EP2155543B1 - U-boot mit vorrichtung zur freisetzung und einholung eines sekundären unterwasserfahrzeuges - Google Patents

U-boot mit vorrichtung zur freisetzung und einholung eines sekundären unterwasserfahrzeuges Download PDF

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Publication number
EP2155543B1
EP2155543B1 EP08805959A EP08805959A EP2155543B1 EP 2155543 B1 EP2155543 B1 EP 2155543B1 EP 08805959 A EP08805959 A EP 08805959A EP 08805959 A EP08805959 A EP 08805959A EP 2155543 B1 EP2155543 B1 EP 2155543B1
Authority
EP
European Patent Office
Prior art keywords
submarine
release
secondary underwater
recovery
gripping
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
EP08805959A
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English (en)
French (fr)
Other versions
EP2155543A2 (de
Inventor
Jean-Claude Fournier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Naval Group SA
Original Assignee
DCNS SA
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Filing date
Publication date
Application filed by DCNS SA filed Critical DCNS SA
Publication of EP2155543A2 publication Critical patent/EP2155543A2/de
Application granted granted Critical
Publication of EP2155543B1 publication Critical patent/EP2155543B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B63G8/42—Towed underwater vessels
    • 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
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2203/00—Communication means
    • 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
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • 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
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • the present invention relates to a device for dropping and recovering a secondary underwater vehicle self-propelled from a ship, and in particular from a submerged submarine.
  • Submarines with piloted rescue submarines attached to the bridge bridge by pylons are also known. But these rescue submarines can not be dropped or recovered when the submarine is in motion with great difficulty. They can only be used practically in exceptional conditions.
  • the object of the present invention is to overcome these disadvantages by providing a means for a submarine underwater to launch and recover a secondary underwater vehicle without the intervention of divers and without leaving the work immersion and in good conditions of safety.
  • the invention relates to a submarine of the type comprising a solid mass and possibly a bridge bridge, and comprising a device for releasing and recovering a secondary self-propelled underwater vehicle, the release and recovery device comprising handling means for moving the secondary underwater vehicle between a storage area and a drop zone or recovery and reversible gripping means, integral with the handling means, for releasing the secondary underwater vehicle at the time of release and attachment of the secondary underwater vehicle during the recovery, adapted so that the drop zone or recovery is located outside the turbulence zone surrounding the submarine when it is moving.
  • the release device and recovery is mounted at the rear upper end of the submarine and the handling means can be placed in a rest position in which it is the trailing edge of the massif.
  • the handling means comprises a handling arm whose free end is movable between a storage position and a release position or recovery and the handling arm is mounted on a support provided on the rear upper part of the solid by via a hinge allowing pivoting of the arm about a transverse axis relative to the arm.
  • the handling means comprises a device for immobilizing the secondary underwater vehicle mounted on the free end of the handling arm and handling means of the handling arm and the gripping device.
  • the immobilizer comprises, for example, at least one clamp or cage.
  • the immobilizing means is mounted at the end of the handling arm by means adapted to adjust the orientation of the axis of the secondary underwater vehicle at least in the release position and, for example, to keep it permanently parallel to the longitudinal axis of the submarine.
  • the gripping device is constituted for example by a gripping bell comprising means for coupling and reversibly securing the gripping bell and the nose of a secondary underwater vehicle, and means for guiding a machine under -marine secondary.
  • Means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may include a pump for sucking water inside the bell and / or for discharging water inside the bell.
  • the means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may comprise a hook which is movable between a hooking position and a release position and a means for actuating the hook, and more generally any mechanical or magnetic locking means.
  • the guiding means comprise for example one or more means of the acoustic transducer type, optical beam or laser beam.
  • the gripping bell is movable relative to the free end of the handling arm and is connected to the handling arm by a cable winding around a winch.
  • the gripping bell may comprise a television camera and maneuvering means connected to a control station located inside the submarine.
  • the storage area is located for example on or below the bridge bridge and includes a storage compartment which may include a pressure-resistant box.
  • the submarine according to the invention is in particular a submarine for military use.
  • the present invention makes it possible to launch and recover a secondary underwater vehicle from a main submarine (or submarine mother), in good conditions of safety and with few operational constraints. Indeed, the invention allows to perform these operations at a significant distance from the hull (about ten meters) which limits the risk of collision, especially with the propeller.
