Civil tracked vehicle

Abstract

A civil tracked vehicle having a driver cab and a support frame on which one track drive is arranged on opposite sides in each case, and having a mounting frame, arranged on the support frame, on which a tipping body is mounted about a tipping axle so as to be able to tip between a lowered idle position and a pivoted-up tipping position, and having a function drive system for displacing the tipping body between the idle position and the tipping position, wherein the function drive system can be controlled by an electronic data processing unit which is programmed with a lowering function for automatically lowering the tipping body from the tipping position to the idle position, is known. According to the invention, the data processing unit is programmed with an additional damping function, which during lowering, decelerates the lowering speed of the tipping body dependent on the tipping angle shortly before the idle position is reached, in order to gently place the tipping body on the mounting frame in the idle position. The invention also relates to the use of tracked vehicles for work purposes on difficult terrains.

Description

[0001] Civilian tracked vehicle

[0002] The invention relates to a civilian tracked vehicle with a driver's cab and with a supporting frame on which a tracked drive is arranged on opposite sides, as well as with a body frame arranged on the supporting frame, on which a tipping trough is mounted so as to be tiltable about a tilting axis between a lowered rest position and a raised tilting position, and with a functional drive system for moving the tipping trough between the rest position and the tilting position, wherein the functional drive system is controllable by an electronic data processing unit which is programmed with a lowering function for automatically lowering the tipping trough from the tilting position into the rest position.

[0003] The invention also relates to a civilian tracked vehicle with a driver's cab and with a tracked chassis that can be driven by a travel drive system that has a central drive motor, in particular an internal combustion engine, and with at least one working function unit, in particular a tipping trough or a cable winch, that can be driven by a functional drive system that is fed directly or indirectly by a drive force of the central drive motor.

[0004] Such a tracked vehicle is known from US 2022 / 0396191 A1. The known tracked vehicle is designed for work in rough terrain and has a driver's cab and a tipping trough located behind the cab, which is mounted on a body frame so that it can tilt about a pivot axis extending in the transverse direction of the vehicle. The body frame is mounted on a supporting frame, which is equipped with a tracked drive on both sides.

[0005] The object of the invention is to create a civilian tracked vehicle of the type mentioned above which can be operated comfortably and economically.

[0006] This task is solved by programming the data processing unit with an additional damping function which, when lowered, causes a delay in the lowering speed of the tipping trough shortly before reaching the rest position, depending on the tipping angle, in order to ensure that the tipping trough rests gently on the body frame in the rest position. The programming of the data processing unit intervenes in the functional drive system in order to reduce the lowering speed defined by the functional drive system shortly before reaching the lowered rest position. A hydraulic system can be provided as the functional drive system, which raises and lowers the tipping trough via hydraulic cylinders linked to the body frame on the one hand and to the underside of the tipping trough on the other. The hydraulic system is advantageously fed by a central drive motor, which can be designed as a reciprocating piston motor or as an electric motor.The reciprocating piston engine can be powered by common fuels such as diesel or hydrogen. The tracked vehicle according to the invention is intended for civilian work applications in rough terrain and thus differs from military tracked vehicles. The lowering speed is decelerated during a lowering process, preferably from an angle of 10° relative to the rest position of the tipping trough mounted on the body frame. The definition of the angle is freely parameterizable, so that other angle values ​​can be set depending on requirements and intended use. The lowering speed is advantageously set to at least half the normal lowering speed of the tipping trough between the upwardly pivoted tipping position of the limit position shortly before reaching the rest position. This deceleration function is carried out without an operator in the driver's cab having to perform any manual control.The damping function, also known as the deceleration function, is provided in addition to the automatic lowering function of the tipping trough. The body frame can be fixed or rotatable relative to the support frame. The body frame can be formed from one or more sections. In the case of a rotatable body frame, this preferably extends at least largely over the length of the tracked vehicle. In the case of a fixed body frame, a section separate from a front body frame section for supporting the driver's cab and drive system can be provided. This section is firmly attached to the support frame and on which the tipping trough is mounted for tilting movement.

[0007] In an embodiment of the invention, the data processing unit is programmed with a lifting function for automatically raising the tipping trough from the rest position to a tilted position. Thus, when the lifting function is activated, the tipping trough is automatically pivoted from the rest position to the tilted position. The tilt angle of the tilted position is adjustable and can be limited depending on certain functional and safety parameters. The functional drive system is controlled accordingly. If a limit to the tilt angle is specified, the lifting occurs automatically only up to the limited tilt angle.

