STEERING-CONTROLLED BRAKING AND MANEUVERING SYSTEM

Abstract

The invention relates to a steering-controlled braking and maneuvering system in electric motor-driven tracked vehicles that enhances maneuverability during normal driving and provides emergency maneuvering in case of main power system failure. Specifically, the invention relates to a steering-controlled braking and maneuvering system that includes a steering valve (70) which is responsible for receiving signals from the brake pedal (40) or the steering wheel, distributing brake fluid and applying the brake to the desired track (10) by steering maneuvering, preferably with two inlets (BL1, BL2) and four outlets (51, 52, 53, 54).

Description

1 TARIFF STEERING-CONTROLLED BRAKING AND MANEUVERING SYSTEM TECHNICAL FIELD The invention enables the use of steering-controlled braking in electric motor-driven tracked vehicles, both 5 to improve maneuverability during normal driving and also when the main power system fails It relates to the steering-controlled braking and maneuvering system that provides emergency maneuvering. The invention specifically works by receiving signals from the brake pedal or steering wheel and distributing brake fluid. Responsible for steering and applying the brake to the desired track, preferably with two inputs. 10 and steering-controlled braking with a steering valve containing four outlets for maneuvering. It is related to the system. STATE OF THE ART 15 Tracked vehicles, especially armored vehicles, construction machinery, agricultural vehicles, and search and rescue equipment. a wide range of vehicles, such as specialized vehicles used in their operations, in challenging terrain conditions because they provide superior mobility, low ground pressure and high traction This is preferred. The steering of these vehicles is generally achieved by adjusting the speed difference between the tracks. It is achieved by creating. In recent years, electric propulsion, which has replaced fossil fuel engines, has become widespread. systems, especially those offering efficiency, quiet operation and precise control capabilities For this reason, it is also becoming widespread in tracked vehicles. In tracked vehicles powered by electric motors, steering is typically done every 25 by varying the rotational speeds of the independent electric motors located in the pallet This method also provides regenerative (recoverable) braking capabilities of the engines. It enables efficient and precise maneuvers by using [method]. However, a fundamental aspect of such systems is... The weakness is a malfunction in the main drive motors or the power systems that supply these motors. When this occurs, the vehicle loses its basic steering and maneuvering capabilities. 30 2 Such a situation is particularly relevant in military operations, emergency response, or hazardous work. In critical scenarios such as these environments, the vehicle may become uncontrollable and pose serious safety risks. It may occur. Current tracked vehicle braking systems primarily serve to slow down, stop, and 5-speed the vehicle. It is designed to secure the vehicle while parked. Some conventional internal combustion engines While turning can be assisted by differential braking in tracked vehicles, electric Since the main steering function in driven systems relies on motor control, In the event of engine failure, existing braking systems are usually an emergency steering solution. It cannot provide. Therefore, while electrically powered tracked vehicles are in motion, the main 10 It will be able to maintain safe maneuverability even in the event of power system loss and also an effective aid that can increase maneuverability in normal operations Systems are needed. In current technology, the maneuverability of tracked vehicles with electrically driven traction systems is 15. Its capability essentially allows the electric motors in each track to create a speed difference. This situation depends on electric motors or the power sources that supply these motors. If the system becomes disabled due to any malfunction, the vehicle's maneuvering This brings with it a critical problem: the complete loss of ability. In the literature, there are 20 tracked vehicles whose electric drive systems fail, especially while in motion. No original and practical solution has been found to compensate for this loss of maneuverability in vehicles. With current technology, vehicles have both maneuverability under normal driving conditions. an auxiliary system to provide support and in emergency situations (especially the main drive system) 25 that can function as an emergency system to ensure safe maneuvering (in case of loss) A dual-purpose braking-based steering system has not been mentioned. Such a system, has the potential to significantly improve the operational safety and efficiency of the vehicle will be. 3 In the current technology, in the developed navigation support systems, the application fully electric, electromechanical depending on requirements and design preferences or solutions that only offer the flexibility of being mechanically operated are not sufficiently considered. This type of flexibility allows the system to adapt to different vehicle platforms and has not been adopted. This will increase its suitability for different operational scenarios. 