EP0354242B1 - Lightweight weapon stabilizing system - Google Patents

Lightweight weapon stabilizing system Download PDF

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Publication number
EP0354242B1
EP0354242B1 EP89902841A EP89902841A EP0354242B1 EP 0354242 B1 EP0354242 B1 EP 0354242B1 EP 89902841 A EP89902841 A EP 89902841A EP 89902841 A EP89902841 A EP 89902841A EP 0354242 B1 EP0354242 B1 EP 0354242B1
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EP
European Patent Office
Prior art keywords
recoil
stage
cannon
cannon assembly
path
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EP89902841A
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German (de)
English (en)
French (fr)
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EP0354242A1 (en
Inventor
William Arthur Mraz
Martin Edwy Buttolph
Michael James Farney
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BAE Systems Global Combat Systems Munitions Ltd
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Royal Ordnance PLC
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A25/00—Gun mountings permitting recoil or return to battery, e.g. gun cradles; Barrel buffers or brakes
    • F41A25/16—Hybrid systems
    • F41A25/20—Hydropneumatic systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A25/00—Gun mountings permitting recoil or return to battery, e.g. gun cradles; Barrel buffers or brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/28—Wheeled-gun mountings; Endless-track gun mountings

Definitions

  • the present invention is directed to the field of gun systems, and more specifically directed to a stabilizing system using curvilinear recoil energy management to improve weapon stability for gun systems, especially towed artillery.
  • Recoil systems currently in use for artillery, and particularly towed artillery are striclty rectilinear.
  • the axis of motion during recoil is coaxial with the tube axis.
  • Retardation of the recoiling parts is provided by one or more hydropneumatic cylinders, in which a working fluid is forced through one or more orifices.
  • the moment of retarding force tends to tip the gun over backwards. Opposing this Is the moment of weapon weight about the trail ends. If the overturning moment exceeds the downward weight moment, the weapon will momentarily lift about its trail ends. This condition Is termed "instability", and is undesirable because of (1) possible damage to the weapon and (2) gross weapon movement requiring resighting.
  • German Patent No.75137 to Olliver describes a curved recoil path which causes increased pressure of adhesion between the gun and the ground, and states that the path may be either a circular arc or some other geometric curve, or even a path formed by curves and straight lines.
  • Olliver does not however teach a two-stage curvilinear path, with the first stage inducing a vertical acceleration component to the recoiling mass and a second stage for controlling vertical deceleration of the mass.
  • German Patent No. 134007 to Heinrich which forms the basis for the preamble of claim 1, describes recoiling parts mounted on pairs of guide rails which may be partly curved and partly in the form of straight lines.
  • Heinrich refers to two stages of lifting the barrel in recoil, the movement of the centre of mass of the barrel in Heinrich is in a single continuous curved stage and Heinrich does not address controlled vertical acceleration and deceleration, in a first and second stage of the recoil respectively.
  • U.S. Patent No.439,570 to Anderson and U.S. Patent No.463,463 to Spiller disclose "disappearing" guns which, after being fired, rotate vertically so that they descend behind a wall. This motion is caused by recoil. Anderson and Spiller also do not solve the problem of lightweight weapon stability. Also Anderson and Spiller disclose gun mountings which are suitable for use only with heavy ordnance.
  • a gun system having a fixed carriage and which remains relatively fixed during the firing cycle.
  • a recoiling cannon assembly is movably mounted in relation to the cradle so that the cannon assembly can travel on a defined recoil path.
  • the gun system has recoil braking means for decelerating the cannon assembly and conventional recouperator means for returning the cannon assembly to its original prefiring orientation.
  • the recoil path is a two-stage curvilinear path
  • the means for movably mounting the recoiling cannon assembly includes at least a pair of parallel campaths and associated cam followers, one on each side of the recoiling cannon assembly which constrain travel of the cannon assembly on the recoil path defined by the configuration of each campath.
  • the first stage has a curved configuration portion to produce an upward force and vertical acceleration component to the centre of the mass of the recoiling cannon assembly and the second stage has a configuration different from that of the first stage for causing controlled vertical deceleration of the cannon assembly during recoil.
  • the recoil system generates a retarding force which predictably and controllably decelerates the cannon assembly, and is adapted such that the magnitude of the retarding force is matched in a predetermined relationship to the configuration of the two stage curvilinear recoil path.
