EP2155543A2 - Submarine provided with a device for releasing and recovering a secondary underwater vehicle - Google Patents

Submarine provided with a device for releasing and recovering a secondary underwater vehicle

Info

Publication number
EP2155543A2
EP2155543A2 EP08805959A EP08805959A EP2155543A2 EP 2155543 A2 EP2155543 A2 EP 2155543A2 EP 08805959 A EP08805959 A EP 08805959A EP 08805959 A EP08805959 A EP 08805959A EP 2155543 A2 EP2155543 A2 EP 2155543A2
Authority
EP
European Patent Office
Prior art keywords
underwater vehicle
submarine
handling
bell
release
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
Application number
EP08805959A
Other languages
German (de)
French (fr)
Other versions
EP2155543B1 (en
Inventor
Jean-Claude Fournier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Naval Group SA
Original Assignee
DCNS SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by DCNS SA filed Critical DCNS SA
Publication of EP2155543A2 publication Critical patent/EP2155543A2/en
Application granted granted Critical
Publication of EP2155543B1 publication Critical patent/EP2155543B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—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
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2203/00—Communication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Definitions

  • Submarine equipped with a device for dropping and recovering a secondary underwater vehicle.
  • the present invention relates to a device for dropping and recovering a secondary underwater vehicle self-propelled from a ship, and in particular from a submerged submarine.
  • the object of the present invention is to overcome these disadvantages by providing a means for a submarine underwater to launch and recover a secondary underwater vehicle without the intervention of divers and without leaving the work immersion and in good conditions of safety.
  • the invention relates to a submarine of the type comprising a solid mass and possibly a bridge bridge, and comprising a device for releasing and recovering a secondary self-propelled underwater vehicle, the release and recovery device comprising handling means for moving the secondary underwater vehicle between a storage area and a drop zone or recovery and reversible gripping means, integral with the handling means, for releasing the secondary underwater vehicle at the time of release and attachment of the secondary underwater vehicle during the recovery, adapted so that the drop zone or recovery is located outside the turbulence zone surrounding the submarine when it is moving.
  • the release device and recovery is mounted at the rear upper end of the submarine and the handling means can be placed in a rest position in which it is the trailing edge of the massif.
  • the handling means comprises a handling arm whose free end is movable between a storage position and a release position or recovery and the handling arm is mounted on a support provided on the rear upper part of the solid by via a hinge allowing pivoting of the arm about a transverse axis relative to the arm.
  • the handling means comprises a device for immobilizing the secondary underwater vehicle mounted on the free end of the handling arm and operating means of the handling arm and the gripping device.
  • the immobilizer comprises, for example, at least one clamp or cage.
  • the immobilizing means is mounted at the end of the handling arm by means adapted to adjust the orientation of the axis of the secondary underwater vehicle at least in the release position and, for example, to keep it permanently parallel to the longitudinal axis of the submarine.
  • the gripping device is constituted for example by a gripping bell comprising means for coupling and reversibly securing the gripping bell and the nose of a secondary underwater vehicle, and means for guiding a machine under -marine secondary.
  • Means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may include a pump for sucking water inside the bell and / or for discharging water inside the bell.
  • the means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may comprise a hook which is movable between a hooking position and a release position and a means for actuating the hook, and more generally any mechanical or magnetic locking means.
  • the guiding means comprise for example one or more means of the acoustic transducer type, optical beam or laser beam.
  • the gripping bell is movable relative to the free end of the handling arm and is connected to the handling arm by a cable winding around a winch.
  • the gripping bell may comprise a television camera and maneuvering means connected to a control station located inside the submarine.
  • the storage area is located for example on or below the bridge bridge and includes a storage compartment which may include a pressure-resistant box.
  • the submarine according to the invention is in particular a submarine for military use.
  • the present invention makes it possible to launch and recover a secondary underwater vehicle from a main submarine (or submarine mother), in good conditions of safety and with few operational constraints. Indeed, the invention allows to perform these operations at a significant distance from the hull (about ten meters) which limits the risk of collision, especially with the propeller.
  • Figure 1 is an overview of a submarine equipped with a device for releasing and recovering a secondary underwater vehicle.
  • FIG. 1 is an enlarged view of the device for the release and recovery of a secondary submarine which is equipped with the submarine of Figure 1, and its location on the submarine.
  • - Figure 3 is a schematic view of a gripping bell of a secondary underwater vehicle equipping a device for the release and recovery of such a machine.
  • the submarine generally identified by 1 in FIG. 1 comprises, in a manner known per se, a hull 2 surmounted by a solid mass 3 and a gangway bridge 4. At the rear, the submarine comprises a propulsion means 5 and 6.
  • the submarine as shown in Figure 1 is underwater and therefore in motion. Indeed a submarine can not practically not remain stable in diving without being in motion even relatively slow. Due to the movement, the submarine is surrounded by a zone 7 of turbulence.
  • the submarine 1 comprises in its upper part a release and recovery device generally identified by 8 and intended to drop or recover a secondary underwater vehicle 90.
  • This device is adapted to allow to move a means of capture and recovery. gripping the secondary underwater vehicle from a position in which the secondary underwater vehicle is stored to a release or recovery position located outside the turbulence zone surrounding the vessel from which it is desired to be dumped or recover the secondary underwater vehicle.
  • the release and recovery device comprises a handling means generally indicated by 8A consisting of a handling arm 9 mounted hinged at one of its ends around a horizontal axis 10 located at the rear top corner of the solid 3.
  • L horizontal axis 10 is perpendicular to the longitudinal direction of the arm, which allows to deploy the arm by rotation about this axis.
  • the free end 11 of the handling arm 9 carries an immobilizing device 12 consisting of two clamps 13 provided with actuating means and adapted to be able to grip a secondary underwater vehicle.
  • the immobilizing means can also be a cage or any other suitable device.
  • the free end of the handling arm also carries a reversible gripping means generally marked by 14, consisting of a gripping bell 15 connected by a cable 16 to a winch 17 disposed at the end of the handling arm 9.
  • the arm handling is movable between a position generally marked by 18 which is a storage position of the secondary underwater vehicle and a position 19 of release or recovery of the secondary underwater vehicle 90.
  • the handling arm 9 to a sufficient length so that, in the position of release or recovery of the secondary underwater vehicle, the gripping means is located outside the turbulence zone 7 which surrounds the submarine when it is in motion.
  • the immobilizer 12 when the arm 9 is in the release or recovery position, that is to say that its free end is in the drop zone or recovery zone, the immobilizer 12 is horizontal, that is to say parallel to the general axis of the submarine.