5 Although there is a patent application numbered JP2000168609A in the current technique, this application Steering assist used in guiding a tracked construction machine. Simplifying a mechanical system consisting of valves and rods that make up its brakes This solution is particularly relevant when an electrically powered vehicle loses its main power system. In emergency situations, or during normal driving, ensuring maneuverability. It is not geared towards specific needs, such as requiring its capability to be supported by a braking system. Although there is a patent application for the current technique, numbered EP1527981A2, this application... Emergency braking and steering of a tracked vehicle using the brakes 15 It addresses this issue. However, this patent specifically concerns systems with electric drive systems. an auxiliary and emergency system that activates in the event of a loss of the main drive motors in vehicles. precise control of the maneuvering system with steering inputs or in normal driving a braking strategy to increase maneuverability in detail It does not define. 20 Although there is a patent application in the current technique, numbered US2002096374A1, this application... a braking system operated by the steering system in tracked vehicles and its associated braking system by pressurizing independent brake lines via steering input It describes the steering. This system is a general braking and steering mechanism. 25 However, it also addresses the specific requirements of electrically powered vehicles, particularly the main drive. an emergency maneuver function that will be activated when the system malfunctions or an auxiliary braking system that will increase maneuverability in normal operation and This does not explicitly address the electrical / electromechanical feasibility of this system. 30 4 Although there is a patent application in the current technique, numbered US2010170728A1, this application... a tracked vehicle with multiple brake lines, controlled by steering This refers to control via multiple valves. This type of valve-based control... These systems may often require complex hydraulic or pneumatic circuits and are electrical. In the event that a tracked vehicle loses its main traction system, a simple, reliable and 5 offering emergency maneuverability proportional to steering or existing electric It does not offer a unique solution for supporting the routing system. In conclusion, in order to solve the aforementioned problems that exist in the current technology, The need for a new, economical, and practical maneuvering system and the existing 10 The inadequacy of the solutions has made it necessary to make improvements in the relevant technical field. THE PURPOSE OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field in 15 years. In electric motor-driven tracked vehicles, developed to bring new advantages, the steering wheel... By using controlled braking, both maneuverability can be increased during normal driving and steering-controlled braking that provides emergency maneuvering in the event of a main power system failure. It is related to the maneuvering system. 20 The main objective of the invention is to provide the main traction in tracked vehicles with an electric traction system. a malfunction in the motors and their associated primary steering system while in motion In the event of a power outage or system failure due to this reason, control of the vehicle and an auxiliary and emergency maneuver to maintain basic maneuverability The goal is to provide the system. 25 Another important objective of the invention is to enable the vehicle to operate using its existing engine-based system under normal operating conditions. by supporting and enhancing the capabilities of the guidance system, making it more precise or more efficient. It functions as a steering support system that enables agile maneuvers. It is to see. 30 Another important objective of the invention is to ensure that the power of the electric traction system is fully utilized while in motion. Even in critical scenarios such as loss, the braking system on each pallet maintains its steering capabilities. By independently checking the inputs, the vehicle can be safely controlled. by enabling steering and stopping, vehicle and operator safety is enhanced. 5 to increase significantly. Another important purpose of the invention is to provide a simple control, preferably a single dispensing valve or similar. by using this mechanism, less than complex hydraulic or multi-valve systems. a multi-component, more reliable, less maintenance and cost-effective auxiliary maneuver The goal is to offer a solution. Another important objective of the invention is to adapt the system to the requirements of the application and existing tools. Depending on the infrastructure, a low-power electrical connection via a purely mechanical link. with electromechanical actuators supported by the system or a 15 of these systems It offers design flexibility that allows it to work with various combinations. Another important advantage of the invention is that, especially thanks to the option of fully mechanical operation, an emergency system that can operate completely independently of the vehicle's main electrical power system. By offering steering capability, it provides minimal maneuverability even in the most challenging conditions. The purpose is to enable the vehicle to be abandoned or to prevent it from becoming uncontrollable. Another important objective of the invention is to prevent damage, preferably to one of the two existing brake lines, and or if it becomes inoperable, the vehicle's traction system will be 25% powered by the only remaining brake line. Allows partial maneuvering on the vehicle when it is disabled. This is due to damage to one of the brake lines or for any other reason. The vehicle's braking ability does not decrease when the driver becomes blind. 