• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:SU1819231A3
    申请号:SU904830954
    申请日:1990-08-30
    公开日:1993-05-30
    发明作者:Klar Zhorzh
    申请人:Framatome Sa；
    IPC主号:
    专利说明:

    The invention relates to a vehicle equipped with tracks mounted on tilted drives.
    • The purpose of the invention is to enable 'quickly at minimal cost device. a possible malfunction of the vehicle in question and / or it is easy to create such a vehicle that can overcome obstacles of various shapes, while having a high speed of movement.
    In FIG. 1 is a side view of a first ‘assistance vehicle in accordance with the present invention; figure 2 is the same plan; Fig. 3 is a front view of the drive of this assistance vehicle; figure 4 is a top view of this drive after removing the tracks and some guide gears to show the drive gear, hinge and extreme guide gear; on figa, 4B. 4c shows diametrical sections of top views on an enlarged scale of this drive gear, this articulated joint, and this guide gear; figure 5 is a top view in section of the assembly means of the roll of this drive in the vehicle body; on figb = front view in section of the connections of these assembly means; in Fig. 7 is an example of using this assistance vehicle (front view) while maintaining the vehicle body in a horizontal position, with a narrow and blocked passage; on Fig an example of the use of this vehicle assistance (front view) in the passage with a strong slope; in Fig; 9 is a side view of this vehicle in the passageway of Fig. 8; in FIG. 10 is a side view of a second assistance vehicle in accordance with the present invention, which has! two tracked tiltable drives and a free wheel; 11 is a side view of a third assistance vehicle.
    oo w o w ω w>> ω
    1819231 4 of the present invention, which is capable of overcoming crevices. 1
    A vehicle includes: a vehicle body 2. several drives 3 assembled in the aforementioned vehicle body for carrying out the actions of carrying and promoting the aforementioned vehicle, each of these drives representing a length along the longitudinal axis 12 and includes a track 4 resting on the ground and driven in a circular motion around this drive in a plane containing this longitudinal axis to move this drive relative to the ground: - 'φ. · <' media guides There are 6,7,9,10 tracks for guiding the aforementioned travel path of the aforementioned caterpillar: a drive gear 6 that can perform rotational movements to provide the aforementioned travel path of the aforementioned 'caterpillar so as to • implement the aforementioned advance action:
    a roll 13 carrying the aforementioned guide means and the aforementioned drive gear 6, and the assembly means of the roll for mounting this roll 18 in the aforementioned vehicle body 2, and these means include a swivel joint 16 that allows the tilting of this roll relative to this body by! turning around the hinge axis 5 in the transverse direction.
    The vehicle also includes units of propulsion engines 22, 23, 21,., Each of which corresponds to one of the 40 aforementioned drives, to ensure; : 'the rotation restrictions or restrictions of the aforementioned drive gear 6 of this drive: <units of the tilt motors 38, 370 36A,' each of which corresponds to one of the aforementioned drives, To engage or • brake the aforementioned • roll of this drive with the aforementioned tilt movements:
    power supplies with an energy of 100 for supplying the necessary energy to the aforementioned units of the advance and tilt engines, and control means 102.13 for supplying control signals to the aforementioned units of the advance and tilt engines in order to coordinate actions on the first drives, at least some of these control The means are the central control means (102) which comprises the vehicle body for providing coordinating signals for the aforementioned 5 drives. ‘
    Other requirements are new: the aforementioned units of the propulsion engines 22, 23, 21 and inclination 38, 37, 36A, corresponding to one of the aforementioned drives 3, are mounted on the aforementioned roll 18 of this drive,
    - the aforementioned roller assembly means include, in addition to the aforementioned hinge joint 16, a removable fastening device 17, which makes it easy to carry out the sequence of removal and assembly of this roller with respect to the aforementioned vehicle body 2.
