Mine clearance device

Abstract

A mine clearance device (220) comprising a fork (222) and at least one claw (223a) for making cuts, the fork comprising claws for lifting objects, the lifting claws being spaced apart from each other, the mine clearance device being able to adopt an open position in which the fork and the cut claw are spaced apart from each other, the fork and the cut claw being rotatable relative to each other between the open position and a closed position of the mine clearance device in which the cut claw passes through a plane (222f) defined by all the lifting claws of the fork, a position for gripping an explosive device between the fork and the cut claw being able to be adopted by the mine clearance device between the open position and the closed position. Figure for abstract: FIGURE 2

Description

Title of the invention: Mine clearance device

[0001] The invention relates to a device for demining and characterizing a threat or a suspicious object, and more particularly to a demining device adapted to be placed at the end of an articulated arm.

[0002] Mine clearance and the removal of doubt, that is to say the characterization of a threat or a suspicious object, are essential operations for preserving human lives in territories at war or upon the return of peace.

[0003] In order to limit the risks, it is common to carry out these operations by physically removing the operator from the search area for explosive devices such as mines. Thus, it is known to propose demining devices attached to the end of an articulated arm and / or to a robot.

[0004] Such an articulated arm coupled to a mine clearance device is a known use, for example by means of a mine clearance vehicle called the "Buffalo". This vehicle comprises an articulated arm fixed by a first end to a body of the vehicle and a mine clearance device fixed to a second end of the arm.

[0005] The "Buffalo" mine clearance device comprises on one side a fork comprising several claws for lifting objects and on the other side, extending in a direction defined by the lifting claws but in a direction opposite to these lifting claws, a claw for making cuts. The fork and the claw for cutting are fixed relative to each other.

[0006] The mine clearance device is capable of pivoting, at the connection between the fork and the cutting claw, around an axis perpendicular to the arm and perpendicular to the direction defined by the fork and the cutting claw. Thus, the operator controlling the mine clearance device and the arm can direct either the cutting claw towards the ground in order to create cuts in the ground, or the fork in order to drive it into the ground and lift objects buried or resting on the ground.

[0007] The “Buffalo” vehicle’s mine clearance device thus makes it possible to clear an area of ​​mines while keeping the operator safe in the vehicle’s passenger compartment.

[0008] However, this mine clearance device only allows for a few basic actions to be carried out, which are the creation of grooves using the groove claw and the lifting of objects using the fork.

[0009] However, handling objects lifted by the fork can be complicated or even dangerous since these objects can fall from the fork, which reduces the effectiveness of handling and increases the risk of these objects exploding, if they are explosive objects.

[0010] In addition, some types of mines include a control wire or cable connecting them to a detonator. And, the "Buffalo" mine-clearing device can only cut such a cable leading to the mine in a less precise manner, for example by exerting strong pressure on the cable on the ground with a scarifier.

[0011] The objective of the invention is to propose a demining and doubt removal device making it possible to control and secure an area containing multiple types of explosive devices while optimizing the safety of the operator and the speed of this security.

[0012] To this end, there is proposed, firstly, a mine clearance device comprising a fork and at least one claw for making cuts, the fork comprising claws for lifting objects, the lifting claws being spaced apart from each other, the mine clearance device being able to adopt an open position in which the fork and the claw for cutting are spaced apart from each other.

[0013] Such a demining device thus makes it possible to remove explosive devices from an area by scraping the ground with the bleeding claw, digging up the explosive devices and moving the explosive devices using the fork.

[0014] The fork and the slitting claw are further rotatable relative to each other between the open position and a closed position of the mine clearance device in which the slitting claw traverses a plane defined by the set of claws for lifting from the fork, a position for gripping an explosive device between the fork and the slitting claw being capable of being adopted by the mine clearance device between the open position and the closed position.

[0015] Thus, the demining device ensures, in a single movement, the scraping of the ground with the bleeding claw in the closed position of the demining device, the removal of the explosive devices from the ground with the fork in the open position of the demining device and the seizure of the explosive devices in the intermediate position known as the seizure position of the demining device.

[0016] Mine clearance and clearance operations can therefore be made safer by seizing explosive devices before they are moved. This seizure can also allow operations to be carried out more quickly.

[0017] The various functions of the demining device are carried out by a single movement, increasing the speed of operations.

