WO2003006916A1 - Procede et appareil d'ouverture de breche dans un mur - Google Patents

Procede et appareil d'ouverture de breche dans un mur Download PDF

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Publication number
WO2003006916A1
WO2003006916A1 PCT/AU2002/000823 AU0200823W WO03006916A1 WO 2003006916 A1 WO2003006916 A1 WO 2003006916A1 AU 0200823 W AU0200823 W AU 0200823W WO 03006916 A1 WO03006916 A1 WO 03006916A1
Authority
WO
WIPO (PCT)
Prior art keywords
barrel
breaching
projectiles
wall
breaching apparatus
Prior art date
Application number
PCT/AU2002/000823
Other languages
English (en)
Inventor
James Michael O'dwyer
Original Assignee
Metal Storm Limited
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
Priority claimed from AUPR6290A external-priority patent/AUPR629001A0/en
Priority claimed from AUPR6291A external-priority patent/AUPR629101A0/en
Application filed by Metal Storm Limited filed Critical Metal Storm Limited
Priority to TW092100120A priority Critical patent/TW200412419A/zh
Publication of WO2003006916A1 publication Critical patent/WO2003006916A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B5/00—Cartridge ammunition, e.g. separately-loaded propellant charges
    • F42B5/02—Cartridges, i.e. cases with charge and missile
    • F42B5/03—Cartridges, i.e. cases with charge and missile containing more than one missile
    • F42B5/035—Cartridges, i.e. cases with charge and missile containing more than one missile the cartridge or barrel assembly having a plurality of axially stacked projectiles each having a separate propellant charge
    • 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
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/34—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles on wheeled or endless-track vehicles

