TRACKED VEHICLE WITH MULTIPLE SELF-CONTAINED TRACKED DRIVES AND REMOTE TRACKED DRIVE JETTISONING CAPABILITY

• US 20130226382A1
• Filed: 04/01/2013
• Published: 08/29/2013
• Est. Priority Date: 09/28/2010
• Status: Active Grant

• Current Assignee: Boris Mezir, Mike Nem, Vitaly Grossman
• Original Assignee: Boris Mezir, Mike Nem, Vitaly Grossman
• Inventors: Grossman, Vitaly, Mezir, Boris, Nem, Mike
• Granted Patent: US 9,061,706 B2
• Time in Patent Office: Days
• US Class Current: 701/22
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: B62D 55/00 Endless track vehicles steering aspects B62D11/00; characterised by the driver not being seated B62D51/007
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/084 Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units B62D55/07 takes precedence
• CPC Class Codes: Y10T 29/49824 to elastically deform work part or connector

Abstract

A tracked vehicle having a plurality of self contained tracked drive units, each unit including an electric motor to propel a track belt, and a plurality of road wheels and tensioning wheels. Each tracked drive unit is connected to the vehicle by affixing devices and by electrical, data, and fluid lines, and is separable from the vehicle by detachment of the affixing devices and disconnection of the electrical, data, and fluid lines. The tracked vehicle can locomote upon the tracked drive units remaining after the separation a tracked drive unit. A tracked vehicle with remote tracked drive jettisoning capability, wherein a tracked drive unit is affixed to the hull of the tracked vehicle by explosive bolts; the electrical, fluid, and data lines are severable by severing charges; and the tracked drive is jettisonable by remote commands to detonate the explosive bolts and sever the electrical, data, and fluid lines.

Claims

1. A tracked vehicle including a hull and a plurality of self contained tracked drive units connected to said hull, said hull containing an electrical power plant, a driving control system, and a motor cooling system,

each of said plurality of self contained tracked drive units including a frame to contain an electric motor, a drive wheel to propel a track belt, said drive wheel being powered by said electric motor, a plurality of road wheels to support said tracked vehicle, and a plurality of tensioning wheels to maintain said track belt in constant tension about said drive wheel and said road wheels,

each of said self contained tracked drive units being connected to said hull by affixing devices to affix said frame to corresponding mounting devices on said hull;

by an electrical cable to transmit electrical power from said power plant to said electric motor;

by a coolant fluid line to convey coolant fluid from said cooling system to said electric motor, and by a control and data cable to convey electronic signals between said driving control system and said self contained tracked drive unit,

said tracked vehicle being separable from each of said self contained tracked drive units by the detachment of said affixing devices from said mounting devices on said hull, the disconnection of said electrical cable from said electric motor, the disconnection of said coolant fluid line from said electric motor, and the disconnection of said control and data cable from said self contained tracked drive unit.

2. The tracked vehicle of claim 1, said tracked vehicle retaining a plurality of remaining self contained tracked drive units after the separation of at least one self contained tracked drive unit, said tracked drive vehicle having the ability to locomote by means of said plurality of remaining self contained tracked drive units.

3. The tracked vehicle of claim 1, wherein said plurality of road wheels and said plurality of tensioning wheels are included in a plurality of torsion spring assemblies to maintain constant tension of said tracked belt about said drive wheel and said plurality of road wheels,

each of said torsion spring assemblies including a road wheel connected to a tensioning wheel by a means of a three-membered torsion spring plate pivotable about a suspension hub projecting outward from said frame,

said three-membered torsion spring plate having a hub member pivotably mounted about said suspension hub, a road wheel member radiating from said hub member, said road wheel being rotatably mounted upon said road wheel member, and a tensioning wheel member radiating from said hub member, said tensioning wheel being rotatably mounted upon said tensioning wheel member,

said three-membered torsion spring plate being resiliently connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected either to said road wheel member or to said tensioning wheel member,

said three-membered torsion spring plate in an initial position maintaining said road wheel and said tensioning wheel in contact with said track belt,

said three-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel said activated position being characterized by increased pressure of said tensioning wheel against said track belt, the recoil of said torsion spring tending to pivot said three-membered torsion spring plate downward to return to said initial position.

