RU208727U1 - Monohull four-track vehicle chassis with a kinematic steering mechanism - Google Patents

Abstract

The utility model relates to mechanisms for kinematic rotation of monohull multi-track vehicles, i.e. to vehicles with more than two tracks without the use of an articulated carrier system. The kinematic slewing mechanism of the monohull tracked chassis consists of 4 independent swivel mechanisms of the tracked module, installed in pairs in front and behind the vehicle. The mechanism for turning the caterpillar module can be made according to various kinematic schemes shown in Fig. 1 and 2. The first version of the mechanism consists of the following elements (Fig. 1): hydraulic cylinders (pos. 1 and 2), guide (pos. 3) and caterpillar module (pos. 4). The second variant of the kinematic scheme of the caterpillar module consists of the following elements (Fig. 2): hydraulic cylinders (pos. 7 and 8), guide elements (pos. 5 and 6) and caterpillar module (pos. 9). The utility model makes it possible to implement the following variants of movement and possibilities of the vehicle: turning the vehicle in a classic automobile way (Fig. 4), movement in a "crab move" (Fig. 5) and the possibility of increasing the gauge (Fig. 6). Thus, as a result of the implementation of the flat movement of the tracked modules, the height of the center of mass of the vehicle is reduced and it becomes possible to use tracked modules of great length, which increases the stability of the vehicle overturning and cross-country ability.

Description

The utility model relates to mechanisms for kinematic rotation of monohull multi-track vehicles, i.e. to vehicles with more than two tracks without the use of an articulated carrier system.

State of the art

Analogues of the mechanisms of kinematic rotation of monohull four-track vehicles are known, among which four-track monohull vehicles equipped with rotary caterpillar bogies can be distinguished. Such bogies are used on commercial vehicles of the Foremost company, the Husky 8 model. A similar approach to the organization of the chassis system was used on all-terrain vehicles: DGM-1, BT361A-01 Tyumen, SVG-701 Yamal and URAL 5920. In addition, known the following patents: US 3265146 Steering system for four-track snow vehicles, published 08/09/1966; SU 1152854 Tracked vehicle, published 04/30/1985; RU 2252889 Articulated vehicle, published 05/27/2005; RU 2333130 Caterpillar vehicle of especially high cross-country ability, published on 10.09.2008; US 1002748 Articulated tracked vehicle, published 06/08/2017. Such vehicles are bi-articulated saddle vehicles that provide curvilinear movement due to the kinematic rotation of the caterpillar bogies in the horizontal plane. The caterpillar bogies are connected to the frame through slewing bearings, which allow them to turn both in the horizontal plane and in the longitudinal plane. The swing angles of the carts in the longitudinal plane are limited with the help of special devices - bumpers located on the vehicle frame.

The main disadvantage of the considered analogs is the high height of the center of mass of the vehicle, caused by the presence in the design of turntables that connect the caterpillar modules with the vehicle frame, resulting in reduced rollover resistance. Another disadvantage of the considered analogs is the impossibility of independent rotation of all tracks of the vehicle, as a result of which, compared with the proposed version of the kinematic rotation mechanism of a monohull four-track chassis, it is not possible to extend the track modules in the lateral direction, increasing the track of the vehicle, thus further increasing its stability. Tracked vehicles of this type can provide curvilinear movement by kinematic rotation of only the front and/or rear bogies with one pair of tracks.

The second closest analogue is the design of monohull four-track vehicles equipped with independent track modules, for example, BRP APACHE track kits. Such caterpillar kits are designed for use on serial models of all-terrain vehicles, they are modules with a caterpillar bypass in a shape close to triangular, which are installed on a standard place for mounting the wheel of an all-terrain vehicle and allow increasing the cross-country ability of such vehicles. Patents are also known: RU 2378144 Drive system with a closed tape for a vehicle, published on 01/10/2010; RU 2309080 Removable caterpillar block of a vehicle (two versions), published 10/27/2007; US 8695735 Triangle track vehicle wheel published 04/15/2014; US 10005507 Track assembly for an all-terrain vehicle, published 04/26/2018; US 10343732 Steering assembly for supporting a track system on a vehicle, published 07/09/2019. The listed patents describe the design of track modules that can be mounted on a hub instead of a vehicle wheel using standard attachment points, or structurally provide for such an option for mounting the track module initially. Such vehicles move along a curvilinear trajectory due to the classic automobile turning method, i.e. using a steering mechanism based on the geometry of the steering trapezium or the like. A distinctive feature is the ability to turn the controlled caterpillar modules of the left and right sides at different angles, according to the kinematics of the steering, thus reducing the losses on the turn of the vehicle. The disadvantage of this design is a significant increase in the force on the steering wheel required to turn the track module, especially when using long track modules. In addition, the maximum length of such a caterpillar module is limited by layout considerations: when turning through a certain angle, the caterpillar bypass can touch the carrier system of the vehicle. So, with an increase in the length of the caterpillar module, its allowable angle of rotation decreases, as a result, the maneuverability of the vehicle decreases.

