UA21272U - Proboard, sporting board - Google Patents

Abstract

The sporting board contains the elongated flat base, the drivers, and power supply. The board also contains two gyroturbines cinematically connected to the drivers and attached to the base in front and rear parts. Beneath, the board is protected by the bottom.

Description

Description of the invention

The utility model refers to sports equipment with a drive, and more precisely - to sports boards that 2 slide on horizontal water or other solid tracks and can be used for sports competitions with an increased spectacular effect.

A well-known board for skating on ice, consisting of a support board and sharpened blades resting on the surface of the ice |see patent of the Russian Federation Mo2002129162 "Board for skating on ice "iceboard" IPC Ab6ЕЗС17/18, date of publication 2004.05.27). Such a board is intended for skating only on one type of surface - ice, which significantly narrows the seasonal possibilities of holding sports competitions.

A sailing board is also known, which contains a body with a fin and a device for fastening a mast hinge, a mast hinge, a mast, a hook with a handrail and a sail (patent of the Russian Federation Mo95118030 "Sailing board", IPC B63835/73, publication date 1997.10.27|. Such a board intended for riding with the help of the wind only on the water surface, which narrows its functionality and reduces the spectacle of sports competitions.

The closest technical solution is a board for playing sports on water, snow, sand, grass and similar surfaces, containing a body in the form of a flat elongated panel, a drive motor, a container located inside the body to support the body on a wide surface. The drive motor can move relative to the body on rollers or rails to change the direction of movement of the sports board, and as a drive motor, a pneumatic motor with an energy source in the form of a container with compressed air is used (see RF patent Mo2003133443 "Sliding board for sports on water, snow , sand, grass and similar surfaces", IPC AEZS17/01, A6EZS5/08, publication date 2004.12.201.

A well-known sports projectile allows you to slide on a flat, hard surface.

The disadvantage of such a sports board is the low sliding coefficient of the board on grass and sand and the increased difficulty of control when moving the board in the transverse direction, which reduces the spectacle of sports competitions on 29 such boards. shsh

The purpose of the proposed technical solution is to increase the sliding coefficient of the board on a hard surface (grass, sand) and expand its functional capabilities, which significantly increases the spectacle of sports competitions on boards.

For this purpose, a sports board containing an elongated flat body, drive motors, and a power source, according to the proposal, contains two hydroturbines that are kinematically connected to the drive motors and fixedly attached to the body in its front and rear parts, and below the board is protected by the bottom.

In addition, according to the proposal, the sports board is equipped with a vertical mast to control movement in the longitudinal and transverse directions. "--

In addition, according to the proposal, the board contains electric drives, and the energy source is a battery. 3o In addition, according to the proposal, the board contains a control panel with a height regulator for the location of the bottom above the surface of the sports track.

In addition, according to the proposal, the board contains sensors to determine the height of the bottom location above the track surface. "

In addition, according to the proposal, the board contains a control controller, the input of which is electrically connected to the Z 50 height controller, and the outputs of the controller are connected through electronic keys to electric motors. c In addition, each hydroturbine, according to the proposal, contains a cylindrical body, flywheels, carrier,

From" there are horizontally located portable shafts fixed at one end in the carrier, flywheels are installed through bearings on portable shafts with the possibility of rotation, the carrier is installed in a cylindrical housing with the possibility of rotation around a vertical axis together with portable shafts, and the flywheels are kinematically connected to the housing by a mechanical transmission . o In addition, according to the proposal, the portable shafts are fixed in the carrier at the same angular distance from each other with the possibility of deviation in the vertical direction, and the output shaft of the driver is connected to the carrier through a planetary gearbox. o In addition, according to the proposal, each flywheel of the hydroturbine is made in the form of a truncated cone, and -1 50 the diameter О of the base of the truncated cone is determined by the ratio azu where K»2 is a dimensionless to) coefficient; K - the distance of the base of the flywheel from the vertical axis; 4) - angular speed of rotation of the flywheel around the local axis, gr angular speed of rotation of the carrier.

There is a direct causal relationship between the technical essence and the achieved goal. It is known that 99 board sliding, for example, on ice or snow, is determined by a sufficiently low K coefficient, the sliding friction of the material of the bottom of the board on such surfaces. In this case, the force RE, the friction that the athlete overcomes when sliding on the surface, is determined by the known ratio E -K(РоиРд), where Ро is the weight of the athlete; Ro is the weight of the sports board. All known sports tools for sliding provide a reduction in the coefficient of friction K when sliding on a hard surface to a value of at least 0.02. In this case, with the average mass of the athlete RO-7Okg and the mass of the sports board Rd-1Okg, the athlete overcomes the force of sliding friction, which is

EeK(RokRd)-0.02(8Okg)-1.6kg.

