DE102019200574B4 - Underwater vehicle with a guided cover - Google Patents

Abstract

Underwater vehicle with a cavity, a cover (1), a shaft (5) and a mechanical connecting arrangement, the cover (1) being pivotable relative to the cavity between a closed end position and an open end position, the shaft (5) is rotatable relative to the cavity and whereby the connection arrangement causes a pivoting of the cover (1) from one end position to the other end position with a corresponding rotation of the shaft (5), the connection arrangement a link (4, 4 ') - a lever arm (6, 6') and - a guide device (13, 14, 15, 16, 32, 20, 21, 22, 23), wherein the link (4, 4 ') is designed to To steer movement of the cover (1) when pivoting relative to the cavity, characterized in that the lever arm (6, 6 ') is firmly connected to the cover (1) and the guide device (13, 14, 15, 16, 32, 20, 21, 22, 23) is designed to the lever when pivoting the cover (1) arm (6, 6 ') in such a way that - when the pivoting angle of the cover (1) relative to the closed end position is below a predetermined limit, the lever arm (6, 6') relative to the handlebar (4, 4 ') is movable and, when the pivoting angle is above the barrier, to fix the lever arm (6, 6') relative to the handlebar (4, 4 ').

Description

The invention relates to an underwater vehicle with a cover, with the further features according to the preamble of claim 1.

On the one hand, the closed cover should close the cavity securely and, as a rule, watertight. This requires the cover to be guided precisely into a predetermined end position with respect to the cavity when it is closed. On the other hand, the open cover should not be damaged or tilted or warped when the underwater vehicle drives through the water with the cover open and vibrates. A further requirement results from the fact that the cover is or is opened when the underwater vehicle is submerged, for example in order to remove objects from the cavity under water. The lid should then vibrate as little as possible and not be damaged, not even due to water currents around the opened lid.

DE 10 2009 004 056 A1 shows a submarine that has a pressure hull through which at least one lock penetrates. This lock can be closed pressure-tight at its end arranged in the pressure body with an inner cover and at its end arranged outside the pressure body with an outer cover. To open and close the outer cover, a drive is provided which is arranged outside the pressure hull and is controlled by a controller inside the pressure hull.

DE 301 345 A shows an outwardly opening hatch cover for diving boats, characterized in that the swivel joint of the cover is arranged in the interior of the boat.

The object of the invention is to provide an underwater vehicle with the features of the preamble of claim 1, in which the risk is reduced on the one hand that the cover in the closed end position does not close the cavity as desired, and on the other hand, even while the underwater vehicle is traveling underwater the risk is reduced that the partially or fully opened cover is damaged.

This object is achieved by an underwater vehicle with the features specified in claim 1. Advantageous developments result from the subclaims, the following description and the drawings.

• - einen Hohlraum,
• - einen Deckel,
• - eine Welle und
• - eine mechanische Verbindungs-Anordnung.

The underwater vehicle according to the solution comprises

• - a cavity,
• - a lid,
• - a wave and
• - a mechanical connection arrangement.

• - einen Lenker,
• - einen Hebelarm und
• - eine Führungseinrichtung.

The mechanical connection arrangement comprises

• - a handlebar,
• - a lever arm and
• - a guide device.

The lever arm is firmly connected to the cover.

The cover can be pivoted relative to the cavity between a closed end position and an open end position. The shaft can be rotated relative to the cavity. If the shaft is rotated accordingly, the mechanical connection arrangement has the effect that the cover is pivoted from one end position into the other end position.

• - Dann, wenn der Verschwenkungs-Winkel des Deckels relativ zur geschlossenen Endposition unterhalb einer vorgegebenen Schranke liegt, ist der Hebelarm relativ zum Lenker beweglich.
• - Dann, wenn der Verschwenkungs-Winkel oberhalb der Schranke ist, fixiert die Führungseinrichtung den Hebelarm relativ zum Lenker.

When the cover is pivoted, the link is able to direct the movement of the cover relative to the cavity. The guide device is able to guide the lever arm when the cover is pivoted. The guide is designed in such a way that the following occurs:

• - Then, when the pivoting angle of the cover is below a predetermined limit relative to the closed end position, the lever arm is movable relative to the handlebar.
• - Then, when the pivoting angle is above the barrier, the guide device fixes the lever arm relative to the handlebar.

The invention contributes to the fact that in the closed end position the cover can seal an opening leading to the cavity in a watertight manner. The risk is reduced that the cover does not lie flat on a border of the opening and therefore a segment of the cover edge wears more than another segment.

