CN107719591B - Underwater equipment transports and installs operation ship in place - Google Patents
Underwater equipment transports and installs operation ship in place Download PDFInfo
- Publication number
- CN107719591B CN107719591B CN201710930525.9A CN201710930525A CN107719591B CN 107719591 B CN107719591 B CN 107719591B CN 201710930525 A CN201710930525 A CN 201710930525A CN 107719591 B CN107719591 B CN 107719591B
- Authority
- CN
- China
- Prior art keywords
- winch
- ship
- cable
- place
- hull
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The present invention relates to a kind of transport of underwater equipment and operation ship in place is installed comprising: hull, control cabinet, umbilical cables place cabin, towing winch, pose adjustment winch and anchoring winch；Wherein: hull is symmetrical along the longitudinal axis, and control cabinet, anchoring winch, umbilical cables place cabin, towing winch and pose adjustment winch are sequentially arranged from stem to ship stern in deck in ship structure, and symmetrical about the hull longitudinal axis.The present invention can be effectively reduced underwater equipment transport and installation cost.
Description
Technical field
The invention belongs to ocean engineering fields, and in particular, to a kind of transport of underwater equipment and install operation ship in place, use
In the related operation such as transport, installation of underwater equipment.
Background technique
As ocean engineering develops to deep-sea, it is emerging that the transport of deep-sea underwater equipment also has become various countries with mounting technique
Research field.Underwater equipment weight, the increase of size and the complication of underwater equipment working environment, so that underwater equipment
Non-linear increase is presented in installation difficulty, and conventional underwater mounting technique and corresponding marine equipment facility have been unable to satisfy underwater equipment
Transport and installation, cost of investment is high and risk is big.At this stage, underwater equipment mounting technique thinking is assisted increasingly using buoyant device
Maturation, this technology can increase substantially the installation accuracy of underwater equipment, reduce installation risk and to operation ship Capability Requirement.
The authorized patent of my unit --- have cable remote control type underwater equipment transport and mounting robot (application number:
201610130654.5), it is based on this technical thought and is designed.However it is existing for operation ship and this technical thought simultaneously
It mismatches, is unable to satisfy underwater equipment and technical need in place is accurately installed.From the point of view of the document consulted at present, the country is not yet ground
It sends out the transport of deep-sea underwater equipment and operation specialized ships in place is installed.
Summary of the invention
To overcome the shortcomings of existing technologies, the present invention provides a kind of transport of underwater equipment and installs operation ship in place, the work
Industry ship fully considers underwater equipment characteristic on the basis of spot ship technology, changes to Ship Structure, corollary equipment
Into can effectively realize the towage transport and installation in place of underwater equipment, improve underwater equipment transport and mounting technique.
To achieve the above object, the present invention uses following proposal:
Underwater equipment transports and installs operation ship in place, comprising: hull, control cabinet, umbilical cables place cabin, towing winch,
Pose adjustment winch and anchoring winch；Wherein: hull is symmetrical along the longitudinal axis, and control cabinet, anchoring winch, umbilical cables place cabin, towing
Winch and pose adjustment winch are sequentially arranged from stem to ship stern in deck in ship structure, and symmetrical about the hull longitudinal axis.
Compared with the existing technology, the invention has the following beneficial effects:
(1), operation ship entirety ship type is smaller, can be effectively reduced underwater equipment transport and installation cost；
(2), operation ship structural shape can utmostly play the skill that buoyant device assists underwater equipment transport and installation
Art advantage；
(3), operation ship pose adjustment winch can effectively ensure that buoyant device and underwater equipment posture during transportation
Correctness, improve Transport Safety.
(4), stability of hull during operation ship operation in field can be effectively ensured in anchoring winch, and then improves underwater equipment peace
Fill accuracy.
(5), pose adjustment winch has anchoring and underwater equipment posture keeps double Xiang Gongneng, reduces to ship deck face
Long-pending and winch equipment demand, reduces shipbuilding expense.
Detailed description of the invention
Fig. 1 is underwater equipment transport and installs operation ship schematic elevation view in place.
Fig. 2 is underwater equipment transport and installs operation ship schematic top plan view in place.
Fig. 3 is underwater equipment transport and installs operation ship schematic side view in place.
Fig. 4 is winch firm banking structural schematic diagram.
Fig. 5 is pose adjustment winch and winch firm banking part schematic front view.
