EP0881454A1 - Device for automatically gripping propulsive charge modules stocked in a magazine - Google Patents

Device for automatically gripping propulsive charge modules stocked in a magazine Download PDF

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Publication number
EP0881454A1
EP0881454A1 EP98401270A EP98401270A EP0881454A1 EP 0881454 A1 EP0881454 A1 EP 0881454A1 EP 98401270 A EP98401270 A EP 98401270A EP 98401270 A EP98401270 A EP 98401270A EP 0881454 A1 EP0881454 A1 EP 0881454A1
Authority
EP
European Patent Office
Prior art keywords
module
housing
forks
store
detection device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP98401270A
Other languages
German (de)
French (fr)
Other versions
EP0881454B1 (en
Inventor
Christophe Nicolas
Dominique Guesnet
Jean-Luc Pelissier
Didier Thebault
François Roger
Christian Gay
Laurent Legrand
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Giat Industries SA
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Giat Industries SA
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Publication date
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Publication of EP0881454A1 publication Critical patent/EP0881454A1/en
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Publication of EP0881454B1 publication Critical patent/EP0881454B1/en
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Classifications

    • 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
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/01—Feeding of unbelted ammunition
    • F41A9/06—Feeding of unbelted ammunition using cyclically moving conveyors, i.e. conveyors having ammunition pusher or carrier elements which are emptied or disengaged from the ammunition during the return stroke
    • F41A9/09—Movable ammunition carriers or loading trays, e.g. for feeding from magazines
    • F41A9/20—Movable ammunition carriers or loading trays, e.g. for feeding from magazines sliding, e.g. reciprocating
    • 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
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/61—Magazines
    • F41A9/64—Magazines for unbelted ammunition
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/124—Roll handlers

