EP3145807B1 - Submarine having at least one rudder system - Google Patents

Description

The application relates to a submarine with the features specified in the preamble of claim 1.

In addition to hydraulic rudder systems, in which the piston of a piston-cylinder arrangement is coupled in motion to at least one rudder, in the case of submarines, rudder systems with an electric servomotor are also part of the state of the art. Such a steering system is for example in DE 10 2010 015 665 A1 described. In this steering gear, the rotor of the electric servomotor is directly coupled in motion to a rotatable part of a spindle drive, while the linearly movable part of the spindle drive is rigidly connected to a push rod of an articulated linkage for controlling the movement of a rudder of the steering gear.

In order to meet the stringent requirements for avoiding noise emissions in military submarines, in DE 10 2010 015 665 A1 the use of a torque motor without ripple force as a servomotor and a planetary roller drive as the spindle drive is proposed. However, it has been shown that this measure alone is not sufficient to reduce the noises caused by electrically operated steering systems to a level that is desirable when the submarine is crawling.

Against this background, the invention is based on the object of creating a submarine with at least one steering system that causes significantly lower noise emissions than the steering systems previously used in submarines.

This object is achieved by a submarine with the features specified in claim 1. Advantageous developments of this submarine result from the subclaims, the following description and the drawing. Here you can the features specified in the subclaims each individually but also in a suitable combination with one another further develop the inventive solution according to claim 1.

The submarine according to the invention is preferably a military submarine. This submarine has at least one steering system with a linear drive. The linear drive is designed as an electrically operated linear drive and has an electric servomotor and a spindle drive coupled with movement. This spindle drive is optionally in operative connection with a rudder of the submarine, but preferably via an articulated linkage. In principle, the rudder can be any desired rudder, for example a rudder, a down rudder or a combined rudder and down rudder of the submarine. The linear drive is preferably arranged in the pressure hull of the submarine, but can also be arranged outside the pressure hull with appropriate pressure encapsulation. To couple the movement of the servomotor with the spindle drive, a spindle nut of the spindle drive is preferably connected to a motor shaft of the servomotor so as to be rotatable. In this case the spindle of the spindle drive forms a linearly movable part of the linear drive. As an alternative to this movement coupling of the servomotor with the spindle drive, there is also the possibility of connecting the spindle of the spindle drive to the motor shaft of the servomotor in a rotationally movable manner, the spindle nut of the spindle drive then forming the linearly movable part of the linear drive.

The basic idea of the invention is to elastically mount the linear drive of the steering gear in a mounting device opposite the boat structure, which is understood to mean a part of the submarine that is rigidly connected to the pressure hull of the submarine, at least in the direction of movement of the linearly movable part of the linear drive. It is accordingly provided according to the invention that the linear drive is not supported directly against the boat structure, but rather via the elastically designed mounting device. Since the linearly movable part of the linear drive can be moved both forwards and backwards, the direction of movement of the linearly movable part is typically to be understood as a first direction of movement and a second direction of movement opposite thereto. With the elastic mounting of the linear drive, the aim is to acoustically decouple the linear drive from the boat structure of the submarine, at least during the crawl speed of the submarine, ie when driving in a lower speed range, so that, in the best case, no structure-borne noise from the linear drive to the boat structure and from there is transmitted to the outside environment of the submarine. The storage device is typically like this designed so that the rudder force required to control the rudder, which is comparatively low when the submarine is crawling, can be transmitted from the linearly movable part of the linear drive to the rudder.

