RU2554900C2 - High cross-country capacity vehicle - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: vehicle comprises body, wheel drives, four lengthwise levers of suspension and electronic control system. Wheels are fitted on one end of levers while other ends are coupled with suspension levers shafts fitted at the frame and connected with torsion shafts, suspension lengthwise lever turn drives and suspension lever shaft retainers. Length and position of suspension levers in the body as well as wheels OD allow execution of various operating conditions. At levers position whereat wheels are located above vehicle roof wheel circumferences are above vehicle roof level to create the clearance that allows motion or body stabilisation at such position. With suspension levers located in the plane extending through suspension lever axes so that levers are turned in one direction clearance exists between the wheel circumferences for allow free running of the wheels.

EFFECT: better mobility and flotation, self-upturning after overturning.

13 cl, 14 dwg

Description

The invention relates to special self-propelled vehicles with high cross-country ability and can be used in combat land robots. Known self-propelled vehicles with high cross-country ability on patents SU 0640897 A, 01/05/1979; US 3747717 A, 07.24.1973; US 3842926 A, 10.22.1974; US3057319 A, 10/09/1962; JP 60148780 A, 08/06/1985.

A wheeled cross-country vehicle is known, comprising a frame, a pair of wheels with final drives, levers for the balancing suspension of each wheel, a differential mechanism and an engine mounted on the frame, driven links of the differential mechanism are connected to the final drives of the wheels, and the driving link is connected to the wheel moving engine in rolling mode / ed. testimonial. USSR No. 149042, 1967, B62D 57/028 /.

This high-terrain vehicle cannot move in walking mode, but only provides automatic compliance with the symmetry of the load on the wheels when the final drives deviate from the middle position.

A cross-country vehicle is also known, having a wheel-walking propulsion device comprising a frame, a first pair of wheels, a second pair of wheels, axles with levers for balancing suspension of each wheel mounted on the frame, motors for moving wheels in the driving mode, a drive for moving wheels in walking mode / aut. testimonial. USSR No. 640897.1979, B62D 57/028 /.

The well-known cross-country vehicle has an independent balancing suspension for each wheel, and therefore, a limited level of cross-country ability to overcome ditches and cracks of large width on the ground surface.

Known patents of the inventor Shmakov Yuri Mikhailovich for wheeled-walking vehicles according to patents of the Russian Federation No. 2355597, 2331542, 2352491, 2443590.

For example, in the patent No. 2352491 "WHEEL-STEPPING VEHICLE", a four-leg chassis is described, in which each support consists of two-tandem wheels mounted on balancers. Wheel hubs are rigidly connected by an elastic rotary lever. The hubs of the external tandem wheels are provided with a spaced hinge and a king pin with a shaft movably in the circumferential direction connected with the adjacent balancer. The hubs of the inner tandem wheels are made with an axis movably in the circumferential direction connected with the adjacent balancer. The rods of transversely located hydraulic cylinders are made free in the circumferential direction and are rigidly connected with the bases of the internal balancers. The tandem balancers are parallel, kinematically connected and form an articulated parallelogram together with the wheels and the rotary lever. The hubs of the tandem wheels of the opposite sides together with the parts adjoining on both sides form a power ring. The technical result consists in improving the maneuverability, controllability and stability of a walking vehicle.

Also known is a torsion bar suspension, for example, described in patents RU 2102252 C1, 01/30/1998; DE 1216711 A, 05/12/1986; DE 1289437 A, 08/13/1969; 2102252, B60G 11/18, 1997. For example, in the suspension according to the patent of the Russian Federation No. 2200676 “The torsion suspension of the wheels of the vehicle is equipped with torsion shafts, each of which is made integral tubular, rigidly fixed by means of the multi-faceted head of the outer pipe to the bracket. In turn, a transverse lever and a crosspiece are rigidly mounted on the free head of the core, which is mounted to interact with spikes made on the end surface of the outer pipe, which has greater rigidity than the intermediate pipe and the core, which have the same rigidity. The technical result is to increase the reliability and smoothness of the vehicle. "

Known jumping vehicles, for example, Sand Flea Jumping Robot, an American company Boston Dynamics. The robot contains a conventional four-wheeled chassis and a separate jump mover mounted at the bottom of the robot frame. The wheeled chassis consists of 4 wheels and is controlled by the operator over the air.

