9 to the compartment 7 with air, 29 - supports for the axis 12, 30 - a chair, 31 - a spiral frame, 32 - manhole covers, 33 - a cable, 34 - a gear wheel pressing the cable 33 to the bracket 35, 36 - a ring at the end of the cable 33.

In figure 2 and below: 37 - a spiral staircase-ladder for entering the apparatus in a long way, 38 - the right front balloon with gas, 39 - the axis of the counterweight 13.

In figure 3 and below: 40 - the left front chamber with gas of variable volume, 41 - the right rear chamber with gas of variable volume, 42 - the left rear chamber with gas of variable volume.

In Fig. 4 and below: 43 is the direction of incidence of the light rays, 44 is the air bubble, 45 is the opaque liquid, 46 is the transparent housing of the device, 47 is the massive half cylinder, 48 is the needle, 49 is the carrier plate of the terminals 50, 51 is the battery photodiodes, 52 — a shelf carrying two batteries of photodiodes, 53 — dielectric fluid (oil), 54 — depression in the half-cylinder for installing the needle.

In figure 5 and below: 55 - magnetic arrow, 56 - curtain, 57 - hole in the curtain for light, 58 - axis attached to the arrow.

In Fig.6 and below: 59 - spiral contact.

In Fig.7 and below: 60 - bracket for fixing the spiral contactor in the open position.

11 and below: 61 - pneumatic cylinder, displacing the link in the vertical direction, 62 - pneumatic cylinder, displacing the link in the horizontal or frontal direction, 63 - pistons of the pneumatic cylinders, 64 - movable supporting axes of the pneumatic cylinders, 65 - end plates of fastening, 66 - fixed support rod, 67 - teeth fixing the piston, 68 - case with folds from air leakage, 69 - air supply hose from the right space of the pneumatic cylinders to the left, 70 - air supply hose from the left space of the pneumatic cylinders to 71, - pump, pumping air from the left spaces of all pneumatic cylinders to the right, 72 - a pump evacuating air from the right spaces of all pneumatic cylinders to the left, 73 - nozzles that let in portions of air pumped from the left spaces of the pneumatic cylinders to 74, - nozzles that let in portions of air being pumped from the right pneumatic cylinders to the left.

In Fig.13 and below: 75 - spherical hollow end of the underlying link, 76 - spherical trellised bowl of the upper link, 77 - a circular hole in the bowl 76.

In Fig. 14 and below: 78 is an inductor perceiving a bend in the vertical direction, 79 is an inductor perceiving a bend in the horizontal or frontal direction, 80 is a magnet, causing current in the coil 78 or 79 to move, 81 is a thread that moves magnet 80, 82 — return spring of magnet 80, 83 — ears through which thread 81 is wound, 84 — spring holder 82, 85 — ring open on lindens or non-open, metal, 86 — spring tightening rings 85 of one joint, 87 — wiring cable.

On Fig and below: 88 - strap fixing the shoulder girdle attached to the back of the chair 30.

On Fig and below: 89 - low-frequency amplifier, 90 - inductance coil, causing retraction of the clove 67, 91 - foot switch manipulator.

In Fig. 18 and below: 92 - the magnetic core of the coil 90, 93 - levers that retract the clove 67, 94 - supporting fixed axes of the levers 93, 95 - return spring, 96 - the direction of movement of the piston 63.

In Fig. 19 and below: 97 — longitudinal beams, 98 — transverse beams, 99 — boards, 100 — slit in one of the transverse beams for pushing the concrete mix-threaded apparatus mounted on the pole of the spark gap.

In Fig.20 and below: 101 — axial fan, 102 — corrugated hose suctioning air, 103 — corrugated hose discharging air.

In Fig.21 and below: 104 is a rotating drill, 105 is the angle of inclination of the drill (30 degrees or less), 106 is a T-shaped support of the drill motor 23.

23 and below: 107 — parallelepipeds inserted into the grooves 22 of the farm 21, 108 — a fixed beam, 109 — an axis rotated by electric motors, 110 — a rotating drum with uniform rows of holes.

In Fig.24 and below: 111 - a stationary container for seeds, 112 - a slot for feeding seeds to the holes of the drum 110, closed by a shutter (not shown due to fineness) in the absence of rotation of the drum 110, 113 - holes in the drum 110.

25 and below: 114 — silhouette of the combine, 115 — silhouette of the gondola of drivers 10, 116 — silhouette of the counterweight of manipulators 13, 117 — additional supports welded to the transverse beam.

On Fig and below: 118 - the front of the cable 33, stretched between the front hook-lock on a post dug into the ground, and the device in front, 119 - the rear of the cable 33, stretched between the rear hook-lock on a post dug into the ground , and the apparatus at the back, 120 - the rear third of the middle part of the cable 33, stretched between the wheels 34 of the rear half of the device, 121 - the loose middle third of the middle part of the cable 33, sagging to the ground, 122 and 123 - the cable at different positions of the device relative to the ground, 124 - the front third of the middle part of the cable 33, stretched between the wheels 34 of the front floor ina apparatus.

