EP2862232B1 - Underwater antenna apparatus comprising a non-stationary antenna and underwater vessel - Google Patents

Description

The invention relates to an underwater antenna device having a mobile antenna, a retracting device and a repositioning device, wherein by the extension device of the antenna an extension force in an outward force direction and the Rückpositionierungseinrichtung the antenna of the Ausfahrkraft oppositely acting counterforce in a counter force direction can be impressed and an underwater vehicle, which a Underwater antenna device comprises.

It is known to conduct torpedoes on the way to a destination by means of a data exchange taking place via optical waveguides. For this purpose, both the torpedo and the launching platform of the torpedo, for example a submarine, each have an optical waveguide coil, from which the optical waveguide is unwound during the course of the torpedo or the journey of the submarine.

The ranges of such cable-guided torpedoes are limited. OE 10 2009 040152 A1 discloses a long haul (remote) controlled torpedo having an antenna section with an extendible radio antenna and radio communication devices for transmitting and / or receiving. The radio antenna of the known torpedo is, for example, telescopically formed and has such a length in order to be able to reach the water surface in the submerged state of the torpedo, in order to do so to establish a communication link or at least to be able to receive data from a satellite-based navigation system. By means of the radio antenna and the position data received via the radio antenna, the torpedo is guided to the destination area. The torpedo can also transmit current and / or previously stored data to a control center via the radio antenna. As a result, the control center receives precise data of the target torpedo, which is useful for the location information in the control center. The torpedo can also receive new data via the communication link, eg new target data or shutdown commands.

To make contact via the radio antenna, the torpedo travels close to the surface of the water and extends the radio antenna so far that it is in the overwater area and can build up an undisturbed radio link. Due to the telescopic design of the radio antenna, a relative to the caliber of the torpedo significantly increased extension length of the radio antenna can be provided so that a breakthrough of the torpedo is prevented by the water surface. Nevertheless, the contact by extending the radio antenna is a sensitive event, in which it must be avoided that the torpedo betrays or can be located when approaching the target by the extension and retraction of the radio antenna in shallow water. The lowest possible retraction and extension of the radio antenna must be ensured even after several operations of the radio antenna. In addition, the radio antenna must be smoothly retractable and retractable even after prolonged storage of the torpedo.

The WO 2004/039666 A1 discloses a discharge device for an underwater towed antenna, which is guided from the stern of a watercraft in the open water. Likewise, the FR 2 851 339 A1 a dragged, passive sonar.

The US 3,158,865 A discloses an antenna structure of telescopic segments, which is extended by introducing compressed air and retracted by a roping rope.

The present invention has for its object to improve the prior art and to ensure a reliable retraction and extension of the radio antenna in particular with a compact design of the torpedo.

The object is achieved by an underwater antenna device with a mobile antenna according to claim 1.

Thus, an underwater antenna device for a manned or unmanned underwater vehicle can be provided in which the above-described disadvantages of the prior art are eliminated.

Furthermore, it can be ensured in the present case that the antenna can be retracted and extended several times. In addition, the extension and retraction can be extremely quiet.

The following concept is explained:

In order to be able to cope with the special conditions under water, the "underwater antenna device" is specially designed. In particular, the antenna is corrosion resistant and waterproof, so that penetration of (salt) water is excluded even over long periods.

A "portable antenna" is an antenna whose positioning is defined horizontally and / or vertically. A simple implementation can be carried out by an antenna arranged on a pivotable joint. The antenna may comprise an antenna dish for amplifying the signals.

The "extension device" imprints the antenna on an "extension force" in the "outward force direction" so that the antenna undergoes a change of location. For the example of the arranged on a hinge antenna, this can be done by a compression spring or a tension spring of the antenna imprints an extension force. The The direction of extension can be described mathematically as the respectively acting force vector.

The "repositioning device" is a device which is separate from the extension device and which, independently of the extension device, imposes a "counterforce" on the antenna in a "counter-force direction". A simple implementation, for example, a pull rod, the locked or slidably counteracts the tension spring or compression spring of the extension, so that the position of the antenna results from the interaction of Ausfahrkraft and counterforce.

Due to the size and direction of the counterforce and the size and direction of the extension force, the antenna is "defined mobile", so that a desired position is controllable or adjustable available.

Through this defined "positioning" the possible individual positions of the antenna, such as "retracting position", "intermediate position" and / or "extended position" can be achieved. The retraction position represents in particular the hydrodynamically most meaningful, in particular most compact form of the underwater antenna device. The extended position is in particular the position in which a transmission and reception takes place by means of the antenna. The intermediate position can represent a position between each of the two extreme positions (retracted position and extended position).

In one embodiment, the outward force direction and the counter-force direction are arranged parallel to one another or form an angle with an angle value greater than 0 ° or greater than 5 ° or greater than 15 ° or greater than 45 ° or greater than 65 ° or greater than 90 °.

Thus, alternatives can be provided. In particular, with the parallel arrangement, a purely vertical or purely horizontal retraction and extension can be realized. The angle values can be achieved in particular by externally applying the repositioning device to the antenna. Depending on the place of attachment, corresponding angle values result.

In the present case, the angle values are given in degrees.

In order to provide a particularly suitable realization of the repositioning device, the repositioning device can comprise a cable drum with a cable and the cable can be arranged in particular on the antenna and the cable drum, in particular on a fixed location of the underwater antenna device, and the cable drum be assigned a drive device, by which in particular the cable drum a rotation can be imposed so that the winding causes a winding or unwinding.

By winding or unwinding of the rope, a particularly simple implementation of the defined location change can be provided. This is particularly advantageous because the rope length is a direct proportionality to the positioning of the antenna and thus the retraction position, intermediate position and extended position can form. In particular, by the use of the rope, the counter-force direction can be defined defined and / or changed by rolling and deflection.

The use of the cable drum is particularly advantageous because it can provide a very compact and thereby effective repositioning device.

A "rope drum", also called a winch, is in principle a device with which you can pull something with the help of a rope. The rope is usually wound on a driven by a motor or by muscle cylindrical drum.

The "rope" (winch rope) may be a conventional rope, in the present case stainless steel cables or plasma parts of, for example, "ultra-high molecular weight" polyethylene (PE-UHMW) are used.

The pulling power of the cable drum can be increased by using a pulley.

The "fixed location" may both be a non-moving part of the underwater antenna device or may be on the body to which the underwater antenna device is attached. Overall, it must be ensured that the effect of the extension force can be controlled via a counter point by means of the counterforce.

By means of the "drive device" can control and / or regulating the cable drum in the forward or reverse direction are operated in rotation, so that the rope is unwound or unwound and therefore the position of the antenna is controlled or regulated.

