Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
  • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
  • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
  • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
  • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
  • B63B21/56—Towing or pushing equipment
  • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
• • 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
  • B63G8/42—Towed underwater vessels

Definitions

• the subject of the invention is an apparatus for recovering an underwater or marine craft.
• This device is used, in particular, for the recovery of an autonomous underwater vehicle or AUV (for "Autonomous Underwater Vehicle”).
• AUV for "Autonomous Underwater Vehicle”
• the invention relates to an apparatus of the type comprising a frame defining a housing inside which said machine can penetrate to be recovered.
• WO 00/71415 describes an apparatus of this type, similar to a cage, for collecting an AUV. This cage is fully submerged.
• the AUV of WO 00/71415 has the shape of a torpedo, has its own propulsion means, and is remote-controlled. This AUV approaches the cage and penetrates inside it autonomously. Blades fixed at the entrance of the cage and arranged like flower petals, form a frustoconical ring through which I 1 AUV passes into the cage.
• the apparatus of WO 00/71415 has the following disadvantages. First, it is necessary to sufficiently align the AUV with the cage so that it can enter. Indeed, if I 1 AUV is too offset (angularly, or radially) with respect to the main axis of the cage, it can not pass through the aforementioned frustoconical ring. However, a correct alignment is difficult to obtain in rough seas, because of the movements (oscillations) of the cage. This is even more difficult when the cage floats on the surface of the water (instead of being submerged), because it is then tossed by the waves and the swell. In addition, the apparatus of WO 00/71415 can not be used to recover AUVs provided with large fins, because these fins would be damaged during passage through said frustoconical ring.
• the invention aims to provide a recovery apparatus without the aforementioned drawbacks.
• This objective is achieved by means of a device for recovering an underwater or marine vehicle, comprising a chassis defining a housing inside which the machine can enter, via an entrance, characterized in that it comprises:
• receiving means able to receive a part of the machine and to move along said housing when the machine enters, these means of receiving having sufficient freedom of movement relative to the chassis to follow the movement of the machine, when they are in the vicinity of the entrance of the housing;
• guiding means for guiding the receiving means when the machine penetrates inside the housing, and orienting these receiving means, as well as the machine, by limiting their freedom of movement with respect to the chassis, as the craft enters the dwelling.
• the apparatus of the invention may be equipped with floats allowing it to stay on the surface of the water, or, conversely, be fully immersed.
• This device can be used to recover different types of gear, floating or controlled immersion, and in particular an AUV, a torpedo, a surface drone or a similar architecture craft.
• the freedom of movement of said receiving means facilitates the recovery of the craft, and is particularly useful in rough sea because; on the one hand, it allows the receiving means to orient itself so as to receive the machine, and
• the guiding and the orientation of the machine inside the housing of the apparatus via said receiving means, facilitate the penetration of the machine and limit or even avoid the shocks between the fragile parts of the machine.
• the craft including its fins or any other projecting part
• the chassis of the apparatus facilitate the penetration of the machine and limit or even avoid the shocks between the fragile parts of the machine.
• the apparatus of the invention comprises traction means, mounted on the chassis, for pulling said machine inside the housing and, advantageously, these traction means comprise a winding device of cable for towing said machine inside the housing, via a cable connected to this machine.
• the machine does not have to go autonomously to the cage.
• an autonomous machine ie equipped with propulsion means
• an autonomous device in damage ie whose means of propulsion are out of order or out of energy
• a non autonomous device ie devoid of propulsion means
• the subject of the invention is also an installation for recovering an underwater or marine vehicle, from a recovery base, comprising a recovery apparatus according to the invention and traction means intended to be mounted. on the recovery base and capable of towing said apparatus (and the craft housed therein) via a flexible link.
• Said recovery base can be a boat, a dock, an off-shore platform, etc.
• flexible link is meant to design any type of link able to stretch and relax depending on the traction exerted on him. When relaxed, the flexible link allows the recovery device to move freely relative to said base. In particular, in the case where the recovery base is a boat, the flexible link prevents the boat from driving with him the cage, when it oscillates (pitch, roll, heave) in rough seas.
• the flexible link of the installation is a cable
• the traction means comprise a cable winding device.
• it is generally used in combination with the traction means mounted on the recovery base, a handling device, also mounted on said base. It can be a crane, a gantry, or a derrick.
• the traction means and the handling device make it possible to raise the recovery device and the machine on the recovery base and to easily deposit them on a suitable support.
• FIGS. 1 to 3 represent an example of a recovery installation according to the invention, respectively, seen from the side, from above and from the front,
• FIG. 4 represents the installation of FIGS. 1 to 3, seen from the side, when the machine to be recovered has left the water
• - Figures 5 to 7 show, in part only, an example of recovery apparatus according to the invention, respectively, in longitudinal section, in side view, from above and from the front.
