EP0782690B1 - Stabiliser device for a personal firearm - Google Patents
Stabiliser device for a personal firearm Download PDFInfo
- Publication number
- EP0782690B1 EP0782690B1 EP96926436A EP96926436A EP0782690B1 EP 0782690 B1 EP0782690 B1 EP 0782690B1 EP 96926436 A EP96926436 A EP 96926436A EP 96926436 A EP96926436 A EP 96926436A EP 0782690 B1 EP0782690 B1 EP 0782690B1
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- EP
- European Patent Office
- Prior art keywords
- cannon
- firer
- stabilizing device
- barrel
- line
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- 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.)
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-
- 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
- F41A27/30—Stabilisation or compensation systems, e.g. compensating for barrel weight or wind force on the barrel
Definitions
- the technical field of the present invention is that of the means of stabilization applicable to weapons to individual fire.
- All individual and portable weapons are required and oriented towards the target by the hands of the operator who points in the direction of fire using a device of sight generally integral with the barrel.
- the sighting direction is indicated by a crosshair or any other reference optical.
- the object of the invention is to propose a system of stabilization offering a good probability of damage and to simplify firing operations, which avoids disadvantages mentioned above.
- the invention provides a device for stabilization for individual firearm, including a sighting device which is characterized in that it comprises means for decoupling the barrel from the operator, articulated connecting means which are mounted between the barrel and the decoupling means to allow the barrel to pivot by relative to the decoupling means, and control means in barrel pivoting to compensate for parasitic movements printed on the weapon by the operator during a sighting and thus keep the barrel oriented in the direction aimed by the operator.
- the means of decoupling of the barrel with respect to the operator consist of a tubular element which is attached coaxially around the barrel and secured to the body of the weapon handled by the operator.
- the connecting means mounted between the decoupling means and the barrel comprise two axes of articulation perpendicular to each other and on which the barrel is mounted articulated.
- connection means consist of a cardan or ball type system.
- these connecting means can be made up of four sets of wires working in elastic twist, two sets of wires being respectively located on either side of the barrel and aligned along one of the axes of articulation of the barrel, and the other two sets of wires also being located on either side of the barrel and aligned along the other axis of articulation of the barrel.
- the articulated connection means which allow the barrel to pivot are located towards the rear of the barrel, while the two actuators which control the pivoting of the barrel are located towards the front thereof, the connecting means and the two actuators also serving as support means from the barrel.
- Each actuator is for example constituted by a torque motor or a gear motor which controls a cam support on the barrel, and by an elastic return means opposite the cam so keep the barrel aligned with the target direction.
- each actuator can be constituted by an electric actuator, an electromagnet or a device piezoelectric.
- Stabilizing the barrel relative to the operator offers in particular the advantage of being able make the barrel integral with a sighting device and telemetry to ensure observation, identification and a good quality target pursuit, as well as a good orientation of the telemetry management.
- the portable firearm 1 shown in Figure 1 comprises a body 3 partially shown and which supports all the working mechanisms of the weapon, a loading and firing chamber 4 extended by a canon 5.
- the barrel 5 is associated with a device for stabilization 10 which includes decoupling means 12 of the barrel 5 relative to the operator who handles the weapon 1, articulated connecting means 14 which are mounted between the barrel 5 and the decoupling means 12 to allow the barrel 5 to pivot relative to these decoupling means 12, and pivoting control means 15 of the barrel 5 to compensate for parasitic movements printed on weapon 1 by the operator during a sighting and thus maintain the barrel 5 oriented in the direction aimed by the operator.
- a device for stabilization 10 which includes decoupling means 12 of the barrel 5 relative to the operator who handles the weapon 1, articulated connecting means 14 which are mounted between the barrel 5 and the decoupling means 12 to allow the barrel 5 to pivot relative to these decoupling means 12, and pivoting control means 15 of the barrel 5 to compensate for parasitic movements printed on weapon 1 by the operator during a sighting and thus maintain the barrel 5 oriented in the direction aimed by the operator.
- the decoupling means 12 of the barrel 5 relative to to the operator are constituted by a tubular element 17 which is reported coaxially around the barrel 5 and secured to the body 3 of the weapon 1.
- the articulated connecting means 14 mounted between the tubular element 18 and the barrel are intended for allow the pivoting of the barrel 5 along two axes X-X, Y-Y perpendicular to each other. These means of connection articulated 14 are located towards the rear of the barrel 5 and are of the cardan or ball type.
- the two sensors C1 and C2 are of the type gyrometric and carried by a plate 19 secured to the tubular element 17.
- Control electronics E also supported by the plate 19, includes in particular two filters which receive respectively the instructions transmitted by the sensors C1 and C2 to output the signals of control of the two actuators A1 and A2.
- the two instructions are respectively sent to two actuators A1 and A2 to rotate the barrel 5 along the two axes of articulation X-X and Y-Y.
- the two actuators A1 and A2 are located towards the front of the barrel 5 and are mounted between the barrel 5 and the tubular element 17 being arranged along two axes parallel to the two axes of articulation X-X and Y-Y.