[0008] In a further embodiment of the invention, a limitation of the tilt angle for the tilt position of the tipping trough is provided depending on data from a vehicle inclination sensor and / or a vehicle speed and / or, in the case of a body frame that can be rotated relative to the support frame, a rotational position of the body frame relative to the support frame. This calculation determines how far the tipping trough can be swiveled upwards when the tracked vehicle is tilted transversely or longitudinally without the overall center of gravity of the vehicle shifting to such an extent that there is a risk of the entire vehicle tipping over. Alternatively or additionally, it is provided that the tilt angle is also limited at higher vehicle speeds in order to avoid the risk of an unstable vehicle, particularly due to rapid changes in direction and the resulting transverse and / or longitudinal acceleration.Alternatively or additionally, if the body frame is mounted so it can rotate relative to the support frame, a tipping angle limiter is provided, depending on the rotational position of the body frame relative to the support frame. This tipping angle limiter also serves to prevent the risk of the tracked vehicle tipping over due to a center of gravity shifted too far to the side. The travel speed is calculated using parameters such as the diesel engine speed, the swivel angle of the hydraulic pumps for the hydraulic travel drive, and similar, i.e., parameters known from the machine control system. Alternatively, it is also possible to record the travel speed directly using suitable sensors or a GPS data system.

[0009] In a further embodiment of the invention, an operator-side tilt angle limiter is provided. The operator-side tilt angle limiter allows an operator in the cab of the tracked vehicle to manually limit the tilt angle of the tipping trough, independent of the automatic, pre-calculated tilt angle limiter described above. This is particularly advantageous when the tracked vehicle is operating near overhead power lines or in built-up areas.

[0010] In a further embodiment of the invention, the tipping trough is associated with a tipping angle sensor that is coupled to the data processing unit. The tipping angle sensor detects the current tipping angle of the tipping trough and forwards the corresponding angle data to the data processing unit. This compares the actual data with the target data of the correspondingly programmed function and – depending on the program function – carries out a tipping angle limitation, a delay in the lowering speed for a gentle landing in the rest position of the tipping trough, or other functional processing.

[0011] In a further embodiment of the invention, a digital operating terminal is provided in the driver's cab, and the data processing unit has a visualization program that visualizes the tipping angle of the tipping trough, vehicle inclinations, and / or relative rotations between the supporting frame and the body frame on a screen of the operating terminal. The screen is preferably designed as a touchscreen. The touchscreen can have multiple user interfaces that can be called up alternatively by tapping corresponding buttons or icons. In addition to a corresponding visualization program that visualizes the tipping angle of the tipping trough, vehicle inclinations, and / or relative rotations between the supporting frame and the body frame on the screen, it can also advantageously be provided that virtual actuating elements are provided on the operating terminal, which can be operated manually if the screen is designed as a touchscreen.In addition, a user interface can contain auxiliary instructions for the vehicle, such as operating manuals, error analysis tables, emergency driving functions or similar.

[0012] In a further embodiment of the invention, the screen is designed as a touchscreen on which operating functions for manually activating the lowering function and / or the raising function and / or the tilt angle limitation are programmed. The design of the operating terminal as a touchscreen enables the provision of virtual operating elements to perform the corresponding operating functions.

[0013] In a further embodiment of the invention, a joystick is arranged in the driver's cab, which is coupled to the functional drive system and the data processing unit in order to manually control a pivoting of the tipping trough relative to the body frame and / or a rotation of the body frame relative to the support frame. The joystick can, on the one hand, effect proportional, manual control by an operator of the pivoting of the tipping trough or a rotation of the body frame relative to the support frame about a vehicle vertical axis. On the other hand, the joystick can also have movement sections which, when the joystick is deflected within these movement sections, effect the execution of the automatic lowering function and / or the automatic raising function.The joystick can be used to activate the programmed automatic functions and to proportionally control the raising or lowering of the tipping trough and / or the rotation of the body frame relative to the supporting frame by means of corresponding manual actuation by the operator, preferably the driver of the tracked vehicle sitting in the driver's cab.