The jump mover contains two hopping levers, platoon means and a spring motor. Before the jump, the robot necessarily stops, the jump levers extend from the bottom and abut against the ground, giving the robot body the desired elevation angle before the jump, similar to the jump of a regular grasshopper. The spring engine is cocked, and then makes a sharp turn of the jump levers, in which the robot makes a jump. The robot is able to jump to a height of 10 meters (30 feet) in the presence of a solid base - rock, concrete, asphalt. At the same time, the electronic stabilization system will maintain orientation, thanks to which the operator, through the video channel, will be able to control the landing well (http://www.stepandstep.ru/catalog/your-videos/150009/prygayuschiy-robot.html).

The disadvantages of the jumping system of this robot are the impossibility of performing a jump in motion, the requirements of an equally high surface rigidity for supporting the hopping levers, and the practical lack of means to stabilize the position of the robot body in flight after the jump and before landing.

Jumping vehicles are also known according to patents RU 93042139 A, 08.20.1996; US 3,853,195 A, 12/10/1974; US 3,855,979 A, 12.24.1974; US 3,715,000 A, 02/06/1973. For example, a JUMPING VEHICLE according to RF patent 2249527 includes a hull with a base, a jump engine, a crew cabin with a lock chamber, solar panels and spring-loaded wheels. The hopping engine consists of a guiding device and a guide tube, inside of which there is a pusher made of material with a shape memory effect, and an induction heater. Two wheels are made at the same time with an individual electric drive (motor-wheels) and are connected to the base using legs, each consisting of two rods, pivotally connected to the base and to each other. At the same time, spring shock absorbers and limiters are installed on the rods, preventing the angle between the rods from increasing more than 45 °. The other two wheels are mounted with the possibility of rotation in the direction of movement of the vehicle. In addition, there are additional horizontal stabilizers with elevators, mounted on the side surfaces of the housing, and in the tail part there is a keel with a rudder. As a result, driving is simplified, its stability, shock-absorbing properties and economy increase.

The disadvantage of this solution is the weak efficiency of hopping engines based on pushers made of material with a shape memory effect and an induction heater. The use of aerodynamic rudders as a means of stabilizing flight is doubtful, since rudders are ineffective in a short period of time of a jump.

Closest to the claimed invention, the invention according to the patent of Kozlov O.E. RF №2176607 "HIGH PERFORMANCE VEHICLE". This invention is taken as a prototype. According to the patent, the vehicle includes a frame, first and second pairs of wheels, longitudinal arms of the balancing suspension of each pair of wheels with shafts that are mounted on the frame, motors for moving each of these wheels in the driving mode of rolling, and a drive for moving the wheels in walking mode. The tool is equipped with a symmetrical differential gear mechanism, which has a driving link and two driven links, the driving link is made in the form of a housing and is connected by a kinematic connection to the drive to move one of the mentioned pairs of wheels in the walking mode. The driven links are made in the form of bevel wheels with a common geometric axis and are respectively connected to the shafts of the said levers of one pair of wheels. The differential mechanism is equipped with a means of blocking one of the driven links relative to the leading link.

The disadvantage of the prototype is the lack of the ability to perform jumping movements when overcoming obstacles and the inability to self-turn the frame when capsizing.

The technical result of the claimed invention is to increase the maneuverability, maneuverability and survivability of the vehicle due to the possibility of jumping movements when overcoming obstacles, the possibility of making laser movements when overcoming scarpes, counter-escarpes and trenches, as well as the possibility of self-turning the frame when capsizing.

The solutions found make it possible to guide the weapons fixed on the frame in a wide range of angles of vertical guidance and circular horizontal guidance, which eliminates the use of towers and other means of pointing weapons, reduces the weight and size and cost characteristics of robots, increases their survivability and reliability.

The claimed technical result is achieved in the following way:

1. The length and position of the suspension arms in the housing, as well as the outer diameter of the wheels, satisfy a number of certain ratios.

2. The suspension design uses high-energy polymer torsion sleeves made, for example, of polyurethane, carbon fiber or Kevlar, as well as electronically controlled motion control drives for turning the longitudinal suspension arms and means for locking the shaft of the suspension arms.

3. The electronic motion control system contains a set of control programs providing automatic execution of jumping, laser and step movements.

New in the invention is the following.

