Underwater walking chassis

Abstract

FIELD: walking vehicles.SUBSTANCE: underwater walking chassis contains walking propulsion units installed on its sides, designed as flat articulated four-bar linkages located in a vertical plane. Three walking propulsion units are installed on each side, containing T-shaped supports with hinged feet, the outer ones of which operate in antiphase with the middle one, kinematically connected to each other by a common connecting rod with hinged driven cranks, hinged to the drive crank attached to the electric drive shaft located in a waterproof box rigidly fixed to the frame.EFFECT: enabling the use of a walking chassis in underwater conditions, increasing reliability by using a minimum number of drives, and increasing the minimum number of support points in motion and at rest.1 cl, 2 dwg

Description

[0001] The invention relates to self-propelled vehicles, in particular vehicles with propellers other than conventional wheels or tracks, walking vehicles.

[0002] A walking device is known (Patent 2642020, IPC B62D 57 / 032, published 01 / 23 / 18), comprising a housing to which rods, a swing mechanism and a controlled drive are attached, the rods are made in the form of legs that are mechanically connected to an upper lever, a lower lever and a support, wherein the upper lever is provided with a controlled drive with the function of rotational movement of the upper lever in an axis parallel to the pitch axis of the housing, and connects the upper lever with the housing, and the other end of the upper lever is connected to the lower lever by means of a controlled drive with the function of rotational movement of the lower lever in an axis parallel to the roll axis of the housing, orthogonal to the axis of rotational movement of the upper lever, the other end of the lower lever is connected to the support, wherein the function of the swing mechanism is provided by the leg structure.

[0003] The disadvantages of this design are the small number of support points of the walking device, the large number of drives of the device, which reduces its overall reliability, as well as the inability to move underwater.

[0004] A walking propeller with increased cross-country ability is known (Patent 2435693, IPC B62D 57 / 032, published 10.12.11), comprising a housing mounted with the possibility of reciprocating movement by means of a reversible drive on an upper horizontal rod, at the ends of which pairs of transversely spaced retractable vertical support posts are mounted, and a platform attached to its lower part on a vertical hinge, connected to a reversible rotation drive, provided with an additional horizontal rod connected to a drive for its reciprocating movement, wherein the support posts of the platform are attached to the additional rod similarly to the posts of the rod of the housing, and the distance between the outer extreme points of a pair of posts of the lower rod is less than the distance between the inner extreme points of each pair of posts of the upper rod, and the distance between the pairs of support posts on both rods is the same,the propeller contains a system for the recovery of mechanical energy and balancing in the form of two mechanisms symmetrically installed between the upper rod and the housing, as well as between the additional rod and the platform, each of which consists of two vertical bushings secured to the housing and to the platform and a torsion spring connected by a vertical hollow shaft with a toothed wheel engaged with two shaft-gears installed in the vertical bushings and connected with gears alternately engaging with a double-sided toothed rack, the teeth of which are cut from the end of the rack to the middle on one side, and from the middle to the second end - on the opposite side, secured to the upper and additional rod, parallel to the upper and additional horizontal rod, respectively.

[0005] The disadvantage of this design is the large number of drives of the device, which reduces its overall reliability, low maneuverability of the device, as well as the inability to operate in underwater conditions.

[0006] The closest to the claimed technical solution is a walking support for off-road vehicles (Patent 2368529, IPC B62D 57 / 032, published 09.27.09), comprising a housing with walking thrusters of directional motion mounted on it on each side, made in the form of flat hinged four-link lambda-type links located in a vertical plane, containing curvilinear supports equipped with ski-shaped shoes, pivotally connected to cranks and with swinging levers, the free ends of which are connected to the housing, as well as a power drive of directional motion, kinematically connected to the walking thrusters, it contains a system for overcoming local obstacles, including front walking thrusters of cyclic type directional motion and a mechanism for changing the direction of movement of the walking support, containing a rotating platform,installed in a horizontal plane under the body of the walking support and equipped with a rotary reversible power drive, as well as additional side-mounted walking propellers of an orthogonal type, made, for example, in the form of legs grouped in pairs in the form of hydraulic cylinders with an independent hydraulic drive, the ends of which are connected on one side directly to the rotating platform, one rigidly, the second pivotally, and on the other side pivotally connected to the eyes of an additional ski-shaped shoe common for each pair of legs.

