EP0867360B1 - Tauchgerät und Verfahren zu seiner Herstellung - Google Patents

Tauchgerät und Verfahren zu seiner Herstellung Download PDF

Info

Publication number
EP0867360B1
EP0867360B1 EP98103947A EP98103947A EP0867360B1 EP 0867360 B1 EP0867360 B1 EP 0867360B1 EP 98103947 A EP98103947 A EP 98103947A EP 98103947 A EP98103947 A EP 98103947A EP 0867360 B1 EP0867360 B1 EP 0867360B1
Authority
EP
European Patent Office
Prior art keywords
hollow body
diving apparatus
hollow
chambers
diving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP98103947A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0867360A2 (de
EP0867360A3 (de
Inventor
Stephan Dr.-Ing. Rudolph
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0867360A2 publication Critical patent/EP0867360A2/de
Publication of EP0867360A3 publication Critical patent/EP0867360A3/de
Application granted granted Critical
Publication of EP0867360B1 publication Critical patent/EP0867360B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention relates to a diving apparatus according to claim 1 and a Process for its preparation according to claim 38.
  • Such Diving apparatus according to the preamble of claim 1 is in the documents DE 4 031 336 and US 1 324 961.
  • diving suits and fins for locomotion in the water.
  • a disadvantage is that the diving suit mostly only made of a relatively thin, synthetic material that clings tightly to the human body, as much as possible to offer low water resistance.
  • the one of the synthetic skin surrounded human body is therefore almost immediately external influences exposed under water, such as cold or attack by animals.
  • an oxygen cylinder be carried along in order to stay underwater for a longer period of time. Since this oxygen cylinder is usually relatively bulky and on Back of the diver is carried, it provides an additional resistance in the water, resulting in increased strength for locomotion in the water.
  • Example it is hardly possible in this type of diving, longer time, for Example to spend several days under water as it is very awkward and laborious, vital things such as oxygen or drinking water carry.
  • the object of the invention is to provide a diving device available, the a longer stay in the water and a better protection of the diver against environmental influences.
  • a suitable A method for producing such a diving device specified become.
  • a diving device is characterized in that it consists of an elongated hollow body which extends in a hollow body longitudinal direction fully absorb the extending human body can and deviates from its outer shape, wherein the hollow body At least in an area designed to drive movement elastic is and goes into at least one drive fin.
  • the human body Due to the elongated hollow body, the human body completely the latter is effectively protected from external influences, such as the temperature or the attacks in the water of living animals, since the hollow body is well insulating and dimensionally stable is.
  • the human body lies completely inside the hollow body and touches the inner surface of the hollow body only partially.
  • the elongated and the human form deviating structure of the hollow body of the water resistance of the diving apparatus reduces, thereby saving a lot of movement in water is possible.
  • the human body extends in hollow body longitudinal direction, with his back preferably after above to the water surface and his head forward in the direction of travel of the diving equipment, if this horizontal in the operating condition lying in the water, so in a comfortable way objects in front, under or next to the diving equipment to observe, for example, the seabed.
  • the human body could also be facing the Water surface in the operating state of the scuba are so on comfortable way to observe objects above or next to the diving equipment, for example, during the visual inspection of hulls in the water Damage.
  • At least one area for driving movement is elastic or flexible, wherein the elongated hollow body at one end in a drive fin passes, so an effective and energy-saving movement to allow for driving purposes, the hollow body always remains substantially dimensionally stable.
  • the hollow body from the Hood or coupling end to be flexible or elastic, especially in Range of drive generation in the middle and behind.
  • the hollow body in at least one drive region Due to the elasticity of the hollow body in at least one drive region it is possible, for example, dolphin-like, rhythmic body movements around the body transverse axis in a flapping motion of the drive fin to convert to drive purposes.
  • the hollow body less outside the area intended for the drive movement be elastic.
  • the area for the drive movement lie approximately in the middle of the hollow body, so that through rhythmic movements of the upper part of a human body the flapping motions of the drive fin are caused what represents an effective drive for the diving device.
  • the area for driving movement could also be in the rear Part of the hollow body are, so that the impact movement of the drive fin by moving, for example, the area below the Hip of the human body is generated.
  • the hollow body could also be completely elastic.
  • the elastic regions for driving movement may additionally a simple control of the diving device according to the invention take place, and by suitable body turns of the elongated Hollow body surrounded human. These body twists work through the elastic region to the outside and effect by change the outer geometry of the hollow body, the desired direction changes.
  • the hollow body is in one piece trained and open for entry purposes.
  • a one piece trained hollow body has the particular advantage that in the production the probability of a leak is less than in a hollow body, which is composed of several parts, there fewer seams or joints are present.
  • a hollow body formed of a plurality of parts is also of Advantage, since in such a hollow body replaced individual elements if they are defective.