In order to be able to provide a particularly precise control or regulation with high repeat accuracy and a wear-susceptible underwater antenna device, the drive device may comprise a stepper motor and / or the cable drum a slip clutch.

In particular, a "slip clutch" is an automatic torque switching safety clutch that protects the antenna, drive assembly or other parts of the underwater antenna device from damage.

A "stepping motor" is a linear motor or a synchronous motor in which the rotor (rotatable motor part with shaft) can be rotated by a minimum step angle or multiples by a controlled stepwise rotating electromagnetic field of the stator coils (non-rotatable motor part).

In a related embodiment, the repositioning device has a drive shaft, on which the cable drum is arranged in particular displaceable, and a synchronization element, wherein cable drum, drive shaft and synchronization element are arranged such that a cable departure point is guided at a height of the antenna.

Thus, lateral force shifts due to the winding or winding of the cable drum can be reduced or avoided. On the one hand, the cable drum can be tracked according to the rope layer on the drive shaft or on the other hand, by, for example, a fixed eyelet, the rope are guided by deflection exactly.

The controlled tracking of the cable drum on the drive shaft can be done for example by a linear motor, which determines the position of the cable via a sensor system, such as a camera and associated evaluation, and readjusted accordingly.

The "rope departure point" is in particular the place where the rope lies in direct alignment with the antenna.

In order to provide a particularly advantageous antenna for the underwater antenna device, the antenna may be configured as a telescopic antenna having at least a first section and a second section displaceable therewith, and in particular only one section forming a radio antenna.

In particular, a vertically extendable antenna can thus be provided, in which only the portion of the antenna (radio antenna) protrudes from the water, which is relevant for the signal transmission or the signal reception. In addition, such an antenna is difficult to detect or detected by surface vehicles.

The two "sections" can be designed such that they can be moved into one another or to one another are. Thus, in particular a section designed as a fixed outer telescopic tube with elliptical, circular or cuboidal cross-section, this section then carries the actual radio antenna.

In a further embodiment, the telescopic antenna has a third section, a fourth section, a fifth section or further sections. Thus, the telescopic antenna is extendable according to the additional sections.

In order to ensure a secure operation of the antenna, a signal and / or power supply of the radio antenna can be arranged within the telescopic antenna. Also, a signal processing and thus electronics can be arranged in the antenna.

In particular, the ambient medium water can not affect the power supply or signal supply and the protection costs for the components is reduced accordingly.

The "power supply" may in particular comprise a voltage and thus power supply of the antenna or the electronics. This is particularly advantageous with active antennas.

The "signal supply" in the simplest form comprises a cable or a coaxial cable, via which the signals to be transmitted or received are conducted.

In a further embodiment, the cable is guided inside the telescopic antenna. Thus, parallel guiding of the extension force direction and the counter force can be realized. This leads in particular to an effective extension and retraction of a vertical telescopic antenna.

To impart an extension force to the antenna in the extension direction, the extension device may comprise a hydraulic device (hereinafter referred to as hydraulic solution) and / or a pneumatic device (hereinafter referred to as pneumatic solution) and / or an electric motor (hereinafter referred to as an electric motor solution) which permanently or switchably adjusts the antenna imprint the extension force.

Thus, effective and small designs for the underwater antenna device can be provided.

Furthermore, pressure-controlling / force-controlling or pressure-adjusting / force-adjusting components can be omitted since only the pressure must be provided which locates the antenna in the extension direction without counterforce. Only simple switches for connecting or disconnecting the corresponding pressure or the corresponding force can be provided. It should be noted that there exists substantially the following functional relationship between pressure P and force F: P = F / A, where A describes the area.

Both via the hydraulic system and via the electric motor, a piston located inside the telescopic antenna can be operated, which impresses the extension force on the antenna.

By means of pneumatics, the antenna can be acted piston-free with the extension force, in particular, the cavity of the telescopic antenna is subjected to a pressure.

When reducing the volume (in the hydraulic solution or pneumatic solution) of the cavity by the counterforce, a one-way valve can direct the pressure to the outside, for example in a reservoir.

In a further embodiment, the underwater antenna device comprises an antenna position sensor.

The position of the antenna can be determined both directly and indirectly. In direct determination, the position of the antenna can be determined by means of a distance meter or optically. In indirect determination, for example, the step data of the pulley and the associated stepping motor can be evaluated.

In a further aspect of the invention, the object is achieved by an underwater vehicle, in particular an underwater runner, which has a subsea antenna device described above.

Thus, a reliable retractable and extendable antenna can be provided.

In addition, general aspects of the invention are presented, with particular attention to the pneumatic solution, the aspects which do not apply specifically to the pneumatic solution also apply to the hydraulic solution or the electric motor solution:

By means of a (pull) rope, which is accommodated on a rotating drivable cable drum, a safe and rapid retraction of the radio antenna can be ensured via the traction cable with a small footprint.

The extension of the radio antenna, however, can be done pneumatically via a pneumatically / hydraulically actuated telescopic cylinder. In this case, a constantly acting static pressure is applied in particular to the telescopic cylinder, wherein the pull cable holds the telescopic cylinder in the retracted position. As soon as the cable drum gives way to the pull cable, the radio antenna is pneumatically opened under the effect of the static pressure.

The combination according to the invention of a pneumatically / hydraulically initiated extension movement of the antenna and retraction by means of a pull cable can provide a safe and permanently operable actuating device for the radio antenna in the small space available for a torpedo or an antenna section of the torpedo.

A telescopic cylinder is to be understood in particular as meaning a component having a plurality of telescopic tubes guided in parallel, which may be under static pressure, i. pneumatically operated, move apart. In the retracted position (retracted position) of the telescopic cylinder while the telescopic tubes are pushed into each other.

In the retracted position, the traction cable can be wound onto the cable drum so far that the tensile force exerted on the traction cable is greater or at least equal to the traction exerted by the pressure on the telescopic cylinder in the opening direction.

In one embodiment of the invention, the telescopic cylinder comprises a plurality of telescoping tubes guided in parallel, which are extendable from a fixedly arranged outer cylinder tube, wherein the telescopic telescopic tube carries the radio antenna.

The fixedly arranged outer cylinder tube is thereby pressure-tightly secured in the housing of the torpedo or the antenna section of the torpedo in the hydraulic solution, so that static pressure builds up inside the cylinder tube, by means of which the telescopic tubes are extended. The most extendable telescopic tube, which is the inner telescopic tube in one embodiment of the invention, carries the radio antenna, which can thus be extended over the full extension length of the telescopic cylinder from the torpedo or the antenna section.

The arrangement of a radio antenna at the extendable end of the telescopic cylinder may be advantageous if an antenna cable of the radio antenna extends in an inner space of the telescopic tubes. The internal guide of the antenna cable can provide a high-quality signal transmission, so that error-prone contacts between the cylinder tubes, for example sliding contacts, can be dispensed with. The antenna cable is advantageously a high-frequency coaxial cable.

