US20120186421A1 - Mine Detonating Apparatus - Google Patents

Mine Detonating Apparatus Download PDF

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Publication number
US20120186421A1
US20120186421A1 US12/482,969 US48296909A US2012186421A1 US 20120186421 A1 US20120186421 A1 US 20120186421A1 US 48296909 A US48296909 A US 48296909A US 2012186421 A1 US2012186421 A1 US 2012186421A1
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United States
Prior art keywords
ground engaging
engaging member
steering
actuator
steerable
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Abandoned
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US12/482,969
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English (en)
Inventor
Charles Basil Firth
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Individual
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Individual
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Publication date
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Publication of US20120186421A1 publication Critical patent/US20120186421A1/en
Priority to US14/181,209 priority Critical patent/US9062940B2/en
Abandoned legal-status Critical Current

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    • 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
    • F41H11/30—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with rollers creating a surface load on the ground, e.g. steadily increasing surface load, for triggering purposes

Definitions

  • the present invention relates to mine detonating apparatus.
  • the invention relates particularly, but not exclusively, to mine detonating apparatus for use with vehicles that are fitted with wheels that are steered.
  • IEDs improvised explosive devices
  • mines and IEDs can be fitted with a variety of different types of fuses however they are often fitted with fuses that are designed to detonate as a result of the wheel of the vehicle passing over them, such IEDs possibly including both pressure and time delay fuses.
  • mine and IED are used interchangeably and collectively, i.e. an IED may be a mine and a mine may be an IED.
  • a mine clearing apparatus intended for use with armoured personnel carriers is described in U.S. Pat. No. 6,915,728.
  • a pair of rollers is pushed in front of the APC in front of the tracks and a further set of rollers is towed behind the APC.
  • the position of the rollers in front of the vehicle is adjusted to partially follow the path of the vehicle by a signal resulting from the position of a further roller set mounted behind the vehicle.
  • the invention disclosed here is for a mine roller system that can be attached to a host vehicle or is part of the host vehicle and is pushed ahead of the host vehicle so that the path of the wheels of the host vehicle follow within the path followed by the mine roller system as it goes round a corner as well as in a straight line.
  • the frame comprises a number of IED detonating wheels designed to apply a downwards force on the ground in front of the vehicle to simulate the effect of a vehicle passing over them thus activating pressure influenced and other fuses that may be used with the IEDs before the vehicle passes over them.
  • the IED detonating wheels are usually spring loaded to allow them to lift up over local obstacles and down into local hollows and still apply a force on the ground.
  • the wheels are grouped into banks that are pivotably mounted onto a frame in such a way as to allow them to caster relative to the frame. They sometimes have a steering mechanism that moves the position of the supporting frame off which the wheels are castered.
  • the apparatus may comprise at least two spaced apart steerable ground engaging members, and preferably two spaced apart steerable ground engaging members. Two spaced apart steerable ground engaging members may be set up to tow in, which assists in the apparatus following a path.
  • the actuator may be a fluid operated ram, a fluid operated motor, an electrically operated ram, or an electrically operated motor.
  • a fluid operated ram could be actuated hydraulically or pneumatically. In the case where a motor is used rather than a ram, power transmission apparatus may be provided.
  • the steering mechanism includes a feedback system adapted to measure deviation of the apparatus from the path, generate a feedback signal and to adjust the steering linkage according to the feedback signal to return the apparatus to said path.
  • a feedback system adapted to measure deviation of the apparatus from the path, generate a feedback signal and to adjust the steering linkage according to the feedback signal to return the apparatus to said path.
  • the feedback signal may be generated mechanically, electronically, electrically or hydraulically.
  • the steering mechanism may further comprise at least one member arranged to pivot about a substantially vertical axis.
  • the steering mechanism comprises first and second members each arranged to rotate about substantially vertical axes, wherein the actuator is adapted to adjust the relative position of the first member with respect to the second.
