WO2016079349A1 - Support pour disrupteur adapté à une pince d'un bras robotisé - Google Patents

Support pour disrupteur adapté à une pince d'un bras robotisé Download PDF

Info

Publication number
WO2016079349A1
WO2016079349A1 PCT/ES2015/070288 ES2015070288W WO2016079349A1 WO 2016079349 A1 WO2016079349 A1 WO 2016079349A1 ES 2015070288 W ES2015070288 W ES 2015070288W WO 2016079349 A1 WO2016079349 A1 WO 2016079349A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
clamp
breaker
arm
robot
Prior art date
Application number
PCT/ES2015/070288
Other languages
English (en)
Spanish (es)
Inventor
César SALLEN ROSELLÓ
Original Assignee
Proytecsa Security, S.L.
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 Proytecsa Security, S.L. filed Critical Proytecsa Security, S.L.
Publication of WO2016079349A1 publication Critical patent/WO2016079349A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
    • F41B9/00—Liquid ejecting guns, e.g. water pistols, devices ejecting electrically charged liquid jets, devices ejecting liquid jets by explosive pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
    • F42B33/06—Dismantling fuzes, cartridges, projectiles, missiles, rockets or bombs

Definitions

  • the following Utility Model refers to a switch support adapted to a robotic arm clamp, with the purpose of facilitating the disarticulation of explosive devices by means of a breaker, preventing its activation , and which is based on a tube or barrel with a chamber in which a propellant pyrotechnic cartridge is housed and whose tube or barrel is filled with water or mixture of water and antifreeze, so that when placed at a short distance from the explosive device and shoot, the water deposited in the tube or cannon, at high speed, is micronized or almost vaporized, embedding itself with the explosive and separating it from the device, with no time for it to detonate.
  • This report describes a switch holder adapted to a clamp of a robotic arm, which is applicable for mounting on the clamp blades on which the articulated arm of a robot is finished and, especially, for those robots intended for the detection, manipulation and deactivation of explosive devices.
  • the breakers are placed on one side of the articulated robot arm, but they have a number of drawbacks, such as: the tip of the tube or cannon must be almost the most protruding part of the robot arm; the mouth of the tube or cannon must be brought close to the explosive;
  • the tube or cannon is loose in its support and when it is fired, the tube or cannon itself is fired back a few meters, so that the robot structure is released from the impact of the recoil of the tube or cannon, and;
  • the tube or barrel can interfere with the manipulator clamp.
  • This report describes a switch holder adapted to a robotic arm clamp, the breaker being based on a tube or barrel in whose chamber it houses a propellant pyrotechnic cartridge and whose tube or barrel is filled with water or water mixture and antifreeze, in order that by firing it, against an explosive material, its detonation is avoided, being fixed to the side of an arm of a robot useful in the detection, manipulation and disarticulation of explosive devices.
  • the switch support it is necessary to fix the switch support to the outer face of the clamp blades on which the robot arm is finished, so that the support has a general annular shape receiving, in a centered position, the switch, which on one side incorporates an anti-recoil means and on the other hand incorporates an anti-return means, which keep it in a static equilibrium position, and the annular support of a radial projection in its distal part is provided, which houses an optical element or a video camera.
  • the outermost end of the circuit breaker should be as close as possible to the free end of the clamp, but which, on the other hand, does not prevent the normal use of the clamp itself, so that the clamp can carry the circuit breaker ready. to be shot when necessary.
  • the optical element or video camera incorporated in the generally annular support is associated with the axial axis of the breaker in its firing, in order to center the shot on the explosive material.
  • the robust articulated arm of the robot does not require any anti-reverse device, it is provided that it has an anti-recoil means of the circuit breaker which acts at the time of its firing and, also, also incorporates an anti-return means which acts, after the backward movement, on the return of the switch to its resting position.
  • Figure 1 It shows a first view of a clamp that will be attached to the free end of an articulated arm of a robot intended for the detection and manipulation of explosive devices, and that incorporates, on both sheets, a mounting bracket for a breaker.
  • Figure 2. It shows a second view of a clamp that will be attached to the free end of an articulated arm of a robot intended for the detection and manipulation of explosive devices, and that incorporates, on both sheets, a mounting bracket for a breaker.
  • Figure 3. It shows a perspective view of a sheet of a mounting clamp at the free end of an articulated arm of a robot intended for the detection and manipulation of explosive devices, being able to observe how to said sheet a support has been fixed general annular shape with a radial projection on its distal part for mounting a circuit breaker.
  • Figure 4 It shows a perspective view of a sheet of a mounting clip at the free end of an articulated arm of a robot intended for the detection and manipulation of explosive devices, being able to observe how a shape support has been fixed thereto.
  • general ring in which a circuit breaker has been mounted according to a practical execution variant.
  • a support 2 for switch 3 whose support 2 has a general annular shape that, in a centered position, houses the switch 3, which by one of on its sides it incorporates an anti-recoil means 4 and on the other hand it incorporates an anti-return means 5, which keep it in a static equilibrium position, and the annular support 2 being provided with a radial projection 6 in its distal part, which houses an optical element or a video camera 7.
  • the support 2 has a radial projection 6, in a distal position, in which an optical element or video camera 7 is housed, so that once an explosive device is detected, it will approach a short distance, some centimeters, from the explosive material , as seen in Figures 1 and 2, preferably near the detonator, if located, and the switch 3 is tripped.
  • the switches 3 will be aligned towards the detonator and when the water is fired, at extreme speed, it is micronized or almost evaporated, embedding itself with the explosive and separating it from the device, with no time for it to detonate .
  • the optical elements it is allowed to align the breakers with the objective, so that if it is a laser pointer it will mark the point of impact of the projected liquid, and if it is a video mini-camera it will be made that the center of the Image matches the point of impact, on the operator screen.
  • the switch 3 is requested by an anti-recoil means 4, defined by a spring, and by an anti-return means 5, also defined by a spring, so that when the trip is made, the means 4 acts as a brake anti-recoil of the circuit breaker and the means 5 acts as an anti-return brake when the circuit breaker 3 is returned to its stable rest position.
  • the support for breaker object of the invention can be adapted to those robots of the applicant firm that are interested in having a solid structure of articulated arms, with a great capacity of load and manipulation, and, thus, the circuit breakers can be used without having anti-recoil systems directly anchored to the structure of the articulated arms of the robot without these suffering consequences when the circuit breaker is tripped.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un support pour disrupteur adapté à une pince d'un bras robotisé, le disrupteur étant basé sur un tube ou canon dont la culasse loge une cartouche pyrotechnique propulsive et dont le tube ou canon est rempli d'eau ou d'un mélange d'eau et de produit antigel, afin que par son tir contre une matière explosive sa détonation soit évitée, ledit support étant fixé sur un côté d'un bras articulé d'un robot utile pour la détection, la manipulation et la démantèlement d'engins explosifs et dont le support, fixé sur la face externe des lames de la pince en laquelle se termine le bras articulé du robot, présente une forme générale annulaire accueillant, en position centrée, le disrupteur et le support étant pourvu d'une partie saillante radiale au niveau de sa partie distale, qui accueille un élément optique ou une caméra vidéo.
PCT/ES2015/070288 2014-11-20 2015-04-13 Support pour disrupteur adapté à une pince d'un bras robotisé WO2016079349A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESU201431498 2014-11-20
ES201431498U ES1134358Y (es) 2014-11-20 2014-11-20 Soporte para disrruptor adaptado a una pinza de un brazo robotizado

