Self propelled underwater device with steerable fin stabilizer

Claim 2

A self propelled underwater vehicle comprising, in combination: a hull of generally tubular configuration and having a substantially conical shaped rear portion; said hull comprising a plurality of hollow interlocking tubular sections with one section including said rear portion; adjacent tubular hull sections including peripherally spaced apart threaded portions respectively disposed internally and externally thereof for mating relationship upon relative circumferential motion of the adjacent sections; said adjacent sections further configured to provide an abutting joint when fully mated; watertight sealing means between the mated sections; a plurality of steerable stabilization fins mounted on said hull about said rear conical portion at spaced apart locations; hull slots for receiving the respective fins when stowed; means for pivoting the fins out of said slots to extend generally perpendicular from said hull; means for respectively at least partially rotating each fin to steer said vehicle; means for controlling said means for rotating; motor means; and, propulsion means on said rear portion operated by said motor means.

Claim 3

The vehicle of claim 1, wherein: said motor means comprises motor control means and a motor responsive to said motor control means; said means for controlling said means for rotating comprising computer means; and, said motor being controlled by said computer means via said motor control means.

Claim 4

The vehicle of claim 2, further comprising: a cable array connected internally of said hull and extending rearwardly through the rear portion to be towed; a source of energy in said hull; and, circuit means connecting the source of energy to the computer means and the motor means.

Claim 5

The vehicle of claim 3, further comprising: time delay means connected in said circuit means to delay flow of energy from said source of energy to the computer means and the motor means for a predetermined time interval.

Claim 6

The vehicle of claim 4, further comprising a restraining strap for holding said fins in stowed position, an explosive bolt carried by said strap for fracturing said restraining strap when energized; and, an electrical connection from the explosive bolt to said circuit means to energize said explosive bolt after said predetermined time interval.

Claim 7

The vehicle of claim 5, further comprising: locking means carried by the hull for locking said fins in operative position when pivoted out of said slots.

Claim 8

The vehicle of claim 3, wherein: said cable array is electrically connected to said computer means and physically connected forward of said motor; and, a hollow drive shaft extending through said motor to house the forward portion of said cable array and to drive the propulsion means.

Claim 9

The vehicle of claim 1, wherein: each fin has a predetermined configuration having a root edge extending between fin leading and trailing edges; a mounting tab formed along said root edge; said means for rotating comprising a support yoke rotatably secured to said vehicle adjacent to an outer hull surface having a first central axis about which it rotates extending substantially perpendicular to said outer surface; said means for pivoting comprising rotation means connected between said support yoke and said mounting tab for rotatably joining said tab to said yoke and for allowing rotation of said tab about a second axis which extends substantially perpendicular to said first axis; and, said means for pivoting deploying said fin about said second axis so as to move between a preselected stowed position adjacent said outer surface to an erected position extending outward from said outer surface.

Claim 10

The fin assembly of claim 8 wherein said support yoke comprises a main body having a channel extending inward from one side starting with an open end adjacent the one side of said main body and terminating with a closed end, said channel being sufficiently wide for insertion of said support tab.

Claim 11

The fin assembly of claim 9 wherein said tab comprises a projection with a curved edge extending outward from said root edge having two opposing substantially parallel planar surfaces, and a centrally located axial passage extending between the two opposing planar surfaces.

Claim 12

The fin assembly of claim 10 wherein said tab is located adjacent said leading edge.

Claim 13

The fin assembly of claim 11 wherein said pivoting means comprises a first cylindrical pin extending through said axial passage and beyond the planar surfaces and into matching cylindrical passages in sidewalls of said channel.

Claim 14

The fin assembly of claim 12 wherein said pivoting means comprises a coiled spring assembly secured about said pin of a deployment.

Claim 15

The fin assembly of claim 12 wherein said channel closed end and bottom wall comprise beveled surfaces extending between said sidewalls; and, said tab curved edge is formed as a beveled surface having a bevel angel substantially the same as said channel front wall and bottom.

Claim 16

The fin assembly of claim 12 wherein said channel closed end and bottom wall comprise rounded surfaces extending between said sidewalls; and, said tab curved edge is formed as a rounded surface having an arc substantially the same as said channel front wall and bottom.

Claim 17

The fin assembly of claim 9 further comprising pivot means connected to said support yoke for selectively rotating said yoke about said first axis.

