CN115009428B - Autonomous anchoring robot for submarine stratum - Google Patents
Autonomous anchoring robot for submarine stratum Download PDFInfo
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- CN115009428B CN115009428B CN202210806267.4A CN202210806267A CN115009428B CN 115009428 B CN115009428 B CN 115009428B CN 202210806267 A CN202210806267 A CN 202210806267A CN 115009428 B CN115009428 B CN 115009428B
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- sliding block
- motor
- wedge
- outer cylinder
- arc
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an autonomous anchoring robot for a submarine stratum, which comprises a drilling mechanism, a driving mechanism, a buoyancy mechanism, a wedge-shaped supporting mechanism, an electromagnetic control mechanism and a transmission mechanism, wherein the anchoring robot can realize functions of laying, drilling, anchoring, withdrawing and the like. The anchoring robot has small volume and light weight, a driving mechanism is arranged in the anchoring robot, the anchoring robot does not need to be pushed or thrown into a submarine stratum by the outside, the buoyancy mechanism can ensure that a submarine anchor vertically falls to the bottom after being thrown out, a self-propelled drill bit can drill into the submarine stratum, and the self-propelled drill bit can be reversely drilled after the action is completed so as to realize recovery and reuse; the electromagnetic control mechanism is used for realizing flexible switching of the drilling state and the supporting state of the anchoring robot, and switching control of two operation modes is realized through one driving mechanism and one electromagnetic control mechanism, so that four functions of drilling, anchoring, anchor receiving and drilling recovery are realized; the wedge-shaped supporting mechanism is beneficial to the fixation and stabilization of the anchoring robot on the submarine stratum.
Description
Technical Field
The invention relates to the technical field of anchoring devices, in particular to an autonomous anchoring robot for a submarine stratum.
Background
Humans have developed a number of important strategic resources in the vast deep sea that are of great significance to human social development. In recent years, for the detection and development of these resources, many research teams have developed a large number of multifunctional marine equipment, such as seabed mobile platforms, seabed robotic base stations, etc., deployed to the deep sea. The equipment has multiple functions and wide application scenes, and can execute long-term monitoring tasks in deep sea in most cases, so that the hovering function of the equipment is particularly important, and the hovering function of the single-dependent equipment cannot meet the technical requirements of operation. Thus, there is a need to integrate deployment of a subsea strata autonomous anchoring robot on these devices.
Disclosure of Invention
The invention aims to provide an autonomous anchoring robot for a submarine stratum, which solves the problems in the prior art, wherein the robot is arranged to be inserted into the stratum when equipment hovers, and is retracted when the equipment moves; the anchoring robot can reduce the impact movement of the submarine water flow to the equipment, and the auxiliary equipment realizes long-term hovering of the seabed.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a submarine stratum autonomous anchoring robot, which comprises
The drilling mechanism comprises a self-propelled drill bit, and the tail part of the self-propelled drill bit is connected with the outer side of the front end of the arc-shaped supporting shell;
the driving mechanism comprises a motor fixing bracket, a motor and a harmonic reducer, wherein the top of the motor fixing bracket is connected with the inner wall of the top end of the arc-shaped supporting shell, and the lower part of the motor fixing bracket is connected with the motor; the motor is coaxially connected with the harmonic reducer; the driving mechanism is used for driving the arc-shaped supporting shell to rotate so as to drive the self-propelled drill bit to rotate;
the buoyancy mechanism comprises a buoyancy block, and the lower end of the buoyancy block is connected with the outside of the top end of the arc-shaped supporting shell;
the transmission mechanism comprises a sliding block outer cylinder and a motor worm, the motor worm is in transmission connection with a motor and a harmonic reducer, the lower part of the sliding block outer cylinder is of an internal thread structure, the internal thread structure of the sliding block outer cylinder is in matched connection with the motor worm, and the sliding block outer cylinder is connected with an internal inclined surface of a wedge block;
the electromagnetic control mechanism comprises an electromagnetic locking device, and the electromagnetic locking device realizes upward movement or idling of the sliding block outer cylinder by controlling the sliding block to be clamped into or ejected out of the sliding block outer cylinder;
the wedge supporting mechanism comprises a plurality of wedge blocks, the wedge blocks and the arc supporting shells are arranged at intervals along the circumferential direction, the upper ends of the wedge blocks are slidably mounted in the tail end flange sliding grooves of the arc supporting shells, the lower ends of the wedge blocks are slidably mounted in the front end flange sliding grooves of the arc supporting shells, the inner inclined surfaces of the wedge blocks are slidably connected with the tops of the outer cylinders of the sliding blocks through tooth grooves, and the wedge blocks extend out of or retract into the outer walls of the arc supporting shells.
