EP0321372B1 - Bemanntes tauchfähiges Fahrzeug mit Eigenantrieb für Unterwasserfahrten - Google Patents

Bemanntes tauchfähiges Fahrzeug mit Eigenantrieb für Unterwasserfahrten Download PDF

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Publication number
EP0321372B1
EP0321372B1 EP88430032A EP88430032A EP0321372B1 EP 0321372 B1 EP0321372 B1 EP 0321372B1 EP 88430032 A EP88430032 A EP 88430032A EP 88430032 A EP88430032 A EP 88430032A EP 0321372 B1 EP0321372 B1 EP 0321372B1
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EP
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Prior art keywords
vehicle according
vehicle
ballast
sleeve
pressure
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Expired - Lifetime
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EP88430032A
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English (en)
French (fr)
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EP0321372A1 (de
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Jean-Michel Onofri
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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

Definitions

  • the present invention relates to self-propelled submersible vehicles intended for carrying out underwater rides.
  • the technical sector of the invention is that of the construction of autonomous submersible vehicles, intended for the observation of the seabed.
  • the submersible recreational vehicles known to date do not allow to reach significant depths and are not individual vehicles allowing to freely choose the routes.
  • the objective of the present invention is to provide submersible vehicles allowing one or a few people to walk freely underwater to depths of the order of 50 meters while having a fully peripheral vision in the horizontal plane and a viewing angle in the vertical plane close to 180 °.
  • a submersible vehicle of the known type comprising a resistant hull serving as a passenger compartment, ballasts, drop ballast, propeller thrusters driven by electric motors and accumulator batteries, is described in FR-A-2149018.
  • the resistant shell comprises a peripheral porthole constituted by a completely transparent vertical cylindrical sleeve, having a diameter sufficient to contain several people seated side by side , which sleeve is extended downwards by a hemispherical dome and upwards by a spherical cap extended by a cylindrical kiosk closed by a cover.
  • the kiosk comprises a second peripheral porthole constituted by a second vertical cylindrical sleeve which is entirely transparent and the cover comprises, in its center, a transparent porthole
  • the peripheral portholes are sleeves of a single piece of polymethyl methacrylate, the two ends of which are supported on two seals and are engaged in two flanges in the form of U-shaped profiles, which are held tight on said sleeves by tie rods.
  • a vehicle according to a preferred embodiment of the invention comprises a tubular structure which surrounds said resistant shell and which supports all the other components of the vehicle and said resistant shell is connected to said tubular structure by elastic connections.
  • the releasable ballast is constituted by an orientable box filled with a material in the divided state, which is articulated around a transverse horizontal axis supported by the tubular structure and said vehicle comprises means for controlling the pivoting of said box around of said axis from the inside of the resistant shell.
  • the invention results in new submersible vehicles in which one or a few people can take place and which allow them to wander freely underwater to visit the seabed to depths of up to 50 meters. .
  • a submersible vehicle according to the invention makes it possible to have very good visibility with a field of vision of 360 ° in the horizontal plane and which can reach 180 ° in the vertical plane thanks to the possibilities of attitude variations offered by the swiveling ballast. .
  • the occupants then gradually fill the adjustment tank until the buoyancy is substantially zero.
  • a vehicle which comprises a resistant shell fixed, by elastic connections, to a tubular structure which carries all the other components of the vehicle and which supports vertical downward or upward loads, has the advantage that the resistant hull can be calculated separately to withstand only hydrostatic pressures, which makes it possible to design a hull comprising a transparent cylindrical porthole that can reach immersion depths ranging up to 50 meters.
  • the vehicles according to the invention are particularly suitable for equipping leisure centers or holiday clubs located by the sea or in lagoons, in order to allow customers to practice driving a small submarine, then to go for a walk underwater to visit the seabed.
  • Figure 1 is a perspective view of a vehicle according to the invention.
  • Figures 2, 3 and 4 are respectively an elevational view, a half view from above, a horizontal half-section, a half view from the front and a half view from the rear of a vehicle according to l 'invention.