- the actuator A1 is constituted by a torque motor 22 or a gear motor which controls a cam 23 which comes in support on the barrel 5 and by an elastic return means 24, such as a spring, to keep the cam in contact with the barrel 5.
- the torque motor is a known electric motor delivering a high torque without reducer.
- the structure of the actuator A2 is identical to that of the actuator A1.
- the operation of the stabilization device 10 is the next.
- the ordering instructions are developed using of the two sensors C1 and C2 which measure the movements angular parasites of the body 3 of the weapon around the two hinge axes X-X, Y-Y of the barrel 5.
- control electronics E controls the two actuators A1 and A2 to cause the barrel 5 pivoting to compensate for movements parasites printed on weapon 1 by the operator.
- This filtered information is amplified to pilot actuators A1 and A2.
- the enslavement of actuators A1 and A2 will be produced in such a way as to cancel the speed setpoints (filtered) issued by the C3 and C4 sensors.
- Weapon 1 can be equipped with a sighting device and telemetry 26 which is advantageously carried by the gun 5 via an arm 27 which crosses a opening 28 made in the tubular element 17.
- the parasitic angular movements of the weapon can reach 3 bn in normal combat situation.
- it is therefore necessary to be able to compensate for amplitudes greater than 3 bn and arrive at a residual of about 0.5 bn, and it follows that the amplitude of the linear movement of the actuators is of the order of one millimeter.
- firing can be mechanical, since the servo is permanent, it nevertheless remains a stabilization residual greater than the measurement accuracy of the sensors (C1, C2, C3, C4 depending on the solution) due to imperfections in enslavement (inertia, friction .). But in adopting electric firing, direct use sensor information to fire (electric firing order) at the appropriate time (shooting window) hence better precision than setting mechanical fire.
- FIG. 4 a variant of the articulated connection means 14 mounted between the barrel 5 and the tubular element 17.
- These means 14 are constituted by four sets of wires 17a, 17b working in torsion elastic.
- One end of each set of wires 17a is fixed to the internal wall of the tubular element 17, then that the other end is attached to the outer wall of the barrel 5.
- two sets of wires 17a, 17'a are respectively located on either side of the barrel 5 and aligned along the axis of articulation X-X.
- the other two sets of wires 17b, 17'b are respectively located on either side of the barrel 5 and aligned along the axis of articulation Y-Y.
- Each actuator is constituted by an electric actuator 30, the body of which is carried by the internal wall of the tubular element 17 and whose rod is mounted articulated on the external wall of the canon 5.
- the actuators A1 and A2 could be made up of electromagnets or devices piezoelectric.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Telescopes (AREA)
- Polymerisation Methods In General (AREA)
- Polymers With Sulfur, Phosphorus Or Metals In The Main Chain (AREA)
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- Emergency Lowering Means (AREA)
Abstract
Description
Le domaine technique de la présente invention est celui des moyens de stabilisation applicables aux armes à feu individuelles.The technical field of the present invention is that of the means of stabilization applicable to weapons to individual fire.
Toute arme individuelle et portative est tenue et orientée vers la cible par les mains de l'opérateur qui la pointe dans la direction de tir en s'aidant d'un dispositif de visée généralement solidaire du canon. Lorsque l'arme est équipée d'un dispositif de visée, la direction de visée est matérialisée par un réticule ou toute autre référence optique.All individual and portable weapons are required and oriented towards the target by the hands of the operator who points in the direction of fire using a device of sight generally integral with the barrel. When the weapon is equipped with a sighting device, the sighting direction is indicated by a crosshair or any other reference optical.
Lorsque l'opérateur estime que la coïncidence entre la cible et le point visé est réalisée, il déclenche la mise à feu. Toutes les armes individuelles fonctionnent actuellement sur ce principe.When the operator considers that the coincidence between the target and the targeted point is achieved, it triggers the Firing. All individual weapons work currently on this principle.
Toutefois, cette manière de procéder engendre deux inconvénients principaux lors du tir et auxquels on n'a pas encore remédier. Tout d'abord, le tremblement inéluctable de l'opérateur, même expérimenté, interdit un pointage précis sur la cible à cause du mouvement permanent de la direction de visée et donc du pointage. Ensuite, lors de la mise à feu, c'est-à-dire lorsque l'opérateur appuie sur la détente, un léger dépointage intervient. Ces déplacements même infimes se traduisent directement par une chute de la probabilité d'atteinte inhérente à cette manière de procéder. On peut comparer le tir de la même arme montée sur affût, c'est-à-dire qu'il n'y a aucun déplacement intempestif de l'arme au moment du tir, le résultat obtenu est tout à fait satisfaisant en terme de probabilité. Par contre, le tir effectué par un opérateur conduit à une probabilité d'atteinte quasi nulle pour une erreur de pointage de l'ordre de 3 mrd.However, this procedure generates two main drawbacks that you don't have when shooting still remedy. First, the inevitable tremor operator, even experienced, prohibits pointing precise on the target because of the permanent movement of the direction of sight and therefore pointing. Then, during the firing, i.e. when the operator presses the relaxation, a slight depointing occurs. These displacements even miniscule translate directly into a drop in the probability of harm inherent in this way of proceed. We can compare the shooting of the same mounted weapon on lookout, that is to say that there is no displacement untimely weapon at the time of firing, the result obtained is quite satisfactory in terms of probability. Through against, the shot made by an operator leads to a almost zero probability of hit for an error of score of the order of 3 bn.
