Self propelled underwater device with steerable fin stabilizer

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.

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.