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 and working equipment. All equipment directly ensuring the motion of the device is located inside the disk. All executive equipment is executed as a structural unit of the end lids of the disks. The sensors of the control and navigational system and additional equipment may be located on a working platform. The working platform is fastened to one or 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 is executed, as a functional module located inside the disk of a wheel. In the process of the motion, the module stabilized in space rotates the wheel around itself. In the process of the motion control, the module changes the position of the disk in relation to its own stabilized axis. The stabilizing gear of the gyro module consists of a system of gyros having a common physical axis. To maintain necessary working parameters of the gyros the destructive loads arising in the process of their activity, are compensated 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 main mover driver engines; 9 - frame of a module; 10, 11, 12 - lid of a work compartmen t; 26 - working platform. The military assault robot using principle described above is designed for overcoming the enemy's counteraction in autonomous or remote controlled mode. The robot (referred to hereinafter as the device) is intended for the motion on rough terrain at a speed exceeding the speed of enemy's motion through a similar terrain. The device is capable of overcoming obstacles of any type having the height up to a half of the wheel's diameter (the methods of overcoming the obstacles with extreme parameters are described below)). A set of a weapons and equipment ensuring the performance of the task assigned is installed upon the device. The control and stabilization of the device is carried out by means of the gyro module. A Diesel compressed air generator executed as unit integrated with the gyros is used as a source of energy.