CN114086925B - Electro-hydraulic composite underwater control device for shallow water environment - Google Patents
Electro-hydraulic composite underwater control device for shallow water environment Download PDFInfo
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- CN114086925B CN114086925B CN202111337504.9A CN202111337504A CN114086925B CN 114086925 B CN114086925 B CN 114086925B CN 202111337504 A CN202111337504 A CN 202111337504A CN 114086925 B CN114086925 B CN 114086925B
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- butt joint
- shell
- sem
- locking mechanism
- hydraulic
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 19
- 239000002131 composite material Substances 0.000 title claims description 13
- 210000001503 joint Anatomy 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000013307 optical fiber Substances 0.000 claims abstract description 5
- 238000003032 molecular docking Methods 0.000 claims description 24
- 238000007789 sealing Methods 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 2
- 239000000306 component Substances 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000011161 development Methods 0.000 description 5
- -1 regions Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000012452 mother liquor Substances 0.000 description 3
- 229920002545 silicone oil Polymers 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/12—Methods or apparatus for controlling the flow of the obtained fluid to or in wells
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/02—Couplings; joints
- E21B17/028—Electrical or electro-magnetic connections
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Connector Housings Or Holding Contact Members (AREA)
Abstract
The invention relates to an electrohydraulic combined type underwater control device in a shallow water environment, which is characterized by comprising a shell, an SCM main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a support frame and an SEM cylinder; the hydraulic system and the supporting frame are arranged in the shell; two SEM cylinders are arranged on the supporting frame, through holes for the electric connectors to extend in are formed in the bottoms of the two SEM cylinders, and an electric connector and an optical fiber connector are arranged at the top of each SEM cylinder; a plurality of ROV interfaces are arranged at intervals at the top of the shell, and the first butt joint locking mechanism is arranged at the bottom of the shell; the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the second butt joint locking mechanism matched with the first butt joint locking mechanism is arranged on the first butt joint disc.
Description
Technical Field
The invention relates to an electrohydraulic composite underwater control device in a shallow water environment, belonging to the field of offshore oil engineering.
Background
In the exploration and development process of the ocean oil and gas field, the operations of petroleum yield control, separation treatment, transportation and the like are all completed through an underwater production system, and are all controlled through an underwater control system. The underwater control module is one of control core components of the underwater production system, adopts a modularized design, is integrally installed, and can be recycled and reused. The underwater control module receives control instructions sent by the water surface, controls and monitors the underwater production system, and the connection between the underwater control module and the umbilical cable and the underwater production system actuator is realized through a hydraulic connector and an electric connector.
The sea oil gas reserves are abundant, the exploitation of the sea oil gas is developed for a long time, the exploitation mode is continuously perfect, but the world-wide view of the sea oil gas exploitation and the autonomous exploitation of the sea oil gas are truly provided, and the manufacturers of the sea oil gas exploitation and the autonomous exploitation of the sea oil gas are mostly concentrated in developed countries such as Europe, the United states and the like in terms of underwater production systems. The underwater control system is subjected to development change from a full hydraulic type underwater control system to an electrohydraulic composite type underwater control system to an all-electric type underwater control system, and the electrohydraulic composite type underwater control system still dominates in the exploitation of offshore oil.
The development and the development of the underwater production system in China still belong to a starting stage, and related methods are not mature enough, so that the research design of an underwater production System Control Module (SCM) is greatly significant for improving the development capability of the ocean oil and gas field. The ocean oil and gas exploration production of China is mostly concentrated in shallow sea areas such as Bohai sea, east sea and south sea, various exploitation devices are dependent on import, the existing underwater control modules are mostly suitable for deep sea areas, various used elements have high requirements, the manufacturing cost is high, the underwater control modules suitable for shallow sea areas are relatively deficient, and most of the underwater control modules in the prior art are assisted by underwater remote control robots in the installation process.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the electro-hydraulic composite underwater control device for the shallow water environment, which has low cost and does not need the assistance of an underwater remote control robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the electro-hydraulic combined type underwater control device for the shallow water environment comprises a shell, an SCM main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a support frame and an SEM cylinder;
The hydraulic system and the supporting frame are arranged in the shell; two SEM cylinders are arranged on the supporting frame, through holes for the electric connectors to extend in are formed in the bottoms of the two SEM cylinders, and an electric connector and an optical fiber connector are arranged at the top of each SEM cylinder; a plurality of ROV interfaces are arranged at intervals at the top of the shell, and the first butt joint locking mechanism is arranged at the bottom of the shell;
the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the second butt joint locking mechanism matched with the first butt joint locking mechanism for use is arranged on the first butt joint disc.
