EP2648970B1 - System for releasing and retrieving a submersible device - Google Patents

Description

The invention is in the naval field and relates more specifically to handling systems and lifting mounted on ships, allowing the launching and recovery of marine gear or submarine from these vessels, the gear considered being both towed gear and autonomous gear, the latter then being provided with a temporary link during the launching and recovery phases.

The operations of launching and recovering a marine or submarine craft from a ship otherwise loaded with the transport of this craft, generally involves a critical phase, especially in rough sea, which concerns the passage of the state. totally emerged where the craft is attached to the handling means used, in the fully submerged state where the craft no longer has any connection with them; and vice versa. Indeed, it is during these critical phases that the swell movements are the most dangerous for the integrity of the machine, the latter being buoyed by the swell while it is in an area of the surface where it is likely to hit hard either the ship's structure, or that of the lifting and handling means.

This is particularly the case for an autonomous machine in the launching or recovery phase, when, the craft being already in the water or in the water, its movements are not yet (or are no longer) completely mastered by the lifting and handling means. This is also the case for a machine towed in the phases where the towing cable keeps it close to the hull of the ship while its movements are not yet (or no longer) completely mastered by the lifting and lifting means. handling.

To limit these risks of collision, there are known solutions, solutions generally implementing means that involve the intervention of human operators.

The document US 2008 202,405 shows a sinking system according to the prior art.

Thus, with regard to autonomous gear, not towed by the ship, a known solution consists in providing means of securing on the the hull of the machine, for example fixing rings, these fixing means being arranged in such a way that the machine can be lifted while keeping a horizontal position. The launching and the recovery can then, for example, be carried out by means of a winch mounted on a movable gantry placed at the rear of the ship, or a crane, the crane or the crane allowing to position the hoist winch above the recovery area. As a result, the launch and the lift are carried out vertically which limits the possibilities of collision with the ship during the descent or ascent. Alternatively the lifting of the machine can be achieved by placing it in a nacelle type device itself having appropriate fixing points.

This type of solution is applicable, notably independently, to gear towed by the medium but is however not easily applicable to the case of gear towed from the front, insofar as, for obvious reasons of efficiency, it is desired to perform the towing and handling of the machine from a single cable. Handling by means such as those described above using a single cable proves tricky because it is accompanied for the machine a passage from the vertical position to the horizontal position when setting the water and vice versa during recovery. This handling also requires additional operations whose object is, after lifting the machine and positioning above the deck of the ship, to rest the craft flat on the deck of the ship or more generally on a storage area. These operations themselves usually require the intervention of human operators, intervention which is made more delicate and more dangerous by strong sea.

As a result, for the gear towed from the front, the generally preferred solution is to use a handling cable temporarily hung above the center of gravity of the machine.

A solution also used provides a handling based on the establishment of means having an inclined ramp on which the machine slides to reach the surface of the water or to get out and return to the ship. The ramp is generally configured so as to guide the machine in a rectilinear path, which prevents the machine can follow a lateral movement. However, such a ramp is not generally not suitable for use by high seas, lateral movements of the machine may then cause damage to it.

The use of such means advantageously allows the launching and deployment of the craft behind the ship simply by letting the towing cable spin and, conversely, recover the craft aboard the ship simply by winding the cable, on the drum of a winch for example. The launching and recovery of the craft can then be carried out while the ship is in motion, so that the craft, dragged by the ship is naturally positioned in the axis of progression of the this.

Nevertheless, the implementation of such means comprises a critical phase which is between the moment when the machine comes into contact with the ramp and that where it is completely placed on it. Indeed, the passage of the machine from the surface of the water to the ramp involves contacting the nose of the machine with the ramp, the entry into contact may occur, in particular agitated sea, with a certain hardness that can cause damage to the machine but also prevent the recovery of it.