In one embodiment, the surface of the self-propelled drill bit has equidistant helical blades.
In one embodiment, the buoyancy block is a cylindrical buoyancy block.
In one embodiment, the sliding block is a hollow circular sliding block, and the connecting shaft of the motor penetrates through the hollow circular ring of the sliding block.
In one embodiment, the arc-shaped supporting shell is an outer cylinder of the anchoring robot, and the wedge-shaped block and the arc-shaped supporting shell are in mutual extrusion sealing fit.
In one embodiment, the initial state of the anchoring robot is a traveling mode, the electromagnetic locking device is in a power-off state, the motor of the driving mechanism rotates positively to drive the motor worm to rotate, the outer cylinder of the sliding block idles, and the rotation of the motor worm drives the self-propelled drill bit to rotate.
In one embodiment, when the anchoring robot is converted from a traveling mode to a supporting mode, the electromagnetic locking device is electrified, the sliding block of the electromagnetic locking device is clamped into the matching groove at the top of the sliding block outer cylinder, the motor of the driving mechanism reverses and drives the motor worm to rotate, the motor worm drives the sliding block outer cylinder to move upwards, the wedge block is propped against the top of the sliding block outer cylinder, and the wedge block horizontally slides and props the arc-shaped supporting shell to the side face.
In one embodiment, when the anchoring robot is converted from the supporting mode to the advancing mode, the electromagnetic locking device is in a power-off state, the motor of the driving mechanism is rotated positively to drive the motor worm to rotate, the sliding block outer cylinder moves downwards under the combined action of the motor worm and the lower thread of the sliding block outer cylinder, and the wedge block and the arc-shaped supporting shell are retracted into the arc-shaped supporting shell.
Compared with the prior art, the invention has the following beneficial technical effects:
the autonomous anchoring robot for the submarine stratum comprises a drilling mechanism, a driving mechanism, a buoyancy mechanism, a wedge-shaped supporting mechanism, an electromagnetic control mechanism and a transmission mechanism, and can realize functions of laying, drilling, anchoring, withdrawing and the like. The anchoring robot has small volume and light weight, a driving mechanism is arranged in the anchoring robot, the anchoring robot does not need to be pushed by the outside or is thrown and loaded into a submarine stratum at a higher distance from the ground of the seabed, the buoyancy mechanism can ensure that the submarine anchor vertically falls to the bottom after being thrown out, the self-propelled drill bit can drill into the submarine stratum, and the self-propelled drill bit can be reversely drilled after the action is completed to realize recovery and reuse; the electromagnetic control mechanism is used for realizing flexible switching of the drilling state and the supporting state of the anchoring robot, and switching control of two operation modes is realized through one driving mechanism and one electromagnetic control mechanism, so that four functions of drilling, anchoring, anchor receiving and drilling recovery are realized; the wedge-shaped supporting mechanism is beneficial to the fixation and stabilization of the anchoring robot on the submarine stratum. The autonomous anchoring robot for the submarine stratum has strong portability, can be loaded in various underwater robots, and has wide application scenes in a plurality of fields such as ocean engineering, ocean technology, ocean science and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of an autonomous anchoring robot for a submarine stratum according to an embodiment of the present invention;
FIG. 2 is a top view of a travel pattern of a autonomous anchoring robot for a subsea formation in an embodiment of the present invention;
FIG. 3 is a schematic top view of a support mode of a autonomous anchoring robot for a subsea strata in accordance with an embodiment of the invention;
FIG. 4 is a schematic view of an auxiliary deployment stand of an autonomous anchoring robot for a subsea strata in an embodiment of the present invention;
wherein, 1-buoyancy block; 2-wedge blocks; 3-a motor fixing bracket; 4-an arc-shaped support shell; 5-an electromagnetic locking device; 6-a motor and a harmonic reducer; 7-a slide block outer cylinder; 8-a motor worm; 9-self-propelled drill; 10-a tail end flange; 11 front end flange.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an autonomous anchoring robot for a submarine stratum, which solves the problems in the prior art, wherein the robot is arranged to be inserted into the stratum when equipment hovers, and is retracted when the equipment moves; the anchoring robot can reduce the impact movement of the submarine water flow to the equipment, and the auxiliary equipment realizes long-term hovering of the seabed.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in FIGS. 1-4, the present invention provides a submarine strata autonomous anchoring robot comprising
The drilling mechanism comprises a self-propelled drill bit 9, and the tail part of the self-propelled drill bit 9 is connected with a motor worm 8 of the arc-shaped supporting shell 4 penetrating through a front end flange 11;
the driving mechanism comprises a motor fixing bracket 3, a motor and a harmonic reducer 6, wherein the top of the motor fixing bracket 3 is connected with the inner wall of the top end of the arc-shaped supporting shell 4, and the lower part of the motor fixing bracket 3 is connected with the motor; the motor is coaxially connected with the harmonic reducer; the driving mechanism is used for driving the arc-shaped supporting shell 4 to rotate so as to drive the self-propelled drill bit 9 to rotate, so that the anchoring robot can enter the sea stratum through drilling; the motor and the harmonic reducer 6 are packaged in a pressure-resistant sealed cabin, the tail of the pressure-resistant sealed cabin is powered by a watertight plug, and the front end of the pressure-resistant sealed cabin is an output shaft of the motor.
