EP3652063A1

EP3652063A1 - Underwater vehicle, which swivels a drive upon immersion into a body of water

Info

Publication number: EP3652063A1
Application number: EP18740206.0A
Authority: EP
Inventors: Dennis Meyer; Detlef Lambertus
Original assignee: Atlas Elektronik GmbH
Current assignee: Atlas Elektronik GmbH
Priority date: 2017-07-12
Filing date: 2018-07-12
Publication date: 2020-05-20
Also published as: DE102017115606A1; US11046402B2; US20200223519A1; WO2019012049A1

Abstract

The invention relates to an underwater vehicle (101) and to a method for operating an underwater vehicle (101). A first propulsion element (111, 113) is arranged on a first swivel holder (117, 119). A first drive motor (115, 116) can drive the first propulsion element (111, 113). A swivel mechanism (109, 123, 124, 131) can move the first swivel holder (117, 119) from a swiveled-in position to a swiveled-out position, relative to an outer shell (102) of the underwater vehicle (101). The underwater vehicle (101) can automatically discover a specified occurrence under water. As a response to the discover of said occurrence, the underwater vehicle (101) activates the swivel mechanism (109, 123, 124, 131). The activated swivel mechanism (109, 123, 124, 131) moves the first swivel holder (117, 119) to the swiveled-out position.

Description

Underwater vehicle, which pivots a drive when submerged in a body of water

The invention relates to an underwater vehicle with an outer shell and a pivot holder which is movable relative to the outer shell between a pivoted-in and a pivoted-out position. In the pivoted position, the underwater vehicle can be transported. In the swung-out position, a propulsion element on the swivel mount moves the underwater vehicle through the water.

In US 61 18066 an unmanned underwater vehicle (unmanned, autonomous, undersea platform 10) is described which can be dropped by a ship (surface vessel 50) or an aircraft (airborne vessel 60) and can travel through the water. This underwater vehicle 10 has an outer shell (outer hull 10a) and its own drive, namely outlets (thruster outlet ports 30 and 32) for nozzles and batteries.

From US 20170137101 A1 also an unmanned underwater vehicle (submersible craft 90) is known, which has a shell (hull of the vessel) and a drive (thruster assembly 12) with a propeller (propeller shroud 22) and a motor (motor section 20). having. The drive can be moved relative to the shell between a pivoted and a swung-out position back and forth. A pivot mechanism moves according to the drive, see Figure 4 and Figure 10.

GB 2281538 A shows an unmanned submersible mine clearing vehicle 1 with two propellers 4A and 4B, each mounted on a pivotally mounted arm (outrigger arms 5A and 5B). In each case an actuator (actuators 9) is able to rotate a shaft (1 1 A, 1 1 B) and thereby an arm 5A, 5B together with the propeller 4A, 4B relative to the shell of the underwater vehicle 1 between a retracted and an extended position and to move, see Figure 1A and Figure 1 B. The object of the invention is to provide an underwater vehicle with the features of the preamble of claim 1 and a method having the features of the preamble of claim 21, which can be transported with reduced risk of damage and which automatically after exposure to a body of water a predetermined task to carry out.

This object is achieved by an underwater vehicle having the features specified in claim 1 and a method having the features specified in claim 21. Advantageous developments emerge from the subclaims, the following description and the drawings.

The underwater vehicle according to the invention comprises

- an outer shell,

a first pivot holder,

a first driving element,

- A first drive motor and

- a swivel mechanism.

The outer shell extends along a longitudinal axis. The first propulsion element is able to move the underwater vehicle through the water and is arranged on the first pivot holder. The first drive motor is able to drive the first drive element.

The first pivot holder is movable relative to the outer shell, between a pivoted and a swung-out position. These two positions can also be referred to as collapsed or unfolded state. Between the driving element and the longitudinal axis of the outer shell occurs at a distance. This distance depends on the position of the first pivot holder. When the first pivot holder is in the pivoted position, this distance is greater than when the first pivot holder is in the pivoted position. The pivoting mechanism is capable of moving the first pivoting bracket from the pivoted-in pivoted position, at least when the underwater vehicle is underwater.

The underwater vehicle can automatically detect underwater a given event. In response to the discovery of this predetermined event, the underwater vehicle can automatically and underwater activate the swivel mechanism. Activation of the pivot mechanism causes the first pivot bracket to be moved from the pivoted to the pivoted position.

By the method according to the solution, a solution underwater vehicle can be operated. The method comprises the following steps:

- The underwater vehicle is transported outside the water to a predetermined location. During this transport, the first pivot holder is in the pivoted position.

- The underwater vehicle is put into the water. During this step, the first pivot holder remains in the pivoted position.

- During or after the submersible has been launched into the water, the submersible automatically detects a predetermined event.

- In response to the discovery of this event, the underwater vehicle automatically and underwater activates the swivel mechanism.

- The activated swivel mechanism moves the first swivel holder to the swung-out position.

According to the solution, the distance between the first drive element and the longitudinal axis is less in the pivoted-in position than in the swung-out position. As a result, the underwater vehicle takes up less space in the pivoted-in position than in the pivoted-in position. This makes it easier to transport the underwater vehicle to a job site. In particular, on board an aircraft or surface vehicle, which is used for transport, often only little space is available. The pivoted position also reduces the risk that the first propulsion element protrudes far beyond the outer shell and therefore injures a living being during transport or collides with an object outside the submersible.

In some applications, it is necessary to transport the submersible with an aircraft, such as a helicopter, an airplane, an airship or a balloon, to a site and drop it. This is particularly necessary when a coast is poorly accessible both from land and from water, a land-based plow can not be installed and a floating transport platform can not be used, for example due to waves or rocks. The underwater vehicle according to the invention with the first pivoting holder in the pivoted-in position takes up less space on board the aircraft and therefore facilitates transport through the air.

