EP0929789B1 - A mine-disposal assembly and the way of its operating - Google Patents

A mine-disposal assembly and the way of its operating Download PDF

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Publication number
EP0929789B1
EP0929789B1 EP97943284A EP97943284A EP0929789B1 EP 0929789 B1 EP0929789 B1 EP 0929789B1 EP 97943284 A EP97943284 A EP 97943284A EP 97943284 A EP97943284 A EP 97943284A EP 0929789 B1 EP0929789 B1 EP 0929789B1
Authority
EP
European Patent Office
Prior art keywords
mine
disposal
arm
activating
disposal unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP97943284A
Other languages
German (de)
French (fr)
Other versions
EP0929789A1 (en
Inventor
Peter Licko
Oto Kubancik
Juraj Varga
Pavol Mraz
Jan Lomencik
Stefan Halaj
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Willing Industry AS
Original Assignee
Willing Industry A S
Willing Industry AS
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 Willing Industry A S, Willing Industry AS filed Critical Willing Industry A S
Publication of EP0929789A1 publication Critical patent/EP0929789A1/en
Application granted granted Critical
Publication of EP0929789B1 publication Critical patent/EP0929789B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements

Definitions

  • the presented invention relates to a mine-disposal assembly for the removal of explosives from the mined territories and the way of its operating.
  • the machines for the removal of explosives from the mined territories known so far are constructed in such a way that the activating equipment, which is mostly operated from the cabin of a conveyance or from the other cabin provided for this purpose, is as a rule replaceably or removably attached directly to a tractive conveyance on track or wheeled bogies from its rear or front side.
  • This assembly has a boom-like manipulating arm which is together with other parts of the assembly at least partly exposed to damage during an explosion of mines.
  • An object of the present invention is to create a mine-disposal assembly according to the preamble of the attached claim 1 in which assembly the mine-disposal unit is able to follow automatically the terrain of the area and in which assembley many of its parts are protected against mine explosions.
  • the invention has besides the protection of the manipulating arm and the swinging clamp further the advantage that the mine-disposal unit remains in contact with the terrain and follows the terrain in both longitudinal and transversal planes.
  • a further advantageous performance of the invention deals with the structure of the mine-disposal unit.
  • the mine-disposal assembly is as an example shown in Fig. 1. It consists of a conveyance 1 which is a lorry on the bed of which the cabin of the service workplace 2 with a remote controller 21 is installed and also the mine-disposal machine 3 with the receiver 31 whereto the activating equipment 4 is connected through the swinging clamp 5 .
  • the mine-disposal machine 3 itself (see Fig. 2) consists of the bogie whereon the first and the second mobile wheels 33 , 34 controlled by the hydraulic engines 35 , 36 (not shown in Fig. 2) are placed from both left and right side.
  • the bogie is firmly attached to the frame whereon the machine cabin (not shown in Fig. 2) with the protective shield 39 is placed.
  • the doubled manipulating arm 37 is connected to the frame of the mine-disposal machine 3 through the swinging frame joints 38 along both its sides and in the lower part the activating equipment 4 is fixed thereto through the swinging clamp 5 .
  • the connection of this activating equipment 4 (see also Fig. 4) is realized in such a way that in the lower part the arm plate 52 is interconnected swingingly with the doubled manipulating arm 37 through the arm joint 51 and in the upper part it is swingingly interconnected with the clamping plate 54 through the activating joint 53 .
  • the rotary hanger 56 is attached to the arm 55 of the activating equipment 4 , which is firmly connected with the clamping plate 54 .
  • the protective shield 6 and from the bottom side the guide skids 45 are fixed through the side bearers 42 from both sides.
  • the activating hydraulic engine 41 of the activating equipment 4 installed on the rotary axle 43 with the bumping flails 44 , is connected to the hydraulic system (not shown in Fig. 2 and Fig. 4) of the mine-disposal machine 3 through a hydraulic hose.
  • the protective shield 6 of the activating equipment 4 is constructed of the shaped metal plate (see Fig. 5). Its upper part is formed with the deflector 61 bent under the angle tilt of the line coming out of the point in the place of an activated mine 47 .
  • the part of the plate under the deflector 61 is formed as a bumper 62 with the angle tilt ⁇ which is equal to 70°.
  • the operator in the cabin of the workplace 2 manipulates the operating elements of the remote controller 21 also consisting of the control processor, radiomodem, source (not shown in the drawings) and the transmitting antenna 211 (see Fig. 1).
  • the radio signal 213 is emitted by the transmitting antenna 211 and transmitted through the radiowaves into the receiver 31 , placed in the mobile mine-disposal machine 3 , through its receiving antenna 311.
  • the radio signal 213 is processed in the receiver 31 through its radiomodem and control processor (not shown in the drawings) and the corresponding commands are sent into the electrohydraulic systems 313 in the form of the electric signal 312.
  • the hydraulic signal 314 controls the corresponding hydrogenerators 32 and consequently the hydraulic engines 35 , 36 and 41 .
  • the first hydraulic engine 35 then sets the first mobile wheels 33 spinning
  • the second hydraulic engine 36 sets the second mobile wheels 34 spinning
  • the activating hydraulic engine 41 sets the rotary axle 43 with the bumping flails 44 spinning.
  • the mine-disposal assembly is transported to the mined area by the lorry 1 on the bed of which is the cabin of the service workplace 2 and two pieces of the activating equipment 4 , one of them as a spare part.
  • the mine-disposal machine 3 is delivered whose first mobile wheels 33 and second mobile wheels 34 are manipulated by the operator in the way described above and the mine-disposal machine is backed on the ground.
  • the activating equipment 4 is fixed to the doubled manipulating arm 37 and the mine-disposal assembly is ready to dispose mines.
  • the mine-disposal of the area is performed in the way that the mine-disposal machine 3 is placed at the beginning of the area, the rotary axle 43 with the bumping flails 44 is set spinning in the above mentioned way and the mine-disposal machine 3 is set to motion by setting the first mobile wheels 33 and the second mobile wheels 34 spinning.
  • the bumping flails 44 dig or knock off the mined area, bump and thus activate the mines 47 which results in their removal from the mined area.
  • the mine-disposal machine 3 and the activating equipment 4 are placed on the conveyance and driven away from the place of the mine-disposal.
  • the mine-disposal assembly is mainly determined to remove mines from the mined areas in peace conditions. Besides effective liquidation of antiinfantry and antitank mines, it reliably removes weed and low shrubbery.
  • the mine-disposal machine After simple modification of removing the cover from the mine-disposal machine and exchange of the activating equipment for another accessory, such as a loading platform, loading tank, lawn mower, equipment for drilling, mixing concrete, cleaning pavements, snow removal and many others the mine-disposal machine provides multipurpose exploitation with a tender directly in its cabin.
  • another accessory such as a loading platform, loading tank, lawn mower, equipment for drilling, mixing concrete, cleaning pavements, snow removal and many others the mine-disposal machine provides multipurpose exploitation with a tender directly in its cabin.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Processing Of Solid Wastes (AREA)
  • Body Structure For Vehicles (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

