EP1188662B1 - Arrangement for the recovery of an underwater vehicle - Google Patents
Arrangement for the recovery of an underwater vehicle Download PDFInfo
- Publication number
- EP1188662B1 EP1188662B1 EP01120839A EP01120839A EP1188662B1 EP 1188662 B1 EP1188662 B1 EP 1188662B1 EP 01120839 A EP01120839 A EP 01120839A EP 01120839 A EP01120839 A EP 01120839A EP 1188662 B1 EP1188662 B1 EP 1188662B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- net
- recovery
- mountain
- platform
- floats
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- 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
- B63G7/00—Mine-sweeping; Vessels characterised thereby
- B63G2007/005—Unmanned autonomously operating mine sweeping vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Definitions
- the invention relates to a device for recovering a unmanned underwater vehicle which in the preamble of Claim 1 defined genus.
- a known recovery device of this type (DE 195 44 656 C1) is the vehicle-side recovery link as an eyelet and the gear on the hoist side is designed as a crane hook, which can be extended at one end of a crane arm and retractable rope is attached.
- a safety line to lead the crane hook to the mountain eyelet used, which is attached to the end of the crane hook and by means of of a jib projecting at the end of the crane arm into one to the Linen bow reaching out to the surface of the water.
- the Catch line is by one on the boom over one elongated, elastic expansion element attached gripper passed, which is designed so that it for releasing the safety line opens automatically when it goes into the mountain eyelet threaded line by drumming a straight line Elongation reached.
- Such a recovery device works quite reliably even under rough sea conditions with steered Submersibles of the upper weight class that more than Weigh 500 kg.
- the fishing gear is designed as a mountain reuse, which on free end of one with its base near the Water surface on the side wall of the salvage ship supported support frame that can be swiveled around its base is arranged. After lowering the Bergereuse on the Water surface becomes the underwater vehicle, there Underwater running body called through the trap opening through into the trap and stopped, after which the support frame is pivoted up again, so that the Underwater running body on board the salvage ship of the trap can be removed.
- Such a recovery device is used for recovery lightweight underwater vehicles, however that is Meeting and entering the trap opening with the Underwater vehicle, especially under sea conditions relatively difficult to accomplish and requires some Exercise.
- the invention has for its object a Recovery device for lightweight underwater vehicles, e.g. weighing 50 kg or less, to create with that in a simple and reliable way Submersible near the mountain platform on the Water surface recorded and on the mountain platform can be hoisted.
- the device for recovering a unmanned, remote-controlled underwater vehicle has the Advantage that through the network training of the fishing gear large hit area for establishing the coupling between Underwater vehicle and fishing gear is available, thereby increasing the reliability of the salvage decisive coupling process between underwater vehicle and gear even in adverse conditions, e.g. at Swell and / or moderate driving skills of the operator, increased becomes. Since the vehicle-side recovery hook on which the Water surface piercing top of the Submersible is arranged in each mesh can get caught, also leads to a less precise driving maneuver the remote-controlled underwater vehicle to a coupling the gear. Once the connection between the network and Recovery hook is made, is the underwater vehicle switch off and catch up with the network at the same time. Even if if the driving maneuver is awkward, the coupling process fails, the incorrect pairing process proceeds harmless because the mountain network is not worth mentioning Contains collision masses. The coupling attempts can can be canceled or repeated any number of times.
- the recovery network is connected to the hoist via a recovery line and equipped with buoyancy bodies.
- a recovery line Through the freely selectable Line length between the mountain platform and the floating one Bergen network is an extensive decoupling of the mountain network ensured by movements of the mountain platform.
- the buoyancy is the floating floating network stretched out, and the underwater vehicle can easily get under drive the net surface and so with his mountain hook in caught one of the meshes.
- the Recovery hooks arranged on the underwater vehicle so that the Hook opening to the rear of the underwater vehicle shows. The The mountain hook is caught by switching off the Drive the submersible or reverse the Brought underwater vehicle.
- the net triangular shape, with the mountain line on one Net tip attached and the equipment of the mountain network with Buoyancy bodies along the attachment point opposite network edge is made.
- the recovery network along that of the attachment point the mountain line to the buoyant edge of the net leading network edges stiffened so that the mountain network its Triangular shape even in the force-free, floating state (at lack of electricity).
- the stiffeners are elastic flexible and preferably by arranged on mesh edges Fiberglass rods made.
- a self-propelled, remote-controlled underwater vehicle 11 for example a so-called drone for mine detection and destruction can be by means of a recovery device in Near a floating mountain platform 12, from the Mountain platform 12 taken from the water surface 13 and hoisted onto the mountain platform 12.
