UA28662U - Method of movement of transportation vehicle with wheel-stepping motor in wheel-step mode - Google Patents

Abstract

The utility model relates to the methods of the movement of transportation vehicles of high cross-country ability, in particular, to transportation vehicles with wheel-stepping motor.

Description

Description of the invention

The useful model relates to the ways of moving high-passability vehicles and, in particular, 2 to vehicles with a wheel-stepper motor.

There is a known method of continuous movement of vehicles with a wheel-stepper motor In the wheel-stepper mode, which consists in the sequential movement of the wheels on the support surface in the phase of transfer in the driving mode, and then turning on the stepper movement of the wheels.

With this method of movement in the transfer phase, if all wheels are moving forward, the vehicle body stops before the start of the stepping phase.

To obtain stable and uniform movement in the specified way, there are various schemes of operation of wheel-step levers. So, for example, when the wheels of one side are locked and make a step movement, then the wheels of the other side are in the transfer phase in the leading mode, or when one of the wheels moves forward in the leading mode, then the other three move in the step mode in different stepping phases.

Analogue of the invention: (Copyright certificates of the USSR Mob40897, IPC: В62057/02, 1979; Mob98830, IPC: vvb2057/02).

The disadvantage of this method of movement is that, in order to ensure stability and uniformity of movement, it is used only for special high-passability vehicles, the transmission of which provides a complex individual stepping drive for each of the support wheels, the number of which is not less than four.

The method of movement according to the type of mover, consisting of two levers connected to the body by a hinge, each of 70 of which contains a gear drive of the support wheel and is a planetary gear with two serially connected satellites with a ratio of the number of teeth of 25, the central wheel and 73 - peripheral satellite - (24/27521), performs stable movement in the wheel-step mode of operation, as well as crossing road obstacles of considerable height in the wheel mode of operation.

Analogue of the invention: |pat. of Ukraine on utility model Mo13492 IPC B62057/02 (2006.01))|. 29 Stable wheel-step movement of the driver is ensured by setting the appropriate position of the levers - the driver relative to the phases of the wheel-step movement. In the transfer phase, the rear, in the direction of movement, the drive lever must be supported, and the front lever must be unsupported. In the step movement phase, on the contrary, the front lever is supported during movement, and the rear lever is unsupported.

The change in the position of the levers of the driver, in relation to the contact with the road surface, is carried out due to the fact that cm sets the initial position of the levers of the driver in accordance with the phase of transfer, and in the phase of step movement, the pressure (Ce) of the front lever against the supporting surface is carried out due to the rotation of the levers relative to their point of the hinged connection with the body in the direction coinciding with the direction of rotation of the support wheel. The rotation of the y-o levers relative to t.O occurs due to the introduction of one of the levers of the mechanism into the drive of the support wheel, (ee), which periodically performs full or partial locking of the drive gears in the phase of the step movement.

In case of complete blocking, a brake is applied, which acts on the axis of the gear drive of the support wheel and stops it from rotating, at the same time, a rotation of the levers of the driver relative to T.O., as a wheel with a radius OK, occurs.

Another method of setting the levers of the driver, in relation to the contact with the support surface, is used, which consists in the fact that instead of blocking the drive of the support wheel of the lever, the necessary rotation of the levers of the driver is carried out under the action of the reactive moment, which is determined by the moment set on the axis of the driven gear of the drive - about the supporting wheel (paragraph 2, patent of Ukraine for utility model Mo13942 IPC 862037/02 (2006.01)). This method of installing the driver's levers is less energy-intensive and faster than the method of completely blocking the support wheels.

During the examination of the model of the driver, the levers of which are set in contact with the support surface in accordance with the phases of wheel-stepping motion due to the action of the reactive moment, it was determined that stable wheel-stepping motion has the 395th place in the presence of road obstacles of insignificant height. Wheel-step movement in the conditions of crossing road obstacles of considerable height was limited in the transfer phase due to the loss of the active action of the rear lever and its (ee) support wheel when entering the surface of the obstacle, as well as a decrease in the speed of movement during the action of the phase. b» The task is to improve the indicators of the engine in the wheel-step mode of operation by determining the requirements for the kinematic scheme of the drive of the support wheels of the levers, which ensure the optimal position of the levers, in relation to (o) 50 contact with the support surface in each of the phases of the wheel-step movement, taking into account the action reactive moment. "z To analyze the movement of the drive levers under the action of the reactive moment, we will consider in more detail the mechanism of this action, using the example of application in existing technical devices.