  • this allows the secondary underwater vehicle to sail stably out of the turbulence created by the hydrodynamic wake of the main submarine, which greatly facilitates recovery operations.
  • the submarine usually spotted by 1 at the figure 1 comprises in a known manner in itself a hull 2 surmounted by a solid mass 3 and a bridge bridge 4. At the rear the submarine comprises a propulsion means 5 and guide fins 6.
  • the submarine such as he is represented at the figure 1 is diving and, therefore, moving. Indeed a submarine can not practically not remain stable in diving without being in motion even relatively slow. Due to the movement, the submarine is surrounded by a zone 7 of turbulence.
  • the submarine 1 comprises in its upper part a release and recovery device generally identified by 8 and intended to drop or recover a secondary underwater vehicle 90. This device is adapted to allow to move a means of capture and recovery. gripping the secondary underwater vehicle from a position in which the secondary underwater vehicle is stored to a release or recovery position located outside the turbulence zone surrounding the vessel from which it is desired to be dumped or recover the secondary underwater vehicle.
  • the release and recovery device comprises a handling means generally indicated by 8A consisting of a handling arm 9 mounted hinged at one of its ends around a horizontal axis 10 located at the rear top corner of the solid 3.
  • L horizontal axis 10 is perpendicular to the longitudinal direction of the arm, which allows to deploy the arm by rotation about this axis.
  • the free end 11 of the handling arm 9 carries an immobilizing device 12 consisting of two clamps 13 provided with actuating means and adapted to be able to grip a secondary underwater vehicle.
  • the immobilizing means can also be a cage or any other suitable device.
  • the free end of the handling arm also carries a reversible gripping means generally marked by 14, consisting of a gripping bell 15 connected by a cable 16 to a winch 17 disposed at the end of the handling arm 9.
  • the arm handling is movable between a position generally marked by 18 which is a storage position of the secondary underwater vehicle and a position 19 of release or recovery of the secondary underwater vehicle 90.
  • the handling arm 9 to a sufficient length so that, in the position of release or recovery of the secondary underwater vehicle, the gripping means is located outside the turbulence zone 7 which surrounds the submarine when it is in motion.
  • the immobilizer 12 is horizontal, that is to say parallel to the general axis of the submarine.
  • the immobilizing device 12 is also in a horizontal position so as to be able to deposit the secondary underwater vehicle horizontally inside a vehicle. storage compartment 20 disposed under the bridge bridge 4.
  • the secondary underwater vehicle is deposited on a receiving and transport cradle 21 which is movable between an area 22 closed by a door 23 and accessible from the outside of the submarine, and a box 24 resistant to pressure, separated from the free zone 22 by a sealed door 25.
  • the arm 9 extends along the trailing edge 26 of the massif 3.
  • the handling arm comprises actuating means.
  • actuating means include a jack 27 for effecting the movements between the storage position and the release and recovery position, a rotary jack 28 for ensuring the movement of the gripper 12 relative to the arm 9 so as to ensure permanently the horizontal positioning of the gripping device, and not shown means for actuating the grippers 13 of the gripper.
  • Other active or passive actuation means may be used.
  • the passive means may be, for example, of the parallelogram type. The skilled person knows such means.
  • the gripping bell 15 of the reversible gripping means shown in a more complete but diagrammatic way to the figure 3 consists of a fairing 29 having a shape complementary to the shape of the nose 91 of a secondary underwater vehicle.
  • This bell comprises means generally marked by 30 for guiding the secondary underwater vehicle constituted for example by an acoustic transducer 31A and a light beam in normal or laser light 31B.
  • This bell is also equipped with a reversible suction pump and pump 32 for pumping water inside 33 of the bell to reject it outside 34, or vice versa, can pump water to the outside 34 of the bell and reinject it inside 33 of the bell.
  • the bell further comprises a means 35 for hooking or releasing the nose of the secondary underwater vehicle.
  • This reversible attachment means 35 comprises a hook 36 movable between a hooking position 37 and a release position 38. This hook is actuated by an actuating means 39.
  • the pump and the hook constitute means for coupling and securing reversibly the bell and the secondary underwater vehicle.
  • the hook may advantageously be replaced by any reversible mechanical or magnetic locking means.
  • These means are, for example, the jaw type, the latch type, the pin type, as regards the mechanical means, or the electromagnet type or the permanent magnet type coupled to an electromagnetic coil
  • the gripping bell may be equipped with a television camera 31c, for example associated with the optical beam, and with a control system allowing an operator located in the main submarine to carry out the final approach in maneuvering the bell around its position of hydrodynamic equilibrium.
  • control means may comprise, for example, small movable planes 42 or hydrodynamic jets.
  • the various equipment of the gripping bell are connected by power supply and control cables 40 to a power source and to a control station 41 located in the main submarine. These cables 40 are integrated with the handling cable 16 which makes it possible to move the bell between a position away from the end of the handling arm and a position close to the handling arm.