  • the opening for entry purposes in the integrally formed hollow body could for example by a zipper or Velcro be realized, it must be ensured that this manhole is again waterproof closable. Furthermore, the opening can be somewhere be formed on the hollow body, provided that the entry / exit of the People is possible.
  • a front, transparent Area of the hollow body designed as a dome, so that one of the hollow body surrounded person can look out of the hollow body.
  • a transparent dome in the front of the hollow body offers the advantage that the visual field of the person surrounded by the hollow body is increased when the dome is formed such that a largely Free movement of the head forward and to the side is possible.
  • the dome can rest on the remaining area of the hollow body be placed. This has the advantage that when damaging the dome this is easily replaceable. However, it is also possible to see the transparent Dome in one piece to emerge from the remaining hollow body, so it does not have to be transported separately.
  • the remaining portion of the hollow body in the hollow body longitudinal direction open to allow easy boarding.
  • the remaining area of the hollow body could, for example, with a be provided from the inside or outside to open the zipper, however must prevent penetration of water into the cavity.
  • the remaining area z. B. from at least two together connectable shells are made by a hinge with each other are connected, so that by separating or connecting the shells created in a simple way an entry / exit option becomes.
  • the at least a drive fin via a connecting device with the feet and / or calves of the human body connectable.
  • a connecting device with the feet and / or calves of the human body connectable.
  • the at least one drive fin in the operating state horizontally lie, with the operating state defined by the state, in which the hollow body is horizontal in the water.
  • the attachment and the power transmission from the human to the integrated, horizontal attached drive fin on both legs is z. B. by cuff-like Tabs on both lower legs and feet.
  • the horizontal trained drive fin has the advantage that with the diving equipment according to the invention, for example, very close to the bottom of the river can be operated when the drive fin only very light flapping movements performs.
  • the drive fin can also only with the feet be connected.
  • the at least a drive fin in the operating state lying vertically which is the advantage has that with the diving equipment for example very close to steep cliffs can dive when the vertical drive fin by drive movements only slightly deflected to the side.
  • the vertical drive fin can with two lever-type cantilevers be connected and preferably extends between the legs of the human body, so that the generation of the lateral fin stroke by mutual longitudinal displacement of the legs along the body longitudinal axis is possible.
  • the hollow body is streamlined, so as to Water to offer as little resistance as possible. So he has a streamlined Shape up and is thus resistant to resistance.
  • the hollow body is fish-shaped trained, which makes it possible, for example, unnoticed in Stop fish shoals.
  • the hollow body is fish-shaped trained, which makes it possible, for example, unnoticed in Stop fish shoals.
  • the hollow body for certain fish groups have characteristic, external features to this way to further enhance the camouflage of the diving equipment.
  • characteristic features could be, for example, a dorsal fin, Dummies of gill ribs or others.
  • the hollow body could additionally be provided with a coloring that has a biological role model.
  • the hollow body made of rubber and / or plastic, resulting in easy manufacturing the hollow body is possible.
  • Other not mentioned in the description and for the hollow body also suitable materials are conceivable.
  • the hollow body at least one outer water-repellent layer and one inner, the outer layer bearing support layer.
  • the outer water-repellent Layer prevents water from entering the hollow body can.
  • the inner support layer gives the entire hollow body each time a substantially stable and convex in most areas Shape.
  • the support layer consist of a water and / or gas-absorbing material.
  • the supporting property of the support layer is to be maintained. To this Way can z. B. air for breath or buoyancy purposes by the support layer be absorbed or absorbed.
  • the inside of the support layer with a water or be covered in a gas-tight material to prevent penetration in the backing layer stored substances, eg. As water, in the interior of the hollow body to prevent.
  • the support layer can also be in several water or gas-tight from each other be divided into separate chambers. This makes it possible to have different ones Accommodate substances in the support layer, without these together be mixed.
  • the hollow body cavities present which also have channels can be connected to each other, for example via hoses.
  • the hollow chambers can be filled with a liquid or with gas be so that, for example, drinking water or oxygen are carried can be used to allow longer dives.
  • the filling of the hollow chambers with a solid substance is not excluded.
  • With the Hollow chambers can also be combined to form a hose system Filling and emptying the hollow chambers a balancing the diving equipment to enable.
  • chambers made of water or gas-absorbent material You can do this and the hose system by foaming from before introduced containers and hoses are formed.
  • the chambers or To fill hollow chambers by a manually operated pumping system or to empty could be the manually operated pumping system for Example be formed by bellows, which have hoses with connected to the chambers, and by actuation, for example by arm or hand movements of the diver air or water in the or can pump out of the chambers or hollow chambers.
  • this Pumping system is a balancing of the diving device in a simple way Can be realized without electrical energy, so a balancing the diving equipment without the use of external energy only by the muscular power of the diver.