  • the first and second members may be mounted to rotate about the same substantially vertical axis independently of each other.
  • one of the first and second members is operatively connected to the steering linkage, and the other of the first and second members may be operatively connected to the pushing vehicle.
  • the steering mechanism comprises a linkage, the linkage including a tie member pivotably attached at one of its ends to one of the first and second members and operatively attached to the steering system at its other end.
  • the linkage may further include a tie member pivotably attached at one of its ends to the other of the first and second members at its other end to a pushing vehicle.
  • the steering linkage includes a connector mounted on the frame and operatively connected to the or each steerable ground engaging member, and the steering mechanism.
  • Operative connection of the connector to the steerable ground engaging members may be achieved by the use of track rods, and/or the fluid actuators.
  • Operative connection of the connector to the steering mechanism is advantageously by means of a tie rod.
  • At least one ground engaging member may be adapted to follow the path of the apparatus set by the at least one steerable ground engaging member.
  • the apparatus may further including a steering lock providing locked and unlocked configurations of the or each steerable ground engaging members.
  • the steering lock may include at least one element movable between a locked configuration in which said element engages with a part of the steerable ground engaging member and an unlocked configuration in which the said element is disengaged from the steerable ground engaging member.
  • the actuator is provided with a neutral setting in which the actuator configuration changes according to passive forces exerted thereon. This allows the apparatus to be moved when the steerable ground engaging members are locked.
  • the actuator is hydraulic
  • the hydraulic circuit powering the actuator is provided with valves that permit a float setting to be selected, in which the actuator is free to extend or retract.
  • the ground engaging members are mounted to pivot about a substantially horizontal axis.
  • Each steerable ground engaging member may include a plurality of individual ground engaging elements, each element preferably being mounted to move independently in a substantially vertical plane.
  • Another aspect of the invention provides the combination of a pushing vehicle and connect thereto a steerable mine detonation apparatus adapted to be pushed by a steered vehicle, the apparatus comprising a frame, at least two spaced apart ground engaging members adapted to support the apparatus and adapted to exert a force on mines in the path thereof sufficient to cause detonation thereof, wherein at least one ground engaging member is steerable, and wherein the at least one steerable ground engaging member is attached to the frame so as to pivot with respect thereto about a substantially vertical axis and is connected to a steering linkage, the apparatus further comprising a steering mechanism operatively connected to the steering linkage and including an actuator adapted to vary the configuration of the steering mechanism, and a control means including a controller configured to receive an input signal related to the turning radius of a pushing vehicle and to generate an actuator control signal related to the input signal, and to control the actuator according to the actuator control signal, wherein the so controlled actuator configures the steering mechanism to adjust the steering linkage such that the at least one steerable ground engaging member
  • the invention accomplishes this. Further, the invention provides an apparatus configured such that it returns to the required path automatically after being subjected to a force causing deviation of the apparatus from the path. Still further, the apparatus of the invention provides for the mine rollers to be spaced from the pushing vehicle by a significantly greater distance than is the case mine rollers of the prior art.
  • FIG. 1 is a plan view of a known mine clearance roller.
  • FIG. 2 is a plan view of a device according to a first embodiment of the invention on a straight heading.
  • FIG. 3 is a side view of the device illustrated in FIG. 2 .
  • FIG. 4 is a plan view of the device illustrated in FIGS. 2 and 3 unhitched from the pushing vehicle.
  • FIG. 5 is a side view of the device illustrated in FIG. 4 .
  • FIG. 6 is a plan view of the device illustrated in FIGS. 4 and 5 locked for reversing.
  • FIGS. 7 to 12 illustrate the combination of the device and the pushing vehicle executing a turn where:
  • FIG. 7 is a plan view of the device travelling on a straight path just prior to commencing a turn to the left;
  • FIG. 8 is a plan view of the device illustrated in FIG. 7 with the steering wheels of the pushing vehicle turned to the left to an angle of approximately 10 degrees to commence the turn;
