EP1957357A1 - Appliance for lowering and tracking an underwater vessel - Google Patents

Appliance for lowering and tracking an underwater vessel

Info

Publication number
EP1957357A1
EP1957357A1 EP06805894A EP06805894A EP1957357A1 EP 1957357 A1 EP1957357 A1 EP 1957357A1 EP 06805894 A EP06805894 A EP 06805894A EP 06805894 A EP06805894 A EP 06805894A EP 1957357 A1 EP1957357 A1 EP 1957357A1
Authority
EP
European Patent Office
Prior art keywords
carrier
holding
underwater vehicle
locking
spring
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.)
Granted
Application number
EP06805894A
Other languages
German (de)
French (fr)
Other versions
EP1957357B1 (en
Inventor
Detlef Lambertus
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.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
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 Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Priority to PL06805894T priority Critical patent/PL1957357T3/en
Publication of EP1957357A1 publication Critical patent/EP1957357A1/en
Application granted granted Critical
Publication of EP1957357B1 publication Critical patent/EP1957357B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • 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
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines

Definitions

  • the invention relates to a device for deploying and tracking an unmanned underwater vehicle according to the preamble of claim 1.
  • Unmanned underwater vehicles e.g. B. for
  • water-based platform such as helicopters or
  • Spreading device which has a carrier receiving the underwater vehicle in a holder, which on a
  • Holding cable is attached.
  • the holding cable is from the
  • the dispensing device is advantageously equipped with a track device which allows the unmanned underwater vehicle inserted into the water and moving away from the dispensing device to be tracked, ie. H. continuously determine its position.
  • the track device which works on the SSBL or USBL principle, has several in
  • Hydrophones arranged at a distance from one another for receiving the sound pulses emitted by a responder arranged on the underwater vehicle. From the time-shifted reception of the sound impulses and the resulting phase shift between the electric hydrophone output signals, the bearing angle to the underwater vehicle and the distance of the underwater vehicle is calculated from the duration of the sound impulses between the responder and the track device.
  • Platform has a spreading device for inserting the
  • the underwater platform is at one
  • the holding device for the unmanned underwater vehicle is arranged on the underside of the platform, and the platform is with a
  • the invention has for its object a lightweight, compact application device with a track device for
  • the object is according to the features in
  • the carrier is the lowest point of the carrier and the acoustic performance of the track device, in particular the acoustic connection to the underwater vehicle, or not at all by components on the carrier, such as the holder for the
  • a e.g. Position sensor designed as a three-axis stabilized compass in the track device provides information about the alignment of the hydrophone arrangement of the track device, which is then included in the evaluation of the
  • the track device is arranged at that end of the carrier which is the rear of the unmanned underwater vehicle
  • the pivoting device has a spring which can be tensioned into its deployed position by preferably manually transferring the carrier. In this deployment position, the carrier is locked to the holding cable by means of a releasable locking device.
  • Fig. 1 is a side view of a spreading device in
  • FIG. 1 shows the same representation as in FIG. 1 after the submersible has been released from the holding device at the moment the submersible is immersed in the water
  • FIG. 3 shows the same representation as in FIG. 1 with the underwater vehicle exposed to the water and in the track position
  • FIG. 4 shows a schematic, enlarged illustration of section IV in FIG. 1.
  • the device 11, seen in a perspective side view in FIG. 1, for deploying and tracking a small, unmanned underwater vehicle 10 has one
  • the carrier 12 On its upper side, the carrier 12 carries, approximately in the middle, two fastening flanges 14 which are spaced apart from one another and between which a fastening tab 15 is inserted.
  • Fastening flanges 14 and the fastening tab 15 a pivot pin 16 is passed through which the carrier 12 is pivotally held on the fastening tab 15.
  • the fastening tab 15 forms the free end of a holding cable 17 on the device side, with which the support 12 is attached
  • Submersible 10 is launched from a platform.
  • the platform has a cable winch for this purpose, by means of which the holding cable 17 can be secured and brought in again.
  • Signal and power supply lines run inside the holding cable 17.
  • the platform can be air-based or water-based, e.g. B. a Helicopter or a surface ship.
  • Holding cable 17 and mounting tab 15 is generally an attenuator 18 is arranged to shock the
  • the holding device 13 is fixed to the carrier 12
  • At least one hydraulic or compressed air cylinder 19 is provided, which is connected to the carrier 12 via at least one piston rod
  • the underwater vehicle 10 is latched into the rear holding member 131 with its stern and into the front holding member 132 with its bow by pivoting the front holding member 132 downward and thus closing the holding device 13.