To overcome these difficulties of contact, various solutions have been developed, solutions generally adapted to a given type of gear. These known solutions generally consist in reinforcing the structure of the machine, the nose mainly so that it resists shocks resulting from coming into contact with the end of the ramp. It also consists in implementing means making it possible to minimize these shocks, in particular by configuring the ramp so that its end is situated under the surface of the water so that the floating craft on the surface enters contact with the inclined surface of the ramp and not with its end. Such solutions are nevertheless insufficient in strong sea, the effect of slamming (or "slamming" according to the Anglo-Saxon name) waves being then reinforced by the movement of the ship.

An object of the invention is to provide means for launching and recovering a marine or underwater craft in the safest possible manner, these means can be implemented fully automatically, without intervention or human supervision. An object of the invention is more particularly to propose means adapted to the handling underwater vehicles towed from the front or underwater gear not having means for vertical lifting, but being temporarily connected to traction means, a cable moved by a winch for example, during launching phases and recovery.

For this purpose the invention relates to a launching system and recovery of a marine or underwater vehicle according to claim 1, said system being intended to be installed on a ship carrying out the storage and transport on submarine vehicle area.

• une rampe articulée inclinable comportant elle-même un fond et des bords,
• des premiers moyens moteurs pour abaisser et relever la rampe et des moyens de traction permettant de contrôler le glissement de l'engin le long de la rampe lors de la mise à l'eau et de hisser l'engin le long de la rampe lors de la récupération, la rampe présentant une extrémité émergée occupant une position fixe, cette extrémité étant mobile seulement en rotation au moins autour d'un axe horizontal perpendiculaire à l'axe du navire et une extrémité libre dont la position varie, sous l'action des premiers moyens moteurs, entre une position immergée où elle est plongée dans l'eau et une position émergée pour laquelle la rampe se trouve en position horizontale.

It relates to a system for performing, including in rough seas, the launching and automatic recovery of marine or submarine craft from a moving carrier ship, of the type comprising:

• an articulated ramp inclinable itself having a bottom and edges,
• first motor means for lowering and raising the ramp and traction means for controlling the slippage of the machine along the ramp when launching and hoisting the machine along the ramp when the recovery, the ramp having an emerging end occupying a fixed position, this end being movable only in rotation at least about a horizontal axis perpendicular to the axis of the vessel and a free end whose position varies, under the action of first motor means, between a submerged position where it is immersed in water and an emergent position for which the ramp is in a horizontal position.

The system according to the invention also comprises buoyancy means configured and arranged on the ramp so that the free end of the ramp floats on the surface or near the surface of the water when the ramp is lowered. According to the invention, the bottom of the articulated ramp has an outer face configured to form a fairing whose sectional profiles are defined to minimize the drag and lift forces imposed on the ramp by the movement of the vessel and the vertical dynamic movements caused by waves when its free end is in contact with water.

According to a particular embodiment, the edges of the ramp are configured to ensure, together with the fairing of the lower part of the ramp, the buoyancy of the free end of the ramp.

According to another particular embodiment, the buoyancy means are constituted by floats fixed on the ramp at its free end.

According to one embodiment, the edges of the ramp are configured to maintain the machine on the ramp and limit roll movements printed on the machine.

According to another embodiment, the system according to the invention further comprises reception and guidance means comprising a reception device configured to receive the end of the machine and remain in contact with the machine during the launching operations and recovery, the host device being driven with the vehicle by the traction means.

According to a variant of the previous embodiment, the traction means comprising a traction cable driven by a winch, the receiving device is constituted by a fairlead configured to slide along the ramp and through which the cable passes. traction.

According to another variant, the reception device furthermore comprises vertical protection elements on which the wings of the machine rest when its end is engaged in the reception device, the frontal support thus produced making it possible to contribute to the keeping the machine in the axis of the ramp.

According to another variant, the receiving and guiding means further comprise motor means configured so as to keep the receiving device in contact with the end of the machine as it progresses on the ramp.

According to another embodiment, the system according to the invention further comprises complementary support means for holding the machine in a fixed storage position when the ramp is returned to its raised position; the machine is then stored on the ramp.

