EP3694802A1 - Gripping device for shells - Google Patents

Gripping device for shells

Info

Publication number
EP3694802A1
EP3694802A1 EP18789329.2A EP18789329A EP3694802A1 EP 3694802 A1 EP3694802 A1 EP 3694802A1 EP 18789329 A EP18789329 A EP 18789329A EP 3694802 A1 EP3694802 A1 EP 3694802A1
Authority
EP
European Patent Office
Prior art keywords
jaws
shell
locking means
jaw
connecting rods
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
EP18789329.2A
Other languages
German (de)
French (fr)
Other versions
EP3694802B1 (en
Inventor
Jean Luc Hasler
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.)
Nexter Systems SA
Original Assignee
Nexter Systems SA
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 Nexter Systems SA filed Critical Nexter Systems SA
Priority to PL18789329T priority Critical patent/PL3694802T3/en
Publication of EP3694802A1 publication Critical patent/EP3694802A1/en
Application granted granted Critical
Publication of EP3694802B1 publication Critical patent/EP3694802B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/422—Gripping members engaging only the external or internal surfaces of the articles actuated by lifting force
    • 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
    • F41A9/87—Ammunition handling dollies or transfer carts

Definitions

  • the technical field of the invention is that of gripping devices for shells and in particular for large caliber shells.
  • FR3041622 patent In order to handle large caliber shells (diameter greater than 80 millimeters) in a simple and fast manner, FR3041622 patent is known to employ a shell pliers comprising a pair of jaws intended to grip a shell, each jaw pivoting between an open position and a closed position about a pivot axis parallel to the longitudinal axis of the shell, the pivot axis of each jaw being located between a lower end and an upper end of the jaw, the end upper of each jaw for closing the jaw by pressing this upper end on a shell to seize.
  • each jaw comprises a notch for interfering with a cam lug to maintain the jaws in the closed position.
  • the closed position of the jaws is therefore directly related to the relative geometries of the cam and the jaw.
  • the cam is secured to a pivoting pallet whose pivoting, which is caused by the support on an area close to a stretcher, makes it possible to rotate the cam and thus to disengage the lug from the rotating trajectory of the notch of the jaw which has the effect of releasing the opening of the jaw.
  • the grip of a shell is at the level of its base on the one hand and at the level of its warhead on the other hand.
  • the geometries of the jaws and their cam are therefore defined according to the dimensions of these parts of the shell.
  • the invention provides a unique device for handling shells of varying lengths and ensures a safer grip of the shell being transported.
  • the invention relates to a gripping device for shells, comprising at least one pair of jaws for gripping a shell, each jaw pivoting between an open position and a closed position about a pivot axis parallel to the longitudinal axis. of the shell, the pivot axis of each jaw being secured to a frame and located between a lower end and an upper end of the jaw, the application of the upper end of each jaw on the shell causing the closure of the jaws, characterized in that it comprises a locking means connecting the upper ends of the jaws and comprising two connecting rods and a central segment connecting these connecting rods, rods articulated relative to the jaws by a first articulation and articulated by a second joint at the central segment, an elastic return means connecting each first articulation to a central point disposed in the middle of the central segment, device comprising at least one movable stop secured to an operating lever, stop located above the locking means and adapted to push the locking means down to below a unstable equilibrium position of the locking means.
  • the device comprises at least two pairs of coaxial jaws.
  • the device comprises two stops each comprising a lever, each stop being intended to press on one of the connecting rods of the locking means.
  • the frame comprises a sliding support intended to interfere with an upper part of the shell in order to wedge the shell in the device.
  • the device comprises at least one wedge in its rear portion which is intended to bear on a rear face of the base of the shell to position the latter longitudinally relative to the device.
  • each lever may be integral with two stops, each stop being intended to act on a connecting rod associated with a different pair of jaws.
  • Figure 1 shows a perspective view of three quarters of a device according to the invention containing a shell.
  • FIG. 2 represents a partial cross-sectional view along the offset parallel sectional plane A-A shown in FIG.
