EP3328725B1 - Unit for cleaning underwater structures and associated submersible cleaning assembly - Google Patents

Unit for cleaning underwater structures and associated submersible cleaning assembly Download PDF

Info

Publication number
EP3328725B1
EP3328725B1 EP16770036.8A EP16770036A EP3328725B1 EP 3328725 B1 EP3328725 B1 EP 3328725B1 EP 16770036 A EP16770036 A EP 16770036A EP 3328725 B1 EP3328725 B1 EP 3328725B1
Authority
EP
European Patent Office
Prior art keywords
drum
cleaning unit
cleaning
scraping
tool
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.)
Active
Application number
EP16770036.8A
Other languages
German (de)
French (fr)
Other versions
EP3328725A1 (en
Inventor
Maxime CERRAMON
Adrien TCHEKINIAN
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.)
Searov Offshore
Original Assignee
Searov Offshore
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 Searov Offshore filed Critical Searov Offshore
Publication of EP3328725A1 publication Critical patent/EP3328725A1/en
Application granted granted Critical
Publication of EP3328725B1 publication Critical patent/EP3328725B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the invention is in the field of submersible remote-controlled vehicles.
  • the invention relates more particularly to a submarine structure cleaning tool.
  • Underwater structure is understood to mean, without limitation, oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors.
  • the invention thus aims at a submersible cleaning tool that can be remotely controlled from the surface and capable of cleaning surfaces underwater even with difficulty accessible and without damaging the constituent materials of these surfaces.
  • the submersible cleaning unit of the invention is adapted to be driven by means of propulsion and remotely controlled, and is essentially characterized in that it is equipped with at least one rotary scraper system.
  • marine fouling present on the surface of said underwater structure, which comprises at least one scraping tool mounted on a drum whose longitudinal axis defines the axis of rotation of said rotary scraping system, and in that the drum is adapted to be rotated and intended to be positioned parallel to the surface to be cleaned.
  • the cleaning unit further comprises a hydraulic motor which is mounted in the axis of the drum at one of its two ends and fed by a hydraulic unit housed in the frame of said cleaning unit. .
  • the invention also relates to a submersible cleaning assembly of an underwater structure and which is essentially characterized in that it comprises a cleaning unit as described above, which is secured to an underwater robot including propulsion means and capturing means, and controlled remotely.
  • the cleaning unit is mounted under the submarine robot.
  • the hydraulic unit of the cleaning unit is electrically powered by the electric circuit of the submarine robot.
  • the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3.
  • Underwater robot 2 means a remotely operated vehicle (ROV) which is submersible in a body of water, here the sea 7, and which can be controlled remotely from a fixed platform 4 or a ship via a cable 5 mounted around a pulley 6.
  • ROV remotely operated vehicle
  • the submarine robot 2 is equipped with propulsion means and one or more unrepresented cameras that are electrically powered via the cable 5.
  • the cable 5 also carries data, these aspects being known to those skilled in the art. look at the use of underwater robots 2 marketed.
  • the cleaning unit 3 comprises a hydraulic unit 8 which will be described later and which is advantageously electrically powered by the electric circuit 9 of the underwater robot 2 thus avoiding the multiplication of the cables 5.
  • the cleaning unit 3 is secured to the submarine robot 2 by welding, by buttoning or by any other means commonly used to assemble a technical unit to an underwater robot 2. Alternatively and not shown, the cleaning unit 3 is not reported to a submarine robot 2 but has its own means of propulsion and capture.
  • One or more unrepresented operators provide guidance and commands for the cleaning assembly 1 from the platform 4.
  • the cleaning assembly 1 is thus guided and placed from the platform 4 close to the surface 10 of a submarine structure 11 to be cleaned.
  • One end 12 of the cleaning unit 3 comprises a rotary scraping system which will be described later, which is positioned at an operating distance from the surface 10 and which is actuated in rotation from the platform to rid the surface 10 of the dirt present on the surface 10.
  • the rotary scraping system is controlled inactive and the cleaning assembly 1 is raised to the surface on the platform 4.
  • the cleaning unit 3 comprises a chassis 15 substantially composed of two flanks 16 made of plastic material, four sleepers 17 made of aluminum profile and is extended longitudinally by an aluminum nose 18 to the transverse end 12 of the unit cleaning 3.
  • the nose 18 of the cleaning unit 3 comprises a first aluminum flank 19 and a second parallel flank 20, the latter flank 20 forming one of the faces of an aluminum protective duct 21 of the hydraulic motor 22 ( figure 4 ) which rotates the rotary scraping system 23 extending transversely and at the longitudinal end of the nose 18 between the first sidewall 19 and the protective duct 21.
  • the rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example made of Dursteel® and whose main axis XX 'defines the axis of rotation of the rotary system 23.
  • the two ends 25, 26 of the drum 24 are respectively mounted on the protective conduit 21 and on the first side 20 via an elastic coupling 27 and two self-aligning bearings 26a arranged on either side of the drum 24.
  • the car bearing -aligneur 26a is located between the elastic coupling 27 and the end 25 considered of the drum 24.
  • the elastic coupling 27 and the self-aligning bearings 26a are all visible on the figure 3 and partially visible on figures 2 , 4 and 5 .
  • the self-aligning bearings 26a are shown without support on the figure 4 , and with support on the figure 5 .
  • the rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are fixed the scraping tools not shown on the figures 2 and 4 and which will be described later.
  • the three fins 28a, 28b, 28c are regularly arranged along the drum 24 between two discs 29,30.
  • the diameter of these two discs 29,30 is greater than the largest diameter of the fins 28a, 28b, 28c and the thickness of these discs 29,30 is sufficiently thin to prevent the blocking of the rotation of the drum 24 in case of contact between fine discs 29,30 and the surface to be cleaned.
  • Each fin 28a, 28b, 28c partially surrounds the drum 24 having a reinforcement 28a1,28a2 made of a zone of greater thickness on which is formed a through hole 28a2,28b2 intended to ensure the attachment of the scraping tool on the corresponding fin 28a, 28b, 28c.
  • the three fins 28a, 28b, 28c, or the three reinforcements 28a1, 28a2 of a corresponding fin 28a, 28b, 28c are arranged along the drum 24 at an angular offset of 120 ° C. This angular offset advantageously ensures a regular distribution of masses of scraping tools in motion to avoid unbalance.
  • the hydraulic motor 22 is mounted at the end of the protective duct 21 in the axis XX 'of the drum 24.
  • the hydraulic motor 22 is powered by a hydraulic unit 30 arranged on the frame 15 of the cleaning unit 3.
  • the hydraulic unit 30 is composed of a pump unit 31 consisting of an electric motor 32 which is powered by the circuit electric submarine robot not shown in this figure and which is connected to a pump 33 via an elastic coupling 34.
  • the pump unit 31 is connected to an oil reservoir 35 and a pressure limiter 36.
  • the hydraulic unit 30 includes a pressurized circuit portion 37 and a portion of circuit at atmospheric pressure 38.
  • the hydraulic motor 22 has a displacement of 11 cm 3 and the hydraulic pump of 3.1 cm 3 .
  • the hydraulic motor 22 rotates the drum 24 at a speed between 500 and 900 rpm according to the scraping tool used.
  • the electric motor 32 drives the hydraulic pump 33 in operation which passes the oil contained in the tank 35 to said pump 33 which then sends the pressurized oil to the limiter 36 and, if the pressure is below a threshold pressure, the hydraulic motor 22. At the output of the hydraulic motor 22, the oil at atmospheric pressure returns to the reservoir 35.
  • the pressure of the high pressure circuit 37 is adjusted so as not to exceed 190 bar. In the event of exceeding this pressure of 190 bar, a bypass circuit 39 between the limiter 36 and the tank 35 makes it possible to avoid damaging the hydraulic motor 22.
  • the main advantage of implementing a hydraulic unit lies in the possibility of arranging the hydraulic motor 22 as close as possible to the rotary scraping system 30 and in the axis XX 'of the drum 24, this being made possible by the use of flexible cables within the hydraulic unit, which avoids the use of angle gear systems.
  • the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 composed of three links 41 of diameter 8 millimeters and length of 3 centimeters.
  • the three links 41 are secured to the drum 24 by means of a shackle 42 of stainless steel diameter 10 millimeters which is bolted to the reinforcement 28a1 through the corresponding orifice 28a2.
  • a single complete scraping tool 40 is shown on the Figures 5 and 6 but it is understood that the rotary scraping system 23 comprises three scraping tools 40 identical to that previously described, each tool 40 being secured to a corresponding fin 28a, 28b, 28c,
  • each scraping tool 40 extends perpendicular to the drum 24, which thus makes it possible to strike the surface to be cleaned when the drum is rotated by the hydraulic motor and the drum 40 position parallel to the surface to be cleaned.
  • the scraping tool 40a may alternatively consist of a resin lamella 43 secured by buttoning to the reinforcement 28a1 of the corresponding fin 28a and thus positioned also perpendicularly to the drum 24.
  • the scraping tool 40,40a may be a steel cable, a brush or a circular propeller. It is important that the scraping tool has both sufficient hardness to scrape and remove dirt from the surface to be cleaned but also a general flexibility to hit it without breaking against the surface to be cleaned when the drum 24 is in rotation and positioned parallel to the surface to be cleaned.
  • the scraping tool is generally elongate in shape and extends perpendicularly or substantially perpendicular to the drum 24.
  • the length of the scraping tool 40, 40a is also adjusted to optimize cleaning and is generally understood, considering the end. free of the scraping tool 40 to the cylindrical surface of the drum 24, between 10 and 20 centimeters. More generally, the length of the scraping tool is adjusted according to the friction generated by the scraping tools to not impede the good rotation of the drum according to the driving capacity of the hydraulic motor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Cleaning In General (AREA)

