Self-propelled artillery 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 artillery system.

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

[0003] When an artillery system fires, the gun generates significant recoil forces that must be managed and dissipated. Failure to dissipate the forces can result in uncontrolled system movement, making the system difficult and / or dangerous to manage. When firing at low angles, the recoil loads can create overturning moments that can cause the weapon to bounce or even tip over during firing. Lightweight systems tend to be secured to the ground via braked wheels / tracks or spades, for example.

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

[0005] Traditionally, self-propelled artillery systems (i.e., those with a powertrain but lighter than a heavy weapon such as a tank) have wheels, suspension, drive and braking systems required for transportation, in addition to a support system to handle the significant directional impact loads experienced during gun operation, which adds extra weight and complexity, making it more difficult to achieve the desired weight limit.

[0006] Therefore, a self-propelled artillery system that is relatively lightweight yet stable when absorbing recoil forces is highly desirable. Summary of the Invention

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

[0008] Thus, a self-propelled artillery system 10 may be provided that defines a recoil reduction system 100. The self-propelled artillery system 10 may include a chassis 200 extending along an x-axis, wherein a first end 202 of the chassis 200 and a second end 204 of the chassis 200 are spaced apart from one another along the x-axis, and the chassis 200 extends along a y-axis, wherein a first side 206 of the chassis 200 and a second side 208 of the chassis 200 are spaced apart from one another along the y-axis, the x-axis being perpendicular to the y-axis. The self-propelled artillery system (10) may further include a barrel (300) having a barrel axis (302), the barrel (300) being mounted to the chassis (200) by a pivot mount (304), the barrel (300) being aligned with the y-axis and / or pivotable relative to the x-axis about a pivot axis (310) parallel to the y-axis. The self-propelled artillery system (10) may further include a chassis suspension system (400) including a first wheel arm (402) extending away from the chassis (200) to a first wheel (404), the first wheel (404) being 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) being configured to support the chassis (200) a distance (Dz) from the support surface (500) in a z-axis, the z-axis being perpendicular to the x-axis and y-axis.

[0009] The recoil mitigation system (100) may be operable to vary the maximum recoil decay distance (Dz_max) of the chassis (200) from the support surface (500) in the z-axis, thereby varying the decay distance available in the z-axis for absorbing recoil forces (Fr) from the firing of the projectile (340) from the gun barrel (300).

[0010] The self-propelled artillery system (10) may further include a first wheel brake control device (600) configured to apply a braking force to the rotatable first wheel (404) in response to movement of the chassis (200) in the x-axis due to a recoil force (Fr) from firing the 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 projectile (340) is fired from the barrel (300) and after the rotatable first wheel (404) begins to rotate along the support surface (500) in response to the firing of the projectile (340) from the barrel (300).

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

[0013] The brake control device (600) may be a regenerative braking device (602) operatively coupled to the rechargeable power storage device (700) and the at least one first wheel (404) to generate an electric current by slowing down the at least one first wheel (404) and dissipating recoil of the self-propelled artillery system (10).

[0014] The self-propelled artillery system (10) may further include a processor (610) in communication 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 support surface (500), the processor (610) causes the regenerative braking device (602) to slow down the first wheel (404).

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

[0016] The gun barrel (300) may be rotatable about the z-axis, and is limited to being rotatable about the z-axis by no more than + / - 5 degrees relative to a direction parallel to the x-axis.

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

[0018] The maximum recoil damping distance (Dz_max) of the chassis (200) from the support surface (500) in the z-axis for the gun firing condition can be controlled to be set by pivoting the first wheel arm (402) about the z-axis, and a resilient suspension unit (420) is provided to urge the first wheel arm (402) to return the chassis (200) the set maximum recoil damping distance (Dz_max) away from the support surface (500) after displacement of the chassis (200) away from the set maximum recoil damping distance (Dz_max).

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

[0020] The elastic suspension unit (420) may comprise at least one of an air spring, a switchable shock absorber, a hydropneumatic, a hydrolastic, and a hydrogas suspension, and the elastic suspension unit (420) is configured to vary its spring stiffness.

[0021] The chassis suspension system (400) may further include a first leg strut (240) pivotally attached to the chassis (200) at a coupling 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 unladen mass of the self-propelled artillery system (10) may be 10 tons or less, or 5 tons or less.

