EP2043913B1 - Apparatus for recovering an underwater or marine vehicle - Google Patents

Apparatus for recovering an underwater or marine vehicle Download PDF

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Publication number
EP2043913B1
EP2043913B1 EP07823638A EP07823638A EP2043913B1 EP 2043913 B1 EP2043913 B1 EP 2043913B1 EP 07823638 A EP07823638 A EP 07823638A EP 07823638 A EP07823638 A EP 07823638A EP 2043913 B1 EP2043913 B1 EP 2043913B1
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EP
European Patent Office
Prior art keywords
vehicle
housing
reception means
machine
cage
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.)
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Application number
EP07823638A
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German (de)
French (fr)
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EP2043913A1 (en
Inventor
Marc Luccioni
Viorel Ciausu
Vincent Rigaud
Laurent Artzner
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Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
Original Assignee
Institut Francais de Recherche pour lExploitation de la Mer (IFREMER)
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Publication of EP2043913A1 publication Critical patent/EP2043913A1/en
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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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • the invention relates to an apparatus for recovering an underwater vehicle or marine.
  • This device is used, in particular, for the recovery of an autonomous underwater vehicle or AUV (for "Autonomous Underwater Vehicle”).
  • the invention relates to an apparatus of the type comprising a frame defining a housing inside which said machine can penetrate to be recovered.
  • the document WO 00/71415 describes an apparatus of this type, similar to a cage, for collecting an AUV. This cage is fully submerged.
  • the AUV WO 00/71415 has the shape of a torpedo, has its own means of propulsion, and is directed at a distance. This AUV approaches the cage and penetrates inside it autonomously. Blades fixed at the entrance of the cage and arranged like flower petals, form a frustoconical ring through which the AUV passes to enter the cage.
  • the apparatus of WO 00/71415 has the following disadvantages.
  • a correct alignment is difficult to obtain in rough seas, because of the movements (oscillations) of the cage. This is even more difficult when the cage floats on the surface of the water (instead of being submerged), because it is then tossed by the waves and the swell.
  • the invention aims to provide a recovery apparatus without the aforementioned drawbacks.
  • the apparatus of the invention may be equipped with floats allowing it to stay on the surface of the water, or, conversely, be fully immersed.
  • This device can be used to recover different types of gear, floating or controlled immersion, and in particular an AUV, a torpedo, a surface drone or a similar architecture craft.
  • the guiding and the orientation of the machine inside the housing of the apparatus via said receiving means, facilitate the penetration of the machine and limit or even avoid the shocks between the fragile parts of the machine.
  • the craft including its fins or any other projecting part
  • the chassis of the apparatus facilitate the penetration of the machine and limit or even avoid the shocks between the fragile parts of the machine.
  • the apparatus of the invention comprises traction means, mounted on the chassis, for pulling said machine inside the housing and, advantageously, these traction means comprise a winding device of cable for towing said machine inside the housing, via a cable connected to this machine.
  • the machine does not have to go autonomously to the cage.
  • an autonomous machine ie equipped with propulsion means
  • an autonomous device in damage ie whose means of propulsion are out of order or out of energy
  • a non autonomous device ie devoid of propulsion means
  • the apparatus of the invention can be used both for the recovery of a craft and for its launching.
  • the subject of the invention is also an installation for recovering an underwater or marine vehicle, from a recovery base, comprising a recovery apparatus according to the invention and traction means intended to be mounted. on the recovery base and capable of towing said apparatus (and the craft housed therein) via a flexible link.
  • Said recovery base can be a boat, a platform, an off-shore platform, etc.
  • flexible link is meant to design any type of link able to stretch and relax depending on the traction exerted on him. When relaxed, the flexible link allows the recovery device to move freely relative to said base. In particular, in the case where the recovery base is a boat, the flexible link prevents the boat from driving with him the cage, when it oscillates (pitch, roll, heave) in rough seas.
  • the flexible link of the installation is a cable
  • the traction means comprise a cable winding device.
  • traction means mounted on the recovery base
  • a handling device also mounted on said base. It can be a crane, a gantry, or a derrick.
  • the traction means and the handling device make it possible to raise the recovery device and the machine on the recovery base and to easily deposit them on a suitable support.
  • Figures 1 to 4 allows to recover and / or launch a craft 1.
  • the machine 1 is an AUV in the shape of a torpedo. It will be noted that it has two large lateral fins 3 in its middle part.
  • the installation includes a boat 5 as a recovery base.
  • This boat 5 is equipped with a winch 7 for winding / unwinding a cable 9.
  • This cable is preferably textile.
  • the installation also includes a recovery device within which the machine 1 can accommodate, at least in part.
  • cage 10 This cage 10 is equipped on its sides with floats 12 which allow it to stay on the surface of the water and adjust its immersion height.
  • these floats 12 are connected to said cage by hinge pins, which allows them to switch. On the surface of the water, they thus deviate from the cage to provide maximum stability and not to impede the entry of the machine 1.
  • these floats 12 extend along the cage 10, on each side thereof, so as to protect (and the machine 1) possible lateral shocks. These side impacts may occur, especially when the cage 10 is raised on board the boat 5.
  • the floats 12 are, for example, fenders of boat.
  • Figures 5 to 9 do not represent all the parts of the cage 10. In particular, the lower parts of the cage are not represented. In these figures we wanted to show more particularly the receiving means and the guide means.
  • Said receiving means 18 comprise an element 32 movable between the inlet and the bottom of the cavity 20.
  • the cable 22 passes through this movable element 32, preferably at its center.
  • the movable element 32 comprises a cup 34, adapted to receive the nose of the machine 1 (see figure 7 ), which has a central hole 35 through which the cable 22 passes.
  • a plurality of guide branches 36 (generally at least two diametrically opposed branches) extend around the periphery of the cup 34 and connect it to the structure 37 of the means The end of each branch 36 can slide relative to this structure 37, so that the movable member 32 can slide between the inlet and the bottom of the cavity 20, as represented by the double arrow A on the figure 5 .
  • the cage 10 comprises first locking means 38 (see FIG. figure 5 ) to maintain said receiving means 18 in the vicinity of the inlet of the housing 16, before the machine 1 reaches the cage.
  • said receiving means 18 are in position to receive the machine 1 that arrives.
  • the cable portion 22 extending between the winch 24 and the receiving means 18 (more precisely between the pulley 40, the passage 23 and the nose of the machine 1 - see Fig. 5 and 6 ) forms a lever arm which is oriented cage 10 facing the nose of the machine 1, which facilitates the recovery of the latter. Note that this orientation of the cage is possible because it can move freely in the water, the (s) cable (s) 9 (70) connecting the cage 10 to the boat 5 being relaxed (s).
  • the first blocking means 38 release said receiving means 18 only when the nose of the machine 1 is fully engaged in the receiving means 18 (more precisely in the cavity 20) and is about to penetrate inside the vehicle.
  • the first locking means 38 comprise a stop capable of retracting when the machine 1 exerts on it a thrust force greater than a predetermined force.
  • the stop is formed by an arm 42 pivotally mounted on the frame 14, at the end of which is mounted a roller 46.
  • This arm 42 is connected to a spring 44 whose stiffness is chosen such that from a certain pushing force exerted by the machine 1 on the arm 42, via the receiving means 18, the spring 44 is deformed and allows the arm to retract by pivoting along the arrow B (see figure 5 ).
  • Other types of blocking means could, of course, be considered.
  • the cage further comprises second blocking means 48 (see FIG. Fig. 6 ) to maintain the movable element 32 of the receiving means 18 at the inlet of the cavity 20, these second blocking means 48 release the movable element 32 when the machine 1 comes into contact with this movable element 32 (more precisely of the cup 34).
  • These second locking means 48 are, for example, of the same principle as the first locking means 38 and comprise a stop capable of retracting when the machine 1 exerts on it, via the movable member 32, a thrust force greater than a predetermined force.
  • the locking force of the second blocking means 48 is smaller than that of the first blocking means 38, so that when the machine 1 penetrates inside the receiving means 18 (more precisely inside the the cavity 20), the second blocking means 48 yield before the first blocking means 38.
  • Said receiving means 18 are integral with a rod 50.
  • this rod 50 is oriented vertically (relative to the level of the water, horizontal).
  • the rod 50 is mounted on a carriage 52 so as to be pivotable about its axis C, along the double arrow D shown on the Figures 5 to 7 .
  • the carriage 52 is guided along the housing 16 of the cage 10, by said guide means.
  • the lower end of the rod 50 carries a fork 51 and between the two branches of the fork 51 extends an axis F, perpendicular to the axis C of the rod, around which the receiving means are mounted swivel. Stops 53 limit the vertical pivoting angle of the receiving means 18.
  • a guide arm 54 is fixed to the end of the rod 50 so as to be able to drive it and rotate it about its axis C along the double arrow D.
  • This arm 54 has a first end engaged with the rod 50 and a second end on which is mounted a roller 56.
  • Said guide means comprise first and second superimposed guides 58, 60, extending along the housing 16.
  • the first guide 58 guides the carriage 52 along the housing 16. It is formed by a pair of parallel rails 64 and the carriage 52 is equipped with rollers 62 so that it can move along the rails 64, following the double arrow G shown on the figure 6 .
  • the second guide 60 guides the guide arm 54 and, thereby, directs the rod 50 and the receiving means 18 by rotating them horizontally along the double arrow D. It is located above the first guide 58. It is formed by a pair of rails 66 which are closer to each other as one moves away from the entrance of the cage 10.
  • the guide arm 54 can rotate between these rails 66 according to the double arrow D, between a first position in which the roller 56 is in contact with one of the rails 66, and a second position in which the roller 56 is in contact with the other rail 66. Plus the spacing of the rails 66 is important , plus the freedom of horizontal pivoting arm 54, and therefore the rod 50 and receiving means 18, is large.
  • the frame 14 of the cage 10 has on its sides notches 68 open towards the entrance of the cage 10, which allows the passage of the lateral fins 3 of the machine 1 (see Fig. 1 and 4 ).
  • the machine 1 being guided and oriented when it enters the cage 10, the fins 3 are housed in the notches 68 and, thus, are not damaged.
  • said immobilizing means comprise two rods 26 equipped with pads at their ends, and a mechanism for lifting / lowering these rods.
  • the rods 26 slide inside two housings 28 enclosing said mechanism. These housings 28 are fixed on each side of the frame 14, in the vicinity of the entrance of the cage 10. In the lowered position, the rods 26 are in contact with the upper face of the machine 1, as shown in FIGS. figures 4 and 8 . Note that the pressure exerted by the rods 26 on the machine 1 must be controlled in order not to damage the latter.
  • the immobilizing means comprise a rod pivotally mounted on the frame 14 and a mechanism, for example a jack, for pivoting this rod.
  • the rod carries at its end a hoop which surrounds the upper face of the machine 1.
  • the machine 1 has a member projecting from its upper face. After the machine has penetrated inside the housing 16, the hoop lowers and is placed behind the protruding member, which makes it possible to immobilize the machine 1 inside the cage 10 .
  • immobilization means are controlled remotely and, preferably, from the boat 5.
  • the underside of the machine 1 is supported on a rocker 29, mounted on the frame.
  • This rocker 29 comprises at each of its ends a hoop 30, on which the machine 1 rests.
  • the hoops 30 extend transversely with respect to the cage 10, under the housing 16. These hoops are easily removed when the machine 1 is placed on a suitable working support present on the boat 5.
  • a cable 22 'connected to the nose of the machine 1 is recovered from the boat 5.
  • the cable 22' is then connected to a cable 22 "in waiting for the cage 10.
  • the cables 22 'and 22 then form the aforementioned cable 22 which is passed through the movable element 32, the passage 23 of the receiving means 18, and around the pulley 40 located at the bottom of the housing 16, and that is connected to the winch 24 of the cage 10 (see figure 5 ).
  • the cage 10 is put into the water. It remains connected to the boat 5 via the traction cable 9, also called lifting cable, and other cables 70, said guide. At this point, the cables 9 and 70 are relaxed so that the boat 5 does not drive the cage 10 in its movements. The cage 10 moves freely in the water.
  • the winding of the cable 22 is remotely controlled on the winch 24 in order to tow the machine 1 inside the cage 10.
  • the cable portion 22 extending between the nose of the machine 1, the receiving means 18 at the entrance to the cage, and the winch 24 (actually the pulley 40) located at the bottom of the 10, forms a lever arm which rotates the cage 10, so that the axis H of the cage is approaching the nose of the machine 1.
  • the receiving means 18 are facing the nose of the machine 1 when the latter is approaching, thanks to the cable portion 22 extending between the bottom of the cavity 20 (ie the passage 23), the movable member 32 and the nose of the machine 1.
  • the nose of the machine 1 first comes into contact with the movable member 32 and exerts on it, as the traction of the machine 1 continues, a thrust force of greater and greater. Beyond a limit force, the second blocking means 48 release the mobile element 32 which is translated with the nose of the vehicle 1, to the bottom of the cavity 20. The nose of the machine 1 then occupies the cavity 20. The relative movements between the receiving means 18, and thus the machine 1, and the cage 10 are still allowed at this stage. Indeed, the receiving means can pivot vertically and horizontally according to the double arrows E and D. It thus limits the stresses exerted at the nose of the machine 1, related to the relative movements between the machine 1 and the cage 10.
  • the machine 1 exerts on the receiving means 18 a thrust force of greater and greater. Beyond a limit force, the first blocking means 38 release the carriage 52 to which the receiving means 18 are connected via the rod 50. The carriage 52 then rolls along the first guide 60, towards the bottom of the housing 16. At the same time, the guide arm 54 is guided along the first guide 58 and its pivoting freedom along the double arrow D gradually decreases. The receiving means 18 and the machine 1 are thus oriented progressively along the main axis H of the cage.
  • the cage 10 and the machine 1 are towed from the boat 5, by means of the cable 9, in order to put them back on board the boat 5.
  • the cables of guide 70 can be pulled manually, or be connected to a cable winding / unwinding device, for example winches similar to the winch 7.
  • the cables 70 and their possible winding / unwinding devices are part of the traction means mounted on the recovery base, within the meaning of the invention.
  • the guide cables 70 are used to direct the cage 10 and the machine 1 in order to pass them through the gantry 72.
  • the cage 10 is pulled out and the machine 1 out of the water using the cable 9 and the cables 70 are used to guide and pass the cage 10 and the machine 1 through the portico 72, before placing them on the bridge of the boat 5.
  • the recovery base is the boat 5 and the machine to be recovered is the machine 1. Originally, the machine 1 is immobilized in the cage 10 and this cage is on board the boat 5.
  • the winch 7, the traction cable 9, the gantry 72 and possibly the guide cables 70 are used to launch the cage 10.
  • release means comprise a mechanism for raising the rods 26.
  • release means are controlled remotely, preferably from the launching base (i.e. the boat 5).
  • these traction means comprise the cable winding / unwinding device, that is to say the winch 24 and the cable 22 previously described, and a pulley 74 located at the entrance of the housing 16 of the cage 10.
  • the cable 22 is connected to the winch 24, extends to the pulley 74, passes around it, and extends to the carriage 52 to which it is connected.
  • the winch 24 is actuated so that the carriage 52, the receiving means 18 and the nose of the machine 1, are pulled through the cable 22 towards the entrance of the housing 16.
  • the machine 1 can be made integral with the receiving means 18 and until the end of the output movement. It is then released permanently or, advantageously, by a command from the boat 5, or by a mechanical device placed on the receiving means 18 and automatically triggered at the end of travel of said receiving means.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Cleaning In General (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Physical Water Treatments (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)