Due to the elastic mounting of the linear drive, a rudder force generated by the linear drive inevitably leads in the mounting device to a certain movement of the linear drive in the direction of movement of its linearly movable part. Depending on the elasticity of the storage device and the amount of rudder force to be generated by the linear drive, this can mean that these rudder forces can no longer be transferred to the rudder if greater rudder forces are required than when crawling. To prevent this, i. H. In order to also be able to transfer the rudder forces required when traveling in a higher speed range of the submarine, such as when sailing above water, from the linearly movable part of the linear drive to the rudder, it is advantageously provided that the storage device is multi-stage so that it has at least two storage stages, from which a first storage stage has a higher elasticity than a second storage stage. The first storage stage is used to transfer the rudder forces when the submarine is crawling, the higher elasticity then ensuring the acoustic decoupling of the linear drive from the boat structure and, at the same time, the transmission of the relatively low rudder forces in this case. The second storage stage is provided for transferring the rudder forces when the submarine is traveling in a higher speed range than during crawling, the lower elasticity of the storage device then taking effect ensuring the power transmission from the linear drive from the rudder. In this case, there may be no acoustic decoupling of the linear drive from the boat structure, but this is of lesser or no significance in driving situations that deviate from crawl speed.

For the multi-stage configuration of the storage device, it is advantageously equipped with storage elements of different elasticity. In this context, it is provided that the storage device has at least one and preferably several storage elements, which form the first storage stage provided for acoustic decoupling of the linear drive from the boat structure during crawling, and at least one and preferably several storage elements, which are opposite to the storage elements forming the first storage stage a lower elasticity have in order in this way to enable a transmission of the rudder forces at speeds of the submarine above the speed at creep speed. The latter storage elements thus form the second storage stage. In addition, the storage elements which form the first storage stage can differ from one another in terms of their dimensions from the storage elements which form the second storage stage. For example, the bearing elements forming the first bearing stage can be made longer in the direction of movement of the linearly movable part of the linear drive than the bearing elements forming the second bearing stage, so that the linear drive is only supported by the bearing elements of higher elasticity when the submarine is creeping, which creates an acoustic decoupling of the linear drive guaranteed by the boat structure. When the rudder forces are greater than when the submarine is crawling, the linear drive is moved so far in the direction of the stiffer elastomer elements that it finally comes into contact with them, the greater stiffness or lower elasticity of this mounting element enabling the rudder forces to be transferred to the rudder.

The storage elements of the storage device are advantageously formed from elastomer elements. These are elements which, in the simplest case, are made entirely from an elastomer and preferably from rubber. In addition, however, elastomer elements in the context of the invention are also to be understood as those elements that have a multilayer structure, layers of an elastomer and metallic layers preferably being arranged one above the other in alternating order in the direction of movement of the linearly movable part of the linear drive.

As already mentioned, due to its elastic mounting, the linear drive can be moved to a certain extent at least in the direction of movement of its linearly movable part. In particular in the event that the submarine is exposed to shock loads, at least one stop is expediently provided which limits the movement path of the linear drive relative to the boat structure in the direction of the movement direction of the linearly movable part of the linear drive. The submarine according to the invention preferably has several such stops, preferably of metallic design, which can be arranged in a particularly space-saving manner within the storage device.

According to a further preferred development of the invention, the linear drive is surrounded on the outside by a drive housing rigidly connected to the boat structure, on which the bearing device is supported in the direction of movement of the linearly movable part of the linear drive. This drive housing is particularly advantageously connected to the pressure hull of the submarine, it forming a pressure hull lead-through for a push rod connected to the linearly movable part of the linear drive, which is coupled outside of the pressure hull to the rudder to be controlled. In this case, the drive housing is expediently at least partially, i. H. designed pressure-tight at least in an area located outside the pressure body.

The storage device preferably has a plurality of storage elements that are spaced apart from one another around the circumference of the linear drive. Accordingly, the bearing device is preferably annular in shape, similar to an axial roller bearing, with several elastomer elements being supported as bearing elements in a type of cage between an annular contact surface connected to the boat structure and an annular contact surface connected to the linear drive. In this case, at least one stop element is particularly advantageously arranged between adjacent bearing elements.

The storage device expediently has two elastic bearings spaced apart from one another in the direction of movement of the linearly movable part of the linear drive. The distance between these two elastic bearings is as large as possible and advantageously selected so that the center of gravity of the linear drive is essentially in the middle between the two elastic bearings.

In the preferred use of a drive housing surrounding the linear drive on the outside, a radially outwardly directed annular collar is preferably formed on the outer circumference of a motor housing of the linear drive, ie on the outer housing of the electric servomotor, a first elastic bearing between this annular collar and a contact surface formed on the drive housing is arranged. The contact surface formed on the drive housing can be formed in a simple manner in terms of design and manufacturing technology by a wall of the drive housing which delimits the drive housing at the end in the area of the electric servomotor.

