Device for recovering a ship at sea

Abstract

A device for recovering a vessel (N) from the sea from a surface station, the recovery device comprising:- a negatively buoyant cradle (B) for supporting the vessel (N),- a lifting device (LEV) comprising an upper frame (CS) and a set of lines (11, 12, 13, 14, 15, 16) connecting the cradle (B) to the upper frame (CS), lengths of the lines being variable so as to allow the cradle (B) to be hoisted and lowered,- a guide float (F) capable of having a predetermined positive buoyancy, the guide float (F) being interposed between the cradle (B) and the upper frame (CS) so that the cradle (B) is intended to support the guide float (F) when hoisting the cradle (B), the guide float (F) being configured and connected to the cradle (B) to guide the vessel (N) moving on the surface of the water with a travel speed comprising a positive component along an x ​​axis,connected to the upper frame (CS), towards a front part of the guide float (F) when the guide float (F) has the predetermined positive buoyancy, the guide float (F) being in three-degree-of-freedom rotational connection with the cradle (B). Figure for abstract: Fig.1,

Description

Title of the invention: Device for recovering a ship at sea

[0001] The invention relates to the general field of recovery, from a surface station, of powered surface ships or powered underwater ships. The surface station is, for example, a surface vessel ("surface ship" in English terminology) or a ground station, that is to say a station fixed relative to the earth, such as, for example, a seaport.

[0002] The invention relates, more particularly, to devices for recovering ships at sea, installed on a surface station, as well as to methods for recovering ships using this type of recovery device. The invention relates in particular to hoisting a ship from sea level to a position located above sea level, for example at the level of a platform of the surface station on which the ship is intended to be stored. The invention is particularly interesting for recovering surface ships from a surface vessel, the ship and the surface vessel being able to move relative to each other while being on the same wave.

[0003] A major problem in recovery operations involving a propelled, floating or submersible marine vehicle consists of securing the operations, both from the point of view of the operators involved and from the point of view of the equipment.

[0004] Before the recovery of a ship from a surface vessel, the ship and the surface vessel are two moving bodies which react to different stresses and consequently exhibit different and uncontrollable movements at sea. As long as they are far from each other, they constitute masses which are not likely to collide with each other. The risk of collision between these two masses is significant, particularly in rough sea conditions, when a connection is established between these two masses. One solution to limit the risk of collision, when these two masses are connected to each other, is to ensure mechanical decoupling between these two masses in order to limit the transmission of movements from one to the other. This ensures relative safety during the recovery of the ship in rough sea conditions.

[0005] An example of a device allowing relatively secure recovery of a vessel from a surface vessel is disclosed in the French patent application filed by the applicant and whose publication number is FR3062844. This device comprises a nacelle intended to support the vessel to be recovered. The nacelle is connected to a rail fixed to the host vessel and extending vertically in calm sea conditions. The connecting means between the nacelle and the rail make it possible to ensure freedom of movement of the cradle in pitch, yaw, roll and heave. heave" in Anglo-Saxon terminology). The device comprises a lifting device comprising an upper frame located above the cradle and connected to the nacelle by lines whose length is adjusted by winches. The nacelle can be hoisted, by translation along the rail, from a position in which it floats on the surface of the water to a high part of the rail located above the main deck of the host ship.

[0006] The lines are flexible elements that allow relative movement between the nacelle and the host vessel while forming a permanent connection between the nacelle and the host vessel. When hoisting the vessel to be recovered, once it is supported by the nacelle and connected to the rail, reducing the length of the lines allows the vessel to be recovered to gradually adopt the movements of the host vessel. The vessel to be recovered can then be rigidly fixed to the host vessel with limited risks of impacts between these two opposing masses.

[0007] However, in rough sea conditions, when the assembly formed by the nacelle and the ship to be recovered arrives above sea level, this assembly risks swinging furiously because it is no longer cushioned by the water. Stop elements are provided to restrict the yaw movements of the assembly but these stops constitute masses against which the assembly can collide with the risk of material damage.

[0008] Furthermore, in patent application FR3062844, the nacelle may be either floating, which only allows surface vessels to be recovered, or sinking, which allows underwater and surface vessels to be recovered but with a significant risk of the vessel N hitting the nacelle.

[0009] One aim of the invention is to limit at least one of the aforementioned drawbacks.

[0010] To this end, the invention relates to a device for recovering a ship at sea. from a surface station, the recovery device comprising: - a negatively buoyant cradle intended to support the vessel, - a lifting device comprising an upper frame and a set of lines connecting the cradle to the upper frame, lengths of the lines being variable so as to allow the cradle to be hoisted and lowered, a guide float capable of having a predetermined positive buoyancy, the guide float being interposed between the cradle and the upper frame so that the cradle is intended to support the guide float during hoisting of the cradle, the guide float being configured and connected to the cradle to guide the vessel towards a forward portion of the guide float, when the guide float has the predetermined positive buoyancy, the guide float being in three-degree-of-freedom rotational connection with the cradle.

[0011] Advantageously, the float is movable in translation relative to the cradle along a z axis linked to the upper chassis, the z axis being vertical in calm sea conditions.

[0012] Advantageously, the device comprises a connecting member with three degrees of freedom in rotation capable of mechanically connecting a bow of the ship to the front part of the guide float.

[0013] Advantageously, the guide float is elastically deformable so as to absorb shocks between the ship and the guide float.

[0014] Advantageously, the set of suspension lines comprises a first connecting suspension line passing through a first opening provided in the float, the first opening completely surrounding the first connecting suspension line radially.

[0015] The front part of the float is defined along an x ​​axis linked to the upper frame and being horizontal in calm sea conditions.

[0016] Advantageously, the set of lines comprises a second connecting line passing through a second opening made in the float, the second opening completely surrounding the second connecting line radially, the first connecting line exerting, on the cradle, a vertical traction at a point, distant along a y axis perpendicular to the x axis and horizontal in calm sea conditions, from another point at which the second connecting line exerts a vertical traction on the cradle when the first line and the second line are under tension.

[0017] Advantageously, the guide float has a general U shape comprising a bottom arranged substantially opposite the front of the cradle and two wings each extending longitudinally from the bottom to a rear end located behind the bottom along the x axis, the wings being separated, in calm sea conditions, by a vertical plane comprising the x axis and passing through the bottom.

[0018] Advantageously, the device comprises: - a first connecting piece in three-degree rotational freedom connection with the cradle, - a guide for guiding the connecting piece in translation relative to the upper frame, when the lengths of the hangers vary, along a z axis linked to the upper frame.

[0019] Advantageously, the device comprises: - a second connecting piece in three-degree rotational freedom connection with the guide float, - another guide for guiding the second connecting piece in translation relative to the upper frame, when the lengths of the hangers vary, along a z axis linked to the upper frame.

[0020] Advantageously, the second connecting piece is the first connecting piece and the other guide is the guide.