A compact design is given when the cable drum is arranged for winding and unwinding of the pull rope on an inner side of the telescopic tube, wherein the pull rope passes through the telescopic tube. The traction cable is with the telescopic telescopic tube, i. preferably connected to the inside telescopic tube. In a winding of the pull rope, therefore, the most extensible telescopic tube is first obtained, this telescopic tube entrains the other telescopic tubes.

In a further embodiment of the invention, the radio antenna is received in a dish-shaped antenna carrier, which is connected to the telescopic telescopic tube and the other extendable telescopic tubes at least partially radially overlaps, whereby the traction cable overtakes the antenna carrier and this entrains the other telescopic tubes by its radial overlap , The inclusion of the radio antenna in a dish-shaped antenna carrier can also have the advantage that the radio antenna can be made very small, For example, as an antenna board or patch antenna, and can be connected via the inside antenna cable with a receiving or transmitting device of the torpedo.

Advantageously, at least the outer telescopic tube, which is guided in the fixed cylindrical tube, formed with a larger cross-sectional length in the longitudinal direction of the torpedo as a cross-sectional width in the transverse direction of the torpedo, so that with high rigidity, a comparatively small reference surface is given in the flow of the telescopic tube. The outer telescopic tube is in the extended state of the radio antenna in the water and is circulated according to the speed of the torpedo, so act on the telescopic cylinder fluid mechanical forces. Due to the aerodynamic design of the cross section of the outer telescopic tube with the smallest possible width, but a large cross-sectional length, a high bending stiffness is achieved, at the same time the flow resistance is reduced.

In further developments of the invention, the cross section of the outer telescopic tube is designed with other aerodynamic cross sections, for example, with an oval shape with a small cross-sectional width. In this case, a cross-sectional configuration with two approximately parallel planar sections and in the longitudinal direction of the torpedo front and rear rounded surfaces can be used.

The antenna cable may be formed in a portion of the interior as a spiral cable, which is short in the relaxed state and expands at train during the extension of the radio antenna. In addition, the training secures as a spiral cable a defined return of the antenna cable to the starting position during the retraction of the antenna. The spiral cable can be provided with a twist protection, to counteract a hooking of the turns of the spiral cable or even a knot formation. The twist protection is, for example, a winding of an elastic spring along the antenna cable.

In a further embodiment of the invention, the traction cable runs within the windings of the spiral cable. The pull cable thereby guides the windings of the spiral cable, so that trapping of the antenna cable between the pull cable and the telescopic tubes can be avoided, in particular during the movement of the telescopic cylinder.

The cable drum can advantageously be driven by a drive device in both directions of rotation, so that the telescopic cylinder is controlled under the action of the extension force and can be extended in dependence on the rotational movement of the drive device or the cable drum. The telescopic cylinder moves synchronously with the movement of the cable drum, since the constant tensile force in the pull rope prevents uncontrollable, rapid export movement due to the pneumatic actuation of the telescopic cylinder.

In a further development of the invention, the cable drum is drivable via a self-locking gear, whereby the cable drum is movable exclusively by actuation via the drive means, since the self-locking of the gear teeth counteracts movement of the transmission due to cable forces on the cable drum. This ensures a standstill of the cable drum, if no drive, and precluded an uncontrolled movement of the cable drum.

In another embodiment of the invention, the transmission is a worm gear whose self-locking thread allows accurate transmission of the rotational forces and rotation angle of the drive device.

The self-locking gear ensures in particular the cable drum against a reverse rotation due to the tensile force in the pull rope when the telescopic cylinder is held with a prestressed pull rope in the retracted position.

The bias in the traction cable can be achieved by winding a larger cable length when retracting the telescopic cylinder, as that corresponds to the extension length of the telescopic cylinder.

In a further embodiment of the invention, a slip clutch is arranged between the drive device and the cable drum. The slip clutch is a torque-switching safety clutch. It opens at a certain tension in the pull rope, at which the rated torque of the slip clutch is reached, which the Slip clutch triggers and separates the transmission of drive power.

The slip clutch can be a magnetic clutch, which is wear-free and maintains its rated torque even after a long time without actuation. The magnetic coupling avoids the possible in mechanical sliding clutches after prolonged storage time bonding the clutch linings.

An underwater vehicle provided with an underwater antenna device underwater with a magnetic coupling in the drive train is therefore immediately ready for use even after a long time. Due to the bias of the pull rope is kept taut in the retracted position of the telescopic cylinder, so that a precise control of the unwound rope length is possible and also a contact of the pull cable can be excluded with the inner wall of the telescopic cylinder.

The drive device may comprise a stepping motor, so that a conclusion can be drawn about the angle of the motor movement (step) on the associated movement of the cable drum. In this case, the stepping motor can be put into operation over a predetermined number of steps, which corresponds to the intended cable length for extending the radio antenna. For the retraction of the radio antenna, the stepping motor is moved in the opposite direction of rotation over a likewise determined number of steps, wherein the number of steps when retracting the radio antenna with the number of steps of the stepping motor when extending the radio antenna can be tuned.

The rope length wound up during retraction of the radio antenna can be higher by a certain amount than the extension length of the telescopic cylinder, whereby component tolerances and changes in length of the traction cable due to changed external conditions can be compensated. The drive of the radio antenna via a winding and unwinding of the always tensioned pull rope can thereby always be adjusted, e.g. to temperature-induced changes in the pressure in the pneumatic solution or to an operational or age-related elongation of the pull rope, for example due to friction or flow phenomena due to the tensile load.

The slip clutch can ensure the controllability of the retractable radio antenna over the rope length, since the pull rope is set under tension during unwinding, but excessive tension is prevented by the triggering of the slip clutch. In this embodiment of the invention, the nominal torque of the slip clutch determines the rope length wound up by the cable drum during the running-in process of the radio antenna. The nominal torque of the slip clutch is thus matched with the desired cable length during winding such that a tensile stress is given in the pull rope.

In one embodiment of the invention, the cable drum is guided longitudinally displaceable on a drive shaft and coupled to a independently guided longitudinally displaceable synchronization element such that a cable outlet of the cable drum a fixed point of departure at the level of the center of the telescopic cylinder is tracked. In this way it can be ensured that during the operation of the cable drum, the pull rope is in each angular position of the cable drum in the intended vertical position in the interior of the telescopic cylinder.

The departure point of the traction cable is advantageously located in the center of the cross section of the telescopic cylinder, so that a vertical guidance of the traction cable is guaranteed. The tracking of the rope outlet ensures that the unwound or wound rope length is exactly in line with the rotation of the rope drum. The accuracy of the control of the unwound or wound rope length can be further improved if the pull rope is accommodated in a circulating on the circumference of the cable drum rope groove.