Definitions

  • the present invention relates to breaching a wall, barrier or similar construction to facilitate access, such as for permitting the incursion through the construction by forces such as a military or emergency services force.
  • the present invention relates to methods and apparatus for breaching a wall.
  • two pieces of equipment may be conventionally used to assist in breaching buildings by doorways and by creating holes in exterior walls.
  • One of these is explosive cutting tape used to blow a hole in wall large enough for a soldier to walk through.
  • Use of this weapon requires a combat engineer, or a soldier assisted by a combat engineer, to approach the target, stick the charge to the wall or door, attach the booster, retreat a safe distance and fire the cutting tape. Support soldiers are then able to rush through the breach and neutralise any targets found within the building.
  • Another breaching tool is a stand-off weapon such as may be used for breaching doorways. The intent of this weapon is for a soldier to fire an explosive round at the doorway from a minimum distance of about 10 meters.
  • a ballistic breach of a building or a room entails the use of an automatic weapon to destroy the locking mechanism or hinges of the door. This is typically done with a machine gun or a shotgun. This is not a preferred method because it is unreliable in opening the door and lacks the surprise, speed, and energy required for the highest probability of success. Ricochets are also a major threat to friendly troops when using this method. Manual entry is used when ballistic and explosive entries are inappropriate.
  • Manual entry can involve, among other things, the use of a ram type device to break in a door or exaggerated claws to pry open a door.
  • Explosive entry is presently the preferred method for breaching a building.
  • the charge should be tamped whenever possible. Tamping is accomplished by putting just about anything over the charge to reflect shock waves back on the wall.
  • Some of the materials that are used for tamping are sandbags, rubble, desks, chairs etc.
  • Disadvantages to the use of explosive charges are that the detonation creates shrapnel, the blast won't remove reinforcing bars and the amount of explosive used is critical. Too little explosive and the wall won't be penetrated, too much and the whole building could be destroyed.
  • the method of the present invention employs a cluster or pod of barrel assemblies of the type including a plurality of axially stacked projectiles for sequential firing from the barrel assembly.
  • the present invention provides a method for breaching a wall including the steps of firing a multiplicity of projectiles from a cluster of barrel assemblies, said firing being directed around the perimeter of a desired access through said wall or barrier, wherein the barrel assemblies include a plurality of projectiles axially disposed within a barrel and associated with discrete selectively ignitable propellant charges for propelling the projectiles from the barrel and wherein the firing is maintained until the wall is breached.
  • the present invention provides an apparatus for breaching a wall to permit the incursion therethrough by forces such as a military force, a firefighting force or other incursionary force or apparatus.
  • the present invention provides an apparatus for breaching a wall including a cluster of barrel assemblies, wherein said barrel assemblies may be directed around the perimeter of a desired access, wherein the barrel assemblies include a plurality of projectiles axially disposed within a barrel and associated with discrete selectively ignitable propellant charges for propelling the projectiles from the barrel towards the perimeter of the desired access until the wall is breached.
  • the present invention has particular application to barrel assemblies of the type described in International Patent Application Nos. PCT/AU94/00124 and PCT/AU96/00459.
  • barrel assemblies include a barrel; a plurality of projectiles axially disposed within the barrel for operative sealing engagement with the bore of the barrel, and discrete propellant charges for propelling respective projectiles sequentially through the muzzle of the barrel.
  • the projectiles may be round, conventionally shaped or dart-like and the fins thereof may be offset to generate a stabilising spin as the dart is propelled from a barrel that may be a smooth-bored barrel.
  • the projectiles incorporate an explosive charge that is detonated on impact with the wall.
  • the projectiles may be of the kinetic energy type, suitably including a sabotted elongate penetrator made of tungsten or similar material.
  • the projectiles may incorporate incendiary matter for burning through a barrier. If required, the projectiles of different types, ie. high explosive, kinetic energy and/or incendiary, may be loaded into different barrels or into each barrel in a desired sequence, in order to breach a particular kind of barrier.
  • the projectile charge may be in the form of a solid block and assist in operatively spacing the projectiles in the barrel.
  • the propellant charge may be encased in metal or other rigid case which may include an embedded primer having external contact means adapted for contacting a pre-positioned electrical contact associated with the barrel.
  • the primer could be provided with a sprung contact which may be retracted to enable insertion of the cased charge into the barrel and to spring out into a barrel aperture upon alignment with that aperture for operative contact with its mating barrel contact.
  • the outer case may be consumable or may chemically assist the propellant burn.
  • an assembly of stacked and bonded or separate cased charges and projectiles may be provided for reloading a barrel.
  • Each projectile may include a projectile head and extension means for at least partly defining a propellant space.
  • the extension means may include a spacer assembly that extends rearwardly from the projectile head and abuts an adjacent projectile assembly. Such an extension means may assist the detent in the barrel in supporting the projectiles in position within the barrel when a leading charge is fired.
  • a spacer assembly may extend through the propellant space and the projectile head whereby compressive loads are transmitted directly through abutting adjacent spacer assemblies.
  • the spacer assembly may add support to the detent and extension means.
  • the extension means may be a thin cylindrical rear portion of the projectile head. Furthermore the extension means may form an operative sealing contact with the bore of the barrel to prevent burn leakage past the projectile head.
  • the spacer assembly may include a rigid collar that extends outwardly to engage a thin cylindrical rear portion of a malleable projectile head in operative sealing contact with the bore of the barrel.
  • Complementary wedging surfaces may be disposed on the spacer assembly and projectile head respectively whereby the projectile head is urged into engagement with the bore of the barrel in response to relative axial compression between the spacer means and the projectile head.
  • the projectile head and spacer assembly may be loaded into the barrel and there after an axial displacement is caused to ensure good sealing between the projectile head and barrel.
  • the extension means may be urged into engagement with the bore of the barrel.
  • the projectile head may define a tapered aperture at its trailing end into which is received a complementary tapered spigot disposed on the leading end of the spacer assembly. Relative axial movement between the projectile head and the complementary tapered spigot causes a radially expanding force to be applied to the projectile head.
