| 摘要 |
FIELD: transport. ^ SUBSTANCE: invention refers to the sphere of transport, namely to walking means of transport. Walking machine includes horizontal body and straight-guiding mechanisms installed in series along its length. Straight-guiding mechanisms contain traverses connected with drives for swinging relative to body, and installed on them on pivot-slide devices the angle-shaped rocker arms with supports on opposite arms. There are two groups installed on the body each one of which contains at least three straight-guiding mechanisms. The mentioned mechanisms interact in coordination among themselves and drives of actuating mechanism with simultaneous alternative possibility for certain groups to be in the state of different-board vertical swing of traverses with alternative creation of support polygons by opposite arm supports, and for other groups to be in the state of rocker arms horizontal swing with created support polygons. Walking method consists in opposite arms supports movement executed in the phase of board change with support lifting-lowering through vertical swings of traverses, and in the phase of resting and pushing through horizontal swings of straight-guiding mechanisms rocker arms. Support movement is executed with creation of support polygons (tetragons) alternatively by opposite arms supports of sequentially interchanging groups of straight-guiding mechanisms. In the phase of board change, the supports are imparted movement in push direction which movement advances their setting on base surface. Support lifting is executed before completing rest and push phase. During sequential group change, setting support polygons (tetragons) of groups on base surface is executed before separation from surface of support polygons (tetragons) supports of groups. ^ EFFECT: providing stable continuous walking movement outside aquatic medium. ^ 4 cl, 20 dwg |