In particular, the synchronization element cooperates with the drive shaft via a thread which has the same pitch as a rope groove of the cable drum. The rope groove is a circumferential groove on the circumference of the cable drum, in which the pull rope is wound with a defined pitch.

Have the synchronization element and the thread of the drive shaft on which the synchronization element is guided, the same pitch as the rope groove of the cable drum, the longitudinally movably guided cable drum is pushed back and forth by the synchronization element with the rotational movement of the drive shaft while the cable outlet in each position the rope drum tracked the fixed departure point.

A pressure chamber of the telescopic cylinder in the pneumatic solution is advantageously connected to a gas source, which provides a pressurized gas. The gas source can be designed such that during operation of an underwater vehicle constantly static pressure acts on the telescopic cylinder. The traction cable holds the telescopic cylinder against the pneumatic forces in the retracted position (hereinafter also referred to as the closed position), wherein the extension and retraction of the radio antenna can be controlled precisely via the drive of the cable drum.

The pressure source may be a gas storage, is stored in the compressed gas, wherein the gas storage is connected via a pressure reducing unit with the pressure chamber. The gas for the pneumatic actuation of the telescopic cylinder is provided in the gas reservoir at a pressure higher than the operating pressure, wherein the pressure reducing unit regulates the operating pressure. Due to the higher pressure in the gas storage gas volume can be tracked for a variety of opening operations of the radio antenna to keep the operating pressure in the pressure chamber substantially constant. An operating pressure of about 4.5 bar has been found to be advantageous.

In alternative embodiments of the invention, instead of a gas reservoir, pressure sources are provided which, if required, provide gases by physical or chemical means and thereby generate the pressure required for actuating the telescopic cylinder.

In a further embodiment of the invention, the pressure chamber is connected to a surge tank. The compressed air for the actuation of the telescopic cylinder is stored back due to the expansion of the pressure volume through the expansion tank and acts on the next extension of the radio antenna. Venting is not required, so that a working volume of the working gas, except for leakage or leakage through leaks, is permanently maintained. After a communication process of the radio antenna at most little gas volume to compensate for any leakage and leaks of the system to maintain the intended operating pressure must be nachgefördert.

The telescopic cylinder may be pressure-tightly connected to a pressure housing of the torpedo, the interior of which is part of the pressure chamber, wherein the cable drum is arranged in the pressure housing. The pull rope is therefore located over its entire length within the pressure chamber, so that a simple sealing of the pressure chamber is possible. In addition, the cable drum can be arranged particularly close to the inner end of the telescopic cylinder, so that a compact design in the available space inside the torpedo space is possible.

The pressure housing may have a pressure relief valve, so that a vent of the pressure housing is possible, for example, after performing an exercise with a torpedo. In addition, the pressure relief valve allows a flushing of the pressure chamber with a suitable medium to moisture Remove from the pressure chamber and allow a longer storage of the torpedo.

The underwater antenna device according to the invention with an extendable antenna can be installed, in particular with little effort, into a submerged rotor, in particular torpedo, constructed in a section, so that no complete redesign of the underwater rotor is required. In a further embodiment, the underwater antenna device according to the invention for retracting and extending a radio antenna is installed in an integrally constructed underwater vehicle.

With the underwater antenna apparatus shown here, present methods can be performed.

A method for extending and retracting an antenna of an underwater vehicle, in particular a torpedo, wherein the antenna is extended via an extension force and an opposing counterforce, wherein the counterforce applied in particular by means of a pull rope and the antenna is held in a retracted position, wherein a drive a cable drum during extension and retraction of the telescopic cylinder is controlled such that the cable drum unwinds or reels a certain pitch of a pull rope (also called rope).

In a related embodiment, a longer cable length of the hauling rope (48) than an extension length of the telescopic cylinder wound when retracting the radio antenna.

Furthermore, the drive of the cable drum is controlled by a slip clutch, wherein the pull rope is wound up during the retraction of the radio antenna until the triggering of the slip clutch.

In a further embodiment, when the radio antenna is extended until the release of the slip clutch, a shorter cable length of the cable is unwound than the cable length of the cable.

Furthermore, the abzuspulende rope length of the pull rope can be matched with the extension length of the telescopic cylinder and be shorter than the extension length.

In a further embodiment, the cable drum is driven by means of a stepping motor, wherein the ascending or descending cable length is controlled by the number of step angles of the stepping motor.

In addition, the stepping motor can be moved when extending the antenna over a predetermined Ausfahrschrittzahl for abzuspulende rope length.

In a further embodiment, when the antenna is moved in, the stepping angles of the stepping motor can be counted until the slip clutch is triggered and the count value determined thereby can be taken into account in determining the extension step number for the rope length to be scarfed during the subsequent extension of the antenna.

Furthermore, in the determination of the extension step number of the count value, the step angle during the previous retraction of the radio antenna can be subtracted from a predetermined adaptation value.

In a further embodiment, the cable drum is driven by a self-locking gear.

In addition, the pull rope can be wound in a rope groove of the rope drum.

In a further embodiment, the cable drum can be guided longitudinally displaceably on a drive shaft and by a synchronization element (62) a cable outlet of the cable drum can be tracked to a fixed point of departure at the level of the telescopic cylinder.

Furthermore, the synchronization element can interact with the drive shaft via an adjusting thread, which has the same pitch as the rope groove of the cable drum.

Fig.1

eine Seitenansicht eines sektionsweise ausgebildeten Torpedos,

Fig.2

eine teilweise geschnittene Seitenansicht einer Antennensektion eines Torpedos gemäß Fig.1,

Fig.3

eine vergrößerte Darstellung eines Ausschnitts der Antennensektion gemäß Fig.2,

Fig.4

eine geschnittene Ansicht der Antennensektion gemäß Fig.2 in der Schnittebene A-A in Fig.3,

Fig. 5 und 6

vergrößerte Darstellungen der gegenüberliegenden Wandabschnitte der Antennensektion gemäß Fig.3,

Fig.7

eine Schnittdarstellung gemäß Schnittebene R-R in Fig.3,

Fig.8

eine Schnittdarstellung gemäß Schnittebene P-P in Fig.3,

Fig.9

eine Schnittdarstellung gemäß Schnittebene M-M in Fig.3.

Fig.10

eine Schnittdarstellung gemäß Schnittebene N-N in Fig.3.

Further advantageous embodiments will become apparent from the subclaims and from the exemplary embodiments explained with reference to the drawing. Show it:

Fig.1

a side view of a sectioned torpedo,

Fig.2

a partially sectioned side view of an antenna section of a torpedo according to Fig.1 .