The device according to the invention thus consists of a recovery system that advantageously makes it possible to limit the relative vertical movements between this system and the underwater vehicle, or marine, while the latter floats on the surface, in particular at the critical moment of the contact between these two entities during the recovery. It allows to put the vehicle into the water automatically from its storage position and then retrieve the machine after use and put it back in its storage position.

The limitation of the relative vertical movements is obtained by means of a tilting ramp articulated in its upstream part and which comprises means of buoyancy in its rear mean that allow its free end to float to the surface. Furthermore, the streamlined underside of the ramp advantageously limits the impact of the speed of advance of the ship and the striking effects due to waves on the relative positioning of the rear end of the ramp relative to the surface of the beam. water for different sea conditions and speed with respect to water.

• la figure1, une vue schématique générale d'un exemple de réalisation particulier du dispositif selon l'invention représentant la rampe en position abaissée;
• la figure 2, des vues schématiques partielles, selon différents plans, relatives aux caractéristiques hydrodynamiques de la rampe constituant le dispositif selon l'invention;
• la figure 3, une vue schématique générale d'un exemple de réalisation particulier du dispositif selon l'invention représentant la rampe en position relevée.

The features and advantages of the invention will be better appreciated through the description which follows, which description presents a particular embodiment example, non-limiting example of the scope of the invention. This description is based on the appended figures which represent:

• the figure 1 , a general schematic view of a particular embodiment of the device according to the invention showing the ramp in the lowered position;
• the figure 2 partial schematic views, in different planes, relating to the hydrodynamic characteristics of the ramp constituting the device according to the invention;
• the figure 3 , a general schematic view of an example of particular embodiment of the device according to the invention representing the ramp in the raised position.

As has been said above, the following description shows an embodiment of the device according to the invention, a non-limiting example of the scope of the invention. This exemplary embodiment presents both the essential features of the invention as well as additional features related to this embodiment.

• une rampe articulée 11 carénée située de préférence à l'arrière du navire et présentant une extrémité 111 fixée au navire et une extrémité libre 112.

The figure 1 presents a general view of this embodiment. In this example, the device is mounted on a catamaran-type ship 10, between the two hulls of the latter. As illustrated in this figure, the device according to the invention mainly comprises the following elements:

• a faired hinged ramp 11 preferably located at the rear of the vessel and having an end 111 attached to the vessel and a free end 112.

The fixed end 111 of the ramp is connected to the carrier leaving at least a degree of rotation about a horizontal axis perpendicular to the main axis of the ramp so that the free end can be raised or lowered at the way of a drawbridge.

• des moyens 12 montés sur la rampe et destinés à favoriser la progression de l'engin le long de la rampe, sous l'action de la traction exercée par le câble (récupération) ou par gravité (mise à l'eau). Ces moyens sont par exemple des rouleaux ou des galets roulants disposés latéralement sur le fond 113 de la rampe et sur lesquels roule l'engin 15.
• des moyens d'accueil et de guidage dont la fonction est d'assurer un alignement de l'engin sur l'axe de la rampe de façon à permettre un glissement ou un roulement correct de l'engin tout au long de son cheminement sur la rampe (en montée ou en descente). Ces moyens sont par exemple constitués, comme illustré sur la figure 1, par un dispositif 13 faisant office de chaumard, à l'intérieur duquel passe le câble de traction 14 de l'engin. Cet élément est configuré pour se mouvoir le long de la rampe 11, par exemple sur un rail disposé le long de l'axe longitudinal de celle-ci (non représenté sur la figure).