    This vehicle further includes, in accordance with each of the aforementioned drives, transmission means 108, 110, 44, 45 designed to transmit at least the aforementioned coordinating signals between the aforementioned central control means 102, which comprises the aforementioned vehicle body 2, and the aforementioned drive, these transmission means including deformable elements 110 that withstand at least the aforementioned tilt movements, and additional connecting ra emy 44.45, allowing these means to function again after temporary removal of this roll. Installation of engine assemblies on the roll is such that assembly. ny means and the tilt motor unit carry, direct and involve the roll in motion and that the latter carries and directs; a drive gear, as well as a drive engine assembly that engages the gear in motion. Each of these engine assemblies includes, for example, an electric motor, a mechanical speed reducer and an electrically controlled brake, and the gearbox and brake may possibly be implemented differently. As for the deformable elements of the transmission media, 50 they are, for example, flexible wires.
    The aforementioned power supplies • Energy 100 contains the aforementioned vehicle body 2, and the aforementioned transmission means 108,110,44,55. 45 are also provided for transmitting to the aforementioned units of the power engines 22,23,21 and the tilt 38,37,36A of the energy, carrying and promoting the aforementioned, which they need. These energy sources are, for example, electric batteries. That case δ
    the vehicle will not contain engine components, allows you to place a large volume of batteries in it to increase the autonomy of the vehicle.
    The drive 3 is largely enclosed in a flat space surrounded by the aforementioned caterpillar 4, the latter being generally of the shape of a tape and having a loop shape, and the width, surface and thickness of this flat space are determined by this loop and this width, respectively.
    The roller 18 is in general a plate, the surface of which has a length in accordance with the aforementioned longitudinal direction 12 and a height, the aforementioned vehicle body 2 being located on the inside of this plate, and the aforementioned guide means 6. 7, 9, 10, drive gear 6 and engine components 22,23,21.38,37,36A are mounted on a roll on the outside of this plate.
    The swivel joint of the roll 16 includes:
    - a hinged tubular sleeve 34 representing an axis formed by the aforementioned hinge axis 5. and creating a central space located at least mainly from the aforementioned outer side of the aforementioned roller 18 between the outer open end and the closed end located adjacent to the aforementioned vehicle body 2, this inner end being part of the hinge channel 106 extending along this axis, the hinge separator 39, coaxially surrounding the aforementioned hinge sleeve and bearing the above a curled roll 18, and a thrust bearing consisting of ball bearings 39A and 39B for guiding the rotation of the aforementioned hinge cage around the aforementioned hinge sleeve.
    The removable attachment device 17 has a tubular shape and extends coaxially into the extension of the aforementioned hinge sleeve to complete the aforementioned hinge channel.
    The transmission means include central transmission means 108 connected to the aforementioned vehicle body 2, peripheral transmission means 110 connected to the aforementioned roll 18 and transmission connecting means 44, 45 passing through the aforementioned hinge channel 106 and located adjacent to the aforementioned hinge device 17 for easy pluggable connection of the aforementioned peripheral transmission media to the aforementioned central transmission media.
    The hinge device 17 includes two tubular connections, which are the pin connection 41 and the socket connection 40 and which are coaxially mounted: one at the aforementioned inner end of the tubular sleeve 34, and the second in the vehicle body 2, the aforementioned socket connection 40 including pins 50, which form radial protrusions facing inward, and which are spaced at the corners around the aforementioned hinge axis 5 with the remaining intervals between them, and the aforementioned pin connected e 41 includes trunnions 52 which form radial outwardly projecting ridges and which are angled around the aforementioned hinge axis, leaving passage intervals between them, so that the aforementioned assembly operation can be performed first by the coaxial penetration of the aforementioned pin connection into the aforementioned socket connection with the passage of the aforementioned trunnions of each of these connections in the aforementioned passage intervals of the other connection, and then through the operation and assembly rotation, during which one of these joints rotates with respect to the other by an angle of assembly rotation around the aforementioned hinge axis 5 until the trunnions of each of these joints are aligned in the angles with the trunnions of the opposite joints to accommodate the removal of the aforementioned pin connection; the aforementioned removal operation is performed by reverse actions.
