CN102717877B - Stabilizing structure of floater salvaging device - Google Patents
Stabilizing structure of floater salvaging device Download PDFInfo
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- CN102717877B CN102717877B CN201210208949.1A CN201210208949A CN102717877B CN 102717877 B CN102717877 B CN 102717877B CN 201210208949 A CN201210208949 A CN 201210208949A CN 102717877 B CN102717877 B CN 102717877B
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Abstract
Disclosed is a stabilizing structure of a floater salvaging device. A long hoist arm transversely extending outside of a ship body is arranged on one side of a salvage ship, a support plate is fixed at the extended end of the hoist arm, a clamp support is suspended on the front side and the rear side of the support plate in hinge connection via two oblique hinge rods, an oblique hydraulic oil cylinder is hinged on the left side and/or the right side of the clamp support, the upper end of the hydraulic oil cylinder is hinged to the support plate, and the salvage ship is provided with an angle sensor which controls stretching of a piston rod in the hydraulic cylinder via a control circuit. Since floaters are salvaged on one salvage ship side, the stabilizing structure of the floater salvaging device is applicable to salvage work in high sea conditions. Swaying of a grab is controlled by the oil cylinder, a swaying angle between the clamp support and the salvage ship is tracked in real time, so that swaying of the floater salvaging device can be prevented dynamically.
Description
Technical field
The present invention relates to salvage field, relate in particular to a kind of anti-structure of shaking of floating debris fishing device.
Background technology
At present, for salvaging floating marine thing, salvor can only closely be salvaged conventionally, or by back work ship, salvages under the good low sea conditions of sea climatic conditions.But under the severe high sea conditions of wind-force and wave sea climatic conditions large, that may follow the situations such as thunderstorm weather simultaneously, if wrecker or repair ship leave the lash ship operation of plunging into the commercial sea, the fishing job quite dangerous that will become, even cannot carry out fishing operation.At this moment for some, need the timely object of going on board of salvaging, such as the overboard personnel of rescue, salvaging to affect the object of marine environment or salvage thing has the object of important value to owner, the best salvaging of delay opportunity or loss are salvaged to thing and cause heavy losses.
And, under high sea situation mal-condition, when floater dragging device is salvaged persons falling in water or floating important item, General Requirements marine salvage equipment in salvaging process is forbidden and salvor hull generation hard collision, in order to avoid destroy important item or affect Salvee person's life security.This just requires to design special floater dragging device, and security of system performance is good, and equipment is reliable.
Waving in the lifting process of floating debris after salvaging can be decomposed into two, a lateral oscillation that is perpendicular to ship length direction, and one is the oscillation in the pitch mode that is parallel to ship length direction.
Existing a kind of floating debris fishing device is to salvage at shipboard, after salvaging, float to stern, by the gantry that is arranged on stern, wave crane loading, gantry wave bottom base that the door frame crossbeam of hoisting crane can be fixed on stern around it by outboard to the swing being the level of state in ship, the four paws location structure that on door frame crossbeam, configuration can oscillation in the pitch mode, the center of four positioning pawls faces derrick line center, the salvaged floating debris pawl that is positioned while hanging certain altitude is caught, limit its teeter, so cause teeter with regard to not there is the floating debris of hanging on door frame because of the rolling of ship when door frame swings in from outboard to ship.
Because four paws location structure has limited the lateral oscillation of floating debris with respect to hull, so floating debris affects by oscillation in the pitch mode mainly, configured longitudinal oscillation control structure, to control longitudinally freely swinging of floating debris on this device.Its principle of work: (door frame upright position) holds four paws location structure both sides over against four paws location structure below with two steel cables from base.Steel cable is guided a triangle balance plate into through assembly pulley.Fixing on two angles, then from the 3rd angle of balance plate, draw steel cable and tie as controlling the strander rope sheave of pitch, the amplitude of fluctuation of killer by operating manually the folding and unfolding steel cable of strander, controlled.When door frame is in upright position, tighten up steel cable, can control the amplitude of fluctuation of killer.When door frame is flapped toward outboard, slowly emit steel cable simultaneously, make four paws location structure can be in plumbness, limit it and swing backward.If strain a little steel cable, make four paws location structure slightly to forward swing, longitudinal oscillation can to a certain degree be brought under control.Door frame operation when swinging in ship is just in time contrary, thereby control four paws location structure, swings forward.