In Fig. 27 and below: 125 - a horseshoe-shaped pneumatic cylinder that rotates a shoulder or forearm around its own longitudinal axis, 126 - a coupling at the end of a movable supporting axis, 127 - an end plate of an attachment with a slot for the coupling and a hole for the movable supporting axis to enter.

In Fig. 29 and below: 128 — the sub-shoulder arm, 129 — the sub-forearm shaft, 130 — the curved shaft for attaching the shoulder shaft to the chair, 131 — a tight cylindrical hinge that rotates when the shoulder or forearm is shifted in a vertical plane, 132 — a tight cylindrical hinge, turning when the shoulder or forearm is displaced in the horizontal or frontal plane, 133 - the fastening ring of the sub-forearm or subhumeral rods in the upper part of the forearm or shoulder, respectively, 134 - inductively curved horseshoe-shaped coil ST, perceiving the rotation of the shoulder or forearm around its own longitudinal axis, 135 - openable bracelet, for example, on lindens.

In Fig. 30 and below: 136 are the runners for sliding the magnet 80, 137 is the support for maintaining the distance, 138 is the wheel at the end of the support 137, 139 are the rods supporting the coil 134, the runners 136, the support 137.

On Fig and below: 140 is the inner gas-tight layer of the shell, 141 is the outer layer of the shell, 142 is the folds of the outer layer, 143 is the seam with which the end of the folds farthest from the base is sewn to the shell layer 140, 144 is the seam which is closest to the opposite sides of the fold are sewn to each other, 145 is the air gap. The arrows in the direction of the viewer show the direction of air movement in the air gap.

Information confirming the possibility of carrying out the invention

The aircraft is a combination of two devices: 1) an airship having the form of a seat turned upside down, including a truss 21 with a deck, 4 oblong ballonettes with gas lighter than air in the corners of the deck above it, a torus divided by a horizontal or almost horizontal membrane into a compartment with gas lighter than air and a compartment for air movement, 2) an aerostat with an almost spherical shell in a flattened state, divided into a lower central chamber in the lower half of the shell and 4 identical chambers of varying about the volume in the upper half of the shell, as well as with a gondola, a copy type manipulator and a counterbalance of the manipulator with batteries. The common center of mass of the combined unloaded apparatus is at a level between the counterweight 13 and the deck. The counterweight 13 is a container with an access hatch from above, internal electric lighting and two massive batteries 14 inside. Batteries 14 are similar to those that are installed on loaders (electric cars) for work in storage facilities (lead-acid batteries made in Bulgaria), or those that are installed on underwater vehicles (Kolbenev I.L. Electrochemical generators in underwater vehicles, 1980). From this it is clear that if the shell is filled with helium, the apparatus turns out to be large, like a zeppelin, with an average torus radius of about 100 m in order to be able to carry a multicenter load.

The torus consists of two frame spirals fastened together at the intersections with a gas-tight shell stretched over them, which contains loops into which the frame spirals are wound. The upper, largest part of the torus is filled with helium or other lifting gas, the lower part of the torus, enclosed by a horizontal or slightly inclined membrane, is a passage for air that enters the front nozzles of the torus and exits through the rear nozzles of the torus. In the front and rear nozzles 9 are installed propellers, which respectively pump air into the torus and forcefully eject it from the torus from behind. By adjusting the speed of rotation of the fans on the left and right with rheostats in the gondola, they achieve different speeds of the apparatus. By installing rheostats in the gondola at different speeds of rotation of the fans on the left and on the right, they achieve turning the device to the left or right. The front screws behind them contain heating elements (not marked in the figures) for heating the air entering the torus. By adjusting the degree of heating of the heating elements with rheostats in the gondola, the air is heated in the lower part of the torus, causing different heights of the apparatus rise, and in the winter, the apparatus shell is heated, as will be shown below.

From the bottom, 4 oblong ballonets 2, 3, 38 are attached to the torus (the left rear one is not visible in the figures). They also contain double spirals of the frame 31. The upper ends of these spirals are attached to the spirals of the frame of the torus, the lower ends to the trusses 21. Like a torus, a gas-tight shell is stretched on the spirals of the frame 31.

Inside the smaller radius of the torus there are chambers of a spherical shell in the expanded state of the balloon shell. It is divided by a horizontal partition into the lower, central to the whole apparatus camera and the upper half. The upper half is divided by longitudinal vertical and transverse vertical partitions into 4 chambers of equal volume: front left and right, rear left and right. In the center of each chamber, electric motors 23 are suspended on the cables 27, with which you can change the volume of the cameras independently of each other. Cables 27 are attached to the spirals of the torus frame on one side and to each other on the walls of the chambers on the other side. A device for changing the volume of the chamber is a rotating axis 24 with a thread, combined with the rotor of the electric motor. On the axis 24, a nut 25 is located, which contains holes in which loops are sewn, sewn to the upper edge of the camera shell. For sealing, the place of movement of the nut 25 along the axis 24 is surrounded by a bellows-shaped fold 26, which is a corrugated hose, which is attached to the nut at the upper point, and to the electric motor at the lower point, folds when nut 25 slides down the axis 24 and straightens when it is lifted up the axis . The nut 25 itself is fixedly fixed by binding to the upper edges of the bellows-shaped fold and moves along the thread of the axis 24 due to the rotation of the latter. When lifting nut 25, the volume of the chamber with gas increases, while lowering it decreases. When the volume of two left chambers increases or the volume of two right chambers decreases by the signal from the roll detector, the device is aligned after tilting to the left. When the volume of two right chambers increases or the volume of two left chambers decreases, the device is leveled after tilting to the right. When the volume of the two front cameras increases or the volume of the two rear cameras decreases, the unit lifts its bow down. When the volume of the two rear cameras increases or the volume of the two front cameras decreases, the device raises its lowered stern. When the volume of all four chambers increases, the gas in them expands, the apparatus gains height. When the volume of all four chambers decreases, the gas in them is compressed, the apparatus loses altitude.

