EP1096218B1 - Pointing drive - Google Patents

Abstract

The laying mechanism (10) for a fragmentation round launch tube (12) has a rapid setting for azimuth in the foundation (15), with at least two azimuth setting motors (14) acting on the carrier ring (18), parallel to the azimuth axis. At least one setting motor can be reversed into a drive in the opposite direction, to block the movement from the other motor when the carrier ring (18) has reached the azimuth setting for the launch. The static setting motors are contained within the pot-shaped foundation, with one motor (13) for elevation and a motor (14) for azimuth.

Description

The invention relates to directional drives according to the preambles of the main claims.

Such directional drives are known from EP 0 149 639 B1 / WO 85/00217 for the weapon turret known light military vehicle. The one that can be turned relative to the vehicle The tower is supported by a radial ball bearing on a plate, which in turn is used for Cushioning of the recoil of the barrel weapon by means of elastic supports from the vehicle chassis will be carried. Tilting moments acting on the plate are from her about a hollow truncated cone-shaped cage against a central shaft in the azimuth axis of the tower rotation. For the azimuth aiming the Rotation of the tower around this shaft via a bearing mounted in the plate Pinion that is driven by a motor that is fixed to the vehicle via a belt drive becomes. For elevation straightening, the central wave ends in front of the tower a linear rack, in which the pinion is mounted fixed to the vehicle Motor engages to move the shaft in the direction of the azimuth axis. The rack opposite is a fork on this shaft via a ball joint connected. Their free foreheads are quite far behind - approximated by the center of gravity of the gun - elevation axis to the gun articulated, whereby this is directed in height via the rack and pinion drive can be.

These known drives for aiming a gun in azimuth or / and elevation both show individually and in combination a number of significant design and functional disadvantages that especially come into play when it comes to a large crowd to set up quickly and then lock it reliably. So is already about the belt drive a quick and safe azimuth alignment is not guaranteed because in view of the torques required for the high mass of inertia Turmes with his gun either just creeping into the Target alignment or an azimuthal over-swinging is to be expected - and then given the inevitable backlash of the pinion gear and via the belt drive to the drive motor an unreliable locking the finally achieved target orientation. Also the reliability of the weapon elevation leaves a lot to be desired in the known construction, because the rack and pinion drive if it does not cause considerable friction losses experienced exact constructive linear guidance, necessarily with a lot of play is working. Added to this are the constructional disadvantages of manufacturing technology Effort and play in a two-dimensional storage in the form of the ball joint for connecting the elevation fork to the longitudinally movable Central shaft serving as support rod. In addition, the support of the Gun in the fork far outside of a near the azimuth axis Focus on the strong swiveling movements of the fork around it Ball joint extremely unfavorable both kinetically and kinematically. Finally are generally disadvantageous, especially for series production: functional that Game and the friction losses as well as the large parts and manufacturing technology Adjustment requirement for the storage of the rack and for the fork connection via a ball bearing for elevation straightening and for the belt drive for azimuth straightening; Last but not least, the installation space required for the crosswise to each other oriented directional motors.

DE 33 41 320 A1 describes a controllable rotary drive for a rotatable upper part For example, an weapon system known that is based on a fixed The lower part is supported by a large roller bearing, which is formed from three rings two of which are connected to the lower part or to the upper part in a torsionally rigid manner Rings are each equipped with a drive motor, the pinion with a The ring gear is in engagement, which protrudes from this ring arrangement in the form of a sleeve and axially offset with one between these two rings mounted center ring is connected to the in the manner of a differential gear Torque transmission between the inner ring and outer ring to be able to vary. This azimuth drive leaves a highly dynamic azimuth setting Realize the two outer rings relative to each other, but guaranteed despite high Manufacturing effort and space requirements still no reliable locking in the reached target position.