Abstract

Apparatus for recovering a surface marine vehicle or an underwater vehicle, in particular an AUV, the apparatus comprising a frame (14) defining a housing into which the vehicle (1) can penetrate via an entrance, and further comprising: reception means (18) for receiving the nose of the vehicle (1), reception means being capable of moving along said housing when the vehicle penetrates therein, said reception means (18) possessing sufficient freedom of movement relative to the frame (14) to be able to follow the movement of the vehicle while the reception means and the vehicle are situated in the vicinity of the entrance of the housing; and guide means (58, 60) for guiding the reception means (18) when the vehicle penetrates into the housing, and for causing the reception means (18) and the vehicle (1) to become aligned therealong by progressively limiting their freedom to move relative to the frame as the vehicle penetrates into the housing.

Description

L'invention a pour objet un appareil de récupération d'un engin sous-marin ou marin.The invention relates to an apparatus for recovering an underwater vehicle or marine.

Cet appareil est utilisé, notamment, pour la récupération d'un véhicule sous-marin autonome ou AUV (pour "Autonomous Underwater Vehicle").This device is used, in particular, for the recovery of an autonomous underwater vehicle or AUV (for "Autonomous Underwater Vehicle").

Plus particulièrement, l'invention concerne un appareil du type comprenant un châssis définissant un logement à l'intérieur duquel ledit engin peut pénétrer pour être récupéré.More particularly, the invention relates to an apparatus of the type comprising a frame defining a housing inside which said machine can penetrate to be recovered.

