JP2012131490A - Device for launching and recovering sea boat, and relevant launching and recovering method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for launching and recovering a sea boat, with which a submarine boat can properly enter into a cage without being damaged even in a swell of waves.SOLUTION: The launching and recovering device 1 includes a handling structure 2 to be secured to a barge in the ocean and a means 29 for locking the cage 3 to the structure 2. The cage 3 is connected to the structure 2 with lifting cables 12, 13 through a system of wheels 10a, 10b, 11a, 11b and actuators 10c, 11c.

Description

  The present invention relates to the field of handling submarines or marine ships, and more particularly to an apparatus for launching and retrieving such ships.

  One particularly interesting application of the present invention is to launch and retrieve a submarine connected to a tow cable.

  The device is used in particular for launching and retrieving an autonomous submarine named “AUV” (autonomous unmanned submersible), and generally for receiving winches and ships fixed to a maritime carrier. And a movable part.

  The moving part is generally referred to as a “cage”, but more particularly comprises a chassis that defines a housing into which the ship can enter for retrieval.

  Therefore, Patent Document 1 can be referred to here. Patent Document 1 describes a ship collection device. The ship recovery device includes a cage having a blade at its inlet, which forms a frustoconical ring through which a submarine can pass and enter the cage. However, the ship needs to be properly aligned with respect to the cage so that the ship can properly enter the cage.

  Such a device is not suitable for rough seas. This is because the movement of the cage created by the wave swell may prevent the submarine from properly entering the cage without damage.

  French patent application FR2 904 287 (IFREMER) proposes a marine vessel recovery device that makes it possible to overcome these drawbacks.

  To achieve this objective, the recovery device comprises a chassis defining a housing for the ship and a conical receiving means for receiving the front of the ship, called the “bow”. This conical receiving means is free to move relative to the chassis enough to dampen the swell and can slide along the housing to retract the ship into the housing. However, the above document proposes a launch / recovery device for use on the sea surface. The chassis is connected to a winch fixed to the maritime carrier by two pulling cables. Therefore, the chassis is not properly locked and can swing in rough seas. Finally, the marine vessel is fixed in the cage only by two vertical rods.

  The operation of sinking a submarine from a marine platform platform to a depth of several meters below the sea level is difficult due to the vertical and longitudinal swings and rolls of the marine platform. Such swaying and rolling of a maritime trolley is caused on the surface of the sea by swells and is conventionally referred to as “pounding”. The vertical movement caused by the swell is attenuated by the depth at which the cage is located. However, the recovery / launching device fixed to the marine carrier using a cable moves in the vertical direction when the marine carrier is exposed to the vertical movement of the swell. The submarine and the marine vessel may be damaged by the relative movement of the submarine and the launch / recovery device.

International Publication No. 00/71415

  The object of the present invention is to overcome the drawbacks of the prior art described above.

  It is an object of the present invention to launch and retrieve a submarine, comprising means for ensuring the transport of cages on a marine carrier and attenuating the vertical movement caused by swells. It is to propose a device.

  The present invention is an apparatus for launching and recovering a marine ship, a cage for receiving the ship by means of a docking means adapted to receive the front part of the ship, a cage connected to the cage and coupled to the ship And a traction cable that can be provided.

  The apparatus comprises a handling structure adapted to be secured to a marine carrier and means for locking the cage to the structure. The cage is connected to the structure by a lifting cable.

  Thus, the cage is mechanically secured to the gantry to prevent vibrations caused by the movement of the marine carrier during its transport, whether or not the marine vessel is present. In addition, the marine vessel can be launched and recovered while being submerged between the hulls of the maritime carrier. By collecting in the submerged state, it is possible to reduce the influence of swell.

  The cage advantageously comprises a movable arm that pivots between an open position and a closed position that locks the ship. The cage arms allow the marine vessel to be effectively secured within the cage without damage.

  The lifting cable may be supported by a wheel that includes at least one movable wheel that is pulled by at least one actuator. These actuators and wheels function as swell correction means.

  For example, the swell correction means includes a hydraulic actuator.

  The structure preferably comprises a guide frame that slides vertically between a low position for receiving the cage and a high position for locking the cage. Therefore, when the cage is located at the level of the sea level, it is surrounded by a guide frame, which can attenuate the vibration of the cage and prevent the marine carrier and the marine vessel from being damaged. it can.

  The apparatus advantageously further comprises means for providing a data link and power supply to the cage.

Another aspect of the invention relates to a method for launching and retrieving a marine vessel housed in a cage supported by a structure secured to a maritime carrier. This method
-Unlocking means for locking the cage to the structure;
Lowering the cage equipped with the marine vessel vertically to the required settling depth using the structure lifting cable.

