US3865060A - Special submarine devices using a novel integrated lift, propulsion and steering system - Google Patents

Special submarine devices using a novel integrated lift, propulsion and steering system Download PDF

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US3865060A
US3865060A US35479173A US3865060A US 3865060 A US3865060 A US 3865060A US 35479173 A US35479173 A US 35479173A US 3865060 A US3865060 A US 3865060A
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symmetry
horizontal
hull
propellers
vertical
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Paul Bastide
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
    • B63H1/06—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades
    • B63H1/08—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment
    • B63H1/10—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment of Voith Schneider type, i.e. with blades extending axially from a disc-shaped rotary body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/003—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage
    • B64C39/005—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage about a horizontal transversal axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
    • B63H2005/025—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels of Voith Schneider type

Definitions

  • the present invention relates to a novel submarine device capable of utilization with improved prospect in important fields, especially oceanology, with increased safety.
  • the invention is directed to an underwater device capable of executing all kinds of movements, some of which are impossible with a standard submarine, for example, rapid turning in place, translational movements perpendicular to the longitudinal centerline, rapid movements straight upward and downward, and the like.
  • the submarine device has numerous components analogous to those of a standard, conventional submarine, such as a thick-section hull, watertight seal devices for the shafts of various apparatus where they emerge from the thick-section hull, diving ballast tanks, electrical storage batteries for naviation when submerged, compressed air and air conditioning installations.
  • This submarine device differs from a conventional submarine, particularly in the fact that instead of two lateral propellers it is either devoid of a central propeller or it has a single, central propeller and that it dispenses with the stabilizers i.e. the diving rudders as well as the four conventional horizontal-shaft aft rudders (one pair forward, one pair aft).
  • the stabilizers i.e. the diving rudders as well as the four conventional horizontal-shaft aft rudders (one pair forward, one pair aft).
  • the submarine device uses a novel integrated lift, propulsion and steering system composed of at least one horizontal-shaft cycloidal propeller with a flat circular crown rim with horizontal shaft, carrying at its periphery a circular array of identical horizontal blades, each rotatable around a shaft perpendicular to the rim, under the action of a connecting rod extending parallel to the plane of the rim, all of the connecting rods having a common control head which can be eccentric relative to the axis of rotation of the propeller.
  • the submarine device comprises four cycloidal propellers arranged for rotation about horizontal axes and grouped in twos (one pair forward and one pair aft).
  • the two pairs of cycloidal propellers fore and aft are symmetrical relative to the center of symmetry of the device, the forward pair being below the horizontal axis of symmetry while the aft pair is above this axis, the two propellers of the same pair being coaxial and symmetrical relative to the longitudinal vertical plane of symmetry, all axes of rotation of the four propellers turning in the same direction as seen by an observer stationed laterally relative to the device.
  • the submarine device utilizes, in addition to the four cycloidal propellers, a system of four auxiliary screws with adjustable, reversible blades each having an axis perpendicular to the longitudinal vertical plane of symmetry xz, and suspended from suitably streamlined cross members inside four apertures, two
  • the two screws fore and aft each being capable of turning with the support therefor through an angle of and 0x axis under the action of two circular hydraulic jacks within the device, in order to make vertical (in upwards or downwards direction) the thrust of the two corresponding screws which can thus participate in the purely vertical displacement.
  • FIG. 1 is a side elevational view of a submarine device according to the invention wherein two pairs of lift propellers are provided for and aft and are staggered in height;
  • FIG. 2 is a plan view from above of the device in FIG. 1;
  • FIG. 3 is a side elevational view of a submarine device according to FIGS. 1 and 2 but are provided with reversible-blade screws instead of conventional de vices;
  • FIG. 4 diagrammatically illustrates the forces capable of acting on the submarine device merely by the lifting propeller devices with which it is equipped, and optionally in addition with its conventional aft screw;
  • FIG. 5 is a vertical section through the control device for the connecting rods for rotation of the blades of each of the four porpeller devices.
  • FIG. 6 diagrammatically illustrates the coupling of the submarine propeller device of FIG. 1, with a propeller-less inert submersible vessel.
  • the submarine device comprises a main body 4 having a vertical longitudinal section (in the x02 plane) of oval shape flatter along the vertical axis Oz, and a horizontal longitudinal section (in the x0y plane) also oval but more tapered along the horizontal axis 0x.
  • the point 0 is a general point of symmetry for the entire surface of body 4, i.e., this surface has three principal planes of symmetry: x0y, x02 and y0z.
