FR3161194A1 - Device for towing a marine craft by a naval vessel - Google Patents

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

Device for towing a marine craft by a naval vessel

The present invention relates to a device for towing a marine craft by a naval vessel of the type comprising a body including 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 an elongation direction.

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.

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

Typical use cases include, for example, countering asymmetric threats or counter-mine operations for USVs.

It is known to use towing devices, pulled by a naval vessel such as a carrier ship, to tow a marine craft, such as a boat (with or without a crew). However, it is often complicated, especially in rough seas, to properly align the marine craft with the naval vessel in order to secure the craft to the vessel for towing or to bring it aboard the naval vessel.

To overcome this problem, a floating structure attached to the towing device in a flexible manner is known to receive the vessel to be recovered. The towing device is configured to decouple the movements of the floating structure from the movements of the vessel to facilitate alignment between the floating structure and the vessel. For this purpose, the towing device includes, for example, a universal joint connection to the floating structure, linked to an arm which is itself pivotally connected to the vessel.

However, these solutions are not optimal because they present problems related to external conditions. Indeed, sea movements, such as a cross swell, can generate a yawing motion of the floating structure that is too great for towing operations to be successful.

For example, a marine vessel will have more difficulty reaching the floating structure and mooring itself inside it if the latter is subjected to too much wave movement.

One of the aims of the invention is therefore 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 affected by those of the naval vessel.

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 hitching 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 extension, and in which the stabilizing element comprises at least one actuator configured to maintain the rotation of the hitching member around at least one of the two axes of rotation within a predetermined range of rotation angles.

Since the actuator(s) is/are configured to maintain the rotation of the attachment element along at least one of the two rotation axes within a predetermined range of rotation angles, the yaw movements of the attachment element, and therefore of the floating structure relative to the naval vessel, are limited and controlled.

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

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

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

- the cardan joint comprises a first armature, the first armature and the arm being relatively free in rotation relative to each other, around the first axis of rotation, and a second armature at least partly free in rotation relative to the first armature around the second axis of rotation, the attachment element being integrated with the second armature;

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

- the stabilizing element comprises at least two actuators, each actuator being fixed to a separate end of the first armature;

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

- the first armature 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 on one of said support plates;

-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

- the rigid arm has a fixed length.

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.

The invention will become clearer upon reading the following description, given solely by way of non-limiting example, and made with reference to the drawings in which:

FIG. 1 - there FIG. 1 is a schematic representation of an assembly according to the invention comprising a towing device for a naval vessel and a marine craft received by the towing device,

FIG. 2 - there FIG. 2 is a perspective view of a stabilizing element of the towing device of the FIG. 1 , And

FIG. 3 - there FIG. 3 is a cross-sectional view along a III-III plane of the stabilizing element of the FIG. 2 .

With reference to the FIG. 1 We describe an assembly comprising a towing device 10 for a marine craft by a naval vessel 15, and a system 20 towed by the towing device 10. In the example of the FIG. 1 , the system 20 comprises a floating structure 22 and a marine craft 24 received in the floating structure 22.

According to the example in 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 towed by the naval vessel 15.

Such a towing device 10 is arranged to allow the launching and recovery of the marine craft 24 at sea. The towing device 10 is particularly suitable for launching and recovering a marine craft 24 from the surface.

The floating structure 22 is, for example, a receiving structure defining a receiving space for the marine craft 24. More specifically, the receiving structure is arranged to allow the marine craft 24 to enter and exit the receiving space.

The towing device 10 comprises a body 28 including a hooking part 30 fixed to the naval vessel 15.

By "fixed" is meant that the attachment part 30 can be a separate part of the naval vessel 15, rigidly assembled onto the naval vessel 15, or a part of the naval vessel 15, for example formed with the naval vessel 15.

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 receiving space of the naval vessel to bring back and store the marine craft 24 on board the naval vessel 15.

The body 28 includes a rigid arm 34 extending between a first end 36 fixed to the attachment part 30 by a pivot link 38 and a second end 40 linked to an attachment member 45 by a stabilizing element 50.

