Summary of industrial robots knowledge

Introduction to industrial robots

    Industrial robots (English: industrial robot. Referred to as IR) is widely applicable to independent action, and multi-axis machinery and equipment. Where necessary, they are equipped with sensors, and its action steps include flexible, turn the programmable control (ie, in the course of their work, without any external intervention). They are usually equipped with a manipulator, tool or other assembly of the processing tools, as well as be able to perform the task of handling operations and manufacturing.

    Industrial robots in industrial production instead of the monotonous, frequent and repetitive work, long hours or dangerous operating in harsh environments, such as stamping, pressure casting, heat treatment, welding, painting, plastics forming simple machining and assembly processes, as well as in the atomic energy industry and other sectors, to complete removal of harmful materials or process operations.

In the late 1950s, the United States on the basis of the manipulator and manipulator, using the servo mechanism, and automatic control technology, developed the versatility of an independent industrial automatic operation, and as industrial robots; 1960s the beginning of the successful development of two industrial robots, and quickly be applied in industrial production; 1969, General Motors Corporation 21 industrial robot automatic production line for welding the car body. Since then, the industrial countries attach great importance to the development and application of industrial robots. Industrial robots have a certain versatility and adaptability, able to adapt to the many varieties, small batch production, the 1970s, often associated with digital control machine tools together and become an integral part of flexible manufacturing cells or flexible manufacturing systems.

Structure and classification

The industrial robot is composed of three basic components of the main drive system and control system. That is, the main base unit and the implementing agencies, including the arm, wrist and hand, some robot walking mechanism. Most industrial robots have six degrees of freedom of movement, of which the wrist is usually one to three degrees of freedom of movement; drive system including a power plant and transmission to the executing agency to produce the action; control system in accordance with program input of the drive system and the implementing agencies to issue a command signal, and control.

Industrial robot arm movement form is divided into four types. Cartesian coordinates of the arm can move along the three Cartesian coordinates; cylindrical coordinates of the arm for lifting, rotating and stretching movements; spherical coordinates of the arm rotation, tilt and telescopic; have more than one joint type of arm revolute joints.

The industrial robot according to the executive body movement control function can be divided into point and continuous path type. Point type only control point to another, the accurate positioning of the implementing agencies for machine loading and unloading, welding and general handling, loading and unloading operations; continuous path type can control the movement of the executive body of a given trajectory, suitable for continuous welding and painting and other operations.

The industrial robot according to the procedure input methods to distinguish between the programming input type and demonstrations to teach input categories. Programming input type is a good operating procedures have been incorporated in the computer file, sent through the RS232 serial or Ethernet communication to the robot control cabinet.

Teach teach input in two ways: one with a manual control by the operator to manipulate the box (teach), the command signal to the drive system, the executing agency by order of the requested action and the trajectory of drill again ; the other is by the operator direct leadership of the implementing agencies, according to the order of the requested action and the trajectory of the drill again. Teach the process at the same time, the working procedures of the information is automatically stored in program memory, the robot automatically work, the control system detected from the program memory, the appropriate information, instruction signals to the drive mechanism, the executing agency reproduction Teach a variety of actions. The industrial robot teach the input program is called to show the teaching and playback of industrial robots.

Tactile, force, or a simple vision of industrial robots can work in a more complex environment; such as the recognition feature, or to further increase the adaptive self-learning function, it becomes an intelligent industrial robots. It in accordance with the people to "macro" choice or by ourselves to adapt to the environment, and automatically complete the more complex work.

China's industrial robots

China's industrial robots started in the early 1970s, after 20 years of development has gone through three stages: infancy in the 1970s, the development period of the 1980s and 1990s the application of technology of

The 1970s was a milestone in world technological development: human beings landed on the moon, Venus, Mars, soft landing. China has also launched satellites. Industrial robot applications in the world set off a climax, in particular, more rapid development in Japan, it added to the growing shortage of labor. In this context, in 1972, China started to develop their own industrial robots.

1980s under the impact of the wave in the high-tech, with the deepening of reform and opening up, China's robotics development and research has been the government's attention and support. Seventh Five-Year Plan "period, the state invested to tackle the problems of industrial robots and their components, completed to show the development of teaching and playback technology package of industrial robots, developed a spray, spot welding, arc welding and handling robots. The National High Technology Research and Development Program (863 Program) of 1986, the theme of intelligent robots tracking the forefront of world robotics, after several years of research, a large number of scientific research, successfully developed a number of special robots .

Since the early 1990s, China's national economy into two fundamental period of change, setting off a new round of economic restructuring and technological progress boom, China's industrial robots and a major step forward in practice, has developed a spot welding, arc welding, assembly, painting, cutting, handling, packaging, palletizing a variety of uses such as industrial robots, and implemented a number of robot application engineering, the formation of a group of robots industrial base for our robot industry to take off the foundation. Although China's industrial robot industry is in constant progress, and international counterparts, the gap is still evident. From a market share of more can not be compared. The core technology of industrial robots, we have yet to master, this is an important bottleneck in the development of China's robotics industry.

How to make the robot to accurately identify and feel the objects

External objects by robotic electronic eye robot brain object graphics, fully formed by the pixel point, the robot is difficult to accurately identify the object graph.

In order to enable the robot to accurately identify the brain object graphics, first of all we should be this pixel object graphics into the robot can directly identify the object graphics, we can produce a variety of robot brain the nature of graphic particles and memory in the robot brain, constitute liquid particles constitute the solid particles can flow is not flow, the particles of soft objects able to compress the particles of a hard object can not be compressed and so on, these particles of different nature through the to the characteristics of different objects or liquids of different colors, gloss and surface of the automatic extraction.