  • the immobilizer 12 When the arm 9 is in the storage position of the secondary underwater vehicle, the immobilizer 12 is also in a horizontal position so as to be able to deposit the secondary underwater vehicle horizontally inside a vehicle. storage compartment 20 disposed under the bridge bridge 4. In this storage compartment 20 the secondary underwater vehicle is deposited on a receiving and transport cradle 21 which is movable between an area 22 closed by a door 23 and accessible from the outside of the submarine, and a box 24 resistant to pressure, separated from the free zone 22 by a sealed door 25. When in the storage position, the arm 9 extends along the trailing edge 26 of the massif 3.
  • the handling arm comprises actuating means. These means include a jack 27 for effecting the movements between the storage position and the release and recovery position, a rotary jack 28 for ensuring the movement of the gripper 12 relative to the arm 9 so as to ensure permanently the horizontal positioning of the gripping device, and not shown means for actuating the grippers 13 of the gripper. Other active or passive actuation means may be used. The passive means may be, for example, of the parallelogram type. The skilled person knows such means.
  • the gripping bell 15 of the reversible gripping means shown in a more complete but diagrammatic manner in FIG. 3, consists of a fairing 29 having a shape complementary to the shape of the nose 91 of a secondary underwater vehicle. This bell comprises means generally marked 30, guiding the secondary underwater vehicle consisting for example of an acoustic transducer 31A and a light beam in normal light or laser 31 B.
  • This bell is also equipped with a reversible suction pump and pump 32 for pumping water inside 33 of the bell to reject it outside 34, or vice versa, can pump water to the outside 34 of the bell and reinject it inside 33 of the bell.
  • the bell further comprises a means 35 for hooking or releasing the nose of the secondary underwater vehicle.
  • This reversible attachment means 35 comprises a hook 36 movable between a hooking position 37 and a release position 38. This hook is actuated by an actuating means 39.
  • the pump and the hook constitute means for coupling and securing reversibly the bell and the secondary underwater vehicle.
  • the hook may advantageously be replaced by any reversible mechanical or magnetic locking means.
  • These means are, for example, of the jaw type, the latch type, the pin type, as regards the mechanical means, or the electromagnet type or the permanent magnet type coupled to an electromagnetic coil. profession knows such means.
  • the gripping bell may be equipped with a television camera 31c, for example associated with the optical beam, and with a control system allowing an operator located in the main submarine to carry out the final approach in maneuvering the bell around its position of hydrodynamic equilibrium.
  • control means may comprise, for example, small movable planes 42 or hydrodynamic jets.
  • the various equipment of the gripping bell are connected by power supply and control cables 40 to a power source and to a control station 41 located in the main submarine. These cables 40 are integrated with the handling cable 16 which makes it possible to move the bell between a position away from the end of the handling arm and a position close to the handling arm.
  • a self-propelled sub-marine device 90 placed in the pressure-resistant compartment 24 of the storage box 26, is assumed. It is assumed that this compartment is put into a dropping situation, that is to say that it is filled with water and the communication door 25 is open.
  • the secondary underwater vehicle 90 is then transported using the cradle 21 in the open compartment 22 of the storage box. In this position, the secondary underwater vehicle is gripped by the clamps 13 of the immobilizer 12 and released by the clamping means of the cradle 21.
  • the immobilizer is a cage, the underwater vehicle secondary is simply slipped into the cage. The handling arm is then maneuvered to move from the storage position 18 to the release position 19.
  • the arm 9 In this release position 19 the arm 9 extends above the sub- founded and its end is outside the turbulence zone.
  • the nose 91 of the secondary underwater vehicle is coupled to the gripping bell 15.
  • the clamps 13 of the immobilizer, when it comprises, are then opened and the pulling cable 16 of the gripping bell is unrolled so as to remove the assembly formed by the secondary underwater vehicle and the gripping bell of the free end of the gripping arm 9. This displacement is desirable so as to placing the secondary underwater vehicle in an area which is not disturbed by the handling arm 9.
  • the nose gripper of the secondary underwater vehicle is then moved to the release position and the pump 32 is actuated so as to inject water into the interior of the bell so as to repel the sub-engine secondary seaman.
  • the secondary underwater vehicle is well detached from the bell, it is set in motion by its own means. Once the secondary underwater vehicle is dropped, the entire release and recovery device can be folded and concealed in the bulkhead and in the bridge bridge of the submarine.
  • the release and recovery device In order to recover a secondary underwater vehicle, the release and recovery device is first deployed so that the arm 9 extends above the solid mass 3 of the submarine and that the gripping bell 15 is located at a sufficient distance from the free end of the handling arm 9 so that it is located in an area which is not disturbed by the turbulent flows existing around the submarine or the handling arm of the device. drop and recovery. In this position, the release device and recovery is in the waiting position.
  • the guide means constituted in particular by the acoustic transducer 31A and by the optical beam 31B are activated.
  • the secondary self-propelled underwater vehicle then approaches the area in which the gripping bell is located.
  • the own guidance means of the secondary underwater vehicle interact with the guide means of the gripping bell and the secondary underwater vehicle is guided to approach the gripping bell and mate with the this.
  • an operator may, possibly, drive the bell using the control means 42, with the help of the images provided by the television camera 31 C, to facilitate the guidance of the machine secondary submarine.
  • the pump 32 of the gripping bell is activated so as to pump water inside the bell 33 so as to create a negative pressure. inside of it. This depression allows to properly position the bell with respect to the nose of the secondary underwater vehicle.
  • the movable hook 36 is moved into the hooking position 37 by means of its actuating means 39.
  • the secondary underwater vehicle is well hooked inside the bell, the bell is towed by the cable 16 which wraps around the winch 17 so as to bring the secondary underwater vehicle to the device d 12.
  • the clamps 13 thereof when it comprises, are closed so as to properly grasp the secondary underwater vehicle.
  • the arm 9 is then folded so as to bring the secondary underwater vehicle into the storage compartment 20.
  • the gripping bell is uncoupled, the machine under -marine storage is seized by the cradle 21 located in the storage boxes and it is released by the immobilizer 12. Then the secondary underwater vehicle is transferred from the free zone 22 of the storage compartment to the box 24 resistant to pressure.
  • the separation door 25 is then closed and the water can be pumped into the pressure-resistant box 24.
  • This device for dropping and recovering a secondary self-propelled underwater vehicle has the advantage of being able to be used while the submarine is underwater and in motion, preferably at a reduced speed. And it can be used to perform this maneuver several times in a row.
  • the storage compartment has a free zone and a pressure-resistant box. But, those skilled in the art will understand that other arrangements are possible.
  • the mother submarine has a bridge bridge and the storage compartment is located under the bridge bridge. But, the storage compartment can also be located on the bridge bridge.
  • the submarine may not have a bridge bridge. In this case, the storage compartment may be disposed on the shell or inside thereof.
  • the reversible gripping means of the secondary underwater vehicle have been described in the form of a bell but any other device that could be imagined by those skilled in the art can be used.
  • the drop zone or recovery is chosen so that the arm is advantageously mounted to the upper part of the massif, which allows to take advantage of the height thereof.
  • the handling arm long enough for the drop zone to be outside the turbulence zone surrounding the submarine, and in particular away from the propeller.

