EP3197768A1 - Marine or submarine craft and associated mooring method - Google Patents

Marine or submarine craft and associated mooring method

Info

Publication number
EP3197768A1
EP3197768A1 EP15780925.2A EP15780925A EP3197768A1 EP 3197768 A1 EP3197768 A1 EP 3197768A1 EP 15780925 A EP15780925 A EP 15780925A EP 3197768 A1 EP3197768 A1 EP 3197768A1
Authority
EP
European Patent Office
Prior art keywords
machine
cable
marine
locking ring
clamp
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.)
Withdrawn
Application number
EP15780925.2A
Other languages
German (de)
French (fr)
Inventor
Joël Deroche
Eric Frejaville
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eca Robotics SAS
Original Assignee
Eca Robotics SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eca Robotics SAS filed Critical Eca Robotics SAS
Publication of EP3197768A1 publication Critical patent/EP3197768A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the present invention relates to the field of submarine or marine gear, and in particular a device for securing such a machine.
  • a particularly interesting application of the invention relates to the recovery of a submersible machine by a traction cable, in order to be brought back to the surface of the water, then then, for example, on the deck of a ship, either directly, either via a mobile receiving part.
  • the invention also relates to the recovery of a submersible vehicle by a traction cable to be recovered, for example, by a submarine.
  • An autonomous submersible vehicle called “AUV” (Autonomous Underwater Vehicle in English term)
  • UAV Autonomous Underwater Vehicle in English term
  • the movable part generally called “cone”
  • Cone is attached to the end of a crane and comprises a frame defining a housing inside which the machine can enter to be recovered.
  • it is necessary to properly align the machine with the receiving cone so that it can be properly recovered in the recovery device.
  • Such devices are not suitable in case of rough seas due to movements of the recovery means generated by the swell and which would prevent the submersible machine from being recovered properly without being damaged.
  • the object of the present invention is to overcome the disadvantages of the state of the art.
  • the object of the invention is to provide a submersible machine comprising its own docking means in a marine environment in order to be recovered autonomously without human intervention.
  • the marine machine comprises means for effectively hanging in immersion with a recovery cable, which may be a towing cable, in order to limit the influence of the vertical movements due to the swell.
  • the invention relates to a marine or underwater vehicle intended to be secured to a recovery cable, a first end of which is intended to be connected to a recovery device and a second end is intended to be attached to said machine and is provided with of an olive.
  • the machine comprises non-contact detection means of the recovery cable capable of detecting the cable and guiding the machine towards the cable and cable hooking means located on the machine.
  • the marine or underwater vehicle is guided by its own detection means to a tow rope that can be weighted, the cable is then effectively locked to the machine through hooking means located on the machine .
  • the hooking means of the recovery cable comprise at least one locking ring located in a housing on the marine or underwater vehicle and at least one clamp movable in rotation between a closed engagement position in which the clamp cooperates with the locking ring to leave a space for the passage of the cable between the clamp and the outer surface of the machine and an open position deviating from the outer surface of the machine.
  • the locking ring has an opening closed by an articulated lug for the passage of the recovery cable to the inside of the locking ring in a single direction.
  • At least one sling is attached to the machine and is connected to the locking ring.
  • Said ring is able to dislodge its housing on the machine when the olive comes into abutment against the locking ring.
  • the machine is hooked to the recovery cable by means of a sling attached to the machine and can be hoisted out of the water.
  • sling any type of cable that can be hooked on the marine gear and connected to the associated locking ring to allow traction of the machine from this ring.
  • an end of said sling attached to the machine is aligned vertically with the center of gravity of said machine.
  • This arrangement makes it possible to obtain the hoisting of the machine out of the water in a horizontal position. This is particularly advantageous insofar as the removal of the machine on the surface naval vehicle is facilitated compared to hoisting the machine in a vertical position.
  • the risk of rocking of the machine when it is hoisted is limited, which makes it possible to avoid shocks with the naval surface vehicle during this step.
  • said sling is attached to the outer surface of the machine.
  • Said sling can be fixed on a halyard mounted on the machine, in particular on the outer surface of the machine.
  • the clamp comprises a base connected to the machine by a pivot mechanism and an outwardly projecting portion.
  • the end of the projecting portion may have a notch of rounded shape, in shape with the outer surface of the associated locking ring.
  • the locking ring is located at one end of the machine, but may also be located on the outer surface of the body of the machine, for example on one of the lateral sides.
  • the locking ring may be, for example, located on the clamp at the angle between the base and the projecting portion.
  • the clip includes a sensing portion by cable contact.
  • the marine or underwater vehicle comprises an electronic control unit capable of directing the machine towards the traction cable according to the non-contact detection means, to control the position of the clamp according to the data provided by the detection portion by contact, and open the clamp once the cable trapped in the locking ring.
  • the marine or underwater vehicle comprises one or more forceps judiciously located on the machine, two locking rings and two slings fixed on the machine and each connected to one of said.
  • the machine is, for example, autonomous and includes internal propulsion means.
  • the contactless detection means comprise at least one sensor which can be acoustic (for example a sonar), laser or video.
  • the invention relates to a method for attaching a marine machine as described above to a recovery cable whose first end is intended to be connected to a recovery device and a second end is intended to be hooked to said machine and is provided with an olive, in which the cable is detected, the marine gear is guided towards the cable by the uncontact detection means, and the clamp is actuated in an open position deviating from the surface external of the machine when the cable is detected, the clamp is actuated in a closed engagement position in which the clamp cooperates with the locking ring located in a housing on the machine, to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear; and a relative movement of the machine relative to the cable is made so as to direct the cable towards the locking ring.
  • the clamp is actuated in a closed hooking position when the cable is detected by contact detection means located on the clamp.
  • FIG. 1 is a general view of a marine machine, according to a first embodiment of the invention, recovered by a traction cable;
  • FIG. 1a is a detailed view of the front of the marine machine of FIG. 1;
  • FIG. 2 is a general view of the marine machine of FIG. 1 with a view to being recovered by the traction cable;
  • FIG. 3 show the front part of the marine machine of Figure 1 illustrating different positions of the attachment means
  • FIG. 5 illustrates a marine machine, according to a second embodiment of the invention, recovered by a traction cable.
  • a marine or submarine device As illustrated in FIGS. 1 and 2, a marine or submarine device, referenced 1 as a whole, is intended to be mounted, using a hoisting or traction or recovery cable 2, on a boat or a naval surface vehicle (not shown) or simply on the surface of the water if the craft is in a submerged position.
  • the lifting cable 2 comprises a first end 2a connected to a recovery device such as, for example, a hoisting winch (not shown) fixed, for example, on a gantry of the surface vehicle and a second free end 2b intended to to be hooked by the machine 1.
  • a recovery device such as, for example, a hoisting winch (not shown) fixed, for example, on a gantry of the surface vehicle and a second free end 2b intended to to be hooked by the machine 1.
  • the hoist winch can be equipped with a motorized winding drum by a hydraulic geared motor (not shown).
  • the vehicle 1 may, for example, be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection.
  • the underwater vehicle 1 extends along a longitudinal axis and comprises a main body 3 of generally cylindrical shape.
  • the body 3 is provided with a stabilizer 4 fixed to a rear end 3a and provided to ensure the stability of the displacement of the vehicle 1, and longitudinal thrusters 5 fixed on one side and the other of the body 3 forward
  • the vehicle 1 also comprises a front portion 3b which may, for example, comprise a camera (not shown) for observing the seabed.
  • the vehicle 1 is thus autonomous and includes its own means of internal propulsion.
  • the machine 1 illustrated in Figure 1 is attached to one end 2b of the traction cable 2, the other end 2a is intended to be connected to a recovery device (not shown).
  • the second end 2b is weighted by a ballast 6 and is equipped with an olive 7.
  • the olive 7 is intended to cooperate with attachment means 10 attached to the marine machine 1.
  • the olive 7 is crimped onto the traction cable 2.
  • FIG. 2 illustrates the machine 1 ready to dock at the weighted end 2b of the traction cable 2.
  • a float (not shown) could be hooked to the traction cable, in order to ensure the verticality of the cable, particularly in the context of the recovery of the craft by a submarine.
  • the front part 3b of the machine 1, illustrated in detail in FIGS. 3 to 4, comprises non-contact detection means 8 of the traction cable 2, such as a sonar, capable of guiding the machine 1 towards the cable traction 2 and the attachment means 10 of the cable 2 located at a front end 3b of the machine 1.
  • non-contact detection means 8 of the traction cable 2 such as a sonar
  • the attachment means 10 comprise two clamps 11a, 11b and a set of two locking means 12a, 12b located at the end of the front portion 3b of the machine 1, visible in detail in Figure la.
  • the locking means 12a, 12b are each in the form of a ring having an opening 13a, 13b closed by a lug 14a, 14b articulated carabiner type. The articulation of this lug 14a, 14b on the front portion 3b of the machine 1 will not be further described.
