Amoeboid type motor

Abstract

FIELD: rocket and space technology.SUBSTANCE: invention relates to the creation of devices for movement on the surface of planets. The amoeboid type mover comprises an outer shell, which has the shape of an axisymmetric surface of rotation with rootlets on its surface, filled with liquid according to a program selected depending on the direction of movement and the shape of the outer shell. The outer shell is designed as a non-pressure manifold comprising a pressure manifold divided into sectors, inside which there is an internal storage tank with a liquid reserve and a control unit with systems for supplying and distributing liquid to the roots and sectors of the pressure manifold. The pressure manifold is configured to be filled with liquid in sectors. Driving forces are created by simultaneously moving liquid into selected rootlets and sectors.EFFECT: increasing in the efficiency of regulating driving forces and the speed of movement over the surface is achieved.1 cl, 1 dwg

Description

[0001] Field of technology to which the invention relates

[0002] The invention relates to the field of rocket and space technology, in particular, to the creation of devices for movement on the surface of planets.

[0003] Technology Level

[0004] Currently, a wide variety of means of locomotion are observed on the surfaces of planets and other space objects. These movements are associated with the adhesion of the materials that make up the surfaces and the vehicle moving across them: wheels, tracks, skis, runners, etc.

[0005] Amoeboid locomotion is one of the natural variants of movement organization. Attempts to create devices utilizing the characteristics of this method have been noted. The main characteristics are related to:

[0006] - the movement of internal masses within a single shell, including the root stalks located on the surface;

[0007] - creating driving forces or moments to move devices along the surface.

[0008] An amoeboid-type mover is known, comprising an outer shell with rhizopods on its surface, which provide redistribution of the mass of the liquid, adhesion to the surface of movement and the creation of driving forces, and a supply of liquid (see Sofyin A.P. On the issue of using amorphous devices / / A.P. Sofyin, L.A. Fedorova, Yu.M. Sudar / Proceedings of MAI. - 2022. - No. 122. - Pp. 1-24). The amoeboid-type mover contacts an inclined plane by means of elastic rhizopods, thereby performing a planar motion. The orientation of the mover can be changed by moving the volumes of liquid inside the rigid body, including by filling the corresponding rhizopods, which will change the point of application and the line of action of the main vector of external forces. Filling another rhizopod with liquid will lead to a change in the position of the point of contact of the object with the rough surface.

[0009] The obvious disadvantages of this method are:

[0010] - significant inertia and slowness of processes;

[0011] - the complexity of the processes of maneuvering (turning) a cylindrical apparatus on the plane of motion.

[0012] The closest in technical essence (prototype) to the proposed invention is an amoeboid-type mover (see Russian Federation Patent No. 2838583; declared 08 / 01 / 2024; published 04 / 21 / 2025), containing an outer shell with rootlets on its surface that provide redistribution of the mass of the liquid, adhesion to the surface of movement and creation of driving forces, and a supply of liquid, wherein the outer shell, having the shape of an axisymmetric surface of rotation, allows external and internal partial deformation, contains a set of rootlets filled with liquid according to a program selected depending on the direction of movement and the shape of the outer shell, provides flat, spherical or other movement of the mover by creating a continuous driving moment, while in order to accelerate maneuvering it is possible to discharge part of the liquid from various elements of the mover to quickly change the position of its center of mass, including when performing a turn.

[0013] The device in question proposes to use the features of amoeboid movement associated with the variant of movement of a mechanical system using the movement of internal masses within a single shell, creating a driving moment.

[0014] The obvious disadvantages of this device are:

[0015] - the difficulty of regulating fluid flows within a single shell and, accordingly, the intensity of change in driving forces and speed of movement;

[0016] - failure to take into account the possible rupture of the rootstock material and loss of their tightness, which also affects the regulation of the speed of movement.

[0017] This version of the proposed device, which implements the features of amoeboid movement, is selected as a prototype for the proposed invention.

[0018] Disclosure of the essence of the invention

[0019] The objective of the proposed invention is to develop an amoeboid-type mover, the technical result of which will be an increase in the efficiency of regulating the driving forces and the speed of movement along the surface.

[0020] The claimed technical result for an amoeboid-type mover, containing an outer shell having the shape of an axisymmetric surface of rotation, with rootlets on its surface, filled with liquid according to a program selected depending on the direction of movement and the shape of the outer shell, ensuring flat, spherical or other movement of the mover by creating a continuous driving moment, is achieved in that, depending on the cyclogram of movement, the filling of the rootlets is carried out individually or in groups, and the creation of driving forces is carried out by simultaneously moving the liquid into the selected rootlets and preliminary displacement of the internal masses by rotating the sectors within the pressure manifold.

