Device for towing a marine craft by a naval vessel

Abstract

Device for towing a marine craft by a naval vessel The invention relates to a device for towing a marine craft by a naval vessel comprising a hooking part fixed to the naval vessel, a rigid arm fixed to the hooking part and linked to a hooking member (45) by a stabilizing element (50), the hooking member (45) being intended to be fixed to a floating structure (22) intended to receive the marine craft, the arm (34) extending in a direction of elongation (A-A'). The stabilizing element (50) comprises a universal joint (55) allowing the rotation of the hooking member (45) relative to the arm (34) around two axes of rotation (R1, R2) perpendicular to the direction of elongation. The stabilizing element comprises an actuator (85) configured to maintain the rotation of the attachment member around at least one of the two rotation axes within a predetermined range of rotation angles. Figure for abstract: 2

Description

Title of the invention: Device for towing a marine craft by a naval vessel

[0001] The present invention relates to a device for towing a marine craft by a naval vessel of the type comprising a body comprising a hooking part intended to be fixed to the naval vessel, a rigid arm extending between a first end fixed to the hooking part by a pivot connection and a second end linked to a hooking member by a stabilizing element, the hooking member being intended to be fixed to a floating structure intended to receive the marine craft, the arm extending in a direction of elongation.

[0002] The invention also relates to an assembly comprising a naval vessel and a floating structure towed by the naval vessel by means of such a towing device.

[0003] The invention applies for example to the launching and recovery of a marine surface vehicle, for example an autonomous or remotely piloted marine surface vehicle of the USV type for Unmanned Surface Vehicle, or RHIB for Rigid Hull Inflatable Boat, from a carrier vessel of the surface vessel type.

[0004] Typical use cases are, for example, the fight against asymmetric threats or mine countermeasures for USVs.

[0005] It is known to use towing devices, towed by a naval vessel, such as a carrier ship, to tow a marine craft, such as a boat (with or without crew). However, it is often complicated, particularly in rough seas, to correctly align the marine craft with the naval vessel in order to be able to secure the marine craft to the naval vessel in order to tow the marine craft or to allow it to be brought back on board the naval vessel.

[0006] In order to overcome this problem, it is known to use a floating structure fixed to the towing device, in a non-rigid manner, and intended to receive the boat to be recovered. The towing device is configured to decouple the movements of the floating structure from the movements of the naval vessel in order to facilitate alignment between the floating structure and the marine craft. For this purpose, the towing device comprises, for example, a connection to the floating structure of the cardan joint type connected to an arm, itself in pivot connection with the naval vessel.

[0007] However, these solutions are not optimal in that they present problems linked to external conditions. Indeed, the movements of the sea, such as a transverse swell, can cause a yaw movement of the floating structure too great for towing operations to be successful.

[0008] For example, a marine craft will have more difficulty reaching the floating structure and mooring inside it if the latter is subjected to excessive wave movements.

[0009] One of the aims of the invention is then to propose a towing device allowing a marine craft to join the towing device by allowing the towing device to follow the movements of the marine craft without being subject to those of the naval vessel.

[0010] To this end, the invention relates to a towing device in which the stabilizing element comprises a universal joint fixed to the second end of the arm, the universal joint 55 allowing the rotation of the attachment member relative to the arm around a first axis of rotation and a second axis of rotation different from the first axis of rotation, each of said first and second axes of rotation being perpendicular to the direction of elongation, and in which the stabilizing element comprises at least one actuator configured to maintain the rotation of the attachment member around at least one of the two axes of rotation within a predetermined range of angles of rotation.

[0011] The actuator(s) being configured to maintain the rotation of the attachment member along at least one of the two rotation axes within a predetermined range of rotation angles, the yaw movements of the attachment member, and therefore of the floating structure relative to the naval vessel, are limited and controlled.

[0012] Thus, such a towing device makes it possible to increase the operability periods of the marine vehicle recovery system and to use it even in rough seas.