  • the instantaneous destabilizing moment of the recoil forces is 10 overcome by the instantaneous stabilizing moment of the forces resulting from the reaction to the upward force of the recoiling cannon assembly in the curved configuration portion of the first stage of the curvilinear recoil path, and the moment of the status weight of the gun system, and, in the second stage, the instantaneous destabilizing moments of both the recoil forces and the reaction to the downward force of the recoiling cannon assembly during controlled vertical deceleration is overcome by the moment of the static weight of the gun system.
  • the first stage of the two-stage curvilinear recoil path preferably has a linear portion shaped to maintain the prefiring orientation of the cannon assembly at the beginning of recoil.
  • the curved configuration portion of the first stage preferably has a portion of decreasing radius of curvature in the direction of recoil travel.
  • the second stage of the two-stage curvilinear recoil path may be either linear or curved in either the same of the opposite direction as the first stage, or a combination of these, as necessary. If curved in the same direction as the first stage, the second stage will have a shallower curve than that of the first.
  • the campath which defines the configuration of the two-stage curvilinear recoil path will have a curved portion corresponding to the first stage of the curvilinear recoil path and a straight or differently curved portion or a combination of both straight and differently curved portions, corresponding to the second stage of the curvilinear recoil path.
  • the campath mechanism can be fixedly mounted on the cannon portion, with the cam follower mechanism fixedly mounted on the carriage portion, or the campath mechanism can be fixedly mounted on the carriage portion with the cam follower mechanism being fixedly mounted on the cannon portion.
  • curvilinear recoil is used to provide stability to a lightweight towed Howitzer.
  • curvilinear recoil works as follows: the recoiling parts travel rearwardly and upwardly during recoil in curved tracks mounted to the recoil cradle.
  • Our invention involves generating an additional vertical force which produces a supplemental stabilizing moment, counteracting the destabilizing moment of the recoil force.
  • This vertical force acts upon the recoiling parts, resulting in a recoil path which is both rearward and upward. From the shape of this path, we have termed it “curvilinear” in contrast to conventional straight-line or “rectilinear,” recoil motion.
  • Howitzer 10 comprises a conventional stationary carriage 12 supported by conventional left and right wheels 14 and 16 and conventional left and right trails 18 and 20.
  • a cradle 22 having left and right sides 24 and 26 held together at the top by cross members 27 and modified according to the invention as will be described in greater detail hereinafter is pivotally mounted on carriage 12.
  • Cradle 22 is rotated up or down by a conventional balancing/elevating mechanism, shown here as left and right pistons 28 and 30.
  • a cannon 32 having a longitudinal tube axis A is mounted in cradle 22 for reciprocating movement between a first, forward and downward position (solid lines) and a second, rearward and upward position (dashed lines).
  • a conventional recoil recuperator mechanism such as left and right recoil/recuperator cylinders 34 and 36 pivotally mounted between cradle 22 and cannon 32.
  • the mounting mechanism for cannon 32 includes a forward yoke 38 positioned forward of the tube center of mass and a rearward yoke 40 positioned rearward of the tube center of mass.
  • Yokes 38 and 40 comprise cylindrical central collars 42 and 44, respectively, for supporting and housing cannon 32 and forward left and right ears 46a and 46b and rearward left and right ears 48a and 48b, respectively, in the form of tapered structures extending from either side of central collars 42 and 44.
  • Each collar includes a torque key 50 to prevent spinning between the yoke and the cannon tube, and a doubler 52 enveloping torque key 50.
  • Forward left and right twin roller sets 54a and 54b are mounted on forward left and right ears 46a and 46b and rearward left and right twin roller sets 56a and 56b are mounted on rearward left and right ears 48a and 48b, respectively, via stub axles 62.
  • Left twin rollers 54a and 56a preferably are flat, i.e., have rectangular longitudinal cross-sections, while right twin rollers 54b and 56b are trapezoidal, i.e., have trapezoidal longitudinal cross-sections.
  • the left and right sides 24 and 26 of cradle 22 are provided with forward left and right parallel campaths 64a and 64b, respectively, for movably engaging forward left and right roller sets 54a and 54b, and rearward left and right parallel campaths 66a and 66b, respectively, for movably engaging rearward roller sets 56a and 56b, respectively.
  • Forward and rearward left campaths 64a and 66a have rectangular cross-sections
  • forward and rearward right campaths 66a and 66b have cross-sections which are rectangular with a necked in portion at the outer face to better accommodate lateral thrust loads.
  • the precise location of yokes 38 and 40 and their appended roller sets 54a and 54b and 56a and 56b is determined by convenience with respect to the overall weapon design. The locations will affect the division of force between the forward and rearward roller sets.
