UA150268U - Multicomponent modular robotic platform of multimodal forced electric vehicles of covert military logistics - Google Patents

Abstract

A multicomponent modular robotic platform of multimodal forced electric vehicles of covert military logistics comprises a main support-mounting functional block-module of each of the elementary generating transport functional blocks-modules of the multicomponent modular robotic platforms of multimodal forced electric vehicles of covert military logistics made in the form of a rigid flat triangular platform symmetrical relative to the longitudinal axis, at the tops of which three autonomous power functional blocks-modules are rigidly fixed, those are provided with widely adjustable direct drive electric motors built into the rim of the support-drive wheels of the electromechanical traction mover of the platform, and each support-drive wheel is made as a single-housing, when there is a for their rotation around a vertical axis, and is a double-housing one when the separate drive is lacking.

Description

of a flat triangular platform, at the vertices of which three autonomous power functional block-modules are rigidly fixed, which are equipped with widely adjustable drive electric motors of direct drive, which are built into the rims of the support-drive wheels of the electromechanical traction engine of the platform, and each specified support-drive wheel in the presence of a separate drive of them rotation around the vertical axis is made single-hull, and in its absence - double-hull. " рн

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The useful model belongs to the field of armaments, military and special equipment, namely, to modular autonomous, i.e., remote-controlled platforms of forced electric vehicles-tractors, which are able to ensure high dynamics of covert military logistics operations.

As you know, the main element of reliable logistics processes is the implementation of continuous transport service with the maximum level of preservation and quality characteristics of transported goods. It is quite obvious that, in connection with this, in the logistics of providing combat and special operations of the armed forces, special attention should be paid directly to the transport element.

The modern complex of requirements for transport traction load elements of units of forced electric tractors to ensure high dynamics and the necessary degree of camouflage during covert military logistics operations can be presented in a generalized form as follows.

At the current stage of development of ground-based robotic military equipment, the main initial requirement is the need to apply modular principles of its construction based on open architecture methods.

In the case considered in the useful model, it is recommended to implement it on the basis of the principle of application of generative elementary transport functional blocks-modules. Here, first of all, it is necessary to provide for the achievement of a wide range of smooth adjustment of the speed of the electromechanical traction motor of each of the generating elementary transport functional blocks-modules of composite modular robotic platforms of multimodal forced electric vehicles of covert military logistics. This requirement is related to the need to realize both high cruising speeds and high overloading capacity of traction electric motors built into the rims of the drive wheels. The latter ensures high dynamism and high maneuverability, which corresponds to it, and, therefore, guarantees high survivability of both generative robotic units and integral transport functional blocks-modules.

In addition, when carrying out logistics operations directly in the formation, along with the soldiers who are walking or running, it is necessary to organize a clear correspondence of the interaction with them of robotic

From military units, which is also provided due to the presence of widely adjustable traction electric drives of the direct type.

The design of the generative functional block-module, its small-sized indicators and connecting elements should provide not only mechanical protection of the escort personnel, but also facilitate the actions of personnel when restoring the functioning of the robotic logistics unit in the process of overcoming obstacles in rough terrain.

Currently, the latest examples of powerful agricultural and industrial traction equipment are known |1, 2,

C), the body designs of which in the process of certain configurational transformations can be used for implementation in the line of assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics proposed in the present application.

An analogue of the useful model is the "Line of assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics" adopted powerful agricultural tractor-tractor Saze IN Sopseri |1)|. The latter, which, although provided with a diesel engine as an energy source, and not an electrochemical battery, turned out to be more promising for the principled realization of the goals set in the present application in comparison with the Mega electric tractor according to (2). This can be shown on the basis of the following considerations.

The wheel transport drive of the tractor-tractor Saze IN Sopseri is an original design of four pairs of double wheels - two pairs of double front support-drive wheels of a smaller diameter and two pairs of double rear support-drive wheels of a larger diameter. Each of the pairs of supporting and driving wheels is located on one shaft. The distance between their rubber pneumatic tires along the axis is 120 mm.