[0023] A method of operating a self-propelled artillery system (10) defining a recoil reduction system (100) may also be provided, the self-propelled artillery system (10) comprising a chassis (200) extending along an x-axis, wherein a first end (202) of the chassis (200) and a second end (204) of the chassis (200) are spaced apart from one another along the x-axis, the chassis (200) extending along a y-axis, and a first side (206) of the chassis (200) and a second side (208) of the chassis (200) are spaced apart from one another along the y-axis, the x-axis being perpendicular to the y-axis and spaced apart from the chassis (200). a chassis suspension system (400) comprising a first wheel arm (402) supported by a support surface (500) and extending to a first wheel (404), wherein 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) in a z-axis, the z-axis being perpendicular to the x-axis and y-axis, and the first wheel arm (402) is configured to support the chassis (200) at a distance (Dz) from the support surface (500) in a z-axis, the z-axis being perpendicular to the x-axis and y-axis; a resilient suspension unit (420) pivotable relative to the chassis (200), the resilient suspension unit (420) being provided to urge the first wheel arm (402) to return the chassis (200) away from the support surface (500) by the set maximum recoil damping distance (Dz_max) after displacement of the chassis (200) away from the set maximum recoil damping distance (Dz_max), and configured to apply a braking force to the rotatable first wheel (404) in response to movement of the chassis (200) in the x-axis due to a recoil force (Fr) from the firing of the projectile (340) from the gun barrel (300). and a brake control device (600) for the first wheel (404), the method of operation comprising the steps of: pivoting the first wheel arm (402) relative to the chassis (200) to change, for each gun firing condition, a distance of the chassis (200) from a support surface (500) in the z-axis to a set maximum recoil decay distance (Dz_max) for the gun firing condition, the set maximum recoil decay distance (Dz_max) of the chassis (200) from the support surface (500) for the gun firing position being set according to a predetermined relationship, the brake control device (600)A braking force is controlled to be applied to the rotatable first wheel (404) after the projectile (340) is fired from the barrel (300).

[0024] The predetermined relationship may be a function of the mass of the projectile (340) being fired from the barrel (300), the type and mass of the charge provided to propel the projectile (340), and / or the angle of the barrel axis (302) relative to the x-axis.

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

[0026] Embodiments of the present invention will now be described, by way of example only, with reference to the drawings in which: [Brief explanation of the drawings]

[0027] [Figure 1] 1A-1D show schematic side views of a self-propelled artillery system according to the present disclosure in different gun firing conditions; [Figure 2] 1A-1D show schematic side views of a self-propelled artillery system according to the present disclosure in different gun firing conditions; [Figure 3] 2 illustrates diagrammatically the primary means of recoil reduction for the configuration shown in FIG. 1; [Figure 4] 3 illustrates diagrammatically the primary means of recoil reduction for the configuration shown in FIG. 2; [Figure 5] 1 illustrates different conditions of a suspension system forming part of the recoil reduction system of the present disclosure. [Figure 6] 1 illustrates different conditions of a suspension system forming part of the recoil reduction system of the present disclosure. [Figure 7] 1 illustrates different conditions of a suspension system forming part of the recoil reduction system of the present disclosure. [Figure 8] 1 illustrates a regenerative braking system forming part of the recoil mitigation system of the present disclosure. [Figure 9] FIG. 1 illustrates a side view of an example self-propelled artillery system according to the present disclosure. [Figure 10] FIG. 1 illustrates a side view of an example self-propelled artillery system according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present disclosure relates to a self-propelled artillery system 10 having a recoil reduction system 100, which is shown diagrammatically in Figures 1-8. Figures 9 and 10 show what such a device might look like when put into practice.

[0029] The self-propelled artillery system 10 may include a powertrain 800, such as an internal combustion engine, electric motor, or hybrid, and drive power 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 and drivable by the powertrain 800 to propel the artillery system 10.

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

[0031] As illustrated in the figures, the self-propelled artillery system 10 includes a chassis 200 extending 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 one another 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 one another across the width of the chassis 200 along the y-axis. The x-axis is perpendicular to the y-axis.

