EP2468620A1 - Device for launching and recovering a marine craft, and associated launch and recovery method. - Google Patents

Device for launching and recovering a marine craft, and associated launch and recovery method. Download PDF

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Publication number
EP2468620A1
EP2468620A1 EP11194956A EP11194956A EP2468620A1 EP 2468620 A1 EP2468620 A1 EP 2468620A1 EP 11194956 A EP11194956 A EP 11194956A EP 11194956 A EP11194956 A EP 11194956A EP 2468620 A1 EP2468620 A1 EP 2468620A1
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EP
European Patent Office
Prior art keywords
cage
machine
launching
locking
vehicle
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Granted
Application number
EP11194956A
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German (de)
French (fr)
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EP2468620B1 (en
Inventor
Gérard Mothier
Hervé KERMORGANT
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ECA SA
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ECA SA
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Publication of EP2468620A1 publication Critical patent/EP2468620A1/en
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Publication of EP2468620B1 publication Critical patent/EP2468620B1/en
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    • 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 
    • 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

Definitions

  • the present invention relates to the field of handling of underwater or marine gear, and in particular a launching device and recovery of such a machine.
  • a particularly interesting application of the invention relates to the launching and recovery of a submersible machine connected to a traction cable.
  • This device is used, in particular, for the launching and recovery of an autonomous submersible vehicle, called "AUV" (Autonomous Underwater Vehicle in English term), and comprises, in general, fixed winching means on a surface naval vehicle and a mobile receiving part of the craft.
  • AUV autonomous Underwater Vehicle in English term
  • the mobile part generally called “cage” comprises a frame defining a housing inside which the machine can enter to be recovered.
  • French patent application FR 2 904 287 proposes a marine gear recovery device to overcome these disadvantages.
  • the recovery device comprises a chassis defining a housing for the vehicle, receiving means conical of the front part of the machine, called "nose". These conical receiving means have sufficient freedom of movement relative to the frame to cushion the swell and can slide along the housing to tow the machine in the housing.
  • this document proposes a device for launching and recovery on the sea surface.
  • the chassis is connected by two hoisting ropes to a winch fixed on the surface naval vehicle, so that the chassis is not properly locked and can oscillate in case of rough seas.
  • the marine gear is immobilized in the cage only by two vertical rods.
  • surface naval vehicle caused on the surface of the water by swell, and classically called "heave".
  • the vertical movements due to the swell are attenuated by the depth of the cage.
  • the recovery and launching device being fixed by means of a cable to the naval vehicle, it is driven vertically by the naval vehicle that undergoes the vertical movements of the swell.
  • the relative movements of the submersible craft and the launching and recovery device may damage the craft, as well as the naval vehicle.
  • the object of the present invention is to overcome the disadvantages of the state of the art.
  • the object of the invention is to provide a device for launching and recovering a submersible machine comprising means for securing the transport of the cage on the naval vehicle, while allowing to attenuate the vertical movements due to to the swell.
  • the invention relates to a device for launching and recovering a marine machine comprising a cage for receiving the machine with docking means adapted to receive the front part of the machine and a cable traction connected to the cage and capable of being secured to the machine.
  • the device comprises a handling structure intended to be fixed on a naval vehicle and locking means of the cage on the structure.
  • the cage is connected to the structure by hoisting ropes.
  • the cage is mechanically secured to the structure during its transport with or without the marine gear to avoid any oscillations due to the movement of the naval vehicle.
  • the marine gear is launched and recovered in immersion between the hulls of the naval vehicle. Immersion recovery reduces the influence of the swell.
  • the cage comprises movable arms pivoting between an open position and a closed locking position of the machine.
  • the arms of the cage can effectively immobilize the marine gear in the cage without damaging it.
  • the hoisting ropes may be supported by wheels including at least one mobile held by at least one jack. Cylinders and wheels act as means of compensation of waves.
  • the wave compensation means comprise hydraulic cylinders.
  • the structure comprises a guiding frame sliding vertically between a low position for receiving the cage and a high locking position of the cage.
  • the cage when the cage is at the sea surface, it is surrounded by the guide frame to mitigate the oscillation of the cage and not to damage the naval vehicle and the marine gear.
  • the device comprises means providing the data link and the supply of electrical energy to the cage.
  • the device for launching and recovering a marine or submarine device includes a structure such as a handling crane 2 and a receiving cage 3 of a marine or underwater vehicle 4.
  • the device 1 is intended to be mounted on a boat or a naval surface vehicle 5 schematically represented on Figures 5 to 7 .
  • the device 1 allows in particular the passage of the machine 4 between a storage position illustrated in FIG. figure 5 and a launching position illustrated in the figure 7 .
  • the handling gantry 2, visible in detail at the figure 3 comprises two gantries 6, 7 made, for example, of welded steel.
  • Each gantry 6, 7 consists of two uprights 6a, 6b, 7a, 7b connected at one end by a transverse section 6c, 7c.
  • Each vertical upright 6a, 6b, 7a, 7b comprises a fixing base 6d, 7d intended to be fixed on the naval vehicle 5, and a stiffening means 6e, 7e, forming a bracket whose one end is fixed on a vertical upright 6a , 6b, 7a, 7b and the other end on the naval vehicle 5.
  • the transverse profiles 6c, 7c comprise lifting ring-shaped gripping means 6f, 7f in order to position the handling gantry 2 on a boat or a surface naval vehicle 5.
  • the gantry 2 also includes two horizontal crosspieces 8, 9 connecting the two gantries 6, 7 between them.
  • the horizontal crosspieces 8, 9 are for example made of welded steel consisting of sections and sheets.
  • Each horizontal crossbar 8, 9 houses a wave compensation means 10, 11 comprising two wheels or pulleys 10a, 10b and 11a, 11b cooperating with a set of cables 12, 13 forming a lifting means of the receiving cage 3 and a jack 10c, 11c hydraulic connecting the two wheels 10a, 10b and 11a, 11b them.
  • One of the wheels 10a, 11b is mounted by a pivot connection on the horizontal crossbar 8, 9 and one of the wheels 10b, 11a is mounted on a carriage 10d, 11d sliding by rollers 10e, 11e along the crossbar 8, 9 , so as to increase the forces required for lifting the cage 3 on the one hand, and on the other hand, to attenuate the vertical accelerations transmitted to the cage 3 by the movements of the naval vehicle 5 caused by the swell.
  • the assembly constituted by the two wheels 10a, 10b, 11a, 11b is generally called "muffle".
  • Mittens and hoisting ropes constitute a so-called hauling system.
