Recording device, vehicle and method for operating a recording device

Abstract

A receiving device (1, 1') for a launcher or other equipment subject to shock effects, comprising a damping system (2.1), a base (3), and a platform (4) connected to the base (3) via the damping system (2.1) for receiving the launcher or equipment, wherein the damping system (2.1) comprises at least two damping elements (7.1, 7.2), and wherein the at least two damping elements (7.1, 7.2) are each connected to the base (3) and to the platform (4) via at least two articulated means (5), characterized in that the receiving device (1, 1') additionally comprises an adjustment system (2.2), wherein the position and / or orientation of the platform (4) via the damping elements (7.1, 7.2) can be adjusted by means of a control device (16) via the adjustment system (2.2), and wherein the damping system (2.1) is designed to dampen shock events during the adjustment of the position and / or orientation of the platform (4) via the adjustment system (2.2), wherein the damping system (2.1) is hydraulic and the damping characteristic of the hydraulic damping system (2.1) is adjustable depending on a mass change of the launcher or the system via the control device (16).

Description

[0001] The invention relates to a receiving device for a launcher or other equipment subjected to shock effects, comprising a damping system, a base, and a platform connected to the base via the damping system for receiving the launcher or equipment, wherein the damping system comprises at least two damping elements, each of which is connected to the base and to the platform, preferably via at least two articulated means. Alternatively, the damping elements are connected directly to the launcher or equipment, preferably via articulated means.

[0002] Furthermore, the present invention relates to a vehicle with such a receiving device.

[0003] The invention further relates to a method for operating a receiving device for a launcher or other equipment that is subject to shock effects, comprising a damping system, a base and a platform connected to the base via the damping system for receiving the launcher or equipment, wherein the damping system comprises at least two damping elements, each of which is connected to the base and to the platform, preferably via at least two articulated means.

[0004] Mounting devices for launchers or other equipment are installed, for example, on ships or other vessels. These are designed to withstand exceptionally high shock loads outside of normal operating conditions. In particular, they serve to absorb forces that occur, for example, as a result of a mine impact. Such shock loads can also occur if a vessel is involved in a collision. In the case of ships, such shock loads can also occur while underway or at anchor.

[0005] In land vehicles, these may be designed to absorb shock loads during travel due to potholes, tree stumps, tree trunks, etc.

[0006] Existing launchers, such as decoy systems or other installations with electronic systems, are used, for example, on board military ships and feature so-called shock mounts and stabilizers to protect against mine shocks. The shock mounts, often designed as coiled wire rope elements, dampen the impact of a shock event, while the stabilizers keep the receiving device rigid. Only in the case of fundamental disturbances on the scale of a mine shock, which can occur, for example, when a ship strikes a mine, do the stabilizers allow the shock mounts to compress. During the firing of conventional launcher ammunition or rockets, as well as during other vibrations on board, the receiving device remains rigidly mounted to prevent distortion of the ammunition's trajectory due to the launcher or system oscillating from the ship's rocking motion.Decoy launching systems and stabilizers are not only used on ships, but can also be used on other vehicles.

[0007] From DE 20 2005 011 008 U1, a stabilizing device, particularly for a launcher, is known. This known mounting device is used together with a damping system consisting of shock mounts. The mounting device comprises two tubes and rigidly secures the system. The position of the tubes is fixed by a shear bolt. Upon impact, the bolt shears off, and the damping system consisting of shock mounts can absorb the shock.

[0008] DE 10 2008 017 926 B3 discloses a further stabilizing device for a launcher, which is used together with a damping system consisting of shock mounts. The mounting device comprises two tubes that rigidly fix the system. For this purpose, a pressure piece-latch connection is formed in the tubes.

[0009] While existing shock mounts are capable of effectively dampening shock effects on a one-off occasion, they do not allow for individual adjustments, for example, to different loading conditions of a launcher or to varying firing impulses that can occur when ammunition is discharged. Although the shock mounts could be modified in design and adapted to individual needs, this would lead to increased design complexity and a greater number of spare parts that would need to be procured and stockpiled. Furthermore, existing shock mounts are designed to be rigidly fixed during operation. Movement of the systems up to an impulse on the order of a mine shock is to be prevented.

[0010] Furthermore, a tilting device for a car body is known from the prior art of AT 408 739 B, in particular for rail vehicles, wherein two hydraulic cylinders articulated to the rail vehicle are provided, as well as a further cylinder which serves to determine the virtual pivot point of the car body.

[0011] Hydraulic damping systems are known from DE 10 2011 078 820 A1 and EP 2 151 585 A1, with DE 10 2005 059 113 A1 describing an actuator for a low chassis of a motor vehicle.

