EP3261911A1

EP3261911A1 - Device for handling and towing a submersible object

Info

Publication number: EP3261911A1
Application number: EP16706654.7A
Authority: EP
Inventors: Rémy MALBURET; Yohann FRAISSE; Jean Lagadec; Benoît THECKES; Philippe Vicariot
Original assignee: Thales SA
Current assignee: Thales SA
Priority date: 2015-02-27
Filing date: 2016-02-26
Publication date: 2018-01-03
Also published as: FR3033153B1; CA2977723A1; US10059408B2; AU2016223339A1; FR3033153A1; US20180001969A1; AU2016223339B2; WO2016135337A1

Abstract

A device for handling and towing a submersible object (1) intended to be installed on a vessel (3), comprising - a tilting structure (6) supported by a support (5) and capable of pivoting relative to the support (5) about a first axis (x1) parallel to a plane intended to extend horizontally, said tilting structure (6) being provided with a first guide device (9) for guiding the cable (2), - a pivot link (62) pivoting about a second axis (x2) located in a plane substantially perpendicular to the first axis of rotation (x1), arranged to permit the rotation of a rotating part (61) of the tilting structure (6), relative to the support, said rotating part (61) being provided with the first guide device (9), - a stabilisation device arranged to keep the rotating part (61) of the tilting structure (6) in a deployed position relative to the support (5) as long as a relative pivoting torque between the rotating part (61) and the support (5) about the second axis (x2) is less than or equal to a predefined threshold, and in such a way as to permit the rotation of the rotating part (61), provided with the first guide device (9), relative to the support (5) about the second axis (x2) when a relative pivoting torque between the rotating part (61) and the support (5) about the second axis (x2) exceeds said threshold.

Description

DEVICE FOR HANDLING AND TOWING AN OBJECT

SUBMARINE

The present invention relates to a device for handling and towing a submersible object volume such as a sonar. It allows the launching and recovery of a submersible object from a ship and the towing of this submersible object by the ship by means of a streamlined cable. The submersible object is stowed to the cable.

The handling and towing devices are attached to the deck of a ship. They conventionally comprise a structure provided with a guide device, such as a pulley, for guiding the cable and a winch for winding and unwinding the cable. The structure is tilting about a tilting axis so that the launching and recovery of the submersible object is achieved by tilting the structure between an operational or towing position in which the guide device is located at a high position and a launching position and recovery of the underwater vehicle in which the guide device is located in a low position relative to the deck of the ship. Conventionally, the handling devices are installed at the rear of the boat so that the guide device is behind the tilting structure along the axis of the vessel and the tilt axis is substantially horizontal and perpendicular to the axis longitudinal of the ship.

In the towing phase of the submersible object, the structure is rigid, that is to say it is dimensioned so as not to deform, that is to say to resist under the effect of the forces related to the sea Two major events are decisive for the dimensioning of the handling and towing device. A first type of event consists of the arrival of a large wave when the structure is in launching position and recovery of the underwater vehicle which induces a very significant lateral force on the structure. Lateral effort means a force which has a component parallel to the axis of tilting of the structure.

A second type of event is the attachment of the submersible object or cable on an underwater obstacle, for example, on a submarine or on the seabed at a rock. This second type of event can bring the object to the side of the boat if the hanging point is offset laterally with respect to the axis of the ship or the axis of rotation of the ship. the structure and apply very significant lateral forces on the structure during the advancing of the ship.

These two types of events are exceptional but they induce lateral forces on the structure of the order of twice the nominal force that the structure must be able to absorb without deforming. The structure and more generally the handling and towing device is reinforced to support these exceptional efforts at the expense of the mass of the entire device.

The object of the present invention is to provide a handling and towing device which has a reduced mass.

For this purpose the invention relates to a device for handling and towing a submersible object intended to be installed on a ship, the device comprising:

a support intended to be fixed to the deck of the ship, the support comprising at least one support element comprising a plane surface forming a plane intended to extend parallel to the surface of the water by calm sea state,

a towing cable of the submersible object,

a winch for winding and unwinding the cable,

a tilting structure supported by said support and able to pivot relative to the support around a first axis parallel to said plane, said tilting structure being provided with a first guide device for guiding the cable,

a pivot connection about a second axis located in a plane substantially perpendicular to the first axis of rotation, arranged to allow the rotation of a rotating part of the tilting structure relative to the support, said rotating part being provided with the first device; guidance,

a stabilizing device adapted to be in an operational configuration in which it is configured to hold the rotating part of the tilting structure in a position deployed relative to the support as long as a relative pivoting torque between the rotating part and the support around of the second axis is less than or equal to a predetermined threshold, and so as to allow rotation of the rotating part, provided with the first guide device, relative to the support around the second axis from a relative pivoting torque between the rotating part and the support around the second exceeds said threshold.

The device according to the invention advantageously comprises at least one of the following characteristics taken alone or in combination:

- the threshold is greater than or equal to 50 kN ^* m,

the first guiding device serves to guide the cable between the end of the cable intended to be immersed and the winch and is arranged to prevent the cable from forming an angle smaller than a first angle in a plane perpendicular to the first axis and to limit the lateral deflection of the cable along an axis parallel to the first axis,

the handling device being arranged so that when the stabilizing device allows the relative rotation between the rotating part and the support around the second axis, the rotating part is able to pass into a folded position, relative to the support, in which the length of the rocking structure between the first axis of rotation and the first guide device, projected along an axis extending parallel to the support plane and perpendicular to the first axis of rotation is less important than when the rotating part and the support are in the relative position deployed,

the rotating part of the tilting structure is the tilting structure,

the tilting structure comprises a fixed part secured to the support in rotation about the second axis and the rotating part connected to the support by means of the fixed part to the support, the fixed part being connected to the rotating part by means of the pivot connection around the second axis,

the fixed part supports the rotating part,

the rotating part extends longitudinally in the extension of the fixed part along an axis integral with the fixed part perpendicular to the first axis and forming the longitudinal axis of the fixed part,