  • the hoisting ropes 12, 13 are connected to a hoist winch 14 located on one of the gantries 7 and equipped with two synchronized winding drums 15, 16 powered by a hydraulic reduction motorcycle (not shown).
  • the hoisting ropes 12, 13 respectively start from the winding drum 15, 16 and then pass through a plurality of pulleys (not referenced) and wheels 10a, 10b, 11a, 11b.
  • the pulleys are in particular connected by compensating jacks (not visible) fed by hydraulic accumulators ensuring a damping of the movements of the naval vehicle 5 induced by the surface swell.
  • a second system of tear cylinders 15a, 16a fed by hydraulic accumulators (not shown) ensure a quick out of reach of the swell.
  • the handling gantry 2 also comprises an umbilical winch 17 located on the gantry 6, opposite to the hoisting winch 14 and connected to an umbilical cable 18 fixed to the cage 3 and providing the data link and the power supply of the power supply. receiving cage 3.
  • the handling gantry 2 comprises a guide frame 19 sliding vertically between the gantries 6, 7 between a low position for receiving the cage 3 visible on the figure 1 , and a high position at the horizontal crosspieces 8, 9 visible on the figure 3 .
  • the guide frame 19 comprises a parallelepipedal frame 19a, two guide means 19b of the hoisting ropes 12, 13 and makes it possible to limit the deflections of the cage 3 at the hull of the naval vehicle 5 when the cage 3 is suspended by the hoisting ropes 12, 13.
  • the guide frame 19 slides vertically in the handling gantry 2 by virtue of a belt pulley system 19c cooperating with guide lugs 19d of the guide frame 19, visible on the figures 1 and 3 and forming guide carriage of the guide frame 19 in each of the frames 6, 7.
  • the receiving cage 3 connected to the handling gantry 2 by the lifting means constituted by two sets of hoisting ropes 12, 13, and visible in detail on the Figures 4a and 4b , has a general welded stainless steel structure consisting of two side rails 20 and a horizontal central cross member 21 interconnected by a set of arches 22 defining a receiving housing of the submersible machine 4.
  • the front portion 3a of the cage 3 comprises a traction winch 24 for pulling a traction cable 25, visible on the figure 9 , the free end of which is intended to be secured to the submersible vehicle 4, and a form-conically shaped conical docking means 26 with the forward part of the craft 4.
  • the docking means 26 comprises a circular base 26a from which extends an armature 26b defining a hollow cone for receiving the forward part of the machine 4.
  • the armature 26b comprises a gate 26c to prevent any particles present in the sea to damage the front part of the machine 4.
  • the base 26a also comprises rolling elements 26d for receiving the craft in the cone without damaging it.
  • the docking means 26 slides along the cage 3 by means of a guiding carriage 26e comprising, for example rollers 26f rolling on a guide rail 26g, via a toothed transmission belt 26h, between a position of approaching the machine 4 at the rear portion 3b of the cage 3 and a final position at the front portion 3a of the cage 3. In the final position, the machine 4 is fully towed in the cage 3.
  • the traction cable 25 passes through the docking means 26 at its center.
  • the cage 3 comprises translation locking means 22a making it possible to prevent the docking means 26 from leaving the cage 3.
  • the cage 3 comprises, on its lower part, two identical movable arms 27 pivotally mounted on the side rails 20, so as to pivot between a closed grip position of the machine 4, visible on the figure 1 , and an open position, visible on the figure 8 and actuated by cylinders 27a.
  • Each movable arm 27 comprises pads 27b for gripping the machine 4 without damaging it.
  • the cage 3 comprises in particular a hydraulic generating assembly (not shown) for actuating, for example, the motorization of the carriage, the winch 24 or the pivoting mobile arms 27.
  • the central cross member 21 of the cage 3 comprises two rings 28 intended to cooperate with a locking means 29 on the handling gantry 2.
  • the receiving cage 3 protects and holds the submersible machine 4 during the transit of the naval surface vehicle 5 and during the launching and recovery operations during which the cage 3 is immersed to a depth, for example 15m.
  • the handling gantry 2 comprises mechanical locking means 29 of the cage 3 on the handling gantry 2 disposed on each gantry 6, 7.
  • Each locking means 29 comprises two plates 29a, 29b, a pin 30 cooperating with the gantry 30.
  • 28 ring disposed on the cage 3.
  • the ring 28 is positioned between the two plates 29a, 29b and the pin 30 cooperating with the hole in the ring 28 to maintain it in position.
  • the pin 30 is actuated by a jack and a spring.
  • the cylinder controls the unlocking and the spring ensures the automatic locking as soon as the drilling of the ring 28 is aligned with the axis of the pin 30.
  • the vehicle 4 may for example be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection.
  • the launching and recovery device 1 of a vehicle 4 is mounted on a naval vehicle surface 5.
  • the naval vehicle 5 comprises, in particular two floats 5a, 5b delimiting a pit 5c. Alternatively, a hole in the vehicle shell could be provided.
  • the naval vehicle 5 may be a ship or an autonomous vehicle.
  • Each gantry 6, 7 is fixed on one of the floats 5a, 5b, on either side of the pit 5c, so that the transverse sections 8, 9 are arranged above the pit 5c.
  • the method of launching the craft 4 from the naval surface vehicle 5 is as follows.
  • the unlocking means 29 of the cage 3 on the handling gantry 2 are controlled in order to mechanically unlock the cage 3.
  • the operation of the hoisting winch 14 is controlled to enable the driving of the drums winding 15, 16 and thus lifting cables 12, 13 connected to the cage 3 in order to lower the cage 3 vertically between the uprights 6, 7 until its total immersion.
  • the cage is submerged through the pit 5c located between the floats 5a, 5b of the naval vehicle 5 and is guided by the guide frame 19 to the level of the sea surface.
  • the position of launching the cage is illustrated more visibly figures 6 and 7 .
  • the cage is immersed until reaching a determined depth of immersion. It should be noted that the umbilical winch 17 is also actuated so as to synchronize the length of the umbilical cable with the hoisting ropes 12, 13.
  • the machine 4 is towed using the winch 24 in the cage 3 to position the front, called "nose", of the machine 4 in the medium 25, more precisely in the mobile receiving cone.
  • the notched means 26h are then actuated to slide the carriage 26e on the guide rail 26g towards the front 3a of the cage 3.
  • the machine 4 is positioned properly in the cage 3 and maintained in position by the actuation of the movable arms 27 pivoted in a closed grip position of the machine 4.
  • the machine 4 and housed in the cage 3 is then raised to the surface by the actuation of the hoisting ropes 12, 13.
  • the cage 3, once raised is then locked on the gantry 2 to secure its transport.
  • the raising operation of the cage 3 is not further described and includes the inverted steps of the immersion operation.
  • the surface naval vehicle 5 follows the carriage 26e at a low speed of advance in order to align its trajectory on the trajectory of the cage and to facilitate the penetration of the machine 4 in the receiving cage 3.
  • the introduction of the machine into the docking means makes it possible to obtain the alignment of the axis of the machine with the axis said docking means.
  • the cage is secured mechanically on the gantry during its transport with or without the marine gear to avoid any oscillations due to the movement of the naval vehicle.
  • the marine craft is launched and recovered in immersion between the floats of the naval vehicle. Immersion recovery reduces the influence of the swell.