Abstract

A submarine (1) includes a bridge (4), a bridge fin (3) and a device (8) for releasing and recovering a secondary self-propelled underwater vehicle (90). The device (8) includes a handling element (8A) which can be used to move the secondary underwater vehicle between a storage zone (18) and a release or recovery zone (19) and a reversible grip element (14) solidly connected to the handling element (8A), which can be used to free the secondary underwater vehicle (90) at the moment of release and to attach the vehicle at the moment of recovery. The release and recovery device (8) is designed such that the release and recovery zone is located outside the turbulent zone (7) that surrounds the moving submarine.

Description

Sous-marin équipé d'un dispositif de largage et de récupération d'un engin sous-marin secondaire. Submarine equipped with a device for dropping and recovering a secondary underwater vehicle.
La présente invention est relative à un dispositif de largage et de récupération d'un engin sous-marin secondaire autopropulsé à partir d'un navire, et en particulier à partir d'un sous-marin en plongée.The present invention relates to a device for dropping and recovering a secondary underwater vehicle self-propelled from a ship, and in particular from a submerged submarine.
Les sous-marins militaires transportent souvent des engins sous-marins secondaires autopropulsés qu'ils doivent larguer et récupérer. Ces engins autopropulsés peuvent être des engins habités ou des engins télécommandés ou des engins entièrement automatiques. Ces engins ont des usages divers que l'homme du métier connaît. Le largage ou la récupération de ces engins sous- marins secondaires est en général difficile. Le largage se fait la plupart du temps à partir d'un caisson situé dans une face latérale de la coque des sous-marins, en utilisant des plongeurs dans des conditions de sécurité médiocre. La récupération se fait en général à proximité de la surface, ce qui impose des contraintes opérationnelles considérables. Il a également été envisagé de larguer ou de récupérer ces engins sous-marins secondaires par l'avant des sous-marins en utilisant des dispositifs comparables à des tubes lance-torpilles. Mais de telles méthodes sont difficiles à mettre en œuvre et créent des risques de collision entre le sous-marin et l'engin sous-marin secondaire. On connaît également des sous-marins comportant des sous-marins de sauvetage pilotés fixés sur le pont passerelle par des pylônes. Mais ces sous- marins de sauvetage ne peuvent être largués ou récupérés lorsque le sous-marin de transport est en mouvement qu'avec de très grandes difficultés. Ils ne peuvent être utilisés pratiquement que dans des conditions exceptionnelles. Le but de la présente invention est de remédier à ces inconvénients en proposant un moyen permettant à un sous-marin en plongée de lancer et de récupérer un engin sous-marin secondaire sans l'intervention de plongeurs et, sans quitter l'immersion de travail et dans de bonnes conditions de sécurité.Military submarines often carry secondary self-propelled submarines that they must drop and recover. These self-propelled machines may be manned gear or remote-controlled gear or fully automatic gear. These machines have various uses that the skilled person knows. The release or recovery of these secondary submarine devices is usually difficult. The release is most of the time from a box located in a side face of the hull of the submarines, using divers in poor security conditions. The recovery is generally close to the surface, which imposes considerable operational constraints. It has also been envisaged to dump or recover these secondary underwater devices from the front of submarines using devices comparable to torpedo tubes. But such methods are difficult to implement and create risks of collision between the submarine and the secondary underwater vehicle. Submarines with piloted rescue submarines attached to the bridge bridge by pylons are also known. But these rescue submarines can not be dropped or recovered when the submarine is in motion with great difficulty. They can only be used practically in exceptional conditions. The object of the present invention is to overcome these disadvantages by providing a means for a submarine underwater to launch and recover a secondary underwater vehicle without the intervention of divers and without leaving the work immersion and in good conditions of safety.
A cet effet l'invention a pour objet un sous-marin du type comprenant un massif et éventuellement un pont passerelle, et comprenant un dispositif de largage et de récupération d'un engin sous-marin secondaire autopropulsé, le dispositif de largage et de récupération comprenant un moyen de manutention permettant de déplacer l'engin sous-marin secondaire entre une zone de stockage et une zone de largage ou de récupération et un moyen de préhension réversible, solidaire du moyen de manutention, permettant de libérer l'engin sous-marin secondaire au moment du largage et l'accrochage de l'engin sous-marin secondaire lors de la récupération, adapté pour que la zone de largage ou de récupération soit située hors de la zone de turbulence qui entoure le sous-marin lorsque celui-ci est en mouvement.For this purpose the invention relates to a submarine of the type comprising a solid mass and possibly a bridge bridge, and comprising a device for releasing and recovering a secondary self-propelled underwater vehicle, the release and recovery device comprising handling means for moving the secondary underwater vehicle between a storage area and a drop zone or recovery and reversible gripping means, integral with the handling means, for releasing the secondary underwater vehicle at the time of release and attachment of the secondary underwater vehicle during the recovery, adapted so that the drop zone or recovery is located outside the turbulence zone surrounding the submarine when it is moving.
De préférence, le dispositif de largage et de récupération est monté à l'extrémité supérieure arrière du massif du sous-marin et le moyen de manutention peut être mis en une position de repos dans laquelle il constitue le bord de fuite du massif.Preferably, the release device and recovery is mounted at the rear upper end of the submarine and the handling means can be placed in a rest position in which it is the trailing edge of the massif.
De préférence, le moyen de manutention comprend un bras de manutention dont une extrémité libre est mobile entre une position de stockage et une position de largage ou de récupération et le bras de manutention est monté sur un support prévu sur la partie supérieure arrière du massif par l'intermédiaire d'une articulation permettant un pivotement du bras autour d'un axe transversal par rapport au bras.Preferably, the handling means comprises a handling arm whose free end is movable between a storage position and a release position or recovery and the handling arm is mounted on a support provided on the rear upper part of the solid by via a hinge allowing pivoting of the arm about a transverse axis relative to the arm.
De préférence, le moyen de manutention comprend un dispositif d'immobilisation de l'engin sous-marin secondaire monté sur l'extrémité libre du bras de manutention et des moyens de manœuvre du bras de manutention et du dispositif de saisie.Preferably, the handling means comprises a device for immobilizing the secondary underwater vehicle mounted on the free end of the handling arm and operating means of the handling arm and the gripping device.
Le dispositif d'immobilisation comprend, par exemple, au moins une pince ou une cage.The immobilizer comprises, for example, at least one clamp or cage.
De préférence, le moyen d'immobilisation est monté à l'extrémité du bras de manutention par l'intermédiaire d'un moyen adapté pour régler l'orientation de l'axe de l'engin sous-marin secondaire au moins en position de largage et, par exemple, pour le maintenir en permanence parallèle à l'axe longitudinal du sous- marin.Preferably, the immobilizing means is mounted at the end of the handling arm by means adapted to adjust the orientation of the axis of the secondary underwater vehicle at least in the release position and, for example, to keep it permanently parallel to the longitudinal axis of the submarine.
Le dispositif de préhension est constitué par exemple d'une cloche de préhension comprenant des moyens pour accoupler et solidariser de façon réversible la cloche de préhension et le nez d'un engin sous-marin secondaire, et des moyens de guidage d'un engin sous-marin secondaire.The gripping device is constituted for example by a gripping bell comprising means for coupling and reversibly securing the gripping bell and the nose of a secondary underwater vehicle, and means for guiding a machine under -marine secondary.
Les moyens pour accoupler et solidariser de façon réversible la cloche de préhension et le nez d'un engin sous-marin secondaire peuvent comprendre une pompe permettant d'aspirer de l'eau à l'intérieur de la cloche et/ou de refouler de l'eau à l'intérieur de la cloche.Means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may include a pump for sucking water inside the bell and / or for discharging water inside the bell.
Les moyens pour accoupler et solidariser de façon réversible la cloche de préhension et le nez d'un engin sous-marin secondaire peuvent comprendre un crochet mobile entre une position d'accrochage et une position de libération et un moyen d'actionnement du crochet et plus généralement tout moyen de verrouillage mécanique ou magnétique.The means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle may comprise a hook which is movable between a hooking position and a release position and a means for actuating the hook, and more generally any mechanical or magnetic locking means.
