RU2784225C1 - Wheel-track propulsion module and chassis with two modules - Google Patents

Abstract

FIELD: cross-country vehicles.

SUBSTANCE: invention relates to the propulsion of cross-country vehicles. The wheel-caterpillar mover module contains wheel and caterpillar movers. On the shaft or the hollow axis of the wheel mover, the drive hollow shaft of the drive gear of the caterpillar mover and the hollow shaft for fastening to the frame of the vehicle with a flange are installed one on the other. The caterpillar mover is mounted on the drive gear shaft with the possibility of translational and rotational movements using grooves in the housing. Chassis with two modules of wheel-caterpillar propellers are fixed to the chassis frame on the left and right, while the wheel propellers of the modules are controlled by a gyro-stabilizing system. In one module, between the means for damping the caterpillar mover and the bracket or frame, a stabilizer for the horizontal position of the frame is installed, which interacts with the position sensor. Attached to the frame is a retractable means for preventing the chassis from tipping over and for lifting the frame.

EFFECT: improvement of constructive and operational qualities of the vehicle is achieved.

15 cl, 18 dwg

Description

Wheel-caterpillar propulsion module.

The invention relates to the propulsion of cross-country vehicles.

Known undercarriage of the vehicle FROM No. 2507102, IPC B62D 55/04 (2006.01), A61G 5/06 (2006.01), containing a wheel mounted on the axle, a balancer mounted on the wheel axle, track rollers mounted on the free ends of the balancer, and an endless tape (caterpillar) covering the track rollers. The drive wheel is made as a composite of two wheels, structurally and technologically of the same type, with a rim and a hub belonging to different planes. Between the wheel hubs on a common onboard axle, the drive sprocket of the drive of the endless belt is mounted, covering the upper points of the rollers and the belt drive sprockets at the upper equal level of the horizon.

The disadvantages of this invention is the impossibility of separate use of wheeled and caterpillar propellers when attached to the chassis of the vehicle.

The task to be solved by the claimed invention is to improve the design and operational qualities due to the connection of the wheeled and caterpillar movers into one unit, with the possibility of their simultaneous and separate use when attaching the modules to the vehicle chassis.

This problem is solved due to the following: the wheel-caterpillar mover module contains wheel and caterpillar movers in one node, while on the shaft (axle) of the wheel mover, a drive hollow shaft of the drive gear of the caterpillar mover and a hollow shaft are installed with the possibility of rotation one on the other, mounted on a bearing in a bracket for attachment to the vehicle frame, with a flange integral with the holder of the caterpillar housing; on the shaft with a flange, a means for damping the caterpillar mover is installed, attached to the bracket; the caterpillar mover is mounted on the drive gear shaft with the possibility of translational and rotational movements using grooves in the housing; when moving the housing and the holder relative to each other, the stop is carried out by the locking device, and the braking and stopping of the caterpillar are provided by the braking means.

The technical results are the following effects:

- Structurally, the module is a unit that combines the functions of wheeled and caterpillar movers and is a complete component of the vehicle;

- the interchangeability of parts of the left and right versions of the module for connection to the vehicle is structurally ensured, i.e. the constituent parts of the module itself have modular properties;

- each standard size of the wheel mover (diameter, width, type: with electric drive, motor-wheel, integrated suspension "Softwheel") can correspond to several standard sizes of the caterpillar mover with different lengths and heights;

- modules of the wheel-caterpillar mover in the vehicle make it possible to move on a flat hard surface on wheels, on soft ground - on tracks.

The possibility of simultaneous and separate use of the wheeled and caterpillar movers in the module when attached to the vehicle is ensured by the ability of the caterpillar mover to move relative to the shaft (axle) of the wheel mover and the ability of the wheel mover together with the bracket to move relative to the caterpillar mover when supported on the caterpillar.

Achieving this goal is possible only with free rotations relative to the axis of the wheel mover and each other of the shafts of the driving gear and the body of the caterpillar mover, as well as their mutual translational mobility with the help of grooves in the body of the caterpillar mover, the shaft of which is mounted on a bearing in the bracket.

The essence of the invention is illustrated by drawings, which show:

in fig. 1 shows a general view of the module on the left;

figure 2 - section A - A;

in fig. 3 - section B - B (means 12 for depreciation of the caterpillar mover 3);

in fig. 4 - controlled rotary module;

in fig. 5 - section B-B;

in fig. 6 - the use of modules in a cross-country vehicle.

