CN113815790A - Underwater equipment lifting device and method based on ROV operation - Google Patents
Underwater equipment lifting device and method based on ROV operation Download PDFInfo
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- CN113815790A CN113815790A CN202111148551.9A CN202111148551A CN113815790A CN 113815790 A CN113815790 A CN 113815790A CN 202111148551 A CN202111148551 A CN 202111148551A CN 113815790 A CN113815790 A CN 113815790A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 17
- 238000010276 construction Methods 0.000 abstract description 5
- 239000002184 metal Substances 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
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- Ocean & Marine Engineering (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to an underwater equipment lifting device and method based on ROV operation, which comprises the following steps: the first device body is of a semi-cylindrical structure with an opening at the bottom, a first through hole is formed in the circumferential direction of the first device body, and a first notch is formed in the axial direction of the first device body; the second device body is also of a semi-cylindrical structure with an opening at the bottom, a second through hole is formed in the circumferential direction of the second device body, and a second notch is formed in the axial direction of the second device body; the first device body is fixedly connected with the second device body, the first through hole and the second through hole are symmetrically arranged, and the first notch and the second notch jointly form an accommodating hole; the locking modules are two in number and are respectively assembled in the first through hole and the second through hole; and the unlocking module is assembled in the accommodating hole. The invention has simple construction conditions, can assist the operation by using the ROV of the underwater manifold, and does not need a special ROV.
Description
Technical Field
The invention relates to an underwater equipment lifting device and method based on ROV operation, and belongs to the technical field of ocean oil production engineering equipment.
Background
The traditional underwater equipment is usually laid and recovered by using a specific tool or mode, personnel operate on a construction ship, the actual underwater situation and the construction effect are not clear, and the emergency situation is not easy to control. When the water depth is shallow, diver assistance is usually arranged if the construction work is complicated. With the maturity of operation type underwater Robot (ROV) technology, the deployment and recovery of deep water equipment are more and more completed by the cooperation of shipborne hoisting equipment and the ROV, wherein, compared with the conventional mode, the docking and locking of the underwater equipment and the operation type underwater Robot (ROV) are realized by utilizing a retracting device, and the deployment and recovery of the underwater equipment are completed by controlling the ROV. However, the existing hoisting equipment has the following disadvantages: firstly, the butt joint with underwater equipment does not use a uniform interface and has no universality; secondly, the structure is complex, the size is huge, the installation and the maintenance are inconvenient, and the cost is higher; and thirdly, the ROV which is in butt joint with the underwater equipment and locked can not simultaneously perform other underwater operations, and the utilization rate is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides an underwater equipment lifting device and method based on ROV operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
an apparatus for lifting underwater equipment based on ROV operation, comprising:
the first device body is of a semi-cylindrical structure with an opening at the bottom, a first through hole is formed in the circumferential direction of the first device body, and a first notch is formed in the axial direction of the first device body;
the second device body is also of a semi-cylindrical structure with an opening at the bottom, a second through hole is formed in the circumferential direction of the second device body, and a second notch is formed in the axial direction of the second device body;
the first device body is fixedly connected with the second device body, the first through hole and the second through hole are symmetrically arranged, and the first notch and the second notch jointly form an accommodating hole;
the locking modules are two in number and are respectively assembled in the first through hole and the second through hole and used for locking the mushroom heads of the underwater equipment lifting shafts;
an unlocking module assembled in the receiving hole for unlocking the underwater equipment lifting shaft mushroom head.
The underwater equipment lifting device is characterized in that the locking module comprises a locking tooth, a center pin shaft, a center shaft sleeve and a torsion spring, a third through hole for accommodating the center pin shaft is formed in the locking tooth, the center shaft sleeve is sleeved outside the center pin shaft, two ends of the center pin shaft are fixed on the hole wall of the first through hole or the hole wall of the second through hole, and the torsion spring is sleeved on the part, exposed outside the third through hole, of the center pin shaft and used for assisting in achieving the automatic locking function of the locking tooth.
