SU713752A1 - Walking vehicle - Google Patents

Description

(54) STROKE MACHINE

I

This invention relates to vehicles equipped with walking-type propulsion.

A multi-legged walking machine is known, comprising a body with supporting posts located on its sides, each of which is mounted on horizontal rails by means of a vertical movement drive with a possibility of reciprocating movement from a power drive XI.

The vehicle is moved by alternately transferring the hull along half of the guide struts lowered onto the ground and r forward of the poles of the other half raised above the ground relative to the hull.

The disadvantage of this machine is the lack of turning means.

The closest to this invention in technical essence and the achieved result is another well-known walking multi-support machine, comprising a case with pairs located 2

supporting posts on its sides, each of which, by means of a vertical movement drive, are movably mounted in a carriage mounted in a horizontal guide with a possibility of reciprocating movement from a power drive, and mechanisms for rotating horizontal guides around a vertical axis connected to the steering C2.

Lastly, the machine has the means of rotation, however, the curvilinear movement of such a crew is possible only when there are three racks on the ground from among those located at the corners of the hull. The rest should be raised. If four racks are simultaneously supported on the ground, the machine can only be rotated if the required ratios between the racks of the right and left sides of the hull, as well as between the positions of the racks on the horizontal guides and the angles of rotation are accurately fulfilled.

371

r; i: i, -i ;; iMTi), which means that ;; psobhod- MijtTbio icjo / ibnonaiiHK is the bix trace ;;; g; :: -: 1k g;: gp cfCTOxio yHpoB / ieiUifl ma -

um-i. Ch1S, cho support columns

 or; i: i Ko; i: yr: oriiijaoTCvi but only n; 1: 1 / n, but it is IT gui; iph, KptiBWUf |; och: g: m- PMojoira ma lnn1-1 kl.1ak-: p gikk: kn: yg y; ; OJ ;; TIO, aocjiOJ; bKy In the system geus; - Alkl - ze zl-ptslo management y

; B1; d11 1.p preposlodite - the grade of the degrees of the bridge; therefore, the reference points of the engine are: s; for 7h, it is hard enough to overload the engines and to the loadJioc :: andolol; zkipa / ka,

11 ::; l1 .. poobreggeni - improving 1 control- siextocrn; in this case, soschetsi sotszettsg: -L1 l; s; l Awakened by A-iaLUiiiii ,; incjiy ssslgkisyusnhs with grugom opera

-: ГГ /: t:, дtto dsst; .guesta that -orlso taa1; pa tpg; raelp Soreness of the reference S oyku supply 1se} ha sarirko attached to the drink 6ala: Su: rogL, free end to; H-styled in the case of the kinema-tggguski svcoap lerez three-position coupling coupling with the balance bar of the rack GO1O boardboard. By that, each coupling coupling (o; (ep; center of the center controlled by the sensors to the bed with the ground; near Gudug / Gufl and supplementary to the interlocking with He; i dg: krallke lolumfhy, and I-pa-- pa .) for; al lolumufta is connected to a long-dl-dm connection with the balance. The pa for extreme lolumufts is rigidly connected; a to the body, and the other — through the transfer — to the same half of the other side, and also that securing ka / kdogo balancer to ks-p dus and horizontal direction: y. (lei to balancer is made by means of an elastic element, for example p torsion.

ria figch 1 The general view of the Hjora machine is displayed; FIG. 2, Section A-A; FIG. 1, I (stand for cord cord); f fkg; 3 — electric circuit of the uprapshepio i-pivot racks of one player of Lsshoi sa,

And the Agayusha machine contains the body 1, since. KOTopoivsy by means of balancers 2. Gl-pY nr-and-connected horizontal t-gapaavLo lo: l11s 3 support racks 4, racks 4 vstpno1uen; in the carriages 5, with respect to whom they may be transferred in the vertical direction of the sled, by the action of the vertical movement 6. The card file; 1 FFR queue have a posmuzhn; , pEmAlOrAtatus but guides 3

2,

under deistgziolt i pvodol /. Nahra, 5, 3 is mobile as a unit of y / oi 8, and since it is possible to relate the ejiB- but the balancer 2. assemble ipg ;; and: to; -sha 3 and shaft 8 spn: 1 toreiopogl 9, t3i; i S associated with the state defense 10 s p; leB; M device 11. The balaps p 2 are rigidly fixed to hall J. 2,; n.eo; | (i am able to turn around about: g, donkey, el1:, g1, o kor -: mustache 1. B); utri val 12 neb 7; ekor SION 13, One conode of which: connect with balance bar 2. with round body 1.