  • the lug 14a, 14b extends into the opening 13a, 13b associated. Note that this lug allows the passage of the traction cable 2 inside the locking ring 12a, 12b in one direction.
  • Each locking ring 12a, 12b is mounted in a housing (not referenced) formed at the front end of the machine and retained in position in this housing by a ball screw mechanism (not shown). As will be described in more detail later, the locking rings 12a, 12b are mounted on the machine removably.
  • the set of locking rings 12a, 12b is positioned so that their opening is directed towards the lateral sides of the machine forms a hook having the general shape of a double hook.
  • a single locking ring could be provided, forming a single hook.
  • Each clamp 11a, 11b comprises a base 15a, 15b connected to a pivoting mechanism (not shown), comprising for example a set of cylinders, and a protruding portion 16a, 16b to the outside, of generally parallelepipedal shape.
  • the front portion 3b of the machine 1 comprises grooves 3c in which are housed the bases 15a, 15b of the clamps 11a, 11b in the latching position visible in FIGS. 3 and 4.
  • the closed latching position corresponds in particular to at a transit position.
  • each projecting portion 16a, 16b has, at one end, a notch of rounded shape, in shape with the outer surface of the associated locking ring 12a, 12b.
  • the end of each projecting portion 16a, 16b is in contact with the associated locking ring 12a, 12b.
  • the contact between the tongs 11a, 11b is thus avoided when they are in the closed position of attachment.
  • the tongs 11a, 11b make it possible to guarantee that the locking rings 12a, 12b are held within their respective housings formed on the body of the machine.
  • the arrangement of the tongs 11a, 11b in the housings 3c made for this purpose in the body 3 of the machine 1 make it possible to prevent the clamps 11a, 11b from clinging to elements during the transit of the machine 1.
  • Each base 15a, 15b comprises a detection portion 17a, 17b by contact of the traction cable 2.
  • the clamps 11a, 11b are movable in rotation between a closed engagement position, visible in FIGS. 3 and 4, in which each clamp 11a, 11b cooperates with a locking ring 12a, 12b so as to leave a space E for the passage of the cable 2 between each clamp 11a, 11b and the outer surface 3d of the machine 1, and an open position, visible in Figures 1 and 2, away from the outer surface 3d of the machine 1.
  • a single clamp 11a could be used to be used.
  • the attachment means 10 further comprise two slings 18a, 18b each comprising a first end fixed to one of the locking rings 12a, 12b as is visibly illustrated in Figure la, and a second end attached to a hand or platinum of hoist 19 mounted on the upper outer surface of the body 3a of the marine machine.
  • the hoist plate 19 comprises a hoisting ring 20 on which is fixed the second end of each sling 18a, 18b.
  • the halyard plate 19 is fixed on the body 3a of the machine so that the second end of each sling 18a, 18b is aligned vertically with the center of gravity of the machine . In the position illustrated in Figure 2, the slings 18a, 18b extend along the outer surface of the body 3a of the machine.
  • the invention is not limited to the use of two clamps, two locking rings and two slings. Indeed, one could foresee the use of a single clamp, a single locking ring and a single sling. One could also provide for the use of two hoisting plates each connected to one of the locking rings by a sling.
  • the machine 1 further comprises an electronic control unit (not shown) capable of directing the machine 1 towards the traction cable 2 according to the non-contact detection means 8, to control the position of the clamps 11a, 11b in function data provided by the contact detection portion 17a, 17b.
  • an electronic control unit capable of directing the machine 1 towards the traction cable 2 according to the non-contact detection means 8, to control the position of the clamps 11a, 11b in function data provided by the contact detection portion 17a, 17b.
  • the clipping means 10 are located elsewhere than the front 3b of the machine 1, in fact, it could provide a hooking of the traction cable 2 for example by the above or the side of the machine 1.
  • the attachment method of the machine 1 to a traction cable 2 is as follows:
  • the machine 1 is guided towards the traction cable 2 by contactless detection means 8, for example of the sonar type.
  • the propulsion means (not shown) of the machine 1 are stopped. so that the traction cable 2 slides towards the front of the vehicle 1, and slides through the lug 14a, 14b inside one of the locking rings 12a, 12b, located at the front of the vehicle. the machine 1, until the olive 7 comes into abutment against the locking ring 12a, 12b in which is the cable 2, visible in Figure 4.
  • the olive 7 is located under the ring 12a, 12b and abuts against a lower surface of said ring.
  • the lug of the locking ring prevents the cable 2 from going back and thus allows effective locking of the traction cable 2 by the vehicle 1.
  • the vehicle 1 can thus be effectively towed from the front by the vehicle naval surface.
  • the action enabling the cable to fit into one of the locking rings is not limited to stopping the propulsion means of the machine. Indeed, any action allowing a relative movement of the machine backwards can be used to direct the cable towards the front of the machine.
  • the cable 2 is trapped inside one of the locking rings 12a, 12b and it is desired to proceed with the extraction of the machine out of the water, it actuates the opening of the tongs 11a, 11b.
  • the locking rings are then no longer blocked by the clamps in this open position.
  • a force or traction exerted by the cable 2 allows said cable and the olive 7 to dislodge the locking ring 12a, 12b from its housing at the front of the body 3 of the machine, so that in the final hooking position, the marine gear 1 is connected to the hoisting rope 2 only by the halyard plate 19 and the sling 18b associated with the ring.
  • the force exerted by the traction cable 2 on the locking ring 12a, 12b thus makes it possible to release said ring from its associated housing and to separate it from the body 3 of the machine.
  • the machine 1 can be moved back relative to the cable 2 to then allow the ballast 6 to pass over the vehicle when 'it is hoisted to the surface of the water and extracted from the water in a substantially vertical direction. Before this last step of hoisting and extraction of water, it is possible to actuate the closure of the tongs 11a, 1b.
  • the halyard plate 19 is fixed on the body 3a of the machine so that the end of the sling to which the machine is hooked is aligned vertically with the center of gravity of said machine.
  • the machine is in a horizontal position, which has the dual advantage of limiting the risk of swaying and collisions with the surface naval vehicle, and to facilitate the removal of the vehicle on this vehicle.
  • FIG. 5 differs from the embodiment illustrated in FIGS. 1 to 4 by the position of the housing of the locking means / rings 12a, 12b.
  • the housings 20a, 20b are formed on the clamps 11a, 11b.
  • the locking rings 12a, 12b are housed respectively in a housing 20a, 20b situated at the angle formed between the base 1 5a, 15b and the projecting portion 16a, 16b of each clamp lia, 1b.
  • the method of attaching the machine 1 to a traction cable 2 differs from the method previously described only in that when the traction cable 2 is in the space E between one of the clamps 11a, 1b and the outer surface 3c of the machine 1, the propulsion means (not shown) of the machine 1 are started, so that the traction cable 2 slides towards the rear of the machine 1, and slides through the lug 14a, 14b inside one of the locking rings 12a, 12b, located on the sides of the machine 1, until the olive 7 abuts the ring lock 12a, 12b in which is the cable 2.
  • the lug of the locking ring prevents the cable 2 from going back and thus allows effective locking of the traction cable 2 by the machine 1. The machine 1 can thus be towed efficiently by the front of the machine 1.
  • the action enabling the cable to fit into one of the locking rings is not limited to starting the propulsion means of the machine. Indeed, any action allowing a relative movement of the machine forward can be used to direct the cable towards the rear of the machine.
  • the slings are fixed to the machine by a hand or platinum hoist.
  • the marine or underwater vehicle is capable of securing autonomously to a traction cable by effective hooking means providing multiple advantages, such as the possible recovery of the machine from any structure, fixed or mobile, aerial or submerged, with a cable weighted.
  • the possible recovery of the machine in immersion makes it possible to overcome the influence of the swell.
  • such a coupling device can be easily adapted to existing systems, for example by using a cable equipped with an end ballast and also requires no human intervention at sea.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

A marine or submarine craft intended to be secured to a recovery cable by one end (2b) provided with a cuff (7), comprising means (8) for the contact-free detection of the cable (2) capable of guiding the craft (1) towards the cable (2) and means (7) for gripping the cable (2) comprising at least one locking ring (12a, 12b) located on the marine craft (1) and having an opening (13a, 13b) for the passage of the cable closed by a snap hook and at least one clamp (lla, llb) mobile in rotation between a closed gripping position in which the clamp (lla, llb) cooperates with a locking ring (12a, 12b) in order to leave a space (E) for the passage of the cable (2) and an open position moving away from the outer surface (3d) of the craft (1). At least one sling (18a, 18b) is attached to the craft and is linked to the locking ring (12a, 12b). The locking ring is capable of dislodging from the housing of same on the craft (1) when the cuff (7) comes into abutment against the locking ring (12a, 12b).

Description

Engin marin ou sous-marin et procédé d'arrimage associé  Marine or submarine engine and associated method of securing
La présente invention concerne le domaine des engins sous - marins ou marins, et en particulier un dispositif d ' arrimage d 'un tel engin. The present invention relates to the field of submarine or marine gear, and in particular a device for securing such a machine.