  • the pumping system could also be operated electrically, wherein then, for example, in one of the chambers a power supply, for example a battery must be provided.
  • a power supply for example a battery must be provided.
  • the pumping system also be pneumatically driven; this is z. B. to carry an energy supply in the form of compressed air in pressure bottles.
  • At least one of Chambers with a pointing in the operating state of the scuba upwards Air inlet pipe and connected to the interior of the hollow body.
  • Air inlet pipe by means of suck the pumping system and in at least one of the chambers save.
  • the air inlet port expediently points upwards, so that in the emerged state of the diving device, a suction of air from the atmosphere is possible.
  • This air could then be in at least one the chambers are stored to them if necessary for example also by means of the pumping system for breathing in the interior of the hollow body leave.
  • the diver can therefore come to the water surface to by means of the pumping system, for example the bellows, which consumed Pump off air and new air via the air intake in the hollow body to suck.
  • the air inlet could be directly on the outer surface be integrated in the hollow body or, for example, in a dorsal fin lie, the latter only has to protrude from the water to Suck air into at least one of the chambers and if necessary in the Inside of the hollow body.
  • some of the hollow chambers towards the inside or outside of the hollow body open could, for example, to Housing serve a carried in the hollow body oxygen cylinder, so as to ensure an oxygen supply in a conventional manner.
  • the hollow body openings for the passage of the arms of the human body, being outside open chambers are formed for receiving the arms.
  • the arms of a man surrounded by a hollow body can be on the one hand safely recorded and on the other hand for tax purposes laterally be spread apart.
  • the openings with closed sleeves for recording be connected to the arms, so that easy work outside the hollow body is possible.
  • the openings could also be like that be designed so that the arms only spread outwards if necessary are, so that they are generally inside the hollow body, for example, to perform work inside the hollow body. Due to the possibility to spread the arms laterally and put them back Being able to do so can easily be a muscle powered one Pumping system, the z. B. comes to rest in the underarm area, or a steering system will be realized.
  • the design of the openings for the hollow chambers open to the outside the arms could be lip-shaped. These lips touch each other along the outer longitudinal axis of the hollow chamber, so that through the existing slot pushed out the arms at any time and moved freely can be. By the adjoining lips by the existing gap in principle open hollow chamber for receiving the arms become the flow losses due to turbulence kept small.
  • the hollow body has a in Internal lying and adapted to the shape of the human body Body support on, through which a perseverance and power-saving Lying inside the cavity is possible.
  • the support structure could also be designed to be the human body additionally protects against cold, for example. Gets through the support structure the human body inside the cavity more hold and the body movements can be more effective in a flapping motion of the drive fin implement.
  • a snorkel of the hollow body is in the front area arranged a snorkel of the hollow body.
  • This snorkel could For example, they are located on top of the dome and in the operating state of the scuba up to the water surface. That's it possible, during dipping near the water surface over the Snorkel air from the atmosphere for breathing purposes. Of the Snorkel could also be integrated into a dorsal fin. The suction can do so with the help of the pumping system or the respiratory system of the diver respectively. It should expediently between snorkel and Dome be formed a valve that prevents that during deeper dives Water can penetrate through the snorkel into the dome. The valve could be manually operated or self-acting.
  • the dome is such designed that display instruments, such as a speedometer or a depth gauge are integrated, so that in a comfortable way and Way the diving process can be monitored at any time.
  • An inventive method for producing a diving apparatus is specified in claim 38.
  • An advantage of the inventive method for producing a Diving apparatus according to the invention lies in the small number of process steps, which has a positive effect on the production costs.
  • the negative mold can be constructed, for example, multi-shelled. To this Way is a simple production of the outer shape of the diving equipment possible.
  • the first Layer pulled by negative pressure against the negative mold causing the later outer skin, for example seawater-proof and tight, flexible Rubber material, positively rests against the negative shell.
  • the outer skin is made of any other suitable material, even if this is not explicitly mentioned in the description.
  • the at least one insulating layer be formed by foaming material.
  • the foam is there preferably flexible and can be used to hold liquids or Gas suitable, if it is correspondingly porous. So arises after the Curing with an outer skin very well bonded and convex Form provided, but still flexible outer shape of the Diving equipment.
  • this at least one insulating layer it is possible to use the Hollow body located human body very long before cooling to preserve. Instead of just one insulation layer on the inside of the outer skin If several insulation layers would be conceivable, resulting in the thermal insulation behavior of the diving device further improved.
  • an area between a positive mold is formed and the negative mold foamed.