  • campaths 64a, 64b, 66a, and 66b have identical configurations, consisting of a first, curved stage and a second, straight stage.
  • the hydropneumatic recoil system brakes the recoiling parts along tube axis A.
  • the recoil velocity has been reduced to an appropriate level by the recoil system, the recoiling parts will have both a small axial and small normal velocity.
  • the high initial recoil force is reduced, and simultaneously the tube-normal force is removed by straightening campaths 64a, 64b, 66a, and 66b.
  • cam followers i.e. roller sets 54a, 54b, 56a, and 56b
  • curved campaths 64a, 64b, 66a, and 66b, respectively
  • a centrifugal force is generated whose magnitude is and whose direction is along the local radius vector.
  • V, nst is the instantaneous velocity of the center of mass of the recoiling parts.
  • R, nst is the corresponding radius of curvature of the campath at the point of contact between roller sets 54a, 54b, 56a, and 56b and campaths 64a, 64b, 66a, and 66b, respectively.
  • the specific combination of projectile and propelling charge When fired, the specific combination of projectile and propelling charge will produce a predictable firing recoil impulse, determinable by testing of the specific combination of projectile and propelling charge or through tables. This in turn will cause the recoiling parts of the gun to move rearwardly at a predetermined velocity, likewise determinable by testing or from tables.
  • the recoil system causes this velocity to be diminished in a controlled manner by applying a retardation force, determined by choice of the orifice size through which the recoil working fluid is forced. Again, the retardation force is determinable either by testing of the cylinder or through tables. In this manner, the force applied by the recoil system is known and predictable at any point in the recoil stroke. Additionally, the remaining velocity of the recoiling part is also known and predictable. The overturning moment is thus known and predictable at all points in the recoil stroke.
  • the recoiling parts will have a velocity component in both the "y" direction (normal to tube axis A) and in the "x" direction (along tube axis A). Both of these velocities must be reduced to zero by the end of the recoil stroke.
  • the centrifugal force is reduced to 0 by making the radius of curvature infinite (i.e., each of campaths 64, 66, 68, and 70 becomes a straight line). Accordingly, the recoiling parts now cease their upward acceleration.
  • the recoil system continues to apply a gentle retardation force, eventually bringing the recoiling parts to rest in both the "x" and "y” axes.
  • the final retardation force causes a small destabilizing moment, but its magnitude is such that it can be overcome by the stabilizing moment of the static weight of the complete weapon.
  • the curvilinear recoil motion gives Howitzer 10 an apparent weight greater than the static weight of the weapon during the period of high recoil forces.
  • the curvilinear campath is designed to assure that the stabilizing moment of the apparent weight of the gun is sufficient to overcome the overturning moment of the recoil retardation forces, maintaining ground contract. During the latter part of recoil travel, when the curvilinear recoil force has been discontinued, the apparent weight of Howitzer 10 is diminished but ground contact is still maintained.
  • FIG. 8-11 there is shown a lightweight towed 155 millimeter Howitzer 10' incorporating a second embodiment of the stabilizing system of the invention.
  • Howitzer 10' also comprises a carriage 12, wheels 14 and 16, and trails 18 and 20.
  • a cradle 22' having left and right sides 24' and 26' and modified according to a second embodiment of the invention as will be described in greater detail hereinafter is pivotally mounted on carriage 12.
  • Cradle 22' is pivoted up and down by left and right pistons 28 and 30.
  • cannon 32 is mounted in cradle 22' for reciprocating movement between a first, forward and downward position (solid lines) and a second, rearward and upward position (dashed lines).
  • the mounting mechanism for cannon 32 according to the second embodiment of the invention is the reverse of mounting mechanism for cannon 32 according the first embodiment of the invention, in that the campaths are positioned on cannon 32, while the cam followers are positioned on cradle 22'.
  • the mounting mechanism for cannon 32 comprises forward left and right campaths 64a' and 64b' and rearward left and right campaths 66a' and 66b', welded or bolted or otherwise attached to track support collars 72 mounted on cannon 32.
  • Left and right sides 24' and 26' of cradle 22' are provided with forward left and right roller sets 54a' and 54b' of twin rollers and rearward left and right twin roller sets 56a' and 56b', respectively for movable engagement with forward left and right campaths 64a' and 64b' and rearward left and right campaths 66a' and 66b', respectively.