The action of the reactive moment is used in technical devices, for example, in belt transmissions with self-tensioning, "Zezra". 59 The main element of the device is a carrier installed on the axis of the driving gear of the drive, containing the axis of the driven gear wheel, and a belt transmission pulley fixed on it, which, together with the carrier, have the ability to rotate relative to the axis of the driving gear. When rotating, a reactive moment from the circumferential force T on the drive gear is acting on the carrier in proportion to the transmitted moment. If the device is installed on the axis of the driven gear, and the pulley with a toothed wheel is the leading one, the direction of action of the reactive moment, respectively 60, changes to the opposite.

Fig. 1, 2 shows the kinematic diagram of the levers of the driver, where the rear, in the direction of movement, the lever of the driver moves relative to T.O under the action of the reactive moment, which is determined by the moment M, set on the axis of the driven gear 72 by the crank mechanism with the spring Сd. The moment M,", at each half-turn of the crank, changes in magnitude and direction relative to the axis Y, which is directed along the line A.-V. because Moment M", during one half-turn of the crank, preserves the direction of action, changing only in magnitude,

but in the second - the moment M"2 changes relative to T.O) in the direction of action, and the moment M" also changes accordingly.

The direction of action of the moment M,2, with the sign (t) is determined in that half-turn of the crank OA relative to the axis Y (with the direction along О.В), in which the moment M,2 opposes the rotation of the drive gear 75 of the drive of the support wheel.

At the same time, the magnitude of the circumferential force T increases, and the moment Mu turns the lever relative to T.O in the direction of action of the force T. According to the diagram shown in Fig. 1, 2, the rear lever 6 of the driver, if a moment is set on the axis of the gear 25

M)(t), turns counterclockwise and breaks away from the support surface.

In the next half-turn of the crank OA, the direction of action of the moment M" (-) coincides with the direction of rotation of the gear 24. The gear 2" under the action of the moment M" (-) runs around 75, turning the lever 6 around T.O in a direction of 70 CLOCKWISE , which accordingly becomes a reference.

Mt-tdt1eT (1) where: where - the radius of the dividing circle of the gear is 24;

M uv th

DI where: gdo - the radius of the dividing circle of the gear 2".

The reactive moment acting on the drive lever is created from the circumferential force T on the drive gear 74 of the drive wheel.

DI.

Mt - Ge TD B Mus.

ID2 where: gdi-ta24/2; Gdo-t22/2 - the radii of the dividing circles of the gears are 44.2". where: t - gear module; 24, 7o - the number of gear teeth. l. 2

Mg- Mazi 22

For an unsupported lever, which has no interaction with the supporting surface, the force T is determined only by the moment

M,2, which is set by the crank mechanism on the axis of the gear 2". with

Moo-pieSdehHd; (2 o 22 pieSdeHd; (2) where: Well - the arm of the spring action Sd relative to T.O;

Sd - stiffness of the spring; co

Khd is the deformation of the Su spring. with

Values Pi, Xd are proportionally dependent on the angle of rotation of the OA crank relative to the OX axis of the OA crank.

The Y coordinate axis is set along the 048 line.

MI UTkresovo, "

Mi kr "vipo,

M, t krevipavsovo, c) "» Mt eg2kr,Sde g vipo»sovo; (Z) n -- and ko At each revolution of the crank, when OA coincides with the direction OB, the arm of the crank is p4-0, and the moment M,» so equals 0 twice;

The angle o at which M ,2 has the maximum value is determined from the condition derived from the function

Ge) (vipoesovo) 0; со824-0; sh- pools where n is an integer; 0-1359.

Fo Me

If the mounting point of the spring Sd is not located on the lever itself, but on the actuator body, then except for moment M22

IZ relative to the so-called the moment M y acting on the lever 6 with the shoulder p appears even during the position of the crank OA in the dead center.

