EP2088076B1 - Unterwasserschwimmhilfe - Google Patents

Unterwasserschwimmhilfe Download PDF

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Publication number
EP2088076B1
EP2088076B1 EP09001130.5A EP09001130A EP2088076B1 EP 2088076 B1 EP2088076 B1 EP 2088076B1 EP 09001130 A EP09001130 A EP 09001130A EP 2088076 B1 EP2088076 B1 EP 2088076B1
Authority
EP
European Patent Office
Prior art keywords
underwater swimming
swimming aid
support structure
underwater
parts
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.)
Not-in-force
Application number
EP09001130.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2088076A2 (de
EP2088076A3 (de
Inventor
Florian Josupeit
Guido Floren
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.)
Gabler Maschinenbau GmbH
Original Assignee
Gabler Maschinenbau 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 Gabler Maschinenbau GmbH filed Critical Gabler Maschinenbau GmbH
Publication of EP2088076A2 publication Critical patent/EP2088076A2/de
Publication of EP2088076A3 publication Critical patent/EP2088076A3/de
Application granted granted Critical
Publication of EP2088076B1 publication Critical patent/EP2088076B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B63C11/46—Divers' sleds or like craft, i.e. craft on which man in diving-suit rides

Definitions

  • the invention relates to an underwater swimming aid with the features specified in the preamble of claim 1.
  • Underwater swimming aids are usually used to increase the range of divers. For this they provide the diver with a drive unit, with which he can move under water essentially without his own effort.
  • the so-called underwater scooters are known. Such a scooter is designed in such a way that a diver can freely attach himself to him and be towed by him.
  • a diver's buoyancy aid which comprises a control unit to which a funnel-shaped shield is attached.
  • a motor unit with two propellers is arranged via webs such that it extends radially over the largest cross section protrude from the shield.
  • the sign is followed by a sack, which is intended to accommodate at least one diver.
  • the bag protects the diver when using the buoyancy aid from a direct flow, whereby the risk of hypothermia of the diver is reduced.
  • the object of the invention is to provide an underwater swimming aid that allows a greater range of action over the previous buoyancy aids of this type, protects divers from a cooling, a simple exposure from a submerged military submarine, z. B. from a submarine type U 212 A, and requires a small footprint in a submarine.
  • the underwater swimming aid according to the invention is provided for the transport of at least one diver and has a drive device for locomotion of the diver.
  • the underwater swimming aid points a disguise essentially completely absorbing trim on.
  • the underwater swimming aid is equipped by means of the panel with a substantially completely closed to the outside interior, in which the diver and possibly also by the diver entrained equipment can be accommodated while driving.
  • This interior is flooded with water so that the construction can be easily formed and the diver needs to supply himself with breathing gas via his normally supported breathing gas supply.
  • the diver Since the diver is substantially completely surrounded by the fairing in the underwater swimming aid according to the invention, he forms no flow resistance even while driving. Accordingly, the flow resistance of an existing from the underwater swimming aid and at least one diver overall system with a suitable aerodynamic design of the panel over the hitherto conventional arrangements in which a diver is arranged floating on the outside of a buoyancy aid, be considerably lower.
  • Another positive effect of the diver's protection against direct water flow lining is that the diver cools much slower than previously used underwater swimming aids, which possibly allows a longer period of use of the diver in the water.
  • the underwater swimming aid is designed telescopically in the longitudinal direction.
  • the underwater swimming aid is not telescoped in a storage state and is extended or telescoped such that it provides a receiving space for at least one diver and preferably a receiving space for two divers before use.
  • the cladding may consist of a foam core which is coated on its outside and inside with a CFRP laminate.
  • CFRP laminate a CFRP laminate
  • the fairing can also offer the diver a ballistic protection.
  • the underwater swimming aid according to the invention is provided for the successive arrangement of two divers.
  • This arrangement of divers allows a particularly narrow design of the underwater swimming aid.
  • the underwater swimming aid according to the invention can have a very small streamlined cross section in terms of flow.
  • the underwater swimming-pool interior enveloped by the fairing can be equipped with ergonomically shaped cushions which allow a comfortable lying position of the two divers.