With the topological transformation and local scaling of this analogue into a specialized electromechanical robotic combat logistics tractor for the implementation of covert operations, its all-wheel drive electromechanical traction motor based on identical eight support-drive wheels with forced-type inverted electric motors built into the rim is able to implement an exceptionally wide range of executive functions , which dramatically increases the maneuverability and survivability of such military equipment. The specific design features of the specified tractor-tractor Sabze IN Sopseri represent fundamentally new opportunities for the implementation of domestic robotic combat equipment at a qualitatively new level.

From the above it follows that at this stage it is necessary to carry out a number of analytical assessments of the following factors: the need to transition based on topological transformations to other geometric forms of platforms that provide a general reduction in costs and new combat qualities; the ability to combine platforms with new geometric shapes into rigid or flexible structures for the implementation of integrated functional blocks-modules designed to expand the scope of specialized electromechanical robotic tractors of combat logistics; the need to switch in converted samples of this type of weapons, military and special equipment, unlike the analogue, exclusively to full electric power supply; optional placement on the platforms of the operator's workplace in case of blocking by the enemy of the remote and self-management systems.

It should be noted that the logistic tasks for which the Saze IN Sopseri diesel agricultural tractor-tractor is intended to be solved |1| and the fully electric tractor Mega |2I are different, first of all, at the quality level. While, as in the first case, the electric tractor

Mega, both independently and in a set with a mounted semi-trailer, always moves in almost ideal road conditions of a strong horizontal concrete or asphalt surface of container port terminals, the Savze IN Sopseri diesel tractor at best pulls a load on a plowed field, which can have a relief of the most diverse spatial forms .

In the first case, the coefficient of rolling friction is in the range of 0.015-0.018, and in the second it increases to values of 0.08-0.10 and more.

The analysis of the design of the Mega electric tractor shows that it is, in principle, a monolithic integral structure with low clearance, which does not allow it to be transformed as a large-scale copy of an analogue into a transport combat unit for the covert delivery of weapons, combat and special equipment, ammunition and personnel to venues combat operations and ensure the evacuation of wounded and damaged equipment from the battlefield.

Evaluating from this point of view the first proposed prototype in the form of a powerful agricultural tractor-tractor Sabze IN Sopseri, it can be seen that it is structurally

In spite of the diesel engine, its generalized design turned out to be more promising for the realization of the set goals in comparison with the Mega electric tractor. This can be shown on the basis of the following considerations.

As follows from the theory of topological transformations I|4|, continuous deformations, that is, deformations that do not lead to violations of the integrity of the figures, preserve the geometric properties of the figures, which have a non-metric and qualitative character. Geometric shapes that transform into each other during topological transformations are called homeomorphic. A circle, the boundaries of a triangle and a rectangle are homeomorphic, since they can be translated into each other by topological transformation, that is, bending and stretching without breaks and gluing, for example, stretching the boundary of a triangle to a circle circumscribed around it, and the like. It is obvious that the stability of transport units of military equipment on the ground is an important factor in its reliability and survivability.

Disadvantages of the analogue, the first of which was already indicated above: the use of an internal combustion engine in the form of a diesel engine as an energy source; weight and size indicators, the value of which does not allow to use its structure as the basis of the platform of the robotic unit that generates, for secret movement of loads; lack of modularity in the design of the analogue; the presence of intermediate transformers in the kinematic chain of energy transmission (gear box, cardan gears, etc.) from the diesel engine to the drive traction support wheels.

The task of the useful model is to eliminate the indicated shortcomings of the analogue.