Here we only particles of a solid nature to illustrate the robot object recognition, for example: When the robot through the electronic eyes in the brain formed a square, then the robot brain with memory particles automatically fill square (we call fill out an object graphics objects particulate graphics), we found that the square this time has been extracted, if we use the display to observe the square particle graphics of the robot brain, we will find this the four edges of the square particle graphics to display the four edges of the distance can easily be displayed, the length and width of the display is constant fixed value, so that the computer can be easily calculated the size of the square. We also need to set a particle residence time in the computer, that is, when after the disappearance of the graphics of a pixel and its corresponding particle graphics has a residence time, we can put this residence time is 0.05 seconds, which when we found that the robot brain square pixel graphics in a received a refresh, because the particles have a residence time so did not wait for the square of the particle graphics disappear new pixel graphics produced, so the square particle graphics this time only one. When this square in the fast-moving robot in front, then the residence time of the robot brain square particle graphics it will be in the robot brain to produce the same fast-moving, this is because when we fast-moving this square square pixel graphics refresh had a dislocation, then the square of the particle graphics has not disappeared, so the robot brain will be the square particle graphics shift to corresponding with the square pixel graphics, so that the square of the particle graphics on mobile. As the distance side of the screen four easily calculated, so the particle size of the graphic in this square is how to change the position of mobile robot can easily know the four edges of the square particle graphics.

Robot brain know an object particle graphics after the memory of the object particle graphics, so that the robot brain object, particle graphics, and other objects particulate graphics block this object particle graphics, robotics memory is still the object can be maintained as it is, for example: there are multiple objects in the robot around the environment graphics, then the robot brain will form a corresponding number of objects particulate graphics, when the movement of these objects sometimes block each other, then these objects, the robot brain particulate graphics still intact, so the robot will be able to know the object particle shapes are obscured part.

A feeling that we can set the distance the robot brain, that is a different distance will cause a different change in the robot body, such as current changes, such robots will in the brain of different shapes and different sizes of objects to produce a different feeling, for example: a square, long and wide in the sense that is the same, a rectangular length and width of feeling different, and so when the robot feeling to see the squares and rectangles.

How to make robots with human intelligence

As professor of the University of Pennsylvania School of Engineering and Applied Science, Daniel Lee has been involved in some important, and plenty of capital to the research project, aimed at expanding the scientific understanding of the human.
    Professor Lee over the past five years to participate in a series of projects, including the guidance of a competitive super puppy soccer team to participate in the California desert at the challenging road racing, as well as to teach a dog backflip. As he displayed as the last one to do up so easy. He placed three feet high performers on stage with a rubber pad, puppy pad for backflips. The dog successfully performing a backward somersault, but on the sets of the edge, shrank to the ground. Lee said: "They are sometimes not so smart."
    Professor Lee's research object is not a real dog, but the Sony Aibo (Aibo) robot. His research, some element of whimsical, but he was involved in the project - such as the guidance of the robot soccer team how to fight side by side, or let the autopilot equipped with sensors and small-engine car in heavy traffic city streets - will help him realize his own ambitions. In fact, that is simple, he just want to know how to make robots think and act like humans.
    Professor Li cooperation organized by Penn Engineering and the Wharton School MBA program in a lecture entitled "Intelligent Robot recently: the next step will be how? (Smart the Robots: What's Next?)," The seminar said, let the robot engaged in a variety of tasks, like humans, also need to explore uncharted territory. For years, researchers have only focused on developing the basic technology of the robot work. However, Lee pointed out that although this technology has been progress, but human intelligence - even the ability to recognize faces - is still our current capacity can not match. He also for their own areas of research, a key question: "Why is the establishment of artificial intelligence will be so difficult?"
To replace human soldiers

