WO1989007068A1 - Agencement marin de lancement et de recuperation - Google Patents

Agencement marin de lancement et de recuperation Download PDF

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Publication number
WO1989007068A1
WO1989007068A1 PCT/GB1989/000100 GB8900100W WO8907068A1 WO 1989007068 A1 WO1989007068 A1 WO 1989007068A1 GB 8900100 W GB8900100 W GB 8900100W WO 8907068 A1 WO8907068 A1 WO 8907068A1
Authority
WO
WIPO (PCT)
Prior art keywords
jib
boom
arrangement
axis
vessel
Prior art date
Application number
PCT/GB1989/000100
Other languages
English (en)
Inventor
William Allan Dempster Logan
Richard Curtis Torgersen
Original Assignee
Mobil Oil Corporation
Fssl Limited
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
Priority claimed from GB888802710A external-priority patent/GB8802710D0/en
Application filed by Mobil Oil Corporation, Fssl Limited filed Critical Mobil Oil Corporation
Priority to BR898907228A priority Critical patent/BR8907228A/pt
Publication of WO1989007068A1 publication Critical patent/WO1989007068A1/fr
Priority to NO90903414A priority patent/NO903414L/no

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo

Definitions

  • This invention relates to marine launch and recovery arrangements for a submersible body and particularly, but not exclusively, to arrangements also capable of handling a submerged body suspended therefrom.
  • GB Patent Specification No.202 5359 proposes to minimise the time spent in the interface zone by a body being lifted by effecting a rapid luffing of a boom from which the body is supended. This is effective in lifting motion only and does not address fully the effects of lateral forces on the body for the albeit shorter time spent in the interface zone.
  • Proposals have also been made to adapt motion compensation devices to accommodate suspension rope snatching and also maintain suspension rope tautness during such changes in buoyancy in both raising and lowering but problems still occur with lateral forces acting on the body at the interface zone which place undesirable strains on lowering apparatus that is designed to accommodate only the lowering and lifting forces, and permit swinging of the suspended body with respect to the vessel with the risk, of damaging impact. Susceptibility to such lateral forces is often aggravated by the proposals for dealing with the suspension forces at the interface.
  • Proposals have been made for steadying suspended loads to be transferred between two well defined locations on relatively moving vessels but are complex and not suited to lowering bodies to and through a ser-air interface for submerged operation whilst still suspended from the lowering and lifting arrangement.
  • a launch and recovery arrangement for a submersible body and adapted to be carried by a support vessel subjected to pitching and rolling motions about pitch and roll axes thereof comprises a boom cantilevered outboard of a side of the vessel, a downwardly pointing jib rectilinearly extensible along an extension axis and connected to the outboard end of the boom along a junction extending orthogonally to the jib extension axis such that the jib and boom are rigid in respect of forces acting on the jib in the direction of the junction and operationally resistant to forces acting on the jib about the junction axis, a body docking device carried by the operationally lower end of the jib remote from, and displaceable relative to, the junction axis adapted to support a submersible body with respect to the jib, the jib at maximum extension supporting a body rigidly docked thereto below an air-water interface zone (as herein defined) and at minimum
  • the junction comprises a pivotal axis about which the jib is able to rotate with respect to the boom and the arrangement includes pivot control means operable to restrain the jib with respect to pivotal motion relative to the boom.
  • An arrangement as defined in the preceding paragraph is particularly suited to launching and recovering a submersible body which is handled whilst submerged by being freely suspended from a rope or the like, by including a body suspension rope extending from a body coupling and passing through the docking device and by way of a sheave at the junction between jib and boom to a winching arrangement adjacent the end of boom carried on the vessel.
  • rope is used for a body suspending medium out of convenience only in describing an elongate flexible member with the tensile ability to support the submerged body; it will be appreciated that the term rope is intended to include a more complex structure such as an electrohydraulic control umbilical which provides communication with, and control of, the body as well as its support.
  • FIG. 1 is a sectional elevation through a launch and recovery arrangement according to the present invention deployed on a floating vessel and with a submersible body docked thereto in a submerged position, and
  • Figure 2 is a perspective view of the arrangement of Figure 1 better illustrating boom and jib portions thereof and showing the body submerged undocked and suspended from a rope of an integral winching arrangement.
  • a launch and recovery arrangement 10 for a submersible body 11 is carried by a floating support vessel 12.
  • the arrangement 10 is conveniently self contained, being mounted on a base 13 so that it can be simply deposited on the deck of any vessel of opportunity without requiring special fittings and structures to be provided on the vessel superstructure or hull. It is preferred, but not essential, that the arrangement 10 is disposed as close to pitch ' axis 14 of the vessel as possible.
  • the arrangement comprises, in addition to base 13, a boom 15 carried at one of its ends by support 13' on base 13 and cantilevered outboard of a side of the vessel, preferably in a direction which is parallel to, and as close as practicable to, the pitch axis 14 of the vessel.
  • a rectilinearly extensible jib 16 joined to the outboard end of the boom along a junction 17 that extends (with the boom operatively disposed) substantially parallel to roll axis 18 of the vessel.
  • the junction 17 is most usefully a pivotal joint and represents a pivotal axis for rotational motion of the jib relative to the boom thereabout. For simplicity the following description assumes that the jib is so pivotally mounted.
  • the jib 16 is substantially planar in a plane containing the pivotal axis and extends downwardly from the boom along an extension axis 19 orthogonal to the pivotal axis 17.