4. The tracked vehicle of claim 1, wherein said plurality of road wheels is further defined as at least three road wheels, wherein at least one of said road wheels is included in a modified torsion spring assembly, said modified torsion spring assembly including a two-membered torsion spring plate pivotably mounted about a suspension hub projecting outward from said frame,

said two-membered torsion spring plate having a hub member pivotably mounted about said suspension hub, a road wheel member radiating from said hub member, said road wheel being rotatably mounted upon said road wheel member,

said two-membered torsion spring plate being resiliently connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected to said road wheel member,

said two-membered torsion spring plate in an initial position maintaining said road wheel in contact with said track belt,

said two-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel, the recoil of said torsion spring tending to pivot said two membered torsion spring plate downward to return to said initial position.

5. Tracked vehicle of claim 1, wherein said hull includes a lower portion extending downward below a longitudinal axis defined by said mounting devices, said lower portion of said hull having a smooth, continuous surface.

6. The tracked vehicle of claim 5, wherein lower portion of said hull is further defined as being V-shaped in cross section.

7. The tracked vehicle of claim 1 wherein said driving system is further defined as a driving system to control the speed and direction of locomotion of each of said tracked drive units, said driving system comprising a plurality of driving controls for the entry of driver instructions, said plurality of driving controls including a steering control, a brake control, and a propulsion control;

a plurality of driving control sensors operatively connected to said driving controls, to transmit said driver instructions to a driving control processor, said plurality of driving control sensors including a steering control sensor operatively connected to said steering control, a brake sensor operatively connected to said brake control, and a propulsion control sensor operatively connected to said propulsion control;

a plurality of feedback sensors operatively connected to said driving control processor, to transmit feedback data regarding the speed and direction of said tracked vehicle to said driving control processor, said plurality of feedback sensors including a plurality of track speed sensors to sense the speed and direction of each of said track belt of said tracked drive unit, and at least one accelerometer to sense directional changes in the locomotion of said tracked vehicle,

said driving control processor integrating said driver instructions with said feedback data and accordingly issuing commands to regulate the speed and direction of each of said electric motors, said driving control processor being communicatively connected to an electrical distributor to receive said commands issued by said driving control processor,

said electrical distributor electrically interconnecting said electrical power plant with each of said electric motors, said electrical distributor regulating the distribution of electrical power from said electrical power plant to each of said electric motors according to said commands issued by said driving control processor.

8. The tracked vehicle of claim 7, wherein each of said electric motors additionally includes at least one motor control device communicatively connected said electric motor, said at least one motor control device communicatively connected to said driving control processor, to regulate the operation of said electric motor according to commands received from said driving control processor.

9. The tracked vehicle of claim 8, wherein said at least one motor control device is selected from the group of devices including a motor reversal switch and a motor speed control.

10. The tracked vehicle of claim 1, wherein each of said self contained tracked drive unit is further defined as an elevatable tracked drive unit, wherein said frame includes an inner frame wall attached said hull of said tracked vehicle and an outer frame wall to contain said electric motor, said drive wheel, said track belt, said plurality of road wheels, and said plurality of tensioning wheels,

said inner frame wall being elevatable in relation to said outer frame wall by means of a motorized elevation screw assembly, the elevation of said inner frame wall elevating said hull in relation to the said road wheels, to adjust the ground clearance of said hull.