  • FIG. 9 is a plan view of the device established on a turn with the pushing vehicle's steering wheels set at a steering angle of approximately 10 degrees;
  • FIG. 10 is a plan view of the device moving on to a smaller turning radius with the steering wheels of the pushing vehicle turned to the left to an angle of approximately 20 degrees;
  • FIG. 11 is a plan view of the device established on a turn with the pushing vehicle's steering wheels set at a steering angle of approximately 20 degrees;
  • FIG. 12 is a plan view of the device established on a turn with the pushing vehicle's steering wheels set at a steering angle of approximately 40 degrees.
  • FIG. 13 is a schematic representation of parts of the alignment linkage of the first embodiment of the invention.
  • FIG. 14 is a side view of a ground engaging wheel of the device.
  • FIG. 15 is a front view of the device.
  • FIG. 16 is a plan view of a device according to another embodiment of the invention on a straight heading
  • FIG. 17 is a plan view of the device illustrated in FIG. 17 executing a turn.
  • FIG. 18 is a plan view of the device following a deviation thereof from a desired path.
  • FIG. 1 shows one possible arrangement of a known system.
  • the sketch shows the plan view of a vehicle fitted with three roller sets at its front travelling around a bend from right to left.
  • the forces required to steer tend to induce loads much higher than intended on the front wheels and steering mechanism of the host vehicle. This is likely to result in increased wear and premature failure of the steering mechanism of the host vehicle.
  • the present invention serves to overcome some of the limitations of existing inventions.
  • the mine roller system disclosed here is pushed ahead of the host vehicle in such a way that the path of the wheels of the host vehicle automatically follows more closely within the path covered by the mine roller system as it goes round a corner as well as in a straight line. It is possible, particularly in a tight turn, that during the period between the steering wheels of the pushing vehicle being turned and the mine roller system reacting, the path taken by the wheels of the pushing vehicle may not be covered completely. This may be overcome by the provision of a manual override system to steer the mine roller system in advance of the steering wheels of the pushing vehicle for example.
  • the mechanism invented induces small additional loads on the steering mechanism of the host vehicle thus reducing the likelihood of excessive wear and premature failure of the host vehicle systems.
  • the mine rollers are pushed ahead of the host vehicle a substantial distance away from the front of the vehicle thereby reducing the risk of injury to the crew of the host vehicle and damage to the vehicle.
  • FIGS. 2 to 18 The steering mechanisms invented are shown diagrammatically in FIGS. 2 to 18 :
  • FIGS. 16 and 17 in these drawings the wheeled host vehicle, is shown in plan view, with the mine roller system (MRS) fitted in front of it.
  • the arrangement comprises the frame ( 4 ) connected to the vehicle ( 10 ) along the centre line.
  • the frame can conveniently be mounted onto the NATO pintle usually found on the front of military vehicles.
  • Mine roller sets ( 1 ), ( 2 ), and ( 3 ) are pivotally attached to the frame ( 4 ), so that they can caster about substantially vertical axes.
  • Roller set ( 3 ) is further pivotally attached to the frame ( 4 ) by an intermediate bracket ( 11 ).
  • the linkage system serves to automatically steer the roller sets ( 1 ) and ( 2 ) to keep them on a path in front of the vehicle. If the roller becomes out of line or the host vehicle makes minor steering adjustments, the linkage geometry is such that it will serve to maintain the roller sets ( 1 ) and ( 2 ) in front of the vehicle. Roller set ( 3 ) is free to caster 360 degrees. The roller set is not steered, it simply follows the path taken by the roller sets ( 1 ) and ( 2 ).
  • FIG. 17 shows a plan view of the mine roller system pushed by the vehicle, travelling around a bend.
  • the required length for linkage member ( 5 ) is determined by measuring the turning circle being negotiated. This is done electronically by use of a simple linear transducer or some other measuring device connected to the vehicle's steering mechanism. The measuring device may measure any parameter of the vehicle's steering mechanism from which the vehicle's turning circle may be calculated. From this electronic measurement, the programmable logic controller (PLC) programme calculates the required angle “A” according to an algorithm (which is not disclosed herein, the algorithm being within the knowledge of the person skilled in the art) and the required length of linkage member ( 5 ).
  • PLC programmable logic controller
