Device for receiving a marine or underwater vehicle, particularly an autonomous one, from a ship.

Abstract

The invention relates to a device (3) for receiving a marine or underwater vehicle from a ship, comprising a receiving member (23) against which a front part of the marine or underwater vehicle is configured to bear, characterized in that the receiving member has a main wall (30) generally in the shape of a funnel and defining a receiving space (31), at least one first recess (34) provided on the main wall inside the receiving space and configured to receive a protuberance provided on the front part of the marine or underwater vehicle, and at least one locking member (40) movable between an unlocked position and a locked position in which the locking member projects into the receiving space and is configured to lock the front part of the marine or underwater vehicle in position in the receiving space. (Fig. 3)

Description

Title of the invention: Device for receiving a marine or underwater vehicle, in particular an autonomous one, from a ship. Technical field of the invention

[0001] The present invention relates to a device for receiving a marine or underwater vehicle, in particular autonomous and for example of the AUV type for "Autonomous Underwater Vehicle" in English terminology or semi-autonomous and for example of the ROV type for "Remotely Operated underwater Vehicle", or even of the towed type, from a ship, itself marine or underwater.

[0002] It also relates to an assembly comprising the reception device and the marine or underwater vehicle, and the ship provided with this assembly. State of the art

[0003] Numerous devices are known for receiving marine or underwater vehicles, in particular autonomous ones. These may be, for example, devices in the form of a reception cage towed by or hoisted onto a ship, a reception ramp secured to the ship, or even a davit provided for gripping the vehicle.

[0004] European patent EP 2 964 515 describes a reception device configured to be submerged and secured to the vessel by a flexible link. The device comprises a stop on which the nose of the craft is able to come to bear and a plate on which the belly of the craft is able to come to rest. The device is further provided with guide means formed by a plurality of rigid or flexible branches which are arranged around the stop to guide the nose of the craft, and locking means formed by fingers in an arc of a circle which are arranged on the plate, at a distance from the stop and rather towards the rear of the craft, to secure the craft to the stop.

[0005] European patent EP 2 551 185 describes a craft provided with contactless detection means capable of detecting a recovery cable and guiding the craft towards the cable. This craft is further provided with cable attachment means which are located on the craft and which comprise a hook and a clamp. This clamp is rotatable between a closed position in contact with the outer surface of the craft, an open position moving away from the outer surface of the craft and a attachment position in which the clamp cooperates with the hook in order to leave a space for the passage of the cable between the clamp and the outer surface of the marine craft. Once the craft is secured to the recovery cable, it can be towed to a reception device secured to the vessel. Statement of the invention

[0006] The invention aims to provide a device for receiving a marine or underwater vehicle, notably autonomous, from a ship, which is particularly simple, safe and convenient to use.

[0007] The invention thus relates, in a first aspect, to a device for receiving a marine or underwater vehicle, in particular autonomous, semi-autonomous or towed, from a ship, comprising a receiving member against which a front part of the marine or underwater vehicle is configured to come to bear, characterized in that the receiving member has a main wall generally in the shape of a funnel and defining a receiving space, at least one first recess provided on the main wall inside the receiving space and configured to receive a protuberance provided on the front part of the marine or underwater vehicle, and the receiving device further comprises at least one locking member movable between an unlocked position and a locked position in which the locking member projects into the receiving space and is configured to lock the front part of the marine or underwater vehicle in position in the receiving space.

[0008] In the receiving device according to the invention, the funnel shape of the main wall makes it possible to guide and facilitate the entry of the front part of the machine into the receiving space, the first recess provided in this main wall ensures both centering and alignment, that is to say a "flattening", of the position of the machine once it has entered the receiving space, and the blocking member ensures locking of the machine in its centered and flat position, directly at the level of the receiving space. These guiding, centering and alignment functions are thus grouped together in the receiving member and in particular at the level of the single receiving space defined by the main wall of the receiving device. The receiving device according to the invention is thus simple, safe and convenient while being particularly compact.

[0009] Particularly simple, convenient and economical preferred features of the receiving device according to the invention are presented below.

[0010] The receiving member may comprise an orifice provided in the main wall and configured to form a passage for a cable for securing the marine or underwater vehicle to the receiving device and / or to the ship.