Une application particulièrement intéressante de l ' invention concerne la récupération d'un engin submersible par un câble de traction, afin d ' être ramené à la surface de l ' eau, puis ensuite, par exemple, sur le pont d 'un navire, soit directement, soit par l 'intermédiaire d'une partie mobile de réception. L ' invention concerne aussi la récupération d'un engin submersible par un câble de traction afin d' être récupéré, par exemple, par un sous-marin.  A particularly interesting application of the invention relates to the recovery of a submersible machine by a traction cable, in order to be brought back to the surface of the water, then then, for example, on the deck of a ship, either directly, either via a mobile receiving part. The invention also relates to the recovery of a submersible vehicle by a traction cable to be recovered, for example, by a submarine.
Un engin submersible autonome, dit « AUV » (Autonomous Underwater Vehicle en terme anglo -saxon), est, en général, récupéré par des moyens de treuillage fixés sur un véhicule naval de surface et une partie mobile de réception de l ' engin. Plus particulièrement, la partie mobile, appelée généralement « cône » est fixée à l ' extrémité d'une grue et comprend un châssis définissant un logement à l 'intérieur duquel l ' engin peut pénétrer pour être récupéré . Toutefois, il est nécessaire d' aligner convenablement l ' engin avec le cône de réception afin que celui-ci puisse être récupéré convenablement dans l ' appareil de récupération . De tels dispositifs ne sont pas adaptés en cas de mer agitée, en raison de mouvements des moyens de récupération générés par la houle et qui empêcheraient l ' engin submersible d' être récupéré convenablement sans être endommagé.  An autonomous submersible vehicle, called "AUV" (Autonomous Underwater Vehicle in English term), is generally recovered by winching means fixed on a naval surface vehicle and a mobile receiving part of the vehicle. More particularly, the movable part, generally called "cone" is attached to the end of a crane and comprises a frame defining a housing inside which the machine can enter to be recovered. However, it is necessary to properly align the machine with the receiving cone so that it can be properly recovered in the recovery device. Such devices are not suitable in case of rough seas due to movements of the recovery means generated by the swell and which would prevent the submersible machine from being recovered properly without being damaged.
Le but de la présente invention est de pallier aux inconvénients de l ' état de la technique.  The object of the present invention is to overcome the disadvantages of the state of the art.
Le but de l'invention est de proposer un engin submersible comprenant ses propres moyens d' arrimage en milieu marin afin d' être récupéré de façon autonome sans intervention humaine. Pour cela, l ' engin marin comprend des moyens pour s ' accrocher en immersion de façon efficace à un câble de récupération, qui peut être un câble de traction, afin de limiter l 'influence des mouvements verticaux dus à la houle. L'invention a pour objet un engin marin ou sous-marin destiné à être arrimé à un câble de récupération dont une première extrémité est destinée à être reliée à un dispositif de récupération et une deuxième extrémité est destinée à être accrochée audit engin et est pourvue d'une olive. L'engin comprend des moyens de détection sans contact du câble de récupération capables de détecter le câble et de guider l'engin vers le câble et des moyens d'accrochage du câble situés sur l'engin. The object of the invention is to provide a submersible machine comprising its own docking means in a marine environment in order to be recovered autonomously without human intervention. For this purpose, the marine machine comprises means for effectively hanging in immersion with a recovery cable, which may be a towing cable, in order to limit the influence of the vertical movements due to the swell. The invention relates to a marine or underwater vehicle intended to be secured to a recovery cable, a first end of which is intended to be connected to a recovery device and a second end is intended to be attached to said machine and is provided with of an olive. The machine comprises non-contact detection means of the recovery cable capable of detecting the cable and guiding the machine towards the cable and cable hooking means located on the machine.
Ainsi, l'engin marin ou sous-marin est guidé par ses propres moyens de détection vers un câble de traction qui peut être lesté, le câble est ensuite verrouillé efficacement à l'engin grâce à des moyens d'accrochage situés sur l'engin.  Thus, the marine or underwater vehicle is guided by its own detection means to a tow rope that can be weighted, the cable is then effectively locked to the machine through hooking means located on the machine .
Les moyens d'accrochage du câble de récupération comprennent au moins un anneau de verrouillage situé dans un logement sur l'engin marin ou sous-marin et au moins une pince mobile en rotation entre une position fermée d'accrochage dans laquelle la pince coopère avec l'anneau de verrouillage afin de laisser subsister un espace pour le passage du câble entre la pince et la surface extérieure de l'engin et une position ouverte s'écartant de la surface extérieure de l'engin. L'anneau de verrouillage présente une ouverture fermée par un ergot articulé pour le passage du câble de récupération vers l'intérieur de l'anneau de verrouillage dans un unique sens.  The hooking means of the recovery cable comprise at least one locking ring located in a housing on the marine or underwater vehicle and at least one clamp movable in rotation between a closed engagement position in which the clamp cooperates with the locking ring to leave a space for the passage of the cable between the clamp and the outer surface of the machine and an open position deviating from the outer surface of the machine. The locking ring has an opening closed by an articulated lug for the passage of the recovery cable to the inside of the locking ring in a single direction.
Au moins une élingue est fixée sur l'engin et est reliée à l'anneau de verrouillage. Ledit anneau est capable de se déloger de son logement sur l'engin lorsque l'olive arrive en butée contre l'anneau de verrouillage. Ainsi, l'engin se trouve accroché au câble de récupération par l'intermédiaire d'une élingue fixée sur l'engin et peut ainsi être hissé hors de l'eau.  At least one sling is attached to the machine and is connected to the locking ring. Said ring is able to dislodge its housing on the machine when the olive comes into abutment against the locking ring. Thus, the machine is hooked to the recovery cable by means of a sling attached to the machine and can be hoisted out of the water.
On entend par « élingue », tout type de câble pouvant être accroché sur l'engin marin et relié à l'anneau de verrouillage associé pour permettre une traction de l'engin à partir de cet anneau. De préférence, une extrémité de ladite élingue fixée sur l'engin est alignée verticalement avec le centre de gravité dudit engin. Cette disposition permet d'obtenir le hissage de l'engin hors de l'eau dans une position horizontale. Ceci est particulièrement avantageux dans la mesure où la dépose de l'engin sur le véhicule naval de surface est facilitée par rapport à un hissage de l'engin dans une position verticale. En outre, avec une telle disposition de l'extrémité de l'élingue par rapport au centre de gravité de l'engin, le risque de balancement de l'engin lors de son hissage est limité, ce qui permet d'éviter les chocs avec le véhicule naval de surface lors de cette étape. The term "sling", any type of cable that can be hooked on the marine gear and connected to the associated locking ring to allow traction of the machine from this ring. Preferably, an end of said sling attached to the machine is aligned vertically with the center of gravity of said machine. This arrangement makes it possible to obtain the hoisting of the machine out of the water in a horizontal position. This is particularly advantageous insofar as the removal of the machine on the surface naval vehicle is facilitated compared to hoisting the machine in a vertical position. In addition, with such an arrangement of the end of the sling relative to the center of gravity of the machine, the risk of rocking of the machine when it is hoisted is limited, which makes it possible to avoid shocks with the naval surface vehicle during this step.
Dans un mode de réalisation, ladite élingue est fixée sur la surface extérieure de l'engin. Ladite élingue peut être fixée sur une platine de hissage montée sur l'engin, notamment sur la surface extérieure de l'engin.  In one embodiment, said sling is attached to the outer surface of the machine. Said sling can be fixed on a halyard mounted on the machine, in particular on the outer surface of the machine.
Avantageusement, la pince comprend une embase reliée à l'engin par un mécanisme à pivot et une partie en saillie vers l'extérieur.  Advantageously, the clamp comprises a base connected to the machine by a pivot mechanism and an outwardly projecting portion.
L'extrémité de la partie en saillie peut présenter une échancrure de forme arrondie, en concordance de forme avec la surface extérieure de l'anneau de verrouillage associé.  The end of the projecting portion may have a notch of rounded shape, in shape with the outer surface of the associated locking ring.
Avantageusement, l'anneau de verrouillage est situé à une extrémité de l'engin, mais peut également être situé sur la surface extérieure du corps de l'engin, par exemple sur un des côtés latéraux.  Advantageously, the locking ring is located at one end of the machine, but may also be located on the outer surface of the body of the machine, for example on one of the lateral sides.
L'anneau de verrouillage peut être, par exemple, situé sur la pince à l'angle entre l'embase et la partie en saillie.  The locking ring may be, for example, located on the clamp at the angle between the base and the projecting portion.
La pince comprend une portion de détection par contact du câble.  The clip includes a sensing portion by cable contact.