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

[0033] The barrel 300 may have a forward end 320 and a muzzle 322 may be disposed toward the forward end 320. The barrel 300 has a rear end 324 and a breech assembly 326 is disposed at the rear end 324.

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

[0035] 5-7, the self-propelled artillery system 10 further includes a chassis suspension system 400 comprising a first wheel arm 402 extending away from the chassis 200 to a first wheel 404. The chassis first wheel arm 402 may extend away from the chassis 200 toward a support surface 500 (e.g., the ground) at an angle relative to the x-axis, y-axis, and / or z-axis. The first wheel 404 is rotatably mounted on the first wheel arm 402.

[0036] The self-propelled artillery 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 away from the chassis 200 toward the support surface 500 (e.g., the ground) at an angle relative to the x-axis, y-axis, and / or z-axis to a second wheel 1404. The second wheel 1404 is rotatably mounted on the second wheel arm 1402.

[0037] The second wheel arm 1402 is configured to operate similarly to the first wheel arm 402. Thus, the features and operation 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] 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 in the z-axis, where the z-axis is perpendicular to the x-axis and 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 in 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 in 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 face each other across the x-axis. In other words, the first wheel arm 402 extends away from the chassis 200 from the first side 206 of the chassis 200, and the second wheel arm 1402 extends away from the chassis 200 from the second side 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 Figures 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 or each pair of wheel arms 402, 1402 cooperate to support the chassis 200 at a distance Dz from the support surface 500 in the z-axis.

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

[0044] 7, the chassis suspension system 400 may further include a first leg strut 240 pivotally attached to the sides 206, 208 of the chassis 200 at a coupling 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. A second leg strut may be provided attached to the second side 208 of the chassis 200 and extending away therefrom. Such pairs 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, which is configured such that the maximum recoil-damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis for a gun firing condition is variable, thereby operable to vary the damping distance (Dz) available in the z-axis for absorbing recoil forces (Fr) from the firing of the projectile 340 from the gun barrel 300. Thus, the distance (distance Dz) (i.e., damping distance) or resistance to movement by the chassis 200 relative to the support surface 500 to provide recoil mitigation (i.e., damping) 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 / will move in the z-axis relative to the support surface 500 up to the set maximum recoil-damping distance (Dz_max) for the gun firing condition.

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

[0047] As the angle of the barrel axis 302 relative to the x-axis changes (e.g., as shown in FIGS. 1-4, 9, and 10), the configured maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis (i.e., available to absorb recoil motion) may change (as shown in FIGS. 5, 6, and 7). Thus, the chassis suspension system 400 is operable to vary the damping distance and / or damping resistance by pivoting the wheel arms 402, 1402 relative to the chassis 200 to raise and lower the chassis 200 to accommodate changes in the direction of recoil forces due to the angle of the barrel axis 302.

[0048] Increasing the angle of the barrel axis 302 relative to the x-axis may increase the maximum recoil damping distance Dz_max of the chassis 200 from the support surface 500 in the z-axis, thereby increasing the damping distance (i.e., the damping resistance available to absorb recoil motion) available in the z-axis to absorb the recoil force Fr from the launch of the projectile 340 from the barrel 300.

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

[0050] The self-propelled artillery system 10 may further comprise 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 input from a user.

[0051] The chassis suspension system 400 may also be configured to position the chassis 200 at a preferred height above the support base 500 for transport, for example, when the autonomous vehicle is moving from one location to another on land. The height of the chassis 200 above the ground when in transport mode may be within a range of values ​​of the maximum recoil damping distance Dz_max. Alternatively, the height of the chassis 200 above the ground when in transport mode may be greater or less than the range of values ​​of the maximum recoil damping distance Dz_max.

[0052] Thus, chassis suspension system 400 can also be used to provide normal suspension functions when the vehicle is in transit, but also provides a recoil reduction function as will be explained.

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

[0054] The gun barrel 300 may be constrained to pivot about a pivot axis 310 aligned with the y-axis in a plane of motion extending through the x-axis and z-axis. For example, the gun barrel 300 may 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 relative to the x-axis (i.e., downward) and +75 degrees relative to the x-axis (i.e., upward).

