EP2809571A1 - Ensemble de reception d'un engin navigant et systeme de recuperation et de deploiement a la mer d'un tel engin - Google Patents
Ensemble de reception d'un engin navigant et systeme de recuperation et de deploiement a la mer d'un tel enginInfo
- Publication number
- EP2809571A1 EP2809571A1 EP13702954.2A EP13702954A EP2809571A1 EP 2809571 A1 EP2809571 A1 EP 2809571A1 EP 13702954 A EP13702954 A EP 13702954A EP 2809571 A1 EP2809571 A1 EP 2809571A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- receiving
- receiving assembly
- assembly
- spring
- receiving means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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- 230000000007 visual effect Effects 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000011084 recovery Methods 0.000 description 9
- 238000007747 plating Methods 0.000 description 6
- 230000035939 shock Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 206010040560 shock Diseases 0.000 description 5
- 230000000295 complement effect Effects 0.000 description 3
- 239000006260 foam Substances 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000013019 agitation Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229920002545 silicone oil Polymers 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B63B23/40—Use of lowering or hoisting gear
-
- 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
- B63B23/40—Use of lowering or hoisting gear
- B63B23/60—Additional connections between boat and davits
-
- 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
- B63C3/06—Launching or hauling-out by landborne slipways; Slipways by vertical movement of vessel, i.e. by crane
-
- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
Definitions
- the invention is in the naval field and relates more specifically to the handling and lifting systems mounted on buildings floating on the water such as, for example, ships or platforms, allowing launching and recovery of navigating craft, for example, sailors or submarines from these vessels.
- the gear considered is both towed gear that autonomous gear.
- the handling and lifting systems generally comprise a handling structure (crane or gantry) integral with the floating vessel.
- This structure comprises an articulated arm and is provided with a pulley capable of guiding a lifting cable at the free end of the articulated arm in the vertical direction and a winch adapted to wind / unwind this cable.
- the cable is provided with first attachment means adapted to cooperate with second attachment means to suspend the machine to the hoisting rope.
- the articulated arm allows the lifting cable to be positioned above the recovery or launching zone to raise or launch the craft and above the storage area located on the building. floating to recover or store the craft.
- the first attachment means consist of a hook adapted to cooperate with a ring fixed on the machine.
- the operation can be dangerous for the equipment (risks of shocks between the machine and the sea, the floating building or the handling structure) or for the men in charge of the operation (risk of shocks between the machine and an operator).
- An object of the invention is to secure these operations of deployment and recovery at sea.
- the articulated arm moves between a deployed and deployed position in which the end of the arm is located above the water and a removal position in which the end of the arm is located above the position. storing the gear on the floating vessel. Between these two positions, the end of the arm undergoes translation movements (if, for example the arm is telescopic) and pivots about one or more axes.
- Another object of the invention is to overcome the aforementioned drawbacks.
- the subject of the invention is a receiving assembly for a navigating craft that can be suspended from an articulated arm of a handling structure equipped with a lifting cable intended to carry a navigating craft and to move it according to a vertical direction, so as to deploy and / or recover said machine at sea from a floating vessel on which is fixed said handling structure, said receiving unit comprising a lower part comprising receiving means of said machine, said receiving means having a passage through which is able to pass the cable, said receiving means defining a hollow adapted to receive said machine when it is suspended from the hoisting rope and being arranged to ensure the locking of the rotational movements and translation in the vertical upward direction, of a navigating craft having a generally tubular shape, with respect to the receiving means when the craft is received by the hollow and comes to bear against them.
- reception means have a U-shaped profile
- the U has two wings connected by a core, the wings being advantageously flared from their respective free ends to the core,
- the reception means are at least partially made of elastically deformable compressible material so as to damp the shocks between the machine and the receiving means,
- the reception assembly further comprises: translational guiding means leaving a degree of freedom in translation in the vertical direction, between the receiving means and a sole, when the latter is suspended from said arm,
- the guiding means are passive means coupled to the spring so that when the spring is compressed or stretched, the guiding means guide the movement of the receiving means with respect to the sole in the direction,
- At least one visual indicator coupled to the spring to give a visual indication of the state of compression of the spring
- the means intended to damp the relative movements between the suspension arm and the lower part of the reception assembly according to at least one rotational degree of freedom are passive,
- Another subject of the invention is a device for deploying and recovering a navigating craft from a floating vessel comprising a handling structure comprising an articulated arm to which a reception assembly according to the invention is suspended.
