EP2468621B1 - Vorrichtung zur Zuwasserlassung und Bergung eines Unterwasser- oder Oberflächengeräts - Google Patents

Vorrichtung zur Zuwasserlassung und Bergung eines Unterwasser- oder Oberflächengeräts Download PDF

Info

Publication number
EP2468621B1
EP2468621B1 EP11194970.7A EP11194970A EP2468621B1 EP 2468621 B1 EP2468621 B1 EP 2468621B1 EP 11194970 A EP11194970 A EP 11194970A EP 2468621 B1 EP2468621 B1 EP 2468621B1
Authority
EP
European Patent Office
Prior art keywords
craft
arms
clamp
machine
suspension
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.)
Not-in-force
Application number
EP11194970.7A
Other languages
English (en)
French (fr)
Other versions
EP2468621A1 (de
Inventor
Joël Deroche
Fabrice Michel Darrou
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.)
ECA SA
Original Assignee
ECA 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 ECA SA filed Critical ECA SA
Publication of EP2468621A1 publication Critical patent/EP2468621A1/de
Application granted granted Critical
Publication of EP2468621B1 publication Critical patent/EP2468621B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00—Equipment for handling lifeboats or the like
    • B63B23/30—Devices for guiding boats to water surface
    • B63B23/32—Rigid guides, e.g. having arms pivoted near waterline
    • 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 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • 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
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical

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.
  • Launching and recovery operations of an underwater or marine craft made from a surface naval vehicle may be made difficult by the longitudinal swaying and rolling movements of the naval vehicle.
  • the attachment of the lifting ring by the winching means can be particularly difficult to achieve.
  • such a machine generally comprises fragile external equipment, for example propulsion units, viewing cameras or measurement sensors.
  • a device for discharging and recovering a submersible craft from a submarine is known from the document FR 2 917 708 A1 .
  • the present invention aims to remedy these disadvantages.
  • the present invention aims to provide a device for launching and recovering a submersible or surface gear that is suitable for handling gear with fragile external equipment.
  • the present invention also aims to provide a device for ensuring easy, safe and accurate recovery operations and launching the craft.
  • the device for launching and recovering a submersible vehicle or an inventive surface is defined in appended claim 1.
  • the docking means has a generally conical shape.
  • the suspension means comprises a main support beam and two suspension columns extending downwardly from said suspension beam and carrying the clamp.
  • the clip is movable relative to the main support beam between a lowered grip position and a raised position.
  • the suspension means may comprise an upper support bar mounted on the main beam, a pulley mounted on the support bar, a suspension cable wound on the pulley and fixed at one of its ends to the clamp, and an actuator connected to said cable and adapted to allow the release of the arms of the clamp in the raised position in which the machine is released.
  • the suspension means may further comprise a lower support bar carrying the clamp and a stiffening spacer extending transversely between the lower and upper support bars, one end of said spacer being rotatably mounted on the associated support bar.
  • the docking means is advantageously rotatably mounted on the lower support bar.
  • the suspension columns are preferably deformable.
  • the arms of the clamp form, in the closed gripping position, a cage for holding the machine in position.
  • the ends of the arms of the clamp may comprise contact surfaces able to bear against a lower face of the craft.
  • the arms are provided with rotatable rollers which comprise the contact surfaces with the underside of the machine.
  • the clamp comprises an actuator adapted to allow the movement of the arms between the open position and the closed gripping position.
  • the clamp may comprise means for detecting the presence of the machine.
  • the invention also relates to a system for launching and recovering a submersible or surface craft comprising a frame intended to be fixed on a naval craft, two arms mounted to rotate on the frame about a first axis rotating and movable between a storage position of the machine and a launching or recovery position, and a launching and recovery device as defined above and rotatably mounted on the arms around a second axis of rotation parallel to said first axis of rotation.
  • the system comprises a cable winding and unwinding means capable of winding a cable connected to the machine for towing said machine inside the means of approaching the device during a phase of recovery.
  • the system comprises damping means mounted between the device and the arms.
  • the system comprises a cover intended to be fixed on the rear or front part of the machine and configured to cooperate with the means for docking the device.
  • FIGS. figures 1 and 2 there is shown a system 10 adapted for the launching and recovery of a craft 12 and mounted on a boat or naval vehicle 14 surface.
  • the system 10 allows in particular the passage of the machine 12 between a storage position illustrated in FIGS. figures 1 and 2 and a launching position illustrated in the figure 3 .
  • the vehicle 12 may for example be a submersible or floating underwater vehicle and designed to perform surveillance and / or underwater inspection.
  • the vehicle 12 is a submersible vehicle guided by a cable 16 connected to said machine, as illustrated for example in FIGS. Figures 4 to 8 .
  • the cable 16 may advantageously be the optical fiber of the machine 12 which is used in particular to transport communications between the machine and a control station located or not on the naval vehicle 14.
  • the machine 12 is illustrated more visibly at the figure 4 .
  • the machine 12 extends along a longitudinal axis 18 and comprises a main body 20 of generally cylindrical shape.
  • the body 20 is provided with a stabilizer 20 attached to a rear end and provided to ensure the stability of the movement of the machine, and longitudinal thrusters 24 fixed on one side and the other of the body in front of the empennage.
  • the machine 12 also comprises a front portion 26 supported by two lateral arms 28 of the body 20 and movable in rotation about an axis transverse to the axis 18.
  • the front portion 26 may for example comprise a camera 30 for observation of the seabed.
  • the system 10 is provided with a frame 32 fixed by means of four damping feet 34 on the naval vehicle 14, of two arms 36 identical, parallel and rotatably mounted on the frame about a horizontal axis 38, d a launching and recovery device 40 mounted to rotate at the free end of the arms 36 about a horizontal axis 42 parallel to said axis 38, and means 43 for winding and unwinding the cable 16 fixed to the frame 32.
  • the axes 38 and 42 are perpendicular to a vertical median plane of the machine containing the axis 18 of said machine in the positions of storage, launching and recovery of said craft.
  • the chassis 32 delimits a first housing 44 inside which is mounted the means 43 for winding and unwinding, and a second housing 46 adjacent to the interior of which is located in part the machine 12 in the storage position.