The nacelle can be made of six duralumin (or other material) pipes (uprights), four of which are located along the edges of a regular parallelepiped, and two in the middle of the side faces of the parallelepiped. The upper and lower ends of the racks are connected by horizontal pipes. The gondola shell is made of 4 layers of duralumin sheets. The upper wall is formed by the shell of the lower central chamber 5, which is sewn with cables to the upper horizontal pipes with sealing joints. The front wall is made of plexiglass and is completely transparent. On the lower horizontal pipes, a gondola floor is mounted on top, in which there is a hatch equipped with a rope ladder for direct descent to the deck and on the upper cover of the counterweight 13, where there is also a hatch for entering the battery compartment. Unlike the parachute stratospheric balloon, the presented device is designed for flights near the ground itself, therefore it does not need to be completely sealed. The hatches in it are made like the hatches of a stratospheric parachute. There is a hole in the ceiling of the gondola for entering it in a long, but safer way than the direct path down the ramp. In the racks located in the middle of the side faces of the parallelepiped, holes were made for the axle bolts, on which levers with manipulators are suspended. A counterweight with batteries is suspended from the shorter arm of the lever; the upper joint 16 of the arm 17 of the manipulator is located on the longer arm of the lever. The nuts of the axle bolts are welded to them so that the levers do not slip. Two seats are installed in the gondola: for the pilot and for the driver of the manipulator.

From the hole in the ceiling of the gondola leads corridor 28 with a ramp. The corridor 28 is made of a dense corrugated gas-tight material, to which the ladder is sewn inside. The corridor is sewn with sealing the seams to the shell of the lower central chamber 5. At the end of the corridor, there is a hatch at the top that opens into the room with torus air. A second same hatch leads from the torus to the spiral staircase-ladder 37 around one of the oblong ballonettes, containing a railing and sewn from one side to the shell of the oblong ballonet.

The shell of the torus, chambers and balloon is made double: the inner layer 140, gas-tight, is designed to hold the lifting gas inside the shell, the outer layer 141 is designed to mechanically protect the inner shell. Reflective paint is also sprayed onto the outer layer to prevent the apparatus from heating up by the sun. The outer layer forms folds 142, which are seamed at the ends distant from the base to the inner layer to seal the seams, and the opposite ends closest to the base to each other. Therefore, between the outer and inner layers there is an air gap (Fig.31). On the lower surface of the torus there are numerous holes through which heated air can enter this layer and, moving inside the folds, heat the device from the outside. The outlet openings of the interlayer are located at the ends of the folds distant from the inlet openings of the torus. Folds in the shell of elongated balloons form spirals with outlet openings on the side of truss 21. The folds of the lower central chamber and chambers of variable volume have a meridional structure, the openings at their ends open near the horizontal tubes of the nacelle and near the upper pole of the apparatus. The folds of the torus are round, the holes are made in the upper part of the torus. Thus, as with the prototype, air jets wash the gas-tight shell from the outside, but are not washed off by air streams running in front, since they are located under the outer layer of the shell, which is more effective from the point of view of heating the shells of the apparatus from the outside.

Copy-type manipulators consist of devices perceiving movements of the driver’s hands located in the nacelle and mounted on the driver’s chair, and of the moving part of the manipulator — the actuator repeating movements of the driver’s hands on an enlarged scale.

The moving part of the manipulator consists of individual links. Each link is formed by a hollow rod, on the upper end of which there is a hollow spherical end 75, on the lower end - the bowl of the underlying joint 76. The exception is 1) the last phalanx of the fingers of the manipulator, in which the lower end is free, does not have a bowl, 2) a lever to which the arm of the manipulator is attached from one end and the counterweight from the other. The joint bowl consists of roundly curved rods coming from the base of the hollow rod of the link, connected by a ring at the free ends. This ring is smaller in diameter than the spherical end of the underlying link, so the underlying link cannot be pulled out (dislocated) from the joint cup. Although this limits the range of motion in the joint, but increases its reliability, the range of motion remains sufficient to manipulate objects. Only the strongest deviations of the humerus from the starting position are excluded. In joints other than the shoulder, the range of motion is already limited by the natural structure of the driver’s hand.

All the links of the manipulator are able to move in the vertical (sagittal) plane and horizontal (or frontal) plane, for which the movers shown in Figs. 11, 12 are used. The shoulder and forearm can also rotate around their own axis up to 180 °, for which the mover serves, depicted in Fig.27, 28.