    The answer to this question will exceed the scope of academic research. In the U.S., the Pentagon has spent a lot - some analysts believe that over the years of its investment has reached $ 100 billion - Development of robots able to assist or replace human soldiers. U.S. Department of Defense's Future Combat System (Future Combat Systems, FCS) modernization program has been provided for the technology development funding for research. Li, where the Penn team won the Army Research Laboratory (Army Research Lab) $ 22 million in funding for the manufacture of independent operations in the theater of the robot.
    Lee believes that although the United States, the commercial development of automated robots for military purposes, but the smart robot still has a huge business opportunity. He pointed out that the intelligent robots of Japanese studies in order to help the rapid expansion of the older age groups to do the housework.
    In-depth study of the artificial intelligence aspects of commercial development may make the robot from one expert put it recently, "3D uses dull, dirty or dangerous (dull, dirty or dangerous) three purposes. March 31, Honda demonstrated a helmet-like device, it can read brain waves and transmit to Honda made a humanoid robot. With this device you can make, called "Love" (Asimo) robot to perform simple tasks, including moving its arm.
    Lee said: "In Japan, robots as a service." And allow the robot to perform business tasks is relatively slow progress in the United States. "In the U.S., the National Science Foundation (National Science Foundation) has also funded many research projects, the United States for the commercial use of robot-related research, more money from the defense budget."
    Lee envisages a future commercial application of robots. Of these technologies is likely to affect the future of industry and enterprise. He said: "We can create a lot of built-in sensors, actuators, and computing the micro-electronic technology, installations and equipment; The only problem is how to make them work smart and active in various environments. Future devices will not only store information, allowing users to play games, but also to provide more help. "
    Professor Lee received the professional training of physics, holds a BA from Harvard University and Massachusetts Institute of Technology condensed matter physics doctorate. Joined Bell Labs in the 1990s, robotics had a strong interest. He wanted to know why - despite the computer technologies such rapid development - the robot is still unable to perform the task of humans and other animals can be easily completed. Lee is now studying biology, hoping to learn more about human calculation information in order to apply it to the world of robots.
    Lee talking about the status of robot development, said: "These devices have been configured computer components and sensors, but people do not know how to use it." He believes that to create a smarter machine, the best The approach is to emulate the human brain.
    The analogy of biological principles to promote technology development is not a new concept. He pointed out that the People used to think that as long as the wings will be able to fly, until the early 20th century, the aerodynamic concept the first time been applied. "At that time someone would wear a pair of wings, jumped from the downstairs - the outcome can be imagined, this does not work." The reason why the Wright brothers in 1903 flight, because they carefully studied the mechanics of bird flight behind principles. Birds vibration of wings in order to maintain balance and move forward, but they can fly in the air at full speed, the curvature of their wings to the body under pressure is greater than the pressure of the head, lift flight. "So the pilot's main job is to use vibration to the aircraft wing parts radians.
    But the human brain does not like the bird's wing as easy to replicate.
    Lee pointed out that the computer can use the "exhaustive" analysis to defeat chess champion, but it He said that the human brain is a very sophisticated instrument, far beyond the scope of the people to understand. Traditional computer algorithms rely on fast search and brute-force calculation can not make the machines become smart, so we need to develop a new algorithm to deal with these issues in different ways, so that the robot can work in a complex environment. we have to do some productive work, but if you want a machine to become smart, and dogs still have a long way to go. "
    The robots have mastered the skills of some biological - Lee's Sony has demonstrated that love treasure robot. First, he would only electronic dog cried out loudly: "Hey," electronic dog turned his head at him. Then he walked to the other and saying: "hey, here", the dog also head turned to him. At the nanoscale in order to develop this robot technology, the designer must develop a sound sensor can simulate the human voice processing: the sound waves reach the left or right sensor speed difference can you tell the robot sound sources and head turning.
    Lee said, with a gradual increase in mission capability of the robot to sense its surroundings and implementation of mobile capacity - will gradually enhance their artificial intelligence - without continuous human guidance will be able to perform certain tasks. This is why four Sony love treasure robot composition football team's participation in international football match is not just an interesting entertainment, but Lee and his students also become a valuable learning tool.
"UPennalyzers" - by Professor Lee, the other teachers and students of the Penn Academy of Engineering to create the football team - 4 built-in computer of the robot. They can use the sensor analysis of 3 × 5-m arena, and through wireless communication with teammates - but do not need human control in 20 minutes of the game.
    Lee said the robot beginning of the game is cruel. Seen six or seven-year-old children play soccer? Everyone at the same time chasing a ball robot competition, so they either football trapped in the corner as long as half an hour, or put the ball into his own goal "But Lee play video UPennalyzers complex from the center of a recent game, show that the wisdom of the robot has gradually improve, to higher level of competition. "Now they can communicate: 'You are responsible for the eye on the ball, my defense'."
     The team used the robot rather than humanoid robot is extremely difficult because the two legs to move the robot, In recent years, Li and his team from the Pentagon's Defense Advanced Research Projects Agency (DARPA) to obtain at least $ 3.5 million in funding, training robots to walk and manufacture a way to use the machine to walk independently by the sensors in difficult terrain people. The military advantages of such a device - in a dangerous war zone transporting heavy loads through the mountains or the desert - is obvious, but walking on two legs are still like the holy grail of the robot programmer. He said: "They want a weight of 200 pounds through the high mountains of the machine, because the car is unable to climb the high mountains."
New use of the lighter?

    However, the wisdom of the development of unmanned vehicle - the project also received huge amounts of money in the DARPA goal is to achieve unmanned by 2015 one third of the U.S. Army vehicles can - Lee and his students the success and pride. Recently, they have short-listed the 2007 DARPA Urban Challenge, one of the six final teams to California Victorville an abandoned U.S. Air Force base entry.
    "Small" - Ben Franklin team of Penn and Lehigh University students and teachers to give them the modified Toyota Prius take the name - in the city streets on their own driving, while complying with traffic regulations and instructions and to avoid collision with the other finalists. To make the race more realistic and challenging, the 50 test driver wearing a crash helmet driving. After watching the bystanders stood thick concrete barriers.

Carnegie Mellon Institute and General Motors co-won the tournament and 2 million cash award; Stanford University received federal funding, for the manufacture of the intelligent machine car. Due to insufficient funds, the Ben Franklin team wisely configured with fewer sensors, creating a power consumption less car - burning less gas. Lee said: "With the Prius, we will be able to use lighter provide the impetus for all the computers in the car."

