U.S. patent application number 12/375067 was filed with the patent office on 2009-12-17 for apparatus for recovering an underwater or marine vehicle.
This patent application is currently assigned to Ifremer-Institut Francais de Recherche pour L'Exploitation de la Mer. Invention is credited to Laurent Artzner, Viorel Ciausu, Marc Luccioni, Vincent Rigaud.
Application Number | 20090308299 12/375067 |
Document ID | / |
Family ID | 37898275 |
Filed Date | 2009-12-17 |
United States Patent
Application |
20090308299 |
Kind Code |
A1 |
Luccioni; Marc ; et
al. |
December 17, 2009 |
APPARATUS FOR RECOVERING AN UNDERWATER OR MARINE VEHICLE
Abstract
Apparatus for recovering a surface marine vehicle or an
underwater vehicle, in particular an AUV, the apparatus comprising
a frame (14) defining a housing into which the vehicle (1) can
penetrate via an entrance, and further comprising: reception means
(18) for receiving the nose of the vehicle (1), reception means
being capable of moving along said housing when the vehicle
penetrates therein, said reception means (18) possessing sufficient
freedom of movement relative to the frame (14) to be able to follow
the movement of the vehicle while the reception means and the
vehicle are situated in the vicinity of the entrance of the
housing; and guide means (58, 60) for guiding the reception means
(18) when the vehicle penetrates into the housing, and for causing
the reception means (18) and the vehicle (1) to become aligned
therealong by progressively limiting their freedom to move relative
to the frame as the vehicle penetrates into the housing.
Inventors: |
Luccioni; Marc; (La Seyne
Sur Mer, FR) ; Ciausu; Viorel; (Saint Raphael,
FR) ; Rigaud; Vincent; (Le Revest Des Eaux, FR)
; Artzner; Laurent; (Six Fours Les Plages, FR) |
Correspondence
Address: |
TOWNSEND AND TOWNSEND AND CREW, LLP
TWO EMBARCADERO CENTER, EIGHTH FLOOR
SAN FRANCISCO
CA
94111-3834
US
|
Assignee: |
Ifremer-Institut Francais de
Recherche pour L'Exploitation de la Mer
Issy les Moulineaux Cedex
FR
|
Family ID: |
37898275 |
Appl. No.: |
12/375067 |
Filed: |
July 25, 2007 |
PCT Filed: |
July 25, 2007 |
PCT NO: |
PCT/FR07/51721 |
371 Date: |
May 18, 2009 |
Current U.S.
Class: |
114/230.23 ;
114/230.1 |
Current CPC
Class: |
B63G 8/001 20130101;
B63B 27/36 20130101; B63G 8/42 20130101; B63B 21/66 20130101 |
Class at
Publication: |
114/230.23 ;
114/230.1 |
International
Class: |
B63B 21/00 20060101
B63B021/00; B63B 27/08 20060101 B63B027/08 |
Claims
1. Apparatus for recovering a surface marine vehicle or an
underwater vehicle, the apparatus comprising a frame defining a
housing into which the vehicle can penetrate via an entrance, the
apparatus comprising: reception means for receiving a portion of
the vehicle and capable of moving along said housing when the
vehicle penetrates therein, said reception means having sufficient
freedom of movement relative to the frame to follow the movement of
the vehicle while the reception means and the vehicle are situated
in the vicinity of the entrance to the housing; and guide means for
guiding the reception means along said housing and for causing the
reception means together with the vehicle to become aligned
therealong by progressively limiting their freedom to move relative
to the frame as the vehicle penetrates into the housing.
2. Apparatus according to claim 1, including puller means mounted
on the frame for pulling said vehicle into the housing.
3. Apparatus according to claim 2, wherein said puller means
comprise a cable winder device enabling said vehicle to be pulled
into the housing via a cable connected to the vehicle.
4. Apparatus according to claim 3, wherein said reception means
define a cavity suitable for receiving said portion of the vehicle,
and having said cable passing therethrough.
