Self-propelled gun system

Abstract

It is a self-propelled gun system (10) that defines a recoil reduction system (100). The self-propelled gun system (10) includes a chassis (200), a gun barrel (300), and a chassis suspension system (400) including a first wheel arm (402) that extends from the chassis (200) to a first wheel (404). The first wheel (404) is rotatably mounted on the first wheel arm (402), and the first wheel (404) is configured to engage with a support surface (500). The first wheel arm (402) and the first wheel (404) are configured to support the chassis (200) at a distance (Dz) from the support surface (500). The recoil reduction system (100) is operable to be controlled such that the maximum recoil attenuation distance (Dz_max) of the chassis (200) from the support surface (500) in the z-axis for gun firing conditions is set according to a predetermined relationship by pivoting the first wheel arm (402) with respect to the z-axis.

Description

Technical Field

[0001] The present invention relates to a self-propelled gun system.

[0002] In particular, the present invention relates to a self-propelled gun system having an integrated recoil reduction system.

Background Art

[0003] When a firearm system fires, the gun generates a very large recoil force that must be managed and dissipated. If the force cannot be dissipated, the system will move uncontrollably, making system management difficult and / or dangerous. When firing at a low angle, the recoil load can generate a tipping moment that can cause the weapon to bounce or even tip over during firing. Lightweight systems tend to be fixed to the ground via, for example, braked wheels / tracks or spades.

[0004] In such systems, the recoil force can be managed by a recoil system and reduced by increasing the length of the recoil stroke and / or by increasing the recoil mass, because through the conservation of momentum, the recoil velocity and thus the energy are reduced. However, all of these features add weight and make it very difficult to create a stable lightweight system.

[0005] Conventionally, self-propelled gun systems (i.e., those having a power train but being lighter than heavy weapons such as tanks) have wheels, suspension, drive, and braking systems required for transportation in addition to a support system to handle the very large impact directional loads experienced during gun operation. This adds extra weight and complexity and makes it more difficult to achieve the desired weight limit.

[0006] Therefore, a self-propelled gun system that is relatively lightweight yet stable when absorbing recoil force is highly desirable.

Summary of the Invention

[0007] According to the present disclosure, there is provided an apparatus and a system as described in the appended claims. Other features of the present invention will become apparent from the dependent claims and the following description.

[0008] Therefore, a self-propelled gun system (10) defining a recoil mitigation system (100) may be provided. The self-propelled gun system (10) may include a chassis (200) extending along the x-axis, with a first end (202) and a second end (204) of the chassis (200) being spaced apart from each other along the x-axis. The chassis (200) extends along the y-axis, and a first side (206) and a second side (208) of the chassis (200) are spaced apart from each other along the y-axis. The x-axis is perpendicular to the y-axis. The self-propelled gun system (10) may further include a gun barrel (300) having a gun barrel axis (302), the gun barrel (300) being mounted to the chassis (200) by a pivot mount (304), the gun barrel (300) being aligned with the y-axis and / or pivotable about a pivot axis (310) parallel to the y-axis with respect to the x-axis. The self-propelled gun system (10) may further include a chassis suspension system (400) including a first wheel arm (402) extending from the chassis (200) to a first wheel (404). The first wheel (404) is rotatably mounted on the first wheel arm (402), the first wheel (404) being configured to engage a support surface (500). The first wheel arm (402) and the first wheel (404) are configured to support the chassis (200) at a distance (Dz) from the support surface (500) along the z-axis, the z-axis being perpendicular to the x-axis and the y-axis.

[0009] The recoil mitigation system (100) may be operable to vary a maximum recoil attenuation distance (Dz_max) of the chassis (200) from the support surface (500) along the z-axis, thereby varying an attenuation distance available along the z-axis to absorb a recoil force (Fr) from the firing of a projectile (340) from the gun barrel (300).

[0010] The self-propelled gun system (10) may further include a first wheel brake control device (600) configured to apply a braking force to a rotatable first wheel (404) in response to movement of the chassis (200) on the x-axis due to a reaction force (Fr) from the firing of a projectile (340) from the gun barrel (300).

[0011] The brake control device (600) may be configured to apply a braking force to the rotatable first wheel (404) after the firing of the projectile (340) from the gun barrel (300) and after the rotatable first wheel (404) starts to rotate along the support surface (500) in response to the firing of the projectile (340) from the gun barrel (300).

[0012] The brake control device (600) may be configured to gradually and / or intermittently apply a braking force to the rotatable first wheel (404) after the rotatable first wheel (404) starts to rotate.