• des moyens de flottabilité dont le rôle principal est de faire en sorte que l'extrémité libre 112 de la rampe puisse se maintenir naturellement à la surface de l'eau en l'absence de vagues ou pour des vagues de grande longueur d'onde par rapport aux dimensions du système de récupération. Dans l'exemple de réalisation de la figure 1 ces moyens sont constitués par des flotteurs latéraux formant les bords 114 et 115 de la rampe, ainsi que par le fond de la rampe formant la partie carénage. Cependant dans une forme de réalisation alternative ces moyens peuvent consister simplement en des flotteurs fixés sur la rampe au niveau de l'extrémité libre 112 ou par toute autre combinaison de moyens appropriés.

According to the invention, the ramp 11 has a general shape of slide or gutter with a bottom 113 and edges 114 and 115 whose height is determined in particular according to the size and geometry of the engine 15 manipulated.

• means 12 mounted on the ramp and intended to promote the progression of the machine along the ramp, under the action of the traction exerted by the cable (recovery) or by gravity (launching). These means are for example rollers or rollers arranged laterally on the bottom 113 of the ramp and on which the machine 15 rolls.
• reception and guidance means whose function is to ensure alignment of the machine on the axis of the ramp so as to allow a sliding or correct rolling of the machine all along its path on the ramp (uphill or downhill). These means are for example constituted, as illustrated on the figure 1 by a device 13 acting as a fairlead, inside which passes the traction cable 14 of the machine. This element is configured to move along the ramp 11, for example on a rail disposed along the longitudinal axis thereof (not shown in the figure).

• buoyancy means whose main role is to ensure that the free end 112 of the ramp can be naturally maintained on the surface of the water in the absence of waves or for waves of long wavelength by compared to the dimensions of the recovery system. In the exemplary embodiment of the figure 1 these means are constituted by lateral floats forming the edges 114 and 115 of the ramp, and by the bottom of the ramp forming the fairing portion. However, in an alternative embodiment these means may consist simply of floats fixed on the ramp at the free end 112 or by any other combination of appropriate means.

In the launching or raising phase of the craft aboard the vessel, the end 151 of the craft, integral with the traction cable, is inserted inside the element 13 and remains in contact narrowly with the latter, which has the advantageous effect of maintaining the axis of the vehicle in the axis of the ramp 11 during its progression along the latter.

This maintenance is naturally obtained to the extent that the host element 13 is a massive element that its weight tends to descend along the ramp thus opposing the progression of the fish during its ascent and facilitating its descent.

However, in a particular embodiment, the reception and guiding means may also comprise motor means (not present in the example of FIG. figure 1 ) configured such that the receiving element 13 is maintained in contact with the end of the machine 15 as the latter progresses on the ramp 11. These means act for example by exerting some resistance to the progression of the fairlead towards the fixed end of the ramp.

According to the embodiment considered, these motor means may for example consist of an auxiliary winch which pulls the reception device 13 (the fairlead) towards the free end 112 of the ramp 11 (downwards), via a cable returned by a pulley located at the free end of the ramp. Adjusting the tension of the auxiliary winch with respect to the tension generated by the towing winch 16 then makes it possible to maintain active maintenance of the contact between the machine 15 and the fairlead 13 during the ascent of the machine 15 along of the ramp 11, without however hindering the ascent.

Alternatively, according to another embodiment, the machine can be secured to the host element when its end is inserted therein. In this case, the action of motor means becomes less necessary.

Illustrations 2-a, 2-b and 2-c of the figure 2 illustrate an essential characteristic of the invention. Figure 2-a shows a schematic side view of the ramp 11, in a lowered configuration for which the free end 112 is immersed in water. This configuration corresponds to the implementation of the ramp during the launching operations and recovery of the machine 15. Figure 2-b shows for the same configuration (ramp down), a view of the ramp according to a horizontal section plane passing through the axis Δ ₂ presented on the side view 2-a. As for illustration 2-c, it shows a view of the ramp according to a vertical section plane passing through the axis Δ ₁ presented on the side view 2-a and perpendicular to the axis of the ramp 11.