The task of the proposed kinematic rotation mechanism of a monohull four-track chassis is to eliminate the shortcomings of the considered analogues, namely: The proposed variant of the turning mechanism of the monohull four-track chassis ensures the curvilinear movement of the vehicle using the kinematic turning method. In addition, as a result of independent control of the track modules, it becomes possible to increase the track of the vehicle, which makes it possible to increase the stability of the monohull tracked chassis.

The proposed turning mechanism, in comparison with the closest analogues - vehicles equipped with independent track modules, allows the use of longer track modules, which, due to complex kinematics, provide flat movement of the track module, as a result of which there will be no contact with the carrier system of the vehicle in extreme positions . Thus, with an increase in the support branch of the caterpillar, the vehicle's permeability increases, in addition, as a result of the complex kinematics of the operation of the mechanism for turning the caterpillar module, it becomes possible to increase the track of the vehicle, which increases its stability.

The technical result of the proposed utility model is an increase in the rollover stability and cross-country ability of the vehicle.

The achieved technical result is ensured by the fact that the rotation mechanism of the four-track chassis is completely located inside the carrier system and provides independent rotation of the right and left side track modules in the horizontal plane. As a result, there is no need to use slewing devices, which, in the analog, are located between the caterpillar truck and the transport platform. In addition, the turning mechanism can cause the track module to move laterally translationally, thereby increasing the track of the vehicle. Thus, as a result of lowering the height of the center of mass of the vehicle and the possibility of increasing the track, the rollover stability of the tracked chassis is increased. The cross-country ability of the vehicle is primarily determined by the average pressure in the area of contact between the propulsor and the supporting surface, therefore, due to the possibility of using tracks of a greater length (compared to the rotary caterpillar modules of the second analogue), the cross-country ability of the vehicle increases.

Comparison of the claimed technical solution with the state of the art according to scientific, technical and patent documentation on the priority date in the main and related headings shows that such a set of essential features was not previously known, therefore, it meets the condition of patentability "novelty".

The proposed technical solution can be manufactured industrially, it is workable, feasible and reproducible, therefore, it meets the condition of patentability "industrial applicability".

List of figures

In FIG. 1 shows a kinematic diagram of the track module turning mechanism with two hydraulic cylinders and an additional support.

In FIG. 2 shows a kinematic diagram of the mechanism for turning the caterpillar module with two hydraulic cylinders placed in movable supports.

In FIG. 3 shows a general view of a monohull four-track chassis.

In FIG. 4 shows a kinematic diagram of the rotation of a monohull four-track chassis.

In FIG. 5 shows a diagram of the rotation of the modules of a monohull four-track chassis when moving in a “crab” course.

In FIG. 6 is a diagram showing the possibility of increasing the gauge of a monohull four-track chassis.

Implementation of the utility model

The utility model makes it possible to realize the complex planar movement of the vehicle's caterpillar module using a special kinematic rotation mechanism. The kinematic turning mechanism of the monohull tracked chassis consists of four independent tracked module turning mechanisms installed in pairs in front and behind the vehicle. The rotation mechanism of the caterpillar module can be made according to various kinematic schemes. In FIG. 1 and FIG. 2 shows possible options for kinematic schemes that provide a flat movement of the caterpillar module. According to the first proposed variant, each of the four mechanisms for turning the caterpillar modules consists of the following elements (Fig. 1): hydraulic cylinders (pos. 1 and 2), guide (pos. 3) and caterpillar module (pos. 4). The hydraulic cylinders (pos. 1 and 2) are connected, on the one hand, to the sprung part of the vehicle (conditionally fixed in Fig. 1) - the body through hinges, allowing the hydraulic cylinders to freely rotate relative to the body in the horizontal plane, and, if necessary, around the axes "x" ' and 'y'. On the other hand, the hydraulic cylinders are connected by similar hinges to the caterpillar module. The guide (pos. 3), on the one hand, is connected to the caterpillar module with a hinge, which allows the latter to freely rotate relative to the guide only in a horizontal plane. On the other hand, the guide is installed in the body of the caterpillar machine and has the possibility of only translational movement along the transverse axis "y". If necessary, the guide can be rotated around the "y" axis, as a result of which the caterpillar module can swing in the longitudinal plane. The caterpillar module (pos. 4) is a carrier system on which the undercarriage of the caterpillar machine with a traction motor is installed. Each hydraulic cylinder provides the possibility of translational movement along its axis in both forward and reverse directions. The hydraulic cylinders are independently controlled, resulting in a flat movement of the track module. Any other actuators, for example, linear electromechanical drives, can be used as hydraulic cylinders. The guide (pos. 3) is a load-bearing element that connects the track module with the vehicle body and ensures the transfer of loads to it.