Md-KhdeSde (Piagkre so5o); (4) c where: Xd - spring deformation Сd;

HdeHkrevipo,

Thus, moments 60 act on lever E relative to T.O

MU-MdaM?2o; (5)

The constant component Md depends on the choice of the value of p.

The moment M is a moment with a constant direction of action, but variable in magnitude depending on the angle of rotation.

After the passage of the top dead center by the crank OA, the moment increases and turns relative to ТО on the shoulders and lever 6 with separation from the support surface. This period of growth of the moment Md is used at the beginning of the step movement phase, when the front lever 5 becomes a support.

The method of controlling the rotation of the levers of the engine relative to T.O due to the action on them of the reactive moment M, which is given by the moment M;" on the axis of the gear 72 of the drive of the support wheel is possible, both for the unsupported lever and for the supported lever in the conditions of the driver's movement on the road surface with an insignificant height of obstacles. At the same time, the moment transmitted by the drive to the support wheel of the lever is insignificant, which does not affect the movement of the levers and under the action of the Mu moment.

But, if the movement is carried out in off-road conditions, it is necessary to take into account the moment M 7 in the general equation 7/0 and the forces acting on the drive lever.

To carry out a comparative analysis of the correspondence of the position of the drive levers to the phases of wheel-step motion under the action of external forces, as well as taking into account the action of the reactive moment M., it is enough to determine the direction of action of the moment M, relative to T.O., or its sign - for an unsupported lever, but for support lever, it is necessary to additionally take into account the moments of forces acting in contact of the wheel with the support surface.

Let's consider several schemes of wheel-stepper motors with a constantly operating drive of the support wheel of the lever.

The wheel-stepper driver (analogue) shown in Fig. 1, 2 consists of two levers 5, 6, which are hingedly connected to the driver body. Each of the levers 5, b contains a gear drive of the support wheel (7 4, 2", 235) located according to the planetary gear scheme with two serially connected satellites with a ratio of the number of teeth - 24 of the central wheel and 7" - of the peripheral satellite (75/ 7421).

The movement drive - 4 is unilateral, which moves the lever 5 forward in the transfer phase. The spring C z carries out the reverse stroke of the lever 5.

The spring S. is installed between the levers 5, 6 and ensures their reduction to the stop 8 relative to the T.O.

The tension force of the spring C" relative to T.O acts through the stop 8 on the lever 6 in the transfer phase. A crank 9 (with a spring Сd) is installed on the axis of the gear 72 of the rear drive lever in the direction of movement.

The driver shown in Fig. 1, 2 has the position of the levers 5, 6, and the crank OA, which corresponds to the transfer phase.

The wheel-stepping cycle of the engine is carried out during one revolution of the crank of the displacement drive o, levers 4, as well as the crank, on the axis of the gear 2" drive of the support wheel, which have the same angular velocities.

The transfer phase begins from the moment when the lever 6 of the driver becomes the support and the forward movement of the lever 5 under the action of the transfer drive 4. During the action of the transfer phase, the levers 5, 6 diverge relative to each other at the reference point of the lever 6, and the movement of the rear lever 6 occurs later relative to the course of the front. At the end of the forward stroke of the front lever, both levers are in contact with the support surface, but the turn with the lift of the rear x, the lever continues and it is set apart from the support surface at the beginning of the phase of the step movement. Phase Ge of the step movement continues during the rotation of the lever 5 against the clockwise movement under the action of the spring Cz until it stops in the body. With further rotation of the crank OA, the moment Mi changes the direction of action relative to ТО, the lever 6 со з5 is lowered to the reference position. with

The conditions of equilibrium of the rear lever b in the wheel-step mode of operation of the driver in the first period of the transfer phase correspond to the conditions of equilibrium of the rear support lever of the driver when crossing road obstacles with the driver in the wheel mode of operation, which is determined by formulas 1, 2 (patent of Ukraine for utility model Mo13942

IPC v62057/02 (2006.01)) but without taking into account the effect of springs Court. "