The mover is a simple cylinder 61 or 62 or a horseshoe-shaped curved cylinder 125 filled with air, which drives the piston 63 inside the cylinder. During operation of each of the two manipulators, two electric pumps 71 and 72 are constantly turned on and rotate, one of which is constantly ready to pump air from the right space of the cylinder into the left space of the cylinder, and the second back from the left to the right space. Where air will be pumped is solved by opening nozzles 73 or 74. When nozzles 73 are automatically opened at the cylinder of a certain link when the manipulator driver’s hand moves, in this cylinder a portion of air is driven from left to right, and vice versa, when nozzles 74 are opened, there is a portion of air in this cylinder driven from right to left.

Cylinder 61, 62 is attached at one end by a fixed rod 66 to the upper link bowl, and from the other end, by a movable axis 64 to the hollow upper link rod away from the upper link bowl. Cylinder 125 is connected from one end by a fixed rod 66 to the hollow rod of the underlying link near the bowl of the upper link, and from the other end by the movable axis 64 to this bowl of the upper link. The second end axis 64 is attached to the piston 63, therefore, when the piston moves, it is driven (repelled or approaches) to the cylinder 61, 62, and hence to the bowl of the overlying link, the underlying link. When the piston 64 of the cylinder 125 moves, the underlying link rotates up to 180 degrees in the bowl of the overlying link.

The diameter axis 64 is adapted to the diameter of the hole at the end of the cylinder 61, 62 or 125. But it is unlikely that air will be squeezed out of the cylinder through the gap between the axis and the wall at the end of the cylinder; therefore, a case 68 is provided on the outside, which forms folds as the cylinder approaches to the link of the manipulator and straightens when the cylinder is removed from the link of the manipulator. Case 68 contains air which, by its counter pressure, prevents air from leaking out of the cylinder.

If the surface of the cylinder 61, 62 or 125 is smooth inside, then under the influence of the weight of the load lifted by the manipulator, the link through the axis 64 will drive the piston 63, violating the monopoly of the manipulator driver’s hand to move the piston, which will lead to desynchronization of the bend and rotation of the driver’s and manipulator’s hands . Therefore, there are rows of cloves 67 in the piston wall, which, protruding by a value of the order of 0.15 mm, inhibit the movement of the piston with the driver’s arm stationary and retract into the piston wall when the driver’s hand moves, allowing the piston to slide freely along the wall.

The rods 66 and the axis 64 on non-rotating movers are fixed with integral plates 65 with them to the link of the manipulator and the bowl 16. The rods 66 and the axis 64 on the movers rotating around their axis are made movable: they have a coupling 126 at the end located under the plate with an opening 127 so that stop movement when turning.

The sensing device of the driver’s hand movement consists of an inductor 78, 79 or 134 (Figs. 14-16 and 29-30), in which, in parallel with the bending or rotation of the driver’s hand, the magnet 80 moves, which, depending on the direction of its movement, causes the coil current of one direction or another. In one direction of the current flow, the nozzle cores 73 are pulled in, and the nozzle cores 74 tend to stick out even more from their inductors, but cannot, because they abut against the wall of the hose 69. In the opposite direction of the current flow, the nozzle cores 74 are pulled in, and the nozzle cores 73 tend to pop out even more of their inductors, but they cannot, because they abut against the wall of the hose 70 (see the electric circuit in Fig. 17). When the nozzles 73 or 74 are pulled in, the passage for a portion of air moving along the hose, respectively 69 or 70, is freed. Moving the portion of air from the left space of the cylinder to the right or back causes an elementary shift of the piston 63 inside the cylinder 61, 62 or 125. So that the teeth 67 do not prevented the sliding of the piston 63, they are retracted for any direction of current in the coil 78 or 134, which is achieved through the use of levers 93 (Fig. 18). The magnetic core 92 of the coil 90, regardless of the direction, left or right, it comes out of the coil and presses the left or right lever 93, which rotates about the axis 94 and pulls the clove 67, to the lower surface of which the second end of the lever 93 is movably attached .

The magnet 80 of the direct inductors 78 or 79 is driven by pulling on the thread 81 while bending two links of the arm relative to each other and by compressing the spring 82 when unbending the two links of the arm relative to each other, when the thread 81 weakens. The magnet 80 of the horseshoe-shaped inductance coils 134 is driven by pulling on the threads 81 attached from its opposite ends when the driver’s arm of the manipulator is rotated relative to the fixed rod 128 or 129 in either direction. The magnet 80 of the direct coils 78 and 79, thanks to the spring 82 mounted on the protrusion holder 84, is suspended in the middle of the coil, so it does not rub against its coils. To prevent the magnet 80 from rubbing on the turns of the coil 134, it is placed on the runners 136, which are thin angularly curved plates at the four corners of the parallelepiped of the magnet 80. The runners 136 must be periodically lubricated with oil to freely slide the magnet.

