EP2152570B1 - Tauchfähiges gerät mit flexiblen wasserdichten membranen - Google Patents

Tauchfähiges gerät mit flexiblen wasserdichten membranen Download PDF

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Publication number
EP2152570B1
EP2152570B1 EP08750047A EP08750047A EP2152570B1 EP 2152570 B1 EP2152570 B1 EP 2152570B1 EP 08750047 A EP08750047 A EP 08750047A EP 08750047 A EP08750047 A EP 08750047A EP 2152570 B1 EP2152570 B1 EP 2152570B1
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EP
European Patent Office
Prior art keywords
driving member
membrane
drive member
respect
axis
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EP08750047A
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English (en)
French (fr)
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EP2152570A2 (de
Inventor
Pascal Caestecker
Frédéric SEGONDS
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Individual
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Individual
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • 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
    • 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
    • B63G8/20—Steering equipment
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention proposes a self-propelled submersible apparatus comprising improved sealing means.
  • the invention more particularly proposes a submersible apparatus capable of being entirely immersed in a liquid medium comprising a hollow body sealingly closed, of longitudinal main axis at least one drive member of the apparatus in horizontal displacement and / or in vertical displacement, which is movable relative to the hollow body through an opening made in the wall of the body and which comprises at least one flat pallet of longitudinal main orientation, which extends outside the hollow body and which is arranged at an axial end of the body to cooperate with the medium in which the apparatus is immersed, means for actuating the drive member, which are arranged inside the hollow body, a flexible membrane for closing the opening in a sealed manner, which is adapted to deform and cooperate with the drive member during the movement of the drive member through the opening, p for the movement of the apparatus, the drive member having a connecting portion of the pallet to the actuating means, which passes through the flexible membrane sealingly.
  • the drive member is elastically deformable, and is attached to the hollow body at its front base, so that the front base sealingly closes a rear opening of the body which is traversed by the connecting portion.
  • Such a method of fixing the front base of the drive member on the body is relatively complex to achieve because the shape of the front base must be complementary to the shape of the opening.
  • the stresses exerted on the drive member, to cause its deformation can cause a separation of the front base of the drive member from the body.
  • the dimensions of the opening are relatively large, to allow the passage of the various components of the device, these dimensions of the opening imply a convex body appearance, which is not compatible with a shaped design of fish.
  • the object of the invention is to propose a submersible apparatus comprising relatively simple design sealing means, which are adapted to the movements of the drive member, and for which the external appearance of the body of the apparatus may have a tapered shape.
  • the invention proposes a submersible device as described above, characterized in that the opening is sealingly closed by a flexible membrane which is able to deform and cooperate with the drive member during the movement of the drive member through the opening, for the movement of the apparatus.
  • FIG. 1 a submersible apparatus 10 which is intended to be immersed in a liquid environment such as than a volume of water (not shown) and which is able to move freely in this liquid medium.
  • the apparatus 10 comprises a hollow body 12 of longitudinal main axis A and means for actuating the apparatus 10 in displacement in the liquid medium.
  • the body 12 of the apparatus 10 is a hollow element of oblong shape and longitudinal main axis A.
  • the body 12 is furthermore an element of revolution about the longitudinal principal axis A, and its section along an axial plane is generally elliptical, that is to say that the diameter of a radial section of the body 12 is more important near the longitudinal center of the body 12.
  • the body 12 consists of a hollow shell having a front half shell 70 and a rear half shell 72 which are contiguous at their longitudinal ends vis-à-vis.
  • annular sleeve 82 which extends axially forwardly from the front axial end 72a of the rear half-shell 72.
  • the bushing is intended to be received in the front half-shell 70.
  • the diameter of the outer cylindrical face of the sleeve 82 is slightly smaller than the internal diameter of the rear end 70a of the front half-shell 70.
  • the outer cylindrical face of the bushing 82 has an annular groove which receives an O-ring seal 74, which is compressed radially between the bushing 82 and the rear end 70a of the front half-shell 70.
