EP2076426B1 - Device for automatically attaching and detaching a towed sonar transmitter to and from an active-sonar tow line - Google Patents

Device for automatically attaching and detaching a towed sonar transmitter to and from an active-sonar tow line Download PDF

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Publication number
EP2076426B1
EP2076426B1 EP07821220A EP07821220A EP2076426B1 EP 2076426 B1 EP2076426 B1 EP 2076426B1 EP 07821220 A EP07821220 A EP 07821220A EP 07821220 A EP07821220 A EP 07821220A EP 2076426 B1 EP2076426 B1 EP 2076426B1
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EP
European Patent Office
Prior art keywords
fish
line
female element
automatic
male element
Prior art date
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Active
Application number
EP07821220A
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German (de)
French (fr)
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EP2076426A1 (en
Inventor
Christophe Coupeaud
Jean Philippe Goudeau
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Thales SA
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Thales SA
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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
    • B63B21/58—Adaptations of hooks for towing; Towing-hook mountings
    • B63B21/60—Quick releases
    • 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 
    • 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
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes

Definitions

  • the present invention relates to active sonars variable immersion, towed by a building surface.
  • active sonars variable immersion towed by a building surface.
  • Such a device is described in the document US 5,752,460 . It relates more particularly to towed active sonars which are presented as bistatic systems in which the transmitting antenna is integrated in a submersible object or "Poisson" and the receiving antenna consists of a linear antenna (flute) towed behind Fish.
  • a tow line is said to be dependent because the fish and the linear receiving antenna are integral with one and the same line.
  • the implementation of such a sonar shown schematically on the figure 1 has two handling steps consisting of one for the sonar launch and the other sonar recovery and storage on the tractor building.
  • the linear receiving antennas are traditionally stored on a winch, for obvious reasons of congestion.
  • an active sonar comprising both a transmitting antenna mounted in a towed submersible craft, also called "fish", and a linear receiving antenna is first of all unrolled.
  • antenna by operating the winch and letting the antenna immerse itself at the end of the towing cable. It then involves mechanically and electrically coupling the fish to the tow line and then putting the fish into the sea using any means of lifting and handling.
  • the ascent of such a sonar aboard the surface vessel consists firstly in hauling the tow line, then in pulling the fish out of the water and laying it on the deck of the vessel, then again uncoupling the fish of the line.
  • the following linear antenna is towed on board and wound on the winch.
  • the implementation of such a sonar thus comprises a certain number of operations of stowage and unstacking, carried out manually, which according to the weight of the transmitter may require the mobilization of a number more or less important operators. But when the sea is difficult, in heavy weather, such operations, usually carried out by crewmen from the rear platform of the building, may prove to these men very delicate, trying, even dangerous, to so that the implementation of the sonar can be made impossible for security reasons.
  • the implementation of such a system also requires precise identification, for example by marking on the towing cable, of the position of the fish with respect to the handling platform, in particular to know when the It is in the position which causes the halting of hauling and loading on board, an operation which also requires human intervention.
  • a known solution is to store on two separate reels the electrotractor cable which remains attached to the fish and linear receiving antenna.
  • the launching of the sonar is carried out by completely unrolling the linear receiving antenna (ie the "flute") in the sea and by mechanically and electrically connecting, the emerged end of the fish flute , at the end of unwinding and before complete immersion. Once the connection is made, the fish, attached to the flute, is dropped to the sea by unrolling the electrotractor cable.
  • the subject of the invention is a system for securing and automatically connecting a submersible object, or "Poisson", comprising at least one transmitting antenna, towed by a tow line, which fish may contain a sonar transmitter or, at the very least, a transmitting antenna.
  • the system comprises at least one automatic securing device for automatically performing the mechanical attachment of the transmitter to a traction line and the connection of this fish to a structure carrying signals and energy in this same line.
  • the automatic securing device comprises a male element integral with the traction line and a female element integral with the fish.
  • the male element and the female element are configured to fit one into the other, so that the pulling line can be inserted automatically into the female element and so that the insertion of the element male in the female element being made by sliding the line in the female element, the interlocking of the male element in the female element makes the female element integral with the traction line.
  • the male element and the female element of the automatic device for securing the transmitter to the traction line comprise connectors capable of being plugged into each other.
  • the male element and the female element of the device for automatically securing the fish to the traction line also comprise automatic centering and positioning means, these centering and positioning means. being configured and arranged so that the insertion of the male element into the female element ensures the positioning of the connectors of the male element opposite the connectors of the female element and the plugging of the connectors facing each other.
  • the female element of the automatic securing device forms a tubular cavity capable of receiving the male element, which cavity comprises two axial openings, at least one of which has a section sufficient to allow the axial insertion of the male element and a lateral opening whose width, substantially equal to Line diameter allows insertion of the pull line inside the cavity.
  • the male element of the automatic securing device has a section greater than the section of the traction line on which it is inserted so that its passage through the lateral opening of the female element is impossible.
  • the automatic centering and positioning means of the automatic securing device are configured and arranged to cause, in the case where the relative orientation of the two elements relative to each other when inserting the male element in the female element does not allow the facing of the connectors, a relative rotational movement of the male element and the female element so as to orient the two elements the one in relation to the other adequately
  • the automatic positioning and centering means of the automatic securing device comprise finger-shaped structures respectively implanted on the periphery of the male element and on the inner wall of the cavity of the body. 'female element.
  • the finger-like structures of the male member are configured to become lodged in the spaces separating the finger-like structures of the female member when the male member is inserted into the female member.
  • the finger-shaped structures implanted on the male element have an end profile different from that of the finger-shaped structures implanted on the female element so that the structures implanted on the male element being placed opposite the structures implanted on the female element the bringing together of the two structures necessarily causes the sliding of the first on the seconds.
  • the device being fixedly positioned on the handling platform.
  • the moving means of the automatic handling device are arranged in such a way that they cooperate so that the mobile support sliding along the slideways, first follows a horizontal translation movement, between two points A and B, then a vertical translation movement between two points B and C; then finally, the stops located at the points C of the slides of the second game forming an axis of rotation, a rearward tilting movement between two points C and D of the slides of the first game.
  • the mobile support of the automatic handling device comprises means for holding the fish in place when the support is in the unslotted position.
  • the means for holding the fish in place are notches made in the flanks of the mobile support.
  • the motor of the automatic handling device is a controlled cylinder whose one end is fixed to the frame of the device and whose other end is fixed to the support.
  • the mobile support comprises means constituting a curved groove which is positioned under the traction line when the support is in the tilted position, to guide the traction line and limit its curvature.
  • the system according to the invention has the advantage of allowing the automatic stowage of the fish on the traction line and the automatic connection of the fish to the system, which connection may be electrical, optical and / or pneumatic.
  • the implementation of the sonar is thus possible without risk for the crew, even at sea. It also advantageously facilitates the launching of the sonar by guiding the line of traction as soon as the fish is mounted on the line.
  • the space required for the implementation and implementation of the device according to the invention is advantageously limited handling system is fixed on the platform and does not itself require any handling during its implementation.
  • figure 1 schematically illustrates the difficulties presented by the launching and recovery of an active sonar such as that to which is particularly directed, but in a non-limiting manner the system according to the invention. It should be noted that for obvious practical reasons the dimensions of the various elements on the figure 1 do not respect the same scale.
  • An active sonar is constituted in a known manner of transmission means 11 and receiving means 12.
  • the transmitting and receiving means are towed from a building 15, for example a surface ship, by means of a line of traction 13 (13-a, 13-b, 13-c and 13-d), or else electro-tractor cable, which provides both the mechanical traction sonar and the routing of signals and supplies from the building to the sonar and vice versa, through the corresponding transport structure, cable, fiber or other.
  • the transmitting means 11 and receiving 12 are mechanically stowed on the line 13 appropriately. Similarly, these means are electrically (or optically) connected to the traction line 13.
  • the receiving means consist of a linear antenna, of flute type, of tubular form identical to those found in passive sonars, while the transmitter is integrated in a volume structure also called "fish".
  • the receiving flute is usually placed at the rear, at the end of the line of traction, the fish being positioned on the part of the line closest to the vessel.
  • the linear receiving antenna 12 is generally permanently secured to the traction line, while the fish is in turn detachably secured.
  • the pulling line comprises a docking area 13-d fish, area in which are implanted means for mechanically attaching the fish to the line and to achieve its connection to the structure; a cable for example, carrying signals and energy (power supplies) in the line.
  • a winch 14 whose drum is sized to allow the winding of the traction line 13 and Only the linear reception antenna 12.
  • the winding of the beginning 13-a of the traction line 13 makes it possible to haul the fish 11 on board, on the aft platform of the ship for example.
  • the fish must then be uncoupled from the traction line 13 and moved to its storage area to enable the portion of the line located between the fish 11 and the receiving antenna 12 to be wound up.
  • the linear receiving antenna and the line portion 13-b at the rear of the fish are first launched and the line is interrupted when the docking area becomes accessible and the fish 11 is tied down to the line 13 and to its connection to the structure, a cable for example, conveying signals and energy (power supplies) in the line.
  • the course of the line is then resumed to allow the placing of the fish and the proximal portion (ie the closest to the carrying vessel) of the line (segments 13-a and 13-d) on which the fish is stowed. .
  • Such a material structure has the advantage of having separate transmitting and receiving means, which makes it possible in particular to have omnidirectional transmission means in a simple manner.
  • this structure requires for its implementation a large number of handling operations that are currently performed by crew members under sometimes precarious security conditions. This is particularly the case with stowage, unstacking and handling of fish from (or to) its storage area.
  • the purpose of the invention is to eliminate or at least limit as much as possible human interventions.
  • the illustration of the figure 2 presents schematically the object of the invention, which consists of a system comprising a device 21 for automatically securing the fish 11 to the line 13 and its connection to the structure, a cable for example , conveying signals and energy (power supplies) in the line, which device may be associated with an automatic device 22 for handling fish, a device symbolized by semi-dotted arrows 22-a and 22-b.
  • the automatic securing and connecting device 21 comprise, as shown in FIG. figure 3 two distinct elements, a female element 31 integral with the fish 11, or more generally the transmitter, and a male element 32 integral with the line 13 and whose axis of symmetry coincides with the axis of the line 33.
  • the female element 31 has a tubular cavity whose length is at least equal to the length of the male element 32 and whose section corresponds, at least for the part of the cavity in which the male element 32 is inserted, to that of this element.
  • the section is preferably narrower over the rest of the length.
  • the male element 32 has a substantially cylindrical shape as illustrated by the figure 3 the cavity provided by the female element will be of cylindrical section.
  • the male element 32 has a section of considerably greater size than the section of the portion 13-b of the line 13 located behind the docking area 13-d of the fish.
  • the male element 32 is of a diameter equal to that of the curvature limiting device 34 which equips the portion 13-a of the line and secured thereto. It is the same for the diameter of the section of the cavity constituted by the female element 31.
  • the female element 32 has along its length a lateral longitudinal opening 35, visible on sections AA and BB of the figure 3 .
  • the width I of this opening is sufficient to allow a line element whose diameter does not exceed I to be engaged by this opening in the cavity of the element 31.
  • the width of this opening is insufficient. to allow a line section of diameter greater than I to enter or exit the cavity through the lateral opening 35.
  • cuts AA and BB show that it is possible to insert the line in the female element through the opening 35 when the female element is facing a standard portion of line, the portion 13-a for example , while the insertion through the opening 35 is not possible when the female element is for example facing the portion of the line 13 corresponding to the insertion zone 13-d formed in FIG. male element 32 and the curvature limiter element 36.
  • the line 13 can no longer leave the cavity formed by the female element 31 by the lateral opening 35 so that the fish is well secured to the line, as illustrated by FIG. double crossed out arrow of the figure 4 .
  • the mooring mechanism thus formed can further be advantageously completed by a locking mechanism 42 mounted on the female element, a pin-type mechanism for example, advantageously allowing the blocking of any translational movement of the female element along the line.
  • the fish is positioned adequately in relation to the line to achieve automatically the stowage and the unstacking the fish on the line.
  • the stowage and unstacking operation is thus performed by simply threading or stripping the fish on the line.
  • the female element 31 comprises, on the part of the wall of the internal cavity 51 intended to come into frontal contact with the male element 32, a series of male connectors 52, preferably arranged in a regular manner around the periphery of the cavity , as illustrated by the BB section.
  • the male element 32 comprises on its front part a series of female connectors 53, identical in number to the connectors 52 of the female element and respecting a symmetrical disposition to that adopted for the connectors of the female element.
  • the facing of a male connector 52 and a female connector 53 ensures the facing of all the connectors.
  • the connection to the structure carrying the signals and the energy can thus advantageously be performed simultaneously to the mechanical stowage of the transmitter on the line. To do this, it suffices that, during the complete insertion of the element 31 into the element 32, the connectors are positioned facing each other, as illustrated on FIG. figure 5 .
  • Matching the male and female connectors may in many cases require the application of a twist on the pulling line, the twist indicated on the figure 5 by the double circular arrows 54 and 55.
  • the unfolding of the traction line can lead the latter to take any orientation around its axis of symmetry 33 so that the male element 32 and the female element 34 also have any relative orientation that allows the insertion of the male connectors 52 in the female connectors 53.
  • the traction line can, for various reasons such as the movements of the receiving antenna, for example, being wound on the drum of the winch with any orientation of the element 32.
  • the automatic securing device comprises automatic positioning and orientation means which make it possible in particular to ensure a relative orientation of the male element 32 with respect to the female element 31 which places the connectors 51 of the element 31, male connectors for example, facing the connectors 52 of the element 32, female connectors in this case.
  • the basic structure of these means is illustrated by the exemplary embodiment of the figure 6 .
  • the illustration of the figure 6 presents schematically an embodiment of the means 21 for automatic stowage of the fish, means performing the mechanical stowage and connection to the structure carrying the signals and energy.
  • the element male 32 has a front portion 56, extended by the curvature limiter 36, which portion comprises positioning structures and orientation 62, in the form of fingers, arranged all around the front portion 56.
  • the female member 31 also comprises positioning elements and orientation 61 in the form of fingers, shown in dashed lines in the figure, the size and disposition of the periphery of the cavity defined by the element 31 are such that when the male element 32 is completely inserted into the female element 32 each element 61 occupy the free space 64 between two elements 62. This relative positioning of the elements 61 and 62 advantageously ensures the automatic matching connectors 52 and 53.
  • the elements 61 and 62 according to the invention take adapted forms.
  • the positioning and orientation elements 61 and 62 have oblong shapes capable of facilitating the sliding of the elements against each other and ends 71 and 72 which ensure that even in a configuration where the fingers 61 and 62 are perfectly presented facing the beginning of the insertion of the male element 32 in the female element 31, the respective profiles of the ends of these elements prevent a frontal locking and naturally lead them to slide against each other by inducing a rotation of the male element 32 relative to the female element 31.
  • the walls of the end 72 of the elements 62 form two planes whose intersection defines a vertical edge 74, while the walls of the elements 61 form two planes whose intersection defines an oblique edge 73.
  • the figure 8 illustrates the advantageous effect provided by this configuration allowing an automatic centering by insertion without risk of blockage. We obtain automatically an adequate orientation of the male element with respect to the female element.
  • the relative positioning of the fish (or more generally means of emission) and the pulling line allows it to perform one automatically, without human intervention, the mechanical attachment of the fish to the line of traction and the connection of the fish to the electrical connection, optical or pneumatic associated with it.
  • the line it is sufficient for the line to be inserted into the tubular cavity 311 of the female element 31 while the latter is facing the portion 13-a of the line 13, then to slide the line 13 to the interior of the cavity 311 in the direction indicated by the arrow 63 of the figure 6 , until the male element 32 carried by the line 13 comes completely into the female element 31 carried by the fish.
  • the electrical and / or optical and / or pneumatic isolation of the fish from the line and its mechanical unstacking are then performed automatically by sliding the pulling line in the opposite direction to that indicated by the arrow. 63.
  • this device has for main role during the setting of the sonar, to position the fish 11 opposite line 13 and when the part 13-A of the line is unrolled from the winch to lift the fish so that the line is engaged in the tubular cavity 311. In this way, the line 13 continuing to unfold the male element 32 is inserted completely into the female element 31.
  • the automatic handling device then has the role of releasing the fish so that it is driven towards the sea by the pull line 13 to which it is docked.
  • the automatic handling device 22 is placed at the output of the winch 14 so as not to hinder the unfolding of the pulling line 13.
  • the fish 11 is placed on a mobile support 92 having two notches 93 forming stirrups supporting the fish.
  • the support 92 is slidably arranged along two sets of slides, an upper set 94 and a lower set 95, placed on either side of the device.
  • it comprises in particular means capable of facilitating this sliding, such as, for example, sets of bearings 96.
  • the displacement of the support 92 along the slides 94 and 95 is ensured by motor means 98, for example a hydraulic cylinder controlled one end of which is fixed to the frame of the device and the other end of which is fixed to the support.
  • the slideways 94 and 95 are arranged and profiled so that the support 92 firstly follows a horizontal translational movement, on segments I between points A and B, then a vertical translational movement. on segments II between points B and C; then finally a tilting movement backwards between the points C and D (portion III) of the slides of the upper set 94.
  • the portions AB and BC of the slides 94 and 95 are straight of identical lengths and inclinations:
  • the portion CD of the slides 94, for its part, is a curved portion.
  • the horizontal translational movement has the effect of clearing the carriage from below the winch, which position also serves as a fish storage position on the deck of the carrier building.
  • the female element 31 is correctly positioned under the pulling line 13. Since then; the pulling line must be unrolled so that the line portion facing the female element 31 is the portion 13-a.
  • the following vertical translation movement allows, as illustrated by the figure 11 , positioning the pulling line 13 in the female element 31 by lifting the fish so that it comes into contact with the line and that it comes to fit into the female element 31.
  • the scrolling of the line in the element 31 automatically leads to the complete insertion of the male element 32 in the female element 31.
  • This insertion can be completed by an automatic locking of the element 32 in the element 31, this locking can be achieved by any known means.
  • the rocking backward movement illustrated by the figure 12 , makes it possible to release, after stowage, the fish 11 of the notches 93 of the support 92. the fish can thus follow unhindered the immersion movement of the traction line 13 to which it is stowed.
  • the vertical translational movement having brought the bearings 97 at the end of the runners 95 (point C) the continuation of the movement of the bearings 96 along the slideways 94, which adopt a curved profile between the points C and D, advantageously induces a rocker support 92 around the axes of rotation constituted by the ends of the slides 95 which correspond to the points C.
  • the support 92 is also maintained in the tilted position as the fish remains immersed.
  • the automatic handling device advantageously allows positioning the fish 13 and the pulling line 13 in relative positions which makes possible automatically and without human intervention, stowage and electrical connection of the fish to the traction line. It is thus possible to put into sea an active sonar or more generally to immerse any object having a similar mechanical structure, without resorting to human intervention.
  • the chassis 91 of the handling device being Fixed position on the building handling platform, the latter occupies a relatively lower place than a conventional handling means. Only the support 92 on which the transmitter is placed is mobile.
  • the pull line is wound on the winch so that at a given moment the fish 11 is located positioned in contact in the notches 93. From this moment, the motor means 98 induce a movement of the support from the position D to the position C, so that the support 92 follows a rocking movement forward and that the fish is again immobilized on its support. As a result the winding of the traction line on the winch leads to an extraction of the male element 32 out of the female element 31, extraction which leads to mechanical unstacking and electrical disconnection of the fish. The line then continues to wind around the drum of the winch 14.
  • the motor means 98 then drive the support 92 in a vertical translation movement from the position C to the position B and in a horizontal translational movement to the position A, position in which the support and the fish, housed under the output of the winch 14, are for example no longer an inconvenience for hauling the linear receiving antenna12.
  • the automatic handling device according to the invention also advantageously allow the recovery of sonar, unstowing and storage of fish without resorting to any human intervention.
  • the automatic stowage device 21 can be completed by an automatic locking and unlocking means, the object of which is to maintain, in the locked position, the male element 32 in a position where it is completely inserted into the female element 31.
  • This device may for example be constituted by a snap device for which the locking is performed automatically when the element 32 is completely inserted into the element 31.
  • the unlocking can for example be activated, during the sonar recovery maneuver, by the rocking of the support 92 towards the rear and the immobilization of the fish in the notches 93.
  • the mobile support 92 may also comprise means 99 for guiding and limiting the excessive curvature of the traction line which may occur after the stowage of the fish, when the portion of line bearing the fish.
  • These means 99 constitute a curved groove which is positioned under the pulling line 13 when the mobile support 92 is in position D, so as to serve as a guide and curvature limiter to the pull line and prevent deterioration of the line following an excessive curvature imposed in particular by the weight of the fish 11