[0012] As a further state of the art, GB 1 491 917 A relates to a hydraulic adjustment system to which a weapon can be attached, wherein the adjustment system has a base plate and two hydraulic actuators.

[0013] According to document US 2008 / 0034954 A1, a stabilization device is provided for a platform on which a weapon, camera, sensor, etc. can be mounted, and a central post may be provided with a vibration or shock damping system.

[0014] Furthermore, US 2013 / 0264455 A1 includes a magnetorheological damping system, whereby the damping properties can be adjusted by changing the viscosity of the damping fluid.

[0015] Also known from DE 10 2012 102 235 C5 is a military vehicle with a turret and an equipment mount, whereby stabilization can be achieved by controlling motor drives provided for orienting the equipment mount in azimuth and / or elevation from a control unit of the vehicle.

[0016] Finally, US 2011 / 0042459 A1 shows a stabilization system for a weapon, with the weapon mounted on a tripod.

[0017] Based on this, the invention aims to create a receiving device for a launcher or other equipment that is subject to shock effects, which further enhances the damping.

[0018] This problem is solved by a receiving device according to claim 1 and a method for operating a receiving device according to claim 15. Advantageous embodiments and further developments are the subject of the respective dependent claims.

[0019] According to the invention, a receiving device for a launcher or other equipment subjected to shock is provided, comprising a damping system, a base, and a platform connected to the base via the damping system for receiving the launcher or equipment. The damping system comprises at least two damping elements, each of which is connected to the base and to the platform, preferably via at least two articulated means. The receiving device additionally has an adjustment system. The adjustment system allows the position and / or orientation of the platform to be set via the damping elements by means of a control device.

[0020] According to the invention, a vehicle is also provided which includes a receiving device according to the invention or described above in an advantageous embodiment of the invention. Preferably, the vehicle is a ship, a land vehicle, or an aircraft. Furthermore, preferably, it is a military vehicle.

[0021] The invention further provides a method for operating a receiving device for a launcher or other equipment subjected to shock. The receiving device comprises a damping system, a base, and a platform connected to the base via the damping system for receiving the launcher or equipment, wherein the damping system comprises at least two damping elements, each connected to the base and to the platform via at least two articulated means. The receiving device additionally comprises an adjustment system, wherein the position and / or orientation of the platform is set via the damping elements by means of a control device by means of the adjustment system.

[0022] The base can be, for example, the deck or superstructure of a ship or the superstructure of a vehicle. Alternatively, the base can be separate from the hull or vehicle and yet be attachable to it. The platform is preferably a planar structure such as a plate or a frame. It is also possible for the platform to be integrated into the launcher or system, allowing the damping elements to act directly at the relevant point on the launcher or system.

[0023] The inventive receiving device, the inventive military vessel, and the inventive method for operating a receiving device make it possible to achieve both passive damping and active adjustability. This provides sufficient damping with respect to mine shock and allows for hydraulic adjustment of the platform's position in the X, Y, and / or Z directions and its orientation, i.e., its pitch, roll, and / or yaw angles. The X, Y, and / or Z directions refer to the axes of a Cartesian coordinate system. Furthermore, active damping of reaction forces occurring or expected as a result of ammunition firing is possible to prevent the launcher or system from oscillating.

[0024] The damping system is designed to dampen shock events during the adjustment of the platform's position and / or orientation via the adjustment system. This ensures that the platform and / or the launcher or equipment mounted on it is adequately dampened against mine shocks, even in a position or orientation that deviates from its resting position, and also during adjustment.

[0025] According to the invention, the damping system is a hydraulic damping system, and the damping characteristics of the hydraulic damping system are adjustable via the control device depending on a change in the mass of the launcher or the system. The hydraulic damping system offers the advantage of being able to accommodate variable shock paths by adjusting the angle of attack and the extension lengths of the damping elements.

[0026] By adjusting the damping characteristics of the receiving device to the changes in mass, the mechanical stresses on the components of the launcher or system can be minimized. The damping characteristic is set to a firmer setting for larger launchers or systems. For smaller masses, the damping characteristic is set to a softer setting, thus reducing the impact on the components. Accordingly, the damping characteristic of the launcher or system is adjusted via the control unit based on the mass changes. This results in a longer service life for the launcher or system, particularly for its electronic components.

[0027] This makes it possible to individually adjust the damping of the launcher or system to its mass. Furthermore, this allows for adaptation to the expected shock event. These devices also serve to absorb forces that occur during the firing of ammunition, such as camouflage, decoy, and decoy devices, or rockets, or forces that occur during the operation of other systems, which can amplify with regard to aiming safety and / or accuracy. In a further development of the invention, it is possible to adapt the damping to the different loading states of the launcher or system. Thus, the damping can be adjusted according to the weight of the fully loaded launcher down to the unloaded launcher; that is, it can be adapted depending on the amount of ammunition in the launcher or already fired. The mounting device according to the invention can be used with and without shock mounts.The receiving device according to the invention makes it possible to adjust the device to the respective weight of the different types of ammunition.

