WO2025144072A1 - Compact tracked boat with electromechanical transmission - Google Patents

Abstract

The invention relates to transport equipment. A compact tracked boat with an electromechanical transmission comprises a main body and track assemblies, as well as a combined internal combustion engine and generator, a fuel tank, an electric traction motor, an electric motor for a propeller, an energy accumulator and a control unit, which are mounted inside the main body and are connected to one another. The main body comprises a bottom, sides and a deck, which delimit an internal water-displacing space that is divided into compartments. On either side of the water-displacing space, additional compartments are provided in the sides of the main body, each of said additional compartments being capable of accommodating caterpillar tracks. The result is an increase in the versatility and reliability of the vehicle.

Description

SMALL-SIZED TRACKED BOAT WITH ELECTROMECHANICAL TRANSMISSION

Field of technology to which the invention relates

The invention relates to transport equipment, or more precisely, to the devices of tracked all-terrain vehicles-boats.

State of the art

The prior art discloses an all-terrain technological tracked vehicle comprising an amphibious chassis in the form of a displacement hull with a driver-operator cabin, tracked propellers, an engine compartment located in the displacement hull, technological equipment with autonomous control, made in the form of lifting and/or earthmoving and/or drilling and/or pumping equipment, wherein the hydraulic system of the technological equipment is connected by hydraulic lines to a hydraulic pump mounted on the chassis transfer case, and is equipped with propellers or water jets.

Also known from the prior art is an all-terrain vehicle (RU2549300C1, 27.04.2015), comprising a boat hull, an internal combustion engine, wheels, lever-spring wheel suspensions, a winch, a hydraulic drive for the all-terrain vehicle propeller on water, a driver's cabin with an all-terrain vehicle control system, a passenger compartment, doors in the rear part of the passenger compartment, while inside the boat hull there is a power frame on which a multi-fuel diesel engine with a hydraulic pumping station, power units and a water jet are located, on the outside of the left and right sides of the hull there are front and rear mechanisms for radial lifting of wheel units mounted and secured to the power frame, driven by hydraulic motors for lowering and raising the wheel units, the left and right wheel units are identical structures consisting of load-bearing crossbars pivotally secured to the radial lifting mechanisms, while on each crossbar there are four independent spring-hydraulic wheel suspensions consisting of a system of levers, located parallel to the crossbar, and the housing of the centrifugal hydraulic motor, which has a wheel hub, is fixed to the base of the lower lever, while the power transmission of torque is carried out hydraulic fluid through a system of pipelines to the hydraulic motors of all wheels, to the hydraulic motor of the water jet, to the hydraulic motors of the actuators, and the distribution, intensity and direction of the flow of hydraulic fluid to the hydraulic motors of the actuators is carried out by a control system with computer programming.

The disadvantages of these solutions are an overly complex and unreliable design, hung with a lot of additional devices and having a large number of mechanical connections, in addition, these solutions have large mass and dimensions, incorrect weight distribution, are not designed for movement at a high maximum speed and far from filling stations, have a short mileage between repairs, require large labor costs for repair and maintenance, do not have sufficient useful space to accommodate the crew and cargo.

Disclosure of invention

The technical task is to create a more universal, small-sized, easily transportable, reliable and simple in design vehicle that provides movement on water at high speed with the subsequent ability to independently descend - go ashore and move in off-road conditions, and vice versa, having a minimum number of mechanical connections, having small weight-dimensional indicators, designed for movement far from filling stations, including in any climatic conditions, having a long mileage between repairs and not requiring large labor costs for repair and maintenance, possessing the best weight distribution and sufficient useful space to accommodate the crew and cargo.

Technical result: increasing the versatility of the vehicle, ensuring movement on water at high speed with the subsequent ability to independently descend - go ashore and move in off-road conditions, and vice versa, simplifying the design and increasing reliability, reducing weight and overall dimensions, simplifying transportation, ensuring movement away from filling stations, including in any climatic conditions, ensuring the best weight distribution, increasing the mileage between repairs and reducing labor costs for repair and maintenance. The technical result is achieved due to the fact that a small-sized tracked boat with an electromechanical transmission contains a power frame, tracked propellers, as well as an internal combustion engine generator, a gas tank, an energy storage device, a control unit, and a propeller electric motor installed in the power frame and connected to each other without using mechanical connections, wherein the power frame contains a bottom, sides and a deck that form an internal displacement space divided into compartments, wherein on both sides of the said internal displacement space, additional compartments are made in the sides, each of which is designed with the possibility of accommodating a track.