Threads 81 pass through ears 83 and are pulled between them and attachment points. The attachment points of the ends of the filaments opposite from the magnets 81 are located in one-sided holes in the rings 85 or 135 worn on the arm. The rings 85 should be located on the other side of the joint bend from the link on which the coil 78 or 79 is fixed, where the first end of the thread 81 is stretched, then the thread will tension when bending in the joint. Rings 85 are put on the arm of the manipulator driver, as in the sleeves of a shirt. First, he puts his hand into the rings of the upper end of the shoulder, at the end he puts his fingers into the rings of the phalanges. Rings 85 are arranged in pairs on either side of the bend of the shoulder, each pair is connected by springs 86. Hands are sewn to the rings of one link (phalanx, palms, shoulders, and forearms) through the holes in them inductors 78 and 79. Rings 85, 135 can be made made of metal, plastic without a connector, or to be soft and fasten-unfasten on a sticky clasp. The fixed suspension of the coils 134 relative to a shoulder or forearm that rotates through an angle of up to 180 degrees is carried out on the rods 128, 129. These rods are fixed by rings 133 at the upper edge of the shoulder or forearm and follow the shoulder or forearm when it is bent due to rotation in hinges 131, 132. But there is no hinge that rotates when the shoulder or forearm is turned up to 180 degrees, so the shoulder or forearm in this case moves relative to the rod 128 or 129 and pulls the magnet 80 by the thread 81. The upper end of the shoulder rod through the rod 130 is attached to the back of the chair 30 of the driver of the manipulator (Fig.29). The rods 128 and 129 are at the same distance from their rings 135 due to the supports 137 with wheels 138, for the latter, a groove for movement is made in the ring 135. The wires from the inductors 78, 79 and 134 are collected in cables 87 connecting them to the nozzles 73, 74 and coils 90 in the arm of the manipulator on the one hand and the power source, battery 14, on the other hand.

To synchronize the work of the manipulator’s hands and the driver’s hands before turning on by pressing the switch 91 with the foot, it is necessary to take the initial position: the hands are lowered strictly vertically downward and straightened, the fingers of the palms are spread out, the palms are turned forward. When you turn off the manipulator at the end of the work should give it the same position. You can come up with a different starting position, but the proposed one is easier to reproduce.

The roll detector (Figs. 4, 10) consists of two level meters with a transparent body and an opaque liquid filled in them, in each of which, depending on the inclination of the nacelle, and, therefore, the entire body of the device, an air bubble moves, under which there are two rows photodiodes. At one level meter, located with a long rib along the front-rear direction in the nacelle, the air bubble reacts to the roll in the front-rear direction. At the second level meter, located with a long rib along the left-right direction in the gondola, the air bubble reacts to the roll in the lateral directions. When an air bubble 44 is above one of the photodiodes, light beams 43 illuminate the photodiode, causing a current through it. This current drives the motors 23 (FIGS. 1, 10), which are located in chambers of variable volume. The engine makes a revolution, the nut 25 descends or rises along the axis 24 and pulls the upper edge of the chamber shell attached to it, causing an increase or decrease in its volume. The direction of rotation of the engine 23 is selected depending on the inclination of the massive half cylinder 47, which is sensitive to the roll of the device due to the fact that it is located on the tip of the needle 48. It does not slide off the needle due to a small depression 54. An extended plate 49 is attached to the half cylinder 47, at both ends of which the terminals of the contactors 50 are located. The electrical circuit (Fig. 10) is designed so that when the contactor 50 is closed on one side of the half cylinder 47, the polarity of the power supply (battery 14) is opposite to that when the contactor 50 closes on the other side of the half-cylinder 47. Therefore, the electric motor 23 inside the variable-volume chamber will rotate in the opposite direction, changing the volume of the chamber in the opposite direction. At the front-rear level meter, the half cylinder 47 closes the contacts 50 in the electric circuit of the front or rear cameras only, at the left-right level meter the half cylinder 47 closes the contacts 50 in the electric circuit of only the left or right chambers. The nature of the change in the tilt of the apparatus when changing the volume of the cameras was described in the description of cameras of variable volume.

The direction detector is a magnetized arrow 55 glued to a round paper or other light curtain 56. A hole 57 for light was made in the curtain 56. Under the curtain at the level of the hole 57, at a distance spaced the same amount from the axis of the compass 58, photodiodes are located (FIG. 5). Unlike the compass, in which the axis is separate from the arrow and the arrow has a hole worn on the axis, the arrow of the detector 55 is inextricably linked with the axis 58 (Fig.6), which rotates with the arrow. The axis is inserted into the hole in the dashboard so as not to fall. A spiral spring-closure 59 is attached to the axis 58 at one end. In the embodiment shown in Figs. 7, 8, when the arrow 55 rotates with the axis 58 counterclockwise, it pulls on the spiral closure 59 and moves it away from the point of contact 50, opening it. When you turn the arrow 55 with the axis 58 clockwise, it pushes the spiral contactor 59 and pushes it into place 50 contact, closing it. So that when moving the spiral contactor 59 it does not go too far from the contact 50 without the possibility of a return return, a bracket 60 is provided under which the spiral contactor moves freely, for which there is sufficient clearance under it, except for a thickening at its end, which gets stuck under the bracket, when it reaches. So that in contact 50, when it is open, due to small distances, a spark does not slip, oil 53 is poured into the hole in the dashboard.