Mine-disposal assembly composed of a conveyance, preferably a lorry (1) and a conveyance-independent mine-disposal unit consisting of a service workplace (2) with a remote controller (21) and of a mobile fully-hydraulic mine-disposal machine (3) with a receiver (31). The mine-disposal machine (3) without any service staff is furnished with mine-activating equipement (4) in the front. The mobility, revolving of mine-activating flails and the other auxiliary functions are remote-controlled from the distant service workplace (2) means of the radio signals (213). The front of the mine-disposal machine (3) is protected by a protective shield (6).

Description

    BACKGROUND OF THE INVENTION Field of the Invention
  • The presented invention relates to a mine-disposal assembly for the removal of explosives from the mined territories and the way of its operating.
    • Description of the Related Art
  • The machines for the removal of explosives from the mined territories known so far are constructed in such a way that the activating equipment, which is mostly operated from the cabin of a conveyance or from the other cabin provided for this purpose, is as a rule replaceably or removably attached directly to a tractive conveyance on track or wheeled bogies from its rear or front side.
  • For the service staffs of both the machine and the activating equipment, which consist of at least one person, it is dangerous to be present close to the source of explosion while operating the machine, when mines are digged out by hammers of bumping flails, activated by their hits, or unsufficiently removed and may explode after passage of a track or wheel of the machine.
  • From the reason of minimizing the risk for the service staffs the operational cabines are placed as far as possible from the sources of explosions and are equipped with a safety armour; the activating equipment is separated from the cabins with covers as well, however, the risk of an injury or killing the service staffs still persists, which is the main drawback of these machines.
  • Other drawbacks are heavy weight and constructional bulkiness of the machines which result in their low exploitation on great gradient hillslopes, in narrow slots and at similar places.
  • From the DE-A1-3 841 303 a mine-disposal assembly according to the preamble of the attached claim 1 is known.
  • This assembly has a boom-like manipulating arm which is together with other parts of the assembly at least partly exposed to damage during an explosion of mines.
    • Summary of the invention
  • An object of the present invention is to create a mine-disposal assembly according to the preamble of the attached claim 1 in which assembly the mine-disposal unit is able to follow automatically the terrain of the area and in which assembley many of its parts are protected against mine explosions.
  • That object is solved by the features of claim 1.
  • The invention has besides the protection of the manipulating arm and the swinging clamp further the advantage that the mine-disposal unit remains in contact with the terrain and follows the terrain in both longitudinal and transversal planes.
  • A further advantageous performance of the invention deals with the structure of the mine-disposal unit.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • The mine-disposal assembly and the way of its operating is explained more in detail in the enclosed drawings where:
  • Fig. 1 shows the complete assembly in its operational position,
  • Fig. 2 shows the mine-disposal unit consisting of the mine-disposal machine and the activating equipment,
  • Fig. 3 schematically shows the movable mechanisms of the particular tilting components,
  • Fig. 4 shows the particular basic components of the swinging clamp and activating equipment,
  • Fig. 5 shows the main parts of the shape of the protective shield,
  • Fig. 6 shows in the block scheme the radio-electro-hydraulic control of the complete assembly with two variants of connecting the mobile part of the mine-disposal machine.
    • DESCRIPTION OF THE PREFERRED EMBODIMENT
  • The mine-disposal assembly is as an example shown in Fig. 1. It consists of a conveyance 1 which is a lorry on the bed of which the cabin of the service workplace 2 with a remote controller 21 is installed and also the mine-disposal machine 3 with the receiver 31 whereto the activating equipment 4 is connected through the swinging clamp 5.