According to the solution, the link steers the cover while the cover is pivoted relative to the cavity. As a result, the handlebar contributes to the fact that the cover is moved along a predetermined trajectory. This trajectory can be specified in particular by the geometry of the link, and also by the length of the lever arm. Neither the shaft nor the cover need to be adapted to this trajectory. The handlebar can help to transmit a rotary movement of the shaft to the cover. The lid can be relative to the handlebar be movable, in particular be pivotable. Thanks in particular to the link, the distance between the cover and the shaft can be adapted to given boundary conditions. The invention thus increases the degrees of freedom in the design of the connection arrangement and the cover.

According to the solution, the lever arm is firmly connected to the cover. The lever arm contributes to the fact that a rotation of the shaft is transmitted to the cover and causes the cover to move from one end position to the other end position. The guide device guides the lever arm while the cover is pivoted. As a result, the guide device also indirectly guides the cover when it is pivoted.

According to the solution, the guide device guides the lever arm differently, depending on whether the pivoting angle of the cover is below or above a predetermined limit relative to the closed end position. This configuration is particularly important if water currents act on the submerged underwater vehicle and / or the underwater vehicle vibrates.

If the pivoting angle is below a barrier, the lever arm can move relative to the handlebar. An intentional play thus occurs between the handlebar and the lever arm. As a result, the cover, which is firmly connected to the lever arm, can also move relative to the handlebar. This configuration enables the cover to be guided into a desired position relative to the cavity when it is pivoted into the closed end position, even if water flows and vibrations cause the actual trajectory of the cover to deviate from a required trajectory. The property that the cover is movable relative to the handlebar with a small pivoting angle contributes to the fact that the cover is positioned relative to the cavity as desired in the closed end position and in particular closes an opening in a watertight manner.

Thanks to the property that the cover can be moved relative to the handlebar with a small pivoting angle, few or even no constraining forces occur. In many cases, such constraining forces prevent forces from being evenly distributed over the surface of the seal while the cover is being moved into the closed end position. It is therefore advantageous to avoid constraining forces or at least reduce them, which the invention achieves.

In addition, thanks to the play, the cover is decoupled to a certain extent with regard to vibrations from a wall of the cavity, which reduces the risk of damage and the noise emissions generated. Such a decoupling is particularly desirable when both the cover and the wall of the cavity are made of metal.

If, on the other hand, the pivoting angle is greater than the limit, the lever arm and thus the cover can no longer move relative to the handlebar. The handlebar and the lever arm thus fix the cover and hold it in a fixed position relative to the shaft. This reduces the risk that water currents or vibrations can damage the at least partially open cover.

In one embodiment of the invention, the handlebar is firmly connected to the shaft, and the lever arm is movable relative to the handlebar at a pivoting angle below the barrier.

In one embodiment, the cover is rotatable about an axis of rotation. This axis of rotation can coincide with the central axis and thus the axis of rotation of the shaft or be arranged at a distance parallel to this shaft axis. It is also possible that the cover can be pivoted relative to the cavity in a way other than a pure rotary movement relative to the cavity.

• - eine Anschlageinheit und
• - ein Federelement.

In one embodiment of the invention, the connection arrangement comprises

• - a stop unit and
• - a spring element.

The spring element is supported on the handlebar. The spring element is able to move the lever arm towards the stop unit.

This embodiment provides a mechanical and purely passive component in order to fix the lever arm and thus the cover at a pivoting angle above the barrier.

It is possible that the spring force of the spring element remains the same when the cover is pivoted. In a preferred development of this embodiment, however, the spring force exerted by the spring element changes. If the pivoting angle is above the barrier, the spring force is greater compared to the spring force at a pivoting angle below the barrier.

Different configurations are possible in order to change the spring force depending on the pivoting angle, including purely mechanical configurations and an active regulation or control. Through different Values for the spring force have the effect that the lever arm is movable or fixed relative to the handlebar depending on the pivoting angle.

In one embodiment, a recess is made in the shaft. The lever arm engages in this recess. A gap occurs between an inner wall of the recess and the engaging lever arm.