[0014] In a further embodiment of the invention, at least one safety function is programmed into the data processing unit, which, depending on predetermined functional parameters of the tracked vehicle, causes the abort of an automatic lowering or raising function of the tipping trough. Such functional parameters can include the opening of a seat belt buckle in the driver's cab, the pressing of a stop button, exceeding certain vehicle speeds, or sudden changes in the situation in the environment that are detected by the driver of the tracked vehicle, requiring them to intervene manually to terminate a corresponding programming function. A fault in the joystick function or in a relevant hydraulic component detected by the vehicle control system can also lead to the abort of the automatic lowering or raising function of the tipping trough.

[0015] The object underlying the invention is achieved for a civilian tracked vehicle of the type initially mentioned in the second paragraph in that an electronic data processing unit is provided for controlling the functional drive system, which is electrically coupled to the central drive motor and programmed such that, depending on the activation or deactivation of the functional drive system, an engine speed of the central drive motor is increased or decreased to a working speed. This programmed function enables an automatic increase in the working speed of the central drive motor as soon as the functional drive system is activated accordingly, in particular via an automatic function. This embodiment is particularly advantageous when an internal combustion engine, in particular a diesel engine, is provided as the drive motor and the functional drive system is designed as a hydraulic system.Increasing the working speed results in a sufficient flow rate being generated in the hydraulic system to perform the corresponding functions in a short time. The flow rate is linearly related to the speed of the combustion engine, especially the diesel engine, and directly influences the corresponding cycle times of a working function, such as the time required to perform the tilt function. Automatically increasing the drive speed avoids the need for a driver in the cab to increase the drive speed, particularly by pressing and holding the accelerator pedal with their foot.In addition, the increase in the working speed is limited to the actual execution of the corresponding work function by means of the functional drive system, wherein preferably a certain follow-up time is additionally programmed, which keeps the working speed high for a certain period of time even after the completion of the corresponding work function. This relieves the operator in the cab, in particular the driver of the tracked vehicle, of the burden of increasing the working speed themselves and maintaining this increase while the work function is being carried out. The solution according to the invention therefore enables comfortable operation of the tracked vehicle. In addition, the solution according to the invention is also ecologically sensible, since an increase in the working speed and thus an increase in the pollutant emissions of the drive engine only occurs to a limited extent over the period for which the corresponding increase in the working speed is also necessary, i.e.over the period in which the corresponding work function is being performed. In addition, this results in a significant reduction in noise for the driver of the tracked vehicle in his cab. Examples of such work functions include, in particular, the operation of a cable winch or pivoting the tipping trough between the rest position and the tipping position, or vice versa.

[0016] In one embodiment of the invention, a manually operable control element is provided in the driver's cab, which allows adjustment of the operating speed. The engine speed is increased automatically to the operating speed. However, the operating speed achieved by the automatic program function can be adjusted by an operator in the driver's cab, in particular the driver of the tracked vehicle.

[0017] In a further embodiment of the invention, a digital screen is arranged in the driver's cab, on which the actuating element is virtually programmed. The digital screen is preferably designed as a touchscreen, so that the actuating element can be virtually recognized by the operator on the screen and can also be activated accordingly by touch.

[0018] Further advantages and features of the invention emerge from the claims and from the following description of preferred embodiments of the invention, which are illustrated with reference to the drawings.

[0019] Fig. 1 shows a perspective view of an embodiment of a tracked vehicle according to the invention,

[0020] Fig. 2 in a plan view the tracked vehicle according to Fig. 2 with the body frame rotated relative to a supporting frame,

[0021] Fig. 3 the tracked vehicle according to Fig. 2 with a body frame rotated in a different direction relative to the supporting frame,

[0022] Fig. 4 shows an enlarged section of a joystick for operating a tipping trough of the tracked vehicle according to Fig. 1,

[0023] Fig. 5 shows an enlarged schematic representation of an operating button of the joystick in different functional positions, Fig. 6 shows another joystick for operating the tipping trough of the tracked vehicle,

[0024] Fig. 7 the joystick according to Fig. 6 in different functional positions,

[0025] Fig. 8 and 9 show two different user interfaces of a touchscreen designed as a digital screen in the driver's cab of the tracked vehicle according to Fig. 1,

[0026] Fig. 10 is a side view of the tracked vehicle according to Fig. 1 with the tipping trough pivoted into a tipping position,

[0027] Fig. 11 the tracked vehicle according to Fig. 10 with the tipping trough lowered into a rest position and in a position inclined relative to the vehicle's longitudinal direction,

[0028] Fig. 12 the tracked vehicle according to Figs. 10 and 11 in a position inclined to the vehicle transverse direction,

[0029] Fig. 13 the representation according to Fig. 2 with explanatory direction and angle of rotation arrows and

[0030] Fig. 14 is a diagram in which the ordinate represents a permissible tipping angle of the tipping trough and the abscissa represents a function of the inclination angles of the tracked vehicle according to Figs. 11 and 12, the angle of rotation of the body frame relative to the supporting frame and the driving speed.