- the invention further relates to a method of using a device for deploying and recovering a navigating machine according to the invention in which before moving the articulated arm to move the receiving assembly when the machine is hooked to the hoisting rope, the hoisting rope is wound so that the machine comes to press against the receiving means and compress the spring approximately halfway.
- FIG. 1 schematically represents in perspective a device for retrieving and deploying a machine at sea according to the invention, comprising a reception assembly according to the invention
- FIG. 2 diagrammatically represents in perspective a part of the deployment device according to the invention
- FIGS. 3a, 3b, 3c show schematically the visual indicators of the reception assembly according to the invention when the spring is in its equilibrium position, halfway and respectively compressed to the maximum
- FIG. 4 diagrammatically shows in perspective a reception assembly according to the invention
- FIG. 5 schematically shows a portion of the device according to the invention in front view perpendicular to the articulated arm.
- FIG. 1 shows a device for deploying and recovering a navigating craft 1, according to the invention, comprising a receiving assembly 2, according to the invention, suspended from a handling structure 3.
- the handling structure 3 is integral with a floating vessel 5 which is, for example, a boat or platform floating on the water.
- the handling structure 3 comprises an arm 4, called articulated arm in the following text, which is suspended the receiving assembly 2.
- the articulated arm 4 is telescopic but may not be.
- the articulated arm 4 could, alternatively, be fixed directly to the floating building and, for example, have an arched shape.
- the handling structure 3 is a crane comprising a first arm 6 integral with the floating vessel, a second arm 7 hinged on the one hand to the first arm 6 and on the other hand to the articulated arm 4 to which is suspended the reception set 2.
- the articulated arm 4 comprises a first end articulated to the second arm 7.
- the articulated arm 4 also comprises a free end 41 at which the receiving assembly 2 is advantageously suspended.
- the handling structure 3 could also be a gantry comprising a first arm integral with the floating building and an arm articulated to this first arm and to which the reception assembly 2 is suspended.
- the handling structure 3 is provided with a lifting cable 8 intended to tow the craft 1 in the vertical direction z defined by the weight of the craft.
- the cable 8 is only partially represented.
- the handling structure 3 is also provided with a winch 10 for winding and unwinding the cable 8 and means, not shown, allowing an operator to control the winch 10 for winding and unrolling the hoisting rope 8.
- the hoisting rope 8 is guided in the vertical direction z by means of a guide pulley 9.
- the pulley 9 is included in the receiving assembly 2. This solution makes it possible to simplify the interfaces between the receiving assembly 2 and the crane 3. It is easier to integrate the pulley with the receiving assembly than to provide interfaces between the receiving assembly and a pulley already attached to the crane.
- the pulley is integral with the articulated arm 4.
- the hoisting rope 8 is provided with first hooking means made here in the form of a hook 12, able to cooperate with second attachment means 13 fixed on the machine 1 so as to be able to suspend it to the hoisting rope 8, that is to say so as to be able to carry it, and to pull it, or to move it, in the vertical direction z.
- the receiving assembly 2 comprises an upper part 14 comprising the pulley 9 and a lower part 15 comprising receiving means 16 facing the navigating craft 1.
- the upper part 14 is situated, in the vertical direction z, at a height greater than the height of the receiving means when the receiving assembly 2 is suspended from the articulated arm 4.
- the reception means 16 are described more specifically with reference to FIG.
- the reception means 16 have a passage 20 in which the cable 8 is able to pass.
- the receiving means 16 delimit a recess 18 capable of receiving the navigating craft 1 when it is suspended from the hoisting rope 8 so that the sailing craft 1, come to bear against the means of reception 16.