Lee told the Penn audience, when the robot to grasp the dish into the dishwasher this highly complex human task, we know that the robot has reached a higher first-class wisdom. He said: the development of industrial automation robots spent us a long time, and now we need a way to let the robot learn how to live in the dish into the dishwasher, because every night, dishes and glasses the number of different. "

IMPATIENS

(Holland 2013)
(Not including missile launcher) / 3.2m Height / 10.8t weight / 2 crew
When walking / maximum speed: 78km / h (when equipped with non-state primary weapon)
Antitank missile weapon / main, anti-aircraft missiles, and two twin 76mm rapid-fire gun (shown above is equipped with anti-tank missile type)
AFW new European Union army. Multipurpose vehicle-assisted walking.
Compared favorably with no upper body without A.F.W. that appeared in the 2000s, and covered some of the human type A.F.W. uneven terrain,
Although in close combat is not suitable, as logistic support vehicles and the performance is sufficient that you can use.
In addition to that, for cost-effective, was introduced into the army cost countries in a short period of time can be suppressed as low as about 3/5 of the human type A.F.W..
Type A.F.W. who are walking our main tank during exercise, but to be used as the stabilizer arms,
Walking vehicle does not have so-called upper body, since motion stability than the type person falls, many models with training wheels.
That does not leak to the case, which is equipped with training wheels on the bottom also to impatiens.
What mechanism is not a standard roller dash, dash maximum speed when using the wheel and the bottom is traveling at high speed can be 78km / h on the road pavement.
Eight missiles being fired from the group of type 2 anti-tank missile equipped with the above figure, twin missile launcher 4,
Nicknamed "Steel Burst (the outpouring of steel)" on the battlefield, and troops were terrorizing the enemy tanks.
To other impatiens are antitank missiles, and many other variations and two twin 76mm anti-aircraft gun rapid-fire anti-aircraft missile type is present, while the vehicle was also equipped with group 2 (bullet through the ground) mortar 40cm

STUHL D type

STUHL D type

■ STUHL D type (Germany 2010) / 1.9m Height / 12.8t weight / 1 crew (at least posture) 108km / h: bottom tire when traveling 55km / h: when walking / maximum speed The main weapon antitank gun / 90mm AFW new European Union army. Walking tank anti-tank. Small anti-tank walking tank with the name of the "chair". Toha path to evil in all four legs of its name is derived from. Can be distributed for the contact pressure in the legs of four, which is also excellent climbing ability in small lightweight Moreover, it is suitable for across the mountain, Military coup in suppression operations in the eastern border near the town of Berck Le Fichte Germany in 2014, Is also proven that surprise attack from behind the military coup in across the mountain from the northwest. On the road has been paved, it is possible to use the fast-moving wheel 6 on the bottom of the tire. When traveling to the tires, the rear leg is collapsed, the conversion is carried out by tilting direction of and attitude (can slide to the tip) of the nose landing gear wheel operation. For 90mm cannon was installed by force in a small turret, leaving the parking part of the machine, they've been out at the top of the barrel. The car is very narrow, of course, the crew will be on his back, but to steer it in a way that lie boarded with the knee in flexion, From the crew was quite unpopular places the burden on the knee and are riding for a long time. Beginning with the fourth stage production minutes per of which are slightly improved. (Design of their seats. There is a story that was designed by renowned German furniture designer, and Wolfgang Ice Ringer) E-type has been developed at the same time has been retrofit to Gatling gun, an antitank gun 90mm.

Me 3430G WAL

Me 3430G WAL

■ Me 3430G WAL (Germany 2014) 220.3t: gross weight 110.5t: weight 15m: Height: 56m: Width: 58m: Length Cruising speed: M0.92 (8000m altitude) Engine group: 4 A109C × (with a rocket booster) 6523km: range (when the ferry Empty Weight: 11956km) 80t: maximum payload Airborne military transport aircraft for the new European Union. Type of transport aircraft Gunship Me3430. Transport aircraft for airborne use to carry the front (four tanks) a platoon A.F.W.. Two sheets of lined up in a horizontal wing distinctive, significant effect to get the lift. In addition, by using a rocket booster has been expanded to four planes under jet engine, can take off and land in short distances. 105mm guns under the model, which is used to eliminate antiaircraft artillery and tanks, etc., the threat the ground, lowering the A.F.W. safely. Machine equipped with two anti-aircraft gunners, and from six air-to-air missiles for self-defense embedded. Transport aircraft for the Airborne was developed by Messerschmitt Me3320G showed a superior performance than other countries at the time of transport aircraft development. 2010, proposed the design of transport aircraft airborne use of performance Me3320 go on even more than the military, aircraft manufacturers were asked to six companies each. The end of the selection was narrowed down to two draft Messerschmitt's proposal, the proposed company EADS. Prototype is completed the following year, flight examination is performed. , But could not make the aircraft's development shows the performance is Messerschmitt-delayed, flight satisfactory at the time of the appraisal, Subject to review by the reluctance of finishing airframe hurried construction. As a result, EADS's proposal is adopted. However, the Messerschmitt company continues the development, completed a prototype of the machine four to six months later. Shown good results in-house testing. EADS is a prototype of the machine is ordered formally than 10 military, subject to review On the other hand the second flight. However, an aircraft crashed in an accident engine trouble during the examination. End to the disastrous results that are disintegrated due to lack of strength that a machine is, that there is a problem for practical use. Suddenly, it becomes subject to review machine is flying Messerschmitt fell in the first examination. As a result, the Messerschmitt machine shows excellent performance, has been formally adopted in June 2013.