[0056] Alternatively or additionally, the barrel 300 is rotatable about the z-axis and is limited (i.e., constrained) to be rotatable about the z-axis by no more than + / - 5 degrees from alignment with the x-axis. For example, a trunnion mount, if present, may be rotatably mounted to rotate about the z-axis.

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

[0058] Simultaneously, and as illustrated in Figures 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 Figure 5 to Dy3 in Figure 7, thereby increasing the stability of the chassis 200 along the x-axis and y-axis, thereby maintaining the orientation of the chassis 200 in response to the recoil force Fr from the firing of the projectile 340 from the gun barrel 300.

[0059] Thus, as the angle of the barrel axis 302 relative 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] Thus, as the barrel axis 302 moves toward the horizontal (i.e., parallel to the x-axis), the chassis 200 can be brought closer to the ground 500. This is beneficial because as the barrel axis 302 moves toward the horizontal, the recoil reaction in response to the recoil force Fr from the firing of the projectile 340 from the barrel 300 causes the chassis 200 to move along the base plate 500, and therefore the extra width provided by the extended wheel arms from Dy1 to Dy2 or Dy3 provides stability.

[0061] As shown in FIG. 8, the self-propelled artillery 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 due to a recoil 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 projectile 340 is fired from the barrel 300 and after the rotatable wheels 404, 1404 begin to rotate (e.g., move / turn) along the support surface 500 in response to the firing of the projectile 340 from the barrel 300.

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

[0064] The brake control device 600 may be a regenerative braking device 602 operably coupled to a rechargeable power storage device 700 and at least one first wheel 404 to generate an electric current by slowing down the at least one first wheel 404 and dissipating recoil of the self-propelled artillery 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 operatively coupled to a rechargeable power storage device (e.g., a battery) 700 and at least one wheel 404 to generate an electric current by slowing down the at least one first wheel 404 and dissipating recoil of the self-propelled artillery system 10.

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

[0068] The self-propelled artillery system 10 may further include a processor 610 in communication 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 in the x-axis, the processor 610 causes the regenerative braking device 602 to apply (e.g., slow down) the first wheel 404. In examples where other wheels 404, 1404 are provided, the processor 610 may be operable to cause the regenerative braking device 602 to apply (e.g., slow down) one or more of the other wheels on the artillery system.

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

[0070] 4, the vertical component of the recoil force is absorbed by the suspension 400, which can be jacked up higher to create a longer travel distance and provide damping as the angle of the barrel 300 relative to the horizontal increases. However, the brake device 600 plays little role in mitigating recoil in this configuration (hence the wheels 404, 1404 are not shown).

[0071] In intermediate positions between the position shown in FIG. 3 (barrel 300 horizontal) and the position shown in FIG. 4 (barrel nearly vertical), both the wheels 404, 1404 and the suspension system play a role in recoil reduction.

[0072] The apparatus of the present invention may be operated in accordance with a method such that, for each gun firing condition, the first wheel arm 402 and / or the second wheel arm 1402 are pivoted relative to the chassis 200 to change the distance of the chassis 200 from the support surface 500 in the z-axis to a set maximum recoil damping distance Dz_max (e.g., a distance traveled to provide damping) for the gun firing condition.

[0073] The brake control device 600 of the wheels 404, 1404 is configured to apply a braking force to the rotatable wheels 404, 1404 in response to movement of the chassis 200 in the x-axis due to a recoil force (Fr) from the launch 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 launch of the projectile 340 from the gun barrel 300. That is, once the projectile is launched, the wheels 404, 1404 are free to rotate / move. Only after the projectile is launched is the braking force applied.

[0074] The configured maximum recoil decay distance Dz_max of the chassis 200 from the support surface 500 for the gun firing position can be varied according to a predetermined relationship to accommodate various recoil force directions resulting from the angle of the gun barrel 300 relative to the x-axis.

[0075] The predetermined relationship may be a function of the mass of the projectile 340 being fired from the barrel 300, the type and mass of the charge provided to propel the projectile 340, and / or the angle of the barrel axis 302 relative to the x-axis.

[0076] The predetermined relationship may be a function of the expected recoil force and / or the angle of the barrel axis 302 relative to the x-axis.