The arm 34, for example, is cylindrical in shape and extends along an elongation direction A-A’ between the first and second ends 36, 40.

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

In a particular embodiment, the arm 34 has a fixed length, according to the extension direction A-A’, between the first and second ends 36, 40.

For example, arm 34 has a length between 0.5 m and 5.5 m.

The fixed length of the arm 34, previously determined according to the type of marine craft 24 to be towed, allows the floating structure 22 to be kept at a fixed distance, according to the extension direction A-A’, from the naval vessel 15. Thus, the arm 34 allows, for example, to compensate for a difference in height, taken along a vertical direction, between the floating structure 22 and the naval vessel 15, for example due to waves.

The attachment device 45 is fixed to the floating structure 22.

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

The stabilizing element 50 includes a gimbal 55 fixed to the second end 40 of the arm 34.

The cardan 55 allows the rotation of the attachment member 45 relative to the arm 34 around a first axis of rotation R1 and a second axis of rotation R2 different from the first axis of rotation R1.

The first and second axes of rotation R1, R2 are both perpendicular to the elongation direction A-A’.

The first axis of rotation R1 is, for example, substantially vertical when the towing device 10 is placed on a horizontal flat surface. Rotational movements around the first axis of rotation R1 are then called, in the nautical field, yawing movements.

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

In the example of the FIG. 2 The first armature 57 includes a shaft 65 extending along the first axis of rotation R1. The first clamp-shaped section 63 is, for example, provided with through holes 64, through which the shaft 65 is inserted.

The first armature 57 and the arm 34 are relatively free in rotation relative to each other, around the first axis of rotation R1.

For example, the shaft 65 is free to rotate relative to the first clamp-shaped section 63, around the first axis of rotation R1, inside the through holes 64. In other words, the shaft 65 is free to rotate about itself inside the through holes 64.

The cardan joint 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.

The second axis of rotation R2 is inclined with respect to the first axis of rotation R1. In the example of Figs. 2 and 3, the second axis of rotation R2 is substantially perpendicular to the first axis of rotation R1.

Rotational movements around the first axis of rotation R1 correspond, for example, to yawing movements of the floating structure 22 relative to the naval building 15.

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.

The shafts 65, 75 are linked and fixed together by a central piece 80. For example, the central piece 80 connects the shafts 65, 75 at their center, respectively taken along the first and second axis of rotation R1, R2.

Alternatively, the 65 and 75 shafts are welded together, or formed from a single piece.

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

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 piece 80.

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 completely free to rotate relative to the first armature 57 about the second axis of rotation R2.

In the example of the FIG. 2 The attachment member 45 is integrated, for example made of material, with the second frame 67. Alternatively, the attachment member 45 is an added part rigidly fixed to the second frame 67 of the cardan joint 55. By "rigidly", it is understood that the attachment member 45 is fixed relative to the second frame 67.

According to the invention, the stabilizing element 50 comprises at least one actuator 85 configured to maintain the rotation of the hooking member 45 around at least one of the two rotation axes R1, R2 within a predetermined range of rotation angles.

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

In the example shown, the actuator or each actuator 85 is configured to maintain the rotation of the latching member 45 around the first rotation axis R1 within a predetermined range of rotation angles.

For example, the predetermined range of rotation angles extends between 0° and 70° with respect to the elongation direction A-A’, in a plane perpendicular to the first rotation axis R1.

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 R1.

More specifically, each actuator 85 is fixed on the shaft 65 of the first armature 57.

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

As seen on the 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 R1.

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

For example, each actuator 85 is a spring, a damper, or a cylinder, for example pneumatic, electric or hydraulic.

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.

This configuration brings symmetry to the regulation of yaw movements by the actuators 85, and thus facilitates the operation of the actuators 85, in particular by efficiently distributing the forces on the shaft 65.

For example, the shaft 65 is extruded at the ends 86, 87 in order to fix the support plates 90, 91. Each support plate 90, 91 is, for example, screwed onto the shaft 65 in a non-rotating manner relative to the shaft 65. Thus, a rotation of the shaft 65 around the first axis of rotation R1, inside the holes 64 causes a rotation of the support plates 90, 91 around the first axis of rotation R1.

