RU2374119C1 - Walking vehicle (versions) - Google Patents

Abstract

FIELD: transport.

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

EFFECT: higher speed and reliability.

3 cl, 4 dwg

Description

The invention relates to the field of transport, namely to walking vehicles, for the design of their walking mechanisms, and may find application (as a walking module) in walking machines.

Known walking device containing mounted movably on horizontal rods connected with drives of longitudinal displacement mutually movable body and platform with supports fixed to them. /one/.

The movement of the supports is made in conjunction with the reciprocating movement of the hull and platform relative to each other and the rods.

The disadvantage of this device is the increased energy intensity associated with the energy consumption for reciprocating movements together with the supports of significant inertial masses of the structure (body, platform).

Closest to the invention is a known walking device used as a walking module in a floating walking device, consisting of a linearly mounted guide mechanism mounted on the housing, comprising a yoke mounted on the rotary device and connected to the drives of vertical and horizontal turns relative to the housing and pivotally mounted thereon -slider device angular rocker with supports on opposite shoulders, the middle of which are movably connected by levers half oh shoulder length with traverses.

The rocker arm consists of either separate parts pivotally connected to each other and located at an obtuse angle to each other, or of parts (shoulders) rigidly interconnected, representing an integral element - a single angular rocker.

With such a single angled rocker, to ensure the necessary degree of kinematic mobility, the crosshead device is made up of two separate moving parts enclosed in a common housing with the possibility of independent reciprocating movement in it. This casing is fixed to the casing of the device and provided with guides for installing on it a hinged-slide device.

In this case, the traverse drive of the vertical rotation is the installed side-by-side (on both sides of the hull sides) on the shoulders of the rocker arm of the tank (chamber) with adjustable (due to their alternate emptying and filling with ballast water) positive and negative buoyancy.

And the drive for horizontal rotation of the rocker arm relative to the body are horizontal screw propellers mounted on opposite arms of the rocker arm.

Obviously, these drives can only work in an aqueous environment.

Movement of supports is carried out:

- in the phase of the on-board shift with the raising and lowering of the supports of the opposite arms of the rocker arm by vertical rotation of the yoke, produced by immersion-ascent of variable buoyancy chambers:

- and in the phase of support and repulsion with the transfer of supports by horizontal rotation of the rocker arm of a rectilinearly directing mechanism produced due to the thrust created by the screws.

The disadvantages of the prototype, which are eliminated by the described invention, are:

The inapplicability of the drives used in it for the implementation of land (outside the aquatic environment) walking.

Due to the low speed and inertia of the traverse of the variable-buoyancy chambers used as the vertical rotation drives, as well as the horizontal-rotary screw engines operating in the reverse mode, the prototype cannot have a sufficiently high speed.

The complexity of the design of the linear guide mechanism (consisting of separate traverse parts enclosed in a special housing) reduces the reliability of the device.

In order to implement ground movement by striding, while increasing the speed and reliability of the walking device by eliminating the disadvantages of the prototype through the use of other drives and new structural elements and connections, the present invention is proposed.

This goal is achieved by the fact that the walking device contains a rectilinear guiding mechanism with an angled rocker, the middle of the opposite shoulders of which are pivotally connected to the levers, and the levers with a complete traverse are made using the articulated-slide devices.

In this case, the drive of the vertical traverse rotation comprises a momentary hydraulic motor of a reciprocating-rotational action fixed in the device body, the rod of which is connected through the transmission mechanism to the traverse rotary device.

And the drive of horizontal rotation of the rocker arm contains power hydraulic cylinders fixed along the beam, the rods of which are pivotally connected to the articulated-slide device of the rocker arm.

In another embodiment, in order to reduce the transverse dimension by reducing the length of the traverse, the walking device comprises a rectilinear guiding mechanism with an angled rocker, the middle of the opposite shoulders of which are connected to the levers by means of articulated-slide devices, and the levers with traverses are articulated.