  • the arrangement of the divers in the underwater swimming aid is preferably such that the divers are located lying head to head.
  • a diver who controls the underwater swimming aid is typically arranged facing in the direction of travel or in the direction of the bow, while the other diver is positioned facing the diver facing the underwater swimming aid in the direction of the stern.
  • the head-to-head arrangement of the divers makes it possible for a diver whose breathing gas supply has failed to be supplied with breathing gas by his partner by means of alternate breathing. In addition, this arrangement also ensures easy communication between the two divers.
  • the latter is designed in such a way that it can be brought into a first position which reduces the cross-section and a second position which enlarges this cross-section.
  • parts of the underwater swimming aid which form a portion of the outer contour such as e.g. Parts of the panel, be movable so that the dimensions of the underwater swimming aid transverse to their longitudinal extent by corresponding movement of these parts reduce or increase.
  • the first position in which the cross section of the underwater swimming aid is reduced, this can be stored in a particularly space-saving in a submarine, this position also facilitates the application of the underwater swimming aid from the submarine.
  • the cross section of the underwater swimming aid is advantageously extended so that the diver or divers in the underwater swimming aid find sufficient space.
  • the largest cross-sectional dimension of the underwater swimming aid in a storage state or in its first position at most 533 mm.
  • This cross-sectional dimension allows the underwater swimming aid via a submarine exhaust pipe used to skip 21 "torpedoes to the submarine's water environment.
  • the underwater swimming aid when the underwater swimming aid is to be discharged from a submarine into the water via a torpedo discharge pipe, its length in a non-telescoped storage condition is advantageously less than 3400 mm.
  • This length of the non-telescoped underwater swimming aid allows to use two underwater swimming aids in a row and spend from there in the surrounding water of the submarine in a used in German submarines and especially in submarines of the class U 212 A ejector tube for deploying 21 "torpedoes.
  • the underwater swimming aid has a support structure that gives the underwater swimming aid the necessary stability or rigidity.
  • the support structure can essentially be formed by an aluminum / plastic frame.
  • the support structure is formed telescopically in the direction of its longitudinal extent. That is, the support structure is divided at least once in this embodiment, at least once transversely to its longitudinal extent, wherein the support structure formed in this way in the longitudinal direction displaceable with each other are connected.
  • the support structure can be telescoped from a length of about 3400 mm to a length of about 5000 mm, wherein the support structure parts in the region of their connection to ensure a required system rigidity in the telescoped state sufficiently overlap. In this telescoped state, the support structure parts can advantageously be connected to one another by means of latching connections.
  • the support structure is formed in two parts telescopic.
  • the two support structure parts each have two longitudinal struts on which a cup-shaped, a keel of the underwater swimming aid forming fairing part is attached.
  • one of the part of the keel forming trim parts typically has an outer radius which is smaller than the inner radius of the other part of the keel forming trim part.
  • the keel or the bowl-shaped lining parts forming the keel can expediently serve for receiving a power supply of a preferably electrically operated propeller drive of the underwater swimming aid and for receiving one or more buoyancy tanks for trimming the underwater swimming aid. Furthermore, these trim parts can form a storage space for equipment of the divers.
  • a part of the side wall of the underwater swimming aid forming trim part is pivotally hinged respectively at the two longitudinal edges of the keel forming trim parts.
  • These trim parts are preferably connected to the keel forming trim parts by means of hinges and preferably such in the direction of the center of the underwater swimming aid pivotally that their Cross section is reduced thereby.
  • these trim parts can expediently also in the opposite direction, that is to be pivoted outwardly, wherein they release in such an outwardly pivoted position in each case an opening through which the divers can get into the interior of the underwater swimming aid.
  • the side walls of the underwater swimming aid forming trim parts are advantageously curved outward. This embodiment also makes it possible to store on the insides of these trim parts equipment of the divers.