[0021] Other characteristics, details and advantages of the invention will emerge from reading the description given with reference to the appended drawings given by way of example and which represent, respectively:

[0022] [fig.l] [fig.l] is a schematic illustration of a device for recovering a ship according to the invention in a receiving configuration, when the cradle is in a receiving orientation, before receiving a ship,

[0023] [fig.2] [fig.2] is a block diagram of means of the recovery device according to the invention,

[0024] [fig.3] [fig.3] is a schematic illustration of the device for recovering a ship according to the invention in the receiving configuration, when the cradle is in a receiving orientation, after receiving a ship,

[0025] [fig.4] [fig.4] is a schematic illustration of the device for recovering a ship according to the invention in the receiving configuration, when the cradle is in a hoisting orientation, after receiving a ship,

[0026] [fig.5] [fig.5] is a schematic illustration of the device for recovering a ship according to the invention, in the reception configuration, when the cradle is in a hoisting orientation, after reception of a ship, the stabilizing lines being in a stabilizing configuration,

[0027] [fig.6] [fig.6] illustrates the swinging of an assembly formed by the cradle and the ship resting on the cradle, when the stabilizing lines are parallel to each other (on the left) and when their projections on a plane (y, z) intersect (on the right),

[0028] [fig.7] [fig.7] schematically represents successive views a to f, in the plane y, z, of hoisting the assembly formed by the ship and the cradle by re-tensioning the hangers which relax under the effect of the swinging of the assembly relative to the host building,

[0029] [fig.8] [fig.8] schematically represents in perspective the swing of the whole in relation to the host building,

[0030] [fig.9] [fig.9] schematically represents projections of the stabilizer lines lization in the stabilization configuration on the y, z plane

[0031] [fig.10] [fig.10] is a schematic illustration, in perspective, of the device of recovery of a vessel according to the invention, in the reception configuration, when the cradle is in a hoisting orientation and the assembly is above sea level,

[0032] [fig. 11] [fig. 11] is a schematic illustration, in side view, of the device for recovering a ship according to the invention, in the reception configuration, when the cradle is in a hoisting orientation and arrives at the level of an upper part of a guide rail,

[0033] [fig. 12] [fig. 12] is a schematic illustration, in side view, of the device for recovering a ship according to the invention after sliding of the assembly along of a guide extending along the ship's deck,

[0034] [fig.13] [fig.13] is a schematic illustration, in top view, of a cradle linked to a float with a variable angular opening, in top view (left), in rear view (middle) and in top view, after reduction of the angular opening of the float (right).

[0035] From one figure to another, the same elements are identified by the same references.

[0036] The invention relates to a device for recovering a self-propelled vessel, that is to say a vessel comprising propulsion means, from a surface station on which the recovery device is mounted. The surface station may be a surface vessel ("surface ship" in English terminology), as in the non-limiting example of the figures.

[0037] The surface station is, for example, alternatively, a station fixed relative to the earth such as, for example, a quay of a seaport.

[0038] The invention applies, for example, to the recovery of autonomous vehicles or remote-controlled vehicles.

[0039] The vessel to be recovered is, for example, a self-propelled surface vessel, such as a USV ("Unmanned Surface Vehicle" in English terminology) or a submersible vessel, for example of the UUV type ("Unmanned Underwater Vehicle" in English terminology).

[0040] [Fig. 1] schematically represents an example of a device D for recovering a submerged vessel N located at the level of the surface S of the water (sea level), from a surface vessel H, called a host vessel (“host ship” in English terminology) in the rest of the text. The device D is mounted on the host vessel H.

[0041] As visible in [fig.l], the device D comprises a nacelle NA comprising a cradle B intended to support the ship N so as to allow the ship N to be hoisted under the effect of the hoisting of the cradle B.

[0042] The cradle B preferably has negative buoyancy, which allows the recovery of a submarine vessel N navigating underwater. Alternatively, the cradle B has positive buoyancy, which only allows the recovery of a vessel N navigating on the surface. Zero buoyancy is also possible.

[0043] The recovery device is intended to hoist the cradle B and therefore the ship N resting on the cradle B, from sea level or from a totally submerged position located below sea level, to a hoisted position in which the cradle B is located facing the sea above sea level.

[0044] The hoisted position is, advantageously, a position located above a platform of the surface station along a vertical axis so as to be able to store the ship N on the platform, from the hoisted position. In the example of the figures, the recovery device D is capable of hoisting the vessel N from sea level, to a hoisted position of altitude higher than the main deck P, of the host building H, on which the vessel N is intended to be stored. The altitude of a point is defined along a vertical axis relative to sea level. It is positive when the point is located at sea level and negative when the point is located below sea level.

[0045] Alternatively, the platform is, for example, a platform of a quay of a seaport. Advantageously, but not necessarily, the recovery device is capable of bringing the ship into a storage position on the deck of the ship from the hoisted position, by translation of the ship N along a horizontal axis in calm sea conditions as described in patent application FR3062844.

[0046] In order to allow the cradle B to be hoisted, the recovery device D comprises a lifting device LEV mounted on the host building H and comprising an upper frame CS and a set of hangers 11 to 16 connecting the upper frame CS to the cradle B.

[0047] The recovery device D is capable of being in a recovery configuration, as shown in Figures 1 to 11, in which the cradle B is located facing the sea, the upper frame CS is fixed relative to the host building H and is facing the cradle B and in which the hangers 11 to 16 connect the upper frame CS to the cradle B.

[0048] In this configuration, when the hangers are tensioned, the cradle B is suspended from the upper frame CS by the hangers 11 to 16.

[0049] The lengths of the hangers 11 to 16 are variable so as to allow a distance of the cradle B relative to the upper chassis CS to be varied along a vertical axis by variations in the lengths of the hangers. A reduction in the length of the hangers allows the cradle B to be hoisted towards the upper chassis CS. An increase in the length of the hangers allows the cradle B to be lowered away from the upper chassis CS.

[0050] The lifting device LEV makes it possible to hoist the cradle B from sea level or from a position in which the cradle B is totally submerged and below the surface of the water, to the hoisted position, when the device D is in the recovery configuration, under the effect of a variation in the length of the suspension lines 11 to 16 of the assembly and more particularly under the effect of a reduction in their length.

[0051] The lifting device in the recovery configuration advantageously, but not necessarily, allows the vessel N to be lowered from the hoisted position to sea level or to a fully submerged position located below sea level. The recovery device is then also a lifting device. the water of the ship N. This is also obtained by a variation in the length of the suspension lines of the assembly and more particularly under the effect of an increase in the length of these suspension lines.

[0052] The device D also comprises means REG for adjusting the lengths of the hangers configured to allow the lengths of the hangers to be adjusted independently of each other.

[0053] The adjustment means REG comprise a set T of motorized winches, as visible in [fig.2], making it possible to vary the lengths of the lines independently and control means COM making it possible to control the winches of the winch set T as visible in [fig.2].

[0054] The winch assembly T comprises, for example, one winch per hanger, each winch being capable of adjusting the length of a single hanger. The winches of the assembly T can be controlled independently of each other by winch control means.

[0055] In addition to the hangers, the recovery device comprises an AR attachment connecting a first attachment point CT of the cradle B to the host building H permanently when hoisting the cradle B.

[0056] The AR attachment comprises a connecting member OL connecting the first attachment point CT of the cradle B to a second fixed attachment point C, in the recovery configuration, relative to the upper chassis CS (i.e. to the host building H), in translation along an x ​​axis and / or along a y axis linked to the upper chassis CS and horizontal in calm sea conditions, so that the first attachment point CT is connected with at least three degrees of freedom to the second attachment point C. Thus the connecting member connects the cradle B flexibly to the host building H. The cradle B is caused to swing around the second attachment point C in rough sea conditions.

[0057] The vertical direction is defined by the force of gravity. This direction is perpendicular to the sea surface in a calm sea state. The sea surface, in a calm sea state, defines the horizontal plane. The sea state is defined on the Douglas scale. A calm sea corresponds to a sea of ​​zero force.