The underwater equipment lifting device preferably further comprises a thrust washer, and the thrust washer is sleeved on the torsion spring in a ring mode so as to reduce friction force when the locking teeth rotate.
The underwater equipment lifting device is characterized in that the locking tooth is preferably in a cam shape, and an arc surface matched with the mushroom head of the underwater equipment lifting shaft is arranged on the locking tooth.
The underwater equipment lifting device is characterized in that the unlocking module comprises a sliding bolt, a compression spring and a sliding rod, the sliding bolt is connected with the first device body and the second device body through a connecting part, the compression spring is sleeved on the sliding rod in a ring mode, and the sliding bolt is arranged on the sliding rod in a sliding mode and located at two ends of the compression spring.
The underwater equipment lifting device is preferably characterized in that the connecting part comprises a shell and a limiting block assembled on the shell, a fifth through hole for the sliding bolt to penetrate through is formed in the shell, the sliding bolt is of a plate-shaped structure and provided with a protrusion, a limiting groove matched with the protrusion is formed in the limiting block, the protrusion penetrates through the fifth through hole and is clamped on the groove of the first device body and the groove of the second device body, and the sliding rod is fixedly connected with the shell.
The underwater equipment lifting device preferably further comprises a shoulder type shaft sleeve and a gasket, wherein the sliding rod is sleeved on the compression spring in a ring mode, and the two ends of the sliding rod are sequentially sleeved on the gasket and the shoulder type shaft sleeve (504) in a ring mode and then fastened to the shell.
The underwater equipment lifting device is characterized in that shackles are assembled at the tops of the first device body and the second device body and are used for being lifted by a lifting lock.
The underwater equipment lifting device is preferably provided with an ROV grab handle on the first device body, and an unlocking module safety rope on the second device body.
Based on the underwater equipment lifting device, the invention also provides an operation method of the device, which comprises the following steps:
and (3) locking process: hoisting the underwater equipment lifting device to the position above the underwater equipment lifting shaft mushroom head by using a hoisting lock, then lowering the underwater equipment lifting device, gradually inserting the underwater equipment lifting shaft mushroom head into a cavity of the underwater equipment lifting device, then ejecting the locking teeth, and after a certain position is exceeded, automatically rebounding the locking teeth under the operation of the torsion spring so as to realize locking;
an unlocking process: first ROV manipulator centre gripping underwater equipment hoisting device, the compression of second ROV manipulator the slip bolt is treated after the maximum compression of slip bolt, first ROV manipulator to the opposite side translation of unblock module, then promote underwater equipment hoisting device alright with realize the unblock.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the underwater lifting device disclosed by the invention has the advantages that the specific cam-shaped locking teeth are matched with the elasticity of the torsion spring, so that the mushroom head of the lifting shaft of the underwater equipment is automatically locked after being inserted into the lifting device; the unlocking module utilizes the structural principle of a bolt, the two gripping plates of the sliding bolt are clamped by the first ROV manipulator, and then the lifting device body can be taken away by the second ROV manipulator, so that the lifting shaft is unlocked. The device is connected by mechanical structures, and has high reliability, simple structure and low cost compared with underwater electric and hydraulic control.
2. The adaptive lifting shaft and the ROV grab handle of the underwater equipment are designed according to the industrial standard, have simple structure, high reliability, convenient operation, strong universality and low cost, and are suitable for laying and recovering the underwater equipment with ROV operation conditions.
3. The invention has simple construction conditions, can assist the operation by using the ROV of the underwater manifold, and does not need a special ROV.