[0013] The brake control device (600) may be a regenerative braking device (602), and the regenerative braking device (602) is operably connected to a rechargeable power storage device (700) and at least one first wheel (404) to generate an electric current by decelerating at least one first wheel (404) and dissipating the recoil of the self-propelled gun system (10).

[0014] The self-propelled gun system (10) may further include a processor (610) that communicates with the regenerative braking device (602) and the rechargeable power storage device (700) such that the processor (610) decelerates the first wheel (404) in the regenerative braking device (602) in response to a first movement of the chassis (200) along the support surface (500).

[0015] The gun barrel (300) may be constrained to pivot about a pivot axis (310) in a movement plane extending through the x-axis and the z-axis, and / or may be constrained to pivot about the pivot axis (310) between -5 degrees with respect to the x-axis and +75 degrees with respect to the x-axis.

[0016] The gun barrel (300) can be rotatable about the z-axis and is restricted to be rotatable at + / - 5 degrees or less with respect to the direction parallel to the x-axis about the z-axis.

[0017] The distance (Dy) of the first wheel (404) from the x-axis in the direction along the y-axis can be made to increase, thereby increasing the stability of the chassis (200) along the x-axis and y-axis and maintaining the orientation of the chassis (200) during and after the firing of the projectile (340) from the gun barrel (300).

[0018] The maximum recoil damping distance (Dz_max) of the chassis (200) from the support surface (500) on the z-axis for gun firing conditions can be controlled to be set by pivoting the first wheel arm (402) with respect to the z-axis, and the elastic suspension unit (420) biases the first wheel arm (402) after displacement of the chassis (200) away from the set maximum recoil damping distance (Dz_max) to return the chassis (200) to be separated from the support surface (500) by the set maximum recoil damping distance (Dz_max).

[0019] The first wheel arm (402) of the chassis can extend away from the chassis (200) at an angle with respect to the x-axis and y-axis, and the elastic suspension unit (420) extends between the chassis (200) and the first wheel arm (402) of the chassis.

[0020] The elastic suspension unit (420) can include at least one of an air spring, a switchable shock absorber, a hydro-pneumatic, a hydro-elastic, and a hydro-gas suspension, and the elastic suspension unit (420) is configured to change its spring stiffness.

[0021] The chassis suspension system (400) may further include a first leg strut (240), the first leg strut (240) being pivotally attached to the chassis (200) at a connection end (242) and extending to a foot (244) configured to engage the support surface (500) to support the chassis (200) away from the support surface (500).

[0022] The unloaded mass of the self-propelled gun system (10) may be 10 tons or less or 5 tons or less.

[0023] A method of operating a self-propelled gun system (10) that defines a recoil mitigation system (100) may also be provided. The self-propelled gun system (10) includes a chassis (200) extending along the x-axis, where a first end (202) of the chassis (200) and a second end (204) of the chassis (200) are spaced apart from each other along the x-axis. The chassis (200) extends along the y-axis, and a first side (206) of the chassis (200) and a second side (208) of the chassis (200) are spaced apart from each other along the y-axis. The x-axis is perpendicular to the y-axis. A chassis suspension system (400) includes a first wheel arm (402) extending from the chassis (200) to a first wheel (404), where the first wheel (404) is rotatably mounted on the first wheel arm (402). The first wheel (404) is configured to engage a support surface (500). The first wheel arm (402) and the first wheel (404) are configured to support the chassis (200) at a distance (Dz) from the support surface (500) on the z-axis. The z-axis is perpendicular to the x-axis and the y-axis. The first wheel arm (402) is pivotable relative to the chassis (200). An elastic suspension unit (420) is provided to bias the first wheel arm (402) after displacement of the chassis (200) away from a set maximum recoil attenuation distance (Dz_max) to return the chassis (200) to be spaced apart from the support surface (500) by the set maximum recoil attenuation distance (Dz_max). A brake control device (600) of the first wheel (404) is configured to apply a braking force to the rotatable first wheel (404) in response to movement of the chassis (200) along the x-axis due to a reaction force (Fr) from the firing of a projectile (340) from the gun barrel (300). The method of operation includes, for each gun firing condition, pivoting the first wheel arm (402) relative to the chassis (200) to change the distance of the chassis (200) from the support surface (500) on the z-axis to a set maximum recoil attenuation distance (Dz_max) for the gun firing condition. The set maximum recoil attenuation distance (Dz_max) of the chassis (200) from the support surface (500) for the gun firing position is set according to a predetermined relationship. The brake control device (600) isAfter the projectile (340) is launched from the gun barrel (300), it is controlled to apply a braking force to the rotatable first wheel (404).