  • the mine rollers When negotiating a bend of a particular turning circle, the mine rollers are automatically steered on the required path. In the same way as when the required steering angle “A” is zero ie when travelling in a straight line, small deviations in steering angle of the host vehicle are compensated for by automatic tracking of the steering mechanism. If the mine rollers become out of line, the linkage automatically adjusts to compensate and steer the roller set into line.
  • linkage member ( 5 ) is a hydraulic cylinder.
  • the extension i.e. the position of this is accurately controlled by use of an integral linear transducer and electronic closed loop feedback system.
  • the hydraulic cylinder ( 5 ) is only actuated when the turning circle changes. At constant turning circles and in a straight line the cylinder doesn't extend or retract. The steering is automatically maintained in the correct position by the mechanism. This is important because it means that the minimum amount of power is used and the auxiliary hydraulic power pack required remains small and can be powered from the host vehicle inter-vehicle starting socket. It also means that it is not necessary to constantly correct for small steering misalignments this is achieved automatically with no hydraulic power consumption.
  • the turning radius that will be created is calculated from measurements received from a transducer fitted to the steering mechanism of the vehicle.
  • the PLC is programmed to calculate the angle “A” that the frame is required to adopt to ensure that the host vehicle will follow the roller sets.
  • the control circuitry then serves to actuate the hydraulic cylinder so as to rotate the link 5 a. This causes the wheelsets to steer so as to bring the framework to the appropriate angle.
  • FIGS. 2 to 6 there is shown another embodiment of the invention. Where parts of the embodiment now described correspond to parts of the device described with reference to FIGS. 16 and 17 , like reference numerals are used.
  • the mine roller apparatus 20 comprises a frame 4 , which includes an A frame formed by structural members 22 , 23 , formed for example from tubular steel.
  • a push bar 21 extends from the apex of the A-frame and terminates in a hook 21 a, which attaches to a pintle 9 of the pushing vehicle.
  • Frame 4 supports a shaft 25 , which is hollow in the illustrated example, and which extends in a substantially perpendicular direction to the longitudinal axis of the apparatus 20 .
  • Two elements of the mine roller steering mechanism are mounted on the shaft 25 .
  • the first is an elongate member 24 which includes a bracket 26 attached to the end of the member 24 proximate the A frame through which the shaft 25 passes.
  • a bracket 27 is attached to the elongate member 24 towards the free end thereof.
  • One end of a rod 28 is pivotally connected to the bracket 27 , the other end of the rod being pivotally connected to the pushing vehicle 10 by means of a pivot attachment 29 .
  • the rod 28 forms part of a feedback system.
  • the elongate member 24 mounts another bracket 30 to which one end of an extensible actuator 31 , in the form of a hydraulic ram in the present example, is attached.
  • the other end of the actuator 31 is attached to a bracket 26 by a pivot attachment 32 , which may comprise a pin passing through holes in the bracket 26 and end of the actuator 31 .
  • the bracket 26 is also pivotally mounted on the shaft 25 , that is it may rotate about the shaft 25 .
  • the actuator 31 serves to change the angle of the member 24 relative to the bracket 26 .
  • a tie rod 36 extends between and is pivotally attached to the bracket 26 at pivot attachment 33 and a plate 35 of a roller steering linkage.
  • the plate 35 is pivotably attached to a bracket 58 , which is attached to the frame 23 by a bracket 59 .
  • the shaft 25 , elongate member 24 and bracket 26 are illustrated in detail in FIG. 13 .
  • the apparatus includes a steering angle sensor for sensing the steering angle of the steering wheels (the front wheels) of the pushing vehicle 10 .
  • the steering angle of the steering wheels need not be measured directly.
  • Any measuring device connected to the pushing vehicle's steering mechanism, and arranged to measure a parameter of the vehicle's steering mechanism from which the vehicle's turning circle may be calculated may be used.
  • the PLC runs an algorithm that calculates the length at which actuator 31 must be set to move the roller sets 1 , 2 to a position in which the roller sets pass over the track of the inner most wheel of the pushing vehicle (this corresponds approximately to the calculation of the length of the actuator 5 to provide angle A described with reference to FIGS. 2 and 3 ).
  • the rod 28 is of fixed length.
  • the rod 28 , the push bar 21 the elongate member 24 and the part of the front of the pushing vehicle 10 extending between the pintle 9 and the pivot attachment 29 form a parallelogram linkage.
  • FIGS. 7 to 9 and 10 to 12 The movement of the mine clearance apparatus will now be described with reference to FIGS. 7 to 9 and 10 to 12 .
  • the pushing vehicle 10 is just about to commence a turn to the left.
  • the pushing vehicle 10 has turned the front wheels 10 a, 10 a 1 to the left.