  • the barrel may be non-metallic and the bore of the barrel may include recesses that may fully or partly accommodate the ignition means.
  • the barrel houses electrical conductors which facilitate electrical communication between the control means and ignition means.
  • This configuration may be utilised for disposable barrel assemblies that have a limited firing life.
  • the ignition means and control wire or wires therefor can be integrally manufactured with the barrel.
  • a barrel assembly may alternatively include ignition apertures in the barrel and the ignition means are disposed outside the barrel and adjacent the apertures.
  • a non-metallic outer barrel may surround the barrel.
  • the non-metallic outer barrel may include recesses adapted to accommodate the ignition means.
  • the outer barrel may also house electrical conductors that facilitate electrical communication between the control means and ignition means.
  • the outer barrel may be formed as a laminated plastic barrel that may include a printed circuit laminate for the ignition means.
  • the rear end of the projectile may include a skirt about an inwardly reducing recess such as a conical recess or a part-spherical recess or the like into which the propellant charge portion extends and about which rearward movement of the projectile will result in radial expansion of the projectile skirt.
  • This rearward movement may occur by way of compression resulting from a rearward wedging movement of the projectile along the leading portion of the propellant charge it may occur as a result of metal flow from the relatively massive leading part of the projectile to its less massive skirt portion.
  • the projectile may be provided with a rearwardly divergent peripheral sealing flange or collar which is deflected outwardly into sealing engagement with the bore upon rearward movement of the projectile.
  • sealing may be affected by inserting the projectiles into a heated barrel which shrinks onto respective sealing portions of the projectiles.
  • the projectile may comprise a relatively hard mandrel portion that cooperates with a deformable annular portion.
  • the deformable annular portion may be moulded about the mandrel to form a unitary projectile which relies on metal flow between the nose of the projectile and its tail for outward expansion about the mandrel portion into sealing engagement with the bore of the barrel.
  • the projectile assembly may include a rearwardly expanding anvil surface supporting a sealing collar thereabout and adapted to be radially expanded into sealing engagement with the barrel bore upon forward movement of the projectile through the barrel.
  • the propellant charge may have a cylindrical leading portion which abuts the flat end face of the projectile.
  • the projectiles may be adapted for seating and/or location within circumferential grooves or by annular ribs in the bore or in rifling grooves in the bore and may include a metal jacket encasing at least the outer end portion of the projectile.
  • the projectile may be provided with contractible peripheral locating rings that extend outwardly into annular grooves in the barrel and which retract into the projectile upon firing to permit its free passage through the barrel.
  • the electrical ignition for sequentially igniting the propellant charges of a barrel assembly may preferably include the steps of igniting the leading propellant charge by sending an ignition signal through the stacked projectiles. The ignition of the leading propellant charge may arm the next propellant charge for actuation by the next ignition signal.
  • propellant charges inwardly from the end of a loaded barrel are disarmed by the insertion of respective insulating fuses disposed between normally closed electrical contacts.
  • the fuses are set to burn to enable the contacts to close upon transmission of a suitable triggering signal, with each insulating fuse being open to a respective leading propellant charge for such ignition.
  • Ignition of the propellant may be achieved electrically or ignition may utilise conventional firing pin type methods such as by using a centre-fire primer igniting the outermost projectile and controlled consequent ignition causing sequential ignition of the propellant charge of subsequent rounds. This may be achieved by controlled rearward leakage of combustion gases or controlled burning of fuse columns extending through the projectiles.
  • the ignition is electronically controlled with respective propellant charges being associated with primers which are triggered by distinctive ignition signals.
  • the primers in the stacked propellant charges may be sequenced for increasing pulse width ignition requirements whereby electronic controls may selectively send ignition pulses of increasing pulse widths to ignite the propellant charges sequentially in a selected time order.
  • the propellant charges are ignited by a set pulse width signal and burning of the leading propellant charge arms the next propellant charge for actuation by the next emitted pulse.
  • a number of projectiles can be fired simultaneously, or in quick succession, or in response to repetitive manual actuation of a trigger, for example.
  • the electrical signal may be carried externally of the barrel or it may be carried through the superimposed projectiles which may clip on to one another to continue the electrical circuit through the barrel, or abut in electrical contact with one another.
  • the projectiles may carry the control circuit or they may form a circuit with the barrel.
  • the desired access will be sized to readily allow the incursion of the force.
  • an access may be desired to be sized so that the people may pass unencumbered through the access, either one at a time or in groups.
  • the access will be positioned to be readily accessed and be of sufficient size to allow passage therethrough.
  • the cluster of barrel assemblies may be in the form of a pod. Such a pod may include barrels that are capable of independent alignment or alternatively the barrel assemblies may be fixed relative to each other and the pod may be mounted on a turret or similar rotatable mount.
  • the projectiles may preferably be fired sequentially to limit the recoil effect on the cluster of barrel assemblies.
  • the projectiles may be fired in a pattern that follows the perimeter of the desired access. The pattern may track the sequentially around the perimeter or may sequentially hit intermediate points around the perimeter and subsequent firings hit the remainder of the perimeter. Alternatively if immediate access is required then a plurality of projectiles may be fired simultaneously from a number of barrel assemblies.
  • the cluster of barrel assemblies is mounted on a robotic vehicle.
  • the use of robotic vehicles in the present invention to breach an urban obstacle may reduce the risk to the troops attempting to access a location.
  • Remote control or tele-operation technology may enable troops to target the desired areas for breaching and fire the breaching device from a remote and safe position.
  • the breaching apparatus may fire a dense array of kinetic projectiles to impact and breach the wall or the breaching apparatus may deploy explosive shells or projectiles to the wall in a very tight pattern. In either case, the projectiles selected may be determined in the field based on the construction of the wall to be breached.
  • the weight of the gun pod could be relatively light and be able to be carried by a soldier.
  • the cluster of barrel assemblies has the potential to generate a significant recoil force.
  • the system preferably is capable of absorbing the recoil of firing. This recoil could be considerable.