  • the positive form can be, for example resembling the shape of a human body, creating an individual Adaptation to the respective divers is possible. She can too be provided with a waterproof and -êtn insulation, after acceptance the positive mold adheres to the foam.
  • foaming appropriate containers and lines the previously installed.
  • the method according to the invention is a water and / or gas receiving to form the insulating layer Material used, so that the insulation layer itself at least can form a chamber. But there can also be several chambers be formed in this way by water and / or gas impermeable Material are separated from each other.
  • Fig. 1 shows a shaded overall view of a first preferred embodiment a diving apparatus according to the invention, consisting from an elongated hollow body 1 and a horizontal drive fin 2, which is integrally connected to the hollow body 1.
  • a head 3 is also a lying in the hollow body longitudinal direction To see human body, which projects into a transparent dome 4.
  • the dome 4 also has an upstanding snorkel 5, as can be seen in Fig. 1, which protrudes into the dome 4 via a seal 6. As It can be seen further, the dome 4 offers enough space to the head 3 easy to stretch forward and sideways.
  • the preferred first embodiment of the invention an approximately central area 7, as well as an area for driving movement in the rear part 8 of the hollow body 1.
  • the central region 7 is less elastic than the rear part 8 of the hollow body 1.
  • an insulating layer 9 can be seen in which the upper body of the lying in the hollow body 1 people is embedded.
  • FIG. 2 shows an overall view of the first exemplary embodiment according to FIG. 1 as a wire model.
  • the same reference numbers will be used for the same parts as used in Fig. 1.
  • the invention hollow chambers 10 in the wall of the hollow body. 1 for the absorption of liquid, gaseous or solid substances.
  • a connecting device 11 trained over the feet of a human body 13 with the drive fin 2 are connected.
  • Fig. 3 shows a detailed drawing of the rear part 8 of the first embodiment in Fig. 2. In it are also for the same components the same reference numbers are chosen.
  • the invention fixes the feet on shoes 12 to a plate 14, the is coupled via the connecting unit 11 with the drive fin 2.
  • the Connection unit 11 consists of a relatively stiff and elongated Horizontal plate, the z. B. in one piece from the drive fin. 2 shows and towards the human body 13 points. This in Direction to the human body 13 free end of this horizontal plate is obliquely attached to the plate 14, for example via a suitably trained Angle element 14a.
  • the plate 14 is inclined to the longitudinal direction of the hollow body 1 and carries at its the connection unit 11th opposite side firmly attached to her shoes 12 for recording the feet of the human body 13.
  • the entire connection unit 11 is located inside the hollow body 1, so that only the drive fin 2 protrudes from this. It runs the back end of the Hollow body 1 pointed in the direction of the drive fin 2 and is there with this z. B. welded or glued.
  • the rear end of the hollow body 1 is more elastic in the present case designed to make flapping movements of the legs of the human Allow body 13.
  • the middle part of the hollow body could then less be elastic and essentially serve the shape stabilization.
  • Fig. 3 further shows a waterproof first layer 15 covering the entire Hollow body 1 encloses, wherein under the layer 15, a support layer 15a, which is formed as an insulating layer.
  • Fig. 4 shows a side view of a second preferred embodiment the invention as a wire model, wherein the same parts for the same parts Reference numerals are chosen as in Figures 1 to 3.
  • the second preferred embodiment differs from the first fact that the drive fin 2 in the operating state is arranged vertically.
  • a plate-shaped continuation 16 of the drive fin 2 extends into the knee area of the human body 13 and thus projects into the interior of the rear part 8 of the hollow body 1.
  • the drive fin 2 For driving the drive fin 2 are two lever-type cantilever 17A. B attached to opposite sides of the extension 16, over which the Feet of the human body 13 with the drive fin 2 for driving movement are connected. The feet are stuck in shoes 12, the the cantilevers 17 A, B are attached.
  • Fig. 5 shows an overall view of a third preferred embodiment the invention.
  • the same reference numbers will be used for the same parts as used in the previous figures.
  • Fig. 5 differs from Fig. 1 essentially in that in the dome 4 no snorkel 5 more is present, and that instead an oxygen device 19 in the region of the back of the human Body 13 is located.
  • This oxygen device 19 is in an inward open cavity of the hollow body 1, wherein the cavity in the Wall of the hollow body 1 is located. This is the oxygen device 19 with a breathing mask that the diver wears.
  • FIGS. 6 and 7 relate to a fourth embodiment of the invention.
  • the same reference numerals as used in the previous figures are again the same reference numerals as used in the previous figures.
  • the arms 18 are then spread away from the hollow body 1 when the diver this in support of the longitudinal movement of his submersible for required, or if he B. from the bottom of the seabed objects would like to cancel.
  • he can the arms Insert 18 in the outside cavities 20, then the To reduce flow resistance.
  • the wall thickness of the hollow body 1 in the region of the hollow chambers 20 does not necessarily have to be as thick as the width or thickness of the Hollow chambers 6. It is also possible that the hollow chambers 20 in the Hollow body 1 are formed into convex. In any case, is also in the Inside the hollow chambers 20 on the outside of a water-repellent Layer available.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
  • Prostheses (AREA)
EP98103947A 1997-03-24 1998-03-05 Tauchgerät und Verfahren zu seiner Herstellung Expired - Lifetime EP0867360B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19712257 1997-03-24
DE19712257A DE19712257A1 (de) 1997-03-24 1997-03-24 Tauchgerät und Verfahren zu seiner Herstellung