  • the submarine device can be simultaneously propelled and, if need be, assisted in its normal lift (by means of side ballast tanks) by four identical cycloidal propellers distributed in pairs, one pair 5, 5 fore, the other pair 6, 6 aft, all of whose axes of rotation are perpendicular to the x0z plane.
  • the pairs of propellers 5, 5'; and 6 and 6 are spaced as far as possible from each other in order to avoid any serious interaction, the two propellers in a particular pair being symmetrical relative to the general plane of symmetry.
  • cycloidal propellers sometimes called Voight-Schneider propellers, comprise a circular flat rim 1 carrying at its periphery a uniform circular array of identical blades 2, each rotatable around an axis perpendicular to the rim 1, under the operation of a jointed connecting rod (see FIG. 5) parallel to the plane of the said rim, all of said jointed connecting rods having a common control head which may be eccentric relative to the axis of rotation 3 of the propeller assem bly.
  • VSH device the cycloidal horizontal-shaft propeller which will be used in the submarine device.
  • the axis of rotation 3 common to the two propellers of the forward pair is so placed that the top of each of these two propellers is located a little below the plane xy; the axis of rotation 3 of the aft pair issymmetrical relative to the point 0 with that of the forward pair so that the bottom of each of the propellers of the aft pair is located slightly above the x0y plane.
  • the object of this arrangement is to separate as sharply as possible the water flow regions around the two propellers fore and aft of each side, in order to obviate any interaction between these two propellers. For the same reason, this arrangement is completed on each side by the provision of a horizontal fin composed of respective sections 7, 8 located in the x0y plane.
  • the fin has a length such that its opposite ends extend beyond the vertical planes respectively containing the axis of rotation 3 of the forward pair and the axis of rotation of the aft pair.
  • the sections 7,8 of each fin are identically equal, the for ward section 7 being folded upward to assume a vertical position on vertical displacement of the submarine device, the aft section 8 then being folded vertically downward.
  • the folded position of the sections at the time of vertical displacement is shown in dotted outline in FIG. 1. All the VSH devices 5, 6 and 6' rotate in the same direction as seen by an observer facing the submarine device on the 0y axis.
  • FIG. 4 shows the resolution of the thrusts p of each VSH device into horizontal thrust components p and into vertical thrust components p such that, (assuming the conventional rear screw is not operating) the horizontal resultant P 4 p balances the hydrodynamic reaction R and the vertical resultant P 4 p balances the apparent weight 71' of the submarine device (i.e. the difference between its actual weight and the buoyancy).
  • Such total thrust P has the capability of appreciably exceeding the apparent weight 1r of the submarine device (acting vertical downward at the center of gravity G of the submarine device i.e. passing through 0) whereupon the submarine device will rise vertically.
  • This total vertical thrust P can also be directed downward with an intensity greater and opposite to the buoyancy (Archimedean thrust) whereupon the submarine device submerges vertically in the water.
  • This vertical resultant thrust P of the four VSH devices can also be made exactly equal to the apparent weight 11', whereupon the submarine device will remain at a given level in place.
  • the thrusts supplied by the four VSH devices can also effect horizontal displacement of the submarine device, in addition to the thrust supplied by the aft screw.
  • the submarine device When held at a fixed level, the submarine device can be simply revolved around the vertical through its center of gravity G, i.e. the 02 axis, increasing and inclining toward the forward horizontal the thrusts of the two devices located opoosite the side toward which it is desired to turn the nose of the submarine device, and likewise regulating but inclined toward therear horizontal the thrusts of the two propellerslocated on the other side, which leads to the application on the submarine device of a pure torque around the vertical axis passing through the center of gravity G.
  • G center of gravity
  • the system of the four VSH devices can give great capability for handling through differentiation of the directions of the thrusts of each of the four VSH devices.
  • the torque around the 0x axis can be regulated by two screws 9 and 9 having rotatable, reversible blades, with transverse horizontal axes perpendicular to the 0z axis symmetrically related to 0, each screw being suspended with its electric driving motor inside a circular aperture by a suitably streamlined cross member (FIG. 3).
  • the torque'around the 02 axis will likewise be regulable by two screws 10 and 10' with rotatable, reversible blades on transverse horizontal axes perpendicular to the 0x axis symmetrically related to 0, each screw being housed in fore and aft portions of the submarine device (FIG. 3).
  • This arrangement offers the following three advantages: first, by directing the equal transverse thrusts of the two fore and aft screws 10 and 10' in opposite directions from each other, a supplementary means becomes available for rotating the submarine device around its vertical axis of symmetry 0z; second, by directing the thrusts of the four screws 9, 9, l0 and 10 in the same direction, a means is provided (not furnished by any conventional submarine) for displacing the submarine device by simple translation along a transverse axis parallel to the 0y axis; finally, by providing that each of the fore and aft portions of the device, 11 and 11', can revolve through under the action of the a hydraulic circular jack around an axis coincident with the 0x axis, the axes of the two corresponding screws 10 and 10' can be made vertical allowing them also to be used in assisting rapid vertical displacement of the submarine device, upward or downward (a matter impossible of realization with a conventional submarine).