[0024] The predetermined relationship may be a function of the mass of the projectile (340) launched from the gun barrel (300), the type and mass of the propellant provided to propel the projectile (340), and / or the angle of the gun barrel axis (302) with respect to the x-axis.

[0025] Therefore, a self-propelled gun system is provided that has a suspension system that is relatively lightweight yet stable and is configured for transportation and gun operation.

[0026] Here, embodiments of the present invention are described by way of example only with reference to the drawings.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

DETAILED DESCRIPTION OF THE INVENTION

[0028] The present disclosure relates to a self-propelled gun system 10 having a recoil reduction system 100. This is schematically shown in FIGS. 1-8. FIGS. 9 and 10 show how such a device may look when implemented.

[0029] The self-propelled gun system 10 may include a power train 800 such as an internal combustion engine, an electric motor, or a hybrid, and the driving force may be transmitted to the wheels 404, 1404 by a drive shaft. Other devices on the system 10 may be electrically powered. The wheels 404, 1404 are coupled to the power train 800 and are drivable by the power train 800 to propel the gun system 10.

[0030] The unladen mass of the self-propelled gun system 10 may be 10 tons or less. The unladen mass of the self-propelled gun system 10 may be 5 tons or less. Thus, a self-propelled gun system 10 is provided that is significantly lighter than a tank, and thus is easier to transport and requires less raw material to construct.

[0031] As illustrated in the figures, the self-propelled gun system 10 includes a chassis 200 that extends along the x-axis. A first end 202 of the chassis 200 and a second end 204 of the chassis 200 are spaced apart from each other along the length of the chassis 200 along the x-axis. The chassis 200 extends along the y-axis along the width of the chassis 200. A first side 206 of the chassis 200 and a second side 208 of the chassis 200 are spaced apart from each other across the width of the chassis 200 along the y-axis. The x-axis is perpendicular to the y-axis.

[0032] As shown in FIGS. 1 to 4, the gun barrel 300 has a gun barrel axis 302, and the gun barrel 300 is mounted on the chassis 200 by a pivot mount 304. The gun barrel 300 is aligned with the y-axis and / or pivotable about a pivot axis 310 parallel to the y-axis with respect to the x-axis.

[0033] The gun barrel 300 may have a front end portion 320, and a muzzle 322 may be provided toward the front end portion 320. The gun barrel 300 has a rear end portion 324, and a breech assembly 326 is provided at the rear end portion 324.

[0034] As shown in FIG. 1, the gun barrel 300 may be coupled to a recoil mechanism 330 including a recuperator 332 for reducing a reaction force Fr along the gun barrel axis 302 from the firing of the projectile 340 from the gun barrel 300.

[0035] As shown in the end views of FIGS. 5 to 7, the self-propelled gun system 10 further includes a chassis suspension system 400 including a first wheel arm 402 extending from the chassis 200 to a first wheel 404. The first wheel arm 402 of the chassis may extend at an angle with respect to the x-axis, y-axis, and / or z-axis away from the chassis 200 toward a support surface 500 (e.g., the ground). The first wheel 404 is rotatably mounted on the first wheel arm 402.

[0036] The self-propelled gun system 10 may further include a second wheel arm 1402 configured, mounted, and operable as the first wheel arm 402. Similar to the first wheel arm 402, the second wheel arm 1402 extends at an angle with respect to the x-axis, y-axis, and / or z-axis away from the chassis 200 to a second wheel 1404 toward a support surface 500 (e.g., the ground). The second wheel 1404 is rotatably mounted on the second wheel arm 1402.

[0037] The second wheel arm 1402 is configured to operate in the same manner as the first wheel arm 402. Thus, the features and operations of the first wheel arm 402 described herein are equally applicable to the second wheel arm 1402 even if the second arm 1402 is not specifically mentioned.

[0038] As shown in FIGS. 5-7, the first wheel 404 is configured to engage a support surface 500 (e.g., the ground). Thus, the first wheel arm 402 and the first wheel 404 are configured to support the chassis 200 at a distance Dz from the support surface 500 along the z-axis, where the z-axis is perpendicular to the x-axis and the y-axis. Similarly, the second wheel 1404 is configured to engage the support surface 500, and the second wheel arm 1402 and the second wheel 1404 are configured to support the chassis 200 at a distance Dz from the support surface 500 along the z-axis.