Claim 18

The fin assembly of claim 14 wherein said pivot means comprises a support post formed on a lower portion of said main body and extending along said first axis into said housing.

Claim 19

The fin assembly of claim 8 wherein said pivoting means comprises a coiled spring assembly secured between said tab and support yoke.

Claim 20

The fin assembly of claim 8 further comprising retention means for engaging said tab and securing said fin in a stowed position unit deployment is desired.

Claim 21

The fin assembly of claim 8 further comprising retention means for engaging said tab and securing said fin in a deployed position.

Claim 22

The fin assembly of claim 8 wherein said fin configuration comprises parallel leading and trailing edges with root and tip edges extending in between and said fin having a sweep angle of zero degrees.

Claim 23

A self propelled underwater vehicle comprising, in combination: a hull of generally tubular configuration and having a substantially conical shaped rear portion; said hull comprising a plurality of hollow interlocking tubular sections with one section including said rear portion; each pair of adjacent tubular hull sections including peripherally spaced apart threaded portions respectively disposed internally and externally thereof for mating relationship upon relative circumferential motion of the adjacent sections, one end of each section of said pair being a male end and the corresponding end of the other section being a female end; said adjacent sections further configured to provide an abutting joint when fully mated, said joint comprising the outer edge of the female end and a peripheral flange recessed from the outer edge of the male end; watertight sealing means between the mated sections supported by the female end and enclosed by the male end; a plurality of steerable stabilization fins mounted on said hull about said rear conical portion at spaced apart locations; hull slots for at least partly receiving the respective fins when stowed; means for pivoting the fins out of said slots to extend generally perpendicular from said hull; means for respectively at least partially rotating each fin to steer said vehicle; means for controlling said means for rotating; motor means operated by the means for controlling; and, propulsion means on said rear portion operated by said motor means.

Claim 24

A self propelled underwater vehicle comprising, in combination: a hull of generally tubular configuration and having a substantially conical shaped rear portion; said hull comprising a plurality of hollow interlocking tubular sections with one section including said rear portion; each pair of adjacent tubular hull sections including peripherally spaced apart threaded portions respectively disposed internally and externally thereof for mating relationship upon relative circumferential motion of the adjacent sections, one end of each section of said pair being a male end and the corresponding end of the other section being a female end; said adjacent sections further configured to provide an abutting joint when fully mated, said joint comprising the outer edge of the female end and a peripheral flange recessed from the outer edge of the male end; watertight sealing means between the mated sections supported by the female end and enclosed by the male end; a plurality of steerable stabilization fins mounted on said hull about said rear conical portion at spaced apart locations; hull slots for at least partly receiving the respective fins when stowed; means for pivoting the fins out of said slots to extend generally perpendicular from said hull; means for respectively at least partially rotating each fin to steer said vehicle; means for controlling said means for rotating; motor means operated by the means for controlling; and, propulsion means on said rear portion operated by said motor means.

Claim 25

The vehicle of claim 22, wherein: the means for controlling the means for rotating and the motor means is a computer means; and, the motor means comprises a motor and a motor control.

Claim 26

The vehicle of claim 23, further comprising: a source of energy in the hull; circuit means connecting the source of energy to the computer means and to the motor via the motor control means.

Claim 27

The vehicle of claim 24, further comprising: a cable array connected to the vehicle and adapted to be towed thereby.

Claim 28

The vehicle of claim 25, further comprising: a start and stop switch connected in said circuit means between the source of energy and the computer and motor control means.

Claim 29

The vehicle of claim 26 further comprising: a hollow drive shaft extending through the motor to the rear of the hull, and also forward of the motor to provide a housing for the forward portion of the cable array; the forward end of the cable array being secured in the motor; and, watertight sealing means about the cable array at the forward end of the drive shaft to permit water to enter the drive shaft for cooling purposes without flooding the hull.

Claim 30

The vehicle of claim 24 further comprising: electrical time delay means connected in said circuit means to preclude energy from the computer and motor control means for a predetermined period of time.

Claim 31

The vehicle of claim 22, wherein: said means for pivoting the fins comprises a yoke carried by the hull and having an axle pin penetrating a fin to permit the fin to be moved from a stowed position at least partly in a hull slot to an operative position substantially perpendicular to the hull; said yoke having a support shaft penetrating the hull; watertight bearing means about the support shaft to permit rotation of the shaft and yoke to rotate the fin; the means for at least partially rotating a fin comprising electrical coil means and mechanical turning structure connected between the electrical coil means and said support shaft to rotate the shaft, yoke, and any attached fin in response to electrical signals received by said electrical coil means.