  • Figures 3a, 3b and 3c show schematic views of a device according to the invention in three successive steps of entering a shell.
  • Figures 4a, 4b and 4c show schematic views of a device according to the invention in three successive steps of releasing a shell.
  • FIG. 1 a shell gripping device 1 intended to be hooked at the end of a manipulator arm (arm not shown) comprises a chassis 2 which comprises two pairs of jaws 10. Each pair of jaws 10 is intended to grip a shell 100 at a cylindrical portion of its body. Each jaw 10 is pivotally mounted between an open position and a closed position by means of a pivot pin 11 located between a lower end 10a and an upper end of the jaw 10.
  • This locking means 30, detailed in FIGS. 5a, 5b, 5c, comprises a central segment 13 each of whose ends carries a connecting rod 14 which is connected to an upper end 10b of a jaw 10.
  • the connecting rods 14 are articulated with respect to the jaws 10 at the levels of the first articulations 16 and with respect to the central segment 13 at the level of second articulations 61.
  • Figure 2 The left part of Figure 2 shows the device cut at the axis 11 of the jaw located towards the rear of the shell and behind this jaw 10, which allows to visualize a rod 14;
  • FIG. 2 shows the device cut behind the portion of the frame 2 supporting the axis 11 of the jaw 10 located towards the front of the shell, which makes it possible to visualize a tension spring 15 and its central point of attachment 13b.
  • Elastic return means 15, in this case traction springs 15, connect the first hinges 16 to a point called central point 13b of the central segment 13.
  • This central point 13b is located longitudinally in the middle of the central segment 13, below a horizontal line L passing through each of the joints 16 and 61 when the rods 14 are aligned according to Figure 5c.
  • the device 1 is lowered on the shell 100 with the jaws 10 in the open position.
  • the upper end 10b of each jaw 10 is placed in abutment on the shell 100.
  • the locking means 30 is in the configuration shown in Figure 5a.
  • the springs 15 exert a force which tends to bring the first joints 16 of the central point 13b and thus to move the second joint 61 downwards which opens the jaws 10 and keeps them in this open position.
  • the support and the descent of the device 1 on the shell 100 causes the jaws 10 to pivot about their axes 11 towards the closed position and 1 to grip the shell 100.
  • the ends upper 10b of the jaws 10 deviate from each other.
  • the locking device 30 passes through an unstable equilibrium position illustrated in FIG. 5b where the first 16 and the second 61 articulations of each connecting rod 14 align with the central point 13b.
  • Each straight line connecting a first articulation 16 and a second articulation 61 is parallel to the tensile force of the spring 15 considered which constitutes an unstable position for the locking means 30. In this position, the tensile force provided by each spring is at its maximum.
  • a stop 17 placed above the locking means 30 blocks the rise of the second articulations 61 by interfering with the connecting rods 14 or the central segment 13.
  • the device 1 is brought over a stretcher 200 according to Figure 4a.
  • the stretcher is similar to that described by the patent FR3041622 and has on either side of support elements 19 called buffers 19 which are intended to interfere with levers 18 of the device 1, pivoting relative to the frame 2 around 20 and integral axes stops 17 (see also Figures 1 and 2).
  • the device according to the invention can adapt to the maintenance of shells having substantially different dimensions, the locking position being obtainable for pivoting of the different jaws.
  • the essential is to pass the locking means 30 beyond its position of unstable equilibrium.
  • the springs 15 ensure the locking of the jaws.
  • the stiffness of the springs 15 will be chosen to be sufficient to prevent any return of the locking means 30 during the vibrations in the position of release of the shell (FIG. 3a).
  • the device 1 may comprise a sliding support 60 adapted to be pushed by a spring 67 through the frame 2 and against the upper part of a shell in order to wedge it when it is enclosed in the device 1 by applying a vertical force, to fight against accelerations on all axes.
  • the frame 2 comprises a pair of shims 32 intended to bear on a rear face of the base 105 of the shell 100 to position longitudinally the shell 100 relative to the device 1.
  • the frame 2 also comprises on each side clamping elements 33 (only one is visible in Figure 1) for limiting the pivoting of the levers 18 and thus the downward stroke of the abutments 17 associated.
  • each lever 18 is secured to two stops 17 each for acting on a locking means associated with a different pair of jaws.
  • the levers 18 are located longitudinally halfway from the pairs of jaws 10 ( Figure 1).