Advantageously, during the process of launching the ship,
-Position the pivoting arm in the open position to unlock the ship,
・ Sliding the entry means to the entrance of the cage,
・ Pull out the traction cable to which the ship is connected,
-Using a winch fixed to the cage, draw the ship into the cage entry means and enter
-Position the pivoting movable arm in the closed position to lock the ship,
-Lift the cage with the ship vertically until the cage is locked to the structure by the locking means.

  Other objects, features and advantages of the present invention will become apparent upon reading the following description. The following description is for non-limiting illustrative purposes only and is made with reference to the accompanying drawings.

1 shows a perspective overall view of an apparatus of the present invention for launching and retrieving a ship. FIG. 2 shows a detailed view of the apparatus of FIG. 1 shows an overall view of a gantry of the present invention. a and b show the view of the cage of the present invention from the bottom and the view from the top, respectively. FIG. 2 shows a schematic diagram of a maritime carrier equipped with the apparatus of FIG. 1. FIG. 2 is a perspective view of the launch / recovery device shown in FIG. 1 in the process of launching a ship. FIG. 3 shows another perspective view of the launching / collecting device shown in FIG. 1 in the process of launching the ship. FIG. 5 shows still another perspective view of the launch / recovery device shown in FIG. 1 in the process of launching the ship. FIG. 5 shows still another perspective view of the launch / recovery device shown in FIG. 1 in the process of launching the ship.

  As shown in FIG. 1, an apparatus 1 for launching and retrieving a marine ship or submersible includes a structure such as a handling gantry 2 and a cage 3 for receiving the marine ship or submersible 4. The device 1 is to be mounted on a ship or a marine vessel 5 schematically shown in FIGS. In particular, the device 1 can move the ship 4 between the storage position shown in FIG. 5 and the launch position shown in FIG.

  The handling gantry 2 shown in detail in FIG. 3 includes two gantry 6, 7 having a welded steel structure, for example. Each gantry 6, 7 is composed of two vertical struts 6 a, 6 b, 7 a, 7 b connected at one end by the transverse structures 6 c, 7 c. Each vertical support 6a, 6b, 7a, 7b includes a fixed base 6d, 7d that is fixed to the offshore carrier 5 and reinforcing means 6e, 7e forming a bracket. One end of the bracket is fixed to the vertical columns 6 a, 6 b, 7 a, 7 b, and the other end is fixed to the offshore carrier 5. The transverse structures 6c, 7c comprise handling means in the form of suspension fittings 6f, 7f which are used to position the handling gantry 2 on the ship or offshore carrier 5.

  The handling gantry 2 also includes two horizontal cross members 8 and 9 that connect the two gantry 6 and 7 to each other. The horizontal cross members 8 and 9 have, for example, a welded steel structure and are composed of a structural body portion and a plate material. Each horizontal cross member 8, 9 accommodates swell correction means 10, 11. The waviness correcting means 10, 11 are two wheels or pulleys 10a, 10b and 11a, 11b which cooperate with a pair of cables 12, 13 to form a means for lifting the receiving cage 3, and these two wheels 10a, 10b. And hydraulic actuators 10c and 11c that connect 11a and 11b to each other. One wheel 10a, 11b is mounted on the horizontal cross members 8, 9 by pivot connection, and the other wheel 10b, 11a is mounted on the carriage 10d, 11d. The carriages 10d and 11d are on the one hand to halve the force required to lift the cage 3, and on the other hand to attenuate the vertical acceleration transmitted to the cage 3 by the movement of the marine carrier 5 caused by the swell. Then, they slide on the rollers 10e and 11e along the cross members 8 and 9. An assembly constituted by two wheels 10a, 10b, 11a, 11b is generally referred to as a “pulley device”. The pulley device and the lifting cable constitute a system called a cable fixing system.

  The lifting cables 12 and 13 are connected to the lifting winch 14. The lifting winch 14 includes two synchronous winding drums 15 and 16 positioned on the gantry 7 and driven by a hydraulic motor gearbox (not shown). The lifting cables 12, 13 extend away from the winding drums 15, 16, and pass through a plurality of pulleys (not shown) and wheels 10a, 10b, 11a, 11b. In particular, the pulley is connected to a correction actuator (not shown) supplied by a hydraulic accumulator to reduce the movement of the offshore carrier 5 induced by sea swell. A second system of lift actuators 15a, 16a, supplied by a hydraulic accumulator (not shown), quickly moves everything out of reach of the swell.

  The handling gantry 2 also includes an umbilical winch 17. The umbilical winch 17 is positioned on the gantry 6 opposite the lifting winch 14 and is connected to an umbilical cable 18 that is fixed to the cage 3 and provides a data link and power supply to the receiving cage 3.