- the receiving means 16 are arranged to ensure the locking at least of the rotational and translational movements in the vertical direction z upwards, of a navigating vehicle 1, with respect to the receiving means 16, when the machine navigant 1 is received by the hollow 18 and comes to bear against them.
- This feature makes it possible to avoid, when the machine is suspended from the hoisting rope 8, the oscillation movements of the machine around the hoisting rope 8. It thus makes it possible to secure deployment and launching maneuvers. of the navigating craft.
- the machines have a tubular shape with an oval or round profile.
- the receiving means 16 are arranged to block the movements mentioned above of a navigating craft having a generally tubular shape.
- the receiving means 16 are, for example, dimensioned to ensure the locking of a craft 1 whose hull has a bending diameter of between 300 and 330 mm.
- the receiving means 16 have a U-shaped profile which delimits a hollow 18. In other words, the receiving means generally have the shape of a saddle horse.
- the U is open downwards when the receiving assembly 2 is suspended from the crane 3. In other words, it turns its back to the upper part 14.
- the U has two lateral wings 17 extending on either side of a core 21 forming the back of the U.
- the core 21 extends in a horizontal plane transversely between the two wings 17 and longitudinally to a thickness e represented in FIG.
- the passage is arranged so as to allow the attachment means 12, 13 to pass.
- the navigating craft 1 which has a generally tubular shape (with a generally oval or round profile) is housed in the recess 18 and bear against the soul 21 and the wings 17 of the U. In other words, in this configuration, the receiving means 16 are straddling the craft 1.
- the core 21 serves as a vertical stop and the wings 17 act as lateral stops on either side of the sailing craft 1 along an axis perpendicular to the vertical direction.
- the reception means 16 have a function of capturing and stabilizing the navigating craft 1.
- the saddle shape on horseback makes it possible to immobilize the seagoing craft 1 even if it is not horizontal (that is to say when the longitudinal axis x of the seagoing craft is not perpendicular to the axis z) at the moment when it comes into abutment against the receiving means 16. It is the shape of the receiving means that forces it to put itself in this position. More particularly, this comes from the fact that the core 21 has a certain length I, and more particularly that it forms a vertical abutment extending over a certain length.
- the core has a length of about 90 cm.
- the free ends of the wings have a length of about 10 cm. Therefore, when the machine is low, the wings leave a lot of freedom to the machine (including a degree of freedom in rotation about the z axis) and when the machine bears against the soul, gear is very constrained and the rotation of the machine relative to the receiving means around the z axis is blocked.
- the U is flared. This allows angular deviations of the longitudinal axis of the machine yaw to 45 ° relative to the longitudinal direction (or the direction of the length I) of the soul of the U.
- the shape of the receiving means facilitates the locking of the machine within the receiving means 16. It is not necessary that the axis of the machine is aligned with the soul of the U so that the recovery of the machine by the receiving means can be done.
- the wings 17 are preferably flared from their respective free ends to the core 21.
- they generally have the shape of a triangle pointing downwards.
- the receiving means 16 comprise means for absorbing shocks with the machine 1, when it enters the hollow.
- the wings 17 and / or the core 21 are made for this purpose at least partially elastically deformable compressible material. This feature also allows to block gear with different radii of curvature or irregular shapes or more complex than a right cylinder.
- the wings 17 are made of compressible foam coated with a polyurethane skin resistant to the marine environment, abrasion.
- the compressibility of the foam is chosen according to the use (density more or less important for absorb shocks and gear profiles).
- the foam has a density of between 50 and 80 kg / m 3 .
- the core 21 comprises two vertical stops 19 (more visible in Figures 3a to 3c) disposed on either side of the wings 17 and against which the machine 1 is intended to bear when an operator winds the cable 8 .
- these vertical stops 19 are made at least partially of elastically deformable compressible material, for example, with the same materials as the wings.
- the shape and dimensions of the receiving means can be easily adapted to block the movements of aircrafts with different diameters and shapes. It suffices to provide receiving means delimiting forming a bearing surface complementary to the shape of the navigating craft to be recovered around the second attachment means 13.
