EP3652062B1 - Underwater body having a variable volume and method for operating such an underwater body - Google Patents

Description

The invention relates to an underwater body with a movable component that can be brought into an extended position and thereby increases the volume of the underwater body. Furthermore, the invention relates to a method for operating such an underwater body.

An underwater body, such as an autonomous unmanned underwater vehicle (AUV) or an underwater walking body or underwater glider, often has to be transported in an aircraft or watercraft to a deployment site when a coast has poor land-side or water-side accessibility, a land-based delivery device is not installed or a floating transport platform cannot be used, for example due to high waves or rocks. The transport of an underwater body in an aircraft, for example in a helicopter, requires a very compact shape of the underwater body. Such a compact configuration of the underwater body, however, brings with it the disadvantages of insufficient buoyancy and/or an unfavorable density of the underwater body and possibly unfavorable running properties.

On the other hand, due to the cramped space conditions in an aircraft, a small dimension of the underwater body and in many cases due to the dropping of the underwater body from the aircraft, a high density of the underwater body is desirable for rapid immersion in the water.

DE 836603C shows a small submarine whose hull consists of two parts a and b that are plugged into each other. More precisely: The longitudinal wall of part a has two separate walls between which part b is inserted. Part b can be moved linearly relative to part a. By moving part b away from part a, the volume of the small submarine is increased. Two opposing toothed racks e each engage in a gear. The rear ends of the racks e are fixed with connected to part b, the two gears fixed to part a. The two drives of the toothed racks e are coupled to one another.

FR2830837A1 shows an underwater vehicle (PAP 104 - «Poisson Auto Propulse», P), which is guided by a cable (filoguidé) and can, for example, destroy mines on the seabed. After a mission, this underwater vehicle PAP 104 should be able to surface again. Therefore, two balloons in a folded state (deux balloons replies 1a) are accommodated in a cavity which is closed by a two-part closure (deux demi carenage 1c), cf. 1 . A lock (verrou 1h) connects the two closure parts 1c to each other (deux demi carenage 1c, fixes entre eux, pour la navigation, par les verrous 1h). Each balloon 1a is mounted on the inner wall of a closure part 1c by means of a holding element (contre-forme 1e). Each closure part 1c is mounted on a receiving unit (adaptor 4) in such a way that the closure part 1c can be pivoted about an axis 1g.

In the inflated state 1b, each balloon can hold, for example, seven liters, cf. 1 . From a source of compressed air (l'actionneur d'air 6), compressed air can be introduced via a pneumatic connection (distribution de l'air 5) into a balloon 1a, 1b in order to inflate it. This source 6 comprises, for example, a compressed air bottle 6a (bouteille de gaz comprime 6a) with a connecting body (corps 6b) and a displaceable piston (piston coulissant 6c), which selectively enables or prevents the escape of compressed air, cf. 3 .

FR2943615A1 shows an underwater body (fleeteur) with a hull (fuselage 101) on which two movable cylindrical components (deux appendices mobiles 121, 122 cylindriques) are mounted. Each component 121, 122 can be moved along an axis that is perpendicular to the longitudinal axis 11 of the fuselage 101. 1a shows the two components 121, 122 in a retracted position (position rentre), FIG. In an extended position (position sorti). When the components 121, 122 are retracted the underwater body has its minimum volume, when extended it has its maximum volume.

In one embodiment, a double-acting piston-cylinder unit (verin-double effet) is able to displace a component 121 relative to the body 101, see FIG. The cylinder 151 is mounted on the body 101, the piston rod 152 on the component 121. A ball bearing 161, 162, 163 prevents water ingress. In another embodiment, a compliant membrane (membrane souple 181, membrane 182) is mounted between component 121 and body 101, see Figures 2b and 2c.

In US6923105B1 describes an underwater running body (counter-measure device 10) with a cylindrical shell 12, which is able to destroy an attacking torpedo. A drive (thrusters 22), a weapon (gun 14) and several inflatable chambers (inflatable chambers 24) are mounted on the shell 12. Thanks to the comrades 24, the focus (center of mass) of the body 10 is close to the buoyancy point (center of buoyancy).

US3616775 discloses an underwater body having a movable component in the form of a bellows. The object of the invention is to provide an underwater body with the features of the preamble of claim 1 and a method with the features of the preamble of claim 14, which easily cause the movable component to be moved to the extended position and remain there. This object is achieved by an underwater body having the features specified in claim 1 and a method having the features specified in claim 14. Advantageous developments result from the dependent claims, the following description and the drawings.

• eine Hülle,
• einen beweglichen Bestandteil,
• ein Expansionsmittel und
• einen Hohlraum.

The underwater body according to the solution includes

• a case,
• a moving part
• an expanding agent and
• a cavity.

The moveable component is moveable relative to the shell from a retracted position to an extended position. When the moveable component is moved from the stowed to the deployed position, the volume of the underwater body is increased.