The wheel-caterpillar mover module contains a bracket 1 for fastening to the vehicle frame, a wheeled mover 2, a caterpillar mover 3 (Fig. 1). On the shaft (axle) 4 of the wheel mover 2 are installed with the possibility of rotation one on the other drive hollow shaft 5 of the drive gear 6 (in particular, the sprocket) of the caterpillar mover 3 and the hollow shaft 7 mounted on the bearing 11 in the bracket 1, with a flange 8 for fastening the holder 9 of the body 10 of the caterpillar mover 3 (Fig. 2). On the shaft 7 there is a means 12 for damping (Fig. 2 Fig. 3) (in particular, not adjustable, consisting of an inner cage 13, mounted on the shaft 7 and an outer cage 14, attached to the bracket 1, having inside, fixed at one end to inner cage 13, two coil springs 15, 16 of compression of multidirectional action, and with the other end resting against the protrusion 17 of the outer cage 14) of the caterpillar mover 3 and holding it in a horizontal position.

The caterpillar mover 3 is mounted on the shaft 5 with the possibility of translational and rotational movements with the help of grooves 18 in the housing 10. The sprocket 6 engages with the chain 19 fixed on the caterpillar 20, which is pressed against the support rollers 21 using the clamping means 22 (in particular, consisting of pressure rollers 23 and a groove 24 on the caterpillar 20), creating a reliable engagement of the sprocket 6 with the chain 19 (Fig. 2, Fig. 5).

When moving the body 10 and the holder 9 relative to each other, the stop is carried out by the locking device 25 (in particular, consisting of a caliper 26 attached to the holder 9 and a bar 27 connected to the body 10), and the possibility of braking and stopping the caterpillar 20 is provided by the brake means 28 ( in particular, a pair: a brake caliper 29 and an asterisk 30) (Fig. 2, Fig. 5).

The transfer of energy for actuation of the locking caliper 26 and the brake caliper 29 is carried out from the built-in power sources (not shown in the drawing) or through flexible channels of energy transfer from the power source on the vehicle.

In the housing 10, an elastic suspension of the caterpillar mover 3 is mounted (in particular, balancing, with gear wheels 31; between the track rollers 32, combined in pairs into carriages 33). Caterpillars 20 are supported by support rollers 34 and idlers 35 (FIG. 5).

Free rotation of the flange 8 relative to the bracket 1 is provided by the required thickness of the shim 36 (Fig. 2).

The free play of the body 10 and flange 8 relative to each other is regulated by the thickness of the washer 37 in the absence of axial displacement of the shaft 7 (Fig. 2) in the transfer case 57 from the drive 56 in the case of the module being attached to the vehicle (Fig. 8).

A brush 38 is attached to the carriage lever 33 to clean the inner surface of the tracks 20 from dirt (Fig. 5).

Brushes (not shown in the drawing) are fixed on the housing 10 at the entry points of the caterpillar 20 to clean dirt from the lugs and sidewalls of the caterpillar 20 and the gutter 24.

For rotary controlled modules, the bracket 1 is made as a steering knuckle of an independent suspension with a connecting element 39 for installing a shock absorber and a spring, an element 40 for attaching a steering rod and an element 41 for attaching a suspension arm (Fig. 4).

When using the module in vehicles with amphibious properties, a means of repulsion from water 43 (in particular, an impeller) is attached to the rim of wheel propellers 2 (Fig. 4).

The modules work like this:

1. The use of modules in a cross-country vehicle (Fig. 6).

The vehicle frame is made taking into account the rotation of the controlled modules. The rear modules are attached to the frame on an elastic suspension. Shafts 4 and 5 of the controlled and rear modules are connected to transfer boxes 57 from drives 56, which are articulated using cardan shafts 60 and hinges (analogue see Fig. 11). The locking devices 25 and the braking means 28 are connected to the built-in power sources or through flexible power transmission channels from the power source on the vehicle.

Movement on wheeled propellers is carried out on paved roads (Fig. 6a), on caterpillar propellers - on soft soils (Fig.6b). The transition of the vehicle from the wheel drive to the caterpillar is carried out as follows. Drives 56 are off. The locking devices 25 are off, the braking means 28 are on. Drives 56 are turned on and torque is transmitted to drive wheels 6 through transfer boxes 57 and shafts 5. Caterpillar propellers 3 with the help of grooves 18 are lowered down, lifting the vehicle.

2. The use of modules in a dual-purpose vehicle (for movement on tracks on the ground and on wheels on a railway track).

The design scheme of dual-purpose transport when using modules and their operation is similar to paragraph 1. At the same time, the modules are equipped with wheel propellers 2, the rolling surface of which is similar to the rolling surface of a railway wheel.