Figure 3

an enlarged view of a section of the antenna section according to Fig.2 .

Figure 4

a sectional view of the antenna section according to Fig.2 in the section plane AA in Figure 3 .

FIGS. 5 and 6

enlarged views of the opposite wall sections of the antenna section according to Figure 3 .

Figure 7

a sectional view according to sectional plane RR in Figure 3 .

Figure 8

a sectional view according to sectional plane PP in Figure 3 .

Figure 9

a sectional view according to sectional plane MM in Figure 3 ,

Figure 10

a sectional view according to sectional plane NN in Figure 3 ,

Fig. 1 shows a schematic representation of a sectionally formed torpedo 1. The bow of the torpedo 1 is formed by a sonar head 2, which has a torpedo sonar for reconnaissance of the vicinity of the torpedo 1. A section 3 has an explosive charge. Alternatively, this section is provided as a training section with means to recover the torpedo 1 after a practice trip and to be able to salvage. Furthermore, the torpedo 1 includes a plurality of battery sections 4, 5, 6, 7, which in the embodiment shown centrally are arranged to achieve a uniform weight distribution. The torpedo 1 further comprises a control section 8 and an antenna section 9, which will be described later. The antenna section 9 has a radio antenna 10 which is telescopically extendable. In the antenna section further radio communication devices for transmitting and / or receiving are arranged.

The antenna section 9 can be installed with little effort in a sectionally formed torpedo 1, so that no complete redesign of torpedoes is required. The antenna section 9 has an interface, not shown, by means of the position data of the control section 8 obtained via the radio antenna 10 can be fed. Taking into account the position data obtained, the control section 8 generates control signals for controlling the rudder devices 11, 12 of the torpedo 1 for determining the course or depth of the torpedo 1.

The torpedo 1 further comprises a message conductor section 13 and a drive section 14, in which a motor for driving two counter-rotating propellers 15, 16 is arranged. The rudders 11, 12 are part of a rudder section 17. The antenna section 9 is described below with reference to FIGS. 2 to 10 described in more detail. For the same components in each case the same reference numerals are used in all drawing figures.

The antenna section 9 comprises a torpedo housing 18 with the caliber of the torpedo 1 provided. The respective adjacent sections of the torpedo 1 can be connected to the end faces 19, 20. The antenna section 9 has a radio antenna 10, which is extendable via a pneumatically actuated telescopic cylinder 21. In the retracted position of the radio antenna 10 flush with the torpedo housing 18 is given or the radio antenna 10 is retracted beyond the surface of the torpedo housing 18 addition, so that the radio antenna 10 does not affect the caliber of the torpedo.

The telescopic cylinder 21 comprises a plurality of parallel telescoped telescopic tubes 22, 23, 24, 25, which are arranged in a radial direction in the antenna section 9. The telescopic cylinder 21 is arranged in the radial direction of the torpedo 1 such that the telescopic tubes 22, 23, 24, 25 in the intended orientation of the torpedo 1 upwards, i. in the direction of the water surface, are extendable.

The telescopic tubes 22, 23, 24, 25 are received in a fixed outer cylinder tube 26 which extends through an opening in the torpedo housing 18 into the interior of the antenna section 9 and pressure-tight in the torpedo housing 18 is inserted. For this purpose, a pot-shaped insert 27 is inserted with a conical bearing surface in the opening of the torpedo housing 18. With the insert 27, a bearing support 28 is screwed, which has a sliding bearing 29 for the outer telescopic tube 22 and on the end face of the cylinder tube 26th rests. The bearing carrier 28 is sealed by means of a sealing ring 28 a relative to the insert 27.

The inner cylinder tube 25, which is the most extensible, carries a dish-shaped antenna carrier 30, in which the radio antenna 10 is received. The radio antenna 10 is connected via an antenna cable 31, which passes through the antenna carrier 30, with a signal processing device, not shown. The antenna cable 31 extends through the inner space 32 of the inner cylindrical tube 25.

The radio antenna 10 is arranged on the outside of the antenna carrier 30 and is in particular an antenna board. The radio antenna 10 is held with a socket 32 under a permeable for radio signals potting compound 33 to the antenna carrier 30. The antenna carrier 30 is inserted with a pin 39 in the inner telescopic tube 25 and fixed there, namely in the illustrated embodiment via a thread. The antenna carrier 30 covers the extendable telescopic tubes 22, 23, 24, 25 and therefore places when retracting the telescopic cylinder 21 successively to the extended ends of the respective telescopic tubes 22, 23, 24, 25 and pushes them into one another.

The telescopic tubes 22, 23, 24, 25 are guided in themselves, wherein in each case at the rearward in the extension ends of the telescopic tubes 22, 23, 24, 25, a 30 radially outwardly guided stop 34 (FIG. Figure 6 ) is trained. The stops 34 are each extendable to an inner stop, which at the respective the relevant telescopic tube 22, 23, 24, 25 surrounding pipe is mounted. The stops 34 limit the extension length of the telescopic cylinder 21 by cooperation of the stops, which extend to the outer ends in the extension direction of the telescopic tubes 22, 23, 24, 25 into the interior of the telescopic cylinder. These stops are each formed by a insert ring 35. The insert ring 35 is inserted in each case into a groove which is formed on the inside of the respective tube. For the outer telescopic telescopic tube 22, a stop on the stationary cylinder tube 26 is provided. The stop for the outer telescopic telescopic tube 22 is formed by the bearing bracket 28, which protrudes to form the stop in the space of the outer telescopic telescopic tube 22 and the fixed cylindrical tube 26.

The Einlegeringe 35 are at the respective telescopic tubes 22, 23, 24, 25 at different distances to the respective associated attacks the inner ends of the telescopic tubes 22, 23, 24, 25, so slightly different extension lengths are formed and tilting of the telescopic tubes 22, 23, 24, 25 counteracted when retracting the radio antenna 10.

The telescopic tubes 22, 23, 24, 25 are each guided at both ends, wherein at the front in the extension direction ends of the telescopic tubes 22, 23, 24 each have an inner sliding bearing 36 is arranged. The outer telescopic tube 22 is guided in the sliding bearing 29, which is inserted into the bearing carrier 28. The plain bearings 36 for the inner telescopic tubes 23, 24, 25 are formed as peripheral plain bearing bushes.

In a further embodiment, sliding bearing strips are provided as plain bearings. The respective ends of the telescopic telescopic tubes 22, 23, 24, 25, which extend in the direction of extension, are guided over the radial stops 34, which extend as far as the inner surface of the adjacent tube and have guide means.

The telescopic tubes 22, 23, 24, 25 are produced as turned parts from a semifinished product, so that optimum wall thicknesses and precisely arranged grooves for the arrangement of the plain bearings 36 and the grooves for the insert rings 35 can be formed.

