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EP2152570B1 - Submersible apparatus including flexible waterproofing membranes - Google Patents

Submersible apparatus including flexible waterproofing membranes Download PDF

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Publication number
EP2152570B1
EP2152570B1 EP08750047A EP08750047A EP2152570B1 EP 2152570 B1 EP2152570 B1 EP 2152570B1 EP 08750047 A EP08750047 A EP 08750047A EP 08750047 A EP08750047 A EP 08750047A EP 2152570 B1 EP2152570 B1 EP 2152570B1
Authority
EP
European Patent Office
Prior art keywords
driving member
membrane
drive member
respect
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08750047A
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German (de)
French (fr)
Other versions
EP2152570A2 (en
Inventor
Pascal Caestecker
Frédéric SEGONDS
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Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Application filed by Individual filed Critical Individual
Publication of EP2152570A2 publication Critical patent/EP2152570A2/en
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Publication of EP2152570B1 publication Critical patent/EP2152570B1/en
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Classifications

    • 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
    • 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
    • B63G8/20—Steering equipment
    • 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
    • B63G8/26—Trimming equipment
    • 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
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention proposes a self-propelled submersible apparatus comprising improved sealing means.
  • the invention more particularly proposes a submersible apparatus capable of being entirely immersed in a liquid medium comprising a hollow body sealingly closed, of longitudinal main axis at least one drive member of the apparatus in horizontal displacement and / or in vertical displacement, which is movable relative to the hollow body through an opening made in the wall of the body and which comprises at least one flat pallet of longitudinal main orientation, which extends outside the hollow body and which is arranged at an axial end of the body to cooperate with the medium in which the apparatus is immersed, means for actuating the drive member, which are arranged inside the hollow body, a flexible membrane for closing the opening in a sealed manner, which is adapted to deform and cooperate with the drive member during the movement of the drive member through the opening, p for the movement of the apparatus, the drive member having a connecting portion of the pallet to the actuating means, which passes through the flexible membrane sealingly.
  • the drive member is elastically deformable, and is attached to the hollow body at its front base, so that the front base sealingly closes a rear opening of the body which is traversed by the connecting portion.
  • Such a method of fixing the front base of the drive member on the body is relatively complex to achieve because the shape of the front base must be complementary to the shape of the opening.
  • the stresses exerted on the drive member, to cause its deformation can cause a separation of the front base of the drive member from the body.
  • the dimensions of the opening are relatively large, to allow the passage of the various components of the device, these dimensions of the opening imply a convex body appearance, which is not compatible with a shaped design of fish.
  • the object of the invention is to propose a submersible apparatus comprising relatively simple design sealing means, which are adapted to the movements of the drive member, and for which the external appearance of the body of the apparatus may have a tapered shape.
  • the invention proposes a submersible device as described above, characterized in that the opening is sealingly closed by a flexible membrane which is able to deform and cooperate with the drive member during the movement of the drive member through the opening, for the movement of the apparatus.
  • FIG. 1 a submersible apparatus 10 which is intended to be immersed in a liquid environment such as than a volume of water (not shown) and which is able to move freely in this liquid medium.
  • the apparatus 10 comprises a hollow body 12 of longitudinal main axis A and means for actuating the apparatus 10 in displacement in the liquid medium.
  • the body 12 of the apparatus 10 is a hollow element of oblong shape and longitudinal main axis A.
  • the body 12 is furthermore an element of revolution about the longitudinal principal axis A, and its section along an axial plane is generally elliptical, that is to say that the diameter of a radial section of the body 12 is more important near the longitudinal center of the body 12.
  • the body 12 consists of a hollow shell having a front half shell 70 and a rear half shell 72 which are contiguous at their longitudinal ends vis-à-vis.
  • annular sleeve 82 which extends axially forwardly from the front axial end 72a of the rear half-shell 72.
  • the bushing is intended to be received in the front half-shell 70.
  • the diameter of the outer cylindrical face of the sleeve 82 is slightly smaller than the internal diameter of the rear end 70a of the front half-shell 70.
  • the outer cylindrical face of the bushing 82 has an annular groove which receives an O-ring seal 74, which is compressed radially between the bushing 82 and the rear end 70a of the front half-shell 70.
  • the front half shell 70 further comprises fixing portions 84, which here are three in number and which extend radially outwardly from its rear end 70a.
  • Each fixing portion 84 is able to be fixed to an associated fastening portion 86 of the front axial end 72a of the rear half shell 72, for example by screwing, for fixing the front half shell 70 with the rear half shell 72.
  • the attachment portions 84, 86 of the front half shell 70 and the rear half shell 72 are further shaped to limit the disturbances produced by the movement of the device in the liquid medium.
  • the means for actuating the apparatus 10 in the liquid medium comprise a first drive member 14 arranged at a rear end 12a of the body 12, which is designed to cooperate with the liquid medium to cause displacement. of the apparatus 10 in a plane horizontal with respect to the horizontal principal axis A of the body 12.
  • the first drive member 14 causes a longitudinal displacement towards the front of the apparatus 10 and a rotation of the apparatus 10 about a generally vertical axis.
  • the first drive member 14 comprises a vertical longitudinal pallet 16 which is arranged longitudinally behind and outside the body 12.
  • the first drive member 14 is mounted to move relative to the hollow body generally in a sweep around a substantially vertical axis B arranged at the rear longitudinal end 12a of the body 12.
  • the movement of the first drive member 14 relative to the body 12 is obtained by actuating means 18 which are arranged inside the hollow body 12.
  • the first drive member 14 comprises a connecting portion 20 which is fixed to the pallet 16 and which passes through a rear opening 22 made in the rear longitudinal end 12a of the body 12 ( figures 3 and 5 ).
  • the connecting portion 20 consists of an orientation element main longitudinal, which extends forwardly from the pallet 16, and whose free front longitudinal end 20a cooperates with the actuating means 18.
  • the rear opening 22 is closed in a sealed manner by a rear membrane 24 made of a flexible material, which cooperates with the connecting portion 20 to allow the movement of the drive member 14 relative to the body 12.
  • the flexible membrane 24 is thus able to be deformed during the scanning of the pallet 16 around the vertical axis B, so as to maintain the rear opening 22 sealed, regardless of the position of the first drive member 14 around its scanning axis B.
  • the flexible membrane 24 is made to be deformed elastically during the scanning of the pallet 16, between an initial form of rest to which it returns elastically, and several deformed shapes.
  • the invention is not limited to this embodiment of the flexible membrane, which can deform freely, non-elastically.
  • the connecting portion 20 passes through the rear membrane 24 in a sealed manner.
  • the rear membrane 24 is made by overmoulding around the connecting portion 20.
  • the first drive member 14 is connected to the body 12 only through the rear membrane 24 which provides a guide of the first drive member 14 by scanning around vertical axis B.
  • the deformation of the membrane 24 generally consists of a rotation of its central portion 24a about the vertical axis B, identical to the rotation of the first drive member 14.
  • the membrane 24 is here elastically deformable.
  • the stiffness of the membrane 24 is then determined so as not to hinder the pivoting of the first drive member 14 about the vertical axis B. On the other hand, this stiffness of the membrane is determined so as to prevent any unwanted pivoting. the first drive member 14 about the vertical axis B, or about a generally transverse axis.
  • the stiffness of the membrane 24 is determined to maintain the first drive member 14 in longitudinal position relative to the body 12 by exerting on the first drive member 14 an elastic return force towards the position shown in FIG. Figure 6A .
  • the membrane 24 can also not exert a return force of the first drive member 14 towards the rest position because this return is obtained by the actuating means 18 of the first drive member 14.
  • figure 4 a detail of the connection of the connecting portion 20 with the actuating means 18 of the first drive member 14.
  • the connecting portion 20 cooperates with the actuating means 18 at its free front longitudinal end 20a.
  • the actuating means 18 comprise an actuator 28 which consists here of a servomotor, and a linkage 30 connecting the actuator 28 to the connecting part 20.
  • the linkage comprises a longitudinal fork 32 which is articulated relative to the body 12 about a vertical axis B1, and extends longitudinally rearwardly from this vertical axis B1.
  • the free rear end 32a of the fork 32 is generally flat and horizontal, and it comprises two longitudinal fingers 34 aligned transversely between which the free end 20a of the connecting portion 20 is received.
  • the free end 20a of the connecting portion 20 is in the form of a vertical rod, which is able to slide freely between the two fingers 34, along the main axis of the fork 32, and to pivot between the fingers 34 around its vertical main axis.
  • the actuator 28 and the linkage 30 are made to cause a pivoting of the fork 32 about its hinge axis B1 in a given direction.
  • the fork 32 drives the free front end 20a of the connecting portion 20 in generally transverse movement in a direction associated with the pivoting of the fork 32.
  • the space swept by the fork 32 is relatively small.
  • This embodiment of the actuating means 18 of the first drive member 14, by the fork 32 is thus particularly suitable for mounting the actuating means 14 at a rear longitudinal end 12a of the body at which the internal diameter of the body is relatively small, and therefore at a place where the internal volume of the body is limited, while the volume of the actuating means 18 is larger.
  • the flexible membrane 24 guards the first drive member 14 about the vertical axis B. Therefore, the transverse displacement of the free end 20a of the connecting portion 20 causes a pivoting of the first drive member 14 about the vertical axis B.
  • a servomotor to realize the actuator 28 makes it possible to define the scanning movement of the first drive member 14 around the vertical axis B, so that it is possible to have a symmetric scanning with respect to to the longitudinal main axis A of the body 12, to carry the propulsion of the apparatus 10 forward, or to have a scan of the first drive member 14 on one side with respect to the axis main longitudinal A of the body 12, to change the direction towards which the apparatus 10 is advancing.
  • the apparatus 10 comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane, with respect to the longitudinal main axis A of the body 12.
  • the actuating means also comprise a second drive member 36 which is designed to cooperate with the liquid medium to cause the apparatus 10 to move in a vertical longitudinal plane with respect to the horizontal main axis A of the body 12.
  • the second drive member 36 can propel the device 10 longitudinally rearward and it allows to change the orientation of the device 10 around a generally vertical axis, also called "plate”.
  • the second drive member 36 is of generally identical structure to the first drive member 14. By against, as can be seen that figures, the second drive member 36 is arranged at the longitudinal end 12b before the body 12 and is mounted sweeping relative to the body 12 about a transverse axis C located at the front end 12b of the body 12.
  • the second drive member 36 thus comprises a front transverse longitudinal pallet 38 which is arranged longitudinally in front of and outside the body 12, and a connecting part 42 which connects the front pallet 38 to actuating means 40 arranged inside the hollow body 12 and which passes through a front opening 44 made in the longitudinal end before 12b of the body 12.
  • the front pallet 38 here has openings 39 which are arranged on either side of the longitudinal main axis A of the apparatus 10. These openings 39 provide a flexibility of the pallet around a transverse axis, during the propulsion of the apparatus 10 longitudinally rearwardly.