Description

L'invention s'inscrit dans le domaine des véhicules télécommandés submersibles.The invention is in the field of submersible remote-controlled vehicles.

L'invention porte plus particulièrement sur un outil de nettoyage de structure sous-marine.The invention relates more particularly to a submarine structure cleaning tool.

On entend par structure sous-marine et de façon non limitative des plateformes pétrolières, des anodes sous-marines, des coques de navires ou de pétroliers, ou encore des lignes d'ancres.Underwater structure is understood to mean, without limitation, oil platforms, underwater anodes, hulls of ships or tankers, or lines of anchors.

La surface de ces structures sous-marines est soumise à l'apparition de salissures résultant de l'exposition prolongée dans la mer. Ces salissures sont le plus souvent des coraux, des algues ou encore des huitres.The surface of these underwater structures is subject to the appearance of soiling resulting from prolonged exposure in the sea. These soils are most often corals, algae or oysters.

Ces salissures engendrent une augmentation de la charge de la structure considérée et peuvent potentiellement en augmenter également la prise au courant. En outre, ces salissures peuvent masquer des anomalies de type fissure ou oxydation. Il convient donc de débarrasser régulièrement les structures immergées de ces salissures et ce, sans endommager la surface soumise au nettoyage.These soils cause an increase in the load of the structure in question and can potentially increase its also aware. In addition, these soils can mask cracks or oxidation type anomalies. It is therefore advisable to regularly rid the immersed structures of these soils without damaging the surface subjected to cleaning.