This prevents that shaking structure has following defect:
1, owing to adopting manually, by controlling winch folding and unfolding steel cable, control waving of four paws location structure, therefore this anti-swing mechanism can only carry out waving under not too fierce condition, in high sea situation situation, operate, bring potential safety hazard can to fixing floating debris in operating personal and four paws location structure;
2, at door frame in ship, outboard is when swing, by folding and unfolding steel cable, prevent that four paws location structure from swinging, belong to static anti-shaking, cannot real-time tracing four paws location structure with respect to the pivot angle situation of change of hull, if waving of hull is fiercer, wobble frequency is larger, the anti-effect of shaking of this structure is unsatisfactory;
3, adopt the mode that shipboard is salvaged, stern lifts by crane, utilize the connection structure of four paws location structure and door frame to limit the lateral oscillation of floating debris, but in practical operation, salvor lateral oscillation under severe sea condition condition is fiercer, therefore the stressed meeting of this connection structure is more severe, has certain potential safety hazard.
Summary of the invention
It is a kind of under high sea situation environment that technical matters to be solved by this invention is to provide, and relative pivot angle between can real-time tracing salvaged floating debris and salvor, realizes dynamically anti-shaking, and without the anti-structure of shaking of the floating debris fishing device of controlling manually.
The present invention is achieved by the following technical solutions:
The anti-structure of shaking of floating debris fishing device, is characterized in that:
Hull one side at salvor, crosses out microscler rising arm towards hull outside, and a support plate is fixed in rising arm external part end,
The forward and backward both sides of support plate are by two catching supports of the hinged suspension of inclination articulated bracket that become inverted "eight" shape symmetry arrangement, being centered close on same perpendicular line of support plate and catching support,
On same level projecting plane, the extended line of articulated bracket line of centers passes support plate center, and vertical with rising arm line of centers,
In the left side of catching support and/or the hydraulic ram that tilts of right side hinge arrangement, the upper end of hydraulic ram is hinged on support plate, if the quantity of hydraulic ram is two, two hydraulic rams are about the line of centers symmetry arrangement of support plate,
Hydraulic ram line of centers and rising arm line of centers are positioned at same vertical surface,
Salvor setting angle sensor, in angular transducer control hydraulic ram, piston rod is flexible.
The principle of this anti roll device is: the swing of the triangle location structure restriction catching support forming by two inclination articulated brackets that are arranged symmetrically with, be parallel to the longitudinal oscillation of ship length direction, thereby guarantee that catching support can only be perpendicular to hull teeter, when catching support is during with salvor teeter overbalance, the piston rod of adjusting hydraulic ram elongates or shortens and compensates, to maintain catching support, trend towards parallelly with hull, prevent because catching support amplitude of fluctuation is excessive and bump with salvor.
Catching frame bottom is fixed with for promptly floating debris, the catching of configuration in pairs, derrick line is passed down through the center of support plate, catching support and catching from the end of rising arm, when derrick line hangs certain altitude by floating debris, by catching, caught, limit its longitudinal oscillation.When salvaging thing teeter, mainly by angular transducer, measure rolling rule and the wave situation of the salvor obtaining, control the lateral oscillation angle of catching support, thereby control the rolling of salvaging thing.So when rising arm from outboard to ship in revolution or when lifting, with regard to not producing the salvaging thing of hanging on interception lifting arm because the rolling of ship causes horizontal fierce swing, even there is the situation with the collision of interception lifting arm.
Catching can adopt the structure of four mandible friction-type hydraulic grabs, mandible is shaped as 1/4 circular arc, its upper end is by being hinged on catching support, lower end is for promptly holding, four mandibles between two relatively, surround a semisphere that Open Side Down and firmly grasp chamber, promptly Qiang center and catching carriage center are positioned on same perpendicular line, on the inner arc surface of mandible, fixedly rubber props up piece, damage floating debris when avoiding promptly floating debris, also increased mutual friction force simultaneously.Each mandible by one independently mandible hydraulic ram drive, by mandible hydraulic cylinder extension, control the folding of mandible, to capture or to discharge, salvage thing, the upper end of mandible hydraulic ram is hinged on catching support, lower end is hinged on mandible, and four mandible hydraulic rams are relative between two, are "eight" shape and arrange, limited the swing of mandible with respect to catching support, therefore four mandible hydraulic grabs are fixed with respect to catching support.