[0058] The first attachment point CT is a front zone of the cradle B along the x axis, in the non-limiting embodiment of the figures.

[0059] In this case the second attachment point C is, for example, located in front of the first attachment point CT along the x axis.

[0060] In the non-limiting example of the figures, the first attachment point is a central point of a longitudinal end El of the cradle B. In other words, the first attachment point CT is located substantially at the center of the front end El of the cradle B, along the y axis in calm sea conditions.

[0061] In the non-limiting example of the figures, the AR attachment comprises a connecting member OL connecting the first attachment point CT to a first attachment point C which is a connecting piece C so that the connecting piece C is connected with three degrees of freedom in rotation with the cradle B.

[0062] The connecting piece C is connected to a guide R fixed to the host building H, i.e. to the frame CS and making it possible to guide the connecting piece C in translation along a z axis, relative to the upper frame CS, during a variation in the length of the hangers, when the recovery device is in the recovery configuration.

[0063] In the non-limiting example of [fig.l], the guide R is in the form of a rail R elongated along a longitudinal axis which is the z axis. The connecting piece C is connected with three degrees of freedom in rotation with the cradle B and in sliding connection with the rail R along the z axis via the intermediary. The connecting piece C is connected to the cradle B leaving these degrees of freedom of movement via a connecting member OL. The rail R is fixed relative to the host vessel H when the recovery device D is in the recovery configuration and arranged so that the z axis extends substantially vertically in calm sea conditions. The cradle B is then connected to the host vessel H via the rail R and the connecting piece C.

[0064] Thus, the cradle B is connected with one degree of freedom in translation along the z axis with the host building H (or the upper chassis CS) and with three degrees of freedom in rotation with the host building H (or the upper chassis CS).

[0065] As seen previously, the degree of freedom in translation along the z axis allows the cradle B to be translated, relative to the host vessel H and relative to the upper chassis CS, along the z axis. The three degrees of freedom in rotation ensure a certain decoupling of the movements of the cradle B relative to those of the host vessel H. Thus, when the ship N rests on the cradle B, the risks of impacts between the ship N and the host vessel H, in rough sea conditions, are limited, even though the recovery device D ensures a continuous connection between the host vessel H and the ship N. The limitation of the relative movements between ship N and the host vessel H can then be done progressively without any impact.

[0066] The recovery device D also comprises connecting means making it possible to connect a bow PR of the ship N to the cradle B so as to prevent a movement of the ship N relative to the cradle B along the x axis towards the front.

[0067] In order to secure the hoisting of the vessel N when the latter is supported by the cradle B and connected to the host building H, the set of hangers of the device D comprises, according to the invention, stabilizing hangers 15, 16, capable of being in a stabilizing configuration, visible in [fig.5], in which they are in tension, in which they extend linearly and in which their orthogonal projections on a transverse plane (y, z) linked to the upper frame CS, and therefore to the host building H, and defined by the y axis and the z axis, are inclined relative to each other. In other words, the first orthogonal projection of the first stabilizing hanger 15 on the transverse plane (y, z) is inclined relative to the second orthogonal projection of the second stabilizing hanger on the transverse plane (y, z). In the stabilizing configuration, the stabilizing hangers limit the swinging of the cradle B relative to the host building H, in particular its component around the z axis.

[0068] This limitation of the swing is particularly advantageous when the cradle B is emerged.

[0069] It should be noted that by "the hangers extend linearly" we mean that the hangers extend longitudinally along a single straight line.

[0070] In the advantageous embodiment of the figures, the stabilizing hangers 15, 16 are capable of being in a stabilizing configuration in which the first orthogonal projection of the first stabilizing hanger 15 on the transverse plane (y, z) intersects the second orthogonal projection of the second stabilizing hanger on the transverse plane (y, z). The stabilizing hangers 15, 16 then make it possible to ensure good limitation of the swinging of the cradle B relative to the host building H while occupying a restricted volume.

[0071] In the non-limiting embodiment of the figures, the recovery device is configured to recover, at sea, a ship N moving, at sea, towards the connecting piece C, in calm sea conditions, preferably or essentially along an axis of advance parallel to an axis x, represented in [fig.l], linked to the upper chassis CS and perpendicular to the axis z. The direction of movement parallel to the axis x is defined as being the movement from the rear to the front.

[0072] For example, the cradle B extends longitudinally along a longitudinal axis 1 of the cradle B, from the front end El of the cradle B to a rear end E2 of the cradle B, and the axis 1 is capable of being substantially parallel to the axis x, in calm sea conditions, when the recovery device is in the recovery configuration. The front end El is located in front of the rear end E2 along the axis x.

[0073] As a variant, the cradle B has substantially identical dimensions along the x axis and the y axis in a calm sea state when the axis 1 is substantially horizontal. In another variant, the dimension of the cradle B along the x axis is less than the dimension of the cradle B along the y axis in a calm sea state when the axis 1 is substantially horizontal.

[0074] The cradle B has, advantageously but not necessarily, a general shape of a ship's hull, open, intended to substantially match the shape of the ship N when the latter rests on the cradle B so as to block the transverse movements of the ship N relative to the cradle B. The transverse movements are movements of the ship N along the y axis in calm sea conditions. The y axis is perpendicular to x and z. This makes it possible to ensure a substantially fixed position of the ship N by in relation to cradle B when vessel N rests on cradle B when hoisting cradle B, particularly in calm sea conditions.

[0075] In the case of recovery from the host vessel H, the recovery device D is advantageously mounted on the host vessel H so that the x axis is parallel to a main movement axis p along which the host vessel H is intended to move mainly. The p axis extends in the direction from the rear to the front of the host vessel H. It is generally, but not necessarily, a longitudinal axis of the host vessel H along which the host vessel H extends longitudinally.

[0076] The receiving device D is advantageously mounted on the host vessel H so that the cradle B or its support zone ZS, on which the cradle B is intended to support the vessel N, extends completely behind a transom TA of the host vessel H when the receiving device is in the recovery configuration. This makes it possible to recover the vessel N from the rear of the host vessel H.

[0077] Alternatively, the receiving device D is mounted on the host building H so that the cradle B is arranged on one side of the host building H, i.e. next to the host building H, along the y axis. The receiving device D then makes it possible to recover a ship N moving parallel to the main axis p and arriving next to the host building H along the y axis.

[0078] We will now describe more precisely the operation of the recovery device according to the invention and the associated recovery method.

[0079] In [fig.3], the device D is shown schematically during a phase of reception of the ship N, during which the ship N comes to position itself above the cradle B, between the cradle B and the upper chassis CS.

[0080] During the reception phase of the ship N, the stabilizing lines 15, 16 are advantageously maintained in a rest configuration shown in [fig.3], in which the stabilizing lines 15, 16 are taut and substantially parallel to each other, that is to say, more generally, in which a third orthogonal projection of the first line is substantially parallel to the orthogonal projection of the second line on the transverse plane (y, z) and spaced along the y axis. This possibility of the stabilizing lines 15, 16 being in the rest configuration makes it possible not to hinder the ship N in its movement along the x axis towards the guide R.

[0081] In a reception orientation as shown in Figures 3, the cradle B has a positive attitude. In other words, in the reception orientation, the rear end E2 of the cradle B is located at a lower altitude than the end EL. In other words, the end E2 is located at a greater depth than the end EL. This reception orientation makes it possible to facilitate and secure the arrival of the ship N opposite the cradle B, above the cradle B, when the ship N is moves along the x axis. In fact, this reception orientation moves cradle B away from the volume into which the AUV will enter to come opposite cradle B, which limits the risks of shocks and friction between ship N and cradle B during this operation. The risks of damage to ship N are thus limited.