In contrast, the proposed technical solution provides a reduction in the sliding friction force E, due to the use of a hydro turbine, which reduces the total weight (P'syaiRd), for example, to the value of kg. In this case, even with a very large coefficient of friction, for example, K.-0.5 (dry friction of sliding steel on rubber), because the athlete overcomes the force of sliding friction, which is only E(-K(РоиРд)-0.5"1kg-0.5kg , which is almost three times smaller than in the previous case.

Figure 1 shows the design of a sports board.

Fig. 2 is a view of A-A in Fig. 1

Fig. 3 shows the board electric drive control scheme.

Fig. 4 shows the algorithm of operation of the board controller.

Figure 5 shows the design of the gyro turbine board.

Fig. 6 is a view B-B of Fig. 5.

Figure 7 shows, as an example, the position of the board when moving forward. 70 Fig. 8 shows a diagram explaining the principle of operation of a gyro turbine.

The sports board contains (Figs 1 and 2) a body 1 in the form of an elongated flat base with rounded edges, drive motors 2, 3, and a battery 4. The board is equipped with two gyroturbines 5 and 6, which are driven by electric drive motors 2, C , and the gyroturbines 5 and 6 are attached to the body 1 in its front and rear parts with the help of the corresponding fastening elements (see Fig. 5). Body 1 board /5 Can be equipped with a vertical mast 7 to facilitate control of movement in longitudinal and transverse directions. Mounts 8 for athlete's legs 9 are installed on the surface of the board. The board 1 is protected by the bottom 10 from below.

The board includes a control panel 11 with a push-button starter 12, which can be placed on the mast 7. In addition, the board 1 includes a height regulator 13 on the control panel 11 for setting the height of the location of the bottom 10 above the surface of the sports track 14.

The board is equipped with ultrasonic sensors 15 and 16 installed on the bottom 10 to determine the height of the bottom 10 above the surface 14 of the track. The board 1 also contains a controller 17 for controlling the electric motors 2, Z and for determining the minimum height of the bottom 10 of the sports board above the surface 14. The control controller 17 is electrically connected to the regulator 13 of the height of the sports board and with the electric motors 2, Z through electronic keys 18, 19 (see also Fig. 3). As a regulator 13, a rectangular pulse generator (multivibrator) is used with a frequency set by turning the handle o, 13 on the remote control 11. The controller 17 is powered by a battery 4 and is a microprocessor device that executes a program in accordance with the algorithm in Fig.4.

In another embodiment, the control panel 11 can be located in the athlete's hand, and the communication between the control panel 11 and the controller 17 is carried out with the help of a Bluetooth remote wireless communication device ("WiSafe(ooiiiy").-

The gyro turbine 5 or b can be made in the form of a mechanical device (see Fig. 5, 6), containing a cylindrical body 20, a carrier 21, portable shafts 22 (in the number of three to six), fixed at one end on hinges 23 in guides 21. Conical flywheels 24 (for example, three - by the number of portable shafts) (/i"7) are installed through bearings 25 on portable shafts 22 with the possibility of rotation around the corresponding local c axis 26 in the horizontal plane B-V. The guide 21 is installed in the housing 20 through the bearing 27 with the possibility of rotation around the vertical axis 28, which is located outside the boundaries of all the flywheels 24. The output shaft 29 of the electric motor 2(3) is kinematically connected to the carrier 21, through the planetary gearbox ZO, and the flywheels 24 are kinematically connected to the housing 20 gyro turbine 5(6) using a friction transmission 31, 32, in which the wheel 31 "

Each flywheel 24 rolls on the surface of a rubber ring 32 pressed into the body 20. The electric motor with c 2(3) is immovably attached to the body 1 of the board and to the planetary gearbox 30. The body 20 of the gyro turbine 5(6) is immovably attached to the body 1 of the board using corresponding fastening elements 33 (only two are shown).