  • the boom comprises a pair of spaced substantially parallel members interconnected so as to resist twisting with respect to the vessel and between which the pivotal axis extends being of such length that rigidity of the jib in the plane of the pivotal axis ensures rigidity of the jib in that plane with respect to the vessel and the ability to resist external forces acting thereon in the direction of the axis.
  • the jib is able to pivot relative to the boom in response to lateral forces acting on the jib other than in the plane of the jib axis and is controlled as to disposition with respect to the boom by pivot control means 20 including fluid pressure operated piston and cylinder arrangement 20'.
  • the pivot control means enables the jib to be folded up to the boom for storage and be positioned with respect to the boom to assme a nominally vertical disposition for the operation of transporting a body 11 through an air-water interface zone 21.
  • the boom may be locked by the pivot control arms in respect of further rotation of the jib relative to the boom.
  • the jib 16 carries at the end remote from the pivotal axis a body docking device 22 adapted for remotely controlled, and possibly automatic, docking to a cooperating part 22' of the body 11 whereby the docked body becomes rigidly fixed with respect to the docking device.
  • the jib is rectilinearly extensible along said extension axis, that is, the docking device is movable towards and away from the pivotal axis, by docking device moving means 23 including jib extension means 23' operable to apply extension or retraction forces between the pivot axis and docking device. Consequently the jib extension means comprises at least one telescopic fluid pressure operated piston and cylinder pair 24 comprising cylinder 24' and piston 24". To prevent other than the rectilinearly reciprocal motion of the docking member, and particularly rotation, further telescopic members are provided, conveniently in the form of a second telescopic fluid pressure operated piston and cylinder pair 25 comprising cylinder 25' and piston 25". The cylinders 24' and 25' are connected to the pivotal axis 17 and the pistons 24" and 25" extend therefrom for connection to the docking device.
  • the piston and cylinder pairs may have the strength to provide the planar structural rigidity of the extensible jib it will generally be desirable to have the pistons 24" and 25" closer to each other than might be expected to provide a suitably rigid jib structure and still provide a docking device 23 of manageable dimensions.
  • the jib is formed as an A-frame the limbs 26, 27 of which define the extremities of the pivotal axis 17 between the boom members and between the apex 28 of the A-frame and the pivotal axis 17 are supported the cylinders 24' and 25' in a rigid structure.
  • the pistons 24" and 25" are fully rectractable within their respective cylinders such that the docking device abuts the A-frame apex 28 to define the minimum jib length and are extensible to define the maximum jib length.
  • the piston and cylinder arrangement 20' conveniently comprises one piston and cylinder pair extending between each boom member and A-frame limb.
  • the boom 15 may be luffed with respect to support 13' by boom luffing means 29 shown as comprising hydraulic piston and cylinder arrangement 29' and boom luffing control means 29", to define the height of the pivotal axis 17 and manoeuvre the raised jib and docked body between inboard and outboard dispositions in conjunction with slewing of the boom support 13' about a slew axis 30 whereby the boom can be slewed to place the jib 16 above the vessel deck so that the docking device can be lowerd thereto to attach to or detach from a submersible body.
  • the boom luffing means may comprise part of the docking device moving means with the jib extension means and provide upward or downward forces on the docking device superimposed upon those from the jib extension means.
  • the boom extends outboard as described in a nominally horiziontal altitude (ignoring rolling motion of the vessel) so as to distance the pivotal axis 17 and the jib maximally from the vessel.
  • the jib is caused or permitted to depend, possibly under gravity, to a commonly vertical altitude, at which time it is 'locked* by the pivot control means 20 with respect to the boom 15.
  • the jib extension means For a conventional vessel size, that is, boom height above the surface, and the depth of the interface zone it is considered practicable for the jib extension means to extend the jib, and displace the docking device 22, by about the depth of the interface zone 21.
  • the jib is dimensioned such that the dependant unextended jib, substantially the A-frame, reaches from the boom to the top of the interface, that is, the sea surface, and the docking device of extended jib reaches to below the bottom of the interface zone.
  • the jib is extended to submerge the docking device and the body 11 is brought into docking engagement therewith.
  • the docking device with the body rigidly attached thereto, is raised with respect to the jib by retracting the hydraulic piston and cylinder pair through the interface zone and when nearly fully retracted the boom is luffed so as to raise the jib, rigidly disposed with 'respect thereto, and the body docked to the jib, until the whole body is clear of the water.
  • pivot control means may be operated to lower the now-inclined jib back to the vertical by means of piston and cylinder arrang ent 20' or the luffed boom may be slewed about slew axis 30 to position. the body above the deck before pivoting the jib relation to the luffed boom to. restore its verticality extending and lowering the body onto the vessel for undocking, possibly in combination with further boom motion. It will be seen that the above procedure may readily be reversed so as to pick up a body from the vessel deck and position it at the bottom of the interface zone for undocking.
  • the body is taken through the turbulent interface zone 21 by a combination of rectilinear and rotational motions but in each case the body is rigidly docked to a rigid structure and the raising and lowering forces are applied by forcing means, namely the hydraulic fluid pressure systems, which are not dependent on gravity, that is, are not dependant on weight of the body or the changes thereto caused by external forces acting on it at the interface zone which give such trouble with suspended rope arrangements in times of rope slackening or snatching.