The expansion means is capable of directing a fluid into the cavity. The cavity is in operative connection with the movable component. The act of directing fluid into the cavity causes the moveable component to be moved to the extended position.

The fluid in the cavity hardens. The solidified fluid in the cavity holds the moveable component in the extended position.

The underwater body according to the invention can automatically change its volume. If the moveable component is in the stowed position, the underwater body has a smaller volume. If the moveable component is in the extended position, the underwater body has a larger volume. As a result, the underwater body meets the two conflicting requirements, namely that the underwater body should have the smallest possible volume during transport and a sufficiently large volume when used in the water. It is well known that the buoyancy experienced by a body in water is equal to the weight of the water displaced by the body. In many applications, the aim is for the buoyancy of an underwater body to be approximately equal to its weight, so that it is not necessary or only to a small extent to keep an underwater body at a desired water depth with the aid of an elevator. An elevator only changes the diving depth when the underwater body is moved, while a volume change also affects an underwater body that is not currently being moved through the water.

A further advantage of the invention is achieved in particular when the underwater body is to be jettisoned from an aircraft or a surface water vehicle. After hitting the water, the Underwater bodies reach a desired water depth. As long as the underwater body is in the water and above this water depth, the buoyancy should be less than the weight, so that the underwater body sinks. The invention enables the moveable component to be moved so that it adopts the deployed position upon reaching the desired water depth.

It is also possible that the underwater body performs a predetermined task with the movable component in the retracted position and then the movable component is moved into the extended position. The underwater body may have a desired hydrodynamic shape when the moveable component is in the stowed position. By moving the moveable component to the deployed position, the volume of the underwater body is increased such that the buoyancy is greater than the weight and the underwater body floats to the water surface where it can be collected again.

In addition, the movable component in the retracted position reduces in many cases the risk of the underwater body being damaged during transport or even when being dropped into the water.

According to the solution, the expansion means directs a fluid into the cavity. The cavity is in communication with the movable component. By introducing the fluid into the cavity, the moveable component is moved to the extended position. This feature avoids the need for an actuator, such as a linear electric motor or hydraulic piston-cylinder unit, to move the moving component. Such an actuator must be powered and must be mechanically coupled to the moving component. The expansion means need only be in fluid communication with the cavity. In many configurations, such a fluid connection can be established more easily than a mechanical connection between an actuator and the movable component. However, it is possible to combine the expansion means according to the solution with an actuator for the moving component.

According to the solution, the fluid hardens in the cavity. The solidified fluid holds the moveable component in the extended position. The solidified fluid prevents the pressure of the surrounding water from moving the moveable component away from the deployed position. The volume of the underwater body and thus essentially the buoyancy remain constant. These features result in a particularly simple design for holding the moveable component in the extended position. The fluid will self-solidify in the cavity without the need to measure any property of the fluid or act on the fluid in the cavity. It is possible, but not necessary thanks to the invention, for a locking unit to be activated and hold the movable component in the extended position. The mechanism to increase the volume of the underwater body therefore requires only a few components that are moved actively and in a controlled manner, in particular a component that triggers an introduction of the fluid into the cavity. The moving component itself can be designed as a purely passive component.

In one embodiment, the moveable component completely or at least partially surrounds the cavity. The expansion means thus directs the liquid fluid into a cavity inside the moving part. The introduction of fluid causes the moveable component to move relative to the sheath to the deployed position. The fluid solidifies inside the moveable component, thereby holding the moveable component in the extended position. This configuration enables a particularly compact design.

According to the invention, the cavity is connected to the movable component via a piston-cylinder unit. The cavity is formed in a chamber of the piston-cylinder unit. Thus, the expansion means directs the fluid into this chamber, the fluid in the chamber displaces the piston, the displacement of the piston displaces the movable component to the extended position, and the fluid solidifies in this chamber. This design allows it to arrange the further component spatially remote from the cavity for the fluid. The further component need not necessarily have a cavity. This refinement makes it easier to design the movable component and to adapt it to specified requirements, for example to a desired hydrodynamic shape of the underwater body.

In one embodiment, a flat element is mounted on the outside of the shell of the underwater body. The flat element is part of the movable component and can be pivoted relative to the cover. By pivoting the panel away from the shell, the panel is moved to an extended position and the volume of the underwater body is increased. The cavity is formed between the planar element and the outside of the shell. This configuration makes it easier to manufacture the shell of the underwater body from a single piece and/or to design it in such a way that the shell can withstand a predetermined water pressure. The space inside the shell is completely available for other components of the underwater body.

In one embodiment, the flat element completely surrounds the cavity. In another embodiment, the flat element only partially surrounds the cavity in the extended position. The hardened fluid in the cavity comes into contact with the environment, for example with the surrounding water.

