The invention relates to a tracked vehicle (10; 11) comprising a vehicle body (30, 32; 30), at least one track assembly (21) and a suspension device (S) for suspension of said track assembly (21) to said vehicle body (30) of said tracked vehicle (10; 11). Said track assembly (21) comprises a track support beam (22), a plurality of road wheels (23, 23a), at least one drive wheel (24), and an endless track (25). Said track support beam (22) is arranged to support said at least one drive wheel (24) and a plurality of road wheels (23, 23a). Said endless track is disposed around said at least one drive wheel (24) and plurality of road wheels (23, 23a). Said suspension device (S) comprises two pendulum arms (52, 54) which in one end are rotatably attached to a respective fastening point (P1b, P2b) in said vehicle body (30; 32, 30) and in the other end are rotatably attached to a respective fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21). Said suspension device (S) comprises distance adjustment means (58) which is arranged to allow one or more of: a distance change between said two fastening points (P1a, P2a) in the track assembly (21); a distance change between the two fastening points (P1b, P2b) in the vehicle body (30); and a distance change between the fastening point (P1b, P2b) in the vehicle body (30; 32, 30) and the fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21) of at least one of the pendulum arms (52, 54), so as to allow a tilting movement of the track assembly (21), including said at least one drive wheel (24) and plurality of road wheels (23, 23a), relative to the vehicle body in a plane extending in the longitudinal direction of said track assembly (21) essentially orthogonal to the transversal extension of said track assembly (21).

The invention relates to a tracked vehicle (10; 11) comprising a vehicle body (30, 32; 30), at least one track assembly (21) and a suspension device (S) for suspension of said track assembly (21) to said vehicle body (30) of said tracked vehicle (10; 11). Said track assembly (21) comprises a track support beam (22), a plurality of road wheels (23, 23a), at least one drive wheel (24), and an endless track (25). Said track support beam (22) is arranged to support said at least one drive wheel (24) and a plurality of road wheels (23, 23a). Said endless track is disposed around said at least one drive wheel (24) and plurality of road wheels (23, 23a). Said suspension device (S) comprises two pendulum arms (52, 54) which in one end are rotatably attached to a respective fastening point (P1b, P2b) in said vehicle body (30; 32, 30) and in the other end are rotatably attached to a respective fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21). Said suspension device (S) comprises distance adjustment means (58) which is arranged to allow one or more of: a distance change between said two fastening points (P1a, P2a) in the track assembly (21); a distance change between the two fastening points (P1b, P2b) in the vehicle body (30); and a distance change between the fastening point (P1b, P2b) in the vehicle body (30; 32, 30) and the fastening point (P1a, P2a) in the track support beam (22) of said track assembly (21) of at least one of the pendulum arms (52, 54), so as to allow a tilting movement of the track assembly (21), including said at least one drive wheel (24) and plurality of road wheels (23, 23a), relative to the vehicle body in a plane extending in the longitudinal direction of said track assembly (21) essentially orthogonal to the transversal extension of said track assembly (21).

The invention relates to a tracked vehicle (11) comprising a vehicle body (30), at least one track assembly (21) and a suspension device (S). Said track assembly (21) is arranged to be supported by said vehicle body (30) by means of said suspension device (S), said track assembly comprising a track support beam (22) for supporting a plurality of road wheels (23, 23a), an endless track (25) being disposed around said road wheels. Said suspension device (S) comprises a bogie arrangement (50) rotatably attached to a fastening point (P0) of said vehicle body (30) about an axis of rotation (Z0) transversal to the longitudinal extension of said track assembly (21) and attached to said track support beam (22) in connection to at least two fastening points (P1, P2) so that the track support beam (22) is allowed to rotate in a rotational plane extending along the longitudinal extension of said track support beam (22) about said axis of rotation.

The invention relates to a tracked vehicle (11) comprising a vehicle body (30), at least one track assembly (21) and a suspension device (S). Said track assembly (21) is arranged to be supported by said vehicle body (30) by means of said suspension device (S), said track assembly comprising a track support beam (22) for supporting a plurality of road wheels (23, 23a), an endless track (25) being disposed around said road wheels. Said suspension device (S) comprises a bogie arrangement (50) rotatably attached to a fastening point (P0) of said vehicle body (30) about an axis of rotation (Z0) transversal to the longitudinal extension of said track assembly (21) and attached to said track support beam (22) in connection to at least two fastening points (P1, P2) so that the track support beam (22) is allowed to rotate in a rotational plane extending along the longitudinal extension of said track support beam (22) about said axis of rotation.

The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.

Vehicles, systems and methods for providing articulating two section vehicles with tracks, and a front body attached superstructure with telescopic forklift, for use on all terrain condition applications. The vehicle can include front and rear track assemblies that can tilt up and down while traveling over different ground surfaces. Each of the track assemblies can have rotatable articulating/oscillating track wheels which can traverse different contoured surfaces. The right and left tracks on both the front and rear track assemblies can separately extend outward and inward from underneath the vehicles to add stability to the vehicles. The cab can be raised and lowered to add greater visibility for the operator. Hydraulics can be used for raising and lowering the extendable boom and operator cab, as well as controlling the body articulating hinge, the articulating tracks and the tilting controls for the front track assembly.

This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.

This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.

In one aspect of the present invention is provided an attachment device (100) for attachment of a trailing arm (54a) to a track support beam (22) intended to be connected, via said trailing arm (54a), to a center beam (30, 32) or other structural element situated between two track assemblies (21) of a tracked vehicle (10). The attachment device (100) is secured to the track support beam (22) and configured to attach the trailing arm (54a) to the track support beam (22) via an axis (X2) running above and substantially centrally along an upper side of the track support beam (22), in the longitudinal direction of the track support beam. In this way, a robust, structurally strong, suspension-admitting attachment device that is easy to manufacture and assemble is achieved. In another aspect of the invention is provided a tracked vehicle (10) comprising such an attachment device (100) and in a further aspect of the invention a method of manufacturing a track support beam (22) comprising such an attachment device (100).

In one aspect of the present invention is provided an attachment device (100) for attachment of a trailing arm (54a) to a track support beam (22) intended to be connected, via said trailing arm (54a), to a center beam (30, 32) or other structural element situated between two track assemblies (21) of a tracked vehicle (10). The attachment device (100) is secured to the track support beam (22) and configured to attach the trailing arm (54a) to the track support beam (22) via an axis (X2) running above and substantially centrally along an upper side of the track support beam (22), in the longitudinal direction of the track support beam. In this way, a robust, structurally strong, suspension-admitting attachment device that is easy to manufacture and assemble is achieved. In another aspect of the invention is provided a tracked vehicle (10) comprising such an attachment device (100) and in a further aspect of the invention a method of manufacturing a track support beam (22) comprising such an attachment device (100).