RU2798334C1 - Lever device - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to the field of transport. The lever device comprises a radial displacement control lever, a radial displacement control lever winch, a support shaft, support shaft support bearings, a cable, and a sliding support flute. The lever mechanism of the device is fixed on the support shaft in the vehicle body through the support shaft support bearings. The expandable support flute consists of a fixed part of the expandable support flute and a retractable part. The stationary part has guide rollers, a reversible electric motor, a splined axle, a cylinder with a spiral, damper springs and a locking device. The retractable part has bearings, locking teeth, rail chute, supporting blades, an eye and a lower winch.

EFFECT: possibility of increasing the cross-country ability of the vehicle.

1 cl, 7 dwg

Description

Technical field

Invention: Multifunctional combined winch lever Spirit belongs to the field of transport.

State of the art

Mars rover "Spirit" is famous.

"Spirit", "Spirit" (from English - "spirit"), or "MER-A" (abbreviated from Mars Exploration Rover - A) is the first rover of the NASA space agency of two launched by the United States as part of the Mars Exploration Rover project. The launch of the mission took place on June 10, 2003. The lander with the rover made a soft landing on Mars on January 4, 2004, three weeks before the arrival of its twin Opportunity (MER-B), which was successfully delivered to another region of Mars, shifted in longitude by about 180 degrees. In May 2009, the rover got stuck in a sand dune. The last contact with Earth was on March 22, 2010.

The rover worked much longer than the planned 90 sols (Martian solar days). Thanks to the cleaning of the solar arrays by the natural wind of Mars, power generation increased significantly, due to which the Spirit continued to operate efficiently for a long time, ultimately far exceeding its planned service life. Spirit traveled 7.73 km instead of the planned 600 m, which allowed for more extensive analyzes of the geological rocks of Mars.

On May 1, 2009 (5 years, 3 months, 27 Earth days after landing, 21.6 times longer than the planned 90 sols), Spirit became stuck in a sand dune. This was not the first such situation with rovers, and over the next eight months, NAS A carefully analyzed it; site modeling, programming, liberation efforts continued. These efforts continued until January 26, 2010, when NASA announced that the rover's release was being hindered by its location in soft ground, although scientific exploration of the site continued.

The rover continued to be used as a stationary platform, communication with Spirit ceased on Sol 2210 (March 22, 2010). JPL continued to attempt to re-establish contact with the rover until May 24, 2011, when NASA announced that the effort had failed, the rover remained silent. The farewell ceremony for Spirit took place at NASA Headquarters and was broadcast on NASA TV.

The name of the rover was given as part of the traditional NASA competition by a 9-year-old girl of Russian origin, Sophie Collis, who was born in Siberia and adopted by an American family from Arizona

On May 1, 2009, the rover became stuck in soft ground rich in ferrous sulfate (jarosite) and hidden under a crust of normal ground. Ferrous sulfate is very loose and the rover's wheels spin in it. Members of the Jet Propulsion Laboratory team recreated the situation using a mock rover on Earth and tested it; they also carried out computer simulations in an attempt to find a way out of the current situation. The situation is difficult to reproduce on Earth, since Mars has less gravity and less atmospheric pressure. Tests with the Spirit mock-up were carried out at the Jet Propulsion Laboratory in a special sandbox to try to simulate loose soil in low gravity. Attempts to free the rover began on November 17, 2009.

On December 17, 2009, the right front wheel unexpectedly worked normally during the first three spin attempts. It was unknown how much this would help, as the right rear wheel failed on 28 November and remained inoperative for the remainder of the mission. The rover was left with only four fully operational wheels. There was a danger that if the team could not free the rover and adjust the angle of the solar panels, the rover could only last until May 2010. Source: https://ru.wikipedia.org/wiki/Spirit_(rover)

Mars rover Opportunity is famous.