Abstract

The device (1) has a mechanical locking unit (29) for mechanically locking a receiving cage (3) on a handling superstructure (2) fixed on a naval surface vehicle, where the cage is provided with a conical docking unit (26) to receive a front part of a marine vehicle (4). Lifting cables (12, 13) connect the cage to the superstructure. The lifting cables are supported by wheels (10a, 10b, 11a, 11b). The superstructure comprises a guiding frame (19) that slides vertically between lower receiving position and upper locking position of the cage. An independent claim is also included for a method for launching and recovering a marine vehicle housed in a cage supported by a structure fixed on a naval surface vehicle.

Description

La présente invention concerne le domaine de la manutention des engins sous-marins ou marins, et en particulier un dispositif de mise à l'eau et de récupération d'un tel engin.The present invention relates to the field of handling of underwater or marine gear, and in particular a launching device and recovery of such a machine.

Une application particulièrement intéressante de l'invention concerne la mise à l'eau et la récupération d'un engin submersible relié à un câble de traction.A particularly interesting application of the invention relates to the launching and recovery of a submersible machine connected to a traction cable.

Ce dispositif est utilisé, notamment, pour la mise à l'eau et la récupération d'un engin submersible autonome, dit « AUV » (Autonomous Underwater Vehicle en terme anglo-saxon), et comprend, en général, des moyens de treuillage fixés sur un véhicule naval de surface et une partie mobile de réception de l'engin.This device is used, in particular, for the launching and recovery of an autonomous submersible vehicle, called "AUV" (Autonomous Underwater Vehicle in English term), and comprises, in general, fixed winching means on a surface naval vehicle and a mobile receiving part of the craft.

Plus particulièrement, la partie mobile, appelée généralement « cage » comprend un châssis définissant un logement à l'intérieur duquel l'engin peut pénétrer pour être récupéré.More particularly, the mobile part, generally called "cage" comprises a frame defining a housing inside which the machine can enter to be recovered.

On peut à cet effet se référer au document WO 00/71415 qui décrit un appareil de récupération d'un engin comprenant une cage comportant à l'entrée des lames formant une bague tronconique par laquelle passe l'engin submersible pour pénétrer dans la cage. Toutefois, il est nécessaire d'aligner convenablement l'engin avec la cage afin que celui-ci puisse pénétrer convenablement.For this purpose, reference may be made to the document WO 00/71415 which describes an apparatus for recovering a machine comprising a cage having at the inlet of the blades forming a frustoconical ring through which the submersible machine passes to enter the cage. However, it is necessary to properly align the machine with the cage so that it can penetrate properly.

De tels dispositifs ne sont pas adaptés en cas de mer agitée, en raison de mouvements de la cage générés par la houle et qui empêcheraient l'engin submersible de rentrer convenablement dans la cage sans être endommagé.Such devices are not suitable in case of rough seas, due to movements of the cage generated by the swell and that would prevent the submersible machine to enter the cage properly without being damaged.

La demande de brevet français FR 2 904 287 (IFREMER ) propose un dispositif de récupération d'un engin marin permettant de remédier à ces inconvénients.The French patent application FR 2 904 287 (IFREMER ) proposes a marine gear recovery device to overcome these disadvantages.

A cet effet, le dispositif de récupération comprend un châssis définissant un logement pour l'engin, des moyens de réception coniques de la partie avant de l'engin, appelée « nez ». Ces moyens de réception coniques ont une liberté de mouvement suffisante par rapport au châssis afin d'amortir la houle et peuvent coulisser le long du logement afin de remorquer l'engin dans le logement. Toutefois, ce document propose un dispositif de mise à l'eau et récupération à la surface de la mer. De plus le châssis est relié par deux câbles de levage à un treuil fixé sur le véhicule naval de surface, de sorte que le châssis n'est pas convenablement verrouillé et peut osciller en cas de mer agitée. Enfin, l'engin marin est immobilisé dans la cage uniquement par deux tiges verticales.For this purpose, the recovery device comprises a chassis defining a housing for the vehicle, receiving means conical of the front part of the machine, called "nose". These conical receiving means have sufficient freedom of movement relative to the frame to cushion the swell and can slide along the housing to tow the machine in the housing. However, this document proposes a device for launching and recovery on the sea surface. In addition, the chassis is connected by two hoisting ropes to a winch fixed on the surface naval vehicle, so that the chassis is not properly locked and can oscillate in case of rough seas. Finally, the marine gear is immobilized in the cage only by two vertical rods.

L'opération d'immersion d'un engin submersible à plusieurs mètres de profondeur sous la surface de la mer, à partir d'une plateforme d'un véhicule naval, est rendue délicate par les mouvements verticaux, de balancement longitudinal et de roulis du véhicule naval de surface provoqués à la surface de l'eau par la houle, et classiquement appelé « pilonnement ». Les mouvements verticaux dus à la houle sont atténués par la profondeur à laquelle se trouve la cage. Toutefois, le dispositif de récupération et de mise à l'eau étant fixé au moyen d'un câble au véhicule naval, il est entraîné verticalement par le véhicule naval qui subit les mouvements verticaux de la houle. Les mouvements relatifs de l'engin submersible et du dispositif de mise à l'eau et de récupération peuvent endommager l'engin, ainsi que le véhicule naval.The submerging operation of a submersible machine several meters deep below the sea surface, from a platform of a naval vehicle, is made difficult by the vertical, longitudinal swaying and rolling movements of the sea. surface naval vehicle caused on the surface of the water by swell, and classically called "heave". The vertical movements due to the swell are attenuated by the depth of the cage. However, the recovery and launching device being fixed by means of a cable to the naval vehicle, it is driven vertically by the naval vehicle that undergoes the vertical movements of the swell. The relative movements of the submersible craft and the launching and recovery device may damage the craft, as well as the naval vehicle.

Le but de la présente invention est de pallier les inconvénients de l'état de la technique.The object of the present invention is to overcome the disadvantages of the state of the art.

Le but de l'invention est de proposer un dispositif de mise à l'eau et de récupération d'un engin submersible comprenant des moyens pour sécuriser le transport de la cage sur le véhicule naval, tout en permettant d'atténuer les mouvements verticaux dus à la houle.The object of the invention is to provide a device for launching and recovering a submersible machine comprising means for securing the transport of the cage on the naval vehicle, while allowing to attenuate the vertical movements due to to the swell.

L'invention a pour objet un dispositif de mise à l'eau et de récupération d'un engin marin comprenant une cage de réception de l'engin avec des moyens d'accostage aptes à recevoir la partie avant de l'engin et un câble de traction relié à la cage et capable d'être arrimé à l'engin.The invention relates to a device for launching and recovering a marine machine comprising a cage for receiving the machine with docking means adapted to receive the front part of the machine and a cable traction connected to the cage and capable of being secured to the machine.

Le dispositif comprend une structure de manutention destinée à être fixée sur un véhicule naval et des moyens de verrouillage de la cage sur la structure. La cage est reliée à la structure par des câbles de levage.The device comprises a handling structure intended to be fixed on a naval vehicle and locking means of the cage on the structure. The cage is connected to the structure by hoisting ropes.

Ainsi, la cage est sécurisée mécaniquement sur la structure lors de son transport avec ou sans l'engin marin afin d'éviter toutes oscillations dues au mouvement du véhicule naval. De plus, l'engin marin est mis à l'eau et récupéré en immersion entre les coques du véhicule naval. La récupération en immersion permet de diminuer l'influence de la houle.Thus, the cage is mechanically secured to the structure during its transport with or without the marine gear to avoid any oscillations due to the movement of the naval vehicle. In addition, the marine gear is launched and recovered in immersion between the hulls of the naval vehicle. Immersion recovery reduces the influence of the swell.

Avantageusement, la cage comprend des bras mobiles pivotant entre une position ouverte et une position fermée de verrouillage de l'engin. Les bras de la cage permettent d'immobiliser efficacement l'engin marin dans la cage sans l'endommager.Advantageously, the cage comprises movable arms pivoting between an open position and a closed locking position of the machine. The arms of the cage can effectively immobilize the marine gear in the cage without damaging it.

Les câbles de levage peuvent être supportés par des roues dont au moins une mobile tenue par au moins un vérin. Les vérins et les roues jouent le rôle de moyens de compensation de houle.The hoisting ropes may be supported by wheels including at least one mobile held by at least one jack. Cylinders and wheels act as means of compensation of waves.

Par exemple, les moyens de compensation de houle comprennent des vérins hydrauliques.For example, the wave compensation means comprise hydraulic cylinders.