3. Use of modules in a snowmobile vehicle.

The design scheme of snowmobile transport using modules and their operation is similar to paragraph 1. Skis 42 are attached to wheel propellers 2 or axles 4 (Fig. 1, Fig. 2). At the same time, the weight load on the tracks 20 and skis 42 is optimally distributed for a given density of snow cover when the tracked propellers 3 reach the traction force necessary for movement. For movement on ice, the tracks 20 can be equipped with spikes clinging to the ice.

The use of the propulsion module in different machines will require various metals, plastics and other materials for its manufacture, the use of which is justified by calculations.

Chassis with two modules.

The invention relates to the chassis of cross-country vehicles, including wheelchairs and step-walkers.

A wheeled-caterpillar chassis is known for the electric wheelchair Scewo Bro of the Swiss company ScewoAG (https://www.scewo.ch/bro/), containing a frame with a mechanism that lowers the chair along the frame guides, left and right electric wheels controlled by a gyro-stabilizing system , allowing to maintain balance for the wheelchair user, left and right caterpillar movers on a frame with a hydraulic cylinder for raising the seat to a horizontal position when reversing on the stairs on the tracks, supporting retractable wheels necessary for moving from the steps of the stairs to a horizontal platform and lifting the chair. The stroller can alternately move on wheels and tracks. Scewo bro automatically maintains the horizontal position of the chair while moving on wheels on horizontal and slightly sloped surfaces, but without a transverse slope. The stroller is controlled by the user from the remote control.

The disadvantages of the chassis of this design are: the lack of support for the horizontal frame (seat) when driving on tracks on surfaces with a transverse slope; low cross-country ability on tracks associated with low ground clearance.

The task to be solved by the claimed invention is to improve the performance of the chassis associated with the expansion of the scope, with the ability to move on tracks on a surface with a certain transverse slope, to overcome a certain height of surface irregularities, while maintaining the horizontal frame (seat); with an increase in the height of the frame (chair); with an increase in cross-country ability, with the potential for the use of an elastic suspension of the propulsion module; with the potential to give the vehicle on the claimed chassis amphibious qualities.

This problem is solved by the following.

Chassis with two modules, contains modules of wheel-caterpillar movers fixed to the chassis frame on the left and right, while the wheel movers of the modules are controlled by a gyro-stabilizing system, which allows the user of the vehicle to maintain balance on this chassis. In one module, between the means for damping the caterpillar mover and the bracket or frame, a stabilizer for the horizontal position of the frame is installed, which interacts with the position sensor; a retractable means for preventing the chassis from tipping over and for raising the frame is attached to the frame.

The technical results are the following effects:

- the possibility of using wheel-caterpillar propulsion modules on the chassis of various standard sizes expands the scope of the chassis for various vehicles;

- maintaining the horizontal position of the frame (seat) when moving on tracks along and across the slope and when overcoming irregularities;

- increase in the height of the frame (chair);

- increased permeability.

The possibility of using modules of various standard sizes on the chassis is determined by the universal design of the modules.

Maintaining the horizontal position of the frame (seat) when the vehicle is moving on tracks along the slope is carried out with the help of a stabilizer. Maintaining the horizontal position of the frame (seat) when the vehicle is moving on tracks across the slope is carried out with the help of a stabilizer and setting the caterpillar movers to different heights relative to the frame.

The increase in the height of the frame (seat) is carried out under the influence of a retractable means for lifting the frame with the help of the ability of the caterpillar movers to turn on the shaft of the drive gears, leaning on the surface.

The increase in cross-country ability is achieved by increasing the clearance when driving on tracks as a result of freeing the space under the box-shaped frame from structural elements. The maximum clearance is formed as a result of lowering the caterpillar propellers to the lowest position, using the grooves in their housings, along the shafts of the drive sprockets.

The tightness of the box-shaped frame, which is easily achieved structurally, makes it possible to overcome shallow water obstacles, and when the chassis is retrofitted with pontoons, move through calm water using an impeller on the rims of wheel propellers.

The ability to reverse over steps and curbs higher than standard on tracks is provided with the help of an anti-rollover device.

The smoothness of the chassis can be increased by attaching modules to the frame on an elastic suspension.