  • the front holding member 132 is pivoted slightly upward by means of the hydraulic or compressed air cylinder 19, as a result of which the front holding member 132 releases the bow of the underwater vehicle 10 and the latter falls out of the rear holding member 131 due to its weight. This is shown in Fig. 2.
  • the underwater vehicle 10 is connected to the dispensing device 11 via a signal cable of small cross section.
  • a signal cable of small cross section.
  • a signal cable usually is used as a signal cable
  • Underwater vehicle 10 is withdrawn from two glass fiber spools.
  • One glass fiber spool is located in the rear of the
  • Submarine 10 and the other fiber coil is in a coil pot 21 arranged on the carrier 12.
  • the coil pot 21 is received in a cage 22 and locked against falling out.
  • Holding device 13 also releases the locking of the coil pot 21 in the cage 22, so that the coil pot 21 falls out of the cage and sinks into the water 40 until a connecting cable 23 between the coil pot 21 and the carrier 12 is taut (FIG. 3). As soon as the coil pot 21 has reached its end position in the water 40 and the electric drives of the underwater vehicle 10 are activated, this coils
  • the carrier 12 carries at its rear free end, on which the cage 22 is also arranged, a tracking device 25 for tracking the underwater vehicle that is moving away. As shown schematically in Fig. 1, the
  • Track device 25 has a hydrophone arrangement 26 which projects beyond the free end of the carrier 12 and a position sensor 27 which, for. B. is a 3-axis stabilized compass.
  • the hydrophone arrangement 26 consists of a plurality of spaced-apart hydrophones which receives sound pulses emitted by a responder 28 arranged on the underwater vehicle 10.
  • Evaluation unit 29 connected downstream of the hydrophone arrangement
  • Position sensor 27 is measured, a bearing angle to
  • the sound impulses are about the fiber optic cable 24 is triggered electrically in the responder 28, and the evaluation unit 29 measures the running time of the
  • Hydrophone arrangement 26 calculates the distance from the underwater vehicle 10 to the dispensing device 12 from the bearing angle and distance, the position of the
  • Underwater vehicle 10 can be determined.
  • pivoting device 30 for pivoting the carrier 12 from its deployed position, in which the
  • Track device 25 at most below the articulation point of the carrier 12 on the holding cable 17, that is at most below the
  • the pivoting device 30 rotates the carrier 12 by approximately 90 degrees.
  • the swivel device 30 is in the
  • Holding device 13 is inactive and is activated with or after opening of the holding device 13 and the associated release of the underwater vehicle 10.
  • the pivoting device 30 has a spring 32 which is tensioned in the deployed position of the carrier 12, and a releasable locking device 31 which, when the spring 32 is tensioned, the carrier 12 in its deployed position
  • illustrated embodiment is the spring 32 as
  • the locking device 31 has a spring-loaded locking member 34, which is arranged axially displaceably on the rear fastening flange 14 in FIG. 4, and one which interacts with the locking member 34
  • Locking groove 35 which is formed in the mounting bracket 15.
  • the locking device 31 can be released by means of an electromagnet 37 which, when energized, is the armature of the
  • Locking groove 35 lifts. Under the effect of
  • Coil spring 33 pivots the carrier 12 freed from the underwater vehicle 10 in the direction of arrow 38 in FIG. 4.
  • the end of the carrier 12 carrying the track device 25 pivots down and dips into the water 40, as shown in
  • the fastening tab 15 has a second locking groove 39, which is offset by a 90 ° circumferential angle with respect to the locking groove 35.
  • Locking groove 39 locks the carrier 12 aligned approximately parallel to the holding cable 17 in this position shown in FIG. 3. If an underwater vehicle 10 is to be set down from a platform in a sea area, the carrier 12 is first manually pivoted into a rotational position in which it is oriented approximately horizontally. During this pivoting movement of the carrier 12, the coil spring 33 is tensioned, and at the end of the pivoting path, the locking device 31 takes effect by the locking member 34 under the action of
  • Locking spring 36 falls into the locking groove 35. Now the underwater vehicle 10 in the
  • Holding device 13 inserted and the holding device 13 closed by pivoting the front holding member 132.
  • the coil pot 31 is inserted into the cage 20 and also locked therein.
  • Holding device 13 lowered underwater vehicle 10 lowered onto the water surface 41.
  • a trigger control unit 42 arranged on the carrier 12 activates the hydraulic or compressed air cylinder 19, which swivels the front holding member 132 upward so that it is from the bow of the
  • the release control unit 42 energizes the electromagnet 37, as a result of which the locking member 34 is pulled out of the locking groove 35.
  • the tense Coil spring 33 rotates the carrier (12) in the direction of arrow 38 (FIG. 4) until the spring-loaded locking member 34 engages in the second locking groove 39.
  • the track device 35 lies at most below the pivot pin 16 and dips through the water surface 41 into the water 40.
  • Holding cable 17 is now further celebrated until the entire application device is submerged below the water surface.
  • the track device 25 assumes an optimal position below the water surface 41 and can provide an undisturbed, acoustic connection to the responder 28 of the underwater vehicle 10 while the underwater vehicle 10 is traveling

