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
  • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
  • F41A27/06—Mechanical systems
  • F41A27/08—Bearings, e.g. trunnions; Brakes or blocking arrangements
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41G—WEAPON SIGHTS; AIMING
  • F41G5/00—Elevating or traversing control systems for guns
  • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
  • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks

Definitions

• the technical sector of the present invention is that of pointing systems of a weapon on site and in a field ensuring its stabilization.
• the mounting of the weapon on the vehicle therefore requires the establishment of an orientation system subject to a certain number of constraints.
• the first is to allow the orientation in site and in deposit around two axes allowing the desired deflections.
• the axes of movement must allow the transmission to the support vehicle of the recoil forces of the weapon, in particular by minimizing the parasitic torques of reaction to the shooting.
• the geometric organization of the weapon assembly poses in particular two constraints.
• the articulation of movement in elevation is generally strongly offset towards the rear of the weapon, with its effect on the sensitivity of the orientation of the weapon to the vertical accelerations caused by rolling.
• the constraints imposed on the motorization systems but also the need to guarantee the watertightness of the turret reveal friction, the effects of which degrade the accuracy of the orientation of 1 weapon.
• a first method consists in measuring the disturbing angular speed, for example by means of a gyrometric type) and in using it to control the speed of rotation of the motorization system placed between the support and the weapon. It is therefore an anticipation command placed in parallel with a servo control of the position of the weapon on an inertial reference whose efficiency is low to attenuate the amplitude of the angular disturbances for medium frequencies.
• a gyrometric type for example by means of a gyrometric type
• Another method consists in providing a motorization making it possible to control the torque applied to the load. This principle is used to improve the efficiency of reducing the effects of angular velocity disturbances. This method is suitable for low offset values. Reference may be made, for example, to US Pat. No. 4,387,624.
• the center of gravity of the weapon is slightly distant from its journal axis.
• Constraints on some weapon systems functional, in particular on the feed principle of the weapon add to the offset of the center of gravity geometric constraints which increase the friction at the level of the pins with its effect on the precision of the orientation of the weapon.
• the purpose of the present invention is to provide a pointing system for a weapon mounted on a mobile carrier making it possible to separate the needs of the main motorization, on site and in deposit, from the constraints to be imposed to control the fine orientation of the weapon in site and in deposit.
• the subject of the invention is therefore a system for pointing in elevation and in bearing of a weapon comprising a first positioning in bearing of the weapon according to a large angular movement relative to a first axis of rotation Gl, characterized in that 'it comprises: a first means of positioning the weapon in elevation according to a large clearance with respect to a first axis SI of rotation in elevation offset from the center of gravity of the weapon,
• a second means for positioning the weapon in elevation connected to the first means according to a small clearance relative to a second axis S2 of rotation in elevation, and a second means for lateral angular positioning of the weapon relative to a second axis of rotation G2 authorizing a small lateral movement of the weapon, the axes S2 and G2 passing in the vicinity of the center of gravity of the weapon.
• the first axis of rotation SI is located behind the center of gravity of the weapon.
• the first positioning means ensures articulation with respect to a frame on which the weapon is mounted around the first axis of rotation SI.
• the first positioning means comprises a mask supporting the weapon and integral with the frame and a means of rotation, the first axis SI being disposed between said mask and the frame.
• the rotation means ensures the rotation of the mask relative to the frame.
• the means of rotation consists of a jack or a gear motor.
• the weapon is rotatably mounted relative to the mask, the second site positioning means ensuring the site articulation of the weapon by rotation of the latter relative to the mask about the second axis S2.
• the second positioning means comprises an intermediate ring connected to the weapon and a second rotation means engaged along the second axis of rotation S2 on journals integral with said ring.
• the second means of rotation consists of a motor or a gear motor secured to the mask along the second axis of rotation S2 in elevation.
• the second means of rotation in elevation may comprise a jack secured to the mask and the rod of which is connected to the weapon or to a cradle secured to the weapon, cradle with respect to which the weapon moves back when fired.
• the second lateral angular positioning means of the weapon is integral with the cradle to ensure a small clearance in the field of the weapon around a second axis of rotation G2 passing through the center of gravity of the weapon.