Drawings
Fig. 1 is a cross-sectional view of a subsea equipment lifting device provided in accordance with an embodiment of the present invention;
fig. 2 is a perspective view of the lifting device for underwater equipment according to the embodiment of the present invention;
fig. 3 is a schematic internal structural diagram of the lifting device for underwater equipment according to the embodiment of the present invention;
fig. 4 is an exploded view of a locking module in the lifting device of the underwater equipment provided by the embodiment of the invention;
fig. 5 is a schematic view of an unlocking module in the underwater equipment lifting device provided in the embodiment of the present invention, where a is a schematic view of the unlocking module in a natural state, and b is a schematic view of the unlocking module in a compressed state;
fig. 6 is an exploded view of an unlocking module in the lifting device of the lower equipment according to the embodiment of the present invention;
FIG. 7 is a cross-sectional view of a lower equipment lift lock lift shaft according to the present invention;
fig. 8 is a schematic view of an unlocking lifting shaft of a lifting device of a lower equipment provided by the embodiment of the invention, wherein a is a schematic view before unlocking, and b is a schematic view after unlocking;
the respective symbols in the figure are as follows:
1-a first device body; 2-a second device body; 3-ROV grab handle; 4-shackle removal; 5-an unlocking module; 6-locking the module; 7-a reinforcement pin; 8-a first screw; 9-a second screw; 10-a third screw; 11-unlocking the module safety cord; 12-male shim; 13-a metal stop; 14-a fourth screw; 15-underwater assembling a lifting shaft mushroom head;
6-locking module, 601-locking teeth, 602-central pin shaft, 603-central shaft sleeve, 604-first torsion spring, 605-second torsion spring, 606-thrust washer, 607-set screw, 608-cambered surface, 609-third through hole;
5-unlocking module, 501-shell, 502-limiting block, 503-sliding bolt, 504-shoulder type shaft sleeve, 505-compression spring, 506-sliding rod, 507-gasket, 508-fifth screw, 509-sixth screw, 510-seventh screw, 511-limiting groove, 512-protrusion, 513-fourth through hole and 514-fifth through hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," "third," "fourth," "upper," "lower," "left," and similar terms in the context of the present invention do not denote any order, quantity, or importance, but rather the terms "first," "second," "third," "fourth," "upper," "lower," "left," and similar terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
As shown in fig. 1 and 2, the present invention provides a lifting device for underwater equipment based on ROV operation, comprising: the device comprises a first device body 1, wherein the first device body 1 is of a semi-cylindrical structure with an opening at the bottom, a first through hole is formed in the circumferential direction of the first device body 1, and a first notch is formed in the axial direction of the first device body 1; the second device body 2 is also a semi-cylindrical structure with an opening at the bottom, a second through hole is formed along the circumferential direction of the second device body 2, and a second gap is formed along the axial direction of the second device body 2; the first device body 1 is fixedly connected with the second device body 2, the first through hole and the second through hole are symmetrically arranged, and the first notch and the second notch jointly form an accommodating hole; the locking modules 6 are two in number, and the two locking modules 6 are respectively assembled in the first through hole and the second through hole and used for locking the underwater equipment lifting shaft mushroom head 15; and the unlocking module 5 is used for unlocking the underwater equipment lifting shaft mushroom head 15, and the unlocking module 5 is assembled in the accommodating hole. The underwater lifting device disclosed by the invention has the advantages that the specific cam-shaped locking teeth are matched with the elasticity of the torsion spring, so that the mushroom head of the lifting shaft of the underwater equipment is automatically locked after being inserted into the lifting device; the unlocking module utilizes the structural principle of a bolt, the two gripping plates of the sliding bolt are clamped by the first ROV manipulator, and then the lifting device body can be taken away by the second ROV manipulator, so that the lifting shaft is unlocked. The device is connected by mechanical structures, and has high reliability, simple structure and low cost compared with underwater electric and hydraulic control.