  • Figure 5 is an axial section of the resistant shell.
  • Figure 6 is a partial vertical section of the lower connection between the shell and the tubular structure.
  • Figure 7 is a vertical section of the upper connection between the resistant shell and the tubular structure.
  • Figure 8 is a half front view and a transverse axial half-section of the releasable ballast.
  • FIG. 9 is a longitudinal axial section along IX-IX of FIG. 8.
  • Figures 10 to 17 are schematic views showing a vehicle according to the invention during different phases of use.
  • a vehicle according to the invention comprises, in the center, a shell 1 which resists hydrostatic pressure up to a determined immersion depth, which can reach, for example, 50 meters.
  • the shell 1 is a hollow body which serves as a cabin for a few people, for example two people seated side by side.
  • the vehicle comprises a tubular structure 2 which surrounds the central shell and which is connected thereto by elastic connections which will be described below.
  • the tubular structure carries four ballasts 3 which are fixed to the upper part of the structure at a level such that they are largely out of the water when they are empty and they then serve as a float. These ballasts are in permanent communication with the sea.
  • the tubular structure also carries two propeller thrusters 4, located on the sides of the resistant hull.
  • the tubular structure 2 carries, at the bottom, a box 5 which is filled with oil and which contains batteries which supply the engines of the thrusters.
  • the box 5 carries light projectors 6.
  • the tubular structure 2 carries, in addition, a releasable ballast 7 which pivots about a transverse axis.
  • the tubular structure 2 also carries an adjustable ballast 8, formed by a cylindrical tank having domed bottoms, which is located at the rear of the resistant hull and which makes it possible to adjust the buoyancy of the vehicle during the dive.
  • an adjustable ballast 8 formed by a cylindrical tank having domed bottoms, which is located at the rear of the resistant hull and which makes it possible to adjust the buoyancy of the vehicle during the dive.
  • the tubular structure finally carries bottles 9 of compressed oxygen intended for the breathing of the occupants of the passenger compartment and bottles 10 of compressed air intended to drive the water out of the ballasts.
  • tubular structure 2 has two pads 11 which rest on the ground when the vehicle is placed on the ground or on the bottom of the sea.
  • Two rudders 12 maneuverable from inside the passenger compartment are placed at the rear of the two rear ballasts.
  • the tubular structure carries a platform 2a which surrounds a kiosk 21, which is extended towards the rear by a fairing 21a.
  • the tubular structure 2 is composed of a trellis of vertical tubes connected to each other by horizontal, longitudinal and transverse struts and reinforced by inclined bracing tubes. It is calculated to work either in compression when the vehicle is out of the water, or in vertical tension in immersion.
  • ballasts 3 have the shape of spindles symmetrical with respect to a horizontal plane and with respect to a longitudinal vertical plane.
  • ballasts can hold approximately 100 liters of water. Ballasts have a contoured shape to reduce drag.
  • each ballast by longitudinal vertical planes has a rounded shape at the front and a tapered shape at the rear.
  • each ballast by longitudinal vertical planes has a tapered shape at the front and rounded at the rear.
  • the trace 13 of the master couple is to say the line passing through the points corresponding to the greatest width. We see that this line is not contained in a plane perpendicular to the axis.
  • ballasts described above were designed to find a compromise between resistance to advancement in diving and on the surface.
  • the thrusters 4 are pivotally mounted with respect to a transverse horizontal axis, so that they can be used to propel the machine in all directions.
  • the pivot axis of the thrusters passes through the center of thrust of the hull.
  • the thrusters 4 are adjustable ⁇ 90 ° around the pivot axis.
  • FIG. 5 is an axial section of a preferred embodiment of a passenger compartment 1, in which two seated people can take place.
  • This passenger compartment is a waterproof hull capable of withstanding, with a safety margin, a determined immersion depth, for example a hydrostatic pressure corresponding to a depth of 50 meters.
  • the shell 1 has a bottom 14 made of steel or any other metal in the form of a hemispherical dome which is welded to a flange 15 situated in the diametrical plane.
  • the flange 15 is for example a U-shaped profile whose wings are turned upwards.
  • the shell 1 comprises a metallic upper part 16, in the form of a domed cap, which is welded to a second flange 17 also constituted by a U-shaped profile whose wings are turned downwards.
  • the two flanges 15 and 17 are of the same diameter and coaxial. They are linked together by tie rods 18.