  • oblique struts are arranged at the bow-side ends of the longitudinal struts of a first support structure part and at the rear ends of the longitudinal struts of a second support structure part, the oblique struts of the first support structure part a guide for a first roof part and the oblique struts of the second support structure part form a guide for a second roof part.
  • the support structure parts and the roof parts are advantageously coupled in such a manner that the roof parts during telescoping of the support structure in a cross-section of the underwater swimming aid increasing position are movable.
  • the roof parts are preferably connected to each other on the inside thereof via rails mounted there in the longitudinal direction of the underwater swimming aid.
  • This embodiment makes it possible that the two roof parts are moved when retracting the two supporting structure parts or shortening the length of the underwater swimming aid in the direction of the keel, thereby reducing the cross section of the underwater swimming aid.
  • the roof parts when telescoping the support structure parts moved away from the keel of the underwater swimming aid, wherein the cross section of the underwater swimming aid increases.
  • the underwater swimming aid according to the invention is designed for mechanical coupling with at least one further underwater swimming aid. That is, it is possible to connect two or more underwater swimming aids so tightly together that they are virtually a common vehicle.
  • This design ensures that the crews of two underwater swimming aids together reach their place of deployment.
  • the mechanical coupling of the underwater swimming aids is preferably such that they are connected transversely to the directions of travel directly adjacent to each other.
  • trained on the side panel of underwater swimming aids viewing window can allow visual contact and, consequently, a Komunikation of the two crews.
  • the underwater swimming aid according to the invention advantageously has at least one coupling rod.
  • This can be arranged so slidable on the support structure of the underwater swimming aid that it is preferably extendable from both sides transverse to the longitudinal extent of the underwater swimming aid from the panel.
  • the coupling rod is attached to the support structure in a manner which allows the coupling rod to be extended either transversely to the direction of travel on either the left or the right side of the panel.
  • the coupling of two underwater swimming aids can then be done for example via quick-release couplings, which are arranged at the ends of the extended coupling rods of underwater swimming aids. To ensure a particularly rigid connection of two underwater swimming aids, these are coupled both in the area of their bow and in the area of their stern with coupling rods of the type described above.
  • While driving it is advantageous to set a matching speed on the drives of the coupled underwater swimming aids.
  • This adjustment of the drives of both underwater swimming aids can be made particularly advantageous by means of an electric control of the driver of one of the two underwater swimming aids, which also controls the existing of these underwater swimming pools composite.
  • the underwater swimming aid according to the invention is preferably designed for control technology coupling with another underwater swimming aid.
  • the control technology coupling can be carried out particularly advantageously via the means which are also provided for the mechanical coupling of the two underwater swimming aids.
  • the underwater swimming aid according to the invention expediently has a depth rudder, which can be coupled by means of a connecting rod to the rudder of another buoyancy aid.
  • This z. B. the waves of the hydroplanes of the two underwater swimming aids are connected to each other with the connecting rod.
  • the underwater swimming aid according to the invention is designed to transport two divers 2 and 4. It has a narrow, elongated body, which are formed by a support structure 6 and a surrounding this support structure 6 panel.
  • the support structure 6 is essentially formed in two parts and has a first support structure part 8 and a second support structure part 10.
  • the support structure part 8 has two longitudinal struts 12 which are aligned parallel to one another and at a distance from one another and which are connected to one another via a transverse strut 14.
  • one of the two longitudinal struts 12 is in each case one normal to the transverse strut 14 and the longitudinal strut 12 aligned vertical strut 16 arranged.
  • Of the free ends of these vertical struts 16 each extending a diagonal strut 18 to the impact points of the longitudinal struts 12 with the cross member 14.
  • a longitudinal struts 12 and vertical struts 16 surrounding ring member 20 is arranged in the region of the vertical struts 16. This ring element 20 is open between the two vertical struts 16.
  • the support structure part 10 is constructed similar to the support structure part 8 and has two parallel longitudinal struts 22.