  • the actuating means 40 of the second drive member 36 comprise an actuator 46 and a linkage 48 which acts on the rear longitudinal end 42a of the the connecting portion 42 through a vertical front fork 48 which is articulated relative to the body 12 about a transverse axis C1.
  • the front opening 44 of the body 12 is sealingly closed by a flexible membrane 50 similar to the flexible membrane 24 which closes the rear opening 22 of the body 12.
  • the front flexible membrane 50 carries out pivotal guidance of the second drive member 36 around the front transverse axis C.
  • the apparatus comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane and a second driving member 36 for moving the apparatus 10 in a vertical longitudinal plane.
  • FIG. 9 an alternative embodiment of the apparatus 10 according to the invention for which the first drive member 14 is made to cooperate with the liquid medium for moving the apparatus 10 in a horizontal plane and in a vertical longitudinal plane .
  • the first drive member 14 is then the only drive member of the apparatus 10 in these two planes.
  • the first drive member 14 is articulated relative to the rear end of the body 12 about the rear vertical axis B and about a rear transverse axis C2.
  • the first drive member 14 comprises a connecting portion 20 which passes through the rear opening 22 and which is connected to the rear end 12a of the body 12 via the rear membrane 24.
  • the rear membrane 24 allows the articulation of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2.
  • the first drive member 14 then comprises two vanes arranged at right angles to each other about the longitudinal axis A of the apparatus 10.
  • a first pallet 16 extends in a vertical longitudinal plane, for moving the apparatus 10 in a horizontal plane, and a second pallet 100 extends in a horizontal plane for moving the apparatus 10 in a vertical longitudinal plane.
  • the actuating means 18 of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2 are made so as to exert on the longitudinal end before 20a of the connecting part 20 a overall vertical action and / or a generally transversal action.
  • the front end 20a of the connecting portion 20 is spherical in shape and is received in a tubular element 102 of the linkage 30 which is articulated about a vertical axis B1 and about a transverse axis C3 which are offset from the front relative to the front end 20a of the connecting portion 20.
  • This tubular element 102 is connected to the actuator 28 via the linkage.
  • the front membrane 50 and the rear membrane 24 are each in the form of a disc which is made by overmoulding around the connecting portion 42, 20 of the driving member 36, 20.
  • each membrane is made by overmolding around the associated connecting portion, so that the membrane comprises a disk-shaped portion, similar to that described above, which makes the connection and articulation of the connecting portion associated with the body 12.
  • the membrane also has an outer portion extending longitudinally outside the body and which covers the entire outer portion of the associated connecting portion.
  • the outer portion of the membrane is generally cylindrical in shape with a longitudinal main axis, and it is adapted to be received in a cylindrical housing complementary to the associated pallet.
  • the connection between the outer portion of the membrane is designed to allow transmission of the scanning movement of the connecting portion to the associated pallet.
  • the outer portion of the membrane comprises longitudinal flats, which cooperate with complementary bearing areas of the cylindrical housing of the associated pallet. These flats notably make it possible to prevent the pallet from pivoting about the longitudinal principal axis of the apparatus 10.
  • the actuating means comprise a third drive member 52 which is made to cause a vertical movement upwards or downwards of the apparatus 10 in the liquid medium.
  • the third drive member 52 is constructed to change the overall density of the apparatus 10 relative to the density of the ambient environment.
  • the modification of the density of the apparatus 10 is carried out by modifying the volume of the apparatus, while maintaining a constant mass of the apparatus, unlike the ballast systems equipping the submarines which change the overall mass of the device without changing its volume.
  • the third drive member 52 comprises a piston 54 which is mounted movably relative to the body along a vertical axis D, through an opening 56 centered on this vertical axis D.
  • the opening 56 is made in the front half shell 70, and will be called later 56 upper opening.
  • the third drive member 52 also includes a plunger 87 which is axially slidably mounted through the upper opening 56 along the vertical axis D under the action of the piston 54.
  • the upper opening 56 is closed by an upper flexible membrane 58 which cooperates with the piston 54 and the plunger 87 to modify the density of the apparatus 10.
  • the upper membrane 58 connects a peripheral edge of the plunger 87 to the edge of the opening 56 and is adapted to be elastically deformed according to the position of the plunger 87 along the vertical axis D.
  • the plunger 87 has a pallet 88 radial with respect to the vertical axis D which is connected to the membrane 58 at its radial end edge 88a.
  • the shape of the pallet 88 is determined so as to extend the shape of the front half-shell 70 so that the apparatus 10 maintains a pleasant visual appearance.
  • the inner lower face 88i of the blade 88 is connected to the piston 54, here via a longitudinal slide 89 fixed to the blade 88, which receives a complementary longitudinal upper portion 54a of the piston 54.
  • the upper face 88s of the pallet 88 is located outside the shell 12 of the apparatus 10 and is adapted to come into direct contact with the liquid medium in which the apparatus 10 is intended to be immersed.
  • the upper face 88s of the pallet 88 also comprises an upper rib 90 which is in the form of a fin, and which cooperates with the overall aesthetic appearance of the apparatus to give it a resemblance to a fish or other aquatic animal.
  • the upper rib 90 may also cooperate with the liquid medium to guide the apparatus 10 as it moves forward.
  • the piston 54 is movable along the vertical axis between a lower position (not shown) for which the apparatus 10 has a given density, to one or more upper actuating positions, an extreme upper position of which is shown in FIGS. Figures 7 and 8 , for which the density of the apparatus 10 is reduced, which has the consequence of causing the apparatus to move vertically upwards.
  • the upper membrane 58 is made in such a way that it is not deformed when the piston 54 is in the extreme upper position shown in FIGS. Figures 7 and 8 .
  • the piston 54 exerts an axial pull down on the pallet 88, the upper membrane 58 then folds on itself, which reduces the efforts to be made to deform the upper membrane 58 .
  • the membrane is able to be elastically deformed upwards, beyond the rest position represented in FIGS. Figures 7 and 8 , which increases the vertical stroke of the 88 pallet.
  • the piston 54 is then able to exert on the pallet 88 a pushing force directed upwards, and a pulling force directed downwards.
  • the upper opening 56 is closed only by the upper membrane 58 and the piston 54 acts on a central portion of the upper membrane 58 to change the overall volume of the device.
  • the upper membrane 58 comprises a rigid central pellet 60 and a peripheral annular zone 62 surrounding the central pellet 60, which is able to deform elastically.
  • the central pellet 60 is made in one piece with the peripheral zone 62.
  • the thickness of the pellet 60 is greater than the thickness of the peripheral zone.
  • the pellet 60 and the peripheral zone 62 are made of two different materials.
  • the upper membrane 58 is made by overmolding an elastically deformable material around the pellet made of rigid material, which ensures a good seal of the upper membrane 58.
  • the actuating means 64 of the third drive member 52 comprises a third servomotor 66 and an intermediate member 68 transforming the rotation of the servomotor 66 into a translational movement of the piston 54.
  • the intermediate member 68 consists of a screw-nut system for which the screw or the nut is integral with the piston in translation and the nut, or the screw is rotated by the servomotor 66.
  • each opening 22, 44, 56 of the body 12 is closed by a membrane 24, 50, 58 which cooperates with a drive member 14, 36, 52 for driving the apparatus 10 in motion in the liquid medium.
  • each membrane 24, 50, 58 is made before the realization of the half-shells 70, 72, and the half shells are made by molding a plastic material around the half shells 70, 72.
  • each opening 22, 44, 56 is complementary to the edge of the associated membrane 24, 50, 58, guaranteeing a good seal of the closure of the opening 22, 44, 56.
  • each membrane 24, 50, 58 is traversed by a portion 20, 42, 87 of the drive member 14, 36, 52.
  • each membrane 24, 50, 58 is made by overmolding the material constituting the membrane 24, 50, 58 around the portion 20, 42, 87 of the drive member 14, 36, 52 associated.
  • the membrane 24, 50, 58 is made beforehand, before being secured to the portion 20, 42, 87 of the drive member 14, 36, 52.
  • the membrane 24, 50, 58 then comprises an orifice which is traversed by a complementary portion of the portion 20, 42, 87 of the drive member 14, 36, 52.
  • connection and sealing of the connection of the membrane 24, 50, 58 with the associated part 20, 42, 87 of the drive member 14, 36, 52 is achieved by clamping the portion of the portion 20, 42, 87 with the membrane 24, 50, 58, for example by crimping or clamping by a set of screws and nuts.
  • the hollow body 12 is made in such a way that its radial section is larger at the longitudinal center of the body 12.
  • the actuators 18, 40, 66 of the apparatus are large elements with respect to the body section close to one or the other of the two longitudinal ends 12a, 12b of the body.
  • the actuators 18, 40, 66 are arranged longitudinally at the longitudinal center of the body 12 providing a larger space available for these actuators 18, 40, 66.
  • the apparatus 10 For the attachment of the actuators 18, 40, 66 inside the body, the apparatus 10 comprises a support plate 76 of horizontal main orientation, on the horizontal faces of which the actuators 18, 40, 66 are mounted.
  • the plate 76 also carries an electronic actuator control device, as well as a power source 80.
  • the control device is for example designed for the apparatus 10 to move autonomously in the liquid medium. It may further comprise wireless communication means to a control unit (not shown) and / or means for its location.
  • the plate 76 finally carries means of articulation of the rear fork 32 around the vertical axis B1 and the front fork 48 around the transverse axis C1.
  • the apparatus 10 comprises a lower keel 78 which is mounted under the body 12 and which is made to vertically lower the center of gravity of the apparatus 10 relative to its geometric center, to prevent any rotation of the apparatus around its longitudinal main axis.
  • the keel 78 is mounted under the front half shell 70.
  • the mass of the keel 78 is determined to adjust the general mass of the apparatus 10 as a function of the density of the liquid medium.
  • the keel 78 is mounted on the body removably, to be exchanged with another keel of different mass.
  • the keel 78 is connected to the body by mounting means for adjusting the longitudinal position of the keel with respect to the body 12, to allow longitudinal centering of the center of gravity of the body 12.
  • the front half shell 70 comprises two longitudinal guide rails 92 which are received in complementary grooves 94 made in the keel 78.
  • the front half shell 70 has lower transverse grooves 96 parallel to each other and aligned longitudinally, and the keel 78 has a longitudinal lip 98 whose free end is adapted to cooperate with one of the grooves 96 to block the keel 78 in longitudinal position with respect to the front half-shell 70.
  • the invention which has just been described refers to one or more flexible membranes each of which is associated with a drive member of the apparatus 10 moving in the liquid medium.
  • the invention is not limited to this use of flexible membranes, and that the apparatus may comprise other members which cooperate with the liquid medium, and which pass through at least part of an opening of the closed body 12 by a flexible membrane.
  • the apparatus comprises one or more proximity sensors, or probes, each of which has a rod extending outwardly of the body 12, through an associated opening.
  • the outer end of the rod, which is located outside the body is adapted to come into contact with any external object, and the inner end of the rod, which is located inside the body is connected to an electronic device that detects each contact of the outer end of the rod.
  • the apparatus 10 then comprises a flexible membrane which closes the opening of the body traversed by this rod and which is performed in accordance with the invention, so as to allow movement of the rod relative to the body, depending on the displacement of the rod relative to the body.
  • the flexible membrane is thus traversed by the rod and it cooperates with the rod.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Prostheses (AREA)
  • Separation Using Semi-Permeable Membranes (AREA)
  • Toys (AREA)
  • Actuator (AREA)
  • Reciprocating Pumps (AREA)