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Catching Or Destruction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Abstract

The deployment device has a tracking device (25) on one end of an oblong support (12) pivotably joined to a holding cable (17) in its central region and a pivoting device activated after unlatching of the vessel (10) from a holding device (13) for pivoting the support from a deployment position to a tracking position in which the tracking device lies under the support linkage point.

Description

A T L A S E L E K T R O N I K G m b H  A T L A S E L E K T R O N I K G m b H
Bremen  Bremen
GERÄT ZUM AUSBRINGEN UND TRACKEN EINES UNBEMANNTENDEVICE FOR APPLYING AND TRACKING AN UNMANNED
UNTERWASSERFAHRZEUGS UNDERWATER VEHICLE
Die Erfindung betrifft ein Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs nach dem Oberbegriff des Anspruchs 1. The invention relates to a device for deploying and tracking an unmanned underwater vehicle according to the preamble of claim 1.
Unbemannte Unterwasserfahrzeuge, die z. B. zur Unmanned underwater vehicles, e.g. B. for
Minenvernichtung eingesetzt und von einer luft- oder Mine destruction used and from an air or
wassergestützten Plattform aus, wie Hubschrauber oder water-based platform, such as helicopters or
Oberflächenschiff, ferngelenkt werden, werden von der Surface ship, to be steered remotely, by the
Plattform aus ins Wasser gelassen. Hierzu dient ein Platform dropped into the water. This is what a
Ausbringgerät, das einen das Unterwasserfahrzeug in einer Halterung aufnehmenden Träger aufweist, der an einem Spreading device, which has a carrier receiving the underwater vehicle in a holder, which on a
Haltekabel befestigt ist. Das Haltekabel wird von der Holding cable is attached. The holding cable is from the
Plattform aus abgespult. Das Ausbringgerät ist vorteilhaft mit einer Trackvorrichtung ausgestattet, die es erlaubt, das ins Wasser eingesetzte und vom Ausbringgerät sich entfernende unbemannten Unterwasserfahrzeug zu tracken, d. h. fortlaufend dessen Position zu bestimmen. Die Trackvorrichtung, die nach dem SSBL- oder USBL-Prinzip arbeitet, weist mehrere im Unwound platform. The dispensing device is advantageously equipped with a track device which allows the unmanned underwater vehicle inserted into the water and moving away from the dispensing device to be tracked, ie. H. continuously determine its position. The track device, which works on the SSBL or USBL principle, has several in
Abstand voneinander angeordnete Hydrophone zum Empfangen der von einem am Unterwasserfahrzeug angeordneten Responder ausgesendeten Schallimpulse auf. Aus dem zeitverschobenen Empfang der Schallimpulse und der daraus resultierenden Phasenverschiebung zwischen den elektrischen Hydrophon- ausgangssignalen wird der Peilwinkel zum Unterwasserfahrzeug und aus der Laufzeit der Schallimpulse zwischen Responder und Trackeinrichtung die Entfernung des Unterwasserfahrzeugs berechnet . Hydrophones arranged at a distance from one another for receiving the sound pulses emitted by a responder arranged on the underwater vehicle. From the time-shifted reception of the sound impulses and the resulting phase shift between the electric hydrophone output signals, the bearing angle to the underwater vehicle and the distance of the underwater vehicle is calculated from the duration of the sound impulses between the responder and the track device.
Bei einem System zum Aufspüren und Vernichten von Seeminen (EP 0 535 044 Bl) wird das mit einer Sprengladung In a system for the detection and destruction of sea mines (EP 0 535 044 B1), this is done with an explosive charge
ausgerüstete unbemannte Unterwasserfahrzeug von einer unter Wasser schwimmenden Plattform aus ferngelenkt und die equipped unmanned underwater vehicle from a floating platform and the
Position des Unterwasserfahrzeugs mit einer auf der Plattform angeordneten Trackvorrichtung, die in der vorstehenden beschriebenen Weise arbeitet, fortlaufend bestimmt. Die Position of the underwater vehicle with a track device arranged on the platform, which operates in the manner described above, continuously determined. The
Plattform besitzt ein Ausbringgerät zum Einsetzen des Platform has a spreading device for inserting the
Unterwasserfahrzeugs ins Wasser. Submersible into the water.
Es ist bereits vorgeschlagen worden, eine solche It has already been proposed
Unterwasserplattform mit Trackeinrichtung selbst als Underwater platform with track facility itself as
Ausbringgerät für ein unbemanntes Unterwasserfahrzeug Spreading device for an unmanned underwater vehicle
auszubilden. Die Unterwasserplattform ist an einem to train. The underwater platform is at one
Ausbringseil befestigt und wird z. B. von einem Hubschrauber ins Wasser abgesetzt. Die Haltevorrichtung für das unbemannte Unterwasserfahrzeug ist an der Unterseite der Plattform angeordnet, und die Plattform ist mit einem Discharge rope attached and z. B. dropped into the water by a helicopter. The holding device for the unmanned underwater vehicle is arranged on the underside of the platform, and the platform is with a
elektromotorischen Eigenantrieb ausgerüstet. Nach Aussetzen der Plattform und deren Lösen vom Ausbringseil wird die equipped with an electric motor drive. After the platform has been suspended and released from the deployment rope, the
Plattform mittels vertikal und horizontal wirkender Platform using vertical and horizontal acting
Manöverierantriebe um ihre Roll- Nick- und Gierachse Maneuvering drives around their roll, pitch and yaw axis
stabilisiert. Durch diese damit einhergehende stabilized. Through this accompanying
Raumstabilisierung der Trackeinrichtung ist eine genaue Spatial stabilization of the track setup is accurate
Positionsbestimmung des Unterwasserfahrzeugs auch unter ungünstigen Seewetterbedingungen möglich, und die Gefahr eines Trackverlusts, also des Abreißens der akustischen It is also possible to determine the position of the underwater vehicle under unfavorable sea weather conditions, and there is a risk of losing track, i.e. tearing off the acoustic
Verbindung zwischen Unterwasserfahrzeug und Trackeinrichtung, stark reduziert. Ein solches raumstabilisiertes Ausbringgerät ist bei relativ großem Volumen schwergewichtig und Connection between underwater vehicle and track device, greatly reduced. Such a room-stabilized application device is heavy and relatively large in volume
fertigungstechnisch sehr aufwendig. very expensive to manufacture.