- the lower part 15 comprises a spring 22 arranged so as to make it possible to move the receiving means 16 away from a sole plate 40, fixed in translation relative to the articulated arm 4, in the vertical direction z when the receiving assembly 2 is suspended in the handling structure 3 (and is in its equilibrium position).
- spring 22 is meant a functional means for exerting a calibrated force in a predetermined direction.
- the predetermined direction here is perpendicular to the core 21 of the U.
- This functional means advantageously comprises at least one compression spring strictly speaking as in the embodiment shown in the figures of the patent application.
- the spring 22 is arranged to be able to move the lower part 15 of the sole 40 in a predetermined direction which is intended to be the vertical direction when the receiving assembly 2 is suspended from the crane 3 and is in a balance position.
- the spring 22 is suspended from the soleplate 40 and the reception means 16 are suspended from the spring 22.
- the receiving means 16 exert on the spring 22 a force tending to lengthen it in the vertical direction z which is also the direction defined by the weight of the receiving means 16.
- the axis of the spring extends in the vertical direction z.
- the reception assembly 2 and the spring 22 are in their respective equilibrium positions.
- the core 21 of the U extends perpendicularly to the vertical direction z.
- the reception assembly 2 also comprises guiding means 23 in translation, leaving, between the sole 40 and the receiving means 16, a degree of freedom in translation in a guide direction which is perpendicular to the core of the U.
- This guiding direction is the vertical direction z, when the receiving assembly 2 is suspended from the crane 3 and in its equilibrium position.
- the reception assembly 2 is first suspended from the crane 3 so that the pulley 9 guides the hoisting rope 8 in the vertical direction z and so that it can pass through the passage 20.
- the spring 22 is disposed above the passage 20. The cable 8 also passes through the spring 22.
- An operator operates the crane 3 so as to position the receiving assembly 2 above the machine 1 at sea. This is, for example, achieved by pivoting the articulated arm 4 about a vertical axis. An operator unrolls the hoisting rope 8, by means of the winch 10, so as to position the hook 12 which is installed at its free end close to the second attachment means 13. As can be seen in FIG. 1, in this position l The free end of the cable 8 is positioned below the receiving means 16, that is to say at a height less than the height of the latter.
- the hook 12 disposed at the end of the lifting cable 8 is lowered near the second attachment means 13 made here in the form of a lifting ring.
- An operator with a long pole connected to the hook 12 mechanically binds the hook 12, and therefore the cable 8, to the lifting ring 13 secured to the sailing vessel 1 in order to lift it.
- the upper part of the machine 1 is housed in the hollow 8.
- the hook 12 and the ring 13 pass through the passage 20 and the machine 1 comes to bear against the receiving means 16. More specifically, the machine bears against the vertical stops 19 and against the wings 17.
- the receiving means 16 are found astride the machine 1.
- the cable 8 exerts on the machine 1, a tensile force oriented in the vertical direction upwards.
- the machine 1 presses the receiving means 16 which move upwards in the vertical direction z (defined by the guide means) and compress the compression spring 22.
- the spring 22 reacts and then exerts on the machine 1, via the receiving means 16, a force in the vertical direction z oriented downwards. This last effort, called plating force, has the effect of pressing the machine 1 against the receiving means 16.
- the spring 22 ensures a continuous plating of the machine against the receiving means. This ensures permanent immobilization of the machine by the receiving means.
- the presence of the spring and the guide means has a real advantage over the solutions of the prior art. It makes it possible to secure the deployment and placing operations at sea, in particular during the phases of movement of the free end of the articulated arm, while at the same time requesting the crane operator, being inexpensive and not requiring of energy supply.
- the operator uses the receiving assembly according to the invention as follows: before moving the articulated arm 4 to move the receiving assembly 2 when the machine 1 is hooked to the lifting cable 8, it winds the hoisting rope 8 so that the machine 1 comes to press against the receiving means 16 and compress the spring 22 approximately halfway.
