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
  • B63G8/14—Control of attitude or depth
  • B63G8/26—Trimming equipment

Definitions

• the invention relates to an unmanned underwater vehicle of the type defined in the preamble of claim 1 or claim 9.
• Self-propelled, unmanned underwater vehicles are used as autonomous or remote-controlled vehicles for performing various tasks under water, so-called missions, such. B. to explore the seabed topography, mine exploration and mine destruction.
• similarly constructed vehicles are equipped according to the requirement profile with different devices and components which, due to their function, must be mounted on the pressure body in certain areas.
• the arrangement and weight of the equipment and components affect the trim position of the underwater vehicle considerably, so that differently equipped vehicles must be trimmed separately in each case, so that the vehicle assumes a quasi-horizontal orientation in the water and thus is largely horizontal and roll stabilized.
• a known underwater vehicle for one or more divers (DE 37 39 887 Al) has a streamlined shaped shell, the entire interior, including the or the diver receiving part, flooded.
• For trimming the underwater vehicle are in addition to a in Provided longitudinally of the underwater vehicle slidable ballast weight buoyancy body, which are changeable in their position within the underwater vehicle. Trimming also adjusts to the center of gravity of the diver (s).
• a known submersible for transporting cargo which is movable in towed (DE 1 920 653 Ul), has a front and a rear ballast tank, which are flooded when towed.
• the water in the front ballast tank is displaced via a blow-off valve located in the front ballast tank, so that by increasing the buoyancy in the bow area, the bow lifts and the submersible is tilted in the water. Due to the increased by this obliquity water resistance of the submersible latter is slowed down.
• a known underwater vehicle (DE 44 088) are provided for holding the underwater vehicle in a horizontal position two attached to the ends of the vehicle, inwardly and outwardly open cylinder with movable piston therein.
• the pistons are interconnected so that the inward movement of one piston results in outward movement of the other piston.
• the pistons are connected to a fluid via lines in which valves and valves are arranged. By appropriate control of the taps and valves, the piston by means of the fluid so moves the pistons at the front or rear end of the vehicle displace water from the cylinder or suck water into the cylinder.
• a known submarine (US 3,343,511) has a hydraulic system for transport of liquid mercury from a front zone, a rear zone and vice versa, balance to the submarine or to stabilize or emergency 'by ejecting the mercury quickly appear to to let . ' .
• the invention has for its object to provide an opportunity for an unmanned underwater vehicle of the type mentioned, in a simple constructive way the trim of the underwater vehicle after entry, Aus, or conversion of equipment required for a given mission equipment in quasi final assembled state to be able to correct.
• the underwater vehicle according to the invention has the advantage that with the help of the buoyancy means on the one hand produced by the equipment output on the underwater vehicle, which would lead to a significant deterioration of the trim position of the underwater vehicle, can be compensated and on the other hand an unexpected poor trim position of the underwater vehicle when changing or remodeling Equipment can be compensated again.
• the accommodation of the buoyancy means on the pressure body is largely independent of the specific location of the equipment or in or on the pressure hull. This also opens up the Possibility to equip the underwater vehicle with extremely different weight and volume equipment, without changing the pressure hull itself, d. H . to adapt its volume to the weight of the equipment.
• the accommodation of the buoyancy means in the rear chamber of the unmanned underwater vehicle according to claim 1 has the advantage that the buoyancy means do not adversely affect the performance of the vehicle, in particular the vehicle speed and the vehicle life.
• the flow resistance of the vehicle, its flow behavior and the flow at the pressure body are not changed '.
• the arranged in the rear chamber flotation devices can be designed differently depending on whether the vehicle autonomously or cable is out, and in the latter case, if it has to absorb the stock of cable winding or whether it is fixed only on ⁇ cable end.
• the rear chamber is easily accessible for the assembly of the buoyancy means.
• the buoyancy means at least one buoyancy body inserted into the rear chamber, which has a density which is smaller than that of the water.
• a buoyancy required for the desired trim position of the underwater vehicle can be set very accurately.
• the at least one buoyant body is adapted to the shape of the empty space released by the cable winding in the rear chamber according to an advantageous embodiment of the invention.
• the at least one buoyant body is advantageously formed as a hollow cylinder and inserted into the interior of the coil former or in a free space present between the cable coil and the inner wall of the rear chamber. If the cable winding j edoch spoolerless, the cable is pulled off on the inside of the cable wrap, so. the at least one buoyant body is formed as a hollow cylinder and receives in its interior the cable winding.