Particularly in connection with the use of a drive housing that surrounds the linear drive on the outside, it is further advantageously provided that a housing that surrounds the linearly movable part of the linear drive radially on the outside is connected to the motor housing. This housing preferably forms part of an anti-rotation device for the linearly movable part of the linear drive. On the outer circumference of this housing, a radially outwardly directed annular collar is preferably formed, between which and a contact surface formed on the drive housing a second elastic bearing of the bearing device is arranged. The contact surface formed on the drive housing is preferably formed by a sleeve with an annular collar formed on the end face, the annular collar serving as a contact surface.

In order to ensure a sufficiently rigid support of the linear drive on the drive housing and in particular to withstand a shock load, both the annular collar preferably formed on the motor housing and the annular collar preferably formed on the housing surrounding the linearly movable part of the linear drive are expediently each on one outer side with several stiffened around the circumference of the ring collar arranged ribs. Here, the ribs are typically formed on the side of the annular collar facing away from the elastic bearing.

• Fig. 1 in einer Frontansicht ein in dem Druckkörper eines Unterseeboots angeordnetes Ende eines Linearantriebs einer Ruderanlage,
• Fig. 2 den Linearantrieb nach Fig. 1 in einem Längsschnitt entlang der Schnittlinie II-II in Fig. 1,
• Fig. 3 einen Teil einer Schnittansicht entlang der Schnittlinie III-III in Fig. 1,
• Fig. 4 eine Schnittansicht entlang der Schnittlinie IV-IV in Fig. 4 und
• Fig. 5 in einer Prinzipskizze ein Unterseeboot.

The invention is explained in more detail below with reference to an embodiment shown in the drawing. The drawing shows in each case schematically simplified and in different scales:

• Fig. 1 in a front view an end of a linear drive of a steering gear arranged in the pressure hull of a submarine,
• Fig. 2 the linear drive Fig. 1 in a longitudinal section along the section line II-II in Fig. 1 ,
• Fig. 3 a part of a sectional view along the section line III-III in Fig. 1 ,
• Fig. 4 a sectional view along the section line IV-IV in Fig. 4 and
• Fig. 5 a schematic diagram of a submarine.

The in Fig. 5 Submarine 100 shown is a military submarine. This submarine 100 has four oars 120 arranged in the form of a St. Andrew's cross at the stern, of which in Fig. 5 only two oars 120 can be seen. Each of these rudders 120 can be controlled by means of a rudder system 140.

The Figs. 1-4 show a linear drive 2 of a steering system 140 of the submarine 100. This linear drive 2 has an electric servomotor 4 in the form of a synchronous torque motor. A rotor 6 of the servomotor 4 is rotatably connected to a spindle nut 8 of a planetary roller drive. The rotor 6 is designed as a hollow cylinder. A planetary roller spindle 10 of the planetary roller drive, which is guided through the spindle nut 8 and there is coupled in movement to it, engages in the interior of the rotor 6. At its end arranged outside the servomotor 4, the planetary roller spindle 10 is connected to a push rod 14 via a coupling device 12. The push rod 14 is part of an articulated linkage via which the linear drive 2 is connected to a rudder 120 of the submarine 100. When actuating the servomotor 4, the spindle nut 8 of the planetary roller drive rotates with it, as a result of which the planetary roller spindle 10 and the push rod 14 are set in a translational movement along a central axis A of the planetary roller spindle 10. To this extent, the planetary roller spindle 10 forms a linearly movable part of the linear drive 2.

A substantially tubular housing 20 is flanged onto an end face 16 of a motor housing 18 of the servomotor 4, on which the planetary roller spindle 10 is led out of the servomotor 4. The housing 20 forms a linear guide for the coupling device 12, which is slidably mounted in the housing 20. In addition, the housing 20 forms an anti-twist device for the planetary roller spindle 10.