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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)
  • Radar, Positioning & Navigation (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention relates to the handling, the attaching to a drag line and the putting to sea of a submersible craft, dragged by a surface vessel. The invention includes a system for automatically attaching and handling submersible craft towed by a tow line, comprising an automatic attaching device for carrying out the mechanical attaching of the submersible craft to the drag line and the linking of the submersible craft to the structure conveying the signals and the energy in this same line. The system according to the invention also includes an automatic device for handling the submersible craft, on which device the submersible craft is positioned when it is not attached to the drag line and from which it is separated after attachment, and which makes it possible to automatically position the submersible craft with respect to the drag line in such a way that the attaching and detaching can likewise be done automatically. The invention applies to towed active sonars in which the transmission antenna is integrated into a submersible craft and the reception antenna includes a linear antenna (streamer) towed behind the submersible craft.

Description

La présente invention concerne les sonars actifs à immersion variable, tracté par un bâtiment de surface. Un tel dispositif est décrit dans le document US 5 752 460 . Elle concerne plus particulièrement les sonars actifs remorqués se présentant comme des systèmes bistatiques dans lesquels l'antenne d'émission est intégrée dans un objet submersible ou " Poisson " et l'antenne de réception est constituée d'une antenne linéaire (flûte) remorquée derrière le poisson. Une telle ligne de remorquage est dite dépendante car le poisson et l'antenne linéaire de réception sont solidaires d'une même ligne.The present invention relates to active sonars variable immersion, towed by a building surface. Such a device is described in the document US 5,752,460 . It relates more particularly to towed active sonars which are presented as bistatic systems in which the transmitting antenna is integrated in a submersible object or "Poisson" and the receiving antenna consists of a linear antenna (flute) towed behind Fish. Such a tow line is said to be dependent because the fish and the linear receiving antenna are integral with one and the same line.

La mise en oeuvre d'un tel sonar, représenté schématiquement sur la figure 1, comporte deux étapes de manutention consistant pour l'une à la mise à la mer du sonar et pour l'autre à la récupération du sonar et à son stockage sur le bâtiment tracteur.The implementation of such a sonar, shown schematically on the figure 1 has two handling steps consisting of one for the sonar launch and the other sonar recovery and storage on the tractor building.

Sur les bâtiments de surface, les antennes linéaires de réception sont traditionnellement stockées sur un treuil, pour des raisons évidentes d'encombrement.On the surface buildings, the linear receiving antennas are traditionally stored on a winch, for obvious reasons of congestion.

