SU569475A1 - Wheel-stepping motor - Google Patents

Description

one

The invention concerns vehicles of high prokavimost, in particular to kopetsno-walking sortsam.

Known stepper motor is known, it contains a traveling wheel mounted 5 on the frame of the transport sretst by means of a lever system associated with the rocking power drive ij. .:

{the main shortcomings of this drive include the presence of an elastic suspension, 10 the presence of vertical oscillations of the machine body in the pacing mode and the complexity of control in the pacing mode.

Also known is a wheel-walking motor, which includes a running wheel mounted on the vehicle frame with the help of an articulated system connected with the rocking power drive, a propulsion unit, the body of which is placed on bearings inside the wheel axle. ,, 20, and the mechanism of summation of the angular and translational velocities of col. 2.

The disadvantage of this drive is the occurrence of vertical oscillations of the body in the pacing mode. 25

The purpose of the invention is the elimination of vertical oscillations of the vehicle.

This is achieved by the fact that the hinged-lever system contains three parallel wishbones, hinged. attached

its shovels to the frame and to the bottom and top of the trunnion, the summation mechanism is made in

a bevel gearbox, the cogwheel of which is attached to the engine body, and the gear wheel to one of the levers, the gear ratio of the gearbox or the wheel radius relative to the length of the transverse control arm connected to the gearbox gear.

FIG. 1 shows a driving pattern. in the transverse plane; fig-, 2 - view of the

tel in plan.

Claims (1)

; The twin motor contains a running wheel 1 mounted in bearings on a wheel axle, structurally integrated with the casing of the drive motor of rotation of the wheel. The casing of the engine 2 is mounted in the bearings of the axle 3 wheels. Trunnion 3 using the transverse levers 4, 5 and 6 is associated with section 7 of the vehicle. Levers 4 and 5 are fixed on frame 7 and trunnion 3 using Tuka’s two-pivot hinges, the horizontal axis of the hinge of one lever of the lever is connected to the torsnon 8, fixed f to frame 7, and the vertical axis of the hinge of the protruding lever end is set spherically in the trunnion 3 and rigidly associated with the bevel gear 9, which is engaged with the bevel gear wheel 10, mounted at a fixed position on the engine housing 2, in addition, the lever 6 is connected with the drive of the pitch 11, made, for example, in the form of a hydraulic cylinder. The mechanism works as follows. With the pitch drive disconnected (the hydraulic cylinder is blocked) and the wheel rotation engine 2 turned on, the usual wheel mode is performed. The suspension of the frame 7 is carried out using a torsion bar 8, which takes the load from the wheel / through the lever 6. The jet torque arising on the engine bodies 2 through a bevel gear, the lever 6 and the drive 11 is transmitted to the frame 7. The levers 4 and 5, regardless of The axes of the position hold the wheel 1 in a position in which the longitudinal plane of the wheel is parallel to the longitudinal axis of the machine. With vertical movements of the wheel 1, in view of the fact that the lever 6 n of the lever 4 and 5 form a hinged trapezoid in the transverse plane, the wheel moves vertically without using lateral faces. In this case, the side-shuffled hinges of the levers 4, 5 and 6 relative to the frames 7 are compensated for by the lateral inclination of the wheel plane. When the drive of rotation is turned on and the pitch 11 wheel is turned, the wheel is rotated and reciprocating relative to the frame 7 of the vehicle. In this case, as well as to the vertical front axle, the shaft is mixed along the supporting surface without any lateral side movements due to the corresponding change in the side tilt angle wheels. Rotation of the lever 6 relative to the vertical axis of the machine with the help of a bevel gear, gear 9 and wheel 10 converts into the corresponding reciprocating rotation of the engine housing 2, which ultimately accelerates or slows down the wheel 1. There is no skidding and skidding the wheels of its longitudinal displacement can be achieved by choosing the optimal values for the radius of the wheel 1, the length of the lever 3 and the gear ratio of the conical gearbox. The gear ratio of a bevel gearbox can be determined by the engine 2, i.e. stationary relative to the support surface of the frame 7 of the vehicle, the velocity of any point of axis 1 from the drive gear should be equal to the speed of the wheel. This condition, with a sufficient degree of accuracy, can be written in terms of:. lever length 6; kinematic,; for the sake of: wheel 1 wheel; tfi is absolute; the angular velocity is wheel1 or the angular velocity of the wheel is 1O (with 2 locks-); provided that the motor W is the angular velocity of the lever 6 or gear 9. Then the gear ratio of the gearbox is determined by the expression The operation of the suspension is similar to that described above, with the only difference that the perception of forces occurs with moving links of the mechanism. In view of the fact that the HTOf longitudinal movements of the wheels are carried out by levers rotating in a horizontal plane, the vertical displacement of the wheel; when it is extended, there can be almost no movement that iHS causes the vehicle to oscillate vertically in pacing mode. In addition, in the proposed engine, the number of structural elements is minimized, the transverse suspension has minimal lateral dimensions, which simplifies the design of 1 DBIT and improves it. com “snake. Claim 1. Wheel-propeller, including isoaeco chassis, mounted on the vehicle frame by means of a pivot-lever system associated with a rocking power drive, traction unit, the body of which is placed aa pod: wheel housings inside the wheel axle, to the mechanism the summation of the angular and translational speeds of the wheel, characterized in that, with the aele of eliminating vertical vehicle oscillations, the hinge-lever system maintains a track of parallel transverse levers that are hinged and rotated with their ends to frames 8 and S from bottom to top of tsagy}) s, the sum-rovain mechanism is made in the wad of the conical rector, whose gear wheel is arakrep