- the mountain platform 12 is usually a surface ship, also a mother ship called that the underwater vehicle (drone) as Auxiliary vehicle leads on board and to the mission in the water discontinues, the underwater vehicle after completion Mission directed back to the mother ship and there by means of the Recovery device is captured.
- the recovery device arranged on the recovery platform 12 has a fishing gear 14 with one on the Water surface 13 piercing the top of the Recovery member 15 arranged underwater vehicle 11 cooperates, as well as a hoist 16 with which the Gear 14 from the mountain platform 12 on the Water surface 13 lowered and from the water surface 13 can be hoisted back onto the mountain platform 12.
- a hoist 16 with which the Gear 14 from the mountain platform 12 on the Water surface 13 lowered and from the water surface 13 can be hoisted back onto the mountain platform 12.
- the gear 14 has an im essentially flat, floating network 18, hereinafter Called Bergenetz 18, on that over a Bergeleine 19 with the hoist 16 is connected.
- the recovery network 18 has the recovery network 18 rectangular shape and is on its mountain line end on a crossbar 20 attached to both sides with floats or Buoyancy bodies 26 is provided so that the cross bar 20th floats on the water surface 13.
- the mountain line 19 attacks in the middle on the crossbar 20, and for laying out of the mountain network 18 is indicated by arrow 22 Flow required, for example, by low Propulsion of the mountain platform 12 or generated by swell becomes.
- the recovery network 18 can advantageously be made of floatable Material made or attached to it by the crossbar 20 turned rear net edge with not here shown buoyancy bodies connected to its level Improve swimming position. From the one on the mountain platform 12 attached hoist 16 is only a boom 23 in FIG. 1 partially indicated, for example a jib can be. At the freely projecting end of the boom 23 is the recovery line 19 guided over a deflection roller 24. through a winch, not shown, the recovery line 19 be celebrated or caught up.
- the latter is in Directed towards Bergen Network 18 so that it is finally Bergen network 18 drives under.
- the catch hook 17 gets caught in one of the meshes.
- the winch of the hoist 16 Bergeleine 19 hauled so that at the end of the hauling the Recovery network 18 with the underwater vehicle 11 caught therein on the boom 23, which then hangs from the mountain platform 11 the mountain platform 11 swung open or to the mountain platform 11 is drawn in.
- the resilience of the recovery network 18 corresponds to the weight of the underwater vehicle 11 sized.
- the hoist 16 is more detailed shown and that with the hoist 16 over the fishing line 19th connected gear 14, which in turn as a recovery network 18th trained, modified.
- the boom 23 is as Telescopic arm 25 executed, the extended and over the Beltline of the mountain platform 12 can be advanced, so that the arranged at the front end of the telescopic arm 25 Deflection roller 24 a sufficiently large during the recovery process Has distance from the side wall of the mountain platform 12.
- a Cable winch 27 for reeling or letting out the mountain line 19 is also on the underside of the telescopic arm 25 arranged.
- the telescopic arm 25 is once in its retracted position (position A) and once in its extended position (position B).
- the recovery network is 18th triangular, the mountain line 19 on one Mesh tip 181 is attached and along the mesh tip 181 opposite net edge 182 a plurality of Buoyancy bodies 21 is arranged so that Underwater vehicle 11 slightly below the network area of the floating mountain network 18 can drive.
- you can further buoyancy bodies 26 are arranged on the net tip 181 to be the weight of the Connection device between mountain line 19 and network tip 181 to compensate and a lowering of the network tip 181 and thus avoiding an inclined position of the mountain network 18.
- To do that mountains are possible both with and without current the two from the net tip 181 to the net edge 182 extending net edges 183 and 184 elastically flexible stiffened, for which purpose preferably fiberglass rods in the Mesh edges 183 and 184 are retracted.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Non-Silver Salt Photosensitive Materials And Non-Silver Salt Photography (AREA)
- Removal Of Floating Material (AREA)
- Farming Of Fish And Shellfish (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
- Cyclones (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Catching Or Destruction (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zum Bergen eines unbemannten Unterwasserfahrzeugs der im Oberbegriff des Anspruchs 1 definierten Gattung.The invention relates to a device for recovering a unmanned underwater vehicle which in the preamble of Claim 1 defined genus.