Dès lors, la mise à la mer d'un sonar actif comportant à la fois une antenne d'émission montée dans un engin submersible tracté, encore appelé "poisson", et une antenne linéaire de réception consiste tout d'abord à dérouler l'antenne en actionnant le treuil et à laisser l'antenne s'immerger au bout du câble de remorquage. Elle consiste ensuite à accoupler mécaniquement et électriquement le poisson à la ligne de remorquage puis à mettre le poisson à la mer à l'aide d'un quelconque moyen de levage et de manutention.Therefore, the launching of an active sonar comprising both a transmitting antenna mounted in a towed submersible craft, also called "fish", and a linear receiving antenna is first of all unrolled. antenna by operating the winch and letting the antenna immerse itself at the end of the towing cable. It then involves mechanically and electrically coupling the fish to the tow line and then putting the fish into the sea using any means of lifting and handling.

Inversement, la remontée d'un tel sonar à bord du bâtiment de surface consiste d'abord à haler la ligne de remorquage, puis à sortir le poisson de l'eau et à le déposer sur le pont du bâtiment, puis encore à désaccoupler le poisson de la ligne. Lorsque celui-ci est désaccouplé, l'antenne linéaire qui suit est tractée à bord et enroulée sur le treuil.Conversely, the ascent of such a sonar aboard the surface vessel consists firstly in hauling the tow line, then in pulling the fish out of the water and laying it on the deck of the vessel, then again uncoupling the fish of the line. When the latter is uncoupled, the following linear antenna is towed on board and wound on the winch.

La mise en oeuvre d'un tel sonar comporte donc un certain nombre d'opérations d'arrimage et de désarrimage, réalisées manuellement, qui selon le poids de l'émetteur peuvent nécessiter la mobilisation d'un nombre plus ou moins important d'opérateurs. Or lorsque l'état de la mer est difficile, par gros temps, de telles opérations, généralement effectuées par des hommes d'équipage depuis la plateforme arrière du bâtiment, peuvent s'avérer pour ces hommes très délicates, éprouvantes, voire périlleuses, de sorte que la mise en oeuvre du sonar peut être rendue impossible pour des raisons de sécurité. La mise en oeuvre d'un tel système requiert en outre un repérage précis, par l'intermédiaire de marquage sur le câble tracteur par exemple, de la position du poisson par rapport à la plateforme de manutention, de façon en particulier à savoir quand celui-ci se trouve dans la position qui induit l'arrêt du halage et le chargement à bord, opération qui requiert également une intervention humaine.The implementation of such a sonar thus comprises a certain number of operations of stowage and unstacking, carried out manually, which according to the weight of the transmitter may require the mobilization of a number more or less important operators. But when the sea is difficult, in heavy weather, such operations, usually carried out by crewmen from the rear platform of the building, may prove to these men very delicate, trying, even dangerous, to so that the implementation of the sonar can be made impossible for security reasons. The implementation of such a system also requires precise identification, for example by marking on the towing cable, of the position of the fish with respect to the handling platform, in particular to know when the It is in the position which causes the halting of hauling and loading on board, an operation which also requires human intervention.

Pour contourner ces difficultés de mise en oeuvre, une solution connue consiste à stocker sur deux tourets séparés le câble électrotracteur qui reste arrimé au poisson et l'antenne linéaire de réception. De la sorte, la mise à l'eau du sonar s'effectue en déroulant complètement l'antenne linéaire de réception (i.e. la "flûte") dans la mer et en raccordant mécaniquement et électriquement, l'extrémité émergée de la flûte au poisson, en fin de déroulage et avant immersion complète. Une fois le raccordement effectué le poisson, attaché à la flûte, est largué à la mer en déroulant le câble électrotracteur.To overcome these difficulties of implementation, a known solution is to store on two separate reels the electrotractor cable which remains attached to the fish and linear receiving antenna. In this way, the launching of the sonar is carried out by completely unrolling the linear receiving antenna (ie the "flute") in the sea and by mechanically and electrically connecting, the emerged end of the fish flute , at the end of unwinding and before complete immersion. Once the connection is made, the fish, attached to the flute, is dropped to the sea by unrolling the electrotractor cable.

Dans cette configuration, les opérations d'arrimage et de désarrimage se trouvent quelque peu simplifiées. Néanmoins une telle configuration qui nécessite l'utilisation de deux tourets placés sur la plateforme arrière du bâtiment, plateforme par ailleurs de dimensions limitées, s'avère encombrante. D'autre part, elle nécessite toujours une connaissance précise de la position du poisson par rapport à la plateforme et de l'instant marquant la fin du déroulage de la flûte, et requière donc toujours l'intervention d'opérateurs humains.In this configuration, stowage and undocking operations are somewhat simplified. However, such a configuration that requires the use of two reels placed on the rear platform of the building, platform also limited dimensions, is cumbersome. On the other hand, it always requires a precise knowledge of the position of the fish in relation to the platform and the moment marking the end of unwinding of the flute, and therefore always requires the intervention of human operators.

Un but de l'invention est de résoudre le problème posé par la nécessité de recourir à des interventions humaines. A cet effet, l'invention a pour objet un système d'arrimage et de connexion automatique d'un objet submersible, ou " Poisson ", comportant au moins une antenne d'émission, remorqué par une ligne de remorquage, poisson pouvant contenir un émetteur sonar ou, tout au moins, une antenne d'émission. Le système comporte au moins un dispositif d'arrimage automatique pour réaliser de manière automatique l'arrimage mécanique de l'émetteur à une ligne de traction et le raccordement de ce poisson à une structure véhiculant des signaux et de l'énergie dans cette même ligne.An object of the invention is to solve the problem posed by the need to resort to human interventions. For this purpose, the subject of the invention is a system for securing and automatically connecting a submersible object, or "Poisson", comprising at least one transmitting antenna, towed by a tow line, which fish may contain a sonar transmitter or, at the very least, a transmitting antenna. The system comprises at least one automatic securing device for automatically performing the mechanical attachment of the transmitter to a traction line and the connection of this fish to a structure carrying signals and energy in this same line.

Selon une caractéristique de l'invention, le dispositif d'arrimage automatique comporte un élément mâle solidaire de la ligne de traction et un élément femelle solidaire du poisson. L'élément mâle et l'élément femelle sont configurés pour s'emboîter l'un dans l'autre, pour que la ligne de traction puissent s'insérer automatiquement dans l'élément femelle et pour que, l'insertion de l'élément mâle dans l'élément femelle étant réalisée par le coulissage de la ligne dans l'élément femelle, l'emboîtement de l'élément mâle dans l'élément femelle rende l'élément femelle solidaire de la ligne de traction.According to one characteristic of the invention, the automatic securing device comprises a male element integral with the traction line and a female element integral with the fish. The male element and the female element are configured to fit one into the other, so that the pulling line can be inserted automatically into the female element and so that the insertion of the element male in the female element being made by sliding the line in the female element, the interlocking of the male element in the female element makes the female element integral with the traction line.

Selon une autre caractéristique de l'invention, l'élément mâle et l'élément femelle du dispositif automatique d'arrimage de l'émetteur à la ligne de traction comportent des connecteurs, aptes à s'enficher les uns dans les autres.According to another characteristic of the invention, the male element and the female element of the automatic device for securing the transmitter to the traction line comprise connectors capable of being plugged into each other.

Selon une autre caractéristique de l'invention, l'élément mâle et l'élément femelle du dispositif d'arrimage automatique du poisson à la ligne de traction comportent en outre des moyens automatiques de centrage et de positionnement, ces moyens de centrage et de positionnement étant configurés et agencés pour que l'insertion de l'élément mâle dans l'élément femelle assure le positionnement des connecteurs de l'élément mâle en regard des connecteurs de l'élément femelle et l'enfichage des connecteurs mis en regard.According to another characteristic of the invention, the male element and the female element of the device for automatically securing the fish to the traction line also comprise automatic centering and positioning means, these centering and positioning means. being configured and arranged so that the insertion of the male element into the female element ensures the positioning of the connectors of the male element opposite the connectors of the female element and the plugging of the connectors facing each other.

Selon une autre caractéristique de l'invention l'élément femelle du dispositif d'arrimage automatique forme une cavité tubulaire apte à recevoir l'élément mâle, cavité qui comporte deux ouvertures axiales dont l'une au moins possède une section suffisante pour permettre l'insertion axiale de l'élément mâle et une ouverture latérale dont la largeur, sensiblement égale au diamètre de la ligne permet l'insertion de la ligne de traction à l'intérieur de la cavité.According to another characteristic of the invention, the female element of the automatic securing device forms a tubular cavity capable of receiving the male element, which cavity comprises two axial openings, at least one of which has a section sufficient to allow the axial insertion of the male element and a lateral opening whose width, substantially equal to Line diameter allows insertion of the pull line inside the cavity.

Selon une autre caractéristique de l'invention l'élément mâle du dispositif d'arrimage automatique possède une section supérieure à la section de la ligne de traction sur laquelle il est inséré de sorte que son passage par l'ouverture latérale de l'élément femelle est impossible.According to another characteristic of the invention the male element of the automatic securing device has a section greater than the section of the traction line on which it is inserted so that its passage through the lateral opening of the female element is impossible.

Selon une autre caractéristique de l'invention, les moyens automatiques de centrage et de positionnement du dispositif d'arrimage automatique sont configurés et agencés pour provoquer, dans le cas où l'orientation relative des deux éléments l'un par rapport à l'autre lors de l'insertion de l'élément mâle dans l'élément femelle ne permet pas la mise en regard des connecteurs, un mouvement relatif de rotation de l'élément mâle et de l'élément femelle de façon à orienter les deux éléments l'un par rapport à l'autre de manière adéquateAccording to another characteristic of the invention, the automatic centering and positioning means of the automatic securing device are configured and arranged to cause, in the case where the relative orientation of the two elements relative to each other when inserting the male element in the female element does not allow the facing of the connectors, a relative rotational movement of the male element and the female element so as to orient the two elements the one in relation to the other adequately

Selon une autre caractéristique de l'invention, les moyens automatiques de positionnement et de centrage du dispositif d'arrimage automatique comportent des structures en forme de doigts implantées respectivement sur le pourtour de l'élément mâle et sur la paroi interne de la cavité de l'élément femelle. Les structures en forme de doigts de l'élément mâle sont configurées pour venir se loger dans les espaces séparant les structures en forme de doigts de l'élément femelle lorsque l'élément mâle est inséré dans l'élément femelle.According to another characteristic of the invention, the automatic positioning and centering means of the automatic securing device comprise finger-shaped structures respectively implanted on the periphery of the male element and on the inner wall of the cavity of the body. 'female element. The finger-like structures of the male member are configured to become lodged in the spaces separating the finger-like structures of the female member when the male member is inserted into the female member.

Selon une autre caractéristique de l'invention, les structures en forme de doigts implantées sur l'élément mâle ont un profil d'extrémité différent de celui des structures en forme de doigts implantées sur l'élément femelle de sorte que les structures implantées sur l'élément mâle étant mises en regard des structures implantées sur l'élément femelle le rapprochement des deux structures provoque nécessairement le glissement des premières sur les secondes.According to another characteristic of the invention, the finger-shaped structures implanted on the male element have an end profile different from that of the finger-shaped structures implanted on the female element so that the structures implanted on the male element being placed opposite the structures implanted on the female element the bringing together of the two structures necessarily causes the sliding of the first on the seconds.

