NL9201553A - Tracked vehicle - Google Patents

Tracked vehicle Download PDF

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Publication number
NL9201553A
NL9201553A NL9201553A NL9201553A NL9201553A NL 9201553 A NL9201553 A NL 9201553A NL 9201553 A NL9201553 A NL 9201553A NL 9201553 A NL9201553 A NL 9201553A NL 9201553 A NL9201553 A NL 9201553A
Authority
NL
Netherlands
Prior art keywords
vehicle
wheel
tracked vehicle
cylinders
spring
Prior art date
Application number
NL9201553A
Other languages
Dutch (nl)
Original Assignee
Knijpstra Konstr Bv
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Knijpstra Konstr Bv filed Critical Knijpstra Konstr Bv
Priority to NL9201553A priority Critical patent/NL9201553A/en
Priority to NL9201553 priority
Publication of NL9201553A publication Critical patent/NL9201553A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/26Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
    • B60G11/30Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs having pressure fluid accumulator therefor, e.g. accumulator arranged in vehicle frame
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof
    • B62D55/104Suspension devices for wheels, rollers, bogies or frames
    • B62D55/112Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic

Abstract

Tracked vehicle, comprising a chassis which is provided on either side with a front wheel and a rear wheel located at a distance therefrom, and with a rubber caterpillar track which is placed around the front and rear wheels, is strongly prestressed and, in operation, is driven by at least one of the wheels. Between a front wheel and a rear wheel, there is also a number of support rollers which are positioned one behind the other, as seen in the direction of travel, are mounted on pivotable bearing arms and bear against the internal surface of the bottom section of the rubber caterpillar track. Each bearing arm is provided with a hydraulic cylinder which at least partly supports the bearing arm and is connected to a pressure accumulator in order to form a spring element. <IMAGE>