    One of the two tubular connections (female connection 40) is rotationally mounted so that the aforementioned assembly rotation operation is rotation affecting only the connection. The unnecessary rotation of this connection is blocked in a known manner by grinding or snapping. This assembly rotation operation is performed using a flat-key wrench, which is inserted into the flat gap that exists between the roll 18 and the wall adjacent to the vehicle body 2.
    The transmission connecting means includes two transmission connecting bases, one of which 43 carries the aforementioned hinge sleeve 34, and the other 46 the aforementioned vehicle body adjacent to each other coaxially around the aforementioned hinge axis 5, each of these bases 43 carrying connecting sockets 44 arranged at angles around this axis and capable of interacting with additional connectors 45, which contains the other of these bases 46 to ensure the transmission of the aforementioned dinating signals.
    The tilt motor assembly 38, 37, 36A is at least partially coaxially located in the aforementioned central space of the articulated sleeve 34, this assembly is supported on one side of this sleeve and on the other side of the passage when passing through the aforementioned open external end of this sleeve on the said separator of the hinge 39 to provide or inhibit the rotation of this separator relative to this sleeve.
    The drive gear 6 is equipped with a tubular coupling sleeve 19 with a transverse axis forming the central space between the fixed inner end of the aforementioned roller 18 and the unfastened outer end, and thrust bearings 26, 2bA, designed to direct the rotation of this gear around this sleeve.
    The drive engine assembly 22, 23, 21 is at least partially coaxially placed in the aforementioned central space of the coupling sleeve 34, this assembly is supported, on the one hand, on this sleeve and, on the other hand, on the drive gear through the outer end of this sleeve or braking the rotation of this gear relative to this sleeve.
    The guide means of the tracks 6, 7, 9, 10 include two serrated gears that are located on two opposite ends of the aforementioned drive 3 and which interact with their slots with the scars of the aforementioned track 4, one of these gears (6A) constituting the active part of the drive gear 6, and the other is the final idler gear. rotation 7 and is equipped with a tubular guide sleeve 27 with a transverse axis, forming a Central space between the fixed inner end of the aforementioned roll 18 and the unsecured outer end.
    The advance converter 15 is located in the aforementioned central space of the aforementioned guide sleeve and is connected, on the one hand, to this sleeve, and, on the other hand, when passing along the aforementioned outer end, to this gear in order to provide 5 a measuring signal of the advance characterizing the rotation of this gears in relation to this bushing.
    The drive includes, among other things, a tilt transmission rod 70 extending 10 along the aforementioned hinge axis 5 from the fixed outer end to the aforementioned hinge separator 39 through the aforementioned unfastened outer end of the aforementioned hinge sleeve 15 34 to the inner end located at. the aforementioned hinge channel 106, and a tilt transducer 33 mounted between, on the one hand, the aforementioned inner end of the aforementioned tilt transmission rod 20, and on the other, the aforementioned hinge sleeve 35, to provide a tilt measurement signal indicative of the tilt of the aforementioned roll 18.
    the aforementioned tilt motor assembly. 38.37, 36 Around the aforementioned tilt transmission rod.
    The vehicle contains four drives: front right 3, front 30 left 114, rear right 115 and rear left 116, the aforementioned front right and rear right drives are symmetrical to the aforementioned front left and rear left drives.
    The elements of the first vehicle of the present invention, which are shown in the drawings, are more specifically described below.
    In accordance with FIG. 1, a transport 40 assistance vehicle 1 mainly consists of a vehicle body representing a supporting structure 2, on. which has four drives, such as 3, designed to provide 45 movement of the vehicle by means of serrated tracks, such as 4, which can have movement in two opposite directions in the direction of the arrow. 4A. The structures of these drives are made up of rolls that are mounted around articulated axes, such as 5, around which they are independently movable with rotation in the direction of arrow 5A. The profile and movements of each drive coincide with the profile and 55 movements of its roll, and instructions relating to the drive will sometimes be given below cp only with reference to this roll.