According to this characteristic, the bottom 113 of the articulated ramp 11 has an outer face 21, intended to come into contact with the surface of the water, which forms a fairing whose sectional profile is defined, as shown in the views 2 b and 2-c, so as to minimize, when the free end of the ramp is in contact with the water (lowered ramp) in accordance with the schematic view 2-a, the drag and lift forces caused by the speed of advance of the ship on the one hand and to minimize the knocking effect caused by the waves on the other hand. In other words, the profile of the outer face 21 of the bottom 113 of the ramp 11 is defined so as to act in the manner of a breakwater to break the wave front likely to collide with the ramp 11, due to in particular the movement of the ship 10, before they reach the free end 112 of the ramp, and do not cause, at the rhythm of the passage of the waves under the ramp 11, a sudden variation of the vertical position of the free end 112 of the ramp 111 by relative to the surface of the surrounding water. This sudden variation would result in particular, in the absence of any compensation, by an uncontrolled variation of the vertical position of the end 112 of the ramp 11 relative to that of the end 151 of the machine 15, which may cause damage to the latter if it occurs as it approaches the ramp.

In a particular embodiment, illustrated by the figure 2 , the outer face 21 of the bottom 113 of the ramp 11 forms a fairing with a sectional section in the form of "V". In an alternative embodiment this face 21 forms a fairing with a sectional profile in the shape of "W".

• la remontée dynamique de l'extrémité libre 112 de la rampe 11 au-dessus de la surface (effet de surf) lié à la résistance de la rampe à l'avance du navire et à la portance de la rampe: ce phénomène, consécutif à la vitesse du navire, est de nature à rendre difficile une entrée en contact sans heurt de l'extrémité de l'engin 15 dans le chaumard 13 en particulier lors des opérations de récupération de l'engin 15;
• les mouvements dynamiques verticaux, brusques, suivis par l'extrémité libre 112 de la rampe 11 consécutifs notamment à l'effet de tossage provoqué par les vagues en particulier en présence de vagues courtes (effet conjugué d'une déflexion de l'eau et d'un rappel hydrostatique important), mouvement qui est également de nature à rendre difficile une entrée en contact sans heurt de l'extrémité de l'engin 15 dans le chaumard 13 en particulier lors des opérations de récupération de l'engin 15 et qui peuvent avoir pour effet complémentaire de faire sursauter l'engin alors qu'il est installé sur la rampe et d'engendrer des heurts contre le fond de la rampe pouvant l'endommager.

Advantageously, the implementation of a ramp 11 equipped with buoyancy means which act mainly on the free end 112 of the ramp so as to maintain it at a given position relative to the surface of the water, surface or slightly immersed for example, and whose lower face 21 has the sectional profile defined above, can minimize two important effects:

• the dynamic rise of the free end 112 of the ramp 11 above the surface (surf effect) related to the resistance of the ramp in advance of the vessel and the lift of the ramp: this phenomenon, consecutive to the speed of the ship, is likely to make it difficult to come into smooth contact with the end of the machine 15 in the fairlead 13 in particular during recovery operations of the machine 15;
• vertical dynamic movements, abrupt, followed by the free end 112 of the ramp 11 consecutive including the effect of knocking caused by the waves especially in the presence of short waves (combined effect of a deflection of water and water). an important hydrostatic booster), a movement which is also likely to make it difficult to come into smooth contact with the end of the machine 15 in the fairlead 13, in particular during the recovery operations of the machine 15 and which may have the additional effect of causing the craft to startle while is installed on the ramp and generates clashes against the bottom of the ramp that can damage it.

The minimization of these two effects, obtained by the implementation of the invention, thus represents an essential factor for limiting the opportunities for significant shocks between the machine 15 and the ramp 11, especially during the phase where the machine is getting closer. of the ramp and where its end, towed by the cable, is about to enter the fairlead 13 to settle on the ramp 11 and during the phases where the machine slides along the ramp. This factor is particularly essential insofar as the launching and recovery of the craft are performed while, so as to ensure good overall stability, the ship is kept in motion.