Avantageusement, l'engin marin ou sous-marin comprend une unité de commande électronique capable de diriger l'engin vers le câble de traction en fonction des moyens de détection sans contact, de commander la position de la pince en fonction des données fournies par la portion de détection par contact, et d'ouvrir la pince une fois le câble emprisonné dans l'anneau de verrouillage. Dans un mode de réalisation, l'engin marin ou sous-marin comprend une ou plusieurs pinces judicieusement situées sur l'engin, deux anneaux de verrouillage et deux élingues fixées sur l'engin et reliées chacune à un desdits. Advantageously, the marine or underwater vehicle comprises an electronic control unit capable of directing the machine towards the traction cable according to the non-contact detection means, to control the position of the clamp according to the data provided by the detection portion by contact, and open the clamp once the cable trapped in the locking ring. In one embodiment, the marine or underwater vehicle comprises one or more forceps judiciously located on the machine, two locking rings and two slings fixed on the machine and each connected to one of said.
L'engin est, par exemple, autonome et comprend des moyens de propulsion interne.  The machine is, for example, autonomous and includes internal propulsion means.
Avantageusement, les moyens de détection sans contact comprennent au moins un capteur qui peut être acoustique (par exemple un sonar), laser ou vidéo.  Advantageously, the contactless detection means comprise at least one sensor which can be acoustic (for example a sonar), laser or video.
Selon un autre aspect, l'invention concerne un procédé d'accrochage d'un engin marin tel que décrit précédemment à un câble de récupération dont une première extrémité est destinée à être reliée à un dispositif de récupération et une deuxième extrémité est destinée à être accrochée audit engin et est pourvue d'une olive, dans lequel on détecte le câble, on guide l'engin marin vers le câble par les moyens de détection sans contacte, et on actionne la pince dans une position ouverte s'écartant de la surface extérieure de l'engin lorsque le câble est détecté, on actionne la pince dans une position fermée d'accrochage dans laquelle la pince coopère avec l'anneau de verrouillage situé dans un logement sur l'engin, afin de laisser subsister un espace pour le passage du câble entre la pince et la surface extérieure de l'engin marin ; et on effectue un déplacement relatif de l'engin par rapport au câble de manière à diriger le câble vers l'anneau de verrouillage.  According to another aspect, the invention relates to a method for attaching a marine machine as described above to a recovery cable whose first end is intended to be connected to a recovery device and a second end is intended to be hooked to said machine and is provided with an olive, in which the cable is detected, the marine gear is guided towards the cable by the uncontact detection means, and the clamp is actuated in an open position deviating from the surface external of the machine when the cable is detected, the clamp is actuated in a closed engagement position in which the clamp cooperates with the locking ring located in a housing on the machine, to leave a space for the passage of the cable between the clamp and the outer surface of the marine gear; and a relative movement of the machine relative to the cable is made so as to direct the cable towards the locking ring.
Avantageusement, la pince est actionnée dans une position fermée d'accrochage lorsque le câble est détecté par des moyens de détection par contact situés sur la pince.  Advantageously, the clamp is actuated in a closed hooking position when the cable is detected by contact detection means located on the clamp.
En outre, lorsque le câble se trouve dans l'anneau de verrouillage, on actionne l'ouverture de la pince. L'anneau de verrouillage est ainsi délogé de son logement par la force de l'olive venant en butée contre l'anneau de verrouillage. L'engin se trouve donc suspendu au câble par une élingue reliée à l'anneau de verrouillage et fixée sur l'engin. D'autres buts, caractéristiques et avantages de l'invention apparaîtront à la lecture de la description suivante, donnée uniquement à titre d'exemple non limitatif, et faite en référence aux dessins annexés sur lesquels : In addition, when the cable is in the locking ring, it actuates the opening of the clamp. The locking ring is thus dislodged from its housing by the force of the olive abutting against the locking ring. The machine is thus suspended from the cable by a sling connected to the locking ring and fixed on the machine. Other objects, features and advantages of the invention will appear on reading the following description, given solely by way of nonlimiting example, and with reference to the appended drawings in which:
- la figure 1 est une vue générale d'un engin marin, selon un premier mode de réalisation de l'invention, récupéré par un câble de traction ;  - Figure 1 is a general view of a marine machine, according to a first embodiment of the invention, recovered by a traction cable;
- la figure la est une vue de détail de l'avant de l'engin marin de la figure 1 ;  FIG. 1a is a detailed view of the front of the marine machine of FIG. 1;
- la figure 2 est une vue générale de l'engin marin de la figure 1 en vue d'être récupéré par le câble de traction ;  FIG. 2 is a general view of the marine machine of FIG. 1 with a view to being recovered by the traction cable;
- les figures 3, 4 représentent la partie avant de l'engin marin de la figure 1 illustrant différentes positions des moyens d'accrochage ;  - Figures 3, 4 show the front part of the marine machine of Figure 1 illustrating different positions of the attachment means;
- la figure 5 illustre un engin marin, selon un deuxième mode de réalisation de l'invention, récupéré par un câble de traction.  - Figure 5 illustrates a marine machine, according to a second embodiment of the invention, recovered by a traction cable.
Tel qu'il est illustré sur les figures 1 et 2, un engin marin ou sous-marin, référencé 1 dans son ensemble, est destiné à être monté, à l'aide d'un câble de levage ou traction ou récupération 2, sur une embarcation ou un véhicule naval de surface (non représentés) ou simplement à la surface de l'eau si l'engin se trouve dans une position immergée.  As illustrated in FIGS. 1 and 2, a marine or submarine device, referenced 1 as a whole, is intended to be mounted, using a hoisting or traction or recovery cable 2, on a boat or a naval surface vehicle (not shown) or simply on the surface of the water if the craft is in a submerged position.
Le câble de levage 2 comprend une première extrémité 2a reliée à un dispositif de récupération tel que, par exemple, un treuil de levage (non représenté) fixé, par exemple, sur un portique du véhicule de surface et une deuxième extrémité libre 2b destinée à être accrochée par l'engin 1. A titre d'exemple non limitatif, le treuil de levage peut être équipé d'un tambour d'enroulement motorisé par un motoréducteur hydraulique (non représentés).  The lifting cable 2 comprises a first end 2a connected to a recovery device such as, for example, a hoisting winch (not shown) fixed, for example, on a gantry of the surface vehicle and a second free end 2b intended to to be hooked by the machine 1. As a non-limiting example, the hoist winch can be equipped with a motorized winding drum by a hydraulic geared motor (not shown).
On notera que l'invention ne se limite pas à l'utilisation d'un tel portique afin de récupérer l'engin marin. Tout autre moyen de récupération d'un engin marin par le biais d'un câble de traction peut être utilisé, notamment la récupération de l'engin par un sous-marin. L'engin 1 peut, par exemple, être un véhicule sous-marin submersible ou flottant et conçu, par exemple, pour réaliser une surveillance et/ou une inspection sous-marine. L'engin sous-marin 1 s'étend selon un axe longitudinal et comprend un corps principal 3 de forme générale cylindrique. Le corps 3 est pourvu d'un empennage 4 fixé à une extrémité arrière 3a et prévu pour assurer la stabilité du déplacement de l'engin 1, et de propulseurs longitudinaux 5 fixés d'un côté et de l'autre du corps 3 en avant de l'empennage 4. L'engin 1 comprend également une partie avant 3b pouvant, par exemple, comprendre une caméra (non représentée) pour l'observation des fonds sous-marins. L'engin 1 est ainsi autonome et comprend ses propres moyens de propulsion interne. Note that the invention is not limited to the use of such a gantry to recover the marine gear. Any other means of recovering a marine gear by means of a traction cable may be used, in particular the recovery of the craft by a submarine. The vehicle 1 may, for example, be a submersible or floating underwater vehicle and designed, for example, to perform surveillance and / or underwater inspection. The underwater vehicle 1 extends along a longitudinal axis and comprises a main body 3 of generally cylindrical shape. The body 3 is provided with a stabilizer 4 fixed to a rear end 3a and provided to ensure the stability of the displacement of the vehicle 1, and longitudinal thrusters 5 fixed on one side and the other of the body 3 forward The vehicle 1 also comprises a front portion 3b which may, for example, comprise a camera (not shown) for observing the seabed. The vehicle 1 is thus autonomous and includes its own means of internal propulsion.
L'engin 1 illustré à la figure 1 est accroché à une extrémité 2b du câble de traction 2, dont l'autre extrémité 2a est destinée à être reliée à un dispositif de récupération (non représenté). La deuxième extrémité 2b est lestée par un lest 6 et est équipée d'une olive 7. On entend par « olive », toute pièce fixée sur le câble de traction 2 et formant saillie par rapport audit câble. L'olive 7 est destinée à coopérer avec des moyens d'accrochage 10 fixés sur l'engin marin 1. L'olive 7 est sertie sur le câble de traction 2.  The machine 1 illustrated in Figure 1 is attached to one end 2b of the traction cable 2, the other end 2a is intended to be connected to a recovery device (not shown). The second end 2b is weighted by a ballast 6 and is equipped with an olive 7. The term "olive", any piece attached to the pulling cable 2 and protruding from said cable. The olive 7 is intended to cooperate with attachment means 10 attached to the marine machine 1. The olive 7 is crimped onto the traction cable 2.