Definitions

  • the present invention relates to a system for automatic seizure of propellant charge modules stored in a store.
  • ammunition fired by an artillery cannon consists of a projectile and propellant charge that have been successively introduced into the barrel chamber, the charge is formed by a combustible envelope of length substantially constant.
  • This envelope may contain sachets of propellant powder in variable number depending on the amount of powder needed to fire the projectile.
  • the means to enter a module are constituted by a suction cup associated with a vacuum generator with venturi effect.
  • the disadvantage of such an automatic entry device by depression is that it requires the establishment of a very reliable security system to avoid the risk a leak that can cause the fall of a module.
  • the object of the invention is to alleviate in particular the disadvantages of the means of seizure comprising a articulated jaw pliers, while providing other advantages.
  • the invention proposes a system to automatically enter load modules propellant stored in a store, this system comprising at least one gripping means carried by a support arm mobile operated by drive means for ability to enter the store and come and grab at least one module, system which is characterized in that the gripping means comprises two forks arranged in look at each other and which delimit between them a housing for receiving at least one module, and at least a retractable retaining means intended to project from inside the housing to keep the module in this housing after the passage of the two forks and the module to be entered.
  • the store includes at least one compartment to store at least one row of modules, the compartment being delimited by two parallel partitions and spaced slightly apart from each other larger than the diameter of a module, the partitions comprising spacers mounted opposite the each other to isolate each module in the row on the one hand, and create a space between each module and the two partitions to allow the free passage of two forks on the other hand.
  • the means of retaining a module in the housing of the gripping means consists of at least one retractable cleat which is hinged mounted on one of the two forks permanently seized and requested by a spring to protrude inside the housing, the module automatically retracting the cleat when entering the module in the housing of the gripping means.
  • the system according to the invention comprises also a detection device to detect the presence of a module received in the housing delimited between the two forks of the gripping means to stop the downward movement of the support arm inside the shop.
  • the device for module detection consists of a pivoting stop and an electric switch which is controlled according to the position of the stopper and connected to the means actuating the support arm of the gripping means, the tilting of the finger being ensured by the module.
  • the system according to the invention comprises also a store bottom detection device to stop the downward movement of the support arm mobile inside the store when the compartment of the magazine in which the support arm moves does not contains more modules.
  • the device for store bottom detection consists of a simple electric switch fixed on one of the forks of a gripping means and the pusher protrudes at the free end surface of the fork to control directly the switch.
  • the system includes several means of seizure regularly distributed along of the support arm to be able to grip simultaneously several modules.
  • a detection of a module is associated with each means of entered but with a single electrical switch which is controlled by any of the pivoting stops, when only one device for detecting the store background.
  • the gripping means ensure reliable maintenance of the modules without the risk of inadvertent release of a module.
  • the gripping means hold the modules without exerting a any clamping force, since the modules are simply based on a means of restraint.
  • the means of entry have barely a minimum footprint larger than the diameter of a module, which allows optimize the number of modules carried.
  • the magazine 1 illustrated in FIG. 1 allows storage of propellant charge modules 3. These modules 3 have substantially the same diameter, the same length and, in the example illustrated, a shape cylindrical.
  • the store 1 forms a generally rectangular parallelepiped block, the internal volume of which is divided into several compartments 5 by partitions 7 which are parallel and regularly spaced apart.
  • Each compartment 5 extends substantially over the entire height of the magazine 1 and allows the storage of n superimposed rows of modules 3 which are axially aligned in each row.
  • the partitions 7 (FIG. 2) support spacers 9 mounted facing each other inside each compartment 5 to isolate each module 3 inside a row and to provide a space e between each module 3 and the two partitions 7 of each compartment 5.
  • Each spacer 9 is constituted by a vertical rail with a straight section in the shape of a T and which extends substantially over the entire height of the magazine 1.
  • the rail has a base 9a, the thickness of which defines the width of each space e and a vertical rib 9b which projects into the compartment 5 to separate two adjacent modules 3 in the same row.
  • a system 10 allows automatic entry at least one module 3 in one of the compartments 5 of the store 1.
  • the system 10 therefore comprises at least one means 12 of a module 3, which is carried by an arm of mobile support 13 to be able to penetrate inside each compartment 5 and come and enter a module 3.
  • each gripping means 12 comprises two guide forks 12a and 12b each having two arms 16 joined at one end by a base 18.
  • the two arms 16 of a fork are separated one of the other by a distance less than the length of a module 3, and are dimensioned so as to be able to freely engage in the space e delimited by the spacers 9.
  • the two forks 12a and 12b are mounted on either side of the support arm 13 and fixed thereto by their bases 18, so that the two forks 12a and 12b are opposite one another, extend from one same side of the support arm 13 and are separated from each other by a distance slightly greater than the diameter of a module 3.
  • the two arms 16 of the fork 12a extend over a length greater than the diameter of a module 3, while those of the fork 12b only extend over a length barely greater than the radii d u module 3.
  • the support arm 13 is for example constituted by a rigid plate 20 having two longitudinal edges 22 on which are fixed the bases 18 of the forks 12a and 12b.
  • Housing L (FIG. 3) is thus overall delimited between the two forks 12a and 12b to receive a module 3, and the input means 12 also includes a retractable retaining means 25 which can project inside the housing L to hold the module 3.
  • the retaining means 25 is constituted by a cleat retractable 27 supported by the fork 12a of the means of entry 12.
  • the cleat 27 has for example a U shape, the two free ends of which are connected by a rod 27a supported in rotation at the end of the two arms 16 of the fork 12a.
  • a torsion spring (not shown) forces the cleat 27 to protrude inside the housing L.
  • the system 10 is designed to be able to enter a whole row of modules 3 from a compartment 5.
  • the support arm 13 carries as many input means 12 that of modules 3 stored in a row of a compartment 5.
  • the gripping means 12 are so regularly arranged along this arm of support 13.
  • Spacers 28 are fixed on the support arm 13 between the means of grip 12 to axially immobilize the modules 3 and isolate one from the other two adjacent modules 3.
  • Store 1 which rests on a surface support S is open at its upper end, so that on one of its sides which corresponds for example to a side face of the store which extends perpendicular to the rows of modules 3.
  • the displacements of the support arm 13 are provided by drive means M located at outside of store 1 and which include a device forming lift 30 movable in one direction vertical to move the support arm 13 to inside a compartment 5, one end of the arm 13 being attached to the elevator 30.
  • the elevator 30 is housed in a cage 32 movable in translation along the side open from tray 1 to select a compartment 5.
  • the elevator 30 is controlled by a first rack and pinion drive device, by example, powered by a first electric motor M1.
  • the cage 32 is controlled by a second device rack and pinion drive, for example, actuated by a second M2 electric motor to move the along two upper and lower guide rails 34.
  • a detection device 40 is associated with each input means 12 for detecting the presence of a module 3 in the housing L delimited between the two forks 12a and 12b to stop the downward movement of the elevator 30 inside a compartment 5 from that a module 3 is received in any of housing L.
  • each detection device 40 includes a pivoting stop 42 which projects inside the housing L.
  • Each stop 42 passes through freely the plate 20 of the support arm 13, and all the stops 42 are connected by a connecting element 44 to a rod 45 rotatably supported by two bearings 46 carried by the plate 20.
  • the rod 45 extends parallel to the support arm 13 and supports a tab 48; united of one of the connecting elements 44, which is used for control the push-button 50a with a first switch electric 50 which is connected to the control device of the elevator motor M1 30.
  • the switch 50 which is thus common to all the gripping means 12 is mounted between the two arms 16 of the fork 12a of one of the gripping means 12.
  • the detection device 60 can be simply constituted by the pusher 62a used to control a second electrical switch 62 which is mounted on the fork 12a of the gripping means 12 and also connected to the motor control device M1 of the elevator 30.
  • the switch 62 is for example housed at the interior of a hollow arm 16 of one of the forks 12a gripping means 12, so that the pusher 62a protrudes from the free end face of the hollow arm 16.
  • the elevator 30 being supposed to be located at the part upper of the cage 32, that is to say that the arm of support 13 of the gripping means 12 is located at outside the store 1.
  • the M2 motor is activated to move the elevator shaft 32 along the rails guide 34, so as to position the arm of support 13 above the magazine 1 and opposite one compartments 5.
  • the M2 engine is stopped to immobilize the cage 32 in position, and the motor M1 is actuated in turn to lower the elevator and, therefore, the support arm 13 inside the compartment 5 selected.
  • the forks 12a and 12b of the gripping means 12 penetrate inside the compartment 5 and pass freely in the spaces e delimited by the spacers 9. As soon as a cleat 27 of a gripping means comes into contact with a module 3 stored in compartment 5, the module 3 automatically retracts the cleat 27 by penetrating inside the housing L delimited by the two forks 12a and 12b of the gripping means 12.
  • module 3 When module 3 comes into contact with the pivoting stop 42 of the detection device 40, the module 3 switches the stop 42, which results in a rotation of the rod 45 which, via the tab 48, acts on the pusher 50a of the electric switch 50.
  • the actuation of switch 50 causes the movement of descent of the elevator 30 to immobilize the arm of support 13.
  • Module 3 is therefore fully engaged in the housing L delimited between the two forks 12a and 12b input means 12, and module 3 is retained in this housing L resting on the cleat 27 which has resumed its projecting position inside the housing L.
  • Certain devices in the input system 10 can be carried out according to exemplary embodiments other than those described above.
  • each retaining means 25 of a module 3 could be controlled by an electric or pneumatic actuator, which would possibly allow all or part of the n modules of the same row of a compartment to be grasped.
  • the invention is not limited to modules having a cylindrical shape.

Abstract

The system consists of at least one gripper (12) carried by a mobile supporting arm (13) actuated by a drive (M) so that it can go into the magazine and come out with at least one propellant charge module (3). Each gripper has two forks (12a, 12b) set opposite one another with a gap between them to hold a module. The magazine has one or more compartments (5) to store rows of modules, each compartment being bounded by two partitions (7) with spacers between to separate the modules from one another and leave gaps for the forks, one of which is equipped with a tilting retaining element which can operate automatically or be electrically or pneumatically actuated.

Description

La présente invention concerne un système de saisie automatique de modules de charge propulsive stockés dans un magasin.The present invention relates to a system for automatic seizure of propellant charge modules stored in a store.