In a preferred development of this embodiment, the connecting arrangement comprises a plunger. This tappet extends in a longitudinal direction, which is preferably perpendicular to the axis of rotation of the shaft. The ram can be moved in the longitudinal direction of the ram relative to the lever arm. The shaft is surrounded by a jacket. This casing provides an inner contour that points towards the shaft. The shaft can be rotated relative to this casing and thus relative to the inner contour. A rotation of the shaft has the effect that the lever arm together with the plunger is pivoted relative to the casing. The inner contour of the casing is designed so that the following is achieved: The distance over which the plunger can be moved relative to the lever arm is greater when the pivoting angle of the cover is below the barrier compared to the distance over which the The plunger can be moved when the pivoting angle is above the barrier. It is possible that the plunger cannot move at all if the pivoting angle is above the barrier.

In one embodiment, the underwater vehicle comprises two rotary drives. The shaft extends between these two rotary drives. Each rotary drive can turn the shaft. Each rotary drive provides a bearing for the shaft.

The underwater vehicle can be a manned or unmanned underwater vehicle and can have its own drive or be designed to be pulled or pushed through the water by another vehicle or moved in another way.

• 1 ein erstes Ausführungsbeispiel der Erfindung mit geschlossenem Deckel in einer perspektivischen Darstellung schräg von oben;
• 2 das erste Ausführungsbeispiel mit geschlossenem Deckel in einer Draufsicht;
• 3 das erste Ausführungsbeispiel mit geschlossenem Deckel in einer Seitenansicht;
• 4 das erste Ausführungsbeispiel mit geöffnetem Deckel in einer perspektivischen Darstellung;
• 5 schematisch ein zweites Ausführungsbeispiel der Erfindung in einer Draufsicht;
• 6 das zweite Ausführungsbeispiel in einem Querschnitt;
• 7 ein drittes Ausführungsbeispiel der Erfindung;
• 8 ein viertes Ausführungsbeispiel der Erfindung.

The underwater vehicle according to the invention is explained in more detail below using an exemplary embodiment shown in the drawings. Here show:

• 1 a first embodiment of the invention with the lid closed in a perspective view at an angle from above;
• 2 the first embodiment with the lid closed in a plan view;
• 3 the first embodiment with the lid closed in a side view;
• 4th the first embodiment with the lid open in a perspective view;
• 5 schematically a second embodiment of the invention in a plan view;
• 6th the second embodiment in a cross section;
• 7th a third embodiment of the invention;
• 8th a fourth embodiment of the invention.

In the exemplary embodiments, the invention is used for a cover which closes a cavity of an underwater vehicle, for example a manned submarine. The cover is, for example, a muzzle flap for a torpedo tube or other weapon barrel of a manned military submarine, a flap or a cover for a multifunctional tube, which can be arranged vertically or horizontally or at an angle, or an entry hatch or exit hatch. The pipe can thus lead from a pressure hull of the submarine into the outer ship area. This pipe extends along a pipe longitudinal axis. The orientation of this pipe longitudinal axis relative to a coordinate system that moves with the underwater vehicle is arbitrary. In a preferred embodiment, the pipe longitudinal axis is arranged perpendicular or parallel to the longitudinal axis of the submarine (x-axis of the coordinate system).

According to the solution, the cover can be pivoted relative to the cavity between a closed and an open end position. The pivoting angle of the lid is zero or the smallest when the lid is in the closed end position, and greatest when the lid is in the open end position. In the closed end position, the cover closes the cavity in a watertight manner, even when the underwater vehicle is diving. When the lid is open, an opening is formed that leads into the cavity. In the exemplary embodiment, thanks to the invention, it is possible for the lid to be opened under water in order to remove objects from the cavity or to bring objects into the cavity without the lid vibrating or being tilted or damaged by water currents.

The exemplary embodiments realize the following requirement: When the cover is closed, it is first aligned parallel or at an angle to a sealing surface, which requires that the cover be movable in or at an angle to the plane of the cover. The lid is then completely closed with the aid of a press ring. If the lid, however is fully or partially open, it should be rigidly locked on the rotary drives. Even when the open cover is under water when the underwater vehicle is moving, water currents should not generate any vibrations in the cover.