[0028] To determine the mass of the launcher or system, weight values ​​for the launcher or system, for example in the form of tables, are stored in a memory device of the control unit. Such values ​​may have been pre-stored and may be based on experience or measured values. For example, the weight of the fully loaded launcher, as well as the weight of the launcher or system after firing one or more salvos of camouflage or decoy missiles, down to the weight of the empty launcher without ammunition, may be stored. Alternatively, appropriate sensors may also be provided to determine the mass of the launcher or system in a suitable manner.For example, weighing sensors, pressure sensors, or acceleration sensors can be installed at appropriate locations to determine the mass and / or mass change of the launcher or system. These sensors are operationally connected to the control unit so that the control unit can determine the mass and / or mass change of the launcher or system. The control unit is thus configured to determine the mass of the launcher or system and to adjust the damping characteristics of the damping system accordingly.

[0029] In a further development of the invention, it can be provided that the damping system and the adjustment system are an electromagnetic or a fluidic, in particular pneumatic or hydraulic, system.

[0030] In a further advantageous development of the receiving device, the adjustment system can be a hydraulic adjustment system and the damping elements can be hydraulic cylinders. Each hydraulic cylinder can be assigned a hydraulic directional control valve and the adjustment system can include a hydraulic pump.

[0031] In an embodiment of the invention, it can be provided that the adjustment system comprises sensors for detecting the position of the platform and / or the hydraulic cylinders, as well as a roll, pitch, and / or yaw sensor arranged on the platform for detecting the orientation of the platform, which is operationally connected to the control device, and that the hydraulic cylinders can be adjusted via the hydraulic directional control valve based on output signals from the sensors for active pitch, roll, and / or yaw compensation of the platform via the control device.

[0032] The hydraulic cylinders can be adjusted via the hydraulic directional control valves based on sensor output signals for active pitch, roll, and / or yaw compensation of the platform via the control unit. It is also possible for the control unit to receive data regarding the ship's inclination, heel, or yaw from an external interface in the ship's Combat Management System (CMS) at specified intervals. The use of hydraulic dampers makes it possible to achieve virtually unlimited shock stroke lengths, as the hydraulic damping system and the achievable shock strokes are conceptually limited only by the installation length of the dampers.

[0033] Furthermore, the design of the receiving device may include hydraulic directional control valves, proportional directional control valves, in particular 4 / 3 directional proportional pressure control valves, and the control device actuates these in real time for the adjustment of the hydraulic cylinders for active pitch, roll and / or yaw compensation of the platform.

[0034] Furthermore, the receiving device can be further developed to include six hydraulic cylinders and six hydraulic directional control valves, with each hydraulic cylinder being connected to a hydraulic directional control valve via a hydraulic line, so that each hydraulic cylinder can be individually actuated hydraulically by the corresponding hydraulic directional control valve. This embodiment creates a receiving device with a platform that is adjustable with respect to three rotational degrees of freedom and three translational degrees of freedom, i.e., six degrees of freedom.

[0035] The receiving device can further comprise a hydraulic motor designed to rotate the platform or a rotatable part of the platform around the azimuth axis.

[0036] In the embodiment of the receiving device, it can also be provided that the hydraulic motor is in line connection with the hydraulic pump and that a further hydraulic directional control valve, preferably a proportional directional control valve, and preferably a 4 / 3 way proportional pressure control valve, is formed between the hydraulic motor and the hydraulic pump.

[0037] In a further development of the invention, the receiving device can be configured such that the damping characteristic can be adjusted via the control device as a function of the mass change of the launcher or system due to ammunition firing or loading, with respect to a time before and a time after the ammunition firing or loading. The control device can also be configured to determine a mass change of the launcher or system based on ammunition firing. For this purpose, the mass of the launcher or system before the ammunition firing or loading can first be determined. Subsequently, the mass after the ammunition firing or loading can be determined, and from the difference, both the mass change and the mass of the launcher or system can be determined, on the basis of which the control device can then adjust the damping characteristic.

[0038] Preferably, the damping elements can be hydraulic cylinders, each connected via hydraulic lines to at least one pre-charged hydraulic accumulator. Each hydraulic cylinder can be associated with at least one pressure relief valve, which is located between the hydraulic cylinder and the at least one hydraulic accumulator. In other words, each hydraulic cylinder is connected to at least one pressure relief valve via hydraulic lines. Several hydraulic cylinders can also be connected to a single pressure relief valve via hydraulic lines. A hydraulic accumulator follows each pressure relief valve, and several pressure relief valves can also be connected to a single hydraulic accumulator via hydraulic lines.