5. Apparatus according to claim 1, including first blocking means
for holding said reception means close to the entrance of the
housing, said first blocking means releasing said reception means
when said portion of the vehicle is engaged in said reception
means.
6. Apparatus according to claim 4, wherein said reception means
comprise a movable element movable between the entrance and the end
of said cavity with said cable passing therethrough.
7. Apparatus according to claim 6, including second blocking means
for holding said movable element at the entrance of said cavity,
said second blocking means releasing the movable element when the
vehicle comes into contact with said movable element.
8. Apparatus according to claim 1, wherein said reception means are
secured to a rod having a main axis, said rod being mounted on a
carriage in such a manner as to be capable of pivoting about said
main axis, said carriage being guided along said housing by said
guide means.
9. Apparatus according to claim 8, wherein said reception means are
pivotally mounted on said rod to pivot about an axis perpendicular
to the main axis of the rod.
10. Apparatus according to claim 8, wherein a guide arm is fastened
to the end of said rod, and the guide means comprise first and
second superposed guides extending along said housing, the first
guide guiding the carriage along said housing and the second guide
guiding the guide arm and thus determining the orientation of the
rod and the reception means.
11. Apparatus according to claim 10, wherein the second guide is
formed by a pair of rails, these rails coming closer together on
going away from the entrance of the housing so as to limit the
freedom of said guide arm to move and thus determine the
orientation of the rod and of the reception means.
12. Apparatus according to claim 1, suitable for floating on
water.
13. The use of apparatus according to claim 1, for recovering or
launching a surface marine vehicle or an underwater vehicle.
14. An installation for recovering a surface marine vehicle or an
underwater vehicle, from a recovery base, the installation
comprising a recovery apparatus according to claim 1 together with
puller means to be mounted on the recovery base, these puller means
being capable of pulling said apparatus via at least one flexible
connection.
15. Apparatus for recovering a surface marine vehicle or an
underwater vehicle, the apparatus comprising a frame defining a
housing into which the vehicle can penetrate via an entrance, the
apparatus further comprising: a receiver for receiving a portion of
the vehicle and capable of moving along said housing when the
vehicle penetrates therein, said receiver having sufficient freedom
of movement relative to the frame to follow the movement of the
vehicle while the receiver and the vehicle are situated in the
vicinity of the entrance to the housing; and a guide for guiding
the receiver along said housing and for causing the receiver
together with the vehicle to become aligned therealong by
progressively limiting their freedom to move relative to the frame
as the vehicle penetrates into the housing.
16. Apparatus according to claim 15, including a puller mounted on
the frame for pulling said vehicle into the housing.
17. Apparatus according to claim 16, wherein said puller comprises
a cable winder device enabling said vehicle to be pulled into the
housing via a cable connected to the vehicle.
18. Apparatus according to claim 17, wherein said receiver defines
a cavity suitable for receiving said portion of the vehicle, and
having said cable passing therethrough.
19. Apparatus according to claim 18, wherein said receiver
comprises a movable element movable between the entrance and the
end of said cavity with said cable passing therethrough.
20. Apparatus according to claim 15, wherein said receiver is
secured to a rod having a main axis, said rod being mounted on a
carriage in such a manner as to be capable of pivoting about said
main axis, said carriage being guided along said housing by said
guide.
Description
[0001] The invention relates to apparatus for recovering a surface
marine vehicle or an underwater vehicle.
[0002] The apparatus can be used in particular for recovering an
autonomous underwater vehicle (AUV).
[0003] More particularly, the invention relates to apparatus of the
type comprising a frame defining a housing into which said vehicle
can penetrate in order to be recovered.
[0004] Document WO 00/71415 describes apparatus of this type, which
apparatus can be thought of as being a cage that serves to receive
an AUV. The cage is fully submerged. The AUV of WO 00/71415 is
torpedo-shaped, it possesses its own propulsion means, and it is
remotely controlled. The AUV approaches the cage and penetrates
therein autonomously. Blades fixed at the entrance to the cage and
disposed like the petals of a flower form a frustoconical ring
through which the AUV passes in order to penetrate into the
cage.