  • the frame 32 On the opposite side to the housing 44, the frame 32 comprises two arms 48, 50 extending obliquely upwards and at the free end of which are rotatably mounted the arms 36 supporting the device 40.
  • a shaft 52 of articulation, 38 extends transversely between the arms 48, 50 and supports the arms 36 and pulleys 54, 56. Said arms and pulleys are rotatably connected to the shaft 52 of articulation.
  • On each of the pulleys 54, 56 is wound a cable 58, 60.
  • a jack 62, 64 fixed to the frame 32 cooperates with each cable 58, 60 to obtain the rotational drive of the pulleys 54 and 56, the shaft 52 articulation and arms 36, and to thereby allow the displacement in rotation relative to the shaft 52 of the machine 12 from its storage position to the launching position, and the recovery position to said storage position.
  • the dimensions of the arms 36, 48 and 50 as well as the angular range of pivoting of the arms 36 are chosen as a function of the height separating the surface S from the water of the surface of the naval vehicle 14 on which the frame 32 is fixed.
  • the angle formed on the one hand by the arms 48, 50 and on the other hand by the arms 36 is equal to 45 ° in the storage position of the machine 12, and equal to 225 ° in the position of launching.
  • the system 10 comprises a damping jack 66 disposed between each arm 36 and a gear 68 mounted on the device 40 carrying the machine 12. .
  • the device 40 comprises suspension means 70, a clamp 71 carried by the suspension means and adapted to allow a gripping of the vehicle 12 for its lifting and its displacement, and a docking means 72 provided for receiving a rear portion of the vehicle.
  • the device 40 is represented in an initial stage of the launching phase of the craft 12 which also corresponds to a final stage of the recovery phase of the craft.
  • the suspension means 70 comprise a beam 72 of main horizontal support, two columns 74, 76 of suspension extending vertically downwards and an upper support bar 78 carrying the clamp 71.
  • the beam 73 allows the rotational mounting of the device 40 on the arms 36 of the frame.
  • the reference 68 At each end of the beam 73 is fixed the reference 68 for connecting the device 40 to the damper cylinder 66 attached to the associated arm 36.
  • the columns 74, 76 of suspension are identical and symmetrical with respect to a vertical median plane of the device 40 passing through the bar 78 and containing the longitudinal axis 18 of the machine 12. In the position of the machine 12 of the figure 4 the vertical median plane of the device coincides with the median plane of the machine. For the sake of clarity, only the suspension column 74 will be described later.
  • the column 74 is attached to the beam 73 in the vicinity of one of its ends by means of a mounting plate 80.
  • the column 74 comprises, at its lower end, a mounting plate 82 carrying the clamp 71.
  • the column 74 consists of a plurality of cylinders 84 partially fitted into each other and stacked vertically between the plates 80 and 82, and a suspension cable 86 extending inside the cylinders.
  • the rolls 84 form a guide sheath for the cable 86.
  • the upper cylinder 84 of the stack is fixed to the plate 80, the lower cylinder 84 of the stack being fixed to the plate 82.
  • the cylinders 84 can articulate slightly one with respect to the other to allow a deformation of the columns 74, 76 so that said columns can have different curvatures.
  • the suspension columns 74, 76 are deformable.
  • the end upper cable 86 is fixed to the plate 80 and the lower end is attached to a shaft 88 mounted on the clamp 71 and located in the vertical median plane of the device 40.
  • a pulley (not visible) is provided at the plate 82 for guiding the cable 86 to the shaft 88.
  • the support bar 78 extends longitudinally and transversely with respect to the beam 73, being located substantially midway between the suspension columns 74 and 76.
  • the bar 78 comprises, at its front end, a pulley 92 mounted to rotate about a horizontal axis and on which is wound a wire suspension cable 94 whose lower end is fixed to the shaft 88 of the clamp 71.
  • the upper end of the cable 94 is connected to an actuator 96, for example a jack, fixed on the bar 78 and able to exert a tensile force on said cable to incline a part of the device 40.
  • the suspension means 70 also comprise a lower horizontal support bar 98 and a stiffening spacer 100 extending vertically between the support bars 78, 98.
  • the bar 98 is disposed in the vertical median plane of the device 40 and situated slightly above the upper face of the machine 12 in a lowered gripping position of the clamp 71 as illustrated in FIG. figure 4 .
  • the upper end of the spacer 100 is fixed to a rear end of the support bar 78, its lower end being rotatably mounted on the support bar 98 about a horizontal axis 102 and parallel to the axis 42.
  • the bar 98 comprises, at its front end, a plate 103 carrying the clamp 71.
  • the clamp 71 comprises two arms 104, 106 movable between a closed position and an open position.
  • the arms 104, 106 are identical and symmetrical relative to the vertical median plane of the device 40 passing through the bars 78, 98 and the shaft 88. For the sake of clarity, only the arm 104 will be described later.
  • the arm 104 comprises two plates 108, 110 spaced longitudinally from one another and kept spaced apart by spacers 112 extending transversely between them.
  • the plates 108, 110 are identical and have a general L shape.
  • Each plate 108, 110 comprises a first portion 108a, 110a extending vertically and facing one of the lateral faces of the machine 12 which is extended at a lower end by a second portion 108b, 110b folded inwards and coming to lie beneath the underside of the craft.
  • the plates 108, 110 of the arm 104 are rotatably mounted at the upper end of the portions 108a, 110a on a longitudinally extending hinge pin 114 and bolted to the mounting plate 82.