  • the steering angle sensor detects the angle through which the front wheels have been turned (10 degrees in this case) and the PLC calculates the require length of actuator 31 to position the mine clearance apparatus 20 in relation to the pushing vehicle 10 such that the path followed by at least a part of the roller set 2 (the inner roller set when turning to the left) passes over the path that the unsteered inner wheel of the pushing vehicle (in the example the left hand rear wheel) will follow when executing the turn.
  • the plate 35 is caused to rotate anti-clockwise.
  • the roller sets 1 , 2 are connected to the plate 35 by track rods 7 , 8 , and hence turning the plate 35 anti-clockwise in turn turns the roller sets 1 , 2 anti-clockwise.
  • the assumed steering angle of roller sets 1 , 2 corresponds to that which is required to keep the apparatus 20 on the turning radius that ensures that the path traversed by at least a part of the inner roller set 2 covers the path traversed by the left rear wheel 10 b of the vehicle 10 , and the path traversed by at least a part of the outer roller set 1 covers the path traversed by the right front wheel 10 a ′ of the pushing vehicle 10 .
  • the driver of the pushing vehicle has turned to wheels 10 a, 10 a 1 to increase the turning angle to 20 degrees, this increase in steering angle occurring as the vehicle moves forwards.
  • the PLC determines the required length of actuator 31 and causes the length thereof to be changed.
  • the roller sets 1 , 2 are turned anti-clockwise and the apparatus tracks across to the left to assume to position illustrated in FIG. 11 , in which the path traversed by the wheels of the pushing vehicle are covered by the rollers 1 , 2 .
  • the driver of the pushing vehicle 10 has increased the steering angle to 40 degrees, the change in steering angle resulting in the length of the actuator decreasing to provide the required angle A.
  • the apparatus tracks across to the left.
  • roller set 3 is illustrated.
  • the roller set 3 is situated between roller sets 1 and 2 , and is not steering in the same manner as roller sets 1 and 2 .
  • Roller set 3 is attached to the structural member 23 by means of a pivot linkage 60 comprising a towing eye 62 extending from a draw bar of the roller set 3 , a clevis hitch 64 and a pin 6 configured to pass through aligned holes in the towing eye 62 and clevis hitch 64 (see FIG. 5 in particular).
  • the outer roller sets 1 , 2 are steerable and the centre roller set 3 is unsteered, but follows the steered path because it is connected to the apparatus as described above. It may be envisaged that the centre roller set may be steered as well as the outer roller sets. Further, it may be envisaged that the centre roller may be steered and the outer rollers unsteered, but connected to the apparatus in a manner that provides for them to be able to follow the path determined by the steered centre wheel set, for example using the method of attachment to the structural member 23 as described above in relation to roller set 3 .
  • the linkage arrangement of the apparatus and its geometry provide that the apparatus will always come to an equilibrium position corresponding to the steering angle and hence desired path of the pushing vehicle and will return to the desired path after any deviation therefrom, i.e. the linkage arrangement provides a feedback system.
  • FIGS. 2 and 18 This feature is now described with reference to FIGS. 2 and 18 . Referring to FIG. 2 , if for example, one of the rollers were to hit a large stone and the apparatus 20 were thrown across to the right to the position illustrated in FIG.
  • the apparatus 20 would be caused to return to the set steered path because the deviation of the apparatus to the right would cause the shape of the parallelogram to change causing the elongate member 24 to rotate anti-clockwise about shaft 25 , which due to the fixed length of actuator 31 causes the bracket 26 to rotate anti-clockwise about shaft 25 , which due to the action of the tie rod 36 causes the plate 35 to also rotate anti-clockwise, which in turn causes the roller sets 1 and 2 to take up a position to steer the apparatus 20 to the left.
  • the parallelogram returns to the correct shape for the desired path and the combination of the apparatus and pushing vehicle return to a steady state.
  • the feedback signal representing the deviation of the apparatus from the desired angle A is provided by the mechanical linkage, in particular, the mechanical link attaching the steering mechanism to the vehicle provided by rod 28 .
  • the feed back system need not be wholly mechanical arrangement.
  • the link 28 could be replace with a linear actuator, one end being connected to the elongate member 24 and the other to a fixed part of the apparatus, for example the push bar 21 .
  • a transducer may be provided to generate an electronic signal representative of the actual angle A, which may be compared with the calculated angle A.