[0005] The apparatus of WO 00/71415 presents the following
drawbacks. Firstly it is necessary for the AUV to be brought
sufficiently closely into alignment with the cage to enable it to
penetrate therein. If the AUV is excessively offset (whether
angularly or radially) relative to the main axis of the cage, it
cannot go through the above-mentioned frustoconical ring. It is
difficult to obtain correct alignment in rough water, because of
the movements (oscillations) of the cage. This is made even more
difficult when the cage floats on the surface of the water (instead
of being submerged), since it is then tossed about by the waves and
the swell.
[0006] In addition, the apparatus of WO 00/71415 is not suitable
for recovering AUVs that have large fins, since the fins would be
damaged on passing through said frustoconical ring.
[0007] An object of the invention is to provide recovery apparatus
that does not have the above-mentioned drawbacks.
[0008] This object is achieved by an apparatus for recovering a
surface marine vehicle or an underwater vehicle, the apparatus
comprising a frame defining a housing into which the vehicle can
penetrate via an entrance, the apparatus being characterized in
that it further comprises: [0009] reception means for receiving a
portion of the vehicle and capable of moving along said housing
when the vehicle penetrates therein, said reception means having
sufficient freedom of movement relative to the frame to follow the
movement of the vehicle while the reception means and the vehicle
are situated in the vicinity of the entrance to the housing; and
[0010] guide means for guiding the reception means along said
housing and for causing the reception means together with the
vehicle to become aligned therealong by progressively limiting
their freedom to move relative to the frame as the vehicle
penetrates into the housing.
[0011] It should be observed that the apparatus of the invention
may be fitted with floats that enable it to stay on the surface of
the water, or on the contrary it may be fully submerged. The
apparatus can be used for recovering various types of vehicle,
whether floating or submerged in controlled manner, and in
particular an AUV, a torpedo, a surface drone, or a vehicle of
similar architecture.
[0012] The freedom of movement of said reception means makes it
easier to recover the vehicle and is found to be particularly
useful in rough water, because: [0013] firstly it enables the
reception means to be positioned in such a manner as to receive the
vehicle correctly; and [0014] secondly it limits or even avoids
mechanical stresses appearing in the vehicle when a portion of the
vehicle is held in the reception means and the vehicle begins to
penetrate into said housing.
[0015] In addition, the way the vehicle is guided and aligned
inside the housing of the apparatus by said reception means makes
it easier for the vehicle to penetrate and limits or even avoids
impacts between fragile portions of the vehicle (and in particular
its fins or any other projecting portion) and the frame of the
apparatus.
[0016] In an embodiment, the apparatus of the invention includes
puller means mounted on the frame for pulling said vehicle into the
housing and advantageously, said puller means comprise a cable
winder device enabling said vehicle to be pulled into the housing
via a cable connected to the vehicle.
[0017] The vehicle therefore does not need to travel autonomously
right up to the cage. It is thus possible to recover an autonomous
vehicle (i.e. a vehicle fitted with its own propulsion means), and
also to recover an autonomous vehicle that is adrift (i.e. having
propulsion means that have broken down or run out of energy) or a
vehicle that is not autonomous (i.e. that does not have any
propulsion means).
[0018] The apparatus of the invention can be used equally well for
recovering a vehicle or for launching one.
[0019] The invention also provides an installation for recovering a
surface marine vehicle or an underwater vehicle from a recovery
base, the installation comprising a recovery apparatus of the
invention and puller means designed to be mounted on the recovery
base and capable of pulling said apparatus (together with the
vehicle housed therein) via a flexible connection.
[0020] Said recovery base may be a boat, a quay, an off-shore
platform, etc.