On a déjà proposé de remédier à cet inconvénient en utilisant le principe de la gestion d'une fenêtre de tir mais ce type de solution est complexe. Ainsi, on connaít un système de mise à feu électrique à partir de filtrages d'informations gyrométriques, un système de mise à feu électrique sur la base d'un traitement d'image et d'une écartométrie, et un système de stabilisation d'image, par exemple d'une image vidéo, avec mise à feu électrique.It has already been proposed to remedy this drawback by using the principle of managing a shooting window but this type of solution is complex. So, we know a electric firing system based on filtering gyrometric information, a firing system based on image processing and deviation measurement, and an image stabilization system, for example of a video image, with electric firing.
Dans ces systèmes, on exploite le fait que l'arme est soumise à des mouvements erratiques et on déclenche la mise à feu lorsque l'orientation du canon par rapport à celle-ci est jugée suffisamment précise. C'est par exemple le cas du dispositif de stabilisation décrit dans le brevet FR-A-2 669 658 d'une arme à feu individuelle prévoyant la stabilisation de l'axe de visée de l'arme.In these systems, we exploit the fact that the weapon is subject erratic movements and the firing is started when the orientation of the barrel relative to it is judged sufficiently precise. This is for example the case of the stabilization described in patent FR-A-2,669,658 of a handgun individual light providing stabilization of the line of sight of tear.
Mais pour tous ces systèmes des inconvénients subsistent. En effet, il est impératif que le mouvement erratique de l'arme repasse sur la cible pour déclencher le tir. Ensuite, on fait souvent appel à un télémètre qui à son tour doit être stabilisé pour obtenir un fonctionnement correct.But for all these systems, disadvantages remain. In effect it is imperative that the erratic movement of the weapon return to the target to fire. Then we do often use a rangefinder which in turn needs to be stabilized to obtain correct operation.
Le but de l'invention est de proposer un système de stabilisation offrant une bonne probabilité d'atteinte et permettant de simplifier les opérations de tir, ce qui évite les inconvénients mentionnés précédemment.The object of the invention is to propose a system of stabilization offering a good probability of damage and to simplify firing operations, which avoids disadvantages mentioned above.
A cet effet, l'invention propose un dispositif de stabilisation pour arme à feu individuelle, comprenant un dispositif de visée qui est caractérisé en ce qu'il comprend des moyens de découplage du canon par rapport à l'opérateur, des moyens de liaison articulés qui sont montés entre le canon et les moyens de découplage pour permettre au canon de pivoter par rapport aux moyens de découplage, et des moyens de commande en pivotement du canon pour compenser des mouvements parasites imprimés à l'arme par l'opérateur au cours d'une visée et maintenir ainsi le canon orienté dans la direction visée par l'opérateur.To this end, the invention provides a device for stabilization for individual firearm, including a sighting device which is characterized in that it comprises means for decoupling the barrel from the operator, articulated connecting means which are mounted between the barrel and the decoupling means to allow the barrel to pivot by relative to the decoupling means, and control means in barrel pivoting to compensate for parasitic movements printed on the weapon by the operator during a sighting and thus keep the barrel oriented in the direction aimed by the operator.
Selon un mode préférentiel de réalisation, les moyens de découplage du canon par rapport à l'opérateur sont constitués par un élément tubulaire qui est rapporté coaxialement autour du canon et solidaire du corps de l'arme manipulée par l'opérateur.According to a preferred embodiment, the means of decoupling of the barrel with respect to the operator consist of a tubular element which is attached coaxially around the barrel and secured to the body of the weapon handled by the operator.
D'une manière générale, les moyens de liaison montés entre les moyens de découplage et le canon, comprennent deux axes d'articulation perpendiculaires l'un à l'autre et sur lesquels le canon est monté articulé.In general, the connecting means mounted between the decoupling means and the barrel, comprise two axes of articulation perpendicular to each other and on which the barrel is mounted articulated.
A titre d'exemple, les moyens de liaison sont constitués par un système du type à cardan ou à rotule. By way of example, the connection means consist of a cardan or ball type system.
En variante, ces moyens de liaison peuvent être constitués par quatre ensembles de fils travaillant en torsion élastique, deux ensembles de fils étant respectivement situés de part et d'autre du canon et alignés suivant l'un des axes d'articulation du canon, et les deux autres ensembles de fils étant également situés de part et d'autre du canon et alignés suivant l'autre axe d'articulation du canon.Alternatively, these connecting means can be made up of four sets of wires working in elastic twist, two sets of wires being respectively located on either side of the barrel and aligned along one of the axes of articulation of the barrel, and the other two sets of wires also being located on either side of the barrel and aligned along the other axis of articulation of the barrel.