The task is solved by the fact that the assembled modular robotic platform of multimodal forced electric vehicles of covert military logistics, according to the useful model, the main support and assembly functional block-module of each of the elementary generative transport functional block-modules of the assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics is completed in the form of a symmetric relative to the longitudinal axis of a rigid flat triangular platform, at the vertices of which three autonomous power functional blocks-modules are rigidly fixed, which are equipped with widely adjustable drive electric motors of the direct drive, which are built into the rims of the support-drive wheels of the electromechanical traction motor 60 of the platform, and each specified support - the drive wheel, if there is a separate drive for their rotation around the vertical axis, is single-body, and if it is not, it is two-body

When developing a useful model of a composite modular robotic platform of multimodal forced electric vehicles of covert military logistics, they have in mind the requirement to create promising robotic ground military transport equipment based on the modular principle of building technical systems with an open architecture, the necessary transition to the construction of their basic elements also in the form of functional blocks of a modular type . The basic structural element of every conventional combat logistics tractor is an autonomous transport platform, which usually has a rectangular shape in plan.

When proceeding to its construction in the form of an autonomous robotic set integral functional block-module from also autonomous transport generating elements, make a principled topological choice of the geometric form of such an elementary platform, which is able to ensure a reduction in the total amount of costs for the manufacture, pre-combat installation and combat operation of this new type of weapon , military and special equipment.

The preliminary calculation analysis showed that the cheapest and easiest to manufacture and install as an elementary generative robotic functional block-module for integrated platforms of electric tractors of combat logistics is a robotic autonomous, triangular in plan platform of two types - an equilateral triangle and an isosceles triangle with a ratio of height and base , equal to the proportion of the golden section (ZP), i.e. 1.618 51.

The autonomous electromechanical four-wheel drive of the triangular generating robotic functional block-module consists of three double, like the tractor-tractor Saze IN Sopseri, support-drive wheels, each of which is installed at the apex of the triangle, and, according to the utility model, is provided with a wide-adjustable built-in in its rim reverse electric motor.

Each of the elementary transport functional blocks-modules of composite modular generating robotic platforms of multimodal forced electric vehicles of covert military logistics is equipped with a set of mechanical devices in the form of seats, control levers and footrests.

The ratio of the length of the base of the triangle of the rigid flat platform of elementary transport functional blocks-modules of composite modular generating robotic platforms of multimodal forced electric vehicles of covert military logistics symmetrical relative to the longitudinal axis to its height is set equal to 0.618, that is, it corresponds to the proportion of the golden section (ZP).

The triangle of the rigid flat triangular platform of elementary transport functional blocks-modules of composite modular generating robotic platforms of multimodal forced electric vehicles of covert military logistics is made in the form of a regular equilateral triangle.

The integral functional block-module of the robotic platform of each of the multimodal forced electric vehicles that make up the line has a triangular configuration similar to the configuration of the triangular generating functional block-module, and fully mechanically rigid or fully mechanically flexible ways of combining the generating functional blocks-modules are permissible in an integral construct, and their combinations, as well as the application of an incomplete set of the specified generating functional blocks-modules in an integral triangular construct.

The integral functional block-module of the robotic platform of each of the multimodal forced electric vehicles that make up the line has a configuration of a regular polygon with a symmetrical internal circular arrangement of the vertices of the generating triangular functional block-modules, and the alternating arrangement of equilateral triangular platforms and triangular platforms corresponding to the proportions is permissible golden ratio (ZP). It is proposed to provide that each of the generative elementary functional blocks-modules, in principle, as shown above, structurally represents an autonomous transport functional block-module with a seat, control levers and footrests, that is, it could be used completely autonomously as an electric motorcycle for moving escort personnel.

In order to increase the functional capabilities and ergonomic indicators of the units of the indicated line of assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics, when composing integral functional blocks-modules of platforms of multimodal forced electric vehicles of covert military logistics, triangular elementary generating functional blocks-modules with rigid flat triangular in plan platforms were used in the forms of equilateral triangles and isosceles triangles with the ratio of the base to the corresponding height equal to 0.618, that is, the proportion of the golden section (ZP).

It is obvious that the constructive implementation of autonomous elementary generating functional blocks-modules with rigid flat triangular platforms and three traction functional blocks-modules installed at the tops of these platforms, which, thanks to its pointed shape, allows you to overcome thick thickets of bushes in rough terrain much faster compared to platforms of rectangular and round configuration.