  • the resistant shell further comprises a cylindrical window 19, which is a thick transparent sleeve, preferably a sleeve made of polymethyl methacrylate or any other transparent material having equivalent mechanical and optical properties.
  • the window 19 is made in one piece in order to obtain good mechanical resistance to pressure.
  • the window 19 allows the occupants of the hull to have a field of vision of 360 ° in the horizontal plane and approximately 70 ° in the vertical plane when the zz ′ axis of the vehicle is vertical.
  • the pivoting ballast makes it possible to tilt the axis of the device by ⁇ 30 ° in the longitudinal plane and to increase the field of vision to allow the occupants to look at the background or the surface vertically of the vehicle.
  • Seals 20 are interposed respectively between the lower edge and between the upper edge of the window 19 and each of the flanges 15 and 17.
  • the thickness of the window 19 is less than the width of the sections 15 and 17, so that it fits into them.
  • the cap 16 is extended upwards by a cylindrical kiosk 21, coaxial with the cylindrical window and of smaller diameter.
  • Booth 21 serves as a passage for the occupants. It is closed by a tight cover 22, in the form of a spherical cap, reinforced at its periphery by a flange. Sealing is ensured by an O-ring which is compressed by three eccentric closings.
  • the cover can be operated from the inside or from outside. It carries, in its center, a porthole 23 which allows a vertical vision.
  • the cylindrical kiosk 21 comprises a lower metal cylinder 24 and an upper metal cylinder 25, coaxial and of the same diameter on each of which is fixed a flange 24a or 25a. It comprises a transparent cylindrical porthole 26 which is also a sleeve of polymethyl methacrylate which is fitted into the flanges 24a and 25a, which are U-shaped profiles, with the interposition of a seal.
  • the two flanges 24a and 25a are connected together by external tie rods 27, shown in dotted lines.
  • the window 26 comes out of the water when the vehicle is moving on the surface.
  • a cylindrical porthole 19 having a radius of 600 mm, a height of 800 mm and a thickness of 60 mm, makes it possible to reach, with a safety margin, a depth of 50 meter immersion.
  • FIG. 6 is a partial vertical section showing, on a larger scale, the elastic connection between the resistant shell 1 and the tubular structure 2.
  • This figure shows the lower edge of the window 19 which is fitted into the lower flange 15 welded to the upper edge of the hemispherical bottom 14, with a flat seal 20 and an O-ring 20a interposed between the window 19 and the flange 15.
  • FIG. 6 also shows a tubular ring 28 which forms part of the tubular structure 2 and which coaxially surrounds the flange 15.
  • a flat metal ring 29 is fixed to the tubular ring 28 by hooks 30.
  • the metal ring 29 carries a flexible flat ring 31, in several sections.
  • the flange 15 rests on the flexible ring 31.
  • the resistant hull When the vehicle is in the water, the resistant hull has positive buoyancy and the upward vertical thrust is transmitted to the tubular structure by the upper flange as shown in Figure 7, which is a partial axial section on which we find the flange 17 and a flat reinforcing ring 17a welded to the cap 16.
  • the tubular structure comprises a tubular ring 33, connected to the rest of the structure 32 by inclined spacers 34, which carry bosses welded 35 in each of which is screwed a screw 36 which rests on a metal plate 37 associated with an elastic plate 38.
  • the upward thrust which is exerted on the resistant shell is transmitted to the tubular structure via the reinforcement 17a , plates 38 and 37 and screws 36.
  • the centering of the resistant shell in the tubular structure is ensured by an elastic band 39 which is interposed between the kiosk 24 and the ring 33.
  • the elastic connection between the resistant shell and the tubular structure has the effect that no significant stress due to the differences in buoyancy or expansion is transmitted to the shell by the tubular structure and the resistant shell can be calculated separately taking into account only the constraints due to hydrostatic pressure.
  • the absence of rigid connection between the structure and the shell avoids having to fix connection means on the shell by means of bolts or welds which could weaken the resistant shell.
  • the mechanical controls leaving the hull include an elastic connection to avoid exerting stress on the hull bushings.
  • a vehicle according to the invention comprises, in a known manner, a ballast 7 which can be released for safety reasons.
  • the drop ballast of a vehicle according to the invention has the particularity of being orientable by pivoting about a transverse axis, so that it makes it possible to vary the attitude of the vehicle and to increase the field of vision of occupants.
  • FIG. 8 represents in its left part, a half front view and in its right part, a transverse axial half-section of the lower part of a vehicle according to the invention.