Publications (3)

Publication Number Publication Date
EP0867360A2 EP0867360A2 (de) 1998-09-30
EP0867360A3 EP0867360A3 (de) 2000-11-08
EP0867360B1 true EP0867360B1 (de) 2005-07-20

Family

ID=7824412

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98103947A Expired - Lifetime EP0867360B1 (de) 1997-03-24 1998-03-05 Tauchgerät und Verfahren zu seiner Herstellung

Country Status (5)

Country Link
US (1) US6079348A (es)
EP (1) EP0867360B1 (es)
AU (1) AU741121B2 (es)
DE (2) DE19712257A1 (es)
ES (1) ES2245467T3 (es)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008053495A1 (de) 2008-10-28 2010-04-29 Pfeifer, Henry, Dipl.-Wirtsch. Ing. Muskelkraftbetriebenes Tauchgerät
CN102730176A (zh) * 2012-07-04 2012-10-17 中国科学院自动化研究所 一种模块化的仿生机器海豚推进机构
CN101678884B (zh) * 2007-05-10 2013-05-29 克里斯托夫·蒂拉比 带有柔性密封膜的潜水装置
US10935986B1 (en) 2019-11-28 2021-03-02 Institute Of Automation, Chinese Academy Of Sciences Gliding depth control method, system and device for biomimetic gliding robotic dolphin
WO2021103391A1 (zh) * 2019-11-28 2021-06-03 中国科学院自动化研究所 仿生滑翔机器海豚的滑翔深度控制方法、系统、装置