the fixed part has the general shape of an arrow whose base is fixed to the support by means of the pivot connection around the first axis and pointing in a direction perpendicular to the first axis, the rotating part extending longitudinally in the extension of the arrow in the direction indicated by the arrow when the structure is deployed, the stabilization device is reversible or irreversible,

the stabilization device is disengageable,

the stabilizing device comprises means making it possible to lock the position of the rotating part with respect to the support when the rotating part is in a folded position relative to the support, the stabilizing device is configured to damp the relative rotational movement between the rotating part and the support around the second axis of rotation,

the stabilizing device is configured so as to return the rotating part in the deployed position with respect to the support and to hold it in this position, once the stabilizing device authorizes the rotation of the rotating part with respect to the support; around the second axis, the pivoting torque exerted on the rotating part about the axis is found below a second threshold torque lower than the first threshold torque,

the device comprises a second guiding device for guiding the cable through which the cable passes between the first guiding device and the winch, the second guiding device comprising at least one deflector making it possible to prevent the radius of curvature of the cable does not fall below a predetermined threshold in a plane substantially perpendicular to the second axis when the rotating part pivots about the second axis relative to the support,

the second axis of rotation is substantially perpendicular to the plane comprising an axis parallel to the axis and a longitudinal axis according to which the structure extends longitudinally when it is in the deployed position with respect to the support, the tilting portion is configured from so that when the relative pivoting torque exceeds the threshold, the rotating part is driven, by the cable, in rotation about the second axis relative to the support,

- The winch is fixed in rotation relative to the support around the axis x2.

The invention also relates to a handling assembly comprising a ship carrying a handling and towing device according to the invention, said support being fixed to the ship so that the flat surface forming the plane extends substantially parallel to the surface of the water by calm sea state.

The invention also relates to a handling and towing device, said support being fixed to the ship so that flat surface forming the plane extends parallel to the surface of the water by calm sea state.

Thus, when the load on the cable towing the submersible body becomes lateral and exceeds a predetermined threshold, the rotating part of the structure is articulated around a second axis relative to the support, which reduces the mechanical forces to which the handling device is subject and allows for a structure and / or a lighter support.

Another advantage is to reduce the lateral forces on the deck of the ship at the attachment of the handling and towing device on the ship to reduce the weight of the support, the attachment means of the device to the bridge and the structure of the bridge.

Other features and advantages of the invention will appear on reading the detailed description which follows, given by way of non-limiting example and with reference to the appended drawings in which:

FIG. 1 schematically represents a ship on board a device according to the invention towing a submersible body, the structure of the device according to the invention being in the towing position and being deployed relative to the support,

FIG. 2 diagrammatically shows a ship on board a device according to the invention towing a submersible body, the structure of the device according to the invention being in the launching and recovery position of the submersible object. and being deployed relative to the support,

FIG. 3 illustrates a perspective view of a preferred embodiment of the device according to the invention when the structure is deployed and in the towing position,

FIG. 4 illustrates the embodiment of FIG. 3 in side view when the structure is folded up and in the towing position, for the sake of clarity, the cable is not shown in FIG. 4; FIG. 5 illustrates the embodiment of FIG. 2 in perspective when the structure is folded over and in a position of launching and recovering the submersible object,

FIG. 6 illustrates an example of a pivot connection around the second axis x2 as well as an example of a stabilization device,

FIGS. 7a and 7b illustrate the pivot connection and the stabilization device of FIG. 6 when the structure is in the deployed position (FIG. 7a) and folded up (FIG. 7b),

FIG. 8 illustrates an alternative stabilization device; FIG. 9 illustrates another example of a pivot connection around the second axis and of a stabilization device in which the pivot connection is motorized,

FIG. 10 illustrates the second guide device in section in a plane perpendicular to the second axis x2,

From one figure to another, the same elements are identified by the same references.

FIG. 1 diagrammatically shows a ship 3 equipped with a handling and towing device according to the invention. This handling device makes it possible to launch and recover a submersible object 1 and tow this object by means of a cable 2 forming part of the device when said object is towed by the ship 3. The submersible object 1 is for example a volume sonar enclosed in a volume case. It is attached to the cable 2.

The handling device comprises a support 5 fixed on the deck 4 of the ship 3.

The handling device comprises the cable 2 and a winch 8 for winding and unwinding the cable 2. The winch 8 comprises a structure of the winch (or chassis) fixed relative to the support and a drum movable in rotation relative to the winch structure. It also comprises a tilting structure 6 provided with a first device for guiding the cable 9 and supported by the support 5. The tilting structure 6 is mounted on the support 5 so as to be pivotable relative to the support 5 around a first x1 axis perpendicular to the plane of the sheet. The structure is rocking so that the launching and the recovery of the object submersible is achieved by tilting of the tilting structure 6 relative to the support 5 between a towing position, shown in Figure 1, wherein the first device for guiding the cable 9 is located in a high position relative to the support and a position launching and recovery of the underwater vehicle, shown in Figure 2, wherein the first guide device 9 is in a low position relative to the support. Therefore, in the towing position, the first guiding device 9 is at a height HR (here positive) relative to the support at the height greater than the height Hm (negative here) in which it is relative to the support 5 in the launch and recovery position. The heights are measured along an axis perpendicular to a plane 51 which will be defined later. In FIG. 2, the modules of the heights are represented. The winch 8 can be fixed or integral in rotation about the first axis x1 relative to the tilting structure or relative to the support 5. The attachment of the winch 8 to the support 5, around the axis x1, limits the sizing of the tilting structure.

Alternatively, the tilting structure is mounted so as to be able to be moved in a circular translational movement relative to the support. In other words, each pi part of the tilting structure is pivotable about a first axis x1 i. The distances between the different parts pi and the first axes of rotation respective x1 i are the same out that they are animated circular trajectories of the same radius. Therefore, the tilting structure is mounted so as to be pivotable about a single axis x1, the connection between the support and the tilting structure then being a pivot connection, or around several axes x1 i parallel to each other.

