WO2022213136A1 - Système de direction et d'entraînement électrique comprenant une direction à glissement - Google Patents

Système de direction et d'entraînement électrique comprenant une direction à glissement Download PDF

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Publication number
WO2022213136A1
WO2022213136A1 PCT/AT2022/060104 AT2022060104W WO2022213136A1 WO 2022213136 A1 WO2022213136 A1 WO 2022213136A1 AT 2022060104 W AT2022060104 W AT 2022060104W WO 2022213136 A1 WO2022213136 A1 WO 2022213136A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
vehicle unit
unit
tracks
lane
Prior art date
Application number
PCT/AT2022/060104
Other languages
German (de)
English (en)
Inventor
Martin Huber
Gerhard Skoff
Original Assignee
Avl List Gmbh
Avl Commercial Driveline & Tractor Engineering Gmbh
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 Avl List Gmbh, Avl Commercial Driveline & Tractor Engineering Gmbh filed Critical Avl List Gmbh
Publication of WO2022213136A1 publication Critical patent/WO2022213136A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
    • B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/20—Endless-track steering having pivoted bogie carrying track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/22—Endless track steering being effected by deflecting endless track rollers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B62D55/0655—Articulated endless track vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/40—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying long loads, e.g. with separate wheeled load supporting elements
    • B60P3/41—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying long loads, e.g. with separate wheeled load supporting elements for log transport
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/005—Combinations with at least three axles and comprising two or more articulated parts