D'une manière générale, les moyens de commande pour faire pivoter le canon et compenser les mouvements parasites imprimés à l'arme par l'opérateur au cours d'une visée, comprennent un système d'asservissement qui est constitué par :
- une électronique de commande qui délivre des signaux de commande à partir de consignes fournies par deux capteurs qui sont solidaires du corps de l'arme et détectent les mouvements angulaires parasites de l'arme autour des deux axes d'articulation du canon,
- deux actionneurs pilotés par les signaux délivrés par l'électronique de commande pour faire pivoter le canon afin de compenser les mouvements angulaires parasites de l'arme, et
- deux capteurs de position et/ou de vitesse portés par le canon et qui délivrent des signaux correspondant à la position réelle et/ou à la vitesse de déplacement du canon et qui sont transmis à l'électronique de commande pour permettre de contrôler les signaux de commande transmis aux actionneurs et maintenir ainsi le canon aligné sur la direction visée par l'opérateur.
- control electronics which deliver control signals from instructions supplied by two sensors which are integral with the body of the weapon and detect the parasitic angular movements of the weapon around the two axes of articulation of the barrel,
- two actuators controlled by the signals delivered by the control electronics to rotate the barrel in order to compensate for the parasitic angular movements of the weapon, and
- two position and / or speed sensors carried by the barrel and which deliver signals corresponding to the actual position and / or the speed of movement of the barrel and which are transmitted to the control electronics to allow the signals of command transmitted to the actuators and thus keep the barrel aligned with the direction aimed by the operator.
Selon un mode de réalisation de l'invention, les moyens de liaison articulés qui permettent au canon de pivoter sont situés vers l'arrière du canon, alors que les deux actionneurs qui commandent le pivotement du canon sont situés vers l'avant de celui-ci, les moyens de liaison et les deux actionneurs servant également de moyens de support du canon.According to one embodiment of the invention, the articulated connection means which allow the barrel to pivot are located towards the rear of the barrel, while the two actuators which control the pivoting of the barrel are located towards the front thereof, the connecting means and the two actuators also serving as support means from the barrel.
Chaque actionneur est par exemple constitué par un moteur couple ou un motoréducteur qui commande une came en appui sur le canon, et par un moyen élastique de rappel opposé à la came maintenir ainsi le canon aligné sur la direction de la cible.Each actuator is for example constituted by a torque motor or a gear motor which controls a cam support on the barrel, and by an elastic return means opposite the cam so keep the barrel aligned with the target direction.
En variante, chaque actionneur peut être constitué par un vérin électrique, un électro-aimant ou un dispositif piézoélectrique.As a variant, each actuator can be constituted by an electric actuator, an electromagnet or a device piezoelectric.
Le fait de stabiliser le canon par rapport à l'opérateur, offre notamment pour avantage de pouvoir rendre le canon solidaire d'un dispositif de visée et de télémétrie pour assurer une observation, une identification et une poursuite de cible de bonne qualité, ainsi qu'une bonne orientation de la direction de télémétrie.Stabilizing the barrel relative to the operator offers in particular the advantage of being able make the barrel integral with a sighting device and telemetry to ensure observation, identification and a good quality target pursuit, as well as a good orientation of the telemetry management.
D'autres caractéristiques et avantages de l'invention apparaítront à la lecture du complément de description donné ci-après en relation avec les dessins sur lesquels :
- la figure 1 est une représentation schématique d'une arme équipée du dispositif de stabilisation suivant l'invention,
- la figure 2 représente sous la forme d'un schéma-bloc le système d'asservissement associé au dispositif de stabilisation,
- la figure 3 illustre schématiquement un exemple de réalisation des moyens de liaison articulés pour permettre au canon de pivoter suivant deux axes perpendiculaires l'un à l'autre, et
- les figures 4 et 5 illustrent deux modes de réalisation des moyens de commande qui permettent de faire pivoter le canon autour de ses deux axes d'articulation.
- FIG. 1 is a schematic representation of a weapon equipped with the stabilization device according to the invention,
- FIG. 2 represents in the form of a block diagram the servo system associated with the stabilization device,
- FIG. 3 schematically illustrates an exemplary embodiment of the articulated connecting means to allow the barrel to pivot along two axes perpendicular to one another, and
- Figures 4 and 5 illustrate two embodiments of the control means which allow the barrel to pivot about its two axes of articulation.