  • the support structure has sufficient mass and hence inertia to be relatively unaffected by the recoil or recoil abatement strategies may need to be employed.
  • the weapon were used to provide a pattern of explosive projectiles, the required delivery velocities could be reduced considerably and the recoil reduced accordingly.
  • the weapon could deliver these explosive projectiles in a very focused pattern to amplify their impact on the wall.
  • the structure be it in the form of a fixed platform or a mobile robot, may be anchored or braced onto the ground.
  • FIG. 1 is perspective view of a tactical mobile robot having a gun pod of an embodiment of the invention
  • FIG. 2A shows a tactical mobile robot as shown in FIG. 1 for use in breaching a wall
  • FIG. 2B shows the tactical mobile robot getting into position to breach the wall
  • FIG. 2C shows the tactical mobile robot in position and the gun pod firing at the selected point of breach
  • FIG. 2D shows the resulting breached wall
  • FIG. 3 shows a cross section of a pod of barrel assemblies of another embodiment of the invention
  • FIG. 4 is a cross-sectional view of the barrels of the gun pod employed on the robot of FIG. 1 ; and FIG. 5 is a side elevational view of the tactical mobile robot of FIG. 1.
  • the weapon preferably blows a hole in a wall that is large enough for a fully dressed, and preferably equipped, soldier to pass through.
  • the weapon may be mounted on a tele-operated platform that will be driven to the point to be breached.
  • the platform is a mobile robot vehicle 10 propelled by wheels 11 and having a cluster of barrels 12 in a pod 13 which is mounted on a movable turret 14.
  • FIG. 2A Concrete here is a mixture of water, cement, aggregate, air, and admixtures.
  • the average strength of concrete is 3940 psi (27.165 MPa), but concrete may vary in strength from actual tests from 2020 psi (13.93 MPa) to 6090 psi (42.00 MPa).
  • the specified compressive strength is measured from compression tests conducted on 6 inch (152.4 mm) by 12-inch (304.8 mm) sample cylinders of concrete.
  • a projectile is 40 mm in diameter, which equates to a surface area of 0.785 in 2 (506 mm 2 ).
  • a 40 mm projectile will normally make a clean penetration through a concrete wall.
  • the weapon By removing half the material for 50% porosity, the weapon still requires 246 barrels. This is still considered to be too many barrels for any practical application.
  • Another option would be to take advantage of double-tap and triple-tap operations where firing a series of projectiles in quick succession and the natural recoil of the weapon could be timed to achieve up to a 6-tap motion.
  • the cluster of barrels may consist of a horizontal row of six barrels spaced C six (6) inches apart, such as the pod 13 depicted in FIGs. 1 and 4.
  • the gun pod could be approximately 31.5 inches (800 mm) wide W and three inches (76.2 mm) tall.
  • the barrels 12 may have a bore of 1.57 inches (40 mm) in diameter, with a half-inch (12.7 mm) tube wall. If we assume a chamber pressure between 10,000 - 20,000 psi (68.95 - 137.90 MPa) this will result in a muzzle velocity of about 250 m/sec.
  • the weapon pod 13 may have the following dimensions, for 6-tap operation as depicted in FIG. 4.
  • the weapon will be a minimum of 30 inches (762 mm) long, having barrels containing six (6) axially disposed projectiles each 5 inches (127 mm) long, plus free barrel length.
  • We will initially assume a free barrel length of three feet (915 mm).
  • a compressive force of 2067 Ibf (9.194 kN) will be required.
  • Working the applicable equations of motion in reverse we require a minimum barrel length of 0.78 feet (20 mm). However, longer barrels improve projectile travel, and we prefer a three-foot (915 mm) long barrel. This, together with the projectile stack length of 30 inches, the overall length of the gun barrel will be 66 inches (1676 mm) long.
  • the weapon has been tested with pressure of 8,000 psi, generating a force of 15,479 Ibf (68.83 kN) on a 40 mm projectile. This force represents a magnitude of fifteen (15) times greater than the compressive strength of concrete.
  • the tele-operated platform of the embodiment is a skid-steered robotic vehicle 10 that weighs 2420 lb (1097 kg).
  • the centre of gravity of the vehicle is at the centre of the vehicle 10 and with a moment arm of 1.35 feet (411.5 mm) to the centre of the rear tyre, this produces a counter moment of 3267 ft-lbf (451.4 Nm).
  • a stabiliser be used.
  • the stabiliser member 15 on the platform 17 of the embodiment extends back L from the centre of gravity 18 by 60 inches (1.52 m), see FIG. 5.
  • the gun pod 13 suitably has the following dimensions: it has six (6) barrels 12 with a bore of 1.57 inch for a 40 mm projectile of tungsten. Its construction will be six individual barrels, three bulkheads, and a thin aluminium skin to stiffen the structure. The skin will counter any torsion in the gun box structure.
  • This weapon will handle 6 rounds of shots and the timing of firing the projectiles is analysed to space the shots 6 inches (152.4 mm) apart on centre in a 6-tap configuration, as represented by FIG. 4. It will be appreciated that recoil causes the pod 13 to move marginally upwardly during firing. This recoil may be used to advantage in conjunction with a precisely controlled rate of fire, thereby resulting in the illustrated spacing of shots on the target.
  • the marginal movement resulting from recoil is represented by the arrow 40 in FIGs 4 and 5.
  • a preliminary mass estimate was made with the gun box 13 weighing approximately 440 Ibm (200 kg), not including projectiles, explosives, electrical power, or any of the electronics that are required for triggering the weapon.
  • the robotic vehicle 10 may be tele-operated into position, facing the wall 20 to be breached as depicted in FIG. 2B.
  • the vehicle 10 lowers the stabilizer 15 and the weapon is fired as depicted in FIG. 2C.
  • the weapons pod 13 is arranged for a 6- tap firing. This produces an opening 21 greater than 1 -meter in diameter in the wall
  • the barrel assemblies are alternatively suitably arranged in a circular configuration, having a diameter of approximately one metre.
  • the projectiles fired from the barrel assemblies will provide a breach having a diameter also of approximately one metre.
  • such a pod of barrel assemblies may be splayed so as to obtain a larger breach in the wall or may be constrained so as to obtain a smaller breach.
  • the pod assembly may be capable of being varied with respect to its splaying so that the size of the breach can also be controlled.
  • the projectiles used in the barrel assembly may range from kinetic energy type penetrators, high explosive types and incendiary types. In one application, it may be desirable to fire an elongate tungsten penetrator type projectile to loosen the concrete, followed by one or more high explosive rounds to remove more concrete, and perhaps subsequently by incendiary rounds to weaken any reinforcing rods that may be present in the wall. It will be appreciated that the cluster of barrel assemblies may include barrels containing specific types of round, although it would be desirable to load the barrels with a predetermined sequence of projectile types suited to the desired breaching application.
  • FIG. 5 shows a tactical mobile robot 10 having a gun pod 13 mounted on the transportable platform 17 by a turret 14.
  • a stabilising ground engaging bar 16 linked to the platform by stabilising members 15 is used to retain the robot in position during the firing of the projectiles from the gun pod 13. If required, the pod 13 may be arranged in a gimbal mounted turret on the platform.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Toys (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