15 two-legged tank Dongjiang fo

15 two-legged tank Dongjiang formula

■ (Tongan) Dongjiang tank bipod formula 15 (Republic of Han, 2010) / 4.6m Height / 16.2t weight / 2 crew 65km / h: when using the 49km / h dash Roller: When walking / maximum speed 75mm main gun weapon formula / 18 AFW Republican Army during the Han. Type attack / fighter type versus AFW. Of land to cover the vast expanse of the Republic of Hanzhong, two-legged tank type large mass production. To reduce the cost of production, have been used to such things inexpensive joint of sensors and motors, performance is slightly inferior compared to MBW in other countries. Inexpensive course has also been used nerve line, transmission speed is slower and FSB800. (: PANTHER A5 = FSB1333 case) Built-in roller dash is slow is feeble, and unfit for combat only real move. The crew seems to be quite unpopular. However, overwhelmed by the other strategy was to say to the number of destination in the War. Rankings constant. The key to success would be the pursuit of mass production by low-cost volume strategy was thorough, that the mass deployment. It is a vehicle has been developed in the provision of technology from Eastern Russia, as a specification of the unique large Han Chinese military, has been adopted in tandem A.F.W. of other countries are rare. Front seat is lower body, the rear seat is responsible for the operation of the upper body. It is that will compensate for lower performance in manpower and sensors, the computer, hence the amount of work assigned to each person is reduced, can be efficiently yard. However, if you can name two boarding, hit rate goes back up the greater body becomes, I'd say we Kayushi. By abnormal weather since the beginning of the 21st century, the unit can also be equipped for crossing across the river and was able to mesh as long in the country. When the crossing is, with a waterproof cover to each joint.

Back of the vehicle fuel tank shown above, the expression subdivide rare. Is usually equipped with integrated tank. Generator are mounted on the waist part, inexpensive things roundhouse is installed.

AC IV HONEY ANT

AC IV HONEY ANT

■ AC IV HONEY ANT (United States Australia 2018) / 4.9m Height / 16.1t weight / 1 crew 65km / h: when walking / maximum speed Guns 75mm / CNF-LB main weapon United States Army AFW Australia. Fighting type versus AFW. As a major problem in the desert A.F.W. operation, two legs point in the vehicle type is a ground contact pressure is too high, it is easy to take the leg in the sand and the like. A.F.W. be adopted in the United States troops from Australia that reason, desertification advances, most multi-leg type that can be distributed ground pressure. AC IV is the latest model of this type legs Oh, the world's first six legs specification. AC III of the previous type was a standard four leg type of multi-leg type, because there was a concern in terms of distribution of weight also, six legs specification has been adopted in AC IV. That the total height 4.9m, but also particularly high in A.F.W. high ride height compared to the tank, 1m maximum flexibility in the legs moving Multi-leg type is also a merit of the benefits can be distributed to its own weight, even if you do not dash equipped with a roller mechanism, traveling as fast as the speed in a hurry. In terms of faster traveling speed is in favor of fighting the war, and become a one-on-one game in the desert, would be dangerous even PANTHER A5 of the German army are said to be the strongest A.F.W.. As well as benefits, as a problem of multi-leg type, price is expensive in terms of vehicle 4) the increase in weight 3) an increase of 2) maintenance costs increased complexity of a mechanism), and the like but mainly. AC III can be deployed to the country too, but did not proceed to take Ikkoni of export orders, AC IV, exports are not considered. The development of the rumors and was involved in corporate North America, Inc. GSK German plausibly have been murmurings.

Derived type at the top of the rear block, equipped with antiaircraft artillery, surface-to-air missiles, antitank missiles, radar, etc. are present.

PANTHER A5

■ PANTHER A5 (Germany 2020) / 4.4m Height / 15.5t weight / 1 crew 105km / h: when using the 55km / h dash Roller: When walking / maximum speed Guns / BG3-70 FL120mm main weapon AFW new European Union army. Fighting type versus AFW. As one of the features of the development era of cooperation walking tank world, development has been made ​​through international cooperation and the like. Between North America and Germany late 1990s, the development of next generation walking tank to be planned. It was fabricated at that time is KWpz.21. KWpz.21, the monument's vehicle an adopted the first cross-drive tank walking, was dramatically simplified control of the aircraft. However, to trigger the economic friction with North America, worsening relations between the two countries since the early 2000s. KWpz.21 does not wait for completion, the development will be aborted. PANTHER is a walking tank that is based on the technology obtained in the development of KWpz.21. Continued from old high German tank design, manufacturing technology is no significant change in walking tank, nickname of "walking the world's most powerful tank" PANTHER is high, countries export to the European Union (new) NEU, or licensed production in each country, such as the lease has been. There were defects in the initial design stage type that are in the joint motor and transmission structure waist prone to failure, was followed by an improved mobility, both excellent walking tanks and armor. Formed to roll out at the same time as NEU, walking tank current mainstay of German cavalry. The body has a shape that big squarish, and this goal will broaden the effective area of the internal, for the adoption of composite armor. Russian tanks and walking, such as a previous generation composite armor was adopted earlier band, the roundness, the visual impression is very different. One of the characteristics of the PANTHER also are equipped with the right shoulder shield, wire cutting pliers can also be mounted and shovel, jack, etc., the so-called exterior equipment on the back.

Equipment Type FL120mm guns FL120mm artillery gun manufacturer established in Germany, manufactured by the metal line, as a weapon to fight neck and neck with tank by its tremendous destructive power Has been adopted in countries with member countries of A.F.W. of NEU. Magazine has been bent into shape of U, from 32 shells are filled. Magazine was divided on the type of bullets, are mounted on the back thigh, it is possible to change the bullet species depending on the situation.