Abstract

A submersible apparatus (10) which can be fully submerged in a liquid medium, includes: a sealed hollow body (12) having a longitudinal main axis (A); at least one driving member (14, 36, 52) for moving the apparatus (10) horizontally and/or vertically, which can co-operate with the medium in which the apparatus (10) is submerged and which can move in relation to the hollow body (12) through an opening (22, 44, 56) provided in the wall of the body (12); and elements (18, 40, 64) for actuating the driving member (14, 36, 52), which are disposed inside the hollow body (12). The invention is characterized in that the opening (22, 44, 56) is sealed by a flexible membrane (24, 50, 58) which can deform and co-operate with the driving member (14, 36, 52) as the driving member (14, 36, 52) moves through the opening in order to move the apparatus (10).

Description

L'invention propose un appareil submersible à propulsion autonome, comportant des moyens perfectionnés d'étanchéité.The invention proposes a self-propelled submersible apparatus comprising improved sealing means.

L'invention propose plus particulièrement un appareil submersible apte à être immergé en totalité dans un milieu liquide comportant un corps creux fermé de manière étanche, d'axe principal longitudinal au moins un organe d'entraînement de l'appareil en déplacement horizontal et/ou en déplacement vertical, qui est mobile par rapport au corps creux au travers d'une ouverture réalisée dans la paroi du corps et qui comporte au moins une palette plane d'orientation principale longitudinale, qui s'étend à l'extérieur du corps creux et qui est agencée au niveau d'une extrémité axiale du corps pour coopérer avec le milieu dans lequel l'appareil est immergé, des moyens d'actionnement de l'organe d'entraînement, qui sont agencés à l'intérieur du corps creux, une membrane souple pour obturer l'ouverture de manière étanche, qui est apte à se déformer et à coopérer avec l'organe d'entraînement lors du mouvement de l'organe d'entraînement au travers de l'ouverture, pour le déplacement de l'appareil, l'organe d'entraînement comportant une partie de liaison de la palette aux moyens d'actionnement, qui traverse la membrane souple de manière étanche.The invention more particularly proposes a submersible apparatus capable of being entirely immersed in a liquid medium comprising a hollow body sealingly closed, of longitudinal main axis at least one drive member of the apparatus in horizontal displacement and / or in vertical displacement, which is movable relative to the hollow body through an opening made in the wall of the body and which comprises at least one flat pallet of longitudinal main orientation, which extends outside the hollow body and which is arranged at an axial end of the body to cooperate with the medium in which the apparatus is immersed, means for actuating the drive member, which are arranged inside the hollow body, a flexible membrane for closing the opening in a sealed manner, which is adapted to deform and cooperate with the drive member during the movement of the drive member through the opening, p for the movement of the apparatus, the drive member having a connecting portion of the pallet to the actuating means, which passes through the flexible membrane sealingly.

Il existe de nombreux appareils submersibles ayant des dimensions réduites, c'est-à-dire de l'ordre de quelques dizaines de centimètres, par exemple des sous-marins miniaturisés, ou bien des automates imitant la nage d'un poisson.There are many submersible devices with reduced dimensions, that is to say of the order of a few tens of centimeters, for example miniaturized submarines, or automata imitating the swimming of a fish.

Le document US-A-2006/0000137 décrit un tel appareil en forme de poisson pour lequel l'organe d'entraînement arrière est en forme de nageoire caudale.The document US-2006/0000137 describes such a fish-shaped apparatus for which the rear drive member is in the form of a caudal fin.

L'organe d'entraînement est déformable élastiquement, et il est fixé au corps creux au niveau de sa base avant, de sorte que la base avant obture de manière étanche une ouverture arrière du corps qui est traversée par la partie de liaison.The drive member is elastically deformable, and is attached to the hollow body at its front base, so that the front base sealingly closes a rear opening of the body which is traversed by the connecting portion.

Un tel mode de fixation de la base avant de l'organe d'entraînement sur le corps est relativement complexe à réaliser car la forme de la base avant doit être complémentaire de la forme de l'ouverture.Such a method of fixing the front base of the drive member on the body is relatively complex to achieve because the shape of the front base must be complementary to the shape of the opening.

Aussi, les contraintes exercées sur l'organe d'entraînement, pour provoquer sa déformation, peuvent provoquer une désolidarisation de la base avant de l'organe d'entraînement d'avec le corps.Also, the stresses exerted on the drive member, to cause its deformation, can cause a separation of the front base of the drive member from the body.

De plus, les dimensions de l'ouverture sont relativement importantes, pour permettre le passage des divers composants de l'appareil, ces dimensions de l'ouverture impliquent un aspect bombé du corps, ce qui n'est pas compatible avec une conception en forme de poisson.In addition, the dimensions of the opening are relatively large, to allow the passage of the various components of the device, these dimensions of the opening imply a convex body appearance, which is not compatible with a shaped design of fish.

Il existe aussi des moyens d'étanchéité pour appareils submersibles par l'intermédiaire d'un joint torique qui s'appuie sur un arbre. On connaît encore du document US-3.361.106 , un bateau non submersible dont la palette arrière de propulsion est articulée mécaniquement par un arbre et comportant des membranes d'étanchéité indépendantes des moyens d'articulation.There are also sealing means for submersible devices via an O-ring that rests on a shaft. We still know the document US 3361106 , a non-submersible boat whose rear propulsion pallet is mechanically articulated by a shaft and comprising sealing membranes independent of the hinge means.

L'invention a pour but de proposer un appareil submersible comportant des moyens d'étanchéité de conception relativement simple, qui sont adaptés aux mouvements de l'organe d'entraînement, et pour lequel l'aspect extérieur du corps de l'appareil peut avoir une forme effilée.The object of the invention is to propose a submersible apparatus comprising relatively simple design sealing means, which are adapted to the movements of the drive member, and for which the external appearance of the body of the apparatus may have a tapered shape.

Dans ce but, l'invention propose un appareil submersible tel que décrit précédemment, caractérisé en ce que l'ouverture est obturée de manière étanche par une membrane souple qui est apte à se déformer et à coopérer avec l'organe d'entraînement lors du mouvement de l'organe d'entraînement au travers de l'ouverture, pour le déplacement de l'appareil.For this purpose, the invention proposes a submersible device as described above, characterized in that the opening is sealingly closed by a flexible membrane which is able to deform and cooperate with the drive member during the movement of the drive member through the opening, for the movement of the apparatus.

Selon d'autres caractéristiques de l'invention, prises isolément ou en combinaison :

  • la partie de liaison comporte une extrémité axiale interne agencée à l'intérieur du corps, qui coopère avec une fourchette globalement longitudinale des moyens d'actionnement, ladite fourchette étant montée articulée par rapport au corps autour d'un axe parallèle au dit au moins un axe de balayage de l'organe d'entraînement ;
  • l'organe d'entraînement est articulé par rapport au corps autour d'un axe de pivotement d'orientation verticale qui est agencé à une extrémité arrière du corps, et l'organe d'entraînement comporte une palette longitudinale verticale ;
  • l'organe d'entraînement est articulé par rapport au corps autour d'un axe de pivotement d'orientation transversale qui est agencé à l'extrémité arrière du corps, et l'organe d'entraînement comporte une palette horizontale ;
  • l'appareil comporte un deuxième organe d'entraînement articulé par rapport au corps autour d'un axe de pivotement d'orientation transversale qui est agencé à une extrémité avant du corps, et l'organe d'entraînement comporte une palette horizontale ;
  • l'organe d'entraînement est mobile par rapport au corps de manière à modifier le volume global de l'appareil ;
  • l'organe d'entraînement comporte un plongeur central qui est monté mobile par rapport au corps creux le long d'un axe vertical et qui est relié à la membrane souple pour déformer la membrane globalement suivant le dit axe vertical ;
  • le plongeur de l'organe d'entraînement est monté mobile par rapport au corps, au travers de l'ouverture qui est coaxiale au dit axe vertical ;
  • le corps est de forme principale oblongue de révolution autour de son axe principal longitudinal et les moyens d'actionnement comportent au moins un actionneur agencé longitudinalement a proximité du centre du corps ;
  • la fourchette est agencée longitudinalement à proximité d'une extrémité axiale du corps, et les moyens d'actionnement comportent une tringlerie de liaison de l'actionneur à la fourchette ;
  • les actionneurs sont montés sur une platine de support qui est fixée au corps ;
  • l'appareil comporte un dispositif électronique de commande des moyens d'actionnement, qui est monté sur la platine ;
  • le corps comporte plusieurs ouvertures chacune associée à un organe d'entraînement, et plusieurs membranes souples, chacune obturant l'une des ouvertures du corps ;
  • le corps comporte deux demi coques qui sont réalisées par surmoulage autour des membranes souples ;
  • l'appareil comporte une quille inférieure qui est fixée au corps de manière démontable ;
  • les moyens de montage de la quille sont réalisés de manière à permettre un réglage de la position de la quille longitudinalement par rapport au corps ;
  • l'appareil comporte au moins un capteur de proximité comportant une tige traversant une ouverture associée du corps et l'appareil comporte une membrane souple obturant ladite ouverture associée, qui coopère avec la tige.
According to other features of the invention, taken separately or in combination:
  • the connecting portion has an internal axial end arranged inside the body, which cooperates with a generally longitudinal fork of the actuating means, said fork being articulated relative to the body around a axis parallel to said at least one scanning axis of the drive member;
  • the driving member is articulated with respect to the body about a vertical orientation pivot axis which is arranged at a rear end of the body, and the driving member comprises a vertical longitudinal pallet;
  • the driving member is articulated with respect to the body about a transversely oriented pivot axis which is arranged at the rear end of the body, and the driving member comprises a horizontal pallet;
  • the apparatus comprises a second drive member hinged to the body about a transversely oriented pivot axis which is arranged at a front end of the body, and the drive member comprises a horizontal pallet;
  • the driving member is movable relative to the body so as to modify the overall volume of the apparatus;
  • the drive member comprises a central plunger which is movably mounted relative to the hollow body along a vertical axis and which is connected to the flexible membrane to deform the membrane generally along said vertical axis;
  • the plunger of the driving member is mounted movably relative to the body, through the opening which is coaxial with said vertical axis;
  • the body is of main shape oblong of revolution about its longitudinal main axis and the actuating means comprise at least one actuator arranged longitudinally near the center of the body;
  • the fork is arranged longitudinally near an axial end of the body, and the actuating means comprise a connecting linkage of the actuator to the fork;
  • the actuators are mounted on a support plate which is fixed to the body;
  • the apparatus comprises an electronic device for controlling the actuating means, which is mounted on the plate;
  • the body has several openings each associated with a drive member, and a plurality of flexible membranes, each closing one of the openings of the body;
  • the body comprises two half-shells which are made by overmolding around the flexible membranes;
  • the apparatus comprises a lower keel which is detachably fixed to the body;
  • the keel mounting means are made to allow adjustment of the position of the keel longitudinally with respect to the body;
  • the apparatus comprises at least one proximity sensor comprising a rod passing through an associated opening of the body and the apparatus comprises a flexible membrane closing said associated opening, which cooperates with the rod.

D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description détaillée qui suit pour la compréhension de laquelle on se reportera aux figures annexées parmi lesquelles :

  • la figure 1 est une représentation schématique en perspective de l'appareil submersible selon l'invention ;
  • la figure 2 est une représentation schématique en perspective éclatée de l'appareil représenté à la figure 1 ;
  • la figure 3 est une vue en perspective de dessous de l'appareil représenté à la figure 1, montrant les moyens de montage de la quille sous le corps creux ;
  • la figure 4 est un détail en perspective avec arrachement de l'arrière de l'appareil représenté à la figure 1, montrant la liaison de l'organe d'entraînement arrière avec la membrane associée et les moyens d'actionnement ;
  • la figure 5 est une section suivant un plan longitudinal vertical de l'appareil représenté à la figure 4, montrant la liaison de la membrane arrière avec le corps et l'organe d'entraînement arrière ;
  • les figures 6A et 6B sont des représentations schématiques de dessus de l'organe d'entraînement arrière et de la membrane arrière, montrant la déformation de la membrane lors du mouvement de balayage de l'organe d'entraînement arrière ;
  • la figure 7 est un détail en section suivant un plan longitudinal vertical de la partie supérieure de l'appareil montrant les moyens pour modifier la densité de l'appareil ;
  • la figure 8 est un détail en perspective avec arrachement de l'appareil représenté à la figure 7, montrant le piston d'entraînement du plongeur ;
  • la figure 9 est une vue similaire à celle de la figure 5, montrant une variante de réalisation de l'organe d'entraînement arrière qui est mobile en balayage autour d'un axe vertical et autour d'un axe transversal ;
  • la figure 10 est une variante de réalisation de la membrane souple représentée aux figures 7 et 8.
Other characteristics and advantages of the invention will appear on reading the detailed description which follows for the understanding of which reference will be made to the appended figures among which:
  • the figure 1 is a schematic representation in perspective of the submersible apparatus according to the invention;
  • the figure 2 is a diagrammatic representation in exploded perspective of the apparatus shown in FIG. figure 1 ;
  • the figure 3 is a perspective view from below of the apparatus shown in FIG. figure 1 , showing the means for mounting the keel under the hollow body;
  • the figure 4 is a perspective detail with tearing from the back of the device shown in the figure 1 showing the connection of the rear drive member with the associated diaphragm and the actuating means;
  • the figure 5 is a section along a vertical longitudinal plane of the apparatus shown in figure 4 , showing the connection of the rear membrane with the body and the rear drive member;
  • the Figures 6A and 6B are schematic top views of the rear drive member and the rear diaphragm, showing the deformation of the diaphragm during the sweeping motion of the rear drive member;
  • the figure 7 is a detail in section along a vertical longitudinal plane of the upper part of the apparatus showing the means for modifying the density of the apparatus;
  • the figure 8 is a detail in perspective with tear of the apparatus represented in the figure 7 , showing the plunger drive piston;
  • the figure 9 is a view similar to that of the figure 5 , showing an alternative embodiment of the rear drive member which is movable in scanning about a vertical axis and about a transverse axis;
  • the figure 10 is an alternative embodiment of the flexible membrane shown in FIGS. Figures 7 and 8 .