L'arme à feu portative 1 illustrée à la figure 1
comprend un corps 3 partiellement représenté et qui
supporte tous les mécanismes de fonctionnement de l'arme,
une chambre de chargement et de tir 4 prolongée par un
canon 5.The
Le canon 5 est associé à un dispositif de
stabilisation 10 qui comprend des moyens de découplage 12
du canon 5 par rapport à l'opérateur qui manipule l'arme 1,
des moyens de liaison articulés 14 qui sont montés entre le
canon 5 et les moyens de découplage 12 pour permettre au
canon 5 de pivoter par rapport à ces moyens de découplage
12, et des moyens de commande en pivotement 15 du canon 5
pour compenser des mouvements parasites imprimés à l'arme 1
par l'opérateur au cours d'une visée et maintenir ainsi le
canon 5 orienté dans la direction visée par l'opérateur.The
Les moyens de découplage 12 du canon 5 par rapport
à l'opérateur sont constitués par un élément tubulaire 17
qui est rapporté coaxialement autour du canon 5 et
solidaire du corps 3 de l'arme 1.The decoupling means 12 of the
Les moyens de liaison articulés 14 montés entre
l'élément tubulaire 18 et le canon sont destinés à
permettre le pivotement du canon 5 suivant deux axes X-X,
Y-Y perpendiculaires l'un à l'autre. Ces moyens de liaison
articulés 14 sont situés vers l'arrière du canon 5 et sont
du type à cardan ou à rotule.The articulated connecting means 14 mounted between
the tubular element 18 and the barrel are intended for
allow the pivoting of the
En se reportant à la figure 2, les moyens de commande de pivotement du canon 5 par rapport à l'élément tubulaire 17 comprennent un système d'asservissement qui est constitué par :
- une électronique de commande E qui délivre des
signaux de commande à partir de consignes fournies par deux
capteurs Cl et C2 qui sont solidaires du corps 3 de l'arme
et qui détectent les mouvements angulaires parasites de
l'arme autour des deux axes d'articulation X-X, Y-Y du
canon 5, - deux actionneurs Al et A2 pilotés par les signaux
délivrés par l'électronique de commande E pour faire
pivoter le
canon 5, et - deux capteurs de position et/ou de vitesse C3 et
C4 qui sont portés par le
canon 5 et délivrent des signaux correspondant à la position réelle et/ou à la vitesse de déplacement ducanon 5 et qui sont transmis à l'électronique de commande E pour lui permettre de contrôler les signaux de commande transmis aux actionneurs A1 et A2 et maintenir ainsi lecanon 5 aligné suivant la direction visée par l'opérateur.
- control electronics E which deliver control signals from instructions supplied by two sensors C1 and C2 which are integral with the body 3 of the weapon and which detect the parasitic angular movements of the weapon around the two axes of articulation XX, YY of canon 5,
- two actuators Al and A2 controlled by the signals delivered by the control electronics E to rotate the
barrel 5, and - two position and / or speed sensors C3 and C4 which are carried by the
barrel 5 and deliver signals corresponding to the actual position and / or the speed of movement of thebarrel 5 and which are transmitted to the control electronics E to allow it to control the control signals transmitted to the actuators A1 and A2 and thus keep thebarrel 5 aligned in the direction aimed by the operator.
Les deux capteurs C1 et C2 sont du type
gyrométrique et portés par une platine 19 solidaire de
l'élément tubulaire 17.The two sensors C1 and C2 are of the type
gyrometric and carried by a
L'électronique de commande E, également supportée
par la platine 19, comprend notamment deux filtres qui
reçoivent respectivement les consignes transmises par les
capteurs C1 et C2 pour délivrer en sortie les signaux de
commande des deux actionneurs A1 et A2.Control electronics E, also supported
by the
Les deux consignes sont respectivement envoyées aux
deux actionneurs A1 et A2 pour faire pivoter le canon 5
suivant les deux axes d'articulation X-X et Y-Y.The two instructions are respectively sent to
two actuators A1 and A2 to rotate the
Les deux actionneurs A1 et A2 sont situés vers
l'avant du canon 5 et sont montés entre le canon 5 et
l'élément tubulaire 17 en étant disposés suivant deux axes
parallèles aux deux axes d'articulation X-X et Y-Y.The two actuators A1 and A2 are located towards
the front of the
Selon l'exemple de réalisation illustré à la figure
3, l'actionneur A1 est constitué par un moteur couple 22 ou
un motoréducteur qui commande une came 23 qui vient en
appui sur le canon 5 et par un moyen élastique de rappel
24, tel qu'un ressort, pour maintenir la came en appui sur
le canon 5. Le moteur couple est un moteur électrique connu
délivrant un fort couple sans réducteur. La structure de
l'actionneur A2 est identique à celle de l'actionneur A1.According to the embodiment illustrated in the figure
3, the actuator A1 is constituted by a
Le fonctionnement du dispositif de stabilisation 10 est le suivant.The operation of the stabilization device 10 is the next.
Les consignes de commande sont élaborées à l'aide
des deux capteurs C1 et C2 qui mesurent les mouvements
angulaires parasites du corps 3 de l'arme autour des deux
axes d'articulation X-X, Y-Y du canon 5. Après filtrage des
consignes de commande, l'électronique de commande E
commande les deux actionneurs A1 et A2 pour provoquer le
pivotement du canon 5 pour compenser les mouvements
parasites imprimés à l'arme 1 par l'opérateur.The ordering instructions are developed using
of the two sensors C1 and C2 which measure the movements
angular parasites of the body 3 of the weapon around the two
hinge axes X-X, Y-Y of the
Une autre solution d'asservissement consiste à mettre des capteurs de vitesse angulaire sur le canon, les capteurs C3 et C4. Dans cette configuration les capteurs C1 et C2 sont supprimés. Au départ de la séquence de tir l'opérateur vise sa cible à l'aide du dispositif de visée 26 : il place un réticule sur la cible. Lorsqu'il le souhaite, l'opérateur peut enclencher le dispositif de stabilisation (par exemple à l'aide d'un bouton poussoir placé sur la platine 19). Dès lors, le dispositif de stabilisation devient opérationnel, c'est-à-dire :
- les capteurs C3 et C4 mesurent les mouvements angulaires du canon par rapport au référentiel terrestre et sont filtrées (filtre passe-haut F1 et F2) pour ne prendre en compte que les mouvements de tremblement mais non les mouvements souhaités par l'opérateur (dans le cas d'une cible mobile) dont les fréquences sont plus basses. Les capteurs sont préférentiellement des gyromètres (mesure de vitesse angulaire).