  • Figure 9 is a longitudinal section along IX-IX of Figure 8, in which there is shown in solid lines, the ballast releasable in vertical position and, in dotted lines, the ballast releasable in position tilted forward.
  • the releasable ballast comprises a metal box 41 mounted to pivot about the transverse axis 40a, 40b.
  • the box 41 is filled with lead balls or any other material in the divided state constituting a releasable ballast.
  • the box 41 is located between the hemispherical dome 14 and the box 5 which contains the batteries 42.
  • the box 41 In section perpendicular to the axis y y1, the box 41 has an internal wall 41a, having the shape of a circular sector centered on the axis y y1, having an angular opening ⁇ of the order of 60 °.
  • This internal wall substantially matches the shape of the hemispherical dome 14 with play, so that the box can pivot freely around the axis y y1 following the wall of the hemispherical dome.
  • the outer wall of the box is constituted by four doors or flaps 43a, 43b, which are hinged in pairs respectively around a transverse axis 44a for the two flaps 43a and around a transverse axis 44b for the two flaps 43b.
  • the doors 43a, 43b are cylinder portions whose generatrices are parallel to the axes 44a, 44b.
  • the box 41 has, on its transverse walls, hydraulic cylinders 45a, 45b which act as brakes to keep the doors 43a, 43b closed.
  • the valves placed inside the passenger compartment are opened, which put the jacks 45a, 45b in communication with a tank.
  • the liquid contained in the jacks 45a, 45b is emptied, the doors 43a, 43b open and the shot contained in the boxes is released.
  • a vehicle according to the invention must not exceed a determined immersion depth.
  • a sensor for example a hydrostatic pressure sensor which emits a signal when a first determined immersion depth is reached and this signal controls an alarm placed inside the cockpit. If the immersion depth continues to increase, a second signal is sent, which automatically controls the opening of a solenoid valve which controls the emptying of the jacks 45a, 45b and the release of the ballast and the vehicle rises to the surface.
  • a sensor for example a hydrostatic pressure sensor which emits a signal when a first determined immersion depth is reached and this signal controls an alarm placed inside the cockpit. If the immersion depth continues to increase, a second signal is sent, which automatically controls the opening of a solenoid valve which controls the emptying of the jacks 45a, 45b and the release of the ballast and the vehicle rises to the surface.
  • the box 41 is orientable by pivoting around the axis y y1.
  • the pivoting control is carried out by means of a chain or an endless toothed belt 46, shown in dotted lines, which passes over a deflection pulley 47 and over a pulley or a toothed wheel 47a, which is mounted on a shaft. 48 which passes through the metal shell 14 and which is provided with a control handle 49 placed inside the shell.
  • the chain or belt 46 is hooked to the housing 41 which it drives in rotation about the axis y y1.
  • FIGs 10 to 17 schematically show in hatching the filling of the ballasts 3 and the control ballast 8, as well as propellants 4 during various operating phases.
  • Figure 10 shows the vehicle on the surface.
  • the water line passes slightly below the horizontal plane of symmetry of the floats.
  • FIG. 11 represents an intermediate phase during which the ballasts 3 are filled before starting to fill the adjustment ballast 8.
  • FIG 12 shows a weight adjustment phase. Ballasts 3 are completely filled. The control ballast 8 is being filled.
  • FIG 13 shows a dynamic immersion phase.
  • the control ballast 8 has been partially filled until the apparent weight is substantially zero.
  • the thrusters 4 are oriented vertically, the propeller upwards. They drive the vehicle down.
  • FIG. 14 represents the diving vehicle which is moved forward by the thrusters 4 placed horizontally, the propeller towards the rear.
  • FIG. 15 represents a diving phase during which the occupants vary the attitude of the vehicle by rotating the ballast 7 to observe the bottom substantially vertically of the vehicle.
  • FIG 16 shows a rapid ascent phase in an emergency.
  • the doors of the box containing the ballast 7 are open and the ballast is released.
  • the control ballast 8 is emptied. You can also partially or completely empty the ballast 3 to speed up the ascent.
  • the thrusters 4 are placed vertically in the upward direction.
  • Figure 17 shows a normal ascent phase.
  • the water contained in the weight adjustment box 8 is emptied, which is sufficient to ensure positive buoyancy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Vehicle Waterproofing, Decoration, And Sanitation Devices (AREA)
  • Helmets And Other Head Coverings (AREA)
  • Toys (AREA)
  • Pressure Vessels And Lids Thereof (AREA)
  • Bridges Or Land Bridges (AREA)
  • Emergency Lowering Means (AREA)