De manière préférentielle, la structure comprend un cadre de guidage coulissant verticalement entre une position basse de réception de la cage et une position haute de verrouillage de la cage. Ainsi, lorsque la cage se situe au niveau de la surface de la mer, elle est entourée par le cadre de guidage permettant d'atténuer les oscillations de la cage et de ne pas endommager le véhicule naval et l'engin marin.Preferably, the structure comprises a guiding frame sliding vertically between a low position for receiving the cage and a high locking position of the cage. Thus, when the cage is at the sea surface, it is surrounded by the guide frame to mitigate the oscillation of the cage and not to damage the naval vehicle and the marine gear.

Avantageusement, le dispositif comprend des moyens assurant la liaison de données et l'alimentation en énergie électrique vers la cage.Advantageously, the device comprises means providing the data link and the supply of electrical energy to the cage.

Selon un autre aspect, l'invention concerne un procédé de mise à l'eau et de récupération d'un engin marin logé dans une cage supportée par une structure fixée sur un véhicule naval. Le procédé comprend les étapes suivantes :

  • on déverrouille les moyens de verrouillage de la cage sur la structure, et
  • on descend verticalement la cage équipée de l'engin marin à l'aide de câbles de levage de la structure jusqu'à l'immersion désirée.
In another aspect, the invention relates to a method of launching and recovering a marine gear housed in a cage supported by a structure fixed on a naval vehicle. The method comprises the following steps:
  • the locking means of the cage are unlocked on the structure, and
  • the cage equipped with the marine gear is lowered vertically by means of lifting cables from the structure to the desired immersion.

Avantageusement, lors de l'étape de mise à l'eau de l'engin,

  • on positionne des bras mobiles pivotants dans une position ouverte de déverrouillage de l'engin,
  • on fait coulisser les moyens d'accostage à l'entrée de la cage,
  • on déroule le câble de traction, et
  • le véhicule s'arrime au câble de traction,
  • on remorque et on accoste l'engin dans les moyens d'accostage de la cage, à l'aide d'un treuil fixé sur la cage,
  • on positionne les bras mobiles pivotants dans une position fermée de verrouillage de l'engin, et
  • on monte verticalement la cage équipée de l'engin jusqu'à verrouillage dans la structure grâce au moyen de verrouillage.
Advantageously, during the step of launching the craft,
  • pivoting movable arms are positioned in an open unlocking position of the machine,
  • the docking means are slid at the entrance of the cage,
  • the traction cable is unrolled, and
  • the vehicle is tied to the traction cable,
  • the vehicle is towed and docked in the means of docking the cage, using a winch fixed on the cage,
  • the pivoting mobile arms are positioned in a closed position for locking the machine, and
  • vertically mounted cage equipped with the machine until locking in the structure through the locking means.

D'autres buts, caractéristiques et avantages de l'invention apparaîtront à la lecture de la description suivante, donnée uniquement à titre d'exemple non limitatif, et faite en référence aux dessins annexés sur lesquels :

  • la figure 1 est une vue générale en perspective d'un dispositif de mise à l'eau et de récupération d'un engin selon l'invention ;
  • la figure 2 est une vue de détail du dispositif de la figure 1 ;
  • la figure 3 est une vue générale d'un portique selon l'invention ;
  • les figures 4a et 4b sont des vues de dessous et de dessus d'une cage selon l'invention ;
  • la figure 5 est une vue schématique d'un véhicule naval de surface sur lequel est monté le dispositif de la figure 1 ; et
  • les figures 6 à 9 sont des vues en perspective d'un dispositif de mise à l'eau et de récupération selon la figure 1 lors d'une phase de mise à l'eau de l'engin.
Other objects, features and advantages of the invention will appear on reading the following description, given solely by way of nonlimiting example, and with reference to the appended drawings in which:
  • the figure 1 is a general perspective view of a device for launching and recovering a craft according to the invention;
  • the figure 2 is a detailed view of the device of the figure 1 ;
  • the figure 3 is a general view of a gantry according to the invention;
  • the Figures 4a and 4b are views from below and from above of a cage according to the invention;
  • the figure 5 is a schematic view of a naval surface vehicle on which is mounted the device of the figure 1 ; and
  • the Figures 6 to 9 are perspective views of a launching and recovery device according to the figure 1 during a launching phase of the craft.

Tel qu'il est illustré sur la figure 1, le dispositif de mise à l'eau et de récupération d'un engin marin ou sous-marin, référencé 1 dans son ensemble, comprend une structure telle qu' un portique de manutention 2 et une cage de réception 3 d'un engin marin ou sous-marin 4. Le dispositif 1 est destiné à être monté sur une embarcation ou un véhicule naval de surface 5 représenté schématiquement sur les figures 5 à 7. Le dispositif 1 permet notamment le passage de l'engin 4 entre une position de stockage illustrée à la figure 5 et une position de mise à l'eau illustrée à la figure 7.As illustrated on the figure 1 , the device for launching and recovering a marine or submarine device, referenced 1 as a whole, includes a structure such as a handling crane 2 and a receiving cage 3 of a marine or underwater vehicle 4. The device 1 is intended to be mounted on a boat or a naval surface vehicle 5 schematically represented on Figures 5 to 7 . The device 1 allows in particular the passage of the machine 4 between a storage position illustrated in FIG. figure 5 and a launching position illustrated in the figure 7 .

Le portique de manutention 2, visible en détail à la figure 3, comprend deux portiques 6, 7 réalisés, par exemple, en acier mécano soudé. Chaque portique 6, 7 est constitué de deux montants verticaux 6a, 6b, 7a, 7b reliés à une extrémité par un profilé transversal 6c, 7c. Chaque montant vertical 6a, 6b, 7a, 7b comprend une embase de fixation 6d, 7d destinée à être fixée sur le véhicule naval 5, et un moyen de rigidification 6e, 7e, formant une équerre dont une extrémité est fixée sur un montant vertical 6a, 6b, 7a, 7b et l'autre extrémité sur le véhicule naval 5. Les profilés transversaux 6c, 7c comprennent des moyens de préhension en forme d'anneau de levage 6f, 7f afin de positionner le portique de manutention 2 sur une embarcation ou un véhicule naval de surface 5.The handling gantry 2, visible in detail at the figure 3 comprises two gantries 6, 7 made, for example, of welded steel. Each gantry 6, 7 consists of two uprights 6a, 6b, 7a, 7b connected at one end by a transverse section 6c, 7c. Each vertical upright 6a, 6b, 7a, 7b comprises a fixing base 6d, 7d intended to be fixed on the naval vehicle 5, and a stiffening means 6e, 7e, forming a bracket whose one end is fixed on a vertical upright 6a , 6b, 7a, 7b and the other end on the naval vehicle 5. The transverse profiles 6c, 7c comprise lifting ring-shaped gripping means 6f, 7f in order to position the handling gantry 2 on a boat or a surface naval vehicle 5.