The buoyancy mechanism comprises a buoyancy block 1, and the lower end of the buoyancy block 1 is connected with a tail end flange 10;
the transmission mechanism comprises a sliding block outer cylinder 7 and a motor worm 8, the motor worm 8 is in transmission connection with the motor and the harmonic reducer 6, the lower part of the sliding block outer cylinder 7 is of an internal thread structure, the internal thread structure of the sliding block outer cylinder 7 is in matched connection with the motor worm 8, and the sliding block outer cylinder 7 is connected with the inner inclined surface of the wedge block 2;
the electromagnetic control mechanism comprises an electromagnetic locking device 5, and the electromagnetic locking device 5 controls the sliding block to be clamped into or ejected out of the sliding block outer cylinder 7 to realize upward movement or idle rotation of the sliding block outer cylinder 7;
the wedge supporting mechanism comprises a plurality of wedge blocks 2 and arc supporting shells 4, the wedge blocks 2 and the arc supporting shells 4 are arranged at intervals along the circumferential direction, the upper ends of the wedge blocks 2 and the arc supporting shells 4 are installed in a chute of a tail end flange 10 and can slide relatively, the lower ends of the wedge blocks are installed in a chute of a front end flange 11 and can slide relatively, the inner inclined surfaces of the wedge blocks 2 are connected with the tops of sliding block outer cylinders 7 through tooth grooves, and can slide relatively, and the wedge blocks 2 extend or retract to prop open or retract the arc supporting shells 4.
In one embodiment, the surface of the self-propelled drill bit 9 has equidistant helical blades that can drain mud, reduce the front drag during formation drilling and provide drilling power.
In one embodiment, the buoyancy block 1 is a cylindrical buoyancy block, and the vertical bottom falling posture of the anchoring robot is automatically adjusted through the buoyancy block 1 after the anchoring robot is thrown out by the AUV.
In one embodiment, the slide block is a hollow circular slide block, and the connecting shaft of the motor penetrates through the hollow circular ring of the slide block. When the electromagnetic locking device 5 is electrified, the circular ring-shaped sliding block is clamped into the sliding block outer cylinder 7, and when the electromagnetic locking device 5 is powered off, the circular ring-shaped sliding block is ejected from the sliding block outer cylinder 7 to restore the original shape.
In one embodiment, the arc-shaped supporting shell 4 is an outer cylinder of the anchoring robot, and the wedge block 2 and the arc-shaped supporting shell 4 are in mutual extrusion sealing fit.
In a further embodiment, the wedge-shaped support mechanism is constituted in particular by three wedge-shaped blocks 2. When the three wedges 2 are retracted, the anchoring robot is in "travelling mode", as in fig. 2; when the three wedges are deployed, the anchor robot is in "support mode", as in fig. 3.
The conversion among the walking mode, the supporting mode and the modes of the anchoring robot is realized by the cooperation of a plurality of mechanisms of the anchoring robot, and the method is concretely as follows:
the initial state of the anchoring robot is a running mode, the electromagnetic control mechanism is in a power-off state, the motor of the driving mechanism rotates positively, the motor worm 8 is driven to rotate, the sliding block outer cylinder 7 idles, and the rotation of the motor worm 8 drives the self-propelled drill bit 9 to rotate so as to realize the task target of drilling running in the submarine stratum.