• the angular lateral movement of the weapon relative to the mask can be of the order of 2 °.
• the second positioning means comprises a frame or an intermediate ring supporting the weapon and connected to the mask and a means for controlling the lateral rotation of the weapon relative to the mask.
• the weapon is mounted by means of an articulation relative to the mask, the control means ensuring the rotation of the weapon relative to the mask around the second axis G2.
• the joint is of the mechanical or elastic type.
• the mechanical articulation is constituted on the one hand by a first pin secured to the cradle of the weapon and two bearings secured to an intermediate frame between the mask and the cradle of the weapon and on the other hand by a second pin secured to the intermediate ring and two bearings secured to the mask.
• the elastic articulation consists of elastomer plates placed in a spherical air gap centered on the center of gravity of the weapon and produced by pieces fixed respectively on the cradle of the weapon and on The mask.
• the control means is a motor engaged along the second axis of rotation G2.
• control means comprises a jack whose body is integral with the mask and whose rod is connected to the weapon.
• control means comprises a jack whose body is secured to the weapon and whose rod is connected to the mask.
• the second site positioning means and the second angular lateral positioning means of the weapon are combined to constitute a cardan joint.
• the weapon is articulated in elevation with respect to a frame itself articulated laterally with respect to the mask.
• the means for controlling the secondary articulations consist of jacks or geared motors placed respectively between the mask and the intermediate frame on the one hand, and between the intermediate frame and the cradle of the weapon on the other go.
• a very first advantage of the system according to the invention lies in the respect of the organizational needs of the weapon system by moving the articulation axis in order to respect the constraints of functional optimization or global optimization.
• Another advantage lies in meeting the requirements for absolute orientation quality to be imposed on the weapon by adopting a second articulation at the center of gravity.
• Another advantage lies in the reduction of parasitic couples between the weapon and the mask.
• Yet another advantage lies in the realization of a compact and simple articulation in the form of a universal joint to ensure the secondary and elevation rotation of the weapon.
• Another advantage lies in the introduction of a lateral degree of freedom perpendicular to the firing axis of the weapon which makes it possible to keep the weapon oriented laterally in the sighting direction without having to move the assembly precisely from the turret.
• FIG. 1 is a section of the weapon in top view passing through the axis of the weapon
• FIG. 2 is a section of the weapon in side view passing through the axes of lateral rotation in the field
• - Figure 3 is a general view of a weapon and its mounting mask on the frame
• - Figure 4 is a section showing an example of articulation of the weapon, of the gimbal type and
• FIG. 5 is a top view in section of the weapon showing another example of elastic ball joint.
• the weapon is mounted using a large diameter bearing on a movable carrier conventionally in bearing on a vehicle.
• the weapon therefore passively follows the rotation of this support.
• this rotation in the deposit although still taken into account is not described in more detail.
• the invention consists in providing three other motorizations of the weapon relative to a mobile support in rotation on which it is mounted.
• a first motorization, or main motorization makes it possible to orient the weapon in site roughly at an angle generally between -10 and 60 °. This motorization makes it possible to position the weapon without any constraint.
• a second motorization makes it possible to finely orient the weapon in elevation, at an angle of approximately 0.5 °, by resting on the main motorization in elevation.
• a third motorization consists in orienting the weapon finely in deposit at an angle of 0.5 to 2 °, that is to say laterally and angularly, by taking indirect support on the turret via the two parallel axes of articulation in site.
• the advantage of such a system according to the invention lies in the fact that the clearance between the weapon and the mask is limited to stabilization errors, which results in a simple embodiment.
• the dimensioning of the second and third motorizations being linked only to the inertia of the weapon to be aimed, an efficient torque control can be carried out without specific constraints.
• Figure 1 we see the weapon 1 to orient in site relative to the mask 2a itself rotatably mounted relative to a support 5, for example a turret, by means of main journals 6 and two bearings 7a and 7b along the axis SI.
• the mask 2a is in the form of a cage in which the rear part of the weapon is engaged.
• the weapon 1 is itself slidably mounted relative to a cradle 2b in a known manner.
• the cradle 2b is connected to the mask 2a by means of an intermediate ring 2c defining an articulation around which the weapon 1 can rotate in lateral rotation.
• This ring of cardan type for example, is connected to the mask 2a by means of the pins 8 and by the bearings 10.
• An actuator 4 secured to the mask 2a drives the weapon in rotation in elevation by means of a shaft 9 secured to the journals 8.
• the actuator 4 is a motor or a geared motor secured to the mask.