Le portique de manutention 2 comprend également deux traverses horizontales 8, 9 reliant les deux portiques 6, 7 entre eux. Les traverses horizontales 8, 9 sont par exemple réalisées en acier mécano soudé constitué de profilés et de tôles. Chaque traverse horizontale 8, 9 loge un moyen de compensation de houle 10, 11 comportant deux roues ou poulies 10a, 10b et 11a, 11b coopérant avec un ensemble de câbles 12, 13 formant moyen de levage de la cage de réception 3 et un vérin hydraulique 10c, 11c reliant les deux roues 10a, 10b et 11a, 11b entre elles. Une des roues 10a, 11b est montée par une liaison pivot sur la traverse horizontale 8, 9 et une des roues 10b, 11a est montée sur un chariot 10d, 11d coulissant par des galets roulants 10e, 11e le long de la traverse 8, 9, de manière à démultiplier les efforts nécessaires au levage de la cage 3 d'une part, et d'autre part, d'atténuer les accélérations verticales transmises à la cage 3 par les mouvements du véhicule naval 5 provoqués par la houle. L'ensemble constitué par les deux roues 10a, 10b, 11a, 11b est généralement appelé « moufle ». Les moufles et les câbles de levage constituent un système dit de mouflage.The gantry 2 also includes two horizontal crosspieces 8, 9 connecting the two gantries 6, 7 between them. The horizontal crosspieces 8, 9 are for example made of welded steel consisting of sections and sheets. Each horizontal crossbar 8, 9 houses a wave compensation means 10, 11 comprising two wheels or pulleys 10a, 10b and 11a, 11b cooperating with a set of cables 12, 13 forming a lifting means of the receiving cage 3 and a jack 10c, 11c hydraulic connecting the two wheels 10a, 10b and 11a, 11b them. One of the wheels 10a, 11b is mounted by a pivot connection on the horizontal crossbar 8, 9 and one of the wheels 10b, 11a is mounted on a carriage 10d, 11d sliding by rollers 10e, 11e along the crossbar 8, 9 , so as to increase the forces required for lifting the cage 3 on the one hand, and on the other hand, to attenuate the vertical accelerations transmitted to the cage 3 by the movements of the naval vehicle 5 caused by the swell. The assembly constituted by the two wheels 10a, 10b, 11a, 11b is generally called "muffle". Mittens and hoisting ropes constitute a so-called hauling system.

Les câbles de levage 12, 13 sont reliés à un treuil de levage 14 situé sur un des portiques 7 et équipé de deux tambours d'enroulement synchronisé 15, 16 motorisés par un moto réducteur hydraulique (non représenté). Les câbles de levage 12, 13 partent respectivement du tambour d'enroulement 15, 16 puis passent par une pluralité de poulies (non référencées) et de roues 10a, 10b, 11a, 11b. Les poulies sont notamment reliées par des vérins de compensation (non visibles) alimentés par des accumulateurs hydrauliques assurant un amortissement des mouvements du véhicule naval 5 induits par la houle de surface. Un second système de vérins d'arrachement 15a, 16a alimentés par des accumulateurs hydrauliques (non représentés) assurent une rapide mise hors d'atteinte de la houle.The hoisting ropes 12, 13 are connected to a hoist winch 14 located on one of the gantries 7 and equipped with two synchronized winding drums 15, 16 powered by a hydraulic reduction motorcycle (not shown). The hoisting ropes 12, 13 respectively start from the winding drum 15, 16 and then pass through a plurality of pulleys (not referenced) and wheels 10a, 10b, 11a, 11b. The pulleys are in particular connected by compensating jacks (not visible) fed by hydraulic accumulators ensuring a damping of the movements of the naval vehicle 5 induced by the surface swell. A second system of tear cylinders 15a, 16a fed by hydraulic accumulators (not shown) ensure a quick out of reach of the swell.

Le portique de manutention 2 comprend également un treuil ombilical 17 situé sur le portique 6, opposé au treuil de levage 14 et relié à un câble ombilical 18 fixé à la cage 3 et assurant la liaison de données et l'alimentation en énergie électrique de la cage de réception 3.The handling gantry 2 also comprises an umbilical winch 17 located on the gantry 6, opposite to the hoisting winch 14 and connected to an umbilical cable 18 fixed to the cage 3 and providing the data link and the power supply of the power supply. receiving cage 3.

Le portique de manutention 2 comprend un cadre de guidage 19 coulissant verticalement entre les portiques 6, 7 entre une position basse de réception de la cage 3 visible sur la figure 1, et une position haute au niveau des traverses horizontales 8, 9 visibles sur la figure 3. Le cadre de guidage 19 comprend un cadre parallélépipédique 19a, deux moyens de guidage 19b des câbles de levage 12, 13 et permet de limiter les débattements de la cage 3 au niveau de la coque du véhicule naval 5 lorsque la cage 3 est suspendue par les câbles de levage 12, 13. Le cadre de guidage 19 coulisse verticalement dans le portique de manutention 2 grâce à un système poulie courroie 19c coopérant avec des pattes de guidage 19d du cadre de guidage 19, visibles sur les figures 1 et 3, et formant chariot de guidage du cadre de guidage 19 dans chacun des portiques 6, 7.The handling gantry 2 comprises a guide frame 19 sliding vertically between the gantries 6, 7 between a low position for receiving the cage 3 visible on the figure 1 , and a high position at the horizontal crosspieces 8, 9 visible on the figure 3 . The guide frame 19 comprises a parallelepipedal frame 19a, two guide means 19b of the hoisting ropes 12, 13 and makes it possible to limit the deflections of the cage 3 at the hull of the naval vehicle 5 when the cage 3 is suspended by the hoisting ropes 12, 13. The guide frame 19 slides vertically in the handling gantry 2 by virtue of a belt pulley system 19c cooperating with guide lugs 19d of the guide frame 19, visible on the figures 1 and 3 and forming guide carriage of the guide frame 19 in each of the frames 6, 7.

La cage de réception 3, reliée au portique de manutention 2 par les moyens de levage constitués par deux ensembles de câbles de levage 12, 13, et visible en détail sur les figures 4a et 4b, présente une structure générale mécano soudée en inox constituée de deux longerons latéraux 20 et une traverse centrale horizontale 21 reliés entre eux par un ensemble d'arceaux 22 définissant un logement de réception de l'engin submersible 4. Un ensemble de flotteurs 23, par exemple au nombre de quatre, est disposé sur les côtés de la cage 3. La partie avant 3a de la cage 3 comprend un treuil de traction 24 permettant de tracter un câble de traction 25, visible sur la figure 9, dont l'extrémité libre est destinée à être arrimée à l'engin submersible 4, et un moyen d'accostage 26 de forme conique en concordance de forme avec la partie avant de l'engin 4. Le moyen d'accostage 26 comprend une embase circulaire 26a à partir de laquelle s'étend une armature 26b définissant un cône creux de réception de la partie avant de l'engin 4. L'armature 26b comprend une grille 26c afin d'empêcher à d'éventuelles particules présentes dans la mer d'endommager la partie avant de l'engin 4. L'embase 26a comprend également des éléments roulants 26d permettant de réceptionner l'engin dans le cône sans l'endommager. Le moyen d'accostage 26 coulisse le long de la cage 3 grâce à un chariot de guidage 26e comprenant, par exemple des galets 26f roulants sur un rail de guidage 26g, par l'intermédiaire d'une courroie de transmission crantée 26h, entre une position d'accostage de l'engin 4 au niveau de la partie arrière 3b de la cage 3 et une position finale au niveau de la partie avant 3a de la cage 3. Dans la position finale, l'engin 4 est entièrement remorqué dans la cage 3. Le câble de traction 25 traverse le moyen d'accostage 26 en son centre. La cage 3 comprend des moyens de blocage en translation 22a permettant d'empêcher le moyen d'accostage 26 de sortir de la cage 3.The receiving cage 3, connected to the handling gantry 2 by the lifting means constituted by two sets of hoisting ropes 12, 13, and visible in detail on the Figures 4a and 4b , has a general welded stainless steel structure consisting of two side rails 20 and a horizontal central cross member 21 interconnected by a set of arches 22 defining a receiving housing of the submersible machine 4. A set of floats 23, by four examples, is arranged on the sides of the cage 3. The front portion 3a of the cage 3 comprises a traction winch 24 for pulling a traction cable 25, visible on the figure 9 , the free end of which is intended to be secured to the submersible vehicle 4, and a form-conically shaped conical docking means 26 with the forward part of the craft 4. The docking means 26 comprises a circular base 26a from which extends an armature 26b defining a hollow cone for receiving the forward part of the machine 4. The armature 26b comprises a gate 26c to prevent any particles present in the sea to damage the front part of the machine 4. The base 26a also comprises rolling elements 26d for receiving the craft in the cone without damaging it. The docking means 26 slides along the cage 3 by means of a guiding carriage 26e comprising, for example rollers 26f rolling on a guide rail 26g, via a toothed transmission belt 26h, between a position of approaching the machine 4 at the rear portion 3b of the cage 3 and a final position at the front portion 3a of the cage 3. In the final position, the machine 4 is fully towed in the cage 3. The traction cable 25 passes through the docking means 26 at its center. The cage 3 comprises translation locking means 22a making it possible to prevent the docking means 26 from leaving the cage 3.