The aforementioned disadvantages of the azimuth and elevation drives discussed at the beginning are particularly serious when it comes to realizing a two-dimensional directional drive goes, as described in US 5,661,254 A. for the rapid alignment of a heavy launching container according to azimuth and Elevation is needed to actively protect a mobile or even stationary Object from the container mounted on this object or in its vicinity to be able to fire frag grenades at an attacking missile. Therefore it is known from that prior publication that a carriage-like substructure an azimuthally adjustable swivel mount for the launching container that can be tilted inside carries, for these two directional movements according to the generic Pre-publication equipped with two actuators oriented transversely to each other is. Because of the large ones that can be accelerated and braked very quickly Masses of the - especially at the beginning of a battle with multiple frag grenades equipped, so heavy - launch container, the servomotors rapid start-up with large torque and rapid braking with large Holding torque be designed, which is a large magnetically effective mass, so very heavy actuators. This is particularly critical with regard to the inevitable Gearless in the rotating torque transmissions from the Actuators on the one hand for turning the azimuth and on the other hand for pivoting the elevation of the launcher. The requirement of these very large masses Having to move, therefore, calls for a quick and unerring Alignment of the launcher contradicts.

In recognition of these circumstances, the present invention is based on the object Straightening drives for azimuth and elevation as well as for a combined azimuth and elevation alignment of the weapon - in particular in the form of the mentioned Launcher - designed to meet such critical requirements are optimized, i.e. as fast as possible and as free of play as possible, exactly alignment of the launching container to be observed according to azimuth and / or Elevation for targeted firing, especially against a grenade enable an attacking missile.

According to the essentials specified in the main claim for the azimuth straightening process Features of the solution according to the invention, ie for twisting the Superstructure coaxial to the azimuth axis, engage in an internal or external toothing the support ring, the output pinion of several stationary, namely fixed, in Substructure and, at the same time, azimuth servomotors protected against splintering in order to have a predetermined azimuth orientation when they are synchronized quickly reach and then this position by switching at least one the azimuth actuators to counter torque with respect to at least one of the to be able to lock others immediately without play.

The over the rotatable ring of the fixed substructure, which with his Housing can be integrated in the object to be protected, worn fork-shaped Swivel bracket for the launch container, which is mounted at a height hinged to a support rod, which in turn is concentric with one in the substructure is arranged articulated to the azimuth axis elevation servomotor, which with a relative to the actuator around the azimuth axis coaxially rotatable drive for the Translation of the support rod is equipped. Expediently you can enter here integrate roller thread drive immersed in the rotor in the elevation motor, so that no separate bearing point is required for the support rod. This results in a small size and therefore low inertia due to rolling friction Functionally very robust drive unit without the need for additional bearing components for the elevation.

In the case of a combined azimuth and elevation directional drive are thereby all servomotors arranged axially parallel in the base, so that they Production-friendly as a compact, pre-assembled and function-tested drive block with flanges under the platform as a multifunctional unit (namely for azimuth and elevation, the latter with the motor mount as a gearbox mount serving) can be inserted into a pot-shaped housing.

The support ring for the fork-shaped swivel bracket is attached to the platform by means of a rotating bearing of low axial height to accommodate both axial as well as radial loads are carried, preferably as such as such known cross roller bearing is designed. As a result, the support ring experiences the radial one Attack of the azimuth output pinion against a radial counter bearing, while at the same time the axial positioning of the Support ring against the housing of the substructure is ensured.

The fork-shaped swivel bracket mounted on the rotatable support ring preferably has about the geometry of a rigid unequal leg right-angled triangle, which with its longer Kathethe fixed on motion resting and opposite the support ring, in the area of the transition from the shorter axles parallel to the hypotenuse, outside the course of the Azimuth axis with a swivel eye for tilting for elevation adjustment of the launching container suspended in the holder. Right next to it this swivel axis passes transversely to it with the azimuth axis of the support ring identical central axis of the substructure. It is preferably at medium elevation the launching container, its linkage to the support rod just on the azimuth axis. Because because of the small mutual offset between the two articulation points of the launching container (swivel axis and support articulation) carries out the coupling to the elevation motor in the form of the support rod when leveling of the launch container then only very small deflections from the azimuth axis out, so that this rod from the heavy launch container on her Short lever travel practically not on bending, but essentially only on Thrust is claimed.

