WO2013017414A1 - System and method for recovering a submarine vehicle - Google Patents

Abstract

The invention relates to a system (1) and a method (76) for recovering a submarine vehicle (2). The submarine vehicle (2) is pulled by a rope (50) and hauled by means of said rope (50) and a recovery ramp (12) from the body of water (6) on board a ship (8) or onto land. The system (1) comprises the recovery ramp (12) and a wave equalization ramp (24). The wave compensation ramp (24) can be rotated relative to the recovery ramp (12) about a swivel axis S and is supported by a floating body (36, 38). The watercraft (2) is picked up by means of the recovery ramp (12). The wave compensation ramp (24) is hauled together with the picked-up submarine vehicle (2) by means of the recovery ramp (12). The invention permits the recovery of a submarine vehicle (2), even in moderate or heavy seas, with less risk of damage to the submarine vehicle (2).

Description

 System and method for recovering an underwater vehicle

The invention relates to a system and a method for recovering an underwater vehicle, in particular an unmanned underwater vehicle. The underwater vehicle is preferably an autonomous underwater vehicle (AUV = Autonomous Underwater Vehicle), but may alternatively be a wired operating underwater vehicle (ROV = Remotely Operating Vehicle).

Such an underwater vehicle is usually transported by means of a ship in a deployment area and there from the ship or shore side, for example. From a pier, launched into the water. After carrying out his mission, the underwater vehicle must be recovered. For this purpose it is known to capture the free end of a rope attached to the underwater vehicle and to pull the underwater vehicle by means of the rope to the ship and catch up. A known system for recovering an underwater vehicle has a mountain ramp, by means of which the underwater vehicle is obtained from the water on board the ship. The mountain ramp is fixed to the mountains of the underwater vehicle so relative to the ship that this mountain ramp from the deck of the ship obliquely protrudes into the water, so that the underwater vehicle can be used by means of the rope in the waterline or water surface of the water to the mountain ramp.

The ship with the mountain ramp has a much larger volume and a much larger mass compared to the underwater vehicle. The position of the ship in the water is therefore essentially influenced by swell or waves of comparatively large wavelength. By contrast, the underwater vehicle largely follows comparatively smaller waves, which leave the ship largely uninfluenced. Consequently, with swell or swell, there is a vertical relative movement of the underwater vehicle relative to the mountain ramp. The mountain ramp strikes, especially against the underwater vehicle, up and down and therefore can hit and damage the underwater vehicle during recovery, especially in the front part of the underwater vehicle. Even the mountain ramp itself can be damaged. Even in the event that the mountain ramp fixed, for example. On the pier, ange- The underwater vehicle can hit hard against the mountain ramp due to waves.

DE 195 00 182 C2, US Pat. No. 2,371,461 A, WO 2008/025345 A1 and US Pat. No. 4,242,768 A disclose devices for picking up vessels or boats which are not pulled by means of a rope. DE 38 34 174 C2 and EP 1 216 918 A8 also suggest such devices for picking up submersible objects. DE 41 40 201 C2 discloses a device for retrieving a trailing body towed underwater on a towing cable via a slide which can be displaced on vertically arranged guide rails and has a pivotable carrying arm.

The invention has for its object to improve the recovery of an underwater vehicle, in particular to make safe for the underwater vehicle.

The invention solves this problem with a system for recovering an underwater vehicle according to claim 1 and with a method for recovering an underwater vehicle according to claim 8. The system of the type mentioned has a mounted on the mountain ramp opposite this mountain ramp pivotable about a pivot axis and of a float supported wave compensation ramp for receiving the underwater vehicle and for retrieving the wave compensation ramp together with the recorded underwater vehicle by means of Bergerampe, especially on board the ship or on land, in particular on a pier. The wave compensation ramp has a pivot axis opposite or free end, wherein the float is preferably arranged at this free end. Preferably, the system also includes the rope for pulling the underwater vehicle.

The wave compensation ramp adapts due to the float in the position of the waterline or water surface or the waves. In particular, the wave balance ramp adapts at its free end to the movement of the underwater vehicle, so that the underwater vehicle and this free end of the mountain ramp are both located approximately in the region of the waterline. As float a front and / or a rear float can be provided. Alternatively or additionally, further floating bodies may be provided. Terms such as "a", "an" or "an" such as in the term "a float" are in the description and in the claims not to be understood as number words, but as indefinite articles. The pivot axis is preferably in the range, in particular up to half a meter, above a mean waterline or just above the area arranged in which the waterline is located in a calm sea. The Bergerampe therefore only needs to reach down to this mean waterline and not dive further into the water. As a result, the mountain ramp can be made shorter than the known mountain ramp mentioned above. The mountain ramp of the system according to the invention can therefore be accommodated on board the ship or on land, for example. On a truck or in a container to save space. According to the method, the underwater vehicle is picked up by means of the wave compensation ramp and subsequently the wave compensation ramp is taken up together with the recorded watercraft by means of the mountain ramp.