La cage 3 comprend, sur sa partie inférieure, deux bras mobiles 27 identiques et montés pivotant sur les longerons latéraux 20, de manière à pivoter entre une position fermée de préhension de l'engin 4, visible sur la figure 1, et une position ouverte, visible sur la figure 8 et actionnés par des vérins 27a. Chaque bras mobile 27 comprend des coussinets 27b permettant une préhension de l'engin 4 sans l'endommager. La cage 3 comprend notamment un ensemble de génération hydraulique (non représenté) permettant d'actionner, par exemple, la motorisation du chariot, du treuil 24 ou des bras mobiles pivotants 27.The cage 3 comprises, on its lower part, two identical movable arms 27 pivotally mounted on the side rails 20, so as to pivot between a closed grip position of the machine 4, visible on the figure 1 , and an open position, visible on the figure 8 and actuated by cylinders 27a. Each movable arm 27 comprises pads 27b for gripping the machine 4 without damaging it. The cage 3 comprises in particular a hydraulic generating assembly (not shown) for actuating, for example, the motorization of the carriage, the winch 24 or the pivoting mobile arms 27.

La traverse centrale 21 de la cage 3 comporte deux anneaux 28 destinés à coopérer avec un moyen de verrouillage 29 sur le portique de manutention 2. La cage de réception 3 protège et maintien l'engin submersible 4 pendant le transit du véhicule naval de surface 5 et lors des opérations de mise à l'eau et de récupération lors desquelles la cage 3 est immergée à une profondeur, par exemple de 15m.The central cross member 21 of the cage 3 comprises two rings 28 intended to cooperate with a locking means 29 on the handling gantry 2. The receiving cage 3 protects and holds the submersible machine 4 during the transit of the naval surface vehicle 5 and during the launching and recovery operations during which the cage 3 is immersed to a depth, for example 15m.

Tel qu'illustré sur la figure 2, le portique de manutention 2 comprend des moyens de verrouillage mécanique 29 de la cage 3 sur le portique de manutention 2 disposés sur chaque portique 6, 7. Chaque moyen de verrouillage 29 comprend deux plaques 29a, 29b, une goupille 30 coopérant avec l'anneau 28 disposé sur la cage 3. L'anneau 28 est positionné entre les deux plaques 29a, 29b puis la goupille 30 coopérant avec le perçage pratiqué dans l'anneau 28 permet de le maintenir en position. La goupille 30 est actionnée par un vérin et un ressort. Le vérin commande le déverrouillage et le ressort assure le verrouillage automatique dès que le perçage de l'anneau 28 est aligné avec l'axe de la goupille 30.As illustrated on the figure 2 , the handling gantry 2 comprises mechanical locking means 29 of the cage 3 on the handling gantry 2 disposed on each gantry 6, 7. Each locking means 29 comprises two plates 29a, 29b, a pin 30 cooperating with the gantry 30. 28 ring disposed on the cage 3. The ring 28 is positioned between the two plates 29a, 29b and the pin 30 cooperating with the hole in the ring 28 to maintain it in position. The pin 30 is actuated by a jack and a spring. The cylinder controls the unlocking and the spring ensures the automatic locking as soon as the drilling of the ring 28 is aligned with the axis of the pin 30.

L'engin 4 peut par exemple être un véhicule sous-marin submersible ou flottant et conçu, par exemple, pour réaliser une surveillance et/ou une inspection sous-marine.The vehicle 4 may for example be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection.

Tel qu'illustré sur la figure 5, le dispositif de mise à l'eau et de récupération 1 d'un engin 4 est monté sur un véhicule naval de surface 5. Le véhicule naval 5 comprend, notamment deux flotteurs 5a, 5b délimitant une fosse 5c. On pourrait, en variante, prévoir un trou pratiqué dans la coque du véhicule. Le véhicule naval 5 peut être un navire ou un véhicule autonome. Chaque portique 6, 7 est fixé sur un des flotteurs 5a, 5b, de part et d'autre de la fosse 5c, de sorte que les profilés transversaux 8, 9 sont disposés au-dessus de la fosse 5c.As illustrated on the figure 5 , the launching and recovery device 1 of a vehicle 4 is mounted on a naval vehicle surface 5. The naval vehicle 5 comprises, in particular two floats 5a, 5b delimiting a pit 5c. Alternatively, a hole in the vehicle shell could be provided. The naval vehicle 5 may be a ship or an autonomous vehicle. Each gantry 6, 7 is fixed on one of the floats 5a, 5b, on either side of the pit 5c, so that the transverse sections 8, 9 are arranged above the pit 5c.

Le fonctionnement du dispositif 1 de mise à l'eau et de récupération va être décrit maintenant en détail, suivant les figures 6 à 9.The operation of the launching and recovery device 1 will now be described in detail, according to the Figures 6 to 9 .

Le procédé de mise à l'eau de l'engin 4 à partir du véhicule naval 5 de surface est le suivant. Dans une première étape, les moyens de déverrouillage 29 de la cage 3 sur le portique de manutention 2 sont commandés afin de déverrouiller mécaniquement la cage 3. Ensuite, l'actionnement du treuil de levage 14 est commandé pour permettre l'entraînement des tambours d'enroulement 15, 16 et ainsi des câbles de levage 12, 13 reliés à la cage 3 afin de descendre la cage 3 verticalement entre les montants verticaux 6, 7 jusqu'à son immersion totale. La cage est immergée en passant par la fosse 5c située entre les flotteurs 5a, 5b du véhicule naval 5 et est guidée par le cadre de guidage 19 jusqu'au niveau de la surface de la mer.The method of launching the craft 4 from the naval surface vehicle 5 is as follows. In a first step, the unlocking means 29 of the cage 3 on the handling gantry 2 are controlled in order to mechanically unlock the cage 3. Then, the operation of the hoisting winch 14 is controlled to enable the driving of the drums winding 15, 16 and thus lifting cables 12, 13 connected to the cage 3 in order to lower the cage 3 vertically between the uprights 6, 7 until its total immersion. The cage is submerged through the pit 5c located between the floats 5a, 5b of the naval vehicle 5 and is guided by the guide frame 19 to the level of the sea surface.

La position de mise à l'eau de la cage est illustrée plus visiblement aux figures 6 et 7.The position of launching the cage is illustrated more visibly figures 6 and 7 .

La cage est immergée jusqu'à atteindre une profondeur d'immersion déterminée. On notera que le treuil ombilical 17 est également actionné de manière à synchroniser la longueur du câble ombilical avec les câbles de levage 12, 13.The cage is immersed until reaching a determined depth of immersion. It should be noted that the umbilical winch 17 is also actuated so as to synchronize the length of the umbilical cable with the hoisting ropes 12, 13.