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Clamps And Clips (AREA)

Abstract

The invention concerns a gripping device (1) for shells (100) that comprises a pair of jaws (10) intended to clamp a shell (100), each jaw (10) being able to pivot towards a closed position obtained by applying the top end of each jaw (10) to the shell (100). A locking means (30) links the top ends (10b) of the jaws (10) and comprises two connecting rods (14) and a central segment (13) linking these connecting rods (14). The connecting rods are articulated relative to the jaws (10) by a first articulation (16) and by a second articulation (61) to the central segment (13). A spring (15) links each first articulation (16) to a central point (13b) of the segment. A movable stop (17) situated above the locking means (30) is capable of pushing the locking means (30) downwards until it is below an unstable equilibrium position of the locking means (30).

Description

DISPOSITIF PREHENSION POUR OBUS PREHENSION DEVICE FOR OBUS
Le domaine technique de l'invention est celui des dispositifs de préhension pour obus et en particulier pour obus de gros calibre. The technical field of the invention is that of gripping devices for shells and in particular for large caliber shells.
Afin de manutentionner des obus de gros calibre (diamètre supérieur à 80 millimètres) de manière simple et rapide, il est connu du brevet FR3041622 d'employer une pince à obus comportant une paire de mâchoires destinées à venir enserrer un obus, chaque mâchoire pivotant entre une position ouverte et une position fermée autour d'un axe de pivotement parallèle à l'axe longitudinal de l'obus, l'axe de pivotement de chaque mâchoire étant situé entre une extrémité inférieure et une extrémité supérieure de la mâchoire, l'extrémité supérieure de chaque mâchoire permettant la fermeture de la mâchoire par appui de cette extrémité supérieure sur un obus à saisir.  In order to handle large caliber shells (diameter greater than 80 millimeters) in a simple and fast manner, FR3041622 patent is known to employ a shell pliers comprising a pair of jaws intended to grip a shell, each jaw pivoting between an open position and a closed position about a pivot axis parallel to the longitudinal axis of the shell, the pivot axis of each jaw being located between a lower end and an upper end of the jaw, the end upper of each jaw for closing the jaw by pressing this upper end on a shell to seize.
Suivant ce brevet l'extrémité supérieure de chaque mâchoire comporte un cran destiné à interférer avec un ergot d'une came pour maintenir les mâchoires en position fermée.  According to this patent the upper end of each jaw comprises a notch for interfering with a cam lug to maintain the jaws in the closed position.
La position fermée des mâchoires est donc directement liée aux géométries relatives de la came et de la mâchoire.  The closed position of the jaws is therefore directly related to the relative geometries of the cam and the jaw.
La came est solidaire d'une palette pivotante dont le pivotement, qui est provoqué par l'appui sur une zone proche d'une civière, permet de faire tourner la came et de dégager ainsi l'ergot de la trajectoire tournante du cran de la mâchoire ce qui a pour effet de libérer l'ouverture de la mâchoire .  The cam is secured to a pivoting pallet whose pivoting, which is caused by the support on an area close to a stretcher, makes it possible to rotate the cam and thus to disengage the lug from the rotating trajectory of the notch of the jaw which has the effect of releasing the opening of the jaw.
Selon ce brevet la préhension d'un obus se fait au niveau de son culot d'une part et au niveau de son ogive d'autre part. Les géométries des mâchoires et de leur came sont donc définies en fonction des dimensions de ces parties de l'obus.  According to this patent the grip of a shell is at the level of its base on the one hand and at the level of its warhead on the other hand. The geometries of the jaws and their cam are therefore defined according to the dimensions of these parts of the shell.
Si l'on souhaite manutentionner des obus de type différent et donc de longueur différente, les géométries des mâchoires ne seront pas adaptées et donc la saisie s mauvaise risquant d'occasionner des accidents. If one wishes to handle shells of different types and therefore of different length, the geometries of Jaws will not be adapted and thus the seizure is bad and may cause accidents.
L' invention propose un dispositif unique pour la manutention d'obus de longueurs variables et assure une préhension plus sûre de l'obus transporté. The invention provides a unique device for handling shells of varying lengths and ensures a safer grip of the shell being transported.
L' invention porte sur un dispositif de préhension pour obus, comportant au moins une paire de mâchoires destinées à venir enserrer un obus, chaque mâchoire pivotant entre une position ouverte et une position fermée autour d'un axe de pivotement parallèle à l'axe longitudinal de l'obus, l'axe de pivotement de chaque mâchoire étant solidaire d'un châssis et situé entre une extrémité inférieure et une extrémité supérieure de la mâchoire, l'application de l'extrémité supérieure de chaque mâchoire sur l'obus provoquant la fermeture des mâchoires, dispositif caractérisé en ce qu'il comporte un moyen de verrouillage reliant les extrémités supérieures des mâchoires et comprenant deux bielles et un segment central reliant ces bielles, bielles articulées par rapport aux mâchoires par une première articulation et articulées par une seconde articulation au segment central, un moyen de rappel élastique reliant chaque première articulation en un point dit central disposé au milieu du segment central, dispositif comportant au moins une butée mobile solidaire d'un levier de manœuvre, butée située au- dessus du moyen de verrouillage et apte à pousser le moyen de verrouillage vers le bas jusqu'en-dessous d'une position d'équilibre