Pour la description de l'invention, on adoptera à titre non limitatif les orientations verticale, longitudinale et transversale selon le repère V, L, T indiqué aux figures.For the description of the invention, the vertical, longitudinal and transverse orientations according to the reference V, L, T indicated in the figures will be adopted without limitation.

On adoptera aussi l'orientation d'avant en arrière comme étant la direction longitudinale et de gauche à droite en se reportant à la figure 1 .Orientation from front to back will also be adopted as the longitudinal direction and from left to right by reference to figure 1 .

Dans la description qui va suivre, des éléments identiques, similaires ou analogues seront désignés par les mêmes chiffres de référence.In the following description, identical, similar or similar elements will be designated by the same reference numerals.

On a représenté à la figure 1 un appareil submersible 10 qui est destiné à être plongé dans un milieu ambiant liquide tel qu'un volume d'eau (non représenté) et qui est apte à se déplacer librement dans ce milieu liquide.We have shown figure 1 a submersible apparatus 10 which is intended to be immersed in a liquid environment such as than a volume of water (not shown) and which is able to move freely in this liquid medium.

L'appareil 10 comporte un corps creux 12 d'axe principal A longitudinal et des moyens d'actionnement de l'appareil 10 en déplacement dans le milieu liquide.The apparatus 10 comprises a hollow body 12 of longitudinal main axis A and means for actuating the apparatus 10 in displacement in the liquid medium.

Comme on peut le voir aux figures, le corps 12 de l'appareil 10 est un élément creux de forme oblongue et d'axe principal A longitudinal. Le corps 12 est en outre ici un élément de révolution autour de l'axe principal A longitudinal, et sa section suivant un plan axial est globalement elliptique, c'est-à-dire que le diamètre d'une section radiale du corps 12 est plus important à proximité du milieu longitudinal du corps 12.As can be seen in the figures, the body 12 of the apparatus 10 is a hollow element of oblong shape and longitudinal main axis A. The body 12 is furthermore an element of revolution about the longitudinal principal axis A, and its section along an axial plane is generally elliptical, that is to say that the diameter of a radial section of the body 12 is more important near the longitudinal center of the body 12.

Le corps 12 consiste en une coque creuse comportant une demi coque avant 70 et une demi coque arrière 72 qui sont jointives au niveau de leurs extrémités longitudinales en vis-à-vis.The body 12 consists of a hollow shell having a front half shell 70 and a rear half shell 72 which are contiguous at their longitudinal ends vis-à-vis.

Comme on l'a représenté à la figure 2, l'étanchéité de la liaison entre les demi coques est réalisée par l'intermédiaire d'une douille annulaire 82 qui s'étend axialement vers l'avant depuis l'extrémité axiale avant 72a de la demi coque arrière 72.As shown in the figure 2 , the sealing of the connection between the half-shells is achieved by means of an annular sleeve 82 which extends axially forwardly from the front axial end 72a of the rear half-shell 72.

La douille est destinée à être reçue dans la demi coque avant 70. Pour cela, le diamètre de la face cylindrique externe de la douille 82 est légèrement inférieur au diamètre interne de l'extrémité arrière 70a de la demi coque avant 70.The bushing is intended to be received in the front half-shell 70. For this, the diameter of the outer cylindrical face of the sleeve 82 is slightly smaller than the internal diameter of the rear end 70a of the front half-shell 70.

De plus, la face cylindrique externe de la douille 82 comporte une gorge annulaire qui reçoit un joint torique 74 d'étanchéité, qui est comprimé radialement entre la douille 82 et l'extrémité arrière 70a de la demi coque avant 70.In addition, the outer cylindrical face of the bushing 82 has an annular groove which receives an O-ring seal 74, which is compressed radially between the bushing 82 and the rear end 70a of the front half-shell 70.

La demi coque avant 70 comporte en outre des portions de fixation 84, qui sont ici au nombre de trois et qui s'étendent radialement vers l'extérieur depuis son extrémité arrière 70a.The front half shell 70 further comprises fixing portions 84, which here are three in number and which extend radially outwardly from its rear end 70a.

Chaque portion de fixation 84 est apte à être fixée à une portion de fixation associée 86 de l'extrémité axiale avant 72a de la demi coque arrière 72, par exemple par vissage, pour la fixation de la demi coque avant 70 avec la demi coque arrière 72.Each fixing portion 84 is able to be fixed to an associated fastening portion 86 of the front axial end 72a of the rear half shell 72, for example by screwing, for fixing the front half shell 70 with the rear half shell 72.

Comme on peut le voir à la figure 1, les portions de fixation 84, 86 de la demi coque avant 70 et de la demi coque arrière 72 sont en outre conformées de manière à limiter les perturbations produites par le déplacement de l'appareil dans le milieu liquide.As can be seen at figure 1 , the attachment portions 84, 86 of the front half shell 70 and the rear half shell 72 are further shaped to limit the disturbances produced by the movement of the device in the liquid medium.

Les moyens d'actionnement de l'appareil 10 dans le milieu liquide comportent un premier organe d'entraînement 14 agencé au niveau d'une extrémité arrière 12a du corps 12, qui est réalisé de manière à coopérer avec le milieu liquide pour provoquer un déplacement de l'appareil 10 dans un plan horizontal par rapport à l'axe principal horizontal A du corps 12.The means for actuating the apparatus 10 in the liquid medium comprise a first drive member 14 arranged at a rear end 12a of the body 12, which is designed to cooperate with the liquid medium to cause displacement. of the apparatus 10 in a plane horizontal with respect to the horizontal principal axis A of the body 12.

Ici, le premier organe d'entraînement 14 permet de provoquer un déplacement longitudinal vers l'avant de l'appareil 10 et une rotation de l'appareil 10 autour d'un axe globalement vertical.Here, the first drive member 14 causes a longitudinal displacement towards the front of the apparatus 10 and a rotation of the apparatus 10 about a generally vertical axis.

Le premier organe d'entraînement 14 comporte une palette longitudinale verticale 16 qui est agencée longitudinalement en arrière et à l'extérieur du corps 12. Le premier organe d'entraînement 14 est monté mobile par rapport au corps creux globalement en balayage autour d'un axe B sensiblement vertical agencé au niveau de l'extrémité longitudinale arrière 12a du corps 12.The first drive member 14 comprises a vertical longitudinal pallet 16 which is arranged longitudinally behind and outside the body 12. The first drive member 14 is mounted to move relative to the hollow body generally in a sweep around a substantially vertical axis B arranged at the rear longitudinal end 12a of the body 12.

Le mouvement du premier organe d'entraînement 14 par rapport au corps 12 est obtenu par des moyens d'actionnement 18 qui sont agencés à l'intérieur du corps creux 12.The movement of the first drive member 14 relative to the body 12 is obtained by actuating means 18 which are arranged inside the hollow body 12.

Pour relier la palette 16, qui est agencée à l'extérieur du corps 12 aux moyens d'actionnement 18, qui sont agencés à l'intérieur du corps 12, le premier organe d'entraînement 14 comporte une partie de liaison 20 qui est fixée à la palette 16 et qui traverse une ouverture arrière 22 réalisée dans l'extrémité longitudinale arrière 12a du corps 12 (figures 3 et 5).To connect the pallet 16, which is arranged outside the body 12 to the actuating means 18, which are arranged inside the body 12, the first drive member 14 comprises a connecting portion 20 which is fixed to the pallet 16 and which passes through a rear opening 22 made in the rear longitudinal end 12a of the body 12 ( figures 3 and 5 ).

Comme on peut le voir plus en détails aux figures 4 et 5, la partie de liaison 20 consiste en un élément d'orientation principale longitudinale, qui s'étend vers l'avant depuis la palette 16, et dont l'extrémité longitudinale avant libre 20a coopère avec les moyens d'actionnement 18.As can be seen in more detail at Figures 4 and 5 the connecting portion 20 consists of an orientation element main longitudinal, which extends forwardly from the pallet 16, and whose free front longitudinal end 20a cooperates with the actuating means 18.

Conformément à l'invention, et comme on peut le voir à la figure 5, l'ouverture arrière 22 est obturée de manière étanche par une membrane arrière 24 réalisée en un matériau souple, qui coopère avec la partie de liaison 20 pour permettre le mouvement de l'organe d'entraînement 14 par rapport au corps 12.According to the invention, and as can be seen in figure 5 , the rear opening 22 is closed in a sealed manner by a rear membrane 24 made of a flexible material, which cooperates with the connecting portion 20 to allow the movement of the drive member 14 relative to the body 12.

La membrane souple 24 est ainsi apte à être déformée lors du balayage de la palette 16 autour de l'axe vertical B, de manière à maintenir l'ouverture arrière 22 obturée de manière étanche, quelle que soit la position du premier organe d'entraînement 14 autour de son axe B de balayage.The flexible membrane 24 is thus able to be deformed during the scanning of the pallet 16 around the vertical axis B, so as to maintain the rear opening 22 sealed, regardless of the position of the first drive member 14 around its scanning axis B.

Ici, la membrane souple 24 est réalisée pour être déformée élastiquement lors du balayage de la palette 16, entre une forme initiale de repos vers laquelle elle revient élastiquement, et plusieurs formes déformées. Cependant, il sera compris que l'invention n'est pas limitée à ce mode de réalisation de la membrane souple, qui peut se déformer librement, de manière non élastique.Here, the flexible membrane 24 is made to be deformed elastically during the scanning of the pallet 16, between an initial form of rest to which it returns elastically, and several deformed shapes. However, it will be understood that the invention is not limited to this embodiment of the flexible membrane, which can deform freely, non-elastically.

Selon l'invention, la partie de liaison 20 traverse la membrane arrière 24 de manière étanche.According to the invention, the connecting portion 20 passes through the rear membrane 24 in a sealed manner.

Pour cela, selon un mode de réalisation préféré, la membrane arrière 24 est réalisée par surmoulage autour de la partie de liaison 20.For this, according to a preferred embodiment, the rear membrane 24 is made by overmoulding around the connecting portion 20.

Selon un autre aspect de la membrane arrière 24 selon l'invention, le premier organe d'entraînement 14 est relié au corps 12 uniquement par l'intermédiaire de la membrane arrière 24 qui réalise un guidage du premier organe d'entraînement 14 en balayage autour de l'axe vertical B.According to another aspect of the rear membrane 24 according to the invention, the first drive member 14 is connected to the body 12 only through the rear membrane 24 which provides a guide of the first drive member 14 by scanning around vertical axis B.

Comme on peut le voir à la figure 6A, lorsque le premier organe d'entraînement 14 est en position inactive de repos, c'est-à-dire que la palette 16 s'étend dans un plan longitudinal vertical. La membrane 24 est aussi dans une position neutre, c'est-à-dire ici que la membrane 24 est globalement plane et d'orientation principale verticale transversale.As can be seen at Figure 6A when the first driving member 14 is in the idle rest position, that is to say that the pallet 16 extends in a vertical longitudinal plane. The membrane 24 is also in a neutral position, that is to say here that the membrane 24 is generally flat and of transverse main vertical orientation.