Preferably, the system according to the invention is also suitable and provided for exposing the underwater vehicle. According to the method, the wave compensation ramp is lowered together with the underwater vehicle on the mountain ramp, so that the underwater vehicle slips over the mountain ramp into the water. The wave compensation ramp for this purpose preferably remains completely stored on the mountain ramp or does not need to be fully extended or not.

According to a preferred embodiment, the system has a linearly displaceable on the rescue ramp guide carriage with a hinge for supporting the wave compensation ramp. The joint thus provides the pivot axis. By moving the guide carriage, the height can be changed, in which the wave compensation ramp is mounted. The wave compensation ramp can be pulled up or lowered by means of the guide carriage Bergerampe. According to the method, the guide carriage is displaced linearly on the recovery ramp, wherein the joint supports the wave compensation ramp.

Preferably, the system comprises a hydraulically driven belt drive for displacing the guide carriage. The belt drive provides the traction for raising and lowering the counterbalance ramp, particularly along with the underwater vehicle picked up by the counterbalance ramp. According to the method, the belt drive shifts the guide carriage.

According to a preferred embodiment, the system has a linearly displaceable on the wave compensation ramp front receiving device for guiding the rope and for guiding and preferably also for storing the underwater vehicle. According to the method, the front receiving device is moved linearly on the mountain ramp, wherein the front receiving device guides the rope and / or the underwater vehicle. In particular, will the rope for retrieving the underwater vehicle threaded through the front receiving device. Subsequently, in particular by means of a winch, the underwater vehicle is pulled towards the front receiving device and onto the wave compensation ramp, wherein the front receiving device is displaced on the wave compensation ramp and guides the underwater vehicle.

According to a preferred embodiment, the system comprises coupling means for coupling to a precursor attached to the underwater vehicle. Thus, the underwater vehicle is coupled via the precursor with the receiving device, wherein the coupling means according to the method with the precursor couple.

According to a preferred embodiment, the system comprises the front floating body for holding the front receiving means in coupling in the region of the waterline of the water body. According to the method, the front float keeps the front receiving device in the region of the waterline of the water body. This minimizes vertical relative movements of the coupling means relative to the underwater vehicle. The coupling is simplified.

According to a preferred embodiment, the coupling means comprise a snap-action device for latching and holding the precursor. The snap device is preferably designed with a pawl. The snap connection locks the precursor and subsequently holds the precursor and thus the underwater vehicle so that the underwater vehicle can be guided by means of the front reception device and stored by the front reception device. The snap device allows an independent engagement with subsequent secure hold of the precursor or the underwater vehicle.

Advantageously, the front receiving device on a negative shell for centering the underwater vehicle. The negative shell centers the underwater vehicle, in particular relative to the front receiving device and thus relative to the longitudinal axis of the wave compensation ramp. Thus, the negative shell supports the snapping by means of the snap device and also the holding and storage of the precursor or the underwater vehicle.

According to a preferred embodiment, the negative shell has two or more than two in the process of negative shell to the free end of the wave compensation ramp, in particular a guide funnel forming guide rails for guiding the underwater vehicle during coupling, in particular for guiding the precursor to the front receiving device or for guiding the precursor to the coupling means, and to hold the underwater vehicle in its position. The guide rails are arranged according to a variant in a plane, for example. In the horizontal plane, and thus spread laterally. This forms a two-dimensional guide funnel for the underwater vehicle. The guide rails can be flexible and have floating bodies, in particular in the case that the guide rails spread laterally in the horizontal plane. This allows the guide rails to adapt to the surface of the water.

According to an alternative variant, the, in particular more than two, guide rails are arranged radially or rotationally symmetrical about an axis along which the front receiving device is displaceable on the wave compensation ramp, so that the spread guide rails form a three-dimensional guide funnel. In any case, the splayed guide rails guide the underwater vehicle through the rear receptacle centering the underwater vehicle. The guide rails are passed through the rear receiving device. If the front receiving device in the region of the rear receiving device or in the region of the free end of the wave compensation ramp, the guide rails are spread. On the other hand, when the front receiving device is retracted, the guide rails are held together more closely by the rear receiving device. When extending the front receiving device with the negative shell spread the guide rails, eg. By means of the force of springs, apart. The guide funnel opens. When retracting the front receiving device, in particular together with the coupled underwater vehicle, on the other hand closes the guide funnel and holds the underwater vehicle in its position, in particular relative to the front receiving device.

According to a preferred embodiment, the system has a rear receiving device attached to the wave compensation ramp, in particular for guiding and supporting the underwater vehicle. Preferably, the rear receiving means comprises the rear float for holding the free end of the wave balancing ramp in the region of the waterline of the water body. In particular, the rear float of the rear receptacle and the front float of the front receptacle together provide that the front receptacle and the wave balance ramp together have an advantageous position for coupling and pulling on the wave balance ramp.