[0021] It is proposed to use a set of rootstocks, placed in accordance with the control program in the required quantity, which provide:

[0022] - creating a driving moment;

[0023] - regulation of the rate of change of the driving moment, by using the supply of liquid to the roots through individual channels or in groups, as well as the displacement of masses in the pressure manifold.

[0024] The process of developing a device with obvious signs of amoeboid movement and the ability to effectively regulate it is associated with the need to solve the following problems:

[0025] - creation of a supply system for redistribution of liquid through individual and group channels;

[0026] - selection of control program;

[0027] - creation of a pressure manifold divided into sectors to provide preliminary displacement.

[0028] Brief description of drawings

[0029] Fig. 1 shows the general layout and composition of the amoeboid-type propulsion unit that provides its movement. The propulsion unit consists of:

[0030] 1 - pressure manifold, divided into sectors that can be shifted (rotated); 2 - internal storage tank; 3 - non-pressure manifold; 4 - supply channels; 5 - drain channels; 6 - root leg; 7 - liquid reserve; 8 - control unit with liquid supply and distribution systems.

[0031] Implementation of the invention

[0032] In further development of the design, the movement of devices with an amoeboid propulsion system should generally be considered as the free movement of the apparatus, tied to the movement of the center of mass.

[0033] The use of devices that utilize the characteristics of amoeboid movement will require the development of appropriate mathematical models, which will require the following technical issues to be resolved:

[0034] - selection of the design type of the device, including the structural layout diagram and composition of the elements that ensure movement;

[0035] - determination of the method of implementation and selection of technical solutions for amoeboid movement, including the order of placement of the rhizopedia;

[0036] - clarification of the control method - the order of operation of the actuators and the conditions for the movement of the liquid;

[0037] - definition of types of energy sources for the implementation of mass movement.

[0038] The movement of fluid masses changes the point of application and line of action of the principal vector of external forces. Furthermore, the position of the object's point of contact with the surface changes. The moment of the principal vector of external forces relative to the point of contact is realized as a driving moment. The appearance of this vector is associated with the specified control program for the movement of fluid volumes within the housing.

[0039] For movement, external forces are created by redistributing masses inside the housing shell. The pressure manifold 1 (Fig. 1) is filled in sectors and is subjected to preliminary displacement (rotation) relative to the internal accumulator 2 (Fig. 1), inside which the liquid reserve 7 (Fig. 1) is stored and the control unit 8 (Fig. 1) with the liquid supply and distribution systems is located. The liquid is supplied to the root legs 6 (Fig. 1) through the supply channels 4 (Fig. 1) and is subsequently drained into the non-pressure manifold 3 (Fig. 1) through the drain channels 5 (Fig. 1).

[0040] When developing designs for vehicles that incorporate features of amoeboid locomotion, the method of locomotion is a top priority. Design features allow for the simultaneous generation of a combined propulsive moment in two ways:

[0041] - due to the movement of liquid into the roots;

[0042] - due to the movement of liquid in a collector divided into sectors.

[0043] Using the proposed device allows you to:

[0044] - create driving and controlling forces and moments;

[0045] - improve overall movement efficiency;

[0046] - provide expansion of speed control methods.

[0047] The proposed devices can be used as propulsion devices in various space conditions: for various types of surfaces; in a wide range of external influences and load options.

[0048] Amoeboid propulsors expand the range of weight and size parameters, meaning they have no application limitations. The same can be said for various types of operations: transport, monitoring, and others.

Claims

An amoeboid-type mover comprising an outer shell having the shape of an axisymmetric surface of rotation with rootlets on its surface filled with liquid according to a program selected depending on the direction of movement and the shape of the outer shell, ensuring flat or spherical movement of the mover by creating a continuous driving moment, characterized in that the outer shell is made as a non-pressure manifold containing a pressure manifold divided into sectors, inside which an internal accumulator with a reserve of liquid and a control unit with systems for feeding and distributing liquid into the rootlets and sectors of the pressure manifold is located, wherein the pressure manifold is made with the possibility of filling with liquid in sectors, and the creation of driving forces is achieved by simultaneously moving the liquid into the selected rootlets and sectors.

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