L'invention concerne un procédé et un appareil permettant d'ouvrir une brèche dans un mur ou un obstacle (20), qui comprend un groupement d'ensembles canons (12), dans lequel lesdits ensembles canons sont dirigés autour du périmètre d'accès désiré, dans lequel les ensembles canons comprennent une pluralité de projectiles disposés de manière axiale dans un canon et sont associés à des charges propulsives discrètes pouvant être tirées sélectivement pour projeter les projectiles à partir des canons, en direction du périmètre d'accès désiré, jusqu'à l'ouverture d'une brèche dans un mur. Les ensembles canons (12) sont formés de manière appropriée dans une nacelle (13) montée sur une plate-forme (17) d'un véhicule robotique (10) par une tourelle (14), ledit véhicule comprenant des stabilisateurs (15, 16) destinés à porter la plate-forme pendant le tir.
PCT/AU2002/000823 2001-07-11 2002-06-25 Procede et appareil d'ouverture de breche dans un mur WO2003006916A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW092100120A TW200412419A (en) 2001-07-11 2003-01-03 Wall breach method and apparatus

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
AUPR6291 2001-07-11
AUPR6290 2001-07-11
AUPR6290A AUPR629001A0 (en) 2001-07-11 2001-07-11 Wall breach method and apparatus
AUPR6291A AUPR629101A0 (en) 2001-07-11 2001-07-11 Wall breach method and apparatus