According to a preferred embodiment, the rear receiving device has wheels for guiding and supporting the underwater vehicle. The wheels are preferably arranged to contact with robust portions of the underwater vehicle and Do not touch or damage the sensors. Preferably, the rear receiving means comprises four wheels or alternatively a different number of wheels which restrict the freedom of movement of the underwater vehicle transverse to the longitudinal axis of the wave compensation ramp.

According to a preferred embodiment, the system has a deflection roller mounted on the guide carriage or on the shaft compensation ramp in the region of the pivot axis for deflecting the cable from the shaft compensation ramp to the recovery ramp. In particular, the deflection roller is arranged above the pivot axis or the joint when the recovery ramp is in a position for retrieving the underwater vehicle or when the guide carriage is positioned at the free end of the recovery ramp or in the region of the mean waterline. In particular, the deflection roller is arranged in such a way that the buoyancy of the wave compensation ramp is supported when guided on the wave balance ramp underwater vehicle by train on the rope. The pull on the rope thus has a lifting effect on the wave compensation ramp. This counteracts a drop in the wave compensation ramp below the waterline or water surface. According to the method, the deflection roller supports the rope accordingly.

According to a preferred embodiment, the system has a ship store for storing the rescue ramp on the ship or on land. Furthermore, the system preferably has a tipping pulley and a rocker arm for lifting the recovery ramp via the rocker arm to the ship's bearing. Preferably, a plurality of tilting rollers and rocker arms are provided. Thereby, the mountain ramp can be stored together with the wave compensation ramp and the underwater vehicle on board the ship or on land and lowered by tilting the rocker arm to the water or lifted by means of the rocker arm on the dump roller on board or ashore. Preferably, the ship's bearing has a hydraulic cylinder for driving the rocker arm. The hydraulic cylinder drives the rocker arm or hydraulically causes the lowering or lifting of the mountain ramp.

According to one embodiment of the invention, the system has an auxiliary rope, which can be caused by train on this auxiliary rope a lowering moment on the wave compensation ramp, so that the wave compensation ramp can be optionally lowered against the lifting moment caused by the rope.

According to a preferred embodiment, the system on the underwater vehicle has the predecessor permanently connected to the underwater vehicle. Furthermore, the rope is preferably firmly connected to the precursor at its first end. According to a preferred embodiment, the system comprises a buoy, which may be connected to the second end of the rope or is connected, at least when the rope is not attached to a winch of the ship at this second end.

For capturing the underwater vehicle, the underwater vehicle preferably sets off the buoy, which is caught by the ship from land by means of a rope or boat hook. On board the ship or on land, the second end of the rope is threaded through the rear receiving device and the front receiving device and placed around the pulley and fixed on board the ship or on land at the said winds. This wind, preferably belonging to the system, winds the rope or parts of the rope and thus pulls the underwater vehicle up to the wave compensation ramp and onto the wave compensation ramp or into the wave compensation ramp.

According to a preferred embodiment, the front receiving device or the rear receiving device or the wave compensation ramp on at least one folding mechanism, preferably two side folding mechanisms and a lower folding mechanism, for the protection of external sensors of the underwater vehicle. Upon contact of the underwater vehicle with the folding mechanism, this folding mechanism folds away or gives way, so that a hard impact of the underwater vehicle or of sensors of the underwater vehicle against the wave compensation ramp is counteracted.

Further embodiments will become apparent from the claims and from the embodiments explained in more detail with reference to the drawing. In the drawing show:

1 shows a ship-mounted system for recovering an underwater vehicle according to a first embodiment of the invention with a coupled underwater vehicle in a side view;

Fig. 2 coupling means of the system of the first embodiment of Figure 1 with a coupled precursor for attachment to an underwater vehicle in a sectional view.

3 shows the system of the first exemplary embodiment according to FIG. 1 with a recovery ramp and wave compensation ramp as well as with the mounted underwater vehicle in a side view; 4 shows the system of the first exemplary embodiment according to FIG. 1 with the recovery ramp extended, the wave compensation ramp extended and the underwater vehicle mounted on the wave compensation ramp in a side view;

Figure 5 shows the system of the first embodiment of Figure 1 with extended Bergerampe, obtained wave compensation ramp and the stored underwater vehicle in a side view.

6 is a block diagram illustrating a method for recovering an underwater vehicle according to an embodiment of the invention;

Fig. 7 shows a negative shell according to another embodiment with spread guide rails and

Fig. 8, the negative shell of the embodiment of FIG. 7 with a held

 Underwater vehicle.

FIG. 1 shows a system 1, designed in particular as a recovery device, for recovering an underwater vehicle 2 according to an exemplary embodiment of the invention. The underwater vehicle 2 is, for example, an autonomous unmanned underwater vehicle which is equipped with sensors and is used for carrying out investigations below the water surface or waterline 4 of a body of water 6 or for conducting investigations at the bottom of the body of water 6.

