Коганицкий Григорий Аронович. The autonomous or remote-controlled military assault spherical robot

An abbreviated version

The autonomous or remote-controlled military assault robot.

This matter was given to competitive tenders "Challenger" of program "DARPA" in March 2007.

Patent application named:

"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 which the loads arising 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 use of the described above".

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 module consists of:

The engine and the gyro stabilizer are executed coaxially and integrated into the submodule;

The driver rotating the wheel around the module;

Ancillary equipment.

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 compartment; 26 - working platform.

The stabilization of the module in space along the three axes, necessary to maintain all the parameters of the motion, is carried out by the gyroscopic stabilizing gear.

To execute the linear motion of the device, the module rotates the disk of the wheel by the means of the driver, mechanically connected with the driving rings located on the disk.

In order to stabilize the device on a vertical plane and to change a direction of motion, the module changes position of the wheel rotation axis in relation to one or several stabilized axes of the gyro module.

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.

The body of the gyro and the external rim of the gyro are working as integral parts of the bearing.

The generator of the supporting layer is a constructive element of the gyro body.

The generated supporting layer counteracts the loads arising in the flywheel and transmits them to the body of the gyro.

Sketch_3:

4 - flywheels of gyros; 7 - generators of a supporting layer; 14 - body of the gyro; 15 - the gear of synchronization and acceleration of the gyro; 16 - electrical starter-generator.

The gyro module consists of:

-- set of gyros;

-- mechanism of synchronization and acceleration of gyros;

-- power unit.

The set of gyros consists of several gyros (In this variant out of two). The rim of each gyro, together with structural members of a case, forms gas support bearings.

The support bearings compensate the destructive loads arising in the flywheel and transfer them to the gyro's case. Compensation is executed by feeding of the working medium (In this variant of design it is compressed air) into the clearance between the rim of a gyro and external elements of a support bearing.

The external elements of the support bearings can be either immovably consolidated with the gyro's case or may be a mobile part of the gyro's case.

Gyros can work as accumulators of power in the mode of short-term shortage of power from the power unit for the execution operations in extreme mode.

Several air motors which can be switched from parallel air supply to sequential air supply and vice versa serve as the drive of the wheel.

Two options of turn or their combinations are possible:

1 - Regardless of whether the wheel is in motion or not, the turn may be executed by rotating the whole device in relation to the physical axis of the gyro module through the influence on the gyros having opposite directions of rotation.

2 - While the wheel is in motion, the turn can be executed by a smooth turn, tilting the whole device in relation to a physical axis of the gyros system.

If the wheel having the form of an arch is tilted, the wheel will be rolling on the ground simultaneously by both its central and lateral parts, which have different diameters and as a result it changes the direction of motion. That is achieved through the difference in radial velocity at two points of the wheel contacting the ground.

The ability of the gyro module to carry out both static and dynamic positioning of the device in relation to anyone point on the tire touching the ground is used for passing through obstacles.

(sketch_7_8) - The strategy of passing through obstacles by means of the device designed for use of the novelties described above

This method allows the device to climb upon vertical walls up to half of the diameter of the wheel (for example, if the suggested diameter of the wheel of the military assault robot is 1.6m, the height of the wall to climb may be 0.8m) or to overcome obstacles or obstructions or mountainous terrain which are equivalent to a cascade consisting of different elements whose height and width may reach half of the diameter of the wheel.

Having reached an obstacle (view_A), the device turns, so that the horizontal axis of the device and the tangent to the obstacles on the terrain form an angle of 45' (view_A- > B).

The device supported on terrain by one of its own sides lifts the opposite side be means of the reorientation of the vertical axis of the gyro and rolls upon the surface of the obstacle by its raised side (view_ B- > C).

The device supported on the side, which has rolled upon the obstacle lifts the opposite side and rolls it upon the next surface of the obstacle (view_D- > E).

If the obstacle is overcome, the device turns in the direction of the motion.

In case there is a need to continue overcoming an obstacle, the cycle should be repeated (view_E- >).

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Коганицкий Григорий Аронович : другие произведения.

The autonomous or remote-controlled military assault spherical robot