[0007] The disadvantage of this design is the small number of support points in the marching mode, as well as the inability to move underwater.

[0008] The technical result of the claimed invention is to ensure the possibility of its use in underwater conditions, to increase reliability due to the use of a minimum number of drives, as well as to increase the minimum number of support points in the movement mode and in the rest state.

[0009] The specified technical result is achieved in that the underwater walking chassis, containing walking thrusters of course movement mounted on it on each side, made in the form of flat hinged four-links located in a vertical plane, has on each side three walking thrusters containing T-shaped supports with hingedly attached feet, the outer ones of which operate in antiphase with the middle one, kinematically connected to each other by a common connecting rod with hingedly attached driven cranks, hingedly connected to the leading crank, attached to the shaft of the electric drive, located in a waterproof box rigidly fixed to the frame.

[0010] The placement of electric drives in waterproof boxes rigidly fixed to the frame allows for the possibility of its use in underwater conditions, increases reliability due to the use of two drives, and also increases the minimum number of support points in the motion mode and in the rest state due to the walking thrusters of the course movement installed on it on board, made in the form of three flat articulated four-link units located in a vertical plane, containing T-shaped supports with pivotally attached feet, the outer ones of which operate in antiphase with the middle one, kinematically connected to each other by a common connecting rod with pivotally fixed driven cranks, pivotally connected to the leading crank attached to the shaft of the electric drive.

[0011] Fig. 1 shows a general view of the underwater walking chassis during the first step; Fig. 2 shows a general view of the underwater walking chassis during the second step.

[0012] The underwater walking chassis (Fig. 1) contains walking thrusters of course movement mounted on it on each side, made in the form of flat hinged four-links 1, located in a vertical plane, has on each side three walking thrusters, containing T-shaped supports 2 with hingedly attached feet 3, the outer ones of which operate in antiphase with the middle one, kinematically connected to each other by a common connecting rod 4 with hingedly attached driven cranks 5, hingedly connected to the leading crank 6, attached to the shaft 7 of the electric drive, located in a waterproof box 9 rigidly fixed on the frame 8.

[0013] The device operates as follows.

[0014] To perform cruise propulsion in underwater or land conditions, the operator, using frequency converters, controls the rotation speed of the shafts 7 of the left and right-hand electric drives, located in waterproof boxes 9 rigidly attached to the frame 8, which causes the driving cranks 6, attached to the electric drive shaft, to rotate. Rotation is transmitted via a hinged joint to common connecting rods 4 with hinged driven cranks 5, kinematically connecting the walking thrusters of the course motion, realized in the form of flat hinged four-links 1, located in a vertical plane, containing T-shaped supports 2 with hinged feet 3, the outer ones of which operate in antiphase with the middle one. As a result, during the first step, two walking thrusters of one side and one walking thruster of the other side interact with the supporting surface.After the underwater walking chassis body has been moved in space by the length of a step, the outer thrusters on one side, which were in support, lift off from the supporting surface simultaneously with the middle thruster on the same side entering the support phase, while on the other side, the middle thruster rises, and the outer thrusters enter the support phase (Fig. 2). After this, the cycle is repeated. The speed of movement depends on the rotational speed of the cranks of the articulated four-link links 1. Reverse motion is achieved by changing the direction of rotation of the cranks of the articulated four-link links 1. The rotation of the underwater walking chassis is achieved by the difference in speeds of the thrusters on the starboard and port sides.

[0015] Thus, the underwater walking chassis allows for use in underwater environments, has increased reliability due to the use of a minimal number of actuators, and has three support points in both motion and rest modes. This device can be used in the implementation of new industrial technologies for resource development and seabed exploration.

Claims

An underwater walking chassis containing walking thrusters for directional movement mounted on it on each side, made in the form of flat hinged four-links located in a vertical plane, characterized in that three walking thrusters are installed on each side, containing T-shaped supports with hingedly attached feet, the outer ones of which operate in antiphase with the middle one, kinematically connected to each other by a common connecting rod with hingedly attached driven cranks, hingedly connected to the leading crank, attached to the shaft of an electric drive, located in a waterproof box rigidly attached to the frame.

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