The first guide device 9 is configured and arranged to guide the cable. Advantageously, the first guide device is configured to support the cable 2 and change the direction of the cable between the upstream and downstream of the first guide device 9, that is to say between the portion of the cable that is towed and the winch. Advantageously, the first guide device is arranged to change the direction of the cable in a plane P perpendicular to the axis x1 when the structure 6 is deployed. This plane P is the plane of the sheet in Figures 1 and 2. We will explain later what is meant by deployed structure. The first The guiding device 9 is advantageously arranged to prevent the cable 2 from forming an angle less than a predetermined first angle in the plane P. It is also advantageously configured to limit the lateral deflection of the cable 2 along an axis parallel to the first axis x1 when the structure 6 is deployed. The first guide device 9 is advantageously arranged to limit the lateral movement of the cable along an axis perpendicular to the second axis x2.

The first guide device 9 comprises the towing point R of the cable 2. By towing point R is meant the position of the fulcrum of the cable 2 on the cable handling device 2, which is the closest to the end 20 of the cable 2 to be immersed, that is to say the towed object. The part of the cable that is towed is the part of the cable between the towing point R and the submerged end of the cable. In towing situation the end 20 is immersed with the towed body 1 and the cable 2 goes up to the first guiding device 2 where it changes direction and extends longitudinally along the tilting structure 6 to the winch 8 In other words, the cable 2 passes through the first guide device 9 and then along the tilting structure to reach the winch 8.

There is shown a detailed example of the handling device according to the invention in Figures 3 to 5. The device comprises drive means 40 for pivoting the structure 6 about the axis x1. For clarity, the winch 8 is not shown in these figures. In Figure 3, the structure is in the towing position relative to the support and is deployed. The first guide device comprises a pulley 90. This pulley is a return pulley. It guides the cable between the end of the cable to be immersed and the winch. This pulley 90 has an axis of rotation substantially parallel to the axis x1 when the structure 6 is deployed. It makes it possible to modify the direction of the cable in the plane P and to limit the lateral deflection of the cable along an axis parallel to the axis x1. Alternatively, the first guiding device 9 comprises a deflector arranged and configured to prevent the cable from forming an angle smaller than a first angle in the plane P and including stops to limit the lateral deflection of the cable, when the structure 6 is deployed. Conventionally, as represented in FIGS. 1 and 2, the towing device is installed at the rear of the ship 3, on the deck 4 of the ship 3. It is conventionally installed on the ship 3 so that the first axis x1 is substantially parallel to a horizontal plane PH which is a plane P of the ship intended to be parallel to the surface of the water by calm sea state. The support 5 comprises at least one support element comprising a flat surface 51 extending in a support plane PS, said flat surface 51 being intended to be placed on the ship and to extend parallel to the plane PH of the ship 1. In the example shown in Figures 3 to 5, the support 5 comprises a plurality of support members 50, each having a flat surface 51 extending in the support plane. In other words, the set of plane surfaces 51 defines the support plane. Alternatively, the support 5 comprises a single support member having a planar surface attached to the support plane. The first axis x1 is parallel to the support plane. In the embodiment of FIGS. 3 to 5, the structure 6 is mounted mobile in translation relative to the support 5 along an axis perpendicular to the axis x1. It is mounted on an intermediate support 52 mounted mobile in translation only with respect to the support 5. The structure is rotatably mounted around the axis x1 with respect to the intermediate support 52.

The handling device is conventionally installed, as is the case in the example of Figure 1, so that the first axis x1 is perpendicular to the longitudinal axis x of the vessel extending from the front to the 3. In this way, when the device is installed on the deck of the ship and the structure is in the launching and recovery position, it is possible to "put" the submersible body on the surface water or release from a low height depending on the distance of the tilting structure from the rear of the boat, depending on the length of the tilting structure and depending on the tilt angle of the tilting structure relative to the support in the position of launching and / or recovery, for a given position of the first guide device on the tilting structure.

Alternatively, the device is arranged on the ship so that the first axis x1 forms a non-zero angle with the x-axis in a plane parallel to the PH plane, for example an angle of 90 ° with the first axis x1 in a plane parallel to the plane PH.

In the example shown in Figures 1 and 2, the first guide device 9 is mounted at one end 60 of the tilting structure 6. As the first axis x1 is perpendicular to the longitudinal axis x of the vessel 3, the end in question is the rear end of the tilting structure when the structure is deployed.

The handling device according to the invention comprises a pivot connection 62 about a second axis x2 shown in Figures 1 to 6. The second axis x2 extends in a plane perpendicular or substantially perpendicular to the first axis of rotation x1. This pivot connection 62 is arranged to allow the rotation of a rotating part 61 of the tilting structure 6 with respect to the support 5.

The rotating part 61 is able to pivot between an extended position, represented in FIG. 3, and a folded position relative to the support 5, represented in FIG. 4. By extended position, is meant a position in which the length LD of the tilting structure 6 between the first axis of rotation and the first guide device 90, projected along an axis (here the longitudinal axis of the ship x) extending parallel to the support plane PS (here defined by the surfaces 51) and perpendicularly at the first axis of rotation x1 is greater than the same length LR when the structure is in a folded position. This is achieved by choosing the position of the x2 axis. When the rotating part 61 is in the deployed position relative to the support 5, it is said that the rocking structure 6 is deployed, that the rocking structure 6 is in the towing position or in the launching position and recovery towed body.

The rotating part 61 of the rocking structure 6 is secured to the first guide device 9 in rotation about the second axis x2. In this way, the rotating part 61 drives the first guiding device 9 with it in its rotation about the second axis x2 relative to the support 5. In other words, the rotating part 61 and the first guiding device 9 can not rotate. one with respect to the other around the x2 axis. The rotating part 61 is rigid so that it does not deform during its rotation about the second axis x2 relative to the support. FIG. 5 represents, in perspective, the tilting structure in a folded-up launching and recovery position in which the rotating part 61 forms a larger angle than in FIG. 4 with respect to its deployed position, around the second axis x2 .