La figure 2 illustre l'engin 1 prêt à s'arrimer à l'extrémité lestée 2b du câble de traction 2. On pourrait, en variante, accrocher un flotteur (non représenté) au câble de traction, afin d'assurer la verticalité du câble, notamment dans le cadre de la récupération de l'engin par un sous-marin.  FIG. 2 illustrates the machine 1 ready to dock at the weighted end 2b of the traction cable 2. Alternatively, a float (not shown) could be hooked to the traction cable, in order to ensure the verticality of the cable, particularly in the context of the recovery of the craft by a submarine.
La partie avant 3b de l'engin 1, illustrée en détails sur les figures 3 à 4, comprend des moyens de détection sans contact 8 du câble de traction 2, tel qu'un sonar, capable de guider l'engin 1 vers le câble de traction 2 et des moyens d'accrochage 10 du câble 2 situés à une extrémité avant 3b de l'engin 1.  The front part 3b of the machine 1, illustrated in detail in FIGS. 3 to 4, comprises non-contact detection means 8 of the traction cable 2, such as a sonar, capable of guiding the machine 1 towards the cable traction 2 and the attachment means 10 of the cable 2 located at a front end 3b of the machine 1.
Tels qu'illustrés, les moyens d'accrochage 10 comprennent deux pinces lia, 11b et un ensemble de deux moyens de verrouillage 12a, 12b situés à l'extrémité de la partie avant 3b de l'engin 1, visibles en détails sur la figure la. Les moyens de verrouillage 12a, 12b se présentent chacun sous la forme d'un anneau présentant une ouverture 13a, 13b fermée par un ergot 14a, 14b articulé de type mousqueton. L'articulation de cet ergot 14a, 14b sur la partie avant 3b de l'engin 1 ne sera pas davantage décrite. L'ergot 14a, 14b s'étend dans l'ouverture 13a, 13b associée. On notera que cet ergot ne permet le passage du câble de traction 2 à l'intérieur de l'anneau de verrouillage 12a, 12b que dans un sens. Chaque anneau de verrouillage 12a, 12b est monté dans un logement (non référencé) ménagé à l'extrémité avant de l'engin et retenu en position dans ce logement par un mécanisme de vis à billes (non représenté). Comme cela sera décrit plus en détail par la suite, les anneaux de verrouillage 12a, 12b sont montés sur l'engin de manière amovible. As illustrated, the attachment means 10 comprise two clamps 11a, 11b and a set of two locking means 12a, 12b located at the end of the front portion 3b of the machine 1, visible in detail in Figure la. The locking means 12a, 12b are each in the form of a ring having an opening 13a, 13b closed by a lug 14a, 14b articulated carabiner type. The articulation of this lug 14a, 14b on the front portion 3b of the machine 1 will not be further described. The lug 14a, 14b extends into the opening 13a, 13b associated. Note that this lug allows the passage of the traction cable 2 inside the locking ring 12a, 12b in one direction. Each locking ring 12a, 12b is mounted in a housing (not referenced) formed at the front end of the machine and retained in position in this housing by a ball screw mechanism (not shown). As will be described in more detail later, the locking rings 12a, 12b are mounted on the machine removably.
L'ensemble des anneaux de verrouillage 12a, 12b est positionné de manière à ce que leur ouverture soit dirigée vers les côtés latéraux de l'engin forme un crochet ayant la forme générale d'un hameçon double. On pourrait prévoir, à titre de variante, l'utilisation d'un seul anneau de verrouillage, formant un hameçon simple.  The set of locking rings 12a, 12b is positioned so that their opening is directed towards the lateral sides of the machine forms a hook having the general shape of a double hook. As an alternative, the use of a single locking ring could be provided, forming a single hook.
Chaque pince lia, 11b comprend une embase 15a, 15b reliée à un mécanisme de pivotement (non représenté), comportant par exemple un ensemble de vérins, et une partie en saillie 16a, 16b vers l'extérieur, de forme générale parallélépipédique . La partie avant 3b de l'engin 1 comporte des rainures 3c dans lesquelles viennent se loger les embases 15a, 15b des pinces lia, 11b en position fermée d'accrochage visible sur les figures 3 et 4. La position fermée d'accrochage correspond notamment à une position de transit.  Each clamp 11a, 11b comprises a base 15a, 15b connected to a pivoting mechanism (not shown), comprising for example a set of cylinders, and a protruding portion 16a, 16b to the outside, of generally parallelepipedal shape. The front portion 3b of the machine 1 comprises grooves 3c in which are housed the bases 15a, 15b of the clamps 11a, 11b in the latching position visible in FIGS. 3 and 4. The closed latching position corresponds in particular to at a transit position.
L'extrémité de chaque partie en saillie 16a, 16b présente, à une extrémité, une échancrure de forme arrondie, en concordance de forme avec la surface extérieure de l'anneau de verrouillage 12a, 12b associé. Ainsi, en position fermée d'accrochage, l'extrémité de chaque partie en saillie 16a, 16b est en contact avec l'anneau de verrouillage 12a, 12b associé. Le contact entre les pinces lia, 11b est ainsi évité lorsque celles-ci sont en position fermée d'accrochage. En outre, dans cette position fermée, les pinces lia, 11b permettent de garantir le maintien des anneaux de verrouillage 12a, 12b à l'intérieur de leurs logement respectifs formés sur le corps de l'engin. Le rangement des pinces lia, 11b dans les logements 3c pratiqués à cet effet dans le corps 3 de l'engin 1 permettent d'éviter au pinces lia, 11b de s'accrocher à des éléments lors du transit de l'engin 1. The end of each projecting portion 16a, 16b has, at one end, a notch of rounded shape, in shape with the outer surface of the associated locking ring 12a, 12b. Thus, in the closed latching position, the end of each projecting portion 16a, 16b is in contact with the associated locking ring 12a, 12b. The contact between the tongs 11a, 11b is thus avoided when they are in the closed position of attachment. In addition, in this closed position, the tongs 11a, 11b make it possible to guarantee that the locking rings 12a, 12b are held within their respective housings formed on the body of the machine. The arrangement of the tongs 11a, 11b in the housings 3c made for this purpose in the body 3 of the machine 1 make it possible to prevent the clamps 11a, 11b from clinging to elements during the transit of the machine 1.
Chaque embase 15a, 15b comporte une portion de détection 17a, 17b par contact du câble de traction 2.  Each base 15a, 15b comprises a detection portion 17a, 17b by contact of the traction cable 2.
Les pinces lia, 11b sont mobiles en rotation entre une position fermée d'accrochage, visible sur les figures 3 et 4, dans laquelle chaque pince lia, 11b coopère avec un anneau de verrouillage 12a, 12b afin de laisser subsister un espace E pour le passage du câble 2 entre chaque pince lia, 11b et la surface extérieure 3d de l'engin 1 , et une position ouverte, visible sur les figures 1 et 2, s'écartant de la surface extérieure 3d de l'engin 1. A titre de variante, on pourrait utiliser une unique pince lia.  The clamps 11a, 11b are movable in rotation between a closed engagement position, visible in FIGS. 3 and 4, in which each clamp 11a, 11b cooperates with a locking ring 12a, 12b so as to leave a space E for the passage of the cable 2 between each clamp 11a, 11b and the outer surface 3d of the machine 1, and an open position, visible in Figures 1 and 2, away from the outer surface 3d of the machine 1. alternatively, one could use a single clamp 11a.
Les moyens d'accrochage 10 comprennent en outre deux élingues 18a, 18b comprenant chacune une première extrémité fixée à un des anneaux de verrouillage 12a, 12b comme cela est illustré visiblement à la figure la, et une deuxième extrémité fixée à une main ou platine de hissage 19 montée sur la surface extérieure supérieure du corps 3a de l'engin marin. Plus précisément, la platine de hissage 19 comprend un anneau 20 de hissage sur lequel est fixée la deuxième extrémité de chaque élingue 18a, 18b. Comme cela sera décrit plus en détail par la suite, la platine de hissage 19 est fixée sur le corps 3a de l'engin de sorte que la deuxième extrémité de chaque élingue 18a, 18b est aligné verticalement avec le centre de gravité de l'engin. Dans la position illustrée à la figure 2, les élingues 18a, 18b s'étendent le long de la surface extérieure du corps 3a de l'engin.  The attachment means 10 further comprise two slings 18a, 18b each comprising a first end fixed to one of the locking rings 12a, 12b as is visibly illustrated in Figure la, and a second end attached to a hand or platinum of hoist 19 mounted on the upper outer surface of the body 3a of the marine machine. More specifically, the hoist plate 19 comprises a hoisting ring 20 on which is fixed the second end of each sling 18a, 18b. As will be described in more detail below, the halyard plate 19 is fixed on the body 3a of the machine so that the second end of each sling 18a, 18b is aligned vertically with the center of gravity of the machine . In the position illustrated in Figure 2, the slings 18a, 18b extend along the outer surface of the body 3a of the machine.