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003232157A1 (en) 2002-05-17 2003-12-02 Peter Leitholf Diving capsule and transport system for divers
DE10235842B4 (de) * 2002-05-17 2008-01-31 Leitholf, Peter, Dipl.-Ing. Transportsystem für Taucher und Tauchkapsel
US7300323B1 (en) * 2006-05-30 2007-11-27 The United States Of America Represented By The Secretary Of The Navy Linear actuator for flapping hydrofoil
DE112008000273A5 (de) * 2007-02-27 2009-10-29 Leitholf, Peter, Dipl.-Ing. Tauchkapsel des Leitholf-Typs
DE102008007538A1 (de) * 2008-02-05 2009-08-13 Gabler Maschinenbau Gmbh Unterwasserschwimmhilfe
DE102009032364B4 (de) * 2008-09-16 2012-07-26 Technische Universität Berlin Vorrichtung für den Unterwasserbetrieb
US20130204464A1 (en) * 2012-02-07 2013-08-08 David C. Mauck Semi-autonomous underwater vehicle
CN104260864B (zh) * 2014-09-28 2016-06-08 江苏科技大学 一种仿尾鳍推进装置
TWM506775U (zh) 2015-05-22 2015-08-11 Ting-feng LIU 人力式水中推進器
CN106240775B (zh) * 2016-08-24 2018-01-19 合肥凌翔信息科技有限公司 一种自由移动的仿生鱼
DE102018202340A1 (de) * 2018-02-15 2019-08-22 Atlas Elektronik Gmbh Unterwasserfahrzeug zum bedarfsgerechten Vor-Ort-Zusammensetzen
CN109795657B (zh) * 2019-02-20 2024-03-01 博雅工道（北京）机器人科技有限公司 一种仿生机器鱼
CN110127016B (zh) * 2019-05-30 2023-12-12 福州大学 一种双关节机械鱼尾部推进机构及其工作方法
CN111284663B (zh) * 2019-12-27 2021-01-08 南京工程学院 一种鱼形仿生水下机器人及其控制方法
CN113998085B (zh) * 2021-11-26 2022-09-20 杭州电子科技大学 一种仿生机器鱼

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1324961A (en) * 1918-10-04 1919-12-16 Frederick G Grantham Submarine scouting apparatus.
DE521261C (de) * 1928-02-03 1931-03-20 Willy Brandegger Dipl Ing Fischschwanzaehnlich wirkende Vortriebsflosse fuer Schwimmgerueste
US2337318A (en) * 1943-04-03 1943-12-21 Eliuk Helen Rubber submersible boat
GB801000A (en) * 1945-09-14 1958-09-03 Hugh Quentin Alleyne Reeves An improved submersible water craft
DE836603C (de) * 1949-12-15 1952-05-23 Johann Becker Klein-U-Boot
US2936729A (en) * 1954-11-18 1960-05-17 Kuttner Hugo Marine propulsion means
US3160133A (en) * 1961-12-28 1964-12-08 Harold H Walker Submarine vehicle
US3618551A (en) * 1969-10-07 1971-11-09 North American Rockwell Dual position canopy for underwater crafts
FR2131058A5 (es) * 1971-03-23 1972-11-10 Benenati Jean
FR2272886B1 (es) * 1974-05-28 1977-06-24 Bouix Maurice
JPS5951474B2 (ja) * 1979-12-18 1984-12-14 永井 實 魚ひれ型水中推進装置
JPS60176892A (ja) * 1984-02-22 1985-09-10 Mitsui Eng & Shipbuild Co Ltd 潜水機
DE3739887A1 (de) * 1987-11-25 1989-06-08 Barich Fritz W Unterwasserfahrzeug
JPH03276898A (ja) * 1990-03-26 1991-12-09 Kioritz Corp 小型潜水艇
DE4031336A1 (de) * 1990-10-04 1992-04-09 Wilhelm Knaf Tauchboot
JPH0525564A (ja) * 1991-07-23 1993-02-02 Mitsubishi Heavy Ind Ltd 水中航走体の外殻
DE9419339U1 (de) * 1994-12-02 1995-08-03 Bergk, Karl Heinz, 52070 Aachen Unterseeboot mit einem Rumpf