Fig. 6 is that have cable remote-controlled robot and underwater equipment to hang into water schematic diagram.
Fig. 7 is underwater equipment transport and installs operation ship haulage stage schematic top plan view in place.
Fig. 8 be in Fig. 7 operation ship A-A to half-section diagram.
Fig. 9 is underwater equipment transport and installs the operation secure in place moment of completion in position schematic top plan view.
Figure 10 is underwater equipment transport and installs the operation secure in place moment of completion in position schematic elevation view.
Figure 11 is underwater equipment transport and installs operation ship sessions in field schematic top plan view in place.
Figure 12 is the half-section diagram of operation ship B-B direction in Fig. 6.
Figure 13 is that underwater equipment transports and install operation ship progress underwater equipment scheme of installation in place.
Figure 14 is underwater equipment transport and installs operation ship operation in place and complete recycling and have cable remote-controlled robot schematic diagram.
In figure: 1, hull, 2, control cabinet, 3, umbilical cables placement cabin, 4, bend limiting device, 5, towing winch, 6, posture
Adjust winch, 7, anchoring winch, 8, shipboard backplate, 9, hull bottom backplate, 10, moon pool area backplate, 11, winch firm banking, 12, spiral shell
Hole, 13, cable limiting device, 14, have a cable remote underwater robot, 15, umbilical cables, 16, high-strength bolt, 17, moon pool area,
18, loop wheel machine, 19, underwater equipment, 20, have a cable remote-controlled robot Lifting Lug, 21, have a cable robot side lifting lug, 22, have cable distant
Man-controlled mobile robot position adjusting type modules.
Specific embodiment
As shown in Figures 1 to 6, underwater equipment transports and installs operation ship in place, comprising: hull 1, control cabinet 2, umbilical cables
Place cabin 3, towing winch 5, pose adjustment winch 6 and anchoring winch 7；Wherein: hull 1 is symmetrical along the longitudinal axis, control cabinet 2, anchoring
Winch 7, umbilical cables place cabin 3, towing winch 5 and pose adjustment winch 6 are sequentially arranged from stem to ship stern in deck in ship structure,
And it is symmetrical about the hull longitudinal axis.
1 structure type of hull is ship type, symmetrical about longitudinal axis；A shipboard backplate 8 is respectively arranged in 1 two sides outer wall of hull,
Shipboard backplate 8 is made using rubber or polyurethane elastomeric materials, reduces the collsion damage of hull 1 and other objects；Hull 1
One layer of hull bottom backplate 9 is arranged in bottom, and hull bottom backplate 9 is equally made using rubber or polyurethane elastomeric materials, reduces hull 1
With the collsion damage of seabed reef；In ship stern, moon pool area 17 is set, the moon pool area 17 be open cuboid groove, about ship
The body longitudinal axis is symmetrical；17 liang of pool area of the moon, which is parallel on hull y direction side wall, is respectively arranged Liang Tiao moon pool area backplate 10, moon pool area
Backplate 10 is made using rubber or polyurethane elastomeric materials, reduces hull 1 and has the collision of cable remote underwater robot 14
Damage.
Control cabinet 2 is fixed on stem deck, and structure is symmetrical about the hull longitudinal axis, has cable for driving operation and control
14 operation of remote underwater robot.
Anchoring winch 7 shares two, is individually fixed in 2 two sides of stem control cabinet and is symmetric, stays for operation ship
The anchoring of field sessions hull 1, increases by 1 operation stability of hull；
Two towing winch 5 are fixed on 17 front end of moon pool area (close to stem side), are arranged symmetrically about the hull longitudinal axis,
There is cable remote underwater robot 14 for haulage stage traction；
Pose adjustment winch 6 is located at 17 two sides of moon pool area, and every side is arranged two, had under cable remote-controlled water for the haulage stage
The posture of robot 14 levels, and the anchoring of sessions hull 1 in place；Two pose adjustment winches 6 positioned at ship stern are logical
It crosses winch firm banking 11 to fix with 1 deck of hull, eight screw holes 12 is provided on winch firm banking 11, eight screw holes are along strand
11 circumferential direction of vehicle firm banking is uniformly distributed, and two screw holes of arbitrary neighborhood can be used as one group, and pose adjustment winch 6 passes through four height
Strength bolts 16 import any relative position two groups of screw holes 12 and winch firm banking 11 it is fixed, select different groups of screw hole into
Row is fixed, and two 6 different rotation angles of pose adjustment winch positioned at ship stern can be made, and is realized between pose adjustment and anchoring function
Switching；
Umbilical cables are placed cabin 3 and are fixed between control cabinet 2 and towing winch 5, and structure is symmetrical about the hull longitudinal axis, are used for navel
Storage, releasing and recycling with cable 15.Umbilical cables place cabin 3 and ship stern one side bottom are provided with a bend limiting device 4,
Bend limiting device 4 protrudes into moon pool area 17 along deck, umbilical cables 15 by bend limiting device 4 enter marine environment and with have
Cable remote underwater robot 14 is connected；Bend limiting device 4 is polyurethane elastomeric materials, limits umbilical cables 15 during folding and unfolding
Excessive bending is generated, it is damaged to reduce umbilical cables 15.