The system 1 has a ship's bearing 10, which is arranged on board the ship 8, in particular at the stern of the ship 8. The ship's bearing 10 is screwed, for example, by means of screws firmly to the deck of the ship 8. Alternatively, the ship's bearing 10 is, for example, arranged and stored mobile on the deck of the ship 8. The ship's bearing 10 may alternatively be a on land, for example. On a pier, arranged camp.

At the ship's yard 10 a mountain ramp 12 is mounted, which rests on a dump roller 14 attached to the ship's bearing 10. The tilting roller 14 faces the stern of the ship 8 or the water. Alternatively, if the ship's yard 10 is located on land, the dump roll 14 will also face the water or a pier wall. The rescue ramp 12 is connected to a first end 16 via a rocker arm 18 with the ship's bearing 10. The rocker arm 18 is pivoted to the stern of the ship 8 or to the water such that a second end or free end 20 of the recovery ramp 12 is arranged in the region of the mean waterline 4 of the water body 6. is net. The mountain ramp 12 is thus lowered to the water 6. The Bergerampe 12 is lifted by pivoting the rocker arm 18 via the tilting roller 14 and thus lowered depending on the direction of pivoting to the waterline 4 or to the water or caught on board the ship 8 or on land. For this purpose, the rocker arm 18 is driven by a hydraulic cylinder 22. The rocker arm 18 is, for example, mounted on the side facing the water or alternatively to the arrangement according to FIG. 1 on the side of the ship's bearing 10 facing away from the water.

At the mountain ramp 12, a wave compensation ramp 24 relative to the mountain ramp 12 is pivotally mounted about a pivot axis S. In particular, the wave compensation ramp 24 is connected to a first end 26 via a joint 28 providing the pivot axis S indirectly with the recovery ramp 12. The joint 28 is arranged on a guide carriage 30, which can be displaced linearly on the recovery ramp 12 by means of a belt drive 32 indicated by dashed lines. The belt drive 32 is preferably hydraulically driven. By shifting the guide carriage 30, the wave compensation ramp 24 can thus be lowered or the recovery ramp 12 can be raised or overtaken.

A second or free end 34 of the wave compensation ramp 24 opposite the first end 26 of the wave compensation ramp 24 is supported by a front float 36 and a rear float 38. A rear receptacle 40 attached to the wave balance ramp 24 has the rear float 38. The rear float 38 holds the free end 34 of the wave balance ramp 24, in particular with the support of the front float, in the water line 4 of the water body 6. In waves or sea state, the water line 4 changes, the wave compensation ramp 24 their position to the current Waterline 4 in the region of the wave compensation ramp 24, in particular in the region of the rear float 38 and / or the front float 36, adapts.

A front receiving device 42 has the front float 36, which holds the front receptacle 42, in particular with the support of the rear float 38, in the region of the waterline 4 of the water body 6. The front receiving device 42 has a negative shell 44 in relation to the positive shape defining bow of the underwater vehicle 2. The shape of the front receiving device 42 is thus adapted to the shape of the bow of the underwater vehicle 2. Furthermore, the front receiving device 42 has coupling means 46, by means of which the front receiving device 42 can couple with the underwater vehicle 2. The coupling takes place either directly with the underwater vehicle 2, but preferably indirectly via a fortified on the underwater vehicle 2 Precursor 48. The precursor 48 or the underwater vehicle 2 is in turn directly connected to a cable 50, which is shown in dashed lines in the region of the wave compensation ramp 24. The cable 50 is guided by the front receiving device 42 and by the rear receiving device 40. Furthermore, the cable 50 extends along the wave compensation ramp 24 towards a deflection roller 52, which is mounted above the pivot axis S on the guide carriage 30 and which deflects the cable 50 from the wave compensation ramp 24 to the rescue ramp 12. The cable 50 extends further along the mountain ramp 12, possibly via one or more other pulleys, not shown, up to a winch 54, which can wind the cable 50 driven electrically or even unwind.

In the position of the system 1 and the underwater vehicle 2 shown in FIG. 1, the underwater vehicle 2 has either been lowered into water and can now be decoupled or it has, for example after a mission, been coupled to the front receiving device 42 and can now salvage or be brought aboard the ship 8.

The uncoupling is usually preceded by a suspension of a buoy of the underwater vehicle 2, to which the free end of the rope 50 is attached, which is fixed in the illustration of FIG. 1 to the winch 54. The buoy is captured by a ship's hook, brought aboard the ship 8 and removed from the rope 50. The free end of the rope 50 is subsequently threaded on the deck of the ship 8 through the front receiving device 42 and the rear receiving device 40, placed around the guide roller 52 and finally attached to the winch 54. The winch 54 now winds the cable 50 and thereby pulls the underwater vehicle 2 for coupling to the front receiving device 42. Ggf. are arranged on the front receiving device 42 or on the wave compensation ramp 24 in a development of the illustrated embodiment folding mechanisms, which counteract damage to sensors of the underwater vehicle 2 when approaching the front receiving device 42.