  • the arm 104 is movable about a longitudinal axis 116 of said rod which is parallel to the axis 18 of the machine 12 in the position of the machine illustrated in FIG. figure 4 .
  • the arm 104 comprises a first roller 118 extending longitudinally between the second folded portions 108b, 110b of the plates and mounted to rotate about an axis parallel to the axis 116.
  • the arm 104 also comprises second and third rollers 120, 122 mounted respectively on the second portions 108b, 110b of the plates in the vicinity of the first roller 114.
  • the rollers 120, 122 are rotatable about a common axis of rotation and parallel to the axis of rotation of the roller 118.
  • the rollers 114 to 118 are advantageously made or covered with a damping material, for example polyurethane, so as not to damage the underside of the submersible vehicle 12 during contact with said craft.
  • strips 124, 126 of damping material are also provided to cover the areas of the first portions 108a, 110b of the plates 108, 110b coming into contact against the side face of the machine.
  • the clamp 71 further comprises a plate 128 extending transversely between the arms 104, 106 being fixed on the front plates of said arms in the vicinity of their upper end.
  • the plate 128 supports the shaft 88.
  • the plate 103 of the support bar 98 is fixed on the rear plates of the arms 104, 106.
  • the clamp 71 comprises a jack 130 provided with a body 131 fixed on the rod 114 for articulating the arm 104 between the plates 108 and 110, and a piston 132 sliding relative said body whose free end is fixed to the hinge rod of the arm 106.
  • the actuator 130 forms an actuator allowing the arms 104, 106 to pass between a closed gripping position illustrated in FIG. figure 4 wherein said arms define a cage for locking and holding the machine 12, and a spaced apart or open position illustrated in FIG. figure 5 in which the arms 104, 106 are located at a distance from the machine 12.
  • the clamp 71 further comprises a means 134 for detecting the presence of the machine comprising two arms 136, 138 rotatably mounted on the shaft 88 and each provided, at its free end, with a roll 140, 142 mounted freely rotating about an axis parallel to the axis of rotation of the rollers 118, 120 and 122.
  • the arms 136, 138 are made of a metal material, for example steel, and extend downwards so as to be located partly vertically below the plate 128.
  • the rollers 140, 142 comprise a contact surface adapted to bear against the upper face of the machine 12. When the rollers 140, 142 and the machine contact the arms, the arms 136, 138 pivot upwards towards the plate 128.
  • the detection means 134 also comprises an inductive sensor 144 fixed on the clamp 71 being disposed vertically under the plate 128 and shifted rearwardly relative to the free end of the arms 136, 138 supporting the rollers 140, 142.
  • inductive sensor 144 emits an electromagnetic field and is able to detect a variation of the value of this field occurring during the upward movement of the arms 136, 138 generated by the contact of the rollers 140, 142 with the upper face of the machine 12. The presence of the machine 12 can thus be detected.
  • the lower support bar 98 comprises, at its rear end, two rods 146, 148 extending vertically downwards and at the lower end of which is mounted to rotate the docking means 72.
  • the docking means 72 is rotatably mounted about an axis 150 parallel to the axis 42 of rotation of the device 40.
  • the axis 150 is perpendicular to the vertical median plane of the device 40 containing the axis 18 of the machine in the position illustrated in FIG. the figure 4 .
  • the docking means 72 comprises a mounting base 152 rotatably mounted on the rods 146, 148 and a manifold or receiving member 154 secured to said base.
  • the receiving member 154 extends along a longitudinal axis 156 aligned angularly with the longitudinal axis 18 of the machine 12 in the position of said machine illustrated in FIG. figure 4 . In this position, the axes 18 and 156 are parallel to the axis 116 of rotation or articulation of the arms 104, 106.
  • the receiving member 154 comprises a main portion 158 extending between the rods 146, 148 and which is extended, at its front end, by an annular centering ring 160 and, at its rear end, by an annular flange 162 of guiding flaring outward.
  • the ring gear 160 and the flange 162 are disposed axially on either side of the rods 146 and 148, considering the axis 156, and form stops to limit the rotational movement of the docking means 72.
  • the angular tilting rearward of the docking means 72 until the ring 160 abuts against the rods 146 , 148 is of the order of 5 °
  • the tilting of said docking means forward until the flange 162 abuts against said rods is of the order of 15 °.
  • the main portion 158 has a generally frustoconical shape whose section decreases gradually between the ring 160 and the collar 162.
  • the main portion 158 has a generally hollow shape and defines a passage or through opening.
  • the opening makes it possible to receive a cowl 164 fastened to the rear end of the machine 12 so as to obtain the docking and securing of said machine.
  • the ring 160 facilitates the penetration and centering of the cover 164 in the docking means 72.
  • the opening of the receiving member 154 also allows the passage of the cable 16 connected to the machine.
  • the cable 16 is guided by the flange 162 and by a pulley 166 fixed on the rods 146, 148 above said flange 162 extending along an axis parallel to the axis 42.
  • the cover 164 of the machine 12 comprises a base which is fixed on the rear part of the machine 12, for example by screwing, and a nose extending said base.
  • the nose extends along the longitudinal axis 18 of the machine and has a generally conical shape.
  • the nose of the cover 164 is designed to penetrate and come to be housed inside the receiving member 154.
  • the conicities of the main part 158 and hood nose 164 are different.
  • the cover 164 may advantageously be made by assembling two identical parts and made of synthetic material, for example polyamide (PO).