The essence of the invention is illustrated by drawings, which show:

in fig. 7 shows a general view of the chassis on the left;

in fig. 8 - view D;

in fig. 9 - section D - D;

in fig. 10 - fastening to the chassis of modules on an elastic suspension;

in fig. 11 - view E;

in fig. 12 - use of the chassis in a wheelchair when moving up a flight of stairs;

in fig. 13 - overcoming surface irregularities with a sidecar on tracks;

in fig. 14 - overcoming a surface with a transverse slope by a carriage on tracks;

in fig. 15 - options for lifting (lowering) the chair;

in fig. 16 - use of the chassis in off-road vehicles with amphibious capabilities;

in fig. 17 - use of the chassis in cargo handling vehicles;

in fig. 18 - use of the chassis in off-road light vehicles.

The chassis with the modules of the wheel-caterpillar mover, contains the frame 44 (Fig. 7, Fig. 8), the left module 45 and the right module 46 are attached to it on the brackets 1, while the wheel movers 2 are controlled by a gyro-stabilizing system, which allows the user to maintain balance vehicle on this chassis. In one module (45), between the means 12 for adjustable damping of the caterpillar mover 3 and the bracket 1, a stabilizer 47 (Fig. 9) (in particular, a worm pair 48 with a servo drive 49) of the horizontal position of the frame 44 is installed, interacting with a position sensor (not shown in the drawing). shown). A retractable means 50 is attached to the frame 44 (in particular, hydraulic cylinders 51 with wheels 52 fixed to the rods) from tipping over the chassis and for lifting the frame 44, which has a box-shaped shape with a movable upper part 53. Flexible channels 54 and 55 for transferring energy from its sources to frame 44 to actuate the locking devices 25 and braking means 28 pass through the walls of the box-shaped frame 44 (Fig. 7, Fig. 8).

The torque from the drive 56 to the wheel propellers 2 and caterpillar propellers 3 is distributed by boxes 57 (Fig. 8).

Modules 45 and 46 can be fastened to frame 44 on elastic suspensions (in particular, shock absorbers 58 and springs 59 are installed between brackets 1 and frame 44, and 57-articulated cardan shafts 60 are installed between drive 56 and boxes) (Fig. 10, Fig. eleven)

The chassis with two modules works as follows:

1. Using the chassis with modules in wheelchairs (hereinafter referred to as the wheelchair) for people with disabilities (hereinafter referred to as users) (Fig. 12 - Fig. 15).

A chair 61 is attached to the movable part 53. The frame 44 is equipped with everything necessary for the safe and convenient operation of the wheelchair by the user (Fig. 12a). The wheelchair can be controlled by the user using the remote control on the armrest of the chair.

When driving a wheelchair on electric wheeled propellers 2 (K mode) (Fig. 12e), a gyro-stabilizing system is used, and on caterpillar propellers 3 (D mode) (Fig. 12a) - stabilizer 47 of the horizontal position of the frame 44.

Switching from K mode to D mode.

The gyro-stabilizing system of the wheelchair is turned off and the stabilizer 47 of the horizontal position of the frame 44 is turned on. The movers 3 tilt and touch the supporting surface with their front part. Chair 61 remains in a horizontal position. With the help of devices 25, the positions of the housings 10 relative to the holders 9 are unlocked (hereinafter - the devices 25 are off (on) off), while the braking means 28 are turned on, blocking the movement of the tracks 20 (hereinafter - the means 28 on (off) off), the reverse of the sprocket drive is turned on 6 and propellers 3 using grooves 18 are lowered until the tracks 20 touch the entire length of the supporting surface. The frame 44 is then lifted up to the end of the slots 18 (FIG. 12a).

The movement of the stroller and overcoming the forward slopes and bumps in the K mode: the devices 25 are turned on, the means 28 are turned on for braking (to mitigate accidental collision of the tracks with an obstacle), the wheel mover 2 and the gyro-stabilizing system are turned on. The greatest angle of climb while maintaining the horizontal position of the chair 61 is equal to the angle α formed by the tangent from the wheel propellers 2 to the lower branch of the tracks 20 and the horizontal (Fig. 12d).