In addition, each of the tracks is designed with the ability to rotate around the longitudinal axis by 180 degrees and be fixed in the compartment.

In addition, all track elements - suspension arms, shock absorbers, tensioners, support and support rollers, electric motor - wheels are mounted on a single beam.

In addition, the overall internal displacement space and the compartments for the track drives are completely protected from dust and water ingress.

In addition, the internal combustion engine generator, traction electric motor, propeller electric motor and energy storage device are electrically connected to each other by high-voltage power wires and are controlled via a CAN bus or control wires.

In addition, the bottom of the boat is made of a planing type, with longitudinal steps.

In addition, the energy storage device can be equipped with a BMS system.

In addition, the energy storage unit can be equipped with a thermal control unit. In addition, a bow compartment for a winch and anchor is located in front.

Brief description of the drawings

Fig. 1 - Elements of the boat design;

Fig. 2 - Schematic representation of the boat compartments;

Fig. 3 - Elements of the boat track design;

Fig. 4 - Construction of a boat with a compartment for a track;

Fig. 4 - General block diagram of the boat elements with a compartment for the track.

The following elements are marked with positions on the figures: 1 - Cutting;

2 - Toilet;

3 - Cabin

4 - Bow compartment for anchor and winch;

5 - Hold;

6- Compartment for the track;

7 - Caterpillar in transport position;

8 - Caterpillar in folded position;

9 - Longitudinal axis of track rotation;

10 - internal combustion engine generator;

1 1 - Electric motor-wheel;

12 - Support roller;

13 - Suspension arm;

14 - Shock absorber;

15 - Track beam;

16 - Tensioner;

17 - Upper cover of the track compartment;

18 - Lower cover of the track compartment.

Implementation of the invention

The declared boat is made with tracks that can be rotated 180 degrees, which is a unique development that has no analogues in the world.

The main objective of creating this machine is to solve transport problems by moving on water at high speed with the ability to enter planing mode in conditions of significant water obstacles and coastal sea areas with the simultaneous ability to independently descend - go ashore in conditions of an unequipped shore and independently move in shallow water, swamps, marshes, savannas and other off-road conditions.

One of the important advantages of this machine is that it has a transport dimension, which allows it to move on public roads and transport it on a regular trailer without a special permit. At the same time, of course, there is an option for a larger displacement and, accordingly, dimensions, but such this option must already be transported on special trailers with the execution of the relevant documents.

A small-sized tracked boat with an electromechanical transmission contains a power frame, tracked propellers, as well as an internal combustion engine-generator (a generator module consisting of an internal combustion engine rotating a synchronous generator on permanent magnets of alternating current), which in turn is connected to a gas tank, an electric motor of a propeller, connected to a traction inverter, an energy storage device (battery), a control unit, and a propeller shaft, installed in the power frame and connected to each other without the use of mechanical connections.

The power frame contains a bottom, a deck and walls (sides) forming a common internal displacement space. On both sides of the common internal displacement space in the sides there are additional displacement spaces-compartments (one on the left, the second on the right), in each of which a caterpillar mover can be placed. The caterpillar movers, when not in use (when the boat is moving on water), are folded into the specified compartments, and when necessary (when going ashore and moving off-road) they can be extended from them.

The total internal useful displacement space can be divided into compartments (Fig. 1), for example, the bow compartment 4 (for placing the anchor and winch) and the hold 5.

The deck can be of great capacity and be a sufficiently flat cargo deck or equipped with a cabin 3 and a wheelhouse 1 above it. You can stand upright in the cabin.

The cargo platform version can accommodate a large amount of cargo or specialized equipment for various fields of activity.

In the cargo platform version, the machine can be equipped with a manipulator for loading and unloading cargo.