In a preferred embodiment of the present invention, as shown in fig. 4, the locking module 6 includes a locking tooth 601, a center pin 602, a center bushing 603, and a torsion spring, the locking tooth 601 is provided with a third through hole 609 for accommodating the center pin 602, the center bushing 603 is sleeved outside the center pin 602, two ends of the center pin 602 are fixed on the hole wall of the first through hole or the second through hole, and a portion of the center pin 602 exposed outside the third through hole 609 is sleeved with the torsion spring for assisting in implementing an automatic locking function of the locking tooth 601.
In a preferred embodiment of the present invention, as shown in fig. 4, the locking module 6 further comprises a thrust washer 606, and the thrust washer 606 is sleeved on the torsion spring to reduce the friction force when the locking teeth 601 rotate.
In a preferred embodiment of the present invention, as shown in fig. 4, the locking tooth 601 is in a cam shape, and the locking tooth 601 is provided with an arc 608 adapted to the mushroom head 15 of the lifting shaft of the underwater equipment.
In a preferred embodiment of the present invention, as shown in fig. 5 and 6, the unlocking module 5 includes a sliding pin 503, a compression spring 505 and a sliding rod 506, the sliding pin 503 is connected to the first device body 1 and the second device body 2 by a connecting member, the compression spring 505 is sleeved on the sliding rod 506, and the two sliding pins 503 are slidably disposed on the sliding rod 506 and located at both ends of the compression spring 505.
In a preferred embodiment of the present invention, as shown in fig. 5 and 6, the connecting component includes a housing 501 and a limiting block 502 assembled on the housing 501, a fifth through hole 514 is provided on the housing 501 for accommodating the sliding bolt 503 to pass through, the sliding bolt 503 is a plate-shaped structure, a protrusion 512 is provided thereon, a limiting groove 511 adapted to the protrusion 512 is provided on the limiting block 502, the protrusion 512 passes through the fifth through hole 514 and the limiting groove 511 and is clamped on the grooves of the first device body 1 and the second device body 2 (each groove is provided with 2 convex gaskets 12, the convex gaskets 12 are fixed by a metal stopper 13 and a fourth screw 14), and the sliding rod 506 is fastened to the housing 501.
In a preferred embodiment of the present invention, as shown in fig. 6, the unlocking module 5 further comprises a shoulder bushing 504 and a washer 507, and the sliding rod 506 is sleeved on the compression spring, and then both ends are sleeved on the washer 507 and the shoulder bushing 504 in turn and then fastened on the housing 501.
In this embodiment, the unlocking module 5 includes two sliding pins 503, each sliding pin 503 has 3 through holes opened in the vertical direction, and each through hole is provided with a shoulder-shaped shaft sleeve 504. Two sliding bolts 503 have 2 metal gaskets 507 and 1 compression spring 505 between each through hole, and three sliding rods 506 pass through the shoulder type bushings 504, the metal gaskets 507, the compression springs 505 and then are fixed on the housing 501 by using fifth screws 514, so as to realize the sliding of the sliding bolts 503 on the sliding rods 506. The sliding bolt is installed on the housing 501, and is fixed to the nylon stopper 502 by using a sixth screw 509 and a seventh screw 510.
In a preferred embodiment of the invention, as shown in fig. 1-3, the top of the first device body 1 and the second device body 2 are equipped with shackles 4 for being lifted by a lifting lock.
In a preferred embodiment of the present invention, as shown in fig. 1 and 3, a ROV grip handle 3 is mounted on a first device body 1, and an unlocking module safety rope 11 is mounted on a second device body 2. In addition, the first device body 1 (left) and the second device body 2 (right) are completely symmetrical in characteristics, the first device body 1 (left) and the second device body 2 (right) are connected through 4 reinforcing pins 7, 6 first screws 8 and 2 second screws 9 to form a complete force bearing main body, the shape of the force bearing main body is similar to that of a balance weight, and a through hole is formed above the force bearing main body and used for installing the shackle 4.