Definitions

  • the invention relates to a tracked vehicle with a first vehicle unit with two tracks and a first drive system, set up for lateral wheel steering of the first vehicle unit, with a second vehicle unit with two tracks and with a coupling element which mechanically connects the two vehicle units, with the tracks of the first vehicle unit and the second vehicle unit caterpillars, in particular caterpillar tracks or rubber tracks.
  • the front vehicle unit In the front vehicle unit, in which generally a drive of the crawler vehicle is installed, seats for driver and passenger are provided. Furthermore, the front vehicle unit preferably has additional usable space that can be used for transport tasks. Usable space is generally also available in the rear vehicle unit.
  • engine power is generally distributed to the front first vehicle unit and the rear second vehicle unit by means of a transfer case.
  • drive power is symmetrically transmitted to both tracks, so that a crawler speed of the respective tracks is substantially identical.
  • a differential may be present but is often omitted for cost reasons.
  • Such tracked vehicles are generally steered by means of hydraulic cylinders, which pivot the rear, second vehicle unit against the front, first vehicle unit about a joint.
  • Such steering is also called articulated steering, and a crawler vehicle with such steering is correspondingly an articulated crawler vehicle.
  • the drive power is transmitted from the front, first vehicle unit to the rear, second vehicle unit via a connecting shaft that is routed through the joint.
  • Such an articulated crawler vehicle is known, for example, from document DE 102 00 901 44 01 A1 or also from document WO 2011/049509 A1.
  • An advantage of such vehicles is the combination of maneuverability and transport volume. By dividing the two driven and mutually connected, relatively small vehicle units, the transport volume of a large tracked vehicle is combined with the maneuverability of a smaller tracked vehicle. Combined with wide tracks and low weight, it can drive on types of terrain and transport goods over which no other vehicle can otherwise drive.
  • US Pat. No. 4,645,023 A discloses an articulated crawler vehicle with two vehicle units and a coupling unit which connects the two vehicle units to one another and can set a rotational movement of a vehicle unit relative to the coupling unit by means of various actuators.
  • a first aspect of the invention relates to a tracked vehicle, which has a first vehicle unit with two lanes and a first drive system, set up for wheel-side steering of the first vehicle unit, and a second vehicle unit with two lanes, with a coupling element mechanically connecting the two vehicle units binds and has two joints.
  • the coupling element preferably has a coupling rod which connects the two joints to one another.
  • the tracks of the first vehicle unit and the second vehicle unit preferably have caterpillars, in particular caterpillar tracks or rubber tracks.
  • a first joint in the vehicle front-rear direction is preferably arranged outside a first portion defined by the space between the two lanes of the first vehicle unit or in a third of the first portion extending to a rear of the first vehicle unit, and a second joint is further preferably arranged in the vehicle front-rear direction outside a second portion defined by the space between the two lanes of the second vehicle unit or in one third of the second portion extending to a front of the second vehicle unit.
  • the first joint and the second joint are preferably spaced apart and each have at least one vertical axis of rotation.
  • the first drive system is set up to operate the tracks of the first vehicle unit independently of one another's speed, the tracked vehicle having control means which are set up to operate the tracks of the first vehicle unit with speed control depending on a steering request.
  • the second aspect of the invention relates to a method for operating a caterpillar vehicle, wherein for a right turn in the direction of travel a differential speed between the left lane and the right lane of the first vehicle unit is set, in which the left lane runs faster than the right lane, with a left turn in the direction of travel, a differential speed between the right lane and the left lane of the first vehicle unit is set, in which the left lane runs slower than the right lane, and where both lanes are operated at least essentially at the same speed for driving straight ahead. This assumes driving on level ground with the same surface.
  • a side wheel steering in the sense of the invention steers by driving one track at a different speed than the other track.
  • a drive system for lateral steering drives the curve-outside track at a higher speed than the curve-inside track when cornering and thus takes on the steering function of the vehicle in addition to the drive task.
  • the invention is based on the approach of granting the two vehicle units more degrees of freedom in the movement to one another in a tracked vehicle with two vehicle units.
  • a coupling element is preferably provided which has two joints which are spaced apart from one another.
  • a rear vehicle unit in the direction of travel can follow a trajectory following the front vehicle unit, which has fewer buckling points than in the case of a coupling element with only a single joint.
  • fewer transverse forces act on the first vehicle unit and the second vehicle unit.
  • a trajectory, with which the second vehicle unit follows the first vehicle unit preferably has no break points at all.
  • the coupling element according to the invention acts through the position of the two Ge steer this similar to a drawbar of a trailer. As a result, greater maneuverability is achieved than with two-part crawler vehicles with only one joint.
  • the crawler vehicle according to the invention achieves a much more stable driving behavior when steering, because the two vehicle units are not actively bent towards one another.
  • the driving behavior when steering compared to such articulated steering does not depend, or only to a small extent, on the existing ground or the coefficient of friction of the individual driving units to the ground.
  • the caterpillar vehicle according to the invention can also be operated at a significantly higher speed.
  • a wear of the caterpillars, in particular with rubber caterpillars, by a sideways pivoting of the vehicle units, as it is the case in the caterpillar vehicle with articulated steering, can be avoided due to the higher degree of freedom of movement of the vehicle units relative to one another.
  • By providing lateral wheel steering the efficiency of the drive system when cornering can also be significantly improved, since mechanical or electrical regeneration is possible.
  • a steering torque for the two vehicle units is not created by an active buckling, but by a speed difference on the inside and outside of the curve Sense. As a result, the slip on the respective track can be kept small compared to crawler vehicles with an articulated joint.
  • the coupling element preferably has a rigid coupling rod between the two joints.
  • An optimal length of such a connecting rod is measured as a function of a geometry of both vehicle units, in particular the length and the track width.
  • Rigid here means that the coupling rod is not deformable in terms of mechanics. However, it goes without saying for a person skilled in the art that this only applies up to a defined load limit and that such a rod still has a certain elasticity.
  • the second vehicle unit has a second drive system, which drives the second vehicle unit independently of the drive of the first vehicle unit by the first drive system and is also set up for side wheel steering of the second vehicle unit.
  • the drive power can be distributed to both vehicle units.
  • the second vehicle unit can be steered deeply with the first vehicle unit and thus contribute to better handling when steering the tracked vehicle.
  • the first joint is arranged outside of the first vehicle unit, in particular directly on the outside of the first vehicle unit and/or the second joint is arranged outside of the second vehicle unit, in particular directly on the outside of the second vehicle unit.
  • the first joint is arranged approximately or exactly on a central axis of the first vehicle unit and the second joint is arranged approximately or exactly on a central axis of the second vehicle unit.
  • the first drive system and/or the second drive system are each operated electrically and supplied with electrical power from a primary energy source, in particular an internal combustion engine, a battery or a fuel cell or any combination of these three primary energy sources.
  • a primary energy source in particular an internal combustion engine, a battery or a fuel cell or any combination of these three primary energy sources.
  • only one primary energy source is arranged in the first vehicle unit or in the second vehicle unit and supplies both its own vehicle unit and the other vehicle unit with electrical power.
  • the second drive system is set up to operate the tracks of the second vehicle unit independently of the speed of one another and independently of the speed of the tracks of the first vehicle unit, with the tracked vehicle having control means which are set up to regulate the speed of the tracks of the second vehicle unit as a function of a steering request to operate.
  • the tracked vehicle having control means which are set up to regulate the speed of the tracks of the second vehicle unit as a function of a steering request to operate.