The telescopic cylinder 21 comprises in the present embodiment, four concentrically arranged telescopic tubes 22, 23, 24, 25, wherein the inner three telescopic tubes 23, 24, 25 are formed with a circular cross-section. The outer telescopic tube 22, which is guided in the fixed cylindrical tube 26, is formed with a larger cross-sectional length in the longitudinal direction of the torpedo 1 than a cross-sectional width in the transverse direction of the torpedo 1, cf. Figure 4 ,

The outer telescopic tube 22 has an elongate cross-section with a greater length in the longitudinal direction of the torpedo than a cross-sectional width in the transverse direction of the torpedo. In the illustrated embodiment, the outer telescopic tube 22 for an oval Cross-section with two parallel planar sides, which are connected by round end faces. In this way, a high bending stiffness is given in the longitudinal direction of the torpedo while simultaneously reducing the inflow area, so that the flow-mechanical forces acting on the telescopic tube 22 from the inflowing water when the telescopic cylinder is extended are reduced. In further, not shown embodiments, the outer telescopic tube 22 is formed with other deviating from the circular shape, flow-favorable cross-sections.

For storage of the outer telescopic tube 22 with the deviating from the circular cross-section of the torpedo housing 18 fixed bearing support 28 is formed in a corresponding deviating from the circular cross-section, wherein the sliding bearing 29 of the bearing support 28 is formed as a bearing strip.

In an alternative embodiment, the sliding bearing 29 is a component made of plain bearing material with a cross section corresponding to the telescopic tube 22.

The pressure chamber 38 of the telescopic cylinder 21 is limited by the pin 39 of the antenna carrier 30 and by an annular piston 40 which is attached to the inner end of the deviating from the circular telescope tube 22. The pressure chamber 38 therefore has a pneumatic active surface, which is formed from a circular partial surface of the pin 39 and an annular partial surface of the piston 40 of the outer telescopic tube 22. The piston 40 seals the pressure chamber 38 against the fixed cylinder tube 26 and at the same time forms a stop which cooperates with the stop of the bearing carrier 28 and limits the Auszugsweg the outer telescopic tube 22.

The antenna section 9 also has a gas reservoir 41. In the exemplary embodiment, the gas storage 41 is a gas cylinder mounted in the antenna section 9, in which a compressed gas supply is provided. The gas reservoir 41 is connected via a high-pressure line 42 to a pressure-reducing unit 43, which communicates via a low-pressure line 44 with the pressure chamber 38. The high pressure line 42 and the low pressure line 44 are each connected via a sleeve 45 to the pressure reducer unit 43. The pressure reducing unit 43 is set to the intended operating pressure in the pressure chamber 38, with which the telescopic cylinder 21 is operated. The pressure reducing unit 43 lowers the comparatively high static pressure in the gas cylinder of, for example, 200 bar to the operating pressure of, for example, 4.5 bar. Due to the high pressure in the gas cylinder, a large supply of gas for a variety of pneumatic operations of the telescopic cylinder 21 is provided.

To the pressure chamber 38, a surge tank 46 is also connected, which substantially increases the volume of the pressure chamber 38. Therefore, a compression when retracting the telescopic cylinder 21 leads to a significantly lower increase in the operating pressure in the pressure chamber 38 than without such a surge tank 46. The increase in the operating pressure is due to the arrangement of the surge tank 46 about 30%, the compressed operating gas in the expansion tank 46 supports the extension of the radio antenna 10 at the next extension maneuver.

In other words, the arrangement of the expansion tank 46 and the associated significant increase in the volume of the pressure chamber 38, an improved recovery of the working fluid is given.

The static pressure in the pressure chamber 38 acts both on the annular surface of the piston 40 of the outer telescopic tube 22 and on the circular active surface of the pin 39 of the antenna carrier 30. The annular effective area of the piston 40 is greater than the effective area of the antenna carrier 30, so at an extension of the telescopic cylinder 21, first the outer telescopic tube 22 is pneumatically moved. The telescopic tubes 23, 24 arranged in the middle between the inner telescopic tube 25 and the outer telescopic tube 22 are each coupled via coupling rings 47 to the respectively adjacent telescopic tubes and are taken along via the coupling rings 47 during the extension movement. The coupling rings 47 engage in each case in a groove at the free end of the respective telescopic tube 23, 24 and are received in an undercut on the respective outer adjacent telescopic tube 22, 23. Upon extension of the telescopic cylinder 21, the outer telescopic tube 22 is thus initially extended with the aerodynamic cross-section deviating from the circular shape, wherein the three concentrically arranged inside Telescopic tubes 23, 24, 25 are taken. After the outer telescopic tube has reached its extension length, the static pressure in the pressure chamber 38 pushes the inner telescopic tube 25 out, which in turn after reaching its extension length successively the two remaining central telescopic tubes 23, 24 moves.

The telescopic cylinder is held by a pull cable 48 against the static pressure in the pressure chamber in the retracted rest position. The traction cable 48 is a textile rope which is fastened to the antenna carrier 30. For attachment of the pull cable 48, a bolt 37 is provided in the pin 39 of the antenna carrier 30.

By train on the rope 48 of the telescopic cylinder 21 is retracted from the extended position and held in the retracted position. For this purpose, the pull cable 48 is wound on a cable drum 49, which is arranged adjacent to the inner end of the telescopic cylinder 21, i. on the side of the telescopic cylinder 21, which is opposite to its pull-out direction.

The antenna cable 31 is formed in a lying within the telescopic cylinder section 21 as a spiral cable 50, which on the one hand ensures that the antenna cable 31 during extension of the telescopic cylinder 21 over the intended extension length of the telescopic cylinder 21 is stretchable. On the other hand, the spiral cable 50 forms a guide for the traction cable, which is guided by the surrounding windings of the spiral cable 50. The elastic Extent length of the spiral cable 50 is matched with the extension length of the three concentric inner telescopic tubes 24, 25, 26. In addition, in the region of the piston 40 of the outer, deviating from the circular shape, telescopic tube 22, the antenna cable 31 is formed into a further spiral cable 51. The stretchable length of the second spiral cable 51 of the antenna cable 31 is matched with the extension length of the outer telescopic tube 22. In order to avoid unwanted looping in the antenna cable 31, the antenna cable is provided in the region of the spiral cable 50, 51 with a twist protection. As a twist protection, the antenna cable 31 is wrapped in the spiral cable 50, 51 with an elastic wire or alternatively reinforced with a coil spring.