Les moyens de guidage comprennent par exemple un ou plusieurs moyens du type transducteur acoustique, faisceau optique ou faisceau laser. De préférence, la cloche de préhension est mobile par rapport à l'extrémité libre du bras de manutention et elle est reliée au bras de manutention par un câble s'enroulant autour d'un treuil.The guiding means comprise for example one or more means of the acoustic transducer type, optical beam or laser beam. Preferably, the gripping bell is movable relative to the free end of the handling arm and is connected to the handling arm by a cable winding around a winch.
La cloche de préhension peut comprendre une caméra de télévision et des moyens de manœuvre reliés à un poste de commande situé à l'intérieur du sous- marin.The gripping bell may comprise a television camera and maneuvering means connected to a control station located inside the submarine.
Lorsque le sous-marin comporte un pont passerelle, la zone de stockage est située par exemple sur ou sous le pont passerelle et comprend un compartiment de stockage qui peut comporter un caisson résistant à la pression.When the submarine has a bridge bridge, the storage area is located for example on or below the bridge bridge and includes a storage compartment which may include a pressure-resistant box.
Le sous-marin selon l'invention est notamment un sous-marin à usage militaire.The submarine according to the invention is in particular a submarine for military use.
La présente invention permet de lancer et de récupérer un engin sous- marin secondaire à partir d'un sous-marin principal (ou sous-marin mère), dans de bonnes conditions de sécurité et avec peu de contraintes opérationnelles. En effet, l'invention permet d'effectuer ces opérations à une distance importante de la coque (une dizaine de mètres) ce qui limite les risques de collision, en particulier avec l'hélice.The present invention makes it possible to launch and recover a secondary underwater vehicle from a main submarine (or submarine mother), in good conditions of safety and with few operational constraints. Indeed, the invention allows to perform these operations at a significant distance from the hull (about ten meters) which limits the risk of collision, especially with the propeller.
En outre, cela permet à l'engin sous-marin secondaire de naviguer de façon stable hors des turbulences créées par le sillage hydrodynamique du sous-marin principal, ce qui facilite beaucoup les opérations de récupération. L'invention va maintenant être décrite de façon plus précise mais non limitative en regard des figures annexées dans lesquelles : La figure 1 est une vue d'ensemble d'un sous-marin équipé d'un dispositif de largage et de récupération d'un engin sous-marin secondaire.In addition, this allows the secondary underwater vehicle to sail stably out of the turbulence created by the hydrodynamic wake of the main submarine, which greatly facilitates recovery operations. The invention will now be described in a more precise but nonlimiting manner with reference to the appended figures in which: Figure 1 is an overview of a submarine equipped with a device for releasing and recovering a secondary underwater vehicle.
La figure 2 est une vue agrandie du dispositif de largage et de récupération d'un sous-marin secondaire dont est équipé le sous-marin de la figure 1 , ainsi que son implantation sur le sous-marin. - La figure 3 est une vue schématique d'une cloche de préhension d'un engin sous-marin secondaire équipant un dispositif de largage et de récupération d'un tel engin. Le sous-marin repéré généralement par 1 à la figure 1 , comprend de façon connue en elle-même une coque 2 surmontée par un massif 3 et un pont passerelle 4. A l'arrière le sous-marin comporte un moyen de propulsion 5 et des ailerons de guidage 6. Le sous-marin tel qu'il est représenté à la figure 1 est en plongée et, de ce fait, en mouvement. En effet un sous-marin ne peut pas pratiquement pas rester stable en plongée sans être en mouvement même relativement lent. Du fait du mouvement, le sous-marin est entouré d'une zone 7 de turbulences. Le sous-marin 1 comporte dans sa partie supérieure un dispositif de largage et de récupération repéré généralement par 8 et destiné à larguer ou à récupérer un engin sous-marin secondaire 90. Ce dispositif est adapté pour permettre de déplacer un moyen de saisie et de préhension de l'engin sous-marin secondaire depuis une position dans laquelle l'engin sous-marin secondaire est stocké vers une position de largage ou de récupération située en dehors de la zone de turbulence qui entoure le navire à partir duquel on souhaite soit larguer soit récupérer l'engin sous-marin secondaire. Le dispositif de largage et de récupération comprend un moyen de manutention repéré généralement par 8A constitué d'un bras de manutention 9 monté articulé par l'une de ses extrémités autour d'un axe horizontal 10 situé au coin arrière haut du massif 3. L'axe horizontal 10 est perpendiculaire à la direction longitudinale du bras, ce qui permet de déployer le bras par rotation autour de cet axe. L'extrémité libre 11 du bras de manutention 9 porte un dispositif d'immobilisation 12 constitué de deux pinces 13 munies de moyens d'actionnement et adaptées pour pouvoir enserrer un engin sous-marin secondaire. On notera que le moyen d'immobilisation peut également être une cage ou tout autre dispositif adapté. L'extrémité libre du bras de manutention porte également un moyen de préhension réversible repéré généralement par 14, constitué d'une cloche préhension 15 reliée par un câble 16 à un treuil 17 disposé à l'extrémité du bras de manutention 9. Le bras de manutention est mobile entre une position repérée généralement par 18 qui est une position de stockage de l'engin sous-marin secondaire et une position 19 de largage ou de récupération de l'engin sous-marin secondaire 90. Le bras de manutention 9 à une longueur suffisante pour que, dans la position de largage ou de récupération de l'engin sous-marin secondaire, le moyen de préhension soit situé hors de la zone de turbulence 7 qui entoure le sous-marin lorsqu'il est en mouvement.Figure 2 is an enlarged view of the device for the release and recovery of a secondary submarine which is equipped with the submarine of Figure 1, and its location on the submarine. - Figure 3 is a schematic view of a gripping bell of a secondary underwater vehicle equipping a device for the release and recovery of such a machine. The submarine generally identified by 1 in FIG. 1 comprises, in a manner known per se, a hull 2 surmounted by a solid mass 3 and a gangway bridge 4. At the rear, the submarine comprises a propulsion means 5 and 6. The submarine as shown in Figure 1 is underwater and therefore in motion. Indeed a submarine can not practically not remain stable in diving without being in motion even relatively slow. Due to the movement, the submarine is surrounded by a zone 7 of turbulence. The submarine 1 comprises in its upper part a release and recovery device generally identified by 8 and intended to drop or recover a secondary underwater vehicle 90. This device is adapted to allow to move a means of capture and recovery. gripping the secondary underwater vehicle from a position in which the secondary underwater vehicle is stored to a release or recovery position located outside the turbulence zone surrounding the vessel from which it is desired to be dumped or recover the secondary underwater vehicle. The release and recovery device comprises a handling means generally indicated by 8A consisting of a handling arm 9 mounted hinged at one of its ends around a horizontal axis 10 located at the rear top corner of the solid 3. L horizontal axis 10 is perpendicular to the longitudinal direction of the arm, which allows to deploy the arm by rotation about this axis. The free end 11 of the handling arm 9 carries an immobilizing device 12 consisting of two clamps 13 provided with actuating means and adapted to be able to grip a secondary underwater vehicle. Note that the immobilizing means can also be a cage or any other suitable device. The free end of the handling arm also carries a reversible gripping means generally marked by 14, consisting of a gripping bell 15 connected by a cable 16 to a winch 17 disposed at the end of the handling arm 9. The arm handling is movable between a position generally marked by 18 which is a storage position of the secondary underwater vehicle and a position 19 of release or recovery of the secondary underwater vehicle 90. The handling arm 9 to a sufficient length so that, in the position of release or recovery of the secondary underwater vehicle, the gripping means is located outside the turbulence zone 7 which surrounds the submarine when it is in motion.
Comme on le voit mieux à la figure 2, lorsque le bras 9 est en position de largage ou de récupération c'est-à-dire que son extrémité libre est dans la zone de largage ou de récupération, le dispositif d'immobilisation 12 est horizontal, c'est-à- dire parallèle à l'axe général du sous-marin. Lorsque le bras 9 est en position de stockage de l'engin sous-marin secondaire, le dispositif d'immobilisation 12 est dans une position également horizontale de façon à pouvoir déposer l'engin sous- marin secondaire horizontalement à l'intérieur d'un compartiment de stockage 20 disposé sous le pont passerelle 4. Dans ce compartiment de stockage 20 l'engin sous-marin secondaire est déposé sur un berceau de réception et de transport 21 qui est mobile entre une zone 22 fermée par une porte 23 et accessible depuis l'extérieur du sous-marin, et un caisson 24 résistant à la pression, séparé de la zone libre 22 par une porte étanche 25. Lorsqu'il est en position de stockage, le bras 9 s'étend le long du bord de fuite 26 du massif 3.As can be seen better in FIG. 2, when the arm 9 is in the release or recovery position, that is to say that its free end is in the drop zone or recovery zone, the immobilizer 12 is horizontal, that is to say parallel to the general axis of the submarine. When the arm 9 is in the storage position of the secondary underwater vehicle, the immobilizer 12 is also in a horizontal position so as to be able to deposit the secondary underwater vehicle horizontally inside a vehicle. storage compartment 20 disposed under the bridge bridge 4. In this storage compartment 20 the secondary underwater vehicle is deposited on a receiving and transport cradle 21 which is movable between an area 22 closed by a door 23 and accessible from the outside of the submarine, and a box 24 resistant to pressure, separated from the free zone 22 by a sealed door 25. When in the storage position, the arm 9 extends along the trailing edge 26 of the massif 3.