In the non-limiting example of FIGS. 3 to 5, the tilting structure

6 is divided into two parts. The rocking structure 6 comprises a rotating part 61 provided with the first guiding device 9 and a fixed part 63 connected to the support 5 and able to pivot relative to the support 5 around the first axis x1. The pivot connection 62 around the second axis x2 connects the rotating part 61 and the fixed part 63. The rotating part 61 is connected to the support 5 via the fixed part 63. The fixed part 63 is integral with the support 5 in rotation around the second axis x2. In other words, the fixed part 63 can not pivot relative to the support around the second axis. The rotating part 61 and the first guiding device 90 are secured to the fixed part 63 in rotation around the first axis x1 with respect to the support 5. In other words, the assembly formed by the fixed part 63, the rotating part 61 and the first guide device 90 can not rotate relative to each other about the first axis x1. It is this whole assembly that pivots around the x1 axis relative to the support when the fixed part 63 pivots relative to the support 5 around the first axis x1. The rotating part 61 and the fixed part 63 are rigid, that is to say that they do not deform when the rotating part pivots around the second axis x2.

In the embodiment of FIGS. 3 to 5, the rotating part 61 is supported by the fixed part 63 in the towing position. Alternatively, the rotating portion 61 is suspended from the fixed portion 63 in the towing position. Bearing the rotating part makes it possible to pass greater forces from the rotating part to the rigid part and suspending the rotating part at the fixed part makes it possible to have a reduced bulk.

In the embodiment of FIGS. 3 to 5, when the structure is deployed, the rotating part 61 extends longitudinally in the extension of the fixed part 63 along an axis xs integral with the fixed part 63, represented in FIG. 4, perpendicular to the first axis x1 and forming the longitudinal axis of the fixed portion 63. This provides the tilting structure deployed with the longest length Ld. In this particular example, the fixed part has the general shape of an arrow whose base is fixed to the supported by the pivot connection about the first axis x1 and pointing in a direction perpendicular to the axis x1. The rotating part 61 is fixed to the fixed part 63 via the pivot connection arranged at the point of the arrow. The rotating part 61 extends longitudinally in the extension of the arrow in the direction xs pointed by the arrow when the structure is deployed. The arrow shape is advantageous because it allows to leave a large range of motion to the fixed part around the x2 axis which is particularly interesting for the storage of the structure as we will see later. The shape of the structure is not limiting, the fixed part could have a form of gantry.

According to the invention, the handling device comprises a stabilizing device arranged or configured to maintain the rotating part 61 of the tilting structure 6 in the deployed position relative to the support 5 as a relative pivoting torque between the rotating part 61 and the support 5 around the second axis x2 is less than or equal to a predetermined threshold, and so as to allow rotation of the rotating part 61 provided with the first guide device 9 relative to the support 5 around the second axis x2 as soon as a relative pivoting torque between the rotating portion 61 and the support 5 around the second x2 exceeds said threshold. In other words, the stabilizing means prevent the relative rotation of the rotating part 61 and the support 5 as long as a torque at the axis x 2 is less than or equal to the predetermined threshold value, when the rotating part 61 is in the deployed position relative to the support 5 but allow this rotation only when the torque at the second axis is greater than this threshold value. The value of the threshold is for example of the order of 120% of the nominal efforts. The nominal forces are the forces encountered during towing at a nominal speed and a nominal sea state. Thus, in the event of excessive lateral force applied to the tilting structure 6, the rotating part 61 pivots with respect to the support and, in the example of FIGS. 3 to 5, with respect to the fixed part 62, which limits the transmission of the lateral forces of the rotating part towards the support 5 and towards the deck of the ship. The invention makes it possible to provide an assembly, tilting structure / support / fixing means of the structure on the support / means for fixing the support on the deck of the ship and the structure of the deck of the ship, able to withstand lower forces than in the case of a rigid rocking structure and thus to lighten at least one of these elements and more particularly the elements of the handling device.

Advantageously, the threshold is greater than or equal to 50 kN ^* m. This threshold value is significant. The choice of this value has the disadvantage of not allowing to avoid the lateral support of the cable on the guide device in case of lateral movement of the cable. On the other hand, it keeps the boom in the deployed configuration even when the cable exerts a significant torque on the boom.

Keeping the rotating part 61 fixed relative to the support 5 when the torque is less than or equal to the threshold ensures a certain stability of the first guide device and the towed object, when the latter is reassembled, until first guiding device and therefore a certain security, robustness and reliability. This device is reliable because it is not necessary to change the configuration of the stabilization device so that it keeps the rotating part in a fixed position relative to the support before raising or putting to sea a towed object. The rotating part is automatically maintained in this fixed position by nominal sea state and nominal speed or lower than the nominal speed. Controlling the position of the rotating part relative to the support 5 also facilitates the operations of recovery of the submersible object and prevents the rotating part from striking equipment on board the ship or an operator by rotation around the second axis x2 when towing the object. Moreover, the device according to the invention makes it possible to control the position of the towing point along the cable. The rotational movements of the rotating part 61 at any time during the towing could lead, during towing, to variations in the length of the cable between the winch and the submersible object which could induce an undesirable raising or lowering of the towed body. and lateral deflections of the cable where a very violent overvoltage in the cable or a fall of the towed object with consequences of breakage or damage in the towed body. These movements would also cause significant effort on the first guiding device and damage the cable. The threshold is for example equal to 100 kN ^* m or greater than or equal to 100 kN ^* m. It is, for example, substantially equal to 150 kN ^* m. Alternatively, the threshold is greater than 150 kN ^* m. It can for example be of the order of 200 kN ^* m or 300 kN ^* m.