There are six cable limiting devices 13 for setting on 1 deck of hull, and cable limiting device 13 is along 17 top edge of moon pool area
It is uniformly distributed, every side arranges two, and each cable limiting device 13 is adjacent with a towing winch 5 or posture winch 6, cable limit
Position device 13 is barbell shape steel construction, is mainly used for the limit of hawser, prevents from mutually winding.
The specific embodiment that underwater equipment transported and installed operation ship in place is as follows:
1, cable remote underwater robot Lifting Lug 20 is connected with by loop wheel machine 18 at harbour, there will be cable remote-controlled robot 14
It is hung in water with 19 entirety of underwater equipment, the two is made to keep slight positive suspended state in water.
2, underwater equipment is transported and is installed the cable of towing winch 5 in operation ship in place and have cable robot side lifting lug
Connected 21；Release harbor crane 18 and the hanger rope that there is cable remote-controlled robot 14 to be connected, by the cable of four pose adjustment winches 6 and
There is the lifting lug at the top of cable robot to be connected.After the completion of all connection work, operation ship will have cable remote-controlled machine by towing mode
Near the transport to installation site of people 14.During transportation, by 6 folding and unfolding cable of pose adjustment winch, make have cable remote-controlled machine
People 14 remains the posture for stablizing safety, prevents from toppling in transportational process.
3, when operation ship reaches near installation site, umbilical cables 15 is released and are connected with there is cable remote-controlled robot 14, really
Protect control cabinet 2 and have between cable remote-controlled robot 14 signal transmitting it is unobstructed after, release and all be connected with there is cable remote-controlled robot 14
Cable, and by 6 cable end of pose adjustment winch connect ship anchor.After the completion of connection, two pose adjustments of adjustment ship stern are twisted
6 direction of vehicle after the completion of adjustment, the ship anchor of pose adjustment winch 6 and anchoring winch 7 is dished out in place, the stabilization of operation ship is increased
Property.
4, after the completion of anchor job, there is cable remote-controlled robot 14 to carry out water filling exhaust operation by the control of control cabinet 2, make to have
The gravity of 19 entirety of cable remote-controlled robot 14 and underwater equipment is slightly larger than buoyancy, so that its operation slowly sunk is realized, under
During heavy, by there is the position adjusting type modules 22 of 14 two sides of cable remote-controlled robot that it is made to keep the stability of posture in water,
Prevent toppling under action of ocean current.
5, operation ship is controlling the installation for having cable remote-controlled robot 14 to complete underwater equipment and recycling times by umbilical cables 15
After business, ship anchor is withdrawn, and release the ship anchor on pose adjustment winch 6, later again by 5 cable of towing winch and pose adjustment rope
Cable is connected with there is cable robot, will have cable robot to transport back bank by towing mode after the completion.
