EP2700605B1 - Stabiliser of a cable for controlling a load, such as a watercraft, and load-control system including such a stabiliser - Google Patents

Stabiliser of a cable for controlling a load, such as a watercraft, and load-control system including such a stabiliser Download PDF

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Publication number
EP2700605B1
EP2700605B1 EP20130176482 EP13176482A EP2700605B1 EP 2700605 B1 EP2700605 B1 EP 2700605B1 EP 20130176482 EP20130176482 EP 20130176482 EP 13176482 A EP13176482 A EP 13176482A EP 2700605 B1 EP2700605 B1 EP 2700605B1
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EP
European Patent Office
Prior art keywords
stabilizer
cable
load
head
cable duct
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EP20130176482
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German (de)
French (fr)
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EP2700605A1 (en
Inventor
Jean-Pierre Moreau
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Acebi
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Acebi
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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 
    • B63B23/00—Equipment for handling lifeboats or the like
    • B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
    • B63B23/04—Davits, i.e. devices having arms for lowering boats by cables or the like with arms pivoting on substantially horizontal axes, e.g. gravity type
    • B63B23/06—Davits, i.e. devices having arms for lowering boats by cables or the like with arms pivoting on substantially horizontal axes, e.g. gravity type with actual pivots
    • 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
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water

Definitions

  • the present invention relates to a load-handling cable stabilizer, such as a boat, and a load handling installation incorporating such a stabilizer.
  • An object of the present invention is therefore to propose a cable stabilizer and a handling installation incorporating such a stabilizer whose designs make it possible to control the movements of the load to be handled from the beginning of its out of water race or launching.
  • Another object of the present invention is to provide a cable stabilizer and a handling installation of the aforementioned type whose designs make it possible to dispense with visual data provided by the operator.
  • the stabilizer allows a coarse positioning of the cable passage in line with the load and a fine adjustment of the positioning of this cable passage to limit any action of the cable on the load in the direction of a rocking of the cable. load.
  • the drive means for moving the cable passage comprise at least two linear actuators of the jack type arranged around the cable passage between the base and the cable passage, said actuators each extending in a plane substantially perpendicular to the axis of said cable passage and being each coupled to the cable passage on the one hand, and at the base, on the other hand by a pivot connection axis parallel to the axis of the cable passage.
  • This design allows a simple, fast, accurate and reliable positioning of the cable passage.
  • the actuators are coplanar and form between them an angle close to 90 °.
  • the cable passage affects the shape of a sleeve.
  • the head is equipped with connecting means able to cooperate with complementary connecting means carried by the support structure for a pivot connection between the base and the supporting structure about an axis substantially orthogonal to the axis of the cable passage.
  • connecting means allow a maintenance along a vertical axis of the cable passage.
  • the base of the head comprises an annular piece surrounding the cable passage and a hollow flange closing one of said face faces of the top of the annular piece, the recess of the flange being in disposition substantially aligned with said passage of cable, said flange bearing on its face facing the cable passage, the central, called inertial, and the means for detecting the position of the load to be handled.
  • the means for detecting the position of the load to be handled comprise at least one optical signal transmitter / receiver capable of cooperating with an optical signal reflector positioned on the load to be handled by means of said operating cable. Thanks to this position detection by optical signals, the risks of failures or errors are reduced.
  • the invention also relates to a cargo handling facility, such as a boat, capable of being launched or hoisted out of water with the aid of a maneuvering cable, said installation capable of to be embedded in a floating craft or structure comprising at least one stabilizer and a structure carrying at least part of the stabilizer, said support structure comprising a winch around which the cable for maneuvering the load to be handled is suitable to be wound up and moving means of moving the portion of the stabilizer carried by said structure for the positioning of said portion of the stabilizer vertically above the load adapted to be handled by means of said operating cable, characterized in that that the stabilizer is of the aforementioned type in that the portion of the stabilizer carried by the carrier structure is formed at least by the head of the stabilizer.
  • the support structure is a davit comprising at least one arm at the free end of which is pivotally mounted the head of the stabilizer and means, such as a cylinder, for driving the arm between at least one working position corresponding to the position of launching or hoisting the load and a position for storing the load on the apparatus or the floating structure, these drive means in displacement of the arm, able to form the drive means in displacement of the head of the stabilizer for the positioning of said head in line with the load suitable for being handled at using said operating cable, being equipped with operating control means, data of the inertial unit and means for detecting the position of the load to handle the stabilizer.
  • means such as a cylinder
  • the support structure comprises means for holding the stabilizer head in a substantially horizontal plane in which the axis of the stabilizer cable passage extends vertically, these holding means being preferably formed by a jack with integrated position sensor disposed between the arm of the supporting structure and the stabilizer head, said cylinder being equipped with control means according to the data of its position sensor, the data of the inertial unit, and the means of detecting the the position of the load to be handled by the stabilizer.
  • the object of the invention is a stabilizer 1 for a cable 23 for actuating a load that can be put into the water or hoisted out of water by means of the cable 23, and an installation, adapted to be embedded on a machine 5 or a floating structure (e), and comprising such a stabilizer 1 and a structure 4 carrying at least a portion of the stabilizer 1.
  • the cable passage 10 has the shape of a sleeve.
  • the base 8 of the head 3 comprises an annular part 14 surrounding the 10 passage of cable and a hollow flange 15 closing one of said faces of the top face of the annular part 14.
  • the recess 16 of the flange 15 is disposed substantially aligned with said passage 10 of cable.
  • the flange 15 carries, on its side facing the cable passage 10, the central 7, called inertial, and the means 9 for detecting the position of the load 2 to be handled.
  • the means 9 for detecting the position of the load 2 to be handled comprise at least one optical signal transmitter / receiver 91 capable of cooperating with a reflector 92 of optical signals positioned on the load 2 to be handled using said operating cable. .
  • This reflector 92 of optical signals is disposed on the boat in the immediate vicinity of the point of attachment of the cable on said boat.
  • the drive means 11 for moving the cable passage 10 comprise at least two linear actuators 11 of the jack type arranged around the cable passage 10 between the base 8 and the cable passage 10.
  • the actuators 11 are coplanar and form between them an angle close to 90 °.
  • the head is pivotally connected to its base at the free end of the davit handling arm 18.
  • the base is equipped with two wings interconnected by an axis passing through the free end of the arm and a through hole of each wing to form a pivot axis between arm 18 of the davit and the base of the head of the stabilizer.
  • a jack 20 is disposed between the arm 18 and the base 8 to allow, during its actuation, the pivoting drive of the base 8 of the stabilizer head about its axis pivot connection to the arm 18 in view of a permanent maintenance in the vertical state of the cable passage.
  • the means 22 for controlling the actuators 11 of the stabilizer and the jacks 19, 20 of the davit are formed by an electronic and computer processing and calculation unit.
  • Said unit may be in the form of an electronic circuit provided with a microcontroller or a microprocessor associated with a data storage memory.
  • given means are configured to perform a given operation, it means that the electronic and computer system that forms said means comprises computer instructions for performing said operation.
  • These control means are configured to acquire, by means of the inertial unit 7 and the means 9 for detecting the position of the load, data, to compare these data with stored values and to drive all the actuators into position. function of the result of the comparison.
  • the hoisting of a boat out of water is as follows. Initially, the boat to be hoisted on the ship is hooked with a 21 to the vessel to hold the boat substantially parallel to said vessel. The arm 18 of the davit is deployed and the head of the stabilizer positioned vertically from the hooking point of the cable on the boat using the optical signals exchanged between the head of the stabilizer and boat through the means 9 of detection of the boat position. The cable can then be hooked to the boat at a predetermined attachment point. The positioning of the cable passage is refined using the actuators 11 during hoisting of the boat according to data provided by the inertial unit on board the stabilizer head and by the means 9 of position detection to ensure a hoist as vertical as possible. This hoisting is effected by actuation of the winch and the jacks 19, 20 which hold the arm 18 and the head 3 in equally optimal positions.
  • the arm 18 is actuated by means of the jack 19 which retracts to allow passage of the arm from the working position to the storage position.
  • the procedure is the reverse.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Description

