WO2021122617A1 - Plate-forme d'accessoires - Google Patents

Plate-forme d'accessoires Download PDF

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Publication number
WO2021122617A1
WO2021122617A1 PCT/EP2020/086252 EP2020086252W WO2021122617A1 WO 2021122617 A1 WO2021122617 A1 WO 2021122617A1 EP 2020086252 W EP2020086252 W EP 2020086252W WO 2021122617 A1 WO2021122617 A1 WO 2021122617A1
Authority
WO
WIPO (PCT)
Prior art keywords
accessory
gear
drive
drive shaft
platform according
Prior art date
Application number
PCT/EP2020/086252
Other languages
German (de)
English (en)
Inventor
Thomas Künzl
Original Assignee
Rheinmetall Electronics Gmbh
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 Rheinmetall Electronics Gmbh filed Critical Rheinmetall Electronics Gmbh
Publication of WO2021122617A1 publication Critical patent/WO2021122617A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/24—Elevating gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/28—Electrically-operated systems

Definitions

  • the present invention relates to an accessory platform, in particular a weapon and / or sensor platform, for an accessory.
  • a drive shaft of the load that is rotatable about the elevation axis can, for example, be driven directly with the aid of a drive element in the form of an electric motor. Placing the drive element directly on the drive shaft can, however, interfere with the freedom of movement of the load. It is important to avoid this.
  • an accessory platform in particular a weapon and / or sensor platform, is proposed for an accessory.
  • the accessory platform comprises an elevation axis about which the accessory part can be pivoted, a drive element which is arranged at a distance from the elevation axis, a drive shaft rotatable about the elevation axis, a belt drive, which couples the drive element to the drive shaft, and a transmission, wel ches is arranged between the drive shaft and the accessory.
  • the drive element is arranged at a distance from the elevation axis, the drive element does not interfere with the freedom of movement of the accessory part about the elevation axis. It is thus possible to pivot the accessory part through a larger elevation angle. Because the belt drive is from the Load side, that is, viewed from the side of the accessory, is arranged in front of the gearbox, a design-related elongation of the toothed belt is compensated for.
  • the gear ensures high rigidity.
  • the accessory can also be referred to as a load.
  • the accessory can be, for example, a weapon, in particular an externally powered weapon, a sensor unit, a headlight or some other suitable accessory.
  • the accessory platform can be a weapon platform, a sensor platform or the like, or can be referred to as such.
  • the accessory platform can also be referred to as an accessory station.
  • the accessory part can be pivoted about the elevation axis at a predetermined elevation angle. For example, starting from a horizontal line, the accessory can be pivoted downwards by a first elevation angle of at most -20 ° or upwards by a second angle of elevation of at most + 90 °.
  • the elevation angles can, however, be chosen corrective.
  • the drive element is preferably an electric motor. However, the drive element can also be a pneumatic motor or hydraulic motor.
  • the drive shaft is preferably constructed to be rotationally symmetrical about the elevation axis. When the accessory platform is in operation, that is, when the accessory part is pivoted about the elevation axis, the drive shaft rotates around the elevation axis, driven by the drive element.
  • the fact that the belt drive "couples" the drive element to the drive shaft means in the present case that the belt drive transmits a torque generated by the drive element to the drive shaft in order to rotate it about the elevation axis.
  • the transmission is arranged “between” the drive shaft and the accessory part means in the present case that a force path or a torque the drive element takes the path from the drive shaft via the gearbox to the accessory.
  • the force path thus runs in particular from the drive selement via the belt drive, via the drive shaft and via the gearbox to the accessory.
  • the transmission couples or operatively connects the drive shaft to the accessory.
  • the drive element, the drive shaft, the belt drive and the transmission are preferably parts of a drive device of the accessory platform.
  • the drive element has an output shaft rotatable about an axis of rotation, the axis of rotation being positioned parallel to and spaced from the elevation axis.
  • At a distance from means in the present case that the axis of rotation of the output shaft and the elevation axis are positioned at a distance from one another.