DAWN

DAWN

■ DAWN (Navel archipelago country in 2015) / 4.6m Height / 21.3t weight / 1 crew 89km / h: when using the 48km / h dash Roller: When walking / maximum speed Land battleship guns to rocket launchers / SILL90mm main weapon AFW archipelago naval armed forces. Attack type versus land-based facilities / Fighting type versus AFW Been formally adopted in 2015, Walker's main domestic archipelago naval combat net (MBW). Completion of the prototype, since December 2011 was four years ago, but can imagine that the first time in dystocia. After one week of December 6, 2011 two machine prototype was rolled out, one-on-one mock battle which served as the test has been made. Models play is, (M-65 is a modification of M-65 type has been imported from the United States. Way of MBW before DUSK Voxxa A.F.W. for export in front of). Up to four minutes after the start of combat, which had been fighting the dominant DAWN, a sudden fall. Test is aborted there. Cause of falls, due to failure of the entire leg frame did not carry the weight, the weight of the armor thick covered the whole body. (In the first test of A.F.W. heavyweight. Failure often) Result in airframe design comes into force tried to reconcile the conflicting performance that heavy armor and mobility. Four years, the development is carried out to focus on that to reconcile the conflict from there, finally to be formally adopted in May 2015. The calf and thigh is strong, shock-absorbing mechanism is a large built-in. This archipelago country DAWN was developed by a small naval population, a design considered the safety of the crew, has been focused on defense have been made. Wavy front torso armor, armored special shock-absorbing gel耐弾has been built. This armor is only being used on the front torso hit rate is the most expensive and still very high. There is a hatch in the rear upper surface, a feature of a name DAWN spare crew, also Tsumikomeru and supplies from there.

Малютка

Малютка

■ 2VS8 Малютка (Maryutoka) (Russian Federation 2013) / 4.2m Height / 14.3t weight / 1 crew 105km / h: wheels when traveling 50km / h: when walking / maximum speed 2 × howitzer weapon main gate / 120mm AFW army integration mechanism in Central Asia. Walking type self-propelled artillery. Current versus the evolution of artillery radar thing was Kiwama~tsu, very important that the rapid shift position after shooting the gun for self-propelled artillery It goes without saying. If you continue the shelling from the same point, firing position is easily identified by a pair of enemy artillery radar, it is inevitably subject to counterattack. After the shelling in order to avoid this, in order to shift positions quickly, requires high capacity self-propelled. Of expression than the self-propelled artillery and wheeled軌式so, walking type self-propelled artillery is superior to using leg power Toha uneven terrain, A high degree of freedom position shift can be more. Maryutoka 2VS8, in addition to walking with the leg movement, can move at high speed drive wheel attached to the inseam. Combines the advantages of both legged and the equipment軌式Yes, walking is a self-propelled artillery with a superior ability to transfer positions. Maryutoka nickname means "kid" or "baby" in Russian. Large breast can be seen on the face, that nickname was attached from the head and body appear to be children of low.

A.F.W. legged device (except for some exceptions), the problem of contact pressure is always haunt must be supported by the total weight of the soles of the feet. Maryutoka (with a light weight anyway) for the area of the foot is relatively small, but increasing pressure, especially the ground. With a high ground pressure, on soft ground such as swamps and sandy soil, so take a big weight to a small area, legs they sank. Go to the land when the ground is soft, it is equipped with the snowshoe, to distribute the ground pressure is several times. Time model, it solves the problem of ground pressure has been cited as a problem.

Maryutoka gate equipped with two guns, the bombardment mass of even as much as possible to 60 shots per minute, a high burst gunpower. Grenades are fired alternately, can also be also, can attack a wide range of enemy land, a large number of shells Furisosoga to a point.

In order to achieve high capacity artillery burst, and the gun itself at the top of the rear cylindrical parts, developed by Winnie Lee Loni direct painting, High-performance automatic loading system is installed. This automatic loading system, so that it automatically to fit the angle of elevation of the gun, As a conventional self-propelled howitzer, there is no need to load a shell from a gun horizontally back to the time of the shooting. To Maryutoka, the data management device is equipped with automatic ammunition, bullet seed can be selected depending on the intended use also. Ammunition that is selected will be sent to the breech by automatic loading system. Shooting speed is very good, from 30 × 2 gate, which is a total of 60 shots per minute. By using the system (explosive charge formula Modulares Treib Ladungs ​​System = modular) MTLS has been developed at the same time, When using the L15A2 which is usually high explosive, and its maximum range is reached 30km, If you use a Howitzer base bleed, it is possible to obtain a long range that the 40km.

Self-propelled artillery to bombard a relatively safe from the rear, there is no need to withstand the direct hit of an enemy shell, Has become relatively thin armor design. Must be constantly subjected to blast and debris when That said, when artillery shells fired from the enemy is fighting, has landed around rupture, Is often equipped with armor, which significantly increase the defense force. (The above image of the vehicle. Some armor and mounted on a crawler instead of the thigh) Bulletproof ability, other than the front armor is about to withstand the direct hit of bullets and grenades debris of heavy institution 12.7mm, When you go to combat, focusing on the most, such as a thin top armor, traveling is mounted without a gap increases.

Drawn on the fin protruding backward from the waist up, marking the legs of birds are protruding from the wheels, Chapter troops for "Thailand Bird and wheels" of the army 604 artillery Iribichasuka direction.