Bei einer bekannten Bergevorrichtung dieser Art (DE 195 44 656 C1) ist das fahrzeugseitige Bergeglied als Öse und das hebezeugseitige Fanggerät als Kranhaken ausgebildet, der an einem an einem Kranarmende ausfierbaren und einholbaren Seil befestigt ist. Um beim Bergevorgang die Fehlerrate beim Koppeln von Unterwasserfahrzeug und Fanggerät durch Einfädeln des Kranhakens in die Bergeöse zu reduzieren, wird zum Hinführen des Kranhakens zur Bergeöse eine Fangleine verwendet, die endseitig am Kranhaken befestigt und mittels eines am Kranarmende abstehenden Auslegers in einen bis zur Wasseroberfläche reichenden Leinenbogen ausgelegt wird. Die Fangleine ist dabei durch einen am Ausleger über ein längbares, elastisches Dehnungselement befestigten Greifer hindurchgeführt, der so ausgebildet ist, daß er zum Freigeben der Fangleine selbsttätig öffnet, wenn die in die Bergeöse eingefädelte Fangleine durch Auftrommeln eine geradlinige Streckung erreicht.In a known recovery device of this type (DE 195 44 656 C1) is the vehicle-side recovery link as an eyelet and the gear on the hoist side is designed as a crane hook, which can be extended at one end of a crane arm and retractable rope is attached. In order to get the Error rate when coupling underwater vehicle and fishing gear by threading the crane hook into the lifting eye, becomes a safety line to lead the crane hook to the mountain eyelet used, which is attached to the end of the crane hook and by means of of a jib projecting at the end of the crane arm into one to the Linen bow reaching out to the surface of the water. The Catch line is by one on the boom over one elongated, elastic expansion element attached gripper passed, which is designed so that it for releasing the safety line opens automatically when it goes into the mountain eyelet threaded line by drumming a straight line Elongation reached.
Eine solche Bergevorrichtung funktioniert recht zuverlässig auch unter Seegangsbedingungen bei gelenkten Unterwasserfahrzeugen der oberen Gewichtsklasse, die mehr als 500 kg wiegen.Such a recovery device works quite reliably even under rough sea conditions with steered Submersibles of the upper weight class that more than Weigh 500 kg.
Bei einer ebenfalls bekannten Bergevorrichtung (DE 197 45 088 A1, beinhaltet die Merkmale des Oberbegriffs des Anspruchs 1) ist das Fanggerät als Bergereuse ausgebildet, die am freien Ende eines mit seinem Fußpunkt nahe der Wasseroberfläche an der Bordwand des Bergungsschiffes abgestützten, um seinen Fußpunkt schwenkbaren Traggestells angeordnet ist. Nach Absenken der Bergereuse auf die Wasseroberfläche wird das Unterwasserfahrzeug, dort Unterwasserlaufkörper genannt, durch die Reusenöffnung hindurch in die Reuse eingefahren und stillgesetzt, wonach das Traggestell wieder hochgeschwenkt wird, so daß der Unterwasserlaufkörper an Bord des Bergungsschiffes der Reuse entnommen werden kann.In a likewise known recovery device (DE 197 45 088 A1, contains the features of the preamble of claim 1), the fishing gear is designed as a mountain reuse, which on free end of one with its base near the Water surface on the side wall of the salvage ship supported support frame that can be swiveled around its base is arranged. After lowering the Bergereuse on the Water surface becomes the underwater vehicle, there Underwater running body called through the trap opening through into the trap and stopped, after which the support frame is pivoted up again, so that the Underwater running body on board the salvage ship of the trap can be removed.
Eine solche Bergevorrichtung dient zum Bergen leichtgewichtiger Unterwasserfahrzeuge, jedoch ist das Treffen der und das Einfahren in die Reusenöffnung mit dem Unterwasserfahrzeug insbesondere unter Seegangsbedingungen relativ schwierig zu bewerkstelligen und erfordert einige Übung.Such a recovery device is used for recovery lightweight underwater vehicles, however that is Meeting and entering the trap opening with the Underwater vehicle, especially under sea conditions relatively difficult to accomplish and requires some Exercise.
Der Erfindung liegt die Aufgabe zugrunde, eine Bergevorrichtung für leichtgewichtige Unterwasserfahrzeuge, z.B. mit einem Gewicht um 50 kg oder weniger, zu schaffen, mit der in einfacher und zuverlässiger Weise das Unterwasserfahrzeug in Nähe der Bergeplattform an der Wasseroberfläche aufgenommen und auf die Bergeplattform gehievt werden kann.The invention has for its object a Recovery device for lightweight underwater vehicles, e.g. weighing 50 kg or less, to create with that in a simple and reliable way Submersible near the mountain platform on the Water surface recorded and on the mountain platform can be hoisted.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im Anspruch 1 gelöst. The object is according to the features in Claim 1 solved.