  • forcing means namely the hydraulic fluid pressure systems, which are not dependent on gravity, that is, are not dependant on weight of the body or the changes thereto caused by external forces acting on it at the interface zone which give such trouble with suspended rope arrangements in times of rope slackening or snatching.
  • the transfer through the interface zone may be carried out at any speed at which the body can withstand any external impact or other force, the body may be moved through the interface zone in both directions more quickly than with other arrangements.
  • the above described docking device moving means operation as a combination of reclitinear jib extension and arcuate luffing motions and the relative dispositions of boom and jib neglect any pitching and rolling motions of the vessel which will impart an arcuate component t the nominally recilitinear jib extension.
  • the luffed boom should impart furthe arcuate movement to the body by lifting the jib with its pivot axis fixed in relation to the boom.
  • the pivot control means 20 may be arranged to maintain the jib in a substantially vertical plane during luffing of the boom, although this will decrease the speed at which the body leaves the dangerous interface zone.
  • the pivot control means may be employed to maintain the extended boom, and the submerged parts and docked body, in the vertical plane prior to luffing the boom to compensate for vessel roll motion by measuring the attitude of the jib extension axis about the pivotal axis with respect to the vertical and cause pivoting of the jib with respect to the boom to restore the extension axis T to the vertical.
  • the privoted axis may comprise a fixed rigid junction between the jib and boom.
  • the above described docking device moving means function involves both extensions or retraction of the jib and luffing of the boom to transfer the body through such a distance that the top of the body is below the interface zone at one extreme and the bottom of the body is above the interface zone at the other extreme. It will be appreciated that for a body of suitable height dimensions and suitable jib length it may be possible to pass the body through the interface zone purely by rectilinear jib extension or retraction and without luffing the boom, whence the docking device moving means may comprise only the jib extension means. In such circumstances and if the boom does not require to be luffed to transfer the body to the vessel, the boom may be formed without luffing and slewing capabilities.
  • the arrangement thus far described is suitable for launching and recovering any submersible body, such as a submarine vessel which may move freely from the vessel between unlocking and locking.
  • a large number of submerged bodies require to be suspended from a tensile rope member for controlling descent, raising and station keeping and also be supplied with power and control signals by means of an umbilical, often integral with the suspension rope.
  • such a body suspension rope 31 is included between a body coupling 32 and passing through the docking device 23, along the jib 16, over a boom sheave 33 disposed near the pivot axis to a powered winching and storage arrangement 34 adjacent the end of the boom on the vessel base 13.
  • the winching arrangement is arranged to pay out suspension rope when the submerged body is detached from the docking device, as shown in Figure 2, to permit and control sinking, or even powered movement, of the body away from the docking device and to haul the submerged body back into docking engagement with the docking device.
  • the suspended rope winching arrangement may also be provided with a motion compensation device in respect of maintaining a submerged body position despite rolling motion of the surface vessel, the effects of which are magnified in proportion to the length of the cantilevered boom 15.
  • a motion compensation device in respect of maintaining a submerged body position despite rolling motion of the surface vessel, the effects of which are magnified in proportion to the length of the cantilevered boom 15.
  • the sheave 33 may be computed and an appropriate length of suspension rope winched in or out to compensate and maintain submerged body vertical station.
  • the compensation may be employed with lowering of the body to a predetermined relationship with a relatively small subsea structure.
  • the suspension rope motion compensation means may be used in conjunction with motion compensation for the boom-jib combination which involves compensatory luffing of the boom.
  • the suspension rope only requires such strength as to support the reduced weight of the sea-buoyed body and does not have to accommodate the weight of - li ⁇
  • the winching arrangement may lightly tension the rope to take up any slack.
  • the winching arrangement may conveniently be mounted directly on the base 13 in fixed attitude, rather than with the boom to be slewed therewith, with the boom sheave 33 mounted on an upstanding pivotal axis 34 so as to pivot with slewing of the boom to direct the rope from the jib onto the winching arrangement.
  • the jib extension means may comprise other than the fluid pressure operated piston and cylinder pair described and illustrated.
  • the force actuated telescope member may be mechanically extended, comprising a screw jack (not shown) driven by a rotational device or a rack and pinion arrangement (not shown) , rack teeth being provided on a shaft equivalent to the piston 24" and driven by a pinion mounted in the jib A-frame.
  • the jib 16 is conveniently constructed for rigidity in the appropriate directions as an A-frame, permitting dimensions at the apex smaller than those at the pivot axis 17, the jib may be of other configuration which has the same strength attributes.
  • the telescopic fluid pressure or other force actuated extension means and additional devices for providing lateral and tensional rigidity of the docking device with respect to the jib need not be confined to a single plane as depicted by the two pistons 24", 25" illustrated but may comprise further such fluid pressure actuated pistons in the same or different plane or merely telescopically mounted rods to provide such rigidity without contributing to the extension force.
  • the boom may be carried on the vessel at a position movable to and from the side of the vessel to define the body-to-vessel clearance.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