• - der Deckel 1 mit einem O-Ring 12,
• - ein Pressring 2, der den geschlossenen Deckel 1 aufnimmt,
• - einen Flansch 7 für den Pressring 2, wobei der Flansch 7 bevorzugt als Schraubflansch ausgestaltet ist,
• - eine Welle 5, die relativ zum nicht gezeigten Hohlraum und relativ zum Pressring 2 um eine Drehachse D drehbar ist,
• - zwei hydraulische oder elektrische Drehantriebe 3.1, 3.2, welche die beiden Enden der Welle 5 aufnehmen und daher zwei Lager für die Welle 5 bereitstellen, wobei bevorzugt jeder Drehantrieb 3.1, 3.2 ausreicht, um allein die Welle 5 zu drehen,
• - zwei Flansche 9.1 und 9.2 zwischen den beiden Drehantrieben 3.1, 3.2 und der Welle 5,
• - einen einteiligen Lenker 4, der den Deckel 1 bei einer Drehbewegung der Welle 5 führt,
• - einen dreiteiligen Hebelarm 6 mit zwei voneinander beabstandeten Längsträgern 6.1 und 6.2 sowie einem Querträger 6.3, wobei die beiden Längsträger 6.1 und 6.2 drehfest an dem Deckel 1 befestigt sind und der Lenker 4 drehfest an der Welle 5 befestigt ist und wobei der Querträger 6.3 die beiden Längsträger 6.1 und 6.2 miteinander verbindet.

1 to 4th shows a first embodiment of the invention, wherein 1 to 3 the first embodiment with the lid closed and 4th shows with the lid open. The following components of the underwater vehicle according to the solution are shown:

• - the lid 1 with an O-ring 12th ,
• - a press ring 2 holding the closed lid 1 records,
• - a flange 7th for the press ring 2 , with the flange 7th is preferably designed as a screw flange,
• - a wave 5 relative to the cavity, not shown, and relative to the press ring 2 around an axis of rotation D. is rotatable,
• - two hydraulic or electric rotary actuators 3.1 , 3.2 showing the two ends of the shaft 5 and therefore two bearings for the shaft 5 provide, preferably each rotary drive 3.1 , 3.2 enough to wave alone 5 to turn
• - two flanges 9.1 and 9.2 between the two rotary drives 3.1 , 3.2 and the wave 5 ,
• - a one-piece handlebar 4th holding the lid 1 when the shaft rotates 5 leads,
• - a three-part lever arm 6th with two spaced apart longitudinal members 6.1 and 6.2 as well as a cross member 6.3 , with the two side members 6.1 and 6.2 rotatably on the lid 1 are attached and the handlebars 4th non-rotatably on the shaft 5 is attached and wherein the cross member 6.3 the two side members 6.1 and 6.2 connects with each other.

The two actuators 3.1 and 3.2 can be activated by a crew member of the submarine and turn the shaft after activation 5 . Apart from this activation, the lid is opened and closed 1 automatically off.

The wave 5 turns the lever arm 6th . The lever arm 6th as well as the handlebars 4th transfer this rotary motion to the lid 1 . The lever arm 6th , the driver 4th and the lid 1 are preferably rigidly connected to one another. If the ceiling 1 reaches the correct position when closing, so the lid gets 1 exactly in the press ring 2 with the flange 7th and closes the opening watertight. The closed lid 1 is slightly curved outwards so that it can withstand the water pressure up to the maximum possible diving depth of the submarine.

In the exemplary embodiments, two actuators in the form of two hydraulic or electrical rotary drives 3.1 , 3.2 used to the shaft 5 to turn. Another mechanism for the shaft is possible 5 to rotate, for example a cardan drive or a chain drive.

• - Anstelle eines einteiligen Lenkers 4 verbindet ein zweiteiliger Lenker 4' mit zwei voneinander beabstandeten Lenker-Armen 4.1, 4.2 den Deckel 1 mit der Welle 5.
• - Die beiden Lenker-Arme 4.1, 4.2 sind über zwei Verbindungselemente 11.1 und 11.2 und zwei Halteelementen 10.1 und 10.2 mit dem Deckel 1 verbunden.
• - Anstelle eines dreiteiligen Hebelarms 6 verbindet ein einteiliger Hebelarm 6' den Deckel 1 mit der Welle 5. Der einteilige Hebelarm 6' ist starr mit dem Deckel 1 verbunden.

5 shows a second embodiment of the invention in a plan view from above. Corresponding components have the same reference numbers as in 1 to 4th . The second embodiment differs from the first embodiment as follows:

• - Instead of a one-piece handlebar 4th connects a two-part handlebar 4 ' with two spaced-apart handlebar arms 4.1 , 4.2 the lid 1 with the wave 5 .
• - The two handlebar arms 4.1 , 4.2 are via two fasteners 11.1 and 11.2 and two holding elements 10.1 and 10.2 with the lid 1 connected.
• - Instead of a three-part lever arm 6th connects a one-piece lever arm 6 ' the lid 1 with the wave 5 . The one-piece lever arm 6 ' is rigid with the lid 1 connected.