The threshold chosen depends on the intended application and in particular on the length of the towed cable, the weight of the object to be towed, the nominal sea state and the maximum rated speed at which the object is intended for to be trailer. The maximum rated speed is the maximum speed at which the object is intended to be towed under nominal operating conditions. The nominal speed is typically between 8 knots and 15 knots for sonar applications. A node is equal to 0.514 m / s. The maximum nominal sea state is the sea state in which the device is intended to be used. The maximum nominal sea state is typically a sea state of force 3 or 4 in sonar applications. The threshold is advantageously chosen so as to allow folding of the boom only under the effect of a torque greater than a torque that can be generated under the nominal conditions (nominal speed and sea state) for a given mass object. and a cable of given length. In sonar applications, the objects have masses typically ranging from one hundred kilograms to several tons. The lengths of towed cable are typically of the order of one or several hundred meters.

For example, for a given sonar application for which the weight of the object to be towed, the cable length and the maximum nominal sea state are predefined, for which the maximum nominal speed is 15 knots, the threshold is for example chosen to allow folding of the device only when the torque reaches the torque generated under the same conditions at a speed of 21 knots. Indeed, the towing will be done at this speed in exceptional conditions, for example to catch a convoy or avoid a torpedo or other operational mission.

In the embodiment of the figures, the rotating portion 61 is pivotally mounted about the axis x2 relative to the fixed portion 63 and the fixed portion 63 is integral with the support in rotation about the axis x2. Therefore, the stabilizing device is arranged to hold the rotating part 61 of the tilting structure 6 in the deployed position with respect to the fixed part 63 as long as a relative pivoting torque between the rotating part 61 and the fixed part around the second axis x2 is less than or equal to a predetermined threshold, and so as to allow rotation of the rotating part 61 provided with the first guide device 9 with respect to the fixed part 63 around the second axis x2 as soon as a relative pivoting torque between the rotating part 61 and the fixed part 63 around the second x2 exceeds said threshold.

In a variant, the rotating part 61 of the tilting structure is the tilting structure 6. The pivot connection connects the tilting structure 6 and support 5. Now, the more the axis of rotation x2 is close to the deck of the ship, that is, that is to say of the support, the greater the weight gain is important. Therefore, this configuration is more advantageous than the embodiment shown in the figures in terms of gain in mass. On the other hand, since the entire tilting structure rotates relative to the support around the x2 axis, this embodiment induces a large lateral space (around the second axis x2) on the ship during the rotation of the structure. tilting around the second axis x2 which requires to provide sufficient space on the bridge to accommodate the absorbent structure during its rotation. The solution shown in the figures causes less space. In this solution, the rocking structure can also have a general shape of arrow having a base connected to the support via the two pivot links around the two directions x1 and x2 and pointing in a direction perpendicular to the axis x1 in the deployed position .

The winch and more particularly the structure of the winch is advantageously fixed relative to the support 5 in rotation about the second axis x2. This makes it possible to limit the dimensioning of the second part. Preferably, the structure of the winch is fixed relative to the support 5. This makes it possible to limit the dimensioning of the tilting structure.

The stabilization device is of the active or passive type.

It may comprise at least one mechanical fuse, for example a pin, designed to shear and disconnect the rotating part 61 from the fixed part 63 when the pivoting torque of the rotating part relative to the support 5 is greater than a predetermined threshold. This type of stabilization device has the disadvantage of not being reversible. he does not allow to maintain again the rotating part 61 relative to the support in the deployed position.

Advantageously, the stabilization device is of the reversible type. In other words, it makes it possible to maintain again the rotating part 61 with respect to the support 5 in the deployed relative position, when it returns in the deployed relative position, once the rotating part 61 leaves the deployed position, that is to say ie, rotated about the second axis x2 with respect to the support 5. In other words, the stabilization device is configured, when in operational configuration to maintain again the rotating part 61 relative to the support 5 in the deployed relative position , when it returns in relative deployed position, once it has left the relative position deployed.

For example, the stabilizing device comprises elastic return means, such as for example one or more springs, connecting the rotating part of the tilting structure 6 and the support 5. The elastic return means are arranged to bring the rotating part back 61 of the tilting structure 6 and the support 5 in the deployed relative position. The springs are dimensioned so as to generate a restoring force preventing rotation of the rotating part 61 with respect to the support 5 as long as the torque exerted on the second axis x 2 is less than the threshold and permitting rotation of the rotating part relative to the support 5 around the second axis x2 as soon as the torque exerted on the axis is greater than the predetermined threshold value. The spring is for example a compression spring comprising an end attached to the rotating portion 61 and an end secured to the support 5 rotated about the second axis x2. An exemplary embodiment of the pivot connection between the rotating portion 61 and the fixed portion 62 of the structure 6 is shown in Figures 6 and 7a, 7b. In this example, the fixed part 63 comprises two female bearings 63a, 63b of axis x2 spaced along the axis x2. The rotating part 61 comprises a hinge axis 61a inserted in the female bearings 63a, 63b so as to be pivotable relative to these bearings around the axis x2. The hinge pin 61 is provided with a yoke 61b disposed between the two bearings 63a, 63b. The yoke is integral with the hinge axis. The stabilizing device comprises two return springs 10a, 10b visible in FIGS. 7a and 7b, arranged symmetrically with respect to a plane of symmetry PP comprising the axis x2 and secured to the fixed portion 63. The springs extend longitudinally along an axis perpendicular to the plane PP. Each spring is integrated in a housing 1 1 a, 1 1 b secured to the fixed portion 63 and is supported on the yoke 61 b by means of a rod 12a, 12b extending along the axis perpendicular to the plane PP. The springs are calibrated so as to block the rotating part 61 with respect to the fixed part when the structure is deployed and the relative pivoting torque between the rotating part 61 and the fixed part 63 is less than the predetermined threshold and so as to allow the movement between these two parts when the torque is greater than the threshold, as shown in Figure 7b, while exerting a return force F tending to bring the rotating portion 61 in the deployed position relative to the fixed part 63. In this case , the rod 12b compresses the spring in the direction of the rotating part, and thus the yoke pivots due to the torque C exerted on the rotating part 61 about the axis x2. This type of device is naturally reversible.