Claims (8)
1. a kind of underwater equipment transports and installs operation ship in place, comprising: hull, control cabinet, umbilical cables place cabin, towing twists
Vehicle, pose adjustment winch and anchoring winch；It is characterized by: hull is symmetrical along the longitudinal axis, control cabinet, anchoring winch, umbilical cables are put
Cabin, towing winch and pose adjustment winch is set to be sequentially arranged from stem to ship stern in deck in ship structure, and about the hull longitudinal axis pair
Claim；A shipboard backplate is respectively arranged in hull two sides outer wall, and shipboard backplate is made using rubber or polyurethane elastomeric materials；Ship
One layer of hull bottom backplate is arranged in body bottom, and hull bottom backplate equally uses rubber or polyurethane elastomeric materials to be made；It is set in ship stern
A moon pool area is set, moon pool area is open cuboid groove, symmetrical about the hull longitudinal axis；It is vertical that month pool area two is parallel to hull
Liang Tiao moon pool area backplate is respectively set on axis direction side wall, and moon pool area backplate is made using rubber or polyurethane elastomeric materials；
Pose adjustment winch is located at moon pool area two sides, and every side arranges two, and two pose adjustment winches positioned at ship stern pass through winch
Firm banking is fixed with deck in ship structure, eight screw holes is provided on winch firm banking, eight screw holes are along winch firm banking ring
To being uniformly distributed, two screw holes of arbitrary neighborhood can be used as one group, and pose adjustment winch is imported by four high-strength bolts appoints
Two groups of screw holes of meaning relative position are fixed with winch firm banking, are selected different groups of screw hole to be fixed, can be made to be located at ship stern
Two pose adjustment winch different rotation angles, realize pose adjustment and anchor function between switching.
2. underwater equipment according to claim 1 transports and installs operation ship in place, it is characterised in that: structural configuration
It is symmetrical about longitudinal axis for ship type.
3. underwater equipment according to claim 2 transports and installs operation ship in place, it is characterised in that: control cabinet is fixed on
On stem deck, structure is symmetrical about the hull longitudinal axis.
4. underwater equipment according to claim 3 transports and installs operation ship in place, it is characterised in that: anchoring winch is shared
It two, is symmetric about the hull longitudinal axis.
5. underwater equipment according to claim 4 transports and installs operation ship in place, it is characterised in that: two towing winch
Moon pool area is fixed on close to stem side, is arranged symmetrically about the hull longitudinal axis, is had under cable remote-controlled water for haulage stage traction
Robot.
6. underwater equipment according to claim 5 transports and installs operation ship in place, it is characterised in that: umbilical cables place cabin
It is fixed between control cabinet and towing winch, structure is symmetrical about the hull longitudinal axis, the storage, releasing and recycling for umbilical cables；
Umbilical cables place on-deck and ship stern one side bottom are provided with a bend limiting device, and bend limiting device protrudes into moon pool along deck
Region, umbilical cables enter marine environment by bend limiting device and are connected with there is cable remote underwater robot；Bending limitation dress
Polyurethane elastomeric materials are set to, limitation umbilical cables generate excessive bending during folding and unfolding, it is damaged to reduce umbilical cables.
7. underwater equipment according to claim 6 transports and installs operation ship in place, it is characterised in that: set in deck in ship structure
It sets there are six cable limiting device, cable limiting device is uniformly distributed along moon pool area top edge, and every side arranges two, each rope
Cable limiting device is adjacent with a towing winch or posture winch, and cable limiting device is barbell shape steel construction, is mainly used for cable
The limit of rope prevents from mutually winding.
8. underwater equipment transport described in a kind of -7 any one according to claim 1 and the operator for installing operation ship in place
Method, which is characterized in that use step including following:
(1), cable remote underwater robot Lifting Lug is connected with by loop wheel machine at harbour, will there is cable remote underwater robot and water
Lower equipment is integrally hung in water, and the two is made to keep slight positive suspended state in water；
(2), underwater equipment is transported and is installed the cable of towing winch in operation ship in place and have cable remote underwater robot side