6th shows the second embodiment in a cross-sectional representation. The axis of rotation of the shaft 5 is perpendicular to the plane of the drawing 6th . In this cross-sectional view, the cover is 1 closed, and the O-ring 12th lies on the face of the flange 7th on. The lid 1 lets go in the direction R. move out of the closed end position and thereby open.

The one-piece lever arm 6 ' reaches into the shaft from the side 5 one and divides the shaft 5 in a lower part 5.2 and an upper part 5.1 , between which a recess 31 occurs. The wave 5 is covered by a stationary sheath 8th surround and can be relative to this sheath 8th rotate. In the lower part 5.2 are two set screws 18.1 and 18.2 screwed in. With the lid closed 1 the lever arm rests 6 ' on these two set screws 18.1 and 18.2 . By using the grub screws 18.1 and 18.2 be rotated, the two provided support points for the lever arm 6 ' move. A lid compression spring 17th presses the lever arm 6 ' on the two threaded pins 18.1 , 18.2 and with it the lid 1 on the flange 7th . This lid compression spring 17th is supported on the upper part 5.1 off and becomes with the wave 5 with rotated.

The two handlebar arms 4.1 and 4.2 are rigid with the upper part in the second embodiment 5.1 the wave 5 connected and become with the wave 5 with rotated. The solution is the lever arm 6 ' relative to the handlebar 4.1 , 4.2 and thus relative to the wave 5 movable when the pivoting angle of the lid 1 is below a predetermined limit relative to the closed end position. In the exemplary embodiment, this limit is in a range between 5 degrees and 10 degrees. If this pivoting angle is above this limit, the lever arm will 6 ' relative to the handlebar 4.1 , 4.2 fixed. 6th shows an embodiment to realize this feature.

6th shows an arrangement for the handlebar arm 4.1 . On the other handlebar arm 4.2 a corresponding arrangement is arranged. A plunger in the form of a bolt 13th is in the upper part 5.1 the wave 5 let in. Around the bolt 13th around is an expanding ring 16 positioned on the bolt 13th is attached. A bolt compression spring 14th extends from a support surface 29 the wave 5 up to the expansion ring 16 and strives to the bolt 13th from the sheath 8th the wave 5 away and onto the lever arm 6 ' to press. The bolt 13th who have favourited Bolt Compression Spring 14th the expanding ring 16 and the holding surface 29 be with the wave 5 with rotated.

In the representation of 6th is the lid 1 closed so that the pivoting angle is below the barrier. If the lid 1 for example because of water currents is moved, this movement is on the lever arm 6 ' transferred, and with a corresponding movement, the lever arm pushes 6 ' the bolt 13th against the force of the bolt compression spring 14th on the sheath 8th to. This gives the lever arm 6 ' and the lid 1 a game relative to the wave 5 . This game occurs especially when the lid 1 is closed and the pivoting angle is below the barrier, but the lid 1 has not yet reached the closed end position. The game allows the rotated lid 1 automatically exactly on the flange 7th is positioned even when water currents and / or vibrations occur.

• - eine Innenwand 32, die an eine Aussparung 19 angrenzt,
• - eine schräge Führungsebene 20 und
• - eine restliche Innenkontur 21 in der Form eines 7/8-Kreises.

The stationary sheath 8th provides a round inner contour that leads to the shaft 5 shows. This inner contour has three areas:

• - an inner wall 32 attached to a recess 19th adjoins,
• - a sloping management level 20th and
• - a remaining inner contour 21st in the shape of a 7/8 circle.

• - die Aussparung 19 mit einer größeren Dicke,
• - einen Bereich an der Innenkontur 21 mit einer kleineren Dicke und
• - einen Übergangs-Bereich an der schrägen Führungsebene 20.

The tubular space between the shaft 5 and the inner contour 32 , 20th , 21st thus has three areas:

• - the recess 19th with a greater thickness,
• - an area on the inner contour 21st with a smaller thickness and
• - a transition area at the inclined management level 20th .