[0018] Various additional features may be provided, alone or in combination: - the mine clearance device comprises a cylinder articulated to the fork to set the fork in motion with respect to the bleeding claw; - the mine clearance device comprises a large pinion fixed to the fork and a small pinion fixed to the bleeding claw, the large pinion engaging the small pinion; - the mine clearance device comprises a cable cutter attached to at least one of the claws for lifting, the cable cutter comprising a blade forming a hollow for receiving and cutting a cable; - the mine clearance device comprises two cable cutters, one of the cable cutters having a larger hollow than the hollow of the other cable cutter, the cable cutter having the larger hollow being arranged between the cable cutter having the smaller hollow and a frame to which the fork and the claw for cutting are articulated; - the demining device comprises a blower expelling air at a free end of the bleeding claw; - the bleeding claw includes an internal conduit leading the air expelled by the blower to the free end of the bleeding claw.

[0019] Secondly, a vehicle is proposed comprising a mine clearance device as previously described, a body and an articulated arm, a first end of the arm being articulated to the body and a second end of the arm being articulated to the mine clearance device.

[0020] Various additional features may be provided, alone or in combination: - the demining device comprises a pivot for attachment to the arm and holes for adjusting the positioning of the demining device relative to the arm around the pivot for attachment; - the vehicle includes a viewing device for the fork and the claw for bleeding for a remote operator.

[0021] The invention will be better understood, and other aims, characteristics, details and advantages thereof will appear more clearly in the explanatory description which follows, made with reference to the appended drawings given solely by way of example illustrating an embodiment of the invention and in which:

[0022] [Fig-1] - [Fig.l] is a schematic perspective view of a vehicle comprising an articulated arm attached by a first end to the vehicle and a mine clearance device attached to a second end of the arm, the mine clearance device being in the open position;

[0023] [Fig.2] - [Fig.2] is an enlarged schematic perspective view of the mine clearance device in the open position;

[0024] [Fig.3] - [Fig.3] is a schematic side view of the mine clearance device in the open position;

[0025] [Fig.4] - [Fig.4] is a schematic side view of the mine clearance device, the mine clearance device being in the gripping position;

[0026] [Fig.5] - [Fig.5] is a schematic side view of the mine clearance device, the mine clearance device being in the position for cutting a cable or wire of small section;

[0027] [Fig.6] - [Fig.6] is a schematic side view of the mine clearance device, the mine clearance device being in the position for cutting a large-section cable or wire;

[0028] [Fig.7] - [Fig.7] is a schematic side view of the mine clearance device, with the mine clearance device in the closed position.

[0029] [Fig.l] represents a vehicle comprising a body 100, an arm 200 fixed to the body 100 at a first end 200a and a mine clearance device 220 fixed to a second end 200b of the arm 200.

[0030] According to different embodiments, the vehicle is for example an automobile such as a truck or a car, autonomous or remote-controlled such as a robot or even towable such as a trailer.

[0031] According to the embodiment shown, the arm 200 is fixed to a front part of the body 100. According to different embodiments, the arm 200 is fixed to another part of the body 100 of the vehicle.

[0032] According to the illustrated embodiment, the arm 200 comprises three sections 200c articulated to each other. According to different embodiments, the arm 200 comprises a single section 200c, two sections 200c or more than three sections 200c.

[0033] As illustrated more particularly in [Fig.2], the demining device 220 comprises a frame 221 connecting the demining device 220 to the arm 200.

[0034] The frame 221 comprises a first pivot 221b fixed to the arm 200 and around which the demining device 220 is movable in rotation relative to the arm 200.

[0035] The frame 221 also comprises adjustment holes 221a and a rod 221c designed to be disposed in one of the adjustment holes 221a. The rod 221c is also designed to be disposed in a cavity of the arm 200 (not visible in the figures).

[0036] When the rod 221c is arranged in one of the adjustment holes 221a of the frame 221 and in the cavity of the arm 200, the rotational mobility of the demining device 220 relative to the arm 200 is blocked. The different adjustment holes 221a make it possible to position the demining device 220 in different positions relative to the arm 200.

[0037] The demining device 220 also comprises a lower jaw hereinafter called fork 222 and an upper jaw 223.

[0038] According to the embodiment shown, the fork 222 comprises claws 222a for lifting objects, the claws 222a for lifting being arranged substantially parallel to each other.

[0039] The claws 222a for lifting have, for example, a pointed shape whose tip is directed away from the frame 221.

[0040] The lifting claws 222a are, for example, spaced apart from each other. The spacing of the lifting claws 222a makes it possible to support objects large enough not to pass between the lifting claws 222a and to allow earth, sand or even small pebbles to pass through.