Further, catching support is vertical hollow circle tube, and its upper/lower terminal is " ten " shape difference four boss of projection laterally, the hinged mandible hydraulic ram of four boss of upper end, four the hinged mandible of boss upper ends of lower end.
Further again, hydraulic ram quantity can be one or left and right symmetry arrangement two, and when quantity is one, this hydraulic ram preferred fit is between articulated bracket and salvor, and the structure of device is more compact.
Further again, the inclination mode of hydraulic ram, is preferably the outside that upper end is positioned at lower end, with the force environment that guarantees that hydraulic cylinder piston rod is good; When hydraulic ram quantity is two, two hydraulic rams are inverted "eight" shape about the line of centers of support plate and arrange.
Further again, angular transducer is weight instrument, comprises universal hinge, connecting rod, weight and fuel tank, and small end is hinged on salvor by universal hinge, and a weight is fixed in lower end, and weight is submerged under the pasta of fuel tank.To prevent that weight is in the vibration of adjustment process, play shock damping action.On the driving oil circuit of hydraulic ram, configure change-over valve, change-over valve is with two contact switches, the corresponding driving oil circuit of controlling hydraulic cylinder piston both sides, and contact switch is positioned at the both sides of connecting rod lower end, and near connecting rod.
When catching support and salvor deck all keep level, hydraulic ram is not worked; When salvor swings because affected by high sea situation wave, the run-off the straight of catching support, now weight also can corresponding run-off the straight.Once the run-off the straight of weight instrument, link rob contacts the contact switch of one side, just drives change-over valve work, makes high pressure oil enter hydraulic ram respective chamber, and piston rod is stretched out or retracted, and makes grab bucket trend and salvor deck maintain balance; Once salvor is got back to level attitude, weight instrument is the corresponding level attitude of getting back to also, from contact switch, departs from, drive change-over valve to get back to meta, oil-feed finishes, and completes whole leveling process, the swing of grab bucket swing and salvor is consistent, prevents that floating debris and salvor from bumping.
Beneficial effect of the present invention is:
(1) adopt that shipboard is salvaged, the mode of shipboard lifting, salvor is under high sea conditions, and lateral oscillation is fiercer, stressed when more severe, and laterally the anti-effect of shaking is better than the existing anti-structure of shaking greatly;
(2) adopt servo-cylinder to control the swing of grab bucket, the pivot angle between real-time tracing catching support and salvor, realizes dynamically anti-shaking;
(3) control system adopts the machine control program at night of weight-change-over valve, and simple in structure, reliable operation, is adapted to compared with bad working environments;
(4) designed novel hydraulic grab, four hydraulic actuating cylinders are controlled the switching of four jaw teeth, when closed, promptly salvage thing, and existing positioning action, has completed again clamping function, more reliable in lifting process.
Accompanying drawing explanation
Fig. 1,2 is existing anti-the facing and schematic side view of structure of shaking
Fig. 3,4 for the present invention is anti-, shakes facing of structure and schematic diagram is looked on the right side
Fig. 5～8 for the front elevation of catching support and A-A, B-B, C-C to cutaway view
In Fig. 1-8: 1 is support plate, 2 is catching support, and 3 is rising arm, and 4 is hydraulic ram, 5 is articulated bracket, and 6 is change-over valve, and 7 is mandible, and 8 is angular transducer, 801 is universal hinge, and 802 is connecting rod, and 803 is weight, 804 is fuel tank, and 9 is salvor, and 10 is derrick line, 11 for waving hoisting crane in gantry, and 110 is door frame, and 12 is four paws location structure, 13 is steel cable, and 14 is mandible hydraulic ram, and 15 prop up piece for rubber.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
In Fig. 1～2, existing a kind of floating debris fishing device is arranged on salvor stern, utilize gantry to wave hoisting crane 11 liftings, gantry wave bottom base that the door frame 110 of hoisting crane 11 can be fixed on stern around it by outboard to the swing being the level of state in ship, the four paws location structure 12 that on door frame 110, configuration can oscillation in the pitch mode, the center of four positioning pawls faces derrick line center, and the salvaged floating debris pawl that is positioned while being hung certain altitude by derrick line is caught, and limits its teeter.Positioning pawl, without gripping power, only plays the role of positioning, and in lifting process, all gravity only has lifting rope to bear.