6 The structural and characteristic features and all the advantages of the invention are given in the figures below. This becomes clearer thanks to the detailed explanation written with references to these figures. This will be understood, and therefore the evaluation should also take these forms and detailed explanations into consideration. It needs to be done by taking precautions. 5 FIGURES THAT WILL HELP UNDERSTAND THE INVENTION FIGURE 1; This is a drawing showing the maneuvering system that is the subject of the invention. FIGURE 2; This is a drawing showing the brake redirecting valve, which is the subject of the invention. 10 REFERENCE NUMBERS 10. Pallets 20. Traction Motors 30. Steering Wheel 15 40. Brake Pedal 50. Brake Calipers 51. Left 1st Brake Caliper 52. Left 2nd Brake Caliper 53. Right 1. Brake Calipers 20 54. Right 2nd Brake Caliper 7 60. Brake Discs 70. Brake Diverter Valve 71. Trigger Tip 72nd Spring 80. Brake Pressure Line -1 5 90. Brake Pressure Line -2 100th Vehicle Inspector 110. Steering Linkage 120. Steering Signal Connection Line 130. Valve Driver 10 DETAILED DESCRIPTION OF THE INVENTION In this detailed explanation, the preferred configurations of the maneuvering system are discussed only in relation to the subject. for better understanding and without imposing any limiting effects 15 It is explained. Under normal operating conditions, the tracks (10) are driven by traction motors (20). The vehicle is level. When it is desired to slow down in the direction of the brake pedal (40), the brake pressure line -1 is activated. (80) and the pressure in the brake pressure line -2 (90) is increased. Pressurized brake fluid, the vanes (10) 20 brake discs (60) or drum on the shafts, brake calipers (50) It presses down on the brake pads inside and partially or completely stops the vehicle's movement. 8 In the invention, the traction in the direction in which the steering wheel (30) is turned when maneuvering is required. The engine (20) is slowed down by regenerative braking. The vehicle is slowed down in the direction of the track. The turn begins. The sharpness of the turn is due to the force of the applied regenerative braking. This can be achieved by increasing the speed of one track at a time, or by increasing the speed of the other track. 5 Tracked vehicle steering system with steering (30) controlled braking, basically the braking power of the vehicle at different conditions, different tracks (10) and different ratios It is a routing support system that works by transmitting information. The basic element of the system. It is a brake diverter valve (70). This valve (70) preferably has two inlets (BL1, BL2) and four outlets (51, 10 It is a brake fluid distributor (52, 53, 54). Used when guiding tracked vehicles. Steering maneuver by pressing the brake (40) and the brake to the desired track (10) is responsible for its implementation. The tracked vehicle steering system with steering (30) controlled braking can be used in two different ways 15 It is available. In the first use case, the system can be continuously operational. This In this case, each time the steering wheel (30) is turned, the turning ratio is equal to and for full maneuvering. It supports the vehicle's turning maneuver with full braking power even when the vehicle is turned. In its second use case, the system functions as an emergency dispatch support system. 20 It can be used as follows: The tracked vehicle has a high-voltage traction system activated while in motion. When the vehicle is outside or going downhill, the regenerative brake system malfunctions for various reasons. (for example, when the batteries are fully charged) maneuver when unusable loses its ability. In this emergency situation, the steering (30) subject to the invention provides controlled braking. The tracked vehicle guidance system is activated, allowing the vehicle to perform controlled maneuvers. 