1. The length and position of the suspension arms in the housing, as well as the outer diameter of the wheels, ensure that the following conditions are met:

- in the position of the suspension arms, so that the wheels are above the roof of the vehicle, the circumference of the wheels exceeds the level of the roof of the vehicle, forming a clearance that ensures movement or stabilization of the body in this position;

- in the position of the suspension arms in a plane passing through the axis of the longitudinal suspension arms, so that the suspension arms are rotated in the same direction, there is a gap between the wheel circumferences allowing the wheels to rotate freely;

- the vehicle’s center of gravity is between the axles of the shafts of the rear suspension arms and the axles of the rear wheels or between the axes of the shafts of the front suspension arms and the axles of the front wheels.

Compliance with these conditions provides the vehicle:

- property of self-reversibility, i.e. returning to the starting position if the vehicle is accidentally turned over only by manipulating the suspension arms with wheels;

- property of movement in an inverted position;

- the property of lowering on the bottom;

- the property of lifting the housing to the height of the suspension arms;

- climbing property when overcoming obstacles.

2. The shaft of the suspension arm is connected to the drive of rotation of the longitudinal suspension arms through a polymer torsion bush made, for example, of polyurethane, carbon fiber or Kevlar, the shaft of the suspension arm passes through an axial channel in the polymer torsion bush, while the drive of rotation of the longitudinal suspension arms is electronically controlled motion control system.

3. A connecting disk and / or a gear connected to the shaft of the suspension arm are dressed on the suspension arm shaft, for example, by means of a spline connection. The means for locking the suspension arm shaft and one end of the polymer torsion sleeve, which is connected by its second end to the worm wheel of the drive arm for turning the longitudinal suspension arm, are attached to the connecting disk, while the locking means of the suspension arm shaft is controlled by an electronic motion control system.

Differences 2 and 3 give the vehicle the ability to perform hopping movements and cushioning shocks when driving on uneven surfaces.

4. Each wheel has a separate electric drive.

5. Through the shaft of the suspension arm passes the transmission shaft, connected by one side of the gear or chain transmission with the engine of the vehicle, and the other side of the gear or chain transmission with the wheel. Differences 4 and 5 are known, but as part of paragraph 3 they have novelty.

6. The motion control processor comprises a wheel control program by controlling the rotation of the longitudinal suspension arms.

7. The motion control processor comprises a walking control program by controlling the rotation of the longitudinal suspension arms.

8. The motion control processor comprises a program for changing the height of the body in motion and in place by controlling the rotation of the longitudinal suspension arms.

9. The motion control processor contains a program for changing the vertical angle of the hull by controlling the rotation of the longitudinal suspension arms at different angles, while turning the housing horizontally by the desired angle is carried out by rotating the left and right side wheels at different speeds.

10. The motion control processor comprises an in-place jump program

Differences 6-10 are known and used in robots of various designs, but in combination with paragraph 1 are not described anywhere and have novelty.

11. The motion control processor contains a program for performing a jump in motion, while the frame is stabilized in a jump by controlling the rotation of the longitudinal suspension arms using electric drives based on data from angular and linear acceleration detectors.

12. The motion control processor contains programs for overcoming standard obstacles — an escarp, counter-escarp, and trench — by controlling the rotation of the longitudinal suspension arms.

13. The motion control processor comprises a self-reversing program by controlling the rotation of the longitudinal suspension arms.

Differences 11-13 are unknown and were not used in robots of various designs, in combination with paragraph 1 they have novelty.

The accompanying drawings show a cross-country vehicle (hereinafter referred to as a vehicle or a vehicle).

In figures 1-13, the numbers indicate:

1 - frame or housing;

2 - engine or wheel rotation drive;

3 - the longitudinal suspension arm;

4 - wheel;

5 - shaft;

6 - drive rotation;

7 - means of blocking;

8 - electric drive;

9 - electronic motion control system;

10 - processor;

11 - sensor of angular and linear accelerations;

12 - polymer torsion sleeve;

13 - a connecting disk or gear;

14 - axial channel;

15 - a transmission shaft;

16 - gear or chain gear;

17 - a worm wheel;

18 - bottom;

19 - roof;

20 - the upper points of the circles of the wheels.

Description of the device.