  The handling gantry 2 also includes a guide frame 19. The guide frame 19 is located between the gantry 6, 7 in a low position for receiving the cage 3 visible in FIG. 1 and in a high position at the height of the horizontal cross members 8, 9 visible in FIG. Slide vertically between. The guide frame 19 includes a parallelepiped frame 19 a and two sets of guide means 19 b for guiding the lifting cables 12 and 13, and when the cage 3 is suspended by the lifting cables 12 and 13, the offshore carrier 5 The cage 3 is restricted from moving with respect to the hull. The guide frame 19 slides vertically in the handling gantry 2 thanks to the pulley and belt system 19c. The pulley and belt system 19c cooperates with a guide lug 19d of the guide frame 19 shown in FIGS. 1 and 3, and forms a guide carriage for the guide frame 19 in each of the gantry 6,7.

  The receiving cage 3 connected to the handling gantry 2 by a lifting means consisting of two sets of lifting cables 12, 13 is shown in detail in FIGS. 4a and 4b. The receiving cage 3 is an overall welded stainless steel consisting of two side rails 20 and a horizontal central cross member 21 connected to each other by a set of arches 22 defining a housing for receiving the submersible 4. It has a structure. A set of floats 23 (for example, four) is disposed on the side of the cage 3. The front part 3a of the cage 3 comprises a traction winch 24 for pulling a traction cable 25 which can be seen in FIG. 9 and a docking means 26. The free end of the traction cable 25 can be connected to the submarine 4. The docking means 26 has a conical shape that matches the shape of the front part of the ship 4. The anchoring means 26 includes a circular base portion 26a, from which an armature 26b that defines a hollow cone for receiving the front portion of the ship 4 extends. The armature 26b includes a grid 26c to prevent particles present in the sea from damaging the front of the ship 4. The base 26a also includes a rotating member 26d that allows it to be received in the cone without damaging the ship. The anchoring means 26 slides along the cage 3 between the anchoring position of the ship 4 at the height of the rear part 3 b of the cage 3 and the final position of the height of the front part 3 a of the cage 3. This sliding is realized by, for example, a guide carriage 26e including a roller 26f that rotates on a guide rail 26g via a notched transmission belt 26h. In the final position, the ship 4 is fully retracted into the cage 3. The traction cable 25 passes through the center of the rivet means 26. The cage 3 is provided with a movement locking means 22a which makes it possible to prevent the entry means 26 from leaving the cage 3.

  The cage 3 includes two identical movable arms 27 at the lower part thereof. The movable arm 27 is pivotally attached to the side rail 20 and pivots between a closed position holding the ship 4 visible in FIG. 1 and an open position visible in FIG. Actuated by an actuator 27a. Each movable arm 27 includes a pad 27b that allows the ship 4 to be handled without damage. The cage 3 in particular comprises a hydraulic generator facility (not shown) for operating, for example, a drive means for the carriage, winch 24 or pivoting movable arm 27.

  The central cross member 21 of the cage 3 includes two rings 28 adapted to cooperate with locking means 29 on the handling gantry 2. The receiving cage 3 protects and holds the submersible ship 4 during transportation of the marine carrier 5 or during launching / recovery work in which the cage 3 sinks to a depth of 15 m, for example.

  As shown in FIG. 2, the handling gantry 2 includes mechanical means 29 for locking the cage 3 to the handling gantry 2 disposed in each gantry 6, 7. Each of the locking means 29 includes two plates 29 a and 29 b and a pin 30 that cooperates with the ring 28 disposed in the cage 3. By positioning the ring 28 between the two plates 29a, 29b and cooperating with the holes drilled in the ring 28, it can be held in place. The pin 30 is actuated by an actuator and a spring. When the actuator issues an unlock command, the spring ensures that the holes drilled in the ring 28 are automatically locked as soon as they are aligned with the pin 30 axis.

  The ship 4 can be a floating ship or a submersible, for example designed to perform diving surveys and / or inspections.

  As shown in FIG. 5, the device 1 for launching and collecting the ship 4 is mounted on an offshore carrier 5. In particular, the maritime carrier 5 includes two floats 5a and 5b that define the boundary of the trench 5c. Alternatively, a hole formed in the hull of the carriage may be provided. The maritime trolley 5 may be a ship or an autonomous trolley. Each gantry 6, 7 is fixed to the float 5 a, 5 b, respectively, on the corresponding side of the trench 5 c such that the transverse cross members 8, 9 are located above the trench 5 c.

  Next, the operation of the launch / recovery device 1 will be described in detail with reference to FIGS.

  The process of launching the ship 4 from the maritime carrier 5 is as follows. In the first step, a command is issued to the means 29 for unlocking the cage 3 on the handling gantry 2 to mechanically unlock the cage 3. Next, in order to lower the cage 3 vertically between the vertical struts 6 and 7 until the cage 3 completely sinks, a command to operate the lifting winch 14 is issued to the winding drums 15 and 16 and the cage 3. The connected pulling cables 12, 13 can be driven. The cage is sunk through a trench 5c located between the floats 5a and 5b of the offshore carrier 5 and guided by the guide frame 19 to the level of the sea surface.

