公开(公告)号：WO2021126054A1

公开(公告)日：2021-06-24

申请号：PCT/SE2020/051202

申请日：2020-12-11

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： NORDBERG, Björn ,  WESTMAN, Göran ,  HELLHOLM, Björn

IPC: B62D55/065 ,  B60K17/348 ,  B62D7/02 ,  B62D11/20

Abstract: The present invention relates to a method (M1) performed by a control device (100) for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2) steerably connected to the first vehicle unit (V1) by means of a steering device (D) for mutually pivoting said vehicle units (V1, V2). The mutual pivoting comprises steering movement about a steering axis (Y). The steering device (D) comprises a steering arrangement (A1) for said steering movement. The method comprises the step of controlling (S1) the steering arrangement (A1) of the steering device (D) so as to control mutual steering movement of said vehicle units (V1, V2) for dynamic stability control. The present invention also relates to a control device for controlling driving operation of an articulated tracked vehicle. The present invention also relates to a computer program and a computer readable medium.

公开(公告)号：WO2011037521A1

公开(公告)日：2011-03-31

申请号：PCT/SE2010/050997

申请日：2010-09-17

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG ,  NORDBERG, Björn

Inventor： NORDBERG, Björn

IPC: B62D12/00 ,  B62D53/00

CPC classification number: B62D12/00 ,  B62D55/0655 ,  F41H5/007 ,  F41H7/04

Abstract: The invention relates to protective device for an articulated vehicle (1) comprising at least a first and second vehicle portion (4, 6); a control gear (8) connected to the respective vehicle portion (4, 6); and an actuating member (16) for, via the control gear (8), changing the relative position of the vehicle portions (4, 6) in relation to one another. The protective device (2) comprises at least one stiffening means (22), which fixes the position of each respective vehicle portion (4, 6) in relation to one another whenever the acceleration and/or speed of at least one of the vehicle portions (4, 6) exceeds a predetermined limit value. The invention also relates to a method for controlling a stiffening means of such a protective device (2) for an articulated vehicle (1).

Abstract translation: 本发明涉及一种用于铰接式车辆（1）的保护装置，其包括至少第一和第二车辆部分（4,6）; 连接到相应的车辆部分（4,6）的控制齿轮（8）; 以及用于经由所述控制齿轮（8）经由所述车辆部分（4,6）相对于彼此改变相对位置的致动构件（16）。 保护装置（2）包括至少一个加强装置（22），每当车辆部分中的至少一个车辆部分的加速和/或速度相对于每个相应的车辆部分（4,6）的位置相对于彼此固定时， （4,6）超过预定极限值。 本发明还涉及一种用于控制用于铰接式车辆（1）的这种保护装置（2）的加强装置的方法。

公开(公告)号：WO2021126053A1

公开(公告)日：2021-06-24

申请号：PCT/SE2020/051201

申请日：2020-12-11

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： NORDBERG, Björn ,  WESTMAN, Göran ,  HELLHOLM, Björn

IPC: B62D55/065 ,  B60K17/348 ,  B62D7/02 ,  B62D11/20

Abstract: The present invention relates to a method (M1) performed by a control device (100) for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2) steerably connected to the first vehicle unit (V1) by means of a steering device (D) for mutually pivoting said vehicle units (V1, V2). The mutual pivoting comprises roll movement about a roll axis (X). The steering device (D) comprises a roll arrangement (A2) for said roll movement. The method comprises the step of controlling (S1) the roll arrangement (A2) of the steering device (D) so as to control mutual roll movement of said vehicle units (V1, V2). The present invention also relates to a control device for controlling driving operation of an articulated tracked vehicle. The present invention also relates to a computer program and a computer readable medium.

公开(公告)号：WO2018093318A1

公开(公告)日：2018-05-24

申请号：PCT/SE2017/051117

申请日：2017-11-09

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： HELLHOLM, Björn ,  HALLIN, Leif ,  WÅGBERG, Jens ,  ENGBLOM, Daniel ,  THORÉN, Max ,  BODIN, Anders ,  NORDBERG, Björn ,  SANDIN, Anders