    The supporting structure 2 is a box, which is so equipped. what mo9
    Figure 4 presents a sectional view from above of the drive 3. The roller consists mainly of the housing 18 in the form of a plate on which the drive gear 5 6 is installed, the final guide gear 7 and the swivel 16, equipped with its mounting device 17 on the supporting structure 2.
    In accordance with FIG. 4A, the drive pin 6 of the stub 6 is equipped with a sleeve 19 constituting the aforementioned coupling sleeve and mounted on the roll 18. Inside the sleeve 19, a pivot shaft 20 is mounted, on which the brake 21, the motor 15 and the gear 23 are connected, connected on the one hand, with a rotating axis 20, and on the other hand with a serrated gear 6A, which makes up the active part of the assembly formed by the drive gear 6. and which captures the track 4, equipped for this with corresponding slots. The thrust bearings, consisting of ball bearings 26 and 26A, direct the rotation of this serrated gear around the hub of this hub.
    In accordance with Fig. 40, the final guide gear 7 is equipped with a tubular means 27, which is mounted on the roll 16 and a promotion converter 15 is installed expensively in the central space 30. Outside of the sleeve 27, bearings 29 and 29A mounted on the sleeve 27 direct the rotation that makes gear 7 when captured by track 4.
    A cover 32 is mounted on the gear 7. Connected to the axis of the transducer 15.
    'In accordance with figv, articulated with. The coupling 16 includes an articulated sleeve 34 having, on its inner end 40, fastening means on the supporting structure 2, which will be described using FIG. 6. This sleeve carries in its central space a tubular shaft 36 on which the brake 36A is mounted. On this tubular shaft : 45 36, a gearbox 37 is also mounted, which makes it possible to reduce the speed of rotation of the roll to a value much lower than the speed of the tilt motor 38. This gearbox 37 itself is paired with the motor 38 by means of a tubular shaft 36 located on the thrust bearing, consisting of bearings 71 and 71 A, Ball bearings 39A and 39B direct the rotational movement of the hinge cage 39 around the sleeve 34. This cage 55 τθρ 39 is connected by a screw e to the roller 18.
    The transmitting tubular rod is inclined placed inside the tubular shaft 36. The end of this rod allows you to fix the converter, the inclination. 33, which allows the jet to contain batteries 100 (see FIG. 2), constituting energy power sources, designed to ensure the functioning of the vehicle. This box also contains means for radio-electric reception and generation of electrical voltages used for this operation, and central control means 102 for controlling the transmission of voltages provided by these generating means. The battery charge is important, giving greater autonomy to the robot created using this vehicle. The working teams transmit to the vehicle 15 through the radio channel, and the progress of the vehicle equipped with the camera is observed on the control screen located in the protected area where the person can be. 20
    The vehicle is equipped with useful devices well known to those skilled in the art, such as a charge control device, a tiltmeter, a movable arm 25 for mounting equipment, and means for monitoring and / or recording.
    In accordance with FIG. 3, the jagged track 4 is pulled into the forward motion around the shaft 3 by means of the drive gear 6, It is guided by the final guide gear 7. equipped with encoder 16 and its tension system 8. Based on the roll in the horizontal plane four 35 small gears of the 9th direction of the caterpillar are installed.
    In the upper part, the serrated caterpillar is guided by two other gears 10 and 10A. External. Generators of these gears 40 determine the overall size of the drive. Covers 11 attached to the gears provide lateral support to the serrated track on the drive.
    When operating or stopping, the drive can be rotated around the hinge axis 5 so that the longitudinal axis 12 connected to this drive is horizontal in the position of the normal support 50 and inclined when the drive is supported by a serrated track 4 at the level of the drive gear 6, go on a freak final guide pinion 7, The drive has an easily accessible socket for 55 to place an electronic module 13 in it, which provides power and control for the motor units included in this drive and part of the the aforementioned management tools.
    instantly know the roll inclination with respect to the vehicle body.