The transfer shafts 22 of the flywheels 24 are fixed in the carrier 21 on the hinges 23 with the possibility of deflection in

In the vertical direction due to the elastic elements 34 resting from below on the shelf 35 of the carrier 21. The wheel 31 of the friction transmission is attached to the corresponding flywheel 24 with the help of pins 36 and rotates together with the corresponding flywheel 24. Three portable shafts 22 are located in the carrier 21 at the same angular distance - 1202 from each other. The diameter O (in Figb) of the base 37 of each conical flywheel 24 is determined by the ratio , where K»2 is a dimensionless coefficient selected in the range of 2.05...3.2; K - -I 50 distance of the location of the base 37 of the flywheel 24 relative to the vertical axis 28; (0) - angular speed of rotation

Short circuit of the flywheel 24 around the local axis 26, gr angular speed of rotation of the guide 21 around the axis 28.

The controller 17 in Fig. 1, C receives signals from the ultrasonic height sensors 15, 16, from the regulator 13 on the control panel 11 and from the start button 12. The controller 17 in Fig. 3 executes the program of polling the sensors with a periodicity of 0.1 seconds, the algorithm of which is shown on Fig. 4, and forms control signals at outputs 38, 39 for unlocking and locking electronic keys 18 and 19 with a frequency of 200Hz. c As a result of the execution of the sensor survey algorithm 15, 16 (see Fig. 3), the controller 17 forms a series of pulses at the outputs 38, 39, which enter the input of the corresponding electronic key 18, 19 and change the average value of the current coming from the battery 4 to terminals of the corresponding electric motor 2 and 3. The controller 17 60 performs the task of converting the indications of the height regulator 13 by means of pulse width modulation into the average current of the electric motor 2(3) in accordance with the algorithm in Fig.4.

The sports board works as follows (Fig. 1).

In the idle state, the board rests on the surface 14. Depending on the state of the sports track, the board may be on the surface 14 at some angle "e" relative to the horizon. The athlete installs the legs in the corresponding 65 fasteners 8 for the legs and includes the start key 12.

During the operation of the gyroturbine 5, b, a Coriolis traction force Ye Yu occurs, which is always directed along the vertical axis 28. At the same time, a torque Ma acts on each gyroturbine 5 (6). (Mu) reaction that tries to rotate the gyroturbine around the axis 28, and the thrust force of the gyroturbine 5(6) is regulated by the speed of rotation of the carrier 21 and flywheels 24. When the speed of rotation of the carrier 21 increases, the thrust force E K of the gyroturbine increases, and vice versa, when the angular speed decreases rotation of the carrier 21, the thrust force of the KE, the gyroturbine falls.

In Fig. 1 (2), two gyroturbines 5 and 6 are installed in the horizontal plane A-A in such a way that the reaction moment Ma of the first gyroturbine 5 is directed in the opposite direction to the reaction moment Mb of the gyroturbine 6. As a result of this arrangement of gyroturbines 5.6, the reaction moments are mutually extinguished, and the direction of the traction forces E K of both gyroturbines coincides and is directed along the axis 28, which is ensured by the rotation of the carriers 21 of the gyroturbine /0 5 and 6 in opposite directions. At a current strength of 0.5 from the maximum value of the traction forces of the gyroturbines, 5.6 is sufficient to separate the board together with the athlete from the surface 14 of the sports track.

In the process of operation, the controller 17 performs the following actions.

Step 1: the controller 17 reads the state of the key 12 (see Fig. 4 block 1).

Step 2: the controller analyzes the state of the key 12 (block 2) and, when the key 12 is closed, proceeds to step 7/5 Z, otherwise it proceeds to step 11 (block 11 in Fig. 4).

Step 3: the controller reads the data H of the height regulator 13 and writes them into the corresponding cell of the RAM.

Step 4: the controller 17 reads the discrete signals coming from the height sensors 15,16 of the location of the bottom above the surface 14.

Step 5: the controller 17 executes a subroutine for determining the minimum height H of the bottom 10 of the board above the surface 14 according to the formula H-tip(y/5;ylv), where P/i5 is the reading of the height sensor 15; Pyl6 - height sensor reading 16.

Since the board is initially on surface 14, then p45-p16:0; Well, that's it.

Step 6: the controller programmatically compares the value of H 4 with the given value of the height H, which is stored in the corresponding cell of the RAM (see step 3); under the condition N YAN, the program goes to step 9, and in the opposite case - to step 7.

