A SINGLE-WHEELED, AUTONOMOUS OR REMOTE-CONTROLLED SELF-PROPELLED DEVICE, NOT HAVING AN EXTERNAL CASE, AND USING, FOR MOVEMENT CONTROL AND STABILIZATION, A SYSTEM OF GYROS IN WHICHTHE LOADS OCCURRING IN THE PROCESS OF OPERATION ARE COMPENSATED IN GAS OR LIQUID SUPPORT BEARINGS AND THE AUTONOMOUS OR REMOTE-CONTROLLED MILITARY ASSAULT ROBOT, EXECUTED WITH THE

摘要

The device is a single-wheel gear, without an external case.The device consists of the disk with the low pressure arch tire andworking equipment. All equipment directly ensuring the motion of thedevice is located inside the disk. All executive equipment is executedas a structural unit of the end lids of the disks. The sensors of thecontrol and navigational system and additional equipment may belocated on a working platform. The working platform is fastened to oneor both of the end lids of disk and it covers the device like an arch.Sketch_A: A_1 - front view; A_2 - side view; A_3 - top view.The equipment directly ensuring the motion of the device isexecuted, as a functional module located inside the disk of a wheel. Inthe process of the motion, the module stabilized in space rotates thewheel around itself. In the process of the motion control, the modulechanges the position of the disk in relation to its own stabilized axis.The stabilizing gear of the gyro module consists of a system ofgyros having a common physical axis.To maintain necessary working parameters of the gyros thedestructive loads arising in the process of their activity, arecompensated in the gas or liquid support bearings.Sketch_1; Sketch_2: 1 - arch tire; 2 - disk of the wheel; 3 - power unit; 4, 7-gyro module; 5 - the main mover driver; 6 - support equipment; 8 - the mainmoverdriver engines; 9 - frame of a module; 10, 11, 12 - lid of a work compartment;26 -working platform.The military assault robot using principle described above isdesigned for overcoming the enemy's counteraction in autonomous orremote controlled mode. The robot (referred to hereinafter as thedevice) is intended for the motion on rough terrain at a speedexceeding the speed of enemy's motion through a similar terrain. Thedevice is capable of overcoming obstacles of any type having theheight up to a half of the wheel's diameter (the methods of overcomingthe obstacles with extreme parameters are described below)). A set ofa weapons and equipment ensuring the performance of the taskassigned is installed upon the device. The control and stabilization ofthe device is carried out by means of the gyro module. A Dieselcompressed air generator executed as unit integrated with the gyros isused as a source of energy.