As soon as the underwater vehicle 2 is coupled to the front receiver 42 by means of the coupling means 46, further recovery of the cable 50 by means of the winch 54 causes the front receiver 42 to shift along the wave balance ramp, together with the nose and subsequent parts of the underwater vehicle 2 through the rear receiving device 40 pushes. In this case, the underwater vehicle 2 is guided and stored both by the front receiving device 42 and by the rear receiving device 40. For this purpose, the rear receiving device 40 wheels 56, wherein preferably four wheels 56 are provided which guide the underwater vehicle 2 and store. The wheels 56 preferably comprise a soft roll material for good cushioning. Furthermore, the wheels 56 are preferably adjustable in height. By the arrangement the deflecting roller 52 above the pivot axis S or by the relative to the pivot axis S in the direction of the first end 16 of the Bergerampe 12 shifted arrangement is obtained by the means of the rope 50 pulling force a lifting moment for the wave compensation ramp 24 and for the free end 34th the wave compensation ramp 24.

Finally, the wave compensation ramp 24 has a wheel or wheels 58 which support the wave compensation ramp 24 or the free end 34 of the wave compensation ramp 24 on the recovery ramp 12 when the wave compensation ramp 24 is pulled up the recovery ramp 12.

FIG. 2 shows a snap device 60 in a sectional view along with a portion of the precursor 48 latched into the snap device 60. The coupling means 46 comprise the snap device 60, wherein the snap device 60 is designed to engage and hold the precursor 48 and thus to couple the precursor 48 to the front receptacle 42.

The precursor 48 has a spike or pin 62 which is guided by means of a guide 64. The coupling means 46 are formed in the region of the snap device 60 in the form of an insertion funnel 66. The snap device 60 has pivotable snapper 68 and 70.

By means of the rope 50, not shown here, the pin 62 is guided by the insertion funnel 66 and the guide 64 is guided to the snap device 60. The cable 50 may optionally be passed through the pin 62 and the snap device 60 and the head end of the guide 64. Projections 72 and 74 on the pin 62 and a circumferential projection having portions 72 and 74, upon insertion or threading of the pin 62 cause a pivoting of the snapper 68 and 70, said snapper 68 and 70 snap back after the projections 72 and 74 have passed the snapper 68 and 70. Subsequently, the pin 62 and thus the precursor 48 is coupled by means of the snap device 60 to the front receiving device 42.

The snap device 60 may be configured such that the latches 68 and 70 reopen and clear the path for the projections 72 and 74 as the pin 62 is slid toward the front receiver 42. This can be done, for example, for uncoupling the underwater vehicle 2 in that the underwater vehicle 2 pushes by means of its drives in the direction of the front receiving device 42. Fig. 3 shows the system 1 of the first embodiment of Fig. 1 with acquired Bergerampe 12, obtained wave compensation ramp 24 and overtaken underwater vehicle 2. The same reference numerals designate the same components in all figures. The recovery ramp 12, the wave compensation ramp 24 and the underwater vehicle 2 are positioned above the shipyard 10. The rocker arm 18 is pivoted in such a way that the recovery ramp 12 is mounted on the tilting roller 14 in the region of the second or free end 20 of the recovery ramp 12. This arrangement according to FIG. 3 results before the underwater vehicle 2 is let into the water, or when the underwater vehicle 2 is completely recovered. Furthermore, the recovery ramp 12 and the wave compensation ramp 24 preferably assume the same position when the underwater vehicle 2 carries out its mission and when the rope 50 is captured, in particular at least until the rope 50 is attached to the winch 54.

FIG. 4 shows the system 1 of the exemplary embodiment according to FIG. 1 in an arrangement which largely corresponds to the arrangement according to FIG. 1, but the underwater vehicle 2 is received by the wave compensation ramp 24. The underwater vehicle 2 is thereby supported by the front receiving device 42 and the rear receiving device 40, wherein u.a. the negative shell 44 centers the bow of the underwater vehicle 2.

In the illustration according to FIG. 4, the front receiving device 42 has reached its outermost position in the direction of the first end 26 of the wave compensation ramp 24. Subsequently, the wave compensation ramp 24 by means of the belt drive 32, if necessary supported by train on the rope 50, the mountain ramp 12 is pulled up.

The arrangement according to FIG. 4 is also achieved when the underwater vehicle 2 is to be launched, namely when the guide carriage 30 has reached its end position in the region of the second or free end 20 of the rescue ramp 12 or in the region of the mean waterline 4.