- the stroke of the spring 22 is the distance traveled by the end of the spring between its equilibrium position in which the receiving means 16 are suspended at its end and its compression position in which it is compressed to the maximum.
- the stroke of the spring between its equilibrium position in which the receiving means are suspended from the spring and its compressed position in which it is compressed to the maximum is between 100 mm and 300 mm.
- the crane operator must be attentive and operate the hoist winch 10 to adjust the position of the machine 1 in vertical, within the receiving means 16 and verify that the movements of the end of crane 3 do not exceed the half-travel of the spring upwards or downwards.
- the receiving assembly comprises at least one visual indicator coupled to the spring to give a crane operator a visual indication of the state of compression of the spring.
- the reception assembly comprises several visual indicators.
- the guide means are passive guiding means.
- the guide means are coupled to the spring 22 so that when the spring 22 is compressed or stretched, the guide means 23 guide the movement of the receiving means 16 relative to the sole 40 in the direction z.
- the guide means 23 are made in the form of an articulated assembly also called pantograph system. This device comprises articulations about axes parallel to each other and perpendicular to the guiding direction.
- the guide means 23 have a hexagon shape in a plane parallel to the axis of the spring 22 and perpendicular to the core 21.
- the hexagon is thick enough to delimit a housing 30 in which the spring 23 is housed.
- the articulated hexagon 23 comprises two pairs of consecutive sides 31, 32, and 33, 34 each comprising a first 35, 36 and a second 37, 38 non-consecutive vertices articulated to the sole 40 and, respectively at the core 21 of the receiving means 16.
- the hexagon comprises two free vertices 41, 42 defining a diagonal of the hexagon having a variable length and extending in a plane perpendicular to the degree of freedom in translation defined by the guiding means 23.
- All the joints are made along axes parallel to each other and perpendicular to the degree of freedom in translation defined by the guide means 23.
- the first 31, 32 and second 33, 34 pairs of consecutive sides are connected by two pairs of parallel rods 43, 44 and 45, 46. More precisely, the first 31, 32 and second 33, 34 pairs of sides each comprise an upper side 31, 33 and a lower side 32, 34.
- a first pair of parallel links 43, 44 connects the upper side 31 of the first pair of consecutive sides to the lower side 34 of the second pair.
- a second pair of parallel links 45, 46 connects the lower side 32 of the first pair of consecutive sides to the upper side 33 of the second pair of consecutive sides.
- the visual indicators 11, 12, 13, 14 are arranged on the links of a link pair 43, 44. They are arranged to form different geometrical shapes when the spring is halfway, compressed to the maximum and in his position of equilibrium.
- They comprise a first pair of visual indicators 11, 12 and a second pair 13, 14 of visual indicators arranged on the respective links 43, 44 of a pair of parallel links so as to move in the direction of the links in the links. opposite directions when compressing or elongating the spring.
- the first 11, second 12, third 13 and fourth 14 visual indicators extend longitudinally along first x1, second x2, third x3, fourth x4 respective parallel axes.
- each visual indicator has a different color guide means 23 so as to be easily identifiable by an operator.
- the reception assembly 2 is arranged so as to be suspended from an articulated arm 4 of a handling structure 3 while leaving at least one degree of freedom in rotation between the lower part 15 of the reception assembly 2 and the handling structure 3.
- the lower part 15 is fixed in rotation about the vertical axis z with respect to the articulated arm 4.
- This characteristic makes it possible to orient the lower part 15 definitively according to the desired kinematics so that its own geometry ensures an ad hoc orientation both in its starting position, characteristic of the recovery over water, and in its final position, above the platform.
- the receiving assembly 2 comprises, as visible in FIG. 4, means 24, 25 for damping the relative movements between the suspension arm 4 and the lower part 15 of the reception assembly 2 according to at least one of these degrees of freedom in rotation. These means are not necessarily part of the reception set 2.
- damping means are passive.
- Passive means means means that do not require input of electrical energy.
- the receiving assembly 2 is suspended from the articulated arm 3 so as to leave free two degrees of freedom in rotation between the receiving means 16, and here more precisely between the lower part reception means 14, and the articulated arm 4, about two axes r, perpendicular to the axis of the spring 22.