[0039] The at least one hydraulic accumulator can be designed, for example, as a piston accumulator or a bladder accumulator. Furthermore, the at least one hydraulic accumulator can be connected to the pressure relief valve via a hydraulic line. The at least one pressure relief valve can be connected to the hydraulic cylinder via hydraulic lines. It is possible for a single hydraulic accumulator to communicate with all hydraulic cylinders. Likewise, a single hydraulic accumulator can be provided for multiple hydraulic cylinders. Furthermore, one or more hydraulic accumulators can be provided for each hydraulic cylinder. The at least one pressure relief valve is preferably an adjustable pressure relief valve. It can be individually adjusted to the launcher, ammunition, and / or shock loads at which point the hydraulic oil is released and directed into the hydraulic accumulator.The hydraulic accumulator is preferably individually pre-tensioned and, depending on the pre-tension, individually dampens the shock load on the launcher or system. The hydraulic accumulator is preferably designed such that its pre-tension, i.e., its internal pressure, can be regulated. For this purpose, the hydraulic accumulator may, for example, include an additional device (not shown) for pressure build-up or pressure reduction. The pre-tension of the hydraulic accumulator and / or the opening pressure of the pressure relief valve can be adjusted to the mass change of the launcher or system, as well as to the desired damping requirements.

[0040] In an advantageous further development of the receiving device, the control device can be arranged to control the at least one pressure relief valve and / or the hydraulic accumulator in such a way that, for the purpose of adjusting the damping characteristics, the opening pressure of the at least one pressure relief valve and / or the internal pressure of the at least one hydraulic accumulator can be adjusted depending on the mass of the launcher or the system.

[0041] In an advantageous further development of the receiving device, each hydraulic accumulator can be assigned a check valve, which is formed by hydraulic lines in parallel connection to the at least one pressure relief valve, in order to supply hydraulic fluid volume from the hydraulic accumulator to the hydraulic cylinder. This ensures that hydraulic fluid can flow back from the oil cylinder into the hydraulic cylinder, so that the hydraulic cylinder can return to its initial position or a desired rest position assumed before an expected shock event.

[0042] Furthermore, the receiving device can be further developed such that the hydraulic cylinders are double-acting hydraulic cylinders and each comprises both a compression stage and a rebound stage, wherein at least one hydraulic accumulator and at least one pressure relief valve are provided for both the compression and rebound stages. Thus, at least one hydraulic accumulator and at least one pressure relief valve can be provided for both the compression and rebound stages of one or more cylinders.

[0043] By using double-acting hydraulic cylinders, shock events in both directions of the hydraulic cylinders can be absorbed. Furthermore, this allows the platform to be adjusted in both the tension and compression directions of the hydraulic cylinders.

[0044] In an advantageous further development of the receiving device, the hydraulic damping system can be provided with at least one energy absorption structure, preferably arranged in the damping elements. The energy absorption structure is preferably a plastically deformable structure that absorbs energy through plastic deformation. For this purpose, the energy absorption structure is, for example, designed as a honeycomb structure and arranged in the hydraulic cylinders so that it absorbs overpressure above a certain pressure level. This allows the receiving device to absorb even particularly strong impacts without damage to the receiving device or its components.

[0045] Furthermore, the present invention comprises a method according to claim 15. It is provided that the damping system dampens shock events during the adjustment of the position and / or the alignment of the platform via the damping system.

[0046] Furthermore, the procedure provides that the damping characteristics of the hydraulic damping system are adjusted via the control device depending on a change in the mass of the launcher or the system.

[0047] In a further development of the method, the damping elements can be hydraulic cylinders, each with its own hydraulic directional control valve, and the adjustment system can include a hydraulic pump. Preferably, the adjustment system can include sensors for detecting the position of the platform and / or the hydraulic cylinders, as well as a roll, pitch, and yaw sensor mounted on the platform to detect its orientation, which are operationally connected to the control unit. The hydraulic cylinders can be adjusted via the hydraulic directional control valve, based on output signals from the sensors, to actively compensate for the platform's pitch, roll, and yaw movements via the control unit.

[0048] In a further embodiment of the method, it may be provided that the hydraulic directional control valves are proportional directional control valves, in particular 4 / 3 directional proportional pressure control valves, and that the control device controls these in real time for the adjustment of the hydraulic cylinders for active pitch, roll, and yaw compensation of the platform.