Comme réalisé actuellement, le nettoyage de ces surfaces par des plongeurs engendre un risque humain important. En outre, les coûts associés au déploiement de plongeurs sont élevés. Enfin, certaines surfaces soumises à des courants importants ou situées à de grandes profondeurs sont difficilement accessibles, sauf à augmenter plus encore les risques humains associés.As currently done, the cleaning of these surfaces by divers creates a significant human risk. In addition, the costs associated with deploying divers are high. Finally, some surfaces subject to large currents or located at great depths are difficult to access, except to increase even more the associated human risks.

L'invention vise ainsi un outil de nettoyage submersible apte à être télécommandé depuis la surface et capable d'assurer le nettoyage de surfaces sous-marines même difficilement accessibles et ce, sans endommager les matériaux constitutifs de ces surfaces.The invention thus aims at a submersible cleaning tool that can be remotely controlled from the surface and capable of cleaning surfaces underwater even with difficulty accessible and without damaging the constituent materials of these surfaces.

Le document US 487, 198 décrit une unité de nettoyage selon le préambule de la revendication 1.The document US 487, 198 describes a cleaning unit according to the preamble of claim 1.

À cet effet, l'unité de nettoyage submersible de l'invention est apte à être entrainée par des moyens de propulsion et commandée à distance, et est essentiellement caractérisée en ce qu'elle est équipée d'au moins un système rotatif de raclage de salissures marines présentes à la surface de ladite structure sous-marine, qui comporte au moins un outil de grattage monté sur un tambour dont l'axe longitudinal définit l'axe de rotation du dit système rotatif de raclage, et en ce que le tambour est apte à être commandé en rotation et destiné à être positionné parallèlement à la surface à nettoyer. Selon l'invention, l'unité de nettoyage comporte en outre un moteur hydraulique qui est monté dans l'axe du tambour au niveau de l'une de ses deux extrémités et alimenté par un groupe hydraulique logé dans le châssis de ladite unité de nettoyage.For this purpose, the submersible cleaning unit of the invention is adapted to be driven by means of propulsion and remotely controlled, and is essentially characterized in that it is equipped with at least one rotary scraper system. marine fouling present on the surface of said underwater structure, which comprises at least one scraping tool mounted on a drum whose longitudinal axis defines the axis of rotation of said rotary scraping system, and in that the drum is adapted to be rotated and intended to be positioned parallel to the surface to be cleaned. According to the invention, the cleaning unit further comprises a hydraulic motor which is mounted in the axis of the drum at one of its two ends and fed by a hydraulic unit housed in the frame of said cleaning unit. .

L'outil de nettoyage de l'invention peut également comporter les caractéristiques optionnelles suivantes considérées isolément ou selon toutes les combinaisons techniques possibles :

  • le système rotatif de raclage et le moteur hydraulique s'étendent le long d'une extrémité transversale du châssis de l'unité de nettoyage.
  • plusieurs outils de grattage sont agencés le long du tambour du système rotatif de raclage.
  • chaque outil de grattage est solidarisé à une ailette respective qui est agencée sur au moins une partie de la périphérie dudit tambour et qui comporte une zone de renfort au niveau de laquelle le dit outil de grattage est monté traversant.
  • le système rotatif de grattage comporte trois outils de grattage montés le long du tambour, les trois outils de grattage étant solidarisés au tambour en étant positionnés en décalage angulaire de 120° sur ledit tambour.
  • chaque outil de grattage est constitué d'une chaîne métallique.
  • la chaîne métallique comporte trois maillons en acier de grade compris entre 80 et 100, chaque maillon présentant une longueur comprise entre 1 et 5 centimètres et une section comprise entre 6 et 10 millimètres, et la vitesse de rotation du tambour est comprise entre 500 et 900 tours par minute.
The cleaning tool of the invention may also include the following optional features considered in isolation or in any possible technical combination:
  • the rotary scraping system and the hydraulic motor extend along a transverse end of the frame of the cleaning unit.
  • several scraping tools are arranged along the drum of the rotary scraping system.
  • each scraping tool is secured to a respective fin which is arranged on at least a portion of the periphery of said drum and which comprises a reinforcing zone at which said scraping tool is mounted through.
  • the rotary scraping system comprises three scraping tools mounted along the drum, the three scraping tools being secured to the drum being positioned at an angular offset of 120 ° on said drum.
  • each scraping tool is made of a metal chain.
  • the metal chain comprises three steel links of grade between 80 and 100, each link having a length of between 1 and 5 centimeters and a section of between 6 and 10 millimeters, and the speed of rotation of the drum is between 500 and 900 Rotations per minute.

L'invention porte également sur un ensemble de nettoyage submersible d'une structure sous-marine et qui est essentiellement caractérisé en ce qu'il comporte une unité de nettoyage telle que précédemment décrite, qui est solidarisée à un robot sous-marin muni notamment de moyens de propulsion et de moyens de captation, et commandé à distance.The invention also relates to a submersible cleaning assembly of an underwater structure and which is essentially characterized in that it comprises a cleaning unit as described above, which is secured to an underwater robot including propulsion means and capturing means, and controlled remotely.

Avantageusement, l'unité de nettoyage est montée sous le robot sous-marin.Advantageously, the cleaning unit is mounted under the submarine robot.

Plus avantageusement, le groupe hydraulique de l'unité de nettoyage est alimenté électriquement par le circuit électrique du robot sous-marin.More preferably, the hydraulic unit of the cleaning unit is electrically powered by the electric circuit of the submarine robot.