  • the front half shell 70 further comprises fixing portions 84, which here are three in number and which extend radially outwardly from its rear end 70a.
  • Each fixing portion 84 is able to be fixed to an associated fastening portion 86 of the front axial end 72a of the rear half shell 72, for example by screwing, for fixing the front half shell 70 with the rear half shell 72.
  • the attachment portions 84, 86 of the front half shell 70 and the rear half shell 72 are further shaped to limit the disturbances produced by the movement of the device in the liquid medium.
  • the means for actuating the apparatus 10 in the liquid medium comprise a first drive member 14 arranged at a rear end 12a of the body 12, which is designed to cooperate with the liquid medium to cause displacement. of the apparatus 10 in a plane horizontal with respect to the horizontal principal axis A of the body 12.
  • the first drive member 14 causes a longitudinal displacement towards the front of the apparatus 10 and a rotation of the apparatus 10 about a generally vertical axis.
  • the first drive member 14 comprises a vertical longitudinal pallet 16 which is arranged longitudinally behind and outside the body 12.
  • the first drive member 14 is mounted to move relative to the hollow body generally in a sweep around a substantially vertical axis B arranged at the rear longitudinal end 12a of the body 12.
  • the movement of the first drive member 14 relative to the body 12 is obtained by actuating means 18 which are arranged inside the hollow body 12.
  • the first drive member 14 comprises a connecting portion 20 which is fixed to the pallet 16 and which passes through a rear opening 22 made in the rear longitudinal end 12a of the body 12 ( figures 3 and 5 ).
  • the connecting portion 20 consists of an orientation element main longitudinal, which extends forwardly from the pallet 16, and whose free front longitudinal end 20a cooperates with the actuating means 18.
  • the rear opening 22 is closed in a sealed manner by a rear membrane 24 made of a flexible material, which cooperates with the connecting portion 20 to allow the movement of the drive member 14 relative to the body 12.
  • the flexible membrane 24 is thus able to be deformed during the scanning of the pallet 16 around the vertical axis B, so as to maintain the rear opening 22 sealed, regardless of the position of the first drive member 14 around its scanning axis B.
  • the flexible membrane 24 is made to be deformed elastically during the scanning of the pallet 16, between an initial form of rest to which it returns elastically, and several deformed shapes.
  • the invention is not limited to this embodiment of the flexible membrane, which can deform freely, non-elastically.
  • the connecting portion 20 passes through the rear membrane 24 in a sealed manner.
  • the rear membrane 24 is made by overmoulding around the connecting portion 20.
  • the first drive member 14 is connected to the body 12 only through the rear membrane 24 which provides a guide of the first drive member 14 by scanning around vertical axis B.
  • the deformation of the membrane 24 generally consists of a rotation of its central portion 24a about the vertical axis B, identical to the rotation of the first drive member 14.
  • the membrane 24 is here elastically deformable.
  • the stiffness of the membrane 24 is then determined so as not to hinder the pivoting of the first drive member 14 about the vertical axis B. On the other hand, this stiffness of the membrane is determined so as to prevent any unwanted pivoting. the first drive member 14 about the vertical axis B, or about a generally transverse axis.
  • the stiffness of the membrane 24 is determined to maintain the first drive member 14 in longitudinal position relative to the body 12 by exerting on the first drive member 14 an elastic return force towards the position shown in FIG. Figure 6A .
  • the membrane 24 can also not exert a return force of the first drive member 14 towards the rest position because this return is obtained by the actuating means 18 of the first drive member 14.
  • figure 4 a detail of the connection of the connecting portion 20 with the actuating means 18 of the first drive member 14.
  • the connecting portion 20 cooperates with the actuating means 18 at its free front longitudinal end 20a.
  • the actuating means 18 comprise an actuator 28 which consists here of a servomotor, and a linkage 30 connecting the actuator 28 to the connecting part 20.
  • the linkage comprises a longitudinal fork 32 which is articulated relative to the body 12 about a vertical axis B1, and extends longitudinally rearwardly from this vertical axis B1.