Le bras de manutention comporte des moyens d'actionnement. Ces moyens sont notamment un vérin 27 pour effectuer les mouvements entre la position de stockage et la position de largage et de récupération, un vérin rotatif 28 permettant d'assurer le mouvement du dispositif de saisie 12 par rapport au bras 9 de façon à assurer en permanence le positionnement horizontal du dispositif de saisie, et des moyens non représentés d'actionnement des pinces 13 du dispositif de saisie. D'autres moyens d'actionnement actifs ou passifs peuvent être utilisés. Les moyens passifs peuvent être par exemple, du type parallélogramme. L'homme du métier connaît de tels moyens. La cloche de préhension 15 du moyen de préhension réversible représentée de façon plus complète mais schématique à la figure 3, est constituée d'un carénage 29 ayant une forme complémentaire de la forme du nez 91 d'un engin sous-marin secondaire. Cette cloche comprend des moyens repérés généralement par 30, de guidage de l'engin sous-marin secondaire constitués par exemple d'un transducteur acoustique 31A et d'un faisceau lumineux en lumière normale ou laser 31 B.The handling arm comprises actuating means. These means include a jack 27 for effecting the movements between the storage position and the release and recovery position, a rotary jack 28 for ensuring the movement of the gripper 12 relative to the arm 9 so as to ensure permanently the horizontal positioning of the gripping device, and not shown means for actuating the grippers 13 of the gripper. Other active or passive actuation means may be used. The passive means may be, for example, of the parallelogram type. The skilled person knows such means. The gripping bell 15 of the reversible gripping means shown in a more complete but diagrammatic manner in FIG. 3, consists of a fairing 29 having a shape complementary to the shape of the nose 91 of a secondary underwater vehicle. This bell comprises means generally marked 30, guiding the secondary underwater vehicle consisting for example of an acoustic transducer 31A and a light beam in normal light or laser 31 B.
Cette cloche est équipée également d'une pompe aspirante et refoulante 32 réversible permettant de pomper de l'eau à l'intérieur 33 de la cloche pour la rejeter à l'extérieur 34, ou inversement, pouvant pomper de l'eau à l'extérieur 34 de la cloche et la réinjecter à l'intérieur 33 de la cloche. La cloche comporte en outre un moyen 35 pour accrocher ou libérer le nez de l'engin sous-marin secondaire. Ce moyen d'accrochage réversible 35 comprend un crochet 36 mobile entre une position d'accrochage 37 et une position de libération 38. Ce crochet est actionné par un moyen d'actionnement 39. La pompe et le crochet constituent des moyens pour accoupler et solidariser de façon réversible la cloche et l'engin sous- marin secondaire. On notera que le crochet peut, avantageusement, être remplacé par tout moyen de verrouillage réversible mécanique ou magnétique. Ces moyens sont, par exemple, du type à mâchoire, du type à linguet, du type à goupille, pour ce qui concerne les moyens mécaniques, ou du type à électroaimant ou du type à aimant permanent couplé à une bobine électromagnétique L'homme de métier connaît de tels moyens.This bell is also equipped with a reversible suction pump and pump 32 for pumping water inside 33 of the bell to reject it outside 34, or vice versa, can pump water to the outside 34 of the bell and reinject it inside 33 of the bell. The bell further comprises a means 35 for hooking or releasing the nose of the secondary underwater vehicle. This reversible attachment means 35 comprises a hook 36 movable between a hooking position 37 and a release position 38. This hook is actuated by an actuating means 39. The pump and the hook constitute means for coupling and securing reversibly the bell and the secondary underwater vehicle. It will be noted that the hook may advantageously be replaced by any reversible mechanical or magnetic locking means. These means are, for example, of the jaw type, the latch type, the pin type, as regards the mechanical means, or the electromagnet type or the permanent magnet type coupled to an electromagnetic coil. profession knows such means.
En outre, la cloche de préhension peut être équipée d'une caméra de télévision 31c, associée par exemple au faisceau optique, et d'un système de pilotage permettant à un opérateur situé dans le sous-marin principal de réaliser l'approche finale en manoeuvrant la cloche autour de sa position d'équilibre hydrodynamique. Ces moyens de pilotage peuvent comprendre, par exemple, des petits plans mobiles 42 ou des jets hydrodynamiques. Les différents équipements de la cloche de préhension sont reliés par des câbles 40 d'alimentation en énergie et de commande à une source d'énergie et à un poste de commande 41 situé dans le sous-marin principal. Ces câbles 40 sont intégrés au câble de manutention 16 qui permet de déplacer la cloche entre une position éloignée de l'extrémité du bras de manutention et une position proche du bras de manutention.In addition, the gripping bell may be equipped with a television camera 31c, for example associated with the optical beam, and with a control system allowing an operator located in the main submarine to carry out the final approach in maneuvering the bell around its position of hydrodynamic equilibrium. These control means may comprise, for example, small movable planes 42 or hydrodynamic jets. The various equipment of the gripping bell are connected by power supply and control cables 40 to a power source and to a control station 41 located in the main submarine. These cables 40 are integrated with the handling cable 16 which makes it possible to move the bell between a position away from the end of the handling arm and a position close to the handling arm.
On va maintenant décrire le largage puis la récupération d'un engin sous- marin secondaire depuis un sous-marin en plongée à l'aide du dispositif qui vient d'être décrit.We will now describe the release and recovery of a secondary underwater vehicle from a submerged submerged using the device just described.
On considère tout d'abord un engin sous-marin secondaire autopropulsé 90, disposé dans le compartiment résistant à la pression 24 du caisson de stockage 26. On suppose que ce compartiment est mis en situation de largage c'est-à-dire qu'il est rempli d'eau et que la porte de communication 25 est ouverte. L'engin sous-marin secondaire 90 est alors transporté à l'aide du berceau 21 dans le compartiment ouvert 22 du caisson de stockage. Dans cette position, l'engin sous-marin secondaire est saisi par les pinces 13 du dispositif d'immobilisation 12 et lâché par les moyens de serrage du berceau 21. Lorsque le dispositif d'immobilisation est une cage, l'engin sous-marin secondaire est simplement glissé dans la cage. Le bras de manutention est alors manœuvré pour passer de la position de stockage 18 à la position de largage 19. Dans cette position de largage 19 le bras 9 s'étend au dessus du massif du sous-marin et son extrémité est en dehors de la zone de turbulences. Lorsque le bras est en position de largage, le nez 91 de l'engin sous-marin secondaire est accouplé à la cloche de préhension 15. Les pinces 13 du dispositif d'immobilisation, lorsque celui-ci en comporte, sont alors ouvertes et le câble 16 de traction de la cloche de préhension est déroulé de façon à éloigner l'ensemble constitué par l'engin sous-marin secondaire et la cloche de préhension de l'extrémité libre du bras de préhension 9. Ce déplacement est souhaitable de façon à disposer l'engin sous-marin secondaire dans une zone qui n'est pas perturbée par le bras de manutention 9. Lorsque la cloche et l'engin sous-marin secondaire sont suffisamment éloignés de l'extrémité libre du bras de manutention 9, le crochet de saisie du nez de l'engin sous-marin secondaire est alors déplacée en position de libération et la pompe 32 est actionnée de façon à injecter de l'eau à l'intérieur de la cloche de façon à repousser l'engin sous-marin secondaire. Lorsque l'engin sous-marin secondaire est bien détaché de la cloche, il est mis en mouvement par ses propres moyens. Une fois que l'engin sous-marin secondaire est largué, l'ensemble du dispositif de largage et de récupération peut être replié et dissimulé dans le massif et dans le pont passerelle du sous-marin.First of all, a self-propelled sub-marine device 90, placed in the pressure-resistant compartment 24 of the storage box 26, is assumed. It is assumed that this compartment is put into a dropping situation, that is to say that it is filled with water and the communication door 25 is open. The secondary underwater vehicle 90 is then transported using the cradle 21 in the open compartment 22 of the storage box. In this position, the secondary underwater vehicle is gripped by the clamps 13 of the immobilizer 12 and released by the clamping means of the cradle 21. When the immobilizer is a cage, the underwater vehicle secondary is simply slipped into the cage. The handling arm is then maneuvered to move from the storage position 18 to the release position 19. In this release position 19 the arm 9 extends above the sub-massif and its end is outside the turbulence zone. When the arm is in the release position, the nose 91 of the secondary underwater vehicle is coupled to the gripping bell 15. The clamps 13 of the immobilizer, when it comprises, are then opened and the pulling cable 16 of the gripping bell is unrolled so as to remove the assembly formed by the secondary underwater vehicle and the gripping bell of the free end of the gripping arm 9. This displacement is desirable so as to placing the secondary underwater vehicle in an area which is not disturbed by the handling arm 9. When the bell and the secondary underwater vehicle are sufficiently far away from the free end of the handling arm 9, the nose gripper of the secondary underwater vehicle is then moved to the release position and the pump 32 is actuated so as to inject water into the interior of the bell so as to repel the sub-engine secondary seaman. When the secondary underwater vehicle is well detached from the bell, it is set in motion by its own means. Once the secondary underwater vehicle is dropped, the entire release and recovery device can be folded and concealed in the bulkhead and in the bridge bridge of the submarine.