  • the distance can be up to 1 m or more, for example. The distance can be chosen as desired.
  • the drive shaft is a hollow shaft.
  • the drive shaft has an interior space that runs completely through the drive shaft.
  • the drive shaft is constructed to be rotationally symmetrical to the elevation axis.
  • the drive shaft has an annular cross section perpendicular to the elevation axis.
  • cables from the accessory part are passed through the drive shaft.
  • the cables are suitable for transmitting sensor data from the accessory or sending signals to the accessory.
  • the cables can for example as electrical wires or fluid lines, such as the Coo ⁇ len of the accessory to be.
  • the drive shaft is passed through the transmission.
  • the transmission is ring-shaped and rotates completely around the drive shaft.
  • the transmission is built to be rotationally symmetrical to the elevation axis .
  • the drive shaft is Gert in or on the transmission gela ⁇ .
  • bearings for example roller bearings, can be provided. This means that additional bearings for the drive shaft can be dispensed with.
  • the accessory platform further includes a hollow shaft, with which the accessory can be fixedly connected, wherein the hollow ⁇ shaft is connected rotationally fixed with an output flange of the gearbox.
  • the hollow shaft is preferably part of the drive device.
  • the hollow shaft can be screwed or welded to the accessory part.
  • the hollow shaft can be screwed, for example, to the output flange or welded ver ⁇ be.
  • "Turn hard" in this context means the hollow shaft that relative to the From ⁇ triebsflansch twisting.
  • the output flange is preferably rotationally ⁇ constructed symmetrically with respect to the elevation axis. Additional loads can be flanged on the outside of the hollow shaft.
  • the gear is a planetary gear, a cycloid gear or a harmonic gear.
  • a strain wave gear, sliding wedge gear or a harmony drive gear can be understood under a strain wave gear.
  • any gear can be used as a gear for the accessory platform.
  • the drive shaft can be passed through the transmission and the transmission is constructed to run around the drive shaft.
  • the accessory platform further comprises a housing in which the drive element, the belt drive, the drive shaft and the gear are arranged at least in sections.
  • the housing can, for example, be constructed from interconnected metal sheets, in particular special steel sheets. Because the drive element, the belt drive, the drive shaft and the gear are accommodated in the housing, they are protected from damage. However, maintenance openings can be provided in the housing so that the drive device can be serviced.
  • the accessory can be stored on or in the housing with the aid of the gear.
  • the transmission preferably has main bearings, with the aid of which the output flange is mounted in a transmission housing of the transmission. This main bearings are used at the same time to support the accessory or the aforementioned hollow shaft in or on the housing.
  • the housing has a base section and two arm sections arranged laterally on the base, between which the accessory can be arranged.
  • the housing thus has a U-shaped geometry.
  • the accessory is mounted on the two arm sections.
  • the storage takes place, as mentioned above, with the help of the gear.
  • Another hollow shaft for mounting the accessory can be provided on another side.
  • the housing can also be one-armed. In this case, the housing has only one arm section. This one arm section then comprises the drive device. The accessory part is then in particular only supported on one side.
  • the transmission is arranged in one of the arm sections, a transmission housing of the transmission being firmly connected to the arm section.
  • the gear housing can for example be screwed or welded to the arm section.
  • the aforementioned main bearings in particular roller bearings, are provided, with the help of which components of the gearbox bes and also the hollow shaft connected to the accessory are mounted. Fer ner is on that arm portion in which the gear is not received, mounted a further hollow shaft which is connected to the accessory.
  • This hollow shaft can be mounted on the housing, for example with the aid of a bearing flange and a bearing received in the bearing flange, in particular a roller bearing.
  • the belt drive has a first toothed belt pulley connected non-rotatably to the drive element, a second toothed belt pulley connected non-rotatably to the drive shaft and a toothed belt which engages in the toothed belt pulleys, the first toothed belt pulley being smaller than the second toothed belt pulley.
  • the toothed belt engages positively in the toothed belt pulleys.