Stroller movement in H mode:

- lifting the stroller up the stairs (Fig. 12). The means 12 is adjusted to increase the damping rigidity of the caterpillar mover 3 to prevent the chair 61 from rocking. Devices 25 are turned on, and means 28 are turned off, the reverse gear is turned on and the drive sprockets 6, acting on the chains 19 attached to the tracks 20, turn them, bringing them into contact with the stage. Due to the friction forces of the lugs of the caterpillars 20 on the stage, the caterpillar movers 3 are rotated by the angle of the flight of stairs. As you turn, at the signal of the horizontal position sensor, the stabilizer 47 supports the frame 44 in a horizontal position. Thus, the ascent of the stairs is performed with the horizontal position of the chair 61 (Fig. 12b). When the sidecar reaches a position where its center of gravity is above the last stage, the drives of the leading sprockets 6 are turned off, and the means 28 are turned on. The wheelchair is fixed on the ladder by the forces of friction of the caterpillars 20 on the steps (Fig. 12c). The devices 25 are turned off, the drive of the drive sprockets 6 is turned on. The frame 44 with the user in the chair 61 is smoothly shifted along the grooves 18 back to the stop, placing the center of gravity of the wheelchair with the user above the horizontal platform (Fig. 12d). The devices 25 are turned on and the means 28 are turned off, the reverse gear is turned on. The stroller leaves the site, relying on it with the front part of the tracks 20 and wheel propellers 2. Means 28 are included. The propellers 3 rise to the uppermost position, the drive of the leading sprockets 6 is turned off. The carriage switches to the K mode (Fig. 12e). In mode K, if the gyrostabilizing system fails, the wheelchair tipping back is prevented by relying on the wheels 52 (Fig. 12e), and forward - by relying on the movers 3. At any phase of the movement, the wheelchair can switch from automatic to manual control. The arbitrary start of the downward movement of the stroller should be blocked by the provided automatic safety system - the brakes 28 are turned on, preventing an uncontrolled descent. The stroller is fixed on the stairs by the forces of friction of the tracks 20 on the steps. The descent from the stairs by the user on the wheelchair is carried out in the reverse order;

- braking of the wheelchair during movement is carried out by a smooth increase in the braking force provided by the brake means 28;

- overcoming the surface irregularities by the stroller in forward motion and climbing the surface with a slope (Fig. 13). The devices 25 are on and the means 28 are off. During movement, the horizontal position of the chair 61 is maintained, which is supported by the operation of the stabilizer 47. The height of the irregularities should not exceed the distance from the footrests to the plane of movement. The climbing angle is equal to the angle β of the inclination of the propellers 3 to the horizontal, provided that the footrest is positioned higher than the lower branches of the tracks 20. With an acceptable lifting of the footrest, the characteristics of overcoming obstacles and slopes are improved;

- the movement of the stroller across the inclined surface (Fig. 14). Device 25 is turned off and means 28 is turned on from the side facing the lifting surface. The drive of the drive sprocket 6 is switched on from the side facing the lifting of the surface, and the mover 3 rises along the groove 18 up to the height necessary to maintain the horizontal position of the seat 61.

- turns are carried out by adjusting the difference in the speed of movement of the tracks 20. Turning on the spot is carried out by rotating the tracks 20 in opposite directions.

Raising up and lowering down the chair 61 in a horizontal position (Fig. 15):

- the starting position of the stroller in mode G (Fig. 15b);

- lowering to the lower position. Devices 25 are off, means 28 are on. The drive of the leading sprockets 6 is turned on and the wheel propellers 2 are lowered onto the supporting surface. From the walls of the upper part 53 of the frame 44, the rollers 62 are extended, relying on the housings 10, the upper part of the frame 53 moves forward and downward. Chair 61 occupies the lower horizontal position (Fig. 15a). Drives for top 53 and roller extensions 62 are not shown;

- lifting up (Fig. 15c). The devices 25 are turned on, the hydraulic cylinders 51 push the wheels 52 onto the supporting surface. In this case, the movers 3 turn on the shafts 5 and with the help of the stabilizer 47, which received a command from the horizontal sensor, the horizontal position of the frame 44 with the seat 61 is maintained. The lowering of the chair 61 is carried out in the reverse order;

- lifting up in mode K (Fig. 15d). The gyro-stabilizing system of the wheelchair is turned off and the stabilizer 47 of the horizontal position of the frame 4 is turned on. After the front part of the movers 3 touches the supporting surface, the operation of the mechanisms is the same as when lifting up in the G mode.

2. The use of the chassis in off-road vehicles with amphibious capabilities (Fig. 16).

Brackets 63 with mechanisms 64 (in particular, scissors) for lowering pontoons 65 into the water are attached to the box-shaped frame 44 on both sides, and means of repulsion from water 43 (in particular, impellers) are attached to the rim of the wheel propellers 2. Mount brackets 63 and pontoons 65 can be either fixed or removable. The openings in the box frame 44 are sealed with means against the ingress of moisture. In the raised state, the pontoons 64 do not interfere with the movement of the vehicle. In the lowered state, the pontoons 65 provide the optimal position of the axles of the wheel propellers 2 with impellers 43 and the upper branches of the caterpillars 20 relative to the water level to use the best efficiency of these propellers when the amphibian moves through the water. When driving on tracks 20, a stabilizer 47 is used, on wheel propellers 2, a gyro-stabilizing system is used.