La présente invention concerne un stabilisateur de câble de manoeuvre d'une charge, telle qu'une embarcation, ainsi qu'une installation de manutention de charge intégrant un tel stabilisateur.The present invention relates to a load-handling cable stabilizer, such as a boat, and a load handling installation incorporating such a stabilizer.

Elle concerne plus particulièrement un stabilisateur du type comprenant au moins :

  • une tête de contrôle de la position du câble, cette tête étant couplable à une structure porteuse, de préférence du genre bossoir, apte à être embarquée sur un engin ou une structure flottant(e) et équipée de moyens d'entraînement en déplacement de la tête pour le positionnement de la tête à l'aplomb de la charge apte à être manutentionnée à l'aide dudit câble de manoeuvre en vue d'une mise à l'eau ou hors d'eau de ladite charge,
  • une centrale dite inertielle permettant de déterminer au moins une grandeur représentative de l'accélération et/ou des déplacements de l'engin flottant sur lequel le stabilisateur est apte à être embarqué.
It relates more particularly to a stabilizer of the type comprising at least:
  • a head for controlling the position of the cable, this head being couplable to a supporting structure, preferably of the davit type, adapted to be loaded onto a floating craft or structure and equipped with drive means for moving the head for the positioning of the head vertically above the load capable of being handled by means of said operating cable for launching or discharging said load,
  • a so-called inertial unit for determining at least one magnitude representative of the acceleration and / or displacements of the floating machine on which the stabilizer is able to be shipped.

La mise à l'eau, notamment depuis un navire, ou le hissage hors d'eau, d'embarcation de sauvetage ou d'intervention comprenant un équipage est souvent une épreuve fatigante pour l'équipage, en particulier lorsque les conditions météorologiques sont mauvaises. La course de l'embarcation entre le moment où elle quitte, ou respectivement atteint, le navire et celle où elle atteint, ou respectivement quitte, l'eau apparaît souvent comme très longue aux passagers de l'embarcation car l'embarcation peut être soumise à des oscillations d'amplitude importante au cours de ladite course. En effet, jusqu'à présent, les installations de manutention de charges, telles que des embarcations, comprennent une structure porteuse du genre bossoir équipée à l'extrémité de son bras de manutention d'une poulie fixe à câble de levage. Cette poulie est positionnée à l'aide du bras à l'aplomb de l'embarcation à mettre à l'eau ou à hisser hors de l'eau. La commande du bras s'effectue après repérage visuel de la position de l'embarcation. Il en résulte une imprécision dans la position de la poulie au-dessus de l'embarcation. Le câble enroulé partiellement autour de la poulie est accroché au niveau de son extrémité libre à l'embarcation. Une fois accroché, l'opération de levage ou de mise à l'eau peut débuter. Dans le cas d'une opération de hissage hors de l'eau, rien n'empêche le câble d'osciller. La stabilisation s'effectue en fin de course de levage lorsque l'embarcation vient au contact d'un plateau fixé à la tête du bossoir. Ces phénomènes d'oscillation sont observés de la même manière lorsque l'embarcation est mise à l'eau.Launching, including from a vessel, or overwater hoisting, lifeboat, or crew response is often a tiring ordeal for the crew, especially when weather conditions are poor . The race of the boat between the moment when it leaves, or respectively reaches, the ship and the one where it reaches, or respectively leaves, the water often appears very long to the passengers of the boat because the boat can be subjected oscillations of significant amplitude during said race. Indeed, until now, load handling facilities, such as boats, include a load-bearing structure of the type davit equipped at the end of its handling arm of a fixed rope pulley lifting. This pulley is positioned using the arm in line with the boat to launch or hoist out of the water. The control of the arm is done after visual identification of the position of the boat. This results in inaccuracy in the position of the pulley above the boat. The cable wound partially around the pulley is hooked at its free end to the boat. Once hooked, the lifting or launching operation can begin. In the case of a hoist operation out of the water, nothing prevents the cable from oscillating. The stabilization is performed at the end of the lifting stroke when the boat comes into contact with a plate attached to the head of the davit. These oscillation phenomena are observed in the same way when the boat is launched.