Der Erfindung liegt die Aufgabe zugrunde, ein leichtes, baukleines Ausbringgerät mit Trackvorrichtung für ein The invention has for its object a lightweight, compact application device with a track device for
unbemanntes Unterwasserfahrzeug zu schaffen, das auch zur Handhabung auf kleinen Plattformen geeignet ist und ein akustisch ungestörtes Arbeiten der Trackvorrichtung To create unmanned underwater vehicles that are also suitable for handling on small platforms and an acoustically undisturbed working of the track device
gewährleistet . guaranteed.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im The object is according to the features in
Anspruch 1 gelöst. Claim 1 solved.
Das erfindungsgemäße Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs hat den Vorteil, dass durch das Schwenken des Trägers nach Freigabe des The device according to the invention for deploying and tracking an unmanned underwater vehicle has the advantage that by pivoting the carrier after the release of the
Unterwasserfahrzeugs die Trackvorrichtung sich an dem Underwater vehicle the track device on the
tiefstliegenden Punkt des Trägers befindet und die akustische Leistung der Trackvorrichtung, insbesondere die akustische Verbindung zum Unterwasserfahrzeug nicht oder nur wenig durch Bauelemente am Träger, wie die Halterung für das is the lowest point of the carrier and the acoustic performance of the track device, in particular the acoustic connection to the underwater vehicle, or not at all by components on the carrier, such as the holder for the
Unterwasserfahrzeug, gestört wird. Durch den langgestreckten, vertikal ins Wasser eintauchenden Träger, an dessen unterem Ende die Trackvorrichtung angeordnet ist, ist diese Underwater vehicle, is disturbed. This is due to the elongated, vertically immersed support, at the lower end of which the track device is arranged
ausreichend stabil im Wasser gehalten, so dass eine kept sufficiently stable in the water so that a
zuverlässige Positionsvermessung des Unterwasserfahrzeugs gewährleistet ist. Ein z.B. als dreiachsig stabilisierter Kompaß ausgebildeter Lagesensor in der Trackvorrichtung gibt Informationen über die Ausrichtung der Hydrophonanordnung der Trackeinrichtung, die dann in die Auswertung der reliable position measurement of the underwater vehicle is guaranteed. A e.g. Position sensor designed as a three-axis stabilized compass in the track device provides information about the alignment of the hydrophone arrangement of the track device, which is then included in the evaluation of the
Phasenverschiebung der elektrischen Hydrophonausgangssignale einbezogen wird. Zweckmäßige Ausführungsformen des erfindungsgemäßen Phase shift of the electrical hydrophone output signals is included. Appropriate embodiments of the invention
Ausbringgeräts mit vorteilhaften Weiterbildungen und Spreading device with advantageous developments and
Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen. Embodiments of the invention result from the further claims.
Gemäß einer bevorzugten Ausführungsform der Erfindung ist die Trackvorrichtung an demjenigen Ende des Trägers angeordnet, das dem das Heck des unbemannten Unterwasserfahrzeug According to a preferred embodiment of the invention, the track device is arranged at that end of the carrier which is the rear of the unmanned underwater vehicle
fassenden Teil der Haltevorrichtung zugekehrt ist. Dies hat den Vorteil, dass die Trackvorrichtung beim Ausklinken des Unterwasserfahrzeugs aus der Haltevorrichtung, was durch Abschwenken des den Bug des Unterwasserfahrzeugs greifenden vorderen Teils der Haltevorrichtung herbeigeführt wird, nicht beschädigt werden kann. part of the holding device facing. This has the advantage that the track device cannot be damaged when the underwater vehicle disengages from the holding device, which is brought about by pivoting the front part of the holding device gripping the bow of the underwater vehicle.
Gemäß einer vorteilhaften Ausführungsform der Erfindung weist die Schwenkvorrichtung eine Feder auf, die durch vorzugsweise manuelles Überführen des Trägers in seine Ausbringstellung spannbar ist. In dieser Ausbringstellung wird der Träger mittels einer lösbaren Verriegelungsvorrichtung am Haltekabel verriegelt . According to an advantageous embodiment of the invention, the pivoting device has a spring which can be tensioned into its deployed position by preferably manually transferring the carrier. In this deployment position, the carrier is locked to the holding cable by means of a releasable locking device.
Die Erfindung ist anhand eines in der Zeichnung dargestellten Ausführungsbeispiels im folgenden naher beschrieben. Es zeigen: The invention is described below with reference to an embodiment shown in the drawing. Show it:
Fig. 1 eine Seitenansicht eines Ausbringgeräts in Fig. 1 is a side view of a spreading device in
seiner Ausbringstellung mit einem in einer Haltevorrichtung aufgenommenen, unbemannten Unterwasserfahrzeug, Fig. 2 eine gleiche Darstellung wie in Fig. 1 nach Ausklinken des Unterwasserfahrzeugs aus der Haltevorrichtung im Moment des Eintauchens des Unterwasserfahrzeugs ins Wasser, its deployment position with an unmanned underwater vehicle accommodated in a holding device, 2 shows the same representation as in FIG. 1 after the submersible has been released from the holding device at the moment the submersible is immersed in the water,
Fig. 3 eine gleiche Darstellung wie in Figur 1 bei ins Wasser ausgesetztem Unterwasserfahrzeug und in Trackstellung sich befindlichem 3 shows the same representation as in FIG. 1 with the underwater vehicle exposed to the water and in the track position
Ausbringgerät,  Spreading device,
Fig. 4 eine schematisierte, vergrößerte Darstellung des Ausschnitts IV in Fig. 1. 4 shows a schematic, enlarged illustration of section IV in FIG. 1.
Das in Fig. 1 in perspektivischer Seitenansicht zu sehende Gerät 11 zum Ausbringen und Tracken eines baukleinen, unbemannten Unterwasserfahrzeugs 10 weist einen The device 11, seen in a perspective side view in FIG. 1, for deploying and tracking a small, unmanned underwater vehicle 10 has one
langgestreckten, schmalen, plattenförmigen Träger 12 auf, an dessen Unterseite eine Haltevorrichtung 13 zum Einklinken des Unterwasserfahrzeugs 10 angeordnet ist. Auf seiner Oberseite trägt der Träger 12 etwa mittig zwei einander beabstandet gegenüberliegende Befestigungsflansche 14, zwischen die eine Befestigungslasche 15 eintaucht. Durch die beiden Elongated, narrow, plate-shaped carrier 12, on the underside of which a holding device 13 is arranged for latching the underwater vehicle 10. On its upper side, the carrier 12 carries, approximately in the middle, two fastening flanges 14 which are spaced apart from one another and between which a fastening tab 15 is inserted. Through the two
