EP1580115A1 - Dispositif de mise à l'eau et de récupération d'un véhicule submersible - Google Patents
Dispositif de mise à l'eau et de récupération d'un véhicule submersible Download PDFInfo
- Publication number
- EP1580115A1 EP1580115A1 EP05290602A EP05290602A EP1580115A1 EP 1580115 A1 EP1580115 A1 EP 1580115A1 EP 05290602 A EP05290602 A EP 05290602A EP 05290602 A EP05290602 A EP 05290602A EP 1580115 A1 EP1580115 A1 EP 1580115A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- arms
- jaws
- submersible vehicle
- vehicle
- launching
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/58—Use of lowering or hoisting gear with tackle engaging or release gear
-
- 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
Definitions
- the present invention relates to the field of handling underwater vehicles, and in particular a launching device and recovering a submersible vehicle.
- Launching and vehicle recovery devices submersibles are in the form of a cage that can be open or closed to release or recover the submersible vehicle.
- Document FR 2 823 485 discloses a device comprising a device upper chassis and a lower chassis forming a cage, the chassis being vertically movable relative to each other to come maintain the submersible vehicle or to release it.
- An object of the present invention is to propose a device for launching and recovery of a submersible vehicle that is suitable for the handling of submersible vehicles with fragile outdoor equipment, and that is simple to implement.
- Such a device for launching and recovering a submersible vehicle comprises a clamp comprising at least two movable arms relative to one another, the arms being movable in rotation between an open position and a closed position in which of the jaws of the arms are capable of tightening an organ of gripping of a submersible vehicle, the arms comprising means fasteners arranged so that the arms are biased in position closed when the device is suspended by said means of fixing, at least one arm comprising flotation means distributed so as to move said arm in the open position when the device is immersed.
- the device in the form of a pincer makes it possible to seize easily a gripping member disposed projecting on a vehicle submersible without the risk of striking external equipment vehicle. Once the grip of the submersible vehicle properly placed on the jaws, a simple lifting of the arms causes the closure of said jaw on the gripping member, thus making it easy to grasp the submersible vehicle using the launching device and recovery.
- the means of flotation judiciously distributed allow when the submersible vehicle is put in the water of cause the opening of the jaws of the arms spontaneously when the vehicle descended into the water, when the means of flotation have been partially or completely submerged.
- the arms are arranged in a cross and rotatably connected along a hinge axis at the crossing arms.
- Each arm preferably comprises a first end located on one side of the hinge axis a jaw and a means of flotation, and at a second end on the other side means for fixing the arm.
- a flotation means is provided in the form of a hollow float equipped with filling means and fluid discharge, in particular air and / or water. This allows easily adjust the buoyancy of the flotation means for cause the arms of the launching device to be opened and recovery to the desired depth.
- the arms are provided with means for guide adapted to cooperate with a gripping member provided on a submersible vehicle.
- the guide means are intended to guide the displacement of the submersible vehicle to bring the organ gripping between the jaws of the movable arms so that the vehicle submersible be in position for recovery.
- the guide means include a V-shaped guide ramp converging to a space located between the jaws of the arms.
- the submersible vehicle can be advanced between the jaws while being guided by the V ramp.
- the guide means comprise at least one stop disposed on an arm and adapted to horizontally stop a grasping device located on a vehicle submersible.
- the submersible vehicle can thus be advanced to place the grasping device between the jaws.
- the stops will ensure the longitudinal positioning of the organ of gripping between the jaws before they can close their arms and recover the submersible vehicle.
- the stops are provided with cleats arranged to prevent reverse movement of an organ of gripping once the latter engaged against the stops.
- the device comprises means for limiting the opening of the clamp formed by the arms.
- means for limiting the opening of the clamp formed by the arms may be provided in the form of a flexible element or rigid attached at one end to an arm and at the other end to the other arm and preventing a spread of the arms beyond a limit determined.
- the invention also relates to an assembly comprising a Launching and recovery device according to an aspect of the invention and a gripping member for attachment to a submersible vehicle and configured to cooperate with the jaws of the launching and recovery device.
- a gripping member includes a T-profile with a core intended to be tight by the jaws and a vertical support crossbar.