The linear drive 2 of the steering system 140 of the submarine 100, consisting of the servomotor 4 and the planetary roller drive, is almost completely arranged in a drive housing 22, with only a comparatively short end section of the motor housing 18 protruding from the drive housing 22. A housing part 24 is attached to this end section, in which a device 26 for displaying the rudder position, components of an emergency drive for the steering gear 140 and a brake for the linear drive 2 of the steering gear 140 are arranged.

The drive housing 22 is designed in two parts and has a first, internally hollow-cylindrical housing part 28, which is closed at one end 30, an opening 32 being formed on this end 30, at which the end section of the motor housing 18 protrudes from the drive housing 22. In the longitudinal extension of the housing part 28, this is followed by a housing part 34 of the drive housing 22, in which the housing 20 connected to the motor housing 18 is arranged. The drive housing 22 is guided through the wall of the pressure hull of the submarine 100 and thus forms a pressure hull feed-through for the push rod 14.

In the drive housing 22, the linear drive 2 is elastically mounted in a mounting device in the direction of movement of the planetary roller spindle 10. This mounting device has a first elastic bearing 36 which is arranged in the housing part 28 of the drive housing 22 and a second elastic bearing 38 which is arranged in the housing part 34 of the drive housing 22.

On the outer circumference of the motor housing 18 of the servomotor 4, an annular collar 40 extending radially outward is formed at a comparatively small axial distance from the wall of the drive housing 22 forming the end face 30. Together with the wall of the drive housing 22 that forms the end face 30, the annular collar 40 forms a bearing cage of the first elastic bearing 36.

On the inside of the housing part 34 of the drive housing 22, a sleeve 42 is fastened with an annular collar 44 formed thereon. The annular collar 44 points radially in the direction of the center of the housing part 34, the inside of the annular collar 44 being spaced apart from the housing 20. At a comparatively small distance from the ring collar 44 a radially outwardly directed annular collar 46 is formed on the outer circumference of the housing 20. This annular collar 46, together with the annular collar 44 of the sleeve 42, forms a bearing cage of the second elastic bearing 38.

Like in particular from Fig. 4 It becomes clear that the second elastic bearing 38 has ten elastic bearing elements 48, each of which is a cylindrical elastomer element. These bearing elements 48 are each supported between the annular collar 46 formed on the housing 20 and the annular collar 44 formed on the sleeve 42 in the direction of movement of the planetary roller spindle 10, being spaced apart from one another in the circumferential direction of the housing 20. In order to equip the bearing 38 with two storage levels of different elasticity, the storage elements 48 have a different elasticity, ie there are several storage elements 48 with a comparatively high identical elasticity to form a first storage level and several storage elements 48 with a lower identical compared to the first-mentioned storage elements 48 Provided elasticity to form the second storage stage.

At least one stop 50 is arranged between adjacent storage elements 48. The stops 50 serve to absorb any shock forces that may occur. Out Fig. 3 It can be seen that the stops 50 are each formed in two parts, a stop part 52 being arranged on the side of the ring collar 44 facing the ring collar 46 and a stop part 54 being arranged on the side of the ring collar 46 facing the ring collar 44. The stop parts 52 and 54 of the individual stops 50 are arranged directly opposite one another at a small distance in the direction of movement of the planetary roller spindle.

The first elastic bearing 36 corresponds to the second elastic bearing 38 with regard to the arrangement of the bearing elements 48, which are supported in the bearing 36 between the annular collar 40 and the wall forming the end face 30 of the drive housing 22. The first elastic bearing 36 is also in each case at least one stop is arranged. The stops 56 arranged in the first elastic bearing 36 ( Fig. 3 ) however differ from the stops 50 used in the second elastic bearing 38 in that they are designed in one piece, being formed on the inner wall of the drive housing 22 and extending from the end face 30 of the Drive housing 22 forming wall to form a free gap 58 in the direction of the annular collar 40 extend.