The vehicle (Figs. 1-3) includes a frame or housing 1, motors or drives 2 of wheel rotation 4 and four longitudinal suspension arms 3, at one end of which wheels 4 are mounted, and the other ends are connected to shafts 5 of longitudinal suspension arms 3. Shafts 5 installed in the frame 1 and connected to the rotation drives 6 of the longitudinal arms of the suspension 3 and means for blocking 7 shafts 5 of the longitudinal arms of the suspension 7. The vehicle contains an electronic motion control system 9 comprising a processor 10 connected to the sensors of angular and linear accelerations 11.

Figure 1-a also shows an electronic motion control system 9 comprising a processor 10 connected to angular and linear acceleration sensors 11.

Figure 1-b shows a side view of the vehicle with the direction of the suspension arms 3 front forward, rear rear. In this position, the vehicle has a maximum cross-axle length and maximum longitudinal stability. Figure 1-e shows the position of the vehicle on the bottom 18 with the position of the suspension arms 3 in a vertical upper position. With this position of the longitudinal arms of the suspension 3, the wheels 4 are located above the roof 19 of the vehicle, and the circumference of the wheels exceeds the level of the roof 19 of the vehicle, forming the “upper” clearance Zh, which provides movement in an inverted position if necessary (as in FIG. 12-c) or its stabilization before self-turning.

1-d shows the position of the longitudinal arms of the suspension 3 in a plane passing through the axis of the shafts 5 of the longitudinal arms of the suspension 3. In this case, the longitudinal arms of the suspension 3 are rotated in one direction, and there is a gap Zk between the circles of the wheels 4, allowing the wheels 4 to rotate freely while the center of gravity of the vehicle (CG) is between the axes Or1 of the shafts 5 of the rear trailing arms 3 of the suspension 3 and the axles Ok1 of the rear wheels 4.

Figure 2 shows the suspension device. The shaft 5 of the suspension arm 3 is connected to a rotary drive 6 of the longitudinal suspension arms 3 through a polymer torsion sleeve 12 made, for example, of polyurethane, carbon fiber or Kevlar. The shaft 5 of the suspension arm 3 passes through the axial channel 14 in the polymer torsion sleeve 12, while the rotation drive 6 of the longitudinal suspension arms 3 is controlled by an electronic motion control system 9.

A connecting disk and / or a gear wheel 13 connected to the shaft 5 of the suspension arm 3 are mounted on the shaft 5 of the suspension arm 3, for example, by means of a spline connection.

A locking means 7 of the shaft 5 of the trailing arm of the suspension bracket 3 and one end face of the polymer torsion sleeve 12 are attached to the connecting disk 13. A second torsion sleeve of the polymer 12 is connected to the worm wheel 17 of the rotary drive 6 of the longitudinal arm of the suspension 3. In this case, the locking means 7 of the shaft of the 5 arm Suspension 3 is controlled by an electronic motion control system 9.

Figure 1 shows a variant in which each wheel 4 has a separate electric drive 2.

Figure 2 shows a variant in which each wheel 4 is driven by a gear shaft 15, which passes through the shaft 5. In this case, the gear shaft 15 is connected on one side by a gear or chain transmission 16 to the vehicle engine 2, and the other side by a gear or chain drive 16 with wheel 4.

The cross-country vehicle contains an electronic motion control system, in the memory of which there are the following programs:

1. The control program for wheel movement by controlling the rotation of the longitudinal suspension arms.

2. The control program when walking by controlling the rotation of the longitudinal suspension arms.

3. The program changes the height of the body in motion and in place by controlling the rotation of the longitudinal suspension arms.

4. The program for changing the vertical angle of the hull by controlling the rotation of the longitudinal suspension arms at different angles, while turning the hull horizontally to the desired angle is carried out by rotating the left and right side wheels at different speeds.

5. The program of the jump in place.

6. The program for making a jump in motion, while stabilization of the frame in the jump is carried out by controlling the rotation of the longitudinal suspension arms using electric drives based on data from angular and linear acceleration detectors.

7. The program of overcoming standard obstacles - escarp, counter-escarp and trench - by controlling the rotation of the longitudinal suspension arms.

8. Self-reversing program by controlling the rotation of the trailing arms.

The device operates as follows.