[0021] The term "flexible connection" is used to designate any type
of connection capable of being tensioned and of relaxing as a
function of the traction exerted thereon. When relaxed, the
flexible connection enables the recovery apparatus to move freely
relative to said base. In particular when the recovery base is a
boat, the flexible connection serves to avoid the boat entraining
the cage together therewith whenever the boat oscillates in rough
water (pitching, rolling, heaving).
[0022] Typically, the flexible connection of the installation is a
cable, and the puller means comprise a cable winder device.
[0023] In addition, in an embodiment, handling equipment is
generally used in association with the puller means mounted on the
recovery base, the handling equipment also being mounted on said
base. The equipment may be a crane, a gantry, or a jib. The puller
means and the handling means enable the recovery apparatus to be
lifted, together with the vehicle, onto the recovery base and
enable them to be placed easily on an appropriate support.
[0024] The invention and its advantages can be better understood on
reading the following detailed description. The description is
given with reference to the accompanying sheets of figures, in
which:
[0025] FIGS. 1 to 3 show an example of a recovery installation of
the invention respectively in side view, plan view, and end
view;
[0026] FIG. 4 shows the installation of FIGS. 1 to 3 in side view
when the vehicle for recovery is taken out of the water;
[0027] FIGS. 5 to 7 show, in part only, an example of recovery
apparatus of the invention, respectively in side view in
longitudinal section, in plan view, and in end view; and
[0028] FIG. 8 shows the apparatus of FIGS. 5 to 7 being used, in
this example, to launch a vehicle.
[0029] The installation of FIGS. 1 to 4 serves to recover a vehicle
1 from the water and/or to launch it.
[0030] By way of example, the vehicle 1 is an AUV that is
torpedo-shaped. It should be observed that it has two large side
fins in its middle portion.
[0031] The installation comprises a boat 5 as a recovery base. The
boat 5 is fitted with a winch 7 for winding a cable 9 in and out.
The cable is preferably a textile cable.
[0032] The installation also comprises a recovery apparatus within
which the vehicle 1 can be received, at least in part.
[0033] To refer to the recovery apparatus, the term "cage" 10 is
used below. The cage 10 is fitted on its sides with floats 12 that
enable it to remain at the surface of the water and to adjust its
immersion depth.
[0034] In a particular embodiment, the floats 12 are connected to
said cage via hinges that allow the floats to flap up and down. On
the surface of the water, the floats thus move away from the cage
so as to maximize stability and avoiding impeding entry of the
vehicle 1. Advantageously, when not in the water, the floats 12
extend along the cage 10 on either side thereof in such a manner as
to protect it (and also the vehicle 1) from possible lateral
impacts. Such lateral impacts may occur, in particular, while the
cage 10 is being hoisted on board the boat 5. The floats 12 are for
example boat fenders.
[0035] The cage 10 comprises: [0036] A frame 14 defining a housing
16 with an entrance through which the vehicle 1 can penetrate. In
FIGS. 1 and 2, this entrance is to the right of the cage, and in
FIG. 3, the entrance is seen end on. [0037] Receiver means 18
suitable for receiving the front portion of the vehicle 1, referred
to below as its "nose". The receiver means 18 define a cavity 20 of
shape that is complementary to the shape of the nose of the vehicle
1. These receiver means 18 have a cable 22 passing therethrough, a
passage 23 being formed for this purpose in the receiver means 18
through the end of the cavity 20 (see FIGS. 5 and 7). [0038] Guide
means for guiding and aligning the receiver means 18 together with
the vehicle 1 relative to the frame 14 so as to facilitate
penetration of the vehicle 1 into the cage 10. [0039] Puller means
fastened to frame 14 enabling the vehicle 1 to be pulled into the
housing 16 inside the cage 10, via a flexible connection, typically
the cable 22, connected to the vehicle 1. These puller means
comprise a winder device for winding the cable 22 in and/or out,
which device is formed by a winch 24. The cable 22 may be a textile
cable or a metal cable. The winch 24 may be remotely controlled,
and in particular controlled from the boat. [0040] Holder means for
holding the vehicle 1 inside the housing 16 and suitable for
preventing the vehicle 1 from moving back out from the cage 10 once
it has entered it. [0041] At least one energy source (e.g. at least
one battery 25) for powering the puller means and, if necessary,
the holder means. It is possible to provide holder means that are
not powered with energy, being triggered mechanically by the
vehicle 1 going past.