The invention further makes it possible for the first pivot holder to remain in the pivoted-in position and therefore for the first drive element to have the smaller distance to the longitudinal axis when the underwater vehicle is lowered into the water. In particular, when the underwater vehicle is dropped from a greater height into the water, considerable forces can occur when the dropped underwater vehicle from above impinges on the water surface. In particular, there is a risk that a propeller or other component of the first propulsion element is bent or otherwise damaged or even destroyed on impact with the water surface. The pivoted position reduces the risk of damaging the first drive element or the first drive motor or the first pivot holder. The attack surface when hitting the water surface and thus the risk of damage is reduced because of the pivoted position.

According to the solution, the underwater vehicle can detect a given event automatically and underwater. The underwater vehicle activates in response to the underwater vehicle detecting this event automatically the pivoting mechanism and moves the first pivot bracket together with the first propelling element in the pivoted position. Thanks to this configuration, the underwater vehicle can operate fully autonomously after being exposed to water. The invention eliminates the need to provide a data link between the underwater vehicle and a remote platform, such as the aircraft or surface vehicle, which transports the underwater vehicle of the present invention to the jobsite. A data connection via a cable can limit the use of the underwater vehicle under water or even the remote platform. Underwater wireless communication often only achieves a limited data transfer rate and can be disturbed. The underwater vehicle according to the solution is able to activate the swivel mechanism even without such a data connection.

The invention makes it possible to adapt the predetermined event to be discovered to a desired use of the underwater vehicle. For example, the swivel mechanism is allowed to move the first swivel holder to the swung-out position in response to the event that the underwater vehicle has reached or has sunk to a certain depth of water. It is not necessary to adjust the height from which the underwater vehicle is dropped to a desired use of the underwater vehicle. In addition, it is not necessary to measure in advance an environmental condition that occurs underwater in a given underwater vehicle application area, and to use this measured environmental condition to launch the underwater vehicle or program the underwater vehicle accordingly. Rather, the solution underwater vehicle automatically determines when the swing mechanism is to activate, and then activates it.

The pivoting mechanism is capable of moving the first pivoting holder from the swiveled-in position to the swung-out position, thereby increasing the distance between the first driving element and the longitudinal axis. It is possible that the longitudinal axis extends through the first drive element when the first pivot holder is in the pivoted position. In one embodiment, the first pivot holder can be rotated about an axis or otherwise pivot, this pivot axis is preferably perpendicular to the longitudinal axis of the outer shell. In another embodiment, the length of the first pivot holder can be changed. The pivot mechanism is configured in this embodiment to increase the length of the first pivot holder and thereby move the first pivot holder in the pivoted position. These two configurations can be combined.

According to the solution, the pivoting mechanism is able to move the first pivoting holder from the swiveled-in position to the swung-out position. In one embodiment, the pivoting mechanism may again move the first pivoting holder from the pivoted-out position to the pivoted-in position. In another embodiment, the pivot mechanism is only able to move the first pivot holder into the pivoted position only once.

In a preferred embodiment, the pivoting mechanism comprises an expansion means and a mechanical transmission device. In response to the discovery of the event, the underwater vehicle automatically activates the expansion agent. The expansion means causes a movement of the transmission device. The movement of the transmission means causes the first pivot holder to be moved from the pivoted to the pivoted position.

This embodiment divides the pivoting mechanism into two components, namely the activatable expansion means and the mechanical transmission device.

The activatable expansion means can be designed so that it occupies little space before activation and is arranged completely inside the outer shell. This reduces the risk that the expansion agent is already activated during transport or when the underwater vehicle is put into the water, which is undesirable. The outer shell also protects the expansion agent from mechanical damage. It is possible to design the expansion means for a single use, so that the expansion means once causes a movement of the transmission device.

The transmission device can be designed as a purely passive mechanical transmission device which, in particular, does not need to be actively activated and can be configured exclusively for converting a movement of the activated expansion means into a movement of the first pivoting holder.

In one embodiment, the transmission device is linearly movable relative to the outer shell or comprises a linearly movable component. This embodiment makes it particularly well to guide the transmission device, for example by guide rails or other guide device, and thereby to cause with greater certainty that the first pivot holder is actually moved into the swung-out position. The transmission device comprises, for example, a piston which is linearly movable in an inside hollow cylinder. The cylinder guides the piston.

In one embodiment, a movement of the transfer device is transferred to the first pivot holder as follows: A guide surface of the transfer device is perpendicular or oblique on the longitudinal axis of the underwater vehicle and / or obliquely to the direction of movement, in which the transfer device is moved after activation of the expansion means. A component of the first pivot holder is in mechanical contact with this guide surface. A movement of the transmission means causes the first pivot holder to be moved to the pivoted position. The component of the first pivot holder, which is in contact with the guide surface, can move relative to the inclined guide surface. This will prevent the component from moving, causing the first pivot bracket to jam or jam. These Design makes it possible to transmit a linear movement of the transmission device in a pivoting movement of the first pivot holder.

In one embodiment, the transmission device comprises a piston which is linearly movable relative to the outer shell. In the surface of the piston facing the first pivoting holder, a conical or conical incision is formed. This incision provides the oblique guide surface.

In one embodiment, the transmission device is arranged in a cavity. This cavity is surrounded by a hollow body. The hollow body is located inside the outer shell. This embodiment protects the transmission device particularly well against mechanical damage.

The expansion means may be an actuator, in particular a linear motor or a servomotor. A linear motor can cause a linear movement of a driven component, here the transmission device. A servomotor can effect a controlled rotational movement.

The expansion means may comprise a propellant charge, for example a powdered propellant charge. This propellant charge is ignited to activate the expansion agent. The propellant takes up little space.

In one embodiment, the expansion means causes a fluid to flow into a cavity. This cavity is surrounded by a hollow body, which is arranged in the interior of the outer shell. This fluid is preferably in operative connection with the transfer device and causes the movement of the transfer device. The use of a fluid makes it possible in many applications to arrange the expansion agent in a particularly space-saving manner inside the underwater vehicle.