Claim 32

The vehicle of claim 22, wherein: said means for pivoting and said means for rotating fins comprise a common mechanical structure; said structure comprising a yoke carried by the hull and having an axle for receiving a fin for rotation from a slot to an operating position extending outwardly of the hull; said hull having an aperture in each fin region; a bearing in each aperture; said yoke having a shaft penetrating the hull via said bearing in watertight sealing relation to the hull and bearing; said means for means for controlling comprising an electrical coil for establishing rotary motion; and, said means for rotating further comprising linkage means for transferring said rotary motion to said shaft.

Claim 33

A steerable stabilization fin assembly for use on underwater vehicles comprising; a fin of predetermined configuration in contact with the water and having a root edge extending between fin leading and trailing edges; a mounting tab formed along said root edge; a support yoke rotatably secured to said vehicle adjacent to an outer surface having a first central axis about which it rotates extending substantially perpendicular to said outer surface; rotation means connected between said support yoke and said mounting tab for rotatably joining said tab to said yoke and for allowing rotation of said tab about a second axis which extends substantially perpendicular to said first axis; and, deployment means for rotating said fin about said second axis so as to move between a preselected stowed position adjacent said outer surface to an erected position extending outward from said outer surface.

Claim 34

A steerable stabilization fin assembly for use on underwater vehicles comprising; a fin of predetermined configuration in contact with the water and having a root edge extending between fin leading and trailing edges; a mounting tab formed along said root edge; a support yoke rotatably secured to said vehicle adjacent to an outer surface having a first central axis about which it rotates extending substantially perpendicular to said outer surface; rotation means connected between said support yoke and said mounting tab for rotatably joining said tab to said yoke and for allowing rotation of said tab about a second axis which extends substantially perpendicular to said first axis; and, deployment means for rotating said fin about said second axis so as to move between a preselected stowed position adjacent said outer surface to an erected position extending outward from said outer surface.

Claim 35

The fin assembly of claim 31 wherein said support yoke comprises a main body having a channel extending inward from one side starting with an open end adjacent the one side of said main body and terminating with a closed end, said channel being sufficiently wide for insertion of said support tab.

Claim 36

The fin assembly of claim 32 wherein said tab comprises a projection with a curved edge extending outward from said root edge having two opposing substantially parallel planar surfaces, and a centrally located axial passage extending between the two opposing planar surfaces.

Claim 37

The fin assembly of claim 33 wherein said tab is located adjacent said leading edge.

Claim 38

The fin assembly of claim 33 wherein said rotation means comprises a first cylindrical pin extending through said axial passage and beyond the planar surfaces and into matching cylindrical passages in sidewalls of said channel.

Claim 39

The fin assembly of claim 35 wherein said deployment means comprises a coiled spring assembly secured about said pin.

Claim 40

The fin assembly of claim 35 wherein said channel closed end and bottom wall comprise bevel surfaces extending between said sidewalls; and, said tab curved edge is formed as a beveled surface having a bevel angel substantially the same as said channel front wall and bottom.

Claim 41

The fin assembly of claim 35 wherein said channel closed end and bottom wall comprise rounded surfaces extending between said sidewalls; and, said tab curved edge is formed as a rounded surface having an arc substantially the same as said channel front wall and bottom.

Claim 42

The fin assembly of claim 32 further comprises pivot means connected to said support yoke for selectively rotating said yoke about said first axis.

Claim 43

The fin assembly of claim 37 wherein said pivot means comprises a support post formed on a lower portion of said main body and extending along said first axis into said housing.

Claim 44

The fin assembly of claim 31 wherein said deployment means comprises a coil spring assembly secured between said tab and support yoke.

Claim 45

The fin assembly of claim 31 further comprising retention means for engaging said tab and securing said fin in a stowed position unit deployment is desired.

Claim 46

The fin assembly of claim 31 further comprising retention means for engaging said tab and securing said fin in a deployed position.

Claim 47

The fin assembly of claim 31 wherein said fin configuration comprises parallel leading and trailing edges with root and tip edges extending in between, said fin having a sweep angle of zero degrees, a span of about three inches, and a width of about one and one-half inches.