The launcher is supported on the coupling rod along the azimuth axis a translational output of the concentric to the support ring and thus coaxial also fixed to the azimuth axis in the housing of the substructure Elevation servomotor. Its output is about a telescope or preferably a conversion from a motor rotary movement into an output linear movement via a spindle nut on a threaded rod. The Elevation servomotor as a whole or in any case its output are relative to the Substructure can be rotated, if not the support rod in itself or over at least one Ball joint is rotatable relative to the substructure because the support ring for the azimuth aiming rotates around the azimuth axis and thereby the coupling of the fixed object Elevation motor takes to the rotatable launch container. However, if no rotatable coupling is installed here, i.e. one opposite the substructure of the fixed elevation servomotor not at least a ball joint but only with folding joints over the support rod to the Launch container is coupled, then this has a geometrically induced change in elevation depending on the azimuth setting that is precisely why it is defined as dependent on azimuth in elevation control The influence of errors can be reliably compensated.

This is a directional drive that is particularly suitable for integration on large vehicles created because the large masses of the servomotors are fixed, that is, in terms of e.g. the stationary substructure of the vehicle to be protected is worn, and no longer from the support ring that can be adjusted azimuthally on it. He only has to do that Take the weight of the launching container including its swivel bracket, the moment storage on the now due to integration of the servomotors particularly massive, so advantageously with regard to the straightening processes inert substructure is supported.

Additional alternatives and further training, as well as further features and Advantages of the invention result from the further claims and from the following Description of an approximation to the essentials to scale but strongly abstracted preferred implementation example to the solution according to the invention. The only figure in the drawing shows in Axial longitudinal section the construction of a launching directional drive with apparatus relieved rotary azimuth adjustment and fast linear elevation adjustment.

The directional drive sketched according to the invention for the sake of clarity 10 serves to protect a stationary or mobile object 11 against an approaching object fast steering projectile (not included in the drawing) due to counterfire at least one fragmentation grenade from one with several Grenades in interchangeable firing tubes with launching container 12. The for this purpose is carried by the object 11 to be protected via the directional drive 10 after sensing the direction of the threat, the direction of launch of those to be fired Defense grenade as quickly as possible in azimuth and elevation on the attacking missile to be able to align - as in the already cited US 5,661,254 A. described in more detail with regard to the mechanism of action of the splinter defense grenade, which is expressly referred to here to avoid repetitions becomes.

In order to be able to move the extremely quickly when aiming at the attacker to be blocked Masses as low as possible and consequently also the kinetic stress of the object to be protected 11 as a carrier of the directional drive 10 at To keep the straightening process as low as possible, the servomotors 13, 14 are not included the launcher 12 moves, but in the housing of a fixed substructure 15 of the directional drive 10 installed, as in the drawing by the in the object 11 recessed pot-shaped housing symbolically illustrates. This Pot-shaped base 15 for the stationary reception of the servomotors 13, 14 and for rotatably receiving a swivel bracket 19 for the launching container 12 carries on or in a (at least partially recessed into the supporting object) Housing covering, with ibs. side reinforcement also as splinter protection for the azimuth setting designed base plate 16 around the central axis of the system, namely the azimuth axis 17 of the directional drive 10 rotatable Support ring 18 for the rigidly connected thereto, fork-shaped upwards opening swivel bracket 19, in which the firing container 12 with a Swivel axis 20 is mounted eccentrically. The launching container is right next to it 12 articulated with an eye 21 to a support rod 22, which is essentially along the azimuth axis 17 through the center of the support ring 18 axially extends through and down to an opposite coupling point 30 for the purpose of articulation there on the translational coaxial to the azimuth axis 17 Output 23 of the elevation servomotor 13.