These two complementary means, buoyancy means and fairing of the outer face of the ramp, thus advantageously provide stable vertical positioning with respect to the surface of the rear end 112 of the ramp 11 and consequently of the receiving device 13, especially during the critical phase where the craft approaches the ship 10 to settle on the ramp.

Thus, thanks to the essential characteristics described in the foregoing text, the device according to the invention makes it possible to safely recover an underwater vehicle, or marine, while the ship in charge of the recovery is advancing with a non-zero speed. by formed sea.

The fact that the device is designed to be implemented from a moving ship, advantageously allows this vessel to be more manoeuvrable and limits the amplitude of its movements under the action of the movements of the sea. following, the use of a favorable course facing or back to the swell can greatly limit the roll movements. The forward speed of the carrier vessel 10 furthermore makes it possible, as said above, to stabilize more easily the positioning of the machine 15 in the axis of the ramp 11.

The device according to the invention also has the advantage of being able to be installed on a wide variety of vessels with different tonnages and shapes. It may also, depending on the application considered, include in addition to the essential characteristics described previously, complementary elements allowing for example to facilitate its implementation in the operational context considered.

In the example of implementation of the figure 1 , the device according to the invention is for example placed between the two hulls of a catamaran type ship, preferably towards the rear of the ship. The machine 15 considered here is a towed underwater vehicle with wings 151 providing a depressant function. The size and constitution of these fins also makes them relatively fragile. The machine 15 is here towed by means of a towing cable 14, a cable electrotractor for example; wound on a towing winch 16.

In accordance with what has been explained above, the device presented comprises the essential constituents described above and in particular a narrow ramp 11 whose width corresponds substantially to the section of the body of the machine, associated with buoyancy means of which the action is essentially applied to the free end of the ramp and to receiving and guiding means constituted by the device 13. Similarly, the outer face of the bottom of the ramp has a narrow, careen form, shaped "V ".

However, in this embodiment, the ramp 11 is mounted on the vessel by means of fixing means 17 allowing it to pivot about an axis perpendicular to the axis of the ship. The fastening means are mounted on the end 111 of the ramp facing towards the front of the ship 10, which allows the end 112 of the ramp directed towards the rear to be free with respect to pitching movements. of the carrier ship.

Moreover, with regard to the reception and guiding means, the device (the fairlead) 13 comprises, in this example, vertical protection elements 131 on which the wings 151 of the machine rest when its end is engaged in the guide element 13, the support thus produced making it possible to contribute to the maintenance of the machine 15 in the axis of the ramp 11.

In the exemplary embodiment illustrated by the figure 1 the device according to the invention also comprises lifting means making it possible to raise the mobile end 112 of the ramp 11 in the event that the device is not in use, outside the periods of launching and recovery of the machine in particular, and to bring the ramp 11 and where appropriate the machine 15 in a horizontal storage position, illustrated by the figure 3 , above the surface of the water.

These additional means of lifting may consist, as illustrated by figure 1 , in a winch 18 which synchronously winds and unwinds two cables 181 and 182. The cables 181 and 182 are returned by pulleys placed on a gantry 19 and are fixed on each side of the ramp 11, preferably close to the free end 112. The upper position of the ramp is for example determined by a system of stops positioned on the gantry. The low position is not identified by a locking stop because the ramp is desired floating.

Moreover, in this embodiment, the edges 114 and 115 of the ramp 11, in addition to being configured to ensure the buoyancy of the free end 112 of the ramp 11, are also configured to form support elements. longitudinal semi-rigid. The thickness of the edges is then adapted to the dimensions of the machine 15 considered, so that when this machine is installed on the ramp 11, its body rests on the means 12 while its wings 151 rest on the edges 114 and 115 on which they slide.