• FIG 2 we see the weapon 1 mounted on a support 5 via a frame 11.
• the support is a turret mounted on a carrier 50 via a bearing 51 of large diameter.
• the mask 2a and the pins 6 are schematically represented around which the weapon is articulated in elevation relative to the frame 11.
• the rotation of the mask 2 is obtained by means of a rotation means 3 constituted by a jack whose rod 12 is secured to the mask 2a by means of an axis 13 and the body of the frame 11.
• the jack 3 By actuating the jack 3, the mask 2a, therefore the weapon 1, is made to rotate around the pins 6 to roughly orient along a significant amplitude of the weapon relative to the frame 11.
• This amplitude may cover a range of the order of -10 to + 60 ° depending on the arrow FI.
• the weapon 1 is itself rotatably mounted relative to the mask 2a at a low amplitude to ensure its fine orientation in elevation.
• This rotation is carried out here using a jack 4 whose body is secured to the mask 2a and the rod of the weapon 1 and more precisely to the cradle.
• This jack 4 prints a movement of the weapon around the secondary pins 8 relative to its carrying structure, that is to say the mask 2a.
• This amplitude can cover a range of the order of 1 °.
• the pins 6 and the bearings 7 define the main site axis SI around which the motorization takes place according to a large movement in site, for example from -10 to 60 °, and the rotation of the mask 2a, therefore of the weapon, relative to the support 5.
• the pins 8 and the bearings 10 define the secondary site axis S2 around which the motorization is effected with a small clearance, 0.5 ° for example, and the rotation of the weapon relative to the mask . It can be arranged that these secondary pins are located at the center of gravity of the weapon 1 without this constituting a limitation of the scope of the invention.
• This center of gravity G is located substantially at the point of intersection of the axis XX 'of the weapon and the axis S2.
• FIG. 2 the lateral secondary axis of rotation G2 of the weapon is visualized even more precisely relative to the mask 2a, via the intermediate ring 2c.
• This rotation is obtained by a double journal, fixed on the cradle and movable relative to the ring 2c via bearings as will be explained below in relation to FIG. 4.
• Motorization means 19 allows the weapon to be finely oriented laterally and angularly, bearing between the cradle of the weapon 1 and the mask 2a or between the cradle 2b and the intermediate ring 2c. It should be noted that the secondary site motorization connected to the weapon by a means allowing its retraction can also be applied directly between the mask 2a and the intermediate ring 2c, the advantage of this solution being naturally to minimize the couplings which can appear between a secondary motorization and the orthogonal secondary axis.
• the pointing system allows: a first orientation to authorize the deflection in site of the weapon with respect to the frame according to the arrow FI and to respect the functional and general geometric constraints.
• a conventional sealing system is provided at this articulation between the mask and the turret (not shown),
• the system according to the invention is integrated into a complex assembly making it possible to orient the weapon according to firing coordinates, to determine its position and its deviations from a set point, to measure the pointing variations during taxiing and correct any deviations measured. Since the second articulation is integral with the movable mask under the action of the first means, it is therefore this first motorization and the servo-control of the SI axis which will withstand the disturbances caused by friction on the seals as well tightness as vertical linear accelerations.
• the travel must be limited by the off-center between the axis of the weapon and the main journals 6. Indeed, the force of retreat of the weapon results on the one hand, by a disturbing torque which must be supported by the main motorization and on the other hand, by the radial acceleration induced by the mask on the center of gravity of the ar e with its effect on the shooting in progress and / or on the following shots (for a shooting weapon rhythmically) .
• an actuator 4 is provided for ensuring the small amplitude deflections of the weapon relative to the mask 2a.
• This actuator can in fact be an electric motor-reducer of sufficiently low stiffness and whose force control is of sufficient bandwidth. It is also possible to envisage a hydraulic motorization constituted by a hydraulic cylinder with small clearance. To impose a minimum of elasticity on the oil, one can artificially increase the dead volume of each of the two chambers of the jack by small purged accumulators.
• the motorization with pressure control is used to control the absolute speed of the weapon, speed obtained directly by a gyrometer or from a gyroscope mounted on the mask 2a, with derivation of the sum of the gyroscopic distance and of the relative position between the mask 2a and the weapon 1.
• FIG. 3 there is shown a top view of a weapon 1 according to a section made along its longitudinal axis XX '.
• the trace 15 of the raceway of the frame 5 or turret 50 and we see that the axis G2 is located outside the trace 15.
• the center of gravity is offset significantly in relation to the axis of rotation in SI site.
• This turret is movable in bearing rotation around the axis Gl at an angle of 360 °. Turret therefore drives weapon 1 to orient it roughly in deposit.