[0031] A civilian tracked vehicle 1 according to Figs. 1 to 13 has a supporting frame 2, also referred to as a chassis, on which a tracked unit 3 is arranged on opposite sides. Each tracked unit 3 has a rotating chain, in this case in the form of a rubber endless chain, which rotates via a rear drive wheel, several large, non-driven idler wheels, and a front tensioning wheel, which is also non-driven but movable to change the track tension. Alternatively, a rubber belt chain with replaceable crossbars can be used. To drive the tracked units, a travel drive system is provided, which comprises a central combustion engine and a hydraulic system. The combustion engine M is preferably a diesel engine. The hydraulic system has two hydraulic drive motors, which are assigned to the drive wheels of the tracked units 3.The central combustion engine, including the associated units required for operation of the combustion engine, is arranged on a body frame 7 and surrounded by an L-shaped housing 5, which is clearly visible in FIG. 1 and is viewed from above. This housing 5 also surrounds a driver's cab 4, which is arranged laterally offset from the center of the vehicle on the body frame 7. At the rear, the tracked vehicle 1 has a tipping trough 6, which is pivotally mounted on the body frame 7 about a tipping axis extending in the transverse direction of the vehicle between the rest position shown in FIG. 1 and a tipping position visible in FIG. 10.

[0032] In one embodiment of the invention, the body frame 7 can be fixedly and immovably connected to the support frame 2. In a further embodiment, illustrated with reference to Figs. 2, 3 and 13, the body frame 2 can be arranged so as to be rotatable relative to the support frame 2 and the tracked units 3 about a rotation axis arranged in a vertical central longitudinal plane of the vehicle in the vehicle's vertical direction. The body frame 7 is mounted so as to be rotatable by 360° relative to the support frame 2, including the vehicle components arranged thereon, such as the driver's cab 4, housing 5 and tipping trough 6. The driver's cab 4 is thus aligned at the front of the tracked vehicle 1 in a driving position in which the body frame 7 and the support frame 2 are aligned with one another in the vehicle's longitudinal direction, and at the rear of the tracked vehicle 1 in an opposite driving position in which the body frame 7 and the support frame 2 are also aligned with one another in the vehicle's longitudinal direction.Such a tracked vehicle 1 with a rotating body frame 7 is also referred to as a "rotary dumper." A rotary drive system is provided to achieve rotation of the body frame 7 relative to the support frame 2 about the corresponding rotation axis extending in the vertical direction of the vehicle.

[0033] In order to be able to move the tipping trough between the rest position and a tipping position analogous to Fig. 10, a lifting drive system 19 engages the tipping trough 6, which has two hydraulic cylinders that are supported parallel to one another on the body frame 7 (in the case of a rotatable body frame 7) or on a rear region of the support frame 2 (in the case of a stationary body frame 7) and are articulated by means of front ends of corresponding lifting rods of the hydraulic cylinders to an underside of the tipping trough 6. The tipping trough 6 is, as can be seen from Fig. 10, pivotally mounted about the tipping axis extending in the transverse direction of the vehicle at a rear end region of the tracked vehicle 10, and thus either at a rear end region of the body frame 7 or a rear end region of the support frame 2 - depending on the design.

[0034] If a tracked vehicle 1 is provided with a rotatable body frame 7, the body frame 7 is rotatably mounted relative to the support frame 2 by means of a slewing gear of the rotary drive system. A slewing gear drive D (Fig. 13) serves, in a manner described in more detail below, to effect the corresponding relative rotation between the body frame 7 and the support frame 2.

[0035] An electronic control system S, which has an electronic data processing unit, is provided to pivot the tipping trough 6 between the rest position (Fig. 1) and the tipping position (Fig. 10). The central control system S is connected to a control unit for the central combustion engine M (Fig. 10) in order to be able to intervene in the control of the combustion engine in a manner described in more detail below.