When the anchoring robot is converted into a supporting mode from a traveling mode, the electromagnetic control mechanism is electrified, at the moment, the electromagnetic locking device 5 is clamped into the sliding block outer cylinder 7, the motor of the driving mechanism is reversed to drive the motor worm 8 to rotate, under the combined action of the motor worm 8 and the lower part of the sliding block outer cylinder 7, the sliding block outer cylinder 7 moves upwards to jack up the wedge block 2, and the wedge block 2 horizontally slides to prop open the arc-shaped supporting shell 4, so that the conversion of the supporting mode is completed.
When the anchoring robot is converted from the supporting mode to the advancing mode, the motor rotates positively to drive the motor worm 8 to rotate, the sliding block outer cylinder 7 moves downwards under the combined action of the motor worm 8 and the lower part of the sliding block outer cylinder 7 in a threaded fit mode, and the wedge block 2 and the arc-shaped supporting shell 4 are retracted. Then the electromagnetic control mechanism is powered off, and the electromagnetic locking device 5 is ejected from the sliding block outer cylinder 7, so that the conversion of the travelling mode is completed.
The laying flow of the autonomous anchoring robot for the submarine stratum in the invention is as follows:
step one, the underwater robot hovers to start to lay the autonomous anchoring robot for the submarine strata, as shown in fig. 4, before laying the anchoring robot, the auxiliary laying bracket is released to the target anchoring point, and the anchoring robot is vertically inserted into the submarine strata by means of the auxiliary laying bracket and self-weight and buoyancy block correction.
Step two, the electromagnetic control mechanism is powered off in an initial state, the anchoring robot is in a running mode, and the anchoring robot drills into the submarine stratum under the driving of the forward rotation of the motor;
and thirdly, when the anchoring device drills to a set depth, the electromagnetic control mechanism is electrified to lock the sliding block outer cylinder 7, and the anchoring robot is converted into a supporting mode. Under the drive of motor reversal, the wedge block 2 of the anchoring robot is completely opened to prop up the arc-shaped supporting shell 4, and simultaneously, the anchoring robot retreats upwards to help the wedge block 2 and the supporting outer cylinder 4 to be better inserted into a soil layer, so that the anchoring robot can realize the fixation function on a submarine stratum;
the recovery flow of the autonomous anchoring robot for the submarine strata in the invention is as follows:
step one, the underwater robot finishes hovering and starts to recover the anchoring robot; the driving mechanism motor rotates positively to drive the sliding block outer cylinder 7 to descend, the wedge block 2 of the anchoring robot and the supporting outer cylinder 4 are retracted, and meanwhile, the anchoring device continues to move downwards to help the wedge block 2 and the supporting outer cylinder 4 to retract better and cling to the machine body. The electromagnetic locking device 5 is powered off, the anchoring robot is restored to a running mode, and the supporting effect of the wedge-shaped supporting mechanism of the anchoring robot on the submarine stratum is eliminated.
And secondly, recovering the anchoring robot by using underwater robot equipment supporting the anchoring robot, and recovering the anchoring robot under the combined action of the pulling force of the supporting device of the underwater robot equipment and the buoyancy of the buoyancy block of the anchoring robot.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (4)
1. An autonomous anchoring robot for a submarine stratum, characterized by: comprising
The drilling mechanism comprises a self-propelled drill bit, and the tail part of the self-propelled drill bit is connected with the outer side of the front end of the arc-shaped supporting shell;
the driving mechanism comprises a motor fixing bracket, a motor and a harmonic reducer, wherein the top of the motor fixing bracket is connected with the inner wall of the top end of the arc-shaped supporting shell, and the lower part of the motor fixing bracket is connected with the motor; the motor is coaxially connected with the harmonic reducer; the driving mechanism is used for driving the arc-shaped supporting shell to rotate so as to drive the self-propelled drill bit to rotate;
the buoyancy mechanism comprises a buoyancy block, and the lower end of the buoyancy block is connected with the outside of the top end of the arc-shaped supporting shell;
the transmission mechanism comprises a sliding block outer cylinder and a motor worm, the motor worm is in transmission connection with a motor and a harmonic reducer, the lower part of the sliding block outer cylinder is of an internal thread structure, the internal thread structure of the sliding block outer cylinder is in matched connection with the motor worm, and the sliding block outer cylinder is connected with an internal inclined surface of a wedge block;