Le document US 4 883 184 est considéré comme l'état de la technique le plus proche, et divulgue un stabilisateur d'oscillations de charges suspendues.The document US 4,883,184 is considered to be the closest state of the art, and discloses a suspended charge oscillation stabilizer.

Un but de la présente invention est donc de proposer un stabilisateur de câble et une installation de manutention intégrant un tel stabilisateur dont les conceptions permettent de contrôler les mouvements de la charge à manutentionner dès le début de sa course de mise hors d'eau ou de mise à l'eau.An object of the present invention is therefore to propose a cable stabilizer and a handling installation incorporating such a stabilizer whose designs make it possible to control the movements of the load to be handled from the beginning of its out of water race or launching.

Un autre but de la présente invention est de proposer un stabilisateur de câble et une installation de manutention du type précité dont les conceptions permettent de s'affranchir de données visuelles fournies par l'opérateur.Another object of the present invention is to provide a cable stabilizer and a handling installation of the aforementioned type whose designs make it possible to dispense with visual data provided by the operator.

A cet effet, l'invention a pour objet un stabilisateur de câble de manoeuvre d'une charge, telle qu'une embarcation, apte à être mise à l'eau ou hissée hors d'eau à l'aide dudit câble, ledit stabilisateur comprenant au moins :

  • une tête de contrôle de la position du câble, cette tête étant couplable à une structure porteuse, de préférence du genre bossoir, apte à être embarquée sur un engin ou une structure flottant(e) et équipée de moyens d'entraînement en déplacement de la tête pour le positionnement de la tête à l'aplomb de la charge apte à être manutentionnée à l'aide dudit câble de manoeuvre en vue d'une mise à l'eau ou hors d'eau de ladite charge,
  • une centrale dite inertielle permettant de déterminer au moins une grandeur représentative de l'accélération et/ou des déplacements de l'engin flottant sur lequel le stabilisateur est apte à être embarqué,
caractérisé en ce que la tête du stabilisateur comporte une base, et, portés par la base, au moins
  • des moyens de détection de la position de la charge à manutentionner,
  • un passage de câble apte à être traversé par le câble de manoeuvre et
  • des moyens d'entraînement en déplacement du passage de câble par l'intermédiaire desquels le passage de câble est monté, par rapport à la base, mobile suivant au moins deux directions dans un plan sensiblement perpendiculaire à l'axe dudit passage de câble,
et en ce que le stabilisateur comporte des moyens de pilotage des moyens d'entraînement en déplacement du passage de câble par rapport à la base au moins en fonction des données fournies par la centrale inertielle.For this purpose, the subject of the invention is a stabilizer for a cable for maneuvering a load, such as a boat, capable of being launched or hoisted out of water by means of said cable, said stabilizer comprising at least:
  • a head for controlling the position of the cable, this head being couplable to a supporting structure, preferably of the davit type, adapted to be loaded onto a floating craft or structure and equipped with drive means for moving the head for the positioning of the head vertically above the load capable of being handled by means of said operating cable for launching or discharging said load,
  • a so-called inertial unit for determining at least one magnitude representative of the acceleration and / or displacements of the floating machine on which the stabilizer is able to be embedded,
characterized in that the stabilizer head has a base, and, supported by the base, at least
  • means for detecting the position of the load to be handled,
  • a cable passage capable of being traversed by the operating cable and
  • displacement means for moving the cable passage through which the cable passage is mounted, with respect to the base, movable along at least two directions in a plane substantially perpendicular to the axis of said cable passage,
and in that the stabilizer comprises means for driving the drive means in displacement of the cable passage relative to the base at least according to the data provided by the inertial unit.

Grâce à sa conception, le stabilisateur permet un positionnement grossier du passage de câble à l'aplomb de la charge puis un réglage fin du positionnement de ce passage de câble pour limiter toute action du câble sur la charge dans le sens d'un balancement de la charge.Thanks to its design, the stabilizer allows a coarse positioning of the cable passage in line with the load and a fine adjustment of the positioning of this cable passage to limit any action of the cable on the load in the direction of a rocking of the cable. load.

De préférence, les moyens d'entraînement en déplacement du passage de câble comprennent au moins deux actionneurs linéaires de type vérin disposés autour du passage de câble entre base et passage de câble, lesdits actionneurs s'étendant chacun dans un plan sensiblement perpendiculaire à l'axe dudit passage de câble et étant couplés chacun au passage de câble d'une part, et à la base, d'autre part par une liaison pivot d'axe parallèle à l'axe du passage de câble. Cette conception permet un positionnement simple, rapide, précis et fiable du passage de câble.Preferably, the drive means for moving the cable passage comprise at least two linear actuators of the jack type arranged around the cable passage between the base and the cable passage, said actuators each extending in a plane substantially perpendicular to the axis of said cable passage and being each coupled to the cable passage on the one hand, and at the base, on the other hand by a pivot connection axis parallel to the axis of the cable passage. This design allows a simple, fast, accurate and reliable positioning of the cable passage.