In one embodiment, the shell of the underwater body extends along a longitudinal axis. The movable component can be moved relative to the shell along the longitudinal axis, ie in a direction of movement parallel to the longitudinal axis. The movable component can form a segment of the shell. It is possible for the moveable component to telescopically overlap the shell or the remainder of the shell when in the stowed position. A flexible seal may be placed between the moveable component and the shell or the remainder of the shell.

By sliding the moveable component along the longitudinal axis to the deployed position, the length and volume of the underwater body are increased enlarged. This configuration allows the diameter, or more generally any dimension, of the underwater body to remain constant in a plane perpendicular to the longitudinal axis, regardless of the position of the movable component. The hydrodynamic properties of the underwater body are not significantly altered when the moveable component is moved to the deployed position.

The movable component can be arranged in particular at the stern or at the bow of the hull of the underwater body. It is also possible for the movable component to be moved into the extended position in a direction perpendicular to or at an angle to the longitudinal axis.

The expansion means is preferably located inside the shell and in one embodiment outside the moveable component. The shell protects the expansion medium from environmental influences. If the expansion means is arranged outside the movable component, it will not be moved when the movable component is moved relative to the shell. As a result, only a smaller mass needs to be moved.

The fluid is in a liquid or gaseous state when it flows into the cavity and solidifies in the cavity. In one embodiment, the fluid is entirely on board the underwater body. In another embodiment, a substance on board the underwater body is directed into the cavity. The process of hardening of the fluid in the cavity is brought about, at least in part, by directing surrounding water into the cavity. The water in the cavity causes the substance in the cavity to harden. The fluid in the cavity hardens, for example, through a chemical process or through heating.

In one configuration, the fluid is an assembly foam and/or comprises polyurethane. It is possible to use a mounting foam that can also be used to seal buildings. This design obviates the need to prepare a special fluid. Instead, commercially available assembly foam can be used. The expansion means comprises at least one container, for example a cartridge with the mounting foam. By opening an opening of this or each cartridge, the mounting foam exits the cartridge and is directed into the cavity. The expansion means preferably comprises a number of cartridges, so that even if one cartridge fails, a sufficient amount of fluid is still available. Preferably the fluid in the or each cartridge is maintained in a liquid state under positive pressure. The or each cartridge is preferably a disposable container for the fluid.

In one embodiment, at least one container containing the fluid is produced in advance and placed in the underwater body. In another embodiment, the fluid or at least one component of the fluid is generated in the underwater body itself, for example by a chemical process.

After curing, the fluid in the cavity is mechanically stable. For example, at least prior to curing, the fluid comprises isocyanate and polyol in an aerosol mixture. Once the fluid leaves the container and is admitted into the cavity, the fluid foams and reacts with moisture in the air or with moisture on the interior walls of the cavity. It is also possible that the liquid fluid in the container comprises two different components that react with one another in the cavity, with one component acting as a crosslinking agent and/or as a hardener. These two components can be stored in two different containers and only react with each other in the cavity.

Preferably, fluid is admitted into the cavity simultaneously via multiple inlets. This design results in an even distribution of the fluid in the cavity compared to a design where the fluid flows into the cavity through only a single inlet.

According to the solution, the moveable component is moved to the extended position by the expansion means directing the fluid into the cavity. In one embodiment, an actuator additionally moves the movable component to the extended position relative to the shell. The combination of these two mechanisms to move the moving part saves time and creates redundancy. If one mechanism fails, the other mechanism alone brings about the desired increase in volume.

In one embodiment, a locking unit can be moved from a locking state to a release state. The locking unit includes, for example, a folding element and/or a wedge element. In the locked state, the locking unit locks the movable component. In the release state, the locking unit allows the moveable component to be moved relative to the shell. The locking unit in the locked state prevents unwanted movement of the movable component relative to the cover. It is possible that an actuator additionally functions as the locking unit or that a locking unit is used in addition to the actuator.

In a further development of this refinement, the locking unit holds the movable component in the retracted position. As a result, the locking unit in particular prevents the movable component from being unintentionally moved out of the retracted position when the underwater body is being transported. This ensures that the underwater body maintains its smallest possible volume during transport. It is also possible that the locking unit holds the movable component in the extended position.

In one embodiment, an actuator transfers the locking unit from the locking state to the release state. In another embodiment, the introduction of fluid into the cavity causes the locking unit to be brought into the release state, for example by the pressure of the fluid in the cavity forcing the locking unit into the release state or by breaking the locking unit so that it cannot longer performs the arresting function.