D'une manière générale, lorsqu'une munition tirée par un canon d'artillerie est constituée d'un projectile et d'une charge propulsive qui ont été successivement introduits dans la chambre du canon, la charge est formée d'une enveloppe combustible de longueur sensiblement constante. Cette enveloppe peut renfermer des sachets de poudre propulsive en nombre variable suivant la quantité de poudre nécessaire au tir du projectile.Generally, when ammunition fired by an artillery cannon consists of a projectile and propellant charge that have been successively introduced into the barrel chamber, the charge is formed by a combustible envelope of length substantially constant. This envelope may contain sachets of propellant powder in variable number depending on the amount of powder needed to fire the projectile.

A l'heure actuelle, on tend à remplacer cette enveloppe unique et de longueur sensiblement constante par plusieurs modules d'encombrement sensiblement identique contenant chacun une quantité de poudre propulsive déterminée et dont le nombre varie suivant la quantité de poudre nécessaire au tir du projectile.At the moment, we tend to replace this single envelope of substantially constant length by several space modules substantially identical each containing a quantity of powder propellant determined and the number of which varies according to the amount of powder needed to fire the projectile.

Il en résulte une charge propulsive de longueur variable.This results in a propellant charge of variable length.

Il est connu de compartimenter le volume intérieur des magasins de manière à stocker dans chaque compartiment plusieurs rangées superposées de modules, chaque rangée contenant n modules axialement alignés suivant l'axe de la rangée, et d'utiliser des moyens de saisie portés par un bras mobile pour saisir automatiquement à l'intérieur d'un magasin tout ou partie des modules d'une même rangée d'un compartiment et les transférer à un système de chargement qui doit être ensuite capable de gérer un nombre variable de modules à acheminer jusqu'à la chambre du canon pour effectuer le tir d'un projectile.It is known to compartmentalize the interior volume of stores so as to store in each compartment several superimposed rows of modules, each row containing n modules axially aligned along the axis of the row, and to use gripping means carried by an arm mobile to automatically enter all or part of the modules in the same row of a compartment inside a store and transfer them to a loading system which must then be capable of managing a variable number of modules to be transported up to to the barrel chamber to fire a projectile.

Selon le document FR-A-96 00074, les moyens pour saisir un module sont constitués par une ventouse associée à un générateur de vide à effet venturi. L'inconvénient d'un tel dispositif de saisie automatique par dépression est qu'il nécessite la mise en place d'un système de sécurité très fiable pour éviter le risque d'une fuite qui peut entraíner la chute d'un module.According to document FR-A-96 00074, the means to enter a module are constituted by a suction cup associated with a vacuum generator with venturi effect. The disadvantage of such an automatic entry device by depression is that it requires the establishment of a very reliable security system to avoid the risk a leak that can cause the fall of a module.

On connaít également des moyens de saisie qui sont constitués par une pince comportant deux mâchoires articulées. Cette solution nécessite cependant la réalisation d'un magasin dont les parois doivent être suffisamment écartées l'une de l'autre pour autoriser l'ouverture des mâchoires. Il en résulte un encombrement excessif pour le magasin et/ou une capacité de stockage réduite pour un encombrement donné du magasin.We also know means of seizure which consist of pliers with two jaws articulated. However, this solution requires realization of a store whose walls must be far enough apart to allow opening of the jaws. This results in congestion excessive for the store and / or storage capacity reduced for a given size of the store.

Le but de l'invention est de pallier notamment les inconvénients des moyens de saisie comportant une pince à mâchoires articulées, tout en procurant d'autres avantages.The object of the invention is to alleviate in particular the disadvantages of the means of seizure comprising a articulated jaw pliers, while providing other advantages.

A cet effet, l'invention propose un système pour saisir automatiquement des modules de charge propulsive stockés dans un magasin, ce système comprenant au moins un moyen de saisie porté par un bras de support mobile actionné par des moyens d'entraínement pour pouvoir pénétrer à l'intérieur du magasin et venir saisir au moins un module, système qui est caractérisé en ce que le moyen de saisie comprend deux fourches disposées en regard l'une de l'autre et qui délimitent entre elles un logement de réception d'au moins un module, et au moins un moyen de retenue escamotable destiné à faire saillie à l'intérieur du logement pour maintenir le module dans ce logement après le passage des deux fourches de part et d'autre du module à saisir.To this end, the invention proposes a system to automatically enter load modules propellant stored in a store, this system comprising at least one gripping means carried by a support arm mobile operated by drive means for ability to enter the store and come and grab at least one module, system which is characterized in that the gripping means comprises two forks arranged in look at each other and which delimit between them a housing for receiving at least one module, and at least a retractable retaining means intended to project from inside the housing to keep the module in this housing after the passage of the two forks and the module to be entered.

Le magasin comprend au moins un compartiment pour stocker au moins une rangée de modules, le compartiment étant délimité par deux cloisons parallèles et espacées l'une de l'autre d'une distance légèrement supérieure au diamètre d'un module, les cloisons comportant des cales d'espacement montées en regard les unes des autres pour isoler chaque module de la rangée d'une part, et ménager un espace entre chaque module et les deux cloisons pour permettre le libre passage des deux fourches d'un moyen de saisie d'autre part.The store includes at least one compartment to store at least one row of modules, the compartment being delimited by two parallel partitions and spaced slightly apart from each other larger than the diameter of a module, the partitions comprising spacers mounted opposite the each other to isolate each module in the row on the one hand, and create a space between each module and the two partitions to allow the free passage of two forks on the other hand.

Selon un exemple de réalisation, le moyen de retenue d'un module dans le logement du moyen de saisie est constitué par au moins un taquet escamotable qui est monté articulé sur l'une des deux fourches du moyen de saisie et sollicité en permanence par un ressort pour faire saillie à l'intérieur du logement, le module escamotant automatiquement le taquet lors de l'entrée du module dans le logement du moyen de saisie.According to an exemplary embodiment, the means of retaining a module in the housing of the gripping means consists of at least one retractable cleat which is hinged mounted on one of the two forks permanently seized and requested by a spring to protrude inside the housing, the module automatically retracting the cleat when entering the module in the housing of the gripping means.