  • the longitudinal struts 22 of the support structure part 10 are spaced apart from each other to the same extent as the longitudinal struts 12 of the support structure part 8 and connected to one another via a transverse strut 24.
  • a transverse strut 24 In the region of the transverse strut 24, an upwardly open, the longitudinal struts 22 surrounding ring element 26 is arranged. Of the two ends of this ring member 26 each have a diagonal strut 28 to the impact points of the longitudinal struts 22 with the cross member 24th
  • the support structure parts 8 and 10 are slidably connected together.
  • the longitudinal struts 12 of the support structure part 8 on the longitudinal struts 22 of the support structure part 10, wherein formed on the underside of the longitudinal struts 12 groove rails engage in formed on the top of the longitudinal struts 22 longitudinal grooves.
  • the support structure 6 is telescopic, wherein the Teleskopierweg is limited by arranged in the longitudinal grooves of the longitudinal struts 22 attacks. These stops are arranged so that the longitudinal struts 12 overlap the longitudinal struts 22 to secure the rigidity of the support structure 6 to a sufficient extent.
  • the support structure parts 8 and 10 are firmly connected to each other by means of latching connections.
  • a cup-shaped trim part 30 is attached on the longitudinal struts 12 of the support structure part 8.
  • a hemispherical expiring trim part 32 is attached, which forms the bow of the underwater swimming aid according to the invention.
  • a cup-shaped trim part 34 and on the ring member 26 is a pointed expiring trim part 36, which forms part of the rear of the underwater swimming aid attached.
  • an electric motor 38 Arranged in the trim part 36 is an electric motor 38, which is supplied with energy by an accumulator (not shown) arranged inside the trim part 34.
  • a drive shaft 40 connected to the electric motor 38 is guided through the end of the trim piece 36.
  • a propeller 42 is attached to the drive shaft 40, which is surrounded by a guard ring 44.
  • the cladding part 32 forming the bow like the rear-side cladding part 36, has a maximum outside diameter of 533 mm.
  • the trim parts 30 and 34 form the keel of the underwater swimming aid in the telescoped state of the support structure 6.
  • the trim part 34 has an outer radius which is smaller than the inner radius of the trim part 30.
  • a trim part 46 is pivotally connected via hinges.
  • a trim part 48 is pivotably articulated via hinges.
  • a viewing window 50 consisting of transparent polycarbonate is laminated in the region of its end remote from the covering part 32.
  • the lining part 48 likewise has a viewing window 52 made of transparent polycarbonate, which is laminated there in the region of the end remote from the lining part 36. Both the trim parts 46 and the trim parts 48 are on their outside convexly curved.
  • the covering parts 46 and 48 can be pivoted in the direction of the interior of the underwater swimming aid.
  • the cowling parts 46 and 48 are also pivotable outwards, wherein they release openings in the outwardly pivoted state through which the divers 2 and 4 can get into the underwater swimming aid.
  • the roof of the underwater swimming aid according to the invention is formed by two on its outer sides convexly curved outward facing parts 54 and 56, wherein the trim part 54 above the trim parts 46 and the trim part 56 is disposed above the trim parts 48.
  • the cowling 54 is disposed overlapping the cowling 56 in an area. In this overlapping region of the lining parts 54 and 56, these are displaceably connected relative to one another.
  • Both the oblique struts 18 of the support structure part 8 and the oblique struts 28 of the support structure part 10 are formed as guide rails.
  • the cowling 54 is movably guided.
  • the rear-side end of the trim part 56 is movably guided in the guide rails of the oblique struts 28 via guide means arranged there.
  • This configuration makes it possible for the trim parts 54 and 56, when the support structure parts 8 and 10 are moved together, to be displaced in the direction of the trim parts 30 and 34 forming the keel, that the trim part 32 forming the bow and the trim part 36 forming the rear region when swiveled in covering parts 46 and 48 form the largest cross section of the underwater swimming aid according to the invention ( FIGS. 5 and 6 ). Accordingly In this condition, the largest cross-sectional dimension of the underwater swimming aid is 533 mm high, which allows the underwater swimming aid to be exposed to it via a 21 "torpedo tube of a submarine.
  • the two divers 2 and 4 are located in the underwater swimming aid head to head, with a fixed to the support structure part 10 console 58, on which the control and operating elements of the underwater swimming aid are located between the divers 2 and 4 ,
  • the underwater swimming aid controlling diver 2 whose head is facing the bow, has the ability to open a arranged on the cowling 56 sliding window 60 made of transparent polycarbonate and to look at the then released opening then stretched head in the direction of travel.
