The United States of America as Represented by the Secretary of the Navy
대리인 / 주소
Zimmerman, Fredric J.
인용정보
피인용 횟수 :
1인용 특허 :
12
초록▼
A mechanical firing adapter for an igniter, such as an M81, to enable remotely firing the igniter using a robot, such as a MTRS. MTRS are used in the disposal/disruption of IEDs. Igniters are generally used with a shock tube, a type of fuse that is used with explosive charges, like shape charges. Th
A mechanical firing adapter for an igniter, such as an M81, to enable remotely firing the igniter using a robot, such as a MTRS. MTRS are used in the disposal/disruption of IEDs. Igniters are generally used with a shock tube, a type of fuse that is used with explosive charges, like shape charges. The adapter has a base plate with a first area to secure the igniter, a second area to withdraw the igniter's pull-rod by the attached pull-ring, and a compound assembly that interfaces with a robot. The pull-ring is attached to a sled that moves rearward when a clinching force is applied to opposing paddles, which causes the connected angled articulating struts to spread open. The paddles are moved closer by a remote controlled robotic jaw, and this closing movement causes the sled to move rearward, pulling out the pull-rod, which sets off the explosive.
대표청구항▼
1. A mechanical firing adapter for an igniter, where said igniter has a body with a primer end with a firing-pin, a primer, a spring, and an opposing end having a pull-rod with an attached safety cotter pin, and a pull-ring, comprising: a base plate having a front-side, a back-side, a perimeter edge
1. A mechanical firing adapter for an igniter, where said igniter has a body with a primer end with a firing-pin, a primer, a spring, and an opposing end having a pull-rod with an attached safety cotter pin, and a pull-ring, comprising: a base plate having a front-side, a back-side, a perimeter edge, where said base plate is comprised of two functional areas: a first area comprising a frame, functionally dimensioned to secure the igniter on the front-side of the base plate, anda second area to withdraw the pull-rod axially from the igniter, where upon being withdrawn a distance that is a limit of travel, the igniter is activated, said second area comprising three elongate slots, which are apertures extending through the base plate, where each elongate slot has a length that is at least as long as the distance of the limit of travel, said elongate slots comprising a medial first slot, said medial first slot extending lengthwise aligned coplanar with the pull-rod, a lateral second slot and a lateral third slot, wherein said lateral slots are substantially parallel to the medial slot, said medial slot bisecting the lateral slots;a compound assembly that when clinched converts a closing action into a linear movement that is substantially orthogonal to the closing action, said linear movement producing a controlled withdrawal of the pull-rod from the igniter, where said compound assembly comprises: a sled element that under force will move linearly across the base plate, tracking along the medial first slot, said sled element having a medial hitch onto which the pull-ring can be attached,a pair of opposing paddles conformed to be held and then clinched by a robotic jaw, where a first paddle is attached to at least two articulating first struts, where each first strut is pivotal on both ends, and where at least one front articulating first strut is pivotally attached to a first front pin of the first paddle and the front strut extends forward from the first paddle to a first block pin, said first block pin projecting substantially perpendicular from the base plate and located proximate to a primer end of the frame, where at least one rear articulating first strut is pivotally attached to a rear pin of the first paddle and extends rearward from the first paddle to a first sled pin, said first sled pin projecting substantially perpendicular from the sled element and located lateral to the medial hitch and substantially over the lateral second slot, and where a second paddle, that is substantially a mirror of the first paddle, is attached to at least two articulating second struts and each second strut is pivotal on both ends, where at least one front articulating second strut is pivotally attached to a front pin of the second paddle and extends forward from the second paddle to an opposing first block pin, said opposing first block pin projecting substantially perpendicular from the base plate and located proximate to an opposing side of the primer end of the frame, where at least one rear articulating second strut is pivotally attached to a rear pin of the second paddle and extends rearward from the second paddle to a second sled pin, said second sled pin projecting substantially perpendicular from the sled element and located on the opposing side of the sled element, lateral to the medial hitch and substantially over the lateral third slot;wherein, when a clinching force is applied by the robotic jaw, the pair of opposing paddles move toward each other causing the articulating struts to spread, therein forcing the sled element to move rearward, the pull-ring jointly attached to the sled's medial hitch and the pull-rod, withdrawing the pull-rod, quickly reaching the limit of travel, whereupon the pull-rod releases a firing pin, which is forced by a spring into the primer, which fires with a flame and an explosive shock, that will ignite an attached fuse or an attached shock tube. 2. The mechanical firing adapter according to claim 1, wherein the medial hitch is a flared post seated in the sled element. 