In total, in the direction detector there are two arrows with shutters and two batteries of photodiodes of the described arrangement, differing only in the connection side of the contactor 59. On one axis, it is connected from left to right, as shown in Figs. 7, 8, and opens contact 50 when the arrow 55 rotates counterclockwise arrows. At the second axis, it is connected from right to left and opens contact 50 when the arrow 55 is rotated clockwise. The elasticity of the spring-closure 59 is selected so that when the arrow is stationary, contact 50 is open.

The electrical circuit serving the direction detector is similar to that shown in Fig. 10, but does not contain 2, but 4 electric motors of all four cameras of variable volume, so that their volume increases and decreases synchronously, changing the flight altitude without roll.

Photodiodes are located in the battery under the curtain every 10 degrees. Therefore, the device changes every 10 degrees its flight altitude to the same height, called the floor (level). The height of the floor is equal to the height of the device plus 4 meters. Since the relative volume of chambers of variable volume is not very large compared to the volume of the entire apparatus, only devices that do not have elongated balloons, truss 21, and deck should be equipped with a directional detector. In the application for utility model No. 2001100905/20 (000833), B64B 1/70, mass flight rules were proposed for devices equipped with a direction detector, namely:

1. The horizontal direction of flight is linearly related to the flight altitude. Let the direction from south to north be on the third floor of the movement. On the ground floor, corresponding to the lowest flight altitude, stationary vehicles anchored are parked. On the second floor there are devices looking for parking places or about to take off. On the first two floors, the direction detector is off.

Deviation from the zero direction of movement for every 10 degrees is accompanied by a change in flight height by one floor. Then the lowest flight corridor will be on the third floor of the movement with its direction from north to south and up to 10 degrees east of the south direction, and the highest flight corridor - on the 38th floor from 10 degrees west of the south direction to the direction South. The central corridor will be located on the 20th floor of the flight with the direction of movement from south to north and 10 degrees east of north.

2. Places of changing flight altitude in areas of heavy vehicle traffic can be indicated by signs. The vertical green laser beam shining from the earth will mean the place of descent of the devices, the vertical yellow beam - the place of rise. To avoid collisions, the speed of descent and ascent is standardized due to its automatic regulation, and the pilot must have a periscope of the upper view.

3. Places prohibited for flights, such as aircraft aerodromes, are enclosed by pairs of intersecting red laser beams.

4. As a traffic police can serve as a special department of the air defense service, which has its own airships.

5. The vehicles moving above the city streets at the level of the second flight floor obey the rules of the movement of ground transport, for example, traffic signals.

According to paragraph 1 of the rules, the direction to the south is the lowest, so contact 50 (Figs. 7-9) is on the south side of the direction detector. Also, to the right and left of terminal 50, the last diodes in the battery 51 are related to the battery, which sets the reverse current direction.

The deck of the apparatus is the following structure (Fig.19). Farm 21 forms a frame in the corners of which oblong elongated balloons are fixed. To reduce the weight of the structure of the truss 21, a triangular profile is performed, it will have one rib less in comparison with the quadrangular structure. In the truss, at equal intervals, grooves 22 are made into which the longitudinal beams 97 and the transverse beams 98 are inserted. In the transverse beams, similar grooves are made for installing the longitudinal beams. Beams can be either triangular profile or quadrangular. In the latter case, they can be made thinner than the truss 21 (in Fig.19 shows the beams of a square profile). The beams have bolt holes in which the deck boards 99 are bolted. The deck can be made not only from boards, but also from light sheet metal. On Fig presents in particular a deck for construction work. In one of the transverse beams, wider, a slit 100 is made, through which it is possible to thrombose the hardening concrete mixture and supply the concrete mixture. A rotating concrete mixer, such as those placed on cars, is mounted on the deck. The device hangs over the installation formwork. First, liquid concrete mixture is pumped into the slot through a corrugated hose, then a spark gap is lowered through the slot 100 through a dielectric pole through which a powerful single electric charge is supplied from an electro-hydraulic unit thrombosing the mixture (see prior art). Power is supplied by battery 14.

In addition to construction equipment, any other equipment can be placed on the deck. If the device is designed to transport reusable planes or spaceships, the deck has a railing on two or three sides, contains rigging for attaching the chassis of an airplane or a spaceship so that it does not move out during flight. In addition, a room is attached to the deck for the crew of an aircraft or spacecraft and for maintenance personnel. The gondola is sealed, with sturdy portholes instead of plexiglass.

If the device is intended for crossing a ferry type through a gorge, ravine or river, as well as from a country to its enclave, then it is equipped on both sides of the deck with two hinged bridges for entry and exit of vehicles on the deck, and on the other two sides - railings.

If the device is designed for fishing, the bottom of the deck is caulked, sealed, the deck is surrounded by a waterproof side, so that it is possible to land on water. A crew room, fish tanks and trawls are attached to the deck.

If the device is designed to carry passengers, then on the deck is a covered room with rows of seats for passengers.