De préférence, les actionneurs sont coplanaires et forment entre eux un angle voisin de 90°. Le passage de câble affecte la forme d'un manchon.Preferably, the actuators are coplanar and form between them an angle close to 90 °. The cable passage affects the shape of a sleeve.

Pour parfaire l'action des moyens d'entraînement en déplacement du passage de câble, la tête est équipée de moyens de liaison aptes à coopérer avec des moyens de liaison complémentaires portés par la structure porteuse pour une liaison à pivotement entre base et structure porteuse autour d'un axe sensiblement orthogonal à l'axe du passage de câble. Ces moyens de liaison permettent un maintien suivant un axe vertical du passage de câble.To complete the action of the drive means in moving the cable passage, the head is equipped with connecting means able to cooperate with complementary connecting means carried by the support structure for a pivot connection between the base and the supporting structure about an axis substantially orthogonal to the axis of the cable passage. These connecting means allow a maintenance along a vertical axis of the cable passage.

De préférence, la base de la tête comprend une pièce annulaire entourant le passage de câble et un flasque évidé fermant l'une des faces dite face du dessus de la pièce annulaire, l'évidement du flasque étant en disposition sensiblement alignée avec ledit passage de câble, ledit flasque portant sur sa face tournée vers le passage de câble, la centrale, dite inertielle, et les moyens de détection de la position de la charge à manutentionner. Les moyens de détection de la position de la charge à manutentionner comprennent au moins un émetteur/récepteur de signaux optiques apte à coopérer avec un réflecteur de signaux optiques positionné sur la charge à manutentionner à l'aide dudit câble de manoeuvre. Grâce à cette détection de position par signaux optiques, les risques de défaillances ou d'erreurs sont réduits.Preferably, the base of the head comprises an annular piece surrounding the cable passage and a hollow flange closing one of said face faces of the top of the annular piece, the recess of the flange being in disposition substantially aligned with said passage of cable, said flange bearing on its face facing the cable passage, the central, called inertial, and the means for detecting the position of the load to be handled. The means for detecting the position of the load to be handled comprise at least one optical signal transmitter / receiver capable of cooperating with an optical signal reflector positioned on the load to be handled by means of said operating cable. Thanks to this position detection by optical signals, the risks of failures or errors are reduced.

L'invention a encore pour objet une installation de manutention d'une charge, telle qu'une embarcation, apte à être mise à l'eau ou hissée hors d'eau à l'aide d'un câble de manoeuvre, ladite installation apte à être embarquée sur un engin ou une structure flottant(e) comprenant au moins un stabilisateur et une structure porteuse d'au moins une partie du stabilisateur, ladite structure porteuse comprenant un treuil autour duquel le câble de manoeuvre de la charge à manutentionner est apte à être enroulé et des moyens d'entraînement en déplacement de la partie du stabilisateur portée par ladite structure pour le positionnement de ladite partie du stabilisateur à l'aplomb de la charge apte à être manutentionnée à l'aide dudit câble de manoeuvre, caractérisée en ce que le stabilisateur est du type précité en ce que la partie du stabilisateur portée par la structure porteuse est formée au moins par la tête du stabilisateur.The invention also relates to a cargo handling facility, such as a boat, capable of being launched or hoisted out of water with the aid of a maneuvering cable, said installation capable of to be embedded in a floating craft or structure comprising at least one stabilizer and a structure carrying at least part of the stabilizer, said support structure comprising a winch around which the cable for maneuvering the load to be handled is suitable to be wound up and moving means of moving the portion of the stabilizer carried by said structure for the positioning of said portion of the stabilizer vertically above the load adapted to be handled by means of said operating cable, characterized in that that the stabilizer is of the aforementioned type in that the portion of the stabilizer carried by the carrier structure is formed at least by the head of the stabilizer.

De préférence, la structure porteuse est un bossoir comprenant au moins un bras à l'extrémité libre duquel est montée à pivotement la tête du stabilisateur et des moyens, tels qu'un vérin, d'entraînement en déplacement du bras entre au moins une position de travail correspondant à la position de mise à l'eau ou de hissage de la charge et une position de stockage de la charge sur l'engin ou la structure flottante, ces moyens d'entraînement en déplacement du bras, aptes à former les moyens d'entraînement en déplacement de la tête du stabilisateur pour le positionnement de ladite tête à l'aplomb de la charge apte à être manutentionnée à l'aide dudit câble de manoeuvre, étant équipés de moyens de pilotage en fonction, des données de la centrale inertielle et des moyens de détection de la position de la charge à manutentionner du stabilisateur.Preferably, the support structure is a davit comprising at least one arm at the free end of which is pivotally mounted the head of the stabilizer and means, such as a cylinder, for driving the arm between at least one working position corresponding to the position of launching or hoisting the load and a position for storing the load on the apparatus or the floating structure, these drive means in displacement of the arm, able to form the drive means in displacement of the head of the stabilizer for the positioning of said head in line with the load suitable for being handled at using said operating cable, being equipped with operating control means, data of the inertial unit and means for detecting the position of the load to handle the stabilizer.

De préférence, la structure porteuse comprend des moyens de maintien de la tête du stabilisateur dans un plan sensiblement horizontal dans lequel l'axe du passage de câble du stabilisateur s'étend verticalement, ces moyens de maintien étant, de préférence, formés par un vérin à capteur de position intégré disposé entre le bras de la structure porteuse et la tête du stabilisateur, ledit vérin étant équipé de moyens de pilotage en fonction des données de son capteur de position, des données de la centrale inertielle, et des moyens de détection de la position de la charge à manutentionner du stabilisateur.Preferably, the support structure comprises means for holding the stabilizer head in a substantially horizontal plane in which the axis of the stabilizer cable passage extends vertically, these holding means being preferably formed by a jack with integrated position sensor disposed between the arm of the supporting structure and the stabilizer head, said cylinder being equipped with control means according to the data of its position sensor, the data of the inertial unit, and the means of detecting the the position of the load to be handled by the stabilizer.