[0013] According to other advantageous aspects of the invention, the towing device comprises one or more of the following characteristics, taken individually or in all technically possible combinations:

[0014] - the predetermined range of rotation angles extends between 0° and 70° relative to the direction of elongation, in a plane perpendicular to said axis of rotation;

[0015] - the gimbal comprises a first armature, the first armature and the arm being relatively free to rotate relative to each other, around the first axis of rotation, and a second frame at least partly free to rotate relative to the first frame around the second axis of rotation, the attachment member being integrated with the second frame;

[0016] - each actuator is fixed on the first armature so as to control the rotation of the first armature around the first axis of rotation;

[0017] - the stabilizing element comprises at least two actuators, each actuator being fixed on a separate end of the first frame;

[0018] - the actuator is a passive or active, linear or rotary actuator;

[0019] - the first frame extends along the first axis of rotation between two ends, the stabilizing element comprising at least two actuators and two support plates each fixed to one of said ends, each actuator being fixed to one of said support plates;

[0020] -each support plate extends, along the second axis of rotation, on either side of the first frame, between two lateral edges, each lateral edge of each support plate receiving an actuator; and

[0021] - the rigid arm has a fixed length.

[0022] The invention also relates to a naval assembly comprising a naval vessel and a floating structure towed by the naval vessel by means of a towing device as described above, the attachment member being fixed to the floating structure.

[0023] The invention will appear more clearly on reading the description which follows, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0024] [Fig-1] - [Fig.l] is a schematic representation of a set according to the invention comprising a device for towing by a naval vessel and a marine craft received by the towing device,

[0025] [Fig.2] - [Fig.2] is a perspective view of a stabilizing element of the towing device of [Fig.l], and

[0026] [Fig.3] - [Fig.3] is a sectional view along a plane III-III of the stabilizing element of [Fig.2].

[0027] With reference to [Fig. 1], an assembly is described comprising a device 10 for towing a marine craft by a naval vessel 15, and a system 20 towed by the towing device 10. In the example of [Fig. 1], the system 20 comprises a floating structure 22 and a marine craft 24 received in the floating structure 22.

[0028] According to the example of the figures, the naval vessel 15 tows the floating structure 22 which tows the marine craft 24. On the other hand, the invention applies to any type of element towed and / or pulled by the naval vessel 15.

[0029] Such a towing device 10 is arranged to allow the launching and recovery of the marine vehicle 24 at sea. The towing device 10 is particularly suitable for the launching and recovery of a surface marine vehicle 24.

[0030] The floating structure 22 is for example a reception structure defining a reception space for the marine vehicle 24. More particularly, the reception structure is arranged to allow the marine vehicle 24 to enter and exit the reception space.

[0031] The towing device 10 comprises a body 28 comprising a hooking part 30 fixed to the naval vessel 15.

[0032] By "fixed" is meant that the attachment part 30 can be a separate part of the naval building 15, rigidly assembled on the naval building 15, or a part of the naval building 15, for example formed with the naval building 15.

[0033] According to one embodiment, not shown, the attachment part 30 is integral with a device for moving the floating structure 22, allowing the floating structure 22 to be moved relative to the naval vessel 15 between a deployed position, in which the floating structure is in the water, and a retracted position, in which the floating structure extends into a reception space of the naval vessel to bring back and store the marine vehicle 24 on board the naval vessel 15.

[0034] The body 28 comprises a rigid arm 34 extending between a first end 36 fixed to the attachment part 30 by a pivot connection 38 and a second end 40 linked to a attachment member 45 by a stabilizing element 50.

[0035] The arm 34 is for example of cylindrical shape and extends in a direction of elongation A-A' between the first and second ends 36, 40.

[0036] The pivot connection 38 is configured to allow the rotation of the arm 34 relative to the naval vessel 15 around the elongation direction A-A'. In other words, the pivot connection 38 allows the pitching movements of the floating structure 22 relative to the naval vessel 15.

[0037] In a particular embodiment, the arm 34 has a fixed length, along the direction of elongation A-A', between the first and second ends 36, 40.

[0038] For example, the arm 34 has a length of between 0.5 m and 5.5 m.