Le document WO 00/71415 décrit un appareil de ce type, assimilable à une cage, permettant de recueillir un AUV. Cette cage est entièrement immergée. L'AUV de WO 00/71415 a la forme d'une torpille, possède ses propres moyens de propulsion, et est dirigé à distance. Cet AUV s'approche de la cage et pénètre à l'intérieur de celle-ci de façon autonome. Des lames fixées à l'entrée de la cage et disposées comme des pétales de fleur, forment une bague tronconique par laquelle passe l'AUV pour pénétrer dans la cage.The document WO 00/71415 describes an apparatus of this type, similar to a cage, for collecting an AUV. This cage is fully submerged. The AUV WO 00/71415 has the shape of a torpedo, has its own means of propulsion, and is directed at a distance. This AUV approaches the cage and penetrates inside it autonomously. Blades fixed at the entrance of the cage and arranged like flower petals, form a frustoconical ring through which the AUV passes to enter the cage.

L'appareil de WO 00/71415 présente les inconvénients suivants. Tout d'abord, il est nécessaire d'aligner suffisamment l'AUV avec la cage pour qu'il puisse y pénétrer. En effet, si l'AUV est trop décalé (angulairement, ou radialement) par rapport à l'axe principal de la cage, il ne peut pas traverser la bague tronconique précitée. Or, un alignement correct est difficile à obtenir par mer agitée, en raison des mouvements (oscillations) de la cage. Ceci est encore plus difficile lorsque la cage flotte à la surface de l'eau (au lieu d'être immergée), car elle est alors ballottée par les vagues et la houle.The apparatus of WO 00/71415 has the following disadvantages. First, it is necessary to sufficiently align the AUV with the cage so that it can enter. Indeed, if the AUV is too offset (angularly, or radially) with respect to the main axis of the cage, it can not pass through the aforementioned frustoconical ring. However, a correct alignment is difficult to obtain in rough seas, because of the movements (oscillations) of the cage. This is even more difficult when the cage floats on the surface of the water (instead of being submerged), because it is then tossed by the waves and the swell.

En outre, l'appareil de WO 00/71415 n'est pas utilisable pour récupérer des AUV pourvus de larges ailerons, car ces ailerons seraient endommagés lors du passage à travers ladite bague tronconique.In addition, the apparatus of WO 00/71415 it is not usable to recover AUVs provided with large fins, because these fins would be damaged when passing through said frustoconical ring.

L'invention a pour objectif de proposer un appareil de récupération dépourvu des inconvénients précités.The invention aims to provide a recovery apparatus without the aforementioned drawbacks.

Cet objectif est atteint grâce à un appareil de récupération d'un engin sous-marin ou marin, comprenant un châssis définissant un logement à l'intérieur duquel l'engin peut pénétrer, via une entrée, caractérisé en ce qu'il comprend :

  • des moyens de réception aptes à recevoir une partie de l'engin et à se déplacer le long dudit logement lorsque l'engin y pénètre, ces moyens de réception ayant une liberté de mouvement suffisante par rapport au châssis pour suivre le mouvement de l'engin, lorsqu'ils se situent au voisinage de l'entrée du logement; et
  • des moyens de guidage pour guider les moyens de réception lorsque l'engin pénètre à l'intérieur du logement, et orienter ces moyens de réception, ainsi que l'engin, en limitant leur liberté de mouvement par rapport au châssis, à mesure que l'engin pénètre à l'intérieur du logement.
This objective is achieved by means of a device for recovering an underwater or marine vehicle, comprising a chassis defining a housing inside which the machine can enter, via an entrance, characterized in that it comprises:
  • receiving means adapted to receive a part of the machine and to move along said housing when the machine enters, these means of receiving having sufficient freedom of movement relative to the chassis to follow the movement of the machine, when they are in the vicinity of the entrance of the housing; and
  • guide means for guiding the receiving means when the machine enters the housing, and orienting these receiving means and the machine, limiting their freedom of movement relative to the frame, as the gear enters the dwelling.

On notera que l'appareil de l'invention peut être équipé de flotteurs lui permettant de se maintenir à la surface de l'eau, ou, au contraire, être entièrement immergé. Cet appareil peut être utilisé pour récupérer différents types d'engins, flottant ou en immersion contrôlée, et notamment un AUV, une torpille, un drone de surface ou un engin d'architecture similaire.Note that the apparatus of the invention may be equipped with floats allowing it to stay on the surface of the water, or, conversely, be fully immersed. This device can be used to recover different types of gear, floating or controlled immersion, and in particular an AUV, a torpedo, a surface drone or a similar architecture craft.

La liberté de mouvement desdits moyens de réception facilite la récupération de l'engin, et se révèle particulièrement utile par mer agitée car:

  • d'une part, elle permet aux moyens de réception de s'orienter de manière à bien recevoir l'engin, et
  • d'autre part, de limiter, voire éviter, l'apparition de contraintes mécaniques dans l'engin, lorsqu'une partie de l'engin est retenue dans les moyens de réception et que l'engin commence à pénétrer dans ledit logement.
The freedom of movement of said receiving means facilitates the recovery of the craft, and is particularly useful in rough sea because:
  • on the one hand, it allows the receiving means to orient itself so as to receive the craft, and
  • secondly, to limit, or even avoid, the occurrence of mechanical stresses in the machine, when a part of the machine is retained in the receiving means and the machine begins to penetrate into said housing.

En outre, le guidage et l'orientation de l'engin à l'intérieur du logement de l'appareil, via lesdits moyens de réception, facilitent la pénétration de l'engin et limitent, voire évitent, les chocs entre les parties fragiles de l'engin (notamment ses ailerons ou toute autre partie saillante) et le châssis de l'appareil.In addition, the guiding and the orientation of the machine inside the housing of the apparatus, via said receiving means, facilitate the penetration of the machine and limit or even avoid the shocks between the fragile parts of the machine. the craft (including its fins or any other projecting part) and the chassis of the apparatus.

Selon un mode de réalisation, l'appareil de l'invention comprend des moyens de traction, montés sur le châssis, permettant de tracter ledit engin à l'intérieur du logement et, avantageusement, ces moyens de traction comprennent un dispositif d'enroulement de câble permettant de tracter ledit engin à l'intérieur du logement, par l'intermédiaire d'un câble relié à cet engin.According to one embodiment, the apparatus of the invention comprises traction means, mounted on the chassis, for pulling said machine inside the housing and, advantageously, these traction means comprise a winding device of cable for towing said machine inside the housing, via a cable connected to this machine.

L'engin n'a donc pas à se diriger de manière autonome jusqu'à la cage. Ainsi, il est possible de récupérer un engin autonome (i.e. équipé de moyens de propulsion), mais également un engin autonome en avarie (i.e. dont les moyens de propulsions sont hors d'usage ou en panne d'énergie) ou un engin non autonome (i.e. dépourvu de moyens de propulsion).The machine does not have to go autonomously to the cage. Thus, it is possible to recover an autonomous machine (ie equipped with propulsion means), but also an autonomous device in damage (ie whose means of propulsion are out of order or out of energy) or a non autonomous device (ie devoid of propulsion means).

L'appareil de l'invention peut être utilisé aussi bien pour la récupération d'un engin que pour sa mise à l'eau.The apparatus of the invention can be used both for the recovery of a craft and for its launching.

Enfin, l'invention a également pour objet une installation de récupération d'un engin sous-marin ou marin, à partir d'une base de récupération, comprenant un appareil de récupération selon l'invention et des moyens de traction destinés à être montés sur la base de récupération et capables de tracter ledit appareil (et l'engin qui y est logé) par l'intermédiaire d'un lien souple.Finally, the subject of the invention is also an installation for recovering an underwater or marine vehicle, from a recovery base, comprising a recovery apparatus according to the invention and traction means intended to be mounted. on the recovery base and capable of towing said apparatus (and the craft housed therein) via a flexible link.

Ladite base de récupération peut être un bateau, un quai, une plate-forme off-shore, etc.Said recovery base can be a boat, a platform, an off-shore platform, etc.

Par lien souple on entend designer tout type de lien capable de se tendre et de se détendre en fonction de la traction exercée sur lui. Lorsqu'il est détendu, le lien souple permet à l'appareil de récupération de se mouvoir librement par rapport à ladite base. Notamment, dans le cas où la base de récupération est un bateau, le lien souple permet d'éviter que le bateau entraîne avec lui la cage, lorsqu'il oscille (tangage, roulis, pilonnement) par mer agitée.By flexible link is meant to design any type of link able to stretch and relax depending on the traction exerted on him. When relaxed, the flexible link allows the recovery device to move freely relative to said base. In particular, in the case where the recovery base is a boat, the flexible link prevents the boat from driving with him the cage, when it oscillates (pitch, roll, heave) in rough seas.

Typiquement, le lien souple de l'installation est un câble, et les moyens de traction comprennent un dispositif d'enroulement de câble.Typically, the flexible link of the installation is a cable, and the traction means comprise a cable winding device.