3. The mechanical firing adapter according to claim 1, further comprising a traveler being seated on the sled element, wherein said traveler has a second lateral aperture that is aligned with the lateral second slot and a third lateral aperture that is aligned with the third slot, where a first sleeved bearing pin and a second sleeved bearing, pin connect and guide the traveler through the second slot and the third slot when force is produced by the articulating struts that are pivotally connected to the first sleeved bearing pin and the second sleeved bearing pin. 4. The mechanical firing adapter according to claim 1, wherein the igniter is an M81. 5. The mechanical firing adapter according to claim 1, wherein the igniter is an M60. 6. The mechanical firing adapter according to claim 1, wherein the base plate has an eyelet through which passes one of a fastening tie and a fastening clip to augment securing the igniter. 7. The mechanical firing adapter according to claim 1, wherein each paddle has a vertical base that facilitates aligning and holding the opposing paddles. 8. A mechanical firing adapter for an igniter, where said igniter has a body with a primer end with a firing-pin, a primer, a spring, and an opposing end having a pull-rod with an attached safety cotter pin, a pull-ring, comprising: a base plate having a front-side, a back-side, a perimeter edge, where said base plate is comprised of two functional areas: a first area comprising a frame, where the frame secures the igniter on the front-side of the base plate, anda second area to withdraw the pull-rod axially from the igniter, where upon being withdrawn a distance that is a limit of travel, the igniter is activated, said second area comprising three elongate slots, which are apertures extending through the base plate, where each elongate slot has a length that is at least as long as the distance of the limit of travel, said elongate slots comprising a medial first slot, said medial first slot extending lengthwise substantially aligned coplanar with the pull-rod, and a lateral second slot and a lateral third slot, wherein the lateral slots are substantially parallel to the medial slot, said medial slot bisecting the lateral slots;a compound assembly that when clinched converts a closing action into a linear movement that is a substantially orthogonal to the closing action, said linear movement producing a controlled withdrawal of the pull-rod from the igniter, where said assembly comprises: a sled element that can be linearly moved across the base plate tracking along the medial first slot, said sled element having a medial hitch onto which the pull-ring can be attached,a pair of opposing paddles that are substantially lateral to the frame, said opposing paddles conformed to be carried with minimal clinching force and responsive when clinched by a robotic jaw;where a first paddle has an outer front pin, an inner front pin, an outer rear pin and an inner rear pin to which are attached two pairs of parallel articulating first struts, where each strut is pivotal on both ends, said pairs of articulating first struts comprised of an outer front first strut and an inner front first strut, and an outer rear first strut and an inner rear first strut, where the outer front first strut extends forward from the first paddle outer front pin to a right block pin, said right block pin projecting substantially perpendicular from a right block located proximate to the front of the base plate, where the inner first strut extends forward from the first paddle inner front pin to the first bearing pin projecting substantially perpendicular from the base plate and located proximate to the frame, where the outer rear first strut extends rearward from the first paddle outer rear pin to a first traveler pin, where the traveler is seated on the sled element, said first traveler pin projecting substantially perpendicular from the traveler and located lateral to the medial hitch and substantially lateral to the lateral second slot, where the inner rear first strut extends rearward from the first paddle inner rear pin to a first sleeved bearing pin that is seated in a second lateral aperture that is aligned with the lateral second slot;where a second paddle has an outer front second pin, an inner front second pin, an outer rear second pin and an inner rear second pin to which are attached two pairs of parallel articulating second struts, where each strut is pivotal on both ends, said pairs of articulating second struts comprised of an outer front second strut and an inner front second strut, and an outer rear second strut and an inner rear second strut, where the outer front second strut extends forward from the second paddle outer front pin to a left block pin, said left block pin projecting substantially perpendicular from a left block located proximate to the front of the base plate, where the inner second strut extends forward from second paddle inner front pin to the second bearing pin projecting substantially perpendicular from the base plate and located proximate to the frame, where the outer rear second strut extends rearward from the second paddle outer rear pin to a second traveler pin, said second traveler pin projecting substantially perpendicular from the traveler and located lateral to the medial hitch and substantially lateral to the lateral third slot, where the inner rear second strut extends rearward from the second paddle inner rear pin to a second sleeved bearing pin that is seated in a third lateral aperture that is aligned with the lateral third slot;wherein, when a clinching force is applied by the robotic jaw, the pair of opposing paddles move toward each other causing the articulating struts to spread, therein forcing the sled element to move rearward, the pull-ring jointly attached to the sled's medial hitch and the pull-rod, withdrawing the pull-rod, quickly reaching the limit of travel, whereupon the pull-rod releases a firing pin, which is forced by a spring into the primer, which fires with a flame and an explosive shock, that will ignite an attached fuse or an attached shock tube. 9. The mechanical firing adapter according to claim 8, wherein the igniter is an M81. 10. The mechanical firing adapter according to claim 8, wherein the igniter is an M60. 