- the C3 and C4 sensors measure the angular movements of the gun relative to the terrestrial frame of reference and are filtered (high pass filter F1 and F2) to take into account only the tremors but not the movements desired by the operator (in the case of a moving target) whose frequencies are lower. The sensors are preferably gyrometers (angular speed measurement).
Ces informations filtrées sont amplifiées pour piloter les actionneurs A1 et A2. L'asservissement des actionneurs A1 et A2 sera réalisé de telle manière à annuler les consignes de vitesse (filtrées) délivrées par les capteurs C3 et C4.This filtered information is amplified to pilot actuators A1 and A2. The enslavement of actuators A1 and A2 will be produced in such a way as to cancel the speed setpoints (filtered) issued by the C3 and C4 sensors.
Une autre solution peut être envisagée pour optimiser le filtrage et l'asservissement du canon et consiste à combiner deux séries de capteurs :
- les capteurs C3 et C4 (ou d'autres capteurs) délivrent également des informations de position du canon par rapport au corps de l'arme. Cette solution évite en particulier la venue en butée du canon.
- les capteurs de mesure de la vitesse angulaire C1 et C2 sont montés sur le corps de l'arme et des capteurs de position sont montés entre le corps de l'arme et le canon (C3 et C4).
- sensors C3 and C4 (or other sensors) also deliver information on the position of the barrel relative to the body of the weapon. This solution in particular avoids the abutment of the barrel.
- the angular velocity measuring sensors C1 and C2 are mounted on the body of the weapon and position sensors are mounted between the body of the weapon and the barrel (C3 and C4).
L'arme 1 peut être équipée d'un dispositif de visée
et de télémétrie 26 qui est avantageusement porté par le
canon 5 par l'intermédiaire d'un bras 27 qui traverse une
ouverture 28 pratiquée dans l'élément tubulaire 17.
Les mouvements angulaires parasites de l'arme peuvent atteindre 3 mrd en situation normale de combat. Cependant, pour parvenir à une probabilité d'atteinte acceptable d'une cible, notamment en tir coup par coup, il est donc nécessaire de pouvoir compenser des amplitudes supérieures à 3 mrd et d'arriver à une résiduelle de l'ordre de 0,5 mrd, et il en résulte que l'amplitude du mouvement linéaire des actionneurs est de l'ordre d'un millimètre.The parasitic angular movements of the weapon can reach 3 bn in normal combat situation. However, to achieve a likelihood of harm acceptable from a target, especially in shot by shot, it it is therefore necessary to be able to compensate for amplitudes greater than 3 bn and arrive at a residual of about 0.5 bn, and it follows that the amplitude of the linear movement of the actuators is of the order of one millimeter.
D'une manière générale, la mise à feu peut être mécanique, puisque l'asservissement est permanent, il subsiste néanmoins une résiduelle de stabilisation supérieure à la précision de mesure des capteurs (C1, C2, C3, C4 suivant la solution) due aux imperfections de l'asservissement (inertie, frottement....). Mais en adoptant une mise à feu électrique, l'utilisation directe des informations capteurs permet de déclencher le tir (ordre de mise à feu électrique) au moment opportun (fenêtre de tir) d'où une meilleure précision que la mise à feu mécanique.Generally speaking, firing can be mechanical, since the servo is permanent, it nevertheless remains a stabilization residual greater than the measurement accuracy of the sensors (C1, C2, C3, C4 depending on the solution) due to imperfections in enslavement (inertia, friction ....). But in adopting electric firing, direct use sensor information to fire (electric firing order) at the appropriate time (shooting window) hence better precision than setting mechanical fire.
Sur la figure 4, il est représenté une variante des
moyens de liaison articulés 14 montés entre le canon 5 et
l'élément tubulaire 17. Ces moyens 14 sont constitués par
quatre ensembles de fils 17a, 17b travaillant en torsion
élastique. Une extrémité de chaque ensemble de fils 17a est
fixé à la paroi interne de l'élément tubulaire 17, alors
que l'autre extrémité est fixée à la paroi externe du canon
5. Plus précisément, deux ensembles de fils 17a, 17'a sont
respectivement situés de part et d'autre du canon 5 et
alignés suivant l'axe d'articulation X-X. De manière
similaire, les deux autres ensembles de fils 17b, 17'b sont
respectivement situés de part et d'autre du canon 5 et
alignés suivant l'axe d'articulation Y-Y.In FIG. 4, a variant of the
articulated connection means 14 mounted between the
Sur la figure 5, on a représenté une variante de
réalisation des actionneurs A1 et A2. Chaque actionneur est
constitué par un vérin électrique 30, dont le corps est
porté par la paroi interne de l'élément tubulaire 17 et
dont la tige est montée articulée sur la paroi externe du
canon 5.In FIG. 5, a variant of
realization of actuators A1 and A2. Each actuator is
constituted by an
En variante, les actionneurs A1 et A2 pourraient être constitués par des électro-aimants ou des dispositifs piézoélectriques.Alternatively, the actuators A1 and A2 could be made up of electromagnets or devices piezoelectric.
