EP0971198A1 - Robot zur detonation von landminen - Google Patents

Robot zur detonation von landminen Download PDF

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Publication number
EP0971198A1
EP0971198A1 EP98961407A EP98961407A EP0971198A1 EP 0971198 A1 EP0971198 A1 EP 0971198A1 EP 98961407 A EP98961407 A EP 98961407A EP 98961407 A EP98961407 A EP 98961407A EP 0971198 A1 EP0971198 A1 EP 0971198A1
Authority
EP
European Patent Office
Prior art keywords
outer frame
frame
main body
sweeping robot
mine
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.)
Withdrawn
Application number
EP98961407A
Other languages
English (en)
French (fr)
Other versions
EP0971198A4 (de
Inventor
Masanori Takasugi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0971198A1 publication Critical patent/EP0971198A1/de
Publication of EP0971198A4 publication Critical patent/EP0971198A4/de
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/28—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles using brushing or sweeping means or dozers to push mines lying on a surface aside; using means for removing mines intact from a surface
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/20—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-penetrating elements, e.g. with means for removing buried landmines from the soil

Definitions

  • the present invention relates to a mine sweeping robot for removing mines buried under the ground safety without human assistance.
  • a worker searches for a mine by using a metal detector or the like, and removes its fuse or destroys the mine itself, but its working efficiency is poor and it is very dangerous.
  • a rocket connecting a wire is launched toward the mine field, and the wire is brought into contact with the ground to explode, but a tremendous number of rockets must be used in order to destroy all mines, and the economy is very poor.
  • This mine sweeping robot is a uniaxial self-propelled robot mainly composed of an outer frame having a pair of cylindrical side frame bodies rotatably coupled coaxially, and a main body provided inside the outer frame for propelling the outer frame by rotating and driving the both frame bodies independently by remote control.
  • the robot moves the mine field freely in all directions while keeping a wide ground contact area, so that the mines can be destroyed efficiently, safely and securely.
  • this unmanned self-propelled mine sweeping robot has its own problems, and the following problems are known in relation to the geography of the mine field.
  • the mine sweeping robot previously developed by the applicant is a so-called uniaxial type, and since there is no interaxial space as in the biaxial type, it can run along the ground surface even in a rough and undulated land, but it cannot climb a steep slope because the both cylindrical frame bodies roll downward and the main body idles within the outer frame. Therefore, its place of use is limited.
  • the outer frame may pass over the dents, and mines may be left undetected, and it is not perfect in effect, and its place of use is also limited in this respect.
  • the invention is devised in the light of the above background, and it is hence an object thereof to present a mine sweeping robot capable of destroying the mines safely and securely regardless of the geography of the mine field.
  • a first mine sweeping robot of the invention comprises an outer frame composed by coupling coaxially a pair of cylindrical frame bodies at both sides rotatably, a main body provided in the outer frame for propelling the outer frame by rotating and driving the both frame bodies independently by remote control, and a guide bar located sideward of the outer frame at least on one side of the main body, and extending at least forward or backward of the running direction of the outer frame so that the leading end may project to the outer side of the outer circumference of the frame body.
  • a second mine sweeping robot of the invention comprises an outer frame composed by coupling coaxially a pair of cylindrical frame bodies at both sides rotatably, a main body provided in the outer frame for advancing the outer frame by rotating and driving the both frame bodies independently by remote control, and plural probes made of elastic material, extending radially to the outer side from each outer circumference of the both frame bodies.
  • a third mine sweeping robot of the invention comprises an outer frame composed by coupling coaxially a pair of cylindrical frame bodies at both sides rotatably, a main body provided in the outer frame for propelling the outer frame by rotating and driving the both frame bodies independently by remote control, a guide bar located sideward of the outer frame at least on one side of the main body, and extending at least forward or backward of the running direction of the outer frame so that the leading end may project to the outer side of the outer circumference of the frame body, and plural probes made of elastic material, extending radially to the outer side from each outer circumference of the both frame bodies.
  • the guide bar is provided at least on one side of the main body.
  • Each guide bar extends at least forward or backward of the running direction sideward of the outer frame so that the leading end may project to the outer side of the outer circumference of the frame body.
  • the outer frames moves while the plural probes are hitting the land surface by the rotation of the frame bodies. Accordingly, when the outer frame passes over a dent, an effective impact can be given to the land surface in the dent. Therefore, no mine is left over even in the mine field having multiple small dents and bumps.
  • the climbability is excellent and no mine is left undetected.
  • the climbability may be lowered because of the elastic probes interposing between the frame bodies and the land surface, but in the case of the third mine sweeping robot of the invention, lowering of climbability by probes can be effectively compensated by the guide bar.
  • the guide bar should be provided at both sides of the main body from the viewpoint of running stability of the outer frame, but it is not a serious problem if provided at one side of the main body only in the case of rotating one frame body.