FIG. 5 shows the system 1 of FIG. 1 in an arrangement in which the underwater vehicle 2 is received by the wave compensation ramp 24 as in the arrangement according to FIG. 4. In contrast to the arrangement according to FIG. 4, however, the wave compensation ramp 24 with the underwater vehicle 2 is additionally completely received by the recovery ramp 12. The guide carriage 30 is positioned at the first end 16 of the recovery ramp 12 and holds there the wave compensation ramp 24 with the underwater vehicle 2. The wave compensation ramp 24 is additionally mounted on the wheel or the wheels 58. The system 1 is suitable for recovering and exposing the underwater vehicle 2. Exposure takes place, starting from an arrangement according to FIG. 3, via the arrangements according to FIGS. 5, 4 and 1. The recovery or recovery of the underwater vehicle takes place, starting from the arrangement of FIG. 1, on the arrangements 4, 5 and 3. Alternatively, however, the underwater vehicle can be spent in other ways from the ship 8 in the water 6, since the suspension of Underwater vehicle 2 usually compared to the mountains brings comparatively lower risks of damage to the underwater vehicle 2 with it. For example. the underwater vehicle 2 can be drained into the water 6 by means of a crane.

6 shows a block diagram illustrating a method 76 for recovering an underwater vehicle or the underwater vehicle 2 of the first exemplary embodiment according to FIG. 1.

The method 76 continually includes storing 78 the rescue ramp 12 on the ship's yard 10, or by means of the ship's yard 10, more particularly on the ship 8. Further, the method 76 continually includes storing 80 of the wave compensation ramp 24 on the hill ramp 12 pivotally opposite the hill ramp 12 the pivot axis S. The wave compensation ramp 24 is thus considered to be movable during the mountains, whereas the rescue ramp 12 can indeed be lowered or lifted on board during the recovery process in the strict sense or when the underwater vehicle is coupled, but is to be regarded as fixed ,

After the underwater vehicle 2 has completed its mission, its energy supply is usually exhausted, so that the underwater vehicle 2 does not actively control the recovery process, but according to a step 82 sets off a buoy fixed by means of the cable 50 with the precursor 48 of the underwater vehicle 2 connected is. Subsequently, according to a step 84, the buoy, for example by means of a ship's hook, captured. The buoy is removed from the free end of the rope 50. Subsequently, according to a step 86, the free end of the cable 50 is threaded through the front receiver 42 and through the rear receiver 40 and attached to the winch 54 according to a step 88. Subsequently, according to a step 90, the recovery ramp 12, which is located above the ship's bearing 10, lifted over the tilting roller 14 and lowered in the direction of the waterline 4. The free end 20 of the rescue ramp 12 is now in the region of the mean waterline 4. Subsequently, according to a step 92, the wave compensation ramp 24 is extended by means of the guide carriage 30. The wave compensation ramp 24 is now with its free end 34 in the area of the actual waterline 4 and fluctuates with the waves up and down. Subsequently, according to a step 94, the underwater vehicle 2 is pulled by means of the cable 50. The winch 54 causes a pulling force on the rope 50. While the underwater vehicle 2 is pulled in accordance with step 94, the rear receiving device 40, in particular by means of the rear float 38, is held in the area of the water surface or water line 4 according to a step 96. Furthermore, the cable 50 is guided by means of the front receiving device 42 in accordance with a step 98. In addition, according to a step 100, the cable 50 is deflected by means of the deflection roller 52 from the wave compensation ramp 24 to the recovery ramp 12. The step 100 includes a step 102, according to which the buoyancy of the wave compensation ramp 24 is supported by means of the tensile force of the rope, which is achieved by the arrangement of the guide roller 52 above the pivot axis S. As a result, a lifting moment on the wave compensation ramp 24 is effected.

The underwater vehicle 2 is picked up according to a step 104 by means of the wave compensation ramp 24. In this case, according to a step 106, the front receiving device 42, in particular by means of the front float 36, held in the region of the water surface or water line 4. Meanwhile, according to a step 108, the coupling means 46 couple with the precursor 48. Thus, the underwater vehicle 2 is firmly docked to the front receiver 42. The coupling in step 108 includes latching the precursor 108 by means of the snap connection 60 according to step 1 10.

Subsequently, as further components of the picking up according to step 104, the centering of the underwater vehicle 2 by means of the negative shell 44 according to a step 1 12 and the guiding of the underwater vehicle 2 by means of the front receiving device 42 according to a step 1 14, wherein the underwater vehicle 2 in particular by means of front receiving device 42 is stored. Step 104 further comprises guiding and supporting the underwater vehicle 2 by means of the rear receiving device 40, in particular by means of the wheels 56 of the rear receiving device 40, according to a step 1 16. Finally, a linear displacement of the front receiving device 42 on the wave compensation ramp 24 according to one step 1 18 for receiving the underwater vehicle 2 by means of the wave compensation ramp 24 according to the step 104. The shifting takes place by means of the pulling force exerted by the winch 54 via the cable 50.