And for the purpose of compact design, the horizontal rotation arm of the rocker arm contains a double-acting power cylinder, the rod of which is fixed motionless on the housing of the walking device and serves as a traverse, and the movable housing is equipped with a hinge for installing the rocker arm and is a hinged-sliding device

In order to increase the reliability of the action, with the exception of the possibility of turning the rocker arm relative to the crosshead, the rectilinear guiding mechanism is made with mutually parallel twin, built or more traverses and with the same articulated-slide devices installed on them.

Figure 1 shows the construction of a known walking prototype device.

Figure 2, a, b shows the design options of the described walking device.

Figure 3 shows the design of the drive vertical rotation of the traverse rectilinear guide mechanism.

Figure 4 shows the design options for the drive of horizontal rotation of the rocker arm of the linear guide mechanism.

The known walking prototype device includes a linear guide mechanism (hereinafter referred to as PNM) 2 mounted on the housing 1, comprising a transverse cross beam 3 connected to the rotational drives 1 and mounted on the articulated-sliding device (hereinafter referred to as silos) 4 angular rocker 5 with struts -supports 6 on opposite shoulders (figure 1).

The traverse 3 is made up of two movable parts (shoulders) 7 and 8 separated from each other, enclosed in a common housing 9, mounted on the housing 1 and provided with guides on which the silos 4 are mounted.

The midpoints of the opposing arms of the rocker arm 5 by means of hinges 10, 11 are connected to the levers 12, 13 of half the length of the arm of the rocker arm, and the levers 12, 13 by means of hinges 14, 15 are connected to the ends of the movable parts 7.8 of the crosshead 3.

16 - rotary device, on which with the help of slanted racks 17 is fixed by the housing 9 on the housing 1 of the device design PNM 2.

The drive of the vertical rotation of the traverse 3 are installed side-by-side (on both sides of the sides of the housing 1) on the opposite shoulders of the rocker arm 5 of the tank (chamber) 18, 19 with adjustable (due to emptying and filling with ballast water) positive and negative buoyancy (Fig. 1).

And the drives for horizontal rotation of the rocker arm 5 relative to the housing 1 are horizontal screw propellers 20, 21, 22 mounted aboard on its opposite shoulders (possibly on chambers 18, 19) —the supporting surface.

Equipped with the above-described drives, designed exclusively for functioning in the aquatic environment, the prototype walking device outside the aquatic environment is not functional and cannot be used for land walking.

The described walking device (see figure 2) in order to provide land (outside the aquatic environment) walking by walking while increasing speed and reliability of action contains a rectilinear guiding mechanism (PNM) 2 with an angled rocker 5, the middle of the opposite shoulders of which are connected to the levers 12, 13 pivotally (as in the prototype), and these levers 12, 13 with the crossarm 3 are connected using the articulated-sliding devices (silos) 23, 24. (Fig. 2, a), 25, 26 - persistent limiters of movements of the articulated-sliding devices 23, 24. along the traverse 3. In this case, the traverse 3 made entirely, and not consisting of two separate parts located in the housing 9 (as in the prototype, see figure 1), which simplifies the design, increases its reliability.

In another embodiment (figure 2, b). in order to reduce the transverse dimension by reducing the length of the crosshead 3, the walking device contains a PNM 2 with a whole angular rocker 5, the midpoints of the opposite shoulders of which are connected to the levers 12, 13 by means of articulated-slide devices 27, 28, and the levers 12, 13 are connected to the traverses articulated (as in the prototype).

Moreover, the described walking device is equipped with a drive of vertical rotation of the beam 3, comprising a torque hydraulic motor 30 mounted on a tubular housing 1 of the walking device 30, the rod 31 of which is connected to a gear 32 mounted in gearing with a rotary device 33 traverse 3 (figure 3).

The design of the reciprocating hydraulic motor itself is known.

The transmission device 32 is made in the form of a planetary mechanism, for example (as shown in the view along arrow A of FIG. 3), with three satellites 34 interacting with the internal gear 35, which is equipped with a rotary device 33; 36 - slotted windows in the housing 1 for installing satellites 34; 37, 38 - pairs of bearings on which the rotary device 33 is mounted; 39 - the driving gear of the hydraulic motor 30.