Le système selon l'invention peut également comporter un dispositif automatique de manutention du poisson, ledit dispositif comportant les moyens suivants:

  • un châssis porteur fixé sur la plateforme de manutention du bâtiment,
  • un support mobile sur lequel l'émetteur est positionné lorsqu'il n'est pas arrimé à la ligne de traction et dont il est séparé après arrimage,
  • des moyens de déplacement, pour déplacer horizontalement et verticalement et guider le support depuis une position d'attente vers une position permettant l'arrimage automatique du poisson à la ligne de traction ou inversement de cette position à la position d'attente,
  • des moyens pour libérer le poisson de son support mobile lorsque celui-ci est arrimé à la ligne de traction et replacer l'émetteur sur le support après désarrimage.
The system according to the invention may also comprise an automatic fish handling device, said device comprising the following means:
  • a load-bearing frame fixed on the platform of handling of the building,
  • a mobile support on which the transmitter is positioned when it is not secured to the traction line and from which it is separated after stowing,
  • displacement means, for moving horizontally and vertically and guiding the support from a waiting position to a position allowing the automatic stowage of the fish to the pulling line or vice versa from this position to the waiting position,
  • means for releasing the fish from its mobile support when it is secured to the pull line and replace the transmitter on the support after unstowing.

Le dispositif étant positionné de manière fixe sur la plateforme de manutention.The device being fixedly positioned on the handling platform.

Selon une caractéristique de l'invention ainsi définie, les moyens de déplacement du dispositif automatique de manutention comportent au moins:

  • un moteur,
  • Un premier jeu et un second jeu de glissières latérales, placées de part et d'autre du support mobile, comportant différents segments, AB BC et CD pour le premier jeu et AB, BC pour le second jeu. Chaque glissière de chacun des jeux comporte des butées à ses extrémités, les segments AB et BC sont des segments rectilignes et le segment CD est un segment courbe,
According to a feature of the invention thus defined, the moving means of the automatic handling device comprise at least:
  • a motor,
  • A first game and a second set of lateral slides, placed on either side of the mobile support, comprising different segments, AB BC and CD for the first game and AB, BC for the second game. Each slide of each of the games comprises abutments at its ends, the segments AB and BC are rectilinear segments and the segment CD is a curved segment,

Selon cette caractéristique, les moyens de déplacement du dispositif automatique de manutention sont agencés de telle sorte qu'ils coopèrent pour que le support mobile glissant le long des glissières, suive d'abord un mouvement de translation horizontal, entre deux points A et B, puis un mouvement de translation vertical entre deux points B et C; puis enfin, les butées situées aux points C des glissières du second jeu formant un axe de rotation, un mouvement de basculement vers l'arrière entre deux points C et D des glissières du premier jeu.According to this characteristic, the moving means of the automatic handling device are arranged in such a way that they cooperate so that the mobile support sliding along the slideways, first follows a horizontal translation movement, between two points A and B, then a vertical translation movement between two points B and C; then finally, the stops located at the points C of the slides of the second game forming an axis of rotation, a rearward tilting movement between two points C and D of the slides of the first game.

Selon une autre caractéristique de l'invention, le support mobile du dispositif automatique de manutention comporte des moyens pour maintenir en place le poisson lorsque le support est en position non basculée.According to another characteristic of the invention, the mobile support of the automatic handling device comprises means for holding the fish in place when the support is in the unslotted position.

Selon une autre caractéristique de l'invention, les moyens pour maintenir en place le poisson sont des encoches réalisées dans les flancs du support mobile.According to another characteristic of the invention, the means for holding the fish in place are notches made in the flanks of the mobile support.

Selon une autre caractéristique de l'invention le, moteur du dispositif automatique de manutention est un vérin commandé dont une extrémité est fixée au châssis du dispositif et dont l'autre extrémité est fixée au support.According to another characteristic of the invention, the motor of the automatic handling device is a controlled cylinder whose one end is fixed to the frame of the device and whose other end is fixed to the support.

Selon une autre caractéristique de l'invention le support mobile comporte des moyens constituant une gorge courbe qui vient se positionner sous la ligne de traction lorsque le support est en position basculée, pour guider la ligne de traction et limiter sa courbure.According to another characteristic of the invention, the mobile support comprises means constituting a curved groove which is positioned under the traction line when the support is in the tilted position, to guide the traction line and limit its curvature.

Le système selon l'invention présente l'avantage de permettre l'arrimage automatique du poisson sur la ligne de traction et la connexion automatique du poisson au système, connexion qui peut être selon les cas électrique, optique et ou pneumatique. La mise en oeuvre du sonar est ainsi possible sans risque pour l'équipage, même par mer forte. II permet également avantageusement de faciliter la mise à la mer du sonar en réalisant le guidage de la ligne de traction sitôt que le poisson est monté sur la ligne. Par ailleurs la place nécessaire à la mise en place et à la mise en oeuvre du dispositif selon l'invention est avantageusement limitée le système de manutention étant fixé sur la plateforme et ne requérant lui-même aucune manutention lors de sa mise en oeuvre.The system according to the invention has the advantage of allowing the automatic stowage of the fish on the traction line and the automatic connection of the fish to the system, which connection may be electrical, optical and / or pneumatic. The implementation of the sonar is thus possible without risk for the crew, even at sea. It also advantageously facilitates the launching of the sonar by guiding the line of traction as soon as the fish is mounted on the line. Furthermore, the space required for the implementation and implementation of the device according to the invention is advantageously limited handling system is fixed on the platform and does not itself require any handling during its implementation.

Les caractéristiques avantageuses de l'invention apparaîtront clairement à la lecture de la description détaillée qui suit, description détaillée illustrée par les figures indexées qui représentent:

  • la figure 1, une illustration qui présente de manière schématique un exemple non limitatif d'un système sonar dont la mise en oeuvre peut être réalisée au moyen de l'invention,
  • la figure 2, une illustration schématique de la structure et du principe de fonctionnement du système selon, l'invention,
  • les figures 3 à 8, des illustrations de la structure et du principe de fonctionnement du dispositif d'arrimage automatique du système selon l'invention,
  • les figures 9 à 12, des illustrations de la structure et du principe de fonctionnement du dispositif automatique de manutention du système selon l'invention.
The advantageous features of the invention will become clear from reading the detailed description which follows, a detailed description illustrated by the indexed figures which represent:
  • the figure 1 , an illustration which shows schematically a non-limiting example of a sonar system whose implementation can be achieved by means of the invention,
  • the figure 2 , a schematic illustration of the structure and operating principle of the system according to the invention,
  • the Figures 3 to 8 , illustrations of the structure and principle of operation of the automatic securing device of the system according to the invention,
  • the Figures 9 to 12 , illustrations of the structure and the operating principle of the automatic system handling device according to the invention.

On s'intéresse tout d'abord à la figure 1 qui illustre de façon schématique les difficultés que présentent la mise à l'eau et la récupération d'un sonar actif tel que celui auquel s'adresse en particulier, mais de manière non limitative le système selon l'invention. Il est à noter que pour des raisons pratiques évidentes les dimensions des différents éléments sur la figure 1 ne respectent pas la même échelle.We are interested first of all in figure 1 which schematically illustrates the difficulties presented by the launching and recovery of an active sonar such as that to which is particularly directed, but in a non-limiting manner the system according to the invention. It should be noted that for obvious practical reasons the dimensions of the various elements on the figure 1 do not respect the same scale.

Un sonar actif est constitué de manière connue de moyens d'émission 11 et de moyens de réception 12. Les moyens d'émission et de réception sont tractés depuis un bâtiment 15, un navire de surface par exemple, au moyen d'une ligne de traction 13 (13-a, 13-b,13-c et 13-d), ou encore câble électro-tracteur, qui assure à la fois la traction mécanique du sonar et l'acheminement des signaux et des alimentations du bâtiment vers le sonar et inversement, au travers de la structure de transport correspondante, câble, fibre ou autre. Les moyens d'émission 11 et de réception 12 sont mécaniquement arrimés sur la ligne 13 de manière appropriée. De même, ces moyens sont électriquement (ou optiquement) connectés à la ligne de traction 13.An active sonar is constituted in a known manner of transmission means 11 and receiving means 12. The transmitting and receiving means are towed from a building 15, for example a surface ship, by means of a line of traction 13 (13-a, 13-b, 13-c and 13-d), or else electro-tractor cable, which provides both the mechanical traction sonar and the routing of signals and supplies from the building to the sonar and vice versa, through the corresponding transport structure, cable, fiber or other. The transmitting means 11 and receiving 12 are mechanically stowed on the line 13 appropriately. Similarly, these means are electrically (or optically) connected to the traction line 13.

De manière classique, les moyens de réception sont constitués d'une antenne linéaire, de type flûte, de forme tubulaire identique à celles que l'on trouve dans les sonars passifs, tandis que l'émetteur est intégré dans une structure volumique encore appelée "poisson". La flûte de réception est généralement disposée à l'arrière, au niveau de l'extrémité de la ligne de traction, le poisson étant positionné sur la partie de la ligne la plus proche du navire.Conventionally, the receiving means consist of a linear antenna, of flute type, of tubular form identical to those found in passive sonars, while the transmitter is integrated in a volume structure also called "fish". The receiving flute is usually placed at the rear, at the end of the line of traction, the fish being positioned on the part of the line closest to the vessel.

L'antenne linéaire de réception 12 est généralement arrimée de manière permanente à la ligne de traction13, alors que le poisson est quant à lui arrimé de manière amovible. A cet effet la ligne de traction comporte une zone d'arrimage du poisson 13-d, zone dans laquelle sont implantés des moyens pour fixer mécaniquement le poisson à la ligne et pour réaliser son raccordement à la structure; un câble par exemple, véhiculant les signaux et l'énergie (alimentations) dans la ligne. De la sorte, au niveau du bâtiment porteur qui héberge le sonar, la mise à la mer et la récupération du sonar est réalisée au moyen d'un treuil 14 dont le tambour est dimensionné pour permettre l'enroulent de la ligne de traction 13 ainsi que de l'antenne linéaire de réception 12. L'enroulement du début 13-a de la ligne de traction 13 permet de haler le poisson 11 à bord, sur la plateforme arrière du navire par exemple. Le poisson doit alors être désaccouplé de la ligne de traction 13 et déplacé vers son aire de stockage pour permettre l'enroulement de la portion de ligne située entre le poisson 11 et l'antenne de réception 12. Inversement, lors de la mise à l'eau du sonar, on procède d'abord à la mise à l'eau de l'antenne linéaire de réception et de la portion 13-b de ligne située à l'arrière du poisson, puis on interrompt le déroulement de la ligne lorsque la zone d'arrimage devient accessible et on procède à l'arrimage du poisson 11 à la ligne 13 et à son raccordement à la structure, un câble par exemple, véhiculant les signaux et l'énergie (alimentations) dans la ligne. Le déroulement de la ligne est ensuite repris pour permettre la mise à la mer du poisson et de la portion proximale (i.e. la plus proche du bâtiment porteur) de la ligne (segments 13-a et 13-d) sur laquelle le poisson est arrimé.The linear receiving antenna 12 is generally permanently secured to the traction line, while the fish is in turn detachably secured. For this purpose the pulling line comprises a docking area 13-d fish, area in which are implanted means for mechanically attaching the fish to the line and to achieve its connection to the structure; a cable for example, carrying signals and energy (power supplies) in the line. In this way, at the level of the carrier building which houses the sonar, the launching and recovery of the sonar is performed by means of a winch 14 whose drum is sized to allow the winding of the traction line 13 and Only the linear reception antenna 12. The winding of the beginning 13-a of the traction line 13 makes it possible to haul the fish 11 on board, on the aft platform of the ship for example. The fish must then be uncoupled from the traction line 13 and moved to its storage area to enable the portion of the line located between the fish 11 and the receiving antenna 12 to be wound up. Conversely, when setting the fish Sonar water, the linear receiving antenna and the line portion 13-b at the rear of the fish are first launched and the line is interrupted when the docking area becomes accessible and the fish 11 is tied down to the line 13 and to its connection to the structure, a cable for example, conveying signals and energy (power supplies) in the line. The course of the line is then resumed to allow the placing of the fish and the proximal portion (ie the closest to the carrying vessel) of the line (segments 13-a and 13-d) on which the fish is stowed. .

