JP6684286B2 - Offshore machine or underwater machine and method of connection therefor - Google Patents

Description

  FIELD OF THE INVENTION The present invention relates to the field of undersea or marine machinery, and in particular to the attachment device for such machines.

  One of the particularly interesting applications of the invention relates to the recovery of a dive machine to the surface of the water and then further, for example to the deck of a ship, either directly or via a movable receiving part, by means of a tow cable for withdrawal. The invention also relates to the recovery of an underwater machine, for example by a tow cable for recovery by a submarine.

  An autonomous dive machine called "AUV" (in English-speaking language, an abbreviation for Autonomous Underwater Vehicle) is generally recovered by a hoisting means attached to a watercraft and a movable receiving part of this machine. . More specifically, a moving part, commonly referred to as a "cone", is attached to the end of a crane and includes a chassis that forms a housing into which the machine can enter during its retrieval. However, in order for the cones to be properly collected in the collection equipment, it is necessary to properly align the machine with the receiving cone. Such a device is not suitable, because when the sea is rough, undulations may cause the recovery means to move, which may interfere with proper recovery of the dive machine without damage.

  The object of the present invention is to address this disadvantage of the prior art.

  It is an object of the present invention to propose a dive machine with inherent attachment means in the marine environment so that it can be recovered autonomously without human intervention. Therefore, this marine machine is provided with means adapted to suppress the influence of vertical motion due to swell by being effectively hooked on the recovery cable in water. This means can be a traction cable.

  The present invention is directed to a marine or undersea machine intended to be tethered to a recovery cable. The recovery cable is intended to be connected at its first end to a recovery device, its second end is intended to be hooked to this machine and comprises a sinker. This machine comprises a contactless detection means for the recovery cable, which is able to detect the cable and guide it towards the cable, and a cable catching means provided on this machine.

  As such, the marine or undersea machine is guided by its own detection means towards the tow cable, which may be weighted, and then the hooking means provided on the machine effectively secures the cable to the machine. To do.

  The catching means of the recovery cable comprises at least one locking shackle provided in the storage of the marine or subsea machine and at least one clamp, the clamp being clamped by the clamp cooperating with the locking shackle. And a closed position for latching, which leaves a space for the passage of cables between the outer surface of the machine and an open position spaced from the outer surface of the machine. The locking shackle has an opening closed with an articulating tab that allows the recovery cable to pass through the locking shackle inside only one row.

  At least one sling is attached to the machine and the sling is connected to a locking shackle. The shackle can be disengaged from its storage in the machine when the sinker strikes the locking shackle. The machine is then hooked to the recovery cable via the slings attached to the machine, which allows it to be lifted from the water.

  As used herein, "hanging line" refers to any type of cable that is hooked to a marine machine and that is coupled to a corresponding locking shackle to allow the machine tow through the shackle.

  Preferably, the ends of the slings attached to the machine are vertically aligned with the center of gravity of the machine. This arrangement allows the machine to be lifted horizontally from the water. This is particularly advantageous as it facilitates transport of the machine in a water craft as compared to hoisting the machine in a vertical position. Also, if the end of the suspension line is arranged in this way with respect to the center of gravity of the machine, the risk of swinging of the machine at the time of hoisting can be suppressed, and the impact with the water-going boat at that stage can be avoided. be able to.

  According to one embodiment, the slings are attached to the outer surface of the machine. The slings can be attached to the machine, especially to a lifting pedestal mounted on the outer surface of the machine.

  Advantageously, the clamp comprises a base connected to the machine by a pivot mechanism and an outwardly projecting projection.

  The ends of the protrusions can have rounded notches shaped to match the outer surface of the corresponding locking shackle.

  Advantageously, the locking shackle is located at one end of the machine, but it may be located on the outer surface of the body of the machine, eg on either side.

  The locking shackle may be, for example, at the corner between the base of the clamp and the protrusion.

  The clamp includes a contact type cable detection unit.

  Advantageously, the marine machine or the undersea machine can direct the machine towards the tow cable in response to the contactless detection means and can control the position of the clamp in response to the data provided by the contact-type detector. , Further comprising an electronic control unit capable of opening the clamp when the cable is trapped in the locking shackle.