Description

Title: Tracked vehicle
The invention relates to a tracked vehicle comprising a chassis, each of which is provided on both sides with a front wheel and a rear wheel located at a distance therefrom, and with a strongly prestressed rubber track placed around the front and the rear wheel, which in operation at least one of the wheels is driven, wherein a number of support rollers mounted one behind the other and mounted on pivotable suspension arms, which are arranged in the direction of travel, are arranged between the front and the rear wheel, which support rollers lie against the inner surface of the lower section of the rubber track.
Such a tracked vehicle is particularly suitable for use on rough terrain and in the agricultural sector. An advantage of the use of caterpillars is that the ground pressure exerted by the vehicle is small compared to the ground pressure exerted by a tire-wheeled vehicle. The soil structure therefore remains better intact when a tracked vehicle is used. A tracked vehicle is also less likely to sink into soft soil.
One of the reasons why tracked vehicles have not been widely used in the past is that use on normal roads often resulted in damage to the road surface. However, this problem occurs to a much lesser extent when using the modern, highly prestressed rubber tracks.
A tracked vehicle of the type described above is known from European patent 0 165 245 (Caterpillar). A drawback of the known vehicle is that its position relative to the horizontal plane changes as soon as an asymmetrical load occurs. If, for example, the vehicle is provided at the rear with a three-point lifting device customary for agricultural tractors and a heavy auxiliary implement is attached to this three-point lifting device, the chassis of the vehicle will be lower. A similar effect occurs if, for example, a loading shovel is mounted at the front.
The object of the invention is to overcome the drawback outlined and in general to provide a crawler vehicle of the type described, which is provided with an improved and adjustable suspension system and which has good and comfortable driving characteristics, both on and off the road. .
To this end, according to the invention, a crawler vehicle of the type described is characterized in that each support arm is provided with a hydraulic cylinder, which at least partly supports the support arm, which is connected to a pressure accumulator to form a spring element.
In the following, the invention will be further described with reference to the accompanying drawing.
Fig. 1 schematically shows, in side view, an exemplary embodiment of a crawler wall vehicle according to the invention; Fig. 2 schematically shows a front view of the vehicle of Fig. 1; Fig. 3 schematically shows a rear view of the vehicle of Fig. 1; fig. 4 and fig. 5 schematically show in side view the chassis of a vehicle according to the invention in two different situations; Figures 6 to 10 show a number of phases of passing an obstacle; and Figures 11 to 13 schematically show some exemplary embodiments of a suspension system for a vehicle according to the invention.
Fig. 1 schematically shows, in side view, an example of a crawler vehicle 1 according to the invention and FIG. 2 shows the same vehicle in front view. The vehicle comprises a chassis 2 with a superstructure, which comprises a cabin 3 and an engine compartment 4. Tracks 5 are mounted on either side of the chassis, above which protection plates 7, which also serve as footboards, extend. The tracks have a schematic profile 6.
The tracks are high-tensioned rubber tracks, each wrapped around a front and a rear wheel. Fig. 1 shows a front wheel 9, which is also the driven wheel, and a rear wheel 10. The front wheels are driven by the motor located in the engine compartment via drive members extending through and in protective boxes 11, 12. The cabinets can be e.g. gearboxes.
In order to protect the motor and the drive members, the protective boxes and the underside of the chassis may preferably be dust-tight and, if desired, watertight and connected to each other. The underside of the chassis can be provided with a watertight container or hull 13. A vehicle designed in this way is very suitable for application in wetlands, such as eg swamps, or eg at the beach before launching and back ashore bringing lifeboats.
As can be seen in Fig. 1, the front wheels are above ground level, the advantage of which is that the front wheels remain relatively clean, thereby reducing the risk of slip between the front wheels and the tracks. Also, with raised front wheels, it is easier to drive up a slope from level ground. Behind the front wheels extends a rear beam 14 on either side of the chassis, which in the example shown is hinged at a short distance behind the corresponding front wheel hinged on a horizontal shaft 15 extending transversely of the direction of travel. The axle 15 in this example lies behind the axle of the front wheel 9, but can in principle also coincide with the axle of the front wheel.
The supporting beams are suspended in a cantilevered manner, but are connected to the chassis near the rear ends by means of an extendable and retractable arm 16 hinged to both the chassis and the supporting beam (fig. 3). The arms 16 in this example are in the rest position in an approximately horizontal position and form a triangle construction with a hydropneumatic spring cylinder 18 extending obliquely upwards from the connection point 17 with the supporting beam towards the chassis. The supporting beams 14 can therefore be in a vertical plane. hinges about the shaft 15 and are thereby resiliently supported and damped by the hydropneumatic spring cylinders 18.
Each support beam 14 carries at its free end a rear wheel 10, which serves as a track wheel for the crawler track and which normally rests on the ground via the crawler track and therefore, unlike the front, driven wheel, also has a bearing function on flat terrain .