Une telle structure matérielle présente pour avantage de comporter des moyens d'émissions et de réception distincts ce qui permet en particulier de disposer de manière simple de moyens d'émission omnidirectionnels. Cependant, comme il a été dit précédemment, cette structure nécessite pour sa mise en oeuvre un grand nombre d'opérations de manutention qui sont actuellement réalisées par des membres d'équipage dans des conditions de sécurité parfois précaires. C'est en particulier le cas des opérations d'arrimage, de désarrimage et de manutention du poisson depuis (ou vers) son aire de stockage. Comme il a également été dit précédemment, le but de l'invention est de supprimer ou tout au moins de limiter le plus possible les interventions humaines.Such a material structure has the advantage of having separate transmitting and receiving means, which makes it possible in particular to have omnidirectional transmission means in a simple manner. However, as has been said previously, this structure requires for its implementation a large number of handling operations that are currently performed by crew members under sometimes precarious security conditions. This is particularly the case with stowage, unstacking and handling of fish from (or to) its storage area. As has also been said previously, the purpose of the invention is to eliminate or at least limit as much as possible human interventions.

L'illustration de la figure 2 présente de manière schématique l'objet de l'invention, qui consiste en un système comportant un dispositif 21 permettant d'assurer de manière automatique l'arrimage du poisson 11 à la ligne 13 ainsi que son raccordement à la structure, un câble par exemple, véhiculant les signaux et l'énergie (alimentations) dans la ligne, dispositif auquel peut être associé un dispositif automatique 22 de manutention du poisson, dispositif symbolisés par les flèches semi-pointillées 22-a et 22-b.The illustration of the figure 2 presents schematically the object of the invention, which consists of a system comprising a device 21 for automatically securing the fish 11 to the line 13 and its connection to the structure, a cable for example , conveying signals and energy (power supplies) in the line, which device may be associated with an automatic device 22 for handling fish, a device symbolized by semi-dotted arrows 22-a and 22-b.

On s'intéresse ensuite aux figures 3 à 8 qui décrivent sous forme schématique la structure générale et le principe de fonctionnement du dispositif d'arrimage automatique du poisson (i.e. de l'émetteur) à la ligne de traction. On considère dans un premier temps les figures 3 et 4.We are then interested in Figures 3 to 8 which describe in schematic form the general structure and operating principle of the automatic fish-securing device (ie of the transmitter) at the traction line. We first consider figures 3 and 4 .

Selon l'invention, le dispositif automatique d'arrimage et de raccordement 21 comportent, comme le montre la figure 3, deux éléments distincts, un élément femelle 31 solidaire du poisson 11, ou plus généralement de l'émetteur, et un élément mâle 32 solidaire de la ligne 13 et dont l'axe de symétrie est confondu avec l'axe de la ligne 33. L'élément femelle 31 présente une cavité tubulaire dont la longueur est au moins égale à la longueur de l'élément mâle 32 et dont la section correspond, au moins pour la partie de la cavité dans laquelle s'insère l'élément mâle 32, à celle de cet élément. La section est de préférence plus étroite sur le reste de la longueur. Ainsi, par exemple, si l'élément mâle 32 présente une forme sensiblement cylindrique comme illustré par la figure 3, la cavité procurée par l'élément femelle sera de section cylindrique.According to the invention, the automatic securing and connecting device 21 comprise, as shown in FIG. figure 3 two distinct elements, a female element 31 integral with the fish 11, or more generally the transmitter, and a male element 32 integral with the line 13 and whose axis of symmetry coincides with the axis of the line 33. The female element 31 has a tubular cavity whose length is at least equal to the length of the male element 32 and whose section corresponds, at least for the part of the cavity in which the male element 32 is inserted, to that of this element. The section is preferably narrower over the rest of the length. Thus, for example, if the male element 32 has a substantially cylindrical shape as illustrated by the figure 3 the cavity provided by the female element will be of cylindrical section.

Selon l'invention l'élément mâle 32 présente une section de taille nettement plus importante que la section de la portion 13-b de la ligne 13 située derrière la zone d'arrimage 13-d du poisson. Dans le mode de réalisation illustré par la figure 3, l'élément mâle 32 est d'un diamètre égale à celui du dispositif limiteur de courbure 34 qui équipe la portion 13-a de la ligne et solidaire de celui-ci. Il en va de même pour le diamètre de la section de la cavité constituée par l'élément femelle 31. En outre, l'élément femelle 32 présente sur toute sa longueur une ouverture longitudinale latérale 35, visible sur les coupes A-A et B-B de la figure 3. La largeur I de cette ouverture est suffisante pour permettre à un élément de ligne dont le diamètre n'excède pas I de venir s'engager par cette ouverture dans la cavité de l'élément 31. En revanche, la largeur de cette ouverture est insuffisante pour permettre à une section de ligne d'un diamètre supérieur à I d'entrer ou de sortir de la cavité par l'ouverture latérale 35.According to the invention, the male element 32 has a section of considerably greater size than the section of the portion 13-b of the line 13 located behind the docking area 13-d of the fish. In the embodiment illustrated by the figure 3 , the male element 32 is of a diameter equal to that of the curvature limiting device 34 which equips the portion 13-a of the line and secured thereto. It is the same for the diameter of the section of the cavity constituted by the female element 31. In addition, the female element 32 has along its length a lateral longitudinal opening 35, visible on sections AA and BB of the figure 3 . The width I of this opening is sufficient to allow a line element whose diameter does not exceed I to be engaged by this opening in the cavity of the element 31. On the other hand, the width of this opening is insufficient. to allow a line section of diameter greater than I to enter or exit the cavity through the lateral opening 35.

Ainsi dans l'exemple de réalisation de la figure 3 les coupes A-A et B-B montrent qu'il est possible d'insérer la ligne dans l'élément femelle par l'ouverture 35 lorsque l'élément femelle se trouve en regard d'une portion standard de ligne, la portion 13-a par exemple, alors que l'insertion par l'ouverture 35 n'est pas possible lorsque l'élément femelle se trouve par exemple en regard de la portion de la ligne 13 correspondant à la zone d'insertion 13-d constituée sur la figure par l'élément mâle 32 et l'élément limiteur de courbure 36.So in the embodiment of the figure 3 cuts AA and BB show that it is possible to insert the line in the female element through the opening 35 when the female element is facing a standard portion of line, the portion 13-a for example , while the insertion through the opening 35 is not possible when the female element is for example facing the portion of the line 13 corresponding to the insertion zone 13-d formed in FIG. male element 32 and the curvature limiter element 36.

Par suite l'insertion de l'élément mâle 32 dans l'élément femelle 31, et donc l'arrimage mécanique du poisson à la ligne de traction, ne peut donc être réalisée qu'en procédant comme suit:

  • on positionne l'élément femelle 31 en regard de la portion de ligne 13-b,
  • on insère la ligne 13 dans l'élément femelle 31 par l'ouverture latérale 35: le diamètre de la ligne étant inférieur à I, l'insertion est possible,
  • on fait glisser la ligne 13 dans la cavité de l'élément femelle 31 dans le sens figuré par la flèche38, de sorte que l'élément mâle 32 pénètre entièrement dans la cavité de l'élément femelle 31 par l'ouverture axiale 37 dont le diamètre est adapté à celui de l'élément mâle 32 et en tout cas suffisant pour permettre son entrée dans la cavité.
As a result, the insertion of the male element 32 into the female element 31, and thus the mechanical attachment of the fish to the traction line, can therefore be achieved only by proceeding as follows:
  • the female element 31 is positioned opposite the portion of line 13-b,
  • the line 13 is inserted into the female element 31 through the lateral opening 35: the diameter of the line being less than 1, the insertion is possible,
  • the line 13 is slid into the cavity of the female element 31 in the direction represented by the arrow 38, so that the male element 32 penetrates entirely into the cavity of the female element 31 through the axial opening 37 whose diameter is adapted to that of the male element 32 and in any case sufficient to allow its entry into the cavity.

A l'issue de cette opération d'insertion la ligne 13 ne peut plus sortir de la cavité formée par l'élément femelle 31 par l'ouverture latérale 35 de sorte que le poisson est bien arrimé à la ligne, comme l'illustre la double flèche barrée de la figure 4.At the end of this insertion operation the line 13 can no longer leave the cavity formed by the female element 31 by the lateral opening 35 so that the fish is well secured to the line, as illustrated by FIG. double crossed out arrow of the figure 4 .

Comme l'illustre la figure 4, le mécanisme d'amarrage ainsi formé peut en outre être avantageusement complété par un mécanisme de verrouillage 42 monté sur l'élément femelle, un mécanisme de type goupille par exemple, permettant avantageusement le blocage de tout mouvement de translation de l'élément femelle le long de la ligne.As illustrated by figure 4 , the mooring mechanism thus formed can further be advantageously completed by a locking mechanism 42 mounted on the female element, a pin-type mechanism for example, advantageously allowing the blocking of any translational movement of the female element along the line.

Inversement le désarrimage mécanique du poisson ne peut se produire qu'en procédant; après déblocage d'un éventuel mécanisme de verrouillage 42, comme suit

  • on fait glisser la ligne 13 (après déverrouillage éventuel) dans la cavité de l'élément femelle 31 dans le sens figuré par la flèche 39, jusqu'à ce que l'élément mâle 32 sorte de la cavité de l'élément femelle 31 par l'ouverture axiale 37 et que l'élément femelle 31 se trouve positionné en regard de la portion de ligne 13-b,
  • on extrait la ligne de traction 13 de la cavité de l'élément femelle par l'ouverture latérale 35: le diamètre de la portion de ligne 13-b ligne étant inférieur à I, l'extraction est possible.
Conversely, the mechanical unstacking of the fish can only occur by proceeding; after unblocking a locking mechanism 42, as follows
  • the line 13 (after unlocking, if any) is slid into the cavity of the female element 31 in the direction represented by the arrow 39, until the male element 32 leaves the cavity of the female element 31 through the axial opening 37 and the female element 31 is positioned opposite the line portion 13-b,
  • the pulling line 13 is extracted from the cavity of the female element by the lateral opening 35: the diameter of the line portion 13-b line being less than I, the extraction is possible.

Ainsi donc, grâce aux caractéristiques physiques des éléments mâle 32 et femelle 31 du système selon l'invention il est avantageusement possible, pour peu que le poisson soit positionné de façon adéquate par rapport à la ligne de réaliser de manière automatique l'arrimage et le désarrimage du poisson sur la ligne. L'opération d'arrimage et de désarrimage est ainsi réalisée par simple enfilage ou désenfilage du poisson sur la ligne.Thus, thanks to the physical characteristics of the male 32 and female 31 elements of the system according to the invention it is advantageously possible, provided that the fish is positioned adequately in relation to the line to achieve automatically the stowage and the unstacking the fish on the line. The stowage and unstacking operation is thus performed by simply threading or stripping the fish on the line.