  • the free rear end 32a of the fork 32 is generally flat and horizontal, and it comprises two longitudinal fingers 34 aligned transversely between which the free end 20a of the connecting portion 20 is received.
  • the free end 20a of the connecting portion 20 is in the form of a vertical rod, which is able to slide freely between the two fingers 34, along the main axis of the fork 32, and to pivot between the fingers 34 around its vertical main axis.
  • the actuator 28 and the linkage 30 are made to cause a pivoting of the fork 32 about its hinge axis B1 in a given direction.
  • the fork 32 drives the free front end 20a of the connecting portion 20 in generally transverse movement in a direction associated with the pivoting of the fork 32.
  • the space swept by the fork 32 is relatively small.
  • This embodiment of the actuating means 18 of the first drive member 14, by the fork 32 is thus particularly suitable for mounting the actuating means 14 at a rear longitudinal end 12a of the body at which the internal diameter of the body is relatively small, and therefore at a place where the internal volume of the body is limited, while the volume of the actuating means 18 is larger.
  • the flexible membrane 24 guards the first drive member 14 about the vertical axis B. Therefore, the transverse displacement of the free end 20a of the connecting portion 20 causes a pivoting of the first drive member 14 about the vertical axis B.
  • a servomotor to realize the actuator 28 makes it possible to define the scanning movement of the first drive member 14 around the vertical axis B, so that it is possible to have a symmetric scanning with respect to to the longitudinal main axis A of the body 12, to carry the propulsion of the apparatus 10 forward, or to have a scan of the first drive member 14 on one side with respect to the axis main longitudinal A of the body 12, to change the direction towards which the apparatus 10 is advancing.
  • the apparatus 10 comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane, with respect to the longitudinal main axis A of the body 12.
  • the actuating means also comprise a second drive member 36 which is designed to cooperate with the liquid medium to cause the apparatus 10 to move in a vertical longitudinal plane with respect to the horizontal main axis A of the body 12.
  • the second drive member 36 can propel the device 10 longitudinally rearward and it allows to change the orientation of the device 10 around a generally vertical axis, also called "plate”.
  • the second drive member 36 is of generally identical structure to the first drive member 14. By against, as can be seen that figures, the second drive member 36 is arranged at the longitudinal end 12b before the body 12 and is mounted sweeping relative to the body 12 about a transverse axis C located at the front end 12b of the body 12.
  • the second drive member 36 thus comprises a front transverse longitudinal pallet 38 which is arranged longitudinally in front of and outside the body 12, and a connecting part 42 which connects the front pallet 38 to actuating means 40 arranged inside the hollow body 12 and which passes through a front opening 44 made in the longitudinal end before 12b of the body 12.
  • the front pallet 38 here has openings 39 which are arranged on either side of the longitudinal main axis A of the apparatus 10. These openings 39 provide a flexibility of the pallet around a transverse axis, during the propulsion of the apparatus 10 longitudinally rearwardly.
  • the actuating means 40 of the second drive member 36 comprise an actuator 46 and a linkage 48 which acts on the rear longitudinal end 42a of the the connecting portion 42 through a vertical front fork 48 which is articulated relative to the body 12 about a transverse axis C1.
  • the front opening 44 of the body 12 is sealingly closed by a flexible membrane 50 similar to the flexible membrane 24 which closes the rear opening 22 of the body 12.
  • the front flexible membrane 50 carries out pivotal guidance of the second drive member 36 around the front transverse axis C.
  • the apparatus comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane and a second driving member 36 for moving the apparatus 10 in a vertical longitudinal plane.
  • FIG. 9 an alternative embodiment of the apparatus 10 according to the invention for which the first drive member 14 is made to cooperate with the liquid medium for moving the apparatus 10 in a horizontal plane and in a vertical longitudinal plane .
  • the first drive member 14 is then the only drive member of the apparatus 10 in these two planes.
  • the first drive member 14 is articulated relative to the rear end of the body 12 about the rear vertical axis B and about a rear transverse axis C2.