Each support beam is further provided with a number of support arms 21, each pivotable about a horizontal transverse axis 20, which support rollers. In the example shown, three supporting arms 21 are used, each of which carries two supporting rollers 22, 23 placed one behind the other at the free end. In this example, the support rollers 22, 23 of a carrying arm 21 are each mounted on one of the free ends of a rocking arm 24, which rocking arm is hingedly connected to the associated arm 21 about a shaft 25 extending transversely of the direction of travel.
It is noted that a rubber track is usually provided with guide and / or drive cams in the middle longitudinal plane. in that case the wheels 9, 10 and the support rollers 22, 23 each comprise two parts, which leave a space for receiving the guide and / or drive cams.
It is further noted that a different number of support rollers could be used and that it is also possible to use a separate pivoting support arm for each support roll.
Each pivoting support arm provided with support rollers is connected near the end supporting the support rollers to a hydropneumatic spring cylinder 26, as can be seen in particular in Fig. 4.
The spring cylinders 18 and 26 are part of a hydro-pneumatic spring system, which will be explained in more detail below. By using a hydropneumatic suspension system, also known as a hydraulic suspension system, it is possible, regardless of the load on the vehicle, to maintain a horizontal or slightly inclined position, once adjusted, using suitable height adjusters, e.g. from the hydropneumatic suspension system. Lemon known type.
Other advantages of the use of a hydropneumatic spring system in a tracked vehicle will be explained in more detail below.
The front support rollers have a special function, because those support rollers must fulfill the load-bearing function that is not fulfilled by the higher placed front wheel. If the front support rollers bend, as may be the case when passing an obstacle, for example, the track could relax causing slip to occur between the track and the drive wheel and even the track to run off the wheels. In order to prevent such undesirable effects and to ensure that the track remains sufficiently tensioned under all conditions that occur during normal operation, each rear wheel is provided with a tensioning device, which is best seen in Fig. 4. The axle 30 of each rear wheel is mounted in a lever arm 31 extending approximately vertically in this example, which is pivotable about an axle 31 extending parallel to the axle 30 near the lower end. The axle 31 is again attached to a wheel carrier 32, which is mounted on the free end of the support beam 14. A biasing element 33 is mounted between the wheel carrier and the upper end of the lever arm, which applies a rearwardly biased tension to the lever arm. Preferably, the biasing element comprises a hydraulic cylinder, which is provided with a spring sphere with a membrane closed, under gas pressure, compartment or which is connected to a pressure accumulator. To this end, similar spring balls or pressure accumulators can be used as in the spring system.
The tension force exerted by the biasing element preferably acts in the median longitudinal plane 35 (fig. 3) of the caterpillar track. This medium longitudinal plane preferably coincides with the median longitudinal plane of the associated supporting beam 14, as shown in Fig. 3.
Fig. 4 shows the track assembly, i.e. the track with the wheels 9, 10, the support rollers, the draw beam and the arms 21 in the rest position, which occurs when the vehicle is stationary or driving on a flat surface. Fig. 5 similarly shows the track assembly in the situation which occurs when the vehicle is driving or standing across a hollow. The spring cylinders 26 of the front and rear sets of support rollers are slightly spring-loaded, while the cylinder 26 of the middle set of support rollers is correctly sprung, so that the support rollers and thus the track closely follow the uneven terrain. The contact surface with the soil therefore remains high and the risk of disturbance to the soil structure is therefore minimal not only in flat terrain, but also in uneven terrain.
As shown in Fig. 5, the rear support beam 14 is pivoted slightly upward relative to the chassis. The cylinder 18 is therefore spring-loaded. However, the chassis has hardly changed, if at all.
Figs. 6 to 10 illustrate the manner in which an obstacle with relatively small dimensions in the direction of travel and a relatively small height is passed. By the action of the cylinders 26 and also of the rocking arms 24, the crawler absorbs, as it were, the obstacle 40, without the position of the draw beam 14 changing. Only when the rear wheel 10 is at the level of the obstacle (fig. 10) does the rear end of the draw beam 14 pivot with the rear wheel upwards. The springs shown in Figs. 6 through 10 cylinder 18 (not shown), but the chassis hardly changes position with such a short-term obstacle.
Fig. 11 schematically shows a first exemplary embodiment of a suitable hydropneumatic suspension system for a crawler vehicle according to the invention. Shown are three spring cylinders 26 for the support rollers on one side of the vehicle and the spring cylinder 18 for the draw beam 14. In this example, each cylinder is provided with a separate pressure accumulator or spring ball, indicated by 41 for the cylinders 26 and with 42 for the cylinder 18. The spring spheres can advantageously be of the type used by Citroen with a compartment 44 closed from the cylinder, closed by a flexible membrane 43, which is filled with gas - for instance nitrogen - under a predetermined pressure.