IPC: B62D55/108 ,  B62D55/112 ,  B62D55/116

Abstract: The invention relates to a tracked vehicle (10; 11) comprising a vehicle body (30, 32; 30), at least one track assembly (21) and a suspension device (S) for suspension of said track assembly (21) to said vehicle body (30) of said tracked vehicle (10; 11). Said track assembly (21) comprises a track support beam (22), a plurality of road wheels (23, 23a), at least one drive wheel (24), and an endless track (25). Said track support beam (22) is arranged to support said at least one drive wheel (24) and a plurality of road wheels (23, 23a). Said endless track is disposed around said at least one drive wheel (24) and plurality of road wheels (23, 23a). Said suspension device (S) comprises two pendulum arms (52, 54) which in one end are rotatably attached to a respective fastening point (P1b, P2b) in said vehicle body (30; 32, 30) and in the other end are rotatably attached to a respective fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21). Said suspension device (S) comprises distance adjustment means (58) which is arranged to allow one or more of: a distance change between said two fastening points (P1a, P2a) in the track assembly (21); a distance change between the two fastening points (P1b, P2b) in the vehicle body (30); and a distance change between the fastening point (P1b, P2b) in the vehicle body (30; 32, 30) and the fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21) of at least one of the pendulum arms (52, 54), so as to allow a tilting movement of the track assembly (21), including said at least one drive wheel (24) and plurality of road wheels (23, 23a), relative to the vehicle body in a plane extending in the longitudinal direction of said track assembly (21) essentially orthogonal to the transversal extension of said track assembly (21).

公开(公告)号：WO2014182219A1

公开(公告)日：2014-11-13

申请号：PCT/SE2014/050515

申请日：2014-04-28

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： HELLHOLM, Björn ,  NORDBERG, Björn

IPC: B62D11/20 ,  B62D55/065 ,  B62D11/02

CPC classification number: B62D55/0655 ,  A01G23/003 ,  B60D5/00 ,  B60K6/20 ,  B62D7/026 ,  B62D7/1509 ,  B62D11/20 ,  B62D55/065 ,  Y10S903/902

Abstract: The present invention relates to an articulated tracked vehicle (10) comprising a front and a rear vehicle unit (11, 12) connected by means of a rigid load-carrying frame (40). The load-carrying frame (40) is pivotally attached to the front vehicle unit (11) about a substantially vertical front steering link (52) and pivotally attached to the rear vehicle unit (12) about a substantially vertical rear steering link (72). The vehicle further comprises control means arranged to steer the front vehicle unit (11) relative to the load- carrying frame (40) about the front vertical steering link (52) and to steer the rear vehicle unit (12) relative to the load-carrying frame (40) about the rear vertical steering link (72), wherein the control means is arranged such that the front (11) and rear (12) vehicle units are individually steerable relative to the load-carrying frame (40) about their respective vertical steering links (52, 72).

Abstract translation: 本发明涉及一种铰接的履带式车辆（10），其包括通过刚性承载框架（40）连接的前部和后部车辆单元（11,12）。 承载框架（40）围绕基本上垂直的前转向连杆（52）枢转地附接到前车辆单元（11），并且围绕基本上垂直的后转向连杆（72）枢转地附接到后车辆单元（12） 。 车辆还包括控制装置，其布置成围绕前垂直转向连杆（52）相对于承载框架（40）转向前车辆单元（11），并且相对于负载承载框架 承载框架（40）围绕后方垂直转向连杆（72），其中控制装置布置成使得前部（11）和后部（12）车辆单元相对于承载框架（40）可以相对于它们 各个垂直转向连杆（52,72）。

公开(公告)号：WO2018093317A1

公开(公告)日：2018-05-24

申请号：PCT/SE2017/051116

申请日：2017-11-09

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： HELLHOLM, Björn ,  HALLIN, Leif ,  WÅGBERG, Jens ,  ENGBLOM, Daniel ,  THORÉN, Max ,  BODIN, Anders ,  NORDBERG, Björn ,  SANDIN, Anders

IPC: B62D55/10 ,  B60G9/02

Abstract: The invention relates to a tracked vehicle (11) comprising a vehicle body (30), at least one track assembly (21) and a suspension device (S). Said track assembly (21) is arranged to be supported by said vehicle body (30) by means of said suspension device (S), said track assembly comprising a track support beam (22) for supporting a plurality of road wheels (23, 23a), an endless track (25) being disposed around said road wheels. Said suspension device (S) comprises a bogie arrangement (50) rotatably attached to a fastening point (P0) of said vehicle body (30) about an axis of rotation (Z0) transversal to the longitudinal extension of said track assembly (21) and attached to said track support beam (22) in connection to at least two fastening points (P1, P2) so that the track support beam (22) is allowed to rotate in a rotational plane extending along the longitudinal extension of said track support beam (22) about said axis of rotation.