  • the power required for operating the various motor devices described above (the conventional screws, the four VSH propellers, the four screws with rotatable blades) each having a respective driving motor (watertight motor for the engines of the four screws) is supplied in accordance with conventional arrangements for known submarines, namely: for surface navigation or with snorkel apparatus, a diesel engine driving a common electric generating set, and a common set of storage batteries for navigation when submerged.
  • FIG. diagrammatically illustrates the assembly of each VSH device, and therein can be seen an electric driving motor mounted inside the ballast tank wall and a generally known mechanism for controlling the tilt of the control head for the jointed connecting rods of each VSH device.
  • This mechanism is composed of two hydraulic presses mounted at 90 from each other (of which only one is illustrated for purposes of clarity) and acting on the known device having three joints l2, l3 and 14, the middle joint 13 being fixed and the other two movable, the joint 14, controlling the position of jointed rod 15 in accordance with a well known principle of kinematics (with straight lever, jointed lever or actuating lever) said jointed rods being contained in the rim 1 and each acting on one blade 2.
  • the two presses l6 and 16' are fixed as is the middle joint 13 and they are physically fastened to the outside shell of the electric driving motor for the VSH propeller, the lever 17 controlling the movement of the third articulation joint 14 being housed inside the shaft 19 joining the'rotor of the electric motor to the rim of the VSH propeller, said shaft being hollow.
  • the adaptation of the horizontal-shaft VSH propellers is highly advantageous as compared to vertical-shaft propellers which were exclusively adopted heretofore.
  • control of the orientation of the blades is positive and much simpler than the current conventional control of the vertical-shaft devices used hitherto (which require for the control of the three swivel joint device a horizontal drive shaft from the motor, with a complicated and expensive device of bevel gear type to change the direction of the propeller driving shaft through 90 to make it vertical).
  • the electric driving motor for the VSH propeller, the two hydraulic presses 16 and 16, and also the device with three articulation joints 12, 13 and 14, are fastened to the inside wall 18 of a diving ballast tank, the hollow shaft 19 between the electric motor and the VSH device passing through said wall with a watertight joint 20.
  • the above assembly is located inside a hollow cylinder 21, closed by the watertight port 22, and its walls are internally reinforced by a series of stiffeners 23 located at regular angular intervals.
  • FIG. 3 illustrates a retractable support means with four arms 26 arranged in sysmmetrical pairs relative to the x02 and y0z planes and so mounted that in the position of rest or for landing, the vertical through the center of gravity of the submarine device falls at the center of the rectangle determined by the four wheels 27.
  • These wheels each rotate around a horizontal axis and are also capable of revolving about a vertical axis 28 so as to permit the submarine device to pivot in place on the ground.
  • the submarine device can be equipped at its lower middle portion on the 0z axis with a very sturdy hook 29 rotatable on an axis coincident with the 02 axis for carrying loads which can be considerable.
  • submarine devices in accordance with the invention allow various submarine operations to be effected, especially as principal adjuncts to oceanological tasks, below the water surface, on the ocean bottom and on land, especially As inspection and repair vessels for immersed hulls and bottoms of large surface ships, as mobile hoisting platforms for safe submersion, lifting and movement of even heavy loads which will be required for alltasks in ocean depths and on ground, and as taxis and trucks to ensure quick vertical shuttling of personnel and material between the surface and the ocean bottom, this being effected with ease and with greater safety than can be obtained with conventional type submarines or any other submarine currently known.
  • a four-VSH propeller submarine device of the type shown in FIG. 1 can be coupled to an inert underwater craft equipped with ballast tanks capable, when empty, of lifting the device with its whole load, the inner hull of such craft being, either of the open type (cross section of FIG. 6) for the conveyance of various solid materials or of the closed type such as the thick hull of a standard submarine, this latter being used for the conveyance of a liquid load (oil, for example).
  • a submarine device capable of perpendicular translation relative to its longitudinal axis inclusive of purely upward and downward movements using an integrated system of lift, propulsion and steering, said submarine device comprising a hull with a center of symmetry, said integrated system comprising four cycloidal propellers grouped in two pairs, one pair being forward on said hull and one pair aft on said hull, each cycloidal propeller having a horizontal axis of rotation and including a flat circular rim carrying at its periphery a circular array of identical horizontal blades each rotatable about a horizontal axis perpendicular to the said rim, means for rotating the blades about their axes including a joint connecting rod for each blade extending parallel to the plane of said rim, and a master control head coupled to said rods and capable of being staggered relative to the axis of rotation of said propeller, said two pairs of cycloidal propellers being symmetrically arranged relative to said center of symmetry of the hull, the two propellers of each pair being