The space on the other side of the membrane communicates with the cylinder and is filled with hydraulic fluid. Each cylinder is preferably provided with known shock-absorbing members. The piston position 45.46 of each cylinder or a part of the vehicle connected thereto, e.g. the arms 21 or the support beam 14, are provided with an operating arm for a height regulator 49.50, indicated schematically at 47.48. Each height regulator is connected to a supply line 51,52 for hydraulic fluid pressurized with a suitable pump 53 and to a relief line 54,55 which communicates with a supply reservoir 56 for hydraulic fluid. The height controllers are in fact only slide valves which connect a connecting line 57.58 leading to the associated cylinder with the pressure line 51.52 or with the relief line 54.55. The operation of the height regulator is such that in the rest position neither pipe is connected to the connecting pipe, while the pressure pipe is connected to the connecting pipe as soon as the cylinder 18 or 26 springs in. If a cylinder breaks out, the connecting pipe is connected to the relief pipe.
Fig. 12 shows a variant of the hydropneumatic system of FIG. 11, wherein the cylinders 18 and 26 are each connected to corresponding control cylinders 18a and 26a, each of which interacts in a similar manner as shown in FIG. 11 with a pressure accumulator and a height controller. The control cylinders 18a and 26a and associated members are all located in the hull of the vehicle or other place protected from dirt and moisture, and only the cylinders 18 and 26 are outside the hull. The height control and the feed resp. hydraulic fluid is discharged within the hull marked with a dividing line 60 to and from the control cylinders. Through the connecting lines between the control cylinders 18a and 26a and the actual spring cylinders 18 and 26, the spring cylinders follow the control cylinders and vice versa.
An indirect system as shown in Fig. 12 is particularly suitable for use in a vehicle intended for very rough and / or damp work and can advantageously be used in combination with a watertight hull, at least on the underside.
Fig. 13 schematically shows another variant of the spring system of FIG. 11 in which the pump has been omitted for clarity. In the system of Fig. 13, all cylinders are provided with sensors which provide an electrical signal. These can be, for example, inductive donors. The height controllers further include electromagnetically actuated valves. The signals from the cylinders are supplied to an electronic processing and control unit 61, for example a microprocessor, which generates control signals on the basis of those signals and supplies them to the height controllers.
Such an electrical control can of course also be used in combination with the system of Fig. 12.
An additional advantage of using an electronic control unit is that it allows the desired spring characteristic to be programmed and modified in a simple manner. Changing the spring characteristic and / or the level of the body of the vehicle with respect to the ground can be done manually, but also automatically - for example, depending on the driving speed. Suitable adjustment means may be provided for manual operation, as indicated schematically at 62.
According to the invention, the hydropneumatic spring system can advantageously be designed such that, when making a bend, the cylinders 26 on at least one side of the vehicle are adjusted such that the lower track of the track is in the form of a part of approaches a convex curve, e.g. a circle. To this end, at least the middle cylinder 26 is energized such that the associated arm is pressed down further. The same, but to a lesser extent, can be done with the rear cylinder 26 and possibly also with the front cylinder 26. As a result, the contact surface between the bottom and the track decreases considerably during a bend, so that when making a bend cornering friction is significantly reduced. As a result, the caterpillar wears less and, with agricultural application, the soil structure is less disturbed.
The described control of the cylinders 26 when cornering can be initiated manually or automatically, based on signals provided by the steering device. In Fig. 13 this is schematically indicated by means of a connection 63 between the control device 64 and the electronic unit 61.
Such a control of the spring cylinders for the support arms of the support rollers is also possible with an exclusively hydraulic system according to Fig. 11 or Fig. 12. For this purpose the desired amount of hydraulic fluid can for instance be supplied to the cylinders 26 via the additional supply points for hydraulic fluid, as indicated by 67 in fig. 11 and fig. 12. An operating member can be provided for this purpose in the cabin of the vehicle. The height controllers should then be temporarily put out of operation or the connection between the cylinders and the height controller should be temporarily broken. Another possibility is precisely to control the height controllers by means of the associated operating arm.
It is noted that after the foregoing various modifications are obvious to the skilled person. The wheels can be, for example, optionally coated solid wheels or wheels provided with inflatable pneumatic tires. The tension of the tracks could also be kept at the desired value by means of separate tensioning means or by means of a wheel axle which can be moved forward and backwards in a straight line and the tensioning cylinder 33 could alternatively be positively controlled on the basis of, for example, the position of the control arm of the front support rollers.
Two or more cylinders could have a common pressure accumulator. The pressure accumulators of the cylinders of the different support arms for support rollers could also have different spring tensions.
The hydropneumatic system can be coupled with other systems of the vehicle, for example with the braking system or the steering system.
These and similar modifications are understood to fall within the scope of the invention.