- Other forms are conceivable.
- the launching and recovery device referenced 1 as a whole, comprises a clamp 2 formed by two arms 3, 4 arranged in a cross and connected to each other via a hinge axis 5 located at the cross between the arms 3, 4.
- the upper ends of the arms 3, 4 are provided with means fixing, here in the form of rings passed in holes provided in the ends of the arms 3, 4.
- a lifting sling 6 comprises a main ring 7 and two strands 8, each strand being connected on one side to the main ring 7 and on the other side to the means of fixing the arms 3, 4.
- the device 1 comprises an opening limiter presenting itself in the form of a link 9 whose ends are attached to the upper ends of the arms 3, 4, so that the connection 9 prevents a spacing of the upper ends of the arms 3, 4 and limits by consequently the opening of the arms 3, 4.
- the link 9 can be by example a metal rod, a sling, a chain or a rope.
- the lower ends of the arms 3, 4 have a profile in C bent down to return to the other arm. of the respectively 10, 11 are attached to the lower ends of the arm 3, 4.
- Each frame 10, 11 comprises a tubular frame substantially plane 12 and reinforcing tubes 13 extending between the frame 12 and an intermediate portion of the arms 3, 4.
- the frames 12 On their sides located opposite, the frames 12 have jaws 14, 15 intended to come towards each other when the arms 3, 4 are in closed position.
- the frames 12 comprise tube portions obliques 16, 17 arranged opposite and extending towards the rear jaws 14, 15.
- the tube portions 16, 17 form a V-shaped ramp converging towards the space between the jaws 14, 15.
- the chassis 10, 11 comprise stops 18, 19 arranged on the chassis 10, 11, above the jaws 14, 15.
- the stops 18, 19 have upper surfaces 20, 21.
- a stop 19 comprises a first surface 21 terminated at the front, the opposite side to the V-guide ramp, with a stop surface 22 substantially vertical.
- stop 19 On the side of the V-shaped guide ramp, stop 19 includes a non-return cleat 23 having the side facing the surface 22, a small stop edge 24 less than the stop surface 22, and on the opposite side an inclined surface 25.
- the frames 10, 11 are provided with their outer side opposite the jaws 14, 15 of floats 26, 27 cylindrical staggered laterally outwards with respect to the axis articulation 5 of the arms 3, 4.
- a submersible vehicle 30 comprises a body consisting of two tubular portions 31, 32 superimposed and parallel, and propulsion means in the form of propulsion units 33, here four in number and disposed of and other of each of the tubular parts.
- the submersible vehicle 30 is provided with a gripping member 34 attached to the top of the vehicle.
- the gripping member 34 presents a T-profile and comprises a longitudinal flat core extending upwards from the surface of the vehicle and carrying to his upper end a transverse bar 36 perpendicular to the soul 35.
- the core 35 has an enlarged base 37 provided with means of attachment to the hull of the submersible vehicle 30, for example under the drilling form for the passage of bolts.
- the submersible vehicle 30 under the forceps 2 being placed so that the organ of gripping device 34 is located between the jaws 14, 15 (references on the FIG. 2) of the gripper 2.
- the transverse bar 36 is located above the jaws 14, 15, more precisely above the surfaces 20, 21 (references in FIG. 2) stops 18, 19 (references in the figure 2).
- the submersible vehicle 30 is initially located in the water.
- the device 1 is placed in the water at a distance of a few meters from the submersible vehicle.
- the floats 26, 27 urged upward because of their flotation, cause spontaneous opening of the jaws 14, 15, limited thanks to the limiter 9.
- the vehicle 30 is then controlled remotely by a low speed operator to place the gripping member 34 between the jaws 14, 15 of the device 1.
- the limiter 9 is set to way that the gap between the jaws 14, 15 at the most is less than the length of the crossbar 36 of the organ of gripping 34.
- the gripping member 34 can not be moved vertically between the jaws 14, 15 open without the bar transverse 36 does not jam against the jaws 14, 15.
- the submersible vehicle 30 is moved to insert horizontally the gripping member 34 between the jaws 14, 15 coming from the rear, that is to say from the side of the guide ramp in V, and so that the hull of the vehicle 30 passes under the chassis 10, 11 but that the crossbar 36 of the gripping member 34 passes over.