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Transmission Devices (AREA)
US05354791 1972-04-26 1973-04-26 Special submarine devices using a novel integrated lift, propulsion and steering system Expired - Lifetime US3865060A (en)

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FR7214768A FR2181486B1 (ar) 1972-04-26 1972-04-26

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US05/498,873 Expired - Lifetime US3938759A (en) 1972-04-26 1974-08-19 Special aircraft using a novel integrated lift, propulsion and steering system
US05/515,684 Expired - Lifetime US3949694A (en) 1972-04-26 1974-10-16 Special submarine devices using a novel integrated lift, propulsion and steering system

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US05/515,684 Expired - Lifetime US3949694A (en) 1972-04-26 1974-10-16 Special submarine devices using a novel integrated lift, propulsion and steering system

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DE (2) DE2320436A1 (ar)
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GB (2) GB1427802A (ar)

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US4799825A (en) * 1983-12-08 1989-01-24 Meyerhoff Shirley B Oil transfer system
US5134955A (en) * 1988-08-31 1992-08-04 Manfield Harold D Submergible diving sled
DE4401309A1 (de) * 1994-01-18 1995-07-20 Nord Systemtechnik Unterwasserfahrzeug
US6244919B1 (en) * 1996-09-17 2001-06-12 S.P.N. S. R. L. Vertical axis and transversal flow nautical propulsor with continuous self-orientation of the blades
CN1313323C (zh) * 2004-11-03 2007-05-02 上海大学 超小型碟形水下机器人
CN102152844A (zh) * 2011-03-15 2011-08-17 高广学 一种高速冲浪潜水艇
CN103991543A (zh) * 2014-05-30 2014-08-20 佛山市神风航空科技有限公司 一种带弹簧的旋转扑翼飞行器
CN103991547A (zh) * 2014-05-30 2014-08-20 佛山市神风航空科技有限公司 一种小型类扑翼飞行器
CN107813916A (zh) * 2017-11-08 2018-03-20 易祖兴 一种水陆两栖军舰的登陆方法
CN109823498A (zh) * 2019-02-18 2019-05-31 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 一种水下平台抗吸附坐底装置
CN110641291A (zh) * 2019-10-08 2020-01-03 长安大学 一种双电机电动滑板车控制方法及其系统
CN111528186A (zh) * 2020-05-27 2020-08-14 中国水产科学研究院东海水产研究所 南极磷虾桁杆拖网升潜自供能调节装备
US10814949B1 (en) * 2017-11-29 2020-10-27 Graham Sidney Hawkes Submersible vehicles