[0082] When the ship N comes to a stop against a stop FO, which will be described later, located in front of the ship N along the x axis, the connecting means connect the bow PR of the ship N to the cradle B so as to prevent movement of the ship N relative to the cradle B along an x ​​axis towards the front.

[0083] The lifting device LEV comprises a set of hangers 11 to 16 comprising hoisting hangers 11 to 14 and stabilizing hangers 15, 16.

[0084] The lines 11 to 16 are arranged and connected to the cradle B so as to allow the cradle B to be hoisted with zero list, the cradle B then being substantially symmetrical with respect to a vertical plane passing through the axis 1, in calm sea conditions and so as to allow the trim of the cradle B to be varied by adjusting the lengths of the lines.

[0085] In order to allow the trim of the cradle B to be adjusted, the set of hangers comprises at least two hangers connected to the cradle B so as to exert respective vertical tractions on the cradle B at respective points spaced along the axis 1 or, more generally, along the axis connecting the ends E1 and E2 of the cradle B. This arrangement allows the cradle B to be moved from the reception orientation of [fig.3] to a hoisting orientation of [fig.4] in which the cradle B has a zero trim in calm sea conditions.

[0086] In order to allow the cradle B to be hoisted with zero list, in calm sea conditions, the set of lines 11 to 16 comprises at least two lines connected to the cradle B so as to exert respective vertical tractions on the cradle B at respective points spaced along the y axis in calm sea conditions.

[0087] Advantageously, the hoisting lines are configured in these last two ways. Alternatively, it is the set of lines, including stabilizing lines, which is configured in these last two ways, the number of lines can then be lower.

[0088] In the non-limiting example of the figures, the set of hangers comprises two pairs of hoisting hangers 11, 12 and 13, 14.

[0089] The hangers 11 and 12 of the first pair of hangers exert vertical tractions on the cradle B at points P1 and P2 respectively, visible in [fig.3], located near the end E1, substantially at the same distance from the end E1. The hangers 13 and 14 of the second pair of hangers exert vertical traction forces on the cradle B at points P3 and P4, visible in [fig.l], located near the end E2, substantially at the same distance from the end E2. two lines of each pair of hoisting lines 11 and 12 (respectively 13 and 14) exert vertical tractions on the cradle B at points PI and P2 (respectively P3 and P4) spaced along the y axis in calm sea conditions, arranged on either side of the x, z plane passing through the connecting piece C in calm sea conditions. Advantageously, PI and P2 (respectively P3 and P4) are separated, in calm sea conditions, by a plane parallel to the x and z axes passing through the connecting piece C.

[0090] In order to move the cradle B from the receiving orientation of [fig.3] to the hoisting orientation of [fig.4], the length of the hangers 13 to 14 and preferably 13 to 16 is reduced.

[0091] The ship N comes to rest on the cradle B so as to present a substantially fixed position relative to the cradle B.

[0092] The length of the suspension lines of the assembly is then reduced so as to hoist the cradle B in its hoisting orientation by sliding along the z axis.

[0093] The movements of the vessel N begin to be controlled by the hangers 11 to 16 due to the vertical traction that they exert on the cradle B. The assembly E formed by the cradle B and the vessel N connected to the cradle B and resting on the cradle B can still swing relative to the host vessel H under the effect of the waves, due to the connection with three degrees of freedom in rotation, which ensures a certain flexibility to the connection.

[0094] When the assembly E arrives above the surface of the water. The swinging of the cradle B relative to the host building H is no longer damped and can even be amplified by resonance.

[0095] In order to limit the swinging of the assembly E relative to the host building, during hoisting, in particular its component around the z axis, the stabilizing hangers 15 and 16 are brought into the stabilizing configuration as shown in [fig.5].

[0096] For this purpose, as visible in figures 6 and 7, the stabilizing hangers 15, 16 comprise, for example, each a first longitudinal end e1, e1' fixed to the cradle B and a second longitudinal end e2, e2' connected to the upper chassis CS. The lifting device LEV comprises drive means ENT, referenced in [fig.2], making it possible to move the stabilizing hangers 15 and 16 from the rest configuration to the stabilizing configuration by moving the second ends e2, e2' of each of the stabilizing hangers 15, 16 in opposite directions along the y axis to bring the stabilizing hangers 15, 16 into the stabilizing configuration of [fig.5]. The second end e2, e2' of each stabilizing hanger 15, 16 is moved, approaching, along the y axis, the position occupied by the second end e2', e2 of the other stabilizing hanger in the rest configuration.

[0097] As visible in [fig.2], COM control means are capable of controlling the ENT training resources.

[0098] By bringing the stabilizing hangers 15, 16 into the stabilizing configuration, the swinging of the assembly E relative to the host building H is limited. Indeed, when the orthogonal projections of the stabilizing hangers 15, 16 on the plane (y, z) intersect or, more generally, when they are inclined relative to each other, the movement of the center of gravity of the assembly E is made more difficult. As shown in [fig.6] on the left, when the stabilizing hangers 15, 16 are parallel to each other or in the absence of stabilizing hangers, the center of gravity G of the assembly E moves on a first gutter G1 in a transverse plane parallel to (y, z) to an extreme position PE1. The cradle B which is connected to the rail R from the front, by a connection with three degrees of freedom in rotation, undergoes a swing which is a combination of movements around the three axes and in particular around the z axis.When the projections of the taut stabilizing lines 15, 16 are inclined relative to each other, the center of gravity of the assembly moves into a second gutter G2, shown in [fig.6] on the right, having steeper slopes than those of the first gutter G1 up to an extreme position PE2. This phenomenon is accentuated when the hoisting of the cradle B continues, the slopes of the gutter on which the center of gravity can move becoming steeper. Thus, the recovery device D according to the invention makes it possible to make the swinging of the assembly E relative to the rail R around the z axis more and more constrained as hoisting continues. The constraints on the movement of the assembly E relative to the host vessel H increase slowly and progressively while avoiding the installation of a stop which would limit its swinging but which the ship N could come to strike with risks of damage to the ship N.

[0099] Furthermore, this solution does not require heavy or bulky shock absorbers to dampen the swinging movement of the assembly by dissipating energy. This solution is based on hangers that are light and compact.

[0100] This solution also makes it possible to take advantage of the natural swinging of the cradle B relative to the host building H, under the effect of the waves, to facilitate the hoisting of the assembly E and to hoist the assembly E smoothly by taking advantage of the alternating phases of tension and detention of the hangers. A particular configuration of the winch assembly T and the control means COM of the winch assembly can be implemented for this purpose.

[0101] Indeed, when the cradle B is connected with three degrees of freedom in rotation with the rail R fixed to the host building H, the relative swinging of the assembly E with respect to the host building H is a swinging around the axes x, y and z. This swinging includes a component along the z axis which causes a relaxation of certain hangers as visible in view b of [fig.7]. Now, this swinging, under the effect of the waves, made without effort on the part of the winches T. Thus, by controlling the set of winches T so as to put back or maintain tension, at each swing of the set E relative to the rail R, the hangers which relax or tend to relax under the effect of the swing of the set E, as shown in views c and e of [fig.7], instead of leaving them relaxed or letting them relax, as shown in views b, d and f of [fig.7], the set E is hoisted by limiting the energy necessary for this hoisting. The swing of the set E relative to the host building H is shown in perspective in [fig.8].