[0039] Thus, the second wheel arm 1402 and the second wheel 1404 are configured to support the chassis 200 together with the first wheel arm 402 and the first wheel 404 at a distance (Dz) from the support surface 500 along the z-axis.

[0040] The first wheel arm 402 and the second wheel arm 1402 extend away from each other on opposite sides of the chassis 200. That is, the first wheel arm 402 and the second wheel arm 1402 are opposed to each other across the x-axis. In other words, the first wheel arm 402 extends away from the chassis 200 from the first side portion 206 of the chassis 200, and the second wheel arm 1402 extends away from the chassis 200 from the second side portion 208 of the chassis 200.

[0041] Thus, the wheel arm 402 and the second wheel arm 1402 form a pair of wheel arms 402, 1402 attached to a pair of wheels 404, 1404. As shown in FIGS. 1, 2, 3, 8, 9, and 10, the gun system 10 may include additional pairs of wheel arms 402, 1402 and wheels 404, 1404.

[0042] Thus, in such an example, the pair or each pair of wheel arms 402, 1402 cooperate to support the chassis 200 at a distance Dz from the support surface 500 along the z-axis.

[0043] In some examples, a single wheel arm 402 and wheel 404 may be provided separately (i.e., without the corresponding second wheel arm 1402 and second wheel 1404). For example, if a self-propelled vehicle has only three wheels, two of them form a pair facing each other across the x-axis, and the third wheel is spaced apart from the other wheels along the x-axis.

[0044] As shown in FIG. 7, the chassis suspension system 400 may further include a first leg strut 240 that is pivotally attached to the sides 206, 208 of the chassis 200 at a coupling end 242 and extends to a foot 244 configured to engage the support surface 500 to support the chassis 200 away from the support surface 500. A second leg strut may be provided that is attached to and extends away from the second side 208 of the chassis 200. Such a pair of leg struts may be provided along the length of the chassis 200. The leg strut(s) are configured to provide additional stability in addition to the wheel arms 402, 1402 and wheels 404, 1404.

[0045] The chassis suspension system 400 forms at least a part of the recoil mitigation system 100, and such a recoil mitigation system 100 is configured such that the maximum recoil attenuation distance Dz_max of the chassis 200 from the support surface 500 in the z-axis for gun firing conditions is variable, thereby being operable to vary the attenuation distance (Dz) available in the z-axis to absorb the recoil force (Fr) from the firing of the projectile 340 from the gun barrel 300. Thus, the movable distance (distance Dz) (i.e., attenuation distance) of the chassis 200 relative to the support surface 500, or the resistance to movement, for providing recoil mitigation (i.e., attenuation), can be adjusted by pivoting the first wheel arm 402 (and / or the second wheel arm 1402) relative to the chassis 200 to change the distance Dz that the chassis 200 can move / moves relative to the support surface 500 in the z-axis up to the set maximum recoil attenuation distance (Dz_max) for gun firing conditions.

[0046] The elastic suspension unit 420 is provided to bias the first wheel arm 402. Similarly, in an example where the second wheel arm 1402 is present, an elastic suspension unit 1420 can be provided to bias the second wheel arm 1402. The elastic suspension unit 420 can extend between the chassis 200 and the first wheel arm 402 of the chassis. The elastic suspension unit 1420 can extend between the chassis 200 and the second wheel arm 1402 of the chassis. The elastic suspension units 420, 1420 are provided to bias the first wheel arm 402 and the second wheel arm 1420 after displacement of the chassis 200 away from the set maximum recoil attenuation distance Dz_max to return the chassis 200 to be spaced apart from the support surface 500 by the set maximum recoil attenuation distance Dz_max. For example, the displacement can respond to the recoil force Fr from the firing of the projectile 340 from the gun barrel 300.

[0047] As the angle of the gun barrel axis 302 with respect to the x-axis changes (as shown, for example, in FIGS. 1-4, 9, and 10), the set maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis (i.e., available for absorbing recoil motion) can change (as shown in FIGS. 5, 6, and 7). Thus, the chassis suspension system 400 is operable to change the damping distance and / or damping resistance by pivoting the wheel arms 402, 1402 with respect to the chassis 200 so as to raise and lower the chassis 200 to adapt to the change in the direction of the recoil force due to the angle of the gun barrel axis 302.