On notera que l'invention ne se limite pas à l'utilisation de deux pinces, des deux anneaux de verrouillage et de deux élingues. En effet, on pourrait prévoir l'utilisation d'une unique pince, d'un unique anneau de verrouillage et d'une unique élingue. On pourrait également prévoir l'utilisation de deux platines de hissage chacune reliées à un des anneaux de verrouillage par une élingue. Note that the invention is not limited to the use of two clamps, two locking rings and two slings. Indeed, one could foresee the use of a single clamp, a single locking ring and a single sling. One could also provide for the use of two hoisting plates each connected to one of the locking rings by a sling.
L'engin 1 comprend en outre une unité de commande électronique (non représentée) capable de diriger l'engin 1 vers le câble de traction 2 en fonction des moyens de détection sans contact 8, de commander la position des pinces lia, 11b en fonction des données fournies par la portion de détection par contact 17a, 17b.  The machine 1 further comprises an electronic control unit (not shown) capable of directing the machine 1 towards the traction cable 2 according to the non-contact detection means 8, to control the position of the clamps 11a, 11b in function data provided by the contact detection portion 17a, 17b.
On ne sort pas du cadre de l'invention lorsque les moyens d'accrochages 10 sont situés ailleurs qu'à l'avant 3b de l'engin 1, en effet, on pourrait prévoir un accrochage du câble de traction 2 par exemple par le dessus ou le côté de l'engin 1.  It is not beyond the scope of the invention when the clipping means 10 are located elsewhere than the front 3b of the machine 1, in fact, it could provide a hooking of the traction cable 2 for example by the above or the side of the machine 1.
Le procédé d'accrochage de l'engin 1 à un câble de traction 2 est le suivant :  The attachment method of the machine 1 to a traction cable 2 is as follows:
Dans une première étape, l'engin 1 est guidé vers le câble de traction 2 par des moyens de détection sans contact 8, par exemple de type sonar.  In a first step, the machine 1 is guided towards the traction cable 2 by contactless detection means 8, for example of the sonar type.
Lorsque le câble de traction 2 est détecté par les moyens de détection sans contact 8, les pinces lia, 11b sont actionnées simultanément par l'unité de commande électronique dans une position ouverte s'écartant de la surface extérieure 3d de l'engin 1, tel que visible sur la figure 2.  When the traction cable 2 is detected by the non-contact detection means 8, the clamps 11a, 11b are actuated simultaneously by the electronic control unit in an open position deviating from the external surface 3d of the machine 1, as shown in Figure 2.
Lorsque le câble de traction 2 est détecté par une des parties de détection par contact 17a, 17b situées respectivement sur une pince lia, 11b, les pinces lia, 11b sont actionnées simultanément dans une position fermée d'accrochage, visible sur la figure 3, dans laquelle chaque pince lia, 11b est pivotée afin de coopérer avec la surface extérieure de l'anneau de verrouillage 12a, 12b correspondant, tout en laissant subsister un espace E pour le passage du câble 2 entre la pince lia, 11b et la surface extérieure 3c de l'engin 1.  When the traction cable 2 is detected by one of the contact detection parts 17a, 17b located respectively on a clamp 11a, 11b, the clamps 11a, 11b are actuated simultaneously in a closed engagement position, visible in FIG. 3, in which each clamp 11a, 11b is pivoted to cooperate with the outer surface of the corresponding locking ring 12a, 12b, while leaving a space E for the passage of the cable 2 between the clamp 11a, 11b and the outer surface 3c of the machine 1.
Une fois que le câble de traction 2 se trouve dans l'espace E entre l'une des pinces lia, 11b et la surface extérieure 3d de l'engin 1, les moyens de propulsion (non représentés) de l'engin 1 sont arrêtés de sorte que le câble de traction 2 glisse vers l'avant de l'engin 1, et coulisse à travers l'ergot 14a, 14b à l'intérieur d'un des anneaux de verrouillage 12a, 12b, situé à l'avant de l'engin 1, jusqu'à ce que l'olive 7 vienne en butée contre l'anneau de verrouillage 12a, 12b dans lequel se trouve le câble 2, visible sur la figure 4. L'olive 7 est située sous l'anneau de verrouillage 12a, 12b et vient en butée contre une surface inférieure dudit anneau. L'ergot de l'anneau de verrouillage empêche le câble 2 de revenir en arrière et permet ainsi un verrouillage effectif du câble de traction 2 par l'engin 1. L'engin 1 peut ainsi être remorqué efficacement par l'avant par le véhicule naval de surface. Once the traction cable 2 is in the space E between one of the clamps 11a, 11b and the outer surface 3d of the machine 1, the propulsion means (not shown) of the machine 1 are stopped. so that the traction cable 2 slides towards the front of the vehicle 1, and slides through the lug 14a, 14b inside one of the locking rings 12a, 12b, located at the front of the vehicle. the machine 1, until the olive 7 comes into abutment against the locking ring 12a, 12b in which is the cable 2, visible in Figure 4. The olive 7 is located under the ring 12a, 12b and abuts against a lower surface of said ring. The lug of the locking ring prevents the cable 2 from going back and thus allows effective locking of the traction cable 2 by the vehicle 1. The vehicle 1 can thus be effectively towed from the front by the vehicle naval surface.
On notera que l'action permettant au câble de s'insérer dans un des anneaux de verrouillage ne se limite pas à l'arrêt des moyens de propulsion de l'engin. En effet, toute action permettant un mouvement relatif de l'engin vers l'arrière peut être utilisée pour diriger le câble vers l'avant de l'engin.  It should be noted that the action enabling the cable to fit into one of the locking rings is not limited to stopping the propulsion means of the machine. Indeed, any action allowing a relative movement of the machine backwards can be used to direct the cable towards the front of the machine.
Une fois que le câble 2 se trouve emprisonné à l'intérieur d'un des anneaux de verrouillage 12a, 12b et que l'on souhaite procéder à l'extraction de l'engin hors de l'eau, on actionne l'ouverture des pinces lia, 11b. Les anneaux de verrouillage ne sont alors plus bloqués par les pinces dans cette position ouverte. Ainsi, une force ou traction exercée par le câble 2 permet audit câble et à l'olive 7 de déloger l'anneau de verrouillage 12a, 12b hors de son logement à l'avant du corps 3 de l'engin, de manière à ce qu'en position finale d'accrochage, l'engin marin 1 soit relié au câble de levage 2 uniquement par la platine de hissage 19 et l'élingue 18b associée à l'anneau. L'effort exercé par le câble 2 de traction sur l'anneau de verrouillage 12a, 12b permet ainsi de libérer ledit anneau de son logement associé et de le désolidariser du corps 3 de l'engin.  Once the cable 2 is trapped inside one of the locking rings 12a, 12b and it is desired to proceed with the extraction of the machine out of the water, it actuates the opening of the tongs 11a, 11b. The locking rings are then no longer blocked by the clamps in this open position. Thus, a force or traction exerted by the cable 2 allows said cable and the olive 7 to dislodge the locking ring 12a, 12b from its housing at the front of the body 3 of the machine, so that in the final hooking position, the marine gear 1 is connected to the hoisting rope 2 only by the halyard plate 19 and the sling 18b associated with the ring. The force exerted by the traction cable 2 on the locking ring 12a, 12b thus makes it possible to release said ring from its associated housing and to separate it from the body 3 of the machine.
Une fois l'anneau de verrouillage 12a accroché au câble et désolidarisé de l'avant de l'engin 1, l'engin 1 peut être reculé relativement au câble 2 pour permettre ensuite le passage du lest 6 au- dessus de l'engin lorsqu'il est hissé à la surface de l'eau et extrait de l'eau selon une direction sensiblement verticale . Avant cette dernière étape d'hissage et d' extraction de l 'eau, il est possible d'actionner la fermeture des pinces l i a, 1 1b. Once the locking ring 12 has hooked to the cable and disengaged from the front of the machine 1, the machine 1 can be moved back relative to the cable 2 to then allow the ballast 6 to pass over the vehicle when 'it is hoisted to the surface of the water and extracted from the water in a substantially vertical direction. Before this last step of hoisting and extraction of water, it is possible to actuate the closure of the tongs 11a, 1b.
Comme indiqué précédemment, la platine de hissage 19 est fixée sur le corps 3a de l' engin de sorte que l' extrémité de l' élingue à laquelle est accroché l 'engin est alignée verticalement avec le centre de gravité dudit engin. Ainsi, lors de la phase d'hissage et d'extraction de l' eau, l' engin se trouve dans une position horizontale, ce qui a pour double avantage de limiter le risque de balancement et de collisions avec le véhicule naval de surface, et de faciliter la dépose de l'engin sur ce véhicule.  As indicated above, the halyard plate 19 is fixed on the body 3a of the machine so that the end of the sling to which the machine is hooked is aligned vertically with the center of gravity of said machine. Thus, during the hauling and extraction phase of the water, the machine is in a horizontal position, which has the dual advantage of limiting the risk of swaying and collisions with the surface naval vehicle, and to facilitate the removal of the vehicle on this vehicle.