On the shaft 1 2 at the splines, it is installed57; the three-stage scenes coupling 14c is installed in lumufts 15 "16 with a relay-connecting chagam 17 and unraL:; elecromagnets by the 1st in 19; ; I. Saber) Non-Claire Latem 20, set to light}: on the bottom:; ko1; de pillars 4. Upper noglufuf-a 15 is fixed on housing 1, and the lower numufta J The design of the nonersdneps suspenders and the rear hulls is identical. The suspension is medium: the CiceK pair differs from the suspensions G | G; rec ,, DON. The back gift was missing from the steering wheel E: 11 and G Next;: ND 10.

The elektro-thesk scheme contains a ring-ring non-recluse 20, |) aspogogen; Ie n supporting parts of racks that have been attached to the feet with the primer and with normal patches; they are normally open; P1; tandy lagu1IK relay 2 and, commigyruk; tsikh tseni nktenig electr-arg-Igov 18 and 10. governing the imposition of the luga 14. in addition, the electrical circuit contains liopmally open contant; 24, 25. 2R and 27 and normally closed contacts 28 and 29, which are located .. ee x nitals elektromagnntov 18 and 10. eoshestnl -. from the combo ataht; couplings in aBHCHMocTVi: -hit, infrared sockets 4.,

When moving, a car - 1 liapa of 4 of each of the three shoulders of the six-legged walking machine can be located at one of the two

In the nerve nossynip both racks; (right and left) is not worth the earth. In that case, the touch sensor - conc Lly

57

The power supply circuits of both relay coils 22 and 23. This causes the contacts 28 and 29 to open, and the contacts 26 and 27 to close, energizing the electromagnets of these 18 racks. Using the electromagnet 18 levers 18, they introduce the 14B couplings to the lower The coupling halves 16 of both racks 4, thereby connecting the right and left balancers 2 to each other through a chain transfer 21. In this case, the system of two balancers 2 has one degree of mobility relative to the housing 1, i.e. each balancer has the ability to rotate relative to the housing 1, but regardless as well Synchro, 21 due to communication.

In the second position, only one of the pillars 4, for example, the right, rests on the ground, and the other, the left elevation, and is carried forward to the initial step for advancement. In this case, the limit switch of just the right rack 4 closes the power supply circuit of the coil of the relay 23, and the switch 20 of the left rack 4 does not turn on and the coil of the relay 22 remains de-energized. The contact 28 is opened, and the contact 24 is closed, applying current to the electromagnet 19 of the right pillar 4, Its lever 17 engages the clutch 14 into engagement with the coupling half 16, the balance bar 2 is rigidly connected only with the right rack 4 to the housing 1, the Left trailer coupling 14 is 4 at the same time in a neutral position. The left balancer 2, turning under the action of the torsion 13 together with its shaft 12, is set in a perpendicular position with respect to the longitudinal axis of the housing 1. In this way, in this case, the semi-balance 2 of the disputable 4 is rigidly connected to the housing, 1, and the balancer 2 of the rack carrying out the transfer is connected to the housing 1 through a torsion bar 13

The third theoretically possible position of the uprights is characterized in that both of the uprights of one shoulder on one side are simultaneously detached from the ground. However, in a statically stable gait used in practice, this situation does not occur and therefore is not considered here.