Befestigungsflansche 14 und die Befestigungslasche 15 ist ein Drehbolzen 16 hindurchgeführt, durch den der Träger 12 schwenkbar an der Befestigungslasche 15 gehalten ist. Die Befestigungslasche 15 bildet das geräteseitige, freie Ende eines Haltekabels 17, mit dem der Träger 12 mit Fastening flanges 14 and the fastening tab 15, a pivot pin 16 is passed through which the carrier 12 is pivotally held on the fastening tab 15. The fastening tab 15 forms the free end of a holding cable 17 on the device side, with which the support 12 is attached
Unterwasserfahrzeug 10 von einer Plattform aus zu Wasser gelassen wird. Im allgemeinen besitzt die Plattform hierzu eine Kabelwinde, mittels welcher das Haltekabel 17 gefiert und wieder eingeholt werden kann. Im Innern des Haltekabels 17 verlaufen Signal- und Stromversorgungsleitungen. Die Plattform kann luftgestützt oder wassergestützt, z. B. ein Hubschrauber oder ein Oberflächenschiff sein. Zwischen Submersible 10 is launched from a platform. In general, the platform has a cable winch for this purpose, by means of which the holding cable 17 can be secured and brought in again. Signal and power supply lines run inside the holding cable 17. The platform can be air-based or water-based, e.g. B. a Helicopter or a surface ship. Between
Haltekabel 17 und Befestigungslasche 15 ist im allgemeinen noch ein Dämpfungsglied 18 angeordnet, um Stöße auf das Holding cable 17 and mounting tab 15 is generally an attenuator 18 is arranged to shock the
Ausbringgerät 11 beim schnellen Stoppen des Ausfahrvorgangs weitgehend zu mindern. To largely reduce spreading device 11 when the extension process stops quickly.
Die Haltevorrichtung 13 weist ein am Träger 12 fest The holding device 13 is fixed to the carrier 12
angeordnetes hinteres Halteglied 131 und ein am Träger 12 schwenkbar angeordnetes vorderes Halteglied 132 auf. Zum Schwenken des vorderen Halteglieds 132 ist mindestens ein Hydraulik- oder Pressluftzylinder 19 vorgesehen, der über mindestens eine Kolbenstange an dem am Träger 12 arranged rear holding member 131 and a front holding member 132 pivotally arranged on the carrier 12. To pivot the front holding member 132, at least one hydraulic or compressed air cylinder 19 is provided, which is connected to the carrier 12 via at least one piston rod
schwenkbeweglich gelagerten vorderen Halteglied 132 angreift. attacks pivotally mounted front support member 132.
Wie in Fig. 1 zu sehen ist, wird das Unterwasserfahrzeug 10 mit seinem Heck in das hintere Halteglied 131 und mit seinem Bug in das vordere Halteglied 132 eingeklinkt, indem das vordere Halteglied 132 nach unten geschwenkt und damit die Haltevorrichtung 13 geschlossen wird. Zum Ausklinken des Unterwasserfahrzeugs 10 wird mittels des Hydraulik- oder Pressluftzylinders 19 das vordere Halteglied 132 wenig nach oben geschwenkt, wodurch das vordere Halteglied 132 den Bug des Unterwasserfahrzeugs 10 freigibt und letzteres auf Grund seines Gewichtes aus dem hinteren Halteglied 131 herausfällt. Dies ist in Fig. 2 dargestellt. As can be seen in FIG. 1, the underwater vehicle 10 is latched into the rear holding member 131 with its stern and into the front holding member 132 with its bow by pivoting the front holding member 132 downward and thus closing the holding device 13. To release the underwater vehicle 10, the front holding member 132 is pivoted slightly upward by means of the hydraulic or compressed air cylinder 19, as a result of which the front holding member 132 releases the bow of the underwater vehicle 10 and the latter falls out of the rear holding member 131 due to its weight. This is shown in Fig. 2.
Das Unterwasserfahrzeug 10 ist im Ausführungsbeispiel über ein querschnittskleines Signalkabel mit dem Ausbringgerät 11 verbunden. Üblicherweise wird als Signalkabel ein In the exemplary embodiment, the underwater vehicle 10 is connected to the dispensing device 11 via a signal cable of small cross section. Usually is used as a signal cable
Glasfaserkabel 24 verwendet, das bei Fahrt des Fiber optic cable 24 used when driving the
Unterwasserfahrzeugs 10 von zwei Glasfaserspulen abgezogen wird. Die eine Glasfaserspule befindet sich im Heck des Underwater vehicle 10 is withdrawn from two glass fiber spools. One glass fiber spool is located in the rear of the
Unterwasserfahrzeugs 10 und die andere Glasfaserspule ist in einem am Träger 12 angeordneten Spulentopf 21 untergebracht. Der Spulentopf 21 ist in einem Käfig 22 aufgenommen und gegen Herausfallen verriegelt. Mit Aufschwenken oder unmittelbar nach Aufschwenken des vorderen Halteglieds 132 der Submarine 10 and the other fiber coil is in a coil pot 21 arranged on the carrier 12. The coil pot 21 is received in a cage 22 and locked against falling out. With swiveling or immediately after swiveling the front holding member 132 the
Haltevorrichtung 13 wird auch die Verriegelung des Spulentopf 21 im Käfig 22 gelöst, so dass der Spulentopf 21 aus dem Käfig herausfällt und ins Wasser 40 absinkt bis ein zwischen Spulentopf 21 und Träger 12 vorhandenes Verbindungskabel 23 straff gespannt ist (Fig. 3) . Sobald der Spulentopf 21 seine Endlage im Wasser 40 erreicht hat und die Elektroantriebe des Unterwasserfahrzeugs 10 aktiviert sind, spult sich das Holding device 13 also releases the locking of the coil pot 21 in the cage 22, so that the coil pot 21 falls out of the cage and sinks into the water 40 until a connecting cable 23 between the coil pot 21 and the carrier 12 is taut (FIG. 3). As soon as the coil pot 21 has reached its end position in the water 40 and the electric drives of the underwater vehicle 10 are activated, this coils
Glasfaserkabel 24 aus dem Spulentopf 21 aus und wickelt sich gleichzeitig von der im Heck des Unterwasserfahrzeugs 10 angeordneten Glasfaserspule ab, so dass das Glasfaserkabel 24 nicht oder nur wenig auf Zug belastet wird. Fiber optic cable 24 from the coil pot 21 and at the same time unwinds from the glass fiber spool arranged in the rear of the underwater vehicle 10, so that the fiber optic cable 24 is not or only slightly loaded under tension.