[0048] As the angle of the gun barrel axis 302 with respect to the x-axis increases, the maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis increases, thereby increasing the damping distance available in the z-axis (i.e., the damping resistance available for absorbing recoil motion) for absorbing the recoil force Fr from the launch of the projectile 340 from the gun barrel 300.

[0049] As the angle of the gun barrel axis 302 with respect to the x-axis decreases, the maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis for that gun firing condition can decrease, and the distance Dy of the first wheel 404 from the x-axis in the direction along the y-axis increases. This increases the stability of the chassis 200 along the x-axis and y-axis and maintains the orientation of the chassis 200 when recoil is generated in response to the recoil force Fr from the launch of the projectile 340 from the gun barrel 300.

[0050] The self-propelled gun system 10 may further include an actuator operable to adjust the maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis in response to an input from a user.

[0051] The chassis suspension system 400 can also be configured to position the chassis 200 at a preferred height above the support substrate 500 for transportation, for example, when the self-propelled vehicle is moving from one location on the ground to another. The height of the chassis 200 from the ground when in the transportation mode can be within the range of the value of the maximum rebound damping distance Dz_max. Alternatively, the height of the chassis 200 from the ground when in the transportation mode can be greater than or less than the range of the value of the maximum rebound damping distance Dz_max.

[0052] Therefore, the chassis suspension system 400 can also be used to provide the normal suspension function when the vehicle is in transit, but as described, it also provides a rebound reduction function.

[0053] The elastic suspension unit 420 can include at least one of an air spring, a switchable shock absorber, a hydropneumatic, a hydrolastic, and a hydrogas suspension. The elastic suspension unit 420 can be configured to change its spring stiffness. The elastic suspension unit 420 can be configured to change its damping stiffness.

[0054] The gun barrel 300 can be constrained to pivot about a pivot axis 310 that is aligned with the y-axis in a movement plane extending through the x-axis and the z-axis. For example, the gun barrel 300 can be pivotally mounted using a trunnion mount.

[0055] The gun barrel 300 is constrained to pivot about the pivot axis 310 between 5 degrees below the x-axis and 75 degrees above the x-axis. That is, the gun barrel 300 is constrained to pivot about the pivot axis 310 between -5 degrees (i.e., downward) with respect to the x-axis and +75 degrees (i.e., upward) with respect to the x-axis.

[0056] As an alternative or in addition, the gun barrel 300 is rotatable about the z-axis and is restricted (i.e., constrained) to be rotatable by up to + / - 5 degrees from alignment with the x-axis about the z-axis. For example, the trunnion mount, if present, can be rotatably installed to rotate about the z-axis.

[0057] As the angle of the gun barrel axis 302 with respect to the x-axis decreases (e.g., moving from the position in FIG. 2 to the position in FIG. 1), the maximum reaction damping distance Dz_max (i.e., height) of the chassis 200 from the support surface 500 along the z-axis for the gun firing condition can decrease (e.g., moving from the position in FIG. 5 to the position in FIG. 7).

[0058] At the same time, and as illustrated in FIGS. 5-7, the distance Dy of the first wheel 404 from the x-axis in the direction along the y-axis increases from Dy1 in FIG. 5 to Dy3 in FIG. 7, thereby increasing the stability of the chassis 200 along the x-axis and y-axis, and thereby maintaining the orientation of the chassis 200 in response to the reaction force Fr from the firing of the projectile 340 from the gun barrel 300.

[0059] Therefore, as the angle of the gun barrel axis 302 with respect to the x-axis decreases (e.g., moving from the position in FIG. 2 to the position in FIG. 1), the distance Dy of the first wheel 404 from the x-axis in the direction along the y-axis increases from Dy1 in FIG. 5 to Dy3 in FIG. 7.

[0060] Therefore, as the gun barrel axis 302 moves horizontally (i.e., parallel to the x-axis), the chassis 200 can be brought closer to the ground 500. This is beneficial because as the gun barrel axis 302 moves horizontally, the reaction to the reaction force Fr from the firing of the projectile 340 from the gun barrel 300 moves the chassis 200 along the substrate 500, and thus the extra width provided by the extended wheel arm from Dy1 to Dy2 or Dy3 provides stability.

[0061] As shown in FIG. 8, the self-propelled gun system 10 may further include a wheel brake control device 600 configured to apply a braking force to the wheels 404, 1404 in response to movement of the chassis 200 in the x-axis direction due to the reaction force from the firing of the projectile 340 from the gun barrel 300.