When driving on roads or rough terrain, wheel 4, bumping on bumps in the road, turns the suspension arm 3, which transmits torque to shaft 5, and then through the connecting disk 13 to the polymer torsion sleeve 12, and through it to the worm wheel 17. Drive turning 6 of the longitudinal arm of the suspension 3 while holding the worm wheel 17 in a predetermined position. As a result of this, the torque from the suspension arm 3 spins the polymer torsion sleeve 12 by a certain angle and accumulates energy in it. This energy can then be consumed, for example, by reversing the rotation of the shaft 5 or in the locking means 7 of the shaft 5 of the longitudinal arm of the suspension 3, if it will be able to work as an energy absorber (in this application, the device of the locking means 7 of the shaft 5 is not considered). Thus, the cushioning is carried out during wheel movement. When the worm wheel 17 is rotated by the rotation drive 6, the polymer torsion sleeve 12 rotates by turning the shaft 5 and the suspension arm 3. Thus, the position of the suspension arms is established.

By changing the position of the suspension arms, you can change the angle of inclination of the vehicle in the vertical plane from + 45-60 degrees (Figure 3) to -45-60 degrees (Figure 4). The design of the vehicle provides him with the ability to change the angle of inclination of the hull vertically, as well as turning the hull "on the tank." This allows you to provide guidance weapons without using a tower.

Wheel movement is carried out with the horizontal position of the suspension arms or at a position close to this (Figure 5). In this mode, the front suspension arms 3 are directed forward, and the rear suspension arms 3 are directed back. A vehicle with a hull height of 0.5-0.6 m and a wheel diameter of 0.4 m with this position of levers will have a maximum height of the order of 0.7-0.8 m, and the hypothetical height of the aiming line (for example, this is important for combat robots) at level 0, 5-0.6 m.

When the front suspension arms 3 are turned 30-40 degrees clockwise, and the rear suspension arms 3 are at the same angle, but counterclockwise (Figure 6), the vehicle lowers to the bottom. At the same time, its height will be 0.5-0.6 m, and the height of the aiming line will be 0.3-0.4 m. A robot based on this vehicle in this position, as it were, is masked by uneven terrain.

When you turn the front and rear suspension arms 3 90 degrees down (Fig. 7), the vehicle rises to its maximum height. At the same time, its height will be 1.0-1.2 m (depending on the length of the levers 3), and the height of the aiming line will be 0.8-1.0 m. A robot based on this vehicle is in this position. In this position, his field of view is maximum, and the line of sight exceeds the average height of the grass cover in 75% of climatic zones. If the vehicle body does not provide buoyancy, then this position will allow the vehicle to overcome a calm ford with a depth of 0.5-0.6 m.

When conducting combat operations, a robot based on this vehicle will be able to quickly change its height, which will increase its combat capabilities.

When the wheel-walking movement, using rotation drives 6 of the longitudinal arms of the suspension 3, carry out the rotation of the levers 3 in one direction. In this case, the engines or drives of rotation of the wheels 2 can work. This mode of movement can be used to overcome deep snow, when moving in a swamp and other difficult terrain.

The figure 8 shows the phase of the vehicle jump in place. All control commands are formed by the motion control system 9 using processor 10. Engines or drives of 2 wheels 4 do not work.

In phases a) and b), the vehicle is moved to the bottom position. Then, the locking means 7 of the shafts 5 of all longitudinal suspension arms 3 lock and hold the connecting discs 13 in the initial position, and the rotation drives 6 of the longitudinal suspension arms 3 at the same time rotate the worm wheels 17 by a predetermined angle corresponding to the required jump height in place.

As a result of this, the torques from the rotation drives 6 twist the polymer torsion sleeves 12 through a certain angle, and the energy necessary for jumping the vehicle is accumulated in them. Polymer torsion bushings have a high energy intensity, providing a vehicle jump to a height of up to 1.0 meters. The directions of twisting are determined by the processor 10 of the motion control system according to a previously developed program. The height of the jump is set by the TS operator, and all other parameters are calculated by the motion control system 9.

At the time of the jump (phase c) of Fig. 8), the processor 10 sends signals to the electric drives 8 of the locking means 7, which synchronously unlock all the connecting discs 13. The energy accumulated in the twisted polymer bushings 12 quickly turns the suspension arms 3 of each side towards each other (phases c) and d) of FIG. 8). In this case, the vehicle makes a jump in place, as shown in Fig. 8 in the e-h phases. After the jump is complete, the suspension arms 3 are reset to the initial position by the electronic motion control system 9.