Claims (18)

1. Tracked vehicle, comprising a chassis, each of which is provided on both sides with a front wheel and a rear wheel located at a distance therefrom, and with a highly prestressed rubber track placed around the front and the rear wheel, which is operated by at least one the wheels are driven, wherein a number of support rollers mounted one behind the other and mounted on pivotable support arms, which are arranged one behind the other, and which support rollers are positioned in a direction facing the inner surface of the lower track of the rubber track, are arranged between a front and a rear wheel, characterized in that each support arm is provided with a hydraulic cylinder supporting the support arm, at least partly, which is connected to a pressure accumulator to form a spring element.
Tracked vehicle according to claim 1, characterized in that the support arms located on one side of the vehicle are pivotally attached to a support beam extending in the longitudinal direction of the vehicle, which extends near the front end around a cross-section of the vehicle. The substantially horizontal axis extending in the direction of travel of the vehicle is pivotally mounted and which carries the rear wheel at the rear end, a hydraulic spring cylinder being mounted between the chassis and a point located near the rear end of the draw beam.
Tracked vehicle according to claim 1 or 2, characterized in that. that the front wheel is mounted raised.
Tracked vehicle according to claim 2 or 3, characterized in that the hinge line of the horizontal hinge axis of each drawbeam coincides with the center of the front wheel.
Tracked vehicle according to claim 2 or 3, characterized in that. that the hinge line of the horizontal pivot axis of each joist is behind the axle of the front wheel.
Tracked vehicle according to one of Claims 2 to 5, characterized in that the rear wheel is mounted on a shaft which can be moved relative to the drawbeam and that pre-tensioning means are provided between the shaft and the drawbeam around the track tense.
A tracked vehicle according to claim 6, characterized in that the axle of the rear wheel is mounted in a hinged arm on the support beam which is pivotally mounted about a pivot axis parallel to the wheel axis and that the biasing means engage on the lever arm at a distance from the pivot axis located point.
Tracked vehicle according to claim 6 or 7, characterized in that the pretensioning means comprise a hydraulic cylinder connected to a pressure accumulator.
Tracked vehicle according to one of the preceding claims, characterized in that the hydraulic cylinders connected to the suspension arms and the associated pressure accumulators form part of a hydropneumatic suspension system, which further comprises height-adjusting means for controlling the position of the suspension arms.
A tracked vehicle according to claim 2 and claim 9, characterized in that the hydropneumatic suspension system further comprises the spring cylinders mounted near the rear end of the beams and associated height control means.
Tracked vehicle according to claim 9 or 10, characterized in that. that the height control means comprise a number of height controllers, each comprising a valve which, depending on the position of an operating member, supplies pressurized hydraulic fluid to one or more hydraulic cylinders, or relieves one or more hydraulic cylinders.
Tracked vehicle according to claim 1, characterized in that. that the actuating member is connected to the moving part of a hydraulic cylinder or a part of the vehicle connected thereto.
Tracked vehicle according to claim 9 or 10, with the. characteristic. that the hydropneumatic suspension system is provided with a control device coupled to at least a number of spring cylinders, which device can detect and control the position of the spring cylinders from the interior of the vehicle.
A tracked vehicle according to any one of the preceding claims, characterized in that the chassis is provided with a watertight hull and that the driven wheels are coupled to a motor placed in the hull via transmission members arranged in a watertight protective box.
A tracked vehicle according to claim 13 or 14, characterized in that at least some of the spring cylinders connected to the suspension arms or beams are hydraulically connected to corresponding cylinders mounted in the vehicle's hull, which are also coupled to the hull fitted pressure accumulators and height controllers.
Tracked vehicle according to any one of claims 13 to 15, characterized in that the spring cylinders are provided with sensors, which provide electrical signals to an electronic processing and control unit, and in which the height controllers comprise electromagnetically actuable valves, which processing and control unit provided signals are controllable.
Tracked vehicle according to any one of claims 9 to 16, characterized by adjusting means which can adjust at least some of the spring cylinders connected to the support arms such that they provide the lower trajectory of the tracks in the form of a convex curve with a reduced contact surface with the bottom.
Tracked vehicle according to claim 17, characterized in that the adjusting means are coupled to the steering device.
NL9201553A 1992-09-04 1992-09-04 Tracked vehicle NL9201553A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NL9201553A NL9201553A (en) 1992-09-04 1992-09-04 Tracked vehicle
NL9201553 1992-09-04