Because four paws location structure 12 has limited the lateral oscillation of floating debris with respect to hull, so floating debris affects by oscillation in the pitch mode mainly, configured longitudinal oscillation control structure, to control longitudinally freely swinging of floating debris on this device.Its principle of work: (door frame 110 upright position) hold four paws location structure 12 both sides over against four paws location structure 12 belows with two steel cables 13 from base.Steel cable 13 is guided a triangle balance plate into through assembly pulley.Fixing on two angles, then from the 3rd angle of balance plate, draw steel cable 13 to as controlling the strander rope sheave of pitch, by operating manually the folding and unfolding steel cable 13 of strander, control the amplitude of fluctuation of killer.When door frame 110 is in upright position, tighten up steel cable 13, can control the amplitude of fluctuation of killer.When door frame 110 is flapped toward outboard, slowly emit steel cable 13 simultaneously, make four paws location structure 12 can be in plumbness, limit it and swing backward.If strain a little steel cable 13, make four paws location structure 12 slightly to forward swing, longitudinal oscillation can to a certain degree be brought under control.Door frame 110 operation when swinging in ship is just in time contrary, thereby control four paws location structure 12, swings forward.Owing to adopting artificial folding and unfolding steel cable above deck to control waving of four paws location structure, so this anti-swing mechanism can only be worked waving under not too fierce condition.
In the present invention, hull one side at salvor 9, towards hull outside, cross out microscler rising arm 3, a support plate 1 is fixed in rising arm 3 external part ends, the forward and backward both sides of support plate 1 are by two catching supports 2 of the hinged suspension of inclination articulated bracket 5 that become inverted "eight" shape symmetry arrangement, being centered close on same perpendicular line of support plate 1 and catching support 2, on same level projecting plane, the extended line of articulated bracket 5 line of centerss is through support plate 1 center, and vertical with rising arm 3 line of centerss, as shown in Figure 4.
Articulated bracket 5 on catching support 2 right sides, be the hydraulic ram 4 that between articulated bracket 5 and salvor, hinge arrangement tilts, the upper end of hydraulic ram 4 is hinged on support plate 1, hydraulic ram 4 upper ends are positioned at the outside of lower end, and hydraulic ram 4 line of centerss and rising arm 3 line of centerss are positioned at same vertical surface.
Salvor 9 setting angle sensors 8, angular transducer 8 is weight instrument, comprise universal hinge 801, connecting rod 802, weight 803 and fuel tank 804, connecting rod 802 upper ends are hinged on salvor 9 by universal hinge 801, a weight 803 is fixed in lower end, weight 803 is submerged under the pasta of fuel tank 804, on the driving oil circuit of hydraulic ram 4, configure change-over valve 6, change-over valve 6 is with two contact switches, the corresponding driving oil circuit of controlling hydraulic ram 4 piston both sides, contact switch is positioned at the both sides of connecting rod 802 lower ends, and near connecting rod 802, as shown in Figure 3.
Catching is installed in catching support 2 bottoms, catching is four mandible friction-type hydraulic grabs, mandible is shaped as 1/4 circular arc, its upper end is hinged on catching support, lower end is for promptly holding, four mandibles are relative between two, surround a semisphere that Open Side Down and firmly grasp chamber, promptly Qiang center and catching support 2 are centered close on same perpendicular line, on the inner arc surface of mandible, fixedly rubber props up piece, each mandible by one independently mandible hydraulic ram drive, the upper end of mandible hydraulic ram is hinged on catching support, lower end is hinged on mandible exterior arc surface, four mandible hydraulic rams are relative between two, being "eight" shape arranges.
Catching support 2 is vertical hollow circle tube, its upper/lower terminal is " ten " shape difference four boss of projection laterally, the hinged mandible hydraulic ram 14 of four boss, hydraulic ram 4 and the articulated bracket 5 of upper end, the hinged mandible of four boss 7 upper ends of lower end, as shown in Fig. 5～8.
This anti roll device is by the swing of the triangle position limiting structure restriction catching support 2 of two inclination articulated brackets 5 that are arranged symmetrically with, be parallel to the longitudinal oscillation of ship length direction, thereby guarantee that catching support 2 can only be perpendicular to hull teeter, when catching support 2 is during with salvor teeter overbalance, the piston rod of adjusting hydraulic ram 4 elongates or shortens and compensates, to maintain catching support 2, trend towards parallelly with hull, prevent because catching support 2 amplitudes of fluctuation are excessive and bump with salvor.