  According to one embodiment, a marine machine or a subsea machine is provided with one or more clamps suitably mounted on the machine, two locking shackles, attached to the machine and respectively coupled to one of the above. And two suspended ropes.

  The machine is, for example, autonomous and comprises self-contained propulsion means.

  Advantageously, the contactless detection means comprises at least one sensor which can be acoustic (eg sonar), laser or video camera.

  According to another aspect, the invention contemplates a marine machine as described above, the first end of which is intended to be coupled to a recovery device while the second end of which is hooked to the machine. And a method of hooking a recovery cable with a sink. This method detects the cable by contactless detection means, guides the marine machine towards the cable, operates the clamp to an open position away from the outer surface of the machine when the cable is detected, and the clamp is moved to the machine. Operated to a closed position for latching in cooperation with a locking shackle located in the containment, creating a space for the cable to pass between the clamp and the outer surface of the marine machine and further locking the cable. The present invention relates to a hooking method for moving a machine relative to a cable so as to face a shackle.

  Advantageously, when the cable is detected by the contact-type detection means provided on the clamp, the clamp is operated in the closed position for latching.

  Also, when the cable is in the locking shackle, the opening of the clamp is operated. Then, the locking shackle is disengaged from the storage portion by the force of the sinker to strike the locking shackle. As a result, the machine is in a state of being suspended from the cable by the suspension rope connected to the locking shackle and attached to the machine.

  Other objects, features and advantages of the present invention will be apparent from reading the following description, given by way of non-limiting example only and with reference to the accompanying drawings.

The whole figure of the state where the marine machine by the 1st example of the present invention was collected by the tow cable. FIG. 2 is a detailed front view of the marine machine of FIG. 1. 1 is an overall view of the marine machine of FIG. 1 intended for recovery by a tow cable. It is a figure of the front part of the marine machine of FIG. 1, Comprising: The figure which showed the position of the latching means. It is a figure of the front part of the marine machine of FIG. 1, Comprising: The figure which showed the position of the latching means. The figure in the state where the marine machine by the 2nd example of the present invention was collected by the tow cable.

  As shown in FIGS. 1 and 2, a marine machine or an underwater machine generally designated by reference numeral 1 is mounted on a recovery boat or a watercraft (not shown) by a suspension cable, that is, a traction cable or a recovery cable 2. Or, when the machine is submerged in water, it is simply raised to the surface.

  The suspension cable 2 has a first end portion 2a connected to a recovery device such as a lifting winch (not shown) attached to Garros of a watercraft, and a first end portion 2a adapted to be hooked on the machine 1. Two free ends 2b. As a non-limiting example, the lifting winch can include a winding barrel driven by a hydraulic motor with reducer (not shown).

  It will be appreciated that the present invention is not limited to the use of such Garos for recovery of marine machinery. It is possible to utilize any other means of recovery of a marine machine via a tow cable, especially the recovery of this machine by a submarine.

  The machine 1 can be, for example, an underwater diving machine or a floating machine, for example designed for underwater monitoring and / or surveying. The subsea machine 1 extends along a longitudinal axis and comprises a generally cylindrical body 3. The main body 3 is a tail 4 attached to the rear end 3a, and a tail 4 provided to ensure the stability of movement of the machine 1 and a longitudinal propulsion attached to both sides of the main body 3 in front of the tail 4. And a device 5. The machine 1 further comprises a front part 3b, which may include, for example, a camera (not shown) for seabed observation. Therefore, the machine 1 is autonomous and has its own built-in propulsion means.

  The machine 1 shown in FIG. 1 is hooked on the end 2b of the traction cable 2, and the other end 2a of the traction cable 2 is connected to a recovery device (not shown). The second end 2b is weighted by the ballast 6 and further comprises a sink (olive) 7. Here, the "sink" refers to any component attached to the traction cable 2 to form a protrusion on the cable. The sinker 7 is adapted to cooperate with a hooking means 10 attached to the marine machine 1. The sinker 7 is crimped onto the traction cable 2.