  • a self-propelled sub-marine device 90 placed in the pressure-resistant compartment 24 of the storage box 26, is assumed. It is assumed that this compartment is put into a dropping situation, that is to say that it is filled with water and the communication door 25 is open.
  • the secondary underwater vehicle 90 is then transported using the cradle 21 in the open compartment 22 of the storage box. In this position, the secondary underwater vehicle is gripped by the clamps 13 of the immobilizer 12 and released by the clamping means of the cradle 21.
  • the immobilizer is a cage, the underwater vehicle secondary is simply slipped into the cage. The handling arm is then maneuvered to move from the storage position 18 to the release position 19.
  • the arm 9 In this release position 19 the arm 9 extends above the sub- founded and its end is outside the turbulence zone.
  • the nose 91 of the secondary underwater vehicle is coupled to the gripping bell 15.
  • the clamps 13 of the immobilizer, when it comprises, are then opened and the pulling cable 16 of the gripping bell is unrolled so as to remove the assembly formed by the secondary underwater vehicle and the gripping bell of the free end of the gripping arm 9. This displacement is desirable so as to placing the secondary underwater vehicle in an area which is not disturbed by the handling arm 9.
  • the nose gripper of the secondary underwater vehicle is then moved to the release position and the pump 32 is actuated so as to inject water into the interior of the bell so as to repel the sub-engine secondary seaman.
  • the secondary underwater vehicle is well detached from the bell, it is set in motion by its own means.
  • the entire release and recovery device can be folded and concealed in the bulkhead and in the bridge bridge of the submarine.
  • the release and recovery device In order to recover a secondary underwater vehicle, the release and recovery device is first deployed so that the arm 9 extends above the solid mass 3 of the submarine and that the gripping bell 15 is located at a sufficient distance from the free end of the handling arm 9 so that it is located in an area which is not disturbed by the turbulent flows existing around the submarine or the handling arm of the device. drop and recovery. In this position, the release device and recovery is in the waiting position.
  • the guide means constituted in particular by the acoustic transducer 31A and by the optical beam 31 B are activated.
  • the secondary self-propelled underwater vehicle then approaches the area in which the gripping bell is located.
  • the own guidance means of the secondary underwater vehicle interact with the guide means of the gripping bell and the secondary underwater vehicle is guided to approach the gripping bell and mate with the this.
  • an operator may, possibly, drive the bell using the control means 42, with the help of the images provided by the television camera 31C, to facilitate the guidance of the machine under -marine secondary.
  • the pump 32 of the gripping bell is activated so as to pump water inside the bell 33 so as to create a negative pressure. inside of it. This depression allows to properly position the bell with respect to the nose of the secondary underwater vehicle.
  • the movable hook 36 When the nose of the secondary underwater vehicle is well inserted inside the bell, the movable hook 36 is moved into the hooking position 37 by means of its actuating means 39. the secondary underwater vehicle is well hooked inside the bell, the bell is towed by the cable 16 which wraps around the winch 17 so as to bring the secondary underwater vehicle to the device d 12.
  • the clamps 13 thereof When it comprises, are closed so as to properly grasp the secondary underwater vehicle.
  • the arm 9 is then folded so as to bring the secondary underwater vehicle into the storage compartment 20.
  • the gripping bell is uncoupled, the machine under -marine storage is seized by the cradle 21 located in the storage boxes and it is released by the immobilizer 12. Then the secondary underwater vehicle is transferred from the free zone 22 of the storage compartment to the box 24 resistant to pressure. The separation door 25 is then closed and the water can be pumped into the pressure-resistant box 24.
  • This device for releasing and recovering a secondary self-propelled underwater vehicle has the advantage of being able to be used while the submarine is in diving and in motion, preferably at reduced speed. And it can be used to perform this maneuver several times in a row.
  • the storage compartment has a free zone and a pressure-resistant box. But, those skilled in the art will understand that other arrangements are possible.
  • the mother submarine has a bridge bridge and the storage compartment is located under the bridge bridge.
  • the storage compartment can also be located on the bridge bridge.
  • the submarine may not have a bridge bridge.
  • the storage compartment may be disposed on the shell or inside thereof.
  • the reversible gripping means of the secondary underwater vehicle have been described in the form of a bell but any other device that could be imagined by those skilled in the art can be used.
  • the drop zone or recovery is chosen so that the arm is advantageously mounted to the upper part of the massif, which allows to take advantage of the height thereof.
  • the handling arm long enough for the drop zone to be outside the turbulence zone surrounding the submarine, and in particular away from the propeller.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electric Cable Installation (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Earth Drilling (AREA)
  • Removal Of Floating Material (AREA)