instable du moyen de verrouillage. The invention relates to a gripping device for shells, comprising at least one pair of jaws for gripping a shell, each jaw pivoting between an open position and a closed position about a pivot axis parallel to the longitudinal axis. of the shell, the pivot axis of each jaw being secured to a frame and located between a lower end and an upper end of the jaw, the application of the upper end of each jaw on the shell causing the closure of the jaws, characterized in that it comprises a locking means connecting the upper ends of the jaws and comprising two connecting rods and a central segment connecting these connecting rods, rods articulated relative to the jaws by a first articulation and articulated by a second joint at the central segment, an elastic return means connecting each first articulation to a central point disposed in the middle of the central segment, device comprising at least one movable stop secured to an operating lever, stop located above the locking means and adapted to push the locking means down to below a unstable equilibrium position of the locking means.
Avantageusement, le dispositif comporte au moins deux paires de mâchoires coaxiales. Avantageusement, le dispositif comporte deux butées comportant chacune un levier, chaque butée étant destinée à appuyer sur une des bielles du moyen de verrouillage. Advantageously, the device comprises at least two pairs of coaxial jaws. Advantageously, the device comprises two stops each comprising a lever, each stop being intended to press on one of the connecting rods of the locking means.
Avantageusement, le châssis comporte un appui coulissant destiné à interférer avec une partie supérieure de l'obus afin de caler l'obus dans le dispositif.  Advantageously, the frame comprises a sliding support intended to interfere with an upper part of the shell in order to wedge the shell in the device.
Avantageusement, le dispositif comporte au moins une cale dans sa partie arrière qui est destinée à venir en appui sur une face arrière du culot de l'obus pour positionner ce dernier longitudinalement par rapport au dispositif.  Advantageously, the device comprises at least one wedge in its rear portion which is intended to bear on a rear face of the base of the shell to position the latter longitudinally relative to the device.
Avantageusement, chaque levier pourra être solidaire de deux butées, chaque butée étant destinée à agir sur une bielle associée à une paire de mâchoires différente. L' invention sera mieux comprise à la lecture de la description suivante, description faite à la lumière des dessins annexés, dessins dans lesquels:  Advantageously, each lever may be integral with two stops, each stop being intended to act on a connecting rod associated with a different pair of jaws. The invention will be better understood on reading the following description, given in the light of the appended drawings, drawings in which:
La figure 1 représente une vue en perspective de trois quarts d'un dispositif selon l'invention contenant un obus.  Figure 1 shows a perspective view of three quarters of a device according to the invention containing a shell.
La figure 2 représente une vue en coupe partielle transversale selon le plan en coupe parallèle décalée A-A représenté à la figure 1.  FIG. 2 represents a partial cross-sectional view along the offset parallel sectional plane A-A shown in FIG.
Les figures 3a, 3b et 3c représentent des vues schématiques d'un dispositif selon l'invention lors de trois étapes successives de saisie d'un obus.  Figures 3a, 3b and 3c show schematic views of a device according to the invention in three successive steps of entering a shell.
Les figures 4a, 4b et 4c représentent des vues schématiques d'un dispositif selon l'invention lors de trois étapes successives de lâcher d'un obus.  Figures 4a, 4b and 4c show schematic views of a device according to the invention in three successive steps of releasing a shell.
Les figures 5a, 5b et 5c représentent des vues schématiques de détail d'un moyen de verrouillage équipant un dispositif selon l'invention lors de la fermeture des mâchoires du dispositif. Selon la figure 1, un dispositif de préhension d'obus 1 destiné à être accroché au bout d'un bras manipulateur (bras non représenté) comporte un châssis 2 qui comporte deux paires de mâchoires 10. Chaque paire de mâchoires 10 est destinée à enserrer un obus 100 au niveau d'une portion cylindrique de son corps. Chaque mâchoire 10 est montée pivotante entre une position ouverte et une position fermée grâce à un axe 11 de pivot situé entre une extrémité inférieure 10a et une extrémité supérieure de la mâchoire 10. Figures 5a, 5b and 5c show schematic views of detail of a locking means equipping a device according to the invention during the closure of the jaws of the device. According to FIG. 1, a shell gripping device 1 intended to be hooked at the end of a manipulator arm (arm not shown) comprises a chassis 2 which comprises two pairs of jaws 10. Each pair of jaws 10 is intended to grip a shell 100 at a cylindrical portion of its body. Each jaw 10 is pivotally mounted between an open position and a closed position by means of a pivot pin 11 located between a lower end 10a and an upper end of the jaw 10.
Comme visible à la figure 2, les extrémités supérieures As seen in Figure 2, the upper extremities
10b des mâchoires 10 sont reliées entre elles par paire par un moyen de verrouillage 30. 10b of the jaws 10 are interconnected in pairs by a locking means 30.
Ce moyen de verrouillage 30, détaillé aux figures 5a, 5b, 5c, comporte un segment central 13 dont chacune des extrémités porte une bielle 14 qui est reliée à une extrémité supérieure 10b d'une mâchoire 10.  This locking means 30, detailed in FIGS. 5a, 5b, 5c, comprises a central segment 13 each of whose ends carries a connecting rod 14 which is connected to an upper end 10b of a jaw 10.