    FIG. 5 is a sectional view of a device that enables quick assembly of a roll 18 in a vehicle body 2. 5 The socket connection 40 is assembled on this case with a set of additional parts allowing it to be rotated with respect to this case to provide the aforementioned assembly rotation. The pin connection is made on the inner end of the sleeve 34, which protrudes from the inner side of the roll 18, so as to enter into a connection with the female connector 40 in the ears. In accordance with Fig.6, the sleeve 34 is locked by this nest. connection To this end, during installation of the drive, three trunnions 52 of the pin connection 41 are positioned opposite the gaps 51 that separate the three trunnions 50 of the female connection. After coaxial penetration of the pin connection into the female connection to the connection 40. applied with a flat-key wrench, interacting with faces 25 40A formed on the outer surface of this connection (see figure 6). force for - rotation to the aforementioned angle of assembly rotation, the value of which is about 60 degrees. Conical planes of trunnions 50 - socket coupling 40 will interact with the conical plane. trunnions 52 so. to lock the trunnions 50. connected to the roll. ·. on its way, near the reference plane 74 (which is visible 35 'in FIG. 5) of the ring 75 connected to the supporting structure 2. Thus, the drive is connected to the supporting structure 2.
    Also, in accordance with FIG. 5, the round-shaped support is screwed to the circular-shaped coupling is screwed to the 40 inner bore of the sleeve 34. It carries a cover 43, which forms the base for the insertion of the electrical socket co. sole connectors 44; Additional pin connectors 45 are attached to 45 on an additional base, consisting of a ring 46. inserted into a support 47 in the form of a circular coupling, which itself is assembled in a socket connection 40 on a supporting structure 2. The insertion perimeter of the connectors is coaxial with these connections and includes 22 connecting element of which 2 are keys. The mechanical 48 and electric (not shown) keys allow the drive to be correctly oriented during installation to mechanically assemble the roll on the supporting structure, as well as electrically connect central transmission means, such as drive 108 .. and peripheral transmission means, such as actuator 110. Ring-shaped joints 42A placed on a support 42 ensure tightness of the assembly.
    The round support 42, combined with the sleeve 34, allows you to center and guide the roll through the ring 75 during its installation on the supporting structure 2.
    7 shows a relief vehicle 1 in a narrow passage that is found at nuclear power plants. Its independent drives allow it to be held horizontal when it 15 overcomes an obstacle. Drives, such ; as 3. which pass through pipe 85 are in a horizontal position, while actuators such as T14, which pass through soil 86, are in an upright fifth position.
    Figs. 8 and 9 show an aid vehicle 1 running along an inclined plane 55. actuators, such as 114, which are placed on a high part of the inclined plane, are in a horizontal position, while actuators 1 , such as 3, which are placed on the lower part of the inclined plane, are in an inclined position. It should be understood that everything can be used. drive tilt combinations to suit all different ground configurations encountered by the vehicle
    Figure 10 shows an example implementation of an assistance vehicle on the ground with a flat configuration or with a small '. tilt that can go in all directions with a turn in place. This assistance vehicle contains only two tracked drives 60 and one or two idle wheels 61.
    11 is a view of a relief vehicle 62 capable of overcoming crevices 63. Modular ’equipment 64, including one row of tracked drives 65; combined with the base module 66, which has two rows of drives 67 and 68. This arrangement allows the aid vehicle to overcome crevices of a much wider width than the distance separating the two rows of drives.
    The assistance vehicle of the present invention has the following advantages:
    It can move in harmful environments for several hours under the influence of; 'em remote control. It is powered by batteries,.
    the vehicle body, propulsors mounted in the vehicle body for carrying and promoting the latter, each drive having a longitudinal structure and includes a track supported on the ground and configured to drive in a circular motion around the drive in a plane, containing this longitudinal axis, for. movement of the drive relative to the ground, caterpillar guiding means for guiding said caterpillar motion path, a drive gear rotatably mounted to provide said caterpillar motion path, a roll carrying said guiding means and a drive gear, roll assembly means for mounting the roll in a vehicle body, including a swivel for tilting the roll relative to the housing by turning around the hinge axis in the transverse direction, as well as 25 nodes vigateley promotion, each of which corresponds to one of the drives. for rotation of the drive gear of this drive, the components of the tilt motors, each stored in a supporting structure, which is freed from all mechanical parts. He can transmit the necessary information using known and commonly used means of transmission. Its design allows it to move and move in an environment such as water, because it is completely hermetic. Electronic components are enclosed in appropriate materials to protect them during the movement of the vehicle in environments with strong radiation. .