In one embodiment, the water surrounding the underwater vehicle after insertion into the water is used as the or a fluid. For example, a flap in the outer shell of the underwater vehicle is opened, and the Water pressure and in one embodiment additionally a pump press the penetrating water into a cavity. The penetrating water moves the transmission device. It is also possible that the inflowing water triggers a chemical process, which moves the transmission device. This configuration eliminates the need to provide the fluid aboard the underwater vehicle.

In another embodiment, the fluid is provided in a container aboard the underwater vehicle. The container stores this fluid, preferably under pressure. It is also possible that the fluid is a chemical substance or a composition of several chemical substances. Activation of the expansion agent causes a process to be initiated which produces heat and / or results in a volumetric expansion of the fluid. To activate the expansion agent, a closure for an outlet of the container is opened. This outlet leads into the cavity. When the closure is open, the fluid flows into the cavity, where it causes the displacement or other movement of the transmission device.

The fluid may be a gas which is stored under positive pressure in the container and expands as it flows into the cavity. In one embodiment, the fluid cures in the cavity, so it is mechanically stable only after a curing time in the cavity. For example, the fluid is a mounting foam, which may comprise polyurethane. As a result of this configuration with the hardening fluid, the transfer device is held in an end position. As a result, the first pivot holder is held in the swung-out position. It is prevented that the first pivot holder, for example due to the flow of the surrounding water is again moved away from the swung-out position. The cured fluid produces this desired effect without the need for an additional locking unit. So the fluid has two effects: It moves the transmission device. It holds the first pivot holder in the swung-out position. After curing, the fluid is mechanically stable in the cavity according to this embodiment. At least prior to curing, the fluid includes, for example, isocyanate and polyol in an aerosol mixture. Once the fluid has left the container and has been let into the cavity, the fluid foams up and reacts with the moisture of the air or with the moisture on the interior walls of the cavity. It is also possible that the liquid fluid in the container comprises two different components which react with each other in the cavity, wherein the one component acts as a crosslinker and / or as a hardener. These two components can be stored in two different containers and only react with each other in the cavity.

In a further embodiment, the pivoting mechanism comprises an expansion means and a transmission device. The expansion means comprises a cavity that is in fluid communication with the outer shell and can be closed by a closure. The expanding agent further comprises a substance that is in the cavity and expands or otherwise chemically reacts when it comes into contact with water. Therefore, the expanding means moves the transfer means when water comes in contact with the substance in the cavity. To activate the expansion agent, the closure for the fluid connection is opened. When the underwater vehicle is then in the water, the surrounding water enters the cavity through the opened fluid connection and triggers the chemical reactions.

In one embodiment, the underwater vehicle comprises a locking unit, which can be moved from a release position to a locking position. In the release position, the locking unit allows the first pivot bracket to be moved. In the locked position, the locking unit mechanically locks the first pivot holder and thus prevents movement of the first pivot holder. The locking unit can act directly on the first pivot holder or on a part of the pivoting mechanism, for example on the transmission device. The locking unit comprises a movable locking body, for example a Wedge element, a detent, a safety pin, a folding element, a clamping unit or a clamping unit.

In a further development of this embodiment, this locking unit is able to lock the first pivot holder in the pivoted position. In order for the locking unit prevents the first pivot holder is unintentionally moved from the pivoted position during transport or when exposing the underwater vehicle. In another development, the locking unit is able to lock the first pivot holder in the swung-out position. Thus, the locking unit ensures that the first pivot holder remains in the pivoted position when the first drive element moves the underwater vehicle through the water.

The first propelling element may comprise a propeller or a water nozzle. The first drive element is preferably a machine which absorbs mechanical work and delivers it at least partially in the form of flow energy to a surrounding fluid. The first drive element is preferably rotatably arranged on the first pivot holder. The axis of rotation of the first drive element may coincide with a longitudinal axis of the first pivot holder or be obliquely on this pivot holder longitudinal axis.

The first drive motor is preferably a machine which converts electrical, chemical or thermal energy into kinetic energy and thereby drives the first drive element.

In one embodiment, the first drive motor and the first drive motor is mounted on the first pivot holder in addition to the first drive element. The first drive element and the first drive motor are moved together with the first pivot holder in the pivoted position. This embodiment avoids the need to arrange a motor outside the first pivot bracket and to make a drive connection between this motor outside the first pivot bracket and the first drive element on the first pivot bracket. This drive connection could often not follow a movement of the first pivot holder. In one embodiment, the first drive motor on the first pivot holder is an electric motor. A voltage source for supplying this electric motor is located in an embodiment outside of the first pivot holder, for example in the outer shell, and does not need to be pivoted with. A flexible electrical connection between the voltage source and the first drive motor is able to follow a movement of the first pivot holder. In a deviation, the voltage source for supplying this electric motor is arranged on the first pivot holder. This embodiment saves a connection between a voltage source outside the first pivot holder and the first drive motor on the pivot holder.

In one embodiment, the first propulsion element is arranged at the stern of the underwater vehicle and pushes the underwater vehicle in front of him. Seen in a line of sight parallel to the longitudinal axis to the rear to the first drive element is completely or at least partially within the contour of the outer shell, even if the first pivot holder is in the pivoted position. The first drive element is therefore not at all or only partially over the outer contour of the underwater vehicle laterally over. This embodiment leads to a low hydrodynamic resistance of the underwater vehicle under water.

In one embodiment, the underwater vehicle comprises at least one second pivot holder in addition to the first pivot holder. On the second pivot holder, a second driving element is mounted. The pivoting mechanism is capable of moving both pivot holders from the pivoted to the pivoted position, preferably simultaneously and synchronized. Thus, at any time, either both pivot holders in the pivoted position or both pivot holders in the pivoted position. Two driven propulsion elements each with a lateral offset to the longitudinal axis are able to keep the underwater vehicle better on course than just a single propulsion element. In addition, even then a driving element is available, if the other Propulsion element has failed. The two propulsion elements can be configured differently.