Le mode de réalisation illustré sur la figure 5 , dans lequel les mêmes éléments ont les mêmes références, diffère du mode de réalisation illustré aux figures 1 à 4 par la position du logement des moyens/anneaux de verrouillage 12a, 12b. Dans ce mode de réalisation, les logements 20a, 20b sont formés sur les pinces l i a, 1 1b.  The embodiment illustrated in FIG. 5, in which the same elements have the same references, differs from the embodiment illustrated in FIGS. 1 to 4 by the position of the housing of the locking means / rings 12a, 12b. In this embodiment, the housings 20a, 20b are formed on the clamps 11a, 11b.
Tel qu'illustré sur la figure 5 , les anneaux de verrouillage 12a, 12b sont logés respectivement dans un logement 20a, 20b situé à l'angle formé entre l'embase 1 5a, 15b et la partie en saillie 16a, 16b de chaque pince l i a, 1 1b. Le procédé d' accrochage de l' engin 1 à un câble de traction 2 se distingue du procédé décrit précédemment uniquement par le fait que lorsque le câble de traction 2 se trouve dans l'espace E entre l'une des pinces l i a, 1 1b et la surface extérieure 3 c de l' engin 1 , les moyens de propulsion (non représentés) de l'engin 1 sont mis en route, de sorte que le câble de traction 2 glisse vers l'arrière de l' engin 1 , et coulisse à travers l ' ergot 14a, 14b à l'intérieur d'un des anneaux de verrouillage 12a, 12b, situé sur les côtés de l' engin 1 , jusqu' à ce que l'olive 7 vienne en butée contre l'anneau de verrouillage 12a, 12b dans lequel se trouve le câble 2. L'ergot de l' anneau de verrouillage empêche le câble 2 de revenir en arrière et permet ainsi un verrouillage effectif du câble de traction 2 par l' engin 1 . L' engin 1 peut ainsi être remorqué efficacement par l'avant de l' engin 1 . As illustrated in FIG. 5, the locking rings 12a, 12b are housed respectively in a housing 20a, 20b situated at the angle formed between the base 1 5a, 15b and the projecting portion 16a, 16b of each clamp lia, 1b. The method of attaching the machine 1 to a traction cable 2 differs from the method previously described only in that when the traction cable 2 is in the space E between one of the clamps 11a, 1b and the outer surface 3c of the machine 1, the propulsion means (not shown) of the machine 1 are started, so that the traction cable 2 slides towards the rear of the machine 1, and slides through the lug 14a, 14b inside one of the locking rings 12a, 12b, located on the sides of the machine 1, until the olive 7 abuts the ring lock 12a, 12b in which is the cable 2. The lug of the locking ring prevents the cable 2 from going back and thus allows effective locking of the traction cable 2 by the machine 1. The machine 1 can thus be towed efficiently by the front of the machine 1.
On notera que l 'action permettant au câble de s'insérer dans un des anneaux de verrouillage ne se limite pas à la mise en marche des moyens de propulsion de l' engin. En effet, toute action permettant un mouvement relatif de l' engin vers l' avant peut être utilisée pour diriger le câble vers l' arrière de l'engin.  It should be noted that the action enabling the cable to fit into one of the locking rings is not limited to starting the propulsion means of the machine. Indeed, any action allowing a relative movement of the machine forward can be used to direct the cable towards the rear of the machine.
De manière identique au procédé décrit précédemment, une fois que le câble 2 se trouve emprisonné à l'intérieur d'un des anneaux de verrouillage 12a, 12b, on actionne l 'ouverture des pinces l i a, 1 1b, de sorte que grâce à la force exercée par le câble 2 et l'olive 7 sur l'anneau de verrouillage 12a, 12b dans lequel se trouve le câble 2, déloge ledit anneau de verrouillage 12a, 12b de son logement, de manière à ce qu' en position finale d' accrochage, l' engin marin 1 soit suspendu au câble de levage 2 par la platine de hissage 19 et l' élingue associée à l' anneau. De manière analogue au premier mode de réalisation décrit, dans la position fermée des pinces l i a, 1 1 b, celles - ci permettent de garantir le maintien des anneaux de verrouillage 12a, 12b à l'intérieur de leurs logements associés.  In a manner identical to the method described above, once the cable 2 is trapped inside one of the locking rings 12a, 12b, the opening of the clamps 11a, 11b is actuated so that, thanks to the force exerted by the cable 2 and the olive 7 on the locking ring 12a, 12b in which the cable 2 is, dislodges said locking ring 12a, 12b from its housing, so that in the final position of hooking, the marine gear 1 is suspended from the hoisting rope 2 by the halyard 19 and the sling associated with the ring. Similarly to the first embodiment described, in the closed position clamps l i a, 1 1 b, they can ensure the maintenance of the locking rings 12a, 12b within their associated housing.
Par ailleurs, on notera que l'invention décrite ci-dessus peut être appliquée à une unique pince sans engendrer de modifications substantielles.  Furthermore, it will be appreciated that the invention described above can be applied to a single clamp without causing substantial changes.
Dans les exemples de réalisation illustrés, les élingues sont fixées sur l' engin par une main ou platine de hissage. En variante, il est possible de prévoir la fixation des élingues par tout autre moyen approprié, par exemple en fixant directement des crochets sur la surface extérieure de l'engin. Dans une autre variante de réalisation, il pourrait encore être possible d'utiliser le lest du câble pour former l'olive permettant de déloger les anneaux de verrouillage de leurs logements associés prévus sur l 'engin.  In the illustrated embodiments, the slings are fixed to the machine by a hand or platinum hoist. Alternatively, it is possible to provide the attachment of the slings by any other appropriate means, for example by directly fixing hooks on the outer surface of the machine. In another embodiment, it may still be possible to use the ballast cable to form the olive to dislodge the locking rings of their associated housing provided on the machine.
Grâce à l'invention, l'engin marin ou sous marin est capable de s' arrimer de façon autonome à un câble de traction par des moyens d'accrochage efficaces procurant de multiples avantages , tels que la récupération possible de l'engin depuis n'importe quelle structure, fixe ou mobile, aérienne ou immergée, disposant d'un câble lesté. La récupération possible de l'engin en immersion permet de s'affranchir de l'influence de la houle. Thanks to the invention, the marine or underwater vehicle is capable of securing autonomously to a traction cable by effective hooking means providing multiple advantages, such as the possible recovery of the machine from any structure, fixed or mobile, aerial or submerged, with a cable weighted. The possible recovery of the machine in immersion makes it possible to overcome the influence of the swell.
De plus, un tel dispositif d'accrochage peut être adapté aisément sur des systèmes existants, par exemple par utilisation d'un câble équipé d'un lest d'extrémité et ne nécessite par ailleurs aucune intervention humaine à la mer.  In addition, such a coupling device can be easily adapted to existing systems, for example by using a cable equipped with an end ballast and also requires no human intervention at sea.

Claims

REVENDICATIONS
1. Engin marin ou sous-marin destiné à être arrimé à un câble de récupération (2) dont une première extrémité (2a) est destinée à être reliée à un dispositif de récupération et une deuxième extrémité (2b) est destinée à être accrochée audit engin (1) et est pourvue d'une olive1. A marine or submarine engine intended to be secured to a recovery cable (2), one end of which (2a) is intended to be connected to a recovery device and a second end (2b) to be attached to said recovery device gear (1) and is provided with an olive
(7) , ledit engin (1) comprenant des moyens de détection sans contact(7), said machine (1) comprising contactless detection means
(8) du câble de récupération (2) capable de détecter le câble et de guider l'engin (1) vers le câble (2) et des moyens d'accrochage (10) du câble de récupération (2) situés sur l'engin (1), les moyens d'accrochage (10) du câble de récupération (2) comprennent au moins un anneau de verrouillage (12a, 12b) situé dans un logement sur l'engin marin ou sous-marin (1) et au moins une pince (lia, 11b) mobile en rotation entre une position fermée d'accrochage dans laquelle la pince (lia, 11b) coopère avec l'anneau de verrouillage (12a, 12b) afin de laisser subsister un espace (E) pour le passage du câble (2) entre la pince (lia, 11b) et la surface extérieure (3d) de l'engin (1) et une position ouverte s'écartant de la surface extérieure (3d) de l'engin (1), l'anneau de verrouillage (12a, 12b) présentant une ouverture (13a, 13b) fermée par un ergot (14a, 14b) articulé pour le passage du câble de récupération (2) vers l'intérieur de l'anneau de verrouillage (12a, 12b) dans un unique sens, caractérisé en ce qu'au moins une élingue (18a, 18b) est fixée sur l'engin et est reliée à l'anneau de verrouillage (12a, 12b) et en ce que ledit anneau de verrouillage (12a, 12b) est capable de se déloger de son logement sur l'engin (1) lorsque l'olive (7) arrive en butée contre l'anneau de verrouillage (12a, 12b). (8) the recovery cable (2) capable of detecting the cable and guiding the machine (1) towards the cable (2) and means (10) for attaching the recovery cable (2) located on the cable gear (1), the attachment means (10) of the recovery cable (2) comprise at least one locking ring (12a, 12b) located in a housing on the marine or underwater vehicle (1) and in the less a clamp (11a, 11b) movable in rotation between a closed latching position in which the clamp (11a, 11b) cooperates with the locking ring (12a, 12b) to leave a space (E) for the passage of the cable (2) between the clamp (11a, 11b) and the outer surface (3d) of the machine (1) and an open position deviating from the outer surface (3d) of the machine (1), the locking ring (12a, 12b) having an opening (13a, 13b) closed by a pin (14a, 14b) articulated for the passage of the recovery cable (2) towards the inside of the locking ring (12a) , 12b) in a single direction, characterized in that at least one sling (18a, 18b) is attached to the machine and is connected to the locking ring (12a, 12b) and in that said locking ring (12a, 12b) is able to dislodge its housing on the machine (1) when the olive (7) abuts against the locking ring (12a, 12b).