Die erfindungsgemäße Vorrichtung zum Bergen eines unbemannten, ferngelenkten Unterwasserfahrzeugs hat den Vorteil, daß durch die Netzausbildung des Fanggeräts eine große Trefferfläche zur Herstellung der Kopplung zwischen Unterwasserfahrzeug und Fanggerät zur Verfügung steht, wodurch die Zuverlässigkeit des für die Bergung entscheidenden Koppelvorgangs zwischen Unterwasserfahrzeug und Fanggerät auch bei ungünstigen Bedingungen, z.B. bei Seegang und/oder mäßiger Fahrkunst des Bedieners, erhöht wird. Da der fahrzeugseitige Bergehaken der an der die Wasseroberfläche durchstoßenden Oberseite des Unterwasserfahrzeugs angeordnet ist, sich in jeder Netzmasche verfangen kann, führt auch ein weniger genaues Fahrmanöver des ferngelenkten Unterwasserfahrzeugs zu einer Ankopplung an das Fanggerät. Sobald die Verbindung zwischen Netz und Bergehaken hergestellt ist, ist das Unterwasserfahrzeug abzuschalten und zugleich das Netz einzuholen. Selbst wenn bei ungeschicktem Fahrmanöver der Kopplungsvorgang fehlschlägt, verläuft der fehlerhafte Kopplungsvorgang schadlos, weil das Bergenetz keine nennenswerten Kollisionsmassen enthält. Die Kopplungsversuche können beliebig oft abgebrochen oder wiederholt werden.The device for recovering a unmanned, remote-controlled underwater vehicle has the Advantage that through the network training of the fishing gear large hit area for establishing the coupling between Underwater vehicle and fishing gear is available, thereby increasing the reliability of the salvage decisive coupling process between underwater vehicle and gear even in adverse conditions, e.g. at Swell and / or moderate driving skills of the operator, increased becomes. Since the vehicle-side recovery hook on which the Water surface piercing top of the Submersible is arranged in each mesh can get caught, also leads to a less precise driving maneuver the remote-controlled underwater vehicle to a coupling the gear. Once the connection between the network and Recovery hook is made, is the underwater vehicle switch off and catch up with the network at the same time. Even if if the driving maneuver is awkward, the coupling process fails, the incorrect pairing process proceeds harmless because the mountain network is not worth mentioning Contains collision masses. The coupling attempts can can be canceled or repeated any number of times.
Zweckmäßige Ausführungsformen der erfindungsgemäßen Bergevorrichtung mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen.Appropriate embodiments of the invention Recovery device with advantageous developments and Refinements of the invention result from the others Claims.
Gemäß einer vorteilhaften Ausführungsform der Erfindung ist das Bergenetz über eine Bergeleine mit dem Hebezeug verbunden und mit Auftriebskörpern bestückt. Durch die frei wählbare Leinenlänge zwischen Bergeplattform und schwimmendem Bergenetz ist eine weitgehende Entkopplung des Bergenetzes von Bewegungen der Bergeplattform sichergestellt. Bei Seegang und vernachlässigbarer Strömung kann man "Schlappseil" geben, und bei spürbarer Strömung und gleichzeitigem Seegang ist eine möglichst lange Leine geeignet, die vertikalen Bewegungen einer schwimmenden Bergeplattform vom Bergenetz fernzuhalten. Durch die am Bergenetz angeordneten Auftriebskörper ist das Bergenetz schwimmend eben aufgespannt, und das Unterwasserfahrzeug kann leicht unter die Netzfläche fahren und so mit seinem Bergehaken sich in einer der Netzmaschen verfangen. Vorzugsweise ist dabei der Bergehaken so am Unterwasserfahrzeug angeordnet, daß die Hakenöffnung zum Heck des Unterwasserfahrzeugs zeigt. Das Verfangen des Bergehakens im Netz wird durch Abschalten des Antriebs des Unterwasserfahrzeugs oder Rückwärtsfahren des Unterwasserfahrzeugs herbeigeführt.According to an advantageous embodiment of the invention the recovery network is connected to the hoist via a recovery line and equipped with buoyancy bodies. Through the freely selectable Line length between the mountain platform and the floating one Bergen network is an extensive decoupling of the mountain network ensured by movements of the mountain platform. At sea and negligible flow you can give "slack rope" and with a noticeable current and a swell at the same time the longest possible line, the vertical Movements of a floating mountain platform from the mountain network keep. By the arranged on the mountain network The buoyancy is the floating floating network stretched out, and the underwater vehicle can easily get under drive the net surface and so with his mountain hook in caught one of the meshes. Preferably, the Recovery hooks arranged on the underwater vehicle so that the Hook opening to the rear of the underwater vehicle shows. The The mountain hook is caught by switching off the Drive the submersible or reverse the Brought underwater vehicle.