Publications (1)

Publication Number Publication Date
WO2003006916A1 true WO2003006916A1 (fr) 2003-01-23

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PCT/AU2002/000823 WO2003006916A1 (fr) 2001-07-11 2002-06-25 Procede et appareil d'ouverture de breche dans un mur

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TW (1) TW200412419A (fr)
WO (1) WO2003006916A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7698849B2 (en) 2003-05-02 2010-04-20 Metal Storm Limited Combined electrical mechanical firing systems
EP3350535B1 (fr) 2015-09-17 2020-11-11 Rheinmetall Defence Electronics GmbH Tourelle téléopérée et procédé de commande d'une tourelle téléopérée

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1164107A (en) * 1965-11-26 1969-09-17 Thomson Houston Comp Francaise Improvements in Systems of Firing Non-Guided Projectiles
US3974740A (en) * 1971-02-17 1976-08-17 Thomson-Csf System for aiming projectiles at close range
US4621562A (en) * 1983-05-31 1986-11-11 Monitor Engineers Limited Remote control robot vehicle
US4856430A (en) * 1988-05-19 1989-08-15 Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence Wall-breaching apparatus
US5022812A (en) * 1988-09-26 1991-06-11 Remotec, Inc. Small all terrain mobile robot
AU6409796A (en) * 1995-07-19 1997-02-18 Metal Storm Limited Barrel assembly with axially stacked projectiles
US5883328A (en) * 1993-08-10 1999-03-16 A'costa; Anthony Tactical smoothbore breaching device/flash suppressor
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
AU4523200A (en) * 1999-04-07 2000-11-14 Defendtex Pty Ltd Projectile firing apparatus

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1164107A (en) * 1965-11-26 1969-09-17 Thomson Houston Comp Francaise Improvements in Systems of Firing Non-Guided Projectiles
US3974740A (en) * 1971-02-17 1976-08-17 Thomson-Csf System for aiming projectiles at close range
US4621562A (en) * 1983-05-31 1986-11-11 Monitor Engineers Limited Remote control robot vehicle
US4856430A (en) * 1988-05-19 1989-08-15 Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence Wall-breaching apparatus
US5022812A (en) * 1988-09-26 1991-06-11 Remotec, Inc. Small all terrain mobile robot
US5883328A (en) * 1993-08-10 1999-03-16 A'costa; Anthony Tactical smoothbore breaching device/flash suppressor
AU6409796A (en) * 1995-07-19 1997-02-18 Metal Storm Limited Barrel assembly with axially stacked projectiles
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
AU4523200A (en) * 1999-04-07 2000-11-14 Defendtex Pty Ltd Projectile firing apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7698849B2 (en) 2003-05-02 2010-04-20 Metal Storm Limited Combined electrical mechanical firing systems
EP3350535B1 (fr) 2015-09-17 2020-11-11 Rheinmetall Defence Electronics GmbH Tourelle téléopérée et procédé de commande d'une tourelle téléopérée

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