  • The mine-disposal machine 3 itself (see Fig. 2) consists of the bogie whereon the first and the second mobile wheels 33, 34 controlled by the hydraulic engines 35, 36 (not shown in Fig. 2) are placed from both left and right side. The bogie is firmly attached to the frame whereon the machine cabin (not shown in Fig. 2) with the protective shield 39 is placed. In the upper part the doubled manipulating arm 37 is connected to the frame of the mine-disposal machine 3 through the swinging frame joints 38 along both its sides and in the lower part the activating equipment 4 is fixed thereto through the swinging clamp 5. The connection of this activating equipment 4 (see also Fig. 4) is realized in such a way that in the lower part the arm plate 52 is interconnected swingingly with the doubled manipulating arm 37 through the arm joint 51 and in the upper part it is swingingly interconnected with the clamping plate 54 through the activating joint 53.
  • To the arm 55 of the activating equipment 4, which is firmly connected with the clamping plate 54, the rotary hanger 56 is attached. On the activating frame 46 the protective shield 6 and from the bottom side the guide skids 45 are fixed through the side bearers 42 from both sides. The activating hydraulic engine 41 of the activating equipment 4, installed on the rotary axle 43 with the bumping flails 44, is connected to the hydraulic system (not shown in Fig. 2 and Fig. 4) of the mine-disposal machine 3 through a hydraulic hose.
  • From the simplified scheme (see Fig. 3) of motion freedom of the particular elements it is obvious that the frame joint 38, the arm joint 51 and the activating joint 53 are freely movable in the vertical direction and the rotary hanger 56 is freely movable in the horizontal direction which provides thorough copying of the terrain in both its longitudinal and transversal planes.
  • The protective shield 6 of the activating equipment 4 is constructed of the shaped metal plate (see Fig. 5). Its upper part is formed with the deflector 61 bent under the angle tilt of the line coming out of the point in the place of an activated mine 47. The part of the plate under the deflector 61 is formed as a bumper 62 with the angle tilt α which is equal to 70°.
  • Operating the mine-disposal assembly according to the presented invention is clear from the simplified scheme (see Fig. 6). The operator in the cabin of the workplace 2 manipulates the operating elements of the remote controller 21 also consisting of the control processor, radiomodem, source (not shown in the drawings) and the transmitting antenna 211 (see Fig. 1). The radio signal 213 is emitted by the transmitting antenna 211 and transmitted through the radiowaves into the receiver 31, placed in the mobile mine-disposal machine 3, through its receiving antenna 311. The radio signal 213 is processed in the receiver 31 through its radiomodem and control processor (not shown in the drawings) and the corresponding commands are sent into the electrohydraulic systems 313 in the form of the electric signal 312. The hydraulic signal 314 controls the corresponding hydrogenerators 32 and consequently the hydraulic engines 35, 36 and 41. The first hydraulic engine 35 then sets the first mobile wheels 33 spinning, the second hydraulic engine 36 sets the second mobile wheels 34 spinning and the activating hydraulic engine 41 sets the rotary axle 43 with the bumping flails 44 spinning.
  • The mine-disposal assembly is transported to the mined area by the lorry 1 on the bed of which is the cabin of the service workplace 2 and two pieces of the activating equipment 4, one of them as a spare part. At the same time on the trailer carriage the mine-disposal machine 3 is delivered whose first mobile wheels 33 and second mobile wheels 34 are manipulated by the operator in the way described above and the mine-disposal machine is backed on the ground. Through the swinging clamp 5 the activating equipment 4 is fixed to the doubled manipulating arm 37 and the mine-disposal assembly is ready to dispose mines.
  • The mine-disposal of the area is performed in the way that the mine-disposal machine 3 is placed at the beginning of the area, the rotary axle 43 with the bumping flails 44 is set spinning in the above mentioned way and the mine-disposal machine 3 is set to motion by setting the first mobile wheels 33 and the second mobile wheels 34 spinning. The bumping flails 44 dig or knock off the mined area, bump and thus activate the mines 47 which results in their removal from the mined area.
  • After finishing the mine-disposal the mine-disposal machine 3 and the activating equipment 4 are placed on the conveyance and driven away from the place of the mine-disposal.
    • Industrial Exploitation
  • The mine-disposal assembly is mainly determined to remove mines from the mined areas in peace conditions. Besides effective liquidation of antiinfantry and antitank mines, it reliably removes weed and low shrubbery.
  • After simple modification of removing the cover from the mine-disposal machine and exchange of the activating equipment for another accessory, such as a loading platform, loading tank, lawn mower, equipment for drilling, mixing concrete, cleaning pavements, snow removal and many others the mine-disposal machine provides multipurpose exploitation with a tender directly in its cabin.