Le système selon l'invention comprend également un dispositif de détection pour détecter la présence d'un module reçu dans le logement délimité entre les deux fourches du moyen de saisie pour arrêter le mouvement de descente du bras de support à l'intérieur du magasin.The system according to the invention comprises also a detection device to detect the presence of a module received in the housing delimited between the two forks of the gripping means to stop the downward movement of the support arm inside the shop.

Selon un mode de réalisation, le dispositif de détection d'un module est constitué d'une butée pivotante et d'un interrupteur électrique qui est commandé suivant la position de la butée et relié aux moyens d'actionnement du bras de support des moyens de saisie, le basculement du doigt étant assuré par le module.According to one embodiment, the device for module detection consists of a pivoting stop and an electric switch which is controlled according to the position of the stopper and connected to the means actuating the support arm of the gripping means, the tilting of the finger being ensured by the module.

Le système selon l'invention comprend également un dispositif de détection du fond du magasin pour arrêter le mouvement de descente du bras de support mobile à l'intérieur du magasin lorsque le compartiment du magasin dans lequel se déplace le bras de support ne contient plus de module.The system according to the invention comprises also a store bottom detection device to stop the downward movement of the support arm mobile inside the store when the compartment of the magazine in which the support arm moves does not contains more modules.

Selon un mode de réalisation, le dispositif de détection du fond du magasin est constitué d'un simple interrupteur électrique fixé sur l'une des fourches d'un moyen de saisie et dont le poussoir fait saillie à la surface d'extrémité libre de la fourche pour commander directement l'interrupteur.According to one embodiment, the device for store bottom detection consists of a simple electric switch fixed on one of the forks of a gripping means and the pusher protrudes at the free end surface of the fork to control directly the switch.

D'une manière générale, le système comprend plusieurs moyens de saisie régulièrement répartis le long du bras de support pour pouvoir saisir simultanément plusieurs modules. Dans ce cas, un dispositif de détection d'un module est associé à chaque moyen de saisie mais avec un seul interrupteur électrique qui est commandé par l'une quelconque des butées pivotantes, alors qu'il suffit d'un seul dispositif de détection du fond du magasin.Generally, the system includes several means of seizure regularly distributed along of the support arm to be able to grip simultaneously several modules. In this case, a detection of a module is associated with each means of entered but with a single electrical switch which is controlled by any of the pivoting stops, when only one device for detecting the store background.

Selon un tout premier avantage de l'invention, les moyens de saisie assurent un maintien fiable des modules sans risque d'un largage intempestif d'un module.According to a very first advantage of the invention, the gripping means ensure reliable maintenance of the modules without the risk of inadvertent release of a module.

Selon un autre avantage de l'invention, les moyens de saisie maintiennent les modules sans exercer un quelconque effort de serrage, puisque les modules reposent simplement sur un moyen de retenue.According to another advantage of the invention, the gripping means hold the modules without exerting a any clamping force, since the modules are simply based on a means of restraint.

Selon encore un autre avantage de l'invention, les moyens de saisie ont un encombrement minimal à peine supérieur au diamètre d'un module, ce qui permet d'optimiser le nombre de modules emportés.According to yet another advantage of the invention, the means of entry have barely a minimum footprint larger than the diameter of a module, which allows optimize the number of modules carried.

D'autres avantages, caractéristiques et détails de l'invention ressortiront de la description explicative qui va suivre faite en référence aux dessins annexés, donnés uniquement à titre d'exemple et dans lesquels :

  • la figure 1 est une vue en perspective d'un système selon l'invention pour saisir automatiquement des modules de charge propulsive stockés dans un magasin,
  • la figure 2 est une vue schématique de dessus schématique et partielle du magasin illustré sur la figure 1,
  • la figure 3 est une vue en bout schématique d'un moyen de saisie d'un module à l'intérieur du magasin,
  • la figure 4 est une vue en perspective pour illustrer plusieurs moyens de saisie de modules portés par un bras de support mobile,
  • la figure 5 est une vue en coupe suivant la ligne V-V de la figure 4, et
  • la figure 6 est une vue en coupe partielle suivant la ligne VI-VI de la figure 4.
Other advantages, characteristics and details of the invention will emerge from the explanatory description which follows, given with reference to the appended drawings, given solely by way of example and in which:
  • FIG. 1 is a perspective view of a system according to the invention for automatically grasping propellant charge modules stored in a store,
  • FIG. 2 is a diagrammatic and partial top view of the magazine illustrated in FIG. 1,
  • FIG. 3 is a schematic end view of a means of gripping a module inside the store,
  • FIG. 4 is a perspective view to illustrate several means for gripping modules carried by a mobile support arm,
  • FIG. 5 is a sectional view along the line VV of FIG. 4, and
  • FIG. 6 is a partial sectional view along line VI-VI of FIG. 4.

Le magasin 1 illustré sur la figure 1 permet le stockage de modules 3 de charge propulsive. Ces modules 3 ont sensiblement un même diamètre, une même longueur et, dans l'exemple illustré, une forme cylindrique.The magazine 1 illustrated in FIG. 1 allows storage of propellant charge modules 3. These modules 3 have substantially the same diameter, the same length and, in the example illustrated, a shape cylindrical.

Le magasin 1 forme un bloc globalement parallélépipédique rectangle, dont le volume intérieur est divisé en plusieurs compartiments 5 par des cloisons 7 parallèles et régulièrement espacées entre elles. Chaque compartiment 5 s'étend sensiblement sur toute la hauteur du magasin 1 et permet le stockage de n rangées superposées de modules 3 qui sont axialement alignés dans chaque rangée. Les cloisons 7 (figure 2) supportent des cales d'espacement 9 montées en regard les unes des autres à l'intérieur de chaque compartiment 5 pour isoler chaque module 3 à l'intérieur d'une rangée et pour ménager un espace e entre chaque module 3 et les deux cloisons 7 de chaque compartiment 5. Chaque cale d'espacement 9 est constituée par un rail vertical à section droite en forme de T et qui s'étend sensiblement sur toute la hauteur du magasin 1. Le rail comporte une embase 9a dont l'épaisseur définit la largeur de chaque espace e et une nervure verticale 9b qui fait saillie dans le compartiment 5 pour séparer deux modules 3 adjacents dans une même rangée.The store 1 forms a generally rectangular parallelepiped block, the internal volume of which is divided into several compartments 5 by partitions 7 which are parallel and regularly spaced apart. Each compartment 5 extends substantially over the entire height of the magazine 1 and allows the storage of n superimposed rows of modules 3 which are axially aligned in each row. The partitions 7 (FIG. 2) support spacers 9 mounted facing each other inside each compartment 5 to isolate each module 3 inside a row and to provide a space e between each module 3 and the two partitions 7 of each compartment 5. Each spacer 9 is constituted by a vertical rail with a straight section in the shape of a T and which extends substantially over the entire height of the magazine 1. The rail has a base 9a, the thickness of which defines the width of each space e and a vertical rib 9b which projects into the compartment 5 to separate two adjacent modules 3 in the same row.