- the lower part 15 is fixed rotatably to the pulley 9 around a first axis, called the first pitch axis t which is also perpendicular to the axis of the spring 22.
- the pulley 9 is provided with hooking means 27a intended to cooperate with complementary means 27b, visible in FIG. 2, integral with the articulated arm 4 (which here are orifices) so as to fix said pulley 9 rotating around the roll axis r.
- the receiving assembly 2 is arranged so that the axis of the spring extends in the vertical direction z when the receiving assembly is in its equilibrium position around which it is able to oscillate (around the axes roll and pitch) when suspended from the articulated arm 4.
- the receiving assembly 2, and more specifically the upper part 14, comprises means 24, 25 for damping these two rotational movements.
- These means 24, 25 comprise first damping means 24 for damping the relative movements of the lower part 15 of the receiving assembly 2 relative to the arm about the roll axis r and the second damping means 25 to damp the relative movements of the lower portion 15 of the receiving assembly 2 relative to the arm about the pitch axis t.
- These means 24, 25 here comprise viscoelastic dampers 28 but one could as well use another type of passive damper.
- the viscoelastic dampers comprise for example a silicone oil whose viscous properties allow the absorption of the energy induced by the dynamic movements.
- the first damping means 24 comprise two viscoelastic dampers 28 designed to be arranged so as to damp the rotational movements around the roll axis r.
- these viscoelastic dampers 28 are connected, on the one hand, to the pulley 9 and, on the other hand, to the articulated arm 4 by hooking means 50 rotatably attached to the arm 4 around a axis parallel to the pitch axis t.
- the second damping means 25 comprise a damper 28 arranged so as to damp the rotational movements around the pitch axis t. It is connected on the one hand to the lower part 15 (and more precisely to the sole 40) and on the other hand to a damping arm 29, integral with the pulley 9.
- the receiving assembly 2 advantageously comprises mechanical fuses, not shown, provided for shearing and disconnecting the lower part 15 of the crane 3 when the amplitude of the relative oscillation movement of the lower part 15 with respect to the crane is too important.
- These fuses comprise at least one fuse designed to shear when the lower portion 14 of the reception assembly forms, around the roll axis, an angle greater than a first predetermined threshold angle with its equilibrium position in which the the axis of the spring is vertical and / or at least one fuse designed to shear when the lower portion 14 of the receiving assembly forms, around the roll axis, an angle greater than a second predetermined threshold angle with its position of equilibrium in which the axis of the spring is vertical.
- the first angle is, for example, equal to 20 ° and the second angle is, for example, equal to 35 °.
- fuses are, for example, mounted at the interface between each damper and the crane. They shear when the associated damper has reached its maximum stroke. When shearing, they partially disconnect the saddle of the crane to protect it from peaks of effort that it would not be able to withstand.
- the lower part of the receiving assembly is not free to rotate, relative to the lifting arm 4, about a vertical axis.
- the reception assembly comprises means able to allow rotation of the lower part 15 of the reception assembly 2 around a vertical axis when the reception means 16 transmit to the crane 3 a torque greater than a threshold predetermined.
- shear pins capable of shearing when the torque transmitted to them by the receiving means 16 is greater than a third predetermined threshold so as to return to the receiving means 16 their freedom of rotation around a vertical axis. This protects both the machine 1 and the crane 3 by preventing the transmission of significant effort to the crane.