Les bielles 14 sont articulées par rapport aux mâchoires 10 aux niveaux de premières articulations 16 et par rapport au segment central 13 au niveau de secondes articulations 61.  The connecting rods 14 are articulated with respect to the jaws 10 at the levels of the first articulations 16 and with respect to the central segment 13 at the level of second articulations 61.
On notera que la figure 2 est une vue en coupe suivant deux plans parallèles. Ainsi :  Note that Figure 2 is a sectional view in two parallel planes. So :
- la partie gauche de la figure 2 montre le dispositif coupé au niveau de l'axe 11 de la mâchoire située vers l'arrière de l'obus et en arrière de cette mâchoire 10, ce qui permet de visualiser une bielle 14 ;  - The left part of Figure 2 shows the device cut at the axis 11 of the jaw located towards the rear of the shell and behind this jaw 10, which allows to visualize a rod 14;
- la partie droite de la figure 2 montre le dispositif coupé en arrière de la partie du châssis 2 soutenant l'axe 11 de la mâchoire 10 située vers l'avant de l'obus, ce qui permet de visualiser un ressort de traction 15 et son point central d'accrochage 13b.  the right part of FIG. 2 shows the device cut behind the portion of the frame 2 supporting the axis 11 of the jaw 10 located towards the front of the shell, which makes it possible to visualize a tension spring 15 and its central point of attachment 13b.
Des moyens de rappel élastiques 15, en l'espèce des ressorts de traction 15, relient les premières articulations 16 à un point dit point central 13b du segment central 13. Ce point central 13b est situé longitudinalement au milieu du segment central 13, en dessous d'une ligne horizontale L passant par chacune des articulations 16 et 61 lorsque les bielles 14 sont alignées selon la figure 5c. Elastic return means 15, in this case traction springs 15, connect the first hinges 16 to a point called central point 13b of the central segment 13. This central point 13b is located longitudinally in the middle of the central segment 13, below a horizontal line L passing through each of the joints 16 and 61 when the rods 14 are aligned according to Figure 5c.
Ainsi, selon les figures 3a à 3c, pour se saisir d'un obus 100, le dispositif 1 est abaissé sur l'obus 100 avec les mâchoires 10 en position ouverte. L'extrémité supérieure 10b de chaque mâchoire 10 est placée en appui sur l'obus 100.  Thus, according to FIGS. 3a to 3c, to seize a shell 100, the device 1 is lowered on the shell 100 with the jaws 10 in the open position. The upper end 10b of each jaw 10 is placed in abutment on the shell 100.
Dans cette position, le moyen de verrouillage 30 est dans la configuration représentée à la figure 5a. Les ressorts 15 exercent un effort qui tend à rapprocher les premières articulations 16 du point central 13b et donc à éloigner la seconde articulation 61 vers le bas ce qui ouvre les mâchoires 10 et les maintient dans cette position ouverte.  In this position, the locking means 30 is in the configuration shown in Figure 5a. The springs 15 exert a force which tends to bring the first joints 16 of the central point 13b and thus to move the second joint 61 downwards which opens the jaws 10 and keeps them in this open position.
Selon la figure 3b, l'appui et la descente du dispositif 1 sur l'obus 100 provoque le pivotement des mâchoires 10 autour de leurs axes 11 vers la position fermée et 1' enserrement de l'obus 100. Durant cette phase, les extrémités supérieures 10b des mâchoires 10 s'écartent les unes des autres .  According to FIG. 3b, the support and the descent of the device 1 on the shell 100 causes the jaws 10 to pivot about their axes 11 towards the closed position and 1 to grip the shell 100. During this phase, the ends upper 10b of the jaws 10 deviate from each other.
Le dispositif de verrouillage 30 passe par une position d'équilibre instable illustrée à la figure 5b où la première 16 et la seconde 61 articulations de chaque bielle 14 s'alignent avec le point central 13b. Chaque droite reliant une première articulation 16 et une seconde articulation 61 est parallèle à l'effort de traction du ressort 15 considéré ce qui constitue une position instable pour le moyen de verrouillage 30. Dans cette position, l'effort de traction fournit par chaque ressort est à son maximum.  The locking device 30 passes through an unstable equilibrium position illustrated in FIG. 5b where the first 16 and the second 61 articulations of each connecting rod 14 align with the central point 13b. Each straight line connecting a first articulation 16 and a second articulation 61 is parallel to the tensile force of the spring 15 considered which constitutes an unstable position for the locking means 30. In this position, the tensile force provided by each spring is at its maximum.
En poursuivant le mouvement de fermeture des mâchoires 10, les bielles 14 vont progressivement tourner jusqu'à s'aligner (figure 5c). Comme évoqué auparavant, on note qu'une fois les bielles 10 alignées, le point central 13b du segment central 13 est situé en dessous d'une ligne horizontale L passant par chacune des articulations 16 et 61, ceci permet de forcer le franchissement de la position d'équilibre instable par les secondes articulations 61. Les mâchoires 10 sont alors dans leur position la plus fermée. Une fois passée la position d'équilibre instable de la figure 5b, les ressorts 15 ont pour effet de rapprocher les bielles 14 de la position 5c qui correspond à la fermeture maximale des mâchoires 10. By continuing the closing movement of the jaws 10, the rods 14 will gradually rotate to align (Figure 5c). As mentioned previously, it is noted that once the connecting rods 10 are aligned, the central point 13b of the central segment 13 is located below a horizontal line L passing through each of the articulations 16 and 61, this makes it possible to force the crossing of the unstable equilibrium position by the second articulations 61. The jaws 10 are then in their most closed position. Once past the unstable equilibrium position of FIG. 5b, the springs 15 have the effect of bringing the connecting rods 14 closer to the position 5c which corresponds to the maximum closure of the jaws 10.