En outre, selon un mode de réalisation, on utilise généralement en association avec les moyens de traction montés sur la base de récupération, un appareil de manutention, également monté sur ladite base. Il peut s'agir d'une grue, d'un portique, ou d'un mât de charge. Les moyens de traction et l'appareil de manutention permettent de remonter l'appareil de récupération et l'engin sur la base de récupération et de les déposer aisément sur un support adapté.In addition, according to one embodiment, it is generally used in combination with the traction means mounted on the recovery base, a handling device, also mounted on said base. It can be a crane, a gantry, or a derrick. The traction means and the handling device make it possible to raise the recovery device and the machine on the recovery base and to easily deposit them on a suitable support.

L'invention et ses avantages seront mieux compris à la lecture de la description détaillée qui suit. Cette description fait référence aux planches de figures annexées, sur lesquelles :

  • les figures 1 à 3 représentent un exemple d'installation de récupération selon l'invention, respectivement, vue de côté, de dessus et de face,
  • la figure 4 représente l'installation des figures 1 à 3, vue de côté, lorsque l'engin à récupérer est sorti de l'eau,
  • les figures 5 à 7 représentent, en partie seulement, un exemple d'appareil de récupération selon l'invention, respectivement, en coupe longitudinale, en vue de côté, de dessus et de face.
  • la figure 8 représente l'appareil des figures 5 à 7 utilisé, cette fois, pour la mise à l'eau d'un engin.
The invention and its advantages will be better understood on reading the detailed description which follows. This description refers to the plates of annexed figures, in which:
  • the Figures 1 to 3 represent an example of a recovery installation according to the invention, respectively, seen from the side, from above and from the front,
  • the figure 4 represents the installation of Figures 1 to 3 , seen from the side, when the machine to be recovered is out of the water,
  • the Figures 5 to 7 represent, in part only, an example of recovery apparatus according to the invention, respectively, in longitudinal section, in side view, from above and from the front.
  • the figure 8 represents the apparatus of the Figures 5 to 7 used, this time, for launching a craft.

L'installation des figures 1 à 4 permet de récupérer et/ou mettre à l'eau un engin 1.The installation of Figures 1 to 4 allows to recover and / or launch a craft 1.

Dans l'exemple, l'engin 1 est un AUV ayant la forme d'une torpille. On notera qu'il présente deux larges ailerons latéraux 3 dans sa partie médiane.In the example, the machine 1 is an AUV in the shape of a torpedo. It will be noted that it has two large lateral fins 3 in its middle part.

L'installation comprend un bateau 5 en tant que base de récupération. Ce bateau 5 est équipé d'un treuil 7 permettant d'enrouler/dérouler un câble 9. Ce câble est de préférence textile.The installation includes a boat 5 as a recovery base. This boat 5 is equipped with a winch 7 for winding / unwinding a cable 9. This cable is preferably textile.

L'installation comprend également un appareil de récupération à l'intérieur duquel l'engin 1 peut loger, au moins en partie.The installation also includes a recovery device within which the machine 1 can accommodate, at least in part.

Pour désigner l'appareil de récupération, on parle ci-après de cage 10. Cette cage 10 est équipée sur ses côtés de flotteurs 12 qui lui permettent de se maintenir à la surface de l'eau et de régler sa hauteur d'immersion.To designate the recovery device, we speak here of cage 10. This cage 10 is equipped on its sides with floats 12 which allow it to stay on the surface of the water and adjust its immersion height.

Selon un mode de réalisation particulier, ces flotteurs 12 sont reliés à ladite cage par des axes d'articulation, ce qui leur permet de basculer. A la surface de l'eau, ils s'écartent ainsi de la cage pour apporter un maximum de stabilité et pour ne pas gêner l'entrée de l'engin 1. Avantageusement, hors de l'eau, ces flotteurs 12 s'étendent le long de la cage 10, de chaque côté de celle-ci, de manière à la protéger (ainsi que l'engin 1) d'éventuels chocs latéraux. Ces chocs latéraux peuvent intervenir, notamment, lorsque la cage 10 est remontée à bord du bateau 5. Les flotteurs 12 sont, par exemple, des pare-battages de bateau.According to a particular embodiment, these floats 12 are connected to said cage by hinge pins, which allows them to switch. On the surface of the water, they thus deviate from the cage to provide maximum stability and not to impede the entry of the machine 1. Advantageously, out of the water, these floats 12 extend along the cage 10, on each side thereof, so as to protect (and the machine 1) possible lateral shocks. These side impacts may occur, especially when the cage 10 is raised on board the boat 5. The floats 12 are, for example, fenders of boat.

La cage 10 comprend :

  • Un châssis 14 définissant un logement 16 avec une entrée par laquelle l'engin 1 pénètre. Sur les figures 1 et 2, cette entrée est à droite de la cage et, sur la figure 3, on voit cette entrée de face.
  • Des moyens de réception 18 aptes à recevoir la partie avant, ci-après appelée "nez", de l'engin 1. Les moyens de réception 18 définissent une cavité 20 ayant une forme complémentaire de celle du nez de l'engin 1. Ces moyens de réception 18 sont traversés par un câble 22, un passage 23 étant ménagé à cet effet dans les moyens de réception 18, au fond de la cavité 20 (voir fig. 5 et 7).
  • Des moyens de guidage pour guider et orienter les moyens de réception 18, ainsi que l'engin 1, par rapport au châssis 14, de manière à faciliter la pénétration de l'engin 1 dans la cage 10.
  • Des moyens de traction fixés au châssis 14 permettant de tracter l'engin 1 à l'intérieur du logement 16 de la cage 10, par l'intermédiaire d'un lien souple, typiquement le câble 22, relié à l'engin 1. Ces moyens de traction comprennent un dispositif d'enroulement/déroulement du câble 22 formé par un treuil 24. Le câble 22 peut être textile ou métallique. Le treuil 24 peut être commandé à distance et, notamment, depuis le bateau 5.
  • Des moyens d'immobilisation de l'engin 1 à l'intérieur du logement 16, aptes à empêcher l'engin 1 de ressortir de la cage 10, une fois qu'il y est entré.
  • Au moins une source d'énergie (e.g. au moins une batterie 25) pour alimenter les moyens de traction et, si nécessaire, les moyens d'immobilisation. On peut en effet prévoir des moyens d'immobilisation non alimentés en énergie, déclenchés mécaniquement pas le passage de l'engin 1.
The cage 10 comprises:
  • A frame 14 defining a housing 16 with an inlet through which the machine 1 enters. On the figures 1 and 2 , this entrance is to the right of the cage and, on the figure 3 we see this entrance from the front.
  • Receiving means 18 adapted to receive the front part, hereinafter called "nose", of the machine 1. The receiving means 18 define a cavity 20 having a shape complementary to that of the nose of the machine 1. These receiving means 18 are traversed by a cable 22, a passage 23 being formed for this purpose in the receiving means 18, at the bottom of the cavity 20 (see Fig. 5 and 7 ).
  • Guiding means for guiding and orienting the receiving means 18, as well as the machine 1, with respect to the frame 14, so as to facilitate the penetration of the machine 1 into the cage 10.
  • Traction means fixed to the frame 14 for towing the machine 1 inside the housing 16 of the cage 10, via a flexible link, typically the cable 22, connected to the machine 1. These traction means comprise a device for winding / unwinding the cable 22 formed by a winch 24. The cable 22 may be textile or metal. The winch 24 can be controlled remotely and, in particular, from the boat 5.
  • Means for immobilizing the machine 1 inside the housing 16, able to prevent the machine 1 to leave the cage 10, once it has entered.
  • At least one energy source (eg at least one battery 25) for supplying the traction means and, if necessary, the immobilizing means. It is possible to provide immobilization means that are not powered by energy, mechanically triggered by the passage of the machine 1.

On notera que les figures 5 à 9 ne représentent pas toutes les parties de la cage 10. Notamment, les parties inférieures de la cage ne sont pas représentées. Sur ces figures on a voulu montrer plus particulièrement les moyens de réception et les moyens de guidage.It should be noted that Figures 5 to 9 do not represent all the parts of the cage 10. In particular, the lower parts of the cage are not represented. In these figures we wanted to show more particularly the receiving means and the guide means.

Lesdits moyens de réception 18 comprennent un élément 32 mobile entre l'entrée et le fond de la cavité 20. Le câble 22 traverse cet élément mobile 32, de préférence en son centre. Dans l'exemple, l'élément mobile 32 comprend une coupelle 34, apte à recevoir le nez de l'engin 1 (voir figure 7), qui présente un trou central 35 par lequel passe le câble 22. Plusieurs branches 36 de guidage (généralement au moins deux branches diamétralement opposées) s'étendent à la périphérie de la coupelle 34 et relient celle-ci à la structure 37 des moyens de réception 18. L'extrémité de chaque branche 36 peut coulisser par rapport à cette structure 37, de sorte que l'élément mobile 32 peut coulisser entre l'entrée et le fond de la cavité 20, comme représenté par la double flèche A sur la figure 5.Said receiving means 18 comprise an element 32 movable between the inlet and the bottom of the cavity 20. The cable 22 passes through this movable element 32, preferably at its center. In the example, the movable element 32 comprises a cup 34, adapted to receive the nose of the machine 1 (see figure 7 ), which has a central hole 35 through which the cable 22 passes. A plurality of guide branches 36 (generally at least two diametrically opposed branches) extend around the periphery of the cup 34 and connect it to the structure 37 of the means The end of each branch 36 can slide relative to this structure 37, so that the movable member 32 can slide between the inlet and the bottom of the cavity 20, as represented by the double arrow A on the figure 5 .