Der Träger 12 trägt an seinem hinteren freien Ende, an dem auch der Käfig 22 angeordnet ist, eine Trackvorrichtung 25 zum Verfolgen des sich entfernenden Unterwasserfahrzeugs. Wie in Fig. 1 schematisch dargestellt ist, umfasst die The carrier 12 carries at its rear free end, on which the cage 22 is also arranged, a tracking device 25 for tracking the underwater vehicle that is moving away. As shown schematically in Fig. 1, the
Trackvorrichtung 25 eine Hydrophonanordnung 26, die über das freie Ende des Trägers 12 hinausragt und einen Lagesensor 27, der z. B. ein 3-achsig stabilisierter Kompass ist. In Track device 25 has a hydrophone arrangement 26 which projects beyond the free end of the carrier 12 and a position sensor 27 which, for. B. is a 3-axis stabilized compass. In
bekannter Weise besteht die Hydrophonanordnung 26 aus einer Mehrzahl von voneinander beabstandeten Hydrophonen, die von einem am Unterwasserfahrzeug 10 angeordneten Responder 28 ausgesendete Schallimpulse empfängt. Eine der As is known, the hydrophone arrangement 26 consists of a plurality of spaced-apart hydrophones which receives sound pulses emitted by a responder 28 arranged on the underwater vehicle 10. One of the
Hydrophonanordnung nachgeschaltete Auswerteeinheit 29 Evaluation unit 29 connected downstream of the hydrophone arrangement
berechnet aus den Phasenverschiebungen zwischen den calculated from the phase shifts between the
elektrischen Hydrophonausgangssignalen unter Berücksichtigung der Ausrichtung der Hydrophonanordnung, die von dem electrical hydrophone output signals taking into account the orientation of the hydrophone arrangement by that
Lagesensor 27 gemessen wird, einen Peilwinkel zum Position sensor 27 is measured, a bearing angle to
Unterwasserwasserfahrzeug 10. Die Schallimpulse werden über das Glasfaserkabel 24 im Responder 28 elektrisch ausgelöst, und die Auswerteeinheit 29 misst die Laufzeit der Underwater watercraft 10. The sound impulses are about the fiber optic cable 24 is triggered electrically in the responder 28, and the evaluation unit 29 measures the running time of the
Schallimpulse vom Unterwasserfahrzeug 10 zu der Sound pulses from the underwater vehicle 10 to the
Hydrophonanordnung 26 und berechnet daraus die Entfernung des Unterwasserfahrzeugs 10 zum Ausbringgerät 12. Aus Peilwinkel und Entfernung kann jederzeit die Position des Hydrophone arrangement 26 and calculates the distance from the underwater vehicle 10 to the dispensing device 12 from the bearing angle and distance, the position of the
Unterwasserfahrzeugs 10 festgestellt werden. Underwater vehicle 10 can be determined.
Zwischen Träger 12 und Haltekabel 17, genauer gesagt zwischen dem Träger 12 und der Befestigungslasche 15 am Haltekabel 17, ist eine Schwenkvorrichtung 30 zum Schwenken des Trägers 12 aus seiner Ausbringstellung, in welcher das Between the carrier 12 and the holding cable 17, more precisely between the carrier 12 and the fastening tab 15 on the holding cable 17, there is a pivoting device 30 for pivoting the carrier 12 from its deployed position, in which the
Unterwasserfahrzeug 10 aus der Haltevorrichtung 13 Underwater vehicle 10 from the holding device 13
ausklinkbar ist, in eine Trackstellung, in welcher die can be released in a track position in which the
Trackvorrichtung 25 maximal unterhalb des Anlenkpunktes des Träger 12 am Haltekabel 17, also maximal unterhalb des Track device 25 at most below the articulation point of the carrier 12 on the holding cable 17, that is at most below the
Drehbolzens 16 liegt. Da der Träger 12 in seiner Pintle 16 lies. Since the carrier 12 in its
Ausbringstellung etwa rechtwinklig zum Haltekabel 17 Application position approximately at right angles to the holding cable 17
ausgerichtet ist, dreht die Schwenkvorrichtung 30 den Träger 12 um ca. 90 Grad. Die Schwenkvorrichtung 30 ist in der is aligned, the pivoting device 30 rotates the carrier 12 by approximately 90 degrees. The swivel device 30 is in the
Ausbringstellung des Trägers 12 bei geschlossener Delivery position of the carrier 12 when closed
Haltevorrichtung 13 inaktiv und wird mit oder nach Öffnen der Haltevorrichtung 13 und dem damit verbundenen Ausklinken des Unterwasserfahrzeugs 10 aktiviert. Holding device 13 is inactive and is activated with or after opening of the holding device 13 and the associated release of the underwater vehicle 10.
Die Schwenkvorrichtung 30 weist eine Feder 32, die in der Ausbringstellung des Trägers 12 gespannt ist, und eine lösbare Verrieglungsvorrichtung 31 auf, die bei gespannter Feder 32 den Träger 12 in dessen Ausbringstellung am The pivoting device 30 has a spring 32 which is tensioned in the deployed position of the carrier 12, and a releasable locking device 31 which, when the spring 32 is tensioned, the carrier 12 in its deployed position
Haltekabel 17, genauer gesagt am Befestigungsflansch 14 des Haltekabels 17, verriegelt (Fig. 4). Im schematisch Holding cable 17, more precisely on the fastening flange 14 of the holding cable 17, locked (Fig. 4). I'm schematic
dargestellten Ausführungsbeispiel ist die Feder 32 als illustrated embodiment is the spring 32 as
Spiralfeder 33 ausgebildet, deren innerer Federschenkel 331 an der Befestigungslasche 15 und deren äußerer Federschenkel 332 an dem in Fig. 4 vorderen Befestigungsflansch 14 des Trägers 12 festgelegt ist. Die Verriegelungsvorrichtung 31 weist ein federbelastetes Sperrglied 34, das an dem in Fig. 4 hinteren Befestigungsflansch 14 axial verschiebbar angeordnet ist, und eine mit dem Sperrglied 34 zusammenwirkende Spiral spring 33 formed, the inner spring leg 331 is fixed to the mounting bracket 15 and its outer spring leg 332 on the front mounting flange 14 of the carrier 12 in FIG. 4. The locking device 31 has a spring-loaded locking member 34, which is arranged axially displaceably on the rear fastening flange 14 in FIG. 4, and one which interacts with the locking member 34
Verriegelungsnut 35 auf, die in der Befestigungslasche 15 ausgebildet ist. Locking groove 35, which is formed in the mounting bracket 15.
In der in Fig. 4 dargestellten Ausbringstellung des Trägers 12 ist das vordere Ende des Sperrglieds (34) durch die In the deployed position of the carrier 12 shown in FIG. 4, the front end of the locking member (34) is through the
Verriegelungsfeder 36 in die Verriegelungsnut 35 Locking spring 36 into the locking groove 35
eingeschoben. Dadurch sind Träger 12 und Haltekabel 17 miteinander fest verbunden. Im Ausführungsbeispiel kann die Verrieglungsvorrichtung 31 mittels eines Elektromagneten 37 gelöst werden, der bei Bestromung das den Anker des inserted. As a result, the carrier 12 and the holding cable 17 are firmly connected to one another. In the exemplary embodiment, the locking device 31 can be released by means of an electromagnet 37 which, when energized, is the armature of the
