WALKING MECHANISM Russian patent published in 1995 - IPC

FIELD: transport engineering. SUBSTANCE: in motion grips 6 and 7 are displaced in turn in required direction by means of units 3, 8 and 9. When one grip is moved, the other is fixed on surface by vacuum which stabilizes structure in movement under any angle. No vacuum is supplied to moving grip, thus providing for its movement along surface and following the surface in front by means of pickup installed on shin 4. When pickup sends signal that there is no surface to move along in front of grip 7, the latter is fixed automatically at edge of surface owing to preset dimensions of bracket. Then vacuum is removed from grip 6 and unit 9 shifts unit 3 to edge of surface which is guaranteed by preset length of thigh 2 with due account of diameter of unit 3. Then units 3 and 8 move thigh 1 and shin 5 until pickup detecting new surface under grip 6 operates. EFFECT: enhanced maneuverability, possibility of automatic transfer. 3 dwg