  • FIGS. 21 to 23 show two coupled underwater swimming aids.
  • the coupling of these underwater swimming aids via coupling rods 130 which are attached to the support structures 6 of the two underwater swimming aids.
  • a coupling rod 130 on the cross member 14 (14) ( Fig. 3 ) and a coupling rod 130 on the transverse strut 24 (FIG. Fig. 3 ) arranged displaceably (not shown in the figures).
  • the cross strut 14 is surrounded by the bow of the underwater swimming aid forming trim part 32, while the rear-side trim part 36 surrounds the cross member 24.
  • two diametrically opposite recesses 132 are formed on the trim parts 32 and 36, respectively.
  • the coupling rods 130 are also designed to provide a control coupling of the two underwater swimming aids that allows a diver to control the underwater swimming aids composite to synchronize the two drives of the underwater swimming aids while riding.
  • FIGS. 7 and 8 show an embodiment in which the cladding has a cowling of the underwater support forming cowling 62, wherein at a first longitudinal edge of the cowling 62 a cowling 64 and at a second longitudinal edge of the cowling 62 a cowling 66 each in a plane transverse to the longitudinal extent of the cowling 62nd are hinged to 66 pivotally.
  • the cross-sectionally crescent-shaped cowling parts 64 and 66 form side walls of the underwater swimming aid.
  • the covering parts 64 and 68 are pivoted in the direction of the cross-sectional interior.
  • the cowling 66 is pivoted in the direction of the cross-sectional interior until it rests with its inside on the outside of the cowling 68.
  • the trim parts 64, 66 and 68 are pivoted outward for increasing the cross-sectional area of the underwater swimming aid, wherein the free longitudinal edges of the trim parts 66 and 68 are brought into contact with each other and connected to each other there by means of suitable fastening means.
  • the cladding of six sequentially arranged circumferentially trim parts is formed.
  • trim parts 72, 74, 76, 78 and 80 are connected in the circumferential direction.
  • all adjoining trim parts are pivotally connected to each other in a direction transverse to its longitudinal extent.
  • the trim part 76 is moved in the direction of the trim part 70, wherein the trim part 74 adjoining the trim part 76 pivots in the direction of the trim part 72 and pivots the trim part 78 likewise adjacent to the trim part 76 in the direction of the trim part 80.
  • the trim parts 72 and 80 pivot in the direction of the cross-sectional interior.
  • a cowling 82 which forms the keel of the underwater swimming aid.
  • panel parts 84 and 86 are each pivotally articulated.
  • a cowling 88 is slidably disposed.
  • a trim part 90 is arranged displaceably on the outside of the trim part 86.
  • the trim parts 88 and 90 have a circular arc-shaped cross-sectional contour, which merges tangentially into a straight cross-sectional contour.
  • the covering parts 84 and 86 are pivoted outwards and the covering parts 88 and 90 are displaced such that their straight end regions abut one another.
  • FIGS. 15 and 16 show an embodiment in which the panel of six sequentially arranged in the circumferential direction trim parts is formed.
  • trim parts 102, 104, 106, 108 and 110 adjoin in the circumferential direction.
  • all adjoining trim parts are pivotally connected to each other in a direction transverse to its longitudinal extent.
  • the cowling parts 102, 104, 108 and 110 are pivoted in the direction of the cross-sectional interior, whereby the cowling part 106 moves in the direction of the cowling part 100.
  • the keel is formed by two pivotally interconnected trim parts 112 and 114. At a free longitudinal edge of the trim part 112, a trim part 116 is rigidly secured. Corresponding to this, a rigidly fixed trim part 118 is provided on a free longitudinal edge of the trim part 114. On the inside of the trim part 118, a trim part 120 is movably guided. To increase the cross-sectional area, the lining parts 112 and 114 forming the keel are pivoted outwards and the lining part 120 is displaced as far along the inside of the lining part 118 until it also comes to rest on the lining part 116.
  • FIGS. 19 and 20 an embodiment in which two fixed cover parts 122 and 124 are provided.
  • the cowling 122 forms the keel of the underwater swimming aid while the cowling 124 forms its roof.
  • two trim parts 126 and 128 are each pivoted.
  • the trim parts 126 and 128 are flexible. For cross-sectional enlargement of the underwater swimming aid they are pivoted outwards, where they evert outwards and enlarge the cross section.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Air Transport Of Granular Materials (AREA)
EP09001130.5A 2008-02-05 2009-01-28 Unterwasserschwimmhilfe Not-in-force EP2088076B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810007538 DE102008007538A1 (de) 2008-02-05 2008-02-05 Unterwasserschwimmhilfe