[0011] The receiving member may comprise two first recesses provided on either side of the orifice.

[0012] The receiving member may comprise a second recess provided on the main wall inside the receiving space and extending to the orifice. Such a second recess, in particular in the form of a gutter, may prevent the cable from being pinched between the front part of the machine and the main wall of the receiving member.

[0013] The receiving member may comprise at least a third recess, provided on the main wall inside the reception area and in the immediate vicinity of the second recess. Such a third recess, particularly in the form of a fillet, can be used to form a seat for the front part of the machine.

[0014] The first recess may be a groove having a shape complementary to that of the protrusion provided on the front part of the marine or underwater vehicle.

[0015] The receiving member may comprise at least one window provided in the main wall and opening into the interior of the receiving space for the passage of the blocking member.

[0016] The locking member may be formed by an arm articulated to a support of the receiving device and provided at a free end with a shoe which, in the locked position of the locking member, projects into the receiving space and is configured to be engaged on the protuberance of the front part of the marine or underwater vehicle.

[0017] The receiving device may comprise at least one actuator configured to move the locking member at least from its locked position to its unlocked position.

[0018] The receiving device may comprise at least one return member configured to move the locking member at least from its unlocked position to its locked position when the actuator does not actuate the locking member.

[0019] The receiving device may comprise a support to which the receiving member is secured by means of a mechanical connection ensuring a degree of freedom in rotation between the receiving member and the support. The mechanical connection may be of the cardan type.

[0020] The receiving device may comprise a cradle on which the support is mounted in an articulated manner, said cradle itself being configured to be mounted sliding and / or pivoting on a ramp secured to the ship.

[0021] The receiving device may comprise a protective member arranged at least partially around the main wall, upstream of the receiving space. Such a protective member may form a fender to prevent the machine from hitting the main wall and to facilitate the guidance of the machine towards the receiving space of this main wall. These may be tubes arranged opposite each other, or in an L, or in a U.

[0022] The invention also relates, in a second aspect, to an assembly comprising a reception device as described above and a marine or underwater vehicle in a stable position in the reception device.

[0023] The marine or underwater vehicle may include a protrusion in the form of a positioning stud or in the form of a hook on which a cable for securing the marine or underwater vehicle to the receiving device and / or to the ship may optionally be engaged.

[0024] The invention also relates, in a third aspect, to a ship comprising a receiving device as described above and a marine or underwater craft in a stable position in the receiving device. Brief description of the figures

[0025] We will now continue the description of the invention by describing exemplary embodiments, given below for illustrative and non-limiting purposes, with reference to the appended drawings.

[0026] [Fig.l] is a schematic view of a vessel having a receiving device mounted on a ramp and configured to recover an underwater vehicle.

[0027] [Fig.2] is a perspective view showing the underwater vehicle ready to be recovered by the receiving device;

[0028] [Fig. 3] is an exploded perspective view of the receiving device taken in isolation;

[0029] [Fig.4] is a perspective view in horizontal median section showing the underwater vehicle opposite the receiving device;

[0030] [Fig.5] is a view similar to that of [Fig.2], taken in horizontal median section;

[0031] [Fig.6] is a view similar to that of [Fig.2], taken in vertical median section;

[0032] [Fig.7] is a view similar to that of [Fig.5], showing only the receiving device, in a so-called rest configuration, without the underwater vehicle;

[0033] [Fig.8] is a view similar to that of [Fig.7], with the craft entering the receiving device;

[0034] [Fig. 9] is a view similar to those of figures 7 and 8, with the machine arranged almost in abutment in the receiving device;

[0035] [Fig. 10] is a view similar to those of Figures 7 to 9, with the craft locked in the receiving device, which is in a locked configuration; and

[0036] [Fig. 11] is a view similar to those of Figures 7 to 10, with the machine unlocked from the receiving device, which is in an unlocked configuration. Detailed description

[0037] [Fig.l] very schematically illustrates a ship 1 equipped with a recovery and / or launch system 2 comprising a ramp 4 and a receiving device 3 movable in translation on the ramp 4 and free in rotation relative to this ramp 4, at least in an up-down direction.

[0038] The recovery and / or launch system 2 is configured to recover an underwater vehicle 7.