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

[0078] In high angle firing conditions, the chassis suspension system 400 is used to absorb the force, and the suspension 400 is adjusted to increase damping distance and / or increase damping resistance to add available recoil stroke. In high angle firing conditions, the vehicle is less likely to tip, and the extra damping distance and / or damping resistance provided by the chassis suspension system is needed to stop 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 shot load using the free recoil of the suspension 400 and platform.

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

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

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

[0083] Therefore, this solution would add both effective recoil stroke length and recoil system mass without adding any extra weight to the platform, allowing for effective recoil management on a lighter system.

[0084] The ability of the vehicle to accelerate more or less unhindered in a "free recoil" manner (i.e., no or low braking forces during the acceleration phase) before being subsequently stopped by the damping system / brakes minimizes forces on the vehicle and thus extends its operational life.

[0085] Attention is directed to all documents and documents related to this application that are filed contemporaneously with or prior to this application and that are open to public inspection herewith, and the contents of all such documents and documents are incorporated herein by reference.

[0086] All of the features disclosed in this specification (including any accompanying 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 in which at least some of such features and / or steps are mutually exclusive.

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

[0088] The invention is not limited to the details of the foregoing embodiment(s). The invention extends to any novel one or any novel combination of features disclosed in this specification (including any accompanying claims, abstract and drawings), or any novel one or any novel combination of steps of any method or process so disclosed. The following is a summary of the claims as originally filed: [1] A self-propelled artillery system defining a recoil reduction system, the self-propelled artillery system comprising: a chassis extending along an x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from one another along the x-axis, and the chassis extending along a y-axis, wherein a first side of the chassis and a second side of the chassis are spaced apart from one another along the y-axis, and the x-axis is perpendicular to the y-axis; a barrel having a barrel axis, wherein the barrel is mounted to the chassis by a pivot mount, the barrel being aligned with the y axis and / or pivotable relative to the x axis about a pivot axis parallel to the y axis; a chassis suspension system comprising a first wheel arm extending away from the chassis to a first wheel, wherein the first wheel is rotatably mounted on the first wheel arm, the first wheel configured to engage a support surface, the first wheel arm and the first wheel configured to support the chassis a distance (Dz) from the support surface in a z-axis, the z-axis being perpendicular to the x-axis and y-axis; the recoil mitigation system is operable to vary a maximum recoil decay distance (Dz_max) of the chassis from the support surface in the z-axis, thereby varying the decay distance available in the z-axis for absorbing recoil forces (Fr) from the firing of a projectile from the barrel; the self-propelled artillery system further comprising 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 recoil force (Fr) from firing a projectile from a gun barrel. [2] The self-propelled artillery system described in [1], wherein the wheel brake control device is configured to apply the braking force to the rotatable first wheel after the projectile is fired from the barrel and after the rotatable first wheel begins to rotate along the support surface in response to the projectile being fired from the barrel. [3] The self-propelled artillery system described in [2], wherein the wheel brake control device is configured to gradually and / or intermittently apply the braking force to the first rotatable wheel after the first rotatable wheel begins to rotate. [4] The self-propelled artillery system described in any one of [1] to [3], wherein the wheel brake control device is a regenerative braking device, and the regenerative braking device is operably coupled to a rechargeable power storage device and at least one of the first wheels to generate an electric current by slowing down at least one of the first wheels and dissipating recoil of the self-propelled artillery system. [5] The self-propelled artillery system described in [4], further comprising a processor in communication with the regenerative braking device and the rechargeable power storage device, such that in response to a first movement of the chassis along the support surface, the processor causes the regenerative braking device to slow down the first wheel. [6] A self-propelled artillery system as described in any one of [1] to [5], wherein the barrel is constrained to pivot about the pivot axis in a plane of motion extending through the x-axis and z-axis, and / or is constrained to pivot about the pivot axis between -5 degrees relative to the x-axis and +75 degrees relative to the x-axis. [7] A self-propelled artillery system as described in any one of [1] to [6], wherein the barrel is rotatable around the z-axis and is limited to being rotatable around the z-axis within + / - 5 degrees or less in a direction parallel to the x-axis. [8] A self-propelled artillery system as described in any one of [1] to [7], wherein 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 y-axis and maintaining the orientation of the chassis during and after the launch of a projectile from the barrel. [9] The maximum recoil decay distance (Dz_max) of the chassis from the support surface in the z-axis for a gun firing condition is controlled to be set by pivoting the first wheel arm about the z-axis; A self-propelled artillery system as described in any one of [1] to [8], wherein an elastic suspension unit is provided to urge the first wheel arm after displacement of the chassis away from the set maximum recoil damping distance (Dz_max) to return the chassis so that it is separated from the support surface by the set maximum recoil damping distance (Dz_max).