Claims (11)
- A stabilizing device for a small fire arm comprising a sighting device, characterised in that it comprises means (12) to uncouple the cannon with respect to the firer, hinged linking means (14) which are mounted between the cannon (5) and the uncoupling means (12) to enable the cannon (5) to swivel with respect to the uncoupling means (12), and means (15) to control the swivelling of the cannon (5) in order to offset parasitic movements imparted to the fire arm by the firer during sighting thus holding the cannon (5) in the line of sight fixed by the firer.
- A stabilizing device according to Claim 1, characterised in that the means (12) to uncouple the cannon (5) with respect to the firer are formed by a tubular element (17) which is coaxially brought around the cannon (5) and is integral with the body (3) of the fire arm being handled by the firer.
- A stabilizing means according to Claim 2, characterised in that the linking means (14) mounted between the uncoupling means (12) and the cannon (5) comprise two pivotal axes (X-X, Y-Y) which are perpendicular to one another and onto which the cannon (5) is mounted swivelling.
- A stabilizing device according to Claim 3, characterised in that the linking means (14), mounted between the uncoupling means (12) and the cannon (5), are formed of a system of the cardan or ball type.
- A stabilizing device according to Claim 3, characterised in that the linking means (14), mounted between the uncoupling means (12) and the cannon (5), are formed by four wire assemblies (17a, 17b) working by elastic torsion, two wire assemblies (17a) being located respectively on either side of the cannon (5) and in line with one of the pivotal axes of the cannon (5), and the two other wire assemblies (17b) also being located on either side of the cannon and in line with the other pivotal axis of the cannon (5).
- A stabilizing device according to any one of Claims 1 to 5, characterised in that the the linking means (14), mounted between the uncoupling means (12) and the cannon (5), are located to the rear of the cannon (5).
- A stabilizing device according to any one of the above Claims, characterised in that control means (15), which make the cannon (5) swivel around to offset the parasitic movements imparted to the fire arm by the firer during sighting, comprise a servo system which is formed by :control electronics (E) which emit control signals from instructions supplied by two sensors (C1, C2) which are integral with the body (3) of the fire arm and which detect parasitic angular movements of the arm around the two pivotal axes (X-X, Y-Y) of the cannon (5),two actuators (A1, A2) driven by the signals emitted by the control electronics (E) to make the cannon swivel around in order to offset the parasitic angular movements of the arm, andtwo position and/or frequency sensors (C3, C4) carried by the cannon (5) and which emit signals corresponding to the actual position and/or frequency of movement of the cannon and which are transmitted to the control electronics (E) to enable the control signals transmitted to the actuators to be to be monitored and thus keeping the cannon (5) in line with the line of sight fixed by the firer.
- A stabilizing device according to Claim 7, characterised in that the actuators (A1, A2) are located towards the front part of the cannon (5) and are respectively in line with the two pivotal axes (X-X, Y-Y) of the cannon (5).
- A stabilizing device according to Claim 8, characterised in that each actuator (A1, A2) is formed by a torque motor (22) or back-geared motor which drives a cam (23) resting on the cannon (5), and by an elastic return means (24) opposed to the cam (23) to keep the cannon in line with the target.
- A stabilizing device according to Claim 8, characterised in that each actuator (A1, A2) is formed by an actuating drive, an electromagnet or a piezoelectric device.