the electromagnetic control mechanism comprises an electromagnetic locking device, and the electromagnetic locking device realizes upward movement or idling of the sliding block outer cylinder by controlling the sliding block to be clamped into or ejected out of the sliding block outer cylinder;
the wedge-shaped supporting mechanism comprises a plurality of wedge-shaped blocks, the wedge-shaped blocks and an arc-shaped supporting shell are arranged at intervals along the circumferential direction, the upper ends of the wedge-shaped blocks are slidably mounted in a flange sliding groove at the tail end of the arc-shaped supporting shell, the lower ends of the wedge-shaped blocks are slidably mounted in a flange sliding groove at the front end of the arc-shaped supporting shell, the inner inclined surfaces of the wedge-shaped blocks are slidably connected with the top of the outer cylinder of the sliding block through tooth grooves, and the wedge-shaped blocks extend out of or retract into the outer wall of the arc-shaped supporting shell; the arc-shaped supporting shell is an outer barrel of the anchoring robot, and the wedge-shaped block and the arc-shaped supporting shell are mutually in extrusion sealing fit;
the initial state of the anchoring robot is a traveling mode, the electromagnetic locking device is in a power-off state, a motor of the driving mechanism rotates positively to drive the motor worm to rotate, the outer cylinder of the sliding block idles, and the rotation of the motor worm drives the self-propelled drill bit to rotate;
when the anchoring robot is converted from a traveling mode to a supporting mode, the electromagnetic locking device is electrified, the sliding block of the electromagnetic locking device is clamped into the matching groove at the top of the sliding block outer cylinder, the motor of the driving mechanism reverses and drives the motor worm to rotate, the motor worm drives the sliding block outer cylinder to move upwards, the connecting rod connected with the supporting seat at the top of the sliding block outer cylinder extends upwards and outwards and pushes the wedge block, and the wedge block slides horizontally and is spread towards the outer side of the arc-shaped supporting shell;
when the anchoring robot is converted into a traveling mode from a supporting mode, the electromagnetic locking device is in a power-off state, the motor of the driving mechanism rotates positively to drive the motor worm to rotate, the sliding block outer cylinder moves downwards under the combined action of the motor worm and the lower portion of the sliding block outer cylinder in a threaded fit mode, and the wedge block is retracted in the arc-shaped supporting shell.
2. The autonomous anchoring robot of a subsea formation of claim 1, wherein: the surface of the self-propelled drill bit has equidistant helical blades.
3. The autonomous anchoring robot of a subsea formation of claim 1, wherein: the buoyancy block adopts a cylindrical buoyancy block.
4. The autonomous anchoring robot of a subsea formation of claim 1, wherein: the sliding block is a hollow circular-ring-shaped sliding block, and the connecting shaft of the motor penetrates through the hollow circular ring of the sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210806267.4A CN115009428B (en) | 2022-07-08 | 2022-07-08 | Autonomous anchoring robot for submarine stratum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210806267.4A CN115009428B (en) | 2022-07-08 | 2022-07-08 | Autonomous anchoring robot for submarine stratum |
Publications (2)
| Publication Number | Publication Date |
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| CN115009428A CN115009428A (en) | 2022-09-06 |
| CN115009428B true CN115009428B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210806267.4A Active CN115009428B (en) | 2022-07-08 | 2022-07-08 | Autonomous anchoring robot for submarine stratum |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1359961A (en) * | 1972-01-13 | 1974-07-17 | Baker Oil Tools Inc | Underwater anchor apparatus and methods of installation |
| CN1091197C (en) * | 1997-03-19 | 2002-09-18 | 张继红 | Umbrella type anchor |
| GB201308152D0 (en) * | 2013-05-07 | 2013-06-12 | Technical Services Team Ltd | Self-Boring Shield Anchor Apparatus and Method |
| CN103953038A (en) * | 2014-04-18 | 2014-07-30 | 湖北省电力勘测设计院 | Multi-branch large-displacement expansion anchor head fiber rib anchor rod for medium and strong weathered rock formations |
| CN106567384B (en) * | 2016-11-14 | 2018-08-24 | 合肥工业大学 | A kind of herring-bone form anchor pole |
| CN210104735U (en) * | 2019-05-30 | 2020-02-21 | 倪正田 | Rotary type ground anchor device for burying sleeve in deep drilling of geotechnical engineering |
| CN111469984A (en) * | 2020-05-26 | 2020-07-31 | 常州先进制造技术研究所 | Intelligent anchoring robot |
| CN114291210B (en) * | 2022-01-06 | 2023-06-09 | 西南石油大学 | Automatic submarine anchoring device |
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2022
- 2022-07-08 CN CN202210806267.4A patent/CN115009428B/en active Active
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