[0039] The ramp 4 has a folded configuration (not visible) in which it is stored on the ship 1, and a deployed configuration ([Fig.l]) in which it is at least partially projecting from ship 1 and submerged.

[0040] In [Fig. 1], the ramp 4 which is shown very schematically is provided with a first portion 5 mechanically secured to the ship 1 and optionally tiltable, and a second portion 6 mechanically secured to the first portion 5 and movable in translation and rotation relative to the latter.

[0041] It is the second portion 6 which here projects from the ship 1 and is submerged.

[0042] The ship 1 can be provided with a crew or be autonomous, or semi- autonomous, that is to say, remotely controlled.

[0043] The underwater vehicle 7 is here approaching the ship 1 and in particular the reception device 3 with a view to being recovered in a stable position in the reception device 3.

[0044] Of course, such a recovery and / or launch system 2 can be used for launching, i.e. putting into the water, the craft 7.

[0045] [Fig.2] shows the device 7 in isolation opposite the receiving device 3.

[0046] The machine 7 has a generally cylindrical shape and has, at a first end 10, called the front end, a nose 11 provided with a protuberance 12 on which a securing cable 8 connected to the recovery and / or launch system 2 and to the ship 1 engages.

[0047] The protuberance 12 of the device 7 is here in the form of a hook which extends over the nose 11 of the device 7, forming two spaces for attaching the cable 8 (better visible in [Fig.4]).

[0048] Alternatively, the protrusion is formed from a positioning stud or a hook, without being engaged on the securing cable.

[0049] The machine 7 further has, at a second end 13, called the rear end, and opposite the first end 10, a tail 14 where a propulsion device 15 can be arranged.

[0050] The craft 7 comprises front wings 16 arranged towards the front end and extending projecting on either side of an external hull 18 of the craft 7 and rear fins 17 arranged towards the rear end and also extending projecting on either side of the external hull 18 of the craft 7.

[0051] The machine 7 comprises a control and command unit 19 (visible in particular in [Fig.4]) configured in particular to guide the machine and provided for example with a sonar, a camera, or more generally with detection and communication devices.

[0052] Thanks to the control and command unit 19, the machine 7 can for example be guided towards the receiving device 3 in order to be recovered. It can also detect whether the securing cable 8 is engaged on its hook 12.

[0053] The receiving device 3 is provided with a cradle 20, or carriage, configured to be mounted sliding and / or pivoting on the second portion 6 of the ramp 4.

[0054] Thus, the receiving device 3 can slide along the ramp 4 in order to be submerged or on the contrary to be brought up towards the ship 1.

[0055] The receiving device 3 is further provided with a support 21 mounted articulated on the cradle 20 so that the support 21 can pivot relative to the cradle 20 and therefore to the ramp 4 for example when it arrives in the water.

[0056] Thus, the support 21 can naturally be placed in a position for recovering the machine 7, where the support 21 is inclined relative to the cradle 20 and the ramp 4.

[0057] The receiving device 3 is further provided with a protective member 22 located directly opposite the nose 11 of the machine 7.

[0058] This may be a fender to prevent the machine 7 from hitting against the elements of the receiving device 3 behind the protection member 22.

[0059] The receiving device 3 is further provided with a receiving member 23 against which the nose 11 of the machine 7 is configured to come to bear.

[0060] The receiving device 3 is described in more detail with reference to figures 3 to 6 where it is shown partially and in isolation, then in section with the machine 7.

[0061] The cradle is not visible in these figures, while the support 21 is at least partially visible.

[0062] The support 21 comprises a base 25 configured to be mounted articulated on the cradle and pulleys 26 housed in the base 25 and provided to guide the securing cable 8.

[0063] The support 21 further comprises an interface part 27 configured to be mechanically secured to the base 25.

[0064] The support 21 further comprises a plurality of mechanical connecting members 28 secured to the interface part 27 and substantially bearing against the base 25.

[0065] The mechanical connecting members 28 are configured to provide a connection having at least one degree of freedom in rotation between the interface part 27 and the base 25.

[0066] The plurality of mechanical connection members 28 can for example make it possible to form a mechanical connection of the cardan type.