- Propulsion units can be used for this purpose vertical of the vehicle to present the gripping member 34 to the adequate height.
- the transverse bar 36 of the gripping member 34 is sufficiently spaced from the hull of the submersible vehicle 30 to allow in these circumstances the passage of the crossbar 36 above the cleats 23.
- the stop surfaces 22 of the stops 18, 19 are sufficiently high to prevent the passage of the crossbar 36.
- the procedure is the tension of the sling 6 by exerting a vertical force directed towards the high on the main ring 7, which helps to flatten the bar transverse 36 on top of the stops 18, 19.
- the two strands 8 of the sling 6 exert on the upper ends of the arms 3, 4 a force directed upwards, illustrated by the arrows F1, tending to rotate the arms 3, 4 relative to each other about the axis 5 by bringing the jaws 14, 15 together, as illustrated by the arrows F2.
- the jaws 14, 15 close and tighten the soul 35 ensuring a firm hold of the submersible vehicle 30.
- the device can be provided transmit or receive beacons capable of cooperating with tags of the submersible vehicle so as to provide the submersible vehicle 30 indications on the relative position between the device 1 and the submersible vehicle 30, this information being able to be used by automatic control means of the vehicle 30.
- the device arranged on a ship may be launched when the ship is stationary, or when the ship is moving. In this case, the recovery can be done with the moving ship, the device being towed behind the ship or on the side.
- the submersible vehicle 30 When launching the submersible vehicle 30, the latter is seized on a storage platform by the setting device water and recovery 1.
- the sling tension 6 and the weight of the floats 26, 27 contribute to keeping the clamp 2 closed.
- the floats 26, 27 of the device 1 When the floats 26, 27 of the device 1 are in the water, they undergo a flotation effort directed upwards which request the arms 3, 4 in the open position: As long as the effort of closure caused by the sling 6 is greater than the opening effort caused by the floats 26, 27, the clamp 2 remains closed.
- the device can be lowered 1 to a depth at which the opening effort exerted by the floats 26, 27 is sufficient to spontaneously open the clamp 2.
- the device 1 can be left in the water or reassembled on the platform if necessary.
- the clamp allows seize the underwater vehicle through an organ of specific grip on the vehicle, preferably on the above the underwater vehicle. Risk of collision between the device and external equipment of the submersible vehicle are reduced.
- the launching and recovery device can be put in simply because the closure of the clamp of the launching and recovery is obtained simply by suspending the launching and recovery device, and that its opening is obtained simply during the descent into the water of the device of launching and recovery.
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Jib Cranes (AREA)
Abstract
Description
- la figure 1 est une vue en perspective d'un dispositif de mise à l'eau et de récupération d'un véhicule submersible conforme à l'invention ;
- la figure 2 est une vue de côté du dispositif selon la figure 1 ; et
- la figure 3 est une vue en perspective du dispositif de mise à l'eau et de récupération selon la figure 1 et d'un véhicule submersible placé de façon à pouvoir être récupéré par ledit dispositif.
Claims (11)
- Dispositif de mise à l'eau et de récupération d'un véhicule submersible comprenant une pince (2) comportant au moins deux bras (3, 4) mobiles l'un relativement à l'autre, les bras étant mobiles en rotation entre une position ouverte et une position fermée dans laquelle des mâchoires (14, 15) des bras sont aptes à serrer un organe de préhension d'un véhicule submersible, caractérisé en ce que les bras comprennent des moyens de fixation disposés de façon que les bras sont sollicités en position fermée lorsque le dispositif est suspendu par lesdits moyens de fixation, au moins un bras comprenant des moyens de flottaison (26, 27) répartis de façon à solliciter ledit bras en position ouverte lorsque le dispositif est immergé.
- Dispositif selon la revendication 1, caractérisé en ce que les bras (3, 4) sont disposés en croix et reliés en rotation selon un axe d'articulation (5) au niveau du croisement des bras.
- Dispositif selon la revendication 2, caractérisé en ce que chaque bras (3, 4) comprend à une première extrémité située d'un côté de l'axe d'articulation une mâchoire (14, 15) et un moyen de flottaison (26, 27), et à une seconde extrémité située de l'autre côté des moyens de fixation du bras.
- Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'un moyen de flottaison est prévu sous la forme d'un flotteur (26, 27) creux muni de moyens de remplissage et d'évacuation de fluide, notamment d'air et/ou d'eau.
- Dispositif selon l'une des revendications précédentes, caractérisé en ce que les bras sont munis de moyens de guidage (20, 21, 16, 17) aptes à coopérer avec un organe de préhension prévu sur un véhicule submersible.
- Dispositif selon la revendication 5, caractérisé en ce que les moyens de guidage comprennent une rampe de guidage en V (16, 17) convergeant vers un espace situé entre les mâchoires des bras.
- Dispositif selon l'une des revendications 5 ou 6, caractérisé en ce que les moyens de guidage comprennent au moins une butée (20, 21) disposée sur un bras et adaptée pour arrêter horizontalement un organe de préhension situé sur un véhicule submersible.
- Dispositif selon la revendication 7, caractérisé en ce que les butées sont munies de taquets (23) disposés pour empêcher un mouvement inverse d'un organe de préhension une fois ce dernier engagé contre les butées.
- Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif comprend des moyens (9) pour limiter l'ouverture de la pince formée par les bras.
- Ensemble comprenant un dispositif de mise à l'eau et de récupération selon l'une quelconque des revendications et un organe de préhension (34) destiné à être fixé sur un véhicule submersible et configuré pour coopérer avec les mâchoires du dispositif de mise à l'eau et de récupération.
- Ensemble selon la revendication 10, caractérisé en ce qu'un organe de préhension comprend un profil en T présentant une âme (35) prévue pour être serrée par les mâchoires et une barre transversale (36) de support vertical.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0403017 | 2004-03-24 | ||
FR0403017A FR2868036B1 (fr) | 2004-03-24 | 2004-03-24 | Dispositif de mise a l'eau et de recuperation d'un vehicule submersible |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1580115A1 true EP1580115A1 (fr) | 2005-09-28 |
EP1580115B1 EP1580115B1 (fr) | 2006-10-25 |
Family
ID=34855152
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05290602A Active EP1580115B1 (fr) | 2004-03-24 | 2005-03-18 | Dispositif de mise à l'eau et de récupération d'un véhicule submersible |
Country Status (6)
Country | Link |
---|---|
US (1) | US7028627B2 (fr) |
EP (1) | EP1580115B1 (fr) |
CA (1) | CA2500759C (fr) |
DE (1) | DE602005000201T2 (fr) |
FR (1) | FR2868036B1 (fr) |
NO (1) | NO333433B1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2468621A1 (fr) * | 2010-12-23 | 2012-06-27 | Eca | Dispositif de mise à l'eau et de récupération d'un engin submersible ou de surface |
CN110921494A (zh) * | 2019-10-31 | 2020-03-27 | 中国航天空气动力技术研究院 | 一种uuv起吊装置 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7156036B2 (en) * | 2005-05-13 | 2007-01-02 | Seiple Ronald L | Launch and recovery system |
US7581507B2 (en) * | 2007-02-26 | 2009-09-01 | Physical Sciences, Inc. | Launch and recovery devices for water vehicles and methods of use |
US8275493B2 (en) * | 2009-07-30 | 2012-09-25 | Ruffa Anthony A | Bow riding unmanned water-borne vehicle |
US8146527B2 (en) * | 2009-09-22 | 2012-04-03 | Lockheed Martin Corporation | Offboard connection system |
US8096254B1 (en) | 2010-03-29 | 2012-01-17 | The United States Of American As Represented By The Secretary Of The Navy | Unmanned vehicle launch and recovery system |
PL2452868T3 (pl) * | 2010-11-11 | 2013-05-31 | Atlas Elektronik Gmbh | Bezzałogowy pojazd podwodny i sposób wydobywania takiego pojazdu na powierzchnię wody |