The first period of the transfer phase, in which the equilibrium conditions of the rear lever 6 correspond to the conditions determined by pt") c in formulas 1, 2, lasts from the beginning of the transfer phase, when the lever b is in the reference position, and until the beginning of the movement of the rear lever 6 backwards. But compliance with the formulas 1, 2 for the rear support lever is preserved further, since if during this period the entry to the surface of the road obstacle is made, the support lever 6 under the action of the increasing moment from the traction force P has to move forward until the contact of the levers is restored at the stop 8. Through the stop 8, the moment M.. ko acts on the rear lever. During this period of the transfer phase, it is necessary to ensure a clear installation of the rear lever b in the reference position after its rotation from top to bottom at the end of the step movement phase, the moment M" has a sign (-); MU-Md-M; 2

So Mo-Mum"5; And the transfer phases (6) (c) movement on a smooth road surface

Ge") 20 Mo2M. M"; when crossing road obstacles (7) where: Mo is the moment from the traction force on the support wheel relative to the vehicle; и» M, - the moment from the tension force of the spring Cz relative to t.oO;

M" - the moment from the action of the supporting reaction Ko on the wheel relative to T.O.

In the second period of the transfer phase, when the forward movement of the lever 5 relative to the rear support 6 has begun, it is necessary to make a uniform backward rotation of the rear lever 6 (the levers 5, 6 diverge relative to each other) which continues until the lever 5 is set in the support position. At the same time, 20 - the distance from the point of hinged connection of the levers to the support surface decreases.

MU Md Me; 60 Practical establishment of the direction of action of moment M". and, accordingly, the direction of rotation of the lever 6 relative to T.O is ensured by setting the angle of the position of the crank OO A relative to the position of the crank of the movement drive 4, in which the movement of the front lever 5 begins.

According to Fig. 5, the forces acting on the front support lever 5 relative to T.O in the step movement phase are given in the equation. 65 UMo-o;

Мо М 1-Ма«Мз (8) where: Мо is the moment from the traction force Р on the support wheel relative to t.oO;

M, - the moment from the tension force of the spring Cz relative to t.o.o.;

M" - the moment from the support reaction on the wheel of the lever 5 relative to the vehicle;

M." - the moment from the action of the tension force of the spring S. relative to the current;

Mo "R'teoi de: Ru - traction force on the support wheel of the front lever; 76 Ioyai - the shoulder of R. force action relative to the so-called

M. SdeKhdzeYiz; where: Cz - stiffness of the spring;

Kha - deformation of the spring Cz;

Iz is the arm of the spring C" relative to the so-called

M"2 "Ko vu; where: Ko - support reaction on the wheel of the lever 5;

And- - the arm of Ko's action relative to the so-called

M3 Sleheio; where: S. - stiffness of the spring;

Chi - deformation of the spring; X4-2I4 (vipro-vipro); where: To - the angle at which the levers 5, 6 are brought to the stop;

But -Ikhlesovr - the arm of the spring action S. relative to the so-called

Do you have 2C? ue(vipr-vipro)esov r;

For the step mode of operation, when the support lever 5 has a reverse stroke, the value of M z depends on the deformation of the X. spring Su, as it increases, the shoulder of its action relative to T. O decreases, therefore, for the purpose of simplifying the analysis, we accept Mukhsopvi.

Thus, rotation relative to T.O of the front support lever 5 in the step movement phase occurs with the help of the moment M. from the action of the spring Cz, and Muz from the spring C. relative to T.O, and the moment Mo and Mo counteract this rotation. (Se)

MitMa3»MoM»2 (9) "co

Thus, basically, the moment of M. determines the intensity of step movement. with

Let's analyze the cycle of the engine, the scheme of which is shown in Fig. 1, 2 by phases of wheel-stepping motion, and we will determine the characteristic shortcomings of the kinematics of the drive of the support wheels of the engine levers.

From the point of view of the uniformity of movement in the transfer phase, as defined earlier, it is undesirable to reduce the speed of rotation of the support wheel of the rear lever, but this fact takes place in the second half of the period of the transfer phase, when the lever would rotate counterclockwise while reducing the revolutions of its support wheel by due to the relative movement of the lever (lever 5 and 6 diverge relative to each other). -

At the same time, in the transfer phase, when the levers 5, 6 diverge relative to each other, an increase in the speed of rotation of the support wheel of the front lever 5 when moving forward is a necessary condition for a possible entry onto the surface of an obstacle, |pat. of Ukraine for utility model Mo5351 MP7 862057/02, 20061.