In a variant, the stabilizing device is of the type comprising at least one jack, the jack being for example of the hydraulic or pneumatic or electric type. Each cylinder connects the rotating part of the structure and the support, that is to say for example the structure and the support 5 or the rotating part 61 of the structure and the fixed part 63. In Figure 8, there is shown an example of stabilization device of the type comprising two hydraulic cylinders 100a, 100b symmetrical with respect to each other with respect to a plane of symmetry PS each comprising a cylindrical casing 101a, 101b integral with the fixed part 63 and a rod 102a, 102b resting on the yoke 61b and extending perpendicularly to the plane PS, each rod being furthermore bearing on a piston 103a, 103b which can move inside the housing 101a, 101b according to the direction perpendicular to the plane PS when pivoting the yoke relative to the fixed portion 63 about the axis x2. To prevent rotation of the rotating part 61 with respect to the fixed part 63 as long as the torque exerted on the second axis x 2 is less than the threshold and permitting rotation of the rotating part relative to the support 5 around the second axis x 2 as soon as the torque exerted on the axis is greater than the predetermined threshold value, using for example pressure limiters 105a, 105b calibrated by springs 106a, 106b to a value lower than the threshold torque. When the value of the torque applied to the second axis exceeds the predetermined torque, the pressure in the cylinder increases and the oil enclosed in the housing escapes through a limiter 105a, 105b to a reservoir 107a, 107b. This type of stabilization device is advantageously reversible. For example in the case of hydraulic cylinders, the stabilization device advantageously comprises a pump 108a, 108b for rearming the cylinder.

Active stabilizing devices include motorized stabilizers. The stabilization device comprises, for example, as shown in FIG. 9, a motor 20 comprising an output shaft 21 integral with a gear wheel 63c of axis xr parallel to the axis x2, integral with the fixed part 63, which meshes with the yoke 601b which is a gear wheel x2 axis. The output shaft 21 of the motor 20 is integral with the toothed wheel 63c in rotation around the axis xr. In the motorized stabilization devices, the motor is arranged to allow the rotating part 61 to pivot with respect to the fixed part 63 around the second axis x2 as is the case in the example shown in FIG. constitutes the actuator of the pivot connection or motorized articulation. The stabilization device comprises a control device 22 making it possible to control the motor in torque as a function of the pivoting torque applied to the rotating part 61 around the second axis x2 so as to keep the rotating part in the deployed relative position, when the torque exerted on the second axis is less than the threshold torque and so as to allow rotation of the rotating part relative to the support when the torque exerted on the axis exceeds the threshold torque. This type of device is reversible.

In the devices described above, the stabilization device allows the relative rotation of the rotating part and the movable part about the x2 axis in both directions of rotation around the deployed relative position. Alternatively, the stabilizer is configured to allow relative rotation of the rotating portion and the movable portion about the second axis x2 in a single direction from the relative position. This can be achieved by removing a spring or a jack in the previously described embodiments. This embodiment is easier to produce mechanically and less costly in terms of weight and bulk than the two-way rotation embodiment about the x2 axis.

Advantageously, the stabilization device is disengageable. By disengageable stabilizing device is meant a stabilizing device comprising a disengaging device for disengaging the stabilization device so that it allows rotation of the rotating part relative to the support even if a torque below the threshold is applied to the second axis. In other words, the stabilization device passes from an operational configuration in which it prohibits the rotation of the rotating part relative to the support around the x2 axis when the torque is below the threshold and in which it allows this rotation when the torque is greater than the threshold at a disengagement configuration in which it allows rotation even when the torque exerted around the x2 axis is less than the threshold. This embodiment makes it possible to ensure, outside the operational phases, the storage of the structure by rotating the rotating part of the structure around the second axis to bring it from the deployed position relative to the support to a retracted position relative to the support in which the length of the projected structure on a longitudinal axis perpendicular to the first axis and parallel to the support plane is less than the length of the projected structure on an axis when the structure is deployed. In the retracted position, the bulk of the tilting structure is less important along the longitudinal axis (see Figure 3 and 4). This embodiment is particularly advantageous in the case where the rocking structure comprises a rotating part and a fixed part interconnected by means of the pivot connection about the second axis x2 because, in this case the size of the tilting structure along an axis perpendicular to the first axis x1 and connecting the first axis x1 and the second axis x2 is reduced when the rotating part leaves the deployed position relative to the fixed part. The stabilizing device comprises, for example, in the case of a hydraulic cylinder, a valve 109a, 109b that can be open or closed interposed between each cylinder 100a, 100b, through which the fluid can escape from the cylinder to the reservoir 107a , 107b when the valve 109a, 109b is open. The valve is configured to be operated manually or electrically. In the case of a motor stabilization device, the control device comprises a disengagement configuration in which it controls the motor so as to deliver a zero torque around the xr axis. In the case of a spring device, the disengagement device advantageously comprises a drive device, not shown, for separating the housings 1 1a and / or 1 1b of the part Fixed 63. Advantageously, the stabilization device comprises means for locking the position of the rotating part 61 relative to the fixed part 63, or more generally relative to the support 5, when the structure is in a folded position. Another advantage of the invention is that it makes it possible to reduce the bulk of the tilting structure when it is stored on board the ship or when it is handled to be unloaded from the boat, which can make it possible to pass the launching system. through a smaller sized bridge sign.

The handling device may comprise a driving device configured to drive the rotating part so that the tilting structure moves from the deployed relative position to the folded relative position when the relative pivoting torque exceeds the threshold. This driving device is for example the stabilization device, for example a motorized device as described above.

Alternatively, the handling device is configured so that when the relative pivoting torque between the two parts about the x2 axis exceeds the threshold, the rotating part is driven by the cable, rotated about the second axis relative to the support . In other words, the torque that drives the rotational rotating part is the relative pivoting torque that exceeds the threshold. This relative pivoting torque is exerted by the cable. This device has the advantage of being reliable and simple. This is for example the case when the pivot connection is free when the relative pivoting torque exceeds the threshold. In other words, the stabilizing device releases the pivot connection when the relative pivoting torque exceeds the threshold. When the pivot connection is free, only the friction torque of the pivot connection opposes the rotation of the rotating part when the torque exceeds the threshold. This is also the case when the stabilizing device is configured to damp the relative rotational movement between the rotating part and the support as described below. In other words, only the cable exerts a relative pivoting torque between the rotating part and the support around the axis x 2 in the direction of the relative rotation between the rotating part and the support.