On considère à présent les figures 5 à 7 qui présentent sous forme schématique, au travers d'un exemple non limitatif de réalisation, les caractéristiques techniques avantageuses de l'invention, qui permettent de réaliser de manière automatique le raccordement du poisson 11 à la structure véhiculant les signaux et l'énergie (alimentations) dans la ligne de traction 13.We now consider Figures 5 to 7 which present in schematic form, through a non-limiting embodiment, the advantageous technical characteristics of the invention, which make it possible to automatically connect the fish 11 to the structure carrying the signals and the energy (power supplies ) in the pulling line 13.

Selon l'invention, comme l'illustre la figure 5, l'élément femelle 31 comporte, sur la partie de la paroi de la cavité interne 51 destinée à entrer en contact frontal avec l'élément mâle 32, une série de connecteurs mâles 52, disposés préférentiellement de manière régulière sur le pourtour de la cavité, comme illustré par la coupe B-B.According to the invention, as illustrated by figure 5 , the female element 31 comprises, on the part of the wall of the internal cavity 51 intended to come into frontal contact with the male element 32, a series of male connectors 52, preferably arranged in a regular manner around the periphery of the cavity , as illustrated by the BB section.

De manière symétrique l'élément mâle 32 comporte sur sa partie frontale une série de connecteurs femelles 53, en nombre identique aux connecteurs 52 de l'élément femelle et respectant une disposition symétrique à celle adoptée pour les connecteurs de l'élément femelle. De la de sorte, la mise en regard d'un connecteur mâle 52 et d'un connecteur femelle 53 assure la mise en regard de tous les connecteurs. Le raccordement à la structure véhiculant les signaux et l'énergie peut ainsi être avantageusement réalisé de manière simultanée à l'arrimage mécanique de l'émetteur sur la ligne. Pour ce faire, il suffit que, lors de l'insertion complète de l'élément 31 dans l'élément 32, les connecteurs soient positionnés en regard les uns des autres, telle qu'illustrée sur la figure 5.In a symmetrical manner the male element 32 comprises on its front part a series of female connectors 53, identical in number to the connectors 52 of the female element and respecting a symmetrical disposition to that adopted for the connectors of the female element. In this way, the facing of a male connector 52 and a female connector 53 ensures the facing of all the connectors. The connection to the structure carrying the signals and the energy can thus advantageously be performed simultaneously to the mechanical stowage of the transmitter on the line. To do this, it suffices that, during the complete insertion of the element 31 into the element 32, the connectors are positioned facing each other, as illustrated on FIG. figure 5 .

La mise en regard des connecteurs mâle et femelle peut dans bien des cas exiger l'application d'une torsion sur la ligne de traction, torsion indiquée sur la figure 5 par les doubles flèches circulaires 54 et 55. En effet lors de la mise à l'eau du sonar par exemple le déroulement de la ligne de traction peut conduire cette dernière à prendre une orientation quelconque autour de son axe de symétrie 33 de sorte que l'élément mâle 32 et l'élément femelle 34 présentent également une orientation relative quelconque ne permettant par l'insertion des connecteurs mâles 52 dans les connecteurs femelles 53. De même, lors de la récupération à bord du sonar, la ligne de traction peut, pour diverses raisons telles que les mouvements de l'antenne de réception par exemple, être enroulée sur le tambour du treuil avec une orientation quelconque de l'élément 32.Matching the male and female connectors may in many cases require the application of a twist on the pulling line, the twist indicated on the figure 5 by the double circular arrows 54 and 55. Indeed, during the launching of the sonar for example the unfolding of the traction line can lead the latter to take any orientation around its axis of symmetry 33 so that the male element 32 and the female element 34 also have any relative orientation that allows the insertion of the male connectors 52 in the female connectors 53. Similarly, during the onboard sonar recovery, the traction line can, for various reasons such as the movements of the receiving antenna, for example, being wound on the drum of the winch with any orientation of the element 32.

Selon l'invention le dispositif d'arrimage automatique comporte des moyens automatiques de positionnement et d'orientation qui permettent en particulier d'assurer une orientation relative de l'élément mâle 32 vis à vis de l'élément femelle 31 qui place les connecteurs 51 de l'élément 31, des connecteurs mâles par exemple, en regard des connecteurs 52 de l'élément 32, des connecteurs femelles dans ce cas. La structure de principe de ces moyens est illustrée par l'exemple de réalisation de la figure 6.According to the invention, the automatic securing device comprises automatic positioning and orientation means which make it possible in particular to ensure a relative orientation of the male element 32 with respect to the female element 31 which places the connectors 51 of the element 31, male connectors for example, facing the connectors 52 of the element 32, female connectors in this case. The basic structure of these means is illustrated by the exemplary embodiment of the figure 6 .

L'illustration de la figure 6 présente de manière schématique un exemple de réalisation des moyens 21 d'arrimage automatique du poisson, moyens réalisant l'arrimage mécanique et de raccordement à la structure véhiculant les signaux et l'énergie. Dans cet exemple de réalisation, l'élément mâle 32 comporte une partie avant 56, prolongée par le limiteur de courbure 36, partie qui comporte des structures de positionnement et d'orientation 62, en forme de doigts, disposés tout autour de la partie avant 56. Parallèlement, l'élément femelle 31 comporte également des éléments de positionnement et d'orientation 61 en forme de doigts, représentés en pointillés sur la figure, dont la taille et la disposition sur le pourtour de la cavité définie par l'élément 31 sont telles que lorsque l'élément mâle 32 est complètement inséré dans l'élément femelle 32 chaque élément 61 viennent occuper l'espace libre 64 entre deux éléments 62. Ce positionnement relatif des éléments 61 et 62 assure avantageusement la mise en regard automatique des connecteurs 52 et 53.The illustration of the figure 6 presents schematically an embodiment of the means 21 for automatic stowage of the fish, means performing the mechanical stowage and connection to the structure carrying the signals and energy. In this embodiment, the element male 32 has a front portion 56, extended by the curvature limiter 36, which portion comprises positioning structures and orientation 62, in the form of fingers, arranged all around the front portion 56. Meanwhile, the female member 31 also comprises positioning elements and orientation 61 in the form of fingers, shown in dashed lines in the figure, the size and disposition of the periphery of the cavity defined by the element 31 are such that when the male element 32 is completely inserted into the female element 32 each element 61 occupy the free space 64 between two elements 62. This relative positioning of the elements 61 and 62 advantageously ensures the automatic matching connectors 52 and 53.

De manière plus générale l'effet technique de positionnement et d'orientation peut être assuré par des structures profilées 62 d'une forme comparable à la forme d'un doigt disposées sur le pourtour de l'élément mâle 52 et associées de manière adéquate à structures profilées 61 d'une forme également comparable à la forme d'un doigt disposées sur la paroi interne de l'élément femelle 51.More generally, the technical effect of positioning and orientation can be provided by profiled structures 62 of a shape comparable to the shape of a finger disposed around the periphery of the male element 52 and suitably associated with profiled structures 61 of a shape also comparable to the shape of a finger disposed on the inner wall of the female element 51.

Afin de faciliter l'action de positionnement et d'orientation qu'ils exercent et de limiter leur déformation consécutive à un usage répété, les éléments 61 et 62 selon l'invention prennent des formes adaptées.In order to facilitate the positioning and orientation action they exert and to limit their deformation consecutive to repeated use, the elements 61 and 62 according to the invention take adapted forms.

Ainsi, comme l'illustre schématiquement la figure 7, les éléments de positionnement et d'orientation 61 et 62 ont des formes oblongues aptes à faciliter le glissement des éléments les uns contre les autres et des extrémités 71 et 72 qui assurent que même dans une configuration où les doigts 61 et 62 se présentent parfaitement en vis à vis au début de l'insertion de l'élément mâle 32 dans l'élément femelle 31, les profils respectifs des extrémités de ces éléments empêchent un blocage frontal et les conduisent naturellement à glisser les uns contre les autres en induisant une rotation de l'élément mâle 32 par rapport à l'élément femelle 31. A cet effet les parois de l'extrémité 72 des éléments 62 forment deux plans dont l'intersection définit une arête verticale 74, tandis que les parois des éléments 61 forme deux plans dont l'intersection définit une arête oblique 73. La figure 8 illustre l'effet avantageux procuré par cette configuration permettant un centrage automatique par insertion sans risque de blocage. On obtient ainsi automatiquement une orientation adéquate de l'élément mâle par rapport à l'élément femelle.Thus, as schematically illustrates figure 7 , the positioning and orientation elements 61 and 62 have oblong shapes capable of facilitating the sliding of the elements against each other and ends 71 and 72 which ensure that even in a configuration where the fingers 61 and 62 are perfectly presented facing the beginning of the insertion of the male element 32 in the female element 31, the respective profiles of the ends of these elements prevent a frontal locking and naturally lead them to slide against each other by inducing a rotation of the male element 32 relative to the female element 31. For this purpose the walls of the end 72 of the elements 62 form two planes whose intersection defines a vertical edge 74, while the walls of the elements 61 form two planes whose intersection defines an oblique edge 73. The figure 8 illustrates the advantageous effect provided by this configuration allowing an automatic centering by insertion without risk of blockage. We obtain automatically an adequate orientation of the male element with respect to the female element.

Ainsi, avec le dispositif automatique 21 d'arrimage et de raccordement selon l'invention, tels que décrit dans les paragraphes précédents, il est avantageusement possible pour peu que le positionnement relatif du poisson (ou plus généralement des moyens d'émission) et de la ligne de traction le permette d'effectuer un de manière automatique, sans intervention humaine, l'arrimage mécanique du poisson à la ligne de traction et le raccordement du poisson à la liaison électrique, optique ou encore pneumatique qui lui est associée. Pour ce faire, il suffit que la ligne soit insérée dans la cavité tubulaire 311 de l'élément femelle 31 alors que celui-ci se trouve en regard de la portion 13-a de la ligne 13, puis de faire coulisser la ligne 13 à l'intérieur de la cavité 311 dans le sens indiqué par la flèche 63 de la figure 6, jusqu'à ce que l'élément mâle 32 porté par la ligne 13 vienne s'insérer complètement dans l'élément femelle 31 porté par le poisson. Inversement, l'isolement électrique, et/ou optique, et/ou pneumatique, du poisson par rapport à la ligne et son désarrimage mécanique sont alors effectués de manière automatique en faisant coulisser la ligne de traction en sens opposé à celui indiqué par la flèche 63.Thus, with the automatic securing and connecting device 21 according to the invention, as described in the preceding paragraphs, it is advantageously possible if the relative positioning of the fish (or more generally means of emission) and the pulling line allows it to perform one automatically, without human intervention, the mechanical attachment of the fish to the line of traction and the connection of the fish to the electrical connection, optical or pneumatic associated with it. To do this, it is sufficient for the line to be inserted into the tubular cavity 311 of the female element 31 while the latter is facing the portion 13-a of the line 13, then to slide the line 13 to the interior of the cavity 311 in the direction indicated by the arrow 63 of the figure 6 , until the male element 32 carried by the line 13 comes completely into the female element 31 carried by the fish. Conversely, the electrical and / or optical and / or pneumatic isolation of the fish from the line and its mechanical unstacking are then performed automatically by sliding the pulling line in the opposite direction to that indicated by the arrow. 63.

On s'intéresse à présent aux figures 9 à 12 qui présentent les caractéristiques du dispositif automatique de manutention 22 du système de mise à l'eau et de récupération selon l'invention.We are now interested in Figures 9 to 12 which have the characteristics of the automatic handling device 22 of the launching and recovery system according to the invention.