[0039] The fixed length of the arm 34, previously determined according to the type of marine craft 24 to be towed, makes it possible to maintain the floating structure 22 at a fixed distance, in the direction of elongation A-A', from the naval vessel 15. Thus, the arm 34 makes it possible, for example, to take up a difference in height, taken in a vertical direction, between the floating structure 22 and the naval vessel 15, for example due to waves.

[0040] The attachment member 45 is fixed to the floating structure 22.

[0041] The stabilizing element 50 will now be described in detail, with reference to Figs. 2 and 3.

[0042] The stabilizing element 50 comprises a gimbal 55 fixed to the second end 40 of the arm 34.

[0043] The universal joint 55 allows the attachment member 45 to rotate relative to the arm 34 around a first axis of rotation RI and a second axis of rotation R2 different from the first axis of rotation RL.

[0044] The first and second axes of rotation RI, R2 are both perpendicular to the direction of elongation A-A'.

[0045] The first axis of rotation RI is for example substantially vertical when the towing device 10 is placed on a horizontal flat surface. The rotational movements around the first axis of rotation RI are then called, in the naval field, yaw movements.

[0046] In the embodiment shown in [Fig. 2], the universal joint 55 comprises a first frame 57 fixed to the second end 40 of the arm 34, by means of a rigid fixing portion 61. The fixing portion 61 is for example integral with the arm 34. The fixing portion 61 comprises for example a body 62 and a first clamp-shaped section 63 projecting from the body towards the first frame 57, in the direction of elongation A-A'.

[0047] In the example of [Fig.2], the first armature 57 comprises a shaft 65 extending along the first axis of rotation RL. The first clamp-shaped section 63 is for example provided with through-orifices 64, through which the shaft 65 is inserted.

[0048] The first armature 57 and the arm 34 are relatively free to rotate relative to each other, around the first axis of rotation RL

[0049] For example, the shaft 65 is free to rotate relative to the first clamp-shaped section 63, around the first axis of rotation RI, inside the through-orifices 64. In other words, the shaft 65 is free to rotate on itself inside the through-orifices 64.

[0050] The gimbal 55 further comprises a second armature 67 fixed to the first armature 57. For example, the second armature 67 comprises a second clamp-shaped section 73 and a shaft 75 extending along the second axis of rotation R2. The second clamp-shaped section 73 is for example provided with through-holes 74, through which the shaft 75 is inserted.

[0051] The second axis of rotation R2 is inclined relative to the first axis of rotation RL In the example of Figs. 2 and 3, the second axis of rotation R2 is substantially perpendicular to the first axis of rotation RL

[0052] The rotational movements around the first rotation axis RI correspond for example to yaw movements of the floating structure 22 relative to the naval vessel 15.

[0053] The rotational movements around the second axis of rotation R2 correspond for example to pitching movements of the floating structure 22 relative to the naval vessel 15.

[0054] The shafts 65, 75 are connected and fixed together by a central part 80. For example, the central part 80 connects the shafts 65, 75 at their center, respectively taken along the first and second axis of rotation RI, R2.

[0055] Alternatively, the shafts 65, 75 are welded together, or formed in one piece.

[0056] The second armature 67 is at least partly free to rotate relative to the first armature 57 around the second axis of rotation R2.

[0057] For example, the second clamp-shaped section 73 is free to rotate around the shaft 75, around the second axis of rotation R2, the shaft 75 being fixed relative to the shaft 65, via the central part 80.

[0058] Alternatively, the second clamp-shaped section 73 is fixed relative to the shaft 75, and the shaft 75 is free to rotate about the second axis of rotation R2, relative to the shaft 65, the second armature 67 is then entirely free to rotate relative to the first armature 57 about the second axis of rotation R2.

[0059] In the example of [Fig.2], the attachment member 45 is integrated, for example made of the same material, with the second frame 67. Alternatively, the attachment member 45 is an added part rigidly fixed to the second frame 67 of the universal joint 55. By “rigidly”, it is meant that the attachment member 45 is fixed relative to the second frame 67.