It is possible that a total of three movable pivot holder carry three different propulsion elements. These three pivot holders are preferably arranged such that in the pivoted-out position of all three pivot holders an angle of 120 degrees occurs between each two adjacent drive elements. This embodiment gives the generated flow energy particularly well to the surrounding water.

In one embodiment, the first pivot holder is mounted so that it can be pivoted about a first pivot axis. Preferably, the first pivot axis is perpendicular to the longitudinal axis. The first pivot holder comprises a first arm and a second arm, which are preferably fixedly connected to each other. These two arms extend in two different directions in the manner of a rocker away from the first pivot axis. The first arm is in operative connection with the swivel mechanism. The second arm carries the first driving element.

Thanks to these refinements, two lever arms can be realized, namely one lever arm per arm of the first pivot holder. The length of each lever arm can be adapted to a desired and achievable power transmission as well as to the available space.

According to the solution, the underwater vehicle automatically detects under water a predetermined event. The detection of this event triggers the step that the underwater vehicle automatically activates the pan mechanism. In one embodiment, a sensor aboard the underwater vehicle may automatically discover a predetermined environmental condition under water. The discovery of this environmental condition triggers the step to activate the pan mechanism. This embodiment makes it possible to adapt the use of the underwater vehicle to a predetermined condition, namely by the sensor accordingly is designed. The sensor needs to be designed exclusively for use under water.

For example, the sensor can automatically detect at least one of the following events:

- The underwater vehicle is submerged in a body of water. Thanks to this configuration, the swing mechanism is activated as soon as the underwater vehicle has reached the water, regardless of the height from which it was dropped.

- The underwater vehicle has reached a given depth of water. This embodiment makes it possible to lower the underwater vehicle with the first pivot holder in the pivoted position in the water and to activate the pivoting mechanism when the sinking underwater vehicle has reached a predetermined depth of water. Thanks to this configuration, the underwater vehicle quickly reaches a given water depth and then starts.

- The sensor detects underwater an object outside the underwater vehicle with predetermined characteristics, such as a marine mine to be neutralized or a pipeline under investigation. This embodiment makes it possible to lower the underwater vehicle exposed to water to an object with predetermined properties and / or let it drift and then to drive on the object.

- The sensor detects that the underwater vehicle has sunk so far that the distance between the underwater vehicle and a body of water, such as the seabed, has fallen below a predetermined barrier. This embodiment makes it possible to drive the underwater vehicle near the bottom of the river without the underwater vehicle touching the water bottom. It is not necessary to measure the depth of the water to the bottom before exposing the underwater vehicle.

In one embodiment, the underwater vehicle includes a timer. This timer is activated, for example, by a human if that Underwater vehicle is exposed to the water. The timer measures the event that a predetermined amount of time has elapsed since the timer was activated. Thereafter, the timer triggers the step of activating the swing mechanism. This design saves a sensor on board the underwater vehicle.

In one embodiment, the first drive motor, which is able to drive the first drive element, remains switched off as long as the first pivot holder is in the pivoted-in position. This configuration makes it possible to save electrical energy or another drive medium, while the underwater vehicle is transported to a place of use. The first drive motor is first switched on under water.

In one embodiment, the two steps of activating the pivot mechanism and turning on the first drive motor are performed independently. In a preferred embodiment, on the other hand, the step of the first pivoting holder having the first driving element reaching the pivoted-out position or an intermediate position triggers the step of switching on the first drive motor. This embodiment saves a separate power-up mechanism for the first drive motor. In many cases, a contact switch is sufficient. It is ensured that the first drive motor is switched on as late as possible and as early as necessary. It is prevented on the one hand, that the first drive motor already drives the first propulsion unit, while the first pivot holder is still in the pivoted position. On the other hand, it is ensured that the first drive element is driven when the first pivot holder is in the swung-out position.

The underwater vehicle may be, for example, a manned or unmanned submarine, an unmanned autonomous unmanned vehicle (AUV), a remote controlled underwater vehicle (ROV, remotely operated vehicle), an underwater robot, an underwater glider or an underwater running body, such as a torpedo , Below, the underwater vehicle according to the invention is explained in more detail with reference to two embodiments illustrated in the drawings. Hereby show:

Figure 1 shows a first embodiment of the invention, in which mounting foam is used as the expansion means, with the two pivot holders in the pivoted position.

Fig. 2 shows the first embodiment of Figure 1 with the two pivot holders in the pivoted position.

Fig. 3 shows a second embodiment of the invention, in which a linear motor is used as the expansion means, with the two pivot holders in the pivoted position;

Fig. 4 shows the second embodiment of Fig. 3 with the two pivot holders in the pivoted position.

In the following the invention will be explained with reference to two embodiments. Fig. 1 and Fig. 2 show the first embodiment, Fig. 3 and Fig. 4, the second embodiment.

In both embodiments, the invention is used in an autonomous underwater vehicle (AUV) 101. The underwater vehicle 101 extends along a longitudinal axis 133 and has a cylindrical outer shell 102 and two drive devices 103 and 104 which are mounted at the rear. The outer shell 102 is rotationally symmetrical to the longitudinal axis 133. The first drive device 103 includes a first pivot holder 1 17, a first electric drive motor 1 15 and a first propeller 1 1 1. The second drive device 104 comprises a second pivot holder 1 19, a second electric drive motor 1 16 and a second propeller 1 13. It is also possible to use more than two drive devices 103 and 104, for example, three drive devices, wherein the three pivot holder in a circle with an angle of 120 degrees between two adjacent pivot holders are arranged. In one embodiment, a voltage source, not shown, is arranged in the interior of the outer shell 102, which is able to supply the two electric drive motors 15 and 116 with electrical energy. In each case a cable is led from this voltage source to the drive motors 1 15 and 1 16. In another embodiment, an electrical voltage source for the drive motor 1 15 or 1 16 is additionally arranged on each pivot holder 1 17, 1 19.