  • a form-fitting connection is created by the interlocking or interlocking of two components, in this case the toothed belt and the toothed belt disks.
  • the belt drive from the output shaft of the drive element to the drive shaft has a reduction ratio or a reduction ratio. That is, the speed of the drive shaft is reduced compared to the speed of the output shaft of the drive element.
  • the second toothed belt pulley is screwed to the drive shaft.
  • the first toothed belt pulley can also be screwed to the output shaft of the drive element.
  • the transmission has a transmission ratio of greater than 100 1.
  • the transmission can have any gear ratio that is greater than 100 1.
  • the transmission has a gear ratio to slow or a reduction.
  • the accessory platform further comprises the accessory.
  • the accessory platform can have a wide variety of accessories.
  • the accessory is easy to replace.
  • the accessory can be, for example, a weapon, a sensor unit, a headlight or the like.
  • accessory platform also include combinations, not explicitly mentioned, of features or embodiments described above or below with regard to the exemplary embodiments.
  • the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the accessory platform.
  • Fig. 1 shows a schematic view of an embodiment of an accessory platform
  • FIG. 2 shows a schematic sectional view of the accessory platform according to the section line II ⁇ I of FIG.
  • FIG. 3 shows a schematic side view of the accessory platform according to FIG. Y,
  • FIG. 4 shows a schematic sectional view of the accessory platform according to section line IV-IV of FIG. 3;
  • FIG. 5 shows the detailed view V according to FIG. 4.
  • FIG. 1 shows a schematic view of an embodiment of an accessory platform 1.
  • FIG. 2 shows a schematic sectional view of the accessory platform 1 along the section line II -II of FIG. 1.
  • FIG. 3 shows a schematic side view of the accessory platform 1 4 shows a schematic sectional view of the accessory platform 1 according to the section line IV-IV of FIG. 3, and
  • FIG. 5 shows the detailed view V according to FIG. 4.
  • FIGS. 1 to 5 are simultaneously referred to taken.
  • the accessory platform 1 can also be referred to as an accessory station.
  • the accessory platform 1 is suitable for carrying an accessory 2 and for pivoting it about an elevation axis 3.
  • the entire accessory platform 1 can be pivoted about an axis of rotation 4.
  • the elevation axis 3 and the axis of rotation 4 are positioned perpendicular to one another.
  • the elevation axis 3 and the axis of rotation 4 are part of the accessory platform 1.
  • the accessory platform 1 is suitable for mobile and stationary applications.
  • the accessory platform 1 can be mounted on or on a vehicle.
  • the accessory platform 1 can be placed on or on a building. Loading
  • the accessory platform 1 is particularly preferably suitable for military applications. However, the accessory platform 1 can also be used for civil purposes.
  • the accessory 2 can also be referred to as a load.
  • the accessory 2 can be a weapon, in particular an externally powered weapon, a sensor unit, a radar device, a headlight or any other suitable accessory 2, which can be pivotably mounted about the elevation axis 3 on a vehicle, for example.
  • the accessory platform 1 can, for example, be a weapon platform or weapon station or a sensor platform or sensor station.
  • the accessory 2 can, but does not have to be, part of the accessory platform 1.
  • the accessory 2 is exchangeable.
  • the accessory 2 is infinitely pivotable with the help of the accessory platform 1 relative to a Horizon talen 5 (Fig. 2) downwards by a first elevation angle a1 and upwards by a second elevation angle a2.
  • the first Eleva tion angle al is, for example, a maximum of -20 °.
  • the second elevation angle a2 can be a maximum of + 90 °, for example.
  • the elevation angles a1, a2 can be chosen as desired.
  • the second elevation angle a2 can also be greater than + 90 °.
  • the accessory platform 1 comprises a housing 6 in which a drive device, which will be explained later, for pivoting the accessory part 2 about the elevation axis 3 is received.
  • the housing 6 comprises a box-shaped base from section 7, on which two arm sections 8, 9 are provided at the side. In particular, a first arm section 8 and a second arm section 9 are seen before. However, only one arm section 8, 9 can also be provided. In this case, the housing 6 is constructed asymmetrically. The housing 6 is then one-armed.
  • the housing 6 can be constructed in several parts. For example, can the housing 6 can be constructed from metal plates, in particular steel plates, riveted, screwed and / or welded together.