In the phase of step movement, when the front support lever 5 makes a reverse stroke, the reduction of revolutions of its support wheel reduces the possibility of skidding. t 35 Thus, the requirements for the kinematics of the movement of the front lever of the driver with the existing drive scheme of the support wheel are fulfilled for each of the phases of wheel-stepping motion. But in the transfer phase with the rear support (ee) lever, there is a reduction in the speed of movement of the driver, which is carried out due to a decrease in the angular speed b of the support wheel of the rear lever in the second period of the transfer phase.

Consider the driver (Fig. 4, 5) kinematic diagram of the drive of the support wheel of the rear lever, which is improved (22) 50 from the point of view of storing the revolutions of its support wheel in the second period of the transfer phase.

Kz and Rear lever of the driver 6, unlike the lever 6 according to the diagram (Fig. 1, 2), consists of two links, hingedly connected on the axis of the gear 7" drive of the support wheel.

Links 00. and 0.05 of lever 6 are brought together to a stop by a spring C", and the upper link FO. to the stop between the levers with the help of the spring C. 59 On the axis of the gear 23 (unlike the diagram of the drive in Fig. 1, 2), a crank mechanism with a spring C du, c is installed, which connects the crank with the housing of the link 004. In the processes of rotation of the drive gears of the support wheel on the axis of the gear 2o, the moment M,» appears, and on the axis 73 the moment M,z, which determine, respectively, the moments M, and M.4, which act relative to t.O and t.O. and returns links 00. and 040". in The moment M,z has the sign (i, if in direction it opposes the moment on the drive gear 74 of the drive of the support wheel of the lever. According to the sign of the moment "M,z, or -M,o, the moment M; acts on link 00, equally in the direction of action of the circumferential force T. The effect of moment M on the appearance of moments (-M,»2), (-M,z) is opposite.

If the moments M" and M,z act sequentially, or the movement of links 003, 0405 is limited by a stop, then the links move relative to their axes under the action of moments M;, and M.4 separately. re Thus, for the rear lever 6 of the driver, if the movement of the link 00 5 is not limited by the stop, any of the moments M; with the sign (Х) determines the lifting of the link (rotation relative to ТО counter-clockwise), respectively, any of the moments M, with the sign (-) determines the rotation in the clockwise direction, or the pressure of the link 00. and the lever as a whole to the support surface .

The position of the levers on the scheme (Fig. 5) of the driver corresponds to their position in the first period of the transfer phase. At

Therefore, the moment M;z has the sign (5), the moment M;2»0.

In the second period of the transfer phase, the backward movement of the rear lever is carried out by its link O 40", which, under the action of the moment Mu, given by the moment (-M 73), turns relative to T.O 5 against the movement of the hour hand with a decrease in the distance g, which is necessary to establish the reference wheels of the front lever 5 on the road surface. At the same time, a reactive moment M;, determined by the moment (-M 53), acts on the link 004 and presses the link 00 down to the stop.

The moment M" at this time is equal to zero, and thus the position of both links is determined by the moment - M,z.

At the moment of contact of the support wheel of the front lever 5 with the road, the sign of the moment "M" on the axis of the gear 22 changes from (-) to (8). The lifting of link ОО 5 begins upwards (rotation relative to ТО counter-clockwise. At the same time, the moment М,3з remains with a (-) sign. At the end of the lift, the moment М,з3з changes its sign to (t) and link 0105 returns to its initial position to the stop in the link OO 5. The sign of the moment M» changes from (h) to (-), after passing the bottom dead center with the crank OO A, both links of the lever b go down, turning clockwise relative to t.O.

The forces acting in the first period of the transfer phase on the lever 6 composed of two links are the same as those determined in equation 6, because both links are reduced to the stops: - the link 040" is pressed to the stop in the link 00 by the spring So, and the link 00. at the moment M". from the traction force, and the moment (-M,2) to the stop 8 between the levers. Through stop 8, the moment M. continues to act on the rear lever.