Pour arrêter le mouvement des bielles 14, une butée 17 placée au-dessus du moyen de verrouillage 30 (visible aussi figure 2) bloque la remontée des secondes articulations 61 en interférant avec les bielles 14 ou le segment central 13. To stop the movement of the connecting rods 14, a stop 17 placed above the locking means 30 (also visible in FIG. 2) blocks the rise of the second articulations 61 by interfering with the connecting rods 14 or the central segment 13.
L'obus 100 est alors bloqué par les mâchoires 10 telles que visible à la figure 3c.  The shell 100 is then blocked by the jaws 10 as visible in Figure 3c.
Pour libérer l'obus 100, le dispositif 1 est amené au- dessus d'une civière 200 selon la figure 4a. La civière est analogue à celle décrite par le brevet FR3041622 et dispose de part et d'autre d'éléments d'appui 19 appelés tampons 19 qui sont destinés à interférer avec des leviers 18 du dispositif 1, pivotant par rapport au châssis 2 autour d'axes 20 et solidaires des butées 17 (voir aussi les figures 1 et 2) . To release the shell 100, the device 1 is brought over a stretcher 200 according to Figure 4a. The stretcher is similar to that described by the patent FR3041622 and has on either side of support elements 19 called buffers 19 which are intended to interfere with levers 18 of the device 1, pivoting relative to the frame 2 around 20 and integral axes stops 17 (see also Figures 1 and 2).
En abaissant le dispositif 1 porteur de l'obus 100, comme à la figure 4b, l'interférence des tampons 19 va provoquer le pivotement des leviers 18 qui vont pousser les butées 17 contre les bielles 14 jusqu'à faire passer les secondes articulations 61 en dessous de la position d'équilibre instable définie précédemment, ce qui occasionne l'ouverture rapide des mâchoires 10 (entraînées par les ressorts 15) , comme visible à la figure 4c, et la dépose de l'obus 100 dans la civière 200. Les mâchoires 10 sont alors verrouillées en position ouverte par la simple action de traction des ressorts 15. Le dispositif 1 est prêt à aller saisir un nouvel obus. By lowering the device 1 bearing the shell 100, as in FIG. 4b, the interference of the pads 19 will cause the pivoting of the levers 18 which will push the stops 17 against the rods 14 until the second joints 61 pass below the unstable equilibrium position defined above, which causes the quick opening of the jaws 10 (driven by the springs 15), as shown in Figure 4c, and the removal of the shell 100 in the stretcher 200. The jaws 10 are then locked in the open position by the simple action of pulling the springs 15. The device 1 is ready to go grab a new shell.
On voit donc que le dispositif selon l'invention peut s'adapter au maintien d'obus ayant des dimensions sensiblement différentes, la position de verrouillage pouvant être obtenue pour des pivotements des mâchoires différents. L'essentiel est de faire passer le moyen de verrouillage 30 au-delà de sa position d'équilibre instable. Dans ce cas les ressorts 15 assurent le verrouillage des mâchoires. La raideur des ressorts 15 sera choisie suffisante pour éviter lors de vibrations tout retour du moyen de verrouillage 30 en position de libération de l'obus (figure 3a) .  It can thus be seen that the device according to the invention can adapt to the maintenance of shells having substantially different dimensions, the locking position being obtainable for pivoting of the different jaws. The essential is to pass the locking means 30 beyond its position of unstable equilibrium. In this case the springs 15 ensure the locking of the jaws. The stiffness of the springs 15 will be chosen to be sufficient to prevent any return of the locking means 30 during the vibrations in the position of release of the shell (FIG. 3a).
Tel que représenté aux figures 4a à 4c le dispositif 1 pourra comporter un appui coulissant 60 apte à être repoussé par un ressort 67 à travers le châssis 2 et contre la partie supérieure d'un obus afin de le caler lorsqu'il est enserré dans le dispositif 1 par application d'un effort vertical, pour lutter contre les accélérations sur tous les axes .  As represented in FIGS. 4a to 4c, the device 1 may comprise a sliding support 60 adapted to be pushed by a spring 67 through the frame 2 and against the upper part of a shell in order to wedge it when it is enclosed in the device 1 by applying a vertical force, to fight against accelerations on all axes.
On note à la figure 1, que le châssis 2 comporte une paire de cales 32 destinées à venir en appui sur une face arrière du culot 105 de l'obus 100 afin de positionner longitudinalement l'obus 100 par rapport au dispositif 1. Le châssis 2 comporte aussi de chaque côté des éléments de bridage 33 (un seul est visible à la figure 1) destinés à limiter le pivotement des leviers 18 et donc la course vers le bas des butées 17 associées. On notera également que selon le mode de réalisation de la figure 1, chaque levier 18 est solidaire de deux butées 17 destinées à agir chacune sur un moyen de verrouillage associé à une paire de mâchoires différente. Ainsi les leviers 18 se situent longitudinalement à mi distance des paires de mâchoires 10 (figure 1) .  It is noted in Figure 1, that the frame 2 comprises a pair of shims 32 intended to bear on a rear face of the base 105 of the shell 100 to position longitudinally the shell 100 relative to the device 1. The frame 2 also comprises on each side clamping elements 33 (only one is visible in Figure 1) for limiting the pivoting of the levers 18 and thus the downward stroke of the abutments 17 associated. Note also that according to the embodiment of Figure 1, each lever 18 is secured to two stops 17 each for acting on a locking means associated with a different pair of jaws. Thus the levers 18 are located longitudinally halfway from the pairs of jaws 10 (Figure 1).