The ability to make a jump on the spot allows the vehicle to briefly raise the height of the aiming line or the viewing height to a level of the order of 1.8-2.0 m.This ability can be useful when conducting a battle in an area covered with high vegetation - for example, on a corn field. A short jump on the spot will allow you to survey the terrain, find the enemy, and then, when you re-jump, inflict an aim blow on it.

The figure 9 shows the completion of the jump vehicle in motion. All control commands are formed by the motion control system 9 with the help of the processor 10. The motors or drives of the 2 wheels 4 at the same time work. The phases of the jump are similar to the phases of the jump in place shown in FIG. The difference between the process is the rotation of the longitudinal suspension arms in the direction of travel (phase b), c) in the spin phase of the polymer torsion sleeves 12. Therefore, at the time of the jump, the longitudinal suspension arms 3 make the same rotation in the opposite direction of travel - phases d) and e) . After the vehicle is torn from the surface, the longitudinal arms of the suspension 3 are brought into the landing position of phase f) and g), and the vehicle makes a landing.

The program for making a jump in motion monitors the position of the hull using angular and linear acceleration sensors. The frame is stabilized in a jump by controlling the rotation of the longitudinal arms of the suspension 3 using electric drives based on data from angular and linear acceleration sensors. For example, when tilting is detected, synchronous rotation of all the longitudinal suspension arms 3 is carried out so that an oppositely directed torque is created that aligns the position of the housing. For example, if the hull rolls down to the port side, the starboard levers are quickly raised and the longitudinal suspension arms 3 of the port side are lowered. The moment of inertia from the raised longitudinal arms of the suspension 3 with wheels 4 is able to effectively balance the position of the body, aligning it in flight. In a similar way, you can align the body position in pitch. For example, in the case of a dangerous tilt of the body down, you can lower the front longitudinal suspension arms 3 and raise the rear longitudinal suspension arms. With intermediate rolls, the processor 10 calculates the necessary adjustments according to a given program and stabilizes the flight of the vehicle in a jump. This will avoid vehicle coups and falls in an unintended position. Calculations show that the proposed vehicle will be able to make horizontal jumps in motion up to 4 meters long. At the same time, the higher the vehicle speed, the greater the length in a jump he can overcome.

In figures 10 and 11 shows the phases of overcoming the escarp and counterscarp. As can be seen from full-scale modeling, the proposed vehicle with a hull height of 0.5-0.6 m and a wheel diameter of 0.4 m is able to overcome scars with a height of 1.0-1.2 meters and counter-scars up to 2.0-3.0 m, which exceeds the patency of the best modern tanks with a height of 2.7-3.0 meters . When jumping from a counter-escarp, the position of the vehicle in flight is stabilized by balancing with the longitudinal arms of the suspension, as described previously.

The figure 12 shows the phase of self-reversal of the vehicle. When the vehicle is flipped to the roof or side in phase a), the wheels are reduced (phases b) and c)) and the vehicle is aligned. Then, in phase d), the front wheels are raised and the rear wheels lowered. If the condition is met under which the vehicle’s center of gravity is between the axles of the shafts of the rear suspension arms and the axles of the rear wheels, the vehicle will self-invert in phases e), f) and g) and the vehicle will return to its normal position in phase h).

The ability to self-turn significantly increases the survivability and patency of the vehicle, making it insensitive to operator errors. This property is the most important and unique property of the claimed vehicle. No other vehicle or modern vehicle in service is capable of such actions and, when turned over, will inevitably fail or require serious repairs.

The figure 13 shows the installation option of the vehicle of the proposed type in the back of a Kamaz-53212. With a weight of 100 kg, one truck can carry up to forty vehicles.

The figure 14 shows a variant of self-unloading of the vehicle from the car body. When unloading vehicles make jumps from the upper tiers to the inclined side of the car.

The possibility of compact transportation allows you to quickly create a high concentration of robots at the scene of hostilities.

The proposed design of the vehicle provides him:

- the possibility of self-reversibility, i.e. returning to the starting position when

- accidentally turning over the vehicle;

- the possibility of movement in an inverted position;

- the possibility of lowering on the bottom;

- the possibility of lifting the housing to the height of the suspension arms;

- the ability to climb to overcome obstacles;

- the possibility of compact styling during transportation.