L'invention sera bien comprise à la lecture de la description suivante d'exemples de réalisation, en référence aux dessins annexés dans lesquels :

  • la figure 1 représente une vue schématique en coupe transversale d'un navire équipé de deux installations de manutention conformes à l'invention, l'une en position de hissage hors d'eau d'une embarcation, l'autre en position de stockage de l'embarcation sur le navire ;
  • la figure 2 représente une vue en perspective d'une installation de manutention conforme à l'invention ;
  • la figure 3 représente une vue en perspective du dessous d'un stabilisateur conforme à l'invention ;
  • la figure 4 représente une vue de face d'une installation de manutention conforme à l'invention en position de hissage d'une embarcation à bord d'un navire.
The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:
  • the figure 1 is a schematic cross-sectional view of a vessel equipped with two handling facilities according to the invention, one in the hoist position out of water of a boat, the other in storage position of the boat on the ship;
  • the figure 2 represents a perspective view of a handling installation according to the invention;
  • the figure 3 represents a perspective view of the underside of a stabilizer according to the invention;
  • the figure 4 represents a front view of a handling installation according to the invention in the position of hoisting a boat aboard a ship.

Comme mentionné ci-dessus, l'invention a pour objet un stabilisateur 1 de câble 23 de manoeuvre d'une charge apte à être mise à l'eau ou hissée hors d'eau à l'aide dudit câble 23, et une installation, apte à être embarquée sur un engin 5 ou une structure flottant(e), et comprenant un tel stabilisateur 1 et une structure 4 porteuse d'au moins une partie du stabilisateur 1.As mentioned above, the object of the invention is a stabilizer 1 for a cable 23 for actuating a load that can be put into the water or hoisted out of water by means of the cable 23, and an installation, adapted to be embedded on a machine 5 or a floating structure (e), and comprising such a stabilizer 1 and a structure 4 carrying at least a portion of the stabilizer 1.

Dans les exemples représentés, la charge à manutentionner est une embarcation 2 et l'installation est embarquée sur un navire 5 qui forme l'engin flottant. Ce navire aurait pu, de manière équivalente, être remplacé par exemple par une plateforme flottante. La structure 4 porteuse est ici réalisée sous forme d'un bossoir. Ce bossoir comprend :

  • une embase d'appui sur le plancher du navire formée ici d'un cadre horizontal,
  • un bras 18 de manutention de charge relié à l'embase par une liaison pivot d'axe horizontal sensiblement parallèle au plan d'appui au sol de ladite embase,
  • un vérin 19, disposé entre embase et bras 18 pour le passage du bras d'une position de travail correspondant à la position de mise à l'eau ou de hissage de l'embarcation hors d'eau dans laquelle le bras, qui est un bras coudé, présente sa branche de liaison à l'embase en position dressée, comme l'illustre la vue de gauche à la figure 1, et une position de stockage de l'embarcation sur le navire, dans laquelle la branche du bras reliée à l'embase est couchée sur ladite embase, comme l'illustre la vue de droite à la figure 1,
  • un treuil 17 porté par le bras 18 et autour du tambour duquel un câble 23 de manutention de l'embarcation est apte à s'enrouler au moins partiellement,
  • des poulies de guidage du câble jusqu'à l'extrémité libre du bras 18, ces poulies étant portées par le bras 18,
  • des moyens 22 de pilotage du vérin 19 d'entraînement en déplacement du bras 18 en fonction de données qui seront décrites ci-après.
In the examples shown, the load to be handled is a boat 2 and the installation is embarked on a ship 5 which forms the floating craft. This ship could have been equivalent, for example, to a floating platform. The carrier structure 4 is here made in the form of a davit. This davit includes:
  • a base of support on the floor of the ship formed here of a horizontal frame,
  • a load handling arm 18 connected to the base by a pivot connection of horizontal axis substantially parallel to the ground plane of said base,
  • a jack 19, disposed between base and arm 18 for the passage of the arm of a working position corresponding to the launching position or lifting of the boat out of water in which the arm, which is a angled arm, has its connecting leg to the base in upright position, as shown in the left view at the figure 1 , and a storage position of the boat on the ship, in which the branch of the arm connected to the base is lying on said base, as shown in the right view at the figure 1 ,
  • a winch 17 carried by the arm 18 and around the drum of which a cable 23 handling the craft is able to wind at least partially,
  • pulleys guiding the cable to the free end of the arm 18, these pulleys being carried by the arm 18,
  • means 22 for driving the actuator 19 for moving the arm 18 according to data which will be described below.

Le stabilisateur 1 du câble 23 comprend quant à lui :

  • une tête 3 de contrôle de la position du câble 23 disposée à l'extrémité libre du bras 18 de manutention du bossoir,
  • une centrale 7 inertielle permettant de déterminer au moins une grandeur représentative de l'accélération et/ou des déplacements du navire sur lequel le stabilisateur est embarqué.
Cette centrale 7 inertielle peut être propre à l'installation ou peut être celle du navire sur lequel l'installation est embarquée.The stabilizer 1 of the cable 23 comprises:
  • a head 3 for controlling the position of the cable 23 disposed at the free end of the davit handling arm 18,
  • an inertial unit 7 for determining at least one magnitude representative of the acceleration and / or displacements of the vessel on which the stabilizer is shipped.
This inertial unit 7 may be specific to the installation or may be that of the ship on which the installation is embedded.