D'autres caractéristiques et avantages de l'invention ressortiront clairement de la description qui en est donnée ci-dessous, à titre indicatif et nullement limitatif, en référence aux figures annexées parmi lesquelles :

  • la figure 1 est une représentation schématique de l'ensemble de nettoyage de l'invention immergé en position de nettoyage et relié par un câble d'alimentation via une poulie à une plateforme de contrôle et de guidage.
  • la figure 2 est une représentation schématique en perspective et en élévation du châssis de l'outil de nettoyage de l'invention illustrant notamment le tambour rotatif dépourvu sur cette figure des outils de grattage,
  • la figure 3 est une représentation schématique de dessus du groupe hydraulique d'alimentation du moteur hydraulique d'actionnement en rotation du tambour de l'outil de nettoyage,
  • la figure 4 est une vue agrandie de la figure 2 illustrant l'extrémité transversale de l'outil de nettoyage munie de l'outil de grattage partiellement représenté et du moteur hydraulique d'entraînement en rotation du tambour de l'outil,
  • la figure 5 est une vue similaire à celle de la figure 4 sur laquelle est représenté un outil de grattage constitué d'une chaîne à trois maillons en acier selon une première variante de l'invention,
  • la figure 6 est une vue agrandie de la figure 5 prise selon la flèche VI et illustrant la chaîne à trois maillons en acier formant outil de grattage de l'outil de nettoyage selon la première variante, et
  • la figure 7 est une vue agrandie d'un outil de grattage fait d'une lamelle en résine selon une seconde variante de réalisation.
Other features and advantages of the invention will emerge clearly from the description which is given below, by way of indication and in no way limitative, with reference to the appended figures among which:
  • the figure 1 is a schematic representation of the cleaning assembly of the invention immersed in the cleaning position and connected by a power cable via a pulley to a control and guidance platform.
  • the figure 2 is a diagrammatic representation in perspective and in elevation of the frame of the cleaning tool of the invention illustrating in particular the rotary drum devoid of scraping tools in this figure,
  • the figure 3 is a schematic top view of the hydraulic power unit of the hydraulic motor for rotating the drum of the cleaning tool,
  • the figure 4 is an enlarged view of the figure 2 illustrating the transverse end of the cleaning tool provided with the partially illustrated scraping tool and the hydraulic motor for rotating the drum of the tool,
  • the figure 5 is a view similar to that of the figure 4 on which is represented a scraping tool consisting of a chain with three steel links according to a first variant of the invention,
  • the figure 6 is an enlarged view of the figure 5 taken according to the arrow VI and illustrating the chain with three steel links forming scraping tool of the cleaning tool according to the first variant, and
  • the figure 7 is an enlarged view of a scraping tool made of a resin blade according to a second embodiment.

En référence à la figure 1, l'ensemble de nettoyage 1 de l'invention comporte un robot sous-marin 2 sous lequel est monté une unité de nettoyage 3. On entend par robot sous-marin 2 un véhicule télécommandé (ROV - remotely operated vehicle) qui est submersible dans un corps d'eau, ici la mer 7, et qui peut être commandé à distance depuis une plateforme fixe 4 ou un navire par l'intermédiaire d'un câble 5 monté autour d'une poulie 6.With reference to the figure 1 , the cleaning assembly 1 of the invention comprises an underwater robot 2 under which is mounted a cleaning unit 3. Underwater robot 2 means a remotely operated vehicle (ROV) which is submersible in a body of water, here the sea 7, and which can be controlled remotely from a fixed platform 4 or a ship via a cable 5 mounted around a pulley 6.

Le robot sous-marin 2 est équipé de moyens de propulsion et d'une ou de plusieurs caméras non représentées qui sont alimentés électriquement via le câble 5. La câble 5 véhicule également des données, ces aspects étant connus de l'homme du métier au regard de l'utilisation des robot sous-marin 2 commercialisés.The submarine robot 2 is equipped with propulsion means and one or more unrepresented cameras that are electrically powered via the cable 5. The cable 5 also carries data, these aspects being known to those skilled in the art. look at the use of underwater robots 2 marketed.

L'unité de nettoyage 3 comporte un groupe hydraulique 8 qui sera décrit plus loin et qui est avantageusement alimenté électriquement par le circuit électrique 9 du robot sous-marin 2 en évitant ainsi la multiplication des câbles 5.The cleaning unit 3 comprises a hydraulic unit 8 which will be described later and which is advantageously electrically powered by the electric circuit 9 of the underwater robot 2 thus avoiding the multiplication of the cables 5.

L'unité de nettoyage 3 est solidarisée au robot sous-marin 2 par soudure, par boutonnage ou par tout autre moyen communément utilisé pour assembler une unité technique à un robot sous-marin 2. Alternativement et non représenté, l'unité de nettoyage 3 n'est pas rapporté à un robot sous-marin 2 mais comporte ses propres moyens de propulsion et de captation.The cleaning unit 3 is secured to the submarine robot 2 by welding, by buttoning or by any other means commonly used to assemble a technical unit to an underwater robot 2. Alternatively and not shown, the cleaning unit 3 is not reported to a submarine robot 2 but has its own means of propulsion and capture.

Un ou plusieurs opérateurs non représentés assurent le guidage et les commandes de l'ensemble de nettoyage 1 depuis la plateforme 4. Il est également prévu sur la plate-forme des moyens de commande, des enregistreurs, des analyseurs et tout autre matériel connu de l'homme du métier assurant le guidage mécanique et électrique du robot sous-marin 2, l'activation en fonctionnement de l'outil de nettoyage 3 et la collecte et traitement des données.One or more unrepresented operators provide guidance and commands for the cleaning assembly 1 from the platform 4. There is also provided on the platform control means, recorders, analyzers and any other material known to the user. skilled in the art ensuring the mechanical and electrical guidance of the underwater robot 2, the activation in operation of the cleaning tool 3 and the collection and processing of data.