[0049] In an advantageous embodiment, the method can provide for six hydraulic cylinders and six hydraulic directional control valves, with each hydraulic cylinder being connected to a hydraulic directional control valve via a pipeline, so that each hydraulic cylinder can be individually hydraulically actuated by the corresponding hydraulic directional control valve. This embodiment allows for the creation of a shock-absorbing device with a platform that is adjustable with respect to three rotational degrees of freedom and three translational degrees of freedom, i.e., six degrees of freedom.

[0050] In further training, the procedure provides for the damping characteristic to be set via the control device depending on the mass change of the launcher or the system due to ammunition firing in relation to a time before and a time after ammunition firing.

[0051] Furthermore, the method provides that the damping system is a hydraulic damping system, and the damping characteristic of the hydraulic damping system is adjusted via a control system depending on a change in the mass of the launcher or the system.

[0052] In an embodiment of the method, it can be provided that the damping elements are hydraulic cylinders, each of which is connected via hydraulic lines to at least one pre-tensioned hydraulic accumulator, and that each hydraulic cylinder is assigned at least one pressure relief valve, which is arranged between the hydraulic cylinder and the at least one hydraulic accumulator, wherein the control device controls the at least one pressure relief valve and the hydraulic accumulator in such a way that the opening pressure of the at least one pressure relief valve and the internal pressure of the at least one hydraulic accumulator are adjusted as a function of the mass of the launcher or the system to adjust the damping characteristic.

[0053] The invention will now be explained using several exemplary embodiments with reference to the drawings.

[0054] It shows: • Fig. 1 a recording device according to one aspect of the invention, • Fig. 2 a receiving device according to an embodiment of the invention, • Fig. 3 a receiving device according to a further embodiment of the invention, and • Fig. 4 a schematic representation of a further embodiment of the invention.

[0055] In Fig. Figure 1 shows a receiving device 1 according to one aspect of the invention. The receiving device 1 comprises a hydraulic damping system 2.1 and a hydraulic adjustment system 2.2, a base 3 and a platform 4. The platform 4 is connected to the base 3 via the damping system 2.1. Fig. For better understanding, Figure 1 shows the damping system 2.1 of the receiving device 1 on its own.

[0056] The damping system 2.1 comprises at least two damping elements designed as hydraulic cylinders 7.1 and 7.2. The damping characteristic of the hydraulic damping system is adjustable via a control device 16 as a function of the mass of a launcher or system. The launcher or system is not shown in detail but can be mounted on the platform 4. Likewise, the platform 4 can be the base of the launcher or system.

[0057] To determine the mass of the launcher, the control unit 16 stores weight values ​​of the launcher or system in advance, for example, in the form of tables in a storage device of the control unit 16. This includes, for example, the weight of the fully loaded launcher, as well as the weight of the launcher or system after firing individual or complete salvos of ammunition, such as camouflage or decoy missiles, down to the weight of the empty launcher. Alternatively, appropriate sensors can also be used to determine the mass of the launcher or system. The control unit 16 is thus configured to determine the mass of the launcher or system and to adjust the damping characteristics of the hydraulic damping system accordingly.The control unit is also designed to determine a change in the mass of the launcher or system based on ammunition firing or loading. First, the mass of the launcher or system is determined before the ammunition is fired or loaded. Then, the mass is determined after the ammunition is fired, and the difference allows both the change in mass and the mass of the launcher or system to be calculated. The control unit 16 then uses this information to adjust the damping characteristics.

[0058] According to the in Fig. In the embodiment shown in Figure 1, the damping elements are designed as hydraulic cylinders 7.1, 7.2. Each of the hydraulic cylinders 7.1, 7.2 is connected to the base 3 via a hinged element 5. Each of the hydraulic cylinders 7.1, 7.2 is connected to the platform via another hinged element 5. Thus, two hinged elements 5 are provided for each hydraulic cylinder 7.1, 7.2.

[0059] The damping system 2.1 comprises at least one pre-charged hydraulic accumulator 6.1, 6.2. According to the embodiment shown in Fig. 1 Two hydraulic accumulators 6.1, 6.2 are provided. The hydraulic cylinders 7.1, 7.2 are each connected to the hydraulic accumulators 6.1, 6.2 via hydraulic lines 9. The damping system 2.1 further comprises at least one pressure relief valve 8.1, 8.2. According to the Fig. In the embodiment shown in Figure 1, two pressure relief valves 8.1 and 8.2 are provided. The pressure relief valves 8.1 and 8.2 are each located between the hydraulic cylinders 7.1 and 7.2 and are connected to them via hydraulic lines 9.