De manière traditionnelle, cette centrale inertielle ou à inertie comporte des capteurs d'accélération, tels que des accéléromètres, et de vitesse angulaire, tels que des gyroscopes ou gyromètres. Cette centrale permet de calculer en temps réel les angles d'attitude (roulis, tangage, cap), le vecteur vitesse ainsi que la position en 3D instantanée à partir des mesures de ces capteurs du navire. La tête 3 du stabilisateur comporte une base 8, et, portés par la base 8, au moins

  • des moyens 9 de détection de la position de la charge 2 à manutentionner,
  • un passage 10 de câble apte à être traversé par le câble 23 de manoeuvre et
  • des moyens 11 d'entraînement en déplacement du passage 10 de câble par l'intermédiaire desquels le passage 10 de câble est monté, par rapport à la base 8, mobile suivant au moins deux directions dans un plan sensiblement perpendiculaire à l'axe dudit passage 10 de câble.
Le stabilisateur comporte encore des moyens 22 de pilotage des moyens 6 d'entraînement en déplacement du passage 10 de câble par rapport à la base 8 au moins en fonction des données fournies par la centrale 7 inertielle.Traditionally, this inertial or inertial unit comprises acceleration sensors, such as accelerometers, and angular velocity, such as gyroscopes or gyroscopes. This control unit makes it possible to calculate in real time the attitude angles (roll, pitch, heading), the speed vector as well as the instantaneous 3D position from the measurements of these sensors of the ship. The head 3 of the stabilizer comprises a base 8, and, borne by the base 8, at least
  • means 9 for detecting the position of the load 2 to be handled,
  • a passage 10 of cable adapted to be traversed by the cable 23 for maneuvering and
  • means 11 for driving the cable passage 10 through which the cable passage 10 is mounted, with respect to the base 8, movable along at least two directions in a plane substantially perpendicular to the axis of said passage 10 of cable.
The stabilizer further comprises means 22 for driving the drive means 6 for moving the cable passage 10 relative to the base 8 at least according to the data provided by the inertial unit 7.

Dans les exemples représentés, le passage 10 de câble affecte la forme d'un manchon. La base 8 de la tête 3 comprend une pièce 14 annulaire entourant le passage 10 de câble et un flasque 15 évidé fermant l'une des faces dite face du dessus de la pièce 14 annulaire. L'évidement 16 du flasque 15 est en disposition sensiblement alignée avec ledit passage 10 de câble. Le flasque 15 porte, sur sa face tournée vers le passage 10 de câble, la centrale 7, dite inertielle, et les moyens 9 de détection de la position de la charge 2 à manutentionner. Les moyens 9 de détection de la position de la charge 2 à manutentionner comprennent au moins un émetteur/récepteur 91 de signaux optiques apte à coopérer avec un réflecteur 92 de signaux optiques positionné sur la charge 2 à manutentionner à l'aide dudit câble de manoeuvre.In the examples shown, the cable passage 10 has the shape of a sleeve. The base 8 of the head 3 comprises an annular part 14 surrounding the 10 passage of cable and a hollow flange 15 closing one of said faces of the top face of the annular part 14. The recess 16 of the flange 15 is disposed substantially aligned with said passage 10 of cable. The flange 15 carries, on its side facing the cable passage 10, the central 7, called inertial, and the means 9 for detecting the position of the load 2 to be handled. The means 9 for detecting the position of the load 2 to be handled comprise at least one optical signal transmitter / receiver 91 capable of cooperating with a reflector 92 of optical signals positioned on the load 2 to be handled using said operating cable. .

Ce réflecteur 92 de signaux optiques est disposé sur l'embarcation au voisinage immédiat du point d'accroche du câble sur ladite embarcation.This reflector 92 of optical signals is disposed on the boat in the immediate vicinity of the point of attachment of the cable on said boat.

Les moyens 11 d'entraînement en déplacement du passage 10 de câble comprennent au moins deux actionneurs 11 linéaires de type vérin disposés autour du passage 10 de câble entre base 8 et passage 10 de câble. Ces actionneurs 11, réalisés ici sous forme de vérins pneumatiques, s'étendent chacun dans un plan sensiblement perpendiculaire à l'axe dudit passage 10 de câble et sont couplés chacun au passage 10 de câble d'une part, et à la base 8, d'autre part, par une liaison 12 pivot d'axe parallèle à l'axe du passage 10 de câble. Les actionneurs 11 sont coplanaires et forment entre eux un angle voisin de 90°.The drive means 11 for moving the cable passage 10 comprise at least two linear actuators 11 of the jack type arranged around the cable passage 10 between the base 8 and the cable passage 10. These actuators 11, made here in the form of pneumatic cylinders, each extend in a plane substantially perpendicular to the axis of said cable passage 10 and are each coupled to the cable passage 10 on the one hand, and to the base 8, on the other hand, by a link 12 pivot axis parallel to the axis of the passage 10 of cable. The actuators 11 are coplanar and form between them an angle close to 90 °.

La tête est reliée par sa base à pivotement à l'extrémité libre du bras 18 de manutention du bossoir. Dans l'exemple représenté, la base est équipée de deux ailes reliées entre elles par un axe traversant l'extrémité libre du bras et un perçage traversant de chaque aile pour former un axe pivot entre bras 18 du bossoir et base de la tête du stabilisateur. Un vérin 20 est disposé entre le bras 18 et la base 8 pour permettre, lors de son actionnement, l'entraînement à pivotement de la base 8 de la tête du stabilisateur autour de son axe pivot de liaison au bras 18 en vue d'un maintien permanent à l'état vertical du passage 10 de câble.The head is pivotally connected to its base at the free end of the davit handling arm 18. In the example shown, the base is equipped with two wings interconnected by an axis passing through the free end of the arm and a through hole of each wing to form a pivot axis between arm 18 of the davit and the base of the head of the stabilizer. . A jack 20 is disposed between the arm 18 and the base 8 to allow, during its actuation, the pivoting drive of the base 8 of the stabilizer head about its axis pivot connection to the arm 18 in view of a permanent maintenance in the vertical state of the cable passage.