• the at least one .Germanriossharm is cylindrical so that its cylinder jacket rests against the inner wall of the hollow chamber and at least over a portion of the axial length of the hollow chamber extends.
• the buoyancy body has a passage opening for passing through the data transmission cable and a recess for receiving a strain relief acting on the data transmission cable.
• the rear chamber with a cover plate watertight, so that the buoyancy means housed in the rear chamber are formed by an air-filled cavity.
• the correct trim position is achieved by a suitable dimensioning of the axial thickness of the cover plate. Since the cover plate projects into the cavity with a reduced diameter portion, by dimensioning the axial depth of this portion, both the volume of the cavity and the weight of the cover plate can be varied.
• the accommodation of the buoyancy means in the flow around the outer region of the pressure hull by their formation as at least one buoyancy body arranged on the pressure body according to claim 9 has the advantage that the buoyancy means can be arranged at those points of the underwater vehicle in which they with minimum volume one for the trim of equipped with an attached accessory unmanned underwater vehicle to generate a maximum buoyancy force for quasi-horizontal orientation of the underwater vehicle.
• the drive unit of the underwater vehicle has a plurality of propeller drives di.e distributed in the outside of the pressure body arranged output tubes with rohrend designed protruding propellers are included, provided as a buoyancy buoyancy buoyancy sleeves, which are pushed on each jwe one of the drive tubes ,
• the buoyancy sleeves are designed with the same wall thickness, and the required buoyancy is adjusted by the sizing of the sum of the axial length of the buoyancy sleeves.
• the buoyancy sleeves on the upper back and starboard drive tubes designed to run longer than the deferred on the lower drive tubes buoyancy sleeves.
• Fig. 1 shows a highly schematic side view of a self-propelled, unmanned underwater vehicle
• FIG. 2 is a longitudinal section of a rear chamber of the vehicle in FIG. 1 ,
• Fig. 3 is a front and a side view of one and 4 buoyant body according to a second
• Fig. 5 is a perspective view of the buoyant body of FIG. 3 and 4,
• Fig. 6 is a same view as in FIG. 2 of the rear chamber with modified rear chamber closure.
• Fig. 7 is a perspective view of a real, unmanned underwater vehicle,
• Fig. 8 is a plan view of the underwater vehicle according to FIG. 7 with an additional attachment
• Fig. 9 is a front view of the underwater vehicle in the direction of arrow IX in FIG. 8th.
• the in Fig. 1 underwater vehicle schematically illustrated in side view has a pressure body 11, a drive unit with flanged to the pressure body 11, electric propeller drives 12, of which in each case two are arranged one above the other on the port side and starboard side of the pressure hull 11, and two vertically and two horizontally aligned stabilizing fins 13.
• a flooded rear chamber 14 is present.
• the in Fig. 1 sketched underwater vehicle is remotely controlled by a platform, not shown here, including the underwater vehicle via a data transmission cable 15, z. B. a fiber optic cable or a copper wire, is firmly connected to the platform.
• a fiber optic cable or a copper wire is firmly connected to the platform.
• the data transmission cable 15 is accommodated as a cable winding 16 in the flooded rear chamber 14, wherein the cable winding 16 is designed as a coil, the cable 15 is thus wound onto a hollow cylindrical bobbin 17, the one end preferably a radial flange 18 in one piece wearing .
• the one end of the cable winding 16 is guided through a seal 19 into the interior of the pressure hull 11, while the other end of the cable 15 is pulled off the cable winding 16 through a discharge hopper 20 closing the rear chamber 14 at the end.
• the removal of the cable 15 from the cable winding 16 is performed circumferentially on the radial flange 18, which is correspondingly rounded.
• a recess 21 is incorporated into the end face of the radial flange 18 facing the discharge funnel 20, into which a disk 22 with a central bore 23 is inserted.
• a guided through the central bore 23 in the disc 22 bolt 24 which is screwed in a pressure chamber side limiting the rear chamber 14 bottom plate 25, the coil carrier 17 is clamped axially on the bottom plate 25.
• the rear chamber 14 buoyancy means in the form of a buoyant body 26 (FIG. 2).
• the buoyant body 26 is made of a material whose density is smaller than that of the water and is adapted to the void space present in the rear chamber 14. By selecting the material density and the dimensions of the buoyant body 26, such buoyancy can be generated at the rear that the underwater vehicle assumes an exact trim position.
• the buoyant body 26 is designed as a hollow cylinder and inserted into the interior of the hollow cylindrical bobbin 17.