VA-9c

VA-9c

■ VA-9c (Russian Federation 2015) / 4.3m Height / 17.5t weight / 1 crew 102km / h: when using the 50km / h dash Roller: When walking / maximum speed Guns 87mm / B802K main weapon AFW army integration mechanism in Central Asia. Fighting type versus AFW. Utilizing lightweight, was a VA-9 stood more advantage in mobility A.F.W. other countries, there was anxiety in the defense force. VA-9x02 prototype produced upon request from the field, with enhanced armor, has been tested. X02 is still not made ​​up of generator output and the strengthening of the undercarriage, the only problem was that the enhanced armor simply, although the defense force has risen, To take shape "mobility", which is the superiority of VA-9 has become repressed, test results were not good. On the other hand, has been developed around the same time, VA-9x04-enhanced prototype roller dash, succeeded in obtaining a High Mobility capability further. Defense and x02, x04 high-mobility becomes one, it is finally completed this type VA-9c. In order to increase the armor is enhanced each joint motor, frame, roller dash has been added to the leg side. Has been replaced with a high-performance (type Waravu~onofu Chekhov's Chaika 2) is also a generator. Increase in weight of the UP in exchange for defense, sudden acceleration, sudden stop, and of turning, the performance of the overall motility, but had slightly worse VA-9, Defense UP is generous hearts of the crew, that caused a completion rate of improvement strategy. The crew of the field seems to have gained popularity. Vehicles on the image like it is immediately after the battle, drew a large amount of oil that would have been ejected from the enemy A.F.W. when defeated, they've been dyed red. But vehicles are equipped with infrared jammers snorkel, the right shoulder to left side, originally for export in Iraq, to be used in the country is a rare Russian Federation.

Guns of 87mm B802K main weapon is a thing has been subjected to additional improvements and fore grip barrel of B802. B802K of the above image, is equipped with a drum magazine, increase the number of magazine and has been built up. foot roller on the side of the dash that was added in c-type, except for the rear fender has been added is identical to that of the T-23d.

VA-7

VA-7

■ VA-7 (Russian Federation, 2008) / 4.3m Height / 14.4t weight / 1 crew 48km / h: when walking / maximum speed Guns 76mm / D702 main weapon AFW army integration mechanism in Central Asia. Fighting type versus AFW. Characteristic of the Russian federal troops A.F.W. and it is aligned with a large amount, And sturdy and inexpensive. It is reflected as it is thought that, this series is the VA. Joint motor of the VA-7 is, in exchange for some fall and that the driving speed, the structure was taken from a generation before intentionally brief. The reason is the length of cycle maintenance and reliability. Russian federal troops to hold large amounts of A.F.W. is we # must also carefully consider maintenance costs. The stocky body type and style, it has a rounded overall, which is characteristic of Volcan Nof A.F.W. manufactured by Chelmsford. This is because to minimize the damage when hit. VA-7 are produced and Eastern European countries such as the Czech Republic and Poland, also in Pakistan. That are produced in countries with low power technology, the structure is relatively simple and easy to handle, does not apply due to the fact that maintenance costs. Because you as simple as possible the structure and ride quality is good even flattery can not say, mature overall high except for the point, that continue to be used in active service while making improvements still 2030. (Currently, in the Russian Federation. Type d is used)

images exhibitions momo

KB-15

KB-15

■ KB-15 (Republic of East Baltic 2013) / 4.3m Height / 15.6t weight / 1 crew 85km / h: when using the 50km / h dash Roller: When walking / maximum speed Guns / AKC-75 75mm main weapon AFW integration mechanism in Central Asia. Type infantry support. East by the Baltic Republic of defeat in the war against the Russian Federation, 2008, the production of military A.F.W. is regulated by the treaty Irkutsk, A. In light armored companies Iaharuto, U~enofusu, and as for the police after the war Kirubaren continued the development of F.W.. 2 years after the reign of the Russian Federation, the Republic of East Baltic to recover sovereignty. After participating in the integration mechanism in Central Asia in 2012, to undertake the development of a full-fledged military A.F.W.. This machine is using the frame of A.F.W. has been developed for police, less weight can be mounted. Can not be equipped with guns and thick armor for its powerful, has been adopted in Central Asia as a means of supporting infantry troops and integration mechanism. 75mm main gun of the other weapon, equipped with antitank rockets from 3.

VA-9

■ VA-9 (Russian Federation 2012) / 4.3m Height / 13.3t weight / 1 crew 117km / h: when using the 55km / h dash Roller: When walking / maximum speed Guns 87mm / B802 main weapon AFW army integration mechanism in Central Asia. Fighting type versus AFW. Equipped with a camera feature two high-performance aircraft in the upper surface, and it can send a picture of sterically exterior of the pilot to head-mounted display. Become a standard since the visual system of AFW VA-9. With the performance has (especially turning performance) mobility, superior to melee combat system combined with the excellent stereoscopic vision. (However, there is now a three-dimensional vision system has been introduced to other aircraft of VA-9,. Some becoming obsolete) 87mm B802 main gun of the weapon, as compared to the main weapon of combat aircraft type AFW another pair, the weight of what firepower is slightly inferior. To maintain the advantage of mobility is a VA-9, which continues to be adopted today.

VA-9 x04 strengthening a prototype roller dash left: Suit up performance in order to further strengthen the roller dash. (With a dash of roller-type T-23d) Results of our tests are on, the development of mobility with improved characteristics of VA-9 is currently in progress. Equipped with a prototype armor VA-9 x02: right VA-9 is a weakness in exchange for performance and high mobility, it is thin compared with AFW other armor. In order to improve it, add the leg armor to protect the unit seems to be in melee combat. However, it means mobility is impaired by weight has increased, Test results in a half-hearted, remain in the prototype.