Gemäß einer bevorzugten Ausführungsform der Erfindung weist das Netz Dreieckform auf, wobei die Bergeleine an einer Netzspitze befestigt und die Bestückung des Bergenetzes mit Auftriebskörpern längs der dem Befestigungspunkt gegenüberliegenden Netzkante vorgenommen ist.According to a preferred embodiment of the invention the net triangular shape, with the mountain line on one Net tip attached and the equipment of the mountain network with Buoyancy bodies along the attachment point opposite network edge is made.
Um das Bergen sowohl mit als auch ohne Strömung zu ermöglichen, ist gemäß einer vorteilhaften Ausführungsform der Erfindung das Bergenetz längs der vom Befestigungspunkt der Bergeleine zu der auftriebskörperbestückten Netzkante führenden Netzkanten versteift, so daß das Bergenetz seine Dreieckform auch im kräftefreien, schwimmenden Zustand (bei fehlendem Strom) behält. Die Aussteifungen sind elastisch biegsam und vorzugsweise durch an Netzkanten angeordnete Fiberglasstäbe vorgenommen. To recover both with and without current enable, is according to an advantageous embodiment the invention, the recovery network along that of the attachment point the mountain line to the buoyant edge of the net leading network edges stiffened so that the mountain network its Triangular shape even in the force-free, floating state (at lack of electricity). The stiffeners are elastic flexible and preferably by arranged on mesh edges Fiberglass rods made.
Die Erfindung ist anhand von in der Zeichnung dargestellten Ausführungsbeispielen im folgenden näher beschrieben. Es zeigen in schematischer Darstellung:
- Fig. 1
- ein Szenario eines Bergevorgangs eines Unterwasserfahrzeugs von einer schwimmenden Bergeplattform aus,
- Fig. 2
- eine vergrößerte Darstellung des Ausschnitts II in Fig. 1,
- Fig. 3
- eine Heckansicht einer Bergeplattform mit einer Bergevorrichtung gemäß einem weiteren Ausführungsbeispiel,
- Fig. 4
- eine Draufsicht eines Bergenetzes der Bergevorrichtung in Fig. 3.
- Fig. 1
- a scenario of an underwater vehicle recovering from a floating recovery platform,
- Fig. 2
- 2 shows an enlarged view of section II in FIG. 1,
- Fig. 3
- 3 shows a rear view of a recovery platform with a recovery device according to a further exemplary embodiment,
- Fig. 4
- 3 shows a plan view of a recovery network of the recovery device in FIG. 3.
Bei dem in Fig. 1 skizzierten Szenario eines Bergevorgangs
wird ein eigengetriebenes, ferngelenktes Unterwasserfahrzeug
11, das beispielsweise eine sog. Drohne zur Minenaufklärung
und -vernichtung sein kann, mittels einer Bergevorrichtung in
Nähe einer schwimmenden Bergeplattform 12, von der
Bergeplattform 12 aus an der Wasseroberfläche 13 aufgenommen
und auf die Bergeplattform 12 gehievt. Die Bergeplattform 12
ist in der Regel ein Oberflächenschiff, auch Mutterschiff
genannt, das das Unterwasserfahrzeug (Drohne) als
Hilfsfahrzeug an Bord führt und zur Mission ins Wasser
absetzt, wobei das Unterwasserfahrzeug nach abgeschlossener
Mission zurück zum Mutterschiff gelenkt und dort mittels der
Bergevorrichtung eingefangen wird. In the scenario of a recovery process outlined in FIG. 1
becomes a self-propelled, remote-controlled
Die auf der Bergeplattform 12 angeordnete Bergevorrichtung
weist ein Fanggerät 14, das mit einem auf der die
Wasseroberfläche 13 durchstoßenden Oberseite des
Unterwasserfahrzeugs 11 angeordneten Bergeglied 15
zusammenwirkt, sowie ein Hebezeug 16 auf, mit dem das
Fanggerät 14 von der Bergeplattform 12 aus auf die
Wasseroberfläche 13 abgesenkt und von der Wasseroberfläche 13
wieder auf die Bergeplattform 12 gehievt werden kann. Wie die
vergrößerte Ausschnittdarstellung in Fig. 2 zeigt, ist das
fahrzeugseitige Bergeglied 15 als Fanghaken 17 ausgebildet,