The cable drum 49 is received in a pressure housing 52, whose interior communicates with the pressure chamber 38, so that the pull cable 48 is completely received in the pressure chamber 38. Elaborate pressure seals of the tension cable 48 are therefore unnecessary. The pressure housing 52 with the cable drum 49 disposed therein forms together with the telescopic cylinder 21 a structural unit, which is arranged in a cross-sectional plane of the torpedo 1, that extends between the opposite wall portions of the torpedo housing 18. The pressure housing 52 in this case has a mounting pin 53, which is received pressure-tight with the arrangement of a greased O-ring 54 in the torpedo housing 18. For exact adjustment and fitting of the combined component of telescopic cylinder 21 and pressure housing 52 is on the mounting pin 53 a Adjusting screw 55 and an accessible from outside the torpedoes 1 special screw 56 is arranged.

The cable drum 49 is rotatably driven via a drive shaft 57 which is mounted in the pressure housing 52. The drive shaft 57 is part of the drive train of a drive device 58, which has a self-locking worm gear 59, a slip clutch 60 and an electric motor 61. The slip clutch 60 responds upon reaching its rated torque and separates the power transmission from the motor 61 to the cable drum 49. The slip clutch 60 is formed as a magnetic coupling and includes permanent magnets, whereby the slip clutch 60 is immediately ready for use even after prolonged storage without gluing components.

To extend the telescopic cylinder 21, the electric motor 61 drives the cable drum 49 in a direction of rotation that the pull cable 48 is discharged and thereby the telescopic cylinder 21 is pneumatically displaced from the operating pressure in the pressure chamber 38. For retracting the telescopic cylinder 21, the electric motor 61 drives the cable drum 49 in the opposite direction of rotation, so that the traction cable is wound on the cable drum 49 and thereby the antenna carrier 30 is retracted.

The extension operations and the retraction operations of the radio antenna 10 are controlled via the commissioning of the drive means 58, wherein the cable drum 49 is moved by the drive means 58 by such a rotation angle, wherein the unwound Scope of the intended rope length corresponds. The self-locking worm gear 59 ensures that movements of the cable drum 49 can only be done with a motor drive.

The nominal torque of the slip clutch 60, at which the slip clutch 60 triggers, is matched with the desired cable length of the pull cable 48 when retracting the radio antenna 10. The rated torque is selected or set such that the slip clutch 60 responds when reaching a certain wound rope length of the pull cable 48 when retracting the radio antenna 10 and the power transmission separates. In this way, the winding of the pull cable 48 when retracting the radio antenna 10 is stopped when the nominal torque of the slip clutch 60 is reached.

The control of the cable length abzuspulenden when extending the radio antenna via the motor 61. For this purpose, the motor 61 is preferably designed for driving the cable drum 49 as a stepper motor. In this case, the stepping motor is moved by such a number of steps, which corresponds to the circumferential angle of the cable drum 49 with the intended rope length. The abzuspulende rope length, which is associated with the stepper motor with the number of steps, is tuned with the aufzuspulenden rope length such that the pull cable 48 is in any operating position of the radio antenna 10 under tension. Advantageously, the motor 61 is moved over a smaller number of steps than during winding of the traction cable 48, so that upon extension of the radio antenna 10 always tension 25 remains in the traction cable. During the subsequent entry maneuver, the slip clutch 60 ensures a winding up to the desired tension in the pull cable 48.

The pull cable 48 is arranged freely and without contact with the telescopic cylinder and is always held by the cable drum 49 under tension, so that the antenna support 30 is held sealed in the closed position. In order to keep the pull rope always in vertical alignment, the cable drum 49 is guided longitudinally displaceable on the drive shaft 57 and is coupled to a synchronization element 62 explained in more detail below such that the cable outlet of the cable drum is tracked to a fixed point of departure in the center of the telescopic cylinder 21.

The acting on the cable drum 49 mechanism for tracking the cable outlet is described below with reference to Fig. 3 . 6 and the sectional views according to Fig. 7 to 10 explained. The drive shaft 57 extends in the longitudinal direction of the torpedo 1 through the pressure housing 52 and is mounted on the end walls 63, 64 of the pressure housing 52. In this case, one of the drive means 58 facing the end wall 63 is integrally formed in the pressure housing 52. On the opposite side of the pressure housing 52, an end wall 64 is arranged, which receives the free end of the drive shaft 57.

The cable drum 49 is arranged longitudinally displaceable on the drive shaft 57. Here is a positive Driving provided, so that the cable drum 49 is driven to rotate via the drive shaft 57. Such a positive entrainment with simultaneous longitudinal displacement is provided by a slidingly arranged keyway 65 in the present embodiment. In this case, a feather key is incorporated in the cable drum 49. In the drive shaft 57 a matched with the feather keyway is provided.

The cable drum 49 is provided with a circumferential cable groove in which the pull cable 48 is wound in a defined position. In each operating position of the radio antenna 10, the pull cable 48 is under tension, so that the pull cable 48 is held securely in the cable groove.

The free end of the drive shaft 57 is provided with an adjusting thread 66 over a length which corresponds approximately to the length of the bobbin of the cable drum 49. The axial length of the provided with the adjusting thread 66 portion of the drive shaft 57 corresponds approximately to the intended displacement of the cable drum 49 in the tracking of the cable outlet. On the adjusting thread 66, a disc-shaped synchronization element 62 is arranged, which is guided longitudinally displaceable independently of the cable drum 49 in the direction of the drive shaft 57.

The axial guidance of the synchronization element 62 is provided by a guide rail 67 which is parallel to the drive shaft 57 through the pressure housing 52 is guided. As in the plan view of the synchronization element 62 in FIG Fig. 9 can be seen, the disc-shaped synchronization element 62 covers the cheek of the cable drum 49 and is guided with a radial nose 67a on the guide rail 67. Upon rotation of the drive shaft 65, the positively guided on the guide rail 67 nose 67a prevents a rotating entrainment of the synchronization element 62, whereby the synchronization element 62 is displaced from the adjusting thread 66 in the longitudinal direction of the drive shaft 57. The displacement of the synchronization element 62 in the longitudinal direction of the drive shaft 57 corresponds exactly to the pitch of the adjusting thread 66.

The pitch of the adjusting thread 66 of the drive shaft 57 is equal to the pitch of the rope groove of the cable drum. In a full rotation of the drive shaft 57, therefore, the synchronization element 62 is displaced over a path which corresponds to the pitch between the wound turns of the pull cable 48.

The synchronization element 62 acts in the direction of the longitudinal direction of the drive shaft 57 on the longitudinally displaceably arranged cable drum 49 and therefore causes according to its leadership on the adjusting thread 66 upon rotation of the drive shaft 57 a tracking of the cable outlet of the cable drum 49th

In order to allow the synchronization element 62, a pulling movement during winding of the pull cable 48 on the cable drum 49, which has Synchronization element 62 an axial driver 68, which extends to near the facing drum cheek 69 of the cable drum 49. The axial driver 68 is kinematically connected to the drum cheek 69 via a coupling disk 70. The coupling disk 70 is designed in two parts with two roughly semicircular segments 70a, 70b ( Figure 8 ). The disk segments 70a, 70b are each fastened to the cable drum 49 by means of screw or rivet connections.