Steps 7, 8: the controller 17 programmatically reduces the sparsity (OS) of pulses at the outputs 38, 39 at the same time by the same value t with an unchanged pulse period T. At the same time, at the initial moment of operation, the controller 17 forms at the outputs 38, 39 a series of pulses with period T, which refers to the duration of pulses y;, as 100 to 1 (that is, the sparsity of pulses is -100:1). with

As a result, the average value of the current through the electric motors 2, З increases from the zero value by rch- the corresponding value, which is approximately 0.01 of the maximum. After that, the controller program 17 goes to step 1. p

The steps of the controller program from 1 to 8 are repeated periodically until the moment at which in step 6 "- the value of Nu is greater than H due to the reduction of the sparsity of pulses O to the value of 100:50.

З At this value of ОО, the average current flowing through electronic keys 18, 19 is approximately 0.5 s from the maximum value. Under the action of the electric current, the electric motors 2,3 rotate in opposite directions at the corresponding speed, at which the board hovers over the surface 14 at a height of Н p. At the same time, the body 1 of the board 4 in Fig. 1 together with the athlete rises without rotation around the axis 28 above the surface 14 at a height ranging from 100 m to 0.5 m, depending on the position of the regulator 13. The mass of the board and the athlete himself 9 - 70 is balanced by the thrust of the gyroturbines 5 and 6. At the same time, the vector P of the body mass of the athlete 9, which starts at the center of gravity 40 , is projected in Figures 1 and 2 onto the plane of the body 1 at point 41, as a result of which the sum of the rotational moments of the traction forces E, gyroturbines 5,6 relative to point 41 in the vertical plane is reduced to zero and the athlete 9 is together with the sports board in a state of dynamic equilibrium above the surface 14 of the sports track at a given height Well.

Step 9: The controller programmatically compares the H value with the given height H value; under the condition НЯ» Ня 9) The same program goes to step 10, in the opposite case - to step 8. The value of the constant y is chosen in such a way that it corresponds to the value of 0.5 cm of the board's lifting height. eat) Step 10: the controller 17 programmatically increases the frequency of 0 pulses at the same time by the same value and

Sh- 20 with an unchanged pulse period T, and goes to step 8. At the same time, the average current flowing decreases

Ge through the electronic keys 18, 19, and, accordingly, the thrust force of the gyroturbines 5,6 decreases.

As a result of steps 1...10, the sports board floats over the surface 14, regardless of the angle of inclination a, if there is a guaranteed minimum gap N i between the bottom 10 of the sports board and the surface 14 (see Fig. 1).

The forward movement of the sports board in Fig. 1 and Fig. 7 (in the direction of arrow Y) is ensured by the tilt of the sports board. For this, athlete 9 moves the center of gravity 40 forward.

The vector P of the body mass of the athlete 9, starting at the center of gravity 40, is projected onto the plane of the body 1 at point 42 in Fig. 2 and Fig. 7, as a result of which the weight of the athlete brings the gyroturbine 5 closer to the surface 14, and the gyroturbine 6 moves away from surface, as shown in Fig.7. As a result of the operation of the controller 17 according to the algorithm (Fig. 4), the traction force of the gyroturbines 5(6) automatically increases, thanks to which the minimum height of the Well in Fig. 7 is restored. traction force EE | the gyroturbine 5, b is divided into a vertical and horizontal component P, (only the horizontal component E is shown in Fig. 7), which moves the board 1 forward together with the athlete 9 at the appropriate speed in the direction Y. 65 Backward movement of the sports board (or braking the board , which is moving) in Fig. 1 is provided due to the inclination of the body 1 of the board in the direction of arrow E. For this, the athlete moves the center of gravity back similarly

Fig. 7, as a result of which the vector P of the body mass of the athlete 9, starting at the center of mass 40, is projected onto

Fig. 2, on the plane of the body 71 at point 43, as a result of which the weight of the athlete brings the gyroturbine b closer to the surface, the gyroturbine 5 moves away from the surface, and the traction force E, the gyroturbine 5, 6 is divided into a vertical and horizontal component directed against the arrow O in Fig. 1, which acts on the board in this direction.

The movement of the sports board to the left in Fig. 1 and Fig. 2 is provided due to the inclination of the body of the board around the axis 44 (Fig. 2). At the same time, the vector P of the body mass of the athlete 9 (starting at the center of gravity 40) is projected onto the plane of the body 1 at point 45 (Fig. 2), as a result of which the weight P of the athlete 9 brings the left edge of the body 1 7/0 of the board closer to the surface, and the traction force R K of the 5.6 gyroturbine is divided into a vertical and a horizontal lateral component acting on the sports board to the left.