The walking device is also equipped with a drive horizontal rotation of the rocker arm 5, containing along the beam 3 power hydraulic cylinders 40, 41, the fixed body of which is fixed to the housing 1 or traverse 3, and the movable rods 42, 43 using hinges 44, 45 are connected to the silos 4 rocker 5 . (Fig. 4, a).

The design of the power cylinder itself is widely known.

For compact design, the horizontal rotation arm of the rocker arm 5 contains a double-acting power cylinder 46, the fixed rod 47 of which is fixed by the ends 48 on the housing 1 of the walking device and serves as a traverse 3, and the movable housing is provided with a hinge 49 for mounting the rocker arm 5 and is a silo 4 (Fig. 4b); 50, 51 - made on the body of the hydraulic cylinder 46 sleeve elements with which it is installed and moves on the rails 52, 53, mounted using plates 54 on the uprights 17 associated with the rotary device. 33 (see FIG. 3).

In order to increase the reliability of operation, with the exception of the possibility of turning the rocker arm 5 relative to the crosshead 3, the PNM 2 is made with mutually parallel twin, built and more traverses 3 with the same articulated-crawler devices. (see figure 4, a).

The movement of the supports 6 in the described walking device is:

- in the phase of the on-board shift with the raising-lowering of the supports 6 of the opposite arms of the rocker arm 5 by vertical rotation (arrows 55), a device with a traverse 3 mounted on it, and is produced by a hydraulic motor 30, the operability of which does not depend on the external environment (and not using cameras 18 10 variable buoyancy, as in the prototype, see figure 1);

- and in the phase of support and repulsion with the transfer of supports 6 by horizontal rotation (arrows 56) of the rocker arm 5 by moving (arrows 55) the silos 4 along the traverse 3 and is made by hydraulic cylinders 40, 41 or 46, the operability of which also does not depend on the external environment ( and not using screws 20, 21, as in the prototype, see figure 1).

Thus, the essentially new qualities of the device, obtained on the basis of the technical solutions described above, namely, the possibility of land walking outside the aquatic environment by walking while increasing speed, efficiency and reliability of the action make it possible to use it (as a walking module) in ground walking machines, which in principle is impossible reach with the prototype.

Claims (3)

1. Walking device, comprising a linearly-directing mechanism mounted on the housing, comprising a yoke connected to vertical and horizontal turns drives relative to the housing, a yoke mounted on the rotary device and mounted on it on a hinged-slide device, with supports on opposite shoulders, characterized in that rectilinear guiding mechanism contains an angular rocker, the middle of the opposite shoulders of which are pivotally connected to the levers, and the levers with a traverse ami - with the help of articulated-slide devices, while the yoke vertical rotation drive contains a reciprocating torque hydraulic motor fixed to the device body, the rod of which is connected through the transmission mechanism to the yoke rotation device, and the horizontal rocker rotation drive contains power hydraulic cylinders fixed along the yoke, whose rods are pivotally connected to the articulated-slide device of the rocker arm. 2. Walking device, comprising a linearly-directing mechanism mounted on the housing, comprising a yoke connected to vertical and horizontal turns drives relative to the housing, a yoke mounted on the rotary device and mounted on it on a hinged-slide device, with supports on opposite shoulders, characterized in that rectilinear guiding mechanism contains an angular rocker, the middle of the opposite shoulders of which are connected to the levers by means of a hinged slide x devices, and the levers with traverses are articulated, while the horizontal arm of the rocker arm contains a double-acting power cylinder, the rod of which is fixed motionless on the device body and serves as a traverse, and the movable body is equipped with a hinge for installing the rocker arm and is a hinged-slide device. 3. The walking device according to claim 1 or 2, characterized in that in order to exclude the possibility of turning the rocker arm relative to the beam, the rectilinear guiding mechanism is made with mutually parallel twin, built and more traverses with the same articulated-slide devices. "

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