[0042] It should be observed that FIGS. 5 to 9 do not show all of
the portions of the cage 10. In particular, the bottom portions of
the cage are not shown. These figures seek to show more
particularly the reception means and the guide means.
[0043] Said reception means 18 comprise an element 32 that is
movable between the entrance and the end of the cavity 20. The
cable 22 passes through this movable element 32, preferably through
its center. In this example, the movable element 32 comprises a cup
34 suitable for receiving the nose of the vehicle 1 (see FIG. 7),
and presenting a central hole 35 through which the cable 22 passes.
A plurality of guide branches 36 (generally at least two
diametrically-opposite branches) extend from the periphery of the
cup 34 and connect it to the structure 37 of the reception means
18. The end of each branch 36 can slide relative to said structure
37 so that the movable element 32 can slide between the entrance
and the end of the cavity 20, as represented by double-headed arrow
A in FIG. 5.
[0044] The cage 10 includes first blocking means 38 (see FIG. 5)
for holding said reception means 18 in the vicinity of the entrance
to the housing 16, before the vehicle 1 reaches the cage. Thus,
said reception means 18 are in position for receiving the vehicle 1
when it arrives. In addition, insofar as the vehicle 1 is being
pulled and is coming closer, the portion of the cable 22 that
extends between the winch 24 and the reception means 18 (more
precisely between the pulley 40, the passage 23, and the nose of
the vehicle 1--see FIGS. 5 and 6) forms a lever arm that serves to
cause the cage 10 to point towards the nose of the vehicle 1,
thereby making it easier to recover. It should be observed that the
cage is capable of being aligned since it can move freely in the
water, the cable(s) 9 (70) connecting the cage 10 to the boat 5
being slack.
[0045] The first blocking means 38 release said reception means 18
only when the nose of the vehicle 1 is fully engaged in the
reception means 18 (more precisely in the cavity 20) and is about
to penetrate into the housing 16. In this example, the first
blocking means 38 comprise an abutment capable of retracting when
the vehicle 1 exerts a thrust force thereon that is greater than a
predetermined force. In practice, the abutment is formed by an arm
42 pivotally mounted on the frame 14, with a wheel 46 mounted at
the end of the arm. The arm 42 is connected to a spring 44 of
stiffness that is selected such that beyond a certain thrust force
exerted by the vehicle 1 on the arm 42 via the reception means 18,
the spring 44 deforms and allows the arm to retract by pivoting as
represented by arrow B (see FIG. 5). Other types of blocking means
could naturally be envisaged.
[0046] The cage also has second blocking means 48 (see FIG. 6) for
holding the moving element 32 of the reception means 18 at the
entrance of the cavity 20, these second blocking means 48 releasing
the movable element 32 when the vehicle 1 comes into contact with
the movable element 32 (more precisely with the cup 34). By way of
example, these second blocking means 48 operate on the same
principle as the first blocking means 38 and comprise an abutment
capable of retracting when the vehicle 1 acts thereon, via the
movable element 32, to exert a thrust force that is greater than a
predetermined force.
[0047] The presence of the movable element 32 and the blocking of
the movable element at the end of the cavity 20 enable the portion
of cable 22 that is tensioned between the end of the cavity 20, the
entrance to said cavity, and the nose of the vehicle 1, to behave
like a lever arm, thereby pointing said cavity 20 to face the
vehicle 1, as the vehicle approaches. This makes the vehicle easier
to recover.