Preferably, the first butt locking mechanism comprises a locking shaft, a main shaft sleeve, a locking block, a female hydraulic joint, a female electric joint and a guide pin;
The locking shaft is fixedly arranged at the center of the bottom of the shell, the spindle sleeve is sleeved on the outer side of the locking shaft, and the locking block is arranged on the spindle sleeve; the mother liquid pressure joint and the mother electric joint are respectively and fixedly arranged on two sides of the bottom of the shell, and the guide pin is further arranged on one side of the bottom of the shell.
Preferably, the second butt locking mechanism comprises a positioning sleeve, a positioning ring, a male hydraulic connector, a male electric connector and a positioning hole;
The positioning sleeve used for being matched with the main shaft sleeve is fixedly arranged at the center of the first butt joint disc, and the positioning ring used for being matched with the locking block is arranged in the positioning sleeve; the male hydraulic connector and the male electric connector are respectively and fixedly arranged at two sides of the first pair of connecting discs and are used for being matched with the corresponding female hydraulic connector and female electric connector; one side of the first butt joint disc is also provided with a positioning hole used for being matched with the guide pin.
Preferably, the top of the hydraulic system is sleeved with a sealing shell, an opening for the supporting frame to pass through is formed in the top of the sealing shell, and a through hole for the electric connector to extend in is formed in the top of the sealing shell.
Preferably, the housing comprises a second docking tray, a protective cover and a top plate;
The second butt joint dish fixed connection the bottom of safety cover, the top fixed connection of safety cover the roof.
Preferably, the support frame comprises a support rod and a support plate;
The bottom of branch is fixed to be set up the top center of second butt joint dish, the outside parallel interval setting of branch overlaps and is equipped with a plurality of the mounting panel, every the opening that is used for the card to establish the SEM barrel is all seted up to the both sides of mounting panel.
Preferably, the two sides of each support plate are provided with a clip for fixing the SEM cylinder corresponding to the position of the opening.
Preferably, a boss for placing the SEM cylinder is arranged on the top of the sealing shell.
Preferably, a hanging ring is further arranged at the top center of the shell.
Preferably, both sides of the first docking plate are also respectively provided with a limiting screw rod for supporting the SCM main body.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. The invention is provided with the first butt joint locking mechanism and the second butt joint locking mechanism, so that the hydraulic joint and the electric joint on the underwater equipment where the shell and the first butt joint disc are positioned can be butted in a rapid and automatic butt joint mode, the butt joint locking mechanism locks in a guide pin and locking block mode, and the SCM has the characteristics of simple structure, accurate positioning and high reliability, and the butt joint locking is operated by a diver, so that the SCM can be installed without an ROV.
2. Because the shallow water environment pressure is relatively small, the hydraulic system is provided with the sealing shell to cover partial elements of the hydraulic system, such as the electro-hydraulic reversing valve, the pressure sensor and the like, so that the components are prevented from being immersed in the silicone oil, and meanwhile, the pressure caused by the water depth is not born, so that the hydraulic system can select corresponding common hydraulic elements, the cost is greatly reduced, meanwhile, other structures are simplified, and the hydraulic system is suitable for the exploitation working environment of the ocean shallow water oil and gas field.