- «благоприятная возможность»), или MER-B (сокр. от Mars Exploration Rover- В') - второй марсоход космического агентства НАСА из двух, запущенных США в рамках проекта Mars Exploration Rover. Был выведен с помощью ракеты-носителя Дельта-2 7 июля 2003 года. Он достиг поверхности Марса 25 января 2004 года, тремя неделями позже первого марсохода «Спирит», успешно доставленного в другой район Марса, смещенный по долготе примерно на 180 градусов. «Оппортьюнити» совершил посадку в кратере Игл, на плато Меридиана."Opportunity" (Eng. Opportunity, IFA:

- “opportunity”), or MER-B (abbreviated from Mars Exploration Rover-B ') is the second of the two NASA space agency Mars rovers launched by the United States as part of the Mars Exploration Rover project. It was launched using a Delta-2 launch vehicle on July 7, 2003. It reached the surface of Mars on January 25, 2004, three weeks after the first Spirit rover successfully delivered to another region of Mars, offset by about 180 degrees in longitude. The Opportunity landed in Eagle Crater, on the Meridian Plateau.

The name of the rover, within the framework of the traditional NASA competition, was given by a 9-year-old girl of Russian origin, Sophie Collis, who was born in Russia and adopted by an American family from Arizona.

At the beginning of 2018, Opportunity continued to operate effectively, already 55 times more than the planned time of 90 sols, having traveled 45 km by January 2018, all the while receiving energy only from solar panels. Cleaning solar panels from dust occurs due to the natural wind of Mars. At the end of April 2010, the duration of the mission reached 2246 sols, which made it the longest among the vehicles operating on the surface of the "red planet" (the previous record was held by the automatic Mars station Viking-1, which operated from 1976 to 1982).

On June 12, 2018, the rover went into sleep mode due to a long and powerful dust storm that prevented light from reaching the solar panels, and has not been in touch since.

On February 13, 2019, NASA officially announced the completion of the rover mission.

Between April 26, 2005 (Sol 446) and June 4, 2005 (Sol 484), Opportunity was in a sand dune of Mars, as it stalled in it.

The problem began on April 26, 2005 (Sol 446), when the Opportunity accidentally stalled in a sand dune. Engineers said the pictures show the four side wheels dug in more as the rover attempted to climb a dune that was about 30 centimeters high. The rover's engineers named the dune "Purgatory".

The position of the rover in the dune was simulated on Earth. To avoid complicating the situation and preventing the rover from getting completely stuck in the sand, it was temporarily immobilized. After various tests with the counterpart of Opportunity on Earth, a strategy was created to save the rover. The rover was moved from May 13, 2005 (Sol 463) only a few centimeters forward so that the mission members could assess the situation based on the results.

On Sol 465 and Sol 466, several more maneuvers were performed, with each of which the rover moved back a couple of centimeters. Finally, the last maneuver was successfully completed, and on June 4, 2005 (Sol 484), all six wheels of the Opportunity got out on hard ground. After leaving Purgatory on Sol 498 and Sol 510, the Opportunity continued its journey towards Erebus Crater.

https://ru.wikipedia.org/wiki/Opportunity A lever is known.

Lever - the simplest mechanism, which is a beam rotating around a fulcrum.

The lever is one of the simplest mechanisms. It is a rigid beam that has the ability to rotate around the fulcrum (suspension). The parts of the beam from the point of support to the point of application of forces are called the arms of the lever. Regarding the fulcrum, the places of application of forces can be on different sides (lever of the first kind) or on the same side (lever of the second kind).

A lever is used to generate more force on the short arm with less force on the long arm (or to get more movement on the long arm with less movement on the short arm). By making the lever arm long enough, theoretically, any effort can be developed.

Two other simple mechanisms are also special cases of the lever: the Differential Gate and the Block.

Man began to use the lever in prehistoric times, intuitively understanding its principle. Tools such as a hoe or a paddle were used to reduce the amount of force a person had to exert. In the fifth millennium BC, Mesopotamia used scales that used the principle of leverage to achieve balance. Later, in Greece, the steelyard was invented, which made it possible to change the arm of the application of force, which made the use of scales more convenient. Around 1500 B.C. e. in Egypt and India, a shaduf (a well with a “crane”) appears, the progenitor of modern cranes, a device for lifting vessels with water.

It is not known whether the thinkers of those times tried to explain the principle of the lever. The first written explanation was given in the III century BC. e. Archimedes, linking the concepts of force, load and shoulder. The law of equilibrium formulated by him is still used and sounds like this: “The force multiplied by the force application arm is equal to the load multiplied by the load application arm, where the force application arm is the distance from the point of force application to the support, and the load application arm is the distance from the point of application of the load to the support. According to legend, realizing the significance of his discovery, Archimedes exclaimed: "Give me a fulcrum, and I will turn the Earth!".