[0060] Each hydraulic accumulator 6.1 and 6.2 is associated with a check valve 10.1, 10.2. Each check valve 10.1, 10.2 is connected in parallel to hydraulic lines 9 to the respective pressure relief valve 8.1, 8.2 and allows hydraulic fluid to flow out of the hydraulic accumulator 6.1, 6.2 in order to replenish the hydraulic oil (hydraulic volume) forced out of the hydraulic cylinder by damping it back into the hydraulic cylinder 7.1, 7.2, for example when the cylinder is returned to its initial position after a shock event or is to assume a different initial position.

[0061] According to the Fig. In the embodiment shown in Figure 1, the hydraulic cylinders 7.1 and 7.2 are double-acting hydraulic cylinders. Each hydraulic cylinder 7.1, 7.2 comprises both a compression stage and a rebound stage. For the compression stage and for the rebound stage, a hydraulic accumulator 6.1, 6.2, at least one pressure relief valve 8.1, 8.2, and a check valve 10.1, 10.2 are provided. The compression stage of both Fig. The hydraulic cylinders 7.1 and 7.2 shown in Figure 1 are associated with a pressure relief valve 8.1, a hydraulic accumulator 6.1, and a check valve 10.1. The rebound stage of both in Fig. The hydraulic cylinder 7.1 , 7.2 shown is associated with a pressure relief valve 8.2 , a hydraulic accumulator 6.2 and a check valve 10.2.

[0062] The control unit 16 is operationally connected to the pressure relief valves 8.1 and 8.2 as well as to the hydraulic accumulators 6.1 and 6.2. The hydraulic accumulators 6.1 and 6.2 have in the Fig. Figure 1 shows devices (not shown) with which the internal pressure of the hydraulic accumulators 6.1, 6.2 can be increased and decreased. The control device 16 is configured to actuate at least one pressure relief valve 8.1, 8.2 and the hydraulic accumulator 6.1, 6.2. This allows the opening pressure of the pressure relief valves 8.1, 8.2 and the internal pressure of the at least one hydraulic accumulator 6.1, 6.2 to be adjusted. For this adjustment, the control device 16 uses the mass of the launcher or system and, based on this mass, adjusts the damping characteristics of the hydraulic damping system.

[0063] Fig. Figure 2 shows a receiving device according to one embodiment of the invention. As can be easily seen from the figures, the receiving device 1 comprises Fig. 2 all elements of the in Fig. The receiving device 1 shown in section 1 further comprises the receiving device 1 according to the above. Fig. 2 an adjustment system 2.2 . The position and / or orientation of the platform 4 can be adjusted via the adjustment system 2.2.

[0064] The adjustment system 2.2 is a hydraulic adjustment system 2.2 and comprises directional control valves 13.1, 13.2. Each of the hydraulic cylinders 7.1, 7.2 is assigned a directional control valve 13.1, 13.2. The adjustment system 2.2 is connected to the hydraulic cylinders 7.1, 7.2. The adjustment system 2.2 also includes a hydraulic pump 11 and sensors for detecting the position of the platform 4 and / or the hydraulic cylinders 7.1, 7.2. Furthermore, the adjustment system 2.2 includes a roll, pitch, and / or yaw sensor 17 arranged on the platform 4 for detecting the orientation of the platform. The sensors are operationally connected to the control unit 16. The hydraulic cylinders 7.1 and 7.2 are each adjustable via the hydraulic directional control valves 13.1 and 13.2 based on output signals from the sensors for active pitch, roll, and / or yaw compensation of the platform via the control unit 16. The opening pressure of the pressure relief valves 8.1 and 8.2 is also adjustable.2 is greater than the pressure in the hydraulic system during the adjustment of hydraulic cylinders 7.1, 7.2.

[0065] The in Fig. The two hydraulic directional control valves 13.1 and 13.2 shown are 4 / 3-way proportional pressure control valves. The control unit 16 is configured to actuate these valves to adjust the hydraulic cylinders 7.1 and 7.2, in order to implement active pitch, roll, and yaw compensation of the platform 4 in real time. For this purpose, the control unit 16 is operationally connected to the roll, pitch, and / or yaw sensor 17 and to the directional control valves 13.1 and 13.2. Furthermore, the receiving device 1 includes a filter 14 and a tank 12, from which the hydraulic fluid can be drawn by the pump 11 and into which the hydraulic fluid can flow back through the filter 14 after passing through the directional control valves 13.1 and 13.2 and the hydraulic cylinders 7.1 and 7.2.