Un système 10 permet de saisir automatiquement au moins un module 3 dans l'un des compartiments 5 du magasin 1. Le système 10 comprend donc au moins un moyen de saisie 12 d'un module 3, qui est porté par un bras de support mobile 13 pour pouvoir pénétrer à l'intérieur de chaque compartiment 5 et venir saisir un module 3.A system 10 allows automatic entry at least one module 3 in one of the compartments 5 of the store 1. The system 10 therefore comprises at least one means 12 of a module 3, which is carried by an arm of mobile support 13 to be able to penetrate inside each compartment 5 and come and enter a module 3.

En se reportant aux figures 3 et 4, chaque moyen de saisie 12 comprend deux fourches de guidage 12a et 12b ayant chacune deux bras 16 réunis à une extrémité par une embase 18. Les deux bras 16 d'une fourche sont séparés l'un de l'autre d'une distance inférieure à la longueur d'un module 3, et sont dimensionnés de manière à pouvoir s'engager librement dans l'espace e délimité par les cales d'espacement 9. Les deux fourches 12a et 12b sont montées de part et d'autre du bras de support 13 et fixées à celui-ci par leurs embases 18, de manière à ce que les deux fourches 12a et 12b soient en regard l'une de l'autre, s'étendent d'un même côté du bras de support 13 et soient séparées l'une de l'autre d'une distance légèrement supérieure au diamètre d'un module 3. Les deux bras 16 de la fourche 12a s'étendent sur une longueur supérieure au diamètre d'un module 3, alors que ceux de la fourche 12b ne s'étendent que sur une longueur à peine supérieure aux rayons du module 3. Le bras de support 13 est par exemple constitué par une plaque rigide 20 ayant deux rebords longitudinaux 22 sur lesquels viennent se fixer les embases 18 des fourches 12a et 12b.Referring to Figures 3 and 4, each gripping means 12 comprises two guide forks 12a and 12b each having two arms 16 joined at one end by a base 18. The two arms 16 of a fork are separated one of the other by a distance less than the length of a module 3, and are dimensioned so as to be able to freely engage in the space e delimited by the spacers 9. The two forks 12a and 12b are mounted on either side of the support arm 13 and fixed thereto by their bases 18, so that the two forks 12a and 12b are opposite one another, extend from one same side of the support arm 13 and are separated from each other by a distance slightly greater than the diameter of a module 3. The two arms 16 of the fork 12a extend over a length greater than the diameter of a module 3, while those of the fork 12b only extend over a length barely greater than the radii d u module 3. The support arm 13 is for example constituted by a rigid plate 20 having two longitudinal edges 22 on which are fixed the bases 18 of the forks 12a and 12b.

Un logement L (figure 3) est ainsi globalement délimité entre les deux fourches 12a et 12b pour recevoir un module 3, et le moyen de saisie 12 comprend également un moyen de retenue escamotable 25 qui peut faire saillie à l'intérieur du logement L pour maintenir en place le module 3.Housing L (FIG. 3) is thus overall delimited between the two forks 12a and 12b to receive a module 3, and the input means 12 also includes a retractable retaining means 25 which can project inside the housing L to hold the module 3.

Selon l'exemple de réalisation de la figure 4, le moyen de retenue 25 est constitué par un taquet escamotable 27 supporté par la fourche 12a du moyen de saisie 12. Le taquet 27 a par exemple une forme en U, dont les deux extrémités libres sont reliées par une tige 27a supportée en rotation à l'extrémité des deux bras 16 de la fourche 12a. Un ressort de torsion (non représenté) force le taquet 27 à faire saillie à l'intérieur du logement L.According to the embodiment of FIG. 4, the retaining means 25 is constituted by a cleat retractable 27 supported by the fork 12a of the means of entry 12. The cleat 27 has for example a U shape, the two free ends of which are connected by a rod 27a supported in rotation at the end of the two arms 16 of the fork 12a. A torsion spring (not shown) forces the cleat 27 to protrude inside the housing L.

Dans le mode de réalisation illustré sur les figures 1 et 4, le système 10 est conçu pour pouvoir saisir toute une rangée de modules 3 d'un compartiment 5. Autrement dit, le bras de support 13 porte autant de moyens de saisie 12 que de modules 3 stockés dans une rangée d'un compartiment 5. Les moyens de saisie 12 sont alors régulièrement disposés le long de ce bras de support 13. Des cales d'espacement 28 (figure 6) sont fixées sur le bras de support 13 entre les moyens de saisie 12 pour immobiliser axialement les modules 3 et isoler l'un de l'autre deux modules 3 adjacents.In the embodiment illustrated in the Figures 1 and 4, the system 10 is designed to be able to enter a whole row of modules 3 from a compartment 5. In other words, the support arm 13 carries as many input means 12 that of modules 3 stored in a row of a compartment 5. The gripping means 12 are so regularly arranged along this arm of support 13. Spacers 28 (FIG. 6) are fixed on the support arm 13 between the means of grip 12 to axially immobilize the modules 3 and isolate one from the other two adjacent modules 3.

Le magasin 1 qui repose sur une surface d'appui S est ouvert à son extrémité supérieure, ainsi que sur l'un de ses côtés qui correspond par exemple, à une face latérale du magasin qui s'étend perpendiculairement aux rangées de modules 3.Store 1 which rests on a surface support S is open at its upper end, so that on one of its sides which corresponds for example to a side face of the store which extends perpendicular to the rows of modules 3.

