Ball-and-Socket Charge Stand for Vertical Boreholes on Uneven Ground
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Solution Overview
Problem
Existing stands for conical shaped charges used in EOD operations are rigid and difficult to emplace robotically on uneven or unleveled terrain, often causing the borehole to be non-vertical, especially when standoff distances exceed a few inches, leading to instability and failure in achieving a straight vertical borehole.
Innovation Solution
A Multiple Angle Pivoting Placement (MAPP) stand featuring a ball and socket assembly that allows for adjustable positioning and locking of a shaped charge, enabling vertical alignment on uneven terrain, facilitated by a clamp that adjusts compression to secure the charge in place, allowing robotic placement using a single manipulator arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a rigid stand is used to hold the shaped charge, then the structure is simple and stable on level ground, but it cannot be emplaced on uneven terrain and cannot achieve vertical alignment
Solution Approach 1:
The patent applies the dynamics principle by replacing the rigid stand with a ball and socket assembly that allows dynamic adjustment of the shaped charge holder. The ball and socket joint enables the holder to pivot and tilt to various angles, adapting to uneven terrain while maintaining structural simplicity. This dynamic capability allows the system to achieve vertical alignment regardless of ground conditions.
Solution Approach 2:
The stand is segmented into distinct functional components: a base, a ball and socket assembly, and a shaped charge holder. This segmentation allows each component to perform its specific function independently - the base provides stability, the ball and socket enables adjustment, and the holder secures the charge. This modular approach maintains simplicity while enabling adaptability.
2Extent of automation
If a rigid stand is used, then manufacturing is simple, but robotic emplacement with a single manipulator is difficult
Solution Approach 1:
The dynamic ball and socket assembly allows a single robotic manipulator to emplace the entire system by adjusting the holder angle after placement. The manipulator only needs to position the base and holder, then the ball and socket mechanism enables angular adjustment to achieve vertical alignment, simplifying the robotic operation compared to manipulating multiple rigid components.
Solution Approach 2:
The ball and socket assembly provides self-adjustment capability that reduces the complexity of robotic manipulation. Once the base and holder are positioned by the manipulator, the system can be adjusted to vertical alignment through the inherent degrees of freedom of the ball and socket joint, reducing the precision requirements for robotic placement.
3Reliability
If the shaped charge is held at a standoff distance greater than a few inches, then safety is improved, but a rigid stand tips over on uneven terrain
Solution Approach 1:
The ball and socket assembly provides dynamic stability by allowing the holder to tilt and pivot in response to uneven terrain while maintaining the required standoff distance. This dynamic adjustment prevents tipping by accommodating ground irregularities, ensuring reliable charge placement at safe distances regardless of terrain conditions.
4Manufacturing precision
If a rigid stand is used on uneven terrain, then the structure remains simple, but the borehole is not vertically straight
Solution Approach 1:
The ball and socket assembly enables precise vertical alignment through dynamic adjustment. The holder can pivot and tilt to compensate for terrain irregularities, allowing the shaped charge to be oriented vertically even when the base is on uneven ground. This achieves high alignment precision without requiring complex active control systems.
Solution Approach 2:
The alignment function is segmented into the passive geometric degrees of freedom provided by the ball and socket joint. By separating the alignment capability from active control mechanisms, the system achieves precise vertical positioning through the inherent kinematics of the joint rather than through complex alignment mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the creation of a vertical borehole on uneven terrain, ensuring stability and accuracy of the shaped charge placement, even on challenging ground conditions, by allowing for tilt and rotational adjustments, thus enhancing the success of EOD operations.
Implementation Method 1
The body is in turn coupled to a ball and socket assembly, which in turn is coupled to a base. The ball and socket assembly allows the body, and thus the shaped charge therein, to be moved relative the terrain by for example a tilt and/or a rotational movement
Implementation Method 2
A clamp is attached to the socket portion at an interface of the ball and socket assembly between the socket portion and the ball portion. The clamp adjusts compression of the ball and socket assembly.
Data Source
AI summary
A stand for vertically aligning borehole charges on non-level surfaces. The stand has a support base. A ball and socket assembly includes a socket portion connected to the support base and a ball portion disposed in the socket portion. The socket portion includes a grip interface to press against the ball portion. A body is connected to the ball portion. A clamp is attached to the socket portion at an interface of the ball and socket assembly between the socket portion and the ball portion. The body is configured to contain a shaped explosive charge for making a borehole. The ball and socket assembly is substantially hollow. The clamp adjusts compression of the ball and socket assembly.