  • Each of roller sets 54a', 54b', 56a', and 56b' consists of four rollers, an upper twin roller set and a lower twin roller set, housed in a circular housing 74. Placement of the roller sets in a circular housing is important in that the housing provides the walking beam structure and strength required to make the roller (follower) system work. Circular housings 74 allow the rollers to stay perpendicular to the resultant tangent of the twin rollers to the campath, as the campath curves and angles upward or downward.
  • the campath of either the first or the second embodiment can be curved in the opposite direction during the second stage of recoil; that is, towards tube axis A to achieve a greater retardation in the "y" axis (the tube-normal direction).
  • Use of this alternate construction is limited by the requirement to keep ground contact during the second stage of recoil travel.
  • campath of either the first or the second embodiment can be curved in the same direction during the second stage of recoil. In this case the curve of the second stage is shallower than that of the first stage.
  • Stylized tube-axial and tube-normal force-time curves for the first embodiment of the stabilizing system of the invention are shown in Figures 14a and 14b. Superimposing these two force-time curves gives a net force vector and a resultant acceleration. Integration leads to a velocity-time history, resolvable into vertical and horizontal components. Further integration produces the horizontal and vertical displacement of the recoiling parts' center of mass.
  • velocity-time is shown in Figures 15a and 15b and displacements shown in Figure 15c.
  • stage I accounts for 60% of the recoil distance and 40% of the recoil time
  • stage II accounts for 40% of the recoil distance and 60% of the recoil time.
  • the recoiling body will hereafter be referred to as the "carriage.”
  • the carriage is made up of two masses or weights, one that elevates (WE) and one that remains fixed (WF). This is to allow for the movement of the carriage center of gravity associated with elevating and depressing the gun.
  • the general gun configuration is shown diagrammatically in Figure 16.
  • the first is a ground fixed coordinate system (X-Y) centered at the end of the trail at ground level.
  • the second is a coordinate system (U-Z) which rotates with the gun tube as the cannon elevates and which is centered at the in-battery location of the recoiling mass.
  • This reference frame does not recoil with the cannon.
  • the recoil displacement of the cannon (center of gravity) is measured from the U-Z coordinate system and the horizontal and vertical displacements are U and Z, respectively.
  • the coordinate directions U and Z and the displacements U and Z should not be confused.
  • the position (X,Y) of the cannon center of gravity can be found relative to the X-Y coordinate system.
  • the two rigid bodies are shown separately in Figures 17 and 18 to facilitate the illustration of the forces that act between these two bodies and to make clear their equal and opposite effect.
  • the cannon experiences forces from the carriage, parallel to the tube primarily from the recoil mechanism, and normal to the tube from cradle support points.
  • the support is provided by rollers 54a and 54b and 56a and 56b constrained in campaths 64a and 64b and 66a and 66b, respectively, both fore and aft.
  • the force from the recoil mechanism is referred to here as the "rod pull" and is the sum of both the recoil (cylinder) force and the recuperator force.
  • Stability is the condition when the carriage does not rotate about the trail ends. This condition is satisfied if the vertical reaction on the firing platform (R2Y) remains positive. R2Y will remain positive and the gun stable if the stabilizing moment M s; remains larger than the overturning moment M ov . At zero quadrant elevation, the overturning moment is the horizontal force F x times its moment arm:
  • the stabilizing moment is the vertical force F z and the fixed weights WF and WE times their respective moment arms:
  • the degree of stability can be found by defining the excess stability moment M ex as also
  • F u would be equal to the rod pull (RP), and the force F z would support the portion (WRZ) of the recoiling weight WR that was acting normal to the tube and cradle.
  • Curvilinear recoil increases the stabilizing moment by increasing F z .
  • F z does not simply support the weight of the cannon but acts also to accelerate the cannon upward (normal to the tube) when greater stability is needed. Accelerating the tube upward (Z direction) increases F z by the inertial force associated with this acceleration:
  • stage one defined as the portion of recoil when the tube normal acceleration A z is positive (“upward"), and characterized by a large tube axial force F u (rod pull large) and a commensurate tube normal force F z for stability
  • stage two defined as the portion of recoil when the tube normal acceleration A z is negative (“downward"), characterized by a reduced or even negative tube normal force F z and a necessarily greatly reduced tube axial force F u (rod pull small).
  • the recoil force is greatly reduced so that during stage two, the rod pull is primarily provided by the recuperator force.
  • the dynamic analysis models the gun system as two planar rigid bodies; one recoiling, the other fixed. Both rigid bodies are initially at rest; at time equals zero, the time varying forces from firing impulse is applied. This accelerates the cannon in the negative U-direction while it is being acted upon by retarding forces from the recoil mechanism as modeled.