Catching support 2 bottoms are fixed with for promptly floating debris, the catching of configuration in pairs, derrick line 10 is passed down through the center of support plate, catching support 2 and catching from the end of rising arm, when derrick line 10 hangs certain altitude by floating debris, by catching, caught, limit its longitudinal oscillation.When salvaging thing teeter, mainly by rolling rule and the wave situation of angular transducer Real-Time Monitoring salvor, thereby the lateral oscillation angle of control catching support 2 is controlled the rolling of salvaging thing.So when rising arm 3 from outboard to ship in revolution or when lifting, with regard to not producing the salvaging thing of hanging on interception rising arm 3 because the rolling of ship causes horizontal fierce swing, even there is the situation with 10 collisions of interception rising arm.
When catching support 2 and salvor deck all keep level, hydraulic ram 4 is not worked; When salvor swings because affected by high sea situation wave, 2 run-off the straights of catching support, now weight 803 also can corresponding run-off the straight.Once weight 803 run-off the straights, just drive change-over valve 6 work, make high pressure oil enter hydraulic ram 4 respective chamber, piston rod is stretched out or is retracted, and makes catching support 2 trends and salvor deck maintain balance; Once salvor is got back to level attitude, weight 803 is the corresponding level attitude of getting back to also, drives change-over valve to get back to meta, and oil-feed finishes, and completes whole leveling process, and the swing of grab bucket swing and salvor is consistent, and prevents that grab bucket and salvor from bumping.
Catching can adopt the structure of four mandible friction-type hydraulic grabs, mandible 7 is shaped as 1/4 circular arc, its upper end is by being hinged on catching support 2, lower end is for promptly holding, four mandibles 7 between two relatively, surround a semisphere that Open Side Down and firmly grasp chamber, promptly Qiang center and catching support 2 are centered close on same perpendicular line, on the inner arc surface of mandible 7, fixedly rubber props up piece, damage floating debris when avoiding promptly floating debris, also increased mutual friction force simultaneously.Each mandible 7 is by independently mandible hydraulic ram 14 drivings, by the folding of mandible hydraulic actuating cylinder 14 extension and contraction control mandibles 7, to capture or to discharge, salvage thing, the upper end of mandible hydraulic ram 14 is hinged on catching support 2, lower end is hinged on mandible 7, and four mandible hydraulic rams are relative between two, towards catching support 2 inner sides, tilts, limited the swing of mandible 7 with respect to catching support 2, therefore four mandible hydraulic grabs are fixed with respect to catching support 2.In addition, four mandible hydraulic rams 14 are controlled the switching of four mandibles 7, when closed, promptly salvage thing, and existing positioning action, has completed again clamping function, more reliable in lifting process.
Claims (6)
1. the anti-structure of shaking of floating debris fishing device, is characterized in that:
Hull one side at salvor (9), crosses out microscler rising arm (3) towards hull outside, on rising arm (3) external part, fix a support plate (1),
The forward and backward both sides of support plate (1) are by two inclination articulated bracket (5) catching supports of hinged suspension (2) that become inverted "eight" shape symmetry arrangement, being centered close on same perpendicular line of support plate (1) and catching support (2),
On same level projecting plane, the extended line of articulated bracket (5) line of centers passes support plate (1) center, and vertical with rising arm (3) line of centers,
In the left side of catching support (2) and/or the hydraulic ram (4) that tilts of right side hinge arrangement, the upper end of hydraulic ram (4) is hinged on support plate (1), the quantity of hydraulic ram (4) is two, two hydraulic rams (4) are about the line of centers symmetry arrangement of support plate (1)
Hydraulic ram (4) line of centers and rising arm (3) line of centers are positioned at same vertical surface,
Salvor (9) setting angle sensor (8), angular transducer (8) is controlled the flexible of the middle piston rod of hydraulic ram (4).