If the apparatus is designed to play an aerobol, then a device such as a vacuum cleaner without a bag for collecting dust is screwed to the deck, which is an axial fan 101 (Fig. 20) with an inlet, intake air, hose 102 and an outlet discharge air hose 103. During the game one arm of the manipulator holds the hose 102, the other holds the hose 103. If the arm of the manipulator directs a stream of air from the hose 103 to the ball, the latter is beaten off. If the arm of the manipulator directs the inlet of the hose 102 towards the ball, then the ball is attached to the hose 102, it can be delivered to the opponent’s goal if it is not hit by an air stream from the hoses 103 the manipulators of the apparatus from the opponent’s team. For greater mobility, when playing an aerobol, the deck can be dismantled, only two beams, longitudinal and transverse, are installed crosswise in the grooves 22 of the farm 21, at the intersection of which the pump 101 is mounted. The pump 101 can be attached to the nacelle 10, and the elongated balloons, trusses 21 and the deck will then be absent.

The deck can be dismantled at the apparatus. Then, on the frame of the farms 21, it is not transverse and longitudinal beams that are attached, but the necessary equipment, for example, devices for agricultural work, logging, gardening, and public utilities. In particular, it is proposed to use the following devices for agricultural work.

Since the plow requires significant traction from the side of the vehicle pushing it, it is unsuitable for plowing the field using the proposed device. It is proposed to plow the field using a rotating drill 104, which itself turns the soil, screwing into it, which reduces the required traction force (Fig.21, 22). To prevent the drill from getting stuck in the soil, its axis is tilted at an angle of less than 30 degrees to the soil surface. The drill has a conical shape. In the case of a cylindrical shape, it would form cylindrical pits, the upper walls of which would have to be broken, expending traction. A cone-shaped drill itself breaks the walls formed by its front part of the pits due to rotation, and not the traction of the aircraft. Each drill 104 has its own electric motor, which is attached to the transverse beam 98 and rests on a T-shaped support 106 connecting it to the transverse beam 98 of the next row (in the last row, the T-shaped support is installed in the groove 22 of the farm 21). In the first row, the transverse beam using a short longitudinal beam 97 rests on the front truss 21 (Fig.22). Drills 104 are installed obliquely next to each other in order to plow the entire area of soil covered by the frame of farms 21.

Sowing is carried out using seeders attached to the farm 21 (Fig.23, 24). Each seeder is strung on a fixed beam 108, attached to the parallelepiped 107 inserted into the groove 22, attached on one side to the electric motor 23, which rotates the axis 109. The electric motor is supplied from the battery 14. On the other side of the beam 108, the same parallelepiped 107 is installed in the grooves of the opposite farm 21. The beam 108 is attached to a non-rotating container 111 having a bottom 112, through which seeds are dropped, loaded from the end of the drum, where it has a lid that closes. Slit 112 in the absence of rotation of the drum 110 is covered with a shutter. The shutter has a spring, which sets it in the closed position and is compressed, opening the shutter when the latter is moved by the rotary drum 110. The drum 110 with even rows of seed holes 113 rotates along with the movable axis 109. This axis is attached on one side to the rotor of the electric motor, on the other hand it is inserted in a bearing buried in the parallelepiped 107. The seeders are mounted obliquely next to each other in order to cover the entire area covered by the frame from the trusses 21. An apparatus with a harrow flies behind the machine with seeders.

Harvesting is carried out by a combine attached through the cross beams 98 to the farms 21 of the apparatus, which can carry two combines that can be made automatically controlled by remote control. Due to the apparatus, the combine is made more maneuverable.

Thus, due to the large width of the apparatus, it covers at a time an area larger than the tractor. One flight of the device over the field replaces numerous tractor rides. The device also does not "stomp" the field with wheels.

It is important for the device to regulate more precisely its flight height above the field, and when plowing, harrowing and harvesting by combines, it is important for it to keep the flight altitude constant. In the absence of wind, this is not difficult. In the presence of wind, the device is mounted on cables to poles dug in the corners of the field. The cables have rings at the ends, the posts contain hooks and locks on which the rings are fixed. The device has two cables, left and right, stretched symmetrically between the wheels 34 and the brackets 35 (Fig.1, 2). Each wheel 34 has a small electric motor driving it into rotation. Electric motors located symmetrically to the left front, left rear, right front and right rear, have separate switches. If you turn on the motors located on the front left and right, the gears 34 will begin to move along the cable 33, the device will move forward, but an unstretched part 121 (Fig. 26) will be formed, due to which the stretched part of the cable will be reduced in length, and the device will decrease. If you turn on the left and right rear motors, the stretched part of the cable 119 will increase in length at the back due to the reduction of part 121, the device will gain height. If you turn on all the electric motors that rotate the wheels 34, the device will move forward without changing the flight altitude. The rotation of all electric motors of the wheels 34 should occur with the same frequency.

Due to the similarity of the structure of the arm of the manipulator and the human hand, the first one can use all the same tools as the human hand, but enlarged. For example, with the help of scissors enlarged with the help of the apparatus, you can cut trees, harvest crops in the gardens from trees. With the help of an enlarged watering can, you can water trees in the garden or plants in the field, garden. At the same time, the driver of the manipulator must hold scissors of the appropriate scale or watering can in their hands for the authenticity of the movements.