In the second period of the transfer phase, the levers diverge relative to each other, the moment M / does not apply. Link 0405 rotates relative to T.O 5 against the movement of the hour hand under the action of the reactive moment, the direction of which is determined by the moment (-M,3z) away from the stop with link 003, while it is necessary to take into account the forces opposing this rotation. 2

Consider the forces acting on the support wheel of the lever relative to point 4.

The moment M" from the supporting reaction Ko, relative to point O3 practically does not act due to the small length of the arm. Its action relative to point O4. Moment M" acts, practically only relative to 7.0.

Thus, we have the equations of the main forces acting relative to point 4. with

KHUMOCHI 70; Moi "Moz -Mt450 (Se) where: Moi is the moment from the traction force P on the supporting wheel relative to the t.O..

My "Rttepoi; i-o de: poi - the arm of action of P, relative to T.O.; (heh)

Poi-(0102 Zh0.50); | where: О" is the diameter of the support wheel of the rear drive lever.

Me" is the moment from the action of the spring C" relative to T.O..

The action of the spring C" - is to provide additional fixation of the link 040" in the initial position, and therefore the moment Mo" - has an insignificant value. Mom. « 20 The moment Moi, which counteracts the rotation of the link 0405, is significantly smaller in magnitude than the moment Mo-Rteio due to -o s the ratio of the arms of the force P t relative to t.O and 04, therefore, first of all, the link 00. makes a move to the stop 7, and then already link OO" turns relative to t.O.. :z" When crossing road obstacles of considerable height during the transfer phase, the moment M,", acting on link 00. is either equal to zero, or has a (-) sign, which does not interfere with the rear lever of the driver to carry out the necessary movement when moving the ears forward relative to the vehicle under the action of the moment Mo from the traction force on the support wheel, if the stop 7 is turned and the

GI link 00. is not limited by a stop.

The driver, which differs from the one shown in Fig. 4, 5 in that each of its levers 5, 6 consists of two links, hingedly connected on the axis of the gear 22 of the drive of the support wheel, is universal, because it could be redesigned for a specific application option, if some links of the levers are specially fixed between each other. So, for example, the 4, 5 motors shown in the diagram have an application option with connected links

Me of the front lever. The diagram in Fig. b shows a mover, the upper links of the levers of which are connected (joint) and

They have a single axis of rotation O, located on the engine body.

Such a driver, in contrast to the driver depicted in the diagram of Fig. 1, 2, 4, 5, has, both in the transfer phase and in the step stroke phase, a much larger amplitude of movement, because in each of the phases for the direction of rotation of the support lever (links with a support wheel) the kinematics of the support wheel drive provides an increase in its angular speed. c The driver consists of an upper link 10 common to both levers, which is hingedly connected to the housing in the t.O. and moves between the stops 11 with the help of the movement drive 4, while setting the levers of the driver (links 7, 8) in accordance with the phases of the wheel step movement In the transfer phase, the link 10 is turned to the right to the stop 11,4 in the 60 phase of step movement it is turned to the left to the stop 11.

At the beginning of the transfer phase, link 7 is turned relative to point 4 to the left to the stop 13, and link 10 to the right to the stop 11. The wheel of the link 7 is the support wheel, and the wheel of the link 8 is set apart from the support surface.

In the second period of the transfer phase, link 7 of the rear lever makes a 65 backward movement under the action of a reactive moment set by a crank mechanism with a spring installed on the axis of the peripheral satellite (rotation relative to T.O4 against the clockwise movement). At the same time, link 8 moves forward in the same way under the action of the reactive moment (rotation relative to t.Oz clockwise).

The links 7, 8 diverge relative to each other and at the end of the transfer phase reach the stops 12. At the moment when the movement drive 4 sets the link 10 in the leftmost position - the phase of the step movement begins and, accordingly, the wheel of the link 8 becomes the support wheel, and the links 7 - with separation from the supporting surface.

During the step movement, the link 8 makes a backward movement - a turn relative to t.Oz (counter-clockwise) under the action of a reactive moment, the direction of which in this period is also counter-clockwise. At the same time, link 7 of the rear lever is recorded in the extreme right position until the end of the step phase. At the end of the phase of step movement, link 7 turns to the left relative to point 4 to the extreme position to the stop, and its support wheel comes to the road surface. The transfer phase begins after the link 10 moves to the right extreme position to the 7/0 stop 11.