Under the deck is hold 5, accessible through hatches in the deck. In hold 5, a heat- and sound-insulated engine room is separately fenced off, where the internal combustion engine generator 10 is located.

In the space above the internal combustion engine - generator 10, between the wheelhouse 1 and the cabin 3, on one side, a compartment with a toilet 2 can be made, as on a regular boat, on the other on the sides, a ventilation shaft for cooling the generator and components of the electromechanical transmission.

The driver and front passenger have a cabin in the front. Their seats can be transformed into a sleeping area for one person across the cabin.

Under the removable panels of the hold floor there is access to all units, the tank, batteries, spare parts and electronic components of the electromechanical transmission control system.

The internal combustion engine - generator 10 can be installed immediately behind the wheelhouse 1, since on an empty boat a more forward centering is needed for controllability, and on a loaded boat a rear centering is preferable for a more correct and quicker planing.

Under the bow deck there is a compartment 4 for the winch and anchor. The rope from the winch goes forward through the hawse and the anchor is attached to it. The anchor is lightweight, welded, and quick-release.

The same winch is used to pull a boat to shore or when stuck off-road.

Also, a large hatch in the wheelhouse 1 and folding wind protection visors can be made so that it is possible to steer while standing on the water.

One of the main technical ideas is the location of the tracks under the boat within the overall dimensions of the machine (Fig. 2, Fig. 3). The transmission is made electromechanical and does not have a rigid mechanical connection with the working wheel 11 of the track and the propeller.

The mechanical connection can only be on the crankshaft of the internal combustion engine for connection to the electric generator and at the electric motor of the propeller, located under the floor in the rear part of the boat. In this case, the mechanical connection is the propeller shaft, since it will be the end shaft of the propeller line and is intended for fastening the propeller.

The propeller is installed on the stern end of the boat together with the rudder. This solution provides for the installation of a propeller driven by an electric motor located in the rear part of the hold under the boat floor. It is also possible to install an outboard motor on the transom, which in turn is installed on the places of fastening of the cargo eyes on the stern of the boat and connected via special wires for starting, control and steering.

To accommodate the tracks mounted on a single beam 15, compartments 6 are made in the sides of the boat. If it is necessary to lift the track 7,8, compartment 6 opens. (folds back), the track rotates around the longitudinal axis 9 by 180 degrees on a special turning mechanism, and after fixing the track in compartment 6, it is closed with a sealed folding cover (Fig. 2). The axis of the track rotation passes along the lower boundary of the special compartment for the track, along the boundary of this compartment and the lower cover of this compartment. The track can be fixed with a special remote locking device. The special mechanism for turning/turning the track is based on rotary elements - hinges, fixed on one side to the inner part of the compartment for the tracks, and on the other to the power element, which is the lower cover of the compartment for the tracks. A beam with all suspension components, the actual track drive, tensioner, suspension arms, support and supporting rollers and an electric motor-wheel, which is the working wheel of the track drive, is fixed to this power element (the lower cover of the track compartment). All covers are adjacent to the compartment through seals and are equipped with closers.

In more detail, the principle of turning/unwrapping the track may be as follows. While in the water, at a sufficient depth to prevent snagging on possible obstacles, the operator activates the mechanism for opening the upper covers 17 of the compartments 6 for the tracks, which rise by 90 degrees. After filling the compartments 6 with water, the operator activates the mechanism for opening the lower covers 18 of the compartments 6 and unfolds the track mechanisms by 180 degrees. Then closes the upper covers 17 in the opposite position. After which the operator selects the most gentle bank possible and exits onto the bank and moves along a hard surface.

The reverse process can be carried out as follows. The boat enters the water on tracks until it surfaces and moves away to a sufficient distance so that the tracks do not catch on the bottom. After that, the operator lifts the upper covers of the track compartments by 90 degrees. Then the operator turns on the track rotation mode by 180 degrees until the track mechanism is fixed to a special device located in the track compartment. Then he closes the upper covers and finally fixes the position of all covers through special seals in the track compartment with special closers. Then the pumps for pumping water out of the track compartments are automatically turned on and after pumping is complete, movement on the water is carried out.