In one embodiment, a fluid sensor onboard the underwater body measures how much fluid is directed into the cavity. This fluid sensor measures a measure of the amount of fluid, such as a period of time or a pressure exerted by the fluid, or in In the case of a moving component with a flexible outer shell, a measure of the pressure exerted by the fluid on the outer shell. The expansion means directs fluid into the pod until a predetermined amount of fluid is in the pod. The expansion means works depending on signals from the fluid sensor. Once the predetermined amount of fluid is in the lumen, the expansion means ceases to direct fluid into the lumen. This refinement is one way of moving the movable component to a specific extended position and thus achieving a specific volume of the underwater body.

According to the solution, the movable component can be moved from the retracted to the extended position. Here, the movable component performs a movement relative to the shell. In one embodiment, a stop member limits possible movement of the moveable component away from the shell. This stop element thus defines the extended position of the movable component and consequently the maximum achievable volume of the underwater body. This configuration eliminates the need to monitor the inflow of fluid into the cavity and to control or regulate the amount of fluid trapped in order to achieve a desired deployed position of the moveable component and hence a desired volume of the underwater body. It is sufficient to introduce at least a predetermined quantity of fluid into the cavity and to allow it to harden there. The stop element limits the movement of the movable component even when the entire quantity of fluid is directed into the cavity. This refinement further reduces the number of actively moving components required and/or sensors of the underwater body.

In a further development of this embodiment, the stop element can be fixed in one position relative to the cover, with this position being selected from a number of possible positions. The process of fixing the stop element in a selected position can be carried out before the underwater body is used. By a specific position is selected and the stop element is fixed in this selected position, a volume of several possible Achieve volumes of the underwater body with the moveable component in the deployed position. This configuration leads to a particularly simple mechanism for achieving a desired volume and saves a controllable actuator, which holds the movable component in a desired position, and a fluid sensor. The configurations with the stop element and with an actuator or the fluid sensor can also be combined with one another.

In one embodiment, the moveable component is brought into the extended position after the underwater body has been jettisoned, for example from an aircraft or a surface water vehicle, and a predetermined period of time has then elapsed. In one embodiment, the underwater body automatically activates the expansion means, thereby automatically triggering the step of directing fluid into the cavity, in response to the detection of an event. A sensor is present on board the underwater body, which automatically detects this event. The event can be, for example, that the underwater body is in the water or that the underwater body is at a water depth that is greater than or equal to a predetermined water depth. For example, the sensor measures the pressure of the surrounding water. It is possible that the expansion means is activated after the sensor has detected the event and a predetermined period of time has elapsed. It is also possible that a timer is activated and the event detects that a predetermined period of time has elapsed since the activation of the timer. Detection of this event triggers the step of activating the expansion agent.

The configuration with the sensor makes it easier to carry out the volume increase in such a way that the underwater body with the increased volume is kept at a specific water depth. If the underwater body itself can measure the current water depth, then no time period needs to be specified, and the right time to increase the volume depends to a lesser extent on environmental conditions such as water currents and water temperature and salinity.

In one embodiment, the movable component is a rigid component or has at least one rigid outer shell. As a result, the movable component deforms only insignificantly when the underwater body is exposed to the water pressure under water. The underwater body essentially retains its hydrodynamic shape even at different diving depths.

In another embodiment, the movable component has a flexible outer shell, for example in the manner of a balloon or a windsock. This configuration makes it possible to store the flexible component with little space, for example inside the cover, as long as the flexible component is to remain in the retracted state. In order to bring the movable component into the extended position, the fluid is directed into the movable component. The introduced fluid expands the flexible outer shell, thereby increasing the volume of the moveable component, and then solidifies in the enlarged moveable component. For example, the fluid inflates the flexible outer shell and then hardens within the inflated outer shell.

The underwater body is designed to be deployed underwater and may be self-propelled or towed through the water by another vehicle. The underwater body can be designed for civil and/or military purposes and can include sensors and/or actuators.

In one embodiment, the underwater body can operate autonomously, i.e. without external commands. For example, the underwater body is an autonomous underwater vehicle (AUV) or a manned submarine. The underwater body automatically triggers the step of the expansion means directing the fluid into the cavity.

In another embodiment, the underwater body is designed to receive adjustment commands from a spatially distant platform, for example from a surface ship or an aircraft. The underwater body is for example, a remotely operated unmanned underwater vehicle (ROV), an underwater robot, an underwater glider, or an underwater vehicle, such as a torpedo, controlled via a fiber optic cable. Such a command causes, for example, that the expansion means directs the fluid into the cavity. The adjustment commands are transmitted wirelessly, in particular via underwater communication, or via a cable from the remote platform to the underwater body.

In one possible application, the underwater body is dropped from an aircraft, for example a helicopter or an airplane, and falls into the water. The aircraft transports the underwater body to a desired location. In another possible application, the underwater body is launched into the water from a platform in the water, for example from a surface ship or a stationary platform in the water. The moveable component is in the stowed position while the underwater body is being transported by the aircraft or watercraft so that the underwater body has the smallest possible volume during transport. The discarded underwater body sinks in the water. After the underwater body is completely in the water and has reached a predetermined water depth, for example, the movable component is brought into the extended position and the volume of the underwater body in the water is increased, so that the buoyancy acting on the underwater body is also increased.