Claims (2)

  1. Mine-disposal assembly comprising a remote-controllable conveyance (3) to which a manipulating arm (37) is attached vertically movably by means of a frame joint (38), the joint-distant end of the manipulating arm (37) being connected to a mine-disposal unit (4) which is in contact with the terrain, comprises means allowing a free motion of the mine-disposal unit (4) in the vertical and horizontal directions and is protected by a shield (6) mounted on the mine-disposal unit (4),
    characterized in that the manipulating arm (37) is inclined at the front of the conveyance (3) towards the terrain and is protected by a shield (39) attached to the conveyance (3), that the said means are formed by a swinging clamp (5) which is placed between the joint-distant end of the manipulating arm (37) and the mine-disposal unit (4) and is composed of two plates (52, 54), an arm plate (52) and a clamping plate (54), connected with one another at their upper ends by an activating joint (53), the lower end of the arm plate (52) being connected to the manipulating arm (37) by means of an arm joint (51) and the clamping plate (54) being firmly connected to an arm (55) of the mine-disposal unit (4) the arm (55) being connected to an activating frame (46) of the mine-disposal unit (4) through a rotary hanger (56).
  2. Mine-disposal assembly according to claims 1, characterized in that the protective shield (6) mounted on the mine-disposal unit (4) is fixed on the activating frame (46), that on the soil side of the activating frame (46) guide skids (45) are attached and that in the front part of the mine-disposal unit (4) bumping flails (44) are placed on a rotary axle (43) combined with an activating hydraulic motor (41).
EP97943284A 1996-09-30 1997-09-30 A mine-disposal assembly and the way of its operating Expired - Lifetime EP0929789B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SK1249-96A SK280321B6 (en) 1996-09-30 1996-09-30 Mine-disposal assembly
SK124996 1996-09-30
PCT/SK1997/000009 WO1998014748A1 (en) 1996-09-30 1997-09-30 A mine-disposal assembly and the way of its operating