Publications (3)

Publication Number Publication Date
EP2088076A2 EP2088076A2 (de) 2009-08-12
EP2088076A3 EP2088076A3 (de) 2013-04-24
EP2088076B1 true EP2088076B1 (de) 2013-11-27

Family

ID=40342532

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09001130.5A Not-in-force EP2088076B1 (de) 2008-02-05 2009-01-28 Unterwasserschwimmhilfe

Country Status (3)

Country Link
EP (1) EP2088076B1 (ko)
KR (1) KR101563180B1 (ko)
DE (1) DE102008007538A1 (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9643704B2 (en) 2014-05-21 2017-05-09 Suex S.R.L. Coupling provisions for diver propulsion vehicle
ITUA20161384A1 (it) * 2016-03-04 2017-09-04 Suex S R L Dispositivi di accoppiamento per veicolo di propulsione subacquea
DE102018213408A1 (de) * 2018-08-09 2020-02-13 Thyssenkrupp Ag Behälter für eine Unterwasser-Schwimmhilfe, der sich in ein Torpedorohr einsetzen lässt, und Verfahren zum Aussetzen einer Unterwasser-Schwimmhilfe aus einem Unterseeboot mit Hilfe eines solchen Behälters

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US581174A (en) * 1897-04-20 Carrick paul
FR1148743A (fr) * 1956-04-27 1957-12-13 Véhicule sous-marin
US3131664A (en) * 1962-10-22 1964-05-05 Ling Temco Vought Inc Underwater sleds
US3257982A (en) * 1963-07-30 1966-06-28 Robert G Mentag Miniature submersible vehicle
FR1573871A (ko) * 1967-12-08 1969-07-11
US3618551A (en) * 1969-10-07 1971-11-09 North American Rockwell Dual position canopy for underwater crafts
DE3739887A1 (de) * 1987-11-25 1989-06-08 Barich Fritz W Unterwasserfahrzeug
DE19712257A1 (de) * 1997-03-24 1998-10-01 Rudolph Stephan Dr Ing Tauchgerät und Verfahren zu seiner Herstellung
AU721879B3 (en) * 1999-11-08 2000-07-13 Brian Frank Arthur A towable underwater kite
DE10235842B4 (de) * 2002-05-17 2008-01-31 Leitholf, Peter, Dipl.-Ing. Transportsystem für Taucher und Tauchkapsel
DE202006015277U1 (de) * 2005-10-03 2006-12-14 Leitholf, Peter, Dipl.-Ing. Schwimmhalle für Taucher

Also Published As

Publication number Publication date
EP2088076A2 (de) 2009-08-12
EP2088076A3 (de) 2013-04-24
DE102008007538A1 (de) 2009-08-13
KR20090086048A (ko) 2009-08-10
KR101563180B1 (ko) 2015-10-26

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