  • PO polyamide
  • the cover 164 also makes it possible to improve the flow of water along the machine 12 during its displacement and to reduce its drag.
  • the method of launching the craft 12 from the naval vehicle 14 surface is as follows.
  • the actuation of the cylinders 62, 64 is controlled to allow the driving of the pulleys 54, 56 and the rotation of the arms 36 relative to the frame 32 about the axis 38 of rotation.
  • the cylinders 62, 64 are actuated so as to obtain the displacement of the machine 12 from the storage position at the frame 32 as illustrated in FIGS. figures 1 and 2 towards the launching position of the craft in which the craft 12 is fully immersed as shown in FIG. figure 3 .
  • the jacks 66 make it possible to limit the rotational movements of the device 40 about the axis 42 so as to keep the machine 12 in a substantially horizontal position.
  • the position of launching the craft 12 is illustrated more visibly at the figure 4 .
  • the cover 164 is housed in the docking means 72 of the device 40, the longitudinal axis 156 of the receiving member 154 of said docking means being aligned with the axis 18 of the machine.
  • the arms 104, 106 of the gripper 71 are in the closed gripping position in which the rollers 118, 120 and 122 bear against the underside of the machine 12 and the strips 124, 126 rest against the lateral faces of said machine. gear longitudinally between the thrusters 24 and the front portion 26.
  • the rollers 118 of the arms bear against each other so that the arms 104, 106 define a closed cage.
  • the actuation of the jack 130 is controlled so as to obtain the rotation of the arms 104, 106 around the hinge pins 116 and the passage of the closed position in the open position illustrated in figure 5 .
  • the plates 108, 110 and the rollers 118 to 122 of the arms are located at a distance from the machine 12 and sufficiently spaced therefrom so as to avoid any contact between these elements.
  • the rotation of the arms 104, 106 causes the turntables 82 to pivot and a slight deformation of the suspension columns 74, 76.
  • the actuator 96 is controlled to exert a tensile force on the suspension cable 94 and to obtain the approach of the clamp 71 of the support bar 78 as illustrated in FIGS. figures 6 and 7 .
  • This movement of the gripper 71 from the lowered gripping position to a raised position causes a slight depression of the docking means 72 in the water, which is compensated simultaneously by controlling the actuation of the cylinders 62, 64 so as to obtain a slight upward pivoting of the arms 36, of the order of 5 to 10 °.
  • the thrusters 24 of the machine 12 are started so that the vehicle 12 disengages and moves away from the docking means 72, as illustrated in FIG. figure 8 .
  • the machine 12 can then perform the inspection mission and / or planned monitoring.
  • the receiving member 154 forms a means for guiding the cable 16.
  • the stopping of the thrusters 24 of the machine is controlled and the actuation of the cylinders 62, 64 to allow the rotation of the arms 36 of the frame upwardly so that the docking means 72 is located substantially on the surface of the water.
  • the angle formed on the one hand by the arms 48, 50 and on the other hand by the arms 36 is of the order of 195 ° in the recovery position of the gear 12.
  • actuation of the means 43 is controlled to obtain the winding of the cable 16 and return the cover 164 of the machine 12 in the vicinity of the docking means 72 of the device 40 in a position corresponding to that of the figure 8 .
  • the clamp 71 is in the raised position and the flange 162 of the receiving member 154 abuts against the rods 146, 148.
  • the stop means 43 is controlled to allow the craft 12 to surface by its own flotation. Then, during a fourth step, the actuation of the means 43 is again controlled to allow the docking of the vehicle 12 inside the receiving member 154 through the introduction of the hood 164 of the apparatus in said organ. After docking, the machine 12 and the device 40 are in the position corresponding to that previously described figures 6 and 7 , the axis 18 of the machine and the axis 156 of the receiving member being aligned.
  • a fifth step after alignment of the axis 18 of the machine 12 with the axis 156 of the receiving member 154, the actuator 96 is controlled so as to allow the descent of the clamp 71 towards the lowered grip position corresponding to the position illustrated in FIG. figure 5 .
  • the actuation of the cylinder 130 is controlled so as to obtain the rotation of the arms 104, 106 from the open position to the closed gripping position.
  • the suspension columns 74, 76 allow, under the effect of the weight of the machine, to limit the roll phenomena at the clamp 71.
  • the actuation of the cylinders 62, 64 is controlled to allow the movement of the machine 12 from the recovery position to the storage position at the frame 32 mounted on the naval vehicle 14.
  • the naval vehicle 14 is a teleoperated surface vehicle that is remotely controlled by an operator
  • the system 10 includes a camera to visualize the penetration of the hood 164 of the machine at the docking means 72 during the recovery phase .
  • the vehicle is equipped at its rear end with a cover designed to cooperate with the docking means. It is conceivable that it could also be possible, without departing from the scope of the invention, to provide that the docking means of the launching and recovery device cooperates directly, ie without attached cover, with the rear end or the front end of the associated gear.
  • 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 axis of articulation of the arms is parallel to the longitudinal axis of the machine and that the gripper is centered on said longitudinal axis of the gripper. so as to get a good grip of the machine.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)
  • Cleaning In General (AREA)
  • Suspension Of Electric Lines Or Cables (AREA)