If the underwater vehicle 2 has been pulled onto the wave compensation ramp 24 up to its intended end position, after step 94, according to step 120, the underwater vehicle 2 is retrieved by means of the rescue ramp 12 aboard the ship 8 or to a position above the ship's yard 10 according to step 122, the wave output cited ramp 24 together with the recorded underwater vehicle 2 or brought on board the ship 8 and the ship's warehouse 10. For this purpose, according to a step 124, the guide carriage 30 is displaced, in particular by means of the belt drive 32, and thus the shaft compensation ramp 24 is lifted in accordance with step 126. Subsequently, the wave compensation ramp 24 lies completely on the recovery ramp 12. Thereafter, according to a step 128, the lifting of the recovery ramp 12 by means of the rocker arm 18 via the tilting roller 14, in particular by means of the hydraulic cylinder 22. Thus, the underwater vehicle 2 is finally on the wave compensation ramp 24, the rescue ramp 12 and the ship's warehouse 10 and salvaged on board the ship 8.

The system 1 is also preferably used to deploy the underwater vehicle 2. The necessary process steps are similar in parts to the process steps for recovering the underwater vehicle 2 in the reverse order. Preferably, however, the rope 50 is not attached to the winch 54, but is together with the buoy attached to the rope 50 on the underwater vehicle 2. In particular, the underwater vehicle 2 is subject to the fact that the rescue ramp 12 by means of the rocker arm 18 via the tilting roller 14th lowered together with the wave compensation ramp 24 thereon and the underwater vehicle 2 thereon. Subsequently, the underwater vehicle 2 slips over the mountain ramp 12 into the water.

Alternatively, the guide carriage 30 is moved down the rescue ramp 12 and thus lowered the wave compensation ramp. Finally, by means of the coupling means 46, the coupling of the underwater vehicle 2 or the precursor 48 at the front receiving device 42 is released. In this case, the front receiving device 42 is either held by means of a holding means in the region of the first end 26 of the wave compensation ramp 24 or has previously moved to the second or free end 34 of the wave compensation ramp.

7 shows a negative shell 44 'in a sectional view from above with two laterally spread guide rails 130 and 132. Alternatively, the guide rails 130 and 132 can also be spread in other directions, for example the guide rail 130 upwards and the guide rail 132 downwards, wherein Fig. 7 according to this alternative example is a sectional view of a side view. Furthermore, as an alternative to the exemplary embodiment shown, further guide strips can be provided, which are spread open in several directions and together form a three-dimensional funnel.

For spreading the guide rails 130 and 132, the negative shell 44 'or the front receiving device 42, not shown here, with the negative shell 44' from the first end 26 of the wave compensation ramp 24, not shown here, moved to the second or free end 34 of the wave compensation ramp 24, wherein the guide strips 130 and 132 spread and finally, as shown in Fig. 7, are spread apart when the negative shell 44 'in the fixed the Wellenaugleichsampe 24 connected rear receiving device 40 is arranged. The underwater vehicle 2, whose bow is shown in FIG. 7, can thus move in the direction of the negative shell 44 'or be pulled by means of the rope 50 (not shown here), the underwater vehicle 2 also being able to flow sideways by means of the guide rails 130 and 132 safely to the negative shell 44 'is passed and can couple there. In particular, the guide rails 130 and 132 prevent abutment of the underwater vehicle 2 against the rear receiving device 40. The guide rails 130 and 132 have floating bodies and are mounted so flexibly and / or movably that these laterally spread guide rails 130 and 132 also locally m area of the water surface of the body of water 6 are arranged. The underwater vehicle 2 and local portions of the guide rails 130 and 132, to which the underwater vehicle 2 moves, are thus approximately at the same height, so that the underwater vehicle 2 can not reach a position above or below a guide rail, in which there would be danger to be struck vertically by the respective guide rail 130 or 132.

Fig. 8 shows the negative shell 44 'of Fig. 7 with the stored underwater vehicle 2. The underwater vehicle 2 is held by the guide rails 130 and 132 in its position. The negative shell 44 'or the front receiving device 42 with the negative shell 44' is located in the region of the first end 26 of the wave compensation ramp 24, not shown here, so that the underwater vehicle 2 is mounted on the wave compensation ramp 24.

Starting from the illustration according to FIG. 7, the representation according to FIG. 8 is achieved by pulling the underwater vehicle 2 onto the wave compensation ramp 24 after being coupled to the front receiving device 42 or to the negative shell 44 ', the negative shell 44' being pulled from the free end 34 of the wave compensation ramp 24 in the direction of the first end 26 of the wave compensation ramp 24 shifts or wherein the negative shell 44 'is retracted. The guide rails 130 and 132 partially slide through the rear receiving device 40, so that these guide rails 130 and 132 are pressed together by means of the rear receiving device 40 or pressed in the direction of the underwater vehicle 2.