11. A tracked vehicle with remote tracked drive jettisoning capability, said tracked vehicle including a hull and a plurality of self contained tracked drive units connected to said hull, said hull containing an electrical power plant, a driving control system, and a motor cooling system,

each of said plurality of self contained tracked drive units including a frame to contain an electric motor, a drive wheel to propel a track belt, said drive wheel being powered by said electric motor, a drive wheel powered by said electric motor, to propel a track belt, a plurality of road wheels to support said tracked vehicle, and a plurality of tensioning wheels to maintain said track belt in constant tension about said drive wheel and said road wheels,

each of said self contained tracked drive units being connected to said hull by explosive affixing devices to affix said frame of said tracked drive unit to corresponding mounting devices on said hull, said explosive affixing devices being destructible by detonation of said explosive affixing devices:

by an electrical cable to transmit electrical power from said power plant to said electric motor;

by a coolant fluid line to convey coolant fluid from said cooling system to said electric motor; and

by a control and data cable to convey electronic signals between said driving control system and said self contained tracked drive unit;

said electrical cable, said control and data cable, and said coolant fluid line each being severable by an explosive severing charge situated about said electrical cable, said coolant fluid line, and said control and data cable,

said electrical cable including an electrical shut-off switch situated between said severing charge and said power plant, said control and data cable including a data shut-off switch situated between said severing charge and said driving control system, said coolant fluid line including coolant fluid shut-off valve situated between said motor cooling system and said tracked drive units,

each of said self contained tracked drive units being separable from said tracked vehicle upon destruction of said explosive affixing devices, the severance of said electrical cable, the severance of said control and data cable, and the severance of said coolant fluid line,

said tracked vehicle including a remote jettisoning system including a shut-off circuit activatable to actuate said electrical shut-off switch, said data shut-off switch, and said coolant fluid shut-off valve;

a detonation circuit activatable to detonate said explosive affixing devices and said severing charges; and

a remote jettisoning control operable to activate said shut-off circuit and said detonation circuit,

said tracked vehicle retaining a plurality of remaining self contained tracked drive units after the separation of at least one self contained tracked drive unit, said tracked drive vehicle having the ability to locomote by means of said plurality of remaining self contained tracked drive units.

12. The tracked vehicle of claim 11, wherein said plurality of road wheels and said plurality of tensioning wheels are included in a plurality of torsion spring assemblies to maintain constant tension of said tracked belt about said drive wheel and said plurality of road wheels,

each of said torsion spring assemblies including a road wheel connected to a tensioning wheel by a means of a three-membered torsion spring plate pivotable about a suspension hub projecting outward from said frame,

said three-membered torsion spring plate having a hub member pivotably mounted about said suspension hub, a road wheel member radiating from hub member, said road wheel being rotatably mounted upon said road wheel member, and a tensioning wheel member radiating from said hub member, said tensioning wheel being rotatably mounted upon said tensioning wheel member,

said three-membered torsion spring plate being resiliently connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected to either said road wheel member or said tensioning wheel member,

said three-membered torsion spring plate in an initial position maintaining said road wheel and said tensioning wheel in contact with said track belt,

said three-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel, said activated position being characterized by increased pressure of said tensioning wheel against said track belt, the recoil of said torsion spring tending to pivot said three-membered torsion spring plate downward to return to said initial position.

13. The tracked vehicle of claim 11, wherein said plurality of road wheels is further defined as at least three road wheels, wherein at least one of said road wheels is included in a modified torsion spring assembly, said modified torsion spring assembly including a two-membered torsion spring plate pivotably mounted about a suspension hub projecting outward from said frame,

said two-membered torsion spring plate having a hub member pivotably mounted about said suspension hub,

a road wheel member radiating from said hub member, said road wheel being rotatably mounted upon said road wheel member,

said two-membered torsion spring plate being resiliency connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected to said road wheel member,

said two-membered torsion spring plate in an initial position maintaining said road wheel in contact with said track belt,

said two-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel,

the recoil of said torsion spring tending to pivot said two membered torsion spring plate downward to return to said initial position.

14. Tracked vehicle of claim 11, wherein said hull includes a lower portion extending downward below a longitudinal axis defined by said mounting devices, said lower portion of said hull having a smooth, continuous surface.

15. The tracked vehicle of claim 14, wherein lower portion of said hull is further defined as being V-shaped in cross section.