Based on the underwater equipment lifting device, the invention also provides an operation method of the device, which comprises the following steps:
and (3) locking process: hoisting the underwater equipment lifting device to the position above the underwater equipment lifting shaft mushroom head 15 by using the hoisting lockset, then lowering the underwater equipment lifting device, gradually inserting the underwater equipment lifting shaft mushroom head 15 into a cavity of the underwater equipment lifting device, then ejecting the locking tooth 601, and after exceeding a certain position, automatically rebounding the locking tooth 601 under the operation of a torsion spring so as to realize locking;
an unlocking process: the first ROV manipulator grips underwater equipment lifting device, the second ROV manipulator compresses sliding bolt 503, after sliding bolt 503 is compressed to the maximum degree, the first ROV manipulator translates to the other side of unlocking module 5, and then underwater equipment lifting device is lifted so as to realize unlocking.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An underwater equipment lifting device based on ROV operation is characterized by comprising:
the device comprises a first device body (1), wherein the first device body (1) is of a semi-cylindrical structure with an opening at the bottom, a first through hole is formed in the circumferential direction of the first device body (1), and a first notch is formed in the axial direction of the first device body (1);
the second device body (2) is also of a semi-cylindrical structure with an opening at the bottom, a second through hole is formed in the circumferential direction of the second device body (2), and a second notch is formed in the axial direction of the second device body (2);
the first device body (1) is fixedly connected with the second device body (2), the first through hole and the second through hole are symmetrically arranged, and the first notch and the second notch jointly form an accommodating hole;
the locking modules (6) are two in number, and the two locking modules (6) are respectively assembled in the first through hole and the second through hole and used for locking the underwater equipment lifting shaft mushroom head (15);
an unlocking module (5), the unlocking module (5) being fitted in the receiving hole for unlocking the underwater equipment lifting shaft mushroom head (15).
2. The underwater equipment lifting device of claim 1, wherein the locking module (6) comprises a locking tooth (601), a center pin shaft (602), a center shaft sleeve (603) and a torsion spring, a third through hole (609) for accommodating the center pin shaft (602) is formed in the locking tooth (601), the center shaft sleeve (603) is sleeved outside the center pin shaft (602), two ends of the center pin shaft (602) are fixed on the hole wall of the first through hole or the second through hole, and the torsion spring is sleeved on the part, exposed outside the third through hole (609), of the center pin shaft (602) and used for assisting in achieving an automatic locking function of the locking tooth (601).
3. Subsea equipment lifting device according to claim 2, characterized in that the locking module (6) further comprises a thrust washer (606), which thrust washer (606) is looped around the torsion spring to reduce friction when the locking teeth (601) are rotated.
4. The subsea equipment lifting device according to claim 2, characterized in that the locking teeth (601) are cam-shaped, and the locking teeth (601) are provided with an arc surface (608) adapted to the subsea equipment lifting shaft mushroom (15).
5. The subsea equipment lifting device according to claim 1, characterized in that the unlocking module (5) comprises a sliding bolt (503), a compression spring (505) and a sliding rod (506), the sliding bolt (503) is connected with the first device body (1) and the second device body (2) through a connecting part, the compression spring (505) is sleeved on the sliding rod (506), and the sliding bolts (503) are slidably arranged on the sliding rod (506) and located at two ends of the compression spring (505).
6. The underwater equipment lifting device according to claim 5, wherein the connecting component comprises a housing (501) and a limiting block (502) assembled on the housing (501), a fifth through hole (514) for accommodating the sliding bolt (503) to pass through is formed in the housing (501), the sliding bolt (503) is of a plate-shaped structure, a protrusion (512) is formed on the sliding bolt, a limiting groove (511) matched with the protrusion (512) is formed in the limiting block (502), the protrusion (512) penetrates through the fifth through hole (514) and the limiting groove (511) and is clamped on the grooves of the first device body (1) and the second device body (2), and the sliding rod (506) is tightly connected with the housing (501).