Un agencement de lancement et de récupération (10) d'un corps submersible (11) depuis une enceinte flottante (12) comporte une flèche (15) disposée en porte-à-faux par rapport au flanc de l'enceinte à proximité de son axe de tanguage et portant un bras (16) pendant vers le bas, de préférence articulé de manière pivotante en (17) par rapport à ladite flèche mais verrouillable en fonctionnement, et pouvant être déployé et rétracté par des vérins hydrauliques (24, 25). Le bras (16) porte un dispositif (22) permettant d'amarrer solidement un corps submersible et peut être déployé jusqu'à une position située au-dessous d'une zone d'interface à turbulence (21) pour arrimer ou libérer le corps. Ce dernier est mû à travers les parties inférieures de la zone d'interface par les vérins, et le mouvement à proximité des partie et surface supérieures est effectué le cas échéant par le relevage de la flèche et de son bras verrouillé. On peut faire pivoter la flèche et son bras afin de transférer le corps sur l'enceinte. Le support rigide du corps et le mouvement forcé dans les deux sens à travers l'interface rendent le fonctionnement indépendant des forces externes s'exerçant sur le corps et des limitations de vitesse des systèmes de suspension par câble. Ces suspensions par câble (31, 32, 36) peuvent s'employer pour le corps immergé et ne nécessitent que la capacité de traction pour ce dernier, et non la capacité supplémentaire exigée pour le récupérer à travers l'interface.
PCT/GB1989/000100 1988-02-06 1989-02-06 Agencement marin de lancement et de recuperation WO1989007068A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
BR898907228A BR8907228A (pt) 1988-02-06 1989-02-06 Tratamento de couro sistema de lancamento e recuperacao para um corpo submersivel
NO90903414A NO903414L (no) 1988-02-06 1990-08-03 Arrangement for skip, for senking og heving.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB8802710 1988-02-06
GB888802710A GB8802710D0 (en) 1988-02-06 1988-02-06 Marine launch & recovery arrangement
GB8819911A GB2217671A (en) 1988-02-06 1988-08-22 Marine launch and recovery arrangement
GB8819911.2 1988-08-22