Lorsque le premier organe d'entraînement 14 est dans une position d'actionnement, comme représenté à la figure 6B, il a pivoté autour de l'axe vertical B. La membrane 24 est alors déformée élastiquement et de manière symétrique autour de l'axe vertical B.When the first drive member 14 is in an operating position, as shown in FIG. Figure 6B it has pivoted around the vertical axis B. The membrane 24 is then deformed elastically and symmetrically about the vertical axis B.

Ici, la déformation de la membrane 24 consiste globalement en une rotation de sa portion centrale 24a autour de l'axe vertical B, de manière identique à la rotation du premier organe d'entraînement 14.Here, the deformation of the membrane 24 generally consists of a rotation of its central portion 24a about the vertical axis B, identical to the rotation of the first drive member 14.

Comme on l'a dit plus haut, la membrane 24 est ici déformable élastiquement.As mentioned above, the membrane 24 is here elastically deformable.

La raideur de la membrane 24 est alors déterminée de manière à ne pas entraver le pivotement du premier organe d'entraînement 14 autour de l'axe vertical B. Par contre, cette raideur de la membrane est déterminée de manière à empêcher tout pivotement non désiré du premier organe d'entraînement 14 autour de l'axe vertical B, ou autour d'un axe globalement transversal.The stiffness of the membrane 24 is then determined so as not to hinder the pivoting of the first drive member 14 about the vertical axis B. On the other hand, this stiffness of the membrane is determined so as to prevent any unwanted pivoting. the first drive member 14 about the vertical axis B, or about a generally transverse axis.

Aussi, la raideur de la membrane 24 est déterminée pour maintenir le premier organe d'entraînement 14 en position longitudinale par rapport au corps 12 en exerçant sur le premier organe d'entraînement 14 un effort élastique de rappel vers la position représentée à la figure 6A.Also, the stiffness of the membrane 24 is determined to maintain the first drive member 14 in longitudinal position relative to the body 12 by exerting on the first drive member 14 an elastic return force towards the position shown in FIG. Figure 6A .

Par contre, la membrane 24 peut aussi ne pas exercer d'effort de rappel du premier organe d'entraînement 14 vers la position de repos car ce rappel est obtenu par les moyens d'actionnement 18 du premier organe d'entraînement 14.On the other hand, the membrane 24 can also not exert a return force of the first drive member 14 towards the rest position because this return is obtained by the actuating means 18 of the first drive member 14.

On a représenté à la figure 4 un détail de la liaison de la partie de liaison 20 avec les moyens d'actionnement 18 du premier organe d'entraînement 14.We have shown figure 4 a detail of the connection of the connecting portion 20 with the actuating means 18 of the first drive member 14.

Comme on l'a dit plus haut, la partie de liaison 20 coopère avec les moyens d'actionnement 18 au niveau de son extrémité longitudinale avant libre 20a.As mentioned above, the connecting portion 20 cooperates with the actuating means 18 at its free front longitudinal end 20a.

Les moyens d'actionnement 18 comportent un actionneur 28 qui consiste ici en un servomoteur, et une tringlerie 30 reliant l'actionneur 28 à la partie de liaison 20.The actuating means 18 comprise an actuator 28 which consists here of a servomotor, and a linkage 30 connecting the actuator 28 to the connecting part 20.

La tringlerie comporte une fourchette 32 longitudinale qui est montée articulée par rapport au corps 12 autour d'un axe vertical B1, et elle s'étend longitudinalement vers l'arrière depuis cet axe vertical B1.The linkage comprises a longitudinal fork 32 which is articulated relative to the body 12 about a vertical axis B1, and extends longitudinally rearwardly from this vertical axis B1.

L'extrémité arrière libre 32a de la fourchette 32 est globalement plane et horizontale, et elle comporte deux doigts longitudinaux 34 alignés transversalement entre lesquels l'extrémité libre 20a de la partie de liaison 20 est reçue.The free rear end 32a of the fork 32 is generally flat and horizontal, and it comprises two longitudinal fingers 34 aligned transversely between which the free end 20a of the connecting portion 20 is received.

A cet effet, l'extrémité libre 20a de la partie de liaison 20 est en forme d'une tige verticale, qui est apte à coulisser librement entre les deux doigts 34, suivant l'axe principal de la fourchette 32, et à pivoter entre les doigts 34 autour de son axe principal vertical.For this purpose, the free end 20a of the connecting portion 20 is in the form of a vertical rod, which is able to slide freely between the two fingers 34, along the main axis of the fork 32, and to pivot between the fingers 34 around its vertical main axis.

Pour provoquer le pivotement du premier organe d'entraînement 14, l'actionneur 28 et la tringlerie 30 sont réalisés de manière à provoquer un pivotement de la fourchette 32 autour de son axe d'articulation B1 dans un sens déterminé.To cause pivoting of the first drive member 14, the actuator 28 and the linkage 30 are made to cause a pivoting of the fork 32 about its hinge axis B1 in a given direction.

En pivotant, la fourchette 32 entraîne l'extrémité avant libre 20a de la partie de liaison 20 en déplacement globalement transversal selon une direction associée au pivotement de la fourchette 32.By pivoting, the fork 32 drives the free front end 20a of the connecting portion 20 in generally transverse movement in a direction associated with the pivoting of the fork 32.

L'espace balayé par la fourchette 32 est relativement réduit. Ce mode de réalisation des moyens d'actionnement 18 du premier organe d'entraînement 14, par la fourchette 32 est ainsi particulièrement adapté pour le montage des moyens d'actionnement 14 au niveau d'une extrémité longitudinale arrière 12a du corps au niveau de laquelle le diamètre interne du corps est relativement réduit, et donc à un endroit où le volume interne du corps est limité, alors que le volume des moyens d'actionnement 18 est plus important.The space swept by the fork 32 is relatively small. This embodiment of the actuating means 18 of the first drive member 14, by the fork 32 is thus particularly suitable for mounting the actuating means 14 at a rear longitudinal end 12a of the body at which the internal diameter of the body is relatively small, and therefore at a place where the internal volume of the body is limited, while the volume of the actuating means 18 is larger.

Comme on l'a dit plus haut, la membrane souple 24 réalise un guidage du premier organe d'entraînement 14 autour de l'axe vertical B. Par conséquent, le déplacement transversal de l'extrémité libre 20a de la partie de liaison 20 provoque un pivotement du premier organe d'entraînement 14 autour de l'axe vertical B.As mentioned above, the flexible membrane 24 guards the first drive member 14 about the vertical axis B. Therefore, the transverse displacement of the free end 20a of the connecting portion 20 causes a pivoting of the first drive member 14 about the vertical axis B.

L'utilisation d'un servomoteur pour réaliser l'actionneur 28 permet de définir le mouvement de balayage du premier organe d'entraînement 14 autour de l'axe vertical B, de sorte qu'il est possible d'avoir un balayage symétrique par rapport à l'axe principal longitudinal A du corps 12, pour réaliser la propulsion de l'appareil 10 vers l'avant, ou bien d'avoir un balayage du premier organe d'entraînement 14 d'un seul coté par rapport à l'axe principal longitudinal A du corps 12, pour modifier la direction vers laquelle l'appareil 10 avance.The use of a servomotor to realize the actuator 28 makes it possible to define the scanning movement of the first drive member 14 around the vertical axis B, so that it is possible to have a symmetric scanning with respect to to the longitudinal main axis A of the body 12, to carry the propulsion of the apparatus 10 forward, or to have a scan of the first drive member 14 on one side with respect to the axis main longitudinal A of the body 12, to change the direction towards which the apparatus 10 is advancing.

Comme on l'a dit précédemment, l'appareil 10 comporte un premier organe d'entraînement 14 pour le déplacement de l'appareil 10 dans un plan horizontal, par rapport à l'axe principal A longitudinal du corps 12.As previously mentioned, the apparatus 10 comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane, with respect to the longitudinal main axis A of the body 12.

Les moyens d'actionnement comportent aussi un deuxième organe d'entraînement 36 qui est réalisé de manière à coopérer avec le milieu liquide pour provoquer un déplacement de l'appareil 10 dans un plan longitudinal vertical par rapport à l'axe principal horizontal A du corps 12.The actuating means also comprise a second drive member 36 which is designed to cooperate with the liquid medium to cause the apparatus 10 to move in a vertical longitudinal plane with respect to the horizontal main axis A of the body 12.

Ici, le deuxième organe d'entraînement 36 permet de propulser l'appareil 10 longitudinalement vers l'arrière et il permet de modifier l'orientation de l'appareil 10 autour d'un axe globalement vertical, aussi appelée "assiette".Here, the second drive member 36 can propel the device 10 longitudinally rearward and it allows to change the orientation of the device 10 around a generally vertical axis, also called "plate".

Le deuxième organe d'entraînement 36 est de structure globalement identique au premier organe d'entraînement 14. Par contre, comme on peut le voir que figures, le deuxième organe d'entraînement 36 est agencé au niveau de l'extrémité longitudinale avant 12b du corps 12 et il est monté mobile en balayage par rapport au corps 12 autour d'un axe transversal C situé au niveau de l'extrémité avant 12b du corps 12.The second drive member 36 is of generally identical structure to the first drive member 14. By against, as can be seen that figures, the second drive member 36 is arranged at the longitudinal end 12b before the body 12 and is mounted sweeping relative to the body 12 about a transverse axis C located at the front end 12b of the body 12.

Le deuxième organe d'entraînement 36 comporte ainsi une palette avant 38 longitudinale transversale qui est agencée longitudinalement en avant et à l'extérieur du corps 12, et une partie de liaison 42 qui relie la palette avant 38 à des moyens d'actionnement 40 agencés à l'intérieur du corps creux 12 et qui traverse une ouverture avant 44 réalisée dans l'extrémité longitudinale avant 12b du corps 12.The second drive member 36 thus comprises a front transverse longitudinal pallet 38 which is arranged longitudinally in front of and outside the body 12, and a connecting part 42 which connects the front pallet 38 to actuating means 40 arranged inside the hollow body 12 and which passes through a front opening 44 made in the longitudinal end before 12b of the body 12.

La palette avant 38 comporte ici des ouvertures 39 qui sont agencées de part et d'autre de l'axe principal longitudinal A de l'appareil 10. Ces ouvertures 39 confèrent une flexibilité de la palette autour d'un axe transversal, lors de la propulsion de l'appareil 10 longitudinalement vers l'arrière.The front pallet 38 here has openings 39 which are arranged on either side of the longitudinal main axis A of the apparatus 10. These openings 39 provide a flexibility of the pallet around a transverse axis, during the propulsion of the apparatus 10 longitudinally rearwardly.

D'une manière similaire aux moyens d'actionnement 18 du premier organe d'entraînement 14, les moyens d'actionnement 40 du deuxième organe d'entraînement 36 comportent un actionneur 46 et une tringlerie 48 qui agit sur l'extrémité longitudinale arrière 42a de la partie de liaison 42 par l'intermédiaire d'une fourchette avant 48 longitudinale verticale qui est montée articulée par rapport au corps 12 autour d'un axe C1 transversal.In a manner similar to the actuating means 18 of the first drive member 14, the actuating means 40 of the second drive member 36 comprise an actuator 46 and a linkage 48 which acts on the rear longitudinal end 42a of the the connecting portion 42 through a vertical front fork 48 which is articulated relative to the body 12 about a transverse axis C1.

Conformément à l'invention, l'ouverture avant 44 du corps 12 est obturée de manière étanche par une membrane souple avant 50 similaire à la membrane souple 24 qui obture l'ouverture arrière 22 du corps 12.According to the invention, the front opening 44 of the body 12 is sealingly closed by a flexible membrane 50 similar to the flexible membrane 24 which closes the rear opening 22 of the body 12.

Ainsi, conformément à l'invention, la membrane souple avant 50 réalise le guidage en pivotement du deuxième organe d'entraînement 36 autour de l'axe transversal avant C.Thus, in accordance with the invention, the front flexible membrane 50 carries out pivotal guidance of the second drive member 36 around the front transverse axis C.