La cage 10 comprend des premiers moyens de blocage 38 (voir figure 5) pour maintenir lesdits moyens de réception 18 au voisinage de l'entrée du logement 16, avant que l'engin 1 n'atteigne la cage. Ainsi, lesdits moyens de réception 18 sont en position pour recevoir l'engin 1 qui arrive. En outre, à mesure que l'engin 1 est tracté et qu'il se rapproche, la partie de câble 22 s'étendant entre le treuil 24 et les moyens de réception 18 (plus précisément entre la poulie 40, le passage 23 et le nez de l'engin 1 - voir fig. 5 et 6) forme un bras de levier qui fait s'orienter la cage 10 face au nez de l'engin 1, ce qui facilite la récupération de ce dernier. On notera que cette orientation de la cage est possible car celle-ci peut se déplacer librement dans l'eau, le(s) câble(s) 9 (70) reliant la cage 10 au bateau 5 étant détendu(s).The cage 10 comprises first locking means 38 (see FIG. figure 5 ) to maintain said receiving means 18 in the vicinity of the inlet of the housing 16, before the machine 1 reaches the cage. Thus, said receiving means 18 are in position to receive the machine 1 that arrives. In addition, as the machine 1 is pulled and comes closer, the cable portion 22 extending between the winch 24 and the receiving means 18 (more precisely between the pulley 40, the passage 23 and the nose of the machine 1 - see Fig. 5 and 6 ) forms a lever arm which is oriented cage 10 facing the nose of the machine 1, which facilitates the recovery of the latter. Note that this orientation of the cage is possible because it can move freely in the water, the (s) cable (s) 9 (70) connecting the cage 10 to the boat 5 being relaxed (s).

Les premiers moyens de blocage 38 libèrent lesdits moyens de réception 18 seulement lorsque le nez de l'engin 1 est engagé complètement dans les moyens de réception 18 (plus précisément dans la cavité 20) et est sur le point de pénétrer à l'intérieur du logement 16. Dans l'exemple, les premiers moyens de blocage 38 comprennent une butée capable de s'escamoter lorsque l'engin 1 exerce sur elle une force de poussée supérieure à une force prédéterminée. Pratiquement, la butée est formée par un bras 42 monté pivotant sur le châssis 14, à l'extrémité duquel est monté un galet 46. Ce bras 42 est reliée à un ressort 44 dont la raideur est choisie telle qu'à partir d'une certaine force de poussé exercée par l'engin 1 sur le bras 42, via les moyens de réception 18, le ressort 44 se déforme et laisse le bras s'escamoter en pivotant selon la flèche B (voir figure 5). D'autres types de moyens de blocage pourraient, bien entendu, être envisagés.The first blocking means 38 release said receiving means 18 only when the nose of the machine 1 is fully engaged in the receiving means 18 (more precisely in the cavity 20) and is about to penetrate inside the vehicle. In the example, the first locking means 38 comprise a stop capable of retracting when the machine 1 exerts on it a thrust force greater than a predetermined force. Practically, the stop is formed by an arm 42 pivotally mounted on the frame 14, at the end of which is mounted a roller 46. This arm 42 is connected to a spring 44 whose stiffness is chosen such that from a certain pushing force exerted by the machine 1 on the arm 42, via the receiving means 18, the spring 44 is deformed and allows the arm to retract by pivoting along the arrow B (see figure 5 ). Other types of blocking means could, of course, be considered.

La cage comprend en outre des deuxièmes moyens de blocage 48 (voir fig. 6) pour maintenir l'élément mobile 32 des moyens de réception 18 à l'entrée de la cavité 20, ces deuxièmes moyens de blocage 48 libèrent l'élément mobile 32 lorsque l'engin 1 vient au contact de cet élément mobile 32 (plus précisément de la coupelle 34). Ces deuxièmes moyens de blocage 48 sont, par exemple, du même principe que les premiers moyens de blocage 38 et comprennent une butée capable de s'escamoter lorsque l'engin 1 exerce sur elle, via l'élément mobile 32, une force de poussée supérieure à une force prédéterminée.The cage further comprises second blocking means 48 (see FIG. Fig. 6 ) to maintain the movable element 32 of the receiving means 18 at the inlet of the cavity 20, these second blocking means 48 release the movable element 32 when the machine 1 comes into contact with this movable element 32 (more precisely of the cup 34). These second locking means 48 are, for example, of the same principle as the first locking means 38 and comprise a stop capable of retracting when the machine 1 exerts on it, via the movable member 32, a thrust force greater than a predetermined force.

La présence de l'élément mobile 32 et son blocage à l'entrée de la cavité 20, permettent à la portion de câble 22 tendue entre le fond de la cavité 20, l'entrée de cette cavité et le nez de l'engin 1, de se comporter comme un bras de levier qui fait s'orienter ladite cavité 20 face à l'engin 1, à mesure que celui-ci se rapproche. Ceci facilite la récupération de l'engin.The presence of the movable element 32 and its blocking at the entrance of the cavity 20, allow the cable portion 22 stretched between the bottom of the cavity 20, the inlet of this cavity and the nose of the machine 1 , to behave like an arm lever that makes said cavity 20 orientate towards the machine 1, as it approaches. This facilitates the recovery of the machine.

L'effort de blocage des deuxièmes moyens de blocage 48 est inférieur à celui des premiers moyens de blocage 38, de sorte que, lorsque l'engin 1 vient pénétrer à l'intérieur des moyens de réception 18 (plus précisément à l'intérieur de la cavité 20), les deuxièmes moyens de blocage 48 cèdent avant les premiers moyens de blocage 38.The locking force of the second blocking means 48 is smaller than that of the first blocking means 38, so that when the machine 1 penetrates inside the receiving means 18 (more precisely inside the the cavity 20), the second blocking means 48 yield before the first blocking means 38.

Lesdits moyens de réception 18 sont solidaires d'une tige 50. Lorsque la cage 10 est à l'eau et flotte, cette tige 50 est orientée verticalement (par rapport au niveau de l'eau, horizontal). La tige 50 est montée sur un chariot 52 de manière à pouvoir pivoter autour de son axe C, suivant la double flèche D représentée sur les figures 5 à 7. Le chariot 52 est guidé le long du logement 16 de la cage 10, par lesdits moyens de guidage.Said receiving means 18 are integral with a rod 50. When the cage 10 is in water and floats, this rod 50 is oriented vertically (relative to the level of the water, horizontal). The rod 50 is mounted on a carriage 52 so as to be pivotable about its axis C, along the double arrow D shown on the Figures 5 to 7 . The carriage 52 is guided along the housing 16 of the cage 10, by said guide means.

Les moyens de réception 18 sont montés sur la tige 50 de manière à:

  • être entraînés par la tige 50 lorsqu'elle pivote suivant la double flèche D, on parle ci-après de pivotement horizontal; et
  • pouvoir pivoter autour d'un axe perpendiculaire à l'axe C de la tige, comme représenté sur les figures 5 et 7 par les double flèche E. On parlera ci-après de pivotement vertical.
The receiving means 18 are mounted on the rod 50 so as to:
  • be driven by the rod 50 when it pivots along the double arrow D, hereinafter referred to as horizontal pivoting; and
  • able to rotate about an axis perpendicular to the C axis of the rod, as shown in figures 5 and 7 by the double arrow E. We will speak here of vertical pivoting.

Ces libertés de pivotement vertical et horizontal permettent aux moyens de réception 18 de s'orienter face au nez de l'engin 1 lorsque celui-ci s'approche et, une fois le nez de l'engin 1 logé dans la cavité 20, de suivre les oscillations de l'engin 1, jusqu'à ce que ce dernier vienne prendre appui sur les arceaux 30 de la bascule 29 (décrite plus loin).These vertical and horizontal pivoting freedoms allow the receiving means 18 to orient towards the nose of the machine 1 when it approaches and, once the nose of the machine 1 housed in the cavity 20, follow the oscillations of the machine 1, until the latter comes to bear on the arches 30 of the latch 29 (described below).