  • the arm sections 8, 9 extend in the orientation of FIG. 1 on the top side from the base from section 7, so that the housing 6 has a U-shaped geometry.
  • the accessory part 2 is arranged between the arm sections 8, 9.
  • a maintenance opening 10 (FIG. 3) can be provided on the second arm section 9, which can be closed with the aid of a cover (not shown).
  • Each arm section 8, 9 has two walls 11, 12 arranged parallel to and spaced from one another. Each of the walls 11, 12 comprises an opening 13, 14.
  • the openings 13, 14 can be circular.
  • a drive device 15 for driving the accessory 2 or for pivoting the same about the elevation axis 3 is provided.
  • the drive device 15 comprises a drive element 16.
  • the drive element 16 can, for example, be an electric motor, a hydraulic motor, a pneumatic motor or another suitable be netes drive element that generates a rotary movement.
  • the drive element 16 comprises an output shaft 17 (FIG. 4) which is rotatable or rotatable about an axis of rotation 18.
  • the axis of rotation 18 is arranged parallel to the Elevati onsachse 3 and positioned at a distance from it. That is, between tween the axis of rotation 18 and the elevation axis 3, a distance a (Fig. 3) is seen before.
  • the belt drive 19 can also be referred to as a belt drive or belt drive.
  • the belt drive 19 comprises a first toothed belt pulley 20 which is non-rotatably mounted on the output shaft 17 of the drive element 16, a second toothed belt mens disk 21 and a toothed belt 22 which engages positively in both toothed belt pulleys 20, 21.
  • a positive connection is created by the interlocking or interlocking of at least two connection partners, in front of the toothed belt 22 and the two toothed belt pulleys 20, 21.
  • the first toothed belt pulley 20 has a smaller outer diameter than the second toothed belt pulley 21.
  • the drive device 15 comprises a drive shaft 23 (FIG. 5) which can be rotated or pivoted about the elevation axis 3.
  • the drive shaft 23 is designed as a hollow shaft and comprises a cylindrical interior space 24 which extends completely through the drive shaft 23.
  • the second toothed belt pulley 21 is firmly connected to the drive shaft 23.
  • fastening elements 25, for example screws can be provided, with the aid of which the second toothed belt pulley 21 is connected to the drive shaft 23. That is, the second toothed belt pulley 21 is connected to the drive shaft 23 in a rotationally fixed manner.
  • a torque DM applied by the drive element 16 (FIG. 2) can be transmitted to the drive shaft 23.
  • the belt drive 19 has a transmission to slow or a reduction.
  • a gear 27 is provided between the drive shaft 23 and a non-rotatably connected to the accessory part 2 which hollow shaft 26. That is, the drive shaft 23 is not directly or directly coupled to the hollow shaft 26 of the accessory 2, but indirectly via the gear 27.
  • the gear 27 can be for example a planetary gear, a cycloid gear or a voltage shaft gear.
  • the voltage wave transmission can also be referred to as a Harmonie Drive Ge transmission, harmonic transmission or sliding wedge transmission.
  • the transmission 27 shown in FIG. 5 is designed as a cycloid transmission. As mentioned above, however, the most varied types of transmission can be used for the transmission 27.
  • the gear 27 is preferably constructed to be rotationally symmetrical to the elevation axis 3 and rotates around the drive shaft 23 in a ring. That is, the drive shaft 23 is passed through the gearbox 27 through. This results in a particularly compact structure along the elevation axis 3.
  • the gear 27 also has a gear ratio to slow. That is, a speed of the hollow shaft 26 is lower than a speed of the drive shaft 23.
  • the gear 27 can have a gear ratio of greater than 100H. That is, 100 revolutions of the drive shaft 23 are converted into one revolution of the hollow shaft 26.
  • the transmission 27 comprises a cam disk 28 which rotates around the drive shaft 23 in an annular manner. Between the cam 28 and the drive shaft 23, an eccentric (not shown) is provided which sets the cam 28 in an eccentric movement when the drive shaft 23 rotates.
  • the cam 28 is in an annular gear housing 29 adoptednom men.
  • the gear housing 29 is constructed so as to be rotationally symmetrical to the elevation axis 3.
  • the gear housing 29 is connected to the second arm section 9 in a rotationally fixed manner. That is, the gear housing 29 does not rotate relative to the second Armab section 9.
  • the gear housing 29 is fastened to the opening 13 in the wall 11 of the second arm section 9.
  • the transmission housing 29 bolted to the second arm 9, riveted, welded or otherwise ver ⁇ way be rotatably connected thereto.