Elektromagneten 37 bildende Sperrglied 34 aus der Electromagnet 37 forming locking member 34 from the
Verriegelungsnut 35 aushebt. Unter der Wirkung der Locking groove 35 lifts. Under the effect of
Spiralfeder 33 schwenkt der vom Unterwasserfahrzeug 10 befreite Träger 12 in Richtung Pfeil 38 in Fig. 4. Das die Trackvorrichtung 25 tragende Ende des Trägers 12 schwenkt nach unten und taucht in das Wasser 40 ein, wie dies in Coil spring 33 pivots the carrier 12 freed from the underwater vehicle 10 in the direction of arrow 38 in FIG. 4. The end of the carrier 12 carrying the track device 25 pivots down and dips into the water 40, as shown in
Fig. 3 illustriert ist. Die Befestigungslasche 15 weist eine zweite Verriegelungsnut 39 auf, die um 90° Umfangswinkel gegenüber Verriegelungsnut 35 versetzt ist. Bei der Fig. 3 is illustrated. The fastening tab 15 has a second locking groove 39, which is offset by a 90 ° circumferential angle with respect to the locking groove 35. In the
Schwenkbewegung des Trägers 12 relativ zur Befestigungslasche 15 am Haltekabel 17 fällt bei entregtem Elektromagneten 37 das federbelastete Sperrglied 34 in die zweite Pivotal movement of the carrier 12 relative to the mounting tab 15 on the holding cable 17 falls when the electromagnet 37 is de-energized, the spring-loaded locking member 34 in the second
Verriegelungsnut 39 ein und arretiert den etwa parallel zum Haltekabel 17 ausgerichteten Träger 12 in dieser in Fig. 3 dargestellten Stellung. Soll ein Unterwasserfahrzeug 10 von einer Plattform aus in einem Seegebiet abgesetzt werden, so wird zunächst der Träger 12 manuell in eine Drehlage geschwenkt, in welcher er etwa horizontal ausgerichtet ist. Bei dieser Schwenkbewegung des Trägers 12 wird die Spiralfeder 33 gespannt, und am Ende des Schwenkweges wird die Verriegelungsvorrichtung 31 wirksam, indem das Sperrglied 34 unter der Wirkung der Locking groove 39 and locks the carrier 12 aligned approximately parallel to the holding cable 17 in this position shown in FIG. 3. If an underwater vehicle 10 is to be set down from a platform in a sea area, the carrier 12 is first manually pivoted into a rotational position in which it is oriented approximately horizontally. During this pivoting movement of the carrier 12, the coil spring 33 is tensioned, and at the end of the pivoting path, the locking device 31 takes effect by the locking member 34 under the action of
Verriegelungsfeder 36 in die Verriegelungsnut 35 einfällt. Nunmehr wird das Unterwasserfahrzeug 10 in die Locking spring 36 falls into the locking groove 35. Now the underwater vehicle 10 in the
Haltevorrichtung 13 eingesetzt und die Haltevorrichtung 13 durch Abschwenken des vorderen Halteglieds 132 geschlossen. Der Spulentopf 31 wird in den Käfig 20 eingesetzt und darin ebenfalls arretiert. Holding device 13 inserted and the holding device 13 closed by pivoting the front holding member 132. The coil pot 31 is inserted into the cage 20 and also locked therein.
Nunmehr wird von der Plattform aus durch Fieren des Now from the platform by fiering the
Haltekabels 17 das Ausbringgerät 11 mit in der Holding cable 17, the application device 11 in the
Haltevorrichtung 13 eingeklinktem Unterwasserfahrzeug 10 auf die Wasseroberfläche 41 herabgelassen. Eine auf dem Träger 12 angeordnete Auslöse-Steuereinheit 42 aktiviert den Hydraulikoder Pressluftzylinder 19, der das vordere Halteglied 132 nach oben schwenkt, so dass es vom Bug des Holding device 13 lowered underwater vehicle 10 lowered onto the water surface 41. A trigger control unit 42 arranged on the carrier 12 activates the hydraulic or compressed air cylinder 19, which swivels the front holding member 132 upward so that it is from the bow of the
Unterwasserfahrzeugs 10 abhebt. Das freigegebene Underwater vehicle 10 takes off. The released
Unterwasserfahrzeug 10 fällt aus dem hinteren Halteglied 131 heraus und taucht durch die Oberfläche 41 hindurch ins Wasser ein, wie dies in Fig. 2 illustriert ist. Mit Herausfallen des Unterwasserfahrzeugs 10 wird auch der Spulentopf 21 Underwater vehicle 10 falls out of the rear holding member 131 and dips through the surface 41 into the water, as illustrated in FIG. 2. When the underwater vehicle 10 falls out, the coil pot 21 also becomes
freigegeben, der aus dem Käfig 22 herausfällt und ebenfalls durch die Wasseroberfläche 41 hindurch in das Wasser 40 eintaucht, um dann bis zum Spannen des Verbindungskabels 23 abzusinken. Nach Herausfallen des Unterwasserfahrzeugs 10 und des Spulentopfes 21 wird durch die Auslöse-Steuereinheit 42 der Elektromagnet 37 bestromt, wodurch das Sperrglied 34 aus der Verriegelungsnut 35 ausgezogen wird. Die gespannte Spiralfeder 33 dreht den Träger (12) in Richtung Pfeil 38 (Fig. 4), bis das federbelastete Sperrglied 34 in die zweite Verriegelungsnut 39 einfällt. Die Trackvorrichtung 35 liegt maximal unterhalb des Drehbolzens 16 und taucht durch die Wasseroberfläche 41 hindurch ins Wasser 40 ein. Das released, which falls out of the cage 22 and also dips through the water surface 41 into the water 40, in order to then sink until the connecting cable 23 is tensioned. After the underwater vehicle 10 and the coil pot 21 have fallen out, the release control unit 42 energizes the electromagnet 37, as a result of which the locking member 34 is pulled out of the locking groove 35. The tense Coil spring 33 rotates the carrier (12) in the direction of arrow 38 (FIG. 4) until the spring-loaded locking member 34 engages in the second locking groove 39. The track device 35 lies at most below the pivot pin 16 and dips through the water surface 41 into the water 40. The
Haltekabel 17 wird nunmehr weiter gefiert, bis das gesamte Ausbringgerät unter die Wasseroberfläche abgetaucht ist. Die Trackvorrichtung 25 nimmt eine optimale Lage unterhalb der Wasseroberfläche 41 ein und kann eine ungestörte, akustische Verbindung zum Responder 28 des Unterwasserfahrzeugs 10 während der Fahrt des Unterwasserfahrzeugs 10 Holding cable 17 is now further celebrated until the entire application device is submerged below the water surface. The track device 25 assumes an optimal position below the water surface 41 and can provide an undisturbed, acoustic connection to the responder 28 of the underwater vehicle 10 while the underwater vehicle 10 is traveling
aufrechterhalten. maintain.