In the modern world, the principle of the lever is used everywhere. Almost any mechanism that transforms mechanical movement uses levers in one form or another. Cranes, motors, pliers, scissors, and thousands of other machines and tools use levers in their construction.

There are levers of the 1st kind, in which the fulcrum is located between the points of application of forces, and levers of the 2nd kind, in which the points of application of forces are located on one side of the support. Among levers of the 2nd kind, levers of the 3rd kind are distinguished, with the point of application of the "incoming" force closer to the fulcrum than the load, which gives a gain in speed and distance.

Examples: levers of the first kind - children's swing (crossbar), scissors; levers of the second kind - a wheelbarrow (the fulcrum is a wheel), lifting an object with a crowbar in an upward movement; levers of the third kind - the back door of the trunk or the hood of cars on hydraulic telescopic stops, lifting the body of a dump truck (with a hydraulic cylinder in the center), moving the muscles of the arms and legs of a person and animals.

Source: https://ru.wikipedia.org/wiki/Lever

Known winch.

Winch - a mechanism, the traction force of which is transmitted by means of a rope, chain, cable or other flexible element from the drive drum. Author's certificate for the winch was created on March 6, 1989 by Vladimir Viktorovich Rodionov.

The winch drive can be manual (hand winch, capstan), electric (electric winch), internal combustion engine, steam engine. The winch is intended mainly for lifting cargo vertically, but sometimes it is also used to move cargo horizontally (crank, capstan, windlass). A conventional electric winch consists of an electric motor, a gearbox, a drum, a frame, and a brake system. If necessary, some winches are combined with a chain hoist. Depending on the design, winches can be subdivided: according to the type of traction body - into rope and chain; by type of installation - fixed (fixed on the floor, wall, ceiling) and mobile (on trolleys moving along the floor or overhead tracks); by the number of drums - for one-, two- and multi-drum winches; according to the type of drum - into rifled, smooth and friction. Cargo winches are used in cranes and rope excavators.

The automatic towing winch is used on marine tugboats and icebreakers for hauling, hauling, holding and storing the tow line.

Automatic mooring winch - an element of the mooring device. When the load deviates from the established one, such a winch picks up or picks up the cable. When the entire cable is etched, the winch gives a signal.

A car winch is a mechanism fixed on a car and designed to move it by winding a cable, the free end of which is hooked to an immovable object - a well-fixed or much larger mass.

There are three types of car winches:

1. Electric, powered by a car battery.

Mechanical winches are winches powered by a car engine. A special power take-off is connected to the transfer case, from which the winch receives torque. These winches are distinguished by high power, unpretentiousness and reliability, the ability to change the speed of the cable winding by changing the engine speed. The main disadvantage of mechanical winches is their ability to be installed only on SUVs, the transfer case of which allows the connection of a power take-off.

1) Hydraulic winches are winches powered by a hydraulic motor, which is usually driven by a power steering pump. Hydraulic car winches have a number of significant advantages - high reliability of the hydraulic motor, resistance to overloads (when overloaded, the hydraulic motor does not break, but simply stops), the ability to work under water (the hydraulic motor is sealed). The disadvantages of this winch include a low speed of cable reeling (this parameter can be critical for athletes), the inability to work with the engine turned off, often one power steering pump is not enough to simultaneously operate the winch and power steering.

2) Cargo winch - a machine for lifting or moving goods using a traction rope or chain.

3) Hydraulic pulling machine (cable hydraulic winch) is designed to pull the power cable in trenches or through pipes. It is a machine equipped with a diesel engine, a hydraulic system and impellers (capstans), through which a leader cable is passed.

The engine sets in motion the capstans with a leader cable wound on them, which, in turn, is connected to the cable being laid using special devices (swivel, cable stocking). Capstans, rotating, pull the cable, and behind it the cable from one end of the trench, on which the drum with the cable is located, to the other (where the winch is located). The power range of such winches is quite wide: from small ones with a traction force of 0.5 tons to heavy duty ones with a traction force of up to 400 tons.