  • Any of several firing impulse functions can be applied to the gun including (but not limited to) M203 PIMP, M203 nominal, and M119, all matched to the cannon tube with 0.7 index muzzle brake and M483 projectile.
  • the recoil force acts to prevent the cannon from attaining free recoil velocity and continues to act to return the recoiling mass to rest.
  • the cannon is constrained in the cradle to follow a pre-defined curvilinear campath.
  • the path is curved upward, which forces the cannon to be displaced and accelerated normally to the tube center-line as it recoils axially. This acceleration "generates" the force that contributes the stability during stage one recoil.
  • the magnitudes of F u and F z at all time steps are found by solving the differential equations of motion set forth below for the recoiling mass. Once the dynamic forces are found, the firing loads on all major components are statically determined at each time step using the known system geometry.
  • Figure 19a is the free body diagram of the cannon (recoiling mass). From this diagram comes the two differential equations that describe the motion of the gun system. The carriage is assumed stationary, a condition satisfied if the vertical firing platform reaction R2Y remains positive. Summing forces in the u direction yields the first differential equation.
  • the center of gravity may be displaced from the center line of the tube. This introduces a moment from the firing impulse force (FIMPU) which is balanced by moving the point of application of the reaction forces F u and F z axially, providing a countering moment.
  • FIMPU firing impulse force
  • F u and F z are the reactions on the cannon from the carriage of the gun; specifically, these forces are supplied by the cradle.
  • the cradle applies these forces by two means, the recoil mechanism and the cam tracks.
  • the recoil mechanism pulls on the cannon via the breech band (see Figures 19b and 19c), and has two components that are related by the geometry of the recoil mechanism.
  • a single equivalent track force TR
  • the total recoil force (RP) is found from the mathematical recoil model and components are found from using the recoil mechanism inclination angle a.
  • C is a constant that includes effective piston area, orifice discharge coefficient, and oil density.
  • the track force TR is not known, but the relationship between the components can be determined.
  • the track force results from constraining the cannon to follow a predetermined path.
  • the path can be represented by a function of u, pf(u), such that:
  • the track angle ( ⁇ ) is defined as positive CW so:
  • Equations 7 and 8 Two differential equations were developed, Equations 7 and 8.
  • the constraint of the recoil track couples these two equations, resulting in the first equation 7 being the only independent equation.
  • the track campath used for the dynamic analysis was matched to the current configuration and recoil mechanism model to ensure weapon stability at zero quadrant elevation.
  • a positive ground force on the firing platform was specified to decay from 2000 to a minimum of 1000 lbf.
  • An additional factor of safety for stability was included by designing the campath in the present example for the M203 PIMP charge. This results in even greater stability when a nominal M203 is fired.
  • the path description consists of pairs of points U and Z (Table 1). One can see that the point pairs do not extend the full length of recoil.
  • the path beyond the data is defined as a straight line tangent to the last portion of the track, and as such does not need to be explicitly tabulated.
  • the driving function for the dynamic analysis is the force applied to the cannon by the firing of the projectile.
  • This time dependent force is calculated from the tables of total impulse supplied to the recoiling mass versus time. the force is calculated by:
  • the effects of different charges on the curvilinear system are determined by using a different firing impulse table as input.
  • the tables are produced from internal ballistics calculations and include the gas action on a muzzle brake with a momentum index of 0.7. Three different tables were used:
  • the recoil force is provided by a recoil cylinder model where the recoil force (F-recoil) is given by:
  • stage one recoil and stage two are accompanied by a rapid drop in F-recoil. This is accomplished by rapidly enlarging the orifice areas.
  • the enlarging of the orifice areas is modeled as a Smooth, albeit rapid, transition rather than as an abrupt change. This should more closely represent the response of a real system. This more protracted transition provides for a more forgiving match between the recoil mechanism and the campath profile.
  • the recoil force is not removed entirely during stage two but rather is designed to a nominal value of 1000 lbf.
  • recuperator alone control stage two (1) the orifice areas are now defined in stage two rather than being infinity; (2) the active recoil cylinder can now be used to fine tune the stage two recoil; and (3) a velocity dependent retarding force is now present in stage two to help dissipate the energy from an overpressure.
  • the total recoil mechanism force RP includes a linear spring representation of the recuperator function. So, where S is the magnitude of extension of the recoil mechanism in feet.
  • R2Y forward vertical ground reaction
  • Figure 22 illustrates that M st is greater than M ov and Figure 23 illustrates that R2Y remains positive.