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JPS6137478U (ja) * 1984-08-09 1986-03-08 クロダ・ワツツ株式会社 薬液ポンプ
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US5405104A (en) * 1993-01-04 1995-04-11 Pande; John B. Stopped rotor aircraft utilizing a flipped airfoil X-wing
DE4442589A1 (de) * 1994-11-30 1996-06-05 Oliver Sascha Thomaschewski Anordnung zum Bewegen eines Körpers unter Wasser in allen drei Dimensionen
DE19503087A1 (de) * 1995-02-01 1996-08-08 Gilbert Dr Duong Wasserlaufschuh
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FR2937777B1 (fr) * 2008-10-23 2010-12-17 Airbus Sas Procede pour faire rouler un aeronef au sol
US8783202B1 (en) * 2012-07-25 2014-07-22 The United States Of America As Represented By The Secretary Of The Navy Subsurface oscillating blade propellor
CN102963525A (zh) * 2012-09-03 2013-03-13 张明明 一种无人飞行器
DE102013005029A1 (de) * 2013-03-25 2014-09-25 Voith Patent Gmbh Unterwasser-Strömungskraftwerk
CN103434645A (zh) * 2013-08-25 2013-12-11 西北工业大学 摆线桨两栖运输艇
US9193423B2 (en) * 2014-01-31 2015-11-24 Serdar Firkan Hull configuration for submarines and vessel of the displacement type with multihull structure
UA114091C2 (xx) * 2014-03-31 2017-04-25 Підводний транспортний модуль
US9487281B2 (en) * 2014-12-14 2016-11-08 Daniel Wolfenbarger Submersible remotely operated vehicle
CN112977776B (zh) * 2021-03-02 2022-05-03 南京航空航天大学 多段组合式及翼展折叠式水下机器人的运动方式

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US5134955A (en) * 1988-08-31 1992-08-04 Manfield Harold D Submergible diving sled
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US6244919B1 (en) * 1996-09-17 2001-06-12 S.P.N. S. R. L. Vertical axis and transversal flow nautical propulsor with continuous self-orientation of the blades
CN1313323C (zh) * 2004-11-03 2007-05-02 上海大学 超小型碟形水下机器人
CN102152844B (zh) * 2011-03-15 2014-07-23 高广学 一种高速冲浪潜水艇
CN102152844A (zh) * 2011-03-15 2011-08-17 高广学 一种高速冲浪潜水艇
CN103991543A (zh) * 2014-05-30 2014-08-20 佛山市神风航空科技有限公司 一种带弹簧的旋转扑翼飞行器
CN103991547A (zh) * 2014-05-30 2014-08-20 佛山市神风航空科技有限公司 一种小型类扑翼飞行器
CN103991547B (zh) * 2014-05-30 2015-12-30 佛山市神风航空科技有限公司 一种小型类扑翼飞行器
CN107813916A (zh) * 2017-11-08 2018-03-20 易祖兴 一种水陆两栖军舰的登陆方法
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CN109823498A (zh) * 2019-02-18 2019-05-31 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 一种水下平台抗吸附坐底装置
CN110641291A (zh) * 2019-10-08 2020-01-03 长安大学 一种双电机电动滑板车控制方法及其系统
CN111528186A (zh) * 2020-05-27 2020-08-14 中国水产科学研究院东海水产研究所 南极磷虾桁杆拖网升潜自供能调节装备

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US3949694A (en) 1976-04-13
US3938759A (en) 1976-02-17
GB1427802A (en) 1976-03-10
FR2181486A1 (ar) 1973-12-07
JPS4942081A (ar) 1974-04-20
GB1427801A (en) 1976-03-10
FR2181486B1 (ar) 1977-08-26
DE2320436A1 (de) 1973-11-15
DE2320514A1 (de) 1973-11-15

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