Selon le mode de réalisation de l'appareil que l'on vient de décrire, l'appareil comporte un premier organe d'entraînement 14 pour le déplacement de l'appareil 10 dans un plan horizontal et un deuxième organe d'entraînement 36 pour le déplacement de l'appareil 10 dans un plan longitudinal vertical.According to the embodiment of the apparatus that has just been described, the apparatus comprises a first drive member 14 for moving the apparatus 10 in a horizontal plane and a second driving member 36 for moving the apparatus 10 in a vertical longitudinal plane.

On a représenté à la figure 9 une variante de réalisation de l'appareil 10 selon l'invention pour lequel le premier organe d'entraînement 14 est réalisé de manière à coopérer avec le milieu liquide pour le déplacement de l'appareil 10 dans un plan horizontal et dans un plan longitudinal vertical.We have shown figure 9 an alternative embodiment of the apparatus 10 according to the invention for which the first drive member 14 is made to cooperate with the liquid medium for moving the apparatus 10 in a horizontal plane and in a vertical longitudinal plane .

Le premier organe d'entraînement 14 est alors le seul organe d'entraînement de l'appareil 10 dans ces deux plans.The first drive member 14 is then the only drive member of the apparatus 10 in these two planes.

Pour cela, le premier organe d'entraînement 14 est articulé par rapport à l'extrémité arrière du corps 12 autour de l'axe vertical arrière B et autour d'un axe transversal arrière C2.For this, the first drive member 14 is articulated relative to the rear end of the body 12 about the rear vertical axis B and about a rear transverse axis C2.

Selon l'invention, le premier organe d'entraînement 14 comporte une partie de liaison 20 qui traverse l'ouverture arrière 22 et qui est reliée à l'extrémité arrière 12a du corps 12 par l'intermédiaire de la membrane arrière 24.According to the invention, the first drive member 14 comprises a connecting portion 20 which passes through the rear opening 22 and which is connected to the rear end 12a of the body 12 via the rear membrane 24.

Aussi, selon l'invention, la membrane arrière 24 permet de réaliser l'articulation du premier organe d'entraînement 14 autour de l'axe vertical arrière B et autour de l'axe transversal arrière C2.Also, according to the invention, the rear membrane 24 allows the articulation of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2.

Le premier organe d'entraînement 14 comporte alors deux palettes agencées à angle droit l'une par rapport à l'autre autour de l'axe longitudinal A de l'appareil 10. Une première palette 16 s'étend dans un plan longitudinal vertical, pour le déplacement de l'appareil 10 dans un plan horizontal, et une deuxième palette 100 s'étend dans un plan horizontal pour le déplacement de l'appareil 10 dans un plan longitudinal vertical.The first drive member 14 then comprises two vanes arranged at right angles to each other about the longitudinal axis A of the apparatus 10. A first pallet 16 extends in a vertical longitudinal plane, for moving the apparatus 10 in a horizontal plane, and a second pallet 100 extends in a horizontal plane for moving the apparatus 10 in a vertical longitudinal plane.

Les moyens d'actionnement 18 du premier organe d'entraînement 14 autour de l'axe vertical arrière B et autour de l'axe transversal arrière C2 sont réalisés de manière à exercer sur l'extrémité longitudinale avant 20a de la partie de liaison 20 une action globalement verticale et/ou une action globalement transversale.The actuating means 18 of the first drive member 14 around the rear vertical axis B and around the rear transverse axis C2 are made so as to exert on the longitudinal end before 20a of the connecting part 20 a overall vertical action and / or a generally transversal action.

Pour cela, l'extrémité avant 20a de la partie de liaison 20 est de forme sphérique et est reçue dans un élément tubulaire 102 de la tringlerie 30 qui est articulé autour d'un axe vertical B1 et autour d'un axe transversal C3 qui sont décalés par l'avant par rapport à l'extrémité avant 20a de la partie de liaison 20.For this, the front end 20a of the connecting portion 20 is spherical in shape and is received in a tubular element 102 of the linkage 30 which is articulated about a vertical axis B1 and about a transverse axis C3 which are offset from the front relative to the front end 20a of the connecting portion 20.

Cet élément tubulaire 102 est relié à l'actionneur 28 par l'intermédiaire de la tringlerie.This tubular element 102 is connected to the actuator 28 via the linkage.

Dans le mode de réalisation représenté aux figures, et comme on l'a dit précédemment, la membrane avant 50 et la membrane arrière 24 sont chacune en forme d'un disque qui est réalisé par surmoulage autour de la partie de liaison 42, 20 de l'organe d'entraînement 36, 20.In the embodiment shown in the figures, and as previously mentioned, the front membrane 50 and the rear membrane 24 are each in the form of a disc which is made by overmoulding around the connecting portion 42, 20 of the driving member 36, 20.

Selon un autre mode de réalisation non représenté, chaque membrane est réalisée par surmoulage autour de la partie de liaison associée, de manière que la membrane comporte une portion en forme de disque, similaire à celle décrite précédemment, qui réalise la liaison et l'articulation de la partie de liaison associée avec le corps 12. La membrane comporte aussi une portion externe qui s'étend longitudinalement à l'extérieur du corps et qui recouvre la totalité de la partie externe de la partie de liaison associée.According to another embodiment not shown, each membrane is made by overmolding around the associated connecting portion, so that the membrane comprises a disk-shaped portion, similar to that described above, which makes the connection and articulation of the connecting portion associated with the body 12. The membrane also has an outer portion extending longitudinally outside the body and which covers the entire outer portion of the associated connecting portion.

La portion externe de la membrane est de forme globalement cylindrique d'axe principal longitudinal, et elle est apte à être reçue dans un logement cylindrique complémentaire de la palette associée. La liaison entre la portion externe de la membrane est conçue pour permettre une transmission du mouvement de balayage de la partie de liaison à la palette associée.The outer portion of the membrane is generally cylindrical in shape with a longitudinal main axis, and it is adapted to be received in a cylindrical housing complementary to the associated pallet. The connection between the outer portion of the membrane is designed to allow transmission of the scanning movement of the connecting portion to the associated pallet.

Ainsi, seule la portion interne de la partie de liaison, qui est reliée aux moyens d'entraînement, n'est pas recouverte par le matériau constitutif de la membrane.Thus, only the inner portion of the connecting portion, which is connected to the drive means, is not covered by the material constituting the membrane.

Selon une variante de réalisation, la portion externe de la membrane comporte des méplats longitudinaux, qui coopèrent avec des zones d'appui complémentaires du logement cylindrique de la palette associée. Ces méplats permettent notamment d'empêcher le pivotement de la palette autour de l'axe principal longitudinal de l'appareil 10.According to an alternative embodiment, the outer portion of the membrane comprises longitudinal flats, which cooperate with complementary bearing areas of the cylindrical housing of the associated pallet. These flats notably make it possible to prevent the pallet from pivoting about the longitudinal principal axis of the apparatus 10.

Selon encore un autre aspect de l'appareil 10 selon l'invention, les moyens d'actionnement comportent un troisième organe d'entraînement 52 qui est réalisé de manière à provoquer un déplacement vertical vers le haut ou vers le bas de l'appareil 10 dans le milieu liquide.According to yet another aspect of the apparatus 10 according to the invention, the actuating means comprise a third drive member 52 which is made to cause a vertical movement upwards or downwards of the apparatus 10 in the liquid medium.

Le troisième organe d'entraînement 52 est réalisé de manière à modifier la densité générale de l'appareil 10 par rapport à la densité du milieu ambiant.The third drive member 52 is constructed to change the overall density of the apparatus 10 relative to the density of the ambient environment.

Selon l'invention, la modification de la densité de l'appareil 10 est réalisée en modifiant le volume de l'appareil, tout en conservant une masse constante de l'appareil, à la différence des systèmes de ballast équipant les sous-marins qui modifient la masse générale de l'appareil sans modifier son volume.According to the invention, the modification of the density of the apparatus 10 is carried out by modifying the volume of the apparatus, while maintaining a constant mass of the apparatus, unlike the ballast systems equipping the submarines which change the overall mass of the device without changing its volume.

Pour cela, comme on peut le voir notamment aux figures 2, 7 et 8, le troisième organe d'entraînement 52 comporte un piston 54 qui est monté mobile par rapport au corps le long d'un axe vertical D, au travers d'une ouverture 56 centrée sur cet axe vertical D.For this, as can be seen in particular in figures 2 , 7 and 8 , the third drive member 52 comprises a piston 54 which is mounted movably relative to the body along a vertical axis D, through an opening 56 centered on this vertical axis D.

Ici, l'ouverture 56 est réalisée dans la demi coque avant 70, et on l'appellera par la suite ouverture supérieure 56.Here, the opening 56 is made in the front half shell 70, and will be called later 56 upper opening.

Le troisième organe d'entraînement 52 comporte aussi un plongeur 87 qui est monté coulissant axialement au travers de l'ouverture supérieure 56 le long de l'axe vertical D, sous l'action du piston 54.The third drive member 52 also includes a plunger 87 which is axially slidably mounted through the upper opening 56 along the vertical axis D under the action of the piston 54.

Selon l'invention, l'ouverture supérieure 56 est obturée par une membrane souple supérieure 58 qui coopère avec le piston 54 et le plongeur 87 pour modifier la densité de l'appareil 10.According to the invention, the upper opening 56 is closed by an upper flexible membrane 58 which cooperates with the piston 54 and the plunger 87 to modify the density of the apparatus 10.

Pour cela, la membrane supérieure 58 relie un bord périphérique du plongeur 87 au bord de l'ouverture 56 et elle est apte à être déformée élastiquement en fonction de la position du plongeur 87 le long de l'axe vertical D.For this, the upper membrane 58 connects a peripheral edge of the plunger 87 to the edge of the opening 56 and is adapted to be elastically deformed according to the position of the plunger 87 along the vertical axis D.

Le plongeur 87 comporte une palette 88 radiale par rapport à l'axe vertical D qui est reliée à la membrane 58 au niveau de son bord d'extrémité radiale 88a.The plunger 87 has a pallet 88 radial with respect to the vertical axis D which is connected to the membrane 58 at its radial end edge 88a.

Ici, la forme de la palette 88 est déterminée de manière à prolonger la forme de la demi coque avant 70, pour que l'appareil 10 conserve un aspect visuel agréable.Here, the shape of the pallet 88 is determined so as to extend the shape of the front half-shell 70 so that the apparatus 10 maintains a pleasant visual appearance.

La face inférieure interne 88i de la palette 88 est reliée au piston 54, ici par l'intermédiaire d'une glissière longitudinale 89 fixée à la palette 88, qui reçoit une portion supérieure longitudinale complémentaire 54a du piston 54.The inner lower face 88i of the blade 88 is connected to the piston 54, here via a longitudinal slide 89 fixed to the blade 88, which receives a complementary longitudinal upper portion 54a of the piston 54.

La face supérieure 88s de la palette 88 est située à l'extérieur de la coque 12 de l'appareil 10 et elle est apte à venir directement en contact avec le milieu liquide dans lequel l'appareil 10 est destiné à être plongé.The upper face 88s of the pallet 88 is located outside the shell 12 of the apparatus 10 and is adapted to come into direct contact with the liquid medium in which the apparatus 10 is intended to be immersed.

Ici, la face supérieure 88s de la palette 88 comporte aussi une nervure supérieure 90 qui est en forme de nageoire, et qui coopère à l'aspect esthétique global de l'appareil pour lui donner une ressemblance à un poisson ou autre animal aquatique.Here, the upper face 88s of the pallet 88 also comprises an upper rib 90 which is in the form of a fin, and which cooperates with the overall aesthetic appearance of the apparatus to give it a resemblance to a fish or other aquatic animal.

La nervure supérieure 90 peut aussi coopérer avec le milieu liquide pour guider l'appareil 10 lors de son déplacement vers l'avant.The upper rib 90 may also cooperate with the liquid medium to guide the apparatus 10 as it moves forward.