It is natural that the integral functional block-module of an electric vehicle of military logistics, which consists, for example, of four autonomous elementary generating functional blocks-modules, the general triangular configuration of which is similar to the triangle of the elementary generating functional block-module, will possess the same property of increased permeability of thick thickets of bushes.

Such a constructive implementation of integral functional blocks-modules is proposed, in which they are symmetrically and evenly placed around the circle in the radial direction in such a way that the vertices of the equilateral or isosceles triangles of the generating platforms face the center of the circle along the radii of which their platforms are installed. In this case, the bases of the triangles of these generating platforms are parallel to the sides of the corresponding regular polygons, the number of sides of which is equal to the total number of elementary generating blocks-modules. Such mutual placement of autonomous generating functional blocks-modules guarantees the possibility of a one-moment dynamic transition of integral or elementary generating platforms to combat functioning as part of a "swarm" controlled remotely or by an artificial intelligence (AI) system.

At the same time, in this case, it is permissible to alternate platforms with equilateral triangular platforms with platforms whose triangles correspond to the proportions of the golden section (3C).

The drawings illustrating the constructive essence of the proposed technical solutions show:

From Fig. 1 Platform with an upper rigid element in the form of an equilateral triangle and a set of supporting and driving wheels, top view;

Fig. 2 Platform with an upper rigid element in the form of an equilateral triangle and a set of supporting and driving wheels, view from below;

Fig. 3 - A platform with an upper rigid element in the form of an isosceles triangle, which corresponds to the ratio of the proportion of the golden section (ZS) and a set of supporting and driving wheels; top view;

Fig. 4 - A platform with an upper rigid element in the form of an isosceles triangle, which corresponds to the ratio of the proportion of the golden section (ZS) and a set of supporting and driving wheels; bottom view;

Fig. 5 - A platform with an upper rigid element in the form of an equilateral triangle, a diagram of geometric relationships;

Fig. 6 - A platform with an upper rigid element in the form of an isosceles triangle, which corresponds to the ratio of the proportion of the golden (3C) section of the scheme of geometric ratios;

Fig. 7 - Integral triangular functional block-module of the platform of a forced electric vehicle from four generating elementary functional block-modules with rigid flat equilateral triangular platforms and sets of supporting and driving wheels, top view;

Fig. 8 - Integral triangular functional block-module of the forced electric vehicle platform according to fig. 7 when removing the lower central functional block-module, top view;

Fig. 9 - Integral triangular functional block-module of the platform of a forced electric vehicle of four generating elementary functional block-modules with rigid flat isosceles triangular platforms having the proportions of the golden section (ZP) and sets of support-drive wheels, top view;

Fig. 10 - Integral triangular functional block-module of the forced electric vehicle platform according to Fig. 9 when removing the lower central functional block-module, top view;

Fig. 11 Integral functional block-module of the platform of a forced electric car with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the sixth order of elementary generating functional blocks-modules with rigid flat platforms in the form of regular triangles and sets of supporting and driving wheels, top view;

Fig. 12 Integral functional block-module of the platform of the forced electric vehicle with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the sixth order of elementary generating functional block-modules with rigid flat isosceles triangular platforms having the proportions of the golden section (ZS) and sets of support-drive wheels, top view;

Fig. 13 Integral functional block-module of the platform of a forced electric car with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the tenth order of elementary generating functional blocks-modules with rigid flat isosceles triangular platforms having the proportions of the golden section (ZS) and sets of support-drive wheels, top view;

Fig. 14 Integral functional block-module of the platform of a forced electric car with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the sixth order of elementary generative functional blocks-modules and alternation of rigid flat platforms in the form of regular triangles with rigid flat isosceles triangular platforms having the proportions of the golden section (Z3C), if all platforms have sets of supporting and driving wheels.