[0036] A tilt angle sensor ö is assigned to the tipping trough 6, which detects the corresponding tilt angle of the tipping trough 6. The tilt angle sensor ö is shown only schematically in Fig. 10 and is preferably positioned in the region of the tilt axis of the tipping trough 6, in particular coaxially. An inclination angle sensor system α, β is also integrated into the tracked vehicle 1, which detects both the inclinations of the tracked vehicle 1 in the vehicle's longitudinal direction (inclination angle α) and the inclination angle β of the tracked vehicle 1 in the vehicle's transverse direction (Fig. 12). The inclination angle sensor system, like the tilt angle sensor ö, is coupled to the control system S in such a way that corresponding angle signals can be processed by the electronic data processing unit.The tracked vehicle 1 also has a travel speed sensor v and a rotation angle sensor y, which is provided in the area of ​​the slewing gear drive D to detect relative rotation angles between the body frame 7 and the support frame 2, provided that the body frame 7 is rotatable relative to the support frame 2. The travel speed is detected indirectly by calculating the travel speed using suitable parameters such as diesel engine speed, pump swivel angle of the hydraulic pumps of the hydraulic travel drive system, and / or similar parameters known by the machine control system. The travel speed sensor v and the rotation angle sensor y are also coupled to the control system S in such a way that the electronic data processing unit can process corresponding digital data from these two sensors.The electronic control system S is operable using joysticks 8, 11, which are arranged in the driver's cab 4 so as to be operable by an operator, in particular a driver sitting in a vehicle seat. The embodiments according to Figs. 1 to 14 disclose two variants of a corresponding joystick. In one variant according to Fig. 3, a joystick 8 is provided, on the upper side of which are provided, on the one hand, direction buttons 10 and, on the other hand, a rocker switch 9. Using the direction buttons 10, a driver can adjust the direction of travel of the tracked vehicle 1. The rocker switch 9 enables pivoting of the tipping trough 6. The direction buttons can also be designed as latching rocker switches with three switching positions: forward-neutral-reverse (FNR).

[0037] Alternatively, a separate joystick 11 can be provided for pivoting the tipping trough 6, which, as shown in Figs. 6 and 7, is arranged in the driver's cab so as to be pivotable about a single pivot axis in a vertically aligned pivot plane, preferably extending in the vehicle's longitudinal direction. An operating terminal 12 is also arranged in the driver's cab, which allows the driver or operator in the cab to visualize corresponding work functions of the tracked vehicle 1, such as pivoting the tipping trough 6 or rotating the body frame 7 relative to the supporting frame 2 and / or other vehicle parameters. The operating terminal is designed as a digital screen and is programmed such that various user interfaces can be displayed on the screen. T2 and T3 (Fig. 8) can be displayed. The screen is designed as a touchscreen and has various touch-sensitive icons in the top left corner, allowing selection of the desired user interface. The user interface (Fig. 9) visualizes vehicle functions related to the driving movements of the tracked vehicle or the pivoting movements of the tipping trough 6. The user interface T3 (Fig. 8) reveals safety and work functions, described in more detail below. The various user interfaces are programmed using software stored in the electronic data processing unit of the control system S.

[0038] A programming function is stored in the electronic data processing unit which automatically lowers the tipping trough 6 from the tipping position into the rest position. In addition, an additional program is superimposed on this programming function for automatically lowering the tipping trough 6 into the rest position, which enables the tipping trough 6 to be lowered gently into the rest position and thus gently placed on the support frame 2 or the body frame 7 of the tipping trough 6. This additional program function reduces the lowering speed of the tipping trough 6 from a defined tipping angle of the tipping trough 6 during the lowering process. In the illustrated embodiment, this tipping angle ö is 10° relative to a support surface of the support frame 2 or the body frame 7. When the tracked vehicle 1 is aligned horizontally, the angle is therefore 10° relative to the horizontal. The respective tipping angle of the tipping trough 6 is detected via the tipping angle sensor ö.As soon as the limit angle of 10° is reached, the control system S automatically controls the lowering speed, i.e., the tipping speed, of the lifting drive system 19 downwards, to a significantly reduced speed, through the corresponding program function of the electronic data processing unit. The significantly reduced lowering speed is preferably at most half the previous lowering speed of the tipping trough 6 from the tipping position toward the limit angle and toward the rest position.