[0048] The blocking force of the second blocking means 48 is less
than the blocking force of the first blocking means 38, such that
when the vehicle 1 penetrates into the reception means 18 (more
precisely into the cavity 20), the second blocking means 48 give
way before the first blocking means 38 give way.
[0049] Said reception means 18 are secured to a rod 50. When the
cage 10 is in the water and floating, the rod 50 extends vertically
(relative to the horizontal defined by the water). The rod 50 is
mounted on a carriage 52 so as to be capable of pivoting about its
axis C as represented by double-headed arrow D in FIGS. 5 to 7. The
carriage 52 is guided along the housing 16 of the cage 10 by said
guide means.
[0050] The reception means 18 are mounted on the rod 50 in such a
manner: [0051] as to be driven by the rod 50 when it pivots as
represented by double-headed arrow D, referred to below as
"horizontal" pivoting; and [0052] as to be capable of pivoting
about an axis perpendicular to the axis C of the rod, as
represented in FIGS. 5 and 7 by double-headed arrow E, referred to
below as "vertical" pivoting.
[0053] These freedoms to move in vertical and horizontal pivoting
enable the reception means 18 to point to face the nose of the
vehicle 1 as it approaches, and once the nose of the vehicle 1 is
received in the cavity 20, to follow the oscillations of the
vehicle 1, until it comes to bear against the cradles of the rocker
29 (described below).
[0054] In this example, the bottom end of the rod 50 carries a fork
51, and between the two branches of the fork 51 there extends an
axis F perpendicular to the axis C of the rod, about which the
reception means are pivotally mounted. Abutments 53 limit the
vertical pivot angle of the reception means 18.
[0055] A guide arm 54 is fastened to the end of the rod 50 so as to
enable it to be entrained and pivoted about its axis C as
represented by double-headed arrow D. The arm 54 presents a first
end engaged with the rod 50 and a second end having a wheel 56
mounted thereon.
[0056] Said guide means comprise first and second superposed guides
58 and 60 extending along the housing 16.
[0057] The first guide 58 guides the carriage 52 along the housing
16. It is formed by a pair of parallel rails 64, and the carriage
52 is fitted with wheels 62 enabling it to move along the rails 64
as represented by double-headed arrow G shown in FIG. 6.
[0058] The second guide 60 guides the guide arm 54 and, as a
result, turns the rod 50 and the reception means 18 by causing them
to pivot horizontally as represented by double-headed arrow D. It
is situated above the first guide 58. It is formed by a pair of
rails 66 that come closer to each other on going away from the
entrance to the cage 10. The guide arm 54 can pivot between these
rails 66 as represented by double-headed arrow D, between a first
position in which the wheel 56 is in contact with one of the rails
66, and a second position in which the wheel 56 is in contact with
the other rail 66. The greater the spacing between the rails 66 the
greater the freedom of the arm 54, and thus of the rod 50 and of
the reception means 18 to pivot horizontally. Conversely, the
further the vehicle 1 penetrates into the cage 10, the more the
carriage 52 advances along the rails 66 that approach each other,
and the smaller the freedom of the reception means 18 to pivot
horizontally. Thus, as the vehicle 1 penetrates into the cage 10,
the arm 54 and the reception means 18 are brought progressively
into alignment along the main axis H of the cage 10. The reception
means 18 entrain the vehicle 1 via its nose, and the vehicle 1 is
likewise brought into alignment along the axis H (see FIG. 6). It
thus penetrates easily into the cage 10.
[0059] In its sides, the frame 14 of the cage 10 presents notches
68 that are open towards the entrance of the cage 10, serving to
allow the lateral fins 3 of the vehicle 1 to pass therethrough (see
FIGS. 1 and 4). Since the vehicle 1 is guided and correctly aligned
on penetrating into the cage 10, the fins 3 are received in the
notches 68 and are therefore not damaged.