der so angeordnet ist, daß die Hakenöffnung 171 zum Heck des
Unterwasserfahrzeugs 11 weist. Das Fanggerät 14 weist ein im
wesentlichen ebenes, schwimmendes Netz 18, im folgenden
Bergenetz 18 genannt, auf, das über eine Bergeleine 19 mit
dem Hebezeug 16 verbunden ist. Im Ausführungsbeispiel der
Fig. 1 weist das Bergenetz 18 Rechteckform auf und ist an
seinem bergeleinenseitigen Ende an einer Querstange 20
befestigt, die beidseitig mit Schwimmkörpern oder
Auftriebskörpern 26 versehen ist, so daß die Querstange 20
auf der Wasseroberfläche 13 schwimmt. Die Bergeleine 19
greift dabei mittig an der Querstange 20 an, und zum Auslegen
des Bergenetzes 18 ist eine durch Pfeil 22 angedeutete
Strömung erforderlich, die beispielsweise durch geringen
Vortrieb der Bergeplattform 12 oder durch Seegang erzeugt
wird. Vorteilhaft kann das Bergenetz 18 aus schwimmfähigem
Material hergestellt sein oder an seiner von der Querstange
20 abgekehrten hinteren Netzkante mit hier nicht
dargestellten Auftriebskörpern verbunden sein, um seine ebene
Schwimmlage zu verbessern. Von dem auf der Bergeplattform 12
befestigten Hebezeug 16 ist in Fig. 1 nur ein Ausleger 23
ausschnittweise angedeutet, der beispielsweise ein Klüver
sein kann. An dem frei auskragenden Ende des Auslegers 23 ist
die Bergeleine 19 über eine Umlenkrolle 24 geführt. Mittels
einer nicht dargestellten Seilwinde kann die Bergeleine 19
gefiert oder eingeholt werden.The recovery device arranged on the
Zum Bergen des Unterwasserfahrzeugs 11 wird letzteres in
Richtung Bergenetz 18 so gelenkt, daß es schließlich das
Bergenetz 18 unterfährt. Sobald das Unterwasserfahrzeug 11
sich mit seinem Fanghaken 17 irgendwo unter der Netzfläche
befindet, wird die Fahrt reduziert und ggf. durch
Rückwärtsfahrt ein Zurücksetzen relativ zum Fangnetz 18
eingeleitet. Als Folge davon verfängt sich der Fanghaken 17
in einer der Netzmaschen. Sobald ein solches Einhaken des
Fanghakens 17 in das Bergegnetz 18 stattgefunden hat, wird
der Antrieb des Unterwasserfahrzeugs 11 abgeschaltet.
Gleichzeitig wird durch die Seilwinde des Hebezeugs 16 die
Bergeleine 19 eingeholt, so daß am Ende des Einholens das
Bergenetz 18 mit dem darin verfangenen Unterwasserfahrzeug 11
am Ausleger 23 hängt, der dann von der Bergeplattform 11 auf
die Bergeplattform 11 aufgeschwenkt oder zur Bergeplattform
11 hin eingezogen wird. Die Tragfähigkeit des Bergenetzes 18
ist entsprechend dem Gewicht des Unterwasserfahrzeugs 11
bemessen.To recover the
In dem in Fig. 3 und 4 skizzierten Ausführungsbeispiel der
Bergevorrichtung ist das Hebezeug 16 detaillierter
dargestellt und das mit dem Hebezeug 16 über die Fangleine 19
verbundene Fanggerät 14, das wiederum als Bergenetz 18
ausgebildet ist, modifiziert. Der Ausleger 23 ist als
Telekskoparm 25 ausgeführt, der ausgefahren und über die
Bordkante der Bergeplattform 12 vorgeschoben werden kann, so
daß die am vorderen Ende des Teleskoparms 25 angeordnete
Umlenkrolle 24 beim Bergevorgang einen ausreichend großen
Abstand von der Bordwand der Bergeplattform 12 hat. Eine
Seilwinde 27 zum Auftrommeln oder Auslassen der Bergeleine 19
ist ebenfalls an der Unterseite des Teleskoparms 25
angeordnet. In Fig. 3 ist der Teleskoparm 25 einmal in seiner
eingezogenen Stellung (Position A) und einmal in seiner
ausgeschobenen Stellung (Position B) dargestellt. In der
Ausschiebeposition B ist die Bergeleine 19 gefiert, und das
Bergenetz 18 liegt schwimmend auf der Wasseroberfläche 13
auf. An dem Bergenetz 18 ist noch eine Halteleine 28
angeschlagen, deren anderes Ende auf der Bergeplattform 12
festgelegt, vorzugsweise von einer Bedienungsperson 29
gehalten, wird. Mit dieser Halteleine 28 kann das auf der