Dans l'exemple, l'extrémité inférieure de la tige 50 porte une fourche 51 et entre les deux branches de la fourche 51 s'étend un axe F, perpendiculaire à l'axe C de la tige, autour duquel les moyens de réception sont montés pivotant. Des butées 53 limitent l'angle de pivotement vertical des moyens de réception 18.In the example, the lower end of the rod 50 carries a fork 51 and between the two branches of the fork 51 extends an axis F, perpendicular to the axis C of the rod, around which the receiving means are mounted swivel. Stops 53 limit the vertical pivoting angle of the receiving means 18.

Un bras de guidage 54 est fixé à l'extrémité de la tige 50 de manière à pouvoir entraîner celle-ci et la faire pivoter autour de son axe C suivant la double flèche D. Ce bras 54 présente une première extrémité engagée avec la tige 50 et une deuxième extrémité sur laquelle est monté un galet 56.A guide arm 54 is fixed to the end of the rod 50 so as to be able to drive it and rotate it about its axis C along the double arrow D. This arm 54 has a first end engaged with the rod 50 and a second end on which is mounted a roller 56.

Lesdits moyens de guidage comprennent des premier et deuxième guides superposés 58, 60, s'étendant le long du logement 16.Said guide means comprise first and second superimposed guides 58, 60, extending along the housing 16.

Le premier guide 58 guide le chariot 52 le long du logement 16. Il est formé par une paire de rails 64 parallèles et le chariot 52 est équipé de roulettes 62 de sorte qu'il peut se déplacer le long des rails 64, suivant la double flèche G représentée sur la figure 6.The first guide 58 guides the carriage 52 along the housing 16. It is formed by a pair of parallel rails 64 and the carriage 52 is equipped with rollers 62 so that it can move along the rails 64, following the double arrow G shown on the figure 6 .

Le deuxième guide 60 guide le bras de guidage 54 et, de ce fait, oriente la tige 50 et les moyens de réception 18 en les faisant pivoter horizontalement suivant la double flèche D. Il est situé au-dessus du premier guide 58. Il est formé par une paire de rails 66 qui se rapprochent l'un de l'autre à mesure que l'on s'éloigne de l'entrée de la cage 10. Le bras de guidage 54 peut pivoter entre ces rails 66 selon la double flèche D, entre une première position dans laquelle le galet 56 est au contact de l'un des rails 66, et une deuxième position dans laquelle le galet 56 est au contact de l'autre rail 66. Plus l'écartement des rails 66 est important, plus la liberté de pivotement horizontal du bras 54, et donc de la tige 50 et des moyens de réception 18, est grande. A l'inverse, plus l'engin 1 pénètre à l'intérieur de la cage 10, plus le chariot 52 avance le long des rails 66 qui se rapprochent l'un de l'autre, et plus la liberté de pivotement horizontal des moyens de réception 18 diminue. Ainsi, à mesure que l'engin 1 pénètre à l'intérieur de la cage 10, le bras 54 et les moyens de réception 18 s'orientent progressivement suivant l'axe principal H de la cage 10. Les moyens de réception 18 entraînent l'engin 1 par le nez, et cet engin 1 s'oriente également suivant l'axe H (voir fig. 6). Il pénètre ainsi facilement à l'intérieur de la cage 10.The second guide 60 guides the guide arm 54 and, thereby, directs the rod 50 and the receiving means 18 by rotating them horizontally along the double arrow D. It is located above the first guide 58. It is formed by a pair of rails 66 which are closer to each other as one moves away from the entrance of the cage 10. The guide arm 54 can rotate between these rails 66 according to the double arrow D, between a first position in which the roller 56 is in contact with one of the rails 66, and a second position in which the roller 56 is in contact with the other rail 66. Plus the spacing of the rails 66 is important , plus the freedom of horizontal pivoting arm 54, and therefore the rod 50 and receiving means 18, is large. Conversely, the more the machine 1 enters the cage 10, the more the carriage 52 advances along the rails 66 which are close to one another, and the freedom of horizontal pivoting means reception 18 decreases. Thus, as the machine 1 penetrates inside the cage 10, the arm 54 and the receiving means 18 are gradually oriented along the main axis H of the cage 10. The receiving means 18 cause the 1 by the nose, and this machine 1 is also oriented along the axis H (see Fig. 6 ). It thus easily penetrates inside the cage 10.

Le châssis 14 de la cage 10 présente sur ses côtés des échancrures 68 ouvertes vers l'entrée de la cage 10, qui permette le passage des ailerons latéraux 3 de l'engin 1 (voir fig. 1 et 4). L'engin 1 étant guidé et orienté lorsqu'il pénètre dans la cage 10, les ailerons 3 viennent se loger dans les échancrures 68 et, ainsi, ne sont pas endommagés.The frame 14 of the cage 10 has on its sides notches 68 open towards the entrance of the cage 10, which allows the passage of the lateral fins 3 of the machine 1 (see Fig. 1 and 4 ). The machine 1 being guided and oriented when it enters the cage 10, the fins 3 are housed in the notches 68 and, thus, are not damaged.

Dans l'exemple, lesdits moyens d'immobilisation comprennent deux tiges 26 équipées de patins à leurs extrémités, et un mécanisme pour lever/abaisser ces tiges. Les tiges 26 coulissent à l'intérieur de deux boîtiers 28 renfermant ledit mécanisme. Ces boîtiers 28 sont fixés de chaque côté du châssis 14, au voisinage de l'entrée de la cage 10. En position abaissée, les tiges 26 sont au contact de la face supérieure de l'engin 1, comme représenté sur les figures 4 et 8. On notera que la pression exercée par les tiges 26 sur l'engin 1 doit être maîtrisée afin de ne pas endommager ce dernier.In the example, said immobilizing means comprise two rods 26 equipped with pads at their ends, and a mechanism for lifting / lowering these rods. The rods 26 slide inside two housings 28 enclosing said mechanism. These housings 28 are fixed on each side of the frame 14, in the vicinity of the entrance of the cage 10. In the lowered position, the rods 26 are in contact with the upper face of the machine 1, as shown in FIGS. figures 4 and 8 . Note that the pressure exerted by the rods 26 on the machine 1 must be controlled in order not to damage the latter.

Selon un autre mode de réalisation (non représenté) les moyens d'immobilisation comprennent une tige montée pivotante sur le châssis 14 et un mécanisme, par exemple un vérin, pour faire pivoter cette tige. La tige porte à son extrémité un arceau qui vient entourer la face supérieure de l'engin 1. Eventuellement, l'engin 1 présente un organe faisant saillie sur sa face supérieure. Après que l'engin ait pénétré à l'intérieur du logement 16, l'arceau s'abaisse et vient se placer derrière l'organe en saillie, ce qui permet d'immobiliser l'engin 1 à l'intérieur de la cage 10.According to another embodiment (not shown) the immobilizing means comprise a rod pivotally mounted on the frame 14 and a mechanism, for example a jack, for pivoting this rod. The rod carries at its end a hoop which surrounds the upper face of the machine 1. Optionally, the machine 1 has a member projecting from its upper face. After the machine has penetrated inside the housing 16, the hoop lowers and is placed behind the protruding member, which makes it possible to immobilize the machine 1 inside the cage 10 .

D'autres types de moyens d'immobilisation pourraient être envisagés. Avantageusement, ces moyens sont commandés à distance et, de préférence, depuis le bateau 5.Other types of immobilization means could be envisaged. Advantageously, these means are controlled remotely and, preferably, from the boat 5.

Par ailleurs, la face inférieure de l'engin 1 est en appui sur une bascule 29, montée sur le châssis. Cette bascule 29 comprend à chacune de ses extrémités un arceau 30, sur lequel l'engin 1 repose. Comme représenté sur les figures 1 et 3, les arceaux 30 s'étendent transversalement par rapport à la cage 10, sous le logement 16. Ces arceaux sont aisément retirés lorsque l'engin 1 est posé sur un support de travail adapté présent sur le bateau 5.Furthermore, the underside of the machine 1 is supported on a rocker 29, mounted on the frame. This rocker 29 comprises at each of its ends a hoop 30, on which the machine 1 rests. As shown on figures 1 and 3 , the hoops 30 extend transversely with respect to the cage 10, under the housing 16. These hoops are easily removed when the machine 1 is placed on a suitable working support present on the boat 5.

On va maintenant décrire un exemple de procédé de récupération d'un engin sous-marin ou marin, à partir d'une base de récupération, ce procédé utilisant la cage 10 précédemment décrite. Dans cet exemple, la base de récupération est le bateau 5, et l'engin à récupérer est l'engin 1.An example of a method for recovering an underwater or marine vehicle from a recovery base, this method using the cage 10 described above, will now be described. In this example, the recovery base is the boat 5, and the machine to recover is the machine 1.