Each drive device 103, 104 can be pivoted from a pivoted position into a swung-out position. The cable from the voltage source to the drive motor 1 15 or 1 16 follows this movement of the drive device 103, 104. If the power source is mounted on the pivot holder 1 17, 1 19, it is pivoted with.

FIGS. 1 and 3 show the two drive devices 103 and 104 in the swung-in position, FIGS. 2 and 4 in the swung-out position. When a drive device 103, 104 is in the pivoted-in position, a smaller distance d1, d2 occurs between the propeller 11 1 or 13 and the longitudinal axis 133. In the swung-out position, a greater distance D1, D2 occurs. The first pivot holder 1 17 is pivotable relative to the outer shell 102 about a first pivot axis 121, the second pivot bracket 1 19 about a second pivot axis 122. The respective pivot axis 121, 122 is perpendicular to the longitudinal axis 133 and divides the associated pivot holder 1 17, 1 19 in two arms 1 17.1 and 1 17.2 or 1 19.1 and 1 19.2, which are firmly connected. The rear arm 1 17.2, 1 19.2 points to the stern of the underwater vehicle 101 and carries the drive motor 1 15, 1 16 and the propeller 1 1 1, 1 13. The front arm 1 17.1, 1 19.1 points to the bow of the underwater vehicle 101 and wears each a sequence of guide rollers 135, 136.

In the pivoted position, each propeller 1 1 1, 1 13 and each drive motor 1 15, 1 16 has a smaller distance d1, d2 to the longitudinal axis 133 compared to the pivoted position. At least in the pivoted position, each drive device 103, 104 is completely within an imaginary tube, which is from the outer shell 102 is defined. It is possible that even in the pivoted position each drive device 103, 104 is completely within this imaginary tube. As a result, the underwater vehicle 101 has a comparatively low flow resistance when driving through the water. In an alternative embodiment, each drive device 103, 104 protrudes laterally beyond the imaginary tube in the pivoted-out position. As a result, achieve the propeller 1 1 1, 1 13 in many cases better propulsion.

Inside the outer shell 102, a tubular and inside hollow cylinder 105 and a piston 109 are arranged. The piston 109 can be moved in cylinder 105 along the longitudinal axis 133 to the rear, ie on the pivot axes 121 and 122 to. The rear piston surface of the piston 109 has a cone-shaped recess. Thanks to the conical recess, the piston 109 provides an upper inclined guide surface 123 and a lower inclined guide surface 124. The guide rollers 135 abut on the upper guide surface 123, the lower guide rollers 136 on the lower guide surface 124. A cavity 107 in the cylinder 105 adjoins the piston 109 at the front piston surface of the piston 109. A front end wall closes this cavity 107.

When the drive device 103, 104 is in the pivoted position, the guide rollers 135 and 136 have a greater distance from the longitudinal axis 133 and are located close to the wall of the cylinder 105, see FIGS. 1 and 3. If the piston 109 is in the cylinder 105 is moved toward the rear on the pivot axes 121 and 122, so roll or slide the guide rollers 135, 136 via the respective guide surface 123, 124 on the longitudinal axis 133 and thus to the top of the cone-shaped recess. This movement forces the pivot holder 1 17, 1 19 to rotate about the respective pivot axis 121, 122. The front arm 1 17.1, 1 19.1 is rotated to the longitudinal axis 133, the rear arm 1 17.2, 1 19.2 moved away from the longitudinal axis 133. As a result, the drive motor 1 15, 1 16 and the propeller 1 1 1, 1 13 are moved away from the longitudinal axis 133. The two drive devices 103 and 104 are simultaneously and synchronously pivoted when the piston 109 is moved backwards. The two embodiments differ by the mechanism that moves the piston 109 in cylinder 105 rearward, that is, on the pivot axes 121 and 122 to.

In the first embodiment, which is shown in Fig. 1 and Fig. 2, a cartridge 125 is mounted in front of the cylinder 105, which contains a mounting foam under pressure. An outlet 126 of this cartridge 125 leads into the cavity 107. A closure, not shown, for this outlet 126 can be moved from a closed position, in which the closure closes the outlet 126, to an open position, in which the closure releases the outlet 126 ,

Initially, the drive devices 103 and 104 are in the pivoted position and the closure closes the outlet 126. Once the outlet 126 is released, mounting foam 128 flows from the cartridge 125 into the cavity 107 and expands. The cavity 107 is closed at the front by an end wall. Therefore, the volume expansion of the mounting foam 128 in the cavity 107 causes the piston 109 to be displaced rearwardly. This forced displacement of the piston 109 to the rear causes the drive device 103 and 104 are pivoted from the pivoted to the pivoted position.

The mounting foam 128 cures it cavity 107 and holds after curing the piston 109 in a rear end position. As a result, the two drive devices 103 and 104 are held in the swung-out position. Since the mounting foam 128 is cured in the cavity 107, it is usually not possible to spend the drive device 103 and 104 again in the pivoted position. In one embodiment, in addition, the guide rollers 135 and 136 or the piston 109 are locked when the drive device 103 and 10 have reached swung-out position. In the second embodiment, a linear motor 131 is capable of displacing the piston 109 in the cylinder 105 rearward. In one embodiment, the linear motor 131 is additionally configured to move the piston 109 in the cylinder 105 forward again. When underwater vehicle 101 is underwater, the water pressure of the surrounding water promotes the displacement of the piston 109 to the front, because the water pressure (dynamic pressure) with moving underwater vehicle tends to move the drive devices 103 and 104 into the pivoted position. A suitable unit (not shown), for example a plurality of spring elements or strut units, ensures that the guide rollers 135 and 136 remain in contact with the guide surfaces 123 and 124. As a result, the drive device 103 and 104 are synchronized again pivoted into the pivoted position.