  • the first drive system and/or the second drive system has drive elements for the crawler tracks or for rubber tracks, a transfer gear and two drive shafts, with a first drive shaft having a drive element of one track and a first electric machine of the torque transmission is or can be connected and a second drive shaft is connected or can be connected in a torque-transmitting manner to a drive element of the other track and a second electric machine of the torque transmission, both drive shafts being or being connectable to the transfer gear in a torque-transmitting manner, and one element of the transfer gear being connected to a third Electric machine torque-transmitting connected or connectable.
  • a transfer gear By providing a transfer gear, a braking performance of one of the curves inside Track can be mechanically recuperated by mechanically transferring it to the outer track.
  • this control means is set up to transfer braking power mechanically from a curve inner track at least partially as regenerative drive power to a curve outer track of the first vehicle unit between the braking power from a curve inner track mechanically at least partially as to transmit regenerative drive power to an outside lane of the second vehicle unit.
  • the first joint and/or the second joint has three degrees of freedom and can be pivoted about two orthogonal axes and rotated about its axis.
  • the two vehicle units can move flexibly in relation to one another in all three spatial directions.
  • the second vehicle unit can be operated flexibly in a type of trailer mode. This is particularly advantageous with regard to the energy efficiency of the tracked vehicle.
  • a differential speed between the left lane and the right lane in the direction of travel of the second vehicle unit is generated for cornering on the basis of the speeds of the lanes of the first vehicle unit in such a way that the second vehicle unit initiates a steering maneuver of the first vehicle unit supported and follows the first vehicle unit, so that countersteering or swerving is avoided.
  • a required drive power is divided between the first vehicle unit and the second vehicle unit. In this way, particularly good traction can be achieved.
  • the second vehicle unit is pulled by the first vehicle unit when idling or is operated in such a way that for a right turn in the direction of travel a difference in speed between the left lane and the right lane of the second vehicle unit is set, in which the left lane runs faster than the right lane, and for a left turn in the direction of travel a difference in speed between the right lane and the left lane the second vehicle is set convincing unit, in which the left lane runs slower than the right lane, and for straight driving - both lanes are operated at least substantially at the same speed - on the level with the same ground.
  • the second vehicle unit follows the first vehicle unit on a particularly advantageous trajectory and supports the first vehicle unit in steering the caterpillar vehicle.
  • FIG. 1 shows an exemplary embodiment of a tracked vehicle with two vehicle units which are connected by a coupling element
  • FIG. 2 shows a plan view of a tracked vehicle according to FIG. 1 in a sectional view
  • Figure 3 is a plan view of one of the vehicle units.
  • FIG. 4 shows an exemplary embodiment of a method for operating a crawler vehicle.
  • Figure 1 shows a tracked vehicle with a first vehicle unit 1 and a second vehicle unit 2, both of which tracks 17, 19 have caterpillars, i.e. rubber tracks or metal tracks.
  • the two vehicle units 1, 2 are mechanically connected by a coupling element 3, 4, 5.
  • FIG. 2 shows a caterpillar vehicle according to FIG. 1 when cornering, which is initiated by the vehicle unit 1 in front of it.
  • the first front vehicle unit 1 has a first lane 16, which is arranged on the right in the direction of travel, and a second lane 17, which is arranged on the left in the direction of travel.
  • the second vehicle unit 2 has a first track 18, which is arranged on the right in the direction of travel, and a second track 19, which is in the direction of travel is arranged on the left.
  • the tracks 16, 17, 18, 19 preferably have a rubber chain or a metal chain as drive elements.
  • Both vehicle units 1, 2 can be steered independently of one another by means of side wheel steering.
  • a first electric motor 8, 11 and a second electric motor 10, 13 can drive the two tracks of the respective vehicle unit 1, 2 independently of one another.
  • the two vehicle units 1, 2 each have a transfer gear 6, 7. More preferably, only the first vehicle unit 1 can have such a transfer gear 6 .
  • the one or more transfer gears 6, 7 are further preferably coupled to a third electric machine 9, 12. This allows a torque flow between the two tracks 16, 17; 18, 19 of a respective vehicle unit 1; 2 to be realized.
  • a regenerative drive power can be transmitted as drive power by means of such an arrangement when cornering from the inner track 16, 18 to the outer track 17, 19.
  • a more balanced load distribution between the electric machines of a vehicle unit 1; 2 can be achieved.
  • a fuel cell, a generator, a compressed air reservoir and/or a battery or a combination of these energy sources can be used as the energy source.
  • the first vehicle unit 1 and the second vehicle unit 2 are preferably mechanically connected via a coupling element which has a first joint 4 and a second joint 5 .
  • the coupling element also has a preferably rigid coupling rod 3 which extends between the two joints 4 and 5 .
  • the optimal length of the connecting rod is dependent on the geometry of both vehicle units 1, 2, in particular on their length and track width.
  • all four lanes 16,17,18,19 are individually speed controlled in the illustrated embodiment.
  • the torque applied to each of the four chains can preferably be adjusted. When steering, the chains are therefore driven at different speeds.
  • the steering torque for the respective vehicle unit is therefore not created by active bending as in the case of an articulated steering control element from the prior art, but by the torque difference on the inside and outside tracks of the curve.
  • the transverse forces and the slip on the respective chain can be kept relatively low compared to the prior art, efficiency can be increased, chain wear reduced and handling improved.
  • a further increase in efficiency and improvement in driving behavior is made possible by the coupling rod 3 .
  • the two joints 4, 5 have three degrees of freedom, so that the coupling rod 3 can be multi-dimensionally bent and twisted relative to the vehicle units 1, 2.
  • a possible design for these joints are e.g. rotatable cardan joints.
  • the position of the two joints 4, 5 is not in the vicinity of the respective center of gravity or lane center of the respective vehicle unit 1, 2. This ensures that a sufficient steering torque can be transmitted between the two vehicle units 1 , 2 when cornering. This causes a largely automatic tracking of the rear second vehicle unit 2 to the front first vehicle unit 1 if vehicle unit 2 is towed. As a result, the steering torque for the rear second vehicle unit 2, which must be applied by the local drive 22, can be reduced and the components can be dimensioned correspondingly smaller. When reversing, this also applies accordingly to the drive 21 of the first vehicle unit 1 that is then at the rear.
  • the joints 4, 5 are preferably located outside of the vehicle units 1, 2.
  • the geometry of the vehicle units 1, 2, for example their “cabin structure” does not have to be adapted and can be modified from existing ones Realizations of caterpillar vehicles are taken over. In this way, the original intended use of such vehicles can be retained unchanged, but the weak points inherent in the system of the designs according to the prior art are solved.
  • the joints 4, 5 are preferably located on a central axis 20 of the vehicle units 1, 2. This ensures a balanced power transmission between the two vehicle units 1, 2.
  • the crawler vehicle performs a steering maneuver. This is initiated in the front vehicle unit 1 by means of a difference in speed between the right lane 16 and the left lane 17 .
  • the tracked vehicle then swivels around a vertical axis, the position of which is determined by the combination of steering angle and driving speed.
  • the hinge point 4 of the first vehicle unit 1 pivots out of the ideal curved path 14 .
  • the articulation point 4 of the first vehicle unit 1 describes a curve 15 which corresponds to a higher-order polygon with a singularity point (the point at which the curve 15 begins to deviate from the ideal curved path 14).
  • Figure 4 shows an embodiment of a method 100 for operating a tracked vehicle with two vehicle units 1, 2.
  • the front vehicle unit 1 is driven.
  • the Ge transmission unit 7 of the rear vehicle unit 2 is decoupled from the rear tracks 18,19.
  • Such a driving mode can be used specifically when driving on paved roads or paths and high off-road mobility is not required, but high economy is required.
  • the drive 22 of the second vehicle unit 2 is idling 103-N both in a right turn 102-R, in a left turn 102-L and when driving straight ahead 102-G. This is realized in particular via the transfer gear 7 and/or various clutches (not shown).
  • the rear vehicle unit 2 is also driven.
  • This driving mode is primarily used when high off-road mobility and/or high traction are required.
  • the drive power can be divided between the two vehicle units 1 , 2 depending on the requirement.
  • a difference in speed between the left lane 19 and the right lane 18 of the second vehicle unit 2 is set 103-R in the direction of travel, in which the left lane 19 runs faster than the right lane 18
  • a differential speed between the right lane 18 and the left lane 19 of the second vehicle unit 2 is set 103-L in the direction of travel, at which the left lane 19 runs slower than the right lane 18. Both are used for driving straight ahead Traces at least essentially with the same Speed operated 103-G. This is based on a trip on the level with the same sub-ground.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