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL9201553A NL9201553A (en) 1992-09-04 1992-09-04 Tracked vehicle

Publications (1)

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NL9201553A true NL9201553A (en) 1994-04-05

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NL9201553A NL9201553A (en) 1992-09-04 1992-09-04 Tracked vehicle

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2086819A2 (en) * 2006-11-02 2009-08-12 Clark Equipment Company Suspension system for track vehicle
ITMI20092133A1 (en) * 2009-12-02 2011-06-03 Rolic Invest Sarl Snow groomer vehicle and its control method
CN103303086A (en) * 2013-07-04 2013-09-18 郑州新大方重工科技有限公司 Crawler-type suspension mechanism suitable for engineering vehicle
WO2014182235A1 (en) * 2013-05-08 2014-11-13 BAE Systems Hägglunds Aktiebolag Suspension device for tracked vehicle
EP3205563A1 (en) * 2016-02-11 2017-08-16 Kässbohrer Geländefahrzeug AG Snow groomer for maintaining and shaping snow terrain
FR3058702A1 (en) * 2016-11-17 2018-05-18 Nexter Systems BEARING TRAIN FOR CHENILLE VEHICLE, CHENILLE VEHICLE INCORPORATING SUCH A BEARING TRAIN AND METHOD FOR CONVERTING A WHEEL VEHICLE IN A CHENILLE VEHICLE

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2086819A2 (en) * 2006-11-02 2009-08-12 Clark Equipment Company Suspension system for track vehicle
EP2086819A4 (en) * 2006-11-02 2009-12-09 Clark Equipment Co Suspension system for track vehicle
ITMI20092133A1 (en) * 2009-12-02 2011-06-03 Rolic Invest Sarl Snow groomer vehicle and its control method
WO2011067652A1 (en) * 2009-12-02 2011-06-09 Rolic Invest Sarl Snow groomer and relative control method
US8579057B2 (en) 2009-12-02 2013-11-12 Snowgrolic S.Ar.L. Snow groomer and relative control method
US10144460B2 (en) 2013-05-08 2018-12-04 BAE Systems Hägglunds Aktiebolag Suspension device for tracked vehicle
EP2994369A4 (en) * 2013-05-08 2017-02-08 Bae Systems Hägglunds Aktiebolag Suspension device for tracked vehicle
WO2014182235A1 (en) * 2013-05-08 2014-11-13 BAE Systems Hägglunds Aktiebolag Suspension device for tracked vehicle
CN103303086A (en) * 2013-07-04 2013-09-18 郑州新大方重工科技有限公司 Crawler-type suspension mechanism suitable for engineering vehicle
EP3205563A1 (en) * 2016-02-11 2017-08-16 Kässbohrer Geländefahrzeug AG Snow groomer for maintaining and shaping snow terrain
US10618576B2 (en) 2016-02-11 2020-04-14 Kaessbohrer Gelaendefahrzeug Ag Tracked piste grooming vehicle for maintenance and shaping of snowy terrain
FR3058702A1 (en) * 2016-11-17 2018-05-18 Nexter Systems BEARING TRAIN FOR CHENILLE VEHICLE, CHENILLE VEHICLE INCORPORATING SUCH A BEARING TRAIN AND METHOD FOR CONVERTING A WHEEL VEHICLE IN A CHENILLE VEHICLE
WO2018091835A1 (en) * 2016-11-17 2018-05-24 Nexter Systems Running gear for a tracked vehicle, tracked vehicle including such a running gear and method for converting a wheeled vehicle into a tracked vehicle

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