    'The help vehicle can be used at autonomous stations: for. Conducting routine inspections, surveys with classic or surround television, environmental analysis to measure humidity, temperature, radiation, pollution, noise.
    For penetration into a shutdown reactor, for example, after an accident with the aim of decontamination, removal of heavily irradiated materials, installation of shields or screens, penetration into a heavily irradiated zone, dismantling of the station at the end of its operation.
    It can also be used in the chemical industry to carry out the following works: • organizations of which corresponds to one of the drives for activating or braking the roll of this drive with the mentioned tilt movements, energy supply means for supplying the necessary energy to the units of the advance and tilt engines and means controls for supplying control signals to the nodes of the propulsion and tilt engines with the aim of coordinating the actions of carrying and advancing the drives, which, in order to increase 40 operational properties due to ensuring work in a environment harmful to humans and simplifying the design, the drive and tilt motor units of each drive are mounted on the roll of this drive, the roll assembly tools further include a removable mounting device for sequential removal and assembly of this roll relative to the vehicle body. the vehicle includes, for each drive, means for transmitting coordinating signals between the central control means and the drive, and these means of transmission include deformable elements that can withstand tilting movements and additional connectors that allow this. means to function again after temporary removal of this roll.
    2. The tool according to claim 1, with the proviso that each drive is placed inside the observation of deviations from the set one. mode, control of atmospheric emissions, smoke or flame detection.
    It can also be used in correctional facilities to carry out sentinel control there at a certain • site, or changed at the command of the operator, to monitor a specific month ··. Tom. ;>
    For all these works, the vehicle is equipped in a special way, for example, with a moving hand to obtain various equipment or means of control. It. It can work automatically and is capable of arriving to recharge its batteries if necessary at a fixed point.
    As stated above, this assistance vehicle has many advantages. It is quickly and easily repaired thanks to the ability to quickly dismantle its drives. The independence of the latter allows him to overcome impassable obstacles that a classic type robot cannot overcome. Its modular appearance allows you to adapt to specific cases with the help of tracked drives of different sizes.
    权利要求:
    Claims (6)
    [1]
    Formulation 1. A vehicle with a tiltable track drive containing .1819231 includes two transmission connection bases, one of kotodux carries an articulated bushing, and the other a vehicle body, mounted next to the caterpillar’s structure, the latter being a tape and installed in the form of a loop. , ·.,; ·;, -. ·; · '
    [2]
    3. The tool according to claim 1, t and h and e e with I
    5 volume coaxially around the hinge axis, and each of these bases carries connectors, spaced at the corners around this axis to interact with to. 10 additional connectors that contain the other of these bases to ensure transmission of coordinating signals.
    , 7. The tool according to claim 4, with the fact that the roll is a plate, the surface of which has a length in accordance with the longitudinal direction and height. moreover, the vehicle body is located on the inner side of this plate, and the guiding means, the drive gear and the engine bridles are mounted on the roll on the outside of this plate.
    [3]
    4. The tool according to claim 3, with the proviso that the swivel joint of the roll, including that the tilt motor assembly at least comprises a swivel tubular sleeve. 15 is at least partially coaxially positioned on the center-representing axis. Formed by the direct space of the articulated sleeve with the articulated axis lowered and forming the center one on one side of the sleeve, and the trawl space located on the other side when passing through the open side of the roll between the outer, the outer end of the sleeve, on the separator with the open end and the inner end , 20 hinges to provide or inhibit the rotation of the separator relative to the sleeve.