Claims

A T L A S E L E K T R O N I K G m b H A T L A S E L E K T R O N I K G m b H
Bremen  Bremen
PATENTANSPRÜCHE PATENT CLAIMS
1. Gerät zum Ausbringen und Tracken eines unbemannten 1. Device for deploying and tracking an unmanned
Unterwasserfahrzeugs (10) mit einem am Ende eines  Submersible (10) with one at the end of one
Haltekabels (17) angeordneten Träger (12), mit einer am Träger (12) angeordneten Haltevorrichtung (13) zur  Holding cable (17) arranged carrier (12) with a holding device (13) arranged on the carrier (12) for
Halterung des Unterwasserfahrzeugs (10), die ein  Bracket of the underwater vehicle (10), the one
steuerbares Halteglied (13) zum Ausklinken des  controllable holding member (13) for notching the
Unterwasserfahrzeugs (10) aus der Haltevorrichtung (13) aufweist, und mit einer am Träger (12) angeordneten Trackvorrichtung (25) zur akustischen  Has underwater vehicle (10) from the holding device (13), and with a track device (25) arranged on the carrier (12) for acoustic
Positionsbestimmung des ins Wasser (40) eingebrachten Unterwasserfahrzeugs (10), dadurch gekennzeichnet, dass die Trackvorrichtung (25) an einem Ende des  Position determination of the underwater vehicle (10) introduced into the water (40), characterized in that the track device (25) at one end of the
langgestreckt ausgebildeten Trägers (12) angeordnet ist, dass der Träger (12) in seinem mittleren Längenbereich schwenkbar am Haltekabel (17) angelenkt ist und dass eine nach Ausklinken des Unterwasserfahrzeugs (10) aus der Haltevorrichtung (13) aktivierbare  Elongated carrier (12) is arranged, that the carrier (12) is pivotally articulated on the holding cable (17) in its middle length range and that one can be activated from the holding device (13) after the underwater vehicle (10) has been released
Schwenkvorrichtung (30) zum Schwenken des Trägers (12) aus einer Ausbringstellung, in welcher das  Swivel device (30) for swiveling the carrier (12) from a deployment position in which the
Unterwasserfahrzeug (10) ausgebracht wird, in eine  Underwater vehicle (10) is deployed in a
Trackstellung, in welcher die Trackvorrichtung (25) , vorzugsweise maximal, unterhalb des Träger-Anlenkpunktes am Haltekabel (17) liegt, vorgesehen ist.  Track position in which the track device (25), preferably maximally, is provided below the carrier articulation point on the holding cable (17).
2. Gerät nach Anspruch 1, dadurch gekennzeichnet, dass die Trackvorrichtung (25) an dem Ende des Trägers (12) angeordnet ist, das dem das Heck des 2. Device according to claim 1, characterized in that the track device (25) at the end of the carrier (12) is arranged, which the the rear of the
Unterwasserfahrzeugs (10) fassenden, hinteren Halteglied (131) der Haltevorrichtung (13) zugekehrt ist.  Underwater vehicle (10), rear holding member (131) facing the holding device (13).
3. Gerät nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Träger (12) in seiner Ausbringstellung in etwa rechtwinklig und in seiner Trackstellung in etwa 3. Device according to claim 1 or 2, characterized in that the carrier (12) in its deployed position approximately at right angles and in its track position approximately
parallel zum Haltekabel (17) ausgerichtet ist.  is aligned parallel to the holding cable (17).
4. Gerät nach einem der Ansprüche 1 - 3, dadurch 4. Device according to one of claims 1-3, characterized
gekennzeichnet, dass die Schwenkvorrichtung (30) eine Feder (32), die durch das Überführen des Trägers (12) in seine Ausbringstellung spannbar ist, und eine lösbare Verriegelungsvorrichtung (31) aufweist, die den Träger characterized in that the pivoting device (30) has a spring (32) which can be tensioned by moving the carrier (12) into its deployed position, and a releasable locking device (31) which holds the carrier
(12) mindestens in dessen Ausbringstellung am Haltekabel (17) verriegelt. (12) locked at least in its deployed position on the holding cable (17).
5. Gerät nach Anspruch 4, dadurch gekennzeichnet, dass die Verriegelungsvorrichtung (31) zeitverzögert mit Öffnen der Haltevorrichtung lösbar ist. 5. Apparatus according to claim 4, characterized in that the locking device (31) can be released with a time delay when the holding device is opened.
6. Gerät nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass das Ende des Haltekabels (17) von einer 6. Apparatus according to claim 4 or 5, characterized in that the end of the holding cable (17) from one
Befestigungslasche (15) gebildet ist, an der der  Fastening tab (15) is formed on the
kabelseitige Anlenkpunkt des Trägers (12) mittels eines Drehbolzens (16) realisiert ist, und dass die Feder (32) als Spiralfeder (33) ausgebildet ist, die mit ihrem einen Federende (331) an der Befestigungslasche (15) und mit ihrem anderen Federende (332) am Träger (12)  Cable-side pivot point of the carrier (12) is realized by means of a pivot pin (16), and that the spring (32) is designed as a spiral spring (33), which has one spring end (331) on the fastening tab (15) and the other spring end (332) on the carrier (12)
festgelegt ist.  is set.
7. Gerät nach Anspruch 6, dadurch gekennzeichnet, dass die Verriegelungsvorrichtung (31) ein federbelastetes Sperrglied (34) und eine das Sperrglied (34) aufnehmende Verriegelungsnut (35) aufweist, die wechselweise an Befestigungslasche (15) und Träger (12) ausgebildet sind, und dass das Sperrglied (34) mechanisch oder elektromagnetisch gegen die Federkraft einer 7. Apparatus according to claim 6, characterized in that the locking device (31) is a spring-loaded Locking element (34) and a locking groove (35) receiving the locking member (34), which are alternately formed on the mounting bracket (15) and carrier (12), and that the locking member (34) mechanically or electromagnetically against the spring force of a
Verriegelungsfeder (36) aus der Verriegelungsnut (35) ausziehbar ist.  Locking spring (36) can be pulled out of the locking groove (35).
8. Gerät nach einem der Ansprüche 4 bis 7, dadurch 8. Device according to one of claims 4 to 7, characterized
gekennzeichnet, dass der Träger (12) in seiner  characterized in that the carrier (12) in its
Trackstellung am Haltekabel (17) verrastet ist.  Track position on the holding cable (17) is locked.
9. Gerät nach Anspruch 8, dadurch gekennzeichnet, dass das Sperrglied (34) am Träger (12) angeordnet ist und die Befestigungslasche (15) zwei um 90 Grad versetzte 9. Apparatus according to claim 8, characterized in that the locking member (34) is arranged on the carrier (12) and the fastening tab (15) offset two by 90 degrees
Verriegelungsnuten (35, 39) aufweist, von denen eine Verriegelungsnut (35) in der Ausbringstellung des  Has locking grooves (35, 39), of which a locking groove (35) in the deployed position of the
Trägers (12) und eine Verriegelungsnut (39) in der Trackstellung des Trägers (12) jeweils das  Carrier (12) and a locking groove (39) in the track position of the carrier (12) each
federbelastete Sperrglied (34) aufnimmt.  receives spring-loaded locking member (34).
EP06805894A 2005-12-07 2006-09-27 Appliance for lowering and tracking an underwater vessel Not-in-force EP1957357B1 (en)

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DE102005058475A DE102005058475B3 (en) 2005-12-07 2005-12-07 Device for deploying and tracking unmanned underwater vehicle has tracking device on end of oblong support pivotably joined to holding cable in central region, pivoting device activated after unlatching of vessel from holding device
PCT/EP2006/009371 WO2007065495A1 (en) 2005-12-07 2006-09-27 Appliance for lowering and tracking an underwater vessel

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EP1957357B1 EP1957357B1 (en) 2009-03-11

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EP (1) EP1957357B1 (en)
JP (1) JP4686610B2 (en)
AT (1) ATE425078T1 (en)
AU (1) AU2006322417B8 (en)
DE (2) DE102005058475B3 (en)
ES (1) ES2322401T3 (en)
IL (1) IL191114A (en)
NO (1) NO337418B1 (en)
PL (1) PL1957357T3 (en)
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Also Published As

Publication number Publication date
ES2322401T3 (en) 2009-06-19
NO337418B1 (en) 2016-04-11
AU2006322417A1 (en) 2007-06-14
US7878138B2 (en) 2011-02-01
DE502006003136D1 (en) 2009-04-23
JP4686610B2 (en) 2011-05-25
WO2007065495A1 (en) 2007-06-14
NO20083052L (en) 2008-07-07
US20090151617A1 (en) 2009-06-18
JP2009518216A (en) 2009-05-07
IL191114A (en) 2011-10-31
DE102005058475B3 (en) 2007-01-04
AU2006322417B8 (en) 2010-03-25
EP1957357B1 (en) 2009-03-11
ATE425078T1 (en) 2009-03-15
AU2006322417B2 (en) 2010-03-04
PT1957357E (en) 2009-04-27
PL1957357T3 (en) 2009-08-31

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