The stepper wheel drive, the diagram of which is shown in Fig. 7, 8, has one folded stepper wheel lever 5, which is installed between the wheel axles 1, 2 of the vehicle, and the central satellite 7 14 of the drive of the support wheel of the stepper wheel is located on the driving axes

The constituent parts of the lever 5 are the upper link 6 (00 4), which in the so-called hingedly connected to the body of the mover, and 7/5 V t.O4 is also hingedly connected to the lower link 7(0105), which contains the support wheel 3.

The movement of link 6 relative to T.O is limited by stop 8, 10.

Link 7 is a fork lever, the ends of which are connected, respectively, to spring C, and in the lower part to spring C, which are components of the lever 5 drive.

The movement drive 4 of the wheel-step lever 5 is a crank-slider mechanism with an elastic connecting rod, in which the function of the elastic connecting rod is performed by two springs C z and Su installed on the crank, and the slider is the wheel-step lever 5, when it is moved hingedly from connected links 6, 7 relative to the so-called

In the initial position of the lever 5, its links 6, 7 are located in the extreme right position and are pressed against the stops 8, 9 by springs S. and So. The initial position of the lever 5 corresponds to the position | of the displacement drive crank, in which springs C" and C. practically do not act on link 7.

In the process of turning the crank of the movement drive 4, under the action of the springs C, and Cz, the forward movement of the link 7 is carried out in the transfer phase. The step movement phase begins when the crank of the movement drive 4 o returns to the position in which the vertical component of the tension force of the spring C with respect to t.O4 becomes greater than the component of the spring C), which, evidently, leads to a downward rotation of link 7 relative to t.O4 , with wheel Z pressed against the support surface. с зо In the phase of step movement, link 7, under the action of the increasing tension force of the spring C z, makes a turn relative to the point of contact of the wheel of link 7 with the road, and link 6 transmits the step movement through ТО, ТО to the body of the mover. X,

The driver, according to the scheme of Fig. 7, 8, has increased mechanical indicators for crossing road obstacles of considerable height. Thus, at the beginning of the step movement phase, when the support wheel Z of the wheel-step lever is in the leftmost position and is pressed against the road surface, the conditions are created for entering the surface of the road obstacle with the front axle 1 of the vehicle, which has a separation from the support surface. At the beginning of the transfer phase (when the lever links are in the initial position) - the conditions for entry by the rear axle 2 of the vehicle are accordingly created.

In order to ensure the coordination of the conditions of the vehicle movement at the same time, both the drive wheels of axis 2 and the supporting wheel of the driver, it is necessary that they have the same linear speeds: "

M2-M3 02 p o s 03 z z» Where: O» - the diameter of the support wheels on axle 2 of the vehicle;

Oz" - the diameter of the support wheel of the wheel-step lever; d1; Hz - radii of the drive gears of the support wheel 3.

In the wheel mode of operation, such a mover, which has a wheel-stepping lever, consisting of two o-hinged-connected links, can be used in the mode of moving road obstacles of considerable height or o recess, if the lever movement drive on the vehicle provides the possibility of its installation to the fixed position, corresponding to the beginning of the step movement, and return to the starting position. b List of Fig. drawing:

Ge») 20 1,2 - Scheme of a drive with two hinged levers, a drive of the support wheels of the levers by the type of planetary gear with two serially connected satellites and the rotation of the rear lever relative to the reactive moment formed by the crank mechanism with spring installed on the axis of the intermediate satellite.

C - The scheme of the driver is similar to the scheme of Fig. 1, 2, but with the position of the levers of the driver according to the phase of the step movement. 29 4, 5 - The scheme of the engine is similar to the scheme of Fig. 1, 2, but with a rear lever consisting of two links and rotation from both links successively under the action of the reactive moment, which is created by a crank mechanism with a spring installed on the axis of the intermediate satellite for the upper link , and on the axis of the peripheral satellite for the lower link. 6 - Scheme of the driver, which consists of an upper link common to both levers of the driver, and two lower links, 60 having rotation relative to the points of hinge connection with the upper one due to the action of the reactive moment, which is created by a crank mechanism with a spring installed on the axis of the peripheral satellite 7, 8 - Scheme of the driver, consisting of one wheel-stepping lever, composed of two hinged links according to the scheme of the rear lever of Fig. 4, 5, but with a movement drive of the type of crank-slider mechanism with an elastic connecting rod. bo 9 - Scheme of installation of the engine model according to schemes 4, 5 on the vehicle.