  • the first drive member 14 comprises a connecting portion 20 which passes through the rear opening 22 and which is connected to the rear end 12a of the body 12 via the rear membrane 24.
  • the rear membrane 24 allows the articulation of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2.
  • the first drive member 14 then comprises two vanes arranged at right angles to each other about the longitudinal axis A of the apparatus 10.
  • a first pallet 16 extends in a vertical longitudinal plane, for moving the apparatus 10 in a horizontal plane, and a second pallet 100 extends in a horizontal plane for moving the apparatus 10 in a vertical longitudinal plane.
  • the actuating means 18 of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2 are made so as to exert on the longitudinal end before 20a of the connecting part 20 a overall vertical action and / or a generally transversal action.
  • the front end 20a of the connecting portion 20 is spherical in shape and is received in a tubular element 102 of the linkage 30 which is articulated about a vertical axis B1 and about a transverse axis C3 which are offset from the front relative to the front end 20a of the connecting portion 20.
  • This tubular element 102 is connected to the actuator 28 via the linkage.
  • the front membrane 50 and the rear membrane 24 are each in the form of a disc which is made by overmoulding around the connecting portion 42, 20 of the driving member 36, 20.
  • each membrane is made by overmolding around the associated connecting portion, so that the membrane comprises a disk-shaped portion, similar to that described above, which makes the connection and articulation of the connecting portion associated with the body 12.
  • the membrane also has an outer portion extending longitudinally outside the body and which covers the entire outer portion of the associated connecting portion.
  • the outer portion of the membrane is generally cylindrical in shape with a longitudinal main axis, and it is adapted to be received in a cylindrical housing complementary to the associated pallet.
  • the connection between the outer portion of the membrane is designed to allow transmission of the scanning movement of the connecting portion to the associated pallet.
  • the outer portion of the membrane comprises longitudinal flats, which cooperate with complementary bearing areas of the cylindrical housing of the associated pallet. These flats notably make it possible to prevent the pallet from pivoting about the longitudinal principal axis of the apparatus 10.
  • the actuating means comprise a third drive member 52 which is made to cause a vertical movement upwards or downwards of the apparatus 10 in the liquid medium.
  • the third drive member 52 is constructed to change the overall density of the apparatus 10 relative to the density of the ambient environment.
  • the modification of the density of the apparatus 10 is carried out by modifying the volume of the apparatus, while maintaining a constant mass of the apparatus, unlike the ballast systems equipping the submarines which change the overall mass of the device without changing its volume.
  • the third drive member 52 comprises a piston 54 which is mounted movably relative to the body along a vertical axis D, through an opening 56 centered on this vertical axis D.
  • the opening 56 is made in the front half shell 70, and will be called later 56 upper opening.
  • the third drive member 52 also includes a plunger 87 which is axially slidably mounted through the upper opening 56 along the vertical axis D under the action of the piston 54.
  • the upper opening 56 is closed by an upper flexible membrane 58 which cooperates with the piston 54 and the plunger 87 to modify the density of the apparatus 10.
  • the upper membrane 58 connects a peripheral edge of the plunger 87 to the edge of the opening 56 and is adapted to be elastically deformed according to the position of the plunger 87 along the vertical axis D.
  • the plunger 87 has a pallet 88 radial with respect to the vertical axis D which is connected to the membrane 58 at its radial end edge 88a.
  • the shape of the pallet 88 is determined so as to extend the shape of the front half-shell 70 so that the apparatus 10 maintains a pleasant visual appearance.
  • the inner lower face 88i of the blade 88 is connected to the piston 54, here via a longitudinal slide 89 fixed to the blade 88, which receives a complementary longitudinal upper portion 54a of the piston 54.
  • the upper face 88s of the pallet 88 is located outside the shell 12 of the apparatus 10 and is adapted to come into direct contact with the liquid medium in which the apparatus 10 is intended to be immersed.