In one embodiment, the underwater body now has such a volume that the weight of the displaced water is approximately equal to the weight of the underwater body and the underwater body is approximately floating in the water. In another embodiment, the weight of the displaced water is greater than the weight of the underwater body, so that the underwater body rises to the water surface again and can be collected.

• Fig. 1 eine stark schematische Schnittdarstellung eines Unterwasserkörpers mit einer Klapphülle;
• Fig. 2 eine stark schematische Schnittdarstellung eines Unterwasserkörpers mit einem verschiebbaren Hüllensegment im vorderen Bereich des Unterwasserkörpers;
• Fig. 3 eine stark schematische Schnittdarstellung eines Unterwasserkörpers mit einem herausschiebbaren Hüllensegment und einen daran angeordneten Propellerantrieb.

The underwater body according to the invention is explained in more detail below with reference to three exemplary embodiments illustrated in the drawings. Here show:

• 1 a highly schematic sectional view of an underwater body with a folding cover;
• 2 a highly schematic sectional view of an underwater body with a sliding shell segment in the front area of the underwater body;
• 3 a highly schematic sectional view of an underwater body with a sheath segment that can be pushed out and a propeller drive arranged thereon.

The three figures show an underwater body 101, 201, 301 moving in a direction of travel from left to right.

In 1 a first embodiment of the invention is shown. An underwater body 101 has a shell 103 . A hinged cover 107 is arranged on the outside of the cover 103 . The folding cover 107 is segmented and preferably arranged all the way around a longitudinal axis of the underwater body 101 and is attached to the cover 103 of the underwater body 101 by means of rotary joints 109 . The swivel joints 109 are connected to a servomotor 111 . Inside the underwater body 101 there is a first assembly foam cartridge 113, a second assembly foam cartridge 115, a third assembly foam cartridge 117 and a fourth assembly foam cartridge 119 on an underside and an upper side, ie a total of eight cartridges. A respective outlet of the respective assembly foam cartridges 113, 115, 117 and 119 is led out through the shell 103 of the underwater body 101 and is located between the hinged shell 107 and the outside of the shell 103. The cartridges 113 to 119 belong to the expansion means of the first embodiment.

Furthermore, the expansion means includes a component which keeps the mounting foam 121 in the cartridges 113 to 119 in a liquid or foamy state and thus prevents the mounting foam 121 from already being in a Cartridge hardens 113 to 119, which is unintentional. The underwater body 101 has a propeller drive 105 at the stern.

While the underwater body 101 is being transported in an aircraft, for example, the folding cover 107 is in a transport position in which the flap 107 is in direct contact with the cover 103 of the underwater body. The hinged cover 107 is locked in this folded position by means of a predetermined breaking bracket (not shown). The underwater body 101 is dropped from the aircraft (not shown) into the sea or another body of water at the planned place of use and is immersed in the water.

The underwater body 101 is automatically transferred from the transporting position to a traveling position when a predetermined event has occurred. 1 shows the folding cover 107 in this driving position. This predetermined event occurs, for example, when a predetermined period of time has elapsed since the aircraft was dropped. Or a sensor (not shown) of the underwater body 101 detects the event that the underwater body 101 has reached the water, and the predetermined event occurs when a predetermined time elapses after this detection. Or a depth sensor on board the underwater body 101 measures the current diving depth of the underwater body 101 sinking in the water and in the transport position. As soon as the measured current diving depth matches a predetermined diving depth, the step is automatically triggered, the underwater body from the transport position into the driving position.

The following steps are carried out during the transition from the transport position to the driving position: The servomotor 111 releases the swivel joints 109 . The four assembly foam cartridges 113, 115, 117 and 119 are activated. For example, an opening in a cartridge 113 to 119 is opened in each case. As a result, assembly foam 121 is released from the assembly foam cartridges 113, 115, 117 and 119, for example because the liquid assembly foam 121 in the cartridge 113 to 119 was under overpressure. The release of the mounting foam 121 causes that the predetermined breaking bracket breaks and the lock is thereby released. The released mounting foam 121 presses against the flap 107. In addition, the servomotor 111 pivots the folding shell 107 away from the shell 103 of the underwater body 101. These two combined effects move the flap 107 away from the shell 103 and unfold it to its maximum position. A hollow space is formed between the unfolded folding cover 107 and the cover 103 . This cavity is filled with assembly foam 121. The mounting foam 121 hardens and thereby permanently locks the hinged sleeve 107 in place. The hinged sleeve 107 now has the shape of a truncated cone which surrounds the sleeve 103 . The diameter of the folding sleeve 107 increases in a direction toward the stern of the underwater body 101, so that a favorable hydrodynamic shape is still achieved.