[0039] The operator of the tracked vehicle 1, preferably the driver, can choose whether the automatic lowering function and thus also the automatic soft landing function for lowering the tipping trough 6 should be initiated, or whether the operator, preferably the driver, wants to actively achieve a proportional lowering of the tipping trough 6 by manually actuating the rocker switch 9 or the joystick 11. Both the rocker switch 9 and the joystick 11 are provided with different deflection functions for this purpose. If, as shown in Figs. 4 and 5 or 7, the rocker switch 9 or the joystick 11 is only deflected in the swivel range S2, then the tipping trough is controlled proportionally relative to the movement caused by the manual deflection of the rocker switch 9 or the joystick 11.However, if the joystick 11 is deflected in one direction up to the swivel range ST, the automatic function for lowering the tipping trough 6 is activated, which also includes touching down at a delayed speed in the rest position using the additional program function. The gentle touchdown function is always active, even with proportional control by manual deflection of the rocker switch 9 or the joystick 11 by an operator.

[0040] The electronic data processing unit of the control system S is also programmed with an automatic lifting function, in which the tipping trough 6 is automatically pivoted upwards from the rest position to the tilted position at a constant lifting speed. This automatic function is activated by deflecting the rocker switch 9 or the joystick 11 in the opposite direction to the lowering direction up to the pivoting range S3, which initiates the automatic lifting movement until the tilted position is reached.

[0041] Both the automatic lowering process and the automatic raising process, as programmed in the electronic data processing unit, can be interrupted for safety reasons. The operator, preferably the driver, can press a separate stop button in the cab at any time, preferably near an armrest of the driver's seat, which interrupts the correspondingly set automatic function. Alternatively, the joystick 11 or the rocker switch 9 can be programmed such that a movement of the joystick 11 or rocker switch 9 opposite to the executed functional direction leads to an interruption of the automatic function. Other parameters, such as the opening of a belt buckle on the vehicle seat, or electrical or hydraulic errors such as a sensor, a hydraulic valve malfunction, an engine failure, or similar, can also lead to the abort of the corresponding automatic lowering or raising process.The corresponding automatic function by moving the rocker switch 9 into the swivel range ST or S3 or by moving the joystick 11 into the corresponding swivel ranges ST or S3 automatically leads to the activation of the corresponding automatic function, even if the rocker switch 9 or the joystick 11 then automatically moves back to the zero position due to a corresponding spring return. This means that the driver or operator only has to briefly move the rocker switch 9 or the joystick 11 into the aforementioned swivel ranges ST or S3 to activate the corresponding automatic function. The driver or operator can then release their hand from the rocker switch 9 or the joystick 11 without interrupting the automatic function. A corresponding stop switch for canceling the automatic function can be provided on an upper end area of ​​the joystick 11 as shown in Figs. 6 and 7.

[0042] Since the hydraulic lifting drive system 19 is activated by raising or lowering the tipping trough 6, the central combustion engine M must be raised from an idle speed to a working speed in order to be able to supply the hydraulics of the lifting drive system 19 with a sufficient amount of hydraulic oil. In the illustrated embodiment, the idle speed of the combustion engine M is raised to a working speed automatically by corresponding control of the combustion engine M by the control system S. For this purpose, the electronic data processing unit is programmed in such a way that when a pivoting movement of the tipping trough 6 is activated, the control unit of the combustion engine M is inevitably controlled in such a way that the combustion engine M is raised to a working speed that is higher than the idle speed.This automatic increase in the speed of the combustion engine M to a working speed occurs over a period of time corresponding to the period until an automatic lowering or raising function of the tipping trough 6 is completed, optionally supplemented by a predefined run-on time. The data processing unit is programmed such that following the completion of a corresponding automatic lifting or lowering process of the tipping trough 6, optionally supplemented by the defined run-on time, the speed of the combustion engine M is automatically reduced back to idle speed.

[0043] The electronic data processing unit can also be programmed in a similar manner to increase the speed of the combustion engine M to a working speed when the slewing drive D is activated to rotate the body frame 7 relative to the support frame 2. Here, too, an increase to the working speed only occurs until the corresponding rotation function is completed. Alternatively or additionally, the tracked vehicle 1 can be equipped with at least one cable winch controlled by a hydraulic winch drive. Even with a corresponding work function that automatically activates the winch drive, an automatic increase in the speed of the combustion engine to a working speed can be programmed.