L'invention concerne un véhicule à chenilles comprenant : une première unité de véhicule (1) à deux voies (16, 17) et un premier système d'entraînement (6, 8, 9, 10) ; une seconde unité de véhicule (2) à deux voies (18, 19) ; et un élément d'accouplement qui relie mécaniquement les deux unités de véhicule (1, 2) et qui comporte deux joints (4, 5) et une tige d'accouplement (3). La tige d'accouplement (3) relie les deux joints (4, 5) à une distance définie entre eux, le premier joint (4) et le second joint (5) présentent au moins un axe de rotation vertical respectif, et les voies de la première unité de véhicule (1) et de la seconde unité de véhicule (2) comprennent des chenilles, en particulier des chaînes de chenilles ou des chaînes de caoutchouc, dans la direction longitudinale du véhicule, un premier joint (4) étant disposé à l'extérieur d'une première section, qui est définie par la zone entre les deux voies (16, 17) de la première unité de véhicule (1), ou dans un tiers de la première section, ledit tiers s'étendant vers l'arrière de l'unité de véhicule (1) ; et, dans la direction longitudinale du véhicule, un second joint (5) étant disposé à l'extérieur d'une seconde section, qui est définie par la zone entre les deux voies (18, 19) de la seconde unité de véhicule (2), ou dans un tiers de la seconde section, ledit tiers s'étendant vers le nez de la seconde unité de véhicule (2). Afin de faciliter une direction à glissement, le premier système d'entraînement (6, 8, 9, 10) est conçu pour actionner les voies (16, 17) de la première unité de véhicule (1) indépendamment l'une de l'autre en termes de vitesse, et le véhicule à chenilles comprend des moyens de commande qui sont conçus pour actionner les voies (16, 17) de la première unité de véhicule (1) d'une manière à vitesse régulée sur la base d'une exigence de direction.
PCT/AT2022/060104 2021-04-07 2022-04-06 Système de direction et d'entraînement électrique comprenant une direction à glissement WO2022213136A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50245/2021A AT524771B1 (de) 2021-04-07 2021-04-07 Elektrifiziertes Lenk- und Antriebssystem mit Radseitenlenkung
ATA50245/2021 2021-04-07