Selon le mode de réalisation de l'engin 1 et selon les circonstances opératoires, on récupère, depuis le bateau 5, un câble 22' relié au nez de l'engin 1. On relie ensuite le câble 22' à un câble 22" en attente de la cage 10. Les câbles 22' et 22" forment alors le câble 22 précité qu'on fait passer à travers l'élément mobile 32, le passage 23 des moyens de réception 18, et autour de la poulie 40 située au fond du logement 16, et qu'on relie au treuil 24 de la cage 10 (voir figure 5).According to the embodiment of the machine 1 and according to the operating circumstances, a cable 22 'connected to the nose of the machine 1 is recovered from the boat 5. The cable 22' is then connected to a cable 22 "in waiting for the cage 10. The cables 22 'and 22 "then form the aforementioned cable 22 which is passed through the movable element 32, the passage 23 of the receiving means 18, and around the pulley 40 located at the bottom of the housing 16, and that is connected to the winch 24 of the cage 10 (see figure 5 ).

Dans l'étape suivante, on met à l'eau la cage 10. Elle reste reliée au bateau 5 par l'intermédiaire du câble de traction 9, également appelé câble de levage, et d'autres câbles 70, dits de guidage. A ce stade, les câbles 9 et 70 sont détendus de sorte que le bateau 5 n'entraîne pas la cage 10 dans ses mouvements. La cage 10 se déplace donc librement dans l'eau.In the next step, the cage 10 is put into the water. It remains connected to the boat 5 via the traction cable 9, also called lifting cable, and other cables 70, said guide. At this point, the cables 9 and 70 are relaxed so that the boat 5 does not drive the cage 10 in its movements. The cage 10 moves freely in the water.

Dans l'étape suivante, on commande à distance l'enroulement du câble 22 sur le treuil 24 afin de tracter l'engin 1 à l'intérieur de la cage 10. Comme expliqué précédemment, la portion de câble 22 s'étendant entre le nez de l'engin 1, les moyens de réception 18 situés à l'entrée de la cage, et le treuil 24 (en fait la poulie 40) situé au fond de la cage 10, forme un bras de levier qui fait tourner la cage 10, de sorte que l'axe H de la cage se rapproche du nez de l'engin 1. De la même manière, les moyens de réception 18 se tournent face au nez de l'engin 1 lorsque celui-ci se rapproche, grâce à la portion de câble 22 s'étendant entre le fond de la cavité 20 (i.e. le passage 23), l'élément mobile 32 et le nez de l'engin 1.In the next step, the winding of the cable 22 is remotely controlled on the winch 24 in order to tow the machine 1 inside the cage 10. explained above, the cable portion 22 extending between the nose of the machine 1, the receiving means 18 at the entrance to the cage, and the winch 24 (actually the pulley 40) located at the bottom of the 10, forms a lever arm which rotates the cage 10, so that the axis H of the cage is approaching the nose of the machine 1. In the same way, the receiving means 18 are facing the nose of the machine 1 when the latter is approaching, thanks to the cable portion 22 extending between the bottom of the cavity 20 (ie the passage 23), the movable member 32 and the nose of the machine 1.

Le nez de l'engin 1 vient d'abord au contact de l'élément mobile 32 et exerce sur lui, à mesure que la traction de l'engin 1 se poursuit, une force de poussée de plus en plus grande. Au-delà d'une force limite, les deuxièmes moyens de blocage 48 libèrent l'élément mobile 32 qui se translate avec le nez de l'engin 1, jusque au fond de la cavité 20. Le nez de l'engin 1 occupe alors la cavité 20. Les mouvements relatifs entre les moyens de réception 18, et donc l'engin 1, et la cage 10 sont toujours autorisés à ce stade. En effet, les moyens de réception peuvent pivoter verticalement et horizontalement suivant les doubles flèches E et D. On limite ainsi les contraintes s'exerçant au niveau du nez de l'engin 1, liées aux déplacements relatifs entre l'engin 1 et la cage 10.The nose of the machine 1 first comes into contact with the movable member 32 and exerts on it, as the traction of the machine 1 continues, a thrust force of greater and greater. Beyond a limit force, the second blocking means 48 release the mobile element 32 which is translated with the nose of the vehicle 1, to the bottom of the cavity 20. The nose of the machine 1 then occupies the cavity 20. The relative movements between the receiving means 18, and thus the machine 1, and the cage 10 are still allowed at this stage. Indeed, the receiving means can pivot vertically and horizontally according to the double arrows E and D. It thus limits the stresses exerted at the nose of the machine 1, related to the relative movements between the machine 1 and the cage 10.

A mesure que la traction se poursuit, l'engin 1 exerce sur les moyens de réception 18 une force de poussée de plus en plus grande. Au-delà d'une force limite, les premiers moyens de blocage 38 libèrent le chariot 52 auxquels les moyens de réception 18 sont reliés via la tige 50. Le chariot 52 roule alors le long du premier guide 60, en direction du fond du logement 16. Dans le même temps, le bras de guidage 54 est guidé le long du premier guide 58 et sa liberté de pivotement suivant la double flèche D diminue progressivement. Les moyens de réception 18 et l'engin 1 s'orientent ainsi progressivement suivant l'axe principal H de la cage.As traction continues, the machine 1 exerts on the receiving means 18 a thrust force of greater and greater. Beyond a limit force, the first blocking means 38 release the carriage 52 to which the receiving means 18 are connected via the rod 50. The carriage 52 then rolls along the first guide 60, towards the bottom of the housing 16. At the same time, the guide arm 54 is guided along the first guide 58 and its pivoting freedom along the double arrow D gradually decreases. The receiving means 18 and the machine 1 are thus oriented progressively along the main axis H of the cage.

Une fois le nez de l'engin 1 arrivé au fond du logement 16, on commande à distance l'abaissement des tiges 26 de manière à immobiliser l'engin 1 dans la cage. On notera que, dans l'exemple, une partie seulement de l'engin 1 pénètre dans la cage 10.Once the nose of the machine 1 has arrived at the bottom of the housing 16, is controlled remotely the lowering of the rods 26 so as to immobilize the machine 1 in the cage. Note that, in the example, only part of the machine 1 enters the cage 10.

Dans l'étape suivante, on tracte la cage 10 et l'engin 1 à partir du bateau 5, par l'intermédiaire du câble 9, en vue de les remonter à bord du bateau 5. On peut également s'aider des câbles de guidage 70 pour tracter la cage 10 et l'engin 1. A cet effet, les câbles de guidage 70 peuvent être tirés manuellement, ou être reliés à un dispositif d'enroulement/déroulement de câble, par exemple des treuils analogues au treuil 7. Dans ce cas les câbles 70 et leurs éventuels dispositifs d'enroulement/déroulement font partie des moyens de traction montés sur la base de récupération, au sens de l'invention.In the next step, the cage 10 and the machine 1 are towed from the boat 5, by means of the cable 9, in order to put them back on board the boat 5. It is also possible to use the cables of guide 70 to pull the cage 10 and 1. For this purpose, the guide cables 70 can be pulled manually, or be connected to a cable winding / unwinding device, for example winches similar to the winch 7. In this case the cables 70 and their possible winding / unwinding devices are part of the traction means mounted on the recovery base, within the meaning of the invention.

Lorsque, comme dans l'exemple, le câble 9 est associé à un portique 72, on utilise les câbles de guidage 70 pour diriger la cage 10 et l'engin 1 afin de les faire passer dans le portique 72. On sort la cage 10 et l'engin 1 hors de l'eau à l'aide du câble 9 et on utilise les câbles 70 pour guider et faire passer la cage 10 et l'engin 1 à travers le portique 72, avant de les déposer sur le pont du bateau 5.When, as in the example, the cable 9 is associated with a gantry 72, the guide cables 70 are used to direct the cage 10 and the machine 1 in order to pass them through the gantry 72. The cage 10 is pulled out and the machine 1 out of the water using the cable 9 and the cables 70 are used to guide and pass the cage 10 and the machine 1 through the portico 72, before placing them on the bridge of the boat 5.

On va maintenant décrire un exemple de procédé de mise à l'eau d'un engin, à partir d'une base de récupération, utilisant la cage 10 précédemment décrite.We will now describe an example of a method of launching a machine, from a recovery base, using the cage 10 described above.

Dans cet exemple, la base de récupération est le bateau 5 et l'engin à récupérer est l'engin 1. A l'origine, l'engin 1 est immobilisé dans la cage 10 et cette cage est à bord du bateau 5.In this example, the recovery base is the boat 5 and the machine to be recovered is the machine 1. Originally, the machine 1 is immobilized in the cage 10 and this cage is on board the boat 5.

Selon une première étape, on utilise le treuil 7, le câble de traction 9, le portique 72 et, éventuellement, les câbles de guidage 70, pour mettre à l'eau la cage 10.According to a first step, the winch 7, the traction cable 9, the gantry 72 and possibly the guide cables 70 are used to launch the cage 10.