[0041] According to the embodiment shown, the fork 222 comprises one or more spacers arranged between the lifting claws 222a to ensure this spacing. The fork 222 comprises, for example, one or more first bolts 222d passing through the lifting claws 222a and the spacers 222b and fixing the lifting claws 222a and the spacers to each other.

[0042] According to the illustrated embodiment, the fork 222 comprises two first lugs 222c for fixing the claws 222a for lifting to the frame 221. The fork 222 is rotatable relative to the frame 221 around a first axis 222e, the first axis 222e connecting the first lugs 222c and the frame 221. The first axis 222e is preferably substantially perpendicular to a direction of extension of the claws 222a for lifting.

[0043] According to different embodiments, the fork 222 comprises a single first leg 222c or more than two first legs 222c.

[0044] According to the embodiment shown, each first leg 222c is formed in the extension of one of the claws 222a for lifting. According to different embodiments, one or more of the first leg(s) 222c is a different part from the claws 222a for lifting.

[0045] According to the illustrated embodiment, the upper jaw 223 comprises a claw 223a for making cuts.

[0046] The claw 223a for bleeding has, for example, a pointed shape whose tip is directed away from the frame 221.

[0047] According to the illustrated embodiment, the upper jaw 223 comprises two second tabs 223b for fixing the claw 223a for grooves to the frame 221. The upper jaw 223 is movable in rotation relative to the frame 221 around a second axis 223d, the second axis 223d connecting the second tabs 223b and the frame 221. The second axis 223d is preferably substantially perpendicular to a direction of extension of the claw 223a for grooves.

[0048] According to different embodiments, the upper jaw 223 comprises a single second leg 223b or more than two second legs 223b.

[0049] According to the embodiment shown, one or more of the second leg(s) 223b is a different part than the groove claw 223a attached to the groove claw 223a via one or more second bolts 223c. According to embodiments different embodiment, one or more of the second leg(s) 223b is formed in the extension of the claw 223a for bleeding.

[0050] According to an embodiment not shown, only the fork 222 or the upper jaw 223 is movable in rotation relative to the frame 221.

[0051] According to the illustrated embodiment, the demining device 220 comprises a jack 224 fixed to the frame 221 and to the fork 222.

[0052] According to the illustrated embodiment, the fork 222 comprises a hole 222g for attachment, for example for a lifting shackle.

[0053] According to different embodiments, the jack 224 is articulated to the frame and to the upper jaw 223.

[0054] According to the embodiment shown, the mine clearance device 220 comprises a device 225 for transmitting the movement of the fork 222 relative to the frame 221 into a movement of the upper jaw 223 relative to the frame 221 and / or the movement of the upper jaw 223 relative to the frame 221 into a movement of the fork 222 relative to the frame 221.

[0055] According to different embodiments, the mine clearance device 220 comprises two jacks each fixed to the frame 221, one fixed to the fork 222 and the other to the upper jaw 223. According to different embodiments, the fork 222 or the upper jaw 223 is fixed in rotation relative to the frame 221.

[0056] According to different embodiments, the jack(s) 224 are replaced for example by one or more electric motors.

[0057] According to the illustrated embodiment, the transmission device 225 comprises two pinions 225a, 225b meshing with each other.

[0058] According to the illustrated embodiment, one of the pinions 225a, 225b is larger than the other. The large pinion 225a is fixed to the fork 222 and is rotatable about the first axis 222e. The small pinion 225b pinion is fixed to the upper jaw 223 and is rotatable about the second axis 223d.

[0059] The demining device 220 is thus configurable between an open position, as shown in Figures 1, 2 and 3, and a closed position, as shown in [Fig.7].

[0060] In [Fig.4] an intermediate position is illustrated allowing the gripping of an object held by the fork 222 and the upper jaw 223, between them.

[0061] In the closed position shown in 7, the claw 223a for cutting the upper jaw 223 passes between two claws 222a for lifting the fork 222 to preferably extend towards the ground. Thus, an operator can use the claw 223a for cutting to make a cut in the ground.

[0062] According to the embodiment shown, the demining device 220 comprises at least one cable cutter 226.

[0063] The cable cutter 226 comprises at least one blade which is for example fixed to one of the claws 222a for lifting the fork 222. The blade has a hollow shape oriented opposite the frame 221 and designed to receive a cable or a wire to be cut.

[0064] According to the illustrated embodiment, the demining device 220 comprises two cable cutters 226. One of the cable cutters 226 comprises a blade whose hollow is large compared to the hollow of the blade of the other cable cutter 226. The cable cutter 226 comprising the blade having the largest hollow is arranged between the frame 221 and the other cable cutter 226.