• the buoyant body 26 fills the entire, existing between the bolt 24 and the inner wall of the bobbin 17 annulus. If less lift is required, either the axial length of the buoyant body 26 can be reduced or for the Buoyancy 26 are selected a material having a greater density. If a greater buoyancy is required, the density of the material of the buoyant body 26 can be reduced and / or - as shown in FIG. 1 is not shown - a further buoyant body 26 are housed in the rear chamber 14. Such an additional buoyant body 26 can be used for example in the Ausnehinung 21 and occupy the not filled by the disc 22 and the head of the bolt 24 portion of Ausnehinung 21.
• a buoyant body can be used in addition to or instead of the one shown in FIG. 2 used buoyancy body 26 and are arranged in the free space, if necessary. . Between the outer periphery of the cable winding 16 and the inner wall of the rear chamber 14 is present. Such an arrangement of a buoyant body in place of the buoyant body 26 is also required when the cable reel 16 is spoolless and the cable on - the inside of the cable is removed.
• a buoyancy body 26 ' is shown, which is provided for integration in the rear chamber 14 in such underwater vehicles, which do not carry a cable reel 16, nevertheless on the
• Data transmission cables 15 are remotely controlled from a platform.
• the cable winding is arranged on the platform and the cable end running from the cable end only passed through the rear chamber 14 and fixed in the rear chamber 14 by means of a strain relief.
• the rear chamber 14 is still closed by the discharge funnel 20.
• the buoyant body 26 ' is of cylindrical design, specifically in such a way that with its cylinder jacket it can bear against the cylindrical inner wall of the rear chamber 14.
• the buoyancy body 26 ' extends depending on the required buoyancy more or less over the entire axial length of the rear chamber 14.
• a through hole 27 and a recess 28 are present.
• the passage opening 27 serves to carry out the data transmission cable 15 from the outlet funnel 20 to the bottom plate 25 and the recess 28 for receiving a strain relief, not shown here, which acts on the passed through the passage opening 27 portion of the data transmission cable 15 and the data transmission cable 15 in the rear chamber 14 zugfest determines.
• the described underwater vehicle with pressure body 11 and rear chamber 14 is used in unmodified design as autonomously working, self-propelled, unmanned underwater vehicle. This eliminates a remote control of the underwater vehicle through the platform, so that the data transmission cable 15 is no longer available. Even with such an underwater vehicle, the rear chamber 14 is used to compensate for a Hecklastmaschine the underwater vehicle and provided with buoyancy means for producing the desired trim position of the underwater vehicle.
• the front side of the rear chamber 14 facing away from the pressure body 11 is no longer closed off with a discharge funnel, but closed with a sealing plate 29 inserted sealingly, so that the rear chamber 14 is filled with air Cavity 30 forms, so is used as a buoyant means so air.
• the cover plate 29 is stepped in diameter and has a smaller diameter plate portion 291 and a larger diameter plate portion 292. The smaller-diameter plate portion 291 is pushed into the rear chamber 14 until the larger-diameter plate portion 292 rests on the front side of the rear chamber 14.
• the attachment of the cover plate 29 is effected by screws 31, which in Fig.
• the cover plate 29 is preferably made of aluminum.
• the desired buoyancy in the rear region is adjustable by changing the weight of the cover plate 29, wherein preferably the axial thickness of the cover plate 29 is changed. If the ⁇ bdeckplatte 29 removed on the outside of the larger diameter plate portion 292, so only reduces the weight of the cover plate 29. If the cover plate 29 is removed on the inner end face of the smaller-diameter plate portion 291, so changed in addition to the weight of the cover plate 29 and the volume of the in the rear chamber 14 existing cavity 30, so that there is a clearer increase in buoyancy. Of course, here too, the weight of the cover plate 29 can be varied by selecting the density of the plate material.
• Fig. 6 empty rear chamber 14 completely filled with a material or partially fill, whose density and volume is selected according to the required buoyancy.
• the material can also be used in the form of one or more individual buoyant bodies become .
• the Heckkaminer 14 is then not sealed waterproof, but flooded.
• the buoyancy means are not arranged in the flooded rear chamber 14 of the pressure hull 11, but in the outer area of the pressure hull 11 around which the water flows.
• the drive unit of the underwater vehicle here has a total of four propeller drives 12, of which two propeller drives at or near the top of the pressure hull 11 and two at or near the bottom of the pressure hull 11 are in each case arranged on the control and port side of the pressure hull 11.
• Each propeller drive 12 has in a known manner an electric motor which drives a propeller 40 via a drive shaft.