We can also use the apparatus in public utilities. Using a pump similar to that shown in Fig. 20, it is possible to blow off the fallen leaves and snow from the roofs, and use the crowbar to knock down icicles from the eaves. Devices used in the winter in utilities, in the summer can be used in agriculture.

The device can be used to deliver bulky goods. For example, in the absence of a deck, trusses 21 can be laid in a row across and attached to trusses 21 separation columns, which must be delivered to the installation site. Manipulators will be able to install them in a vertical position at the installation site. Smaller equipment is placed on the deck of the apparatus.

The device can be used as a mobile plant, then machines are attached to the deck, for example, molds of variable profile (patent for invention No. 2246374 according to application 2003102738). Then the device flies to the location of the raw materials needed for the machines. When the right amount of finished products is manufactured, the device flies to another place, instead the device flies with other machines.

The device can be used in the construction of high-rise structures (skyscrapers, orbital space elevators), where the use of tower cranes is difficult.

Claims (6)

1. The combined aircraft is lighter than air, including an elastic shell filled with gas lighter than air, a spacer in the form of a torus, a gas-tight membrane that separates the shell cavity into a sealed compartment lighter than air and a thermostatic ballasting compartment, with a device for supplying outboard air into it, nozzles, marching engines, nacelle, batteries and device for capturing goods, characterized in that the cavity of the said torus is divided into the aforementioned pressurized gas compartment lighter than air and the thermostatic ballasting compartment underneath it, the torus is formed by a spacer in the form of two fastened spirals over which an elastic shell is stretched, a tunnel for the thermostatic ballasting compartment is formed for air to move from two inlet nozzles to two outlet nozzles located, respectively, in the front of the torus and its rear, in the nozzles there are fans with mid-flight engines, at the entrance of the front nozzles there are electric heating elements for heating the air, the cavity inside the smaller radius of the torus is divided into four equal chambers of variable volume - front left and right, rear left and right, under which the lower central chamber of constant volume is located, with the ability to electronically control the volume of the compartments depending on the roll of the apparatus, four oblong balloons with gas lighter than air are attached to the bottom of the torus from the bottom - the front left and right, the rear left and right, having spacers in the form of two fastened spirals over which an elastic shell is stretched, the lower ends of the balloons are connected to a triangular lattice by trusses forming a rectangular frame and having grooves for installing beams intersecting at right angles, on which a deck with attached handrails is mounted, made with the possibility of dismantling the boards and located below the gondola, a gondola with a control system and two seats for the pilot and the manipulator driver is attached to the lower central chamber, copying manipulators and their counterweight with massive storage batteries are symmetrically attached to the gondola on movable levers on the left and right the shell of the apparatus is double and made with the possibility of air movement between its layers, the apparatus includes left and right cables with the possibility of movement along them in the front and rear directions due to the presence of gears driven by electric motors, the apparatus includes a first ladder, entwining one of the oblong ballonettes, leading to the torus compartment with air, and a second ladder, fenced off from the gas of the lower central chamber, descending into the gondola with the possibility of lifting a person into the torus along the first ladder and from there into the gondola along the second ladder , the torus room has hatches that separate it from the rooms with gangways, the gondola also has a hatch and gangway for lowering the counterweight to the batteries into the hatch. 2. The combined aircraft is lighter than air according to claim 1, characterized in that agricultural implements for tillage, sowing and harvesting are suspended on the farm. 3. The combined aircraft is lighter than air according to claim 1, characterized in that the deck is surrounded by a board and is waterproof with the possibility of partial immersion in the water of the reservoir. 4. The combined aircraft is lighter than air according to claim 1, characterized in that the nacelle carries an axial fan with inlet and outlet corrugated hoses. 5. The combined aircraft is lighter than air, including an elastic shell filled with gas lighter than air, a spacer in the form of a torus, a gas-tight membrane that separates the shell cavity into a sealed compartment is lighter than air and the thermostatic ballasting compartment has a device for supplying outboard air into it, nozzles, marching engines, nacelle, batteries and device for capturing goods, characterized in that the cavity of the said torus is divided into the aforementioned pressurized gas compartment lighter than air and the thermostatic ballasting compartment underneath it, the torus is formed by a spacer in the form of two fastened spirals over which an elastic shell is stretched, a tunnel for the thermostatic ballasting compartment is formed for air to move from two inlet nozzles to two outlet nozzles located, respectively, in the front of the torus and its rear, in the nozzles there are fans with mid-flight engines, at the entrance of the front nozzles there are electric heating elements for heating the air, the cavity inside the smaller radius of the torus is divided into four equal chambers of variable volume - front left and right, rear left and right, under which the lower central chamber of constant volume is located, with the ability to electronically control the volume of the compartments depending on the roll of the apparatus, a gondola with a control system and two seats for the pilot and the manipulator driver is attached to the central lower chamber, the gondola has an electronic system for changing the flight altitude depending on the direction of its flight relative to the Earth’s magnetic field, copying manipulators and their counterweight with massive storage batteries are symmetrically attached to the gondola on movable levers on the left and right the shell of the apparatus is double and made with the possibility of air movement between its layers. 6. The combined aircraft is lighter than air according to claim 5, characterized in that the nacelle carries an axial fan with inlet and outlet corrugated hoses.

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