The second version of the kinematic scheme of the track module rotation mechanism consists of the following elements (Fig. 2): hydraulic cylinders (pos. 7 and 8), guide elements (pos. 5 and 6) and caterpillar module (pos. 9). The hydraulic cylinders (pos. 5 and 6), as in the previous version, are connected, on the one hand, to the sprung part of the vehicle (in Fig. 2 conditionally fixed) - the body through hinges, allowing the hydraulic cylinders to freely rotate relative to the body in a horizontal plane, and if necessary and around the x and y axes. The hydraulic cylinder is located inside the guide elements, which are a pipe open on one side for mounting the hydraulic cylinder on the vehicle body. On the other hand, the hydraulic cylinders are connected by the same hinges to the guide element and are located inside it. The guide element (pos. 6), on the one hand, is connected to the track module by a hinge, which allows the track module to rotate freely relative to the guide element only in the horizontal plane. On the other hand, the guide element is installed in the body of the caterpillar vehicle and has the possibility of only translational movement along the transverse axis "y". The guide element (pos. 5), on the one hand, is connected to the caterpillar module with a hinge, which allows the latter to freely rotate relative to the guide element only in a horizontal plane. On the other hand, the guide element (pos. 5) is installed in the body of the tracked vehicle and has the ability to both translational movement along the "y" axis and along the "x" axis. The internal space of the guide elements must be sufficient for the placement and operation of the hydraulic cylinders. The caterpillar module (pos. 9), as in the previous version, is a bearing part on which the undercarriage system of the caterpillar vehicle with a traction motor is installed. Each hydraulic cylinder provides the possibility of translational movement along its axis in both forward and reverse directions. The hydraulic cylinders are independently controlled, resulting in a flat movement of the track module. As in the previous version, any other actuators can be used as hydraulic cylinders.

A general view of the monohull four-track chassis is shown in Fig. 3. The main elements are: a cab with a power transmission unit and auxiliary equipment (pos. 9), a cargo compartment (pos. 10) a carrier system (pos. 15), front track modules (pos. 11 right and pos. 12 left) , rear track modules (right pos. 13 and left pos. 14). The caterpillar modules are connected to the carrier system of the vehicle by means of the proposed turning mechanism.

The proposed mechanism for turning the means allows you to implement the following options for the movement and capabilities of the vehicle: turning the vehicle by car (Fig. 4), movement "crab move" (Fig. 5) and the possibility of increasing the track of the vehicle (Fig. 6).

When turning the vehicle in the classic automobile way (the turning scheme is shown in Fig. 4), the caterpillar module makes a flat movement so that the extreme parts of the caterpillar module do not touch the vehicle body. This is ensured by the simultaneous operation of two hydraulic cylinders of each caterpillar module, one of which extends at a higher speed and for a greater length compared to the second. In this case, the caterpillar module extends along with the guide and simultaneously rotates around it in a horizontal plane. With this method of rotation, the track modules rotate at different angles relative to the vehicle body in accordance with a given law.

When moving "crab move" (Fig. 5) hydraulic cylinders work in a similar way, also provide a flat movement of the caterpillar modules and shift them so that they are turned in the same direction at the same angle.

The increase in the track of the vehicle (Fig. 6) is carried out to increase its stability, in this case, all hydraulic cylinders are extended at the same speed and to the same length, making a translational movement.

A similar scheme of the monohull chassis turning mechanism can be implemented with more than four track modules. In this case, the principle of operation and the kinematic scheme of the tracked modules turning mechanism will be similar to those described above.

Claims (1)

Monohull four-track vehicle chassis with a kinematic rotation mechanism, containing four independent mechanisms for turning the vehicle's track modules, each mechanism consists of a system of hydraulic cylinders, each of which is pivotally connected to its track module and the vehicle body, and several guide elements that, when working together with hydraulic cylinders provide the possibility of a flat movement of their track module, thus allowing the implementation of the following movement options and vehicle capabilities: turning in the classic automobile way, movement of the "crab run" and the possibility of increasing the track of the vehicle.

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