For the azimuthal rotation of the support ring 18 and thus the swivel bracket 19 together with its launching container 12 is at least one azimuthal servomotor 14 stationary in the substructure 15 and preferably arranged parallel to the azimuth axis 17. The stands in the area of the base plate 16 in a torsionally rigid connection Support ring 18, in the example shown with an output pinion 24 to an inner or External teeth 25 on the support ring 18. These teeth 25 on the torque bearing of the support ring 18 represents the only functional interface to be adjusted between stationary base 15 and rotating swivel bracket 19. The rotational engagement is radially opposite for its radial support, and preferably designed at the same time for its axial mounting, at least one Rolling bearings arranged in the base plate 16, which run as a ring as outlined, in principle, however, also from individual peripherally offset bearings can exist. It is preferred as rotating around within the support ring 18 Torque bearing 26 designed, the on its mutually perpendicular roller tracks can absorb both axial and radial forces.

Appropriately, at least two azimuthal servomotors 14 are e.g. equidistant distributed over the circumference of the support ring 18. For the azimuth straightening process if they are switched to synchronism, they drive the support ring 18 in the same direction of rotation on. When the azimuthal target position is reached, the azimuthal servomotors 14 turned off per se, but at least one pair of them will switched to the same drive torque with opposite drive direction, see above that at least two motors 14 block each other via the toothing 25 and thereby the achieved azimuthal alignment of the launch container 12 without play fix.

The elevation servomotor 13 also does not rotate in order to reduce rotating masses with the support ring 18. Rather, the elevation servomotor 13 is concentric with Azimuth axis 17 embedded under the support ring 18 in the base 15. The elevation servomotor 13 can have a translational output 23 in Form of a telescope or to convert the rotary into a translatory Output movement of the motor 13 in the form of a sliding nut on a motor shaft with a threaded spindle, for example in the manner of a roller screw drive or Trapezoidal spindle can be designed. This output 23 is also connected via a support rod 22 the launcher 12 connected to it relative to the base 15 already during the azimuth setting and / or in the currently reached azimuth position being able to raise or lower. In the interest of a collision-free large Setting angle about the horizontal axis of elevation 20 has the support ring 18th opposite hypotenuse 28 of the approximately triangular swivel bracket 19 a large-area opening compared to the diameter of the support rod 22 28, into which the eye 21 located on the firing container 12 for the Coupling of the support rod 22 can dip completely into it.

The distance between the pivot axis 20 for the elevation of the launcher 12 and the eye 21 for supporting the elevation on the support rod 22 chosen as low as possible so that the deflection on both sides of a medium elevation the support rod 22 remains as small as possible out of the azimuth axis 17 and thus a practically bending moment-free, i.e. ideal kinetic Pressure can be transmitted from the linear output 23 of the servomotor 13.

The operative connection between the elevation servomotor 13 and the launching container 12 can be rotated here relative to the substructure 15 because the launching container 12 an azimuth setting relative in the interest of smaller masses to be rotated to the elevation servomotor 13 arranged in a stationary manner in the substructure 15. This Rotatability, which affects the elevation during due to the Prevents azimuthal alignment, the translational output 23 can be relative have its servomotor 13, as symbolically in the sketch by a rotary bearing 29 illustrated to the articulations of the support rod 22 on the one hand to the Firing container 12 and opposite to the elevation servomotor 13 as to be able to train one-dimensional swivel joints. The rotatability can but also be ensured that at least one of these two coupling points 30 is designed as a ball joint, so that the rotation during the azimuth setting not on the output side directly on the elevation servomotor 13 takes place, but in at least one of these coupling points 30 so also function-critical linear plain bearings avoided.

