FLOATING WALKING BOTTOM VEHICLE Russian patent published in 2003 - IPC

FIELD: mining industry and marine engineering; submersible multi-functional vehicles. SUBSTANCE: proposed vehicle includes horizontal hull with supporting stanchions mounted on its end sections, reservoirs at alternating positive and negative buoyancy and propulsors. Supporting stanchions, buoyancy reservoirs and propulsors are located in pairs along hull on both sides on opposite arms-cross-members connected with movable members of drive mechanisms for turn and motion relative to hull in vertical and horizontal planes and reciprocating along sides of hull. Opposite arms- cross-members are located at angle relative to each other performing function of rocker arms of rectilinear guide mechanism including cross- piece mounted across hull with slide link mechanism on which said rocker arms are mounted; centers of rocker arms are movably connected with ends of cross-pieces by means of levers-connecting rods which are equal to half of their length. Supporting stanchions are arc-shaped in form and are mounted on levers-cross-pieces at external flare. EFFECT: rectilinearity of translational motion of hull; increased tractive effort; reduced power requirements. 5 cl, 9 dwg