T-23d

■ T-23d (Russian Federation, 2008) / 4.5m Height / 18.7t weight / 1 crew 98km / h: when using the 45km / h dash Roller: When walking / maximum speed Guns 105mm / B780 main weapon AFW integration mechanism in Central Asia. Fighting type / AFW tank. AFW flagship heavy armor, heavy firepower. Also available from the front anti-tank combat. Blunt foot heavy airframe weight. In order to cover it, enhanced by a dash d type roller to roll out in 2013. (The above image was enhanced by a dash roller type d) The pair have excellent elasticity for heavy armor, acceleration, turning is bad because the weight of heavy aircraft. AFW is against anti-tank has been considered unsuitable, in the battle with the military coup of 2010 Han Chinese military, victory in the tank unit is T-23b. Since then, anti-tank tactics of AFW has been studied, utilizing the unique mobility of AFW now is not linear, anti-tank tactics have been established. (And not in the brigade. Does not mean we are winning in all aspects, but from a tank AFWf say) B780 of the caliber of the main weapon is 105mm, with guns fighting for AFW type with the destructive power of the top.

12-foot multi-track armored car (Soki)

■ Multi-armored 12-foot rail car (Soki) (Japan 2012) / 2.5m Height / 18.4t weight / 3 crew (at least posture) 180km / h: wheels when traveling 55km / h: when walking / maximum speed Main cannon weapon / 35mm, anti-tank missile launcher Union Pacific AFW free economy. Multipurpose vehicle-assisted walking orbit. Multi-leg 12-rail car is armor, A. Multi-leg F. W. In addition to the performance of, in the special vehicles capable of running the railway line usually on the road, To Kannawa rubber has been covered, it is possible to run even on the road. Can correspond to any gauge (the width of the line), it can take a train has been laid freely in Japan is a feature of this vehicle. Use and operate the railway line to the vicinity of fast-moving field, it goes from there is up to the scene with their legs down the line is made. Ancestor of the rail car is 12-feet multi-armor, armored rail car ninety-five formula that appeared in 1935 is (Soki). Ninety-five formulas is that the security of Manchuria Railway it is a primary mission, but there is no fixed armament had a turret, Was in the vehicle equipped with such attacks that purpose light machine gun, depending on the mission. It established the style of armored rail car loaded with armed combat for a fixed formula in armored rail car 65 has been developed in 1965, Then followed up the performance of several times, roll out multi-leg rail car armored car formula 02 with a leg in armor orbit in 2002. Such a step on the process, multi-leg armor 12-rail car was completed in 2012. However, the vehicle was originally expensive, plus performance armored vehicles capable of running the train called "armored rail car", 12 formulas added to the walking function more powerful, has been subjected to armed state-of-the-art weapons become quite expensive, the deployment has not advanced much.

M266 armored tank recovery vehicle

M266 armored tank recovery vehicle

■ M266 armored tank recovery vehicle
(North America, 2008)
/ 3.3m Height / 21t weight / 7 capacity
/ 150km / h maximum speed
Union Pacific Rim armored tank recovery vehicle free economy.
M26 tank recovery vehicle armor will be used to tow and recovery tanks during World War II, failed, and was driven to win and advance in the shade of the U.S. Army tank regiment.
Roll-out year 2008 M266 which is a descendant that has been enhanced engine, armor, etc.. Not only the recovery of tow tank, has also been used to that of the AFW.
Equipment such as arm A 640-horsepower engine manufactured by Hartman & Barnett 640 cabin and output composite armor, for the tandem winch and recovery operations.
Served as a tank truck 2 Dragon Wagon M155 M255 in combination with a semi-trailer. Possible recovery and towing tank was incapacitated alone.
You can also perform emergency repairs tanks at the front, of AFW equipped with a variety of equipment such as welding machines further.
M266 is used in a free economy Union Pacific Rim countries, 58 tanks have also been granted to Defence Forces Japan.

(HP model Tamiya / Reference)

 

Walking tank 18 formula

Walking tank 18 formula 18 ■ formula walking tank (Japan 2018) / 4.4m Height / 14.7t weight / 1 crew 108km / h: when using the 62km / h dash Roller: When walking / maximum speed Smoothbore main gun weapon formula / 15 (caliber 105mm42), 12-98mm guns Union Pacific AFW free economy. Fighting type versus AFW. Development was carried out in parallel with the fire fly, A.F.W. Jun made ​​in Japan. Slightly inferior in terms of mobility, has finished in the performance that can handle heavy armor, firepower greater than can be said rival machine fire fly, say it even in first class of models of economic freedom AFW Union Pacific. Over the entire body is a combination of ceramic composite armor plate and bulletproof titanium has been adopted. Silhouette of the whole thing has become somewhat squarish for this purpose. In terms of thermal, high-performance computers, infrared night-vision equipment, stable equipment guns to fire control system, such as those of first class consists of a laser distance measuring device has been adopted, the automatic tracking function is obtained for the target day and night regardless , has achieved a high accuracy even in high-speed driving. Livability in the cockpit is good and has been designed to A.F.W. widely, has gained a reputation in the crew. Walking tank 18 expression has been formally adopted in July 2018, CCF as (Concord Conservation Forces), participate in the mediation military conflict in the Middle East in 2019 also serves as a test the next day. Fire with troops fly in North America, a spectacular debut to destroy all the machines that the Iraqi military in Operation A.F.W.24 open (Jordan) Najeiro. NEU even overwhelmed the planes followed by "Operation Venus". However, the weight of the joint motor failure due to artificial muscles and more often seen in both operations, the occupancy rate was not high never. At present generators and aircraft modification is subjected to, those defects and has been improved. Monochromatic gray walking tank 18 expression is a common color. The above image is from Sunepatsu that the color of green, retrofit aircraft suddenly seems to be a part in the local. Why were destroyed shin?