If the pivoting angle of the lid 1 is below the barrier, the sliding foot is located 15th inside the recess 19th . The lever arm 6 ' can therefore use the bolt 13th into the recess 19th push in. The handlebar arm 4.1 is with the lid 1 about the holding element 10.1 and the connecting element 11.1 connected. This connection allows the lid to move 1 relative to the handlebar arm 4.1 . 6th shows this situation. Because the sliding foot 15th in the recess 19th is located, it can be relative to the jacket 8th move. This prevents the transmission of vibrations from the sheath 8th on the bolt 13th and thus on the handlebar arm 4.1 muffled.

If the lid 1 is opened and the pivoting angle increases as a result, the sliding foot slides 15th over the inner wall 32 and then the sloping management level 20th into the remaining circular inner contour 21st . Because the management level 20th is inclined, it guides the sliding foot 15th from the recess 19th to the rest of the inner contour 21st what causes the bolt compression spring 14th is compressed. When the sliding foot 15th the rest of the inner contour 21st have reached the sliding foot 15th and with it the bolt 13th no more game. The bolt 13th fixes the lever arm 6 ' relative to the handlebar arm 4.1 and with it the lid 1 relative to the wave 5 . If the pivoting angle of the lid 1 is larger than the limit, so are the lever arms 6 ' and with it the lid 1 thereby fixed at three points: at the two threaded pins 18.1 and 18.2 as well as at the tip of the bolt 13th who then has no more game.

The bolt 13th with the sliding foot 15th and the expanding ring 16 who have favourited Bolt Compression Spring 14th and the inside contour 32 , 20th , 21st belong to the guide device of the second embodiment. The limit for the pivoting angle is determined by the angle over which the recess extends 19th and with it the inner wall 32 extends. The larger this angle of the recess 19th is, the greater the limit. The depth of the recess 19th , so the distance between the inner wall 32 and the holding surface 29 , determines which play the lever arm 6 ' and the lid 1 relative to the wave 5 if the pivoting angle is below the barrier.

In an alternative embodiment, not shown, the bolt 13th not from the bolt compression spring 14th moved, but from the lid Compression spring 17th . The bolt is then preferred 13th inside the lid compression spring 17th arranged.

7th shows a third embodiment. The lid 1 is in 7th Opened so far that the pivoting angle is above the barrier. The bolt 13th is according to the third embodiment firmly in the upper part 5.1 the wave 5 let in. In the in 7th shown situation, the bolt extends 13th from the rest of the inner contour 21st up to the lever arm 6 ' and has no play, so the bolt 13th to fix the lever arm 6 ' and thus the lid 1 contributes. The threaded pins 18.1 , 18.2 as well as the bolt 13th fix the lever arm 6 ' and with it the lid 1 relative to the wave 5 . The inner contour preferably encompasses the casing 8th also in the third embodiment an inner wall 32 at a recess 19th and a sloping management level 20th so that the lever arm 6 ' and the lid 1 have a play when the pivoting angle is below the barrier.

• - einen Stößel 22, der in den oberen Teil 5.1 der Welle 5 eingreift und relativ zu diesem oberen Teil 5.1 linear beweglich ist,
• - einen Hohlraum 26 um den Stößel 22 herum,
• - eine Dichtung 30 für den Hohlraum 26,
• - eine Zugfeder 23, die bestrebt ist, den Stößel 22 von dem Hebelarm 6' weg zu ziehen (in 8 nach oben),
• - einen Speicher 24 mit Hydraulikfluid, wobei dieser Speicher 24 bevorzugt die Form eines hydraulischen Akkumulators mit einer Membran aufweist,
• - eine Fluidverbindung 27 zwischen dem Speicher 24 und dem Hohlraum 26,
• - ein Ventil 25, welches den Fluss von Hydraulikfluid durch die Fluidverbindung 27 steuert und bevorzugt als Proportionalventil ausgestaltet ist, und
• - ein datenverarbeitender Regler 28, welcher das Ventil 25 ansteuert.

Anstelle eines Reglers 28 kann auch eine mechanische Schaltung das Ventil 25 ansteuern.In the first three exemplary embodiments, the desired play and fixation are achieved by a purely mechanical arrangement with passive components. 8th shows a fourth embodiment with an active control. 8th shows schematically the following components of the fourth embodiment:

• - a pestle 22nd that is in the upper part 5.1 the wave 5 engages and relative to this upper part 5.1 is linearly movable,
• - a cavity 26th around the plunger 22nd around,
• - a seal 30th for the cavity 26th ,
• - a tension spring 23 who strives to the plunger 22nd from the lever arm 6 ' to pull away (in 8th up),
• - a memory 24 with hydraulic fluid, this memory 24 preferably has the form of a hydraulic accumulator with a membrane,
• - a fluid connection 27 between the memory 24 and the cavity 26th ,
• - a valve 25th which controls the flow of hydraulic fluid through the fluid connection 27 controls and is preferably designed as a proportional valve, and
• - a data processing controller 28 which the valve 25th drives.