[0060] According to the invention, the stabilizing element 50 comprises at least one actuator 85 configured to maintain the rotation of the attachment member 45 around at least one of the two rotation axes RI, R2 within a predetermined range of rotation angles.

[0061] The actuators 85 are schematically represented in Figs. 2 and 3.

[0062] In the example shown, the or each actuator 85 is configured to maintain the rotation of the attachment member 45 around the first rotation axis RI within a predetermined range of rotation angles.

[0063] For example, the predetermined range of rotation angles extends between 0° and 70° relative to the elongation direction A-A', in a plane perpendicular to the first rotation axis RL

[0064] In the embodiment of Figs. 2 and 3, each actuator 85 is fixed on the first armature 57 so as to control the rotation of the first armature 57 around the first axis of rotation RL

[0065] More particularly, each actuator 85 is fixed on the shaft 65 of the first armature 57.

[0066] For example, the stabilizing element 50 comprises at least two actuators 85, each actuator 85 being fixed on a separate end 86, 87 of the first frame 57.

[0067] As visible in [Fig. 3], the ends 86, 87 of the first armature 57 are also those of the shaft 65, and are opposite along the first axis of rotation RL

[0068] Each actuator 85 is a passive or active, linear or rotary actuator.

[0069] For example, each actuator 85 is a spring, a shock absorber, or a cylinder, for example pneumatic, electric or hydraulic.

[0070] In a particular embodiment, the stabilizing element 50 comprises two support plates 90, 91 each fixed to one of the ends 86, 87 of the first frame 57.

[0071] This configuration provides symmetry in the regulation of the yaw movements by the actuators 85, and thus facilitates the operation of the actuators 85, in particular by effectively distributing the forces on the shaft 65.

[0072] For example, the shaft 65 is extruded at the ends 86, 87 in order to fix the support plates 90, 91 there. Each support plate 90, 91 is for example screwed onto the shaft 65 in a non-rotatable manner relative to the shaft 65. Thus, a rotation of the shaft 65 around the first axis of rotation RI, inside the orifices 64 causes a rotation of the support plates 90, 91 around the first axis of rotation RI.

[0073] Each support plate 90, 91 extends, along the second axis of rotation R2, on either side of the first frame 57, between two lateral edges 93, 94. The length of each support plate 90, 91, along the second axis of rotation R2, is such that, during a 360° rotation of the shaft 65 around the first axis of rotation RI, the support plates 90, 91 do not interfere with any part of the universal joint 55, the stabilizing element 50, or the towing device 10 more generally.

[0074] Each lateral edge 93, 94 of each support plate 90, 91 receives for example a first end of an actuator 85. For this purpose, each lateral edge 93, 94 has for example an orifice for inserting an actuator 85.

[0075] Similarly, the fixing portion 61 comprises orifices for inserting a second end of the actuators 85, as shown in [Fig. 2]. Thus, each actuator 85 extends between the first and second ends between the fixing portion 61 and the support plate 90, 91.

[0076] This configuration is advantageous in particular when the actuators 85 are linear actuators, in order to add a lever arm to enable the rotation of the shaft 57 to be controlled around the first axis of rotation RI.

[0077] Such actuators 85 make it possible to compensate for the yaw movements, in order to better control the rotation of the attachment member 45, and consequently of the floating structure 22, around the first axis of rotation RI.

[0078] As a variant, not shown, for example in the case of rotary actuators 85, the actuators 85 can be fixed directly to the ends 86, 87 of the shaft 65.

[0079] In the example of active actuators 85, these are for example controlled by a control unit, not shown, controlled automatically or manually by an operator. In the case of automatic control, the device 10 is for example provided with position and / or movement sensors in order to control the actuators 85 for the purpose of compensating for the yaw movements of the floating structure 22.

[0080] The towing device 10 according to the invention has numerous advantages.

[0081] First of all, the naval vessel 15 being connected to the first frame 57, in particular to the shaft 65, and not directly to the floating structure 22, an effective decoupling between the naval vessel 15 and the floating structure 22 is obtained. This thus makes it possible not to have to perfectly align the naval vessel 15 and the marine craft 24 to be recovered in order to tow the marine craft 24 using the towing device 10 or in order to reassemble the marine craft on board the naval vessel 15.