All track elements - suspension arms 13, shock absorbers 14, tensioners 16, support rollers 12, electric motor - wheels 11 are mounted on a single beam 15 (Fig. 3). In particular, the arrangement of all elements of the caterpillar mechanism on a single beam made it possible to implement a caterpillar turning mechanism - since it is impossible to create a turning mechanism with a large number of support points for these elements located not along the same axis.

The boat's bottom is made of a gliding type, with longitudinal ridges. Due to the specifics of hydrodynamics, several versions of the boat are possible:

1. Displacement, with the ability to move at a speed on the water of up to 20 km/h. with an electric motor located in the hull of the boat, on which the propeller is fixed. The carrying capacity of this version of the boat will be high.

2. Planing, moving at a speed on the water from 20 km / h. To obtain a good speed when gliding, an outboard motor with sufficient power can be installed. The contours and height of the hull sides will ensure the gliding mode, and will also ensure seaworthiness, up to a wave of about 1 meter in the gliding mode. The carrying capacity of this version of the boat will be reduced.

The physical essence of the planing mode consists in reducing the resistance of water to the movement of the vessel due to the floating of its hull under the action of the hydrodynamic lifting force formed on the bottom from the high-speed pressure of the water. The resulting reduction in the submerged volume and the area of the wetted surface of the hull allows for a sharp reduction in wave resistance and friction resistance and, accordingly, an increase in the speed of the vessel.

Longitudinal sills are projections of triangular cross-section, located on the bottom in pairs and symmetrically and running along the hull of the vessel. They provide a decrease in the wetted width of the bottom when the vessel reaches the appropriate speed. The installation of sills can increase the running trim of the vessel and reduce its wetted length.

The declared boat is unsinkable, since the required number of survivability blocks can be placed in the voids between the inner lining of the sides and the bottom.

The energy storage device can be equipped with a BMS system and a thermal control unit 9. The presence of a BMS system and a thermal control unit in the battery can additionally ensure reliable and long-term operation of both the battery itself and the entire transmission as a whole, allowing the all-terrain vehicle to travel for a long time away from gas stations in any weather conditions.

The arrangement of the internal combustion engine generator and other elements is made, among other things, to increase the useful space for the crew and/or cargo, as well as to improve the weight distribution. Creating an ideal weight distribution provides uniform support on the supporting surface, which in conditions of weak soils or water improves the qualities of cross-country ability and non-sag, which in turn is a huge plus for any all-terrain vehicle.

The transmission elements are interconnected by high-voltage power cables and are controlled via the CAN bus and/or using control cables. Such simplicity of design ensures its high reliability and operability, minimal maintenance, increased mileage between repairs, low weight and dimensions of the boat.

The energy storage device is designed for:

- Efficient energy accumulation, storage and distribution between internal storage units (battery balancing) and stable energy output to consumers. May have a liquid circuit for connecting a cooling and heating system.

The thermal control unit for the energy storage device is designed for:

- Ensuring cooling of the energy storage device temperature to the operating temperature and preliminary heating of the energy storage device when starting at sub-zero temperatures.

The main control unit (MCU) is used to control all elements of the EMT. The units of all EMT systems of the all-terrain vehicle are connected to the MCU via a digital communication bus or via wires and is intended for:

- Providing generation of control signals for all connected units;

- Processing of telemetry information;

- Implementation of preset control rules depending on the information received (standard and emergency operating algorithms).

- Speed/torque control of traction motors;

- Control of charge/discharge current of energy storage device;

- Control of the generator AC-DC converter power; - Control of on-board charger;

- Distribution of torque along the sides;

- Control of the accumulator temperature control unit;

- Control of switching on consumers (for example, cooling system pumps and fans) via a low-voltage switching unit;

- Ensuring a reduction in the power of traction drives when the temperature of motors or inverters increases;

- Ensuring a reduction in currents or power of the AO-DC converter depending on the temperature state of the internal combustion engine, generator or the converter itself;

- Ensuring a reduction in the charge-discharge currents of the storage device depending on the permissible currents generated by the energy storage device control system;

- Ensuring the process of charging the energy storage device when the ignition key is removed;

- Ensuring the response of the control system in case of insulation damage based on insulation monitoring data in the VKB;

- Providing the ability to calibrate system parameters (e.g. maximum speed, maximum traction forces, steering system coefficients, etc.) via a Windows service application or other programs;

- Providing processing of fuel level sensor signals;

- Ensuring processing of signals from the internal combustion engine temperature sensor in the event of a lack of temperature data in the CAN bus of the internal combustion engine control unit.