Le piston 54 est mobile le long de l'axe vertical entre une position inférieure (non représentée) pour laquelle l'appareil 10 a une densité donnée, vers une ou plusieurs positions supérieures d'actionnement, dont une position supérieure extrême est représentée aux figures 7 et 8, pour laquelle la densité de l'appareil 10 est réduite, ce qui a pour conséquence d'entraîner l'appareil en déplacement vertical vers le haut.The piston 54 is movable along the vertical axis between a lower position (not shown) for which the apparatus 10 has a given density, to one or more upper actuating positions, an extreme upper position of which is shown in FIGS. Figures 7 and 8 , for which the density of the apparatus 10 is reduced, which has the consequence of causing the apparatus to move vertically upwards.

Ici, la membrane supérieure 58 est réalisée de manière qu'elle n'est pas déformée lorsque le piston 54 est dans la position supérieure extrême représentée aux figures 7 et 8.Here, the upper membrane 58 is made in such a way that it is not deformed when the piston 54 is in the extreme upper position shown in FIGS. Figures 7 and 8 .

Ainsi, pour déformer la membrane supérieure 58, le piston 54 exerce une traction axiale vers le bas sur la palette 88, la membrane supérieure 58 se replie alors sur elle même, ce qui permet de réduire les efforts à produire pour déformer la membrane supérieure 58.Thus, to deform the upper membrane 58, the piston 54 exerts an axial pull down on the pallet 88, the upper membrane 58 then folds on itself, which reduces the efforts to be made to deform the upper membrane 58 .

Selon une variante de réalisation, la membrane est apte à être déformée élastiquement vers le haut, au-delà de la position de repos représentée aux figures 7 et 8, ce qui augmente la course verticale de la palette 88.According to an alternative embodiment, the membrane is able to be elastically deformed upwards, beyond the rest position represented in FIGS. Figures 7 and 8 , which increases the vertical stroke of the 88 pallet.

Le piston 54 est alors apte à exercer sur la palette 88 un effort de poussée orienté vers le haut, et un effort de traction orienté vers le bas.The piston 54 is then able to exert on the pallet 88 a pushing force directed upwards, and a pulling force directed downwards.

Selon une variante de réalisation, représentée à la figure 10, l'ouverture supérieure 56 est obturée uniquement par la membrane supérieure 58et le piston 54 agit sur une portion centrale de la membrane supérieure 58 pour modifier le volume global de l'appareil.According to an alternative embodiment, represented in FIG. figure 10 , the upper opening 56 is closed only by the upper membrane 58 and the piston 54 acts on a central portion of the upper membrane 58 to change the overall volume of the device.

Selon cette variante, la membrane supérieure 58 comporte une pastille centrale rigide 60 et une zone annulaire périphérique 62 entourant la pastille centrale 60, qui est apte à se déformer élastiquement.According to this variant, the upper membrane 58 comprises a rigid central pellet 60 and a peripheral annular zone 62 surrounding the central pellet 60, which is able to deform elastically.

Ainsi, lors du déplacement axial du piston 54, la pastille centrale 60 se déplace solidairement au piston 54, ce qui permet d'avoir de plus grandes variations du volume global de l'appareil 10.Thus, during the axial displacement of the piston 54, the central pellet 60 moves solidly to the piston 54, which makes it possible to have greater variations in the overall volume of the apparatus 10.

Selon un premier aspect de cette variante, la pastille centrale 60 est réalisée d'une seule pièce avec la zone périphérique 62.According to a first aspect of this variant, the central pellet 60 is made in one piece with the peripheral zone 62.

Pour que la pastille60 soit plus rigide que la zone périphérique 62, l'épaisseur de la pastille 60 est supérieure à l'épaisseur de la zone périphérique.In order for the pellet60 to be more rigid than the peripheral zone 62, the thickness of the pellet 60 is greater than the thickness of the peripheral zone.

Selon un deuxième aspect de cette variante (non représenté), la pastille 60 et la zone périphérique 62 sont réalisées en deux matériaux distincts. De préférence, la membrane supérieure 58 est réalisée par surmoulage d'un matériau déformable élastiquement autour de la pastille réalisée en matériau rigide, ce qui permet d'assurer une bonne étanchéité de la membrane supérieure 58.According to a second aspect of this variant (not shown), the pellet 60 and the peripheral zone 62 are made of two different materials. Preferably, the upper membrane 58 is made by overmolding an elastically deformable material around the pellet made of rigid material, which ensures a good seal of the upper membrane 58.

Les moyens d'actionnement 64 du troisième l'organe d'entraînement 52 comporte un troisième servomoteur 66 et un organe intermédiaire 68 transformant la rotation du servomoteur 66 en un mouvement de translation du piston 54.The actuating means 64 of the third drive member 52 comprises a third servomotor 66 and an intermediate member 68 transforming the rotation of the servomotor 66 into a translational movement of the piston 54.

Ici, l'organe intermédiaire 68 consiste en un système à vis-écrou pour lequel la vis ou l'écrou est solidaire du piston en translation et l'écrou, ou la vis est entraînée en rotation par le servomoteur 66.Here, the intermediate member 68 consists of a screw-nut system for which the screw or the nut is integral with the piston in translation and the nut, or the screw is rotated by the servomotor 66.

Comme on l'a dit plus haut, chaque ouverture 22, 44, 56 du corps 12 est obturée par une membrane 24, 50, 58 qui coopère avec un organe d'entraînement 14, 36, 52 pour l'entraînement de l'appareil 10 en mouvement dans le milieu liquide.As mentioned above, each opening 22, 44, 56 of the body 12 is closed by a membrane 24, 50, 58 which cooperates with a drive member 14, 36, 52 for driving the apparatus 10 in motion in the liquid medium.

Selon un mode de réalisation préféré de l'invention représenté aux figures, pour obturer de manière efficace l'ouverture 22, 44, 56 associée, chaque membrane 24, 50, 58 est réalisée avant la réalisation des demi coques 70, 72, et les demi coques sont réalisées par moulage d'un matériau plastique autour des demi coques 70, 72.According to a preferred embodiment of the invention shown in the figures, to effectively close the opening 22, 44, 56 associated, each membrane 24, 50, 58 is made before the realization of the half-shells 70, 72, and the half shells are made by molding a plastic material around the half shells 70, 72.

Ainsi, le bord de chaque ouverture 22, 44, 56 est complémentaire du bord de la membrane associée 24, 50, 58, garantissant une bonne étanchéité de la fermeture de l'ouverture 22, 44, 56.Thus, the edge of each opening 22, 44, 56 is complementary to the edge of the associated membrane 24, 50, 58, guaranteeing a good seal of the closure of the opening 22, 44, 56.

De plus, chaque membrane 24, 50, 58 est traversée par une partie 20, 42, 87 de l'organe d'entraînement 14, 36, 52.In addition, each membrane 24, 50, 58 is traversed by a portion 20, 42, 87 of the drive member 14, 36, 52.

Selon un mode de réalisation préféré, que l'on a représenté aux figures, pour réaliser l'étanchéité de la liaison entre chaque membrane 24, 50, 58 et la partie 20, 42, 87 de l'organe d'entraînement 14, 36, 52 associée, chaque membrane 24, 50, 58 est réalisée par surmoulage du matériau constitutif de la membrane 24, 50, 58 autour de la partie 20, 42, 87 de l'organe d'entraînement 14, 36, 52 associée.According to a preferred embodiment, which is shown in the figures, to seal the connection between each membrane 24, 50, 58 and the portion 20, 42, 87 of the drive member 14, 36 , 52 associated, each membrane 24, 50, 58 is made by overmolding the material constituting the membrane 24, 50, 58 around the portion 20, 42, 87 of the drive member 14, 36, 52 associated.

Selon une variante de réalisation non représentée, la membrane 24, 50, 58 est réalisée au préalable, avant sa solidarisation avec la partie 20, 42, 87 de l'organe d'entraînement 14, 36, 52.According to an alternative embodiment not shown, the membrane 24, 50, 58 is made beforehand, before being secured to the portion 20, 42, 87 of the drive member 14, 36, 52.

La membrane 24, 50, 58 comporte alors un orifice qui est traversé par une portion complémentaire de la partie 20, 42, 87 de l'organe d'entraînement 14, 36, 52.The membrane 24, 50, 58 then comprises an orifice which is traversed by a complementary portion of the portion 20, 42, 87 of the drive member 14, 36, 52.

La solidarisation et l'étanchéité de la liaison de la membrane 24, 50, 58 avec la partie associée 20, 42, 87 de l'organe d'entraînement 14, 36, 52 est réalisée par serrage de la portion de la partie 20, 42, 87 avec la membrane 24, 50, 58, par exemple par sertissage ou par serrage par un ensemble de vis et d'écrous.The connection and sealing of the connection of the membrane 24, 50, 58 with the associated part 20, 42, 87 of the drive member 14, 36, 52 is achieved by clamping the portion of the portion 20, 42, 87 with the membrane 24, 50, 58, for example by crimping or clamping by a set of screws and nuts.

Il sera compris que l'invention n'est pas limitée à ces modes de réalisation de la solidarisation et de l'étanchéité entre la membrane 24, 50, 58 et la partie associée 20, 42, 87 de l'organe d'entraînement 14, 36, 52, et que d'autres modes de solidarisation et d'étanchéité peuvent être mis en ceuvre, sans sortir du domaine de l'invention.It will be understood that the invention is not limited to these embodiments of the fastening and sealing between the membrane 24, 50, 58 and the associated part 20, 42, 87 of the drive member 14. , 36, 52, and that other modes of securing and sealing can be implemented, without departing from the scope of the invention.

Comme on l'a dit plus haut, le corps creux 12 est réalisé de manière que sa section radiale est plus importante au niveau du centre longitudinal du corps 12.As mentioned above, the hollow body 12 is made in such a way that its radial section is larger at the longitudinal center of the body 12.

Aussi, les actionneurs 18, 40, 66 de l'appareil sont des éléments de grandes dimensions par rapport à la section du corps à proximité de l'une ou l'autre des deux extrémités longitudinales 12a, 12b du corps.Also, the actuators 18, 40, 66 of the apparatus are large elements with respect to the body section close to one or the other of the two longitudinal ends 12a, 12b of the body.

Ainsi, les actionneurs 18, 40, 66 sont agencés longitudinalement au niveau du milieu longitudinal du corps 12 offrant un espace disponible plus important pour ces actionneurs 18, 40, 66.Thus, the actuators 18, 40, 66 are arranged longitudinally at the longitudinal center of the body 12 providing a larger space available for these actuators 18, 40, 66.

De plus, cela permet d'équilibrer l'appareil 10, pour que son centre de gravité soit centré longitudinalement.In addition, this makes it possible to balance the apparatus 10 so that its center of gravity is centered longitudinally.

Pour la fixation des actionneurs 18, 40, 66 à l'intérieur du corps, l'appareil 10 comporte une platine 76 de support d'orientation principale horizontale, sur les faces horizontale de laquelle les actionneurs 18, 40, 66 sont montés.For the attachment of the actuators 18, 40, 66 inside the body, the apparatus 10 comprises a support plate 76 of horizontal main orientation, on the horizontal faces of which the actuators 18, 40, 66 are mounted.

La platine 76 porte aussi un dispositif électronique de commande des actionneurs, ainsi qu'une source d'énergie 80.The plate 76 also carries an electronic actuator control device, as well as a power source 80.

Le dispositif de commande est par exemple réalisé pour que l'appareil 10 se déplace de façon autonome dans le milieu liquide. Il peut en outre comporter des moyens de communication sans fil à une unité de commande (non représenté) et/ou à des moyens pour sa localisation.The control device is for example designed for the apparatus 10 to move autonomously in the liquid medium. It may further comprise wireless communication means to a control unit (not shown) and / or means for its location.