25 It offers the possibility of activating the system in such emergencies if there is a fault. The scenario needs to run continuously in the vehicle software. The system needs to be activated. Depending on the turning angle of the steering wheel (30) by the vehicle controller (100) to enter. The speed difference between the pallets (10) that should be formed as follows: the pallets (10) in the current situation 9 The speed difference between them is compared. The difference between the two values ​​is outside a certain threshold. then the system is activated. Brake pressure line -1 (80) and brake pressure line -2 (90) are respectively of the brake directing valve. (70) It is connected to the BL1 and BL2 inlets. Under normal operating conditions, the brake pressure line -1 (80) 5 and brake pressure line -2 (90), equal pressure when brake pedal (40) is pressed and It transmits the brake fluid to the brake calipers (50) at a certain flow rate. For this transmission, brake guide The trigger end (71) of the valve (70) is held in the P0 position. While in the P0 position, the brake Pressurized brake fluid from pressure line -1 (80) enters through inlet BL1 and the right brake disc first caliper (53) on (60) and first 10 on left brake disc (60) It sends brake fluid to the caliper (51) at equal pressure and flow rate. Similarly, the brake When the trigger end (71) of the steering valve (70) is in the P0 position, the brake pressure line -2 The pressurized brake fluid from (90) enters through the BL2 inlet and flows onto the right brake disc (60). equal to the second caliper (54) and the second caliper (52) located on the left brake disc (60). It delivers brake fluid at a certain pressure and flow rate. Thus, vehicle braking occurs at position P0 at 15. The energy is distributed equally to the right and left brakes. The trigger end (71) of the brake redirect valve (70) must be fully in the P1 position. When brought in, the flow of brake fluid to the outlet lines (51) and (52) is interrupted, while (53) and (54) 20 The exhaust lines remain open. In this case, when the brake pedal (40) is pressed, only the right track is activated. (10) braking is applied. The trigger end (71) of the brake redirect valve (70) must be fully in the P2 position. When brought in, the flow of brake fluid to the outlet lines (53) and (54) is interrupted, while (51) and (52) 25 The exhaust lines remain open. In this case, when the brake pedal (40) is pressed, only the left track (10) Braking is applied. The trigger end (71) of the brake redirect valve (70) is moved from position P0 to position P1. If it is brought in gradually, during this grading process, the right pallet (10) is applied While the braking force (53,54) increases, the braking force applied to the left track (10) (51,52) remains the same. The trigger end (71) of the brake directing valve (70) decreases by a certain amount. When it arrives, full braking is applied to the right track (10) while braking force is applied to the left track (10) 5 It will not be transmitted. The trigger end (71) of the brake redirect valve (70) is moved from position P0 to position P2. If it is brought in gradually, during this grading, the left pallet (10) is applied While the braking force (51,52) increases, the braking force applied to the right track (10) (53,54) remains the same. The trigger end (71) of the brake directing valve (70) decreases by the ratio. When it arrives, full braking is applied to the left track (10) while braking force is applied to the right track (10) It will not be transmitted. The springs (72) located inside the trigger end (71) of the brake redirector valve (70) 15 Thanks to this, the normal waiting position is the P0 position. Brake redirection valve (70) When the trigger tip (71) is released, it returns to the P0 position. The trigger end (71) of the brake redirect valve (70) is a 3-position trigger. P0 Equal braking force on the right and left tracks (10) in position P1, only 20 Brake force on the right track (10), brake force on the left track (10) only when in position P2 It transmits. The change of the trigger tip (AR) between these 3 positions is mechanical or It is possible to use an automated system. In the mechanical system, the trigger end (AR) is connected to the steering wheel (30) with a steering linkage (110) 25 It is connected by double-acting rods. When the steering wheel (30) is turned in the direction of the turn It causes the trigger tip (71) to move in that direction. Steering wheel (30) to the right or left. When not turned, the trigger tip (71) remains in the P0 position. 11 To establish an automatic system for changing the position of the trigger tip (71) It is possible. Triggering depending on the signal generated by the amount of steering wheel turn (30). The end (AR) can be moved to different positions with the help of a motor with a valve driver (130). In the mechanical system there is a physical connection between the steering wheel (30) and the brake direction valve (70). When it is necessary to connect, the steering signal connection line (120) 5 in the automatic system It is necessary to transport the signal and power cables. The automated system offers design flexibility. The scope of protection in this application is defined in the claims section and is explicitly stated above. The examples given cannot be limited to those described; a person skilled in the technique can make a difference in the invention. the innovation presented can be achieved by using similar structures and / or 10 This structure can also be applied to other similar fields using the same technology. It is clear that it can be implemented. Therefore, such structures foster innovation and especially technology. It is also obvious that it will lack the criterion of exceeding the known situation.