[0062] The brake control device 600 may be configured to apply a braking force to the rotatable wheels 404, 1404 after the firing of the projectile 340 from the gun barrel 300 and after the rotatable wheels 404, 1404, which are rotatable in response to the firing of the projectile 340 from the gun barrel 300, begin to rotate along the support surface 500 (e.g., move / rotate).

[0063] The brake control device 600 is configured to gradually and / or intermittently apply a braking force to the respective rotatable wheels 404, 1404 after the wheels 404, 1404 begin to rotate. This configuration is operable to prevent wheel skidding.

[0064] The brake control device 600 may be a regenerative braking device 602, and the regenerative braking device 602 is operably connected to a rechargeable power storage device 700 and at least one first wheel 404 to generate an electric current by decelerating at least one first wheel 404 and dissipating the recoil of the self-propelled gun system 10.

[0065] As shown in FIG. 8, the brake control device 600 may be a regenerative braking device 602 or a friction braking device 604.

[0066] The regenerative braking device 602 may be operably connected to a rechargeable power storage device (e.g., a battery) 700 and at least one wheel 404 to generate an electric current by decelerating at least one first wheel 404 and dissipating the recoil of the self-propelled gun system 10.

[0067] The electric power generated by the regenerative braking device 602 may be stored by the battery 700.

[0068] The self-propelled gun system 10 may further include a processor 610 that communicates with the regenerative braking device 602 and the rechargeable power storage device 700 such that, in response to a first movement of the chassis 200 along the x-axis, the processor 610 causes the regenerative braking device 602 to act on (e.g., decelerate) the first wheel 404. In an example where other wheels 404, 1404 are provided, the processor 610 may be operable to cause the regenerative braking device 602 to act on (e.g., decelerate) one or more of the other wheels on the gun system.

[0069] Accordingly, the platform / chassis 200 is supported on the wheels 404, 1404 via a suspension system 400. As illustrated in FIG. 3, when the gun barrel 300 is horizontal, the horizontal component of the recoil force causes the wheels 404, 1404 to brake, i.e., allows the platform to begin to move during recoil (thus, no brake is applied and thus no braking force is applied), and then, when the recoil ends (i.e., after the projectile is fired), is absorbed by engaging a brake 600 of any kind. However, the suspension 400 plays little role in reducing recoil in this configuration (thus, the suspension is not shown in this figure).

[0070] As illustrated in FIG. 4, the vertical component of the recoil force is absorbed by the suspension 400, and the suspension 400 can be jacked up higher to provide attenuation by generating a longer travel distance when the angle of the gun barrel 300 with respect to the horizontal increases. However, the brake device 600 plays little role in reducing recoil in this configuration (thus, the wheels 404, 1404 are not shown).

[0071] At an intermediate position between the position shown in FIG. 3 (gun barrel 300 horizontal) and the position shown in FIG. 4 (gun barrel substantially vertical), both the wheels 404, 1404 and the suspension system play a role in reducing recoil.

[0072] For each gun firing condition, the first wheel arm 402 and / or the second wheel arm 1402 can be pivoted relative to the chassis 200 such that the distance of the chassis 200 from the support surface 500 on the z-axis is changed according to a method such that it is changed to a set maximum recoil attenuation distance Dz_max (e.g., the moving distance for providing attenuation) for the gun firing condition.

[0073] The brake control device 600 for the wheels 404, 1404 is configured to apply a braking force to the rotatable wheels 404, 1404 in response to the movement of the chassis 200 on the x-axis by the reaction force (Fr) from the firing of the projectile 340 from the gun barrel 300. The brake control device 600 is controlled to apply a braking force to the first rotatable wheel 404 after the firing of the projectile 340 from the gun barrel 300. That is, when the projectile is fired, the wheels 404, 1404 rotate / move freely. The braking force is applied only after the firing of the projectile.

[0074] The set maximum recoil attenuation distance Dz_max of the chassis 200 from the support surface 500 for the gun firing position can vary according to a predetermined relationship to adapt to various reaction force directions resulting from the angle of the gun barrel 300 with respect to the x-axis.

[0075] The predetermined relationship can be a function of the mass of the projectile 340 fired from the gun barrel 300, the type and mass of the propellant provided to propel the projectile 340, and / or the angle of the gun barrel axis 302 with respect to the x-axis.

[0076] The predetermined relationship can be a function of the expected reaction force and / or the angle of the gun barrel axis 302 with respect to the x-axis.