La platine 76 porte enfin des moyens d'articulation de la fourchette arrière 32 autour de l'axe vertical B1 et de la fourchette avant 48 autour de l'axe transversal C1 .The plate 76 finally carries means of articulation of the rear fork 32 around the vertical axis B1 and the front fork 48 around the transverse axis C1.

Enfin, l'appareil 10 comporte une quille inférieure 78 qui est montée sous le corps 12 et qui est réalisée de manière à abaisser verticalement le centre de gravité de l'appareil 10 par rapport à son centre géométrique, pour empêcher toute rotation de l'appareil autour de son axe principal longitudinal. Ici, la quille 78 est montée sous la demi coque avant 70.Finally, the apparatus 10 comprises a lower keel 78 which is mounted under the body 12 and which is made to vertically lower the center of gravity of the apparatus 10 relative to its geometric center, to prevent any rotation of the apparatus around its longitudinal main axis. Here, the keel 78 is mounted under the front half shell 70.

La masse de la quille 78 est déterminée pour ajuster la masse générale de l'appareil 10 en fonction de la densité du milieu liquide. La quille 78 est donc montée sur le corps de manière démontable, pour pouvoir être échangée avec une autre quille de masse différente.The mass of the keel 78 is determined to adjust the general mass of the apparatus 10 as a function of the density of the liquid medium. The keel 78 is mounted on the body removably, to be exchanged with another keel of different mass.

De plus, la quille 78 est reliée au corps par des moyens de montage permettant d'ajuster la position longitudinale de la quille par rapport au corps 12, pour permettre un centrage longitudinal du centre de gravité du corps 12.In addition, the keel 78 is connected to the body by mounting means for adjusting the longitudinal position of the keel with respect to the body 12, to allow longitudinal centering of the center of gravity of the body 12.

A cet effet, et comme on peut le voir aux figures 2 et 3, la demi coque avant 70 comporte deux rails de guidage 92 longitudinaux qui sont reçus dans des rainures complémentaires 94 réalisées dans la quille 78.For this purpose, and as can be seen at figures 2 and 3 , the front half shell 70 comprises two longitudinal guide rails 92 which are received in complementary grooves 94 made in the keel 78.

Aussi, la demi coque avant 70 comporte des gorges transversales inférieures 96 parallèles les unes aux autres et alignées longitudinalement, et la quille 78 comporte une lèvre longitudinale 98 dont l'extrémité libre est apte à coopérer avec l'une des gorges 96 pour bloquer la quille 78 en position longitudinale par rapport à la demi coque avant 70.Also, the front half shell 70 has lower transverse grooves 96 parallel to each other and aligned longitudinally, and the keel 78 has a longitudinal lip 98 whose free end is adapted to cooperate with one of the grooves 96 to block the keel 78 in longitudinal position with respect to the front half-shell 70.

L'invention qui vient d'être décrite fait référence à une ou plusieurs membranes souples dont chacune est associée à un organe d'entraînement de l'appareil 10 en déplacement dans le milieu liquide.The invention which has just been described refers to one or more flexible membranes each of which is associated with a drive member of the apparatus 10 moving in the liquid medium.

Il sera compris que l'invention n'est pas limitée à cette utilisation des membranes souples, et que l'appareil peut comporter d'autres organes qui coopèrent avec le milieu liquide, et qui traversent au moins en partie une ouverture du corps 12 obturée par une membrane souple.It will be understood that the invention is not limited to this use of flexible membranes, and that the apparatus may comprise other members which cooperate with the liquid medium, and which pass through at least part of an opening of the closed body 12 by a flexible membrane.

Par exemple, l'appareil comporte un ou plusieurs capteurs de proximité, ou palpeurs, dont chacun comporte une tige s'étendant vers l'extérieur du corps 12, au travers d'une ouverture associée. L'extrémité externe de la tige, qui est située à l'extérieur du corps est apte à venir en contact avec un objet externe quelconque, et l'extrémité interne de la tige, qui est située à l'intérieur du corps est reliée à un dispositif électronique qui détecte chaque contact de l'extrémité externe de la tige.For example, the apparatus comprises one or more proximity sensors, or probes, each of which has a rod extending outwardly of the body 12, through an associated opening. The outer end of the rod, which is located outside the body is adapted to come into contact with any external object, and the inner end of the rod, which is located inside the body is connected to an electronic device that detects each contact of the outer end of the rod.

L'appareil 10 comporte alors une membrane souple qui obture l'ouverture du corps traversée par cette tige et qui est réalisée conformément à l'invention, de manière à permettre un mouvement de la tige par rapport au corps, en fonction du déplacement de la tige par rapport au corps.The apparatus 10 then comprises a flexible membrane which closes the opening of the body traversed by this rod and which is performed in accordance with the invention, so as to allow movement of the rod relative to the body, depending on the displacement of the rod relative to the body.

La membrane souple est donc traversée par la tige et elle coopère avec la tige.The flexible membrane is thus traversed by the rod and it cooperates with the rod.

Claims (17)

  1. Submersible apparatus (10) adapted to be submerged entirely in a liquid medium comprising:
    - a hollow body (12) closed in a fluid tight manner, having a main longitudinal axis (A);
    - at least one driving member (14, 36, 52) for moving the apparatus (10) in horizontal displacement and/or in vertical displacement, which is movable with respect to the hollow body (12) through an opening (22, 44, 56) arranged in the wall of the body (12) and which comprises at least one planar palette (16, 38, 100), of longitudinal main orientation, which extends outside the hollow body (12) and which is arranged at the level of an axial end (12a, 12b) of the body (12) to cooperate with the medium in which the apparatus (10) is submerged;
    - actuating means (18, 40, 64) for actuating the driving member (14, 36, 52), which is arranged inside the hollow body (12);
    - a flexible membrane (24, 50, 58) to seal the opening (22, 44, 56) in a fluid tight manner, which is adapted to deform and to cooperate with the driving member (14, 36, 52) during the movement of the driving member (14, 36, 52) through the opening (22, 44, 56), for the displacement of the apparatus (10), the driving member (14, 36, 52) comprising a portion (20, 42) of the palette (16, 38, 100), connecting the palette to the actuating means (18, 40), which extends through the flexible membrane (24, 50) in a fluid tight manner,
    characterized in that the driving member (14, 36) is guided in oscillation with respect to the body (12), around at least one pivoting axis (B, C, C2) perpendicular to the main longitudinal axis (A), via the flexible membrane (24, 50), so that the said at least one pivoting axis (B, C, C2) is located at the level of the flexible membrane (24, 50).
  2. Apparatus (10) according to the preceding claim, characterized in that the connecting portion (20, 42) comprises an internal axial end (20a, 42a) arranged inside the body (12), which cooperates with a generally longitudinal fork (32, 48) of the actuating means (18, 40), the said fork (32, 48) being mounted articulated with respect to the body (12) around an axis (B1, C1, C3) parallel with said at least one pivoting axis (B, C, C2) of the driving member (14, 36).
  3. Apparatus (10) according to anyone of claims 1 or 2, characterized in that the driving member (14) is articulated with respect to the body (12) around a pivoting axis (B) of vertical orientation which is arranged at a rear end (12a) of the body (12), and in that the driving member (14) comprises a longitudinal vertical palette (16).
  4. Apparatus (10) according to claim 3, characterized in that the driving member (14) is articulated with respect to the body (12) around a pivoting axis (B2) of transverse orientation which is arranged at the rear end (12a) of the body (12), and in that the driving member (14) comprises an horizontal palette (100).
  5. Apparatus (10) according to claim 3, characterized in that it comprises a second driving member (36) articulated with respect to the body (12) around a pivoting axis (C) of transverse orientation which is arranged at a front end (12b) of the body (12), and in that the driving member (36) comprises a horizontal palette (38).
  6. Apparatus (10) according to any of the preceding claims, characterized in that it comprises another driving member (52) which is movable with respect to the body (12) so as to modify the total volume of the apparatus (10).
  7. Apparatus (10) according to the preceding claim, characterized in that the said other driving member (52) comprises a central plunger (87) which is mounted movable with respect to the hollow body (12) along a vertical axis (D) and which is connected to the flexible membrane (58) to deform the membrane (58) generally along the said vertical axis (D).
  8. Apparatus (10) according to the preceding claim, characterized in that the plunger (87) of the said other driving member (52) is mounted movable with respect to the body (12), through the opening (56) which is coaxial with the said vertical axis (D).
  9. Apparatus (10) according to any of the preceding claims, characterized in that the body (12) has an oblong main shape of revolution around its main longitudinal axis (A) and the actuating means (18, 40, 64) comprises at least one actuator (28, 46, 66) arranged longitudinally close to the centre of the body (12).
  10. Apparatus (10) according to the preceding claim, taken in combination with claim 2, characterized in that the fork (32, 48) is arranged longitudinally near an axial end (12a, 12b) of the body (12), and in that the actuating means (18, 40, 64) comprises a connecting linkage (30, 48) for connecting the actuator with the fork (32).
  11. Apparatus (10) according to anyone of the preceding claims, characterized in that the actuators (28, 46, 66) are mounted on a supporting plate (76) which is fixed to the body (12).
  12. Apparatus (10) according to anyone of the preceding claims, characterized in that it comprises an electronic device for controlling the actuating means (18, 40, 64), which is mounted on the supporting plate (76).
  13. Apparatus (10) according to anyone of the preceding claims, characterized in that the body (12) comprises several openings (22, 44, 56), each of them being associated with a driving member (14, 36, 52), and several flexible membranes (24, 50, 58), each of them sealing one of the openings (22, 44, 56) of the body (12).
  14. Apparatus (10) according to the preceding claim, characterized in that the body (12) comprises two half hulls (70, 72) which is manufactured by overmoulding around the flexible membranes (24, 50, 58).
  15. Apparatus (10) according to anyone of the preceding claims, characterized in that that it comprises a lower skittle (78) which is fixed to the body (12) in a dismountable manner.
  16. Apparatus (10) according to the preceding claim, characterized in that the means for mounting (92, 94, 96, 98) the skittle (78) are carried out so as to allow an adjustment of the position of the skittle (78) longitudinally with respect to the body (12).
  17. Apparatus (10) according to anyone of the preceding claims, characterized in that it comprises at least a proximity sensor comprising a stem extending through an associated opening of the body (12) and in that it comprises a flexible membrane sealing the said associated opening, which cooperates with the stem.
EP08750047A 2007-05-10 2008-05-05 Submersible apparatus including flexible waterproofing membranes Not-in-force EP2152570B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0754971A FR2915956B1 (en) 2007-05-10 2007-05-10 SUBMERSIBLE APPARATUS WITH SOFT SEALING MEMBRANES
PCT/EP2008/055487 WO2008141913A2 (en) 2007-05-10 2008-05-05 Submersible apparatus including flexible waterproofing membranes

Publications (2)

Publication Number Publication Date
EP2152570A2 EP2152570A2 (en) 2010-02-17
EP2152570B1 true EP2152570B1 (en) 2011-10-26

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EP08750047A Not-in-force EP2152570B1 (en) 2007-05-10 2008-05-05 Submersible apparatus including flexible waterproofing membranes

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US (1) US8322296B2 (en)
EP (1) EP2152570B1 (en)
JP (1) JP2010526703A (en)
CN (1) CN101678884B (en)
AT (1) ATE530431T1 (en)
ES (1) ES2374106T3 (en)
FR (1) FR2915956B1 (en)
WO (1) WO2008141913A2 (en)

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US20100139545A1 (en) 2010-06-10
ATE530431T1 (en) 2011-11-15
JP2010526703A (en) 2010-08-05
US8322296B2 (en) 2012-12-04
FR2915956A1 (en) 2008-11-14
CN101678884A (en) 2010-03-24
WO2008141913A2 (en) 2008-11-27
CN101678884B (en) 2013-05-29
FR2915956B1 (en) 2009-10-23
ES2374106T3 (en) 2012-02-13
EP2152570A2 (en) 2010-02-17
WO2008141913A3 (en) 2009-02-05

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