Because the folding hull 107 is permanently held in the maximum position, the volume of the underwater body 101 is permanently increased. It is also possible that the hinged cover 107 is pivoted out only to an intermediate position and the mounting foam 121 holds the hinged cover 107 in this intermediate position. In one embodiment, the position in which the folding cover 107 is to be unfolded and locked is set in advance in a control program. This position can depend on a desired water depth and/or on the water temperature. In another embodiment, a stop element (not shown) limits the possible movement of the folding shell 107 away from the shell 103. In a preferred embodiment, this stop element can be fixed in one of several possible positions, so that a selected one of several possible volumes of the underwater body 101 is achieved.

In a modification, each folding cover 107 is connected to a respective spring element. This spring element strives to keep the folding cover 107 in the transport position, ie in the position in which the folding cover 107 is in contact with the cover 103 of the underwater body 101 . The released mounting foam 121 pivots the hinged cover 107 away from the cover 103 against the spring force of this spring element. The position reached by the swung-out hinged cover 107 depends on the one hand on the spring force and on the other hand on the amount of assembly foam 121 released. At least one of these two parameters can be adjusted depending on a desired water depth and/or the water temperature.

2 shows a second embodiment of the invention. The underwater body 201 comprises a shell 203 and a propeller drive 205. The shell 203 of the underwater body 201 comprises a sequence of four shell segments, namely seen in the direction of travel from left to right a first shell segment 223, a second shell segment 225, a third shell segment 227 and a fourth shell segment 229. A first assembly foam cartridge 213 and a second assembly foam cartridge 215 are attached to the shell 203, for example to the first shell segment 223. One outlet each of the cartridge 213 and 215 leads into the interior of the second shell segment 225. The second shell segment 225 can be displaced along the longitudinal axis of the underwater body 201 relative to the third shell segment 227 . An optional linear motor 231 can move the second shell segment 225 relative to the shell 203 . A guide device (not shown) preferably guides the second sleeve segment 225 during a movement relative to the third sleeve segment 227.

In the transport position, the second, displaceable sleeve segment 225 is slid over the third sleeve segment 227 , for example telescopically, so that the second sleeve segment 225 partially overlaps the third sleeve segment 227 . The second shell segment 225 partially abuts the first shell segment 223 . Thus, the underwater body 201 has a compact shape with the smallest possible length and volume. A flexible seal is preferably arranged between the second shell segment 225 and the third shell segment 227 . A flexible seal is preferably also arranged between the second sleeve segment 225 and the first sleeve segment 223 . These flexible seals also retain their sealing effect when the second shell segment 225 moves.

As soon as the event described above has occurred, the underwater body 201 is automatically transferred to a travel position. 2 shows the underwater body 201 in this driving position. The following steps are carried out during the transfer: Mounting foam 221 emerges from the first mounting foam cartridge 213 and the second mounting foam cartridge 215 . The exiting mounting foam 221 causes the second shell segment 225 to be displaced away from the third shell segment 227 . This increases the length and volume of the underwater body 201 . In addition, the linear motor 231 optionally moves the second shell segment 225. It is possible that a gas, for example compressed air, is also admitted into the second shell segment 225 and also contributes to the displacement of the second shell segment 225. By sliding the second shell segment 225 , a cavity is formed inside the second shell segment 225 . The mounting foam 221 flows into the second shell segment 225 and hardens there. The cured mounting foam 221 prevents water from entering the hollow interior of the second shell segment 225 .

In one embodiment, the first segment 223 is firmly connected to the second shell segment 225 and is also shifted away from the third shell segment 227 . In another embodiment, the diameter of the second shell segment 225 is larger than the diameter of the first shell segment 223. This increases the volume of the underwater body 201 even when the first shell segment 223 is firmly connected to the third shell segment 227.

In both configurations, the exiting assembly foam 221 hardens in the cavity created and thereby fixes the displaceable second shell segment 225 relative to the third shell segment 227. The amount by which the volume is increased depends on the amount of released assembly foam 221, which can be adjusted. In one embodiment, the linear motor 231 and/or a stop element (not shown) limit the possible movement of the second sleeve segment 225 away from the third sleeve segment 227 and thereby determine the amount of the increase in volume.

In 3 a third embodiment of the invention is shown. The underwater body 301 has a shell 303, which in a sequence of five Shell segments is divided, namely in a first shell segment 323, a second shell segment 325, a third shell segment 327, a fourth shell segment 329 and a fifth shell segment 333. The fifth shell segment 333 is arranged at the stern of the underwater body 301 and carries the propeller drive 305. On its On the bow side, the fifth hull segment 333 is connected to a first assembly foam cartridge 313 and a second assembly foam cartridge 315 . The cartridges 313 and 315 are mounted on the rear wall of the fourth segment 329 and their outlets lead into the fifth shell segment 333. The first four shell segments 323-329 are rigidly connected to each other. The fifth shell segment 333 encloses a hollow interior and is slidable relative to the fourth shell segment 329 along the longitudinal axis of the underwater body 301 backwards. A guide device preferably guides the fifth casing segment 333 when it moves relative to the fourth casing segment 329.