Les moyens 22 de pilotage des actionneurs 11 du stabilisateur et des vérins 19, 20 du bossoir sont formés par une unité électronique et informatique de traitement et de calcul. Ladite unité peut être réalisée sous la forme d'un circuit électronique muni d'un microcontrôleur ou d'un microprocesseur associé à une mémoire de stockage de données. Ainsi, lorsque dans la suite de la description, il est précisé que des moyens donnés sont configurés pour réaliser une opération donnée, cela signifie que le système électronique et informatique qui forme lesdits moyens comprend des instructions informatiques permettant de réaliser ladite opération. Ces moyens de pilotage sont configurés pour acquérir, par l'intermédiaire de la centrale 7 inertielle et des moyens 9 de détection de la position de la charge, des données, pour comparer ces données à des valeurs mémorisées et piloter l'ensemble des actionneurs en fonction du résultat de la comparaison.The means 22 for controlling the actuators 11 of the stabilizer and the jacks 19, 20 of the davit are formed by an electronic and computer processing and calculation unit. Said unit may be in the form of an electronic circuit provided with a microcontroller or a microprocessor associated with a data storage memory. Thus, when in the following description, it is stated that given means are configured to perform a given operation, it means that the electronic and computer system that forms said means comprises computer instructions for performing said operation. These control means are configured to acquire, by means of the inertial unit 7 and the means 9 for detecting the position of the load, data, to compare these data with stored values and to drive all the actuators into position. function of the result of the comparison.

En pratique, le hissage d'une embarcation hors d'eau s'opère comme suit. Dans un premier temps, l'embarcation à hisser à bord du navire est accrochée à l'aide d'une pantoire 21 au navire pour maintenir l'embarcation sensiblement parallèle audit navire. Le bras 18 du bossoir est déployé et la tête du stabilisateur positionnée à la vertical du point d'accrochage du câble sur l'embarcation à l'aide des signaux optiques échangés entre tête du stabilisateur et embarcation par l'intermédiaire des moyens 9 de détection de la position d'embarcation. Le câble peut alors être accroché à l'embarcation en un point d'accrochage prédéterminé. Le positionnement du passage du câble est affiné à l'aide des actionneurs 11 au cours du hissage de l'embarcation en fonction de données fournies par la centrale inertielle embarquée sur la tête du stabilisateur et par les moyens 9 de détection de position pour assurer un hissage le plus vertical possible. Ce hissage s'opère par actionnement du treuil et des vérins 19, 20 qui maintiennent le bras 18 et la tête 3 dans des positionnements également optimaux.In practice, the hoisting of a boat out of water is as follows. Initially, the boat to be hoisted on the ship is hooked with a 21 to the vessel to hold the boat substantially parallel to said vessel. The arm 18 of the davit is deployed and the head of the stabilizer positioned vertically from the hooking point of the cable on the boat using the optical signals exchanged between the head of the stabilizer and boat through the means 9 of detection of the boat position. The cable can then be hooked to the boat at a predetermined attachment point. The positioning of the cable passage is refined using the actuators 11 during hoisting of the boat according to data provided by the inertial unit on board the stabilizer head and by the means 9 of position detection to ensure a hoist as vertical as possible. This hoisting is effected by actuation of the winch and the jacks 19, 20 which hold the arm 18 and the head 3 in equally optimal positions.

En fin de course de levage, le bras 18 est actionné à l'aide du vérin 19 qui se rétracte pour permettre le passage du bras de la position de travail à la position de stockage. Pour une mise à l'eau de l'embarcation, on procède de manière inverse.At the end of the lifting stroke, the arm 18 is actuated by means of the jack 19 which retracts to allow passage of the arm from the working position to the storage position. For launching the boat, the procedure is the reverse.

Claims (10)