Claims (17)

  1. Vorrichtung zum Zuwasserlassen und Bergen eines Unterwasser- oder Oberflächengeräts, das sich entlang einer Längsachse erstreckt und mit einem Zugseil (16) verbunden ist, wobei die Vorrichtung umfasst:
    - Aufhängungsmittel (70) des Geräts,
    - einen Greifer (71), der an den Aufhängungsmitteln angebracht ist und zwei Arme (104, 106) umfasst, die zwischen einer offenen Position und einer geschlossenen Position zum Greifen des Geräts drehbeweglich sind, und
    - ein Andockmittel (72), das zur Aufnahme eines Endes des Geräts vorgesehen ist, dadurch gekennzeichnet, dass das Andockmittel (72) eine Durchgangsöffnung für den Durchgang eines mit dem Gerät verbundenen Zugseils (16) umfasst, wobei das Andockmittel (72) an den Aufhängungsmitteln frei drehbar angebracht ist, um eine Selbstausrichtung der Längsachse des Geräts mit einer Längsachse des Andockmittels durch Kippen des Andockmittels unter der Wirkung von Kräften, die durch das Ende des Geräts bei seiner Einführung in die Öffnung des Andockmittels ausgeübt werden, zu ermöglichen.
  2. Vorrichtung nach Anspruch 1, wobei das Andockmittel (72) eine allgemein konische Form aufweist.
  3. Vorrichtung nach Anspruch 1 oder 2, wobei die Aufhängungsmittel einen Haupttragbalken (73) und zwei Aufhängungssäulen (74, 76) umfassen, die sich ausgehend von dem Aufhängungsbalken nach unten erstrecken und den Greifer (71) tragen.
  4. Vorrichtung nach Anspruch 3, wobei der Greifer (71) relativ zu dem Haupttragbalken (73) zwischen einer abgesenkten Greifposition und einer angehobenen Position beweglich ist.
  5. Vorrichtung nach Anspruch 4, wobei die Aufhängungsmittel eine obere Tragstange (78), die an dem Hauptbalken angebracht ist, eine Seilscheibe (92), die an der Tragstange angebracht ist, ein Aufhängungsseil (94), das um die Seilscheibe gewickelt und an einem seiner Enden an dem Greifer befestigt ist, und eine Betätigungseinrichtung (96) umfasst, die mit dem Seil verbunden und angepasst ist, um den Durchgang der Arme zwischen der abgesenkten Greifposition und der angehobenen Position zu ermöglichen.
  6. Vorrichtung nach Anspruch 5, wobei die Aufhängungsmittel weiter eine untere Tragstange (98), die den Greifer trägt, und einer Versteifungsstrebe (100) umfassen, die sich quer zwischen der oberen und unteren Tragstange erstreckt, wobei ein Ende der Strebe an der zugehörigen Tragstange drehbar angebracht ist.
  7. Vorrichtung nach Anspruch 6, wobei das Andockmittel (72) an der unteren Tragstange (98) drehbar angebracht ist.
  8. Vorrichtung nach einem der Ansprüche 3 bis 7, wobei die Aufhängungssäulen (74, 76) verformbar sind.
  9. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Arme (104, 106) des Greifers in der geschlossenen Greifposition einen Käfig zum Halten des Geräts in Position bilden.
  10. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Enden der Arme (104, 106) des Greifers Kontaktflächen umfassen, die zur Anlage an einer Unterseite des Geräts angepasst sind.
  11. Vorrichtung nach Anspruch 10, wobei die Arme mit Rollen (118, 120, 122) versehen sind, die drehbeweglich sind und die Kontaktflächen mit der Unterseite des Geräts umfassen.
  12. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei der Greifer (71) eine Betätigungseinrichtung (130) umfasst, die angepasst ist, um eine Bewegung der Arme zwischen der offenen Position und der geschlossenen Greifposition zu ermöglichen.
  13. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei der Greifer (71) ein Mittel zur Detektion (134) der Anwesenheit des Geräts umfasst.
  14. System zum Zuwasserlassen und Bergen eines Unterwasser- oder Oberflächengeräts, das einen Rahmen (32), der zur Befestigung an einem Marine-oberflächenfahrzeug bestimmt ist, zwei Arme (36), die an dem Rahmen um eine erste Drehachse (38) drehbar angebracht und zwischen einer Aufbewahrungsposition des Geräts und einer Zuwasserlassungs- oder Bergungsposition beweglich sind, und eine Vorrichtung (40) nach einem der vorhergehenden Ansprüche umfasst, die an den Armen um eine parallel zu der ersten Drehachse liegende zweite Drehachse (42) drehbar angebracht ist.
  15. System nach Anspruch 14, das ein Seilauf-und-abwickelmittel (43) umfasst, das angepasst ist, um während der Bergungsphase ein mit dem Gerät verbunden Seil (16) aufzuwickeln und somit das Gerät in das Innere des Andockmittels (72) der Vorrichtung (40) zu ziehen.
  16. System nach Anspruch 14 oder 15, das Dämpfungsmittel (66) umfasst, die zwischen der Vorrichtung (40) und den Armen (36) angebracht sind.
  17. System nach einem der Ansprüche 14 bis 16, das eine Kappe (164) umfasst, die zur Befestigung an der Rückseite oder Vorderseite des Geräts bestimmt und ausgestaltet ist, um mit dem Andockmittel (72) der Vorrichtung (40) zusammenzuarbeiten.
EP11194970.7A 2010-12-23 2011-12-21 Vorrichtung zur Zuwasserlassung und Bergung eines Unterwasser- oder Oberflächengeräts Not-in-force EP2468621B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1061175A FR2969573B1 (fr) 2010-12-23 2010-12-23 Dispositif de mise a l'eau et de recuperation d'un engin submersible ou de surface.