  • the upper face 88s of the pallet 88 also comprises an upper rib 90 which is in the form of a fin, and which cooperates with the overall aesthetic appearance of the apparatus to give it a resemblance to a fish or other aquatic animal.
  • the upper rib 90 may also cooperate with the liquid medium to guide the apparatus 10 as it moves forward.
  • the piston 54 is movable along the vertical axis between a lower position (not shown) for which the apparatus 10 has a given density, to one or more upper actuating positions, an extreme upper position of which is shown in FIGS. Figures 7 and 8 , for which the density of the apparatus 10 is reduced, which has the consequence of causing the apparatus to move vertically upwards.
  • the upper membrane 58 is made in such a way that it is not deformed when the piston 54 is in the extreme upper position shown in FIGS. Figures 7 and 8 .
  • the piston 54 exerts an axial pull down on the pallet 88, the upper membrane 58 then folds on itself, which reduces the efforts to be made to deform the upper membrane 58 .
  • the membrane is able to be elastically deformed upwards, beyond the rest position represented in FIGS. Figures 7 and 8 , which increases the vertical stroke of the 88 pallet.
  • the piston 54 is then able to exert on the pallet 88 a pushing force directed upwards, and a pulling force directed downwards.
  • the upper opening 56 is closed only by the upper membrane 58 and the piston 54 acts on a central portion of the upper membrane 58 to change the overall volume of the device.
  • the upper membrane 58 comprises a rigid central pellet 60 and a peripheral annular zone 62 surrounding the central pellet 60, which is able to deform elastically.
  • the central pellet 60 is made in one piece with the peripheral zone 62.
  • the thickness of the pellet 60 is greater than the thickness of the peripheral zone.
  • the pellet 60 and the peripheral zone 62 are made of two different materials.
  • the upper membrane 58 is made by overmolding an elastically deformable material around the pellet made of rigid material, which ensures a good seal of the upper membrane 58.
  • the actuating means 64 of the third drive member 52 comprises a third servomotor 66 and an intermediate member 68 transforming the rotation of the servomotor 66 into a translational movement of the piston 54.
  • the intermediate member 68 consists of a screw-nut system for which the screw or the nut is integral with the piston in translation and the nut, or the screw is rotated by the servomotor 66.
  • each opening 22, 44, 56 of the body 12 is closed by a membrane 24, 50, 58 which cooperates with a drive member 14, 36, 52 for driving the apparatus 10 in motion in the liquid medium.
  • each membrane 24, 50, 58 is made before the realization of the half-shells 70, 72, and the half shells are made by molding a plastic material around the half shells 70, 72.
  • each opening 22, 44, 56 is complementary to the edge of the associated membrane 24, 50, 58, guaranteeing a good seal of the closure of the opening 22, 44, 56.
  • each membrane 24, 50, 58 is traversed by a portion 20, 42, 87 of the drive member 14, 36, 52.
  • each membrane 24, 50, 58 is made by overmolding the material constituting the membrane 24, 50, 58 around the portion 20, 42, 87 of the drive member 14, 36, 52 associated.
  • the membrane 24, 50, 58 is made beforehand, before being secured to the portion 20, 42, 87 of the drive member 14, 36, 52.
  • the membrane 24, 50, 58 then comprises an orifice which is traversed by a complementary portion of the portion 20, 42, 87 of the drive member 14, 36, 52.
  • connection and sealing of the connection of the membrane 24, 50, 58 with the associated part 20, 42, 87 of the drive member 14, 36, 52 is achieved by clamping the portion of the portion 20, 42, 87 with the membrane 24, 50, 58, for example by crimping or clamping by a set of screws and nuts.
  • the hollow body 12 is made in such a way that its radial section is larger at the longitudinal center of the body 12.
  • the actuators 18, 40, 66 of the apparatus are large elements with respect to the body section close to one or the other of the two longitudinal ends 12a, 12b of the body.
  • the actuators 18, 40, 66 are arranged longitudinally at the longitudinal center of the body 12 providing a larger space available for these actuators 18, 40, 66.