3. The use of the chassis in cargo handling vehicles (Fig. 17).

A loading platform 66 is attached to the frame 44, a U-shaped handle 67 is attached to the axles of the wheel movers 2. The tool can be controlled by the operator from the remote control mounted on the handle. The load on the platform 66, supported in a horizontal position by the stabilizer 47, can be lifted by the means 50 and transported on inclined surfaces. When transporting cargo on wheel propellers 2, a gyrostabilizing system is used.

4. The use of the chassis in light vehicles off-road (Fig. 18).

The driver's cab is attached to frame 44: cabin 68 with controls. Such a tool combines the possibility of driving on wheels on paved roads (Fig. 18a) and on tracks 20 on soft soils, on hilly terrain (Fig. 18b), with the possibility of viewing the surroundings from the height of the raised cab 68 (Fig. 18c) and convenience when parking due to the ability of the vehicle to turn around on the spot. Movement on tracks 20 with significant slopes of the terrain is carried out when the stabilizer 47 is turned off, while the position of the cabin 68 is fixed in relation to the modules 45, 46. Movement on wheels on roads with slopes is carried out based on two wheel propellers 2 with the gyro-stabilizing system turned off and two wheels 52 (Fig. 18d). To improve depreciation, wheel propellers with integrated "Softwheel" suspension can be used. For movement on a snowy surface, skis 42 are attached to wheel propellers or their axles.

Claims (15)

1. The wheel-caterpillar mover module, characterized in that the wheel and caterpillar movers form one unit, while on the shaft or hollow axle of the wheel mover, the drive hollow shaft of the drive gear of the caterpillar mover and the hollow shaft mounted on a bearing in a bracket for attaching to a vehicle frame, with a flange integral with the holder of the caterpillar housing; on the shaft with a flange, a means for damping the caterpillar mover is installed, attached to the bracket; the caterpillar mover is mounted on the drive gear shaft with the possibility of translational and rotational movements using grooves in the housing; when moving the housing and the holder relative to each other, the stop is carried out by the locking device, and the braking and stopping of the caterpillar are provided by the braking means. 2. The module according to claim. 1, characterized in that a means is used that ensures the reliability of the engagement of the drive gear with the caterpillar. 3. The module according to any one of paragraphs. 1, 2, characterized in that a motor-wheel is used as a wheel mover. 4. The module according to any one of paragraphs. 1-3, characterized in that the caterpillar mover has an elastic suspension. 5. The module according to any one of paragraphs. 1-4, characterized in that the bracket is made with connecting elements, like a steering knuckle of an independent suspension. 6. The module according to any one of paragraphs. 1-5, characterized in that the wheel mover has an integrated "Softwheel" suspension. 7. The module according to any one of paragraphs. 1-5, characterized in that the rolling surface of the wheel mover is made similar to the rolling surface of the railway wheel. 8. The module according to any one of paragraphs. 1-5, characterized in that a means of repulsion from water is attached to the rim of the wheel mover or to its axis. 9. The module according to any one of paragraphs. 1-3, characterized in that the caterpillar is made with spikes. 10. The module according to any one of paragraphs. 1-5, characterized in that a ski is attached to the wheel mover or its axle. 11. Chassis with two modules, characterized in that the wheel-caterpillar propulsion modules are fixed to the chassis frame on the left and right, while the wheel propulsors of the modules are controlled by a gyro-stabilizing system that allows the user of the vehicle to maintain balance on this chassis; in one module, between the means for damping the caterpillar mover and the bracket or frame, a stabilizer for the horizontal position of the frame is installed, which interacts with the position sensor; a retractable means for preventing the chassis from tipping over and for raising the frame is attached to the frame. 12. Chassis according to claim 11, characterized in that the frame has a box shape. 13. Chassis according to any one of paragraphs. 11, 12, characterized in that the frame has a movable upper part. 14. Chassis according to any one of paragraphs. 11, 12, characterized in that a pontoon with height adjustment is attached to the frame. 15. Chassis according to any one of paragraphs. 11, 12, 14, characterized in that the modules are attached to the frame on an elastic suspension.

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