[10] A self-propelled artillery system as described in [9], wherein a first wheel arm of the chassis extends away from the chassis at an angle relative 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.

[11] The self-propelled artillery system described in [9] or

[10] , wherein the elastic suspension unit comprises 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 vary its spring stiffness.

[12] A self-propelled artillery system as described in any one of [1] to

[11] , wherein the chassis suspension system further comprises a first leg strut pivotally attached to the chassis at a connecting end and extending to a foot configured to engage the support surface to support the chassis away from the support surface.

[13] A self-propelled artillery system according to any one of [1] to

[12] , wherein the unladen mass of the self-propelled artillery system is 10 tons or less or 5 tons or less.

[14] A method of operating a self-propelled artillery system defining a recoil reduction system, the self-propelled artillery system comprising: a chassis extending along an x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from one another along the x-axis, and the chassis extending along a y-axis, wherein a first side of the chassis and a second side of the chassis are spaced apart from one another along the y-axis, and the x-axis is perpendicular to the y-axis; a chassis suspension system comprising a first wheel arm extending away from the chassis to a first wheel, wherein the first wheel is rotatably mounted on the first wheel arm, the first wheel configured to engage a support surface, the first wheel arm and the first wheel configured to support the chassis a distance (Dz) from the support surface in a z-axis, the z-axis being perpendicular to the x-axis and y-axis; the first wheel arm is pivotable relative to the chassis, and a resilient suspension unit is provided to urge the first wheel arm after displacement of the chassis away from a set maximum recoil damping distance (Dz_max) to return the chassis away from the support surface by the set maximum recoil 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 recoil force (Fr) from firing a projectile from a gun barrel; and The operation method includes, for each gun firing condition: 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 recoil decay distance (Dz_max) for the gun firing condition. wherein the set maximum recoil decay distance (Dz_max) of the chassis from the support surface for a gun firing position is set according to a predetermined relationship; The method of operation, wherein the wheel brake control device is controlled to apply the braking force to the rotatable first wheel after the projectile is fired from the gun barrel.

[15] The predetermined relationship is: the mass of the projectile fired from the barrel; the type and mass of the charge provided to propel the projectile; and / or The angle of the barrel axis relative to the x-axis The method of operation described in

[14] , which is a function of

Claims

1. 1. A self-propelled artillery system defining a recoil reduction system, said self-propelled artillery system comprising: a chassis extending along an x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from one another along the x-axis, and the chassis extending along a y-axis, wherein a first side of the chassis and a second side of the chassis are spaced apart from one another along the y-axis, and the x-axis is perpendicular to the y-axis; a barrel having a barrel axis, wherein the barrel is mounted to the chassis by a pivot mount, the barrel being aligned with the y-axis and / or pivotable relative to the x-axis about a pivot axis parallel to the y-axis; a chassis suspension system comprising a first wheel arm extending away from the chassis to a first wheel, wherein the first wheel is rotatably mounted on the first wheel arm, the first wheel configured to engage a support surface, the first wheel arm and the first wheel configured to support the chassis a distance (Dz) from the support surface in a z-axis, the z-axis being perpendicular to the x-axis and y-axis; wherein the recoil mitigation system is operable to vary a maximum recoil decay distance (Dz_max) of the chassis from the support surface in the z-axis, thereby varying the decay distance available in the z-axis for absorbing recoil forces (Fr) from the firing of a projectile from the barrel; the self-propelled artillery system further comprising 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 recoil force (Fr) from firing a projectile from a gun barrel.

2. 2. The self-propelled artillery system of claim 1, wherein the wheel brake control device is configured to apply the braking force to the first rotatable wheel after a projectile is fired from the barrel and after the first rotatable wheel begins to rotate along the support surface in response to the projectile being fired from the barrel.