In the cylinder 105 a locking wedge 127 is pivotally mounted. This locking wedge 127 can be pivoted back and forth between a locking position (FIG. 4) and a release position (FIG. 3). A servomotor 129 is able to pivot the locking wedge 127 relative to the cylinder 105. Once the piston 109 has reached the rear position, the actuator 129 moves the locking wedge 127 in the locked position. This ensures that the drive devices 103 and 104 remain in the swung-out position. To allow the piston 109 to move forward again, the actuator 129 moves the locking key 127 back to the release position.

In the following, a preferred embodiment is described how the underwater vehicle according to the invention is used. This embodiment can be used for both just described embodiments of the pivoting mechanism.

The underwater vehicle 101 is transported to a jobsite. In this transport, the two drive devices 103 and 104 are in the pivoted position. This reduces the risk that a component of a drive device 103 or 104 will be damaged during transport or a living being injured or an object is damaged. The transportation is performed, for example, by an aircraft or a surface vehicle (not shown). The drive motors 15, 16 of the drive devices 103 and 104 are switched off.

At the point of use, the underwater vehicle 101 is put into the water, for example thrown into the water by the aircraft or the surface vehicle. The underwater vehicle 101 sinks in the water. The drive devices 103 and 104 initially remain in the pivoted position, and the drive motors 15 and 16 remain off while the underwater vehicle 101 is dropped, hits the water surface and sinks in the water. Thanks to the pivoted-in position, the risk of a drive device 103 or 104 colliding with a living being or an object outside of the underwater vehicle 101 or a component of a drive device 103 or 104 being damaged is reduced.

As soon as a defined event, which is described below, has occurred, the following two processes are triggered one after the other:

- The piston 109 is displaced in the cylinder 105 to the rear and pivots synchronized, the two drive devices 103 and 104 from the pivoted to the pivoted position.

- The two drive motors 1 15 and 1 16 are turned on, preferably at the same time, and rotate the two propellers 1 1 1 and 1 13th

In one embodiment, the process is initially triggered to move the piston 109 to the rear. Automatically, the event is detected that the two drive devices 103, 104 have reached a predetermined position, for example, the swung-out position or an intermediate position between the swung-in and the swung-out position. For example, a contact switch is activated. The discovery of this event triggers the process of turning on both drive motors 1 15 and 1 16. This embodiment eliminates the undesirable event that the drive motors 1 15 and 1 16 are turned on too early and touch, for example, the propellers 1 1 1 and 1 13. In one embodiment, a timer is activated as soon as the underwater vehicle 101 is dropped, ie even before reaching the water. The timer automatically detects the event that a predetermined amount of time has passed after the timer has been activated. Once this predetermined time has elapsed, the timer - or an unillustrated controller of the underwater vehicle 101 - automatically activates the expansion means 125, 131 which displaces the piston 109 rearwardly. This embodiment leads to a particularly simple implementation.

In another embodiment, aboard the underwater vehicle 101 is mounted a sensor 140 which measures a value correlated with the sinking of the underwater vehicle 101 in the water and / or with an environmental condition. For example, the sensor 140 measures the event that the underwater vehicle 101 has reached the water, a measure of the current water depth in which the underwater vehicle 101 is located, or a measure of the distance of the sinking underwater vehicle 101 to the bottom of the water. Or, the sensor 140 detects an object near the sinking submersible 101. Once this sensor 140 has detected that a predetermined event has occurred, the sensor 140 or underwater vehicle controller 101 activates the expansion means, which displaces the piston 109 rearwardly. It is possible that a plurality of sensors are arranged on board the underwater vehicle 101, wherein each sensor is able to detect a given event in each case. As soon as at least one predefined event has occurred, the expansion means is activated. reference numeral

101 autonomous unmanned underwater vehicle

102 outer shell of the underwater vehicle 101

103 first drive device comprises the first pivot holder 117, the first drive motor 115 and the first propeller 111th

104 second drive device includes the second pivot holder 119, the second drive motor 116 and the second propeller 112th

105 cylinder, in which the piston 109 is slidably mounted

107 cavity in the interior of the cylinder 105, adjacent to the piston 109 at

109 piston, slidably mounted in the cylinder 105

111 first propeller, mounted on the first pivot holder 117, from the first

Drive motor 115 rotated

113 second propeller, mounted on the second pivot holder 119, rotated by the second drive motor 116

115 first drive motor rotates the first propeller 111

116 second drive motor rotates the second propeller 113th

117 first pivot bracket carries the first drive motor 115 and the first

Propeller 111, includes arms 117.1, 117.2

117.1 front arm of the first pivot holder 117th

117.2 rear arm of the first pivot holder 117

119 second pivot bracket, carries the second drive motor 116 and the second propeller 113, includes the arms 119.1, 119.2

119.1 front arm of the second pivot bracket 119th

119.2 rear arm of the second pivot bracket 119

121 pivot axis about which the first pivot holder 117 can be rotated

122 pivot axis about which the second pivot holder 119 can be rotated

123 upper guide surface of the piston 109, guides the guide rollers 135 on the first pivot holder 117th 124 lower guide surface of the piston 109, the guide rollers 136 on the second pivot holder 1 19

125 mounting foam cartridge containing the mounting foam 128

126 outlet of the cartridge 125, leads into the cavity 107th

127 pivotally mounted Arretierungskeil, able to lock the piston 109

128 mounting foam in the cavity 107th

129 servomotor, is able to pivot the locking wedge 127

131 linear motor, is able to move the piston 109 in the cylinder 105

133 longitudinal axis of the unmanned underwater vehicle 101

135 guide rollers at the front end of the first pivot holder 1 17, are guided by the guide surface 123

136 guide rollers at the front end of the second pivot holder 1 19, are guided by the guide surface 124