Claims

REVENDICATIONS
1- Dispositif de préhension (1) pour obus (100), comportant au moins une paire de mâchoires (10) destinées à venir enserrer un obus (100) , chaque mâchoire (10) pivotant entre une position ouverte et une position fermée autour d'un axe de pivotement (11) parallèle à l'axe longitudinal de l'obus (100), l'axe de pivotement (11) de chaque mâchoire (10) étant solidaire d'un châssis et situé entre une extrémité inférieure (10a) et une extrémité supérieure (10b) de la mâchoire (10), l'application de l'extrémité supérieure de chaque mâchoire (10) sur l'obus (100) provoquant la fermeture des mâchoires (10), dispositif caractérisé en ce qu'il comporte un moyen de verrouillage (30) reliant les extrémités supérieures (10b) des mâchoires (10) et comprenant deux bielles (14) et un segment central (13) reliant ces bielles (14), bielles articulées par rapport aux mâchoires (10) par une première articulation (16) et articulées par une seconde articulation (61) au segment central (13), un moyen de rappel élastique (15) reliant chaque première articulation (16) en un point dit central (13b) disposé au milieu du segment central (13) , dispositif comportant au moins une butée (17) mobile solidaire d'un levier de manœuvre (18), butée située au-dessus du moyen de verrouillage (30) et apte à pousser le moyen de verrouillage (30) vers le bas jusqu'en- dessous d'une position d'équilibre instable du moyen de verrouillage (30) . 1- gripping device (1) for shells (100), comprising at least one pair of jaws (10) for gripping a shell (100), each jaw (10) pivoting between an open position and a closed position around a pivot axis (11) parallel to the longitudinal axis of the shell (100), the pivot axis (11) of each jaw (10) being integral with a frame and located between a lower end (10a); ) and an upper end (10b) of the jaw (10), the application of the upper end of each jaw (10) to the shell (100) causing the closure of the jaws (10), characterized in that it comprises a locking means (30) connecting the upper ends (10b) of the jaws (10) and comprising two connecting rods (14) and a central segment (13) connecting these connecting rods (14), connecting rods articulated with respect to the jaws ( 10) by a first articulation (16) and articulated by a second articulation (61) to the segm central ent (13), an elastic return means (15) connecting each first articulation (16) to a central point (13b) disposed in the middle of the central segment (13), device comprising at least one movable stop (17) movable an operating lever (18), a stop located above the locking means (30) and able to push the locking means (30) downwards to an unstable equilibrium position of the locking means (30).
2- Dispositif de préhension selon la revendication 1, caractérisé en ce qu' il comporte au moins deux paires de mâchoires coaxiales . 2- gripping device according to claim 1, characterized in that it comprises at least two pairs of coaxial jaws.
3- Dispositif selon une des revendications 1 à 2, caractérisé en ce qu'il comporte deux butées (17) comportant chacune un levier (18), chaque butée (17) étant destinée à appuyer sur une des bielles (14) du moyen de verrouillage. 3- Device according to one of claims 1 to 2, characterized in that it comprises two stops (17) comprising each a lever (18), each stop (17) being intended to press on one of the connecting rods (14) of the locking means.
4- Dispositif selon une des revendications 1 à 3, caractérisé en ce que le châssis (2) comporte un appui coulissant (60) destiné à interférer avec une partie supérieure de l'obus (100) afin de caler l'obus dans le dispositif . 5- Dispositif selon une des revendications 1 à 4, caractérisé en ce qu'il comporte au moins une cale (32) dans sa partie arrière qui est destinée à venir en appui sur une face arrière du culot de l'obus pour positionner ce dernier longitudinalement par rapport au dispositif. 4- Device according to one of claims 1 to 3, characterized in that the frame (2) comprises a sliding support (60) for interfering with an upper part of the shell (100) to wedge the shell in the device . 5- Device according to one of claims 1 to 4, characterized in that it comprises at least one shim (32) in its rear portion which is intended to bear on a rear face of the base of the shell to position the latter longitudinally with respect to the device.
6- Dispositif selon la revendication 3, caractérisé en ce que chaque levier (18) est solidaire de deux butées (17) , chaque butée (17) étant destinée à agir sur une bielle (14) associée à une paire de mâchoires différente. 6. Device according to claim 3, characterized in that each lever (18) is integral with two stops (17), each stop (17) being intended to act on a connecting rod (14) associated with a different pair of jaws.
EP18789329.2A 2017-10-12 2018-09-28 Gripping device for shells Active EP3694802B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL18789329T PL3694802T3 (en) 2017-10-12 2018-09-28 Gripping device for shells