Comme l'illustre l'exemple de réalisation de la figure 9, ce dispositif a pour rôle principal lors de la mise à la mer du sonar, de positionner le poisson 11 en vis à vis à vis de la ligne 13 et lorsque la partie 13-A de la ligne est déroulée du treuil de soulever le poisson de façon à ce que la ligne soit engagée dans la cavité tubulaire 311. De la sorte, la ligne 13 continuant à se dérouler l'élément mâle 32 vient s'insérer complètement dans l'élément femelle 31. L'arrimage automatique du poisson étant alors réalisé, le dispositif automatique de manutention a ensuite pour rôle de libérer le poisson de façon à ce que celui-ci soit entraîné vers la mer par la ligne de traction 13 à laquelle il est arrimé.As illustrated by the exemplary embodiment of the figure 9 , this device has for main role during the setting of the sonar, to position the fish 11 opposite line 13 and when the part 13-A of the line is unrolled from the winch to lift the fish so that the line is engaged in the tubular cavity 311. In this way, the line 13 continuing to unfold the male element 32 is inserted completely into the female element 31. The automatic stowage of the fish being then realized, the automatic handling device then has the role of releasing the fish so that it is driven towards the sea by the pull line 13 to which it is docked.

A cet effet, il comporte les éléments suivants:

  • un châssis 91 intégrant les différents éléments du dispositif
  • un support mobile 92 sur lequel le poisson 11 renfermant l'émetteur proprement dit se trouve positionné lorsqu'il n'est pas arrimé à la ligne de traction 13 et dont il est séparé après arrimage,
  • des moyens (94-98) pour déplacer horizontalement et verticalement le support mobile 92 vers une position où le poisson 11 peut être arrimé à la ligne de traction,
  • des moyens 93 pour séparer le poisson 11 de son support lorsque celui-ci est arrimé à la ligne de traction.
For this purpose, it includes the following elements:
  • a chassis 91 incorporating the various elements of the device
  • a mobile support 92 on which the fish 11 enclosing the transmitter itself is positioned when it is not secured to the traction line 13 and from which it is separated after stowing,
  • means (94-98) for horizontally and vertically moving the movable support 92 to a position where the fish 11 can be secured to the pull line,
  • means 93 for separating the fish 11 from its support when it is secured to the traction line.

Dans l'exemple de réalisation illustré par les figures 9 à 12 le dispositif de manutention automatique 22 est placés à la sortie du treuil 14 de façon à ne pas entraver le déroulement de la ligne de traction 13. Le poisson 11 est placé sur un support mobile 92 comportant deux encoches 93 formant des étriers supportant le poisson. Le support 92 est agencé de façon à pouvoir coulisser le long de deux jeux de glissières, un jeu supérieur 94 et un jeu inférieur 95, placés de part et d'autre du dispositif. A cet effet il comporte en particulier des moyens aptes à faciliter ce glissement, comme par exemple des jeux de roulements 96. Le déplacement du support 92 le long des glissières 94 et 95 est assuré par des moyens moteurs 98, par exemple un vérin hydraulique commandé dont une extrémité est fixée au châssis du dispositif et dont l'autre extrémité est fixée au support.In the exemplary embodiment illustrated by the Figures 9 to 12 the automatic handling device 22 is placed at the output of the winch 14 so as not to hinder the unfolding of the pulling line 13. The fish 11 is placed on a mobile support 92 having two notches 93 forming stirrups supporting the fish. The support 92 is slidably arranged along two sets of slides, an upper set 94 and a lower set 95, placed on either side of the device. For this purpose it comprises in particular means capable of facilitating this sliding, such as, for example, sets of bearings 96. The displacement of the support 92 along the slides 94 and 95 is ensured by motor means 98, for example a hydraulic cylinder controlled one end of which is fixed to the frame of the device and the other end of which is fixed to the support.

Selon l'invention, les glissières 94 et 95 sont agencées et profilées de façon à ce que le support 92 suivent d'abord un mouvement de translation horizontal, sur des segments I compris entre les points A et B, puis un mouvement de translation vertical, sur des segments Il compris entre les points B et C; puis enfin un mouvement de basculement vers l'arrière entre les points C et D (portion III) des glissières du jeu supérieur 94. A cet effet les portions AB et BC des glissières 94 et 95 sont rectilignes de longueurs et d'inclinaisons identiques: La portion CD des glissières 94, quant à elle, est une portion courbe.According to the invention, the slideways 94 and 95 are arranged and profiled so that the support 92 firstly follows a horizontal translational movement, on segments I between points A and B, then a vertical translational movement. on segments II between points B and C; then finally a tilting movement backwards between the points C and D (portion III) of the slides of the upper set 94. For this purpose the portions AB and BC of the slides 94 and 95 are straight of identical lengths and inclinations: The portion CD of the slides 94, for its part, is a curved portion.

Comme l'illustre la figure 10, le mouvement de translation horizontal a pour effet de dégager le chariot du dessous du treuil, position qui sert par ailleurs de position de stockage du poisson sur le pont du bâtiment porteur. En fin de translation, l'élément femelle 31 est correctement positionné sous la ligne de traction 13. Dès lors; la ligne de traction doit être déroulée de façon à ce que la portion de ligne en regard de l'élément femelle 31 soit la portion 13-a.As illustrated by figure 10 , the horizontal translational movement has the effect of clearing the carriage from below the winch, which position also serves as a fish storage position on the deck of the carrier building. At the end of translation, the female element 31 is correctly positioned under the pulling line 13. Since then; the pulling line must be unrolled so that the line portion facing the female element 31 is the portion 13-a.

Le mouvement de translation vertical qui suit permet, comme l'illustre la figure 11, de positionner la ligne de traction 13 dans l'élément femelle 31 en soulevant le poisson de façon à ce qu'il entre en contact avec la ligne et que celle-ci vienne s'insérer dans l'élément femelle 31.The following vertical translation movement allows, as illustrated by the figure 11 , positioning the pulling line 13 in the female element 31 by lifting the fish so that it comes into contact with the line and that it comes to fit into the female element 31.

A ce stade l'arrimage automatique est possible le défilement de la ligne dans l'élément 31 conduit automatiquement à l'insertion complète de l'élément mâle 32 dans l'élément femelle 31. Cette insertion peut être par ailleurs complétée par un verrouillage automatique de l'élément 32 dans l'élément 31, ce verrouillage pouvant être réalisé par tout moyen connu.At this stage the automatic stowage is possible the scrolling of the line in the element 31 automatically leads to the complete insertion of the male element 32 in the female element 31. This insertion can be completed by an automatic locking of the element 32 in the element 31, this locking can be achieved by any known means.

Le mouvement de bascule vers l'arrière, illustré par la figure 12, permet de libérer, après arrimage, le poisson 11 des encoches 93 du support 92. le poisson peut ainsi suivre sans entrave le mouvement d'immersion de la ligne de traction 13 à laquelle il est arrimé.The rocking backward movement, illustrated by the figure 12 , makes it possible to release, after stowage, the fish 11 of the notches 93 of the support 92. the fish can thus follow unhindered the immersion movement of the traction line 13 to which it is stowed.

Selon l'invention le mouvement de translation verticale ayant amené les roulements 97 en bout des glissières 95 (point C) la poursuite du mouvement des roulements 96 le long des glissières 94, qui adoptent un profil courbe entre les points C et D, induit avantageusement une bascule du support 92 autour des axes de rotation constitués par les extrémités des glissières 95 qui correspondent aux points C. Selon l'invention, le support 92 est par ailleurs maintenu en position basculée tant que le poisson reste immergé.According to the invention the vertical translational movement having brought the bearings 97 at the end of the runners 95 (point C) the continuation of the movement of the bearings 96 along the slideways 94, which adopt a curved profile between the points C and D, advantageously induces a rocker support 92 around the axes of rotation constituted by the ends of the slides 95 which correspond to the points C. According to the invention, the support 92 is also maintained in the tilted position as the fish remains immersed.

Ainsi, comme on peut le constater à l'aide des figures 9 à 12, le dispositif automatique de manutention selon l'invention permet avantageusement de positionner le poisson 13 et la ligne de traction 13 dans des positions relatives qui rende possible de manière automatique, et sans intervention humaine, l'arrimage et le raccordement électrique du poisson à la ligne de traction. Il est ainsi possible de mettre à la mer un sonar actif ou plus généralement d'immerger tout objet ayant une structure mécanique semblable, sans avoir recours à une intervention humaine. Avantageusement, le châssis 91 du dispositif de manutention étant positionné de manière fixe sur la plateforme de manutention du bâtiment, ce dernier occupe une place relativement plus faible qu'un moyen de manutention classique. Seul le support 92 sur lequel est posé l'émetteur est mobile.Thus, as can be seen with the help of Figures 9 to 12 , the automatic handling device according to the invention advantageously allows positioning the fish 13 and the pulling line 13 in relative positions which makes possible automatically and without human intervention, stowage and electrical connection of the fish to the traction line. It is thus possible to put into sea an active sonar or more generally to immerse any object having a similar mechanical structure, without resorting to human intervention. Advantageously, the chassis 91 of the handling device being Fixed position on the building handling platform, the latter occupies a relatively lower place than a conventional handling means. Only the support 92 on which the transmitter is placed is mobile.

Lors de la récupération à bord du sonar ou plus généralement lors de la remontée hors du milieu d'immersion de tout objet ayant une structure mécanique semblable, la ligne de traction est enroulée sur le treuil de sorte qu'à un instant donné le poisson 11 se retrouve positionné en contact dans les encoches 93. Dès cet instant, les moyens moteurs 98 induisent un mouvement du support de la position D à la position C, de sorte que le support 92 suit un mouvement de bascule vers l'avant et que le poisson est à nouveau immobilisé sur son support. Par suite l'enroulement de la ligne de traction sur le treuil conduit à une extraction de l'élément mâle 32 hors de l'élément femelle 31, extraction qui conduit au désarrimage mécanique et à la déconnexion électrique du poisson. La ligne poursuit ensuite son enroulement autour du tambour du treuil 14. Les moyens moteurs 98 entraînent ensuite le support 92 dans un mouvement de translation verticale de la position C à la position B puis dans un mouvement de translation horizontal jusqu'à la position A, position dans laquelle le support et le poisson, logés sous la sortie du treuil 14, ne constituent par exemple plus une gêne pour halage de l'antenne linéaire de réception12.During the recovery on board the sonar or more generally during the recovery from the immersion medium of any object having a similar mechanical structure, the pull line is wound on the winch so that at a given moment the fish 11 is located positioned in contact in the notches 93. From this moment, the motor means 98 induce a movement of the support from the position D to the position C, so that the support 92 follows a rocking movement forward and that the fish is again immobilized on its support. As a result the winding of the traction line on the winch leads to an extraction of the male element 32 out of the female element 31, extraction which leads to mechanical unstacking and electrical disconnection of the fish. The line then continues to wind around the drum of the winch 14. The motor means 98 then drive the support 92 in a vertical translation movement from the position C to the position B and in a horizontal translational movement to the position A, position in which the support and the fish, housed under the output of the winch 14, are for example no longer an inconvenience for hauling the linear receiving antenna12.

De la sorte, le dispositif automatique de manutention selon l'invention permettent également avantageusement la récupération du sonar, le désarrimage et le stockage du poisson sans recourir à une quelconque intervention humaine.In this way, the automatic handling device according to the invention also advantageously allow the recovery of sonar, unstowing and storage of fish without resorting to any human intervention.