2. Stage winch - a mechanism that serves:

1) For tensioning cables

2) For horizontal and vertical movement of decoration elements

3) To drive various stage mechanisms

3. Topenant winch is designed for lifting and lowering cargo booms.

Source: https://ru.wikipedia.org/wiki/Winch

Known caterpillar mover, patent No. 2731045.

Summary: The invention relates to transport. The caterpillar mover consists of a frame, tracks of the caterpillar mover, track bearings, profiled wheels with teeth, an electric motor, a gearbox, a cylinder with a spiral, a hinge, a hydraulic stop, a winch link, a fixing stop, an electric cable.

The frame is attached to a hydraulic stop through a hinge, and an electric motor is attached to the frame, which transmits traction through a gearbox, and then to a cylinder with a spiral, which transmits traction force to the bearing of the caterpillar tracks, setting them in motion, the electric motor is powered through an electric cable.

Source: www.fips.ru

Essence

The technical result solved by the invention is provided by an undeveloped way of overcoming difficult terrain.

To solve this technical problem, a multifunctional combined winch lever Spirit is proposed.

Multifunctional combination winch lever Spirit, including radial displacement control lever, radial displacement control lever winch, support shaft, support shaft support bearings, rope, extendable support flute, consisting of the stationary part of the expandable support flute, having guide rollers, reversible electric motor, splined axle, a cylinder with a spiral, damper springs, a locking device, and a retractable part of the sliding support flute, having bearings of the retractable part of the sliding support flute, locking teeth, rail chute, support blades, eye, lower winch.

Multifunctional combined winch lever Spirit, originally developed by the author for space missions of rovers. The same mechanism can be used for lunar rovers, in the future, the author admits that it will be feasible on wheeled and tracked vehicles in earth conditions.

The wheel has the smallest angle of resistance with respect to the support, is the optimal mechanical tool for the movement of the vehicle, however, it is most effective in relation to a straight solid surface, as a support on which it exerts pressure. However, there are surfaces with soft ground of various types that do not form a solid structure for reliable, confident support, in this case, the advantages of the wheel turn into its disadvantage for a movable vehicle, even when it comes to equipping wheel surfaces with treads, nevertheless they do their work along the contour of the wheel circumference, and their participation in solving the issue of vehicle cross-country ability seems to be clearly not sufficient, if not at all a decisive factor.

To solve the problem of ensuring and increasing the cross-country ability of spacecraft operating outside the earth, on the surface of satellites and planets, the wheel is not the most reliable and efficient tool for movement, as well as the caterpillar mover, which is even more inconvenient for this purpose, taking into account technological progress. currently. The proposed multi-functional combined winch lever Spirit is fundamentally different from the principle of wheel and caterpillar propulsion, is an auxiliary mechanism capable of working when needed, in short-term applications, for example, as a differential lock function in a force-transmitting gearbox.

The same mechanism can be used to adjust the angle of inclination of the solar panels to solve the problem of developing the ability of the rover to absorb the radiant energy of the sun as efficiently as possible. Adjustment of the power supply system (PSS) is extremely important to ensure the operation of the rover and maintain its life, in conditions where there is no suitable geodetic slope to use, or in the conditions of the Martian winter, when the sun's rays fall at a sharper angle.

This mechanism can contribute to research tasks in the part when mechanical action is required on stones, soil, meteorites, in order to move them, turn them over, in order to clear the route, or for study.

The idea of a spiral cylinder transferring pressure to the bearings of a moving part is taken from Patent No. 2731045, the author of which is the author of the present invention. When using such a mechanism, the issue of minimizing friction during the transmission of mechanical force is solved.

The main technical features and advantages of the proposed technical solution are described in the presented preferred embodiment.

The scope of protection of the invention is not limited to the described example, but includes various embodiments in accordance with the general concept. In particular, the use of a cylinder with a spiral, which transmits pressure to the bearings of the retractable part of the expandable support flute and support vanes.

Brief description of the drawings

The essence of the invention is illustrated by drawings. On FIG. 1-2 shows the general view and construction of the multifunctional combined winch lever Spirit. Figure 1 is a side view, Figure 2 is a top view. In figure 3, a sliding support flute, side view, internal content. In figure 4, the sliding part of the sliding support flute, side view. In figure 5, a sliding support flute, end view in section. Figure 6 shows the support blades, front view. Figure 7 shows the support blades, top view.