On va maintenant décrire l'opération de récupération d'un engin sous-marin secondaire.We will now describe the recovery operation of a secondary underwater vehicle.
Afin de récupérer un engin sous-marin secondaire, le dispositif de largage et de récupération est tout d'abord déployé de façon à ce que le bras 9 s'étende au-dessus du massif 3 du sous-marin et que la cloche de préhension 15 soit située à une distance suffisante de l'extrémité libre du bras de manutention 9 pour qu'elle se situe dans une zone qui n'est pas perturbée par les écoulements turbulents existant autour du sous-marin ou du bras de manutention du dispositif de largage et de récupération. Dans cette position, le dispositif de largage et de récupération est en position d'attente. Les moyens de guidage constitués notamment par le transducteur acoustique 31 A et par le faisceau optique 31 B sont activés. L'engin sous-marin secondaire autopropulsé s'approche alors de la zone dans laquelle se situe la cloche de préhension. Les moyens de guidage propres de l'engin sous-marin secondaire interagissent avec les moyens de guidage de la cloche de préhension et l'engin sous-marin secondaire est guidé pour s'approcher de la cloche de préhension et s'accoupler avec celle-ci. Pendant cette phase d'approche, un opérateur peut, éventuellement, piloter la cloche à l'aide des moyens de pilotage 42, en s'aidant des images fournies par la caméra de télévision 31 C, afin de faciliter le guidage de l'engin sous-marin secondaire. Lorsque l'engin sous-marin secondaire est très proche de la cloche de préhension, la pompe 32 de la cloche de préhension est activée de façon à pomper de l'eau à l'intérieur 33 de la cloche de façon à créer une dépression à l'intérieur de celle-ci. Cette dépression permet de bien positionner la cloche par rapport au nez de l'engin sous-marin secondaire. Lorsque le nez de l'engin sous-marin secondaire est bien introduit à l'intérieur de la cloche, le crochet mobile 36 est déplacé en position 37 d'accrochage à l'aide de ses moyens d'actionnement 39. Lorsque le nez de l'engin sous-marin secondaire est bien accroché à l'intérieur de la cloche, la cloche est tractée par le câble 16 qui s'enroule autour du treuil 17 de façon à amener l'engin sous-marin secondaire jusqu'au dispositif d'immobilisation 12. Lorsque l'engin sous-marin secondaire est situé au contact du dispositif d'immobilisation 12, les pinces 13 de celui-ci, lorsqu'il en comporte, sont refermées de façon à bien saisir l'engin sous-marin secondaire. Le bras 9 est alors replié de façon à amener l'engin sous-marin secondaire dans le compartiment de stockage 20. Lorsque l'engin sous-marin secondaire est dans ce compartiment de stockage, la cloche de préhension est désaccouplée, l'engin sous-marin de stockage est saisi par le berceau 21 situé dans les caissons de stockage et il est libéré par le dispositif d'immobilisation 12. Puis l'engin sous-marin secondaire est transféré de la zone libre 22 du compartiment de stockage vers le caisson 24 résistant à la pression. La porte de séparation 25 est alors refermée et l'eau peut être pompée dans le caisson résistant à la pression 24.In order to recover a secondary underwater vehicle, the release and recovery device is first deployed so that the arm 9 extends above the solid mass 3 of the submarine and that the gripping bell 15 is located at a sufficient distance from the free end of the handling arm 9 so that it is located in an area which is not disturbed by the turbulent flows existing around the submarine or the handling arm of the device. drop and recovery. In this position, the release device and recovery is in the waiting position. The guide means constituted in particular by the acoustic transducer 31A and by the optical beam 31B are activated. The secondary self-propelled underwater vehicle then approaches the area in which the gripping bell is located. The own guidance means of the secondary underwater vehicle interact with the guide means of the gripping bell and the secondary underwater vehicle is guided to approach the gripping bell and mate with the this. During this approach phase, an operator may, possibly, drive the bell using the control means 42, with the help of the images provided by the television camera 31 C, to facilitate the guidance of the machine secondary submarine. When the secondary underwater vehicle is very close to the gripping bell, the pump 32 of the gripping bell is activated so as to pump water inside the bell 33 so as to create a negative pressure. inside of it. This depression allows to properly position the bell with respect to the nose of the secondary underwater vehicle. When the nose of the secondary underwater vehicle is well inserted inside the bell, the movable hook 36 is moved into the hooking position 37 by means of its actuating means 39. the secondary underwater vehicle is well hooked inside the bell, the bell is towed by the cable 16 which wraps around the winch 17 so as to bring the secondary underwater vehicle to the device d 12. When the secondary underwater vehicle is in contact with the device immobilizing 12, the clamps 13 thereof, when it comprises, are closed so as to properly grasp the secondary underwater vehicle. The arm 9 is then folded so as to bring the secondary underwater vehicle into the storage compartment 20. When the secondary underwater vehicle is in this storage compartment, the gripping bell is uncoupled, the machine under -marine storage is seized by the cradle 21 located in the storage boxes and it is released by the immobilizer 12. Then the secondary underwater vehicle is transferred from the free zone 22 of the storage compartment to the box 24 resistant to pressure. The separation door 25 is then closed and the water can be pumped into the pressure-resistant box 24.
Toutes les manœuvres de dispositif de langage et de récupération sont pilotées par un opérateur à partir du poste de commande 41.All language device and recovery maneuvers are driven by an operator from the control station 41.
Ce dispositif de largage et de récupération d'un engin sous-marin secondaire autopropulsé à l'avantage de pouvoir être utilisé alors que le sous- marin est en plongée et en mouvement, de préférence à vitesse réduite. Et il peut être utilisé pour réaliser cette manœuvre plusieurs fois de suite.This device for dropping and recovering a secondary self-propelled underwater vehicle has the advantage of being able to be used while the submarine is underwater and in motion, preferably at a reduced speed. And it can be used to perform this maneuver several times in a row.
Dans le mode de réalisation qui a été décrit, le compartiment de stockage comporte une zone libre et un caisson résistant à la pression. Mais, l'homme du métier comprendra que d'autres dispositions sont possibles. Par ailleurs, dans l'exemple qui a été décrit, le sous-marin mère comporte un pont passerelle et le compartiment de stockage est situé sous le pont passerelle. Mais, le compartiment de stockage peut également être situé sur le pont passerelle. En outre, le sous-marin peut ne pas comporter de pont passerelle. Dans ce cas, le compartiment de stockage peut être disposé sur la coque ou à l'intérieur de celle-ci.In the embodiment that has been described, the storage compartment has a free zone and a pressure-resistant box. But, those skilled in the art will understand that other arrangements are possible. Moreover, in the example that has been described, the mother submarine has a bridge bridge and the storage compartment is located under the bridge bridge. But, the storage compartment can also be located on the bridge bridge. In addition, the submarine may not have a bridge bridge. In this case, the storage compartment may be disposed on the shell or inside thereof.
Les moyens de préhension réversible de l'engin sous-marin secondaire ont été décrits sous forme d'une cloche mais tout autre dispositif que pourrait imaginer l'homme du métier peut être utilisé.The reversible gripping means of the secondary underwater vehicle have been described in the form of a bell but any other device that could be imagined by those skilled in the art can be used.
Enfin, dans l'exemple décrit, la zone de largage ou de récupération est choisie de telle sorte que le bras est avantageusement monté à la partie supérieure du massif, ce qui permet de profiter de la hauteur de celui-ci. Mais, d'autres dispositions sont possibles. Elles nécessitent du bras de manutention suffisamment long pour que la zone de largage soit en dehors de la zone de turbulence qui entoure le sous-marin, et en particulier loin de l'hélice. Finally, in the example described, the drop zone or recovery is chosen so that the arm is advantageously mounted to the upper part of the massif, which allows to take advantage of the height thereof. But, other arrangements are possible. They require the handling arm long enough for the drop zone to be outside the turbulence zone surrounding the submarine, and in particular away from the propeller.