When the rudder of the submarine is controlled by the linear drive 2 of the steering gear, the annular collar 40 formed on the motor housing 18, the annular collar 46 formed on the housing 20 and the annular collar 44 of the sleeve 42 are acted upon by the rudder force. In order to be able to withstand this application of pressure, the annular collars 40, 44 and 46 are each reinforced with ribs. Thus, several ribs 60 arranged around the motor housing 18 are formed on the annular collar 40 on the side of the annular collar 40 facing away from the bearing elements 48 of the first elastic bearing 36. On the ring collar 44, several ribs 62 are formed inside the sleeve 42 around its inner circumference, while several ribs 64 are formed around the housing 20 on the ring collar 46 on the side of the ring collar 46 facing away from the bearing elements 48 of the second elastic bearing 38

List of reference symbols

2

linear actuator

4th

Servomotor

6th

rotor

8th

Spindle nut

10

Planetary roller spindle

12

Coupling device

14th

Push rod

16

Face

18th

Motor housing

20th

casing

22nd

Drive housing

24

Housing part

26th

Facility

28

Housing part

30th

Face

32

Breakthrough

34

Housing part

36

warehouse

38

warehouse

40

Ring collar

42

Sleeve

44

Ring collar

46

Ring collar

48

Storage element

50

attack

52

Stop part

54

Stop part

56

attack

58

gap

60

Ribs

62

Ribs

64

Ribs

100

Submarine

120

Rudder

140

Steering gear

A.

Central axis

Claims (10)

1. Submarine (100) having at least one rudder system (140) which comprises a linear drive (2) with an electric actuating motor (4) and having a spindle drive which is connected in terms of motion to said actuating motor and which is operatively connected to a rudder (120) by means of a linkage, wherein the linear drive (2) is mounted, in a mounting device, elastically relative to the submarine structure at least in a direction of movement of a linearly movable part of the linear drive (2), characterized in that at least one abutment (50, 56) is provided which limits a movement travel of the linear drive (2) relative to the submarine structure in the direction of movement direction of the linearly movable part of the linear drive (2).
2. Submarine (100) according to Claim 1, characterized in that the mounting device is of multi-stage form, having at least one first mounting stage which exhibits higher elasticity than a second mounting stage.
3. Submarine (100) according to Claim 2, characterized in that the mounting device comprises elastic mounting elements (48) with different elasticity.
4. Submarine (100) according to Claim 3, characterized in that the mounting elements (48) are formed by elastomer elements.
5. Submarine (100) according to one of the preceding claims, characterized in that the linear drive (2) is surrounded radially at the outside by a drive housing (22) which is rigidly connected to the submarine structure and in which the mounting device is supported in the direction of movement of the linearly movable part of the linear drive (2).
6. Submarine (100) according to one of the preceding claims, characterized in that the mounting device comprises multiple mounting elements (48) which are distributed so as to be spaced apart from one another around the circumference of the linear drive (2), wherein at least one abutment (50, 56) is arranged between adjacent mounting elements (48).
7. Submarine (100) according to one of the preceding claims, characterized in that the mounting device comprises two elastic mounts (36, 38) which are spaced apart from one another in the direction of movement of the linearly movable part of the linear drive (2).
8. Submarine (100) according to one of the preceding claims, characterized in that a radially outwardly directed ring-shaped collar (40) is formed on the outer circumference of a motor housing (18) of the linear drive (2), wherein a first elastic mount (36) is arranged between the ring-shaped collar (40) and an abutment surface formed on the drive housing (22).
9. Submarine (100) according to one of the preceding claims, characterized in that the motor housing (18) is adjoined by a housing (20) which surrounds the linearly movable part of the linear drive (2) radially at the outside and on the outer circumference of which there is formed a radially outwardly directed ring-shaped collar (46), wherein a second elastic mount (38) is arranged between the ring-shaped collar (46) and an abutment surface formed on the drive housing (22).
10. Submarine (100) according to Claim 9, characterized in that both the ring-shaped collar (40) formed on the motor housing (18) and the ring-shaped collar (46) formed on the housing (20) surrounding the linearly movable part of the linear drive (2) are in each case stiffened on an outer side by way of multiple ribs (60, 64) arranged so as to be distributed around the circumference of the ring-shaped collar (40, 46).

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