The figure 1 shows: radial displacement adjustment lever 1, radial displacement adjustment lever winch 2, support shaft 3, support shaft support bearings 4, cable 5, expandable support flute 6, fixed part of expandable support flute 7, reversible electric motor 9, cylinder with spiral 11, damper springs 12, the locking device 13, the sliding part of the sliding support flute 14, the bearings of the sliding part of the sliding support flute 15, the supporting blades 18, the lug 19, the lower winch 20, the vehicle body 21.

The figure 2 shows: radial displacement adjustment lever 1, radial displacement adjustment lever winch 2, support shaft 3, support shaft support bearings 4, cable 5, vehicle body 21.

The figure 3 indicates: the sliding support flute 6, the fixed part of the sliding support flute 7, the guide rollers 8, the retractable part of the sliding support flute 14, the bearings of the retractable support flute 15, the rail groove 17.

The figure 4 indicates: the retractable part of the sliding support flute 14, the bearings of the retractable part of the sliding support flute 15, the locking teeth 16.

While the locking teeth 16 in Fig.1 and 3 are not shown for ease of reading the drawings, in connection with the proposed volume of the presentation area of the drawings and the dimensions chosen by the author.

The figure 5 indicates: the fixed part of the sliding support flute 7, the guide rollers 8, the splined axle 10, the cylinder with the spiral 11, the bearings of the retractable part of the sliding support flute 15, the rail groove 17, the locking teeth 16.

The figure 6 indicates: the support blades 18, the retractable part of the sliding support flute 14.

The figure 7 indicates: the support blades 18, the contours of the retractable part of the sliding support flute 14 in the end view of the section.

The lever mechanism of the device is fixed on the support shaft 3 in the vehicle body 21 through the support shaft 4 support bearings. up and forward, and when the load is released, it stabilizes under the action of gravity. On the fixed part of the sliding support flute 7, a reversible electric motor 9 is installed, which rotates the cylinder with the helix 11, mounted on the splined axle 10, which allows the cylinder with the helix 11 to make predictable longitudinal displacements during operation, and the damper springs 12 ensure smooth mating of the cylinder with the helix 11 with bearings of the retractable part of the sliding support flute 15, which ensures the reliability of the mechanism and prevents its deformation and failure. The cylinder with a spiral 11 during operation is designed to lower the retractable part of the sliding support flute 14 and raise it. The guide rollers 8, fixed on the fixed part of the sliding support flute 7, and the rail chute 17, made in the retractable part of the sliding support flute 14, directly interact with each other to ensure the trajectory of movement of the retractable part of the expandable support flute 14 in the form of a straight line, as well as they also perform the function of a support preventing radial deviation from a given trajectory.

When the expandable support flute 6 tilts up forward, the retractable part of the expandable support flute 14 is lowered, the winch of the radial displacement control lever 2 releases tension and the expandable support flute 6 is lowered to the ground, while the cylinder with the spiral 11 does not participate in the work of pressurizing the expandable support flute 6 on a support, in the form of soil,

On the retractable part of the retractable support flute 14, locking teeth 16 are made, which, together with the locking device 13, participate in the longitudinal fixation of the retractable part of the retractable support flute 14, however, when choosing a design solution, the cylinder with a spiral 11 with bearings of the retractable part of the retractable support flute 15 can independently perform this function. At the lower end of the retractable part of the sliding support flute 14 there are support blades 18, the design of which is made in a three-dimensional projection, perpendicular to each other, they are designed to interact with the ground, increasing the pressure area on it, and prevent horizontal, longitudinal and transverse displacement, which ensures their secure fit. The lower winch 20, through the cable 5, is connected to the eye 19. During the operation of the lower winch 20, tension is applied, in this case the vehicle rises at the point of the support shaft 3, where mechanical pressure is transferred to the vehicle, and moves upward forward. The wheels of the vehicle move forward, there is a shift from the slip area, while the angle in the horizontal plane changes, a tilt is made, which can be used to adjust the angle of inclination of the solar panels. Then the cylinder with the spiral 11, by means of reverse rotation, is tightly mated with the bearings of the retractable part of the sliding support flute 15, preparing to perform work on the reverse. The locking device 13 is released from the cavity of the locking teeth 16. The cylinder with the spiral 11, through rotation, in cooperation with the pressure exerted by the mass of the vehicle, under the action of gravity, on the bearings of the sliding part of the sliding support flute 15, allows the sliding part of the sliding support flute 14 to move into the cavity of the fixed part of the expandable support flute 7. This is how the function of lifting the extendable part of the expandable support flute 14 is performed.