Publications (2)

Publication Number Publication Date
EP2468621A1 EP2468621A1 (de) 2012-06-27
EP2468621B1 true EP2468621B1 (de) 2016-03-02

Family

ID=44247843

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11194970.7A Not-in-force EP2468621B1 (de) 2010-12-23 2011-12-21 Vorrichtung zur Zuwasserlassung und Bergung eines Unterwasser- oder Oberflächengeräts

Country Status (3)

Country Link
EP (1) EP2468621B1 (de)
FR (1) FR2969573B1 (de)
SG (1) SG182120A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109367706A (zh) * 2018-10-26 2019-02-22 河海大学 一种无人船在水面主动捕获水下无人航行器的装置及方法
IT202100022478A1 (it) * 2021-08-27 2023-02-27 Seasplit Underwater docking station

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9067648B2 (en) * 2012-09-05 2015-06-30 Raytheon Company Unmanned underwater vehicle launcher
CN107848610A (zh) * 2015-07-30 2018-03-27 Mku有限责任公司 用于投放和收回水下船舶或鱼雷的提升装置
FR3091256B1 (fr) * 2018-12-28 2021-06-25 Thales Sa Dispositif d’accueil pour un vehicule sous-marin
CN113697045A (zh) * 2021-07-20 2021-11-26 国网山东省电力公司烟台供电公司 一种水下潜器布放回收无人船及其作业方法
FR3133591B1 (fr) * 2022-03-15 2024-03-22 Eca Robotics Véhicule tracté sous-marin et système de récupération d'un tel véhicule sous-marin

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1311837B1 (it) * 1999-05-19 2002-03-19 Studio 3 Ingegneria Srl Dispositivo di attracco per veicoli autonomi sottomarini semoventi
FR2868036B1 (fr) * 2004-03-24 2006-06-02 Eca Societe Par Actions Simpli Dispositif de mise a l'eau et de recuperation d'un vehicule submersible
WO2006035121A1 (fr) 2004-09-29 2006-04-06 Societe Eca Dispositif de destruction d'objets sous-marins ou flottants
DE102005058475B3 (de) * 2005-12-07 2007-01-04 Atlas Elektronik Gmbh Gerät zum Ausbringen und Tracken eines unbemannten Unterwasserfahrzeugs
FR2904287B1 (fr) * 2006-07-26 2008-10-24 Ifremer Appareil de recuperation d'un engin sous-marin ou marin
FR2917708B1 (fr) * 2007-06-19 2009-09-18 Dcn Sa Sous-marin equipe d'un dispositif de largage et de recuperation d'un engin sous-marin secondaire
FR2931792B1 (fr) * 2008-06-03 2010-11-12 Thales Sa Systeme pour la mise a l'eau et la recuperation automatiques d'un drone sous-marin

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109367706A (zh) * 2018-10-26 2019-02-22 河海大学 一种无人船在水面主动捕获水下无人航行器的装置及方法
CN109367706B (zh) * 2018-10-26 2019-07-12 河海大学 一种无人船在水面主动捕获水下无人航行器的装置及方法
IT202100022478A1 (it) * 2021-08-27 2023-02-27 Seasplit Underwater docking station
WO2023026100A1 (en) * 2021-08-27 2023-03-02 Seasplit Underwater docking station

Also Published As

Publication number Publication date
EP2468621A1 (de) 2012-06-27
SG182120A1 (en) 2012-07-30
FR2969573B1 (fr) 2013-02-08
FR2969573A1 (fr) 2012-06-29