Publications (1)

Publication Number Publication Date
WO2016079349A1 true WO2016079349A1 (fr) 2016-05-26

Family

ID=51987721

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2015/070288 WO2016079349A1 (fr) 2014-11-20 2015-04-13 Support pour disrupteur adapté à une pince d'un bras robotisé

Country Status (2)

Country Link
ES (1) ES1134358Y (fr)
WO (1) WO2016079349A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3332924A1 (fr) * 2016-12-07 2018-06-13 Harris Corporation Système de montage de désintégrateur absorbant les chocs
US20230160673A1 (en) * 2020-05-03 2023-05-25 The State Of Israel, Israel National Police Disrupter and ammunition for neutralizing improvised explosive devices

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2083894A (en) * 1980-09-18 1982-03-31 Ester Gerd Gun for neutralising explosives and the like
EP0178039A2 (fr) * 1984-06-15 1986-04-16 Technical Research Products Limited Dispositif pour rendre inoffensives des charges explosives
US4621562A (en) * 1983-05-31 1986-11-11 Monitor Engineers Limited Remote control robot vehicle
US20100269679A1 (en) * 2007-01-23 2010-10-28 Fisk Allan T Weapon mount

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2083894A (en) * 1980-09-18 1982-03-31 Ester Gerd Gun for neutralising explosives and the like
US4621562A (en) * 1983-05-31 1986-11-11 Monitor Engineers Limited Remote control robot vehicle
EP0178039A2 (fr) * 1984-06-15 1986-04-16 Technical Research Products Limited Dispositif pour rendre inoffensives des charges explosives
US20100269679A1 (en) * 2007-01-23 2010-10-28 Fisk Allan T Weapon mount

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3332924A1 (fr) * 2016-12-07 2018-06-13 Harris Corporation Système de montage de désintégrateur absorbant les chocs
US10240885B2 (en) 2016-12-07 2019-03-26 Harris Corporation Shock absorbing disruptor mounting system
US20230160673A1 (en) * 2020-05-03 2023-05-25 The State Of Israel, Israel National Police Disrupter and ammunition for neutralizing improvised explosive devices

Also Published As

Publication number Publication date
ES1134358U (es) 2014-12-04
ES1134358Y (es) 2015-02-26

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