• Figure 8 shows the apparatus of Figures 5-7 used, this time, for launching a craft.
• FIGS. 1 to 4 The installation of FIGS. 1 to 4 makes it possible to retrieve and / or launch a craft 1.
• the machine 1 is an AUV in the shape of a torpedo. It will be noted that it has two large lateral fins 3 in its middle part, the installation comprises a boat 5 as a recovery base.
• This boat 5 is equipped with a winch 7 for winding / unwinding a cable 9.
• This cable is preferably textile.
• the installation also includes a recovery device within which the machine 1 can accommodate, at least in part.
• a recovery device within which the machine 1 can accommodate, at least in part.
• This cage 10 is equipped on its sides with floats 12 which allow it to stay on the surface of the water and adjust its immersion height.
• these floats 12 are connected to said cage by hinge pins, which allows them to switch. On the surface of the water, they thus deviate from the cage to provide maximum stability and not to impede the entry of the machine 1.
• these floats 12 extend along the cage 10, on each side thereof, so as to protect (and the machine 1) possible lateral shocks. These side impacts may occur, especially when the cage 10 is raised on board the boat 5.
• the floats 12 are, for example, fenders of boat.
• the cage 10 comprises:
• FIG. 1 A frame 14 defining a housing 16 with an inlet through which the machine 1 enters.
• this entrance is to the right of the cage and in Figure 3, we see this front entrance.
• Receiving means 18 adapted to receive the front part, hereinafter called "nose", of the machine 1.
• the receiving means 18 define a cavity 20 having a shape complementary to that of the nose of the machine 1.
• These receiving means 18 are traversed by a cable 22, a passage 23 being provided for this purpose in the receiving means 18, at the bottom of the cavity 20 (see Figs 5 and 7).
• - Traction means fixed to the frame 14 for pulling the machine 1 inside the housing 16 of the cage 10, via a flexible link, typically the cable 22, connected to the machine 1.
• These traction means comprise a device for winding / unwinding the cable 22 formed by a winch 24.
• the cable 22 may be textile or metallic.
• the winch 24 can be controlled remotely and, in particular, from the boat 5.
• At least one energy source e.g. at least one battery 25 for supplying the traction means and, if necessary, the immobilizing means. It is possible to provide immobilization means that are not powered by energy, mechanically triggered by the passage of the machine 1.
• FIG. 5 to 9 do not represent all parts of the cage 10. In particular, the lower parts of the cage are not shown. In these figures we wanted to show more particularly the receiving means and the guide means.
• Said receiving means 18 comprise an element 32 movable between the inlet and the bottom of the cavity 20.
• the cable 22 passes through this movable element 32, preferably at its center.
• the movable element 32 comprises a cup 34, adapted to receive the nose of the machine 1 (see FIG. 7), which has a central hole 35 through which the cable 22 passes.
• a plurality of guide branches 36 extend at the periphery of the cup 34 and connect it to the structure 37 of the receiving means 18. The end of each branch 36 can slide relative to this structure 37, of so that the movable element 32 can slide between the inlet and the bottom of the cavity 20, as represented by the double arrow A in FIG.
• the cage 10 comprises first blocking means 38 (see FIG. 5) for maintaining said receiving means 18 in the vicinity of the inlet of the housing 16, before the machine 1 reaches the cage.
• said receiving means 18 are in position to receive the machine 1 that arrives.
• the cable portion 22 extending between the winch 24 and the receiving means 18 (more precisely between the pulley 40, the passage 23 and the nose of the machine 1 - see Fig. 5 and 6) forms a lever arm which makes the cage 10 orientate towards the nose of the machine 1, which facilitates the recovery of the latter. Note that this orientation of the cage is possible because it can move freely in the water, the (s) cable (s) 9 (70) connecting the cage 10 to the boat 5 being relaxed (s).
• the first blocking means 38 release said receiving means
• the first means locking members 38 comprise a stop capable of retracting when the machine 1 exerts on it a thrust force greater than a predetermined force.
• the stop is formed by an arm 42 pivotally mounted on the frame 14, at the end of which is mounted a roller 46.
• This arm 42 is connected to a spring 44 whose stiffness is chosen such that from a certain pushing force exerted by the machine 1 on the arm 42, via the receiving means 18, the spring 44 is deformed and allows the arm to retract by pivoting along the arrow B (see Figure 5).
• Other types of blocking means could, of course, be considered.
• the cage further comprises second blocking means 48 (see FIG 6) for holding the movable member 32 of the receiving means 18 at the inlet of the cavity 20, these second blocking means 48 free the movable member 32 when the machine 1 comes into contact with this movable member 32 (more precisely of the cup 34).
• These second locking means 48 are, for example, of the same principle as the first locking means 38 and comprise a stop capable of retracting when the machine 1 exerts on it, via the movable member 32, a thrust force greater than a predetermined force.