Claims

REVENDICATIONS
1.- Sous-marin (1 ) du type comprenant un massif (3), éventuellement un pont passerelle (4), et un dispositif de largage et de récupération (8) d'un engin sous-marin secondaire (90) autopropulsé, le dispositif de largage et de récupération (8) comprenant un moyen de manutention (8A) permettant de déplacer l'engin sous-marin secondaire entre une zone de stockage (18) et une zone de largage ou de récupération (19) et un moyen de préhension réversible (14), solidaire du moyen de manutention (8A), permettant de libérer l'engin sous- marin secondaire (90) au moment du largage et l'accrochage de l'engin sous- marin secondaire lors de la récupération, caractérisé en ce que le dispositif de largage et de récupération (8) est adapté pour que la zone de largage et de récupération soit située hors de la zone de turbulence (7) qui entoure le sous- marin lorsque celui-ci est en mouvement.1.- Submarine (1) of the type comprising a solid mass (3), possibly a bridge bridge (4), and a device for releasing and recovering (8) a secondary underwater vehicle (90) self-propelled, the release and recovery device (8) comprising a handling means (8A) for moving the secondary underwater vehicle between a storage area (18) and a drop zone or recovery zone (19) and a means reversible gripping device (14), secured to the handling means (8A), for releasing the secondary underwater vehicle (90) at the time of release and attachment of the secondary underwater vehicle during recovery, characterized in that the release and recovery device (8) is adapted so that the release and recovery zone is located outside the turbulence zone (7) surrounding the submarine when it is in motion.
2.- Sous-marin selon la revendication 1 , caractérisé en ce que le dispositif de largage et de récupération (8) est monté à l'extrémité supérieure arrière du massif (3) et en ce que, le moyen de manutention (8A) peut être mis en une position de repos dans laquelle il constitue le bord de fuite (26) du massif.2.- submarine according to claim 1, characterized in that the release device and recovery (8) is mounted at the rear upper end of the solid mass (3) and in that, the handling means (8A) can be put in a rest position in which it constitutes the trailing edge (26) of the solid mass.
3.- Sous-marin selon la revendication 1 , ou la revendication 2, caractérisé en ce que le moyen de manutention (8A) comprend un bras de manutention (9) dont une extrémité libre (11 ) est mobile entre une position de stockage (18) et une position de largage ou de récupération (19) et caractérisé en ce que le bras de manutention (9) est monté sur un support prévu sur la partie supérieure arrière du massif par l'intermédiaire d'une articulation (10) permettant un pivotement du bras autour d'un axe transversal par rapport au bras. 3.- submarine according to claim 1, or claim 2, characterized in that the handling means (8A) comprises a handling arm (9), a free end (11) is movable between a storage position ( 18) and a release or recovery position (19) and characterized in that the handling arm (9) is mounted on a support provided on the upper rear part of the solid mass via a hinge (10) allowing a pivoting of the arm about a transverse axis relative to the arm.
4.- Sous-marin selon la revendication 3, caractérisé en ce que le moyen de manutention (8A) comprend un dispositif d'immobilisation (12) de l'engin sous- marin secondaire monté sur l'extrémité libre (11 ) du bras de manutention (9) et des moyens (27) de manœuvre du bras de manutention et du dispositif de saisie.4.- submarine according to claim 3, characterized in that the handling means (8A) comprises an immobilizer (12) of the secondary underwater vehicle mounted on the free end (11) of the arm handling device (9) and means (27) for operating the handling arm and the gripping device.
5.- Sous-marin selon la revendication 4, caractérisé en ce que le dispositif d'immobilisation (12) comprend au moins une pince (13) ou une cage.5.- submarine according to claim 4, characterized in that the immobilizer (12) comprises at least one clamp (13) or a cage.
6.- Sous-marin selon la revendication 4 ou la revendication 5, caractérisé en ce que le moyen d'immobilisation (12) est monté à l'extrémité du bras de manutention par l'intermédiaire d'un moyen (28) adapté pour régler l'orientation de l'axe de l'engin sous-marin secondaire au moins en position de largage.6. A submarine according to claim 4 or claim 5, characterized in that the immobilizing means (12) is mounted at the end of the arm of handling via means (28) adapted to adjust the orientation of the axis of the secondary underwater vehicle at least in the release position.
7.- Sous-marin selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le dispositif de préhension (14) est constitué d'une cloche de préhension (15) comprenant des moyens (32, 35) pour accoupler et solidariser de façon réversible la cloche de préhension et le nez (91 ) d'un engin sous-marin secondaire (90), et des moyens (30) de guidage d'un engin sous-marin secondaire.7.- submarine according to any one of claims 1 to 6, characterized in that the gripping device (14) consists of a gripping bell (15) comprising means (32, 35) for coupling and reversibly securing the gripping bell and the nose (91) of a secondary underwater vehicle (90), and means (30) for guiding a secondary underwater vehicle.
8.- Sous-marin selon la revendication 7, caractérisé en ce que les moyens pour accoupler et solidariser de façon réversible la cloche de préhension et le nez d'un engin sous-marin secondaire comprennent une pompe (32) permettant d'aspirer de l'eau à l'intérieur de la cloche et/ou de refouler de l'eau à l'intérieur de la cloche.8. A submarine according to claim 7, characterized in that the means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle comprise a pump (32) for sucking from the water inside the bell and / or push water inside the bell.
9.- Sous-marin selon la revendication 8, caractérisé en ce que les moyens pour accoupler et solidariser de façon réversible la cloche de préhension et le nez d'un engin sous-marin secondaire comprennent un moyen de verrouillage mécanique (36) ou magnétique.9. A submarine according to claim 8, characterized in that the means for reversibly coupling and securing the gripping bell and the nose of a secondary underwater vehicle comprise a mechanical (36) or magnetic locking means. .
10- Sous-marin selon l'une quelconque des revendications 7 à 9, caractérisé en ce que les moyens de guidage (30) comprennent un ou plusieurs moyens du type transducteur acoustique (31A), faisceau optique ou faisceau laser (31 B).10- Submarine according to any one of claims 7 to 9, characterized in that the guide means (30) comprise one or more means of the acoustic transducer type (31A), optical beam or laser beam (31 B).
11.- Sous-marin selon l'une quelconque des revendications 7 à 10, caractérisé en ce que la cloche de préhension (15) est mobile par rapport à l'extrémité libre (11 ) du bras de manutention (9) et en ce qu'elle est reliée au bras de manutention par un câble (16) s'enroulant autour d'un treuil (17).11. Submarine according to any one of claims 7 to 10, characterized in that the gripping bell (15) is movable relative to the free end (11) of the handling arm (9) and in that it is connected to the handling arm by a cable (16) winding around a winch (17).
12.- Sous-marin selon la revendication 10, caractérisé en ce que la cloche de préhension (15) comprend une caméra de télévision (31C) et des moyens de manœuvre (42) reliés à un poste de commande (41 ) situé à l'intérieur du sous- marin. 12. Submarine according to claim 10, characterized in that the gripping bell (15) comprises a television camera (31C) and maneuvering means (42) connected to a control station (41) located at the inside the submarine.
13.- Sous-marin selon l'une quelconque des revendications 1 à 12, caractérisé en ce que la zone de stockage (18) comprend un compartiment de stockage (20) qui comporte un caisson résistant ou non à la pression (24). 13. Submarine according to any one of claims 1 to 12, characterized in that the storage area (18) comprises a storage compartment (20) which comprises a pressure-resistant box or not (24).
14.- Sous-marin selon la revendication 13, caractérisé en ce qu'il comprend un pont passerelle et en ce que la zone de stockage (18) est située sous le pont passerelle. 14. A submarine according to claim 13, characterized in that it comprises a bridge bridge and in that the storage area (18) is located under the bridge bridge.
EP08805959A 2007-06-19 2008-06-09 Submarine provided with a device for releasing and recovering a secondary underwater vehicle Active EP2155543B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0755854A FR2917708B1 (en) 2007-06-19 2007-06-19 SUBMARINE EQUIPPED WITH A DEVICE FOR LARGING AND RECOVERING A SECOND SUBMARINE DEVICE
PCT/FR2008/051024 WO2009004209A2 (en) 2007-06-19 2008-06-09 Submarine provided with a device for releasing and recovering a secondary underwater vehicle

Publications (2)

Publication Number Publication Date
EP2155543A2 true EP2155543A2 (en) 2010-02-24
EP2155543B1 EP2155543B1 (en) 2011-06-01

Family

ID=39030569

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08805959A Active EP2155543B1 (en) 2007-06-19 2008-06-09 Submarine provided with a device for releasing and recovering a secondary underwater vehicle

Country Status (8)