L'ensemble de nettoyage 1 est ainsi guidé et placé depuis la plateforme 4 à proximité de la surface 10 d'une structure sous-marine 11 à nettoyer. L'une 12 des extrémités de l'unité de nettoyage 3 comporte un système rotatif de grattage qui sera décrit plus loin, qui est positionné à une distance de fonctionnement de la surface 10 et qui est actionné en rotation depuis la plateforme pour débarrasser la surface 10 des salissures 13 présentes sur la surface 10. Une fois l'opération de nettoyage finalisée, le système rotatif de grattage est commandé inactif et l'ensemble de nettoyage 1 est remonté à la surface sur la plateforme 4.The cleaning assembly 1 is thus guided and placed from the platform 4 close to the surface 10 of a submarine structure 11 to be cleaned. One end 12 of the cleaning unit 3 comprises a rotary scraping system which will be described later, which is positioned at an operating distance from the surface 10 and which is actuated in rotation from the platform to rid the surface 10 of the dirt present on the surface 10. Once the final cleaning operation, the rotary scraping system is controlled inactive and the cleaning assembly 1 is raised to the surface on the platform 4.

En référence à la figure 2, l'unité de nettoyage 3 comporte un châssis 15 substantiellement composé de deux flancs 16 en matière plastique, de quatre traverses 17 en profilé aluminium et se prolonge longitudinalement par un nez 18 en aluminium jusqu'à l'extrémité transversale 12 de l'unité de nettoyage 3.With reference to the figure 2 , the cleaning unit 3 comprises a chassis 15 substantially composed of two flanks 16 made of plastic material, four sleepers 17 made of aluminum profile and is extended longitudinally by an aluminum nose 18 to the transverse end 12 of the unit cleaning 3.

Le nez 18 de l'unité de nettoyage 3 comporte un premier flanc 19 en aluminium et un second flanc parallèle 20, ce dernier flanc 20 formant l'une des faces d'un conduit de protection en aluminium 21 du moteur hydraulique 22 (figure 4) qui entraîne en rotation le système rotatif de raclage 23 s'étendant transversalement et à l'extrémité longitudinale du nez 18 entre le premier flanc 19 et le conduit de protection 21.The nose 18 of the cleaning unit 3 comprises a first aluminum flank 19 and a second parallel flank 20, the latter flank 20 forming one of the faces of an aluminum protective duct 21 of the hydraulic motor 22 ( figure 4 ) which rotates the rotary scraping system 23 extending transversely and at the longitudinal end of the nose 18 between the first sidewall 19 and the protective duct 21.

Le système rotatif de raclage 23 comporte un tambour 24 qui est réalisé en acier anti-corrosion, par exemple en Dursteel® et dont l'axe principal XX' définit l'axe de rotation du système rotatif 23. Les deux extrémités 25,26 du tambour 24 sont montées respectivement sur le conduit de protection 21 et sur le premier flanc 20 via un accouplement élastique 27 et deux paliers auto-aligneurs 26a agencés de part et d'autre du tambour 24. Du côté du moteur hydraulique 22, le palier auto-aligneur 26a est situé entre l'accouplement élastique 27 et l'extrémité considérée 25 du tambour 24. L'accouplement élastique 27 et les paliers auto-aligneurs 26a sont tous visibles sur la figure 3 et partiellement visibles sur les figures 2, 4 et 5. Les paliers auto-aligneurs 26a sont représentés sans support sur la figure 4, et avec support sur la figure 5. Lorsque le système rotatif de raclage 23 est activé en fonctionnement, le tambour 24 est positionné parallèlement à la surface à nettoyer.The rotary scraping system 23 comprises a drum 24 which is made of anti-corrosion steel, for example made of Dursteel® and whose main axis XX 'defines the axis of rotation of the rotary system 23. The two ends 25, 26 of the drum 24 are respectively mounted on the protective conduit 21 and on the first side 20 via an elastic coupling 27 and two self-aligning bearings 26a arranged on either side of the drum 24. On the side of the hydraulic motor 22, the car bearing -aligneur 26a is located between the elastic coupling 27 and the end 25 considered of the drum 24. The elastic coupling 27 and the self-aligning bearings 26a are all visible on the figure 3 and partially visible on figures 2 , 4 and 5 . The self-aligning bearings 26a are shown without support on the figure 4 , and with support on the figure 5 . When the rotary scraping system 23 is activated during operation, the drum 24 is positioned parallel to the surface to be cleaned.

Le système rotatif de raclage 23 comporte trois ailettes 28a,28b,28c sur lesquelles sont solidarisés les outils de grattage non représentés sur les figures 2 et 4 et qui seront décrits plus loin. Les trois ailettes 28a,28b,28c sont régulièrement agencées le long du tambour 24 entre deux disques 29,30. Le diamètre de ces deux disques 29,30 est supérieur au plus grand diamètre des ailettes 28a,28b,28c et l'épaisseur de ces disques 29,30 est suffisamment fine pour éviter le blocage de la rotation du tambour 24 en cas de contact entre les disques fins 29,30 et la surface à nettoyer. Chaque ailette 28a,28b,28c entoure partiellement le tambour 24 en présentant un renfort 28a1,28a2 fait d'une zone de plus grande épaisseur sur laquelle est ménagée un orifice traversant 28a2,28b2 destiné à assurer la solidarisation de l'outil de grattage sur l'ailette 28a,28b,28c correspondante.The rotary scraping system 23 comprises three fins 28a, 28b, 28c on which are fixed the scraping tools not shown on the figures 2 and 4 and which will be described later. The three fins 28a, 28b, 28c are regularly arranged along the drum 24 between two discs 29,30. The diameter of these two discs 29,30 is greater than the largest diameter of the fins 28a, 28b, 28c and the thickness of these discs 29,30 is sufficiently thin to prevent the blocking of the rotation of the drum 24 in case of contact between fine discs 29,30 and the surface to be cleaned. Each fin 28a, 28b, 28c partially surrounds the drum 24 having a reinforcement 28a1,28a2 made of a zone of greater thickness on which is formed a through hole 28a2,28b2 intended to ensure the attachment of the scraping tool on the corresponding fin 28a, 28b, 28c.