  • the controller may be programmed to generate a signal which is used to adjust the length the actuator and hence increase the steering angle of the roller sets 1 , 2 to bring the apparatus back such that the angle A is the calculated angle A.
  • Such an electronic feed back arrangement would operate on a continuous loop and adjust the length of the actuator as the apparatus returned to the desired path, or upon the return of the apparatus to the calculated angle A.
  • Electronic communication between the pushing vehicle 10 and the apparatus may be by wire or wireless.
  • An alternative electronic feedback signal could utilise the actuator 31 .
  • the link 28 would be removed, and the actuator would extend between a fixed object and the bracket 26 , for example the position of member 24 may fixed.
  • the required length of actuator 31 to provide the required angle “A” would be calculated as described above. If the apparatus were to hit an object resulting in a deviation to the right, the actual angle A would not correspond to the required angle A. This difference may be used to calculate a new length of actuator 31 to adjust the steering angle of the roller sets 1 , 2 to bring the apparatus back to the path as described in the preceding paragraph.
  • each reversing lock 40 comprises a swing arm 41 , one end of which is pivotally connected to a bracket 42 mounted on the structural member 23 .
  • An actuator 44 in the form of a hydraulic ram in the illustrated example, is pivotally attached to the other end of the swing arm 41 , and to bracket 45 which is mounted on the structural member 23 .
  • the reversing lock also includes a stop 46 .
  • both roller sets 1 , 2 are locked.
  • the actuator 44 is extended and the swing arm 41 is in engagement with the stop 46 which is attached to the roller mount, and similarly, swing arm 41 a is in engagement with its corresponding stop.
  • rotation of the roller sets 1 , 2 about their substantially vertical axes is prevented.
  • roller set 2 may rotate about its substantially vertical axis, the range of rotation to the left being limited by the engagement of the stop 46 with the surface 41 ′ of the swing arm 41 .
  • Roller set 1 may rotate about its substantially vertical axis in a counter clockwise direction to an amount limited by the engagement stop 46 with the surface 41 ′ of the swing arm 41 .
  • the preferred means of providing for pivotal movement between the pushing vehicle 10 and the apparatus 20 is to provide the valve controlling the length of actuator 31 with a float setting, and a control means in the cab of the vehicle 10 to allow the valve to be switched to float mode. With the actuator in float mode the elongate member 24 is free to pivot about shaft 25 and hence the vehicle 10 may pivot with respect to the apparatus 20 .
  • the roller set 3 is simply lifted clear of the ground during reversing, for example by means of a winch or hydraulic ram.
  • each roller 56 of the roller sets 1 to 3 is mounted to pivot about a substantially horizontal axis, and a biasing means 57 (such as a gas spring, coil spring or hydraulic ram and accumulator) is provided to ensure that each individual roller 56 follows the surface over which it traverses.
  • a biasing means 57 such as a gas spring, coil spring or hydraulic ram and accumulator
  • each roller set 1 , 2 is mounted on pivot mount 50 , the pivot axis of which lies in a substantially horizontal plane about a pin 52 .
  • the wheel is 56 is mounted on a bracket 55 which is in turn pivotaly mounted on a bracket 54 by means of a pin or the like, the bracket 54 being connected to a plate which is mounted on the pin 52 .
  • a biasing means, such as a gas spring (or coil spring, or a hydraulic ram and accumulator or any other suitable biasing means) 57 extends between the bracket 55 and the plate 53 .
  • roller sets 1 , 2 , 3 Such a mounting provides for the roller sets 1 , 2 , 3 to follow ground undulations and mitigates against IED's being missed simply because they lie in a hollow between the extreme edges of the roller sets 1 to 3 .
  • roll movement of the roller set may be accommodated by a pivot mount extending rearward from the drawbar 61 substantially along the axis of the drawbar, or alternatively, the hitching of the drawbar 61 to the frame may include a ball hitch or a ball link.
  • Ballast weights 51 may be provided to ensure that there is adequate weight on the wheels 56 of rollers 1 to 3 .
  • the extension of the ram 31 is preferably not abrupt.
  • the steering angle of the vehicle is sensed at small time intervals so that the change the length of the ram 31 occurs gradually so that in practice the cylinder moves and wheelsets start to turn as the vehicle starts to turn.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Power Steering Mechanism (AREA)
  • Feeding, Discharge, Calcimining, Fusing, And Gas-Generation Devices (AREA)
US12/482,969 2008-06-11 2009-06-11 Mine Detonating Apparatus Abandoned US20120186421A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US14/181,209 US9062940B2 (en) 2008-06-11 2014-02-14 Mine detonating apparatus