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Publication Number Publication Date
WO2022213136A1 true WO2022213136A1 (fr) 2022-10-13

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4645023A (en) 1984-03-05 1987-02-24 Watercraft Offshore Canada Ltd. All terrain vehicle and method of operating same
US20100184550A1 (en) * 2007-07-20 2010-07-22 Qinetiq Limited Drive configuration for skid steered vehicles
DE102009014401A1 (de) 2009-03-26 2010-09-30 Skoff, Gerhard, Dr. Knickgelenktes Fahrzeug, insbesondere gepanzertes Fahrzeug
WO2011049509A1 (fr) 2009-10-20 2011-04-28 BAE Systems Hägglunds Aktiebolag Procédé de propulsion d'un véhicule articulé à chenilles
WO2012125903A2 (fr) * 2011-03-17 2012-09-20 Raytheon Company Véhicule de transport à faible profil, mobile, robotique

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH538380A (de) * 1972-05-10 1973-06-30 Ernst Keller Fa Fahrzeug mit Knicklenkung
SE538881C2 (sv) * 2013-05-08 2017-01-24 BAE Systems Hägglunds AB Styrdon och midjestyrt fordon försett med styrdon

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4645023A (en) 1984-03-05 1987-02-24 Watercraft Offshore Canada Ltd. All terrain vehicle and method of operating same
US20100184550A1 (en) * 2007-07-20 2010-07-22 Qinetiq Limited Drive configuration for skid steered vehicles
DE102009014401A1 (de) 2009-03-26 2010-09-30 Skoff, Gerhard, Dr. Knickgelenktes Fahrzeug, insbesondere gepanzertes Fahrzeug
WO2011049509A1 (fr) 2009-10-20 2011-04-28 BAE Systems Hägglunds Aktiebolag Procédé de propulsion d'un véhicule articulé à chenilles
WO2012125903A2 (fr) * 2011-03-17 2012-09-20 Raytheon Company Véhicule de transport à faible profil, mobile, robotique

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AT524771A4 (de) 2022-09-15

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