En outre, les trois ailettes 28a,28b,28c, ou les trois renforts 28a1,28a2 d'une ailette correspondante 28a,28b,28c, sont agencées le long du tambour 24 en décalage angulaire de 120°C. Ce décalage angulaire permet avantageusement d'assurer une répartition régulière des masses des outils de grattage en mouvement pour éviter le balourd.In addition, the three fins 28a, 28b, 28c, or the three reinforcements 28a1, 28a2 of a corresponding fin 28a, 28b, 28c, are arranged along the drum 24 at an angular offset of 120 ° C. This angular offset advantageously ensures a regular distribution of masses of scraping tools in motion to avoid unbalance.

Le moteur hydraulique 22 est monté à l'extrémité du conduit de protection 21 dans l'axe XX' du tambour 24. En référence à la figure 3, le moteur hydraulique 22 est alimenté par un groupe hydraulique 30 agencé sur le châssis 15 de l'unité de nettoyage 3. Le groupe hydraulique 30 est composé d'un groupe motopompe 31 constitué d'un moteur électrique 32 qui est alimenté par le circuit électrique du robot sous-marin non représenté sur cette figure et qui est en liaison avec une pompe 33 via un accouplement élastique 34. Le groupe motopompe 31 est en liaison avec un réservoir d'huile 35 et un limitateur de pression 36. Le groupe hydraulique 30 comporte une partie de circuit sous pression 37 et une partie de circuit à pression atmosphérique 38. De façon non limitative, le moteur hydraulique 22 est de cylindré de 11 cm3 et la pompe hydraulique de 3,1 cm3. Le moteur hydraulique 22 fait tourner le tambour 24 à une vitesse comprise entre 500 et 900 tours minutes selon l'outil de grattage utilisé.The hydraulic motor 22 is mounted at the end of the protective duct 21 in the axis XX 'of the drum 24. With reference to FIG. figure 3 , the hydraulic motor 22 is powered by a hydraulic unit 30 arranged on the frame 15 of the cleaning unit 3. The hydraulic unit 30 is composed of a pump unit 31 consisting of an electric motor 32 which is powered by the circuit electric submarine robot not shown in this figure and which is connected to a pump 33 via an elastic coupling 34. The pump unit 31 is connected to an oil reservoir 35 and a pressure limiter 36. The hydraulic unit 30 includes a pressurized circuit portion 37 and a portion of circuit at atmospheric pressure 38. Without limitation, the hydraulic motor 22 has a displacement of 11 cm 3 and the hydraulic pump of 3.1 cm 3 . The hydraulic motor 22 rotates the drum 24 at a speed between 500 and 900 rpm according to the scraping tool used.

Le moteur électrique 32 entraîne la pompe hydraulique 33 en fonctionnement qui fait transiter l'huile contenu dans le réservoir 35 vers ladite pompe 33 qui envoie alors l'huile sous pression vers le limitateur 36 puis, si la pression est inférieure à une pression seuil, le moteur hydraulique 22. À la sortie du moteur hydraulique 22, l'huile à pression atmosphérique retourne vers le réservoir 35.The electric motor 32 drives the hydraulic pump 33 in operation which passes the oil contained in the tank 35 to said pump 33 which then sends the pressurized oil to the limiter 36 and, if the pressure is below a threshold pressure, the hydraulic motor 22. At the output of the hydraulic motor 22, the oil at atmospheric pressure returns to the reservoir 35.

La pression du circuit haute pression 37 est ajustée pour ne pas dépasser 190 Bar. En cas de dépassement de cette pression de 190 Bar, un circuit de dérivation 39 entre le limitateur 36 et le réservoir 35 permet d'éviter d'endommager le moteur hydraulique 22.The pressure of the high pressure circuit 37 is adjusted so as not to exceed 190 bar. In the event of exceeding this pressure of 190 bar, a bypass circuit 39 between the limiter 36 and the tank 35 makes it possible to avoid damaging the hydraulic motor 22.

Le principal intérêt de mettre en oeuvre un groupe hydraulique réside dans la possibilité d'agencer le moteur hydraulique 22 au plus près du système rotatif de grattage 30 et dans l'axe XX' du tambour 24, ceci étant rendu possible par l'utilisation de câbles flexibles au sein du groupe hydraulique ce qui permet d'éviter l'utilisation de systèmes de renvoi d'angle.The main advantage of implementing a hydraulic unit lies in the possibility of arranging the hydraulic motor 22 as close as possible to the rotary scraping system 30 and in the axis XX 'of the drum 24, this being made possible by the use of flexible cables within the hydraulic unit, which avoids the use of angle gear systems.

En référence au figures 5 et 6, l'outil de grattage 40 est constitué d'une chaîne en acier 40' de grade compris entre 80 et 100 composé de trois maillons 41 de diamètre 8 millimètres et de longueur de 3 centimètres. Les trois maillons 41 sont solidarisés au tambour 24 au moyen d'une manille 42 en acier inoxydable de diamètre 10 millimètres qui est boulonnée sur le renfort 28a1 en traversant l'orifice 28a2 correspondant. Un seul outil de grattage complet 40 est représenté sur les figures 5 et 6 mais il est entendu que le système rotatif de grattage 23 comporte trois outils de grattage 40 identiques à celui précédemment décrit, chaque outil 40 étant solidarisé à une ailette correspondante 28a,28b,28c,With reference to Figures 5 and 6 , the scraping tool 40 consists of a steel chain 40 'of grade between 80 and 100 composed of three links 41 of diameter 8 millimeters and length of 3 centimeters. The three links 41 are secured to the drum 24 by means of a shackle 42 of stainless steel diameter 10 millimeters which is bolted to the reinforcement 28a1 through the corresponding orifice 28a2. A single complete scraping tool 40 is shown on the Figures 5 and 6 but it is understood that the rotary scraping system 23 comprises three scraping tools 40 identical to that previously described, each tool 40 being secured to a corresponding fin 28a, 28b, 28c,