In order to verify the task of experimental confirmation of the efficiency of a drive with two hinged levers and a rear lever consisting of two hinged links, and the rotation of each of them relative to the hinge axis was carried out by a reactive moment created by a crank mechanism with a spring installed on the axis of the intermediate satellite - for the upper link, and on the axis of the peripheral satellite - for the lower link, a model of the engine was made according to the diagrams of Fig. 4, 5 and the mounting option for installation on the vehicle, respectively, Fig. 9. The gear ratio of the drive gears of the support wheel of each of the levers is 274:273-1.5.

The angle of installation of the crank О A was 102...159 to the top dead center relative to the position 7/0 of the displacement drive crank, at which the forward movement of the front lever began.

The amplitude of the step of the driver in the wheel-step mode of operation was maximum and equal to 35 mm. Separation of the rear lever from the support surface in the step movement phase began simultaneously with the backward movement of the front lever of the driver.

The movement speed in the second period of the transfer phase did not decrease, which, accordingly, led to an increase of 7/5 of the average movement speed as a whole during the period of the wheel-step cycle of the mover.

The maximum height of a road obstacle when moving with a mover in the wheel-step mode of operation was equal to 35 mm.

Literature: 1. S.N. Kozhevnikov "Mechanism!", "Mashinostroenie" 1976bg. Star. 82. 2. Reference book "Details of machines" edited by N.S. Sketch "Mashinostroenie" Moscow, 1969. Page 351.

Claims (4)

The formula of the invention 1. A method of moving a vehicle with a wheel-stepper motor in the wheel-stepper mode, which includes the sequential movement of the wheels along the support surface in the transfer phase in the driving mode, and then the inclusion of a step movement of the wheels with a wheel-stepper motor, which consists of two hinged connected to the housing of the levers, each of which contains a toothed transmission of the drive of the support wheel according to the type of planetary transmission with two serially connected satellites with the ratio of the number of teeth 74 of the central wheel c zo and 73 of the peripheral satellite - (75/24)21, with the located on the axis of the intermediate satellite of the rear, in the direction of movement, the lever is driven by a crank mechanism with a spring, which, when the drive gear 74 rotates, creates a reactive moment that acts on the lever and sets it in position according to the phases of the wheel-step motion, "which differs in that that use a rear lever, composed of two hinged links, which turn in the same direction during the movement of the lever back in series, which ensures the storage of the angular speed of the support wheel in the transfer phase, and the rotation of the lower link with the support wheel is carried out by the reactive moment, which is determined by the moment set on the axis of the peripheral satellite. 2. The method according to claim 1, which differs in that a driver is used, the front and rear levers of which are assembled with a common upper link, hingedly connected to the driver body, the rotation of which is carried out by a drive for moving the levers in accordance with the phases of the wheel-step movement, the lower links levers with support wheels move relative to the points of the hinge connection with the upper link due to the action of the reactive 2 s moment, which is determined by the moment set on the axis of the peripheral satellite. And Z. The method according to claim 1, which differs in that it is used for a wheeled vehicle with a motor with one and? wheel-stepping lever, consisting of two hinged links with the drive for its movement by the type of crank-slider mechanism with an elastic connecting rod, which acts in the step movement phase on the lower link of the driver lever, ensuring its wheel-stepping movement and return to the initial position in the transfer phase, and the GI central satellite drive of the support wheel of the thruster lever is located on the driving axle of the vehicle. 4. The method according to point 3, which differs in that for moving single road obstacles of considerable height, a driver drive is used, which provides the possibility of setting the wheel-stepping lever in a fixed position, corresponding to the beginning of the step phase and returning to the starting position. b 50 Ko) c 60 b5