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101678884B (zh) * 2007-05-10 2013-05-29 克里斯托夫·蒂拉比 带有柔性密封膜的潜水装置
DE102008053495A1 (de) 2008-10-28 2010-04-29 Pfeifer, Henry, Dipl.-Wirtsch. Ing. Muskelkraftbetriebenes Tauchgerät
DE102008053495B4 (de) * 2008-10-28 2013-01-03 Henry Pfeifer Muskelkraftbetriebenes Tauchgerät
CN102730176A (zh) * 2012-07-04 2012-10-17 中国科学院自动化研究所 一种模块化的仿生机器海豚推进机构
CN102730176B (zh) * 2012-07-04 2015-01-21 中国科学院自动化研究所 一种模块化的仿生机器海豚推进机构
US10935986B1 (en) 2019-11-28 2021-03-02 Institute Of Automation, Chinese Academy Of Sciences Gliding depth control method, system and device for biomimetic gliding robotic dolphin
WO2021103391A1 (zh) * 2019-11-28 2021-06-03 中国科学院自动化研究所 仿生滑翔机器海豚的滑翔深度控制方法、系统、装置

Also Published As

Publication number Publication date
DE19712257A1 (de) 1998-10-01
US6079348A (en) 2000-06-27
AU741121B2 (en) 2001-11-22
ES2245467T3 (es) 2006-01-01
EP0867360A2 (de) 1998-09-30
AU5839298A (en) 1998-09-24
DE59812929D1 (de) 2005-08-25
EP0867360A3 (de) 2000-11-08

Similar Documents

Publication Publication Date Title
EP0867360B1 (de) Tauchgerät und Verfahren zu seiner Herstellung
DE2814473A1 (de) Dreidimensionale gliederpuppe
EP0048894B1 (de) Luftversorgung von Tauchern von der Wasseroberfläche aus
Villanueva et al. Locomotion modes of deep-sea cirrate octopods (Cephalopoda) based on observations from video recordings on the Mid-Atlantic Ridge
DE3721429A1 (de) Tauchgeraet
KR101333543B1 (ko) 반잠수정용 추진 장치
DE69321472T2 (de) Tauchboot
DE3403938A1 (de) Geraet zur fortbewegung auf dem wasser mittels koerperkraft
EP1816068A2 (de) Rettungsanzug oder -weste mit einem Atemgerät
TWM506775U (zh) 人力式水中推進器
DE521261C (de) Fischschwanzaehnlich wirkende Vortriebsflosse fuer Schwimmgerueste
CN221785027U (zh) 一种淡水渔业养殖用悬浮球
CN201566811U (zh) 一种水上行走装置
DE3006613C2 (es)
DE102016113465B4 (de) Schwimmendes Aquarium
DE102016105091A1 (de) Batteriegehäuse für eine Vortriebsvorrichtung für Taucher und Schwimmer
DE1275398B (de) Unabhaengiges Tauchgeraet zur Unterwasseratmung atmosphaerischer, durch ein elektrisch angetriebenes Geblaese verdichteter Luft
CN201457721U (zh) 潜水用呼吸管
DE1781291C (de) Schwimmer Schleppgerat
JP3034882U (ja) ワンタッチ浮き具
DE7912393U1 (de) Sporthandschuh, insbesondere fuer das windsurfen oder den skisport
JP3035020U (ja) 生け簀
DE8305621U1 (de) Vorrichtung zum Erleichtern des Schwimmens in Form von Schwimmhandschuhen
Ward Cretaceous Park
DE202005000578U1 (de) Schnorchel mit vermindertem Strömungswiderstand

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): DE ES FR GB GR IT

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

RIC1 Information provided on ipc code assigned before grant

Free format text: 7B 63C 11/46 A, 7A 63B 35/02 B

17P Request for examination filed

Effective date: 20010503

AKX Designation fees paid

Free format text: DE ES FR GB GR IT

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE ES FR GB GR IT

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REF Corresponds to:

Ref document number: 59812929

Country of ref document: DE

Date of ref document: 20050825

Kind code of ref document: P

REG Reference to a national code

Ref country code: GR

Ref legal event code: EP

Ref document number: 20050403116

Country of ref document: GR

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2245467

Country of ref document: ES

Kind code of ref document: T3

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20060124

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20060421

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20080319

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20080320

Year of fee payment: 11

Ref country code: GB

Payment date: 20080313

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20080318

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GR

Payment date: 20080326

Year of fee payment: 11

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20090305

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20091130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090305

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091123

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20090306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091002

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090305

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20150331

Year of fee payment: 18

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 59812929

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161001