Il est à noter que, comme il a été dit précédemment, le dispositif d'arrimage automatique 21 selon l'invention peut être complété par un moyen automatique de verrouillage et de déverrouillage, dont l'objet est de maintenir, en position verrouillée, l'élément mâle 32 dans une position où il est complètement inséré dans l'élément femelle 31. Ce dispositif peut par exemple être constitué par un dispositif à encliquetage pour lequel le verrouillage est effectué automatiquement lorsque l'élément 32 est complètement inséré dans l'élément 31. Par suite le déverrouillage peut par exemple être activé, lors de la manoeuvre de récupération du sonar, par la bascule du support 92 vers l'arrière et l'immobilisation du poisson dans les encoches 93.It should be noted that, as has been said previously, the automatic stowage device 21 according to the invention can be completed by an automatic locking and unlocking means, the object of which is to maintain, in the locked position, the male element 32 in a position where it is completely inserted into the female element 31. This device may for example be constituted by a snap device for which the locking is performed automatically when the element 32 is completely inserted into the element 31. As a result, the unlocking can for example be activated, during the sonar recovery maneuver, by the rocking of the support 92 towards the rear and the immobilization of the fish in the notches 93.

Il est à noter également que, comme illustré par les figures 9 à 12, le support mobile 92 peut également comporter des moyens 99 de guidage et de limitation de la courbure excessive de la ligne de traction qui peut intervenir après l'arrimage du poisson, lors de la mise à l'eau de la portion de ligne portant le poisson. Ces moyens 99 constituent une gorge courbe qui vient se positionner sous la ligne de traction 13 lorsque le support mobile 92 est en position D, de façon à servir de guide et de limiteur de courbure à la ligne de traction et éviter une détérioration de la ligne consécutive à une courbure trop forte imposée en particulier par le poids du poisson 11It should also be noted that, as illustrated by the Figures 9 to 12 the mobile support 92 may also comprise means 99 for guiding and limiting the excessive curvature of the traction line which may occur after the stowage of the fish, when the portion of line bearing the fish. These means 99 constitute a curved groove which is positioned under the pulling line 13 when the mobile support 92 is in position D, so as to serve as a guide and curvature limiter to the pull line and prevent deterioration of the line following an excessive curvature imposed in particular by the weight of the fish 11

Claims (15)

  1. A system for automatically securing and handling a submersible object, or "fish", including at least one emitting antenna, towed by a tow line, characterised in that it includes at least one automatic securing device (21) for mechanically securing the fish (11) to a pull line (13) and connecting this fish to a structure carrying signals and energy along said line, the device including a male element (32) integral with the pull line (13) and a female element (31) integral with the fish, the male element and the female element being configured to fit inside each other, so that the pull line (13) may be automatically inserted into the female element (31) and so that, since the insertion of the male element (31) into the female element (32) is realised by sliding the line (13) within the female element (31), the fitting of the male element inside the female element renders the female element integral with the pull line.
  2. The system according to claim 1, wherein the male element (32) and the female element (31) of the device (21) for automatically securing the fish to the pull line include connectors (52, 53) designed to be plugged together.
  3. The system according to any one of claims 1 or 2, wherein the female element (31) of the automatic securing device forms a tubular cavity (51) designed to receive the male element (32), including two axial openings of which at least one (37) has a cross-section which is sufficient to allow the insertion of the male element and a lateral opening (35) the width 1 of which, being substantially equal to the diameter of the line (13-a), allows the insertion of the pull line (13) into the cavity (51).
  4. The system according to claim 3, wherein the male element (32) of the automatic securing device has a cross-section greater than the cross-section of the pull line (13) onto which it is inserted by traction to prevent its passage through the lateral opening (35) of the female element (31).
  5. The system according to any one of claims 1 to 4, wherein the male element (31) of the automatic securing device is of a substantially cylindrical shape, the axis of symmetry of which substantially coincides with that (33) of the pull line and the cross-section of which has a diameter substantially greater than the diameter of the line; the female element of the automatic securing device including a cavity (51) in the shape of a cylindrical tube, the cross-section of which has a diameter which is sufficient to allow the axial insertion of the male element (31).
  6. The system according to any one of the previous claims, wherein the male element (32) and the female element (31) of the device for automatically securing (21) the fish to the pull line further comprises automatic centring and positioning means (61, 62), the centring and positioning means being configured and arranged so that the insertion of the male element (32) into the female element (31) ensures that the connectors of the male element (53) are positioned opposite the connectors of the female element (52) and that said opposing connectors are plugged together.
  7. The system according to claim 6, wherein the automatic centring and positioning means (61, 62) of the automatic securing device (21) are configured and arranged to cause, in the event that the relative orientation of the two elements (31, 32) in relation to each other, during the insertion of the male element (32) into the female element (31), does not allow the positioning of the connectors (52, 53) opposite one another, a relative rotation movement (54) of the male element (32) and the female element (31) so as to orient the two elements relative to each other in a suitable manner.
  8. The system according to claim 7, wherein the automatic positioning and centring means of the automatic securing device includes structures (61, 62) in the shape of fingers respectively integrated around the periphery of the male element (32) and within the internal wall of the cavity of the female element (31), the structures in the shape of fingers of the male element (62) being configured to be received in the spaces separating the structures in the shape of fingers of the female element (61) when the male element (32) is inserted into the female element (31).
  9. The system according to claim 8, wherein the structures in the shape of fingers integrated within the male element (62) have an end profile (72) which is different to that (71) of the structures in the shape of fingers integrated within the female element (61) so that when the structures (62) integrated within the male element are placed opposite the structures (61) integrated within the female element the bringing together of the two structures necessarily causes the first structures to slide along the second structures.
  10. The system according to any one of the previous claims, further comprising a device (22) for automatically handling the fish, said device including the following means:
    - a carrier frame (91) fixed to the handling platform of a vessel (15),
    - a mobile support (92) onto which the fish (11) is positioned when it is not secured to the pull line (13) and from which it is separated after securing,
    - displacement means (94, 98) for horizontally and vertically displacing and guiding the mobile support (92) from a waiting position towards a position allowing automatic securing of the fish (11) to the pull line (13) or conversely from this position to the waiting position,
    - means (93) for releasing the fish from its mobile support when it is secured to the pull line and replacing the fish onto the support following detachment,
    the device being positioned in a fixed manner on the handling platform.
  11. The system according to claim 10, wherein the displacement means of the automatic handling device at least include:
    - a motor (98),
    - an upper set (94) and a lower set (95) of lateral slide rails, placed either side of the frame (91), including different segments, AB, BC and CD for the upper set and AB, BC for the lower set, each slide rail of each set (94, 95) including dead stops (97) at its ends, the segments AB and BC being rectilinear segments and the segment CD being a curved segment,
    the displacement means of the automatic handling device being arranged and cooperating so that the mobile support (92), sliding along the slide rails (94, 95), first follows a horizontal translation movement, between two points A and B, and then a vertical translation movement between two points B and C; and then finally, when the dead stops are located at points C of the slide rails of the lower set (95) forming a rotation axis, a tilting movement towards the rear between two points C and D of the slide rails of the upper set (94).
  12. The system according to any one of claims 10 to 11, wherein the mobile support (92) of the automatic handling device includes means for retaining the fish (11) in place when the mobile support is in the un-tilted position and to allow the release of the fish (11) when the mobile support is in the tilted position.
  13. The system according to claim 12, wherein the means for maintaining the fish in position are notches (93) made in the sides of the mobile support.
  14. The system according to any one of claims 11 to 13, wherein the motor (98) of the automatic handling device is a controlled hydraulic cylinder, one end of which is fixed to the frame (91) of the device and the other end is fixed to the mobile support (92).
  15. The system according to any one of claims 10 to 14, wherein the mobile support (92) includes means (99) constituting a curved groove which positions itself under the pull line (13) when the mobile support is in the tilted position, in order to guide the pull line (13) and limit its curvature.
EP07821220A 2006-10-13 2007-10-11 Device for automatically attaching and detaching a towed sonar transmitter to and from an active-sonar tow line Active EP2076426B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0608998A FR2907263B1 (en) 2006-10-13 2006-10-13 DEVICE FOR AUTOMATICALLY ARRIMINATING AND DETRATING A SONAR TRANSMITTER TRAILING TO A TOWING LINE OF AN ACTIVE SONAR.
PCT/EP2007/060853 WO2008043823A1 (en) 2006-10-13 2007-10-11 Device for automatically attaching and detaching a towed sonar transmitter to and from an active-sonar tow line

Publications (2)

Publication Number Publication Date
EP2076426A1 EP2076426A1 (en) 2009-07-08
EP2076426B1 true EP2076426B1 (en) 2011-02-23

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EP07821220A Active EP2076426B1 (en) 2006-10-13 2007-10-11 Device for automatically attaching and detaching a towed sonar transmitter to and from an active-sonar tow line

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US (1) US8104419B2 (en)
EP (1) EP2076426B1 (en)
KR (1) KR101474032B1 (en)
AT (1) ATE499281T1 (en)
AU (1) AU2007306342B2 (en)
BR (1) BRPI0717736A2 (en)
DE (1) DE602007012740D1 (en)
ES (1) ES2359948T3 (en)
FR (1) FR2907263B1 (en)
NO (1) NO337592B1 (en)
WO (1) WO2008043823A1 (en)

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DE102011000948A1 (en) * 2011-02-25 2012-08-30 Atlas Elektronik Gmbh Towing sonar system and method for performing a sonar mission by means of such Schleppsararanlage
FR2994559B1 (en) 2012-08-17 2015-06-05 Thales Sa DEVICE FOR LAUNCHING THE RECOVERY OF A SONAR TRAILER
DE102013105593A1 (en) * 2013-05-30 2014-12-04 Atlas Elektronik Gmbh Transfer device and method for deploying and retrieving a towing sonar
FR3019142B1 (en) 2014-04-01 2017-11-10 H2X DEAD WEIGHT SYSTEM AND EQUIPMENT ON A LAGGED TRAIN LINE AND AUTOMATED RECOVERY AND METHOD OF IMPLEMENTING THE SAME
RU2550643C1 (en) * 2014-06-04 2015-05-10 Открытое акционерное общество "Концерн "Океанприбор" Deployment-retrieval device of flexible extended trailing antenna
KR101666494B1 (en) 2014-06-05 2016-10-14 대우조선해양 주식회사 Underwater towed sonar system using wire control
FR3027013B1 (en) * 2014-10-14 2018-01-12 Thales Sa FITTING A FISH IN A SONAR TRAILER
US9511824B2 (en) * 2014-11-19 2016-12-06 Raytheon Company Automated cable breakout assembly
EP3288124B1 (en) * 2015-04-21 2021-09-08 Witco Of Jupiter Dentsu Co., Ltd. Connector
DE102020206996A1 (en) 2020-06-04 2021-12-09 Thyssenkrupp Ag Depth-variable towing sonar and procedures for operating

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EP0146336A3 (en) * 1983-12-16 1987-10-14 George Alexander Hogg Stab connector assembly
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US6835025B1 (en) * 2001-09-21 2004-12-28 Rti Energy Systems, Inc. Receptacle assembly and method for use on an offshore structure
DE10262054B4 (en) * 2002-10-30 2005-08-25 Atlas Elektronik Gmbh Application device for an underwater towed antenna
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WO2006041904A1 (en) * 2004-10-06 2006-04-20 Single Buoy Moorings, Inc. Riser connector

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FR2907263A1 (en) 2008-04-18
FR2907263B1 (en) 2010-06-04
ATE499281T1 (en) 2011-03-15
NO20091859L (en) 2009-06-30
DE602007012740D1 (en) 2011-04-07
WO2008043823A1 (en) 2008-04-17
ES2359948T3 (en) 2011-05-30
AU2007306342B2 (en) 2012-10-04
US8104419B2 (en) 2012-01-31
KR101474032B1 (en) 2014-12-17
KR20090080519A (en) 2009-07-24
BRPI0717736A2 (en) 2013-10-22
US20100064955A1 (en) 2010-03-18
NO337592B1 (en) 2016-05-09
EP2076426A1 (en) 2009-07-08
AU2007306342A1 (en) 2008-04-17

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