[0077] In the case of low-angle firing gun conditions, the entire vehicle is enabled to roll backward under free recoil. When the vehicle is moving, its movement is stopped by applying brakes to the wheels 404, 1404. The additional stability provided by moving the wheels 404, 1404 outward reduces the risk of the vehicle tipping.

[0078] Under high-angle firing conditions, the chassis suspension system 400 is used to absorb force, and the suspension 400 is adjusted to increase the damping distance and / or increase the damping resistance in order to add available reaction stroke. Under high-angle firing conditions, the vehicle is unlikely to tilt, and an extra damping distance and / or damping resistance provided by the chassis suspension system is required to prevent the chassis 200 from contacting the support surface 500.

[0079] At intermediate angles, the suspension 400 can be adjusted to a suitable intermediate height optimized to counter the vertical and horizontal components of the firing load using the free reaction of the suspension 400 and the platform.

[0080] Free reaction can be achieved only if there is little or no lateral movement in the cannon / pitching mass, so that the reaction always returns straight through the wheels / tracks, thereby allowing the wheels / tracks to roll. This requires that all / most of the lateral movement of the cannon be done at the level of the entire platform by using steering / wheels and / or suspension adjustments.

[0081] The selection would be a continuous transition between extreme positions so that the decomposed vectors (vertical and horizontal) can be properly processed.

[0082] Thus, a relatively lightweight yet stable self-propelled gun system having a suspension system configured for transport and gun operation is provided. The weight reduction can be achieved, in part, by combining the suspension system for transport and limiting the amount by which the gun barrel can pivot about the y-axis and / or z-axis.

[0083] Therefore, this solution will add both an effective stroke length and a reaction system mass without adding any extra weight to the platform, enabling effective reaction management on a lighter system.

[0084] The vehicle is operable to accelerate in "free reaction" with little or no interference (i.e., no or low braking force during the acceleration phase) before being subsequently stopped by a damping system / brake, minimizing the forces applied to the vehicle and thus extending its operating life.

[0085] Attention is directed to all documents and papers filed simultaneously with or before this specification in connection with this application and made available to the public in conjunction with this specification, and the contents of all such documents and papers are incorporated herein by reference.

[0086] All of the features disclosed in this specification (including any appended claims, abstract, and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive.

[0087] Each feature disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by alternative features serving the same, equivalent, or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is only an example of a general series of equivalent or similar features.

[0088] The invention is not limited to the details of the foregoing embodiments. The invention extends to any novel one or any novel combination of the features disclosed in this specification (including any appended claims, abstract, and drawings), or to any novel one or any novel combination of the steps of any method or process so disclosed.

Claims

1. A self-propelled gun system defining a recoil reduction system, wherein the self-propelled gun system comprises: a chassis extending along the x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from each other along the x-axis, the chassis extends along the y-axis, a first side of the chassis and a second side of the chassis are spaced apart from each other along the y-axis, and the x-axis is perpendicular to the y-axis; a gun having a gun barrel axis, wherein the gun is mounted on the chassis by a pivot mount, the gun is aligned with the y-axis and / or is pivotable about a pivot axis parallel to the y-axis with respect to the x-axis; a chassis suspension system comprising a first wheel arm extending from the chassis to a first wheel, wherein the first wheel is rotatably mounted on the first wheel arm, the first wheel is configured to engage a support surface, and the first wheel arm and the first wheel are configured to support the chassis at a distance (Dz) from the support surface on the z-axis, and the z-axis is perpendicular to the x-axis and the y-axis; and the recoil reduction system is such that a maximum recoil attenuation distance (Dz_max) of the chassis from the support surface on the z-axis is variable, and is thereby operable to vary the attenuation distance available on the z-axis to absorb a recoil force (Fr) from the firing of a projectile from the gun; The self-propelled gun system further comprises a first wheel brake control device configured to apply a braking force to the rotatable first wheel in response to movement of the chassis along the x-axis due to a recoil force (Fr) from the firing of a projectile from the gun.

2. The self-propelled gun system according to claim 1, wherein the wheel brake control device is configured to apply the braking force to the rotatable first wheel after the firing of a projectile from the gun and after the rotatable first wheel has started to rotate along the support surface in response to the firing of the projectile from the gun.

3. The self-propelled gun system according to claim 2, wherein the wheel brake control device is configured to gradually and / or intermittently apply the braking force to the rotatable first wheel after the rotatable first wheel has started to rotate.