Wasseroberfläche 13 schwimmende Bergenetz 18 in Nähe der
Bergungsplattform 12 dirigiert und ein Aufschaukeln der
hängenden Last beim Hochziehen von Bergenetz 18 und
Unterwasserfahrzeug 11 gebremst werden.In the embodiment of the
Wie aus Fig. 4 ersichtlich ist, ist das Bergenetz 18
dreieckförmig ausgebildet, wobei die Bergeleine 19 an einer
Netzspitze 181 befestigt ist und längs der der Netzspitze 181
gegenüberliegenden Netzkante 182 eine Mehrzahl von
Auftriebskörpern 21 angeordnet ist, damit das
Unterwasserfahrzeug 11 leicht unter die Netzfläche des
schwimmenden Bergenetzes 18 fahren kann. Zusätzlich können
weitere Auftriebskörper 26 an der Netzspitze 181 angeordnet
sein, um bei gefierter Bergeleine 19 das Gewicht der
Verbindungsvorrichtung zwischen Bergeleine 19 und Netzspitze
181 zu kompensieren und ein Absenken der Netzspitze 181 und
damit eine Schräglage des Bergenetzes 18 zu vermeiden. Um das
Bergen sowohl bei als auch ohne Strömung zu ermöglichen, sind
die beiden von der Netzspitze 181 zur Netzkante 182
verlaufenden Netzkanten 183 und 184 elastisch biegsam
ausgesteift, wozu vorzugsweise Fiberglasstäbe in die
Netzkanten 183 und 184 eingezogen sind. As can be seen from FIG. 4, the recovery network is 18th
triangular, the
Der Bergevorgang des Unterwasserfahrzeugs 11 bei der
Bergevorrichtung gemäß Fig. 3 und 4 gestaltet sich in
gleicher Weise wie zu Fig. 1 beschrieben.The recovery process of the
Claims (10)
- Device for recovering an unmanned, remote-guided underwater vessel (11), in particular an auxiliary vessel launched from a mother ship, with a catching apparatus (14) which interacts with a recovery element (15) which can be mounted on the upper side of the underwater vessel (11), and with a lifting device (16), which can be mounted on a recovery platform (12), for lowering the catching apparatus (14) onto the surface (13) of the water and for heaving the catching apparatus (14) onto the recovery platform (12), characterized in that the catching apparatus (14) comprises an essentially plane, floating net (18) and the recovery element (15) is designed as a catching hook (17) which, in the installed state, projects freely from the underwater vessel (11).
- Device according to Claim 1, characterized in that the net (18) is connected to the lifting device (16) via a recovery line (19) and equipped with floats (21, 26).
- Device according to Claim 2, characterized in that the net (18) has a triangular shape and the recovery line (19) is fastened to a net vertex (181) and the equipping with floats (21) is carried out along the net edge (182) lying opposite the net vertex (181).
- Device according to Claim 3, characterized in that further floats (26) are arranged at or near the net vertex (181).
- Device according to Claim 3 or 4, characterized in that the two net edges (183, 184) running from the net vertex (181) to the net edge (182) bearing the floats (21) are stiffened, preferably elastically flexibly stiffened.
- Device according to Claim 5, characterized in that, for stiffening, fibreglass rods are inserted in the net edges (183, 184).
- Device according to Claim 2, characterized in that the net (18) has a rectangular shape and the recovery line (19) acts centrally on a transverse bar (20) which extends over a net edge and is equipped with floats (26).
- Device according to Claim 7, characterized in that the net (18) is made of buoyant material.
- Device according to one of Claims 1-8, characterized in that the lifting device (16) comprises a boom (23), which can be pushed out over the recovery platform (12) and at the free end of which a deflection roller (24) for the recovery line (19) is arranged, and a rope winch (27) for winding up and letting out the recovery line (19).