Lorsque l'outil de grattage 40 est tel que précédemment décrit, le tambour 24 est actionné en rotation par le moteur hydraulique 22 à une vitesse de 700 tours par minute. Ainsi agencé, chaque outil de grattage 40 s'étend perpendiculairement au tambour 24, ce qui permet ainsi de venir frapper la surface à nettoyer lorsque le tambour est entraîné en rotation par le moteur hydraulique et le tambour 40 positionner parallèlement à la surface à nettoyer.When the scraping tool 40 is as previously described, the drum 24 is rotated by the hydraulic motor 22 at a speed of 700 revolutions per minute. Thus arranged, each scraping tool 40 extends perpendicular to the drum 24, which thus makes it possible to strike the surface to be cleaned when the drum is rotated by the hydraulic motor and the drum 40 position parallel to the surface to be cleaned.

En référence à la figure 7, l'outil de grattage 40a peut alternativement être constitué d'une lamelle en résine 43 solidarisée par boutonnage au renfort 28a1 de l'ailette 28a correspondante et positionnée ainsi également perpendiculairement au tambour 24.With reference to the figure 7 , the scraping tool 40a may alternatively consist of a resin lamella 43 secured by buttoning to the reinforcement 28a1 of the corresponding fin 28a and thus positioned also perpendicularly to the drum 24.

Bien que non représenté, l'outil de grattage 40,40a pourra être un câble en acier, une brosse ou encore une hélice circulaire. Il importe que l'outil de grattage présente à la fois une dureté suffisante pour gratter et retirer les salissures de la surface à nettoyer mais également une souplesse générale lui permettant de venir frapper sans se rompre contre la surface à nettoyer lorsque le tambour 24 est en rotation et positionné parallèlement à la surface à nettoyer. L'outil de grattage est de forme générale allongée et s'étend perpendiculairement ou sensiblement perpendiculairement au tambour 24. La longueur de l'outil de grattage 40,40a est également ajustée pour optimiser le nettoyage et est généralement comprise, en considérant l'extrémité libre de l'outil de grattage 40 jusqu'à la surface cylindrique du tambour 24, entre 10 et 20 centimètres. De façon plus générale, la longueur de l'outil de grattage est ajustée selon les frottements engendrés par les outils de grattage pour ne pas entraver la bonne rotation du tambour selon la capacité d'entrainement du moteur hydraulique.Although not shown, the scraping tool 40,40a may be a steel cable, a brush or a circular propeller. It is important that the scraping tool has both sufficient hardness to scrape and remove dirt from the surface to be cleaned but also a general flexibility to hit it without breaking against the surface to be cleaned when the drum 24 is in rotation and positioned parallel to the surface to be cleaned. The scraping tool is generally elongate in shape and extends perpendicularly or substantially perpendicular to the drum 24. The length of the scraping tool 40, 40a is also adjusted to optimize cleaning and is generally understood, considering the end. free of the scraping tool 40 to the cylindrical surface of the drum 24, between 10 and 20 centimeters. More generally, the length of the scraping tool is adjusted according to the friction generated by the scraping tools to not impede the good rotation of the drum according to the driving capacity of the hydraulic motor.

Claims (10)

  1. Submersible cleaning unit for cleaning an underwater structure, which is driven by propulsion means and is remote-controlled, said cleaning unit being equipped with at least one rotary scraping system (23) for scraping off marine fouling (13) present on the surface (10) of said underwater structure (11), which has at least one scraping tool (40, 40a) mounted on a drum (24) of which the longitudinal axis (XX') defines the axis of rotation of said rotary scraping system (23), the drum (24) being able to be made to rotate and being intended to be positioned parallel to the surface to be cleaned, characterized in that it has a hydraulic motor (22) which is mounted along the axis (XX') of the drum (24) at one (25) of the two ends (25, 26) thereof and is powered by a hydraulic unit (30) housed in the chassis (15) of said cleaning unit (3).
  2. Cleaning unit according to Claim 1, characterized in that the rotary scraping system (23) and the hydraulic motor (22) extend along one transverse end (12) of the chassis (15) of the cleaning unit (3).
  3. Cleaning unit according to either one of the preceding claims, characterized in that several scraping tools (40, 40a) are arranged along the drum (24) of the rotary scraping system (23).
  4. Cleaning unit according to Claim 3, characterized in that each scraping tool (40, 40a) is secured to a respective fin (28a, 28b, 28c) which is arranged on at least a part of the periphery of said drum (24) and which has a reinforcing zone (28a1, 28b1) at which said scraping tool (40, 40a) is mounted in a manner passing through.
  5. Cleaning unit according to either one of Claims 3 and 4, characterized in that the rotary scraping system (23) has three scraping tools (40) mounted along the drum (24), the three scraping tools (40) being secured to the drum (24), being positioned on said drum (24) with an angular offset of 120°.
  6. Cleaning unit according to any one of the preceding claims, characterized in that each scraping tool (40) is made up of a metal chain (40').
  7. Cleaning unit according to Claim 6, characterized in that the metal chain (40') comprises three links (41) made of steel with a grade of between 80 and 100, each link (41) having a length of between 1 and 5 centimetres and a section of between 6 and 10 millimetres, and in that the speed of rotation of the drum is between 500 and 900 revolutions per minute.
  8. Submersible cleaning assembly for cleaning an underwater structure, characterized in that it has a cleaning unit (3) according to any one of Claims 1 to 7, which is secured to an underwater robot (2) that is provided notably with propulsion means and capturing means and is remote-controlled.
  9. Cleaning assembly according to Claim 8, characterized in that the cleaning unit (3) is mounted on the underwater robot (2).
  10. Cleaning assembly according to either one of Claims 8 and 9, characterized in that it has a cleaning unit (3) according to any one of Claims 2 to 8 for which the hydraulic unit is electrically powered by the electrical circuit (9) of the underwater robot (2).
EP16770036.8A 2015-07-31 2016-07-28 Unit for cleaning underwater structures and associated submersible cleaning assembly Active EP3328725B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1501663 2015-07-31
PCT/FR2016/051969 WO2017021627A1 (en) 2015-07-31 2016-07-28 Unit for cleaning underwater structures and associated submersible cleaning assembly