DE102011122533A1 (de) * | 2011-12-27 | 2013-06-27 | Atlas Elektronik Gmbh | Bergevorrichtung und Bergeverfahren zum Bergen von an der Wasseroberfläche eines Gewässers befindlicher kondensierter Materie |
DE102012112333A1 (de) | 2012-07-06 | 2014-01-09 | Technische Universität Berlin | Vorrichtung mit einer Aussetz- und Bergungseinrichtung |
CA2901066C (fr) * | 2013-02-15 | 2019-06-18 | Prysmian S.P.A. | Procede pour installer un ensemble de connexion pouvant etre accouple a l'etat mouille pour cables electriques et/ou optiques |
US9592888B1 (en) * | 2014-04-04 | 2017-03-14 | The United States Of America As Represented By The Secretary Of The Navy | Dampened pivoting lift device for a multi-line lift point configuration |
DE102017127553A1 (de) * | 2017-11-22 | 2019-05-23 | Atlas Elektronik Gmbh | Aufnahmevorrichtung zum aufnehmen eines unbemannten unterwasserfahrzeugs und verfahren zum bergen eines unbemannten unterwasserfahrzeugs |
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GB191326192A (en) * | 1913-11-15 | 1914-11-12 | William Edward Dominy | An Improvement relating to Raising and Lowering Ship's Lifeboats. |
US1507706A (en) * | 1923-03-21 | 1924-09-09 | Miller Anthony | Safety grapple |
US4271553A (en) * | 1978-01-06 | 1981-06-09 | A/S Aukra Bruk | System for launching and hauling in objects from the sea |
FR2823485A1 (fr) * | 2001-04-13 | 2002-10-18 | Eca | Dispositif de mise a l'eau et de recuperation d'un vehicule sous-marin et procede de mise en oeuvre |
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-
2004
- 2004-03-24 FR FR0403017A patent/FR2868036B1/fr not_active Expired - Fee Related
-
2005
- 2005-03-18 DE DE602005000201T patent/DE602005000201T2/de not_active Expired - Fee Related
- 2005-03-18 EP EP05290602A patent/EP1580115B1/fr active Active
- 2005-03-22 CA CA2500759A patent/CA2500759C/fr not_active Expired - Fee Related
- 2005-03-22 NO NO20051517A patent/NO333433B1/no not_active IP Right Cessation
- 2005-03-24 US US11/089,534 patent/US7028627B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB191326192A (en) * | 1913-11-15 | 1914-11-12 | William Edward Dominy | An Improvement relating to Raising and Lowering Ship's Lifeboats. |
US1507706A (en) * | 1923-03-21 | 1924-09-09 | Miller Anthony | Safety grapple |
US4271553A (en) * | 1978-01-06 | 1981-06-09 | A/S Aukra Bruk | System for launching and hauling in objects from the sea |
FR2823485A1 (fr) * | 2001-04-13 | 2002-10-18 | Eca | Dispositif de mise a l'eau et de recuperation d'un vehicule sous-marin et procede de mise en oeuvre |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2468621A1 (fr) * | 2010-12-23 | 2012-06-27 | Eca | Dispositif de mise à l'eau et de récupération d'un engin submersible ou de surface |
FR2969573A1 (fr) * | 2010-12-23 | 2012-06-29 | Eca | Dispositif de mise a l'eau et de recuperation d'un engin submersible ou de surface. |
CN110921494A (zh) * | 2019-10-31 | 2020-03-27 | 中国航天空气动力技术研究院 | 一种uuv起吊装置 |
CN110921494B (zh) * | 2019-10-31 | 2021-04-13 | 中国航天空气动力技术研究院 | 一种uuv起吊装置 |
Also Published As
Publication number | Publication date |
---|---|
NO333433B1 (no) | 2013-06-03 |
FR2868036A1 (fr) | 2005-09-30 |
US20050257731A1 (en) | 2005-11-24 |
EP1580115B1 (fr) | 2006-10-25 |
DE602005000201T2 (de) | 2007-09-06 |
NO20051517D0 (no) | 2005-03-22 |
CA2500759C (fr) | 2012-06-19 |
CA2500759A1 (fr) | 2005-09-24 |
NO20051517L (no) | 2005-09-26 |
US7028627B2 (en) | 2006-04-18 |
DE602005000201D1 (de) | 2006-12-07 |
FR2868036B1 (fr) | 2006-06-02 |
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