• the electric motor and the drive shaft are in each case accommodated in a drive tube 41 fastened to the pressure element IT, wherein the drive shaft is rotatably mounted in the drive tube 41.
• the drive shaft is rotatably mounted in the drive tube 41.
• Each propeller 40 is provided with a schematically indicated protection device 42, which protects the propeller 40 against damage during ground contact, when Schiffswandbermulung or by flotsam.
• the propeller protection device 42 prevents the data transmission cable 15 from being caught in the propellers 40 under unfavorable circumstances.
• the propeller guards 42 thus represent attachments that can be ordered as accessories or later retrofitted when changing the use profile of the underwater vehicle.
• the underwater vehicle is trimmed without the propeller guards 42, so that it occupies a quasi-horizontal position in the water. Deviations from the hydrodynamics are absorbed by closed control circuits to which the propeller drives 12 are connected.
• the change in the trim position of the underwater vehicle ' by mounting the propeller guards 42 is compensated by buoyancy bodies whose density is smaller than that of the water and are pushed onto the drive tubes 41.
• the wall thickness of the buoyancy sleeves 43 is preferably equal in size and the desired buoyancy, which must compensate for the output generated by the cultivation of the propeller protectors 42 output in the rear of the underwater vehicle, both by the sum of the sleeve lengths of the buoyancy sleeves 43 and by their location on the Drive tubes 41 relative to the propeller guards 42 set. As shown in FIG.
• the sleeve lengths of the buoyancy sleeves 43 on the upper drive tubes 41 are greater than the sleeve lengths of the buoyancy sleeves 43 on the lower drive tubes 41.
• the sum of the lengths of the buoyancy sleeves 43 is how before constant and matched to the required buoyancy. Due to this different length measurement of the buoyancy sleeves 43, an insufficient roll angle stability of the underwater vehicle can be improved.
• the underwater vehicle to be seen in a perspective view in FIG. 7 is shown in plan view in FIG. 8.
• the propeller protection devices 42 have been dispensed with, so that the buoyancy sleeves 43 on the drive tubes 41 provided by way of example for compensating the output generated by the propeller protection devices 42 in the stern of the underwater vehicle are omitted.
• the in Fig. 8 in plan view and in FIG. 9 underwater vehicle to be seen in front view is equipped with a sosichtsonar having a port-side underwater antenna 44 and a starboard-side underwater antenna 45 with each j eweils an electro-acoustic transducer assembly.
• the underwater antennas 44, 45 are arranged as attachments on the pressure hull 11, and in each case one is attached to the two lower drive tubes 41 of the port-side and starboard-side propeller drive 12.
• buoyancy bodies 46 are arranged on the pressure body 11.
• the material of the buoyant bodies 46 in turn has a density which is less than the density of the water.
• the buoyancy bodies 46 are adapted to the circumferential contour of the pressure body 11 and fastened to the pressure body 11 between the drive tubes 41 of the propeller drives 12.
• a buoyancy body 46 is in each case arranged between the two port-side and the two starboard-side drive pipes 41 and a buoyancy body 46 between the upper, port-side drive pipe 41 and the upper, starboard-side drive pipe 41.
• the axial length of the buoyancy bodies 46 is so dimensioned that the sum of the buoyancy bodies 46 generates a buoyancy force on the underwater vehicle, which, on their attachment to the two lower drive tubes 41 on the two underwater antennas 44, 45 Underwater vehicle caused, additional output power completely compensated.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
• Electric Cable Installation (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Toys (AREA)
• Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
• Prostheses (AREA)
• Pressure Vessels And Lids Thereof (AREA)

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• 2004
  • 2004-12-23 DE DE102004062126A patent/DE102004062126B4/de not_active Expired - Fee Related
• 2005
  • 2005-12-02 DE DE502005010055T patent/DE502005010055D1/de active Active
  • 2005-12-02 PL PL05816237T patent/PL1827967T3/pl unknown
  • 2005-12-02 DK DK05816237.1T patent/DK1827967T3/da active
  • 2005-12-02 EP EP05816237A patent/EP1827967B1/fr not_active Not-in-force
  • 2005-12-02 WO PCT/EP2005/012908 patent/WO2006072301A1/fr active Application Filing
  • 2005-12-02 AT AT05816237T patent/ATE476355T1/de not_active IP Right Cessation
  • 2005-12-02 PT PT05816237T patent/PT1827967E/pt unknown
  • 2005-12-02 ES ES05816237T patent/ES2348959T3/es active Active

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