Applications Claiming Priority (2)

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GBGB0810643.7A GB0810643D0 (en) 2008-06-11 2008-06-11 Mine detonating apparatus
GBGB0810643.7 2008-06-11

Related Child Applications (1)

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US14/181,209 Continuation-In-Part US9062940B2 (en) 2008-06-11 2014-02-14 Mine detonating apparatus

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US (1) US20120186421A1 (de)
EP (1) EP2133652B1 (de)
DK (1) DK2133652T3 (de)
GB (2) GB0810643D0 (de)
HR (1) HRP20140089T1 (de)
PL (1) PL2133652T3 (de)

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US20130327203A1 (en) * 2012-06-08 2013-12-12 Pearson Engineering Limited Ground engaging assembly for applying force to ground and ground engaging vehicle incorporating such assembly
US9374939B2 (en) * 2014-08-29 2016-06-28 Deere & Company System and method for steering of an implement on sloped ground
US10168126B2 (en) * 2016-09-19 2019-01-01 Pearson Engineering Limited Roller
CN110823003A (zh) * 2019-10-14 2020-02-21 重庆长安工业(集团)有限责任公司 一种防雷车用自适应道路扫雷辊
CN111981911A (zh) * 2020-08-31 2020-11-24 重庆元韩汽车技术设计研究院有限公司 一种用于扫雷辊的控制系统
US20230366659A1 (en) * 2020-10-27 2023-11-16 Pearson Engineering Limited Improvements in or relating to mine clearance

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EP2327951A1 (de) * 2009-09-09 2011-06-01 Pearson Engineering Limited Minensprengvorrichtung
FR2950021B1 (fr) 2009-09-16 2011-11-25 Mbda France Ensemble motorise articule autodirectionnel
GB2464033B (en) * 2010-01-19 2010-11-03 Gerald Nicholls Treyser: mine detecting device
US8490531B2 (en) 2010-06-07 2013-07-23 Gse Technologies, Llc Mine roller neutralization system
WO2012057780A1 (en) * 2010-10-29 2012-05-03 Navistar Canada, Inc. Explosion resistant mine detonation reel and self-steering device for same
GB201021243D0 (en) 2010-12-15 2011-01-26 Pearson Eng Ltd A mine detonating apparatus and a method of steering the same
US8240239B1 (en) 2011-07-16 2012-08-14 Kevin Mark Diaz Green energy mine defeat system
US11199382B1 (en) * 2020-05-29 2021-12-14 United States Of America As Represented By The Secretary Of The Navy Modular and scalable mine roller
FR3123425B1 (fr) 2021-05-25 2024-08-23 Sera Ingenierie Système de leurrage massique à commande de trajectoire

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EP2133652B1 (de) 2013-11-13
GB2461155B (en) 2010-05-19
GB0910024D0 (en) 2009-07-22
EP2133652A2 (de) 2009-12-16
HRP20140089T1 (hr) 2014-03-28
GB2461155A (en) 2009-12-30
PL2133652T3 (pl) 2014-04-30
GB0810643D0 (en) 2008-07-16
EP2133652A3 (de) 2012-05-30
DK2133652T3 (da) 2014-02-10

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