公开(公告)号：WO2014182235A1

公开(公告)日：2014-11-13

申请号：PCT/SE2014/050563

申请日：2014-05-07

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： HELLHOLM, Björn ,  NORDBERG, Björn

IPC: B62D55/06 ,  B60G5/00 ,  B60G11/32 ,  B62D55/112 ,  B62D55/116

CPC classification number: B62D55/104 ,  B60G3/08 ,  B60G3/145 ,  B60G17/0165 ,  B60G21/073 ,  B60G2200/13 ,  B60G2200/14 ,  B60G2206/11 ,  B60G2206/124 ,  B60G2300/083 ,  B60G2300/32 ,  B60G2800/019 ,  B62D55/065 ,  B62D55/108 ,  B62D55/112 ,  B62D55/1125 ,  B62D55/116

Abstract: The invention relates to a suspension device for tracked vehicles, which vehicle comprises at least one pair of track assemblies, where each track assembly of the pair of track assemblies comprises a track support beam, at least one drive wheel, a plurality of support wheels and an endless track, wherein said at least one drive wheel and said plurality of support wheels are rotatably secured to said track support beam. Said at least one drive wheel is arranged to drive said endless track running over the at least one drive wheel and said plurality of support wheels. The suspension device comprises a first suspension configuration constituting a support wheel suspension configuration configured to resiliently secure said support wheels to said track support beam, and a second suspension configuration configured to connect said track assembly pair with a centrally arranged centre beam. The invention also relates to a tracked vehicle.

Abstract translation: 本发明涉及一种用于跟踪车辆的悬挂装置，该车辆包括至少一对轨道组件，其中该对轨道组件的每个轨道组件包括轨道支撑梁，至少一个驱动轮，多个支撑轮和 环形轨道，其中所述至少一个驱动轮和所述多个支撑轮可旋转地固定到所述轨道支撑梁。 所述至少一个驱动轮布置成驱动在所述至少一个驱动轮和所述多个支撑轮上运行的所述环形履带。 所述悬挂装置包括构成支撑轮悬挂结构的第一悬挂结构，其构造成将所述支撑轮弹性地固定到所述轨道支撑梁，以及第二悬挂构造，其被配置为将所述轨道组件对与中心布置的中心梁连接。 本发明还涉及履带式车辆。

公开(公告)号：WO2014182220A1

公开(公告)日：2014-11-13

申请号：PCT/SE2014/050516

申请日：2014-04-28

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： HELLHOLM, Björn ,  NORDBERG, Björn

IPC: B62D55/065 ,  B62D12/00 ,  B62D33/02

CPC classification number: B62D55/0655 ,  A01G23/003 ,  B60D5/00 ,  B60K6/20 ,  B62D7/026 ,  B62D7/1509 ,  B62D11/20 ,  B62D12/00 ,  B62D33/02 ,  B62D55/065 ,  Y10S903/903

Abstract: The invention relates to load-carrying frame (40) for carrying load of an articulated tracked vehicle (10) comprising a front and a rear vehicle unit (1 1, 12) connected to each other through said load-carrying frame (40), wherein said front vehicle unit (1 1 ) comprises a rolling link (62). The load-carrying frame (40) is configured for rotatable attachment to the front vehicle unit (1 1 ) via said rolling link (62) for enabling rotation of the front vehicle unit (1 1 ) relative to the load-carrying frame (40) about an axis (X) of said rolling link (62) running in the axial main direction of extension of said load-carrying frame (40).

Abstract translation: 本发明涉及承载框架（40），用于承载关节式跟踪车辆（10）的载荷，包括通过所述承载框架（40）彼此连接的前后车辆单元（11,12） 其中所述前部车辆单元（11）包括滚动连杆（62）。 承载框架（40）构造成经由所述滚动连杆（62）可旋转地附接到前部车辆单元（11），以使得前部车辆单元（11）能够相对于承载框架（40）旋转 ）围绕在所述承载框架（40）的轴向延伸方向上延伸的所述滚动连杆（62）的轴线（X）。