  FIG. 2 shows the machine 1 which is about to be attached to the weighted end 2b of the traction cable 2. Alternatively, hooking a float (not shown) on the tow cable could ensure the cable's verticality, especially in connection with the recovery of the machine by the submarine.

  The front part 3b of the machine 1, which is shown in detail in FIGS. 3 and 4, comprises a contactless detection means (such as a sonar) of the traction cable 2 which can guide the machine 1 towards the traction cable 2 and the front of the machine 1. And a hooking means 10 for the cable 2 located at the end 3b.

  As shown, the locking means 10 is located at the end of the front part 3b of the machine 1 with the two clamps 11a, 11b and of the two locking means 12a, 12b shown in detail in FIG. 1a. And a set. The locking means 12a, 12b are in the form of shackles having openings 13a, 13b which are closed by carabiner type joint tabs 14a, 14b, respectively. The joint mechanism of these pawls 14a, 14b on the front 3b of the machine 1 will not be described further. The tabs 14a, 14b extend into the corresponding openings 13a, 13b. It should be noted that this pawl only allows the traction cable 2 into the locking shackles 12a, 12b to pass in one direction. Each locking shackle 12a, 12b is mounted in a storage (not shown) at the front end of the machine and is held in position within this storage by a ball screw mechanism (not shown). The locking shackles 12a, 12b are removably attached to the machine, as described in more detail below.

  The set of locking shackles 12a, 12b are arranged such that the opening of the shackle faces the side of the machine and generally forms a hook in the form of a double hook. As a variant, the use of only one locking shackle in the form of a one-handed needle is also conceivable.

  Each of the clamps 11a and 11b includes a base portion 15a and 15b connected to a pivot mechanism (not shown) including a jack assembly and the like, and a protrusion 16a and 16b outwardly having a parallelepiped shape. Equipped with. The front part 3b of the machine 1 comprises a groove 3c into which the bases 15a, 15b of the clamps 11a, 11b fit, when in the closed position for latching shown in FIGS. 3 and 4. The closed position for latching corresponds in particular to the midway position.

  The ends of each protrusion 16a, 16b have at one end a rounded notch shaped to fit the outer surface of the corresponding locking shackle 12a, 12b. Therefore, in the closed position for latching, the ends of the respective protrusions 16a, 16b contact the corresponding locking shackles 12a, 12b. This avoids contact between the clamps when the clamps 11a, 11b are in the closed position for latching. Also, in its closed position, the clamps 11a, 11b can ensure that the locking shackles 12a, 12b are retained in their storage formed in the body of the machine. By storing the clamps 11a and 11b in the storage portion 3c installed in the main body 3 of the machine 1 according to its installation purpose, it is possible to prevent the clamps 11a and 11b from being caught by various elements when the machine 1 passes. .

  Each of the bases 15a and 15b is provided with a contact type detection unit 17a and 17b of the traction cable 2.

  The clamps 11a, 11b are provided with a space E for passing the cable 2 between each of the clamps 11a, 11b and the outer surface 3d of the machine 1 by the cooperation of the clamps 11a, 11b with the locking shackles 12a, 12b. Between the closed position for latching shown in FIGS. 3 and 4 and the open position shown in FIGS. 1 and 2 spaced from the outer surface 3d of the machine 1. Can rotate. Alternatively, a single clamp 11a could be used.

  As is apparent from FIG. 1a, the hooking means 10 includes a first end attached to the locking shackle 12a, 12b and a lifting bracket or lifting pedestal 19 assembled on the upper outer surface of the body 3a of the marine machine. It further comprises two slings 18a, 18b each having an attached second end. More specifically, the lifting pedestal 19 comprises a lifting ring 20 to which the second ends of the respective hanging lines 18a, 18b are attached. As will be described in more detail below, the lifting pedestal 19 is attached to the machine body 3a such that the second ends of the respective suspension lines 18a, 18b and the center of gravity of the machine are aligned in the vertical direction. In the position shown in FIG. 2, the slings 18a, 18b extend along the outer surface of the machine body 3a.