Dans une seconde étape, visible à la figure 8, une fois la cage 3 stabilisée en immersion, les bras mobiles pivotants 27 sont pivotés dans une position ouverte afin de libérer l'engin 4. Les moyens crantés 26h sont ensuite actionnés afin de faire coulisser le chariot 26e jusqu'à la butée 22a. Le treuil de traction 24 est actionné simultanément afin de permettre à l'engin 4 de s'éloigner de la cage 3, visible sur la figure 9.In a second step, visible at the figure 8 once the cage 3 is immersed, the pivoting movable arms 27 are pivoted into an open position to release the machine 4. The notched means 26h are then actuated to slide the carriage 26e to the stop 22a. The traction winch 24 is actuated simultaneously to allow the machine 4 to move away from the cage 3, visible on the figure 9 .

A l'inverse, lors de l'opération de récupération, l'engin 4 est remorqué à l'aide du treuil 24 dans la cage 3 afin de positionner l'avant, appelée « nez », de l'engin 4 dans le moyen d'accostage 25, plus précisément dans le cône de réception mobile. Les moyens crantés 26h sont ensuite actionnés pour faire coulisser le chariot 26e sur le rail de guidage 26g vers l'avant 3a de la cage 3.Conversely, during the recovery operation, the machine 4 is towed using the winch 24 in the cage 3 to position the front, called "nose", of the machine 4 in the medium 25, more precisely in the mobile receiving cone. The notched means 26h are then actuated to slide the carriage 26e on the guide rail 26g towards the front 3a of the cage 3.

Une fois le chariot 26e situé en fin de course, l'engin 4 est positionné convenablement dans la cage 3 et maintenu en positionnement par l'actionnement des bras mobiles 27 pivotés dans une position fermée de préhension de l'engin 4.Once the carriage 26e located at the end of the race, the machine 4 is positioned properly in the cage 3 and maintained in position by the actuation of the movable arms 27 pivoted in a closed grip position of the machine 4.

L'engin 4 ainsi logé dans la cage 3 est ensuite remonté à la surface par l'actionnement des câbles de levage 12, 13. La cage 3, une fois remontée est ensuite verrouillée sur le portique 2 afin de sécuriser son transport. L'opération de remontée de la cage 3 n'est pas davantage décrite et comprend les étapes inversées de l'opération d'immersion.The machine 4 and housed in the cage 3 is then raised to the surface by the actuation of the hoisting ropes 12, 13. The cage 3, once raised is then locked on the gantry 2 to secure its transport. The raising operation of the cage 3 is not further described and includes the inverted steps of the immersion operation.

Durant les étapes de récupération de l'engin 4, le véhicule naval de surface 5 suit le chariot 26e à une faible vitesse d'avance afin d'aligner sa trajectoire sur la trajectoire de la cage et de faciliter la pénétration de l'engin 4 dans la cage de réception 3.During the recovery steps of the machine 4, the surface naval vehicle 5 follows the carriage 26e at a low speed of advance in order to align its trajectory on the trajectory of the cage and to facilitate the penetration of the machine 4 in the receiving cage 3.

Grâce à l'invention, lors d'une phase de récupération de l'engin, l'introduction de l'engin dans le moyen d'accostage permet d'obtenir l'alignement de l'axe de l'engin avec l'axe dudit moyen d'accostage. Ainsi, il est possible de s'assurer que, dans la position de préhension des bras mobiles, l'axe d'articulation des bras est parallèle à l'axe longitudinal de l'engin de sorte à obtenir une bonne préhension de l'engin. De plus, la cage est sécurisée mécaniquement sur le portique lors de son transport avec ou sans l'engin marin afin d'éviter toutes oscillations dues au mouvement du véhicule naval. Enfin, grâce à l'invention, l'engin marin est mis à l'eau et récupéré en immersion entre les flotteurs du véhicule naval. La récupération en immersion permet de diminuer l'influence de la houle.Thanks to the invention, during a recovery phase of the machine, the introduction of the machine into the docking means makes it possible to obtain the alignment of the axis of the machine with the axis said docking means. Thus, it is possible to ensure that, in the gripping position of the movable arms, the axis of articulation of the arms is parallel to the longitudinal axis of the machine so as to obtain a good grip of the machine . In addition, the cage is secured mechanically on the gantry during its transport with or without the marine gear to avoid any oscillations due to the movement of the naval vehicle. Finally, thanks to the invention, the marine craft is launched and recovered in immersion between the floats of the naval vehicle. Immersion recovery reduces the influence of the swell.

Claims (9)

Dispositif de mise à l'eau et de récupération (1) d'un engin marin (4) comprenant une cage de réception (3) de l'engin (4) avec des moyens d'accostage (26) aptes à recevoir la partie avant de l'engin (4) et un câble de traction (25) relié à la cage (3) et capable d'être arrimé à l'engin (4), caractérisé en ce qu'il comprend une structure de manutention (2) destinée à être fixée sur un véhicule naval (5) et des moyens de verrouillage (29) de la cage (3) sur la structure (2), la cage (3) étant reliée à la structure (2) par des câbles de levage (12, 13).Apparatus for launching and recovering (1) a marine machine (4) comprising a receiving cage (3) of the machine (4) with docking means (26) adapted to receive the part before the machine (4) and a traction cable (25) connected to the cage (3) and capable of being secured to the machine (4), characterized in that it comprises a handling structure (2 ) intended to be fixed on a naval vehicle (5) and locking means (29) of the cage (3) on the structure (2), the cage (3) being connected to the structure (2) by cables of lifting (12, 13). Dispositif de mise à l'eau et de récupération selon la revendication 1, dans lequel la cage (3) comprend des bras mobiles (27) pivotant entre une position ouverte et une position fermée de verrouillage de l'engin (4).Launching and recovery device according to claim 1, wherein the cage (3) comprises movable arms (27) pivoting between an open position and a locked position of the locking device (4). Dispositif de mise à l'eau et de récupération selon la revendication 1 ou 2, dans lequel les câbles de levages (12, 13) sont supportés par des roues (10a, 10b, 11a, 11b) dont au moins une mobile tenue par au moins un vérin (10c, 11c).Launching and recovery device according to claim 1 or 2, wherein the lifting cables (12, 13) are supported by wheels (10a, 10b, 11a, 11b) of which at least one mobile held by the minus one jack (10c, 11c). Dispositif de mise à l'eau et de récupération selon la revendication 3, dans lequel les vérins (10c, 11c) sont des vérins hydrauliques.Launching and recovery device according to claim 3, wherein the cylinders (10c, 11c) are hydraulic cylinders. Dispositif de mise à l'eau et de récupération selon l'une des revendications précédentes, dans lequel la structure (2) comprend un cadre de guidage (19) coulissant verticalement entre une position basse de réception de la cage (3) et une position haute de verrouillage de la cage (3).Launching and recovery device according to one of the preceding claims, wherein the structure (2) comprises a guide frame (19) sliding vertically between a lower receiving position of the cage (3) and a position high locking cage (3). Dispositif de mise à l'eau et de récupération selon l'une des revendications précédentes, comprenant des moyens (18) assurant la liaison de données et l'alimentation en énergie électrique vers la cage (3).Launching and recovery device according to one of the preceding claims, comprising means (18) providing the data link and the power supply to the cage (3). Procédé de mise à l'eau et de récupération d'un engin marin (4) logé dans une cage (3) supportée par une structure (2) fixée sur un véhicule naval (5), caractérisé en ce qu'il comprend les étapes suivantes : - on déverrouille les moyens de verrouillage (29) de la cage (3) sur la structure (2), et - on descend verticalement la cage (3) équipée de l'engin marin (4) à l'aide de câbles de levage (12, 13) de la structure (2) jusqu'à l'immersion désirée. Method for launching and recovering a marine gear (4) housed in a cage (3) supported by a fixed structure (2) on a naval vehicle (5), characterized in that it comprises the following steps: the locking means (29) of the cage (3) are unlocked on the structure (2), and - The cage (3) equipped with the marine machine (4) is lowered vertically using lifting cables (12, 13) of the structure (2) until the desired immersion. Procédé de mise à l'eau et de récupération selon la revendication 7, caractérisé en ce que lors de l'étape de mise à l'eau de l'engin (4), - on positionne des bras mobiles pivotants (27) dans une position ouverte de déverrouillage de l'engin (4), - on fait coulisser les moyens d'accostage (26) à l'entrée (3b) de la cage (3), - on déroule le câble de traction (25) auquel est arrimé l'engin (4). Launching and recovery method according to claim 7, characterized in that during the step of launching the craft (4), positioning pivoting movable arms (27) in an open unlocking position of the machine (4), - the docking means (26) are slid into the inlet (3b) of the cage (3), the traction cable (25) to which the machine (4) is stowed is unrolled. Procédé de mise à l'eau et de récupération selon la revendication 7 ou 8, caractérisé en ce que lors de l'étape de récupération de l'engin (4), - on remorque et on accoste l'engin (4) dans les moyens d'accostage (26) de la cage (3), à l'aide d'un treuil (24) fixé sur la cage (3), - on positionne les bras mobiles pivotants (27) dans une position fermée de verrouillage de l'engin (4), et - on monte verticalement la cage (3) équipée de l'engin (4) jusqu'à verrouillage dans la structure (2) grâce au moyen de verrouillage (29). Launching and recovery method according to claim 7 or 8, characterized in that during the recovery step of the machine (4), - Trailer and dock the machine (4) in the docking means (26) of the cage (3), with a winch (24) fixed on the cage (3), the pivoting mobile arms (27) are positioned in a closed position for locking the machine (4), and the cage (3) equipped with the machine (4) is mounted vertically until it locks into the structure (2) thanks to the locking means (29).
EP11194956.6A 2010-12-23 2011-12-21 Device for launching and recovering a marine craft, and associated launch and recovery method. Not-in-force EP2468620B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1061211A FR2969574B1 (en) 2010-12-23 2010-12-23 DEVICE FOR BRIDGING AND RECOVERING A MARINE MACHINE, AND METHOD FOR LAUNCHING AND RECOVERING.