• the locking force of the second blocking means 48 is smaller than that of the first blocking means 38, so that when the machine 1 penetrates inside the receiving means 18 (more precisely inside the the cavity 20), the second blocking means 48 yield before the first blocking means 38.
• Said receiving means 18 are integral with a rod 50.
• this rod 50 is oriented vertically (relative to the level of the water, horizontal).
• the rod 50 is mounted on a carriage 52 so as to be able to pivot about its axis C along the double arrow D shown in FIGS. 5 to 7.
• the carriage 52 is guided along the housing 16 of the cage 10, by said guiding means.
• the receiving means 18 are mounted on the rod 50 so as to: - be driven by the rod 50 when it pivots along the double arrow D, hereinafter referred to as horizontal pivoting; and
• Stops 53 limit the vertical pivoting angle of the receiving means 18.
• a guide arm 54 is fixed to the end of the rod 50 so as to be able to drive it and rotate it about its axis C according to the This arm 54 has a first end engaged with the rod 50 and a second end on which is mounted a roller 56.
• Said guide means comprise first and second superimposed guides 58, 60, extending along the housing 16.
• the first guide 58 guides the carriage 52 along the housing 16. It is formed by a pair of parallel rails 64 and the carriage 52 is equipped with rollers 62 so that it can move along the rails 64, following the double arrow G shown in Figure 6.
• the second guide 60 guides the guide arm 54 and thereby directs the rod 50 and the receiving means 18 by rotating them horizontally along the double arrow D. It is located above the first guide 58. It is formed by a pair of rails 66 which come closer to each other as one moves away from the entrance of the cage 10.
• the guide arm 54 can rotate between these rails 66 along the double arrow D, between a first position in which the roller 56 is in contact with one of the rails 66, and a second position in which the roller 56 is in contact with the other rail 66. More the separation of the rails 66 is important, plus the freedom of horizontal pivoting of the arm 54, e t therefore the rod 50 and receiving means 18, is large. Conversely, the more the machine 1 enters the cage 10, the more the carriage 52 advances along the rails 66 which are close to one another, and the freedom of horizontal pivoting means reception 18 decreases. Thus, as the machine 1 penetrates inside the cage 10, the arm 54 and the receiving means 18 are gradually oriented along the main axis H of the cage 10. The receiving means 18 cause the 1 by the nose, and this machine 1 is also oriented along the axis H (see Fig. 6). It thus easily penetrates inside the cage 10.
• the frame 14 of the cage 10 has on its sides notches 68 open towards the entrance of the cage 10, which allows the passage of the lateral fins 3 of the machine 1 (see Figures 1 and 4).
• the machine 1 being guided and oriented when it enters the cage 10, the fins 3 are housed in the notches 68 and, thus, are not damaged.
• said immobilizing means comprise two rods 26 equipped with pads at their ends, and a mechanism for lifting / lowering these rods.
• the rods 26 slide inside two housings 28 enclosing said mechanism. These housings 28 are fixed on each side of the frame 14, in the vicinity of the entrance of the cage 10. In the lowered position, the rods 26 are in contact with the upper face of the machine 1, as shown in FIGS. 8. Note that the pressure exerted by the rods 26 on the machine 1 must be controlled in order not to damage the latter.
• the immobilizing means comprise a rod pivotally mounted on the frame 14 and a mechanism, for example a jack, for pivoting this rod.
• the rod carries at its end a hoop which surrounds the upper face of the machine 1.
• the machine 1 has a member projecting from its upper face. After the machine has penetrated inside the housing 16, the hoop lowers and is placed behind the protruding member, which makes it possible to immobilize the machine 1 inside the cage 10 .
• immobilization means are controlled remotely and, preferably, from the boat 5.
• the underside of the machine 1 is supported on a rocker 29, mounted on the frame.
• This rocker 29 comprises at each of its ends a hoop 30, on which the machine 1 rests.
• the arches 30 extend transversely relative to the cage 10, in the housing 16. These arches are easily removed when the machine 1 is placed on a suitable working support present on the boat 5.
• a cable 22 'connected to the nose of the machine 1 is recovered from the boat 5.
• the cable 22' is then connected to a cable 22 "in waiting for the cage 10.
• the cage 10 is put into the water. It remains connected to the boat 5 via the traction cable 9, also called lifting cable, and other cables 70, said guide. At this point, the cables 9 and 70 are relaxed so that the boat 5 does not drive the cage 10 in its movements. The cage 10 moves freely in the water.
• the winding of the cable 22 is remotely controlled on the winch 24 in order to tow the machine 1 inside the cage 10.