[0102] The particular control described above also makes it possible to control the swinging of the assembly E. In fact, by putting back into tension or maintaining the tension on the hangers which relax or which tend to relax under the effect of the swinging of the assembly E in a first direction, this amounts to removing potential energy from the assembly E when the latter reaches an extreme position in which its kinetic energy is zero. The energy of the assembly E at this end point is its potential energy. The reduction in the potential energy of the assembly E leads to a reduction in its total energy. This reduction in energy has the effect of reducing its maximum kinetic energy. Thus, the speed and amplitude of the swinging of the assembly E gradually decrease with each swing.

[0103] Thus the means REG for adjusting the lengths of the lines are advantageously configured to keep the lines 11 to 16 substantially taut, that is to say permanently taut or at least during a phase of hoisting the cradle B or the assembly E starting when the cradle B is submerged or at least during a phase of hoisting the cradle B or the assembly E starting when the cradle B is emerged.

[0104] Preferably, in order to avoid any slack in the lines likely to cause irregular winding of the threadlike links forming the lines 11 to 16 on the winches of the assembly T, the adjustment means REG are configured to keep the lines 11 to 16 taut, that is to say, in tension, permanently or at least during a hoisting phase of the cradle B starting when the cradle B is submerged, or at least during a hoisting phase of the cradle B or of the assembly E starting when the cradle B is emerged.

[0105] Preferably, the adjustment means REG are configured to maintain each suspension in constant tension.

[0106] It should be noted that if only the natural swing of the assembly E is used to hoist it, it is not possible to hoist the assembly E in calm sea conditions because the assembly E does not swing relative to the host vessel H.

[0107] Advantageously, the adjustment means REG are configured to continuously reduce the length of each of the lines 11 to 16 during a stabilized hoisting phase during which the stabilizing lines are in the sta- mobilization.

[0108] In other words, during the stabilized hoisting phase, the adjustment means REG are configured to maintain the hangers 11 to 16 substantially in tension by increasing, for example, the speed of reduction of the lengths of the hangers which relax or which tend to relax under the effect of the swinging of the cradle B relative to the host building H while continuing to reduce the lengths of the hangers which become taut under the effect of the swinging of the cradle B relative to the host building H.

[0109] For example, if during the hoisting process, the adjustment means REG are configured to reduce the length of each hanger at a predetermined fixed hoisting speed of the hanger concerned in the absence of swinging of the cradle B relative to the rail R, then the adjustment means are configured so as to reduce the length of each hanger which tends to become taut under the effect of the relative swinging of the cradle B and the rail R at a speed higher than the predetermined speed and so as to reduce the length of each hanger which tends to become loose under the effect of the relative swinging of the cradle and the rail R at a speed lower than the predetermined speed.

[0110] For this purpose, the adjustment means REG comprise, as visible in [fig.2], means SURV for monitoring the tension of the lines 11 to 16 making it possible to measure a physical quantity representative of the tensions of the lines, that is to say the inclination of the cradle B relative to the host ship H, for example around the z axis. These monitoring means SURV comprise, for example, an inclinometer making it possible to measure an inclination of the lines, an acceleration sensor, a first inertial unit making it possible to measure an orientation of the cradle and / or a second inertial unit making it possible to measure an orientation of the host ship H, at least one tension sensor, each tension sensor making it possible to measure the tension of a line.The orientation of the host building and / or the cradle may alternatively be measured from one or more acceleration sensors and / or one or more gyrometers each capable of measuring a component of an angular velocity vector and / or from a position sensor.

[0111] The invention also relates to a method for stabilizing the cradle B or the assembly E consisting of maintaining the hangers 11 to 16 of the assembly of hangers substantially in tension, and preferably in tension, during a relative swing of the cradle B with respect to the host building H, the recovery device being in the recovery configuration, the stabilization method comprising a step consisting of bringing the stabilization hangers from the rest configuration to the stabilization configuration.

[0112] Advantageously, the stabilization method is implemented when the cradle B extends above sea level, i.e. when its support zone ZS extends above sea level.

[0113] The invention also relates to a method for hoisting the cradle B, or the assembly E, the recovery method comprises a step of stabilized hoisting of the cradle or the assembly E, for example from sea level, or from a lower or higher level, to a hoisted position located above sea level, during which the hangers 11 to 16 are kept substantially in tension, and are preferably kept in tension, while the cradle B slides along the z axis towards the upper chassis CS, the recovery device D being in the recovery configuration and the stabilizing hangers being in the stabilizing configuration.

[0114] In the case where the hangers are capable of passing from a rest configuration to the stabilization configuration, the method comprises a positioning step, prior to the stabilization or stabilized hoisting step, consisting of putting the hangers in the stabilization configuration.

[0115] Preferably, the lines are in the stabilizing configuration for the entire duration of the hoisting step or until the end of the hoisting procedure, from the moment when the cradle B is located above sea level (i.e. is emerged) or from the moment when the cradle B is located at sea surface level or from a position in which the cradle B is totally submerged.

[0116] Preferably, the hangers are maintained in constant tension throughout the duration of the stabilized hoisting step and / or the stabilization process.

[0117] Advantageously, during the stabilized hoisting step, the length of each of the lines 11 to 16 of the assembly is continuously reduced. In other words, the speed of reduction of the length of each of the lines is non-zero and positive during the hoisting step.

[0118] The method advantageously comprises a step during which the cradle is moved from a reception orientation to a rest orientation by adjusting the lengths of the lines. This step is prior to the stabilized hoisting step and preferably prior to the step during which the stabilization lines are placed in the stabilization configuration.

[0119] It should be noted that the inclination of the projections of the stabilizing hangers 15, 16 on the transverse plane (y, z), one relative to the other, also makes it possible to limit the swinging of the cradle B relative to the host building H outside the hoisting phases by configuring the adjustment means appropriately, in particular the component of the swinging around the z axis.

[0120] In the non-limiting example of the figures, the stabilizing hangers 15, 16 are connected to the cradle B so as to each exert a vertical traction on the cradle. B, approximately at the level of the end E2 of the cradle B.

[0121] In other words, more generally, the stabilizing lines 15, 16 are connected to the cradle B so as to each exert a vertical traction on the cradle B at a distance from the first point along the x axis perpendicular to the plane (y, z) in calm sea conditions and preferably substantially at the level of an end furthest from the first attachment point along the x axis perpendicular to the plane (y, z) in calm sea conditions. This makes it possible to limit the swinging of the cradle B relative to the host vessel effectively.

[0122] As a variant, the stabilizing hangers 15, 16 each exert a vertical traction on the cradle B at a distance from the end E2 and the end El, along the axis 1.

[0123] In the non-limiting example of the figures, in the stabilization configuration, the orthogonal projections PROJ15, PROJ16 of the stabilization hangers 15, and respectively 16, on the transverse plane (y, z) as shown schematically in [fig.9], intersect. They form an angle a between them. This angle is the difference between the oriented angle al formed by the orthogonal projection PROJ15 of the first stabilization hanger 15, in the plane (y, z), relative to the z axis, and the oriented angle a2 formed by the orthogonal projection PROJ16 of the second stabilization hanger 16, in the plane (y, z), relative to the z axis.

[0124] In a variant, to move the stabilizing hangers from the rest configuration to the stabilizing configuration, the second end of each stabilizing hanger is moved, along the y axis, to the position occupied by the second end of the other stabilizing hanger in the rest configuration. This configuration requires an upper frame CS of larger dimension along the y axis compared to the embodiment of the figures and is detrimental to the compactness of the solution.