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1701067A FR3072372B1 (en) 2017-10-12 2017-10-12 GRIPPING DEVICE FOR OBUS
PCT/EP2018/076540 WO2019072600A1 (en) 2017-10-12 2018-09-28 Gripping device for shells

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EP3694802A1 true EP3694802A1 (en) 2020-08-19
EP3694802B1 EP3694802B1 (en) 2021-12-01

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US (1) US11312597B2 (en)
EP (1) EP3694802B1 (en)
KR (1) KR102503104B1 (en)
BR (1) BR112020006552A2 (en)
DK (1) DK3694802T3 (en)
ES (1) ES2905630T3 (en)
FR (1) FR3072372B1 (en)
IL (1) IL273870A (en)
PL (1) PL3694802T3 (en)
SG (1) SG11202003289QA (en)
WO (1) WO2019072600A1 (en)
ZA (1) ZA202001500B (en)

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CA3148984A1 (en) * 2019-08-02 2021-02-11 LiftWerx Holdings Inc. Clamp for wind turbine rotor blade
CN112875492B (en) * 2021-01-25 2022-05-27 青岛中科坤泰装配建筑科技有限公司 Prefabricated utility tunnel hoisting point structure of assembled
DE102021117949A1 (en) 2021-07-12 2023-01-12 Rheinmetall Air Defence Ag Feeding device, in particular ammunition feed for a cannon, with a plurality of containers each for receiving an object, in particular a military missile

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Publication number Priority date Publication date Assignee Title
US1396328A (en) * 1920-04-12 1921-11-08 Charles G Hall Radiator-carrier
US2365930A (en) * 1943-03-31 1944-12-26 Goodrich Co B F Apparatus for handling shells and similar objects
US2610890A (en) * 1950-06-02 1952-09-16 Jaeger Machine Co Lifting device
US5163727A (en) * 1988-05-12 1992-11-17 Rjs Corporation Creel loading apparatus
FR2663873A1 (en) * 1990-06-29 1992-01-03 Framatome Sa DEVICE FOR AUTOMATIC HANDLING OF MULTIPLE POSITIONING AND / OR CONNECTING ELEMENTS.
JPH086151Y2 (en) * 1991-10-31 1996-02-21 川崎重工業株式会社 Clamp device
JPH0728181U (en) * 1993-03-18 1995-05-23 株式会社小松製作所 Grasping mechanism for cylindrical objects
US5486030A (en) * 1994-05-04 1996-01-23 Abc Packaging Machine Corporation Apparatus and method for lifting and depositing bottles having handles
FR2720226B1 (en) * 1994-05-26 1996-09-27 Lopez Laurent Guy Rifle type instrument for neutralizing a hooked fish.
FR2769302B1 (en) * 1997-10-03 1999-10-29 Renault LEVER CLAMP
US6012752A (en) * 1999-02-24 2000-01-11 Douglas; William E. Concrete pipe lifting apparatus
KR200196267Y1 (en) * 2000-04-20 2000-09-15 모춘기 A clamp to move the flume tube
JP2007001671A (en) * 2005-06-21 2007-01-11 Nippon Clamp Kk Clamp for hanging vertically
US8973960B2 (en) * 2011-02-11 2015-03-10 Kenda Wehrly Rock grasping and removal apparatus
KR20130004516U (en) * 2012-01-12 2013-07-22 국방과학연구소 Warhead carrying apparatus
FR3020672B1 (en) * 2014-04-30 2016-05-06 Nexter Systems SHELL GRIPPING DEVICE AND GRIPPING PROCESS IMPLEMENTING SUCH A DEVICE
FR3041622B1 (en) * 2015-09-29 2019-06-21 Nexter Systems GRIPPING DEVICE FOR OBUS AND ASSOCIATED CIVIER

Also Published As

Publication number Publication date
PL3694802T3 (en) 2022-02-14
ZA202001500B (en) 2021-03-31
FR3072372B1 (en) 2019-09-13
FR3072372A1 (en) 2019-04-19
WO2019072600A1 (en) 2019-04-18
DK3694802T3 (en) 2022-02-21
IL273870A (en) 2020-05-31
ES2905630T3 (en) 2022-04-11
US11312597B2 (en) 2022-04-26
SG11202003289QA (en) 2020-05-28
BR112020006552A2 (en) 2020-10-13
KR20200066699A (en) 2020-06-10
KR102503104B1 (en) 2023-02-23
EP3694802B1 (en) 2021-12-01
US20210198085A1 (en) 2021-07-01

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