Les déplacements du bras de support 13 sont assurés par des moyens d'entraínement M situés à l'extérieur du magasin 1 et qui comprennent un dispositif formant ascenseur 30 mobile suivant une direction verticale pour déplacer le bras de support 13 à l'intérieur d'un compartiment 5, une extrémité du bras 13 étant fixée à l'ascenseur 30. L'ascenseur 30 est logé dans une cage 32 mobile en translation le long du côté ouvert du magasin 1 pour pouvoir sélectionner un compartiment 5. L'ascenseur 30 est commandé par un premier dispositif d'entraínement pignon-crémaillère, par exemple, actionné par un premier moteur électrique M1. La cage 32 est commandé par un second dispositif d'entraínement pignon-crémaillère, par exemple, actionné par un second moteur électrique M2 pour se déplacer le long de deux rails de guidage 34 supérieur et inférieur. The displacements of the support arm 13 are provided by drive means M located at outside of store 1 and which include a device forming lift 30 movable in one direction vertical to move the support arm 13 to inside a compartment 5, one end of the arm 13 being attached to the elevator 30. The elevator 30 is housed in a cage 32 movable in translation along the side open from tray 1 to select a compartment 5. The elevator 30 is controlled by a first rack and pinion drive device, by example, powered by a first electric motor M1. The cage 32 is controlled by a second device rack and pinion drive, for example, actuated by a second M2 electric motor to move the along two upper and lower guide rails 34.

Un dispositif de détection 40 est associé à chaque moyen de saisie 12 pour détecter la présence d'un module 3 dans le logement L délimité entre les deux fourches 12a et 12b pour arrêter le mouvement de descente de l'ascenseur 30 à l'intérieur d'un compartiment 5 dès qu'un module 3 est reçu dans l'un quelconque des logements L.A detection device 40 is associated with each input means 12 for detecting the presence of a module 3 in the housing L delimited between the two forks 12a and 12b to stop the downward movement of the elevator 30 inside a compartment 5 from that a module 3 is received in any of housing L.

Selon un mode de réalisation illustré sur les figures 4 et 5, chaque dispositif de détection 40 comprend une butée pivotante 42 qui fait saillie à l'intérieur du logement L. Chaque butée 42 traverse librement la plaque 20 du bras de support 13, et toutes les butées 42 sont reliées par un élément de liaison 44 à une tige 45 supportée en rotation par deux paliers 46 portés par la plaque 20. La tige 45 s'étend parallèlement au bras de support 13 et supporte une patte 48; solidaire de l'un des éléments de liaison 44, qui est utilisée pour commander le poussoir 50a d'un premier interrupteur électrique 50 qui est relié au dispositif de commande du moteur M1 de l'ascenseur 30.According to an embodiment illustrated on the Figures 4 and 5, each detection device 40 includes a pivoting stop 42 which projects inside the housing L. Each stop 42 passes through freely the plate 20 of the support arm 13, and all the stops 42 are connected by a connecting element 44 to a rod 45 rotatably supported by two bearings 46 carried by the plate 20. The rod 45 extends parallel to the support arm 13 and supports a tab 48; united of one of the connecting elements 44, which is used for control the push-button 50a with a first switch electric 50 which is connected to the control device of the elevator motor M1 30.

L'interrupteur 50 qui est ainsi commun à tous les moyens de saisie 12 est monté entre les deux bras 16 de la fourche 12a de l'un des moyens de saisie 12.The switch 50 which is thus common to all the gripping means 12 is mounted between the two arms 16 of the fork 12a of one of the gripping means 12.

Il est également prévu un dispositif de détection 60 du fond du magasin 1 pour arrêter le mouvement de descente de l'ascenseur 30 à l'intérieur d'un compartiment 5 ne contenant plus aucun module 3.There is also a device for detection 60 of the bottom of the magazine 1 to stop the downward movement of elevator 30 inside a compartment 5 no longer containing any module 3.

Selon un mode de réalisation illustré sur les figures 4 et 6, le dispositif de détection 60 peut être tout simplement constitué par le poussoir 62a utilisé pour commander un second interrupteur électrique 62 qui est monté sur la fourche 12a du moyen de saisie 12 et également relié au dispositif de commande du moteur M1 de l'ascenseur 30. L'interrupteur 62 est par exemple logé à l'intérieur d'un bras évidé 16 de l'une des fourches 12a des moyens de prise 12, de manière à ce que le poussoir 62a fasse saillie à la face d'extrémité libre du bras évidé 16.According to an embodiment illustrated on the Figures 4 and 6, the detection device 60 can be simply constituted by the pusher 62a used to control a second electrical switch 62 which is mounted on the fork 12a of the gripping means 12 and also connected to the motor control device M1 of the elevator 30. The switch 62 is for example housed at the interior of a hollow arm 16 of one of the forks 12a gripping means 12, so that the pusher 62a protrudes from the free end face of the hollow arm 16.

On va décrire maintenant le fonctionnement du système de saisie 10 pour prélever des modules 3 à l'intérieur d'un compartiment 5 du magasin 1.We will now describe how the input system 10 for withdrawing modules 3 to inside a compartment 5 of store 1.

L'ascenseur 30 étant supposé situé à la partie supérieure de la cage 32, c'est-à-dire que le bras de support 13 des moyens de saisie 12 est situé à l'extérieur du magasin 1. Le moteur M2 est actionné pour déplacer la cage d'ascenseur 32 le long des rails de guidage 34, de manière à venir positionner le bras de support 13 au-dessus du magasin 1 et en regard de l'un des compartiments 5. Le moteur M2 est arrêté pour immobiliser en position la cage 32, et le moteur M1 est actionné à son tour pour faire descendre l'ascenseur et, par conséquent, le bras de support 13 à l'intérieur du compartiment 5 sélectionné.The elevator 30 being supposed to be located at the part upper of the cage 32, that is to say that the arm of support 13 of the gripping means 12 is located at outside the store 1. The M2 motor is activated to move the elevator shaft 32 along the rails guide 34, so as to position the arm of support 13 above the magazine 1 and opposite one compartments 5. The M2 engine is stopped to immobilize the cage 32 in position, and the motor M1 is actuated in turn to lower the elevator and, therefore, the support arm 13 inside the compartment 5 selected.