  • An output flange 30 of the transmission 27 driven by the cam disk 28 is firmly connected to the hollow shaft 26.
  • the output flange 30 is screwed, riveted, welded or otherwise non-rotatably connected to the hollow shaft 26 with the hollow shaft 26.
  • the transmission 27 comprises a further output flange 31, which, however, has no function in the present case.
  • the drive shaft 23 is mounted on the output flanges 30, 31 with the aid of bearings 32, 33.
  • the bearings 32, 33 can be roller bearings.
  • the bearings 32, 33 are angular contact ball bearings.
  • the output flanges 30, 31 are rotatably mounted in the gear housing 29 with the aid of main bearings 34, 35.
  • the main bearings 34, 35 have a larger diameter than the bearings 32, 33.
  • the main bearings 34, 35 simultaneously represent a bearing for the accessory 2 or for the hollow shaft 26.
  • the drive shaft 23 is a hollow shaft. That is, a cable 36 or the like can be passed through the interior space 24.
  • the cable 36 can be a signal line.
  • the accessory part 2 can be controlled with the aid of the cable 36 or sensor signals from the accessory part 2 can be fed to a control unit or evaluation unit of the accessory platform 1 with the aid of the cable 36.
  • the cable 36 may also be a fluid line, with the aid of the accessory part 2 is a cooling liquid can be fed dessel ⁇ ben for cooling. Any number of cables 36 can be passed through the interior space 24.
  • FIG. 4 shows, in addition to the hollow shaft 26, a further hollow shaft 37 is assigned to the accessory part 2.
  • the accessory part 2 is thus positioned between the two hollow shafts 26, 37 when viewed along the elevation axis 3.
  • the Hohlwel ⁇ le 37 is mounted in or on the first arm section 8 of the housing 6.
  • the hollow shaft 37, the bearing flange 38 and the bearing 39 are ver ⁇ dispensable.
  • the accessory part 2 is then only supported on the first arm section 8.
  • the drive member 16 is driven, for example by means of a control unit such that the output shaft 17 rotates about the rotational axis 18th This movement of the output shaft 17 is transmitted to the drive shaft 23 with the aid of the belt drive 19.
  • a reduction of the speed is the drive shaft 23 relative to the output shaft 17.
  • the aid of the transmission 27, which has a very high ratio on ⁇ the rotation of the drive shaft 23 will bear on the hollow shaft 26 via ⁇ , whereby the accessory 2 to the elevation axis 3 is pivoted.
  • the drive device 15 can be designed to be very rigid.
  • an elongation of the toothed belt 22 is reduced from 1 mm to 1 hundredth of a mm.
  • the structural elasticity of the toothed belt 22 is hereby compensated.
  • the fact that the drive device 15 is very stiff, high natural frequencies it ⁇ ranges can be.
  • the aim here is a natural frequency in the range of 20 to 30 Hz. With this, the control performance and pointing accuracy can significantly verbes ⁇ be sert. Because the drive element 16 is spaced apart from the elevation axis 3 by the distance a, a compact structure can be achieved.
  • additional accessories or additional loads such as optronics, ammunition containers or the like
  • additional loads are provided, these are arranged in such a way that the arm sections 8, 9 or at least one of the arm sections 8, 9, viewed along the elevation axis 3, are arranged between the additional load and the accessory part 2.
  • the bearing of the hollow shaft 26 and the drive shaft 23 can be 27, into ⁇ particular with the aid of bearings 32, 33 and the main bearings 34, 35, achieved by means of the transmission. There is therefore no need for additional bearings. Is characterized in that the at ⁇ drive shaft 23 guided by the gear 27 out through a special ⁇ results DERS compact construction of the drive device 15 along the elevation axis 3 considered.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention se rapporte à une plate-forme d'accessoires (1), en particulier à une plate-forme d'armes et/ou de capteurs, pour une pièce d'accessoire (2) ayant un axe d'élévation (3), autour duquel la partie accessoire (2) peut pivoter, un composant d'entraînement (16), qui est agencé à distance de l'axe d'élévation (3), un arbre d'entraînement (23) qui peut tourner autour de l'axe d'élévation (3), un entraînement de courroie (19), qui couple le composant d'entraînement (16) à l'arbre d'entraînement (23), et une transmission (27), qui est disposée entre l'arbre d'entraînement (23) et la partie accessoire (2).
PCT/EP2020/086252 2019-12-17 2020-12-15 Plate-forme d'accessoires WO2021122617A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019134741.6 2019-12-17
DE102019134741.6A DE102019134741A1 (de) 2019-12-17 2019-12-17 Zubehörplattform