Claims (14)

  1. U-Boot (1) des Typs mit einem Kommandoturm (3), eventuell einer Brücke (4) und einer Absetz- und Aufnahmevorrichtung (8) für ein sekundäres Unterwasserfahrzeug (90) mit Eigenantrieb, wobei die Absetz- und Aufnahmevorrichtung (8) ein Handhabungsmittel (8A) umfasst, mit dem das sekundäre Unterwasserfahrzeug zwischen einer Verstauzone (18) und einer Absetz- oder Aufnahmezone (19) bewegt werden kann, und ein reversibles Greifmittel (14) einstückig mit dem Handhabungsmittel (8A), mit dem das sekundäre Unterwasserfahrzeug (90) beim Absetzen und Andocken des sekundären Unterwasserfahrzeugs beim Aufnehmen freigesetzt werden kann, dadurch gekennzeichnet, dass die Absetz- und Aufnahmevorrichtung (8) so gestaltet ist, dass sich die Absetz- und Aufnahmezone außerhalb der Turbulenzzone (7) befindet, die das U-Boot während der Bewegung umgibt.
  2. U-Boot nach Anspruch 1, dadurch gekennzeichnet, dass die Absetz- und Aufnahmevorrichtung (8) am hinteren oberen Ende des Kommandoturms (3) montiert ist, und dadurch, dass das Handhabungsmittel (8) in eine Ruheposition gebracht werden kann, in der es die Hinterkante (26) des Kommandoturms bildet.
  3. U-Boot nach Anspruch 1 oder Anspruch 2, dadurch gekennzeichnet, dass das Handhabungsmittel (8A) einen Handhabungsarm (9) umfasst, dessen freies Ende (11) zwischen einer Verstauposition (18) und einer Absetz- oder Aufnahmeposition (19) beweglich ist, und dadurch gekennzeichnet, dass der Handhabungsarm (9) auf einer Tragvorrichtung montiert ist, die im hinteren oberen Teil des Kommandoturms mittels eines Gelenks (10) vorgesehen ist, das ein Schwenken des Arms um eine Querachse in Bezug auf den Arm zulässt.
  4. U-Boot nach Anspruch 3, dadurch gekennzeichnet, dass das Handhabungsmittel (8A) eine Feststellvorrichtung (12) für das sekundäre Unterwasserfahrzeug, die am freien Ende (11) des Handhabungsarms (9) montiert ist, und Mittel (27) zum Manövrieren des Handhabungsarms und der Erfassungsvorrichtung umfasst.
  5. U-Boot nach Anspruch 4, dadurch gekennzeichnet, dass die Feststellvorrichtung (12) ein Klemmmittel (13) oder einen Käfig umfasst.
  6. U-Boot nach Anspruch 4 oder Anspruch 5, dadurch gekennzeichnet, dass die Feststellvorrichtung (12) am Ende des Handhabungsarms mit einem Mittel (28) montiert ist, mit dem die Orientierung der Achse des sekundären Unterwasserfahrzeugs wenigstens in der Absetzposition reguliert werden kann.
  7. U-Boot nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Greifvorrichtung (14) von einer Greifglocke (15) gebildet wird, die Mittel (32, 35) zum reversiblen Ankoppeln und Festmachen der Greifglocke und der Nase (91) eines sekundären Unterwasserfahrzeugs (90) sowie Mittel (30) zum Führen eines sekundären Unterwasserfahrzeugs umfasst.
  8. U-Boot nach Anspruch 7, dadurch gekennzeichnet, dass die Mittel zum reversiblen Ankoppeln und Festmachen der Greifglocke und der Nase eines sekundären Unterwasserfahrzeugs eine Pumpe (32) umfasst, mit der das Wasser im Innern der Glocke abgesaugt und/oder das Wasser ins Innere der Glocke zurückgedrückt werden kann.
  9. U-Boot nach Anspruch 8, dadurch gekennzeichnet, dass die Mittel zum reversiblen Ankoppeln und Festmachen der Greifglocke und der Nase eines sekundären Unterwasserfahrzeugs ein mechanisches oder magnetisches Sperrmittel (36) umfasst.
  10. U-Boot nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, dass die Führungsmittel (30) ein oder mehrere Mittel des Typs elektroakustischer Wandler (31A), Lichtstrahl oder Laserstrahl (31B) umfassen.
  11. U-Boot nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, dass die Greifglocke (15) in Bezug auf das freie Ende (11) des Handhabungsarms (9) beweglich ist, und dadurch, dass sie mit dem Handhabungsarm durch ein Kabel (16) verbunden ist, das um eine Winde (17) gewickelt ist.
  12. U-Boot nach Anspruch 10, dadurch gekennzeichnet, dass die Greifglocke (15) eine Fernsehkamera (31C) und Manövriermittel (42) umfasst, die mit einer Leitstation (41) im Innern des U-Boots verbunden ist.
  13. U-Boot nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass die Verstauzone (18) ein Verstaufach (20) umfasst, das einen druckbeständigen oder - unbeständigen Kasten (24) umfasst.
  14. U-Boot nach Anspruch 13, dadurch gekennzeichnet, dass es eine Brücke umfasst und dadurch, dass die Verstauzone (18) sich unter der Brücke befindet.
EP08805959A 2007-06-19 2008-06-09 U-boot mit vorrichtung zur freisetzung und einholung eines sekundären unterwasserfahrzeuges Not-in-force EP2155543B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0755854A FR2917708B1 (fr) 2007-06-19 2007-06-19 Sous-marin equipe d'un dispositif de largage et de recuperation d'un engin sous-marin secondaire
PCT/FR2008/051024 WO2009004209A2 (fr) 2007-06-19 2008-06-09 Sous-marin équipé d'un dispositif de largage et de récupération d'un engin sous-marin secondaire