Les fourches 12a et 12b des moyens de saisie 12 pénètrent à l'intérieur du compartiment 5 et passent librement dans les espaces e délimités par les cales d'espacement 9. Dès qu'un taquet 27 d'un moyen de saisie vient au contact d'un module 3 stocké dans le compartiment 5, le module 3 escamote automatiquement le taquet 27 en pénétrant à l'intérieur du logement L délimité par les deux fourches 12a et 12b du moyen de saisie 12.The forks 12a and 12b of the gripping means 12 penetrate inside the compartment 5 and pass freely in the spaces e delimited by the spacers 9. As soon as a cleat 27 of a gripping means comes into contact with a module 3 stored in compartment 5, the module 3 automatically retracts the cleat 27 by penetrating inside the housing L delimited by the two forks 12a and 12b of the gripping means 12.

Lorsque le module 3 vient au contact de la butée pivotante 42 du dispositif de détection 40, le module 3 fait basculer la butée 42, ce qui entraíne une rotation de la tige 45 qui, par l'intermédiaire de la patte 48, vient agir sur le poussoir 50a de l'interrupteur électrique 50. L'actionnement de l'interrupteur 50 provoque l'arrêt du mouvement de descente de l'ascenseur 30 pour immobiliser le bras de support 13. Le module 3 est donc complètement engagé dans le logement L délimité entre les deux fourches 12a et 12b du moyen de saisie 12, et le module 3 est retenu dans ce logement L en reposant sur le taquet 27 qui a repris sa position en saillie à l'intérieur du logement L.When module 3 comes into contact with the pivoting stop 42 of the detection device 40, the module 3 switches the stop 42, which results in a rotation of the rod 45 which, via the tab 48, acts on the pusher 50a of the electric switch 50. The actuation of switch 50 causes the movement of descent of the elevator 30 to immobilize the arm of support 13. Module 3 is therefore fully engaged in the housing L delimited between the two forks 12a and 12b input means 12, and module 3 is retained in this housing L resting on the cleat 27 which has resumed its projecting position inside the housing L.

On inverse ensuite le sens de rotation du moteur M1 pour faire remonter l'ascenseur 30 et extraire le bras de support 13 hors du magasin. On actionne ensuite le moteur M2 pour déplacer la cage 32 vers un dispositif de transfert (non représenté) qui va reprendre les modules 3 prélevés du magasin 1 pour les acheminer vers la chambre du canon.We then reverse the direction of rotation of the motor M1 to raise the elevator 30 and extract the support arm 13 outside the store. We operate then the M2 motor to move the cage 32 to a transfer device (not shown) which will resume modules 3 taken from store 1 to route them towards the barrel chamber.

Lorsque le bras de support 13 pénètre dans un compartiment 5 ne contenant plus aucun module, le mouvement de descente de l'ascenseur 30 sera automatiquement interrompu dès que le poussoir 62a, qui commande l'interrupteur 60, viendra au contact du fond du magasin.When the support arm 13 enters a compartment 5 no longer containing any module, the downhill movement of the elevator 30 will automatically interrupted as soon as the push-button 62a, which control the switch 60, will come into contact with the bottom of the shop.

Certains dispositifs du système de saisie 10 peuvent être réalisés selon des exemples de réalisation autres que ceux décrits précédemment.Certain devices in the input system 10 can be carried out according to exemplary embodiments other than those described above.

En particulier, au lieu de prévoir un dispositif de détection 40 d'un module 3 pour chaque moyen de saisie, on peut envisager un seul dispositif de détection commun à l'ensemble des moyens de saisie 12. Ce dispositif de détection purement électronique peut être basé sur l'utilisation d'un photo-émetteur et d'un photo-récepteur respectivement montés aux deux extrémités du bras de support 13. Un tel dispositif de détection aurait pour avantage de supprimer toutes les butées pivotantes 42. On peut également envisager d'équiper chaque module de saisie 12 d'un interrupteur électrique qui détecterait directement la présence d'un module. Un tel dispositif aurait pour avantage de supprimer toutes les butées pivotantes, les éléments de liaison 44 et la tige 45.In particular, instead of providing for a detection device 40 of a module 3 for each input means, we can consider a single device detection common to all of the input means 12. This purely electronic detection device can be based on the use of a photo-transmitter and a photo-receiver respectively mounted at both ends of the support arm 13. Such a detection device would have the advantage of eliminating all the stops pivoting 42. We can also consider equipping each input module 12 of an electric switch which would directly detect the presence of a module. A such a device would have the advantage of eliminating all the pivoting stops, the connecting elements 44 and the rod 45.

De même, chaque moyen de retenue 25 d'un module 3 pourrait être commandé par un actionneur électrique ou pneumatique, ce qui permettrait éventuellement de saisir tout ou partie des n modules d'une même rangée d'un compartiment.Likewise, each retaining means 25 of a module 3 could be controlled by an electric or pneumatic actuator, which would possibly allow all or part of the n modules of the same row of a compartment to be grasped.

Enfin, l'invention ne se limite pas à des modules ayant une forme cylindrique.Finally, the invention is not limited to modules having a cylindrical shape.

Claims (10)