[0060] In this example, said holder means comprise two rods 26
fitted with shoes at their ends, together with a mechanism for
raising/lowering the rods. The rods 26 slide inside two boxes 28
containing said mechanism. These boxes 28 are fastened on either
side of the frame 14 in the vicinity of the entrance to the cage
10. In the lowered position, the rods 26 are in contact with the
top face of the vehicle 1, as shown in FIGS. 4 and 8. It should be
observed that the pressure exerted by the rods 26 on the vehicle 1
needs to be controlled so as to avoid damaging the vehicle.
[0061] In another embodiment (not shown), the holder means comprise
a rod that is pivotally mounted on the frame 14 together with a
mechanism, e.g. an actuator, for causing the rod to pivot. At its
end, the rod carries a cradle that surrounds the top face of the
vehicle 1. The vehicle 1 may possibly present a member that
projects from its top face. After the vehicle has penetrated into
the housing 16, the cradle is lowered and takes up position behind
the projecting member, thereby enabling the vehicle 1 to be held
inside the cage 10.
[0062] Other types of holder means could be envisaged.
Advantageously, such means are remotely controlled, and preferably
they are controlled from the boat 5.
[0063] Furthermore, the bottom face of the vehicle 1 bears against
a rocker 29 mounted on the frame. This rocker 29 carries at each of
its ends a respective cradle 30 on which the vehicle 1 rests. As
shown in FIGS. 1 and 3, the cradles 30 extend transversely relative
to the cage 10, under the housing 16. These cradles are easily
withdrawn when the vehicle 1 is placed on a suitable working
support present on the boat 5.
[0064] An example of the method for recovering a surface marine
vehicle or an underwater vehicle from a recovery base is described
below, which method makes use of the above-described cage 10. In
this example, the recovery base is the boat 5, and the vehicle to
be recovered is the vehicle 1.
[0065] Depending on the embodiment of the vehicle 1 and depending
on operating circumstances, a cable 22' connected to the nose of
the vehicle 1 is recovered from on board the boat 5. Thereafter,
the cable 22' is connected to a cable 22'' that is waiting in the
cage 10. The cables 22' and 22'' then form the above-mentioned
cable 22 that is caused to pass through the movable element 32, the
passage 23 in the reception means 18, and around the pulley 40
situated at the end of the housing 16, and that is connected to the
winch 24 of the cage 10 (see FIG. 5).
[0066] In the following step, the cage 10 is launched into the
water. It remains connected to the boat 5 via the traction cable 9,
also referred to as hoist cable, and via other cables 70 referred
to as guide cables. At this stage, the cables 9 and 70 are relaxed
such that the boat 5 does not entrain the cage 10 in its own
movement. The cage 10 thus moves freely in the water.
[0067] In the following step, the winch 24 is remotely controlled
to wind in the cable 22 so as to pull the vehicle 1, the reception
means 18 situated at the entrance of the cage 10, and the winch 24
(in fact the pulley 40) situated at the end of the cage 10, forms a
lever arm that causes the cage 10 to turn so that the axis H of the
cage approaches the nose of the vehicle 1. In the same manner, the
reception means 18 turn to face the nose of the vehicle 1 as it
approaches because of the length of the cable 22 that extends from
the end of the cavity 20 (i.e. the passage 23), via the movable
element 32, to the nose of the vehicle 1.
[0068] The nose of the vehicle 1 initially comes into contact with
the movable element 32, and as traction continues on the vehicle 1
it exerts thereon an ever increasing thrust force. Beyond a limit
force, the second blocking means 48 release the movable element 32,
which then moves in translation together with the nose of the
vehicle 1 to the end of the cavity 20. The nose of the vehicle 1
then occupies the cavity 20. Relative movements between the
reception means 18 and thus the vehicle 1 and the cage 10 are still
allowed at this stage. The reception means can pivot vertically and
horizontally as represented by double-headed arrows E and D. This
limits the stresses that are exerted on the nose of the vehicle 1,
associated with the relative movement between the vehicle 1 and the
cage 10.