16. The tracked vehicle of claim 11 wherein said driving system is further defined as a driving system to control the speed and direction of locomotion of each of said tracked drive units, said driving system comprising a plurality of driving controls for the entry of driver instructions, said plurality of driving controls including a steering control, a brake control, and a propulsion control;

a plurality of driving control sensors operatively connected to said driving controls, to transmit said driver instructions to a driving control processor, said plurality of driving control sensors including a steering control sensor operatively connected to said steering control, a brake sensor operatively connected to said brake control, and a propulsion control sensor operatively connected to said propulsion control, a plurality of feedback sensors operatively connected to said driving control processor, to transmit feedback data regarding the speed and direction of said tracked vehicle to said driving control processor, said plurality of feedback sensors including a plurality of track speed sensors to sense the speed and direction of said track belt of said tracked drive unit, and at least one accelerometer to sense directional changes of said tracked vehicle,

said driving control processor integrating said driver instructions with said feedback data and accordingly issuing commands to regulate the speed and direction of each of said electric motors, said driving control processor being communicatively connected to an electrical distributor to receive said commands issued by said driving control processor,

said electrical distributor electrically interconnecting said electrical power plant with each of said electric motors, said electrical distributor regulating the distribution of electrical power from said electrical power plant to each of said electric motors according to said commands issued by said driving control processor.

17. The tracked vehicle of claim 16, wherein each of said electric motors additionally includes at least one motor control device communicatively connected to each of said electric motors, said at least motor control device communicatively connected to said driving control processor, to control the operation of each of said electric motors according to commands issued by said driving control processor

18. The tracked vehicle of claim 17, wherein said at least one motor control device is selected from the group of devices including a motor reversal switch and a motor speed control.

19. The tracked vehicle of claim 11, wherein each of said self contained tracked drive unit is further defined as an elevatable tracked drive unit, wherein said frame includes an inner frame wall attached said hull of said tracked vehicle and an outer frame wall to contain said electric motor, said drive wheel, said track belt, said plurality of road wheels, and said plurality of tensioning wheels,

said inner frame wall being elevatable in relation to said outer frame wall by means of a motorized elevation screw assembly, the elevation of said inner frame wall elevating said hull in relation to the said road wheels, to adjust the ground clearance of said hull.

20. A self contained tracked drive unit for use with a tracked drive vehicle having a hull containing an electrical power plant, a driving control system, and a motor cooling system, said self-contained track drive unit including:

a frame to contain an electric motor, a drive wheel to propel a track belt, said drive wheel being powered by said electric motor, a plurality of road wheels to support said tracked vehicle, and a plurality of tensioning wheels to maintain said track belt in constant tension about said drive wheel and said road wheels,

each of said self contained tracked drive units being connected to said hull by affixing devices to affix said frame to corresponding mounting devices on said hull;

by an electrical cable to transmit electrical power from said power plant to said electric motor;

by a coolant fluid line to convey coolant fluid from said cooling system to said electric motor, and by a control and data cable to convey electronic signals between said driving control system and said self contained tracked drive unit,

each of said self-contained tracked drive being separable from said hull upon the detachment of said affixing devices from said mounting devices on said hull, the disconnection of said electrical cable from said electric motor, the disconnection of said pressurized fluid line from said electric motor, and the disconnection of said control and data cable from said driving control system.

21. The self-contained tracked drive unit of claim 20, wherein said plurality of road wheels and said plurality of tensioning wheels are included in a plurality of torsion spring assemblies to maintain constant tension of said tracked belt about said drive wheel and said plurality of road wheels,

each of said torsion spring assemblies including a road wheel connected to a tensioning wheel by a means of a three-membered torsion spring plate pivotable about a suspension hub projecting outward from said frame,

said three-membered torsion spring plate having a hub member pivotably mounted about said suspension hub, a road wheel member radiating from hub member, said road wheel being rotatably mounted upon said road wheel member, and a tensioning wheel member radiating from said hub member, said tensioning wheel being rotatably mounted upon said tensioning wheel member,

said three-membered torsion spring plate being resiliently connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected to either said road wheel member or said tensioning wheel member,

said three-membered torsion spring plate in an initial position maintaining said road wheel and said tensioning wheel in contact with said track belt,

said three-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel, said activated position being characterized by increased pressure of said tensioning wheel against said track belt, the recoil of said torsion spring tending to pivot said three-membered torsion spring plate downward to return to said initial position.