- the receiving assembly 2 is a simple mechanical system that can easily hang from any type of standard crane. It is able to capture a machine, to press against the means of reception and to dampen the movements between the receiving means and the crane without the need for power supply. Because of its passive design, it is simple to implement, to operate, to maintain.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Jib Cranes (AREA)
- Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1200320A FR2986498B1 (fr) | 2012-02-03 | 2012-02-03 | Ensemble de reception d'un engin navigant et systeme de recuperation et de deploiement a la mer d'un tel engin |
PCT/EP2013/051535 WO2013113644A1 (fr) | 2012-02-03 | 2013-01-28 | Ensemble de reception d'un engin navigant et systeme de recuperation et de deploiement a la mer d'un tel engin |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2809571A1 true EP2809571A1 (fr) | 2014-12-10 |
EP2809571B1 EP2809571B1 (fr) | 2016-03-23 |
Family
ID=47678725
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13702954.2A Active EP2809571B1 (fr) | 2012-02-03 | 2013-01-28 | Ensemble de reception d'un engin navigant et systeme de recuperation et de deploiement a la mer d'un tel engin |
Country Status (8)
Country | Link |
---|---|
US (1) | US9969599B2 (fr) |
EP (1) | EP2809571B1 (fr) |
JP (1) | JP6134741B2 (fr) |
CA (1) | CA2863562C (fr) |
FR (1) | FR2986498B1 (fr) |
IN (1) | IN2014DN06487A (fr) |
SG (1) | SG11201404563WA (fr) |
WO (1) | WO2013113644A1 (fr) |
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US20140263851A1 (en) * | 2013-03-14 | 2014-09-18 | Liquid Robotics, Inc. | Water Vehicles |
US20150129529A1 (en) * | 2013-11-13 | 2015-05-14 | Lee David Screaton | Marine lifting apparatus |
US9630812B1 (en) * | 2014-09-30 | 2017-04-25 | The United States Of America As Represented By The Secretary Of The Navy | Load transfer accessory for diminishing unwanted motion of cylindrical cargo during loading operations |
FR3026733B1 (fr) * | 2014-10-01 | 2016-11-18 | Dm Investissements | Engin de manutention. |
CN105711749B (zh) * | 2016-02-03 | 2018-07-13 | 青岛远创机器人自动化有限公司 | 一种无人水面航行器布放回收方法 |
DE102016117311A1 (de) * | 2016-09-14 | 2018-03-15 | Technische Universität Berlin | Vorrichtung zum anschlagen einer kopplungsvorrichtung an ein freischwimmendes objekt |
GB2554902B (en) * | 2016-10-13 | 2022-06-15 | David Screaton Lee | Active heave compensation apparatus |
CN106741659A (zh) * | 2016-11-13 | 2017-05-31 | 无锡晟欧船舶设备有限公司 | 船舶用升降装置 |
CN106976525B (zh) * | 2017-03-21 | 2018-12-25 | 哈尔滨工程大学 | 无人艇快速收放装置 |
CN109533237B (zh) * | 2017-09-22 | 2020-06-19 | 中国科学院沈阳自动化研究所 | 一种自主水下机器人布放回收单点起吊止荡保护装置 |
CN107933835B (zh) * | 2017-11-22 | 2023-05-26 | 自然资源部第二海洋研究所 | 一种水下机器人投放设备 |
CN109866883B (zh) * | 2017-12-05 | 2020-10-09 | 中国科学院沈阳自动化研究所 | 一种艇用拖曳声纳的布放回收装置 |
CN108995770B (zh) * | 2018-09-11 | 2023-06-09 | 浙江海洋大学 | 一种海洋平台逃生装置 |
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 |
CN109367707B (zh) * | 2018-10-26 | 2019-07-12 | 河海大学 | 一种基于导向缆的无人船回收自主水下航行器装置及方法 |
FR3130182A1 (fr) * | 2021-12-10 | 2023-06-16 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Appareil de levage articulé à effort parasites réduits |
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FR2532612A1 (fr) * | 1982-09-07 | 1984-03-09 | Bretagne Atel Chantiers | Dispositif pour le transfert de personnel entre une structure fixe ou mobile et une structure soumise a des mouvements de pilonnement |