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

4. 2. The self-propelled artillery system according to claim 1, wherein the wheel brake control device is a regenerative braking device operatively coupled to a rechargeable power storage device and at least one of the first wheels to generate an electric current by slowing down the at least one of the first wheels and dissipating recoil of the self-propelled artillery system.

5. 5. The self-propelled artillery system of claim 4, further comprising a processor in communication with the regenerative braking device and the rechargeable power storage device such that in response to a first movement of the chassis along the support surface, the processor causes the regenerative braking device to slow the first wheel.

6. 2. The self-propelled artillery system of claim 1, wherein the barrel is constrained to pivot about the pivot axis in a plane of motion extending through the x-axis and z-axis, and / or is constrained to pivot about the pivot axis between −5 degrees relative to the x-axis and +75 degrees relative to the x-axis.

7. 2. The self-propelled artillery system of claim 1, wherein the barrel is rotatable about the z-axis and is limited to being rotatable about the z-axis by no more than + / - 5 degrees relative to a direction parallel to the x-axis.

8. 2. The self-propelled artillery system of claim 1, wherein a distance (Dy) of the first wheel from the x-axis in a direction along the y-axis is operable to increase, thereby increasing stability of the chassis along the x-axis and y-axis to maintain orientation of the chassis during and after firing of a projectile from the barrel.

9. the maximum recoil decay distance (Dz_max) of the chassis from the support surface in the z-axis for a gun firing condition is controlled to be set by pivoting the first wheel arm about the z-axis; 2. The self-propelled artillery system according to claim 1, wherein a resilient suspension unit is provided to urge the first wheel arm after displacement of the chassis away from the set maximum recoil-damping distance (Dz_max) to return the chassis away from the support surface the set maximum recoil-damping distance (Dz_max).

10. 10. The self-propelled artillery system of claim 9, wherein the chassis first wheel arm extends away from the chassis at an angle relative to the x-axis and the y-axis, and the resilient suspension unit extends between the chassis and the chassis first wheel arm.

11. 11. The self-propelled artillery system of claim 10, wherein the elastic suspension unit comprises 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 vary its spring stiffness.

12. 2. The self-propelled artillery system of claim 1, wherein the chassis suspension system further comprises a first leg strut pivotally attached to the chassis at a coupling end and extending to a foot configured to engage the support surface to support the chassis away from the support surface.

13. 2. The self-propelled artillery system according to claim 1, wherein the unladen mass of the self-propelled artillery system is 10 tons or less, or 5 tons or less.

14. 1. A method of operating a self-propelled artillery system defining a recoil reduction system, the self-propelled artillery system comprising: a chassis extending along an x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from one another along the x-axis, and the chassis extending along a y-axis, wherein a first side of the chassis and a second side of the chassis are spaced apart from one another along the y-axis, and the x-axis is perpendicular to the y-axis; a chassis suspension system comprising a first wheel arm extending away from the chassis to a first wheel, wherein the first wheel is rotatably mounted on the first wheel arm, the first wheel configured to engage a support surface, the first wheel arm and the first wheel configured to support the chassis a distance (Dz) from the support surface in a z-axis, the z-axis being perpendicular to the x-axis and y-axis; the first wheel arm is pivotable relative to the chassis, and a resilient suspension unit is provided to urge the first wheel arm after displacement of the chassis away from a set maximum recoil damping distance (Dz_max) to return the chassis away from the support surface by the set maximum recoil 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 recoil force (Fr) from firing a projectile from a gun barrel; and The operation method includes, for each gun firing condition: 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 recoil decay distance (Dz_max) for the gun firing condition. wherein the set maximum recoil decay distance (Dz_max) of the chassis from the support surface for a gun firing position is set according to a predetermined relationship; The method of operating, wherein the wheel brake control device is controlled to apply the braking force to the rotatable first wheel after launch of a projectile from the gun barrel.

15. The predetermined relationship is the mass of the projectile fired from the barrel; the type and mass of the charge provided to propel the projectile; and / or The angle of the barrel axis relative to the x-axis 15. The method of claim 14, wherein the value is a function of

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