Claims (10)

1. Bemanntes Tauchfahrzeug mit Eigenantrieb, umfassend einen als Kabine dienenden festen Rumpf (1), Ballaste (3, 5), einen abwerfbaren Ballast (7), von Elektromotoren angetriebene Schiffsschrauben (4) und Akkumulatorbatterien (42), dadurch gekennzeichent, daß der feste Rumpf ein peripheres Bullauge umfaßt, das durch eine vertikale zylindrische, vollständig transparente Hülse (19) mit einem zur Aufnahme mehrerer nebeneinandersitzender Personen ausreichenden Durchmesser gebildet ist, welche Hülse nach unten zu durch eine halbkugelförmige Kuppel (14) und nach oben zu durch eine Kugelkalotte (16) verlängert ist, die durch einen mit einem Deckel (22) verschlossenen zylindrischen Kommandoturm (21) verlängert ist.
2. Fahrzeug nach Anspruch 1, dadurch gekennzeichnet, daß der Kommandoturm (21) ein zweites peripheres Bullauge (26) umfaßt, welches aus einer zweiten vertikalen zylindrischen, vollständig transparenten Hülse gebildet ist, und daß der Deckel in seiner Mitte ein transparentes Bullauge (23) aufweist.
3. Fahrzeug nach einem der Ansprüche 1 und 2, dadurch gekennzeichnet, daß die peripheren Bullaugen (19, 26) einstückige Hülsen aus Methylpolymethacrylat sind, deren beide Enden an Dichtungen (20) stoßen und in zwei Flansche (15, 17) mit U-förmigem Profil eingesetzt sind, welche auf den beiden Hülsen mittels Zuganker (18, 27) festgespannt sind.
4. Fahrzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß es eine rohrförmige Struktur (2) umfaßt, die den festen Rumpf umgibt und sämtliche anderen Bestandteile des Fahrzeugs trägt, und daß der feste Rumpf (1) mittels elastischer Verbindungen mit der rohrförmigen Struktur (2) verbunden ist.
5. Fahrzeug nach Anspruch 4, dadurch gekennzeichnet, daß die rohrförmige Struktur (2) einen ersten rohrförmigen Ring (28), der um den unteren Flansch (15) koaxial zu diesem angeordnet ist, und einen mittels Streben (34) mit der Struktur verbundenen zweiten rohrförmigen Ring (32, 33), der um die den oberen Flansch (17) aufweisende Kugelkalotte (16) angeordnet ist, umfaßt, daß der untere Flansch (15) auf einem nachgiebigen flachen Ring (31) aufliegt, der von einem am ersten rohrförmigen Ring (28) hängenden starren flachen Ring (29) getragen ist, und daß in die Streben (34) geschraubte Schrauben (36) nachgiebige Puffer (38) am oberen Flansch (17) stützen.
6. Fahrzeug nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß es Ballaste (3) umfaßt, die am oberen Teil der rohrförmigen Struktur (2) befestigt sind und die Form von Spindeln haben, die symmetrisch zu einer vertikalen Längsebene sind und deren Querschnitte in vertikalen Längsebenen vorne eine abgerundete Form und hinten eine spitz zulaufende Form aufweisen und die auch symmetrisch zu einer horizontalen Ebene sind und deren horizontale Schnitte vorne eine spitz zulaufende Form und hinten eine abgerundete Form aufweisen.
7. Fahrzeug nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß der abwerfbare Ballast durch einen mit einem Material in verteiltem Zustand gefüllten, ausrichtbaren Senkkasten (7) gebildet ist, der um eine Querachse (y y1) gelenkig befestigt und von der rohrförmigen Struktur (2) getragen ist, und daß das Fahrzeug Mittel (46, 46a, 47, 48, 49) zur Steuerung der Schwenkbewegung des Senkkastens um die Achse (y y1) vom Inneren des festen Rumpfes her umfaßt.
8. Fahrzeug nach Anspruch 7, dadurch gekennzeichnet, daß der Senkkasten zwischen der halbkugelförmigen Kuppel (14) und einem die Batterien (42) enthaltenden Kasten (5) angeordnet ist.
9. Fahrzeug nach einem der Ansprüche 7 und 8, dadurch gekennzeichnet, daß der Kasten durch Türen (43a, 43b) verschlossen ist, die nach unten aufgehen und mittels hydraulischer Stelltriebe (45a, 45b) in geschlossener Position gehalten sind, und daß der die Stelltriebe speisende Hydraulikkreis vom Inneren des dichten Rumpfes manuell betätigbare Ventile und automatisch durch einen Druckregler gesteuerte Elektroventile zum Abwerfen des Ballasts unter Öffnen der Türen umfaßt.
10. Fahrzeug nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß die rohrförmige Struktur (2) zwei Schiffschrauben (4) trägt, die um ± 90° um eine durch den Druckmittelpunkt des festen Rumpfes gehende horizontale Querachse ausrichtbar sind.
EP88430032A 1987-12-18 1988-12-16 Bemanntes tauchfähiges Fahrzeug mit Eigenantrieb für Unterwasserfahrten Expired - Lifetime EP0321372B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8717973A FR2624826B1 (fr) 1987-12-18 1987-12-18 Vehicules submersibles habites et autopropulses pour promenades sous-marines
FR8717973 1987-12-18