[0125] In a variant, the projections of the stabilizing hangers on the transverse plane (y, z) are inclined relative to each other in the rest position. When moving from the rest configuration to the stabilizing configuration, the absolute value of the angle a formed between the projections PROJ15 and PROJ16 of the two hangers increases.

[0126] Alternatively, in the stabilization configuration, the orthogonal projections of the stabilization hangers 15, 16 on the transverse plane (y, z) do not intersect.

[0127] Advantageously, when the orthogonal projections of the stabilizing hangers do not intersect in the stabilizing configuration, they are inclined in the opposite direction relative to the z axis.

[0128] In another variant, the stabilizing lines 15, 16 are only capable of being in the stabilizing configuration. However, the stabilizing lines can obstruct the passage of the ship N to come opposite the cradle. elsewhere, the projections of the stabilizing hangers do not intersect in the stabilization configuration, the dimension of the upper frame CS along the y axis must be greater if we wish to obtain the same inclination between the projections of the hangers on the (y, z) plane as when these projections intersect.

[0129] In [fig.10], the set E is at an intermediate altitude between sea level and the level of bridge P.

[0130] Preferably, as visible in [fig.10], the rail R comprises a lower part BR located below the freeboard of the host vessel and an upper part HR located above the freeboard of the ship. The upper part of the rail HR is separable from its lower part BR and is able to slide along a guide G, for example, along the x axis. Thus, when the assembly E has been hoisted by translation along the rail R to the hoisted position and therefore to the upper part HR of the rail R as visible in [fig.11], the upper part of the rail HR separates from the base part BR and slides along the guide G, as visible in [fig.12], to move the assembly E to a storage position in which the assembly E is entirely opposite the deck P and rests on the deck P. Thus, the manipulated assembly E always remains engaged with the host ship H.

[0131] The upper frame CS is, for example, connected to the host building H so that it can be moved from a receiving position in which it is located next to the deck of the ship or the rail R along the x axis to a storage position in which the upper frame CS is located above the deck of the ship P. Preferably, the upper frame CS maintains its orientation around the three axes x, y, z relative to the host building H.

[0132] As visible in [fig.10], the upper frame CS is, for example, connected to the host building H by a gantry PO with double arms spaced symmetrically from each other with respect to the plane x, z. Each double arm comprises a first arm Bl, B2 pivotally mounted with respect to the deck P of the host building H around the same first individual axis yl parallel to the y axis and a second individual arm BB1, BB2 of the same length as the first arm Bl, B2 and pivotally mounted with respect to the deck P of the host building H around the same second individual axis y2 parallel to the first individual axis yl and spaced from the first individual axis yl along the x axis. The upper frame CS is suspended from the individual arms and pivotally mounted on each of the individual arms Bl, BB1; B2, BB2 around axes y3, y4 substantially parallel to the individual axes yl, y2.The upper frame CS is able to be moved from its receiving position to the storage position by pivoting each of the individual arms around its individual axis while maintaining the same orientation relative to the host building H.

[0133] Each hanger 11 to 16 is a portion of a longer flexible filiform link capable of being wound around one of the winches of the assembly T. By hanger, we mean the part of the thread-like link extending from a first point of the upper frame CS to a second point of the cradle B on which the thread-like link exerts traction when the hanger is tensioned, that is to say it extends linearly from this first point to this second point. In other words, these two points are the points on which the opposing tensile forces are exerted, putting the hanger under tension. These two points are the two ends of the hanger, that is to say of the portion of the thread-like link considered. The lengths of the hangers, that is to say the length of the portion of the thread-like link forming the hanger, from the first point to the second point, is adjusted by winding the thread-like link around a drum of a winch or by unwinding it from the drum. The length of the hangers is not intended to be adjusted by an extension of the thread-like link.In other words, the thread-like link is intended to have a substantially fixed length and the length of the hangers is intended to vary substantially only by a variation in the length of the thread-like link from the first point to the second point.

[0134] The different hangers 11 to 16 can be formed by separate filiform links or the hangers of the assembly can be formed by the same filiform link.

[0135] In the example of the figures, the winches of the assembly T are mounted on the upper frame CS but could, alternatively, be mounted on the deck of the ship or on the cradle B.

[0136] In the example of the figures, the set of hangers 11 to 16 comprises four hoisting hangers and two stabilizing hangers. Alternatively, the set of hangers could comprise a different number of hoisting and / or stabilizing hangers as long as they allow the cradle B to slide along the rail R and maintain its zero heel and adjust its trim.

[0137] Each hoisting line has, when all of the hoisting lines are under tension, an orthogonal projection on the (x, y) plane being capable of having a single predetermined orientation in calm sea conditions.

[0138] Advantageously, the hoisting lines 11 to 14 are arranged so as to be substantially parallel to each other when they are under tension. Alternatively, at least one hoisting line 11 to 14 is inclined relative to another hoisting line when they are under tension.

[0139] In the non-limiting embodiment of the figures, the AR attachment comprises a member connecting the first attachment point CT of the cradle to a connecting piece C in sliding connection with the upper chassis CS, via the guide R, in the receiving configuration.

[0140] The first attachment point CT is connected with three degrees of freedom in rotation to the connecting part C. Advantageously, the connecting member OL establishes a six-degree connection degrees of freedom (three translations and three rotations) between the cradle B and the connecting part C. Alternatively, the part C is in a ball joint connection with the cradle B or in a connection with three degrees of freedom in rotation and one or two degrees of freedom in translation with the cradle B.

[0141] This embodiment is absolutely not limiting.

[0142] In a variant, the cradle B is moored by the first attachment point CT via a mooring to the host building H, i.e. to a second attachment point fixed relative to the upper chassis CS in the reception configuration, so that the first attachment point CT is connected to three degrees of freedom in rotation and three degrees of freedom in translation relative to the second attachment point.

[0143] In another embodiment, the device is devoid of the attachment.

[0144] Advantageously, as shown in the figures and visible in [fig.l], the nacelle NA comprises a guide float F capable of exhibiting a predetermined positive buoyancy. The float F is interposed between the cradle B and the upper chassis CS so that the cradle B is intended to support the guide float F when the cradle B is hoisted under the effect of a variation in length of the lines 11 to 16.

[0145] The cradle B is located below the upper chassis CS along a vertical axis or along the z axis in calm sea conditions.

[0146] In other words, the guide float F is opposite the cradle B and interposed between the cradle B and the upper chassis CS along the z axis.

[0147] The float F is configured and connected to the cradle B to guide a vessel N moving on the water surface forward with a displacement speed comprising a positive component along an x-axis towards a front portion FO of the cradle B. The front portion FO of the cradle B is the portion of the float FO which is located in front of the float FO along the x-axis in calm sea conditions.

[0148] The front part of the float FO is preferably located substantially opposite the front end E1 of the cradle B or the support zone ZS of the cradle B.

[0149] The guide float F is connected with at least three degrees of freedom in rotation with the cradle B.

[0150] This freedom allows the guide float F to move relative to the cradle B. Thus, during the reception stage shown in [fig.3], during which the cradle B, with negative buoyancy, is in the reception orientation, the float F remains on the surface S of the water. There is therefore a certain distance between the float F and the cradle B along the z axis, this distance increasing from the front to the rear of the float F. This distance ensures good safety during the reception phase of the ship. It limits the risks of collisions between the ship N and the cradle B, in particular of the lower part of the ship N.