• a motor 16 drives the turret 5 via a reduction gear 17.
• the weapon 1 is mounted on the frame 5 along a site axis SI around which it is rotated using the motor reducer 14 and along a second site axis S2 at its center of gravity.
• a bearing axis G2 around which the weapon itself will be actuated in order to orient it laterally with precision, the axis Gl being the bearing axis of the turret as previously described.
• the axes Gl and G2 are perpendicular to the plane of the figure.
• a lateral articulation is therefore provided between the weapon 1 and the mask 2a, and more precisely between the cradle 2b and the intermediate ring 2c, and the said weapon is rotated by means of a rotation control means. 19.
• This means ensures the positioning of the weapon and may for example be a gear motor or a jack.
• the body of the jack can be secured to the mask and its stem connected to the weapon or else the body of the jack is secured to the weapon and its stem to the mask.
• FIG 4 there is shown in a view along the axis of the weapon an articulation of the weapon 1 relative to the mask 2a in which two rotations are combined.
• This realization has the particularity of inverting G2 and S2.
• the weapon 1 is integral with a first frame 28 by means of a journal 29 and the bearings 30 and 31.
• the frame therefore the weapon, is movable in rotation around the axis SI .
• the frame 28 is then mounted integral with the mask by means of a pin 33 engaged in two bearings 34 and 35.
• the weapon is therefore also mobile around the axis G2.
• This arrangement provides a articulation of the weapon 1 in bearing around the axis G2 passing through the center of gravity of the weapon (it is the lateral angular rotation) and in elevation around the axis S2.
• the frame 11 is shown on which the weapon is mounted.
• the frame 11 is integral with the carrier 50 via the bearing 51 of large diameter.
• the joint can be of the elastic type.
• Figure 5 there is shown an embodiment of an elastic joint. This consists of a spherical air gap positioned between the cradle 2b and the mask 2a in which are inserted elastomer plates 37 and 38.
• the cradle has a spherical projection separate from the parts 36a and 36b constituting the air gap.
• the elastomer plates are defined in shape and in constituent material, on the one hand to have a great radial stiffness and a great resistance to support the axial forces of recoil of the weapon and, on the other hand to present a reduced stiffness relative to the angular displacement in the deposit up to approximately 2 ° and in elevation by approximately 1 °.
• the stiffness associated with this degree of freedom corresponds approximately to a maximum effort which must be limited between 10 and 20% of the maximum effort of the associated secondary motorization. It also specifies a lateral radial stiffness, parallel to the axis of journaling of the mask, sufficient to minimize its effect on the torque setting dynamics of the secondary lateral motorization.
• the weapon 1 is movable both in the plane of the figure in lateral angular rotation and in a plane perpendicular in elevation.
• an inertial absolute position sensor is used consisting of a gyroscope which serves as a reference for the line of sight, the weapon and the mask.
• the gyroscopic sensor is preferably mounted on the mask and can be replaced by a two-axis gyrometer which measures the lateral angular speeds of the mask and in elevation, speeds which are integrated to materialize the reference gyroscopic position.
• the absolute position of the cradle is calculated from a linear position measurement carried out in the vicinity of each of the secondary actuators making it possible to exert a torque on the weapon.
• any secondary motor capable of applying a torque to the cradle of the weapon with sufficient bandwidth may be used.
• a set of sensors is used: at least one angular sensor of the mask 2 relative to the orientation of the turret.
• At least one gyroscopic type sensor to provide the inertial reference allowing for example to materialize the line of sight and from which we know how to determine the absolute angular position of the weapon.
• a derivation of the relative information will provide the absolute speed of the mask by adding it to the gyroscope precession command,
• At least one radial acceleration sensor on the mask in line with the main axis of rotation A1 making it possible to have the measurement of the linear acceleration disturbance.

Landscapes

• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
• Toys (AREA)
• Replacement Of Web Rolls (AREA)
• Reciprocating, Oscillating Or Vibrating Motors (AREA)
• Windings For Motors And Generators (AREA)
• Radar Systems Or Details Thereof (AREA)
• Variable-Direction Aerials And Aerial Arrays (AREA)

Applications Claiming Priority (3)

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• 2001
  • 2001-07-17 FR FR0109510A patent/FR2827668B1/fr not_active Expired - Fee Related
• 2002
  • 2002-07-15 WO PCT/FR2002/002505 patent/WO2003008893A1/fr not_active Application Discontinuation
  • 2002-07-15 AT AT02787152T patent/ATE311587T1/de not_active IP Right Cessation
  • 2002-07-15 DE DE60207721T patent/DE60207721T2/de not_active Expired - Fee Related
  • 2002-07-15 US US10/483,631 patent/US6941851B2/en not_active Expired - Fee Related
  • 2002-07-15 IL IL15971002A patent/IL159710A0/xx unknown
  • 2002-07-15 EP EP02787152A patent/EP1409947B1/de not_active Expired - Lifetime
• 2003
  • 2003-03-13 ZA ZA200302036A patent/ZA200302036B/en unknown

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