3. According to the invention, the boss is arranged on the sealing shell, the SEM cylinder is arranged on the boss of the sealing shell, the through holes for the electric connectors to extend in are formed in the corresponding positions of the sealing shell and the SEM cylinder, and the transmission lines such as the electric connection wires of the components such as the electro-hydraulic reversing valve in the sealing shell and the like can be connected through the through holes, so that the number of connectors outside the SCM can be reduced, and the sealing shell can be widely applied to the field of offshore oil engineering.
Drawings
FIG. 1 is a schematic view of the structure of one side of the underwater control device of the present invention;
FIG. 2 is a schematic view of the structure of the other side of the underwater control device of the present invention;
FIG. 3 is a schematic view of the underside of the subsea control device of the present invention;
FIG. 4 is a schematic top side view of the subsea control device of the present invention;
FIG. 5 is a partial cross-sectional view of the main body of the subsea control device of the present invention;
FIG. 6 is a schematic view of a portion of the structure of the underwater control device of the present invention;
FIG. 7 is a schematic view of a seal housing arrangement of the subsea control device of the present invention;
FIG. 8 is a top view of FIG. 7;
fig. 9 is a schematic view of the structure of the docking and locking mechanism of the underwater control device of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "upper," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The shallow water environment electrohydraulic composite type underwater control device is suitable for the exploitation working environment of the ocean shallow water oil and gas field, and because the shallow water environment pressure is relatively small, a sealing shell can be used for covering partial elements of a hydraulic system, such as an electrohydraulic reversing valve, a pressure sensor and the like, so that the hydraulic system is prevented from being immersed in silicone oil, and therefore, the hydraulic system selects corresponding common hydraulic elements, can greatly reduce cost, and has a simplified effect on other structures.
As shown in fig. 1 and 3, the electro-hydraulic composite underwater control device for a shallow water environment provided by the invention comprises a shell 1, an SCM (underwater control module) main body 2, a first docking tray 3, a first docking locking mechanism 4, a second docking locking mechanism 5 and a limit screw 6, wherein the SCM main body 2 comprises a hydraulic system 21, a support frame 22, a seal shell 23, an SEM cylinder 24, an electric connector 25 and an optical fiber connector 26.
As shown in fig. 1,2, 4 and 5, a hydraulic system 21 and a supporting frame 22 are arranged in a housing 1, a sealing shell 23 is sleeved on the top of the hydraulic system 21, the sealing shell 23 is used for sealing parts such as an electrohydraulic reversing valve 211 and a pressure sensor of the hydraulic system 21, and an opening for the supporting frame 22 to pass through is formed in the top of the sealing shell 23. Two SEM cylinders 24 are arranged on the support frame 22, and through holes for the electric connector 7 to extend in are formed in the top of the sealing shell 23 and the bottom of the two SEM cylinders 24. The top of each SEM cylinder 24 is provided with an electrical connector 25 and an optical fiber connector 26. A plurality of ROV interfaces 11 are arranged at intervals on the top of the shell 1, a hanging ring 12 is arranged in the center of the top of the shell 1, and a first butt joint locking mechanism 4 is arranged at the bottom of the shell 1.
As shown in fig. 3,4 and 9, the first docking plate 3 is fixedly provided on the underwater equipment. Corresponding to the bottom of the shell 1, the first docking tray 3 is provided with a second docking locking mechanism 5 for cooperating with the first docking locking mechanism 4. The two sides of the first docking plate 3 are also respectively provided with a limit screw 6 for supporting the SCM body 2 after the SCM body 2 reaches a predetermined position.
In a preferred embodiment, the housing 1 comprises a second docking plate 13, a protective cover 14 and a top plate 15, wherein the protective cover 14 is of cylindrical construction. The second butt joint dish 13 passes through the bottom of circular ring flange fixed connection safety cover 14, and the top fixed connection roof 15 of safety cover 14.