[0044] Alternatively or additionally, it is also provided that an automatic increase in the speed of the combustion engine M occurs by manually deflecting the rocker switch 9 or the joystick 11 within the pivoting range S2. The level of the desired working speed to which the speed increase is to occur can be adjusted by the driver or operator in the driver's cab. For this purpose, a virtual control slider 13 is provided on the touchscreen of the control terminal 12, via which the level of the working speed to be achieved when the tipping trough 6 is operated can be set. If the tracked vehicle 1 is equipped with a cable winch, a further virtual slider 15 is provided on the user interface T3 (Fig. 8), with which the level of the automatically increasing working speed can be adjusted by the driver or operator.

[0045] After the corresponding work function has been completed, the engine speed is automatically reduced to a normal speed, which is necessary for the ferry operation of tracked vehicle 1. Alternatively, it can also be reduced to idle speed. This only generates a higher noise level in tracked vehicle 1 while the work function is being performed. After the work function has been completed, the noise pollution is reduced both for the driver and for the area surrounding tracked vehicle 1. This also enables a reduction in fuel consumption.

[0046] The operator, preferably the driver, also has the option of setting a maximum lifting height and thus a maximum tipping angle of the tipping trough 6 in the tipping position, and thus limiting the tipping angle of the tipping trough 6 in the tipping position. For this purpose, a function is programmed in the electronic data processing unit which stops the lifting drive system 19 at a predefined tipping angle so that a tipping angle limit can be achieved. This then corresponds to the upper tipping position of the tipping trough 6. The set maximum tipping angle is symbolized by the tipping angle symbol 14 on the touchscreen according to Fig. 8. The driver or operator can thus see at which angular position the upper tipping position is reached. If the tipping angle limit is set by the driver orIf the operator himself has set it, this is visualized in the same way as in the case where vehicle or environmental parameters define a tipping angle limit for safety reasons in order to prevent the entire tracked vehicle 1 from tipping over. A manual setting of the tipping angle limit is preferably carried out when the driver already knows that the tracked vehicle 1 is operating in areas with limited headroom, such as in particular in the area of ​​power lines as overhead lines or in the area of ​​tunnels, underpasses or the like. A tipping angle limit, which is then visualized via the tipping angle symbol 14 according to Fig. 8 or the tipping angle symbol 18 of the user interface. according to Fig. 9, can also be caused by vehicle parameters such as a rotation of the body frame 7 relative to the support frame 2 by the angle y or an inclination of the tracked vehicle 1 in the transverse direction of the vehicle by the angle ß or in the longitudinal direction of the vehicle by the angle α. In the electronic data processing unit, the tipping angle of the tipping trough 6 is set in relation to the overall center of gravity of the tracked vehicle 1 shifted by the tipping of the tipping trough 6. The calculation is always based on a maximum permissible load of the tipping trough 6. By recording the hydraulic pressure in at least one tipping cylinder of the tipping trough 6, the current load of the tipping trough and thus the current load of the tracked vehicle can be recorded. By corresponding vehicle inclinations or by rotating the body frame 7 relative to the support frame and thus to the tracked units 3 according to Fig.2, 3 or 13, additional pivoting of the tipping trough 6 may result in an unstable position for the tracked vehicle 1, which must be avoided. The electronic data processing unit therefore takes into account corresponding sensor data from the vehicle inclination sensor system, the rotation angle sensor system y and the tipping angle sensor system ö in order to calculate a function that always avoids any endangerment of the tipping stability of the tracked vehicle 1 depending on the tipping angle of the tipping trough 6. Fig. 14 shows a diagram that limits the tipping angle ö depending on the correspondingly calculated function resulting from the data from the vehicle inclination sensor system and the rotation angle sensor system for the body frame 7. In addition, the driving speed V plays a role in this function to be calculated. The driving speed v is recorded using the indirect driving speed detection described above.A travel direction sensor system, in conjunction with corresponding vehicle inclination data and rotation angle data of the body frame 7 relative to the support frame 2, can also be used to calculate the maximum tipping angle of the tipping trough 6. This travel direction sensor system also preferably works indirectly by detecting and calculating known parameters such as diesel engine speed, pump swivel angle of the opposing chain drives, and the like via the machine control system. Raising or lowering the tipping trough 6 is possible for the driver or operator via the user interface. In addition to displaying the tracked vehicle's direction of travel, the vehicle symbol 16 also indicates whether the tracked vehicle's drive system is in creep mode or whether normal travel speed is possible. The maximum tipping angle is indicated by symbol 18.