  • the apparatus 10 For the attachment of the actuators 18, 40, 66 inside the body, the apparatus 10 comprises a support plate 76 of horizontal main orientation, on the horizontal faces of which the actuators 18, 40, 66 are mounted.
  • the plate 76 also carries an electronic actuator control device, as well as a power source 80.
  • the control device is for example designed for the apparatus 10 to move autonomously in the liquid medium. It may further comprise wireless communication means to a control unit (not shown) and / or means for its location.
  • the plate 76 finally carries means of articulation of the rear fork 32 around the vertical axis B1 and the front fork 48 around the transverse axis C1.
  • the apparatus 10 comprises a lower keel 78 which is mounted under the body 12 and which is made to vertically lower the center of gravity of the apparatus 10 relative to its geometric center, to prevent any rotation of the apparatus around its longitudinal main axis.
  • the keel 78 is mounted under the front half shell 70.
  • the mass of the keel 78 is determined to adjust the general mass of the apparatus 10 as a function of the density of the liquid medium.
  • the keel 78 is mounted on the body removably, to be exchanged with another keel of different mass.
  • the keel 78 is connected to the body by mounting means for adjusting the longitudinal position of the keel with respect to the body 12, to allow longitudinal centering of the center of gravity of the body 12.
  • the front half shell 70 comprises two longitudinal guide rails 92 which are received in complementary grooves 94 made in the keel 78.
  • the front half shell 70 has lower transverse grooves 96 parallel to each other and aligned longitudinally, and the keel 78 has a longitudinal lip 98 whose free end is adapted to cooperate with one of the grooves 96 to block the keel 78 in longitudinal position with respect to the front half-shell 70.
  • the invention which has just been described refers to one or more flexible membranes each of which is associated with a drive member of the apparatus 10 moving in the liquid medium.
  • the invention is not limited to this use of flexible membranes, and that the apparatus may comprise other members which cooperate with the liquid medium, and which pass through at least part of an opening of the closed body 12 by a flexible membrane.
  • the apparatus comprises one or more proximity sensors, or probes, each of which has a rod extending outwardly of the body 12, through an associated opening.
  • the outer end of the rod, which is located outside the body is adapted to come into contact with any external object, and the inner end of the rod, which is located inside the body is connected to an electronic device that detects each contact of the outer end of the rod.
  • the apparatus 10 then comprises a flexible membrane which closes the opening of the body traversed by this rod and which is performed in accordance with the invention, so as to allow movement of the rod relative to the body, depending on the displacement of the rod relative to the body.
  • the flexible membrane is thus traversed by the rod and it cooperates with the rod.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Prostheses (AREA)
  • Separation Using Semi-Permeable Membranes (AREA)
  • Toys (AREA)
  • Actuator (AREA)
  • Reciprocating Pumps (AREA)

Claims (17)

  1. Tauchfähiges Gerät (10), das in seiner Gesamtheit in ein flüssiges Medium eingetaucht werden kann, und folgendes aufweist:
    - ein hohles Gehäuse (12), das dicht verschlossen ist, und eine längs verlaufende Hauptachse (A) besitzt;
    - mindestens ein Antriebsorgan (14, 36, 52) für das Gerät (10) in horizontaler und/oder vertikaler Verschiebung, das gegenüber dem hohlen Gehäuse (12) beweglich ist, und zwar durch eine Öffnung (22, 44, 56), die sich in der Wand des hohlen Gehäuses (12) befindet, und die mindestens einen flachen Flügel (16, 38, 100) mit längs verlaufender Hauptausrichtung besitzt, der außen an dem hohlen Gehäuse (12) verläuft, und der im Bereich eines axialen Endes (12a, 12b) des Gehäuses (12) angeordnet ist, um mit dem Medium, in das das Gerät (10) eingetaucht ist, zusammenzuwirken;
    - Betätigungselemente (18, 40, 64) des Antriebsorgans (14, 36, 52), die im Innern des hohlen Gehäuses (12) angeordnet sind,
    - eine flexible Membran (24, 50, 58), um die Öffnung (22, 44, 56) dicht zu verschließen, die sich verformen und während der Bewegung des Antriebsorgans (14, 36, 52) durch die Öffnung (22, 44, 56) für die Verschiebung des Gehäuses (12) mit dem Antriebsorgan (14, 36, 52) zusammenwirken kann,
    - wobei das Antriebsorgan (14, 36, 52) ein Verbindungsteil (20, 42) für den Flügel (16, 38, 100) mit den Betätigungselementen (18, 40, 64) besitzt, das die flexible Membran (24, 50, 58) dicht verschlossen passiert,
    dadurch gekennzeichnet, dass das Antriebsorgan (14, 36, 52) gegenüber dem Gehäuse (12) um mindestens eine Drehachse (B, C, C2) herum mittels der flexiblen Membran (24, 50, 58) senkrecht zu der längs verlaufenden Hauptachse (A) abtastend geführt wird, so dass die mindestens eine Drehachse (B, C, C2) im Bereich der flexiblen Membran (24, 50, 58) angeordnet ist.