Portion's lifting lug is connected；The hanger rope for releasing harbor crane and thering is cable remote underwater robot to be connected, by the rope of four pose adjustment winches
Cable is connected with there is the lifting lug at the top of cable remote underwater robot；After the completion of all connection work, operation ship will by way of towing
There is cable remote underwater robot to transport to installation site；During transportation, by pose adjustment winch folding and unfolding cable, make
There is cable remote underwater robot to remain the posture for stablizing safety, prevents from toppling in transportational process；
(3), when operation ship reaches near installation site, umbilical cables is released and are connected with there is cable remote underwater robot, it is ensured that
Control cabinet and have between cable remote underwater robot signal transmitting it is unobstructed after, release and all be connected with there is cable remote underwater robot
Cable, and by pose adjustment cable winch cable end connect ship anchor.After the completion of connection, two pose adjustment winches of ship stern are adjusted
Direction after the completion of adjustment, the ship anchor of pose adjustment winch and anchoring winch is dished out in place, the stability of operation ship is increased；
(4), after the completion of anchor job, there is cable remote underwater robot to carry out water filling exhaust operation by control cabinet control, make to have
Cable remote underwater robot and the gravity of underwater equipment entirety are slightly larger than buoyancy, so that its operation slowly sunk is realized, under
During heavy, by there is the position adjusting type modules of cable remote underwater robot two sides that it is made to keep the stability of posture in water,
Prevent toppling under action of ocean current；
(5), operation ship is in the installation and recycling task for having cable remote underwater robot to complete underwater equipment by umbilical cables control
Afterwards, withdraw ship anchor, and release the ship anchor on pose adjustment winch, later again by towing winch cable and pose adjustment cable with
There is cable remote underwater robot to be connected, there will be cable remote underwater robot to transport back bank by towing mode after the completion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710930525.9A CN107719591B (en) | 2017-10-09 | 2017-10-09 | Underwater equipment transports and installs operation ship in place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710930525.9A CN107719591B (en) | 2017-10-09 | 2017-10-09 | Underwater equipment transports and installs operation ship in place |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107719591A CN107719591A (en) | 2018-02-23 |
| CN107719591B true CN107719591B (en) | 2019-05-31 |
Family
ID=61209965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710930525.9A Active CN107719591B (en) | 2017-10-09 | 2017-10-09 | Underwater equipment transports and installs operation ship in place |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107719591B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4282747A1 (en) * | 2022-05-26 | 2023-11-29 | Fundación Tecnalia Research & Innovation | Underwater cable robot |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109230904B (en) * | 2018-08-14 | 2023-11-03 | 中国南方电网有限责任公司超高压输电公司广州局海口分局 | Cable direction follow-up ROV winch applied to unpowered positioning mother ship |
| CN109050805A (en) * | 2018-09-26 | 2018-12-21 | 蚌埠市神舟机械有限公司 | A kind of workboat for the displacement of lifting waterborne, pipeline installation and dredger |
| CN109408899B (en) * | 2018-09-28 | 2022-08-02 | 重庆交通大学 | Deepwater suspension cable nonlinear motion response calculation method |
| CN109823485B (en) * | 2019-03-06 | 2023-08-29 | 中国海洋大学 | Second generation beach shallow sea sediment intensity normal position detection device |
| CN109850099B (en) * | 2019-04-16 | 2023-07-25 | 山东建筑大学 | Underwater sea cucumber catching robot retraction device |
| CN112173012A (en) * | 2020-10-15 | 2021-01-05 | 中国船舶工业集团公司第七0八研究所 | Underwater vehicle retraction system and operation method thereof |
| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN114802619A (en) * | 2021-10-12 | 2022-07-29 | 深圳海兰云数据中心科技有限公司 | Maintenance platform for underwater data cabin |
| CN114987702B (en) * | 2022-08-03 | 2022-11-29 | 广东智能无人系统研究院 | Recovery system and recovery method of underwater vehicle |
| CN115503890A (en) * | 2022-10-06 | 2022-12-23 | 中国船舶集团有限公司第七○八研究所 | Liftable submersible laying and recycling system and operating method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103619701A (en) * | 2011-04-26 | 2014-03-05 | Ihc荷兰Ie有限公司 | Vessel comprising a moon pool and a hoisting arrangement and method of lowering items into the sea |
| CN103754340A (en) * | 2014-02-11 | 2014-04-30 | 中国石油大学(华东) | Buoyancy-adjustable device and method for auxiliary installation of underwater equipment |
| CN103991511A (en) * | 2014-05-22 | 2014-08-20 | 中国石油大学(华东) | Ocean platform transportation device and transportation method |