7. Underwater equipment lifting device according to claim 6, wherein the unlocking module (5) further comprises a shoulder bush (504) and a washer (507), the sliding rod (506) is sleeved on the compression spring, and then the two ends are sleeved on the washer (507) and the shoulder bush (504) in turn and then fastened on the housing (501).
8. Subsea equipment lifting device according to claim 1, characterized in that the top of the first device body (1) and the second device body (2) is equipped with a shackle (4) for being lifted by a lifting lock.
9. Subsea equipment lifting device according to claim 1, characterized in that the first device body (1) is equipped with a ROV grab handle (3) and the second device body (2) is equipped with an unlocking module safety line (11).
10. A method of operating a subsea equipment lift arrangement according to any of claims 1-9, comprising:
and (3) locking process: hoisting the underwater equipment lifting device to the position above the underwater equipment lifting shaft mushroom head (15) by using a hoisting lock, then lowering the underwater equipment lifting device, gradually inserting the underwater equipment lifting shaft mushroom head (15) into a cavity of the underwater equipment lifting device, then ejecting the locking teeth (601), and after a certain position is exceeded, automatically rebounding the locking teeth (601) under the operation of the torsion spring so as to realize locking;
an unlocking process: first ROV manipulator centre gripping ROV grab handle (3), the compression of second ROV manipulator slip bolt (503), treat slip bolt (503) the at utmost after compressing, first ROV manipulator to the opposite side translation of unblock module (5), then promote underwater equipment hoisting device alright with realize the unblock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148551.9A CN113815790A (en) | 2021-09-28 | 2021-09-28 | Underwater equipment lifting device and method based on ROV operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148551.9A CN113815790A (en) | 2021-09-28 | 2021-09-28 | Underwater equipment lifting device and method based on ROV operation |
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| CN113815790A true CN113815790A (en) | 2021-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111148551.9A Pending CN113815790A (en) | 2021-09-28 | 2021-09-28 | Underwater equipment lifting device and method based on ROV operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106507748B (en) * | 2008-10-31 | 2013-03-13 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered submersible water surface lays retracting device |
| CN203127998U (en) * | 2013-03-25 | 2013-08-14 | 深圳市德润青华水下工程科技股份有限公司 | Automatic hook-unhook tube structure for hoisting and releasing underwater robot |
| KR20140005097U (en) * | 2013-03-18 | 2014-09-26 | 임일태 | Camera Lens Cap |
| CN106347608A (en) * | 2016-10-20 | 2017-01-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | ROV underwater docking and retracting/deploying device |
| CN211167302U (en) * | 2019-10-31 | 2020-08-04 | 南风(上海)海洋工程技术有限公司 | ROV (remote operated vehicle) distribution locking device |
| CN113401289A (en) * | 2021-08-10 | 2021-09-17 | 湖南哈工楚帆智能科技有限公司 | Underwater robot hoisting and recovering system and hoisting and recovering method |
-
2021
- 2021-09-28 CN CN202111148551.9A patent/CN113815790A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106507748B (en) * | 2008-10-31 | 2013-03-13 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered submersible water surface lays retracting device |
| KR20140005097U (en) * | 2013-03-18 | 2014-09-26 | 임일태 | Camera Lens Cap |
| CN203127998U (en) * | 2013-03-25 | 2013-08-14 | 深圳市德润青华水下工程科技股份有限公司 | Automatic hook-unhook tube structure for hoisting and releasing underwater robot |
| CN106347608A (en) * | 2016-10-20 | 2017-01-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | ROV underwater docking and retracting/deploying device |
| CN211167302U (en) * | 2019-10-31 | 2020-08-04 | 南风(上海)海洋工程技术有限公司 | ROV (remote operated vehicle) distribution locking device |
| CN113401289A (en) * | 2021-08-10 | 2021-09-17 | 湖南哈工楚帆智能科技有限公司 | Underwater robot hoisting and recovering system and hoisting and recovering method |
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