[0067] The receiving member 23 is mechanically secured to the interface part 27 so that the plurality of mechanical connecting members 28 also makes it possible to ensure at least one degree of freedom in rotation between the receiving member 23 and the base 25.

[0068] Alternatively, the receiving member could be secured directly to the base.

[0069] The receiving member 23 has a main wall 30 generally in the shape of a funnel and defining a receiving space 31 narrowing from a first end of the main wall 30 towards a second end of this main wall 30, opposite its first end.

[0070] The receiving member 23 has a generally cylindrical wall 32 extending the main wall 30, on the side of its second end, and configured to form a wall for fixing the receiving member 23 on the interface part 27.

[0071] The receiving member 23 comprises an orifice 33 formed in the main wall 30 and in the generally cylindrical wall 32, which orifice 33 is configured to form a passage for the securing cable 8 of the machine 7.

[0072] The receiving member 23 is provided with first recesses 34 formed on the main wall 30 inside the receiving space 31.

[0073] These first recesses 34 are configured to receive the protuberance 12 provided on the nose 11 of the machine 7.

[0074] The first recesses 34 are here two in number and are provided on either side of the orifice 33.

[0075] The first recesses 34 are here formed by grooves having a shape generally complementary to that of the protuberance 12 provided on the nose 11 of the machine 7.

[0076] The first recesses 34 extend here until they open into the orifice 33.

[0077] The receiving member 23 is further provided with a second recess 35 formed on the main wall 30 inside the receiving space 31.

[0078] This second recess 35 extends until it opens into the orifice 33.

[0079] This second recess 35 here has a gutter shape and is configured to allow the securing cable 8 to pass when the machine 7 is received in the reception space 31.

[0080] In other words, the second recess 35 can prevent the securing cable 8 from being pinched between the nose 11 of the machine 7 and the main wall 30 of the receiving member 23.

[0081] The receiving member 23 is also provided, here, with third recesses 36, arranged on the main wall 30 inside the receiving space 31 and in the immediate vicinity and on either side of the second recess 35.

[0082] These third recesses 36 are here two in number, they generally have a fillet shape, and they extend between the second recess 35 and the respective first recesses 34.

[0083] These third recesses 36 can make it possible to form, together with the second recess 35, a seat for the nose 11 of the machine 7 when the latter is received in the reception space 31.

[0084] The reception member 23 is also provided with windows 37 arranged in the main wall 30 and opening into the interior of the reception space 31.

[0085] The receiving member 23 is provided with a notch 38 formed on its periphery.

[0086] The receiving device 3 further comprises locking members 40 which are movable between an unlocked position and a locked position in which each locking member 40 projects into the receiving space 31 of the receiving member 23, passing through the respective windows 37.

[0087] The locking members 40 are here two in number and are configured to lock the nose 11 of the machine 7 in position when the latter is received in the reception space 31.

[0088] The locking members are here formed by arms 41 which are each secured and articulated by one end to the interface part 27.

[0089] Each arm 41 is provided, at a free end, with a shoe 42 which, in the locked position of the respective locking member 40, projects into the receiving space 31 and is configured to be engaged on the protuberance 12 on the nose 11 of the machine 7.

[0090] The receiving device 3 further comprises return members 43 configured to move the respective blocking members 40 at least from their unlocked position to their locked position when they are not otherwise acted upon.

[0091] The return members 43 are formed here by spring blades folded and secured on external faces of the respective arms 4L

[0092] The receiving device 3 further comprises a cover 44 extending from the interface part 27 to the protection member 22. In [Fig. 3], the cover 22 is visible behind the protection member 22. It is better visible in Figures 4 and 5.

[0093] The return members 43 here come to bear against an internal face of the cover 44 so as to exert a return force on the arms 4L

[0094] The receiving device 3 further comprises actuators 45 (FIGS. 3 and 5) configured to move the locking members 40 at least from their locked position to their unlocked position.

[0095] In other words, when the actuators 45 urge the blocking members 40, against the return members 43, the arms 41 move apart to leave the receiving space 31; and when the actuators 45 do not urge the blocking members 40, the return members 43 urge the arms 41 which tighten in the receiving space 31.