  • the guide bar is preferred to be designed to extend both forward and backward in the running direction of the outer frame. More specifically, a bar longer than the outside diameter of the frame body is provided so that its center may be positioned nearly in the axial center of the frame body. If the guide bar is too low, it may be an obstacle in ordinary running.
  • the guide bars and probes are preferred to be detachable from the main body and frame bodies. As a result, they can be used selectively, and flexible setting depending on the local geography is possible.
  • the probes are disposed at intervals in the outer circumferential direction of the frame body, and the plural probes are detachably planted in plural base members fitted and fixed on the outer circumference, at intervals in the longitudinal direction of the members.
  • Fig. 1 is a partially cut-away perspective view of mine sweeping robot in an embodiment of the invention
  • Fig. 2 is a cross sectional plan view of the outer frame
  • Fig. 3 is a schematic structural plan view of the main body
  • Fig. 4 is a perspective view of the joint
  • Fig. 5 is a side view of the same mine sweeping robot
  • Fig. 6 is a side view for explaining the climbing state of the mine sweeping robot
  • Fig. 7 is a front view for explaining the state of the mine sweeping robot when passing over a dent.
  • the mine sweeping robot of this embodiment of the invention is an example of the third mine sweeping robot of the invention, combining the first mine sweeping robot of the invention and the second mine sweeping robot of the invention.
  • This mine sweeping robot comprises, as shown in Fig. 1, a cylindrical outer frame 10, a main body 20 provided inside the outer frame 1 for propelling the outer frame 10, plural probes 30, 30, ... provided radially on the outer circumference of the outer frame 10, and a pair of guide bars 40, 40 on both sides provided on both sides of the main body 20.
  • the outer frame 10 is, as shown in Fig. 2, composed of a pair of cylindrical frame bodies 11, 11 on both sides, being coupled coaxially by means of a joint 15, so as to rotate in both directions independently from each other.
  • the frame bodies 11, 11 are made of resin such as FRP, and multiple ribs 12, 12, ... extending in the axial direction are formed on each outer circumference at equal intervals in the circumferential direction. Further, on each inner circumference of the frame bodies 11, 11, three guide grooves 13, 13, 14 continuous in the circumferential direction are formed at specified intervals in the axial direction.
  • the joint 15 includes, as shown in Fig. 4, a flange-shaped main body 16 having sleeves at both sides, and bearings 17,17 at both sides externally fitted into the both sleeves, and by fitting the bearings 17, 17 internally into the ends of the frame bodies 11, 11, the frame bodies 11, 11 are rotatably coupled coaxially to compose one outer frame 10.
  • Plural probes 30, 30, ... provided at the outer side of the outer frame 10 are provided on each outer circumference of the outer frames 11, 11, at equal intervals in the axial direction and circumferential direction.
  • Each probe 30 is made of an elastic material, herein, and formed like a whisk by bundling a plurality of fine bars made of strongly restoring material such as bamboo and spring, and each set of a specified number of pieces is planted at equal intervals in the base material 31 extending in the axial direction of each frame body 11.
  • Plural base materials 31, 31, ... are fitted between adjacent ribs 12, 12 by each specified number of pieces of the frame bodies 11, 11 and fixed by using bolts, so that the plural probes 30, 30, ... are detachably provided in the outer circumference of each outer frame 11, at specified intervals in the axial direction and circumferential direction.
  • the main body 10 provided at the inner side of the outer frame 10 comprises, as shown in Fig. 3 and Fig. 5, a case 21 straddling over the frame bodies 11, 11, and a pair of drive units 22, 22 at both sides assembled in both sides of the case 21, among others.
  • Each drive unit 22 includes a motor 23 assembled in the case 21, four drive wheels 24, 24, ... driven synchronously by the motor 23, a holding wheel 25 projecting upward from the ceiling side of the case 21, a receiver 26 of remote control of the motor 23, and a battery 27 for driving the motor 23.
  • the four drive wheels 24, 24, ... are rubber wheels, and project downward from four bottom positions of the case 21.
  • Two left drive wheels 24, 24 are fitted into the left guide groove 13 of the three guide grooves 13, 13, 14 provided in the inner circumference of the frame body 11.
  • Two right drive wheels 24, 24 are fitted into the right guide groove 13 of the three guide grooves 13, 13, 14.
  • the holding wheel 25 is a rubber wheel same as the drive wheels 24, 24, ..., and is fitted into the middle guide groove 14, and presses the drive wheels 24, 24, ... to the bottom of the guide grooves 13, 13.
  • the two front drive wheels 24, 24 are coupled by an axle 24', and the two rear drive wheels 24, 24 are also coupled by an axle 24'.
  • the rotation of the motor 23 is transmitted to the front and rear axles 24', 24' through a reduction gear 28 and a chain 29, the four drive wheels 24, 25 rotate synchronously in the same direction to rotate the frame body 11.
  • a pair of guide bars 40, 40 attached to both sides of the main body 20 are positioned sideward of the outer frame 10, and both are horizontal bars at right angle to the central axis of the frame body 11.
  • Each guide bar has a length sufficiently larger than the outside diameter of the frame body 11, and its middle is detachably fastened with screw through a support member 41 to the side of the case 21 of the main body 20, so that the middle may be positioned nearly in the axial center of the frame body 11.
  • both ends of each guide bar 40 projects by the same length forward and backward in the running direction of the outer frame 20 from the outside position of the frame body 11.