  It will be appreciated that the present invention is not limited to the use of two clamps, two locking shackles and two slings. Indeed, it would be conceivable to utilize a single clamp, a single locking shackle and a single sling. It is also conceivable to use two lifting pedestals, each connected to one of the two locking shackles by means of suspension lines.

  The machine 1 can direct the machine 1 toward the traction cable 2 according to the non-contact detection means 8 and controls the positions of the clamps 11a and 11b according to the data given from the contact detection units 17a and 17b. An electronic control unit (not shown) is further provided.

  Even if the hooking means 10 is located at a position other than the front portion 3b of the machine 1, it does not depart from the framework of the present invention. In fact, the pulling of the tow cable could also be done on the top or side of the machine 1 or the like.

  The method of hooking the machine 1 on the tow cable 2 is as follows.

  In the first step, the machine 1 is guided towards the traction cable 2 by a contactless detection means 8, such as a sonar type.

  When the traction cable 2 is detected by the contactless detection means 8, the clamps 11a, 11b are simultaneously operated by the electronic control unit into an open position, which is remote from the outer surface 3d of the machine 1, as can be seen in FIG.

  When the traction cable 2 is detected by one of the contact-type detectors 17a and 17b provided on the clamps 11a and 11b, respectively, the clamps 11a and 11b are simultaneously moved to the closed position for latching shown in FIG. Manipulated, in which position each clamp 11a, 11b pivotally cooperates with the outer surface of the corresponding locking shackle 12a, 12b, while the cable 2 between the clamp 11a, 11b and the outer surface 3c of the machine 1 is moved. So that the space E through is left.

  When the traction cable 2 enters the space E between one of the clamps 11a, 11b and the outer surface 3d of the machine 1, the propulsion means (not shown) of the machine 1 are stopped, whereby the traction cable 2 of the machine 1 is stopped. In one of the locking shackles 12a, 12b that slides forward and is located in front of the machine 1, as shown in FIG. 4, a sinker 7 is attached to the locking shackles 12a, 12b where the cable 2 is present. It slides through the tabs 14a and 14b to the place where it strikes. The sinker 7 is located below the locking shackles 12a and 12b and hits the lower surface of the shackle. The claws on the locking shackle prevent the cable 2 from returning to the rear, thereby allowing the machine 1 to effectively lock the traction cable 2. As a result, the machine 1 can be effectively towed from the front by the water surface boat.

  It will be appreciated that the operation that allows the insertion of the cable into the locking shackle is not limited to stopping the propulsion means of the machine. In fact, any maneuver that allows relative movement of the machine towards the rear can be used for the purpose of directing the cable towards the front of the machine.

  When the cable 2 is locked inside the locking shackles 12a, 12b and the machine is to be lifted from the water, the opening of the clamps 11a, 11b is operated. Then, the locking shackle is in a state where the block by the clamp is released at the open position. Therefore, due to the force or pulling force applied by the cable 2, the cable and the sinker 7 remove the locking shackles 12a, 12b from the storage section in front of the main body 3 of the machine, and the marine machine 1 is lifted in the final hanging posture. The suspension cable 2 can be connected only by the pedestal 19 and the suspension rope 18b corresponding to the shackle. Thereby, the stress exerted on the locking shackles 12a, 12b by the traction cable 2 allows the shackle to be released from its corresponding housing and to be detached from the machine body 3.

  When the locking shackle 12a is hooked to the cable and disconnected from the front of the machine 1, the machine 1 can be retracted relative to the cable 2, which then lifts the machine to the surface of the water and further in a substantially vertical direction. It is possible to pass the ballast 6 above the machine when it is lifted from the water. The closing of the clamps 11a, 11b can be operated before this last lifting and withdrawal from water step.

  As described above, the lifting pedestal 19 is attached to the main body 3a of the machine so that the end of the hanging rope on which the machine is hooked is aligned with the center of gravity of the machine in the vertical direction. As a result, the machine is in a horizontal position during the stages of lifting and lifting from the water, which reduces the risk of rocking and collisions with water-going boats and facilitates the transport of the machine to the boat. Benefits come.