Système pour saisir automatiquement des modules (3) de charge propulsive stockés dans un magasin (1), ce système comprenant au moins un moyen de saisie (12) porté par un bras de support (13) mobile actionné par des moyens d'entraínement (M) pour pouvoir pénétrer à l'intérieur du magasin (1) et venir saisir au moins un module (3), système qui est caractérisé en ce que le moyen de saisie (12) comprend deux fourches (12a, 12b) disposées en regard l'une de l'autre et qui délimitent entre elles un logement de réception (L) d'un module (3), et au moins un moyen de retenue escamotable (25) destiné à faire saillie à l'intérieur du logement (L) pour maintenir le module (3) dans ledit logement après le passage des deux fourches (12a, 12b) de part et d'autre du module (3) à saisir.System for automatically entering propellant charge modules (3) stored in a store (1), this system comprising at least one means of grip (12) carried by a mobile support arm (13) actuated by drive means (M) to be able to enter the store (1) and come and seize minus one module (3), system which is characterized in that that the gripping means (12) comprises two forks (12a, 12b) arranged opposite one another and which delimit between them a reception housing (L) of a module (3), and at least one retaining means retractable (25) intended to project inside the housing (L) to hold the module (3) in said housing after the passage of the two forks (12a, 12b) of on either side of the module (3) to be entered. Système selon la revendication 1, caractérisé en ce que le magasin (1) comprend au moins un compartiment (5) pour stocker au moins une rangée de modules (3), en ce que le compartiment (5) est délimité par deux cloisons (7) qui supportent des cales d'espacement (9) montées en regard les unes des autres pour isoler chaque module (3) d'une part, et ménager un espace (e) entre chaque module (3) et les deux cloisons (7) pour permettre le libre passage des deux fourches (12a, 12b) du moyen de saisie (12) d'autre part.System according to claim 1, characterized in that the magazine (1) comprises at least one compartment (5) for storing at least one row of modules (3), in that the compartment (5) is delimited by two partitions (7) which support shims spacers (9) mounted facing each other to isolate each module (3) on the one hand, and to provide a space (e) between each module (3) and the two partitions (7) to allow the free passage of the two forks (12a, 12b) of the gripping means (12) on the other hand. Système selon la revendication 1 ou 2, caractérisé en ce que le moyen de retenue (25) d'un module (3) dans le logement (L) du moyen de saisie (12) est constitué par au moins un taquet escamotable (27) monté articulé sur l'une des deux fourches (12a) du moyen de saisie (12), et en ce que le taquet (27) est sollicité en permanence pour faire saillie à l'intérieur du logement (L), le module (3) escamotant automatiquement le taquet (27) lors de l'entrée du module (3) dans le logement (L). System according to claim 1 or 2, characterized in that the retaining means (25) of a module (3) in the housing (L) of the gripping means (12) consists of at least one retractable cleat (27) hinged mounted on one of the two forks (12a) of the means gripping (12), and in that the cleat (27) is biased permanently to protrude inside the housing (L), the module (3) automatically retracting the cleat (27) when the module (3) enters the housing (L). Système selon la revendication 1 ou 2, caractérisé en ce que le moyen de retenue (25) est constitué par un taquet escamotable (27) commandé par un actionneur électrique ou pneumatique.System according to claim 1 or 2, characterized in that the retaining means (25) is consisting of a retractable cleat (27) controlled by a electric or pneumatic actuator. Système selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend un dispositif de détection (40) de la présence d'un module (3) à l'intérieur du logement (L) délimité entre les deux fourches (12a, 12b) du moyen de saisie (12) pour agir sur les moyens d'entraínement (M) et arrêter le mouvement de descente du bras de support (13) mobile à l'intérieur du magasin.System according to any of previous claims, characterized in that includes a presence detection device (40) a module (3) inside the housing (L) defined between the two forks (12a, 12b) of the means of seizure (12) to act on the drive means (M) and stop the downward movement of the arm of mobile support (13) inside the store. Système selon la revendication 5, caractérisé en ce que le dispositif de détection (40) est constitué par une butée pivotante (42) et par un interrupteur électrique (50) dont le poussoir (50a) est commandé par la position de la butée (42).System according to claim 5, characterized in that the detection device (40) is constituted by a pivoting stop (42) and by a electric switch (50) whose pusher (50a) is controlled by the position of the stop (42). Système selon la revendication 6, caractérisé en ce que le dispositif de détection (40) est porté par le bras de support (13), et en ce que la butée pivotante (42) fait saillie à l'intérieur du logement (L) et est commandée par le module (3) une fois celui-ci reçu dans le logement (L).System according to claim 6, characterized in that the detection device (40) is carried by the support arm (13), and in that the stop pivoting (42) protrudes inside the housing (L) and is controlled by the module (3) once it has been received in the housing (L). Système selon la revendication 5, caractérisé en ce que le dispositif de détection (40) est un dispositif électronique comprenant un photo-émetteur et un photo-récepteur montés aux deux extrémités du bras de support (13).System according to claim 5, characterized in that the detection device (40) is an electronic device comprising a photo-emitter and a photo-receiver mounted at both ends of the arm support (13). Système selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend un dispositif de détection (60) du fond du magasin (1) pour agir sur les moyens d'entraínement (M) et arrêter le mouvement de descente du bras de support (13) lorsque le magasin ne contient plus de munition. System according to any of previous claims, characterized in that includes a bottom detection device (60) store (1) to act on the drive means (M) and stop the downward movement of the arm of support (13) when the store no longer contains ammunition. Système selon la revendication 9, caractérisé en ce que le dispositif de détection (50) du fond du magasin (1) est constitué par un interrupteur électrique (62) fixé sur l'une des fourches (12a, 12b) d'un moyen de saisie (12) et commandé par un poussoir (62a) qui fait saillie à la surface d'extrémité libre de la fourche.System according to claim 9, characterized in that the detection device (50) of the bottom of the store (1) is constituted by a switch electric (62) fixed on one of the forks (12a, 12b) an input means (12) and controlled by a pusher (62a) which protrudes from the end surface free from the fork.
EP98401270A 1997-05-29 1998-05-28 Device for automatically gripping propulsive charge modules stocked in a magazine Expired - Lifetime EP0881454B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9706578A FR2764055B1 (en) 1997-05-29 1997-05-29 AUTOMATIC INPUT SYSTEM OF PROPULSIVE CHARGING MODULES STORED IN A STORE
FR9706578 1997-05-29
US09/088,080 US6048159A (en) 1997-05-29 1998-06-01 Automatic pick-up system for propellant charge modules stored in a magazine

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EP0881454A1 true EP0881454A1 (en) 1998-12-02
EP0881454B1 EP0881454B1 (en) 2002-08-14

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EP (1) EP0881454B1 (en)
FR (1) FR2764055B1 (en)
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ZA985712B (en) 1999-03-31
US6048159A (en) 2000-04-11
FR2764055B1 (en) 1999-07-16
IL124555A (en) 2002-02-10
IL124555A0 (en) 1998-12-06
EP0881454B1 (en) 2002-08-14
FR2764055A1 (en) 1998-12-04

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