The generator module consists of an internal combustion engine that rotates a synchronous alternating current permanent magnet generator.

The total internal useful displacement space and additional track compartments are completely protected from dust and water ingress.

With such a design, the declared all-terrain boat has the ability to move from a place in conditions of difficult geometric cross-country ability (steep climbs, ravines, exit from a float onto ice, etc.) on the principle of an electric locomotive (which moves a huge mass of cargo from a place). Using the property of an electric motor to create maximum torque on the shaft in the speed range from 0 km/h to maximum provides the ability for the machine to overcome obstacles with maximum effort at minimum speed, which significantly increases the all-terrain capabilities of the machine compared to traditional transmission designs. Movement on water and on extreme off-road conditions at minimum speed significantly increases the safety, comfort and security of the vehicle.

Including by using a lower-power generator to recharge the battery and operating it in the best efficiency mode, the overall mileage of the boat increases.

The use of electric transmission allowed to abandon almost all mechanical connections, which made it possible to use various layout solutions with uniform weight distribution, which is very important for any all-terrain boat on a weak supporting surface and on water. The design is universal - depending on the layout need, it can provide front or rear drive of a tracked all-terrain vehicle and create an ideal weight distribution of the machine.

It also provides the possibility of using the boat as a power plant for household electricity, away from energy sources.

The electric transmission of the declared boat has the best indicator for the ratio of the weight of the vehicle/thrust on the hook and is designed to move the vehicle at a high maximum speed due to the low weight of the entire structure and the use of an advanced suspension.

The above-described boat has a simple and reliable design, it is not hung with a lot of additional devices and has an electromechanical transmission with a minimum of mechanical connections, while it has additional compartments for caterpillar propellers, which can be lowered/raised if necessary, making the boat an improved universal machine with the ability to move on water at high speed with an exit to the planing mode, as well as with the ability to independently descend - go ashore and independently move in off-road conditions, having the correct weight distribution and useful space for placing, for example, a crew and / or cargo, can move away from gas stations in any weather conditions, having a short mileage between repairs and not requiring large labor costs for repairs and maintenance.

Claims

CLAUSE OF INVENTION 1. A small-sized tracked boat with an electromechanical transmission, characterized in that it contains a power frame, tracked propellers, as well as an internal combustion engine generator, a gas tank, a traction electric motor, a propeller electric motor, an energy storage device, a control unit, and a propeller installed in the power frame and connected to each other, wherein the power frame contains a bottom, sides, and a deck that form an internal displacement space divided into compartments, wherein on both sides of the said internal displacement space, additional compartments are made in the sides, each of which is designed with the possibility of accommodating a track. 2. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that each of the tracks is designed with the possibility of turning around the longitudinal axis by 180 degrees and being fixed in the compartment. 3. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that all track elements - suspension arms, shock absorbers, tensioners, support and support rollers, electric motor-wheels are mounted on a single beam. 4. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that the total internal displacement space and compartments for the tracked propellers are completely protected from dust and water. 5. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that the internal combustion engine generator, traction electric motor and energy storage device are electrically connected to each other by high-voltage power wires and are controlled via a CAN bus and/or control wires. 6. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that the bottom of the boat is made of a planing type, with longitudinal steps. 7. A small-sized tracked all-terrain vehicle with an electromechanical transmission, according to paragraph 1, characterized in that the energy storage device is equipped with a BMS system. 8. A small-sized tracked all-terrain vehicle with an electromechanical transmission, according to paragraph 1, characterized in that the energy storage device is equipped with a thermal control unit. 9. A small-sized tracked boat with an electromechanical transmission, according to paragraph 1, characterized in that a bow compartment for a winch and anchor is located in front.