[0066] Fig. Figure 3 represents a receiving device 1' according to a further embodiment of the invention. The receiving device 1' according to Fig. 3 is based on the recording device 1 according to Fig. 2 and below, the additions and differences of the recording device 1' are described according to Fig. 3 described. The in Fig. The receiving device 1' shown in Figure 3 comprises a platform 4 with a rotatable part 18. The rotatable part of the platform 18 is rotatable relative to the other part of the platform 4. Since the number of hydraulic cylinders may allow the platform 4 to rotate about the azimuth axis relative to the base, the rotatable part 18 provides additional rotational mobility for the platform 4. To achieve this rotational mobility, the receiving device 1 includes a hydraulic motor 15, which is configured to rotate the platform 4 or a rotatable part of the platform 18 about the azimuth axis. The hydraulic motor 15 is connected to the hydraulic pump 11 and the filter 14 via a line, as shown in Figure 3. Fig. 3 is indicated. A hydraulic directional control valve, preferably a proportional directional control valve, and preferably a 4 / 3 directional proportional pressure control valve, is provided between the hydraulic motor 15 and the hydraulic pump 11. This is in Fig. 3 not shown.

[0067] Fig. Figure 4 shows a schematically simplified representation of another embodiment of the invention. In further detailing the embodiments described above, the receiving device comprises six hydraulic cylinders 7.1, 7.2, 7.3, 7.4, 7.5, 7.6. The following applies to each pair of hydraulic cylinders 7.1, 7.2, 7.3, 7.4, 7.5, 7.6: Fig. The damping system 2 is configured as shown in Figure 1. This configuration includes six hydraulic cylinders 7.1, 7.2, 7.3, 7.4, 7.5, 7.6, six pressure relief valves 8.1, 8.2, six check valves 10.1, 10.2, and six hydraulic accumulators 6.1, 6.2. The control unit 16 is preferably implemented only once and is operationally connected to all six hydraulic accumulators 6.1, 6.2 and all six pressure relief valves 8.1, 8.2, etc., in order to control them. The control unit 16 is further configured to control the opening pressure of each pressure relief valve 8.1, 8.2 and the internal pressure of each hydraulic accumulator 6.1, 6.2. Six hydraulic cylinders 7.1, 7.2, 7.3, 7.4, 7.5, 7.6 are each equipped with six hydraulic directional control valves 13.1, 13.2, with each hydraulic cylinder 7.1, 7.2, 7.3, 7.4, 7.5, 7.6 being connected to a hydraulic directional control valve 13.1, 13.2 by a pipeline. Each hydraulic cylinder 7.1, 7.2, 7.3, 7.4, 7.5, 7.66 is individually hydraulically actuated by the corresponding hydraulic directional control valve 13.1, 13.2. This embodiment creates a receiving device 1, 1' with a platform 4 which has three degrees of rotational freedom about the one shown. Fig. The 4 X,Y and Z axis directions shown and three translational degrees of freedom X,Y and Z axis directions, for a total of six degrees of freedom, are adjustable. Reference symbol list 1, 1' Recording device 2.1 Damping system 2.2 Adjustment system 3 Basic 4 Platform 5 flexible means 6.1, 6.2 Hydraulic storage 7.1, 7.2 Hydraulic cylinders 8.1, 8.2 Pressure relief valve 9 Hydraulic line 10.1, 10.2 Check valve 11 Hydraulic pump 12 Hydraulic tank 13.1, 13.2 Directional control valve 14 hydraulic filters 15 Hydraulic motor 16 Control unit 17 Roll, pitch, and yaw sensors 18 Rotating part of the platform