A directional drive 10, which can be integrated into an object 11 to be protected, for fast Alignment of the fork-shaped swivel bracket 19 of a launch container 12 for frag grenades to ward off an attacking missile the interpretation according to the invention by the possibility of more precise simultaneous Azimuth and elevation settings with particularly high dynamics of this Straightening process despite the heavy weight of the chip grenades Launch container 12 from. For this purpose, the servomotors 13, 14 are from the swivel bracket 19 continued and protected against splintering, for example parallel to Azimuth axis 17, relocated to a fixed substructure 15, where it with a Substructure 15, support ring 18 held rotatably by means of a torque bearing 26 are in rotary connection for the azimuth setting of the swivel bracket 19. The coaxial to the azimuth axis 17 also integrated stationary in the substructure 15 Elevation servomotor 13 has a translatory output 23 equipped, which is essentially concentric to the azimuth axis 17 extending and rotatable about this support rod 22, the elevation of the launching container 12 determined. So the required torque for the alignment of the firing container 12 significantly reduced because of the heavy actuators 13, 14 are arranged as immobile reaction mass in the substructure 15. There is only the azimuth interface between this and the swivel mount 19 in the form of its support ring 18, which defines the torque bearing 26 - free of play due to the lack of plain bearings, i.e. stiff transmission technology for highly dynamic Mastery of large forces - can be braced against the fixed substructure 15 is. The translational, with the launching container 12 relative to the substructure 15 Elevation adjustment rotatable about the azimuth axis 17 avoids additional Torque demands on the system, so that for the fast Straightening process has become mechanically highly stressable.

Claims (7)

1. An aiming drive (10) for a launching device located on an object (11), which, for aligning a swivel holder (19) for the launching device, has, in a substructure (15) which is fixed to the object (11), an azimuth-setting motor (14) with a rotatory power take-off (pinion 24) for a supporting ring (18) for the swivel holder (19) characterized in that, particularly for defending an object (11) against an attacking missile by means of fragmentation shells fired from the launching device which takes the form of a launching container (12), for the quick azimuth adjustment of the launching container (12) at least two azimuth-setting motors (14) acting on the supporting ring (18) are disposed in the substructure (15) so as to extend parallel to the azimuth axis (17), in which case at least one of said azimuth-setting motors can be changed from driving in the same direction as the other for the assuming of an azimuth position, to driving in the opposite direction for locking of the reached azimuth position of the supporting ring (18).
2. An aiming drive (10) for a launching device located on an object (11), which, for aligning a swivel holder (19) for the launching device, has, in a substructure (15) which is fixed to the object (11), an elevation-setting motor (13) with a support (supporting rod 22) for the elevation of the launching device, said support being rotatable relative to the substructure (15) and extending by way of an articulation through a supporting ring (18) for the swivel holder (19), characterized in that, particularly for defending the object (11) against an attacking missile by means of fragmentation shells fired from the launching device which takes the form of a launching container (12), for the quick elevation adjustment of the launching container (12) the elevation-setting motor (13) is disposed in its substructure (15) so as to be concentric with the azimuth axis (17), said elevation-setting motor (13) being fitted with a translatory power take-off (23), which is rotatable relative to the setting motor (13) about the azimuth axis (17) and on which a supporting rod (22) is articulated which provides support for the launching container (12).
3. An aiming drive according to Claim 1 or 2, characterized in that the setting motor or motors (13, 14) is or are disposed so as to be stationary in a pot-shaped substructure (15).
4. An aiming drive according to Claim 1 or 2, characterized in that the supporting ring (18), which is rotatable with the swivel holder (19), is radially and axially mounted on the substructure (15) by way of a moment bearing (26) having a low overall height in axial direction.
5. An aiming drive according to one of the preceding claims, characterized in that the swivel holder (19) has the geometry of a non-isosceles right-angled triangle, which rests with its longer cathetus secured against movement on the supporting ring (18) and is provided on the opposite side with a swivel eyelet for the swivel pin (20) of the launching container (12).
6. An aiming drive according to Claim 5, characterized in that, close to the swivel axis (20), the launching container (12) is articulated by means of an eyelet (21) onto the supporting rod (22), which at the opposite end is articulated to the translatory power take-off (23) of the elevation-setting motor (13) - said power take-off (23) being coaxial with the azimuth axis (17) - with one-dimensional swivel links at both ends.
7. An aiming drive (10) for a launching device located on an object (11) which, for aligning a swivel holder (19) for the launching device, has setting motors (13, 14) disposed in a substructure (15) fixed to the object (11), characterized in that, particularly for defending the object (11) against an attacking missile by means of fragmentation shells fired from the launching device which takes the form of a launching container (12), azimuth-setting motors (14) according to Claim 1 and an elevation-setting motor (13) according to Claim 2 are disposed in a pot-shaped substructure (15).

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