It should be noted that although the stability of the vertical position of the rear end 112 of the ramp with respect to the surface of the water is normally ensured, by optimizing the hydrostatic (mass, volume) and hydrodynamic properties of the ramp. by the presence of the buoyancy means and by the sectional profile of the hull formed by the bottom 113 of the ramp 11, it is nevertheless possible, for certain particular applications, to complete the action of these means by controlling the position in the vertical plane of the free end 112 of the ramp using complementary means, for example cylinders, or by using lifting means capable of performing this servo-control, these means being able to be those used to raise the ramp and keep it in the raised position.

From an operational point of view, the device according to the invention advantageously makes it possible to carry out the launching and recovery of marine gear, or submarines, towed gear particularly, without human intervention for docking or handling is required.

Thus, to recover a machine after use, it is sufficient to lower the free end of the ramp 11, initially in a horizontal position, by actuating the motor 18 of the lifting means.

The ramp 11 thus lowered advantageously ensures, thanks to the means ensuring the buoyancy of its free end 112 and to its fairing, the holding in position of the reception and guiding means, and in particular of the entry of the device 13 (fairlead) , at the level of the surface of the sea whatever the height of the waves. The fairlead 13 thus follows the surface of the water as well as the towed craft 15 which floats on the surface.

As a result, the machine 15 can be towed to a position where it comes into contact with the fairlead 13 while these two elements are positioned substantially at the same height. In this way, the end of the machine 15 can fit into the fairlead 13 with a minimal risk of violent frontal and vertical shock.

The end of the machine 15 is then inserted into the device 13, the movement of the vessel 10 has the effect of driving the machine to position, inertia, along the longitudinal axis of the ramp 11. Moreover , as in the embodiment of the figure 1 , the device 13 is equipped with vertical protection elements 131 bringing the wings 151 of the machine 15 into contact with these vertical elements 151 promotes the refocusing of the machine 15 in the axis of the ramp 11 at the moment of contact With the device 13, the presence of these vertical elements makes it possible moreover to limit the movements of yaw, yaw and yaw of the machine 15 when the contact is established completely with the device 13.

A correct positioning of the machine vis-à-vis the ramp then being ensured, the actual ascent of the vehicle 15 on the ramp 11 can thus be performed by continuing to actuate the towing winch 16, the movement of the Apparatus 15 causing that of the fairlead 13 through which the towing cable 14 passes and in which its end 15 is inserted while the wings 151 of the machine 15 take a frontal support.

The assembly thus rises along the ramp, by sliding or rolling on it, towards the fixed end 111, the reception element 131 being maintained in contact with the end of the machine by the motor means 132 described above.

As a result, as the machine moves up and out of the water, the contact between the machine 15 and the ramp 11 becomes narrower. The ramp 11 gets heavier so that it sinks into the water and tilts. The clashes between the machine and the ramp are then attenuated, particularly because of the steep inclination of the ramp following the weight of the machine. Furthermore, the support of the wings 151 on the edges 114 and 115 of the ramp makes it possible to limit the possible roll of the vehicle during this ascent. The pitch of the vehicle is progressively attenuated until it becomes zero when the buoyancy is insufficient to lift the vehicle relative to the ramp 11. The machine 15 is then fully supported on the ramp 11 and his six degrees of freedom are mastered.

It should be noted that in a particular embodiment, suitable for operation by high sea generating relative vertical accelerations of more than 1g the device according to the invention may comprise a complementary means, a rigid arm for example, allowing to immobilize the machine relative to the docking device 13 and therefore with respect to the ramp.

According to the invention, since the machine 15 rests entirely on the ramp 11, it is possible to return the ramp 11 in the horizontal position using the lifting means.

As a result the machine 15 being placed stably on the ramp 11, it is possible by adopting a so-called "transit" configuration, illustrated by the figure 3 , in carrying out the transport leaving it stored on the ramp 11. In this configuration complementary fastening means 1011, for maintaining the machine 15 plated on the ramp 11, are implemented. In this way, the device according to the invention and the vehicle can undergo without damage vertical accelerations of several g.