22. The self-contained tracked drive unit of claim 20, wherein said plurality of road wheels is further defined as at least three road wheels, wherein at least one of said road wheels is included in a modified torsion spring assembly, said modified torsion spring assembly including a two-membered torsion spring plate pivotably mounted about a suspension hub projecting outward from said frame,

said two-membered torsion spring plate having a hub member pivotably mounted about said suspension hub, a road wheel member radiating from said hub member, said road wheel being rotatably mounted upon said road wheel member,

said two-membered torsion spring plate being resiliently connected to said suspension hub by a torsion spring having a first arm connected to said suspension hub and a second arm connected to said road wheel member,

said two-membered torsion spring plate in an initial position maintaining said road wheel in contact with said track belt,

said two-membered torsion spring plate being pivotable upward into an activated position, against the torsional force of said torsion spring, upon a vertical displacement of said road wheel, the recoil of said torsion spring tending to pivot said two membered torsion spring plate downward to return to said initial position.

23. The self contained tracked drive unit of claim 20, further defined as an elevatable tracked drive unit, wherein said frame includes:

an inner frame wall attached said hull of said tracked vehicle and an outer frame wall to contain said electric motor, said drive wheel, said track belt, said plurality of road wheels, and said plurality of tensioning wheels, said inner frame wall being elevatable in relation to said outer frame wail by means of a motorized elevation screw assembly,

the elevation of said inner frame wall elevating said hull in relation to the said road wheels, to adjust the ground clearance of said hull.

24. A method for remotely jettisoning a self contained tracked drive unit from a tracked vehicle having multiple self contained tracked drive units, each tracked drive unit being contained in a frame, including the steps of:

actuating a remote jettisoning control,

activating a detonation circuit,

detonating a severing charge situated about an electrical cable connecting an electrical distributor to a motor of each self contained tracked drive unit;

severing the electrical cable,

detonating a severing charge situated about a data and control cable connecting a driving control processor to a motor controller and to a track speed sensor of the tracked drive unit,

severing the data and control cable,

detonating a severing charge situated about a coolant fluid line connecting a motor cooling system to the electric motor of the tracked drive unit;

severing the coolant fluid line,

detonating a plurality of explosive affixing devices attaching the frame of the tracked drive unit to a plurality of mounting devices on a hull of the tracked drive vehicle,

detaching the frame of the tracked drive unit from the plurality of mounting devices; and

remotely jettisoning the tracked drive unit from the tracked vehicle.

25. The method of claim 24, further including, before the step of activating a detonation circuit, the steps of:

activating a power shut-off switch;

shutting off the power in the electrical cable;

activating a data shut-off switch;

hutting off the flow of commands and data through the control and data cable;

activating a coolant shut-off valve; and

shutting off the flow of coolant fluid through the coolant fluid line.

26. A method for controlling the locomotion of a tracked vehicle including a plurality of self contained tracked drive units, including the steps of:

receiving at a driving control processor a driving instruction regarding the course and speed of the tracked vehicle from an operator of the tracked vehicle;

comparing the driving instruction with the actual course and speed of the tracked vehicle;

detecting a discrepancy between the driving instruction and the actual course and speed of the tracked vehicle;

issuing a command to correct the discrepancy between the driving instruction and the actual course and speed of the tracked vehicle;

receiving the command at an electrical distributor electrically connected to the electric motor of each self contained tracked drive unit;

regulating the electrical current delivered to the electric motor of each self contained tracked drive unit;

modifying the speed or direction of movement of each self contained tracked drive unit;

bringing the course and speed of the tracked vehicle into conformance with the instruction issued by an operator; and

controlling the locomotion of the tracked drive vehicle.