[0151] Advantageously, the guide float F is movable in translation relative to the cradle B along the z axis, the z axis being vertical in calm sea conditions. This limits the risk of shocks between the vessel N and the cradle B, the heavy cradle B being able to move away from the float F, when submerged, by a translation along the z axis relative to the float F, by lengthening the lines accordingly, which allows a larger volume to be left free, in particular a greater depth to accommodate the vessel N.

[0152] The translation of the float F relative to the cradle B can be allowed with a predetermined maximum amplitude along the z axis or can be free.

[0153] Advantageously, the float F is connected to 3 degrees of freedom in translation of the float F relative to the cradle B.

[0154] Each translational movement along an axis perpendicular to the z axis can be authorized with a predetermined maximum amplitude along this axis.

[0155] For this purpose, in the non-limiting example of the figures, the float F is connected to the cradle B via the connecting piece C. The front FO of the float F is connected to the connecting piece C by a second connecting member L. The second connecting member L establishes a connection with six degrees of freedom (three translations and three rotations) between the float F and the connecting piece C, and authorizes each of these movements, freely or with a predetermined maximum amplitude. As a variant, the float F is in a ball joint connection with the connecting piece C or in a connection with three degrees of freedom in rotation and 1 or 2 degrees of freedom in translation. This variant is less advantageous from the point of view of the risks of impacts between the ship N and the float F.

[0156] As a variant, the float F is free in translation along the z axis relative to the cradle B. In other words, it is able to slide relative to the chassis along the z axis independently of the cradle B. This makes it possible, during the reception phase of the vessel N, to leave a larger volume under the float, between the float and the cradle B, making it possible to immerse the cradle B as deeply as desired.

[0157] For example, the float F is connected to the rail R via a second connecting piece in sliding connection with the rail R. The second piece is dissociated from the first connecting piece so as to be able to slide along the rail R, independently of the cradle B.

[0158] Alternatively, the float F is connected with three degrees of freedom in rotation with the cradle B and no degrees of freedom in translation with the cradle B.

[0159] The recovery device D comprises a third connecting member LL making it possible to attach the bow PR of the ship N, also called the nose of the ship N in the case of submarines, to the float FO, preferably to the front FO of the float F, when the ship N arrives opposite the front FO of the float or in abutment on the front FO of the float F.

[0160] This third connecting member LL thus makes it possible to connect the ship N to the host building H which then tows the ship N.

[0161] The ship N, attached to the float F, is located opposite the cradle B, bow P towards the front along the x axis.

[0162] The bow PR is located substantially opposite the first longitudinal end El of the cradle B.

[0163] Advantageously, the third connecting member LL establishes a ball joint connection between the ship N and the front part FO of the float F or a connection with 6 degrees of freedom allowing movements of the ship N according to 6 degrees of freedom with a predetermined maximum amplitude for each degree of freedom. Consequently, even once the ship N is attached by its bow PR to the host vessel H, the ship N has freedom of movement in rotation and possibly along the three translation axes relative to the ship, which makes it possible to avoid subjecting it to excessively high forces.

[0164] The third connecting member LL comprises, for example, a snap hook or a hook device connecting the ship to the float under the effect of traction from the ship N on a predetermined area of ​​the front part FO of the float. The third connecting member LL may be passive.

[0165] As a variant, the recovery device comprises means for detecting traction of the ship on the predetermined zone of the front part FO of the float and the control means COM are configured to control the connecting element so that it connects the ship to the float when traction of the ship on the zone of the front part of the float is detected by the detection means.

[0166] The float F has, for example, a general U shape comprising a bottom FO arranged substantially opposite the front end of the cradle B or the front of the support zone of the cradle B, in calm sea conditions. The float F comprises two wings A1 and A2 each extending longitudinally from the bottom FO, comprising the stop BU, to a free or rear end EA1, EA2 located behind the bottom F along the x axis, the wings A1 and A2 being separated by a plane parallel to the x and z axes passing through the bottom FO, in calm sea conditions. The ship N then enters the space delimited by the float F through an opening OV delimited by the rear ends of the wings EA1 and EA2.

[0167] The float F comprises, for example, a continuous generally U-shaped tube having a positive buoyancy or a set of tubes capable of exhibiting the predetermined positive buoyancy connected together so as to form the general U-shape. Adjacent tubes along a generally U-shaped curve may be contiguous or spaced apart from each other.

[0168] Advantageously, the float F, when it has the predetermined positive buoyancy, is elastically deformable so as to absorb impacts, i.e. absorb the energy of impacts between the vessel N and the float F, in particular when the vessel N is inside the volume delimited by the guide float. Thus, the vessel N does not encounter a rigid element before being attached to the float F.

[0169] The float F comprises, for example, a closed flexible envelope capable of enclosing air and of having a general U-shape. The float F may be capable of being alternately inflated, to have the predetermined positive buoyancy, and deflated.

[0170] As a variant, the float comprises a U-shaped structure coated with a flexible external envelope, elastically compressible so as to absorb the impact energy between the ship N and the float F when the ship N approaches the float F and when it enters the volume delimited by the wings EA1 and EA2 and the bottom FO of the float F.

[0171] The float F is advantageously configured and connected to the cradle B to limit the movements of the ship N relative to the cradle B along the y axis, in calm sea conditions. In this way, the longitudinal axis 1 of the ship N is substantially included in the plane (z, 1), in calm sea conditions.

[0172] In the non-limiting example of the figures, the lifting device comprises two openings G1, G2, visible in [fig.8], arranged in the float F.

[0173] The lifting device comprises two connecting hangers 13 and 14, taken from the hangers 11 to 16 which connect the cradle B to the upper chassis CS. Each connecting hanger 13, 14 connects the cradle B to the upper chassis CS by passing through an opening G1, G2 made in the float F and radially completely surrounding the connecting hanger 13.

[0174] In other words, two openings Gl, G2 are provided in the float F and entirely delimited by the float. Each connecting hanger 13, 14 passes through one of these openings Gl, G2.

[0175] Each opening G1, G2 is advantageously configured and arranged so that each connecting hanger 13, 14 is capable of extending substantially linearly, that is to say along a single straight line, in calm sea conditions, when it is under tension.

[0176] The passage of the connecting hangers 13, 14 through the float F makes it possible to limit an amplitude of a rotation of the float F relative to the cradle B around an axis perpendicular to the z axis of the rail.

[0177] This makes it easier to approach the vessel N. Furthermore, once the vessel N is engaged between the wings of the float F and when its bow PR is linked to the float F, the connection of the cradle B to the chassis through the float F makes it possible to bring the longitudinal axis 11 of the vessel N closer to the plane (x, z) in calm sea conditions, with relative flexibility, before the vessel N comes to rest on the cradle B. Indeed, the flexibility of the connecting lines 13, 14 allows a certain oscillation of the vessel N around the z axis but the tension of the connecting lines 13, 14 brings the axis Ion- 11 gitudinal of the ship N of the plane (x, z) in calm sea conditions. This configuration therefore allows the ship N to be oriented flexibly, in the direction allowing it to cooperate optimally with the cradle B, when the cradle B is brought into the hoisting orientation, then when it is hoisted. The connecting lines serve as a guide for the cradle B.

[0178] Advantageously, the connecting hangers 13, 14 exert vertical tractions on the cradle B substantially at the level of the rear end E2 of the cradle B. This makes it possible to promote the flexible placement permitted by the connecting hangers.