In a preferred embodiment, as shown in fig. 6, the support 22 includes a strut 221 and a support plate 222. The bottom of branch 221 passes through flange and bolt fastening setting at the top center of second butt joint dish 13, and the outside parallel interval setting of branch 221 is overlapped and is equipped with a plurality of mounting plates 222, and arc opening has all been seted up to the both sides of each mounting plate 222 for establish SEM barrel 24. Corresponding to the position of the arc-shaped opening, two sides of each support plate 222 are provided with clips for fixing the SEM cylinder 24 in the circumferential direction.
In a preferred embodiment, as shown in fig. 7 and 8, the top of the seal housing 23 is provided with a boss for placing the SEM cylinder 24, wherein the shape of the seal housing 23 is determined according to the structure of the hydraulic system 21.
In a preferred embodiment, as shown in fig. 1,2, 3 and 9, the first docking locking mechanism 4 includes a locking shaft 41, a spindle sleeve 42, a locking block 43, a mother liquor crimp head 44, a mother electrical connector 45 and a guide pin 46. The locking shaft 41 is fixedly arranged at the center of the bottom of the shell 1, a main shaft sleeve 42 is sleeved outside the locking shaft 41, and a locking block 43 is arranged on the main shaft sleeve 42. The female hydraulic connector 44 and the female electric connector 45 are fixedly arranged at two sides of the bottom of the housing 1, and a guide pin 46 is arranged at one side of the bottom of the housing 1.
In a preferred embodiment, as shown in fig. 1, 2, 3 and 9, the second docking and locking mechanism 5 includes a positioning sleeve 51, a positioning ring 52, a male hydraulic connector 53, a male electrical connector 54 and a positioning hole. The positioning sleeve 51 is fixedly arranged at the center of the first butt joint disc 3, a positioning ring 52 is arranged in the positioning sleeve 51, the positioning sleeve 51 is used for being matched with the main shaft sleeve 42, and the positioning ring 52 is used for being matched with the locking block 43. The male hydraulic connector 53 and the male electric connector 54 are fixedly arranged on both sides of the first docking plate 3, respectively, for cooperation with the corresponding female hydraulic connector 44 and female electric connector 45. One side of the first docking plate 3 is also provided with a locating hole for cooperating with the guide pin 46.
The installation process of the electro-hydraulic composite underwater control device in the shallow water environment is described in detail by a specific embodiment:
1) A first docking plate 3 is mounted on the underwater equipment.
2) The hydraulic system 21 is mounted on top of the second docking plate 13.
3) The seal housing 23 is attached to the second docking plate 13 by a fastener such as a bolt, and a part of the components of the hydraulic system 21 is sleeved, and the components sealed therein are not in contact with the silicone oil.
4) The support frame 22 is mounted at the top center of the second docking plate 13 by a flange and bolts, and at the same time, the SEM cylinder 24 is mounted at a proper position of the support frame 22 such that the bottom through hole of the SEM cylinder 24 corresponds to the top through hole of the seal housing 23.
5) The protection cover 14 is fixedly arranged on the second butt joint disc 13 through a circular flange plate, a top plate 15 is arranged on the top of the protection cover 14, and the hanging ring 12 and the plurality of ROV interfaces 11 are arranged on the top plate 15.
6) When the SCM main body 2 needs to be installed and docked with the first docking plate 3, the guiding and positioning of the SCM main body 2 and the first docking plate 3 are realized through the matching of the guiding pins 46, the positioning holes, the main shaft sleeve 42 and the positioning sleeve 51, the mother liquor crimping head 44 and the mother liquor electric joint 45 which are positioned at the bottom of the SCM main body 2 are automatically and quickly connected with the male hydraulic joint 53 and the male electric joint 54 which are positioned on the first docking plate 3, after the SCM main body 2 reaches a preset position, the limiting screw rod 6 supports the SCM main body 2, and meanwhile, a diver pushes the locking shaft 41 to axially move, so that the locking block 43 and the positioning ring 52 are matched to realize locking.
The foregoing embodiments are only for illustrating the present invention, wherein the structures, connection modes, manufacturing processes, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solutions of the present invention should not be excluded from the protection scope of the present invention.