4. The wheel brake control device is a regenerative braking device, and the regenerative braking device is operably connected to a rechargeable power storage device and at least one of the first wheels to generate current by decelerating at least one of the first wheels and dissipating the recoil of the self-propelled gun system. The self-propelled gun system according to any one of claims 1 to 3.

5. The self-propelled gun system according to claim 4, further comprising a processor that communicates with the regenerative braking device and the rechargeable power storage device to cause the processor to decelerate the first wheel of the regenerative braking device in response to a first movement of the chassis along the support surface.

6. The gun barrel is restricted to pivot about the pivot axis in a movement plane extending through the x-axis and the z-axis, and / or is restricted to pivot about the pivot axis between -5 degrees with respect to the x-axis and +75 degrees with respect to the x-axis. The self-propelled gun system according to any one of claims 1 to 5.

7. The gun barrel is rotatable about the z-axis and is restricted to be rotatable at + / - 5 degrees or less with respect to a direction parallel to the x-axis about the z-axis. The self-propelled gun system according to any one of claims 1 to 6.

8. The distance (Dy) of the first wheel from the x-axis in a direction along the y-axis is operable to increase, thereby increasing the stability of the chassis along the x-axis and the y-axis and maintaining the orientation of the chassis during and after firing of the projectile from the gun barrel. The self-propelled gun system according to any one of claims 1 to 7.

9. The maximum recoil attenuation distance (Dz_max) of the chassis from the support surface in the z-axis for gun firing conditions is controlled to be set by pivoting the first wheel arm with respect to the z-axis. The elastic suspension unit is provided to urge the first wheel arm after displacement of the chassis away from the set maximum recoil attenuation distance (Dz_max) to return the chassis to be separated from the support surface by the set maximum recoil attenuation distance (Dz_max). The self-propelled gun system according to any one of claims 1 to 8.

10. The first wheel arm of the chassis extends away from the chassis at an angle with respect to the x-axis and the y-axis, and the elastic suspension unit extends between the chassis and the first wheel arm of the chassis. The self-propelled gun system according to claim 9.

11. The elastic suspension unit includes at least one of an air spring, a switchable shock absorber, a hydropneumatic, a hydrolastic, and a hydrogas suspension, and the elastic suspension unit is configured to change its spring stiffness. The self-propelled gun system according to claim 9 or 10.

12. The chassis suspension system further includes a first leg strut, and the first leg strut is pivotally attached to the chassis at a connecting end and extends to a foot configured to engage the support surface to support the chassis away from the support surface. The self-propelled gun system according to any one of claims 1 to 11.

13. The unloaded mass of the self-propelled gun system is 10 tons or less or 5 tons or less. The self-propelled gun system according to any one of claims 1 to 12.

14. An operating method of a self-propelled gun system defining a recoil reduction system, the self-propelled gun system comprising a chassis extending along the x-axis, where a first end and a second end of the chassis are spaced apart from each other along the x-axis, the chassis extends along the y-axis, a first side and a second side of the chassis are spaced apart from each other along the y-axis, and the x-axis is perpendicular to the y-axis. a chassis suspension system including a first wheel arm extending away from the chassis to a first wheel, where the first wheel is rotatably mounted on the first wheel arm, the first wheel is configured to engage a support surface, and the first wheel arm and the first wheel are configured to support the chassis at a distance (Dz) from the support surface on the z-axis, and the z-axis is perpendicular to the x-axis and the y-axis. The first wheel arm is pivotable relative to the chassis, and an elastic suspension unit biases the first wheel arm after displacement of the chassis away from a set maximum rebound damping distance (Dz_max) to return the chassis to be spaced apart from the support surface by the set maximum rebound damping distance (Dz_max). A first wheel brake control device configured to apply a braking force to the first rotatable wheel in response to movement of the chassis in the x-axis due to a reaction force (Fr) from the launch of a projectile from the gun barrel and comprising, the operating method comprising, for each gun firing condition, a step of pivoting the first wheel arm relative to the chassis to change the distance of the chassis from the support surface in the z-axis to the set maximum rebound damping distance (Dz_max) for the gun firing condition and comprising, the set maximum rebound damping distance (Dz_max) of the chassis from the support surface for the gun firing position being set according to a predetermined relationship, the wheel brake control device being controlled to apply the braking force to the first rotatable wheel after the launch of a projectile from the gun barrel, an operating method.

15. The predetermined relationship is the mass of the projectile launched from the gun barrel, the type and mass of the propellant provided to propel the projectile, and / or the angle of the gun barrel axis relative to the x-axis is a function of, the operating method according to claim 14.

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