140 Sensor for measuring an environmental condition

d1 distance between the propeller 1 1 1 and the longitudinal axis 133, if the

Drive device 103 is in the pivoted position

d2 distance between the propeller 1 13 and the longitudinal axis 133 when the

Drive device 104 is in the pivoted position

D1 distance between the propeller 1 1 1 and the longitudinal axis 133, if the

Drive device 103 is in the pivoted position

D2 distance between the propeller 1 13 and the longitudinal axis 133, when the

Drive device 104 is in the pivoted position

Claims

claims

1. underwater vehicle (101) with

an outer shell (102) extending along a longitudinal axis (133),

a first pivot holder (117, 119),

a first drive element (111, 113) which is arranged on the first pivot holder (117, 119),

- A first drive motor (115, 116) which is designed to drive the first propulsion element (111, 113), and

a pivoting mechanism (107, 109, 123, 124, 125, 131),

wherein the first pivot bracket (117, 119) is movable relative to the outer shell (102) between a pivoted and a pivoted position, wherein when the first pivot bracket (117, 119) is in the pivoted position, the distance (d1, d2) between the first drive element (111, 113) and the longitudinal axis (133) is smaller compared to the distance (D1, D2) when the first pivot holder (117, 119) is in the pivoted position,

wherein the pivot mechanism (107, 109, 123, 124, 125, 131) is adapted to move the first pivot holder (117, 119) together with the first drive element (111, 113) from the pivoted to the pivoted position,

characterized in that

the underwater vehicle (101) is designed to be under water automatically

- to discover a given event and

to activate the pan mechanism (107, 109, 123, 124, 125, 131) in response to the discovery of the event,

wherein activation of the pivot mechanism (107, 109, 123, 124, 125, 131) causes movement of the first pivot holder (117, 119) from the pivoted to the pivoted position.

2. underwater vehicle (101) according to claim 1,

characterized in that

the pivoting mechanism (107, 109, 123, 124, 125, 131) an activatable expansion means (107, 125, 131) and

- A relative to the outer shell (102) movable mechanical

Transmission device (109, 123, 124)

includes,

wherein activation of the expansion means (107, 125, 131) causes movement of the transmission means (109, 123, 124) and

wherein a movement of the transmission means (109, 123, 124) a

Swiveling the first pivot holder (1 17, 1 19) causes in the pivoted position.

3. underwater vehicle (101) according to claim 2,

characterized in that

the transmission device (109, 123, 124) is linearly movable relative to the outer shell (102),

wherein activation of the expansion means (107, 125, 131) is linear

Movement of the transmission device (109, 123, 124) causes.

4. underwater vehicle (101) according to claim 2 or claim 3,

characterized in that

the transmission device (109, 123, 124) comprises a guide surface (123, 124) arranged obliquely relative to the longitudinal axis (133),

wherein the first pivot holder (1 17, 1 19) comprises a component (135, 136) which is in mechanical contact with the guide surface (123, 124) and wherein a movement of the transmission means (109, 123, 124)

- A movement of the first pivot holder (1 17, 1 19) relative to the outer shell (102) and

- Causes a movement of the component (135, 136) relative to the guide surface (123, 124) and

wherein a relative movement of the component (135, 136) causes or enables a pivoting of the first pivot holder (1 17, 1 19) in the pivoted position.

5. underwater vehicle (101) according to claim 4,

characterized in that

the transmission means (109, 123, 124) comprises a piston (109) which is movable relative to the outer shell (102), and

the or at least one guide surface (123, 124) is formed by a conical or conical cut of the movable piston (109).

6. underwater vehicle (101) according to one of claims 2 to 5,

characterized in that

a hollow body (105) enclosing a cavity (107) is arranged inside the outer shell (102),

wherein at least a part of the transmission device (109) is arranged in the cavity (107) of the hollow body (105).

7. underwater vehicle (101) according to claim 6,

characterized in that

the transmission device (109) comprises a piston (109),

- Which is arranged in the cavity (105) and

- Is linearly movable relative to the hollow body (107).

8. underwater vehicle (101) according to one of claims 2 to 7,

characterized in that

wherein the underwater vehicle (101) is configured to cause, after an activation of the expansion means (107, 125, 131), a fluid (128) to flow into the cavity (107),

wherein a flow of the fluid (128) into the cavity (107) causes the movement of the transfer means (109, 123, 124).

9. underwater vehicle (101) according to claim 8,

characterized in that the fluid is or includes water surrounding the submerged submersible (101).

10. underwater vehicle (101) according to claim 8 or claim 9,

characterized in that

the expansion means (107, 125, 131) comprises a container (125) with an outlet (126),

the outlet (126) having a closure and opening into the cavity, wherein a fluid is contained in the container (125),

wherein the underwater vehicle (101) is configured to satisfy the closure for the outlet (126) upon activation of the expansion means (107, 125, 131), and

wherein the expansion means (107, 125, 131) is designed so that when the shutter is open

- The fluid (128) in the container in the cavity (107) flows and

- The movement of the transmission device (109, 123, 124) causes.

1 1. Underwater vehicle (101) according to claim 10,

characterized in that

the expansion means (109, 123, 124) is configured such that the fluid (128) cures in the cavity (107).

12. Underwater vehicle (101) according to one of the preceding claims,

characterized in that

the underwater vehicle (101) has a locking unit (127) which

- Locked in a locking position, the pivoting mechanism (107, 109, 123, 124, 125, 131) and thereby prevents pivoting of the first pivot holder (1 17, 1 19) and

- In a release position, a pivoting of the first pivot holder (1 17, 1 19) allows.

13. Underwater vehicle (101) according to one of the preceding claims, characterized in that

the first drive motor (1 15) on the first pivot holder (1 17, 1 19) is arranged.

14. Underwater vehicle (101) according to one of the preceding claims,

characterized in that

the first driving element (1 1 1, 1 13) is arranged at the rear of the underwater vehicle (101) and

the first driving element (1 1 1, 1 13) even if the first

Pivoting holder (1 17, 1 19) in the swung-out position,

completely or at least partially - seen in a line of sight parallel to the longitudinal axis (133) - behind the contour of the outer shell (102).