Publications (1)

Publication Number Publication Date
WO2021122617A1 true WO2021122617A1 (fr) 2021-06-24

Family

ID=74125164

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/086252 WO2021122617A1 (fr) 2019-12-17 2020-12-15 Plate-forme d'accessoires

Country Status (2)

Country Link
DE (1) DE102019134741A1 (fr)
WO (1) WO2021122617A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61128598U (fr) * 1985-01-30 1986-08-12
GB2284899A (en) * 1991-03-20 1995-06-21 Japan Radio Co Ltd Inclination angle detector
EP2151659A2 (fr) * 2008-08-09 2010-02-10 Krauss-Maffei Wegmann GmbH & Co. KG Poste d'armement
US20120174741A1 (en) * 2011-01-11 2012-07-12 Chris Rogers Tele-operated, intrinsically stable pan/tilt mount for remote operation of weapons or tools
US20160258704A1 (en) * 2014-02-14 2016-09-08 Merrill Aviation, Inc. Modular weapon station system
ES2724675A1 (es) * 2018-03-08 2019-09-13 Escribano Y Mech & Engineering S L Sistema de orientación para una estación remota de armas

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
DE2322837A1 (de) * 1973-05-07 1974-11-28 Reinhold Ficht Einrichtung zum uebertragen der richtbewegung eines geschuetzes auf ein visier
DE2758596C2 (de) * 1977-12-29 1982-11-25 Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch Einrichtung zum Koppeln einer trägen Masse mit einer die träge Masse tragenden Unterlage
US6101917A (en) * 1998-05-26 2000-08-15 O'gara-Hess & Eisenhardt Armoring Co. Turret drive mechanism
US9568267B2 (en) * 2014-07-22 2017-02-14 Moog Inc. Configurable weapon station having under armor reload

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61128598U (fr) * 1985-01-30 1986-08-12
GB2284899A (en) * 1991-03-20 1995-06-21 Japan Radio Co Ltd Inclination angle detector
EP2151659A2 (fr) * 2008-08-09 2010-02-10 Krauss-Maffei Wegmann GmbH & Co. KG Poste d'armement
US20120174741A1 (en) * 2011-01-11 2012-07-12 Chris Rogers Tele-operated, intrinsically stable pan/tilt mount for remote operation of weapons or tools
US20160258704A1 (en) * 2014-02-14 2016-09-08 Merrill Aviation, Inc. Modular weapon station system
ES2724675A1 (es) * 2018-03-08 2019-09-13 Escribano Y Mech & Engineering S L Sistema de orientación para una estación remota de armas

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