  1. A stabilizer (1) of a cable (23) for handling a load, such as a watercraft (2), which can be put to water or hauled out of water by means of said cable (23), said stabilizer comprising at least:
    - a head (3) for controlling the position of the cable (23), wherein the head (3) can be coupled to a preferably davit-like supporting structure (4), which can be boarded on a floating craft (5) or structure and fitted with means (6) for displacement driving the head (3) for positioning the head (3) vertically to the load (2) which can be transferred by means of the handling cable (23) in view of putting said load (2) into or out of water,
    - a so-called inertial unit (7) allowing for at least one quantity representing acceleration and/or displacements of the floating craft (5) on which the stabilizer can be boarded to be determined,
    characterized in that the head (3) of the stabilizer comprises a base (8), and supported by the base (8), at least
    - means (9) for detecting the position of the load (2) to be transferred,
    - a cable duct (10) through which the handling cable (23) may pass, and
    - means (11) for displacement driving the cable duct (10) by which the cable duct (10) is movably mounted with respect to the base (8) along at least two directions in a plane substantially perpendicular to the cable duct (10),
    and in that the stabilizer comprises means (22) for driving the displacement driving means (11) of the cable duct (10) with respect to the base (8) at least depending on the data provided by the inertial unit (7).
  2. The stabilizer (1) according to claim 1, characterized in that the displacement driving means (11) of the cable duct (10) comprise at least two jack-like linear actuators (11) arranged around the cable duct (10) between the base (8) and the cable duct, said actuators (11) respectively extending in a plane substantially perpendicular to the axis of said cable duct (10), and each being coupled to the cable duct (10) on the one hand, and the base (8) on the other hand, by a pivot link (12) having an axis parallel to the axis of the cable duct (10).
  3. The stabilizer (1) according to claim 2, characterized in that the actuators (11) are coplanar and together form an angle close to 90°.
  4. The stabilizer (1) according to any of the preceding claims, characterized in that the cable duct (10) has the shape of a sleeve.
  5. The stabilizer (1) according to any of the preceding claims, characterized in that the head (3) is fitted with connecting means (13A) which can cooperate with complementary connecting means (13B) supported by the supporting structure (4) for a pivoting connection between the base (8) and the supporting structure (4) around an axis substantially orthogonal to the axis of the cable duct (10).
  6. The stabilizer (1) according to any of the preceding claims, characterized in that the base (8) of the head (3) comprises an annular part (14) surrounding the cable duct (10) and a recessed flange (15) closing one of the sides, the so-called top side, of the annular part (14), with the recess (16) of the flange (15) being in an arrangement substantially aligned on said cable duct (10), said flange (15) supporting on the side thereof facing the cable duct (10) the so-called inertial unit (7), and the means (9) for detecting the position of the load (2) to be transferred.
  7. The stabilizer (1) according to any of the preceding claims, characterized in that the means (9) for detecting the position of the load (7) to be transferred include at least one optical signal transceiver (91) which can cooperate with an optical signal reflector (92) positioned on the load (2) to be transferred by means of said handling cable.
  8. Equipment for transferring a load (2), such as a watercraft (2), which can be put to water or hauled out of water by means of a handling cable (23), said equipment being adapted to be boarded on a floating craft (5) or structure comprising at least one stabilizer (1) and one supporting structure (4) of at least one part of the stabilizer (1), said supporting structure (4) comprising a winch (17) on which the cable (23) for handling the load (2) to be transferred can be wound, and means (6) for displacement driving the part of the stabilizer supported by said structure (4) for positioning said part of the stabilizer vertically to the load (2) which can be transferred by means of the handling cable (23),
    characterized in that the stabilizer (1) is in accordance with one of claims 1 to 7, and that the part of the stabilizer supported by the supporting structure (4) consists at least of the head (3) of the stabilizer.
  9. Equipment according to claim 8, characterized in that the supporting structure (4) is a davit comprising at least one arm (18) at the free end of which the head (3) of the stabilizer (1) is mounted pivotingly, and means, such as a jack (19) for displacement driving the arm (18) between at least one working position corresponding to the position for putting the load (2) into or out of water, and a position for storing the load (2) on the floating craft (5) or structure, wherein the displacement driving means of the arm (18), which can form the displacement driving means (6) of the head (3) of the stabilizer (1) for positioning said head (3) vertically to the load (2) which can be transferred by means of said handling cable (23), being fitted with driving means depending on the data of the inertial unit (7), and means (9) for detecting the stabilizer (1) position of the load to be transferred.
  10. The equipment according to any of claims 8 or 9, characterized in that the supporting structure (4) includes means (20) for holding the head (3) of the stabilizer (1) in a substantially horizontal plane in which the axis of the cable duct (10) of the stabilizer (1) extends vertically, wherein the holding means (20) preferably consist of a jack (20) having an integrated position sensor arranged between the arm (18) of the supporting structure (4) and the head (3) of the stabilizer (1), said jack (20) being fitted with driving means depending on the data of the position sensor thereof, the data from the inertial unit (7), and the means (9) for detecting the stabilizer (1) position of the load to be transferred.
EP20130176482 2012-08-22 2013-07-15 Stabiliser of a cable for controlling a load, such as a watercraft, and load-control system including such a stabiliser Not-in-force EP2700605B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1257929A FR2994685B1 (en) 2012-08-22 2012-08-22 LOAD MANIFOLD CABLE STABILIZER, SUCH AS A CRAFT, AND LOAD HANDLING INSTALLATION INCORPORATING SUCH STABILIZER

Publications (2)

Publication Number Publication Date
EP2700605A1 EP2700605A1 (en) 2014-02-26
EP2700605B1 true EP2700605B1 (en) 2014-12-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3144972A1 (en) * 2023-01-18 2024-07-19 Flying Whales Device for damping pendulum oscillations of the load to be loaded in the hold of an airship dedicated to transporting heavy loads

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2532602B (en) * 2014-10-27 2017-01-18 Bmt Defence Services Ltd A system for launch and/or recovery of a vessel
ES2685194B1 (en) * 2017-03-31 2019-07-18 Heron Davits As Drive mechanism for pivoting davits
NO20171815A1 (en) * 2017-11-14 2019-02-11 Davitnorway As Method for raising or lowering an object by davit apparatus with height adjustment feature
FR3100765B1 (en) * 2019-09-12 2021-09-10 Push4M Pushing mechanism and tensioning system for a strap including such mechanisms.
CN114313114B (en) * 2022-03-16 2022-06-14 自然资源部第二海洋研究所 Buoy anchor rope mooring device and laying and recycling method thereof

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Publication number Priority date Publication date Assignee Title
US4883184A (en) * 1986-05-23 1989-11-28 Albus James S Cable arrangement and lifting platform for stabilized load lifting
USH2163H1 (en) * 2003-12-18 2006-08-01 The United States Of America As Represented By The Secretary Of The Navy Guided thrust maneuvered shipboard crane

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3144972A1 (en) * 2023-01-18 2024-07-19 Flying Whales Device for damping pendulum oscillations of the load to be loaded in the hold of an airship dedicated to transporting heavy loads

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EP2700605A1 (en) 2014-02-26
FR2994685A1 (en) 2014-02-28
FR2994685B1 (en) 2014-08-15
DK2700605T3 (en) 2015-03-09

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