| CN105775077A (en) * | 2016-03-08 | 2016-07-20 | 中国石油大学(华东) | Tethered remote-controlled underwater equipment transportation and installation robot |
| CN105775078A (en) * | 2016-03-08 | 2016-07-20 | 中国石油大学(华东) | Water-gas replacement type underwater equipment auxiliary installation device and method |
| CN106080987A (en) * | 2016-07-03 | 2016-11-09 | 东北电力大学 | Sea cable synchronizes unwrapping wire submariner device under water |
| CN106516021A (en) * | 2016-11-17 | 2017-03-22 | 中交第航务工程局有限公司 | Self-propelled carrying and installing all-in-one ship for underwater tunnel immersed tubes |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101388910B1 (en) * | 2012-10-08 | 2014-04-25 | 한국생산기술연구원 | Water station of underwater robot |
-
2017
- 2017-10-09 CN CN201710930525.9A patent/CN107719591B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103619701A (en) * | 2011-04-26 | 2014-03-05 | Ihc荷兰Ie有限公司 | Vessel comprising a moon pool and a hoisting arrangement and method of lowering items into the sea |
| CN103754340A (en) * | 2014-02-11 | 2014-04-30 | 中国石油大学(华东) | Buoyancy-adjustable device and method for auxiliary installation of underwater equipment |
| CN103991511A (en) * | 2014-05-22 | 2014-08-20 | 中国石油大学(华东) | Ocean platform transportation device and transportation method |
| CN105775077A (en) * | 2016-03-08 | 2016-07-20 | 中国石油大学(华东) | Tethered remote-controlled underwater equipment transportation and installation robot |
| CN105775078A (en) * | 2016-03-08 | 2016-07-20 | 中国石油大学(华东) | Water-gas replacement type underwater equipment auxiliary installation device and method |
| CN106080987A (en) * | 2016-07-03 | 2016-11-09 | 东北电力大学 | Sea cable synchronizes unwrapping wire submariner device under water |
| CN106516021A (en) * | 2016-11-17 | 2017-03-22 | 中交第航务工程局有限公司 | Self-propelled carrying and installing all-in-one ship for underwater tunnel immersed tubes |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4282747A1 (en) * | 2022-05-26 | 2023-11-29 | Fundación Tecnalia Research & Innovation | Underwater cable robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107719591A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107719591B (en) | Underwater equipment transports and installs operation ship in place | |
| CN206826891U (en) | A kind of offshore wind turbine single pile pile sinking operation based on barge with deck transformation is refuted | |
| US8992127B2 (en) | Method and apparatus for subsea installations | |
| RU2619791C2 (en) | Load manipulation in sea water area | |
| CN102128311B (en) | Method and device for installing typical underwater manifold in swing mode | |
| CN101492140A (en) | Sling apparatus for aluminum alloy catamaran and whole-boat set afloat process | |
| CN109436240A (en) | A kind of underwater robot recycling cone rod-type docking traction mechanism | |
| US7976246B1 (en) | System for deploying a deepwater mooring spread | |
| EP3472092A1 (en) | A crane for wind turbine blade assembly, a vessel, a hoisting method, and an assembly method | |
| US20150217838A1 (en) | Method for lowering and hoisting of a load to or from an ocean floor | |
| CN108755644B (en) | Transfer platform for cable traction in intertidal zone login and installation method thereof | |
| JP6820698B2 (en) | How to add mooring lines, how to moor floating structures and how to construct floating offshore wind turbines | |
| US7882792B2 (en) | Auxiliary floating structure and procedure for descent of equipment into the sea | |
| US8016521B1 (en) | Method for deploying a deepwater mooring spread | |
| KR20180038700A (en) | Ship mooring system with turning mooring post and mooring method using it | |
| CN104097748A (en) | Parking craning method for vibration sinking construction of steel cylinders | |
| CN115744675A (en) | Large member hoisting equipment for offshore shallow water area and hoisting method thereof | |
| CN211167294U (en) | Operating system for opening and closing moon pool bottom cover | |
| CN105644713B (en) | Propeller mounting process method | |
| NO336080B1 (en) | Vessels and method for underwater towing of heavy loads | |
| CN104802925B (en) | The method for dismounting of ocean platform propeller | |
| CN102774470B (en) | Semi-submergible barge fixing method for loading super-heavy ship entering into water | |
| CN201916597U (en) | Oscillating installation device for typical subsea manifold | |
| KR20160005887A (en) | Floating crane rigging system | |
| CN213502809U (en) | Leveling frame folding and unfolding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cao Yuguang Inventor after: Zhen Ying Inventor after: Hu Xueyang Inventor after: Huang Xiaoguang Inventor after: Zhang Lisong Inventor after: Song Ming Inventor before: Cao Yuguang Inventor before: Zhen Ying Inventor before: Hu Xueyang Inventor before: Zhang Shihua Inventor before: Shi Yongjin Inventor before: Li Sen Inventor before: Huang Xiaoguang Inventor before: Zhang Lisong Inventor before: Song Ming |
|
| CB03 | Change of inventor or designer information |