  The specific example shown in FIG. 5 is different from the specific example shown in FIGS. 1 to 4 in the position of the storage portion of the locking means / shackles 12a, 12b, but in the figure, the same reference numerals are used for the same elements. Has been given. In this specific example, the storage sections 20a and 20b are formed on the clamps 11a and 11b.

  As shown in FIG. 5, the locking shackles 12a and 12b are respectively placed in the storage portions 20a and 20b located at the corners formed between the base portions 15a and 15b and the protrusions 16a and 16b of the respective clamps 11a and 11b. Fits. The way in which the machine 1 is hooked on the traction cable 2 differs from the method described above, when the traction cable 2 is in the space E between one of the clamps 11a, 11b and the outer surface 3c of the machine 1, The propulsion means (not shown) of the machine 1 are actuated, which causes the traction cable 2 to slide towards the rear of the machine 1 and in one of the locking shackles 12a, 12b located on the side of the machine 1. It is only where it slides through the tabs 14a, 14b to the point where the sinker 7 strikes the locking shackles 12a, 12b where the cable 2 is present. The claws on the locking shackle prevent the cable 2 from returning to the rear, thereby allowing the machine 1 to effectively lock the traction cable 2. Thereby, the machine 1 can be effectively towed from the front of the machine 1.

  It will be appreciated that the act of allowing the insertion of the cable into the locking shackle is not limited to activation of the propulsion means of the machine. In fact, any maneuver that allows relative movement of the machine in the forward direction can be used for the purpose of directing the cable towards the rear of the machine.

  Similar to the above method, when the opening of the clamps 11a and 11b is operated while the cable 2 is in the state of being locked in the locking shackles 12a and 12b, the locking shackles 12a and 12b where the cable 2 exists. The locking shackles 12a and 12b are removed from their storage parts by the force applied by the cable 2 and the sinker 7 to the marine machine 1 by the hoisting pedestal 19 and the hoisting lines corresponding to the shackle in the final hooking position. It becomes the form suspended by 2. Similar to the first embodiment already described, the clamps 11a, 11b can ensure that, in the closed position, they hold the locking shackles 12a, 12b in their corresponding housings.

  It will also be appreciated that the invention described above can be applied to a single clamp without significant modification.

  In the example shown, the hoisting lines are attached to the machine by hoisting brackets or hoists. Alternatively, it is possible to provide attachment of the slings by any other suitable means, such as attaching hooks directly to the outer surface of the machine. In another variation, the ballast of the cable could be used to further form a sink that can be associated with a locking shackle and removed from its storage on the machine.

  The invention allows a marine or undersea machine to be autonomously attached to a traction cable by means of effective latching means, whereby it may be fixed or mobile, aerial or underwater, with a weight. There are several advantages, such as the ability to retrieve the machine from any structure with cables. Since the underwater machine can be recovered, it is possible to avoid the effects of swell.

  Furthermore, such a latching device can be easily adapted to existing systems, such as utilizing cables equipped with end ballasts, while requiring no human intervention at sea. .

Claims (15)