    8. The tool according to claim 4, distinguished by the fact that the drive gear is equipped with a tubular coupling sleeve transversely surrounding the articulated sleeve with a 25th axis, forming a central space between the fixed, inner end of the roll and unattached the outer end, and thrust bearings for guiding the rotation of the gear around the hub located next to the vehicle body, the inner end being part of the hinge channel passing along this axis. the hinge separator supporting the said roll, and thrust bearings for the direction of rotation of the hinge separator around the hinge sleeve, and the hinge device has a tubular shape and is mounted in an extension of 30 ki, and the engine assembly is advancing along. of the articulated sleeve, the transmission means include central transmission means connected to the vehicle body, peripheral transmission means connected to the roller, and the 35th end of the sleeve-to the drive gear for wearable transmission means passing through the articulated channel and adjacent to the articulated device fastenings for detachable connection of the peripheral part of the drive gear, and the other 'is the final guide gear with free rotation - and is equipped with a tubular guide sleeve with operechnoy.osyu forming a central space between the fixed internal end of the roll and unfortified at least partially coaxially disposed in the central space of an engaging sleeve journalled on the one hand, on the sleeve and on the other side through the outer
    Providing or braking the rotation of the gear relative to the sleeve,
    9. The tool according to claim 8, with the proviso that the track means include transmission means with a central 40 two serrated gears that are transmission means. ‘Lie on two opposite in length <
    [4]
    5 .. The tool according to claim 4, about the other ends of the drive and interact with theirs so that the hinge device ; slots with caterpillar scars, and it includes two tubular connections / on gears is an akt. water of which is pin, and the other is female. mounted coaxially respectively. at the inner end of the tubular sleeve and in the vehicle body. Moreover, the female connection includes trunnions forming radial protrusions, About; 50 rotated inward, and spaced at the corners around the hinge axis with bushing inter- 'external end, the converter is advanced. shafts between them, and the pin connection includes trunnions that form. _ _ ____________ radial protrusions facing outward, 55 on one side with the sleeve, and on the other hand, spaced at the corners around the hinge axis with the formation of passage intervals between them.
    [5]
    6. The tool according to claim 5; It is noteworthy that the connecting transmission means are located in the central space of the guide sleeve and are connected when passing along the outer end - with the gear to provide a measuring signal of advancement characterizing the rotation of this gear relative to this sleeve, and means re ·:
    17 1819231 18 cottages are provided for transmitting this measuring signal of advancement to the central controls.
    1Q. The tool according to claim 7, with the fact that. that the drive contains a Tilt transfer rod extending along the hinge axis from the fixed external end to the hinge separator through the unfastened external end of the hinge sleeve to the inner end located in the ball channel 10, and the tilt converter mounted between the inner end of the tilt transfer rod between one side, and, on the other hand, with an articulated sleeve to provide 5 a tilt measuring signal, which characterizes the tilt of the roll, the tilt motor assembly surrounds the tilt transmission rod.
    [6]
    11. The tool according to claim 2, with the fact that it contains four drives.
    FIG. 1
    FIG. 3
    FIG 4B
    I
    FIG. 6
    FIG. 5 fi g .. 8
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR2651200A1|1991-03-01|
    FR2651200B1|1991-10-18|
    EP0415830B1|1993-09-08|
    CA2024316A1|1991-03-01|
    DE69003211D1|1993-10-14|
    EP0415830A1|1991-03-06|
    JPH0392490A|1991-04-17|
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    CN102267503B|2011-05-06|2012-07-25|北京航空航天大学|Small combined robot formed by monomer throwing robots|
    BE1022287B1|2014-09-08|2016-03-11|ALTREONIC naamloze vennootschap|CONCEPT FOR AN ELECTRIC POWERED VEHICLE|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    FR8911464A|FR2651200B1|1989-08-31|1989-08-31|VEHICLE WITH TILTABLE TRACK PROPELLERS.|
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