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 R1, the support plates 90, 91 do not interfere with any part of the cardan 55, the stabilizer element 50, or the towing device 10 in general.

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 presents for example an insertion hole for an actuator 85.

Similarly, the mounting portion 61 includes insertion holes for a second end of the actuators 85, as shown in the FIG. 2 . Thus, each actuator 85 extends between the first and second end between the fixing portion 61 and the support plate 90, 91.

This configuration is advantageous in particular when the actuators 85 are linear actuators, in order to add a lever arm to allow control of the rotation of the shaft 57 around the first axis of rotation R1.

Such actuators 85 make it possible to compensate for 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 R1.

Alternatively, not shown, for example in the case of rotary actuators 85, the actuators 85 can be fixed directly on the ends 86, 87 of the shaft 65.

In the example of active actuators 85, these are, for example, controlled by a control unit (not shown), which is controlled automatically or manually by an operator. In the case of automatic control, the device 10 is, for example, equipped with position and/or motion sensors to control the actuators 85 for the purpose of compensating for the yaw movements of the floating structure 22.

The towing device 10 according to the invention has many advantages.

First, since the naval vessel 15 is connected to the first frame 57, specifically to the shaft 65, and not directly to the floating structure 22, effective decoupling between the naval vessel 15 and the floating structure 22 is achieved. This eliminates the need for perfect alignment of 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 to bring the marine craft aboard the naval vessel 15.

The stabilization of yaw movements by the actuators 85 makes it easier to align between the floating structure 22 and the naval vessel 15, and prevents the floating structure 22 from turning sideways relative to the direction of navigation of the naval vessel 15 and thus disrupting its navigation.

Furthermore, the rotational movements of the attachment member 45 relative to the naval vessel 15 being permitted over three degrees of freedom (rotation around the first and second axes of rotation R1, R2 permitted by the gimbal 55 and rotation around the axis of extension A-A’ permitted by the pivot link 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 pitch and roll movements, along the axis of rotation R2 and the direction of extension A-A’) are left free and do not experience resistance.

Such a device 10 then offers freedom of movement to the floating structure 22 in relation to the naval vessel 15, while limiting the yawing movements which make towing the marine craft 24 difficult.

Claims (10)

Towing device (10) for a marine craft (24) by a naval vessel (15) comprising a body (28) including a hooking part (30) intended to be fixed to the naval vessel (15), a rigid arm (34) extending between a first end (36) fixed to the hooking part (30) by a pivot joint (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 an elongation direction (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 rotation of the attachment member (45) relative to the arm (34) around a first axis of rotation (R1) and a second axis of rotation (R2) different from the first axis of rotation (R1), each of said first and second axes of rotation (R1, R2) being perpendicular to the extension direction (A-A'),
and in that the stabilizing element (50) includes at least one actuator (85) configured to maintain the rotation of the hooking member (45) around at least one of the two rotation axes (R1) within a predetermined range of rotation angles. Towing device (10) according to claim 1, wherein the predetermined range of rotation angles extends between 0° and 70° with respect to the extension direction (A-A’), in a plane perpendicular to said axis of rotation (R1). Towing device (10) according to claim 1 or 2, in which the cardan joint (55) comprises a first armature (57), the first armature (57) and the arm (34) being relatively free in rotation relative to each other, around the first axis of rotation (R1), and a second armature (67) at least partly free in rotation relative to the first armature (57) around the second axis of rotation (R2), the hooking member (45) being integrated with the second armature (67). Towing device (10) according to claim 3, in which 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 (R1). 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 on a separate end (86, 87) of the first frame (57). Towing device (10) according to any one of the preceding claims, wherein the actuator (85) is a passive or active, linear or rotary actuator. Towing device (10) according to any one of claims 3 to 6, wherein the first frame (57) extends along the first axis of rotation (R1) 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 on one of said support plates (90, 91). 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). Towing device (10) according to any one of the preceding claims, wherein the rigid arm (34) has a fixed length. 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).