[0069] As traction continues, the vehicle 1 exerts an ever
increasing thrust force on the reception means 18. Beyond a limit
force, the first blocking means 38 release the carriage 52 to which
the reception means 18 are connected via the rod 50. The carriage
52 then runs along the first guide 60 towards the end of the
housing 16. Simultaneously, the guide arm 54 is guided along the
first guide 58 and its freedom to move as represented by
double-headed arrow D decreases progressively. The reception means
18 and the vehicle 1 thus become progressively aligned along the
main axis H of the cage.
[0070] Once the nose of the vehicle 1 reaches the end of the
housing 16, the rods 26 are remotely controlled to move down so as
to hold the vehicle 1 in the cage. In this example, it should be
observed that only a fraction of the vehicle 1 penetrates into the
cage 10.
[0071] In the following step, the cage 10 together with the vehicle
1 is pulled by the cable 9 towards the boat 5 in order to be
hoisted on board the boat 5. The guide cables 70 can also be used
for pulling the cage 10 and the vehicle 1. For this purpose, the
guide cables 70 can be pulled by hand or they may be connected to a
cable winder device, e.g. winches analogous to the winch 7. Under
such circumstances, the cables 70 and their winder devices form
part of the puller means mounted on the recovery base, in the
meaning of the invention.
[0072] When, as in this example, the cable 9 is associated with a
gantry crane 72, the guide cables 70 are used to direct the cage 10
and the vehicle 1 so as to pass through the gantry 72. The cage 10
and the vehicle 1 are extracted from the water using the cable 9,
while the cables 70 are used for guiding and passing the cage 10
and the vehicle 1 through the gantry 72 prior to placing them on
the deck of the boat 5.
[0073] An example of the method for launching a vehicle from a
recovery base is described below, which method makes use of the
above-described cage 10.
[0074] In this example, the recovery base is the boat 5 and the
vehicle to be recovered is the vehicle 1. To begin with the vehicle
1 is held in the cage 10 and the cage is on board the boat 5.
[0075] In a first step, the winch 7, the traction cable 9, the
gantry crane 72, and possibly the guide cables 70 are used to
launch the cage 10.
[0076] Once the cage 10 is in the water, the vehicle previously
held relative to the cage 10 (by the above-mentioned holder means)
is released with the help of release means. In this example, the
release means comprise a mechanism enabling the rods 26 to be
raised. These release means are controlled remotely, advantageously
from the launching base (i.e. the boat 5).
[0077] In the following step, the vehicle 1 is pulled out from the
cage 10 with the help of puller means mounted on the cage. With
reference to FIG. 8, these puller means comprise a cable winder
device, i.e. the winch 24 and the cable 22 as described above,
together with a pulley 74 situated level with the entrance to the
housing 16 of the cage 10. The cable 22 is connected to the winch
24, extends as far as the pulley 74, passes round the pulley, and
extends back to the carriage 52 to which it is connected. To
extract the vehicle 1 from the cage 10, the winch 24 is actuated so
that the carriage 52, the reception means 18, and the nose of the
vehicle 1 are pulled by the cable 22 towards the entrance of the
housing 16. When the reception means 18 come close to the entrance
of the housing 16, their freedom to move in pivoting (associated
with the freedom of the guide arm 54) increases because of the
wider spacing between the rails 66 of the second guide 60. Thus,
the freedom of the vehicle 1 to move relative to the cage 10
increases as the vehicle 1 is extracted from the cage 10, thereby
limiting or even avoiding mechanical stresses appearing in the nose
of the vehicle 1. Said puller means are controlled remotely,
advantageously from the launching base. When the vehicle 1 is fully
extracted from its housing, it moves away from the cage 10 on its
own since it is no longer connected thereto.
[0078] Depending on operating conditions, the vehicle 1 may be
secured to the reception means 18 until the end of the extraction
movement. It is then finally released either on command from the
boat 5, as is advantageous, or else by means of a mechanical device
placed on the reception means 18 and triggered automatically at the
end of the stroke of said reception means.
* * * * *