  • the gun system was designed to be stable, even with a M203 PIMP charge.
  • Figure 24 shows that indeed, the gun is stable with the PIMP charge.
  • Figure 24 also shows that the gun system gets progressively more stable as the charge is reduced, the M119 charge being the most stable of the three shown.
  • each dynamic analysis run there are provided up to four files or tables of output with suffixes ".CP1,” “.CP2,” “.CP3,” and “.CP4.”
  • Each run has a file name associated with it, beginning first with the prefix "X1" which identifies all files used by, and generated for, this analysis. The remainder of the file name identifies the charge and the quadrant elevation of the gun in degrees. All plots are generated from the tables provided, and the file name of the source is printed in the right-most portion of the title.
  • Table 9 describes all of the headings for Tables 10-16.
  • Table 9 describes all of the headings for Tables 10-16.
  • Table 9 describes all of the headings for Tables 10-16.
  • the tabulated results include:
  • curvilinear recoil will ensure stability for a 9000 pound, 155 mm towed Howitzer Demonstrator under all firing conditions.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Toys (AREA)
  • Transmission Devices (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Catching Or Destruction (AREA)
  • Portable Nailing Machines And Staplers (AREA)
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EP89902841A 1988-01-22 1989-01-23 Lightweight weapon stabilizing system Expired - Lifetime EP0354242B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89902841T ATE96224T1 (de) 1988-01-22 1989-01-23 System fuer die stabilisierung einer leichten waffe.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14731788A 1988-01-22 1988-01-22
US147317 1988-01-22

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EP0354242A1 EP0354242A1 (en) 1990-02-14
EP0354242B1 true EP0354242B1 (en) 1993-10-20

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EP (1) EP0354242B1 (fi)
JP (1) JP2752208B2 (fi)
KR (1) KR950007639B1 (fi)
AU (1) AU615041B2 (fi)
BR (1) BR8904796A (fi)
CA (1) CA1336237C (fi)
DE (1) DE68910042T2 (fi)
DK (1) DK166638B1 (fi)
FI (1) FI894479A (fi)
WO (1) WO1989006778A1 (fi)

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US5210370A (en) * 1988-01-22 1993-05-11 Royal Ordnance Lightweight weapon stabilizing system
GB8829192D0 (en) * 1988-12-14 1998-03-18 Vickers Shipbuilding & Eng Improvements in or relating to field howitzers
GB9415799D0 (en) * 1994-08-04 1994-09-28 Royal Ordnance Plc Recoil system
KR101685415B1 (ko) * 2011-02-24 2016-12-12 한화테크윈 주식회사 로봇 이동 장치

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DE75137C (de) * F. ollivier in Paris, 15 rue des Halles Aus Untergestell und Rohrträger bestehende Feldlaffete
US463463A (en) 1891-11-17 Eusvjatically-operated gun-carriage
US439570A (en) 1890-10-28 William anderson
DE134007C (fi) *
FR9806E (fr) * 1908-05-18 1909-02-02 Rheinische Metallw & Maschf Pièce d'artillerie à recul du canon sur l'affut
DE631716C (de) * 1933-04-04 1936-06-25 Boehler & Co Akt Ges Geb Rohrruecklaufgeschuetz
DE677095C (de) * 1935-05-21 1939-06-19 Rheinmetall Borsig Akt Ges Ruecklauflagerung lafettierter Maschinenwaffen
US3114291A (en) 1960-12-30 1963-12-17 Gen Electric Recoil mechanism
DE3644906A1 (de) * 1985-11-21 1989-01-19 Royal Ordnance Plc Geschuetzsysteme
DE3644909A1 (de) * 1985-11-21 1989-01-12 Royal Ordnance Plc Geschuetzsysteme

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DE68910042D1 (de) 1993-11-25
AU615041B2 (en) 1991-09-19
WO1989006778A1 (en) 1989-07-27
KR950007639B1 (ko) 1995-07-13
EP0354242A1 (en) 1990-02-14
FI894479A0 (fi) 1989-09-21
JPH02503350A (ja) 1990-10-11
BR8904796A (pt) 1990-05-08
FI894479A (fi) 1989-09-21
KR900700844A (ko) 1990-08-17
AU3191289A (en) 1989-08-11
DE68910042T2 (de) 1994-02-10
DK465689A (da) 1989-09-21
DK465689D0 (da) 1989-09-21
CA1336237C (en) 1995-07-11
JP2752208B2 (ja) 1998-05-18
DK166638B1 (da) 1993-06-21

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