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EP2468620A1 true EP2468620A1 (en) 2012-06-27
EP2468620B1 EP2468620B1 (en) 2017-03-15

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JP (1) JP5992682B2 (en)
CA (1) CA2762866A1 (en)
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SG (1) SG182121A1 (en)

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WO2017146583A1 (en) * 2016-02-26 2017-08-31 Oceaneering As A system and method of operating a subsea module
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FR3056961A1 (en) * 2016-10-04 2018-04-06 Ixblue MEASUREMENT SYSTEM FOR AQUATIC ENVIRONMENT COMPRISING A SURFACE SHIP AND AN UNDERWATER ENGINE
CN109591981A (en) * 2018-11-30 2019-04-09 邓宜新 A kind of ocean engineering underwater detection robot
NO20181231A1 (en) * 2018-09-21 2020-03-23 Usea As A marine structure comprising a launch and recovery system
WO2021069624A1 (en) 2019-10-10 2021-04-15 Ixblue System and method for deploying and recovering an autonomous underwater craft by a recovery vehicle towed by a ship, underwater exploration assembly
WO2022002664A1 (en) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transport box for setting down a watercraft
CN114506420A (en) * 2022-01-19 2022-05-17 江苏科技大学 Full-automatic fast cluster is laid and is retrieved AUV's platform device for ships and light boats
EP3526111B1 (en) * 2016-10-11 2023-11-01 Chantiers de l'Atlantique Ship provided with an installation for launching and recovering vehicles

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JP6945348B2 (en) * 2017-05-23 2021-10-06 日鉄エンジニアリング株式会社 Underwater exploration equipment and underwater exploration method
KR102034172B1 (en) * 2019-02-27 2019-10-18 한화시스템 주식회사 Lunching apparatus of underwater vehicle
KR102034173B1 (en) * 2019-02-27 2019-10-18 한화시스템 주식회사 Lunching apparatus of underwater vehicle

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US10766577B2 (en) 2016-02-26 2020-09-08 Oceaneering As System and method of operating a subsea module
WO2017146583A1 (en) * 2016-02-26 2017-08-31 Oceaneering As A system and method of operating a subsea module
GB2563549B (en) * 2016-02-26 2021-01-06 Oceaneering As A system and method of operating a subsea module
GB2563549A (en) * 2016-02-26 2018-12-19 Oceaneering As A system and method of operating a subsea module
WO2017173936A1 (en) * 2016-04-06 2017-10-12 大连理工大学 Underwater towed vehicle laying device and usuage thereof
CN106275286A (en) * 2016-08-30 2017-01-04 中国海洋大学 Underwater glider two dimension is comprehensive to be laid retracting device and lays recovery method
WO2018065723A1 (en) * 2016-10-04 2018-04-12 Ixblue Measurement system for aquatic environments comprising a surface vessel and a submersible device
US10875614B2 (en) 2016-10-04 2020-12-29 Ixblue Measurement system for aquatic environments comprising a surface vessel and a submersible device
FR3056961A1 (en) * 2016-10-04 2018-04-06 Ixblue MEASUREMENT SYSTEM FOR AQUATIC ENVIRONMENT COMPRISING A SURFACE SHIP AND AN UNDERWATER ENGINE
EP3526111B1 (en) * 2016-10-11 2023-11-01 Chantiers de l'Atlantique Ship provided with an installation for launching and recovering vehicles
NO20181231A1 (en) * 2018-09-21 2020-03-23 Usea As A marine structure comprising a launch and recovery system
NO345094B1 (en) * 2018-09-21 2020-09-28 Usea As A marine structure comprising a launch and recovery system
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CN109591981B (en) * 2018-11-30 2019-11-15 中热科（海南）海洋与农业研究院有限公司 A kind of ocean engineering underwater detection robot
CN109591981A (en) * 2018-11-30 2019-04-09 邓宜新 A kind of ocean engineering underwater detection robot
WO2021069624A1 (en) 2019-10-10 2021-04-15 Ixblue System and method for deploying and recovering an autonomous underwater craft by a recovery vehicle towed by a ship, underwater exploration assembly
FR3101846A1 (en) * 2019-10-10 2021-04-16 Ixblue System and method for deploying and recovering an autonomous underwater vehicle by a recovery vehicle towed by a ship, underwater exploration package
WO2022002664A1 (en) * 2020-07-02 2022-01-06 Atlas Elektronik Gmbh Transport box for setting down a watercraft
CN114506420A (en) * 2022-01-19 2022-05-17 江苏科技大学 Full-automatic fast cluster is laid and is retrieved AUV's platform device for ships and light boats

Also Published As

Publication number Publication date
JP2012131490A (en) 2012-07-12
EP2468620B1 (en) 2017-03-15
JP5992682B2 (en) 2016-09-14
FR2969574A1 (en) 2012-06-29
SG182121A1 (en) 2012-07-30
CA2762866A1 (en) 2012-06-23
FR2969574B1 (en) 2013-11-01

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