As can be seen from the results of full-scale modeling, the proposed vehicle with a hull height of 0.5-0.6 m and a wheel diameter of 0.4 m is able to overcome scars with a height of 1.0-1.2 meters and counter-scars up to 2.0-3.0 m, which exceeds the patency of the best modern tanks.

The ability to self-turn significantly increases the survivability and patency of the vehicle, making it insensitive to operator errors. This property is the most important and unique property of the claimed vehicle. No other vehicle or modern vehicle in service is capable of such actions and, when turned over, will inevitably fail or require serious repairs.

The proposed design of the vehicle will find application in small and cheap combat robots, the mass use of which will replace living people on the battlefield.

The massive use of units of combat mini-robots will successfully resist not only high-precision weapons, but also multimillion-dollar armies of aggressors, while preserving the most valuable thing in our country - the lives of our fellow citizens.

Claims (13)

1. A cross-country vehicle, including a frame or body, engines or wheel rotation drives and four longitudinal suspension arms, wheels are installed on one end and the other ends are connected to suspension arm shafts mounted in the frame and connected to torsion bars, longitudinal steering drives suspension arms and means for locking the shaft of the suspension arms, as well as an electronic motion control system comprising a processor coupled to angular and linear acceleration sensors, characterized in that on and the position of the suspension arms in the housing, as well as the outer diameter of the wheels, the following conditions are met: in the position of the suspension arms, so that the wheels are above the roof of the vehicle, the circumference of the wheels exceeds the level of the roof of the vehicle, forming a clearance that provides movement or stabilization of the housing in in this position, and in the position of the suspension arms in a plane passing through the axis of the longitudinal suspension arms, so that the suspension arms are rotated in the same direction, between the circumference mi wheel there is a gap that allows the wheels to rotate freely, with the center of gravity of the vehicle is located between the axes of the rear suspension arm shaft and the axes of the rear wheels or between the axle shafts of the front suspension arms and the axes of the front wheels. 2. The cross-country vehicle according to claim 1, characterized in that the suspension arm shaft is connected to the drive of the longitudinal suspension arms through a polymer torsion sleeve made, for example, of polyurethane, carbon fiber or Kevlar, and the suspension arm shaft passes through an axial channel in polymer torsion sleeve, while the drive rotation of the longitudinal suspension arms is controlled by an electronic motion control system. 3. A cross-country vehicle according to claim 2, characterized in that a connecting disk and / or a gear wheel connected to the shaft of the suspension arm are mounted on the suspension arm shaft, for example, by means of a spline connection to which the suspension arm shaft locking means is attached and one end of the polymer torsion sleeve, which is connected by its second end to the worm wheel of the drive of the longitudinal suspension arm, while the means for locking the suspension arm shaft is controlled by an electronic motion control system. 4. The vehicle is cross-country according to claim 3, characterized in that each wheel has a separate electric drive. 5. A cross-country vehicle according to claim 3, characterized in that a transmission shaft passes through the shaft of the suspension arm, connected by one side of the gear or chain transmission to the vehicle engine, and the other side of the gear or chain transmission with the wheel. 6. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a control program for wheel movement by controlling the rotation of the longitudinal suspension arms. 7. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a walking control program by controlling the rotation of the longitudinal suspension arms. 8. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a program for changing the height of the body in motion and in place by controlling the rotation of the longitudinal suspension arms. 9. The cross-country vehicle according to claim 1, characterized in that the electronic traffic control system contains a program for changing the tilt angle of the housing vertically by controlling the rotation of the longitudinal suspension arms at different angles, while turning the housing horizontally by the desired angle by rotating the wheels of the left and starboard at different speeds. 10. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a jump program in place. 11. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a program for performing a jump in motion, wherein the frame is stabilized in a jump by controlling the rotation of the longitudinal suspension arms using electric drives based on data from angular and linear sensors accelerations. 12. The cross-country vehicle according to claim 1, characterized in that the electronic traffic control system contains programs for overcoming standard obstacles - a scarp, a counter-scarp and a trench - by controlling the rotation of the longitudinal suspension arms. 13. The cross-country vehicle according to claim 1, characterized in that the electronic motion control system comprises a self-reversing program by controlling the rotation of the longitudinal suspension arms.

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