GB2150903B (en) * | 1983-12-07 | 1988-03-02 | Per Berger | Method and assembly for launching or retrieving a lifeboat |
US4953488A (en) * | 1988-10-25 | 1990-09-04 | Heinrich Heidtmann | Boat carrousel |
IT1251567B (it) * | 1991-09-10 | 1995-05-17 | Riva Calzoni Spa | Apparecchiatura per la presa, il bloccaggio e la movimentazione di veicoli subacquei e simili. |
US5281077A (en) * | 1993-03-23 | 1994-01-25 | Phillips Gary C | Portable watercraft lift |
JPH07277671A (ja) | 1994-04-08 | 1995-10-24 | Yamaha Motor Co Ltd | 搬送装置 |
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IT1316771B1 (it) * | 2000-02-18 | 2003-05-12 | Calzoni Spa | Apparecchiatura a propulsione autonoma per la presa,il bloccaggio e la movimentazione di veicoli subacquei e simili |
ITAR20000013A1 (it) * | 2000-03-16 | 2001-09-16 | Anton Massimo Galluccio | Macchina sollevatrice per il trasporto simultaneo in acqua e all'asciutto di una pluralita' di natanti. |
FI109463B (sv) * | 2000-04-05 | 2002-08-15 | Asce Ab Ltd | Flytbart arrangemang och förfaranden vid detsamma |
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JP4541678B2 (ja) | 2003-10-10 | 2010-09-08 | 株式会社関ヶ原製作所 | 搭載艇揚降装置 |
US20050089375A1 (en) * | 2003-10-28 | 2005-04-28 | Fox Robert J. | Boat cover |
MX2008011160A (es) * | 2006-03-02 | 2008-11-12 | Maff Stack Llc | Sistema de almacenamiento de embarcacion individual de gran escala. |
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NO332377B1 (no) * | 2008-04-30 | 2012-09-10 | Beerenberg Corp As | Anordning, enhet og fremgangsmate for kutting av rordeler under vann |
US9080425B2 (en) * | 2008-10-17 | 2015-07-14 | Foro Energy, Inc. | High power laser photo-conversion assemblies, apparatuses and methods of use |
WO2010147518A1 (fr) * | 2009-06-15 | 2010-12-23 | Safe At Sea Aktiebolag | Dispositif élévateur d'embarcation léger |
SE534598C2 (sv) * | 2010-02-24 | 2011-10-18 | Cargotec Sweden Ab | Containerlyftok med absolut positionering av låssprintar |
EP2752361B1 (fr) * | 2013-01-04 | 2016-04-20 | Hallcon b.v. | Système de levage et ensemble de loquet de connecteur correspondant |
US20150129529A1 (en) * | 2013-11-13 | 2015-05-14 | Lee David Screaton | Marine lifting apparatus |
-
2012
- 2012-02-03 FR FR1200320A patent/FR2986498B1/fr not_active Expired - Fee Related
-
2013
- 2013-01-28 WO PCT/EP2013/051535 patent/WO2013113644A1/fr active Application Filing
- 2013-01-28 CA CA2863562A patent/CA2863562C/fr active Active
- 2013-01-28 JP JP2014555161A patent/JP6134741B2/ja active Active
- 2013-01-28 SG SG11201404563WA patent/SG11201404563WA/en unknown
- 2013-01-28 US US14/376,529 patent/US9969599B2/en not_active Expired - Fee Related
- 2013-01-28 EP EP13702954.2A patent/EP2809571B1/fr active Active
-
2014
- 2014-08-01 IN IN6487DEN2014 patent/IN2014DN06487A/en unknown
Non-Patent Citations (1)
Title |
---|
See references of WO2013113644A1 * |
Also Published As
Publication number | Publication date |
---|---|
US9969599B2 (en) | 2018-05-15 |
FR2986498B1 (fr) | 2014-02-14 |
CA2863562A1 (fr) | 2013-08-08 |
JP2015510470A (ja) | 2015-04-09 |
JP6134741B2 (ja) | 2017-05-24 |
SG11201404563WA (en) | 2014-10-30 |
US20140377004A1 (en) | 2014-12-25 |
WO2013113644A1 (fr) | 2013-08-08 |
CA2863562C (fr) | 2019-10-29 |
FR2986498A1 (fr) | 2013-08-09 |
IN2014DN06487A (fr) | 2015-06-12 |
EP2809571B1 (fr) | 2016-03-23 |
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