Publications (2)

Publication Number Publication Date
EP0321372A1 EP0321372A1 (de) 1989-06-21
EP0321372B1 true EP0321372B1 (de) 1992-03-11

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EP88430032A Expired - Lifetime EP0321372B1 (de) 1987-12-18 1988-12-16 Bemanntes tauchfähiges Fahrzeug mit Eigenantrieb für Unterwasserfahrten

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Country Link
US (1) US4938164A (de)
EP (1) EP0321372B1 (de)
JP (1) JP2678302B2 (de)
AU (1) AU618041B2 (de)
CA (1) CA1319297C (de)
DE (1) DE3869093D1 (de)
ES (1) ES2030201T3 (de)
FR (1) FR2624826B1 (de)
GR (1) GR3004716T3 (de)

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CN108622353B (zh) * 2018-05-30 2023-10-10 上海海洋大学 一种用于水下航行器的抛载装置
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US3527184A (en) * 1966-07-20 1970-09-08 Us Navy Edreobenthic manned observatory for undersea research
US3388683A (en) * 1967-01-17 1968-06-18 Burl B. Barhite Submersible hull including a detachable man-carrying capsule
US3598074A (en) * 1969-02-11 1971-08-10 James M Schubert Submersible vehicle
US3521589A (en) * 1969-02-19 1970-07-21 Frederick O Kemp Underwater vessel
FR2128892A5 (de) * 1971-03-08 1972-10-27 Petroles Cie Francaise
FR2149018A5 (de) * 1971-08-11 1973-03-23 Expertises Cie Maritime
FR2541229A1 (fr) * 1983-02-17 1984-08-24 Couderq Yves Engin subaquatique a structure articulee
GB8518642D0 (en) * 1985-07-23 1985-08-29 Walker T D Equatorial view port

Also Published As

Publication number Publication date
AU2677188A (en) 1989-06-22
GR3004716T3 (de) 1993-04-28
CA1319297C (en) 1993-06-22
US4938164A (en) 1990-07-03
ES2030201T3 (es) 1992-10-16
EP0321372A1 (de) 1989-06-21
FR2624826B1 (fr) 1990-06-08
DE3869093D1 (de) 1992-04-16
JPH01197197A (ja) 1989-08-08
FR2624826A1 (fr) 1989-06-23
AU618041B2 (en) 1991-12-12
JP2678302B2 (ja) 1997-11-17

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