公开(公告)号：WO2014003648A1

公开(公告)日：2014-01-03

申请号：PCT/SE2013/050763

申请日：2013-06-25

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG

Inventor： NORDBERG, Björn ,  BURHOLM, Fredrik

IPC: B60F3/00 ,  F41H7/00

CPC classification number: B60F3/0038 ,  B60F3/003 ,  F41H7/00

Abstract: The present invention relates to a floating device (100, 140; 200; 300; 400; 500, 560, 570; 600, 660, 670; 700; 760, 770; 800, 860, 870; 900, 940; 1000, 1080) for an amphibious two-bodied vehicle (I; II; III; IV; V; VI; VII; VIII; IX; X) with a front vehicle unit (10) and a rear vehicle unit (20), which are mutually pivotable, wherein the floating device comprises a floating element configuration (100, 140; 200; 300; 400; 500, 560, 570; 600, 660, 670; 700; 760, 770; 800, 860, 870; 900, 940; 1000, 1080) extending along essentially the entire length of the long sides (10c, 10d, 20c, 20d) of the vehicle and being arranged to provide additional displacement, wherein said floating element configuration (100, 140; 200; 300; 400; 500, 560, 570; 600, 660, 670; 700; 760, 770; 800, 860, 870; 900, 940; 1000, 1080) is arranged for accommodating mutual pivoting of said vehicle units (10, 20) during floating as well as non-floating drive.

Abstract translation: 本发明涉及一种浮动装置（100,140; 200; 300; 400; 500,560,570; 600,660,670,700,760,770,800,860,870,900,940,1000,1080 ）与具有前车辆单元（10）和后车辆单元（20）的两栖双体车（I; II; III; IV; V; VI; VII; VIII; IX; X）相互枢转 ，其中所述浮动装置包括浮动元件构造（100,140; 200; 300; 400; 500,560,570; 600,660,670; 700; 760,770; 800,860,870; 900,940; 1000 ，1080），其基本上沿着车辆的长边（10c，10d，20c，20d）的整个长度延伸，并被布置成提供额外的位移，其中所述浮动元件构造（100,140; 200; 300; 400; 500 ，560,670,600,670,670,700,760,770,800,860,870,900,940,1000,1080（其中，在浮动期间）设置用于容纳所述车辆单元（10,20）的相互枢转 作为非浮动驱动器。

公开(公告)号：WO2011049509A1

公开(公告)日：2011-04-28

申请号：PCT/SE2010/051008

申请日：2010-09-21

Applicant: BAE SYSTEMS HÄGGLUNDS AKTIEBOLAG ,  NORDBERG, Björn

Inventor： NORDBERG, Björn

IPC: B60K17/348 ,  B62D55/065

CPC classification number: B60K17/348 ,  B60K7/0007 ,  B60K7/0015 ,  B60K17/04 ,  B60K17/3462 ,  B60K17/356 ,  B60K23/0808 ,  B60K2007/0092 ,  B60W2510/105 ,  B60W2520/10 ,  B60W2550/14 ,  B60Y2200/25 ,  B62D55/0655

Abstract: The invention relates to a method for propelling an articulated tracked vehicle (1) provided with at least a front and rear vehicle portion (2, 4), comprising a front drive shaft (6), which rotates a front track (8) on the front vehicle portion (2); a rear drive shaft (10), which rotates a rear track (12) on the rear vehicle portion (4), the front drive shaft (6) being disposed in the front vehicle portion (2) and the rear drive shaft (10) being disposed in the rear vehicle portion (4). At least one motor (20, 34, 36) rotates the respective front and rear drive shaft (6, 10) in order thus to propel the vehicle (1) at a speed in relation to a ground surface (16). The front drive shaft (6) is rotated at a first speed and the rear drive shaft (10) is rotated at a second speed, which first and second speeds are different, so that the front and rear tracks (8, 12) rotate at different speeds.

Abstract translation: 本发明涉及一种用于推进具有至少前后车辆部分（2,4）的关节式跟踪车辆（1）的方法，该方法包括前驱动轴（6），其使前轨道（8）旋转， 前车辆部分（2）; 后驱动轴（10），其使后车辆部分（4）上的后轨道（12）旋转，前驱动轴（6）设置在前车辆部分（2）和后驱动轴（10）中， 设置在后车辆部分（4）中。 至少一个电动机（20,34,36）按顺序旋转相应的前后驱动轴（6,10），从而以相对于地面（16）的速度推进车辆（1）。 前驱动轴（6）以第一速度旋转，后驱动轴（10）以第二速度旋转，第一和第二速度不同，使得前后轨道（8,12）以 不同的速度