Publications (2)

Publication Number Publication Date
EP0929789A1 EP0929789A1 (en) 1999-07-21
EP0929789B1 true EP0929789B1 (en) 2001-12-19

Family

ID=20434391

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97943284A Expired - Lifetime EP0929789B1 (en) 1996-09-30 1997-09-30 A mine-disposal assembly and the way of its operating

Country Status (6)

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EP (1) EP0929789B1 (en)
AU (1) AU4479197A (en)
CA (1) CA2267201A1 (en)
DE (1) DE69709380T2 (en)
SK (1) SK280321B6 (en)
WO (1) WO1998014748A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005004913A1 (en) * 2005-02-02 2006-08-03 Rheinmetall Landsysteme Gmbh Vehicle for secure escort of convoys has mine clearance devices and turning modules at front and rear of vehicle

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29906926U1 (en) * 1999-04-17 1999-07-29 Rath, Heinrich Bernhard, 56179 Vallendar Mine clearance vehicle
NO311194B1 (en) * 1999-09-01 2001-10-22 Norwegian Demining Consortium Device, especially for clearing landmines, and use of the device
FR2860015B1 (en) * 2003-09-22 2006-12-22 Giat Ind Sa MILITARY FIELD DEVELOPMENT VEHICLE
US7685917B2 (en) 2005-04-22 2010-03-30 Humanistic Robotics, Inc. Apparatus and method for clearing land mines
US8763506B2 (en) 2007-09-20 2014-07-01 Humanistic Robotics Roller system
US8397612B2 (en) 2010-01-27 2013-03-19 Humanistic Robotics, Inc. Modular roller system
WO2012101465A1 (en) * 2011-01-27 2012-08-02 Tecnologias Martes S.A.S. Transportable, dismantlable, modular, teleoperated mine-sweeping vehicle

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Publication number Priority date Publication date Assignee Title
DE718880C (en) * 1937-04-06 1942-03-23 Dr Adolf Bischlager Landmine clearer with clearing equipment trained as an all-terrain armored vehicle
FR996084A (en) * 1945-04-21 1951-12-12 Demining device
IL66022A0 (en) * 1982-06-09 1984-05-31 Sivan Dev & Implement Bomb disposal device
US4621562A (en) * 1983-05-31 1986-11-11 Monitor Engineers Limited Remote control robot vehicle
GB8500577D0 (en) * 1985-01-10 1985-03-06 Sellar & Son George Flailing machines
DE3542787A1 (en) * 1985-12-04 1987-06-11 Jastram Werke METHOD FOR THE NEUTRALIZATION OF SURFACE-MOUNTED OR CLOTHED LANDMINES AND MOBILE DEVICE FOR IMPLEMENTING THE METHOD
DE3826731A1 (en) * 1988-08-05 1990-02-08 Krauss Maffei Ag Device for clearing explosive bodies
DE3841303A1 (en) * 1988-12-08 1990-06-13 Erhard Lauster Entwicklungen G Method and apparatus for clearing mines laid in the ground
US5979289A (en) * 1995-08-24 1999-11-09 J R French Limited Apparatus for and method of detonating mines

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005004913A1 (en) * 2005-02-02 2006-08-03 Rheinmetall Landsysteme Gmbh Vehicle for secure escort of convoys has mine clearance devices and turning modules at front and rear of vehicle
EP1688699A1 (en) 2005-02-02 2006-08-09 Rheinmetall Landsysteme GmbH Vehicle, particularly a vehicle to securise a convoy, with means for clearing mines.

Also Published As

Publication number Publication date
DE69709380T2 (en) 2002-07-11
EP0929789A1 (en) 1999-07-21
CA2267201A1 (en) 1998-04-09
DE69709380D1 (en) 2002-01-31
SK280321B6 (en) 1999-11-08
WO1998014748A1 (en) 1998-04-09
AU4479197A (en) 1998-04-24
SK124996A3 (en) 1999-04-13

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