- A stabilizing device according to any one of the above Claims, characterised in that the sighting device (26) is supported by the cannon (5), and is stabilized with the cannon.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9508811A FR2737001B1 (en) | 1995-07-20 | 1995-07-20 | STABILIZATION DEVICE FOR INDIVIDUAL FIREARMS |
FR9508811 | 1995-07-20 | ||
PCT/FR1996/001145 WO1997004282A1 (en) | 1995-07-20 | 1996-07-19 | Stabiliser device for a personal firearm |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0782690A1 EP0782690A1 (en) | 1997-07-09 |
EP0782690B1 true EP0782690B1 (en) | 2000-11-15 |
Family
ID=9481196
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96926436A Expired - Lifetime EP0782690B1 (en) | 1995-07-20 | 1996-07-19 | Stabiliser device for a personal firearm |
Country Status (7)
Country | Link |
---|---|
US (1) | US5834677A (en) |
EP (1) | EP0782690B1 (en) |
AT (1) | ATE197642T1 (en) |
AU (1) | AU703195B2 (en) |
DE (1) | DE69610971T2 (en) |
FR (1) | FR2737001B1 (en) |
WO (1) | WO1997004282A1 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2758625B1 (en) * | 1997-01-17 | 1999-03-19 | Sofresud | DEVICE CAPABLE OF DETERMINING THE DIRECTION OF A TARGET IN A PREDEFINED MARKING |
US5974940A (en) * | 1997-08-20 | 1999-11-02 | Bei Sensors & Systems Company, Inc. | Rifle stabilization system for erratic hand and mobile platform motion |
AT407799B (en) * | 1999-06-21 | 2001-06-25 | Ae Angerer Entpr Gmbh | RIFLE SIGHTING DEVICE |
US7563097B2 (en) * | 2004-09-03 | 2009-07-21 | Techno-Sciences, Inc. | Stabilizing hand grip system |
US8074394B2 (en) * | 2005-03-08 | 2011-12-13 | Lowrey Iii John William | Riflescope with image stabilization |
SE533248C2 (en) * | 2008-11-04 | 2010-07-27 | Tommy Andersson | Method of gyro-stabilizing the aiming of rifles and one-handed weapons |
US8453368B2 (en) * | 2010-08-20 | 2013-06-04 | Rocky Mountain Scientific Laboratory, Llc | Active stabilization targeting correction for handheld firearms |
US20160313090A1 (en) * | 2013-03-22 | 2016-10-27 | Orchard Arms Llc | Integral telescopic sight for firearms |
KR101932544B1 (en) * | 2014-04-16 | 2018-12-27 | 한화지상방산 주식회사 | Remote-weapon apparatus and control method thereof |
US9612088B2 (en) | 2014-05-06 | 2017-04-04 | Raytheon Company | Shooting system with aim assist |
US9784529B1 (en) | 2015-04-07 | 2017-10-10 | Matthew G. Angle | Small arms stabilization system |
GB201700648D0 (en) * | 2017-01-13 | 2017-03-01 | Marksmanship Tech Ltd | System and method for correcting aim by motion analysis for small arms weapons |
RU2683966C1 (en) * | 2017-10-17 | 2019-04-03 | Николай Андреевич Гаврилов | Aiming method and device improving its realization |
US20190137219A1 (en) * | 2017-11-03 | 2019-05-09 | Aimlock Inc. | Semi-autonomous motorized weapon systems |
WO2021080684A1 (en) | 2019-10-25 | 2021-04-29 | Aimlock Inc. | Remotely operable weapon mount |
WO2021080683A1 (en) | 2019-10-25 | 2021-04-29 | Aimlock Inc. | Trigger and safety actuating device and method therefor |
FR3110228B1 (en) * | 2020-05-12 | 2022-05-13 | Mbda France | Device for detecting the absence of a mechanical barrier for a missile and a missile comprising such a device. |
US11994366B2 (en) * | 2020-06-10 | 2024-05-28 | David H. Sitrick | Automatic weapon subsystem movably mounted barrel to strike target at firing time |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3566743A (en) * | 1968-08-21 | 1971-03-02 | Hughes Aircraft Co | Kinematic device for fire control against terrestrial targets with single rate sensor |
US3711204A (en) * | 1971-10-06 | 1973-01-16 | Weaver Co W | Optical sight aligner |
FR2472735B1 (en) * | 1979-12-26 | 1985-08-16 | Sagem | IMPROVEMENTS ON SIGHTING DEVICES FOR VEHICLES |
DE3808804C1 (en) * | 1988-03-16 | 1991-08-22 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | Small arm effective against tanks and aircraft - prevents recoil and ensures fine sighting stabilisation by computer and sensors |
US5171933A (en) * | 1991-12-20 | 1992-12-15 | Imo Industries, Inc. | Disturbed-gun aiming system |
FR2699658A1 (en) * | 1992-12-21 | 1994-06-24 | Thomson Csf | Aim control for light weapon with target over large distance |
US5408778A (en) * | 1993-10-12 | 1995-04-25 | Saco Defense Inc. | Extended-range gun sight mounting system |
-
1995
- 1995-07-20 FR FR9508811A patent/FR2737001B1/en not_active Expired - Fee Related
-
1996
- 1996-07-19 WO PCT/FR1996/001145 patent/WO1997004282A1/en active IP Right Grant
- 1996-07-19 EP EP96926436A patent/EP0782690B1/en not_active Expired - Lifetime
- 1996-07-19 US US08/776,814 patent/US5834677A/en not_active Expired - Lifetime
- 1996-07-19 AT AT96926436T patent/ATE197642T1/en active
- 1996-07-19 DE DE69610971T patent/DE69610971T2/en not_active Expired - Lifetime
- 1996-07-19 AU AU66624/96A patent/AU703195B2/en not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
EP0782690A1 (en) | 1997-07-09 |
FR2737001B1 (en) | 1997-08-29 |
AU6662496A (en) | 1997-02-18 |
FR2737001A1 (en) | 1997-01-24 |
ATE197642T1 (en) | 2000-12-15 |
WO1997004282A1 (en) | 1997-02-06 |
AU703195B2 (en) | 1999-03-18 |
DE69610971T2 (en) | 2001-04-19 |
US5834677A (en) | 1998-11-10 |
DE69610971D1 (en) | 2000-12-21 |
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