Country Link
US (1) US8186295B2 (en)
EP (1) EP2155543B1 (en)
KR (1) KR101162606B1 (en)
AT (1) ATE511470T1 (en)
ES (1) ES2366317T3 (en)
FR (1) FR2917708B1 (en)
RU (1) RU2423282C1 (en)
WO (1) WO2009004209A2 (en)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8275493B2 (en) * 2009-07-30 2012-09-25 Ruffa Anthony A Bow riding unmanned water-borne vehicle
FR2969574B1 (en) * 2010-12-23 2013-11-01 Eca DEVICE FOR BRIDGING AND RECOVERING A MARINE MACHINE, AND METHOD FOR LAUNCHING AND RECOVERING.
FR2969573B1 (en) * 2010-12-23 2013-02-08 Eca DEVICE FOR BRINGING TO THE WATER AND RECOVERING A SUBMERSIBLE OR SURFACE MACHINE.
DE102010056539A1 (en) 2010-12-29 2012-07-05 Atlas Elektronik Gmbh Coupling head, coupling device with coupling head, attachable Rendezvouskopf, Rendevouseinrichtung with Rendezvouskopf, underwater vehicle with it, coupling system, coupling method and application method for an underwater vehicle
US8601970B1 (en) * 2011-06-13 2013-12-10 The United States Of America As Represented By The Secretary Of The Navy Tethered buoy housing and deployment assembly
KR101490809B1 (en) * 2011-08-26 2015-02-09 국방과학연구소 Apparatus for recovering autonomous underwater vehicle
DE102011082428A1 (en) * 2011-09-09 2013-03-14 Howaldtswerke-Deutsche Werft Gmbh Device for storing and deploying at least one weapon
DE102011121854A1 (en) * 2011-12-21 2013-06-27 Atlas Elektronik Gmbh Apparatus and method for obtaining an unmanned underwater vehicle
DE102012008074A1 (en) * 2012-04-20 2013-10-24 Atlas Elektronik Gmbh Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle therefor and system therewith
KR200470981Y1 (en) * 2012-05-30 2014-01-23 대우조선해양 주식회사 UUV recovery device for submarine
KR101409748B1 (en) * 2012-08-21 2014-06-19 대우조선해양 주식회사 UUV recovery device for submarine
US9469382B2 (en) * 2013-06-28 2016-10-18 Cgg Services Sa Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys
JP6002092B2 (en) * 2013-06-28 2016-10-05 日立Ｇｅニュークリア・エナジー株式会社 Underwater vehicle control system and underwater vehicle control method
IL228662B (en) * 2013-10-01 2019-09-26 Israel Aerospace Ind Ltd Launch and recovery system and method
RU2551874C1 (en) * 2014-03-12 2015-05-27 Федеральное государственное казённое военное образовательное учреждение высшего профессионального образования "Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия имени Адмирала Флота Советского Союза Н.Г. Кузнецова" Device for towing of submarine vessels by submarine
DE102014113984A1 (en) * 2014-09-26 2016-03-31 Atlas Elektronik Gmbh Underwater winch for attaching and / or uncoupling an unmanned underwater vehicle and underwater garage and underwater vehicle
DE102015116758A1 (en) * 2015-10-02 2017-04-06 Atlas Elektronik Gmbh Procedure for collecting an underwater vehicle, escort vehicle and vehicle combination
CN105739509B (en) * 2016-03-16 2018-08-17 哈尔滨工程大学 More depressed places UUV cabin formula Quick distributor recovery system
RU2629625C1 (en) * 2016-11-02 2017-08-30 АО "Санкт-Петербургское морское бюро машиностроения "Малахит" (АО "СПМБМ "Малахит") Underwater vessel for maintenance of underwater mining complexes at arctic shelf and other underwater engineering operations
US10384752B2 (en) * 2016-12-09 2019-08-20 Seabed Geosolutions B.V. Underwater vehicle docking system
CN108341037A (en) * 2018-02-27 2018-07-31 宋豪杰 Submersible type lifesaving robot
CN109018272B (en) * 2018-07-26 2019-06-14 刘广 Submarine ensures ship
CN109263834B (en) * 2018-09-18 2024-02-02 华中科技大学 Underwater vehicle docking recovery device and method
NO345094B1 (en) * 2018-09-21 2020-09-28 Usea As A marine structure comprising a launch and recovery system
EP3656671A1 (en) * 2018-11-23 2020-05-27 BAE SYSTEMS plc Recovering an unmanned vehicle
EP3883852B1 (en) * 2018-11-23 2024-03-13 BAE SYSTEMS plc Recovering an unmanned vehicle
GB2579206B (en) * 2018-11-23 2021-10-06 Bae Systems Plc Recovering an unmanned vehicle
CN110104146A (en) * 2019-03-29 2019-08-09 浙江大学滨海产业技术研究院 A kind of self-locking underwater robot docking facilities
RU2732039C1 (en) * 2020-05-06 2020-09-10 АО "Санкт-Петербургское морское бюро машиностроения "Малахит" (АО "СПМБМ "Малахит") Apparatus for release and reception an underwater instrument or unmanned underwater vehicle of an underwater technical means
CN113895594B (en) * 2021-09-22 2023-04-07 中国船舶重工集团公司第七0七研究所九江分部 AUV recovery method based on underwater dynamic recovery platform
CN114132464A (en) * 2021-11-05 2022-03-04 中国科学院力学研究所 Novel AUV (autonomous Underwater vehicle) laying and recycling device
FR3130246A1 (en) * 2021-12-10 2023-06-16 Naval Group Underwater vehicle comprising an elongated body and a stern equipped with at least one steering gear
CN114655400B (en) * 2022-03-26 2023-11-21 西北工业大学 AUV electromagnetic guiding type recovery device and method for wing body fusion underwater glider
CN115432150B (en) * 2022-11-09 2023-04-07 三亚哈尔滨工程大学南海创新发展基地 Unmanned underwater vehicle capable of storing multiple sub UUV and using method thereof
CN115723905B (en) * 2022-12-15 2023-07-25 广东智能无人系统研究院(南沙) Towing type retraction device

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3034471A (en) * 1959-08-25 1962-05-15 Vare Ind Method of nesting an underwater towed vehicle
US3757722A (en) * 1972-04-21 1973-09-11 Us Navy Submersible submersible underway docking unit
US3943875A (en) * 1973-03-05 1976-03-16 British Columbia Research Council Method and apparatus for launching and recovering submersibles
DE4140201C2 (en) * 1991-12-03 1996-04-04 Fr Luerssen Werft Gmbh & Co Device for spreading and hauling in towed bodies
US5253605A (en) * 1992-12-21 1993-10-19 Applied Remote Technology, Inc. Method and apparatus for deploying and recovering water borne vehicles
US5642330A (en) * 1994-05-02 1997-06-24 The United States Of America As Represented By The Secretary Of The Navy Sea state measuring system
US6600695B1 (en) * 2002-08-19 2003-07-29 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for retrieving an unmanned underwater vehicle
DE10337004A1 (en) * 2003-08-12 2005-03-03 Howaldtswerke - Deutsche Werft Ag Device for deploying a towed antenna or a trailing cable
DE102007031156B4 (en) * 2007-06-11 2009-04-16 Diehl Bgt Defence Gmbh & Co. Kg Device and method for suspending and recovering an underwater vehicle and method for docking an underwater vehicle to such a device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2009004209A2 *

Also Published As

Publication number Publication date
FR2917708A1 (en) 2008-12-26
FR2917708B1 (en) 2009-09-18
US8186295B2 (en) 2012-05-29
ATE511470T1 (en) 2011-06-15
RU2423282C1 (en) 2011-07-10
EP2155543B1 (en) 2011-06-01
KR101162606B1 (en) 2012-07-13
US20100192831A1 (en) 2010-08-05
KR20100032894A (en) 2010-03-26
WO2009004209A2 (en) 2009-01-08
WO2009004209A3 (en) 2009-03-19
ES2366317T3 (en) 2011-10-19

Similar Documents

Publication Publication Date Title
EP2155543B1 (en) Submarine provided with a device for releasing and recovering a secondary underwater vehicle
EP2285663B1 (en) System for automatically launching and retrieving an underwater drone
EP2043911B1 (en) Installation and method for recovering an underwater or marine vehicle
EP2043913B1 (en) Apparatus for recovering an underwater or marine vehicle
EP1580115B1 (en) Device for launching and beaching of a submersible vehicle
EP3902742B1 (en) Docking device for an underwater vehicle
CA2960706C (en) Marine or submarine craft and associated mooring method
WO2018069241A1 (en) Ship provided with an installation for launching and recovering vehicles
EP2480449B1 (en) System for loading/unloading a vehicle into/from carrier ship, and corresponding carrier ship
FR3062844A1 (en) SYSTEM FOR LAUNCHING AND RECOVERING A PROPULSE ENGINE FROM THE BRIDGE OF A BEARING SHIP
WO2016062870A1 (en) System for launching and recovering marine and submarine devices assisted by tiltable protective components
FR3091258A1 (en) Docking device for an underwater vehicle
FR3073200A1 (en) FLOATING STRUCTURE FOR DEPLOYING AND RECOVERING AT LEAST ONE AQUATIC AUTONOMOUS EQUIPMENT BY A VESSEL, METHOD, SYSTEM AND VESSEL THEREOF
EP2621796B1 (en) System comprising an underwater vehicle and a base situated at the surface
WO2021069640A1 (en) Towed underwater device and system for handling the underwater device
EP0254619B1 (en) Procedure and apparatus to assist in the treatment of a floating load
WO2022194963A1 (en) Tethered-wing traction system comprising a device for gripping folding lines
EP0345157A1 (en) Device for fastening a load to a floating structure

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20091214

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

DAX Request for extension of the european patent (deleted)
GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602008007333

Country of ref document: DE

Effective date: 20110714

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20110601

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2366317

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110901

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110902

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

BERE Be: lapsed

Owner name: DCNS

Effective date: 20110630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111001

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111003

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110630

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20120302

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602008007333

Country of ref document: DE

Effective date: 20120302

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110630

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110609

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110901

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110601

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 602008007333

Country of ref document: DE

Representative=s name: LAVOIX MUNICH, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20220623

Year of fee payment: 15

Ref country code: IT

Payment date: 20220608

Year of fee payment: 15

Ref country code: GB

Payment date: 20220616

Year of fee payment: 15

Ref country code: FR

Payment date: 20220512

Year of fee payment: 15

Ref country code: DE

Payment date: 20220607

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20220705

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602008007333

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20230609