11. The mechanical firing adapter according to claim 8, wherein the base plate has an eyelet through which passes one of a fastening tie and a fastening clip to augment securing the igniter. 12. The mechanical firing adapter according to claim 8, wherein each paddle has a vertical base that facilitates aligning and holding the opposing paddles. 13. The mechanical firing adapter according to claim 8, wherein the base has an eyelet, through which a fastening element connects the igniter to the front-side of the base plate. 14. The mechanical firing adapter according to claim 8, wherein a closing length of movement of the first paddle toward the second paddle causes the sled element to move a rearward length that is about twice the closing length of movement of the first paddle. 15. The mechanical firing adapter according to claim 8, wherein the right block elevates the outer front first strut and the left block elevates the outer front second strut. 16. The mechanical firing adapter according to claim 8, wherein the traveler on the sled element elevates the outer rear first strut and the outer rear second strut. 17. The mechanical firing adapter according to claim 8, wherein the first bearing pin elevates the inner front first strut and the second bearing pin elevates the inner front second strut. 18. The mechanical firing adapter according to claim 8, wherein the first sleeved bearing pin elevates the inner rear first strut and the second sleeved bearing pin elevates the inner rear second strut. 19. A method of igniting an explosive charge, comprising: providing an explosive charge, a length of shock tube spooled on a dispenser, an igniter (such as M81) having a body with a primer end for attaching the shock tube and an opposing end having a pull-rod with an attached pull-ring, and a safety cotter pin, and a mechanical firing adapter to which can be fastened the igniter, where said mechanical firing adapter has a base plate with a first area for securing the igniter, a second area comprised of a sled element with a hitch to which the pull-ring can be fastened, and a compound assembly of opposing paddles connected to articulating struts that converts a closing action of the paddles by a robotic jaw into a translational linear rearward movement of the sled element, thereby withdrawing the pull-rod;attaching the shock tube to the igniter;confirming that the paddles are in the fully open position, and that the sled element is proximate to the first area;fitting the igniter with the mechanical firing adapter;using a robot making an inspection that confirms that an explosive charge can be moved close enough to a target to be effective, where during said inspection the shock tube can be dispensed;setting up the explosive charge with the shock tube connected to the explosive charge;dispensing additional shock tube as needed;positioning the mechanical firing adapter such that the paddles are accessible;confirming that a safety area is still clear;removing a safety pin that can be the safety cotter pin;confirming that an incident site, which includes the explosive charge and the target, is clear of all personnel; andclosing the paddles using a remote controlled robotic jaw, therein actuating the igniter. 20. The method of igniting an explosive charge according to claim 19, further comprising utilizing said mechanical firing adapter reduces the length of shock chord required, utilizes legacy igniters, and reduces the danger to personnel. 21. A mechanical firing adapter for an igniter, where said igniter includes a body with a primer end with a firing-pin, a primer, a spring, and an opposing end having a pull-rod with a pull-ring, comprising: a base plate having a front-side, a back-side, a perimeter edge, wherein said base plate is comprised of a first area and a second area, which form two functional areas,wherein said first area comprises a frame for the primer end and the opposing end, functionally dimensioned to immobilize the igniter on the front-side of the base plate, anda second area where the pull-rod is capable of being axially withdrawn from the igniter a distance that is a limit of travel; anda compound assembly comprising a sled element and a pair of opposing lateral paddles, wherein said sled element, which has a tracking mechanism connects the sled element to the base plate, and is capable of translational motion aligned to withdraw the pull-rod, said sled element includes a medial hitch onto which the pull-ring can be attached, where when said sled element is acted on by a sufficient rearward force, said sled element moves rearward and linearly, withdrawing the pull-rod,wherein said pair of opposing lateral paddles conforms to be held and clinched by a robotic jaw, where each paddle is attached to at least two articulating struts, where each strut is pivotal on both ends, where at least one articulating strut is pivotally attached to a lateral paddle and extends forward to a base plate pin projecting substantially perpendicular and proximate to the primer end of the frame, and another of said at least one articulating strut is pivotally attached to the paddle and extends rearward to a sled pin, said sled element pin projecting substantially perpendicular from the sled and located lateral to the medial hitch, andwherein, when a clinching force is applied by the robotic jaw, the pair of opposing paddles move toward each other causing the articulating elements to spread, therein forcing the sled element to move rearward, withdrawing the pull-rod by the pull-ring which is jointly attached to the sled's medial hitch and the pull-rod, therein quickly reaching the limit of travel, whereupon the pull-rod releases the firing pin, which is forced by the spring into the primer, which fires with a flame and an explosive shock, that will ignite an attached fuse or an attached shock tube.
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