Advantageously, the stabilizing device is configured to damp the relative rotational movement between the rotating part and the support around the second axis of rotation. In other words, the device for stabilization is configured so that the speed of movement of the boom from the deployed position to the folded position is less than the movement speed which would be caused by the relative pivoting torque exerted by the cable about the second axis of rotation. The stabilizing device is therefore configured to exert on the structure, around the x2 axis, another relative pivoting torque between the rotating part and the support. This other torque is applied in the opposite direction to the relative pivoting torque exerted on the rotating part about the x2 axis by the cable and less than the relative pivoting torque exerted by the cable between the rotating part and the support around the axis. x2 The damping avoids the amplitudes and speeds of the rotational movements of the rotating part of the boom with respect to the support which could lead to damage to the device, submersible object or crew injury. . This is for example the case of the device described with reference to Figures 7a to 7b. This type of depreciation is passive and therefore reliable. Alternatively, the damping is active. This can be done in the case of a motor by driving the motor so as to oppose the relative rotational movement between the rotating part and the support around the axis x2, when the rotating part and the support are not in the deployed relative position, that is to say when the rotation between the rotating part and the support around the x2 axis is allowed.

We have described examples of pivot connection and stabilization devices in the case where the rocking structure is divided into a fixed part and a rotating part. These descriptions also apply in the case where the rotating part is the structure and the pivot connection around the second axis connects the structure and the support.

Advantageously, the stabilizing device is configured to return the rotating part in the extended position relative to the support and to maintain it in this relative position, when once the stabilizing device allows the rotation of the rotating part relative to the support around the x2 axis, the pivoting torque exerted on the rotating portion about the x2 axis is found below a second threshold torque lower than the first threshold torque. This is done automatically in the case of springs and can be achieved by configuring the device of control in the case of a motorized pivot connection and the reset device in the case of the cylinders. This configuration makes it possible to resume the mission in the optimal conditions once the event causing the lateral force has disappeared or to deploy the structure before coming to put it on the deck by extending completely over the bridge (not above the sea) in a storage area, for example, by moving it relative to the support 5 along an axis perpendicular to the axis x1 and parallel to the plane PS, if the structure is mounted movably in translation relative to the support 5 along an axis xt, shown in Figure 5, perpendicular to the axis x1. In the operational phase, the structure extends partially above the water. The size of the structure parallel to the x1 axis is then minimal when storing the structure which allows to provide a bridge panel having an opening of reduced width to separate the storage space of the structure and space where the structure is placed under the operational conditions of launching / recovery and towing of the submersible object.

Advantageously, as can be seen in FIG. 5, the handling device comprises a second device 30 for guiding the cable through which the cable passes between the first guiding device 9 and the winch 8 comprising at least one deflector 31, 32 making it possible to to prevent the radius of curvature of the cable 2 from falling below a predetermined threshold in a plane perpendicular to the second axis x2 when the rotating part 61 pivots about the second axis x2 with respect to the support 5. On the embodiment of FIG. , the second first guide device 30 comprises two baffles 31, 32 disposed on either side of the cable 2. They are advantageously symmetrical to one another with respect to a plane containing the second axis x2. Each of the deflectors forms a convex bearing surface on which the cable can come to bear when the rotating portion 61 pivots about the axis x2. Each deflector 31, 32 has, for example a curved plate shape having a concave surface 35, 36, visible in Figure 5 and the convex surface 33, 34 parallel to the concave surface visible in Figure 10. This avoids that the cable 2 does not deteriorate when the rotating part pivots about the second axis x2. Moreover, this makes it possible to bring the cable 2 back to the second axis x2 at the exit of the first guiding device, here the pulley, between the first device guide and the winch which has the effect of limiting the length variations of the cable between the winch and the towed body when the rotating part rotates about the second axis x2 and thus limit the movements from top to bottom (and vice versa) of the towed body that could have the effect of removing the towed body from the water, which limits the risk of damage to the towed body and the risk of collision with the latter equipment ship or operator. In addition, this allows, during transit operations of the tilting structure between the position of recovery or launching and the storage position on the boat, or during the launching or recovery of the towed body to limit additional accelerations that excite more movement of the machine at the end of the crane cable. This facilitates the operations of recovery and launching of the submersible object. A second guiding device may also be provided between the pulley and the winch when the rotating part is the tilting structure, when the tilting structure is not secured to the winch rotating about the second axis x2.

The axis of rotation x2 extends in a plane perpendicular or substantially perpendicular to x1. In the embodiment shown in Figures 3 to 5, the second axis of rotation x2 is substantially perpendicular to the general plane of the structure in the deployed position. This plane is the plane comprising an axis parallel to the axis x1 and the longitudinal axis xs, according to which the structure extends longitudinally in the deployed position. In a variant, for reasons of space during storage, the axis x 2 forms a non-zero angle less than or equal to 30 ° with the general plane of the structure. Advantageously, the x2 axis is arranged so that the length of the tilting structure along its longitudinal axis xs is greater when the tilting structure is deployed than when the tilting structure is folded. The longitudinal axis is the axis in which the tilting structure has the greatest length.

In the nonlimiting example of FIG. 3, the first guide device 9 comprises a guide assembly 91 making it possible to prevent the cable 2 from forming an angle less than a second predetermined angle in a plane perpendicular to the plane P when the structure is deployed. This guide assembly is arranged downstream of the pulley 90 (that is to say between the end 20 of the cable intended to be immersed and the pulley 90). He understands advantageously two deflectors, not shown in the figures, arranged on either side of a plane passing through the pulley and perpendicular to the axis of the pulley. Advantageously, the guiding device 91 is able to receive the submersible object and has a shape complementary to the submersible object so as to block the movement of the object in the direction of the winch.