In Fig. 1 and 2 in the top and bottom view schematically presents the rigid upper element 1 of the autonomous functional block-module of the forced electric vehicle platform of covert military logistics, which has the configuration of an equilateral triangle. At each top of the specified element 1, an autonomous traction functional block module is rigidly fixed, equipped with a support-drive wheel 2, which can have either a single-element or a two-element design. It is the last variant shown in figures 1, 2 and all subsequent ones, where there is a schematic representation of the support-drive wheels 2. In the rim of the support-drive wheels, wide-adjustable traction electric motors of inverted design are built in, the stationary stators of which carry the control armature winding. The modular functional block-module of rare-earth permanent magnets of each engine is directly fixed on the inner surface of the rim of the support-drive wheel.

The inverted structural type of the built-in drive traction motor is well known, and, of course, is not the object of the patent proposal of the present application. In this regard, in all the graphic material of the original application, their detailed image, which clutters the drawing, is absent, although the presence is definitely present in every graphic representation of the support-drive wheels 2.

When the support-drive wheels 2 of the traction-drive structure have a single-element design, their rotation around the vertical axis is carried out by a special drive rotary mechanism. With a two-element design, their rotation around the vertical axis is carried out by changing the speed of rotation of one element of the wheel relative to the other, which is achieved by the corresponding signals of the control system of the wheel rotation drive around their horizontal axis. In this case, the mechanics of the drive rotary system are greatly simplified.

On Fig. C and 4 in the view from above and below schematically present the rigid upper element C of the autonomous functional block-module of the platform of the forced electric vehicle of covert military logistics, which has the configuration of an isosceles triangle, which corresponds to the ratio of the proportion of the golden (Z3C) section and the set of support-drive wheels 2.

As it is known (|5, 6, 7), compliance with the proportions of ZS during the design of industrial machinery and building structures contributes to a significant increase in their ergonomic indicators and, therefore, to a higher rate of adaptability of operators to the mastery and practical operation of these objects.

Schemes of geometric ratios of triangles presented in Fig. 1, 2, C and 4 are shown in Figures 5 and 6.

The first of the variants of the structural solutions proposed in the genuine patent materials for the execution of the integral triangular functional block-module of the forced electric vehicle platform of covert military logistics from four elementary generating functional blocks-modules 1 and C are presented in Fig. 7 and 9. The corresponding triangles 4 and 8 of these integral blocks-modules, conventionally marked with dotted lines, are similar to the triangles of the upper sites of the elementary generative functional blocks-modules 1 and 3. Thus, the same degree of overcoming the overgrowth of bushes in rough terrain is ensured here, as well as in the initial elementary generative functional blocks-modules 1 and 3.

The combination of four functional generating blocks-modules 1 and Z into an integral triangular functional block-module of the forced electric vehicle platform of covert military logistics was carried out with the help of connecting functional blocks-modules 5. The selection of the last in the process of assembly of integral triangular functional blocks-modules from functional generating blocks -modules 1 and Z depends on the specifics of the tactical characteristics of combat and special operations using forced electric vehicles of covert military logistics.

Such a constructive variety of connecting functional blocks-modules 5 is provided, which provides a transition from completely mechanically rigid integral triangular platforms to the most flexible structures, when all connecting functional blocks-modules 5 are made in the form of spherical joints.

In Fig. 8 and 10, respectively, present constructive modifications of triangular integral platforms of forced electric vehicles of covert military logistics, which lack the lower central generating functional blocks-modules 1 and 3, turned relative to other generating functional blocks-modules 1 and З by 180 degrees. Conditional void of the triangle in Fig. 8 and 10 of positions b and 10. This, in accordance with the provisions of the theory of fractals (10), reduces the dimensionality of the triangular configurations limited by contours 4 and 8 from 2 to 1.5, which is approximately 1.5 times increases the survivability of the proposed robotic unit as an object of military equipment.

In addition, these free spaces with areas capable of protecting personnel accompanying robotic equipment from defeat by enemy fire.

For the mechanical unification of the three remaining after the removal of the central inverted generating functional blocks-modules 1 and З into integral triangular structures 4 and 8, it is proposed to use connecting functional blocks-modules 7, 9, which provide the operational flexibility of the integral triangular functional blocks indicated above blocks-modules.