The movement of the sports board to the right in Figs. 1 and 2 is also ensured due to the inclination of the body 1 of the board around the axis 44. At the same time, the vector P of the body mass of the athlete 9 (starting at the center of gravity 40) is projected onto the plane of the body 1 at point 46 in Fig. 2 , as a result of which the athlete's weight brings the right edge of the body 1 of the board closer to the /5 surface, and the traction force E of the gyroturbines 5,6 is divided into a vertical and horizontal lateral component acting on the sports board to the right.

It should be noted that with this method of controlling the sports board, the athlete's movements correspond to the behavior and skills of the equilibrist. To make it easier for beginners to control the board, a mast 7 is installed on it, on which the athlete 9 leans when performing maneuvers.

The gyro turbine 5 (6) of the sports board works as follows (Fig. 5).

To increase the amount of traction force E, the gyro turbine 5 (6) is equipped with several flywheels 24, as shown in Fig. 5 (6). The driver 2 rotates the shaft 29 in a clockwise direction, which is kinematically connected to the carrier 21 of the gyro turbine through the planetary gear 30. As a result, the carrier 21 rotates in the same direction about the vertical axis 28 together with the transfer shafts 22 and all the flywheels 24. Each flywheel ov 24 is connected to the corresponding wheel 31 of the friction transmission, which rotates the flywheels 24 about their local axes 26 in the corresponding direction, according to due to the fact that the wheel 31 rolls on the ring 32 under the action of the pressure of the elastic element 34. As a result, Coriolis forces EK acting on the flywheels 24, which are directed in one direction along the axis 28, arise, due to which the total traction force of the gyroturbine 5 ( 6), equal to ZE, which ensures plane-parallel movement of the board in the vertical direction. c z o The physical essence of the operation of the proposed gyro turbine is explained by the kinematic diagram in Fig. 8.

In the proposed gyro turbine, the flywheels 24 rotate around their respective local axes 26, and - at the same time synchronously rotate (perform forced precession) together around a common axis 28, which is located outside the respective flywheels in the plane of the ring 32, which is parallel to the plane of the body 1 of the board in Fig. .1,2. The transfer speed M of the forced precession of the flywheels 24 is defined as М-А ze: where с: Ш -- 35 angular speed of rotation (forced precession) of the flywheels 24 around the common axis 28; A is the distance of the center of mass of the corresponding flywheel 24 from the axis 28.

The direction of rotation of each flywheel 24 in Fig. 5, 6 and Fig. 8 around its local axis 26 is determined by the fact that they rotate together with the wheel 31, which rolls on the ring 32 of the friction transmission, which is located above the wheel 31. At the same time, the direction the rotation of the flywheel 24 around the corresponding local axis 26 determines 40 the direction of the vector co, which for each flywheel 24 in Fig. 8 is directed outward from the center C (that is, it has a centrifugal character). h» This arrangement of the ring 32 above the wheel 31 of the friction transmission ensures that for each flywheel 24 "the appropriate synchronization of its rotation around the local axis 26 with the rotation around the common axis 28 is ensured, and thereby - the unidirectional orientation of the acting Coriolis forces EC along the axis 28 upwards. This can be verified by applying M.E. Zhukovsky's rule for each flywheel 24. name) According to this rule (N.E. Zhukovsky, "Kinematics, Statics, Dynamics of a Point" M., OboronGiz, 1939 - - p.67, 68 | the forced precession velocity vector M of the flywheel 24 in Fig. 8 is conventionally turned by 902 in the direction of rotation of the angular velocity vector c, as a result of which the direction of the Coriolis force EK acting on the flywheel 24 is determined. -and 50 Coriolis force P coincides with the direction of the thus rotated velocity vector M and is defined as

EkaKt c) M, where K is a dimensionless coefficient of proportionality that takes into account the geometric dimensions of the flywheel 24 and the conditions for synchronizing its rotation with movement around the common axis 28, t is the mass of the flywheel 24.

The reaction moment M of the gyro turbine in Fig. 8, which overcomes the electric motor 2(3) during operation, is directed in the opposite direction to the direction of forced precession.

If you change the direction of movement (forced precession) of flywheels 24 in Fig. 8 around the vertical axis 28 s to the opposite, then in this case the direction of Coriolis forces will not change, and the reaction moment M 4 will change to the opposite, which allows you to compensate for the reaction moments of gyroturbines 5 and 6 due to the rotation of the corresponding guides 21 in opposite directions and to ensure the stability of the position of the sports board in space.