The inner radius of the disc segments 70a, 70b, which determines the diameter of the coupling disc 70 in the mounted state of the disc segments 70a, 70b, has a larger diameter than the drive shaft 57, so that the coupling disc 70 without engagement in the adjusting thread 66 in the longitudinal direction of the drive shaft 57 slidably is. The two-piece coupling disc 70 is easily mounted on the cable drum 49 by the disc segments 70 a, 70 b are placed in the space of the drum cheek 69 and the driver 68 to the drive shaft 57 and fixed to the drum cheek 69.

In the longitudinal direction of the drive shaft 57, a separating plate 71 is arranged in the pressure housing 52, which separates the part of the pressure housing 52, in which the cable drum 49 is movably arranged, from the rest of the pressure housing 52. The partition wall 71 is inserted into guides 72, which are formed on the respective opposite wall portions of the pressure housing 52. For fixing the partition plate 71 are in the region of the end wall 64 in which the Drive shaft 57 is mounted, tabs 73 are provided, which are fixed to the end wall 64.

In the exemplary embodiment shown, the end wall 64, in which the drive shaft 57 is mounted, covers the part of the pressure chamber 38 with the cable drum 49 arranged therein. The pressure housing 52 is pressure-tightly closed by a closure wall 74, which covers the entire cross-section of the pressure housing 52.

The end wall 74 is detachably mounted, so that the interior of the pressure housing 52 is accessible. In this way, a cable bushing 75 is accessible, which is arranged in the lying beyond the cable drum 49 subspace 76 of the pressure housing 52. The grommet 75 receives the antenna cable 31 and is sealed to the pressure chamber 38.

Via a pressure relief valve 77, a venting of the pressure chamber of the telescopic cylinder 21 is possible, so that moisture can be removed. A venting of the pressure chamber is, for example, Immediately after mounting the antenna section 9 for the removal of moisture or after test operations of the torpedo 1 advantageous to reduce the possibly increased by multiple antenna actuation operating pressure in the pressure chamber. In a normal operation of the torpedo 1 venting of the pressure chamber is not required or not desirable. The pressure release valve 77 is actuated, for example. After a practice shot to make the system depressurized. As a result, dangers that could arise from the pressurized torpedo, after the end an exercise / test shot safely excluded, such. B. a tearing of the textile rope. In addition, the risk of divers is excluded by the pressure equalization via the pressure relief valve 77.

All mentioned in the foregoing description and in the claims features according to the invention can be used individually as well as in any combination with each other, in particular essential features can be adapted to the hydraulic solution or electric motor solution. The disclosure of the invention is therefore not limited to the described or claimed combinations of features.

Claims (13)

1. Underwater antenna apparatus (9) comprising a variable-position antenna (10), which is extendable in a above water region, an extension device and a repositioning device (48, 49), wherein an extension force in an extension force direction can be impressed by the extension device of the antenna, and an opposing force in an opposing force direction, acting in opposition to the extension force, can be impressed by the repositioning device of the antenna, wherein a position of the antenna resulting from an interaction of the extension force and the opposing force, wherein the repositioning device having a cable drum (49) with a pull cable (48), and the repositioning device or part of the repositioning device is configured such that its position can be varied in a defined manner, so that, as a result of the defined variation of the position, the antenna can be positioned in a retracted position, an extended position or an intermediate position, wherein the antenna is extended pneumatically via a pneumatically/hydraulically actuated telescopic cylinder (21), wherein a pressure chamber (38) of the telescopic cylinder is connected to a gas source (41),
   characterized in that the gas source is designed to provide a gas under pressure, in order to arrange for a continuously acting static pressure to act on the telescopic cylinder, wherein the pull cable is designed to hold the telescopic cylinder counter to the pneumatic forces in the retracted position, and wherein the extension and the retraction of the antenna can be controlled via a drive of the cable drum.
2. Underwater antenna apparatus according to Claim 1, characterized in that the extension force direction and the opposing force direction are arranged parallel to each other or form an angle with an angular value greater than 0° or greater than 5° or greater than 15° or greater than 45° or greater than 65° or greater than 90°.
3. Underwater antenna apparatus according to one of the preceding claims, characterized in that the pull cable is arranged on the antenna and the cable drum is arranged at a fixed location of the underwater antenna apparatus, and the cable drum is assigned a drive device, by means of which a rotation can be impressed on the cable drum, so that winding or unwinding is carried out by the rotation.
4. Underwater antenna apparatus according to Claim 3, characterized in that the drive device has a stepping motor (61) and/or the cable drum has a slipping clutch (60).
5. Underwater antenna apparatus according to either of Claims 3 and 4, characterized in that the repositioning device has a drive shaft, on which the cable drum is displaceably arranged, and a synchronization element, wherein cable drum, drive shaft and synchronization element (62) are arranged in such a way that a cable exit point is guided at a height of the antenna.
6. Underwater antenna apparatus according to one of the preceding claims, characterized in that the antenna is configured as a telescopic antenna comprising at least one first section (22) and a second section (23) displaceable relative thereto, and only one section forms a radio antenna.
7. Underwater antenna apparatus according to Claim 6, characterized in that the telescopic antenna has a third section (24), a fourth section (25), a fifth section or further sections.
8. Underwater antenna apparatus according to either of Claims 6 and 7, characterized in that a signal and/or power supply of the radio antenna is arranged within the telescopic antenna.
9. Underwater antenna apparatus according to one of Claims 3 to 8, characterized in that the cable is guided within the telescopic antenna.
10. Underwater antenna apparatus according to one of the preceding claims, characterized in that the extension device has a hydraulic device and/or a pneumatic device and/or an electric motor, which impress the extension force on the antenna permanently or switchably.
11. Underwater antenna apparatus according to one of the preceding claims, characterized by an antenna position sensor.
12. Underwater vessel (1) which has an underwater antenna apparatus according to one of the preceding claims.
13. Method for extending and retracting an antenna of an underwater vessel, wherein the antenna is extended via an extension force and an opposing force acting in opposition thereto, wherein the opposing force is applied by means of a pull cable and the antenna is held in a retracted position, wherein, during an extension and a retraction of a telescopic cylinder, a drive of a cable drum is controlled in such a way that the cable drum unwinds or winds in a specific cable length of a pull cable, wherein, by means of the magnitude and direction of the opposing force and the magnitude and direction of the extension force, the position of the antenna can be varied in a defined manner, so that a desired position can be achieved or obtained in a controlled or regulated manner.

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