It is known that effective methods of communication and interaction based on specialized techniques of "swarm behavior" have been developed for the combat use of homogeneous robotic military objects controlled remotely or on the basis of artificial intelligence (AI) systems, which made it possible to significantly increase their tactical Specifications.

For the use of the autonomous generating functional blocks-modules 1 and З described in the genuine patent materials as similar robotic units, a number of constructive variants of their spatial layout, based on the methods of the mathematical theory of symmetry |B), are proposed below. Yes, in Fig. 11 shows a top view of the proposed design of an integral functional block-module of a forced electric vehicle platform with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the sixth order of elementary generating functional blocks-modules 1 with rigid flat platforms in the form of regular triangles and sets of support-drive wheels 2. As follows from the kinematic analysis of the specified structure, six radially placed autonomous elementary generating functional blocks-modules 1 can simultaneously and completely unimpeded mechanically disconnect from each other, and begin combat interaction already as a swarm of robotic objects. Conventional contour of the union of the integral construct Fig. 11 is marked by position 11 in the form of a hexagon thickened by solid lines.

In Fig. 12 and 13 are shown as more acute-angled compared to the autonomous elementary generating functional block-module 1 autonomous elementary generating functional block-module C can be used in integral functional blocks-modules of the forced electric vehicle platform with an axisymmetric radial arrangement relative to the vertical axes of symmetry of the sixth and tenth orders , respectively. It is obvious that in this case it is possible to arrange integral functional blocks-modules with all vertical axes of symmetry of intermediate orders, i.e. seventh, eighth and ninth. Conventional hexagonal and decagonal contours of the union of the integral construct Fig. 12 and 13 are marked by positions 12 and 13, which are made with thick solid lines.

In Fig. 14 shows the design of the integral functional block-module of the platform of the forced electric car with an axisymmetric radial arrangement relative to the vertical axis of symmetry of the sixth order of the elementary generating functional blocks-modules and the alternation of rigid flat platforms in the form of regular triangles with rigid flat isosceles triangular generating platforms having the proportions of the golden section ( ZP), if all platforms have sets of supporting and driving wheels. 60 The use of the principle of multimodality is demonstrated here, that is, the possibility of combining, for example, autonomous functional blocks-modules 1 with autonomous functional blocks-modules 3.

A line of assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics works as follows.

Pre-combat preparation of assembled modular robotic platforms of multimodal forced electric vehicles of covert military logistics is part of the assembly and debugging works, which must fully correspond to the operational content of the future combat and special application. First of all, from the existing structured constructive set of elementary self-generating self- and remote-controlled transport functional blocks-modules with the main supporting and mounting functional blocks-modules of each of the elementary generating transport functional blocks-modules of composite modular robotic platforms of multimodal forced electric vehicles of covert military logistics in the form of symmetrical relative to the longitudinal axis of the rigid flat triangular platforms, their selection is carried out in a form that maximally corresponds to the future tactical tasks. Next, the selection of appropriate autonomous power traction electromechanical functional blocks-modules with support-drive wheels of the platform's electromechanical traction motor is carried out. At the same time, a specific need for the use of single-body or two-body support-drive wheels, as well as control details of functional generating units-modules in the form of individual electric motorcycles, is established.

After all the preparatory measures of the components, the assembly of integral functional blocks-modules and multimodal forced electric vehicles of covert military logistics is carried out on their basis. After carrying out the set volume of start-up and adjustment works, the above-mentioned robotic equipment of covert military logistics is transferred to operational personnel for further practical use

Sources of information: 1. Autonomous tractor MoiYimo Mega has started work in Sweden VI: porz//toyugdiore.ogo/pemv/amiopotpu)-ituadasp-moyimo-mega-pasnpa!-garoish-u-5Ppmesiiyu (date of application: 24.06.2020).