- Device according to Claim 9, characterized in that a holding line (28), which with its one end is fastened to the net (18), preferably to a net edge, and with its other end is secured, preferably held manually, on the recovery platform (12), is attached to the net (18).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10045911 | 2000-09-16 | ||
DE10045911A DE10045911B4 (en) | 2000-09-16 | 2000-09-16 | Device for recovering an underwater vehicle |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1188662A2 EP1188662A2 (en) | 2002-03-20 |
EP1188662A3 EP1188662A3 (en) | 2002-12-18 |
EP1188662B1 true EP1188662B1 (en) | 2003-11-05 |
Family
ID=7656492
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01120839A Expired - Lifetime EP1188662B1 (en) | 2000-09-16 | 2001-08-30 | Arrangement for the recovery of an underwater vehicle |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1188662B1 (en) |
AT (1) | ATE253490T1 (en) |
DE (2) | DE10045911B4 (en) |
NO (1) | NO320192B1 (en) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6968802B1 (en) * | 2003-12-18 | 2005-11-29 | The United States Of America As Represented By The Secretary Of The Navy | Buoyant retrieval of unmanned seawater vehicles |
DE102004024257B4 (en) * | 2004-05-15 | 2006-08-17 | Jensen, Marten, Dipl.-Ing. | System for transferring heavy loads to and from offshore installation using a floating mat between ship and installation and using winches |
GB2434340B (en) * | 2006-01-20 | 2008-01-02 | Ohm Ltd | Underwater equipment recovery |
CN101780835B (en) * | 2009-10-16 | 2013-05-08 | 大连獐子岛渔业集团股份有限公司 | Underwater installation recoverer and recovery method thereof |
DE102012112333A1 (en) | 2012-07-06 | 2014-01-09 | Technische Universität Berlin | Launch and rescue device integrated system for e.g. watercraft, has retainer arranged for settling swimming apparatus or for receiving swimming apparatus by joggle region, and float floating on water around pivotal axis of construction |
DE102014110850A1 (en) * | 2014-07-31 | 2016-02-04 | Thyssenkrupp Ag | A system for coupling a first element to a second element in marine engineering and method of coupling |
DE102014113183A1 (en) * | 2014-09-12 | 2016-03-17 | Thyssenkrupp Ag | Method and device for recovering an autonomous underwater vehicle |
DE202016101197U1 (en) | 2016-03-04 | 2017-06-07 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System for launching and recovering an underwater vehicle |
CN107487424B (en) * | 2017-09-25 | 2023-07-28 | 中国水产科学研究院渔业机械仪器研究所 | Method and equipment for recovering spacecraft at sea |
DE102019205262B4 (en) * | 2019-04-11 | 2021-02-18 | Thyssenkrupp Ag | Recovery system for an unmanned underwater vehicle |
CN111572716A (en) * | 2020-05-21 | 2020-08-25 | 珠海云洲智能科技有限公司 | Unmanned ship recovery method and unmanned ship recovery system used for same |
CN112093688A (en) * | 2020-09-15 | 2020-12-18 | 江苏云洲智能科技有限公司 | Maneuvering platform laying and recycling system and maneuvering platform laying method |
CN112918636B (en) * | 2021-03-17 | 2022-01-25 | 沈海龙 | Sea condition self-adaptive distribution and recovery device for rapidly collecting and releasing unmanned ship |
CN116552750B (en) * | 2023-07-10 | 2023-09-01 | 江苏锐盾警用装备制造有限公司 | Rescue salvage equipment under water |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE259407C (en) * | ||||
US2418478A (en) * | 1938-01-27 | 1947-04-08 | George A Ott | Apparatus for recovering seaplanes from the water |
US3766880A (en) * | 1972-05-26 | 1973-10-23 | W Ramsey | Torpedo recovery device |
GB1511428A (en) * | 1976-07-21 | 1978-05-17 | British Columbia Res Council | Heave compensating cranes |
US4678446A (en) * | 1983-04-28 | 1987-07-07 | Mobil Oil Corporation | Device for rescuing personnel from waters |
CA2076151C (en) * | 1992-08-14 | 1997-11-11 | John Brooke | System for handling a remotely operated vessel |
DE19544656C1 (en) * | 1995-11-30 | 1997-02-27 | Stn Atlas Elektronik Gmbh | Ships salvaging equipment for floating objects having there own eyes |
DE19745088C2 (en) * | 1997-10-11 | 2001-08-09 | Stn Atlas Elektronik Gmbh | Device for launching and / or retrieving an underwater running body |
-
2000
- 2000-09-16 DE DE10045911A patent/DE10045911B4/en not_active Expired - Fee Related
-
2001
- 2001-08-30 EP EP01120839A patent/EP1188662B1/en not_active Expired - Lifetime
- 2001-08-30 AT AT01120839T patent/ATE253490T1/en not_active IP Right Cessation
- 2001-08-30 DE DE50100897T patent/DE50100897D1/en not_active Expired - Lifetime
- 2001-09-11 NO NO20014401A patent/NO320192B1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
NO320192B1 (en) | 2005-11-07 |
ATE253490T1 (en) | 2003-11-15 |
DE10045911B4 (en) | 2004-10-07 |
DE10045911A1 (en) | 2002-04-04 |
NO20014401D0 (en) | 2001-09-11 |
NO20014401L (en) | 2002-03-18 |
EP1188662A2 (en) | 2002-03-20 |
DE50100897D1 (en) | 2003-12-11 |
EP1188662A3 (en) | 2002-12-18 |
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