The calculations show that with the mass of the ring flywheel t-0.1 kg; K-1 speed of rotation of the flywheel 60 x 600 rpm/min- rad/sec;; speed M of forced precession of flywheels 24 around the common axis 28M-6bm/sec, the value of the Coriolis traction force for one flywheel can be obtained

Ek-O.Tkg"6.287100rad/sec"Em/sec-376.Bmg"m/sec 2-376.8 Newton (in the SI system).

If we take into account that each gyroturbine 5(6) can contain n-Z (three) flywheels, then with the presence of I-2 two gyroturbines, they are able to create a thrust force of BUK pi -376.876-2261 Newton.

Such a sports board, with a maximum weight of 20 kg, is capable of developing a total traction vertical force

200 kg of strength, that is, to lift an additional 180 kg of cargo or one athlete with equipment on board.

When the sports board is tilted at an angle of 102, a horizontal traction force Е D-Резип(102)-39.2 kg occurs, which pushes the board in the corresponding direction. Such traction force allows creating a horizontal acceleration of up to m/sec, which is able to accelerate the sports board together with the athlete in 10 seconds to a speed of M-4Ω/sec (or, what is the same, to a speed of M-144km/h). The energy performance of the proposed sports board is characterized by the following calculations. With an average total mass of M-100 kg of the board and the athlete, the lifting of the sports board to a height of n-0.1 m is accompanied by energy costs A, which are A-Moip-100 kg"0.1 m"9.8 m/sec-98 Nm.

If the sports board is lifted to a height of 0.1 m in 1 second, then two gyroturbines must develop a total power of 70 UU-98Nm/1s-98W, and the power of the electric motor of each gyroturbine must be a maximum of 50W. At a battery voltage of 12V, the current flowing through the electric motors of two gyroturbines is a maximum of 10A at the efficiency of the gyroturbine, which is 0.8. With a battery capacity of 50-6 AA hours, the sports board is able to hover for

BOA hours/10A - 5 hours.

The research and design sample of the proposed board is manufactured and tested in the form of a stabilized 75 platform that can hover and hover over a solid or water surface.

Claims (9)

The formula of the invention 1. A sports board comprising an elongated flat body (1), drive motors (2,3) and an energy source (4), characterized in that it contains two gyroturbines (5,6) which are kinematically connected to the drive motors (2,3), and the gyroturbines (5,6) are immovably attached to the body (1) in its front and rear parts, and the board is protected from below by the bottom (10). 2. The board according to claim 1, which is characterized by the fact that the body (1) is equipped with a vertical mast (7) to control movement in the longitudinal and transverse directions. C. The board according to claim 1, which differs in that it contains electric drives (2,3), and the energy source is a battery (4). 4. The board according to claim 1, which differs in that it contains a control panel (11) with a height regulator (13) for the location of the bottom (10) above the surface of the sports track (14). with 5. The board according to claim 1, which is characterized by the fact that it contains sensors (15,16) for determining the height of the location of the bottom (10) above the surface of the sports track (14). in 6. The board according to claim 1, which is characterized by the fact that it contains a control controller (17), which is electrically connected to the Ha height regulator (13), and the outputs (38,39) of the controller (17) are connected via electronic keys (18, 19) to electric motors (2,3). -- 7. The board according to claim 1, which differs in that each gyroturbine (5,6) contains a cylindrical body (20), flywheels (24), carrier (21), horizontally located portable shafts (22), fixed at one end in guides (21), flywheels (24) are installed through bearings (25) on portable shafts (22) with the possibility of rotation, the guide (21) is installed in a cylindrical body (20) with the possibility of rotation around a vertical axis (28) together with portable shafts ( 22), and the flywheels (22) are kinematically connected to the body (20) by a mechanical transmission (31,32). " 8. The board according to claim 7, which differs in that the portable shafts (22) are fixed in the carrier (21) at the same angular distance from each other with the possibility of deviation in the vertical direction, and the output shaft (29) of the driver and (2) ,3) is connected to the carrier (21) through the planetary gearbox (30). "» 9. The board according to claim 7, which differs in that each flywheel (24) is made in the form of a truncated cone, and the diameter О of the base (37) of the truncated cone is determined by the ratio , where K»2 is a dimensionless yyu 395 coefficient; K - the distance of the base (37) of the truncated cone from the vertical axis (28); 0) - angular speed of rotation of the flywheel (24) around the local axis (26), gr angular speed of rotation of the carrier (21). - With name) - 50 Ko) with 60 b5