  • the mine sweeping robot is placed at a safe place before the mine field, and the operator remote-controls from a safe place, and the mine sweeping robot advances into the mine field.
  • both frame bodies 11, 11 for composing the outer frame 10 rotate synchronously in the forward direction. Therefore, the mine sweeping robot (outer frame 10) moves forward.
  • the both frame bodies 11, 11 rotate synchronously in the reverse direction, so that the mine sweeping robot (outer frame 10) moves backward.
  • the mine sweeping robot (outer frame 10) makes a large turn to the stop side.
  • the mine sweeping robot (outer frame 10) makes a small turn to the reverse rotation side.
  • the mine sweeping robot can move the mine field freely in all directions, and steps on and destroys the mines.
  • the length of the guide bars 40, 40 is required to be larger than the outside diameter of the frame bodies 11, 11, owing to the necessity of projecting the leading end to the outer side from the outer circumference position of the frame body 11, and from the standpoint of enhancing the ground contact force, it is preferred to be more than two times the outside diameter of the frame bodies 11, 11. If too long, however, the ends of the guide bars 40, 40 may touch the ground in normal running, and the running may be impeded, and therefore the upper limit should be preferably within five times of the outside diameter of the frame bodies 11, 11.
  • the outer frame 10 may step over a dent.
  • plural probes 30, 30, ... made of elastic material are radially attached to plural positions on the outer circumference of the frame bodies 11, 11, the probes 30, 30, ... rotate along with rotation of the frame bodies 11, 11. Accordingly, the mine sweeping robot (outer frame 10) travels while hitting the ground by the plural probes 30, 30, ....
  • an effective impact can be given to the ground within the dent. Therefore, even in the case of a mine field having multiple small dents and bumps, no mine is left undetected.
  • This mine sweeping robot is a so-called disposable type, basically, being broken by explosion, but in actual use, since the probes 30, 30, ... run ahead of the outer frame 10 and destroy the mines, the risk of destruction by explosion is lowered. Therefore, it may be used repeatedly depending on the circumstance. Or it may be reused by a slight repair. Hence the economy is improved.
  • the length of the probe 30 is preferred to be 1/10 to 1/3 times of the outside diameter of the frame body 11. If the probe 30 is too short, it is hard to destroy securely, or if too long, the running performance is impaired.
  • Mounting positions of the probes 30 may be several to about ten positions in the circumferential direction of the frame body 11.
  • the probes 30 may be also continuous in the axial direction, so far as no large clearance is left over in the axial direction of the frame body 11.
  • the guide bars 40, 40 or probes 30, 30, ... are not particularly necessary, either or both of them may be removed as required. In other words, they can be used selectively depending on the geography of the mine field.
  • the climbability may be lowered because of the elastic probes 30, 30, ... interposing between the frame bodies 11, 11 and the ground, but such lowering can be effectively suppressed by the guide bars 30, 30.
  • Fig. 8 is a side view for explaining other mounting structure of probes.
  • the base member 31 on which the probes 30, 30, ... are planted is fitted and fixed by using bolts between the ribs 12, 12 formed on the outer circumference of the frame body 11, but as shown in Fig. 8 (a), a base member 31 of locking type may be inserted from the side into a groove 18 of locking type formed in the outer circumference of the frame body 11, or, as shown in Fig. 8 (b), a base member 31 of locking type may be inserted from the side into a rib 18 of locking type formed on the outer circumference of the frame body 11.
  • the frame body 11 is made of resin and easy to process, and hence it is easy to carry out. Including the structure in the foregoing embodiment, since the probes 30, 30, ... can be attached and detached easily, it is suited to field setting or repair.
  • the probe 30 is described as a member like whisk formed by bundling a plurality of fine bars made of a strongly restoring material, but not limited to this, for example, a strongly restoring band material or the like may be used.
  • a strongly restoring band material or the like may be used.
  • bamboo, or other inexpensive materials available in the field are preferred.
  • the side bar 40 in order to increase the ground contact area, it is effective to fold the end in an L-shape.
  • the mines can be destroyed safely and securely regardless of the geography of the mine field.
  • the mine buried in a dent is securely destroyed when passing over the dent, and no mine is left over. Therefore, the mines can be destroyed safely and securely regardless of the geography of the mine field. Moreover, the mine destroying range is wide, it is excellent in certainty, small in damage by explosion, and high in economy.
  • the third mine sweeping robot of the invention is a combination of the first mine sweeping robot of the invention and the second mine sweeping robot of the invention, and therefore the climbability is excellent, and no mine is missed. Therefore, the mines can be destroyed safely and securely regardless of the geography of the mine field. Moreover, it is excellent in running performance, certainty, and economy.
  • the guide bars and probes are detachable, they can be used selectively in the field depending on the geography of the mine field.
  • the mine sweeping robot of the invention is useful for removing mines buried in the ground by unmanned operation, and in particular it is suited to safe and secure destruction of mines regardless of the geography of the mine field.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Manipulator (AREA)
EP98961407A 1998-02-02 1998-12-17 Robot zur detonation von landminen Withdrawn EP0971198A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP3665798 1998-02-02
JP10036657A JP2862861B1 (ja) 1998-02-02 1998-02-02 地雷処理ロボット
PCT/JP1998/005733 WO1999039155A1 (fr) 1998-02-02 1998-12-17 Robot servant a faire exploser des mines terrestres