  2. Gerät (10) nach dem vorhergehenden Anspruch, dadurch gekennzeichnet, dass der Verbindungsteil (20, 42) ein axiales, inneres Ende (20a, 42a) besitzt, das im Inneren des Gehäuses (12) angeordnet ist, und das mit einer im wesentlichen längs verlaufenden Gabel (32, 48) der Betätigungselemente (18, 40, 64) zusammenwirkt, wobei die Gabel (32, 48) gegenüber dem Gehäuse (12) um eine Achse (B1, C1, C3) herum und parallel zu der mindestens einen Abtastachse (B, C, C2) des Antriebsorgans (14) gelenkig angebracht ist.
  3. Gerät (10) nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass das Antriebsorgan (14) gegenüber dem Gehäuse (12) um eine Drehachse (B) vertikaler Ausrichtung herum angelenkt ist, die an einem hinteren Ende (12a) des Gehäuses (12) angeordnet ist, und dass das Antriebsorgan (14) einen längs verlaufenden, vertikalen Flügel (16) besitzt.
  4. Gerät (10) nach Anspruch 3, dadurch gekennzeichnet, dass das Antriebsorgan (14) gegenüber dem Gehäuse (12) um eine Drehachse (B2) quer verlaufender Ausrichtung herum angelenkt ist, die an einem hinteren Ende (12a) des Gehäuses (12) angeordnet ist, und dass das Antriebsorgan (14) einen horizontalen Flügel (100) besitzt.
  5. Gerät (10) nach Anspruch 3, dadurch gekennzeichnet, dass es ein zweites Antriebsorgan (36) besitzt, das gegenüber dem Gehäuse (12) um eine Drehachse (C) quer verlaufender Ausrichtung herum angelenkt ist, die an einem vorderen Ende (12b) des Gehäuses (12) angeordnet ist, und dass das Antriebsorgan (36) einen horizontalen Flügel (38) besitzt.
  6. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es ein weiteres Antriebsorgan (52) besitzt, das gegenüber dem Gehäuse (12) beweglich ist, um das Gesamtvolumen des Gerätes (10) zu verändern.
  7. Gerät (10) nach dem vorhergehenden Anspruch, dadurch gekennzeichnet, dass das weitere Antriebsorgan (52) einen zentralen Tauchkolben (87) besitzt, der entlang einer vertikalen Achse (D) gegenüber dem hohlen Gehäuse (12) beweglich montiert ist, und der mit der flexiblen Membran (58) verbunden ist, um die Membran (58) im wesentlichen entlang der vertikalen Achse (D) zu verformen.
  8. Gerät (10) nach dem vorhergehenden Anspruch, dadurch gekennzeichnet, dass der Tauchkolben (87) des weiteren Antriebsorgans (52) gegenüber dem Gehäuse (12) durch die Öffnung (56) beweglich montiert ist, die koaxial zu der vertikalen Achse (D) verläuft.