The invention prevents a hard hitting the underwater vehicle 2 to the recovery ramp 12 both during weaning and when recovering the underwater vehicle 2 even in waves or swell. Underwater vehicles 2 can by means of the system 1 according to the invention or by means of the method 76 according to the invention thus at a reduced risk of damage to the underwater vehicle 2 are exposed and recovered even in waves and swells. All mentioned in the foregoing description and in the claims features are used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

Claims

claims 1 . System for recovering an underwater vehicle (2), the system (1) comprising a recovery ramp (12) for retrieving the underwater vehicle (2) by means of a cable (50) for pulling the underwater vehicle (2) and by means of the rescue ramp (12) Waters (6) aboard a ship (8) or on land,  marked by  a shaft compensation ramp (24) pivotally mounted about a swivel axis (S) and supported by a float (36, 38) on the rescue ramp (12) for receiving the underwater vehicle (2) and for retrieving the wave compensation ramp (12) 24) together with the recorded underwater vehicle (2) by means of the Bergerampe (12). 2. System according to claim 1,  marked by  a guide carriage (30) which can be displaced linearly on the ramp (12) and has a joint (28) for supporting the shaft compensation ramp (24) and a hydraulically driven belt drive (32) for displacing the guide carriage (30). 3. System according to claim 1 or 2,  marked by  by a front receiving device (42) displaceable linearly on the wave compensation ramp (24) for guiding the cable (50) and the underwater vehicle (2) with coupling means (46) for coupling to a forerunner (48) attached to the underwater vehicle (2) with a front float (36) for holding the front receiving means (42) when coupled in the region of the waterline (4) of the body of water (6). 4. System according to claim 3,  characterized in that  the coupling means (46) comprise a snap device (60) for latching and holding the precursor (48) and the front receptacle (42) has a negative cup (44; 44 ') for centering the underwater vehicle (2). 5. System according to one of the preceding claims,  marked by a rear receiving means (40) fixed to the counterbalance ramp (24) and having a rear float (38) for holding the free end (34) of the shaft end (38). Same ramp (24) in the region of the waterline (4) of the water body (6) and with wheels (56) for guiding and storing the underwater vehicle (2). System according to one of the preceding claims,  marked by  a deflection roller (52) mounted on the guide carriage (30) or on the shaft compensation ramp (24) in the area of the pivot axis (S), in particular above the pivot axis (S), for deflecting the cable (50) from the wave compensation ramp (24) to the ramp ( 12) such that the buoyancy of the wave compensation ramp (24) is supported by the rope (50) when the underwater vehicle (2) is guided on the wave compensation ramp (24). System according to one of the preceding claims,  marked by  a ship bearing (10) for supporting the rescue ramp (12), a rocker arm (18) for lifting the recovery ramp (12) via a tipping pulley (14) to the ship's yard (10) and a hydraulic cylinder (22) for driving the rocker arm (18) , A method for recovering an underwater vehicle (2), wherein the underwater vehicle (2) by means of a rope (50) by means of which the underwater vehicle (2) is pulled (94), and by means of a Bergerampe (12) from a body of water (6) on board of a ship (8) or on land (120),  characterized in that  the underwater vehicle (2) is received (104) by means of a wave compensation ramp (24) mounted pivotably about a pivot axis (S) on the rescue ramp (12) and supported by a float (36, 38) the wave compensation ramp (24) together with the recorded underwater vehicle (2) by means of Bergerampe (12) is obtained (120). 9. The method according to claim 8,  characterized in that  a hydraulically driven belt drive (30) linearly displaces (124) a guide carriage (30) on the recovery ramp (12), wherein a hinge (28) of the guide carriage (30) supports the wave compensation ramp (80). 10. The method according to claim 8 or 9, characterized in that Coupling means (46) on a front receiving device (42) with a precursor (48) attached to the underwater vehicle (2) (108), wherein a front float (36) of the front receiving device (42), this front receiving device (42) in the region Water line (4) of the body of water (6) stops (106), and the front receiving means (42) is linearly displaced on the wave compensation ramp (24) (1 18), wherein the front receiving device (42) leads the rope (50) and / or the underwater vehicle (2) (98). Method according to claim 10, characterized in that a snap device (60) of the coupling means (46) the precursor (48) engages (1 10) and holds and a negative shell (44; 44 ') of the front receiving means (42) the underwater vehicle (2) centered (1 12). Method according to one of claims 8 to 1 1, characterized in that a rear floating body (38) of a rear receiving device (40) attached to the wave balancing ramp (24) holds the free end (34) of the wave balancing ramp (24) in the region of the waterline (4) of the body (6) (96) and wheels (56 ) of the rear receiving device (40) guide the underwater vehicle (2) and store (1 16). Method according to one of claims 8 to 12, characterized in that a deflection roller (52) mounted on the guide carriage (30) or on the shaft compensation ramp (24) in the region of the pivot axis (S), in particular above the pivot axis (S), moves the cable (50) from the wave compensation ramp (24) to the recovery ramp (12 ) deflects (100) that the buoyancy of the wave compensation ramp (24) is assisted by pulling on the rope (50) when the underwater vehicle (2) is guided on the wave compensation ramp (24) (102). Method according to one of claims 8 to 13, characterized in that a rocker arm (18) lifts (128) the recovery ramp (12) via a tipping pulley (14) to a ship bed (10), a hydraulic cylinder (22) driving the rocker arm (18) and the ship bed (10) lifting the ramp (12 ) stores (78).