• the cable portion 22 extending between the nose of the machine 1, the receiving means 18 at the entrance to the cage, and the winch 24 (actually the pulley 40) located at the bottom of the 10, forms a lever arm which rotates the cage 10, so that the axis H of the cage is approaching the nose of the machine 1.
• the receiving means 18 are facing the nose of the machine 1 when the latter is approaching, thanks to the cable portion 22 extending between the bottom of the cavity 20 (ie the passage 23), the movable member 32 and the nose of the machine 1.
• the nose of the machine 1 first comes into contact with the movable member 32 and exerts on it, as the traction of the machine 1 continues, a thrust force of greater and greater. Beyond a limit force, the second blocking means 48 release the mobile element 32 which is translated with the nose of the vehicle 1, to the bottom of the cavity 20. The nose of the machine 1 then occupies the cavity 20. The relative movements between the receiving means 18, and thus the machine 1, and the cage 2 are still allowed at this stage. Indeed, the receiving means can pivot vertically and horizontally according to the double arrows E and D. It thus limits the stresses exerted at the nose of the machine 1, related to the relative movements between the machine 1 and the cage 10. As traction continues, the machine 1 exerts on the receiving means 18 a thrust force of greater and greater.
• the first blocking means 38 release the carriage 52 to which the receiving means 18 are connected via the rod 50.
• the carriage 52 then rolls along the first guide 60, towards the bottom of the housing 16.
• the guide arm 54 is guided along the first guide 58 and its pivoting freedom along the double arrow D gradually decreases.
• the receiving means 18 and the machine 1 are thus oriented progressively along the main axis H of the cage.
• the cage 10 and the machine 1 are towed from the boat 5, by means of the cable 9, in order to put them back on board the boat 5.
• the cables of guide 70 can be pulled manually, or be connected to a cable winding / unwinding device, for example winches similar to the winch 7.
• the cables 70 and their possible winding / unwinding devices are part of the traction means mounted on the recovery base, within the meaning of the invention.
• the guide cables 70 are used to direct the cage 10 and the machine 1 in order to pass them through the gantry 72.
• the cage 10 is pulled out and the machine 1 out of the water using the cable 9 and the cables 70 are used to guide and pass the cage 10 and the machine 1 through the portico 72, before placing them on the bridge of the boat 5.
• the recovery base is the boat 5 and the machine to be recovered is the machine 1. Originally, the machine 1 is immobilized in the cage 10 and this cage is on board the boat 5.
• the winch 7, the traction cable 9, the gantry 72 and possibly the guide cables 70 are used to launch the cage 10.
• release means comprise a mechanism for raising the rods 26.
• release means are controlled remotely, preferably from the launching base (i.e. the boat 5).
• these traction means comprise the cable winding / unwinding device, that is to say the winch 24 and the cable 22 previously described, as well as a pulley 74 situated at the level of the cable. entrance of the housing 16 of the cage 10.
• the cable 22 is connected to the winch 24, extends to the pulley 74, passes around it, and extends to the carriage 52 to which it is connected.
• the winch 24 is actuated so that the trolley 52, the receiving means 18 and the nose of the machine 1, are pulled through the cable 22 towards the entrance of the housing 16.
• their freedom of pivoting linked to that of the guide arm 54
• the freedom of movement of the machine 1 with respect to the cage 10 increases as the Apparatus 1 is extracted from the cage 10 and it limits or even avoids the appearance of mechanical stresses in the nose of the machine 1.
• the machine 1 can be made integral with the receiving means 18 and until the end of the output movement. It is then released permanently or, advantageously, by a command from the boat 5, or by a mechanical device placed on the receiving means 18 and automatically triggered at the end of travel of said receiving means.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Combustion & Propulsion (AREA)
• Ocean & Marine Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Load-Engaging Elements For Cranes (AREA)
• Cleaning In General (AREA)
• Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
• Physical Water Treatments (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Drilling And Exploitation, And Mining Machines And Methods (AREA)
• Platform Screen Doors And Railroad Systems (AREA)

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• 2006
  • 2006-07-26 FR FR0653127A patent/FR2904287B1/fr not_active Expired - Fee Related
• 2007
  • 2007-07-25 JP JP2009521319A patent/JP2009544520A/ja active Pending
  • 2007-07-25 AT AT07823638T patent/ATE450442T1/de not_active IP Right Cessation
  • 2007-07-25 EP EP07823638A patent/EP2043913B1/de active Active
  • 2007-07-25 DE DE602007003607T patent/DE602007003607D1/de active Active
  • 2007-07-25 US US12/375,067 patent/US20090308299A1/en not_active Abandoned
  • 2007-07-25 CA CA2658975A patent/CA2658975C/en active Active
  • 2007-07-25 DK DK07823638.7T patent/DK2043913T3/da active
  • 2007-07-25 WO PCT/FR2007/051721 patent/WO2008012472A1/fr not_active Ceased

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