Publications (2)

Publication Number Publication Date
EP2155543A2 EP2155543A2 (de) 2010-02-24
EP2155543B1 true EP2155543B1 (de) 2011-06-01

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Application Number Title Priority Date Filing Date
EP08805959A Not-in-force EP2155543B1 (de) 2007-06-19 2008-06-09 U-boot mit vorrichtung zur freisetzung und einholung eines sekundären unterwasserfahrzeuges

Country Status (8)

Country Link
US (1) US8186295B2 (de)
EP (1) EP2155543B1 (de)
KR (1) KR101162606B1 (de)
AT (1) ATE511470T1 (de)
ES (1) ES2366317T3 (de)
FR (1) FR2917708B1 (de)
RU (1) RU2423282C1 (de)
WO (1) WO2009004209A2 (de)

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KR20100032894A (ko) 2010-03-26
ATE511470T1 (de) 2011-06-15
EP2155543A2 (de) 2010-02-24
RU2423282C1 (ru) 2011-07-10
US20100192831A1 (en) 2010-08-05
FR2917708B1 (fr) 2009-09-18
FR2917708A1 (fr) 2008-12-26
ES2366317T3 (es) 2011-10-19
WO2009004209A3 (fr) 2009-03-19
WO2009004209A2 (fr) 2009-01-08
US8186295B2 (en) 2012-05-29

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