Claims

[1] Receiving device (1, 1') for a launcher or other equipment subject to shock effects, comprising a damping system (2.1), a base (3) and a platform (4) connected to the base (3) via the damping system (2.1) for receiving the launcher or equipment, wherein the damping system (2.1) comprises at least two damping elements (7.1, 7.2), and wherein the at least two damping elements (7.1, 7.2) are each connected to the base (3) and to the platform (4) via at least two articulated means (5), characterized by, that the receiving device (1, 1') additionally comprises an adjustment system (2.2), wherein the adjustment system (2.2) allows the position and / or orientation of the platform (4) to be adjusted via the damping elements (7.1, 7.2) by means of a control device (16), and wherein the damping system (2.1) is configured to dampen shock events during the adjustment of the position and / or orientation of the platform (4) via the adjustment system (2.2), and wherein the damping system (2.1) is hydraulic and the damping characteristic of the hydraulic damping system (2.1) is adjustable via the control device (16) depending on a change in the mass of the launcher or the system. [2] Receiving device (1, 1') according to claim 1, characterized by, that the damping elements are designed as hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) and each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) is assigned a hydraulic directional control valve (13.1, 13.2) and the adjustment system (2.2) includes a hydraulic pump (11). [3] Receiving device (1, 1') according to claim 2, characterized by , that the adjustment system (2.2) comprises sensors for detecting the position of the platform (4) and / or the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) as well as a roll, pitch, and / or yaw sensor (17) arranged on the platform (4) for detecting the orientation of the platform, which are operationally connected to the control device (16), and the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) are adjustable via the hydraulic directional control valves (13.1, 13.2) on the basis of output signals from the sensors for active pitch, roll, and / or yaw compensation of the platform (4) via the control device (16). [4] Receiving device (1, 1') according to claim 2 or 3, characterized by , that the hydraulic directional control valves (13.1, 13.2) are proportional directional control valves, and the control device (16) controls these for active pitch, roll, and yaw compensation of the platform in real time for adjusting the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6). [5] Receiving device (1, 1') according to claim 4, characterized by , that the proportional directional control valves are 4 / 3 directional proportional pressure control valves. [6] Receiving device (1, 1') according to any one of claims 2 to 5, characterized by, that six hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) and six hydraulic directional control valves (13.1, 13.2) are provided, wherein each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) is connected by a hydraulic directional control valve (13.1, 13.2) so that each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) can be individually hydraulically actuated by the corresponding hydraulic directional control valve (13.1, 13.2). [7] Receiving device (1') according to any one of claims 2 to 6, characterized by , that the receiving device (1) comprises a hydraulic motor (15) configured to rotate the platform (4) or a rotatable part (18) of the platform (16) about the azimuth axis. [8] Receiving device (1') according to claim 7, characterized by , that the hydraulic motor (15) is in line connection with the hydraulic pump (11) and that another hydraulic directional control valve is formed between the hydraulic motor (15) and the hydraulic pump (11). [9] Receiving device (1') according to claim 8, characterized by , that another hydraulic directional control valve is a proportional directional control valve. [10] Receiving device (1') according to claim 9, characterized by that the other proportional directional control valve is a 4 / 3-way proportional pressure control valve. [11] Receiving device (1, 1') according to any one of the preceding claims, characterized by , that the hydraulic damping system (2.1) has at least one energy absorption structure. [12] Receiving device (1, 1') according to claim 11, characterized by , that the energy absorption structure is arranged in the damping elements (7.1, 7.2). [13] Vehicle comprising a receiving device (1, 1') according to any one of claims 1 to 12. [14] Vehicle according to claim 13, characterized by that the vehicle is a military vehicle. [15] Method for operating a receiving device (1, 1') for a launcher or other equipment subject to shock effects, comprising a damping system (2.1), a base (3) and a platform (4) connected to the base (3) via the damping system (2.1) for receiving the launcher or equipment, wherein the damping system (2.1) comprises at least two damping elements (7.1, 7.2) each connected to the base (3) and to the platform (4), and wherein the at least two damping elements (7.1, 7.2) are connected to the base (3) and to the platform (4) via at least two articulated means (5), characterized by, that the receiving device (1, 1') additionally comprises an adjustment system (2.2) wherein the adjustment system (2.2) sets a position and / or orientation of the platform via the damping elements (7.1, 7.2) by means of a control device (16), and that the damping system (2.1) dampens shock events during the setting of the position and / or orientation of the platform (4) via the damping system (2.1), and wherein the damping system (2.1) is hydraulic and the damping characteristic of the hydraulic damping system (2.1) is set as a function of a mass change of the launcher or the system via the control device (16). [16] Method according to claim 15, characterized by, that the damping elements are designed as hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) and each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) is assigned a hydraulic directional control valve (13.1, 13.2), and the adjustment system (2.2) includes a hydraulic pump (11). [17] Method according to one of claims 15 or 16, characterized by , that the adjustment system (2.2) comprises sensors for detecting the position of the platform (4) and / or the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) as well as a roll, pitch, and yaw sensor (17) arranged on the platform (4) for detecting the orientation of the platform, which are operationally connected to the control unit (16), and the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) are adjusted via the hydraulic directional control valves (13.1, 13.2) on the basis of output signals from the sensors for active pitch, roll, and yaw compensation of the platform (4) via the control unit (16). [18] Method according to claim 16 or 17, characterized by , that the hydraulic directional control valves (13.1, 13.2) are proportional directional control valves, and the control device (16) controls these for active pitch, roll, and yaw compensation of the platform in real time for adjusting the hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6). [19] Method according to claim 18, characterized by , that the hydraulic directional control valves (13.1, 13.2) are 4 / 3 directional proportional pressure control valves. [20] Method according to any one of claims 16 to 19, characterized by, that six hydraulic cylinders (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) and six hydraulic directional control valves (13.1, 13.2) are provided, wherein each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) is connected by a hydraulic directional control valve (13.1, 13.2) so that each hydraulic cylinder (7.1, 7.2, 7.3, 7.4, 7.5, 7.6) is individually hydraulically actuated by the corresponding hydraulic directional control valve (13.1, 13.2, 13.3, 13.4, 13.5, 13.6).

Images