[0047] As soon as corresponding input parameters for the data processing unit arise based on incoming data from the vehicle inclination sensor system, the driving speed detection system or the rotation angle sensor system for the body frame 7, the maximum permissible tipping angle is recalculated and the tipping trough 6 is automatically adjusted to the then maximum permissible tipping angle.

Claims

Patent claims 1. A civilian tracked vehicle (1) with a driver's cab (4) and a supporting frame (2) on which a tracked drive (3) is arranged on opposite sides, as well as with a superstructure frame (7) arranged on the supporting frame (2), on which a tipping trough (6) is mounted so as to be tiltable about a tilting axis between a lowered rest position and a raised tilted position, and with a functional drive system for displacing the tipping trough (6) between the rest position and the tilted position, wherein the functional drive system is controllable by an electronic data processing unit programmed with a lowering function for automatically lowering the tipping trough (6) from the tilted position to the rest position, characterized in that the data processing unit is programmed with an additional damping function,which, when lowering, causes a delay in the lowering speed of the tipping trough (6) shortly before reaching the rest position, depending on the tipping angle, in order to achieve a gentle placement of the tipping trough (6) on the body frame (7) in the rest position.

2. Civilian tracked vehicle (1) according to claim 1, characterized in that the data processing unit is programmed with a lifting function for automatically lifting the tipping trough (6) from the rest position into a tipping position.

3. Civilian tracked vehicle (1) according to claim 1 or 2, characterized in that a limitation of the tilt angle for the tilt position of the tipping trough (6) is provided depending on data from a vehicle inclination sensor system (α, β) and / or a driving speed (v) and / or, when the body frame (7) is rotatable relative to the support frame (2), a rotational position (y) of the body frame (7) relative to the support frame (2).

4. Civilian tracked vehicle (1) according to one of the preceding claims, characterized in that a tilt angle limitation is provided on the operator side.

5. Civilian tracked vehicle (1) according to one of the preceding claims, characterized in that the tipping trough (6) is assigned a tipping angle sensor (ö) which is coupled to the data processing unit.

6. Civilian tracked vehicle (1) according to one of the preceding claims, characterized in that a digital operating terminal is provided in the driver's cab (4), and in that the data processing unit has a visualization program that visualizes the tilt angle of the tipping trough (6), vehicle inclinations and / or relative rotations between the supporting frame (2) and the body frame (7) on a screen of the operating terminal.

7. Civilian tracked vehicle (1) according to claim 6, characterized in that the screen is designed as a touchscreen on which operating functions for a manual activation of the lowering function and / or the lifting function and / or the tilt angle limitation are programmed.

8. Civilian tracked vehicle (1) according to one of the preceding claims, characterized in that a joystick (8, 11) is arranged in the driver's cab (4), which joystick is coupled to the functional drive system and the data processing unit in order to manually control a pivoting of the tipping trough (6) relative to the body frame (7) and / or a rotation of the body frame (7) relative to the support frame (2).

9. Civilian tracked vehicle (1) according to claim 8, characterized in that the joystick (8, 11) is assigned movement sections (ST to S3) which effect implementation of the lowering function and / or the lifting function.

10. Civilian tracked vehicle (1) according to one of the preceding claims, characterized in that in the data processing unit at least one Safety function is programmed which depends on specified Functional parameters of the tracked vehicle cause an abort of an automatic lowering or lifting function of the tipping trough (6).

11. Civilian tracked vehicle (1) with a driver's cab (4) and with a tracked chassis (3) which can be driven by a travel drive system which has a central drive motor, in particular an internal combustion engine, and with at least one working function unit, in particular a tipping trough (6) or a cable winch, which can be driven by a functional drive system which is fed directly or indirectly by a drive force of the central drive motor, characterized in that an electronic data processing unit is provided for controlling the functional drive system, which is electronically coupled to the central drive motor and programmed in such a way that depending on an activation or deactivation of the functional drive system, an increase or decrease in the engine speed of the central drive motor to a working speed occurs.

12. Civilian tracked vehicle (1) according to claim 11, characterized in that a manually operable actuating element is provided in the driver's cab (4), which enables adjustment of the level of the working speed.

13. Civilian tracked vehicle (1) according to claim 12, characterized in that a digital screen is arranged in the driver's cab (4), on which the actuating element is virtually programmed.

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