[0096] The actuators 45 are for example here formed by single-acting cylinders which are mechanically secured to an external face of the cover 44, and with a cylinder rod which is configured to pass through an orifice (not referenced) provided in the cover 44, and to urge the respective arm 4L

[0097] Alternatively, the receiving device may be devoid of a return member and the actuators may be configured to actuate the blocking members both from their locked position to their unlocked position and from their unlocked position to their locked position.

[0098] The protective member 22 is arranged at least partially around the main wall 30, upstream of the reception space 31, and allows the machine 7 not to hit against the main wall 30.

[0099] In particular, it may be a question of tubes 50 arranged opposite one another, and forming Ls, or a U.

[0100] The protective member 22 also makes it easier to guide the machine 7 towards the reception space 31 of the main wall 30.

[0101] The tubes 50 are here fixed on a frame 51 with bars on which the cover 44 is also mechanically secured.

[0102] In the receiving device 3 as described above, the funnel shape of the main wall 30 makes it possible to guide and facilitate the entry of the nose 11 of the machine 7 into the receiving space 31; the first recesses 34 provided in this main wall 30 ensure both centering and alignment, that is to say a “flattening”, of the position of the machine 7 once it has entered the receiving space 31; and the locking members 40 ensure locking of the machine 7 in its centered and flat position, directly at the level of the receiving space 31.

[0103] These guiding, centering and alignment functions are thus grouped together in the receiving member 23 and in particular at the level of the single receiving space 31 defined by the main wall 30 of the receiving device 3.

[0104] Figures 7 to 11 show the machine 7 and the receiving device 3 in different configurations.

[0105] In particular, in [Fig.7], the receiving device 3 is alone, the machine not being present. The tubes 50 are not stressed. The securing cable 8 is only partially visible in this figure. The rods of the actuators 45 are deployed, the return members 43 stress the arms 41 which are tightened, with the shoes 42 which are located in the receiving space 31.

[0106] In [Fig.8], the machine 7 enters the receiving space 31 of the receiving member 30 of the receiving device 3. The protrusion 12 of the machine 7 is located opposite the first recesses 34. The nose 12 of the machine 7 is located between the tubes 50. The protrusion 12, formed here by hooks, comes into contact with the shoes 42 of the arms 4L. The rods of the actuators 45 are still deployed and the return members 43 stress the arms 41 which are still tightened, with the shoes 42 which are located in the receiving space 31.

[0107] In [Fig.9], the machine 7 still enters the receiving space 31 of the receiving member 30 of the receiving device 3. The protuberance 12, formed here by hooks, urges the shoes 42 of the arms 41 against the return members 43 so that the arms, like the shoes 42, move apart, withdrawing at least partially from the receiving space 31, to allow the machine 7 to enter. The protuberance 12 of the machine 7 comes to bear against the first recesses 34.

[0108] In [Fig.10], the machine 7 is in a stable position in the reception space 31 of the reception member 30 of the reception device 3. The protuberance 12, formed here by hooks, has passed beyond the shoes 42 of the arms 41 which, acted upon by the reception members reminder 43, re-enter the reception space 31 and engage on the protuberance 12 of the machine 7. The shoes 42 are in their locked position.

[0109] In this stable position of the machine 7, the protuberance 12 is housed in the first recesses 34 and the nose of the machine 11 is partially placed on the seat formed by the third recesses together with a part of the second recess, without pinching the securing cable which can move in the second recess (not visible in this figure).

[0110] In [Fig. 11], the actuators 45 are actuated so as to move the arms 41 and the shoes 42 of the locking members 40 from their locked position to their unlocked position and thus release the machine 7. The shoes 42 loosen, come out at least partially from the receiving space 31 and release the protuberance 12 of the machine 7, which can be withdrawn from the receiving space 31 of the receiving member 23.

[0111] Variants not illustrated are presented below.

[0112] The receiving member may have a single first recess or more than two depending on the shape of the protuberance on the nose of the machine.

[0113] The receiving member may be devoid of a second recess.

[0114] The receiving member may comprise a single third recess or more than two, or on the contrary be devoid of it.

[0115] The receiving device may comprise a single actuator acting on the two locking members.

[0116] The receiving device may comprise one or more than two locking members.

[0117] The number of windows provided in the main wall of the receiving member depends on the number of blocking members.