Claims

12 REQUESTS 1- The invention involves using steering-controlled braking in tracked vehicles with electric motors. both to improve maneuverability during normal driving and the main power system. Steering-controlled braking and maneuvering system 5 that provides emergency maneuvering in case of malfunction. It is related to and features; it receives a signal from the brake (40) pedal or steering wheel and the brake fluid by distributing the steering maneuver and applying the brake to the desired track (10) The routing responsible for this, preferably including two inputs (BL1, BL2) and four outputs (51, 52, 53, 54). It is characterized by having a valve (70). 10 2- The directional valve (70) is in accordance with Claim 1, and its feature is; the aforementioned valve (70) is mentioned. the passing trigger point (AR): - When in the default first position (P0), the brake fluid is directed to both the right brake outlets. (53,54) and to the left brake outputs (51,52), preferably equal or predetermined 15 transmitting to a certain extent; - from the first position (P0) to a second position (P1) representing a right turn. the amount of brake fluid transmitted to the right brake outlets (53,54) when the vehicle is moved brake fluid transmitted to the left brake outlets (51,52) while gradually increasing by gradually reducing the amount so that in the second position (P1) the brake fluid is 20 Transmission mainly or exclusively to the right brake outputs (53,54); - from the first position (P0) to a third position (P2) representing a left turn the amount of brake fluid transmitted to the left brake outlets (51,52) when the vehicle is moved brake fluid transmitted to the right brake outlets (53,54) while gradually increasing by gradually reducing the amount so that in the third position (P2) the brake fluid is 25 It is transmitted mainly or only to the left brake outputs ((51,52). 30 13 3- It is a maneuvering system in accordance with Claim 1, and its feature is that the error scenario is continuously monitored. enabling operation in the vehicle software depending on the turning angle of the steering wheel (30) The speed difference between pallets (10) that should be formed and the speed difference between pallets (10) in the current situation By comparing the speed difference, if the difference between the two values ​​is outside a certain threshold, the system The tracked vehicle steering system, with controlled braking, is activated, resulting in 5 by including a vehicle controller (100) that allows the vehicle to perform controlled maneuvers It is the characterization of the situation. 4- It is a maneuvering system in accordance with Claim 1, and its feature is; the movement of the steering wheel (30), brake the trigger end (AR) of the steering valve (70) from the first position (P0) to the second (P1) or 10 Converting to a direct mechanical movement corresponding to the third (P2) position. It is characterized by having a steering linkage (110) that performs its function. 5- It is a maneuvering system in accordance with Claim 1, and its feature is; a steering wheel (30) In response to signals coming through the signal connection line (120), brake steering 15 The trigger end of the valve (70) (AR) is moved from the first position (P0) to the second position as defined in Claim 1. A valve that performs the operation of moving to position (P1) or the third (P2). It is characterized by having a driver (130). 20

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