Une fois la cage 10 à l'eau, on libère l'engin immobilisé jusqu'ici par rapport à la cage 10 (par les moyens d'immobilisation précités), à l'aide de moyens de libération. Dans l'exemple, ces moyens de libération comprennent un mécanisme permettant de faire remonter les tiges 26. Ces moyens de libération sont commandés à distance, avantageusement à partir de la base de mise à l'eau (i.e. le bateau 5).Once the cage 10 with water, the machine immobilized hitherto with respect to the cage 10 (by the abovementioned immobilization means) is released using release means. In the example, these release means comprise a mechanism for raising the rods 26. These release means are controlled remotely, preferably from the launching base (i.e. the boat 5).

Dans l'étape suivante, on tracte l'engin 1 hors de la cage 10 à l'aide de moyens de traction montés sur cette cage. En référence à la figure 8, ces moyens de traction comprennent le dispositif d'enroulement/déroulement de câble, c'est-à-dire le treuil 24 et le câble 22 précédemment décrits, ainsi qu'une poulie 74 située au niveau de l'entrée du logement 16 de la cage 10. Le câble 22 est relié au treuil 24, s'étend jusqu'à la poulie 74, passe autour de celle-ci, et s'étend jusqu'au au chariot 52 auquel il est relié. Pour extraire l'engin 1 hors de la cage 10, on actionne le treuil 24 de sorte que le chariot 52, les moyens de réception 18 et le nez de l'engin 1, sont tirés par l'intermédiaire du câble 22 en direction de l'entrée du logement 16. Lorsque les moyens de réception 18 se rapprochent de l'entrée du logement 16, leur liberté de pivotement (liée à celle du bras de guidage 54) augmente en raison de l'écartement des rails 66 du deuxième guide 60. Ainsi, la liberté de mouvement de l'engin 1 par rapport à la cage 10 augmente à mesure que l'engin 1 est extrait hors de la cage 10 et on limite, voire on évite, l'apparition de contraintes mécaniques dans le nez de l'engin 1. On commande à distance, avantageusement à partir de la base de mise à l'eau, lesdits moyens de traction. Lorsque l'engin 1 est entièrement extrait de son logement, il s'éloigne de lui-même de la cage 10 puisqu'il n'y est pas relié.In the next step, the machine 1 is towed out of the cage 10 by means of traction means mounted on this cage. With reference to the figure 8 these traction means comprise the cable winding / unwinding device, that is to say the winch 24 and the cable 22 previously described, and a pulley 74 located at the entrance of the housing 16 of the cage 10. The cable 22 is connected to the winch 24, extends to the pulley 74, passes around it, and extends to the carriage 52 to which it is connected. To extract the machine 1 out of the cage 10, the winch 24 is actuated so that the carriage 52, the receiving means 18 and the nose of the machine 1, are pulled through the cable 22 towards the entrance of the housing 16. When the receiving means 18 are approaching the entrance of the housing 16 , their freedom of pivoting (linked to that of the guide arm 54) increases because of the separation of the rails 66 of the second guide 60. Thus, the freedom of movement of the machine 1 relative to the cage 10 increases as the that the machine 1 is extracted out of the cage 10 and it limits or even avoids the appearance of mechanical stresses in the nose of the machine 1. It remotely controlled, advantageously from the base of setting water, said traction means. When the machine 1 is fully extracted from its housing, it moves away from itself from the cage 10 since it is not connected.

Suivant les conditions opératoires, l'engin 1 peut être rendu solidaire des moyens de réception 18 et ce jusqu'au bout du mouvement de sortie. Il est ensuite libéré définitivement soit, avantageusement, par une commande depuis le bateau 5, soit par un dispositif mécanique placé sur les moyens de réception 18 et déclenché automatiquement en fin de course desdits moyens de réception.Depending on the operating conditions, the machine 1 can be made integral with the receiving means 18 and until the end of the output movement. It is then released permanently or, advantageously, by a command from the boat 5, or by a mechanical device placed on the receiving means 18 and automatically triggered at the end of travel of said receiving means.

Claims (14)

  1. Apparatus for recovering a surface or underwater vehicle (1), the apparatus comprising a frame (14) defining a housing (16) into which the vehicle can penetrate via an entrance, the apparatus being characterized in that it further comprises:
    · reception means (18) for receiving a portion of the vehicle (1) and capable of moving along said housing (16) when the vehicle penetrates therein, said reception means (18) having sufficient freedom of movement relative to the frame (14) to follow the movement of the vehicle while the reception means and the vehicle are situated in the vicinity of the entrance to the housing; and
    · guide means (58, 60) for guiding the reception means (18) along said housing (16) and for causing the reception means together with the vehicle (1) to become aligned therealong by progressively limiting their freedom to move relative to the frame (14) as the vehicle penetrates into the housing (16).
  2. Apparatus according to claim 1, including puller means mounted on the frame (14) for pulling said vehicle (1) into the housing (16).
  3. Apparatus according to claim 2, wherein said puller means comprise a cable winder device (24) enabling said vehicle (1) to be pulled into the housing (16) via a cable (22) connected to the vehicle.
  4. Apparatus according to claim 3, wherein said reception means (18) define a cavity (20) suitable for receiving said portion of the vehicle (1), said cable (22) passing through said reception means.
  5. Apparatus according to any one of claims 1 to 4, including first blocking means (38) for holding said reception means (18) close to the entrance of the housing (16), said first blocking means releasing said reception means when said portion of the vehicle (1) is engaged in said reception means.
  6. Apparatus according to claim 4 and any one of claims 1 to 5, wherein said reception means (18) comprise a movable element (32) movable between the entrance and the bottom of said cavity (20), said cable (22) passing through the movable element.
  7. Apparatus according to claim 6, including second blocking means (48) for holding said movable element (32) at the entrance of said cavity (20), said second blocking means releasing the movable element when the vehicle (1) comes into contact with said movable element.
  8. Apparatus according to any one of claims 1 to 7, wherein said reception means (18) are secured to a rod (50), said rod being mounted on a carriage (52) so as to pivot about its axis (C), said carriage being guided along said housing by said guide means (58, 60).
  9. Apparatus according to claim 8, wherein said reception means (18) are pivotally mounted on said rod (50) so as to pivot about an axis (F) perpendicular to the axis (C) of the rod.
  10. Apparatus according to claim 8 or claim 9, wherein a guide arm (54) is fastened to the end of said rod (50), and the guide means comprise first and second superposed guides (58, 60) extending along said housing (16), the first guide (58) guiding the carriage (52) along said housing and the second guide (60) guiding the guide arm, and as a result determining the orientation of the rod and the reception means (18).
  11. Apparatus according to claim 10, wherein the second guide (60) is formed by a pair of rails (66), these rails coming closer together on going away from the entrance of the housing (16) so as to limit the freedom of said guide arm (54) to move, and as a result determining the orientation of the rod (50) and of the reception means (18).
  12. Apparatus according to any one of claims 1 to 11, adapted to float on water.
  13. Use of an apparatus according to any one of claims 1 to 12 for recovering and/or launching a surface or underwater vehicle (1).
  14. Installation for recovering a surface or underwater vehicle (1), from a recovery base (5), the installation comprising a recovery apparatus according to any one of claims 1 to 12 together with puller means (7) designed to be mounted on the recovery base and capable of pulling said apparatus via at least one flexible connection (9, 70).
EP07823638A 2006-07-26 2007-07-25 Apparatus for recovering an underwater or marine vehicle Active EP2043913B1 (en)

Applications Claiming Priority (2)

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FR0653127A FR2904287B1 (en) 2006-07-26 2006-07-26 APPARATUS FOR RECOVERING A SUBMARINE OR MARINE
PCT/FR2007/051721 WO2008012472A1 (en) 2006-07-26 2007-07-25 Apparatus for recovering an underwater or marine vehicle

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EP2043913A1 EP2043913A1 (en) 2009-04-08
EP2043913B1 true EP2043913B1 (en) 2009-12-02

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EP (1) EP2043913B1 (en)
JP (1) JP2009544520A (en)
AT (1) ATE450442T1 (en)
CA (1) CA2658975C (en)
DE (1) DE602007003607D1 (en)
DK (1) DK2043913T3 (en)
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FR2904287B1 (en) 2008-10-24
DK2043913T3 (en) 2010-04-19
ATE450442T1 (en) 2009-12-15
US20090308299A1 (en) 2009-12-17
WO2008012472A1 (en) 2008-01-31
CA2658975C (en) 2015-05-19
CA2658975A1 (en) 2008-01-31
FR2904287A1 (en) 2008-02-01
DE602007003607D1 (en) 2010-01-14
EP2043913A1 (en) 2009-04-08
JP2009544520A (en) 2009-12-17

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