[0082] The stabilization of the yaw movements by the actuators 85 makes it possible to facilitate the alignment between the floating structure 22 and the naval vessel 15, and prevents the floating structure 22 from becoming sideways relative to the direction of navigation of the naval vessel 15 and thus disrupting its navigation.

[0083] Furthermore, the rotary movements of the attachment member 45 relative to the naval vessel 15 being authorized over three degrees of freedom (rotation around the first and second axes of rotation RI, R2 authorized by the gimbal 55 and rotation around the axis of elongation A-A' authorized by the pivot connection 38), and the naval vessel 15 being connected only to the first frame 57, the degrees of freedom not constrained by the actuators (for example the pitching and rolling movements, along the axis of rotation R2 and the direction of elongation A-A') are left free and do not undergo resistance.

[0084] Such a device 10 then offers freedom of movement to the floating structure 22 relative to the naval vessel 15, while limiting the yaw movements which make it difficult to tow the marine vehicle 24.

Claims

Claims

1. A towing device (10) for a marine craft (24) by a naval vessel (15) comprising a body (28) comprising a hooking portion (30) intended to be fixed to the naval vessel (15), a rigid arm (34) extending between a first end (36) fixed to the hooking portion (30) by a pivot connection (38) and a second end (40) linked to a hooking member (45) by a stabilizing element (50), the hooking member (45) being intended to be fixed to a floating structure (22) intended to receive the marine craft (24), the arm (34) extending in a direction of elongation (A-A'), characterized in that the stabilizing element (50) comprises a universal joint (55) fixed to the second end of the arm (34), the universal joint (55) allowing the member to rotate attachment (45) relative to the arm (34) around a first axis of rotation (RI) and a second axis of rotation (R2) different from the first axis of rotation (RI),each of said first and second axes of rotation (RI, R2) being perpendicular to the direction of elongation (A-A'), and in that the stabilizing element (50) comprises at least one actuator (85) configured to maintain the rotation of the attachment member (45) around at least one of the two axes of rotation (RI) within a predetermined range of angles of rotation.,

2. A towing device (10) according to claim 1, wherein the predetermined rotation angle range extends between 0° and 70° relative to the direction of elongation (A-A'), in a plane perpendicular to said axis of rotation (RI).

3. Towing device (10) according to claim 1 or 2, wherein the universal joint (55) comprises a first frame (57), the first frame (57) and the arm (34) being relatively free to rotate relative to each other, around the first axis of rotation (RI), and a second frame (67) at least partly free to rotate relative to the first frame (57) around the second axis of rotation (R2), the attachment member (45) being integrated with the second frame (67).

4. A towing device (10) according to claim 3, wherein each actuator (85) is attached to the first frame (57) so as to control rotation of the first frame (57) about the first axis of rotation (RI).

5. A towing device (10) according to claim 3 or 4, wherein the stabilizing element (50) comprises at least two actuators (85), each actuator (85) being fixed to a separate end (86, 87) of the first frame (57).

6. A towing device (10) according to any preceding claim, wherein the actuator (85) is a passive or active, linear or rotary actuator.

7. Towing device (10) according to any one of claims 3 to 6, wherein the first frame (57) extends along the first axis of rotation (RI) between two ends (86, 87), the stabilizing element (50) comprising at least two actuators (85) and two support plates (90, 91) each fixed to one of said ends (86, 87), each actuator (85) being fixed to one of said support plates (90, 91).

8. Towing device (10) according to claim 7, in which each support plate (90, 91) extends, along the second axis of rotation (R2), on either side of the first frame (57), between two lateral edges (93, 94), each lateral edge (93, 94) of each support plate (90, 91) receiving an actuator (85).

9. A towing device (10) according to any preceding claim, wherein the rigid arm (34) has a fixed length.

10. Naval assembly comprising a naval vessel (15) and a floating structure (22) towed by the naval vessel (15) by means of a towing device (10) according to any one of the preceding claims, the attachment member (45) being fixed to the floating structure (22).

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