  The launch position of the cage is shown more clearly in FIGS.

  The cage is submerged until a specific settling depth is reached. The umbilical winch 17 is also activated to raise the length of the umbilical cable and synchronize with the cables 12 and 13.

  In the second step, referring to FIG. 8, once the sunk cage 3 is stabilized, the pivoting movable arm 27 is pivoted to the open position to release the ship 4. Then, the means 26h having a notch is operated to slide the carriage 26e to the stop 22a. At the same time, the tow winch 24 is actuated so that the ship 4 can be moved from the cage 3 as can be seen in FIG.

  On the contrary, during the recovery operation, the ship 4 is pulled into the cage 3 by the winch 24 in order to position the front of the ship 4, also known as the “bow”, in the docking means 25, more precisely in the movable receiving cone. Then, the means 26 h having a notch is operated to slide the carriage 26 e on the guide rail 26 g toward the front portion 3 a of the cage 3.

  Once the carriage 26e has reached the end of its movement, the ship 4 is properly positioned in the cage 3 and is held in place by actuating the movable arm 27 and pivoting it to the closed position holding the ship 4.

  And the ship 4 accommodated in the cage 3 in this way is lifted to the sea surface by operating the pulling cables 12 and 13. Then, after lifting, the cage 3 is locked to the gantry 2 to ensure reliable conveyance. The operation of lifting the cage 3 is not further described, but includes the reverse step to the settling operation.

  During the step of retrieving the ship 4, the maritime carrier 5 follows the carriage 26e at a low forward speed in order to orient its trajectory to the cage trajectory and facilitate the entry of the ship 4 into the receiving cage 3. .

  According to the present invention, it is possible to arrange the axis of the ship to the axis of the docking means by guiding the ship to the docking means during the stage of collecting the ship. Therefore, it is possible to reliably hold the ship appropriately at the holding position of the movable arm with the joint axis of the arm parallel to the longitudinal axis of the ship. In addition, the cage is mechanically secured to the gantry to prevent vibrations caused by the movement of the marine carrier during its transport with or without the marine vessel. Finally, according to the present invention, the marine vessel can be launched and recovered while being submerged between the floats of the offshore carrier. By collecting in the submerged state, it is possible to reduce the influence of swell.

Claims (9)

A device (1) for launching and collecting a marine vessel (4),
A cage (3) for receiving said ship (4) by means of anchoring means (26) adapted to receive the front of said ship (4);
In a device (1) comprising a traction cable (25) connected to the cage (3) and capable of being coupled to the ship (4),
A handling structure (2) adapted to be secured to the maritime carrier (5);
Means (29) for locking the cage (3) to the structure (2), and the cage (3) is connected to the structure (2) by a lifting cable (12, 13). Launching / collecting device characterized by   The launch / recovery device according to claim 1, wherein the cage (3) comprises a movable arm (27) pivoting between an open position and a closed position for locking the ship (4).   The lifting cable (12, 13) is supported by wheels (10a, 10b, 11a, 11b) including at least one movable wheel pulled by at least one actuator (10c, 11c). Launching / collecting device as described in 1.   The launch / recovery device according to claim 3, wherein the actuators (10c, 11c) are hydraulic actuators.   The structure (2) has a guide frame (19) that slides vertically between a low position for receiving the cage (3) and a high position for locking the cage (3). The launch / recovery device according to any one of claims 1 to 4, further comprising:   Launching / recovery device according to any one of the preceding claims, further comprising means (18) for providing a data link and power supply to the cage (3). In a method for launching and collecting a marine vessel (4) housed in a cage (3) supported by a structure (2) fixed to a maritime carrier (5),
Unlocking the means (29) for locking the cage (3) to the structure (2);
Lowering the cage (3) having the marine vessel (4) in the vertical direction to the necessary settling depth using the pulling cables (12, 13) of the structure (2). Launching and recovery methods characterized by During the process of launching the ship (4),
The pivoting movable arm (27) is positioned in the open position to unlock the ship (4);
Sliding the cage means (26) into the inlet (3b) of the cage (3);
The launching / collecting method according to claim 7, characterized in that the traction cable (25) to which the ship (4) is connected is fed out. During the process of recovering the ship (4),
Using the winch (24) fixed to the cage (3), the ship (4) is drawn into the docking means (26) of the cage (3) and docked.
Positioning the pivotable arm (27) in a closed position to lock the ship (4);
The cage (3) having the ship (4) is lifted in the vertical direction until the cage (3) is locked to the structure (2) by the locking means (29). The launch / recovery method according to claim 7 or 8.