Instead of a regulator 28 can also have a mechanical circuit the valve 25th head for.

• - oder wenigstens das Ereignis, dass der Verschwenkungs-Winkel die Schranke erreicht. Der Regler 28 verarbeitet Signale von diesem Winkel-Sensor. Falls der Winkel-Sensor kontinuierlich den Verschwenkungs-Winkel misst, so wird ermöglicht, die Schranke allein dadurch zu ändern, dass Software im Regler 28 entsprechend abgeändert wird.

A sensor (not shown) preferably measures the pivoting angle of the cover 1

• - Or at least the event that the pivoting angle reaches the barrier. The regulator 28 processes signals from this angle sensor. If the angle sensor continuously measures the swivel angle, it is possible to change the barrier solely by using software in the controller 28 is modified accordingly.

When the mainspring 23 the plunger 22nd away from the lever arm 6 ' pulls, so have the lever arm 6 ' and with it the lid 1 a game relative to the wave 5 . This clearance is determined by the position of the ram 22nd set. The accumulator 24 seeks hydraulic fluid through the fluid connection 27 into the cavity 26th to press against the force of the mainspring 23 . With the valve fully or at least partially open 25th the accumulator is capable of 24 the hydraulic fluid against the spring force in the cavity 26th to press. With the valve closed 25th is the fluid connection 27 interrupted. It is also possible that a pump, not shown, hydraulic fluid through the fluid connection 27 promotes. If the plunger 22nd the lever arm 6 ' touches the plunger 22nd and the two threaded pins 18.1 , 18.2 the lever arm 6 ' and with it the lid 1 at three points.

List of reference symbols

1

cover

2

Press ring in which the lid 1 is recorded

3.1, 3.2

Rotary drives for the shaft 5

4th

one-piece handlebar for the lid 1

4 '

two-part handlebar for the lid 1

4.1, 4.2

Components of the two-part handlebar 4`

5

Shaft, in the rotary actuators 3.1 , 3.2 stored, carries the lever arm 6th , from the one-piece lever arm 6 ' in the two parts 5.1 and 5.2 divided by the sheath 8th surround

5.1

upper part of the shaft 5 , above the one-piece lever arm 6 '

5.2

lower part of the shaft 5 , below the one-piece lever arm 6 '

6

three-part lever arm, on the shaft 5 attached, firmly to the lid 1 connected, includes the side members 6.1 , 6.2 and the cross member 6.3

6 '

one-piece lever arm, fixed to the lid 1 connected, engages in the recess between the two parts 5.1 and 5.2 a

6.1, 6.2

Longitudinal beam of the lever arm 6th , on the shaft 5 attached, firmly to the lid 1 connected

6.3

Cross member of the lever arm 6th , connects the side members 6.1 and 6.2 together

7th

Flange for the press ring 2 , preferably designed as a screw flange

8th

Sheathing of the shaft 5

9.1, 9.2

Flanges between the rotary actuators 3.1 , 3.2 and the wave 5

10.1,

Retaining elements that hold the lid 1 on the arms 4.1 , 4.2 of the handlebar 4 '

10.2

hold

11.1,

Connecting elements between the holding elements 10.1 , 10.2 and the

11.2

Handlebar components 4.1 , 4.2

12

O-ring on the cover 1

13

Bolt, from the bolt compression spring 14th against the lever arm 6 ' pressed

14th

Bolt compression spring, pushes the bolt 13th against the lever arm 6 ' , extends from the support surface 29 to expansion ring 16

15th

Bolt sliding foot 13

16

Expansion ring on the bolt 13th , holds the bolt compression spring 14

17th

Lid compression spring, presses the lever arm 6 ' on the two threaded pins 18.1 , 18.2 and with it the lid 1 on the flange 7

18.1,

Grub screws, in the lower part 5.2 the wave 5 screwed in 18.2

19th

Recess in the inner contour of the casing 8th , is located between the inner wall 32 and the holding surface 29

20th

inclined guide level in the inner contour of the casing 8th , belongs to the backdrop that the sliding foot 15th leads when the sliding foot from the recess 19th to the remaining inner contour 21st slides