[0179] Advantageously, the connecting hangers 13, 14 comprise two hangers exerting vertical tractions on the cradle B at points distant along the y axis when they are tensioned. In the non-limiting example of the figures, the first opening G1 is under the crosspiece of the first wing A1 and the second opening G2 crosses the second wing A2.

[0180] Advantageously, the lifting device comprises two connecting hangers 13, 14 capable of being separated by a plane (x, z) passing through the front FO in calm sea conditions. This makes it possible to ensure symmetrical stabilization of the float F around the plane (x, z)

[0181] The device could alternatively comprise one or more than two suspension lines connection.

[0182] In the example of figures 1 to 12, the float F has an angular opening around an axis capable of being parallel to the z axis in calm sea conditions and a length along the x axis which is substantially fixed when it has the predetermined positive buoyancy.

[0183] Alternatively, the float has a variable angular opening around an axis capable of being parallel to the z axis in calm sea conditions and / or a variable length.

[0184] In the example of [fig.13], the float FF differs from that of the previous figures, in that it has a variable angular opening. Furthermore, the device differs from that of the previous figures, in that it does not include stabilizing lines. It could, as a variant, include stabilizing lines.

[0185] Its two wings AAI and AA2 are able to pivot relative to each other around an axis zl likely to be parallel to the axis z in calm sea conditions. The wings are connected by a torsion spring RES which tends to give the float F a significant angular reception opening ya as shown schematically in a top view on the left view of [fig.13] and in a rear view on the middle view. The angular reception opening ya is obtained under the effect of an appropriate elongation of the suspension lines of the connections 13, 14 making it possible to relax the connection suspension lines 13, 14 which allow the wings AAI and AA2 to move apart under the effect of the force exerted by the spring. The connection suspension lines 13 and 14 extend along a curved line comprising two substantially straight lines. By reducing the length of the connecting hangers 13, 14, the angular opening of the float F decreases under the effect of a reduction in the length of the lines 13 and 14 putting them under tension, until the float F has an angular hoisting opening yh, visible in the right-hand view, in which the connecting lines 13 and 14 are tensioned and extend linearly, that is to say each extend longitudinally along a single straight line.

[0186] The connecting lines 13 and 14 are advantageously, but not necessarily, substantially parallel to each other when the float F has the hoisting angular opening yh.

[0187] Advantageously, the cradle B comprises at least one shock absorber AM making it possible to absorb an impact between the cradle B and the ship zone N when the cradle B is raised to bring it into contact with the ship N.

[0188] The nacelle NA can take different forms depending on the type of craft it is intended to transport. The nacelle NA is, for example, devoid of float F, the nacelle NA, then totally submersible, is adapted to the recovery of underwater craft, or the float F is integrated into the cradle B so that the cradle B is floating, the nacelle is then floating and adapted to the recovery of floating craft.

[0189] In the example of the figures, the guide is a rail R. The guide can be a completely different type of guide, for example, a pantograph or a hydraulic guidance system.

[0190] In the example of the figures, the float F is connected to the same guide R as the cradle B. Alternatively, the float is connected to a second guide whose function is the same, namely, to guide the float F in translation along the z axis.

[0191] Alternatively, the device comprises a mooring connecting the front part FO of the float F to a fixed point relative to the upper chassis CS.

[0192] Alternatively, the float F is connected to the cradle B only by one or more connecting lines.

[0193] Alternatively, the set of hangers is devoid of stabilizing hangers.

[0194] The control means may comprise at least one memory and at least processor. The control means are then provided in the form of one or more stored computer programs, each computer program being stored in a memory of the computer and comprising code instructions executable by a processor.

[0195] Alternatively, the control means may be provided in the form of one or more dedicated integrated circuits or ASIC (for “Application Specific Integrated Circuit” in English) or one or more programmable logic components, for example of the FPGA type (for “Field Programmable Gate Array” in English), configured or programmed to generate the command(s) that it must generate.

[0196] The invention relates to a recovery assembly comprising a surface station and a recovery device according to the invention mounted on the surface station. surface. The invention also relates to a marine assembly comprising the recovery assembly and the vessel N.

Claims

Claims

1. A device for recovering a vessel (N) from the sea from a surface station, the recovery device comprising: - a negatively buoyant cradle (B) for supporting the vessel (N), - a lifting device (LEV) comprising an upper frame (CS) and a set of lines (11, 12, 13, 14, 15, 16) connecting the cradle (B) to the upper frame (CS), lengths of the lines being variable so as to allow the cradle (B) to be hoisted and lowered, a guide float (F) capable of having a predetermined positive buoyancy, the guide float (F) being interposed between the cradle (B) and the upper frame (CS) so that the cradle (B) is intended to support the guide float (F) when hoisting the cradle (B), the guide float (F) being configured and connected to the cradle (B) to guide the vessel (N) towards a forward portion of the float guide (F),when the guide float (F) has the predetermined positive buoyancy, the guide float (F) being connected with three degrees of freedom in rotation with the cradle (B), the recovery device comprising: - a first connecting piece (Cl) connected with three degrees of freedom in rotation with the cradle (B), - a guide (R) making it possible to guide the connecting piece (Cl) in translation relative to the upper chassis (CS), during a variation in the lengths of the lines, along a z axis linked to the upper chassis (CS).,

2. Recovery device according to the preceding claim, in which the float (F) is movable in translation relative to the cradle (B) along a z axis linked to the upper frame (CS), the z axis being vertical in calm sea conditions.

3. Recovery device according to the preceding claim, comprising a connecting member with three degrees of freedom in rotation capable of mechanically connecting a bow of the ship (N) to the front part of the guide float (F).

4. A recovery device according to any preceding claim, wherein the guide float (F) is elastically deformable so as to absorb shocks between the vessel (N) and the guide float (F).

5. A recovery device according to any preceding claim, wherein the set of lines comprises a first connecting hanger (13) passing through a first opening (Gl) made in the float (F), the first opening (Gl) completely surrounding the first connecting hanger (13) radially.

6. Recovery device according to the preceding claim, in which the front part of the float is defined along an x ​​axis linked to the upper frame and being horizontal in calm sea conditions, the set of lines comprising a second connecting line (14) passing through a second opening made in the float (F), the second opening (G2) completely surrounding the second connecting line (14) radially, the first connecting line (13) exerting, on the cradle (B), a vertical traction at a point, distant along an axis y linked to the upper frame, perpendicular to the x axis and horizontal in calm sea conditions, from another point at which the second connecting line (14) exerts a vertical traction on the cradle (B) when the first connecting line and the second connecting line are in tension.

7. Recovery device according to any one of the preceding claims, in which the front part of the float is defined along an x ​​axis linked to the upper frame and being horizontal in calm sea conditions, the guide float (F) having a general U shape comprising a bottom (FO) arranged substantially opposite the front of the cradle (B) and two wings (A1, A2) each extending longitudinally from the bottom (F) to a rear end (EA1, EA2) located behind the bottom (F) along the x axis, the wings being separated, in calm sea conditions, by a vertical plane comprising the x axis and passing through the bottom.

8. Recovery device according to any one of the preceding claims, comprising: - a second connecting piece connected with three degrees of freedom in rotation with the guide float (F), - another guide (R) making it possible to guide the second connecting piece in translation relative to the upper chassis (CS), during a variation in the lengths of the lines, along a z axis linked to the upper chassis (CS).

9. A recovery device according to the preceding claim, wherein the second connecting piece is the first connecting piece and the other guide is the guide.

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