  9. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gehäuse (12) in der Umdrehung um seine längs verlaufende Hauptachse (A) herum im wesentlichen längliche Form hat, und dass die Betätigungselemente (18, 40, 64) mindestens ein Betätigungsgerät bzw. Aktuator (28, 46, 66) besitzen, das bzw. der der Länge nach in der Nähe der Mitte des Gehäuses (12) angeordnet ist.
  10. Gerät (10) nach dem vorhergehenden Anspruch in Verbindung mit Anspruch 2, dadurch gekennzeichnet, dass die Gabel (32, 48) der Länge nach in der Nähe eines axialen Endes (12a, 12b) des Gehäuses (12) angeordnet ist, und dass die Betätigungselemente (18, 40, 64) ein Verbindungsgestänge (30, 48) des Betätigungsgerätes bzw. Aktuators mit der Gabel (32) aufweisen.
  11. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Betätigungsgeräte bzw. Aktuatoren (28, 46, 66) auf einer Tragplatte (76) montiert sind, die an dem Gehäuse (12) befestigt ist.
  12. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es eine elektronische Steuereinheit für die Betätigungselemente (18, 40, 64) besitzt, die auf der Platte (76) montiert ist.
  13. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gehäuse (12) mehrere Öffnungen (22, 44, 56) besitzt, die jeweils mit einem Antriebsorgan (14, 36, 52) verbunden sind, und mehrere flexible Membrane (24, 50, 58), die jeweils eine der Öffnungen (22, 44, 56) des Gehäuses (12) verschließen.
  14. Gerät (10) nach dem vorhergehenden Anspruch, dadurch gekennzeichnet, dass das Gehäuse (12) zwei Halbschalen (70, 72) aufweist, die durch Abformen um die flexiblen Membrane (24, 50, 58) herum hergestellt sind.
  15. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es einen unteren Kiel (78) besitzt, der demontierbar an dem Gehäuse (12) befestigt ist.
  16. Gerät (10) nach dem vorhergehenden Anspruch, dadurch gekennzeichnet, dass die Montagemittel (92, 94, 96, 98) des Kiels (78) derart hergestellt sind, dass sie eine Verstellung der Position des Kiels (78) der Länge nach gegenüber dem Gehäuse (12) ermöglichen.
  17. Gerät (10) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es mindestens einen Näherungssensor besitzt, welcher einen Stab besitzt, der durch eine mit dem Gehäuse (12) verbundene Öffnung verläuft, und dass es eine die verbundene Öffnung verschließende, flexible Membran besitzt, die mit dem Stab zusammenwirkt.
EP08750047A 2007-05-10 2008-05-05 Tauchfähiges gerät mit flexiblen wasserdichten membranen Active EP2152570B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0754971A FR2915956B1 (fr) 2007-05-10 2007-05-10 Appareil submersible a membranes souples d'etancheite
PCT/EP2008/055487 WO2008141913A2 (fr) 2007-05-10 2008-05-05 Appareil submersible a membranes souples d'etancheite

Publications (2)

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EP2152570A2 EP2152570A2 (de) 2010-02-17
EP2152570B1 true EP2152570B1 (de) 2011-10-26

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EP (1) EP2152570B1 (de)
JP (1) JP2010526703A (de)
CN (1) CN101678884B (de)
AT (1) ATE530431T1 (de)
ES (1) ES2374106T3 (de)
FR (1) FR2915956B1 (de)
WO (1) WO2008141913A2 (de)

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US8322296B2 (en) 2012-12-04
CN101678884A (zh) 2010-03-24
WO2008141913A2 (fr) 2008-11-27
EP2152570A2 (de) 2010-02-17
ES2374106T3 (es) 2012-02-13
JP2010526703A (ja) 2010-08-05
WO2008141913A3 (fr) 2009-02-05
FR2915956A1 (fr) 2008-11-14
ATE530431T1 (de) 2011-11-15
US20100139545A1 (en) 2010-06-10
FR2915956B1 (fr) 2009-10-23
CN101678884B (zh) 2013-05-29

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