21st

remaining inner contour of the casing 8th , is part of the backdrop that, with a large pivoting angle, the sliding foot 15th when opening the lid 1 fixed

22nd

Plunger, from the fluid from the reservoir 24 pressed down by the mainspring 23 pulled up

23

Mainspring, pulls the plunger 22nd up

24

Hydraulic fluid storage (accumulator)

25th

Valve in the fluid connection 27 , controls the flow of fluid from the reservoir 24 into the cavity 26th

26th

Cavity, via the fluid connection 27 with fluid from the storage 24 filled

27

Fluid connection between the memory 24 and the cavity 26th

28

Regulator, which the valve 25th drives

29

Holding surface of the shaft 5 on which the bolt compression spring 14th supports

30th

Seal for the cavity 26th , between the ram 22nd and the upper part 5.1 arranged

31

Recess in the shaft 5 between the two parts 5.1 , 5.2 into which the lever arm 6 ' intervenes

32

Inner wall of the casing 8th attached to the recess 19th adjoins, belongs to the backdrop that, with a small pivoting angle, the sliding foot 15th leads

D.

Axis of rotation of the shaft 5 , at the same time the axis of rotation of the lid 1

R.

Direction in which the lid 1 is opened

Claims (6)

Underwater vehicle with - a cavity, - a cover (1), - a shaft (5) and - a mechanical connection arrangement, the cover (1) being pivotable relative to the cavity between a closed end position and an open end position, the shaft (5) is rotatable relative to the cavity and wherein the connection arrangement is pivoted upon a corresponding rotation of the shaft (5) of the cover (1) from one end position to the other end position, the connection arrangement - a link (4, 4 ') - a lever arm (6, 6') and - a guide device (13, 14, 15, 16, 32, 20, 21, 22, 23), the link (4, 4 ') being designed to guide the movement of the cover (1) when it is pivoted relative to the cavity, characterized in that the lever arm (6 , 6 ') is firmly connected to the cover (1) and the guide device (13, 14, 15, 16, 32, 20, 21, 22, 23) is designed to act as a lever arm when the cover (1) is pivoted (6, 6 ') in such a way that - when the pivoting angle of the cover (1) is below a predetermined limit relative to the closed end position, the lever arm (6, 6') relative to the handlebar (4, 4 ') ) is movable and - when the pivoting angle is above the barrier, to fix the lever arm (6, 6 ') relative to the handlebar (4, 4'). Underwater vehicle after Claim 1 , characterized in that the connection arrangement - a stop unit (18.1, 18.2) and - comprises a spring element (17), wherein the spring element (17) - is supported on the handlebar (4, 4 ') and - is designed to the To move the lever arm (6, 6 ') against the stop unit (18.1, 18.2) and thereby fix the lever arm (6, 6') relative to the handlebar (4, 4 '). Underwater vehicle after Claim 2 , characterized in that the spring force exerted by the spring element (17) is greater when the pivoting angle is above the barrier, compared to the spring force at a pivoting angle below the barrier. Underwater vehicle according to one of the preceding claims, characterized in that a recess (31) is let into the shaft (5) and the lever arm (6, 6 ') engages in this recess (31), wherein between an inner wall of the recess (31) and the engaging lever arm (6, 6 ') a gap occurs. Underwater vehicle after Claim 4 , characterized in that the connecting arrangement comprises a plunger (13, 22) which - extends in a longitudinal direction which is perpendicular to the axis of rotation (D) of the shaft (5), and - relative to the lever arm (6, 6 ') is movable in the longitudinal direction of the ram, the shaft (5) being surrounded by a casing (8), the casing (8) providing an inner contour (32, 20, 21) pointing towards the shaft (5), the The shaft (5) can be rotated relative to the casing, with a rotation of the shaft (5) causing the lever arm (6, 6 ') together with the plunger (13, 22) to pivot relative to the casing (8), and the inner contour (32 , 20, 21) is designed so that the distance over which the plunger (13, 22) is movable relative to the lever arm (6, 6 ') is greater when the pivoting angle of the cover (1) is below the barrier is, compared to the distance at a pivoting angle above the barrier. Underwater vehicle according to one of the preceding claims, characterized in that the underwater vehicle has two rotary drives (3.1, 3.2), the shaft (5) extending between the two rotary drives (3.1, 3.2) and each rotary drive (3.1, 3.2) - to this is designed to rotate the shaft (5), and - provides a bearing for the shaft (5).

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