Implementation of the invention

Multifunctional combined winch lever Spirit works in one mode.

The lever mechanism of the device is fixed on the support shaft 3 in the vehicle body 21 through the support shaft 4 support bearings. up and forward, and when the load is released, it stabilizes under the action of gravity. On the fixed part of the sliding support flute 7, a reversible electric motor 9 is installed, which rotates the cylinder with the helix 11, mounted on the splined axle 10, which allows the cylinder with the helix 11 to make predictable longitudinal displacements during operation, and the damper springs 12 ensure smooth mating of the cylinder with the helix 11 with bearings of the retractable part of the sliding support flute 15, which ensures the reliability of the mechanism and prevents its deformation and failure. The cylinder with a spiral 11 during operation is designed to lower the retractable part of the sliding support flute 14 and raise it. The guide rollers 8, fixed on the fixed part of the sliding support flute 7, and the rail chute 17, made in the retractable part of the sliding support flute 14, directly interact with each other to ensure the trajectory of movement of the retractable part of the expandable support flute 14 in the form of a straight line, as well as they also perform the function of a support preventing radial deviation from a given trajectory.

When the expandable support flute 6 tilts up forward, the retractable part of the expandable support flute 14 is lowered, the winch of the radial displacement control lever 2 releases tension and the expandable support flute 6 is lowered to the ground, while the cylinder with the spiral 11 does not participate in the work of pressurizing the expandable support flute 6 on a support, in the form of soil,

On the retractable part of the retractable support flute 14, locking teeth 16 are made, which, together with the locking device 13, participate in the longitudinal fixation of the retractable part of the retractable support flute 14, however, when choosing a design solution, the cylinder with a spiral 11 with bearings of the retractable part of the retractable support flute 15 can independently perform this function. At the lower end of the retractable part of the sliding support flute 14 there are support blades 18, the design of which is made in a three-dimensional projection, perpendicular to each other, they are designed to interact with the ground, increasing the pressure area on it, and prevent horizontal, longitudinal and transverse displacement, which ensures their secure fit. The lower winch 20, through the cable 5, is connected to the eye 19. During the operation of the lower winch 20, tension is applied, in this case the vehicle rises at the point of the support shaft 3, where mechanical pressure is transferred to the vehicle, and moves upward forward. The wheels of the vehicle move forward, there is a shift from the slip area, while the angle in the horizontal plane changes, a tilt is made, which can be used to adjust the angle of inclination of the solar panels. Then the cylinder with the spiral 11, by means of reverse rotation, is tightly mated with the bearings of the retractable part of the sliding support flute 15, preparing to perform work on the reverse. The locking device 13 is released from the cavity of the locking teeth 16. The cylinder with the spiral 11, through rotation, in cooperation with the pressure exerted by the mass of the vehicle, under the action of gravity, on the bearings of the sliding part of the sliding support flute 15, allows the sliding part of the sliding support flute 14 to move into the cavity of the fixed part of the expandable support flute 7. This is how the function of lifting the extendable part of the expandable support flute 14 is performed.

Claims (1)

A lever device containing a radial displacement adjustment lever (1), a radial displacement adjustment lever winch (2), a support shaft (3), support shaft support bearings (4), through which it is installed in the vehicle body (21), a cable (5) , an expandable support flute (6), consisting of a stationary part of an expandable support flute (7), having guide rollers (8), a reversible electric motor (9), a splined axle (10), a cylinder with a spiral (11), damper springs (12) , locking device (13), and the sliding part of the sliding support flute (14), having bearings of the sliding part of the sliding support flute (15), locking teeth (16), rail groove (17), support blades (18), lug (19) , lower winch (20).

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