When the underwater body 301 is in the transport position, the fifth shell segment 333 is pushed into the fourth shell segment 329 . A locking wedge, not shown, locks the fifth sleeve segment 333 in this position. The propeller drive 305 rests directly on the rear end of the fourth hull segment 329 .

3 shows the underwater body 301 in the driving position. In order to move the underwater body 301 into the driving position, the following steps are carried out: The locking of the fifth shell segment 333 is released. The assembly foam 321 is released from the first assembly foam cartridge 313 and the second assembly foam cartridge 315 . The released mounting foam 321 penetrates into the cavity inside the fifth shell segment 333 . The released mounting foam 321 thereby exerts pressure on the fifth shell segment 333 . This pressure pushes the fifth shell segment 333 together with the propeller drive 305 out of the fourth shell segment 329, specifically away from the fourth shell segment 329. The released mounting foam 321 fills the cavity in the fifth shell segment 333 completely or at least partially sets and hardens. This permanently fixes the fifth shell segment 333 in the extended position.

In one embodiment, the optional linear motor 331 additionally pushes the fifth shell segment 333 away from the fourth shell segment 329. It is possible that a gas, for example compressed air, is also introduced into the fifth shell segment 333. In one embodiment, the linear motor 331 and/or a drive element (not shown) limits the linear movement of the fifth shell segment 333 away from the fourth shell segment 329. Again, the amount of volume increase can be adjusted by increasing the amount of mounting foam 321 released and/or the distance , via which the linear motor 331 moves the fifth shell segment 333, is adjusted accordingly or by the stop element being fixed accordingly. Reference sign 101 Underwater body of the first embodiment 103 Shell of the underwater body 101 105 Propeller drive of the underwater body 101 107 Hinged hull pivotally mounted to hull 103 by pivot 109 109 Pivot joint in which flap 107 is pivotally mounted to shell 103 111 Servomotor is able to pivot the folding cover 107 113 first assembly foam cartridge, assembled inside the case 103 115 second cartridge of mounting foam, mounted inside the case 103 117 third mounting foam cartridge, mounted inside the shell 103 119 fourth cartridge of mounting foam, mounted inside the shell 103 121 Mounting foam from the four cartridges 113 to 119 201 Underwater body of the second embodiment 203 Shell of the underwater body 201 205 Propeller drive of the underwater body 201 213 first assembly foam cartridge mounted in the first hull segment 223 215 second assembly foam cartridge, assembled in the first hull segment 223 221 Mounting foam from the two cartridges 213 and 215 223 first shell segment of shell 203 225 second, movable shell segment of shell 203 227 third shell segment of shell 203 229 fourth shell segment of shell 203 231 Linear motor for moving the second shell segment 225 301 Underwater body of the third embodiment 303 Hull of the underwater body 301 305 Propeller drive of underwater body 301 mounted on fifth hull segment 333 313 first assembly foam cartridge, assembled in the fourth hull segment 329 315 second assembly foam cartridge mounted in the fourth hull segment 329 321 Mounting foam from the two cartridges 313 and 315 323 first hull segment of hull 303 325 second shell segment of shell 303 327 third shell segment of shell 303 329 fourth shell segment 331 Linear motor for moving the fifth shell segment 333 333 fifth, slide-out hull segment, carries the propeller drive 305

Claims (15)

1. An underwater body (101, 201, 301) having

   - a shell (103, 203, 303),

   - a movable component (107, 225, 333),

   - an expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) and

   - a hollow space,

   wherein the movable component (107, 225, 333) is movable

   - relative to the shell (103, 203, 303) from a retracted into an extended position and

   - is operatively connected to the hollow space,

   wherein the volume of the underwater body (101, 201, 301) with the movable component (107, 225, 333) in the extended position is greater compared to the volume which the underwater body (101, 201, 301) comprises with the movable component (107, 225, 333) in the retracted position, and

   wherein the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) is designed for the purpose of

   - conducting a fluid (121, 221, 321) into the hollow space and,

   - as a result, of moving the movable component (107, 225, 333) into the extended position,

   wherein
   the underwater body (101, 201, 301) is designed such that

   - the fluid (121, 221, 321) in the hollow space hardens and

   - the hardened fluid (121, 221, 321) holds the movable component (107, 225, 333) in the hollow space in the extended position;.