In the present patent application when indicating that an element extends longitudinally along an axis, it means that it has an elongate shape parallel to this axis.

The subject of the invention is also a handling assembly comprising a ship carrying a handling and towing device according to any one of the preceding claims, said support being fixed to the ship so that the flat surface 51 forming the plane PS extends parallel to the surface (S) of water by calm sea state. Advantageously, the axis x1 is parallel to the axis of the ship. Alternatively, the axis x1 is perpendicular to the axis of the ship.

Claims

1. Device for handling and towing a submersible object (1) intended to be installed on a ship (3), the device comprising:

a support (5) intended to be fixed to the deck of the ship (3), the support (5) comprising at least one support element (50) comprising a flat surface (51) forming a plane (PS) intended for extend parallel to the surface (S) of the water by calm sea state,

a cable (2) for towing the submersible object (1),

- a winch (8) for winding and unrolling the cable (2),

a rocking structure (6) supported by said support (5), able to pivot relative to the support (5) around a first axis (x1) parallel to said plane (PS), said rocking structure (6) being provided with a first guiding device (9) for guiding the cable (2), characterized in that the handling device comprises:

a pivot connection (62) around a second axis (x2) situated in a plane substantially perpendicular to the first axis of rotation (x1), arranged to allow rotation of a rotating part (61) of the tilting structure (6); ), with respect to the support, said rotating part (61) being provided with the first guiding device (9),

a stabilizing device adapted to be in an operational configuration in which it is configured to maintain the rotating part (61) of the tilting structure (6) in a deployed position relative to the support (5) as long as a pivoting torque relative between the rotating part (61) and the support (5) around the second axis (x2) is less than or equal to a predetermined threshold, and so as to allow rotation of the rotating part (61) provided with the first device guiding (9) relative to the support (5) about the second axis (x2) as soon as a relative pivoting torque between the rotating part (61) and the support (5) around the second (x2) exceeds said threshold.

2. Handling and towing device according to the preceding claim, wherein the threshold is greater than or equal to 50 kN ^* m.

3. Handling device according to any one of the preceding claims, wherein the first guide device (9) guides the cable between the end of the cable intended to be immersed and the winch and is arranged to prevent the cable of forming a lower angle at a first angle in a plane perpendicular to the first axis (x1) and for limiting the lateral deflection of the cable along an axis parallel to the first axis (x1), the handling device being arranged so that when the stabilization allows the relative rotation between the rotating part and the support around the axis x2, the rotating part is able to pass into a folded position relative to the support, in which the length of the rocking structure between the first axis of rotation ( x1) and the first guiding device (9) projected along an axis extending parallel to the support plane and perpendicular to the first axis of rotation (x1) is less important than when the rotating part and the support are in the deployed relative position.

4. Handling and towing device according to any one of the preceding claims, wherein the rotating part of the tilting structure is the tilting structure.

5. Handling and towing device according to any one of the preceding claims, wherein the rocking structure comprises a fixed part (63) integral with the support rotated about the second axis (x2) and the rotating part (61) connected to the support via the fixed part (63) to the support (5), the fixed part (63) being connected to the rotating part via the pivot connection (62) about the second axis (x2).

6. A handling and towing device according to claim 5, wherein the rotating portion (61) extends longitudinally in the extension of the fixed portion (63) along an axis (xs) integral with the fixed portion (63) perpendicular at the first axis (x1) and forming the longitudinal axis of the fixed part (63).

7. Handling and towing device according to any one of claims 5 to 6, wherein the fixed part (63) has the general shape of an arrow whose base is fixed to the support (5) by means of the link pivoting about the first axis x1 and pointing in a direction xs perpendicular to the first axis (x1), the rotating portion (61) extending longitudinally in the extension of the arrow in the direction xs pointed by the arrow when the structure is deployed.

8. Handling and towing device according to any one of the preceding claims, wherein the stabilizing device is reversible.

9. Handling and towing device according to any one of claims 1 to 5, wherein the stabilization device is irreversible.

10. Handling and towing device according to any one of the preceding claims, wherein the stabilizing device is disengageable.

1 1. Handling and towing device according to the preceding claim, wherein the stabilizing device comprises locking means for locking the position of the rotating part (61) relative to the support (5) when the rotating part (61) is located in a folded position relative to the support (5).

12. A handling and towing device according to any one of the preceding claims, wherein the stabilizing device is configured to damp the relative rotational movement between the rotating part and the support about the second axis of rotation.

13. Handling and towing device according to any one of the preceding claims, wherein the stabilizing device is configured to bring back the rotating part. (61) in the extended position relative to the support (5) and to maintain it in this position, when once the stabilizing device allows rotation of the rotating part relative to the support about the second axis (x2), the pivoting torque exerted on the rotating part about the axis (x2) is found below a second threshold torque lower than the first threshold torque.

14. Device according to any one of the preceding claims, comprising a second guiding device (30) for guiding the cable (2) through which the cable (2) passes between the first guiding device (9) and the winch. (8), the second guide device (30) comprising at least one deflector (31, 32) for preventing the radius of curvature of the cable (2) from falling below a predetermined threshold in a plane perpendicular to the second axis (x2) when the rotating part (61) pivots about the second axis (x2) relative to the support (5).

Handling and towing device according to any one of the preceding claims, wherein the second axis of rotation (x2) is substantially perpendicular to the plane comprising an axis parallel to the axis (x1) and a longitudinal axis (xs). wherein the structure (6) extends longitudinally when in the deployed position relative to the support (5).

A handling and towing device according to any one of the preceding claims, wherein the tilting portion is configured such that when the relative pivoting torque exceeds the threshold, the rotating portion is rotated by the cable around it. the second axis with respect to the support.

17. Handling and towing device according to any one of the preceding claims wherein the winch is fixed in rotation relative to the support about the axis x2.

18. Handling assembly comprising a vessel carrying a handling and towing device on board any one of the preceding claims, said support being fixed to the ship so that plane surface (51) forming the plane (PS) extends substantially parallel to the surface (S) of the water by calm sea state.