Publications (2)

Publication Number Publication Date
EP0971198A1 true EP0971198A1 (de) 2000-01-12
EP0971198A4 EP0971198A4 (de) 2001-01-24

Family

ID=12475940

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98961407A Withdrawn EP0971198A4 (de) 1998-02-02 1998-12-17 Robot zur detonation von landminen

Country Status (7)

Country Link
EP (1) EP0971198A4 (de)
JP (1) JP2862861B1 (de)
KR (1) KR20000076240A (de)
CN (1) CN1251649A (de)
CA (1) CA2284827A1 (de)
TW (1) TW368598B (de)
WO (1) WO1999039155A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2913264A1 (fr) * 2007-03-01 2008-09-05 Rouben Hovaguimian Engin de deminage notamment pour mines antipersonnel.
GB2555114A (en) * 2016-10-18 2018-04-25 Pearson Eng Ltd A frame

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100488198B1 (ko) * 2001-08-03 2005-05-10 국방과학연구소 무인지뢰제거 시스템
CN106017228B (zh) * 2016-07-15 2017-11-17 李新亚 引爆地雷车

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2622162A1 (de) * 1976-05-19 1977-12-01 Messerschmitt Boelkow Blohm Geraet zum raeumen von landminen
JPH0674695A (ja) * 1992-08-25 1994-03-18 Masanori Takasugi 地雷処理ロボット

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3841303A1 (de) * 1988-12-08 1990-06-13 Erhard Lauster Entwicklungen G Verfahren und geraet zum raeumen von im boden verlegten minen

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2622162A1 (de) * 1976-05-19 1977-12-01 Messerschmitt Boelkow Blohm Geraet zum raeumen von landminen
JPH0674695A (ja) * 1992-08-25 1994-03-18 Masanori Takasugi 地雷処理ロボット

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 018, no. 331 (M-1626), 23 June 1994 (1994-06-23) & JP 06 074695 A (MASANORI TAKASUGI), 18 March 1994 (1994-03-18) *
See also references of WO9939155A1 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2913264A1 (fr) * 2007-03-01 2008-09-05 Rouben Hovaguimian Engin de deminage notamment pour mines antipersonnel.
WO2008125756A2 (fr) * 2007-03-01 2008-10-23 Rouben Hovaguimian Engin de deminage notamment pour mines antipersonnel
WO2008125756A3 (fr) * 2007-03-01 2008-12-11 Rouben Hovaguimian Engin de deminage notamment pour mines antipersonnel
GB2555114A (en) * 2016-10-18 2018-04-25 Pearson Eng Ltd A frame
GB2555114B (en) * 2016-10-18 2021-11-24 Pearson Eng Ltd A frame

Also Published As

Publication number Publication date
KR20000076240A (ko) 2000-12-26
CA2284827A1 (en) 1999-08-05
WO1999039155A1 (fr) 1999-08-05
EP0971198A4 (de) 2001-01-24
CN1251649A (zh) 2000-04-26
JPH11218400A (ja) 1999-08-10
JP2862861B1 (ja) 1999-03-03
TW368598B (en) 1999-09-01

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