   characterized in that

   the hollow space is connected to the movable component (107, 225, 333) via a piston cylinder unit and

   the hollow space is formed in a chamber of the piston cylinder unit such that the expansion means conducts the liquid fluid into the chamber as to displace a piston of the piston-cylinder unit.
2. The underwater body (101, 201, 301) as claimed in claim 1,
   characterized in that
   the movable component (107, 225, 333) surrounds the hollow space fully or at least in part.
3. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the movable component (107, 225, 333) includes a flat element (107),

   wherein the flat element (107) is mounted so as to be pivotable on the outside of the shell (103, 203, 303) and

   wherein the hollow space is formed between the flat element (107) and the shell (103, 203, 303).
4. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the movable component (107, 225, 333) surrounds the hollow space fully and comprises a flexible outer shell,

   wherein the introduction of fluid (121, 221, 321) into the hollow space causes the volume of the space surrounded by the flexible outer shell to be increased.
5. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the shell (103, 203, 303) extends along a longitudinal axis and

   the movable component (107, 225, 333) is displaceable along the longitudinal axis relative to the shell (103, 203, 303),

   wherein the length of the underwater body (101, 201, 301) with the movable component (107, 225, 333) is greater in the extended position than the length with the movable component (107, 225, 333) in the retracted position.
6. The underwater body (101, 201, 301) as claimed in claim 5,

   characterized in that

   the underwater body (101, 201, 301) is designed for the purpose of being moved through the water in a direction of travel,

   wherein the movable component (107, 225, 333) is arranged at the stern of the shell (103, 203, 303).
7. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the fluid (121, 221, 321) is an assembly foam and

   the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) includes at least one container (113, 115, 117, 119, 213, 215, 313, 315) with the assembly foam,

   wherein the assembly foam is designed such that it hardens outside the container (113, 115, 117, 119, 213, 215, 313, 315).
8. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) additionally includes an actuating drive (111, 231, 331),

   which is designed for the purpose of moving the movable component (107, 225, 333) into the extended position.
9. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

   characterized in that

   the underwater body (101, 201, 301) includes a locking unit,

   wherein the locking unit locks the movable component (107, 225, 333) in a locking state and

   the locking unit enables the movable component (107, 225, 333) to move relative to the shell (103, 203, 303) in a release state.
10. The underwater body (101, 201, 301) as claimed in claim 9,
    characterized in that
    the locking unit locks the movable component (107, 225, 333) in the retracted position in the locking state.
11. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

    characterized in that

    the underwater body (101, 201, 301) includes a fluid sensor which is designed for the purpose of measuring a measurement for the amount of fluid (121, 221, 321) conducted into the hollow space and

    the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) is designed for the purpose of terminating the introduction of fluid (121, 221, 321) into the hollow space when a predefined amount of fluid (121, 221, 321) is conducted into the hollow space.
12. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

    characterized in that

    the underwater body (101, 201, 301) includes a stop element,

    wherein the stop element delimits the movement of the movable component (107, 225, 333) into the extended position,

    particularly, wherein
    the stop element is fixable in one of multiple possible positions.
13. The underwater body (101, 201, 301) as claimed in one of the preceding claims,

    characterized in that

    the underwater body (101, 201, 301) includes a sensor which is designed for detecting at least one of the events where

    - the underwater body (101, 201, 301) is situated in the water or

    - the underwater body (101, 201, 301) has reached a predefined water depth in the water and

    the underwater body (101, 201, 301) is designed for the purpose of activating the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) automatically as a reaction to the detection of the event.
14. A method for operating an underwater body according to one of the preceding claims 1-13 (101, 201, 301),

    wherein the underwater body (101, 201, 301) includes

    - a shell (103, 203, 303),

    - a movable component (107, 225, 333),

    - an expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) and

    - a hollow space,

    wherein the movable component (107, 225, 333) is movable

    - relative to the shell (103, 203, 303) from a retracted into an extended position and

    - is operatively connected to the hollow space,

    wherein the method includes the steps where

    - the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) conducts a fluid (121, 221, 321) into the hollow space,

    - the movable component (107, 225, 333) is moved from the retracted into the extended position as a result of the introduction of the fluid (121, 221, 321) and

    - as a result, the volume of the underwater body (101, 201, 301) is increased,

    characterized in that

    the fluid (121, 221, 321) in the hollow space hardens and

    the hardened fluid (121, 221, 321) holds the movable component (107, 225, 333) in the extended position in the hollow space.
15. The method as claimed in claim 14,

    characterized in that

    the underwater body (101, 201, 301) with the movable component (107, 225, 333) in is transported in the retracted position outside the water to a site of use,

    the underwater body (101, 201, 301) is exposed in the water,

    the underwater body (101, 201, 301) sinks down in the water and

    the step where the expansion means (111, 113, 115, 117, 119, 213, 215, 231, 313, 315, 331) conducts the fluid (121, 221, 321) into the hollow space is triggered whilst the underwater body (101, 201, 301) sinks down in the water or floats in the water.

Images