WALKING LEG FOR MULTILEG SELF-PROPELLED MACHINES AND FOR OFF-ROAD VEHICLES Russian patent published in 2011 - IPC B62D57/32 

FIELD: transport.

SUBSTANCE: invention relates to off-road vehicles. The walking leg contains housing with two front and two rear walking propellers installed along boards, power drive, front and rear driving half-axles. The walking propellers representing four-bar linkages contain curved supports equipped with boots and are pivotally connected with cranks. The front driving half-axles connected by symmetric differential are rigidly linked with cranks of the front walking propellers and equipped with the front self-locking symmetric differential. The rear driving half-axles are rigidly linked with cranks of the rear walking propellers and are connected by the rear symmetric differential. The driving front and rear half-axles enter into each other forming together with symmetric differential the front and the rear self-locking symmetric differentials, and have teeth two of which on one of the half-axles of the front and the rear propellers are cut with angle pitch. The walking leg is equipped with microprocessor control unit, absolute encoders, electric magnets and electric power supply unit to which the microprocessor control unit is connected. The encoders are connected to microprocessor control unit inputs and located on half-axles of symmetric differentials. The electric magnets are connected to outputs of the unit, have power connection with braking devices and are located on the half-axles of walking propellers. Power drive engine is connected to the output of microprocessor control unit. Each of the curved supports of the front and the rear walking propellers is pivotally connected with sectional spring and loading device. Free end of sectional spring is pivotally attached to the housing. The loading device represents a pair of angular-contract bearings fitted on single axle. The bearings are located in the guide representing curved contour. The guide is rigidly fixed on the housing with the form of loaded section.

EFFECT: lower energy consumption of power drive and higher flotation ability of walking vehicle.

6 dwg