Similar Documents

Publication Publication Date Title
EP2468621B1 (de) Vorrichtung zur Zuwasserlassung und Bergung eines Unterwasser- oder Oberflächengeräts
EP2043911B1 (de) Anlage und verfahren zur wiederherstellung eines unterwasser- oder wasserfahrzeugs
EP2043913B1 (de) Vorrichtung zur wiederherstellung eines unterwasser- oder wasserfahrzeugs
EP2468620B1 (de) Vorrichtung zur Zuwasserlassung und Bergung eines Wassergeräts, und entsprechendes Verfahren zur Zuwasserlassung und Bergung
EP2855252B1 (de) System zum starten und zurückholen von unterwasserfahrzeugen, insbesondere gezogenen unterwasserfahrzeugen
EP3902742B1 (de) Andockvorrichtung für ein unterwasserfahrzeug
EP3456601B1 (de) Fördersystem eines länglichen bauelements, förderfahrzeug, das mit einem solchen system ausgestattet ist
EP3526111A1 (de) Schiff mit einer einrichtung zum starten und rückgewinnen von fahrzeugen
EP3209546B1 (de) System zum aussetzen und bergen von see- und unterseevorrichtungen mit unterstützung durch kippbare schutzkomponenten
EP0020257B1 (de) Vorrichtung zum J-förmigen Verlegen einer Unterwasserrohrleitung
EP3906188B1 (de) Andockvorrichtung für ein unterwasserfahrzeug
FR3062844A1 (fr) Systeme de mise a l'eau et de recuperation d'un engin propulse depuis le pont d'un navire porteur
WO2020239346A1 (fr) Dispositif sous-marin et systeme sous-marin
FR2644445A1 (fr) Dispositif pour la manutention et le remorquage de corps immergeables
EP4048621B1 (de) Kran mit teleskopausleger und verfahren zur handhabung einer last mit einem solchen kran
EP1995169A2 (de) Anlage für das Zuwasserlassen oder Anlandholen eines Bootes
EP3976460B1 (de) Sonarvorrichtung und sonarsystem
FR2464218A1 (fr) Dispositif de recuperation d'un cable de manutention d'une charge immergee
EP0515248B1 (de) Schlepp- und Handhabungsvorrichtung von Unterwasservorrichtungen
FR3130250A1 (fr) Structure d’accueil d’une nacelle d’aile volante de traction et Procédé de décollage et d’atterrissage d’une telle nacelle.
EP1167178B1 (de) Schutzvorrichtung für ein Versorgungskabel eines Unterwassergegenstandes
FR3131264A1 (fr) Systeme pour la manoeuvre d un engin marin
EP0516511A1 (de) Schlepp- und Handhabungsvorrichtung von Unterwasservorrichtungen in Form eines Profilkörpers
FR2824319A1 (fr) Chariot elevateur a protection de charge transportee
EP0765779A1 (de) Von einem Fahrzeug getragene Vorrichtung zum Laden und Entladen einer Haspel

Legal Events

Date Code Title Description
AK Designated contracting states

Kind code of ref document: A1

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

AX Request for extension of the european patent

Extension state: BA ME

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: 20121206

17Q First examination report despatched

Effective date: 20140828

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602011023593

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: B63B0021660000

Ipc: B63B0023320000

RIC1 Information provided on ipc code assigned before grant

Ipc: B63B 27/16 20060101ALI20150526BHEP

Ipc: B63B 35/00 20060101ALI20150526BHEP

Ipc: B63B 23/32 20060101AFI20150526BHEP

Ipc: B63G 8/00 20060101ALI20150526BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150724

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

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

Ref legal event code: REF

Ref document number: 777818

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160315

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: 602011023593

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160302

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 777818

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160302

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

Ref country code: ES

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: 20160302

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: 20160603

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: 20160302

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: 20160602

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: 20160302

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

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: 20160302

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: 20160302

Ref country code: SE

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: 20160302

Ref country code: RS

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: 20160302

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: 20160302

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: 20160302

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: 20160302

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

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: 20160302

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: 20160702

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: 20160302

Ref country code: SM

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: 20160302

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: 20160704

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: 20160302

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: 20160302

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602011023593

Country of ref document: DE

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

Ref country code: IT

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: 20160302

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

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: 20160302

26N No opposition filed

Effective date: 20161205

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: 20160602

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: 20160302

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: 20161231

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602011023593

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Effective date: 20161221

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160302

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20170831

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

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

Ref country code: CH

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

Effective date: 20161231

Ref country code: FR

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

Effective date: 20170102

Ref country code: LI

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

Effective date: 20161231

Ref country code: LU

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

Effective date: 20161221

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

Ref country code: GB

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

Effective date: 20161221

Ref country code: DE

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

Effective date: 20170701

Ref country code: IE

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

Effective date: 20161221

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20161231

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

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: 20160302

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; INVALID AB INITIO

Effective date: 20111221

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

Ref country code: MK

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: 20160302

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: 20160302

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: 20160302

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

Ref country code: AL

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: 20160302