15. Underwater vehicle (101) according to one of the preceding claims,

characterized in that

the underwater vehicle (101)

- A second pivot holder (1 19) and

a second drive element (1 13) which is arranged on the second pivot holder (1 19),

includes,

wherein the second pivot holder (1 19) is movable relative to the outer shell (102) between a pivoted-in and a pivoted-out position, the pivot mechanism (107, 109, 125, 131) being adapted to pivot the first pivot holder (11). and the second pivot holder (1 19) together with the two drive elements (1 1 1, 1 13) on these pivot holders (1 17, 1 19) synchronized to move from the pivoted to the pivoted position.

16. underwater vehicle (101) according to one of the preceding claims,

characterized in that

the first pivot holder (1 17, 1 19) about a first pivot axis (121)

is pivotable, wherein the first pivot holder (1 17, 1 19) comprises two mechanically interconnected arms (1 17.1, 1 17.2, 1 19.1, 1 19.2), which are divided into two different

Extending directions away from the first pivot axis (121),

wherein the one arm (1 17.1, 1 19.1) of the first pivot holder (1 17, 1 19) with the pivoting mechanism (107, 109, 123, 124, 125, 131) is in operative connection and wherein on the other arm (1 17.2, 1 19.2) of the first pivot holder (1 17, 1 19), the first drive element (1 1 1, 1 13) is arranged.

17. Underwater vehicle (101) according to one of the preceding claims,

characterized in that

the underwater vehicle (101) comprises a sensor (140) which is designed to

automatically underwater to discover a given environmental condition, and

the underwater vehicle (101) is configured in response to the

Discovery of the ambient condition automatically activate the pan mechanism (107, 109, 123, 124, 125, 131).

18. underwater vehicle (101) according to claim 17,

characterized in that

the sensor (140) is adapted to automatically detect at least one of the following events:

- the underwater vehicle (101) is submerged in a body of water,

the underwater vehicle (101) has reached a predetermined water depth,

the distance between the underwater vehicle (101) and the bottom of the water has fallen below a predetermined barrier,

- an object with given properties is outside the

Underwater vehicle (101) discovered

the underwater vehicle (101) being adapted to automatically actuate the pivoting mechanism (107, 109, 123, 124, 125, 131) in response to

Discovery of the event to activate.

19. underwater vehicle (101) according to any one of the preceding claims, characterized in that

the underwater vehicle (101) comprises an activatable timer, which is designed to

to discover the event that after activation of the timer one

given time has elapsed, and

the underwater vehicle (101) is configured to activate the panning mechanism (107, 109, 123, 124, 125, 131) in response to the event that the timer has detected the lapse of the time period.

20. Underwater vehicle (101) according to one of the preceding claims,

characterized in that

the first drive motor (1 15, 1 16) is turned off when the first swivel holder

(1 17, 1 19) is in the pivoted position, and

the underwater vehicle (101) is configured in response to the event that the first pivot holder (1 17, 1 19) the swung-out position or a

Has reached intermediate position,

to turn on the first drive motor (1 15, 1 16).

21. Method for operating an underwater vehicle (101),

the underwater vehicle (101)

an outer shell (102) extending along a longitudinal axis (133),

a first pivot holder (1 17, 1 19),

- A first drive element (1 1 1, 1 13), which on the first pivot holder (1 17, 1 19) is arranged,

- A first drive motor (1 15, 1 16), which is designed for driving the first drive element (1 1 1, 1 13), and

a pivoting mechanism (107, 109, 123, 124, 125, 131),

includes,

wherein the first pivot holder (1,17,119) is movable relative to the outer shell (102) between a pivoted-in and a pivoted-out position, wherein, when the first pivot holder (1 17, 1 19) is in the pivoted position, the distance (d1, d2) between the first driving element (1 1 1, 1 13) and the longitudinal axis (133) is lower compared with the distance (D1, D2), when the first pivot holder (1 17, 1 19) is in the pivoted position,

the method comprising the steps of

the underwater vehicle (101) with the first pivot holder (1 17, 1 19) is transported in the pivoted position out of the water to a place of use, and

the underwater vehicle (101) with the first pivot holder (1 17, 1 19) in the deployed position through the water,

characterized in that

the underwater vehicle (101) with the first pivot holder (1 17, 1 19) is inserted in the pivoted position into the water,

the underwater vehicle (101) automatically under water

- discovered a predetermined event after insertion into the water and

in response to the discovery of the event, activate the panning mechanism (107, 109, 123, 124, 125, 131),

the step of activating the pivoting mechanism (107, 109, 123, 124, 125, 131) causes the first pivotal holder (117, 119) to pivot from the pivoted to the pivoted position.

22. The method according to claim 21,

characterized in that

the pivoting mechanism (107, 109, 123, 124, 125, 131)

an activatable expansion means (107, 125, 131) and

- A relative to the outer shell (102) movable mechanical

Transmission device (109, 123, 124)

includes,

wherein the step of activating the panning mechanism (107, 109, 123, 124, 125, 131) comprises the steps of

the expansion means (107, 125, 131) is activated, - the activated expansion means (107, 125, 131) moves the transmission means (109, 123, 124) and

- The moving transmission means (109, 123, 124), the first pivot holder (1 17, 1 19) moves in the swung-out position.

23. The method according to claim 22,

characterized in that

wherein the step of activating the expansion means (107, 125, 131) comprises the step of triggering the event that a fluid (128) flows into the cavity (107), and

wherein inflow of fluid (128) into the cavity (107) causes the transfer means (109, 123, 124) to move.

24. The method according to any one of claims 21 to 23,

characterized in that

After insertion of the underwater vehicle (101) in the water, a sensor (140) on board the underwater vehicle (101) automatically a predetermined

Environment condition discovered and

the discovery of the ambient condition triggers the step that the

Underwater vehicle (101) the pivoting mechanism (107, 109, 123, 124, 125, 131) activated.