Bae Systems Hagglunds Aktiebolag

Hagglunds Vehicle Ab

Björn Nordberg

Björn Hellholm

Anders Bodin

Max Thorén

Jens Wågberg

Daniel Engblom

Anders Sandin

Leif Hallin

Fredrik Burholm

Göran Westman

The present invention relates to a method (M) performed by a control device () for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement () for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V) and a second vehicle unit (V) steerably connected to the first vehicle unit (V) by means of a steering device (D) for mutually pivoting said vehicle units (V, V). The mutual pivoting comprises steering movement about a steering axis (Y). The steering device (D) comprises a steering arrangement (A) for said steering movement. The method comprises the step of controlling (S) the steering arrangement (A) of the steering device (D) so as to control mutual steering movement of said vehicle units (V, V) 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.

Method and control device for controlling driving operation of an articulated tracked vehicle

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

Tracked vehicle comprising a tiltable suspended track assembly

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

Tracked vehicle comprising a rotatably attached bogie

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 the drive wheel and the plurality of support wheels are rotatably secured to the track support beam. The drive wheel is arranged to drive the endless track running over the at least one drive wheel and the plurality of support wheels. The suspension device comprises a first suspension configuration constituting a support wheel suspension configuration configured to resiliently secure the support wheels to the track support beam, and a second suspension configuration configured to connect the track assembly pair with a centrally arranged center beam. The invention also relates to a tracked vehicle.

Suspension device for tracked vehicle

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

Articulated tracked vehicle

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

Load-carrying frame and vehicle provided with load-carrying frame

The present invention relates to a floating device for an amphibious two-bodied vehicle with a front vehicle unit and a rear vehicle unit, which are mutually pivotable, wherein the floating device comprises a floating element configuration extending along essentially the entire length of the long sides of the vehicle and being arranged to provide additional displacement, wherein said floating element configuration is arranged for accommodating mutual pivoting of said vehicle units during floating as well as non-floating drive. The present invention also relates to an amphibious vehicle.

Floating device for amphibious vehicle

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

Protective device for an articulated vehicle

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

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Örnsköldsvik, Sweden

Björn Nordberg