Claims (4)
1. The electro-hydraulic composite underwater control device for the shallow water environment is characterized by comprising a shell, an SCM main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a support frame and an SEM cylinder;
The hydraulic system and the supporting frame are arranged in the shell; two SEM cylinders are arranged on the supporting frame, through holes for the electric connectors to extend in are formed in the bottoms of the two SEM cylinders, and an electric connector and an optical fiber connector are arranged at the top of each SEM cylinder; a plurality of ROV interfaces are arranged at intervals at the top of the shell, and the first butt joint locking mechanism is arranged at the bottom of the shell;
the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the second butt joint locking mechanism used for being matched with the first butt joint locking mechanism is arranged on the first butt joint disc;
The top of the hydraulic system is sleeved with a sealing shell, the top of the sealing shell is provided with an opening for the supporting frame to pass through, and the top of the sealing shell is provided with a through hole for the electric connector to extend in; a boss for placing the SEM cylinder is arranged at the top of the sealing shell;
The shell comprises a second butt joint disc, a protective cover and a top plate;
The second butt joint disc is fixedly connected with the bottom of the protective cover, and the top of the protective cover is fixedly connected with the top plate;
The support frame comprises a support rod and a support plate;
The bottom of the supporting rod is fixedly arranged at the center of the top of the second butt joint disc, a plurality of supporting plates are sleeved at intervals in parallel on the outer side of the supporting rod, and openings for clamping the SEM cylinder are formed in two sides of each supporting plate;
the two sides of each supporting plate are provided with a clamp for fixing the SEM cylinder body corresponding to the position of the opening;
and a hanging ring is further arranged in the center of the top of the shell.
2. The electro-hydraulic composite underwater control device in a shallow water environment according to claim 1, wherein the first butt locking mechanism comprises a locking shaft, a main shaft sleeve, a locking block, a female hydraulic joint, a female electric joint and a guide pin;
The locking shaft is fixedly arranged at the center of the bottom of the shell, the spindle sleeve is sleeved on the outer side of the locking shaft, and the locking block is arranged on the spindle sleeve; the mother liquid pressure joint and the mother electric joint are respectively and fixedly arranged on two sides of the bottom of the shell, and the guide pin is further arranged on one side of the bottom of the shell.
3. The electro-hydraulic composite underwater control device in a shallow water environment as claimed in claim 2, wherein the second butt locking mechanism comprises a positioning sleeve, a positioning ring, a male hydraulic connector, a male electric connector and a positioning hole;
The positioning sleeve used for being matched with the main shaft sleeve is fixedly arranged at the center of the first butt joint disc, and the positioning ring used for being matched with the locking block is arranged in the positioning sleeve; the male hydraulic connector and the male electric connector are respectively and fixedly arranged at two sides of the first pair of connecting discs and are used for being matched with the corresponding female hydraulic connector and female electric connector; one side of the first butt joint disc is also provided with a positioning hole used for being matched with the guide pin.
4. A shallow water environment electrohydraulic composite type underwater control device according to any one of claims 1 to 3, wherein both sides of said first docking plate are further provided with limit screws for supporting said SCM main body, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111337504.9A CN114086925B (en) | 2021-11-09 | 2021-11-09 | Electro-hydraulic composite underwater control device for shallow water environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111337504.9A CN114086925B (en) | 2021-11-09 | 2021-11-09 | Electro-hydraulic composite underwater control device for shallow water environment |
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| CN114086925A CN114086925A (en) | 2022-02-25 |
| CN114086925B true CN114086925B (en) | 2024-05-24 |
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| CN202111337504.9A Active CN114086925B (en) | 2021-11-09 | 2021-11-09 | Electro-hydraulic composite underwater control device for shallow water environment |
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| CN115118657B (en) * | 2022-06-17 | 2024-01-30 | 中海石油(中国)有限公司 | Routing module for seabed oil and gas operation |
| CN114991718B (en) * | 2022-06-17 | 2023-02-07 | 中海石油(中国)有限公司 | Routing module operating system for seabed oil and gas operation |
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