2. Engin marin ou sous-marin selon la revendication 1, dans lequel une extrémité de ladite élingue (18a, 18b) fixée sur l'engin est alignée verticalement avec le centre de gravité dudit engin.  2. marine or submarine engine according to claim 1, wherein an end of said sling (18a, 18b) attached to the machine is aligned vertically with the center of gravity of said machine.
3. Engin marin ou sous-marin selon la revendication 1 ou 2, dans lequel ladite élingue (18a, 18b) est fixée sur la surface extérieure (3f) de l'engin (1). 3. Marine or underwater engine according to claim 1 or 2, wherein said sling (18a, 18b) is fixed on the outer surface (3f) of the machine (1).
4. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, dans lequel ladite élingue (18a, 18b) est fixée sur une platine de hissage (19) montée sur l'engin. 4. marine or underwater vehicle according to any one of the preceding claims, wherein said sling (18a, 18b) is fixed on a halyard (19) mounted on the machine.
5. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, dans lequel la pince (lia, 11b) comprend une embase (15a, 15b) reliée à l'engin (1) par un mécanisme à pivot et une partie en saillie (16a, 16b) vers l'extérieur.  5. marine or underwater engine according to any one of the preceding claims, wherein the clamp (11a, 11b) comprises a base (15a, 15b) connected to the machine (1) by a pivot mechanism and a part protruding (16a, 16b) to the outside.
6. Engin marin ou sous-marin selon la revendication 5, dans lequel l'extrémité de la partie en saillie (16a, 16b) présente une échancrure de forme arrondie, en concordance de forme avec la surface extérieure de l'anneau de verrouillage (12a, 12b) associé.  A marine or submarine machine as claimed in claim 5, wherein the end of the projecting portion (16a, 16b) has a rounded notch, in register with the outer surface of the locking ring ( 12a, 12b) associated.
7. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, dans lequel l'anneau de verrouillage (12a, 12b) est situé à une extrémité (3b) de l'engin (1).  7. marine or underwater vehicle according to any one of the preceding claims, wherein the locking ring (12a, 12b) is located at one end (3b) of the machine (1).
8. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes 1 à 6, dans lequel l'anneau de verrouillage (12a, 12b) est situé sur au moins un des côtés latéraux de l'engin (1).  8. marine or marine engine according to any one of claims 1 to 6, wherein the locking ring (12a, 12b) is located on at least one of the lateral sides of the machine (1).
9. Engin marin ou sous-marin selon la revendication 8 dépendante de la revendication 5, dans lequel l'anneau de verrouillage (12a, 12b) est situé sur la pince (lia, 11b) à l'angle entre l'embase (15a, 15b) et la partie en saillie (16a, 16b).  9. A marine or underwater vehicle according to claim 8 dependent on claim 5, wherein the locking ring (12a, 12b) is located on the clamp (11a, 11b) at the angle between the base (15a). 15b) and the projecting portion (16a, 16b).
10. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, dans lequel la pince (lia, 11b) comprend une portion de détection par contact (17a, 17b) du câble (2).  A marine or submarine engine according to any one of the preceding claims, wherein the clamp (11a, 11b) comprises a contact sensing portion (17a, 17b) of the cable (2).
11. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, comprenant une unité de commande électronique capable de diriger l'engin (1) vers le câble de traction (2) en fonction des moyens de détection sans contact (8), de commander la position de la pince (lia, 11b) en fonction des données fournies par la portion de détection par contact (17a, 17b), et d'ouvrir la pince (lia, 11b) une fois le câble emprisonné dans l'anneau de verrouillage (12a, 12b).  11. A marine or submarine engine according to any one of the preceding claims, comprising an electronic control unit capable of directing the machine (1) towards the traction cable (2) as a function of the non-contact detection means (8). ), controlling the position of the clamp (11a, 11b) according to the data provided by the contact sensing portion (17a, 17b), and opening the clamp (11a, 11b) after the cable is trapped in the locking ring (12a, 12b).
12. Engin marin ou sous-marin selon l'une quelconque des revendications précédentes, comprenant deux pinces (lia, 11b), deux anneaux de verrouillage (12a, 12b) et deux élingues (18a, 18b) fixées sur l'engin et reliées chacune à un desdits anneaux). 12. A marine or submarine engine according to any one of the preceding claims, comprising two grippers (11a, 11b), two locking rings (12a, 12b) and two slings (18a, 18b) fixed to the machine and each connected to one of said rings).
13. Procédé d'accrochage d'un engin marin (1) selon les revendications précédentes à un câble de récupération (2) dont une première extrémité (2a) est destinée à être reliée à un dispositif de récupération et une deuxième extrémité (2b) est destinée à être accrochée audit engin (1) et est pourvue d'une olive (7), dans lequel :  13. A method of attachment of a marine machine (1) according to the preceding claims to a recovery cable (2), a first end (2a) is intended to be connected to a recovery device and a second end (2b). is intended to be hooked to said machine (1) and is provided with an olive (7), in which:
on détecte le câble et on guide l'engin marin ou sous- marin (1) vers le câble (2) par les moyens de détection sans contact (8) ;  the cable is detected and the marine or underwater vehicle (1) is guided towards the cable (2) by the non-contact detection means (8);
lorsque le câble (2) est détecté par les moyens de détection sans contact (8), on actionne la pince (lia, 11b) dans une position ouverte s'écartant de la surface extérieure (3d) de l'engin (1) ;  when the cable (2) is detected by the non-contact detection means (8), the clip (11a, 11b) is actuated in an open position deviating from the outer surface (3d) of the machine (1);
on actionne la pince (lia, 11b) dans une position fermée d'accrochage dans laquelle la pince (lia, 11b) coopère avec l'anneau de verrouillage (12a, 12b) situé dans un logement sur l'engin (1), afin de laisser subsister un espace (E) pour le passage du câble (2) entre la pince (lia, 11b) et la surface extérieure (3d) de l'engin marin (1) ; et on effectue un déplacement relatif de l'engin par rapport au câble de manière à diriger le câble vers l'anneau de verrouillage (12a, 12b).  the clamp (11a, 11b) is actuated in a closed engagement position in which the clamp (11a, 11b) cooperates with the locking ring (12a, 12b) located in a housing on the machine (1), so as to leaving a space (E) for the passage of the cable (2) between the clamp (11a, 11b) and the outer surface (3d) of the marine machine (1); and relative movement of the machine relative to the cable is effected so as to direct the cable towards the locking ring (12a, 12b).
14. Procédé d'accrochage selon la revendication 13, dans lequel la pince (lia, 11b) est actionnée dans une position fermée d'accrochage lorsque le câble (2) est détecté par les moyens de détection par contact (17a, 17b) situés sur la pince (lia, 11b).  14. Fastening method according to claim 13, wherein the clip (11a, 11b) is actuated in a closed engagement position when the cable (2) is detected by the contact detection means (17a, 17b) located on the clamp (11a, 11b).
15. Procédé d'accrochage selon la revendication 13 ou 14, dans lequel lorsque le câble (2) se trouve dans l'anneau de verrouillage (12a, 12b), on actionne l'ouverture de la pince (lia, 11b), l'anneau de verrouillage (12a, 12b) étant délogé de son logement par la force de l'olive venant en butée contre l'anneau de verrouillage.  15. Fastening method according to claim 13 or 14, wherein when the cable (2) is in the locking ring (12a, 12b), it actuates the opening of the clamp (11a, 11b), l locking ring (12a, 12b) being dislodged from its housing by the force of the olive abutting against the locking ring.
EP15780925.2A 2014-09-25 2015-09-23 Marine or submarine craft and associated mooring method Withdrawn EP3197768A1 (en)

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FR1459045A FR3026383B1 (en) 2014-09-25 2014-09-25 MARINE OR SUBMARINE ENGINE AND RELIEVING METHOD
PCT/FR2015/052547 WO2016046497A1 (en) 2014-09-25 2015-09-23 Marine or submarine craft and associated mooring method

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JP (1) JP6684286B2 (en)
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WO2016046497A1 (en) 2016-03-31
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JP2017529282A (en) 2017-10-05
JP6684286B2 (en) 2020-04-22
CA2960706C (en) 2022-09-20

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