Alternatively, insofar as suitable handling means are available on board the ship, the craft can from this stable position be detached from the towing cable 14 and placed on a dedicated storage area. In this case the action of the lifting means during Transit phases are limited to maintaining the boom in the raised position.

From an operational point of view, the launching maneuver of the machine is a reverse maneuver from that of recovery.

Thus, during this maneuver, the machine 15 being positioned on the ramp 11, it is lowered, the lifting means ensuring a controlled descent of the free end 112 of the ramp 11 to the surface of the water. Once the free end 112 has fully descended, the free part of the ramp 11, still equipped with the towed vehicle 15, floats by sinking slightly below the surface of the water at its rear end 112. As a result the towing winch 16 is actuated so as to release the craft 15 which slides along the ramp 11 under the action of its own weight, or in the alternative embodiment described above, under the action motor means which act on the receiving device 13 until completely leaving the ramp 11, the end of the machine 15 and the fairlead 13 then being separated.

During the release phase of the machine, the lifting means are preferably maintained in tension so as to prevent the lifting cables 181 and 182 being relaxed from having a "slack", that is to say a loosening , detrimental to the proper execution of the operation.

Claims (8)

1. A system for automatically launching and retrieving a marine or submarine craft (15) from a moving carrier vessel (10), even in rough seas, said system being of the type comprising an inclinable hinged ramp (11) in the form of a trough, comprising a bottom (113) and edges (114, 115), first drive means (18, 181, 182) for lowering and raising said ramp and traction means (14, 16) for controlling the slippage of said craft (15) along said ramp (11) when launching said craft and for hoisting said craft (15) along said ramp (11) when retrieving said craft, said ramp (11) having a free end (112) and an emerged end (111) connected to said vessel, whilst at least leaving a degree of rotation free about a horizontal axis perpendicular to the main axis of said ramp so that said free end can be raised and lowered in the same way as a drawbridge, said first drive means being designed to lower and raise said ramp so that the position of said free end varies between a submerged position where it enters the water and an emerged position at which said ramp is found in the horizontal position, said ramp (11) further comprising buoyancy means configured and arranged on said ramp so that said free end of said ramp floats on the surface or near the surface of the water when said ramp is lowered, characterised in that said bottom (113) of said hinged ramp (11) has an outer face (21) forming a fairing, the section profile of which is in the shape of a V or in the shape of a W, said system comprising reception and guidance means comprising a reception device (13) configured to receive the end of said craft (15) and to remain in contact with said craft (15) during the launch and recovery operations, said reception device being driven with said craft (15) by traction means when launching and retrieving said craft, said system further comprising vertical protection elements (131) designed to provide a support for the wings (151) of said craft when its end is engaged in said reception device (13), with the frontal support that is thus realised helping to retain said craft (15) in the axis of said ramp (11).
2. The system according to claim 1, characterised in that said edges (114, 115) of said ramp (11) are configured to provide, jointly with the fairing of the lower part of said ramp, the buoyancy for said free end (112) of said ramp.
3. The system according to claim 1, characterised in that said buoyancy means comprise floats fixed to said ramp at its free end (112).
4. The system according to any one of claims 1 to 3, characterised in that said edges (114, 115) of said ramp (11) are configured to ensure the retention of said craft (15) on said ramp and to limit the roll movements applied to said craft (15).
5. The system according to any one of the preceding claims, characterised in that, with said traction means comprising a traction cable (14) driven by a winch (16), said reception device (13) is formed by a fairlead configured to slide along said ramp (11) and through which said traction cable (14) passes.
6. The system according to any one of the preceding claims, characterised in that said reception and guidance means further comprise drive means configured so as to keep said reception device (13) in contact with the end of said craft (15) as long as said craft moves along said ramp (11).
7. The system according to any one of the preceding claims, characterised in that it further comprises additional support means (1011) for keeping said craft in a fixed stowed position when said ramp is returned to its raised position, said craft then being stowed on said ramp.
8. The system according to any one of the preceding claims, wherein said emerged end is fixed to said vessel.

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