2. the anti-structure of shaking of floating debris fishing device according to claim 1, it is characterized in that: described angular transducer (8) is weight instrument, comprise universal hinge (801), connecting rod (802), weight (803) and fuel tank (804), connecting rod (802) upper end is hinged on salvor (9) by universal hinge (801), a weight (803) is fixed in lower end, weight (803) is submerged under the pasta of fuel tank (804)
On the driving oil circuit of hydraulic ram (4), configure change-over valve (6), change-over valve (6) is with two contact switches, two corresponding driving oil circuits of controlling hydraulic ram (4) piston both sides of contact switch, contact switch is positioned at the both sides of connecting rod (802) lower end, and near connecting rod (802).
3. the anti-structure of shaking of floating debris fishing device according to claim 1, is characterized in that: catching is installed in described catching support (2) bottom, and catching is four mandible friction-type hydraulic grabs,
Mandible (7) is shaped as 1/4 circular arc, its upper end is hinged on catching support, lower end is for promptly holding, four mandibles (7) between two relatively, surround a semisphere that Open Side Down and firmly grasp chamber, promptly Qiang center and catching support (2) are centered close on same perpendicular line, on the inner arc surface of mandible (7), fixedly rubber props up piece (15)
Each mandible (7) is by independently mandible hydraulic ram (14) driving, the upper end of mandible hydraulic ram (14) is hinged on catching support (2), lower end is hinged on mandible (7) exterior arc surface, four mandible hydraulic rams (14) are relative between two, are "eight" shape and arrange.
4. the anti-structure of shaking of floating debris fishing device according to claim 1, it is characterized in that: described catching support (2) is vertical hollow circle tube, its upper/lower terminal is " ten " shape difference four boss of projection laterally, the hinged mandible hydraulic rams of four boss (14) of upper end, four hinged mandibles of boss (7) upper end of lower end.
5. the anti-structure of shaking of floating debris fishing device according to claim 1, is characterized in that: described hydraulic ram (4) upper end is positioned at the outside of lower end; When hydraulic ram (4) quantity is two, two hydraulic rams (4) are inverted "eight" shape and arrange.
6. the anti-structure of shaking of floating debris fishing device, is characterized in that:
Hull one side at salvor (9), crosses out microscler rising arm (3) towards hull outside, on rising arm (3) external part, fix a support plate (1),
The forward and backward both sides of support plate (1) are by two inclination articulated bracket (5) catching supports of hinged suspension (2) that become inverted "eight" shape symmetry arrangement, being centered close on same perpendicular line of support plate (1) and catching support (2),
On same level projecting plane, the extended line of articulated bracket (5) line of centers passes support plate (1) center, and vertical with rising arm (3) line of centers,
In the left side of catching support (2) and/or the hydraulic ram (4) that tilts of right side hinge arrangement, the upper end of hydraulic ram (4) is hinged on support plate (1), the quantity of described hydraulic ram (4) is one, is positioned between articulated bracket (5) and salvor
Hydraulic ram (4) line of centers and rising arm (3) line of centers are positioned at same vertical surface,
Salvor (9) setting angle sensor (8), angular transducer (8) is controlled the flexible of the middle piston rod of hydraulic ram (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210208949.1A CN102717877B (en) | 2012-06-21 | 2012-06-21 | Stabilizing structure of floater salvaging device |
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| CN201210208949.1A CN102717877B (en) | 2012-06-21 | 2012-06-21 | Stabilizing structure of floater salvaging device |
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| CN102717877B true CN102717877B (en) | 2014-09-10 |
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| CN107651581A (en) * | 2017-09-20 | 2018-02-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of ship's crane, which rises, puts anti-roll device |
| CN113120201B (en) * | 2021-05-24 | 2022-04-05 | 哈尔滨工程大学 | Unmanned aerial vehicle recovery unit under water based on cyclic annular fork mechanism of cutting |
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| US4444425A (en) * | 1981-09-02 | 1984-04-24 | The United States Of America As Represented By The Secretary Of The Navy | Cylindrical object recovery device |
| SU1390128A1 (en) * | 1986-11-10 | 1988-04-23 | Предприятие П/Я А-1277 | Arrangement for slinging a sunken ship |
| RU2013343C1 (en) * | 1991-04-18 | 1994-05-30 | Акционерное общество "Пролетарский завод" | Device for gripping sunken structures |
| CN100408427C (en) * | 2004-05-31 | 2008-08-06 | 中国水产科学研究院渔业机械仪器研究所 | Floater dragging device |
| WO2009070034A2 (en) * | 2007-11-26 | 2009-06-04 | Subsea 7 Norway Nuf | Method for picking up and towing a structure under water |
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