Publications (2)

Publication Number Publication Date
EP3328725A1 EP3328725A1 (en) 2018-06-06
EP3328725B1 true EP3328725B1 (en) 2019-10-23

Family

ID=56979591

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16770036.8A Active EP3328725B1 (en) 2015-07-31 2016-07-28 Unit for cleaning underwater structures and associated submersible cleaning assembly

Country Status (2)

Country Link
EP (1) EP3328725B1 (en)
WO (1) WO2017021627A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113110531B (en) * 2021-04-19 2021-11-12 飞马滨(青岛)智能科技有限公司 Automatic wall-adhering method for underwater robot and ship to be washed

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US487198A (en) * 1892-11-29 Apparatus for cleanxng shipsj bottoms
US769434A (en) * 1903-12-28 1904-09-06 James Forrest Device for cleaning bottoms of ships.
WO2010048038A2 (en) * 2008-10-20 2010-04-29 Shell Oil Company Methods and devices for cleaning subsea structures using ultrasound

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3328725A1 (en) 2018-06-06
WO2017021627A1 (en) 2017-02-09

Similar Documents

Publication Publication Date Title
EP2252501B1 (en) Floating support having a reel including roller bearings outside the water
WO2001035011A1 (en) Clamp system for maintaining a duct tensioned and floating support comprising same
EP2726367A1 (en) Underwater vehicle for cleaning submerged surfaces
BE466380A (en) "Outboard" propeller mechanism for barges, barges, etc.
EP3328725B1 (en) Unit for cleaning underwater structures and associated submersible cleaning assembly
CA1212633A (en) Device for selective and continous recuperation of hydrocarbons spilled on a water body
EP2458099A1 (en) Device for automatic unwinding and winding of a high-pressure cleaning hose connected to a suction pipe installed on a combined sewer-cleaning vehicle
EP1257461B1 (en) Apparatus for recuperating polluting materials, in particular hydrocarbons
OA18558A (en) Unit for cleaning underwater structures and associated submersible cleaning assembly.
EP2647769B1 (en) Milling head for use on a work machine
EP1685021B1 (en) Floating vessel comprising hulls which are articulated essentially under the effect of hydrostatic forces
FR2560147A1 (en) Ship propulsion assembly, which can be retracted into a well
FR2923452A1 (en) DEVICE FOR RETURNING SCALES ESPECIALLY FOR CARINE TRACTOR CABLE COMPRISING SUCH SCALES
FR2591182A1 (en) Ship-mounted underwater towing system
FR3039822A1 (en) SUBMARINE COMPRISING PROPELLER-TYPE PROPELLER MEANS
BE1011787A3 (en) Dredging process and barge
KR200362005Y1 (en) a electromotive rope-cutter for vessel
CH629556A5 (en) Device for removing snow
FR3027282A1 (en) MARINE ENGINE WITH ELECTRIC MOTORIZATION
FR2942451A1 (en) Sub-marine propulsion method for immersed platform, involves generating deformation of deformable element by actuators, and orienting elongations of progressive and maintained waves perpendicular to main axis of rigid structure
FR2854126A1 (en) Boat for recovering floating pollutants has floating sweeper arms deployed in V-configuration at front to guide pollutants into opening for recovery
EP3245123A1 (en) Device and method for protecting towed underwater objects from fishing lines
FR2939159A1 (en) DEVICE FOR COUPLING AND DECOUPLING EQUIPMENT OR TOOL TO A CIVIL ENGINE MACHINE ARROW AND / OR HANDLING
FR3020804A1 (en) MODULAR WINCH ON BOARD
FR2854125A1 (en) Boat for recovering floating pollutants has floating sweeper arms deployed in V-configuration at front, to guide pollutants into opening for recovery

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180227

AK Designated contracting states

Kind code of ref document: A1

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

AX Request for extension of the european patent

Extension state: BA ME

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SEAROV OFFSHORE

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190604

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

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

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602016022994

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1193353

Country of ref document: AT

Kind code of ref document: T

Effective date: 20191115

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20191023

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

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

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200123

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200123

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200124

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

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

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

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

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602016022994

Country of ref document: DE

PG2D Information on lapse in contracting state deleted

Ref country code: IS

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

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200223

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1193353

Country of ref document: AT

Kind code of ref document: T

Effective date: 20191023

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

26N No opposition filed

Effective date: 20200724

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

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602016022994

Country of ref document: DE

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

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200731

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

Ref country code: CH

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

Effective date: 20200731

Ref country code: LI

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

Effective date: 20200731

Ref country code: LU

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

Effective date: 20200728

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

Ref country code: BE

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

Effective date: 20200731

Ref country code: DE

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

Effective date: 20210202

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

Ref country code: IE

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

Effective date: 20200728

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

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

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

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191023

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230725

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230727

Year of fee payment: 8