From 2. Saze IN for the first time presented the concept of an autonomous cabless tractor of ISNHBI: pOrz /Lymly.sazeiy.sot/aras/gy-gy/Memv/Radez/ 2016-saze-ip-rgetiyeegevs-sopseri-mepisiye-ai-Tagt-rgodgez55-5pPom .azrh (access date: 12/23/2020) 3. File: SpaIPepdeg Tegpta sSag To 8333 MM5.|ra 4. Seifert G., Trefall V. Topology. Izhevsk: NITS "Regular and Chaotic Dynamics", 2001. 448 p. 5. Shevelev I.Sh., Marutaeev M.A., Shmelev I.P. The Golden Ratio: Three Views on the Nature of Harmony. Moscow: Stroyizdat, 1990. 343 p. b. Yu.S. Somiv Composition in technique. 3rd edition revised. and add. Moscow: Ed

Mechanical engineering, 1987. 288 p. 7. Borysov S.B. Aesthetics and standard. 2nd edition, add. Moscow: Publishing House of Standards, 1983. 230 p. 8. Shubnikov A.V., Koptsyk V.A. Symmetry in science and art. Moscow: Nauka, 1972. 340 p. 9. Boga patented a car with a built-in electric motorcycle SRI: porz//ashopemv.ashotsa.pempomovii/18906-toga-2araiepiomaI-amiotorbi!-50-mvigoepput-toiosikiot. those (application date: 13.10.2020). 10. Gerega A.N. Constructive Fractal! in set theory. Odessa: "Education of Ukraine!", 2017. 84 p.

Claims (6)

USEFUL MODEL FORMULA 1. Composite modular robotic platform of multimodal forced electric vehicles of covert military logistics, which is distinguished by the fact that the main support and assembly functional block-module of each of the elementary generative transport functional block-modules of composite modular robotic platforms of multimodal forced electric vehicles of covert military logistics is made in the form of a symmetrical relative of the longitudinal axis of a rigid flat triangular platform, at the vertices of which three autonomous power functional blocks-modules are rigidly fixed, which are equipped with widely adjustable drive electric motors of the direct drive, which are built into the rims of the support-drive wheels of the electromechanical traction engine of the platform, and each specified support-drive wheel if available a separate drive for their rotation around the vertical axis is single-body, and in its absence - two-body. 2. The assembled modular robotic platform according to claim 1, which is characterized by the fact that each of the elementary transport functional blocks-modules of the assembled modular generative robotic platforms of multimodal forced electric vehicles of covert military logistics is equipped with a set of mechanical devices in the form of seats, control levers and footrests. 3. A composite modular robotic platform according to claim 1, which is characterized by the fact that the ratio of the base length of the triangle of the rigid flat platform of the elementary transport functional blocks-modules of the composite modular generative robotic platforms of multimodal forced electric vehicles of covert military logistics symmetric with respect to the longitudinal axis to its height is set equal to 0.618, that is, it corresponds to the proportion of the golden section (ZP). 4. Composite modular robotic platform according to claim 1, which is characterized by the fact that the triangle of the rigid flat triangular platform of elementary transport functional blocks - modules of composite modular generative robotic platforms of multimodal forced electric vehicles of covert military logistics is made in the form of a regular equilateral triangle. 5. The assembled modular robotic platform according to any one of claims 1-3, which is characterized by the fact that the integral functional block module of the robotic platform of each of the multimodal forced electric vehicles that make up the line has a triangular configuration similar to the configuration of the triangular generating functional block- module, and fully mechanically rigid or fully mechanically flexible ways of combining generating functional blocks-modules into an integral structure, as well as their combinations, as well as the use of an incomplete set of the indicated generating functional blocks-modules into an integral triangular structure, are permissible. 6. The assembled modular robotic platform according to any of claims 1-3, which is characterized by the fact that the integral functional block-module of the robotic platform of each of the multimodal forced electric vehicles that make up the line has a configuration ZO of a regular polygon with a symmetrical internal circular arrangement of the vertices of the triangular of generating functional blocks-modules, and alternate placement of equilateral triangular platforms and triangular platforms corresponding to the proportions of the golden section (ZP) is permissible. in. I M x g I x I x "zh x z t I E t rotu chic. SHE SHO o Fig. 1