Publications (1)

Publication Number Publication Date
WO1989007068A1 true WO1989007068A1 (fr) 1989-08-10

Family

ID=26293438

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1989/000100 WO1989007068A1 (fr) 1988-02-06 1989-02-06 Agencement marin de lancement et de recuperation

Country Status (2)

Country Link
EP (1) EP0397770A1 (fr)
WO (1) WO1989007068A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1035627C2 (nl) * 2008-06-25 2009-12-30 2Me Special Engineering B V Opvouwbare hijskraan.
US8215889B2 (en) * 2008-10-24 2012-07-10 Oceaneering International, Inc. System and method for high current recovery cursor
US9540076B1 (en) * 2014-01-10 2017-01-10 Wt Industries, Llc System for launch and recovery of remotely operated vehicles
CN107933835A (zh) * 2017-11-22 2018-04-20 国家海洋局第二海洋研究所 一种水下机器人投放设备
US20180327057A1 (en) * 2015-11-17 2018-11-15 Fugro N.V. Method of and system for hauling a marine equipment unit, a marine equipment unit and a carrier
CN108945317A (zh) * 2018-07-17 2018-12-07 湖南科技大学 舱载潜体全液压水平释放装置
CN109533237A (zh) * 2017-09-22 2019-03-29 中国科学院沈阳自动化研究所 一种自主水下机器人布放回收单点起吊止荡保护装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2212808A5 (fr) * 1972-12-29 1974-07-26 Alsthom Cgee
US4165706A (en) * 1978-04-21 1979-08-28 Global Marine, Inc. Submersible vehicle deployment and recovery system for rough water
EP0124947A1 (fr) * 1983-05-04 1984-11-14 Van Seumeren Agenturen B.V. Outil de levage
EP0147084A1 (fr) * 1983-12-03 1985-07-03 Caley Hydraulics Limited Système pour manoeuvrer des charges en mer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2212808A5 (fr) * 1972-12-29 1974-07-26 Alsthom Cgee
US4165706A (en) * 1978-04-21 1979-08-28 Global Marine, Inc. Submersible vehicle deployment and recovery system for rough water
EP0124947A1 (fr) * 1983-05-04 1984-11-14 Van Seumeren Agenturen B.V. Outil de levage
EP0147084A1 (fr) * 1983-12-03 1985-07-03 Caley Hydraulics Limited Système pour manoeuvrer des charges en mer

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Ocean Engineering and the Environment, Conference Record, 12-14 November 1985 San Diego, US vol. 2, IEEE Ocean Engineering Society A.M. Clark et al.: "An advanced submersible handling system" pages 985-989 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1035627C2 (nl) * 2008-06-25 2009-12-30 2Me Special Engineering B V Opvouwbare hijskraan.
US8215889B2 (en) * 2008-10-24 2012-07-10 Oceaneering International, Inc. System and method for high current recovery cursor
US9540076B1 (en) * 2014-01-10 2017-01-10 Wt Industries, Llc System for launch and recovery of remotely operated vehicles
US20180327057A1 (en) * 2015-11-17 2018-11-15 Fugro N.V. Method of and system for hauling a marine equipment unit, a marine equipment unit and a carrier
CN109533237A (zh) * 2017-09-22 2019-03-29 中国科学院沈阳自动化研究所 一种自主水下机器人布放回收单点起吊止荡保护装置
CN107933835A (zh) * 2017-11-22 2018-04-20 国家海洋局第二海洋研究所 一种水下机器人投放设备
CN108945317A (zh) * 2018-07-17 2018-12-07 湖南科技大学 舱载潜体全液压水平释放装置
CN108945317B (zh) * 2018-07-17 2023-11-07 湖南科技大学 舱载潜体全液压水平释放装置

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Publication number Publication date
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