[0065] Thus, when a cable or wire is handled by the fork 222, it first comes into contact with the cable cutter 226 comprising the blade having the smallest hollow and, if the diameter of the cable or wire is sufficiently small, the cable or wire enters this hollow to be cut, as illustrated in [Fig.5].

[0066] If the diameter of the cable or wire is too large to fit into the cable cutter 226 including the blade having the smaller recess, the cable or wire passes over this cable cutter 226 relative to the claws 222a to lift and enters the recess of the cable cutter 226 including the blade having the larger recess to be cut, as shown in [Fig.6].

[0067] The demining device 220 also comprises, according to the illustrated embodiment, a blower. The blower makes it possible to draw gas to move light objects or light particles such as, for example, earth, sand or dead leaves.

[0068] According to the illustrated embodiment, the blower comprises a gas outlet conduit 227 integrated in the claw 223a for bleeding the upper jaw 223, as can be seen more particularly in [Fig.2].

[0069] According to the embodiment shown, the demining device 220 comprises a remote vision device 228. The remote vision device 228 comprises, for example, a thermal camera, a camera with day and night vision, a rangefinder and / or a device for detecting and estimating distance by light, better known by the acronym lidar.

[0070] The remote viewing device 228 allows an operator operating the demining device 220 to improve his precision while remaining safe by his distance from the working area of ​​the demining device 220.

[0071] For reasons of lightening the figures, the remote viewing device 228 is not shown in Figures 3 to 7.

[0072] Such a demining and doubt removal device 220 thus makes it possible to demine an area containing multiple types of explosive devices while optimizing operator safety and speed of demining.

Claims

Claims

1. A mine clearance device (220) comprising a fork (222) and a claw (223a) for making cuts, the fork (222) comprising claws (222a) for lifting objects, the claws (222a) for lifting being spaced apart from each other, the mine clearance device (220) being capable of adopting an open position in which the fork (222) and the claw (223a) for cuts are spaced apart from each other, the mine clearance device (220) being characterized in that the fork (222) and the claw (223a) for cuts are rotatable relative to each other between the open position and a closed position of the mine clearance device (220) in which the claw (223a) for cuts crosses a plane (222f) defined by the set of claws (222a) for lifting the fork (222),a position for gripping an explosive device between the fork (222) and the claw (223a) for bleeding being capable of being adopted by the demining device (220) between the open position and the closed position.,

2. Demining device (220) according to the preceding claim, characterized in that it comprises a jack (224) articulated to the fork (222) to set the fork (222) in motion with respect to the claw (223a) for bleeding.

3. A demining device (220) according to any one of the preceding claims, characterized in that it comprises a large pinion (225a) fixed to the fork (222) and a small pinion (225b) fixed to the claw (223a) for bleeding, the large pinion (225a) engaging the small pinion (225b).

4. A demining device (220) according to any one of the preceding claims, characterized in that it comprises a cable cutter (226) fixed to at least one of the claws (222a) for lifting, the cable cutter (226) comprising a blade forming a hollow for receiving and cutting a cable.

5. Mine clearance device (220) according to the preceding claim, characterized in that it comprises two cable cutters (226), one of the cable cutters (226) having a hollow of larger dimension than the hollow of the other cable cutter (226), the cable cutter (226) having the hollow of larger dimension being arranged between the cable cutter (226) having the hollow of smaller dimension and a frame (221) to which the fork (222) and the claw (223a) for bleeding are articulated.

6. Demining device (220) according to any one of the preceding claims, characterized in that it comprises a blower expelling air at a free end of the claw (223a) for bleeding.

7. Demining device (220) according to the preceding claim, characterized in that the claw (223a) for bleeding comprises an internal conduit (227) leading the air expelled by the blower to the free end of the claw (223a) for bleeding.

8. Vehicle comprising a mine clearance device (220) according to any one of the preceding claims, a body (100) and an articulated arm (200), a first end (200a) of the arm (200) being articulated to the body (100) and a second end (200b) of the arm (200) being articulated to the mine clearance device (220).

9. Vehicle according to the preceding claim, characterized in that the mine clearance device (220) comprises a pivot (221b) for attachment to the arm (200) and holes (221a) for adjusting the positioning of the mine clearance device (220) relative to the arm (200) around the attachment pivot (221b).

10. Vehicle according to any one of claims 8 or 9, characterized in that it comprises a device (228) for viewing the fork (222) and the claw (223a) for bleeding for a remote operator.

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