A marine machine or an underwater machine adapted to be attached to a recovery cable (2), wherein the recovery cable (2) has a first end (2a) connected to a recovery device. The second end (2b) is adapted to be hooked on the machine (1) and comprises a sinker (7),
The machine (1)
Non-contact detection means (8) for the recovery cable (2), which can detect the cable and guide the machine (1) towards the cable (2);
A hooking means (10) for the recovery cable (2) provided on the machine (1),
The hooking means (10) of the recovery cable (2) is
At least one locking shackle (12a, 12b) located in the storage part of the marine machine or the underwater machine (1);
At least one clamp (11a, 11b), said clamp comprising:
The clamps (11a, 11b) are configured such that they form a space (E) for the cable (2) to pass between the clamps (11a, 11b) and the outer surface (3d) of the machine (1). A closed position for latching in cooperation with the locking shackle (12a, 12b),
Said clamp (11a, 11b), which is rotatably operable between an open position spaced from the outer surface (3d) of said machine (1),
The lock shackle (12a, 12b) has an opening (closed by an articulation claw (14a, 14b) for passing the recovery cable (2) inside the lock shackle (12a, 12b) only in one direction. 13a, 13b) in the marine machine or underwater machine,
At least one sling (18a, 18b) attached to the machine and connected to the locking shackle (12a, 12b), and the sinker (7) to the locking shackle (12a, 12b). A marine machine or an undersea machine, characterized in that the locking shackle (12a, 12b) can be disengaged from the storage part of the machine (1) when it is hit.   The marine machine or undersea machine according to claim 1, wherein an end portion of the sling line (18a, 18b) attached to the machine is vertically aligned with a center of gravity of the machine.   A marine or undersea machine according to claim 1 or claim 2, wherein the slings (18a, 18b) are attached to the outer surface (3f) of the machine (1).   The marine machine or undersea machine according to any one of claims 1 to 3, wherein the suspension rope (18a, 18b) is attached to a lifting pedestal (19) mounted on the machine.   The clamp (11a, 11b) comprises a base (15a, 15b) connected to the machine (1) by a pivoting mechanism and an outwardly projecting projection (16a, 16b). A marine machine or an underwater machine described in any one of the above.   The marine machine or machine of claim 5, wherein the ends of the protrusions (16a, 16b) have a rounded notch shaped to match the outer surface of the corresponding locking shackle (12a, 12b). Undersea machine.   Marine machine or undersea according to any one of claims 1 to 6, wherein the locking shackle (12a, 12b) is provided at one end (3b) of the machine (1). machine.   The marine machine or the undersea machine according to any one of claims 1 to 6, wherein the locking shackle (12a, 12b) is provided on at least one side surface of the machine (1).   The lock shackle (12a, 12b) is provided at a corner of the base (15a, 15b) and the protrusion (16a, 16b) of the clamp (11a, 11b). The marine machine or the undersea machine according to claim 8.   The marine machine or the undersea machine according to any one of claims 1 to 9, wherein the clamp (11a, 11b) includes a contact-type detection unit (17a, 17b) of the cable (2). The machine includes an electronic control unit, the electronic control unit, said directed to the said machine (1) a pre-listen Buru (2) in accordance with the non-contact detection means (8), the contact-type detector The position of the clamp (11a, 11b) is controlled according to the data given from (17a, 17b), and the clamp (11a, 11b) is locked when the cable is locked in the locking shackle (12a, 12b). and is capable of opening, marine machine or sea machine described 請 Motomeko 1 0.   A two clamps (11a, 11b), two locking shackles (12a, 12b) and two slings (18a, 18b) attached to the machine and respectively connected to the shackles. To the marine machine or the underwater machine according to claim 11. A method for hooking a machine (1) according to any one of claims 1 to 12 onto a recovery cable (2), the recovery cable (2) having a first end. The part (2a) is adapted to be connected to a recovery device, the second end (2b) is adapted to be hooked on the machine (1), and comprises a sink (7). In the above method,
The cable is detected by the contactless detection means (8) and the marine machine or underwater machine (1) is guided toward the cable (2),
-When the cable (2) is detected by the contactless detection means, the clamps (11a, 11b) are operated to an open position separating from the outer surface (3d) of the machine (1),
The clamps (11a, 11b) are operated in a closed position for latching in which the clamps (11a, 11b) cooperate with the locking shackles (12a, 12b) located in the housing of the machine (1). Thereby forming a space (E) between the clamps (11a, 11b) and the outer surface (3d) of the machine (1) for the cable (2) to pass through,
A locking method in which the machine is moved relative to the cable so that the cable faces the locking shackle (12a, 12b).   When the cable (2) is detected by the contact type detection means (17a, 17b) provided on the clamps (11a, 11b), the clamps (11a, 11b) are operated to the closed position for latching. The locking method according to claim 13, which is performed.   When the cable (2) is in the locking shackle (12a, 12b), the opening of the clamp (11a, 11b) is operated, and the locking shackle (12a, 12b) is locked to the locking shackle. The locking method according to claim 13 or 14, wherein the locking member is disengaged from the storage portion by the force of the sinker.

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