In order to carry out a curvilinear motion of the walking machine, the direction 3 is rotated by the steering device 11 relative to the balancer 2 around the axis of the shaft 8. The movement from the steering device 11 to the guides 3 is

26

is given by means of a chain transmission 10 1 of the torsion 9. In this case, the rotation of the guide 3} w, the angle specified by the steering device 11, occurs only if the guide 3 is free, so 9. The post 4 does not rest on the ground, but is in the opposite direction condition. If the post 4 is resting on the ground, then the guide 3 does not turn following the change in the position of the steering device 11, and only the torsion bar 9 is tightened.

Thus, when the steering device 11 is deflected to a predetermined position, the guides 3 and the balance bar 2, which deviated in the process of movement from the original for a given angle of rotation, return to this position under the action of torsions 9 and 13 after the next leg 4 is detached from the ground.

The guides 3 of the middle shoulder, which are not interconnected by the steering device 11, under the action of the torsions 9 in the process of transferring the pillars 4 occupy a position parallel to the longitudinal axis of the body 1, in which they should be at the time of setting the racks 4.

The operation of the described kinematic and electrical circuits at any moment of the walk of an exact match of the number of legs of mobility to the number of its supporting legs, which eliminates both the slippage of the feet and the uncertainty of movement of the housing 1.

Claims (2)

The system of upright stands 4, pivotal guides 3, balancers 2 and the machine body 1 constitutes a single hinge-lever mechanism in which the supporting pillars of the uprights 4 are a fixed link, and the movement of the guides 3 relative to the carriages 5 with the struts 4 - control propulsion. In the process of moving the carriage 5 along the guide 3, the angle of rotation of the guide 3, both with respect to the balance bar 2 and with respect to the housing 1, does not remain constant, but changes in accordance with the laws of kinematics. However, whenever the rack 4, after completing the working stroke, rises into the air and the movement of the carriage 5 reverses, the position of the balance bar 2 and the guide 3 is restored under the action of torsions 13 and 9. At the same time, the balance bar 2 takes a normal length to the longitudinal the axes of the housing 1 are smoothed and the deflection angle of the guide 3 is hall;) with the steering device 11. This maintains the radius of the steering path defined by the steering device 11. The presence of balances adds to the walking machine the degree of mobility, excluding. thus, mutual slip of the struts along the ground and the associated danger of breakage of the machine structure. However, along with this positive effect, the introduction of six balances leads to uncertainty about the position of the body relative to the support pillars, so that, for example, with six pillars resting on the ground, the machine will have nine degrees of freedom with six control links x (carriages 5 ). Therefore, switching clutches are automatically introduced into the machine design, automatically decelerating; some balancers are wired, thereby eliminating unnecessary degrees of freedom of the machine. The application of this invention will significantly improve the controllability of the machine, eliminating the power overloads in the supporting struts and power drives arising from sliding racks on the ground when cornering. Claims 1. A walking machine containing a frame with support columns arranged in pairs on its sides, each of which, by means of a vertical drive, is movably mounted in a carriage mounted in a horizontal guide with the possibility of reciprocating movement ; power drive, and mechanisms for turning horizontal n 1G1Pa (U1 oyuschnykh around a vertical axis connected to the steering gear, characterized in that, with the aim of improving controllability by ensuring that degrees of mobility of the machine to the number of supporting struts in contact with the ground, the horizontal guide of each support stand is equipped with a balance bar hinged to it, the free end of which is pivotally mounted in the housing and kinematically coupled to the balance balance of the other side stand. 1, characterized in that each coupling coupling contains a central, controlled by touch-to-ground sensors, a movable coupling half and alternately coupled with it two extreme coupling halves, with the central coupling half is connected by a movable spline coupling with a balance weight, one of the extreme coupling ends is rigidly connected to the housing, and the other is connected via a chain drive with a similar half coupling weight of the other side, 3. The walking machine according to Clause 1 and 2, characterized in that the attachment of each balancer to the body to each horizontal guide to the balancer is performed by means of an elastic element, for example, a torsion. Sources of information taken into account in the examination 1, Copyright-USSR certificate number 92812, CL, B 62 D 57/02, 1950. 2. US patent N 3135345, cl. 18O-8, 1964, fput 1