[0118] The main wall of the receiving member may be without a window if the blocking member(s) enter the receiving space from the front.

[0119] The receiving device may be devoid of a protective member.

[0120] The receiving device may be devoid of a mechanical connecting member of the type gimbal.

[0121] The receiving device is not mounted movably on a ramp, but rather fixed or it is directly submerged using a crane or a davit rather than with a ramp.

[0122] The vessel can be with or without crew, autonomous or semi-autonomous, and for example of the USV type for “Umanned Surface Vehicle” in Anglo-Saxon terminology.

[0123] The receiving device may be mounted on a pontoon, barge, or container, rather than on a ship.

[0124] It is recalled more generally that the invention is not limited to the examples described and represented.

Claims

Claims

1. Device for receiving a marine or underwater vehicle (7), in particular autonomous, semi-autonomous or towed, for example from a ship (1), comprising a receiving member (23) against which a front part of the marine or underwater vehicle is configured to come to bear, characterized in that the receiving member has a main wall (30) generally in the shape of a funnel and defining a receiving space (31), at least one first recess (34) formed on the main wall inside the receiving space and configured to receive a protuberance (12) formed on the front part of the marine or underwater vehicle, and the receiving device further comprises at least one locking member (40) movable between an unlocked position and a locked position in which the locking member projects into the receiving space and is configured to lock the front part of the marine or underwater vehicle in position in the reception area.

2. Receiving device according to claim 1, characterized in that the receiving member (23) comprises an orifice (33) formed in the main wall (30) and configured to form a passage for a securing cable (8) of the marine or underwater vehicle (7) to the receiving device (3) and / or to the ship (1).

3. Receiving device according to claim 2, characterized in that the receiving member (23) comprises two first recesses (34) provided on either side of the orifice (33).

4. Receiving device according to any one of claims 1 to 3, characterized in that the receiving member (23) comprises a second recess (35) formed on the main wall (30) inside the receiving space (31) and extending to the orifice (33).

5. Receiving device according to claim 4, characterized in that the receiving member (23) comprises at least one third recess (36), arranged on the main wall (30) inside the receiving space (31) and in the immediate vicinity of the second recess (35).

6. Receiving device according to any one of claims 1 to 5, characterized in that the first recess (34) is formed by a groove having a shape complementary to that of the protuberance (12) provided on the front part of the marine or underwater vehicle (7).

7. A receiving device according to any one of claims 1 to 6, characterized in that the receiving member (23) comprises at least one window (37) formed in the main wall (30) and opening inside the receiving space (31) for the passage of the blocking member (40).

8. Receiving device according to any one of claims 1 to 7, characterized in that the locking member (40) is formed by an arm (41) articulated to a support (21) of the receiving device (3) and provided at a free end with a shoe (42) which, in the locked position of the locking member, projects into the receiving space (31) and is configured to be engaged on the protuberance (12) of the front part of the marine or underwater vehicle (7).

9. Receiving device according to any one of claims 1 to 8, characterized in that it comprises at least one actuator (45) configured to move the locking member (40) at least from its locked position to its unlocked position.

10. Receiving device according to claim 9, characterized in that it comprises at least one return member (43) configured to move the locking member (40) at least from its unlocked position to its locked position when the actuator (45) does not actuate the locking member.

11. Receiving device according to any one of claims 1 to 10, characterized in that it comprises a support (21) to which the receiving member (23) is secured by means of a mechanical connection ensuring a degree of freedom in rotation between the receiving member and the support.

12. Receiving device according to claim 11, characterized in that it comprises a cradle (20) on which the support (21) is mounted articulated, which cradle itself being configured to be mounted sliding and / or pivoting on a ramp (4) secured to the ship (1).

13. Receiving device according to any one of claims 1 to 12, characterized in that it comprises a protective member (22) arranged at least partially around the main wall (30), upstream of the reception space (31).

14. Assembly comprising a receiving device (3) according to any one of claims 1 to 13 and a marine or underwater vehicle (7) in a stable position in the receiving device.

15. Assembly according to claim 14, characterized in that the marine or underwater vehicle (7) comprises a protuberance (12) in the form of a positioning stud or in the form of a hook on which a securing cable (8) of the marine or underwater vehicle to the receiving device (3) and / or to the ship (1).

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