CN109625217A - It is a kind of convenient for the sea bed absorption type pedestal of recycling and its absorption, recovery method - Google Patents
It is a kind of convenient for the sea bed absorption type pedestal of recycling and its absorption, recovery method Download PDFInfo
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- CN109625217A CN109625217A CN201811560148.5A CN201811560148A CN109625217A CN 109625217 A CN109625217 A CN 109625217A CN 201811560148 A CN201811560148 A CN 201811560148A CN 109625217 A CN109625217 A CN 109625217A
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- base body
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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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- Ocean & Marine Engineering (AREA)
- Water Treatment By Sorption (AREA)
Abstract
The present invention provides a kind of convenient for the sea bed absorption type pedestal of recycling and its absorption, recovery method, including Base body, the underwater equipment being mounted in Base body, Base body is plank frame, the absorption type cavity extended downwardly is installed along Base body bottom, the absorption type cavity includes the cavity wall along the distribution of Base body bottom margin, the middle part that cavity wall surrounds forms adsorbent chamber, at least four tube channels for being connected to adsorbent chamber are offered by four orientation in the Base body, detachable or adjustable elastic unidirectional valve deck is installed in tube channel, the present invention is in the case where reducing pedestal weight and volume, change the structure of pedestal, make pedestal that there is cascade characteristic, facilitate construction, the seabed stability of pedestal can be enhanced again, pedestal has light-weight, easy construction characteristic, and there is sea bed absorption, pose adjustment, recycle function, It adapts to different subsea environments to use, advantageously reduce offshore construction cost and reduces the construction time.
Description
Technical field
The present invention relates to a kind of underwater pedestal technical fields, for pedestal to be adsorbed in sea bed technique for fixing, specially one
Sea bed absorption type pedestal and its absorption, recovery method of the kind convenient for recycling.
Background technique
The pedestal of existing submarine system is generally trapezoidal base, for the stability for guaranteeing underwater pedestal, reduces seabed torrent
With the influence of geologic change, it is desirable that the contact area of pedestal and sea bed is big, therefore the volume of pedestal is big, weight is big, general using big
Type workboat carries out hanging construction under water, and the equipment of construction requirement is complicated, and the time is long, and cost is high.Existing pedestal simultaneously
Adsorption capacity is poor, lacks the function convenient for recycling, needs to adjust pedestal posture, even more difficult, take time and effort.
In order to reduce underwater construction expense, it is crucial for reducing pedestal and laying requirement, reduce the underwater construction time, it is desirable to be used
Non- working ship replaces working ship to lay pedestal, such as Engineering Service ship or even civilian fishing boat etc., reaches and quickly applies and reduce construction cost
Use purpose.Base construction design conveniently quickly will hang and construct under water thus, and guarantee the underwater stability of pedestal, it is desirable that base
Seat tool has the functions such as sea bed absorption, recycling, and to have and can combine extended attribute.
Summary of the invention
For the requirement for carrying out underwater rapid construction using non-working ship, it is based on the demand, the purpose of the present invention is dropping
In the case where low pedestal weight and volume, change the structure of pedestal, makes pedestal that there is cascade characteristic, facilitate construction, and can enhance
The seabed stability of pedestal, also has the function of recycling, i.e., the invention proposes a kind of sea bed absorption type pedestal convenient for recycling and
Its absorption, recovery method, pedestal has light-weight, easy construction characteristic, and has sea bed absorption, pose adjustment, recycling function, can fit
It answers different subsea environments to use, advantageously reduce offshore construction cost and reduces the construction time.Specifically, the present invention is such reality
Existing:
A kind of sea bed absorption type pedestal convenient for recycling, including Base body (1), the water being mounted on Base body (1)
Lower equipment (2), Base body (1) are plank frame, are equipped with the absorption type cavity extended downwardly along Base body (1) bottom
(3), the absorption type cavity (3) includes the cavity wall (4) along the distribution of Base body (1) bottom margin, the middle part that cavity wall (4) surrounds
It is formed adsorbent chamber (5), offers at least four channels for being connected to adsorbent chamber (5) by four orientation on the Base body (1)
It manages (6), and is opened in the excretory duct for being connected to adsorbent chamber on Base body (1), the excretory duct has activity opening and closing
Bonnet is equipped with detachable or adjustable elastic valve deck in tube channel (6).
Further, the trapezoidal shape in section of the Base body (1) and the part of bottom margin inwardly is equipped with upwards
Inclined pedestal inclined-plane (8), the absorption type cavity (3) is located at Base body (1) bottom part down and edge has inclination upwards
Chamfered edge (9), pedestal inclined-plane (8) surrounding covers the chamfered edge (9).
Further, the tube channel (6) is opened in respectively on four angle positions of Base body (1), and the valve
Lid is unidirectional valve deck (7).
Further, several antiskid plates (10) extended downwardly are distributed in the bottom margin of the Base body (1).
Further, outer concatenation structure (11) are installed on the front surface surrounding edge of the Base body (1).
Further, it is connected and installed on the outer concatenation structure (11) and to be placed on Base body (1) surrounding sea bed
Counterweight pressing block (12).
Another aspect of the present invention provides absorption, the recovery method of a kind of sea bed absorption type pedestal as described above,
The following steps are included:
S1, Base body (1) is hung and sits bottom sea bed to predetermined position point;
S2, open excretory duct bonnet, after the valve deck of tube channel (6) is connect with external device (ED), by tube channel (6) to
High-pressure water body is injected inside adsorbent chamber (5), internal, lower section sea bed mud is blown afloat by adsorbent chamber (5), and is arranged from excretory duct
It removes, closes bonnet, stop injection high pressure water, absorption type cavity (3) stabilization is adsorbed on sea bed surface;
When S3, recycling pedestal, high pressure water or high pressure gas are injected to the intracavitary portion of attached formula by tube channel (6), make adsorbent chamber
(5), Base body (1) is detached from sea bed absorption in the case where internal high pressure, recycles Base body.
Further, in step S3, the valve of the tube channel (6) of the bonnet of excretory duct, non-implanted high pressure water or high pressure gas
Lid is closing or locking state.
Further, it after step S2 completes absorption, needs to be adjusted pedestal posture, what the posture was adjusted
Step includes: that will remove in several tube channels (6) from the valve deck of the tube channel (6) where the higher one end of relative altitude,
And in tube channel (6) to high pressure water is added in adsorbent chamber (5), by high pressure water by mud or sundries blow it is flat, blow shiftings, realization pedestal
The adjustment of posture.
Further, in the step of posture is adjusted, the tube channel of the bonnet of excretory duct, non-added high pressure water
(6) unidirectional valve deck (7) is unlatching or releasing orientation.
The working principle of the invention introduction: the trapezoidal solids formula or cube structure of traditional anchor pad have been abandoned, has been changed to
Base body is board-like structure, removes the fixed structures such as fixed anchor, to effectively, largely reduce the volume and again of pedestal
Amount, operation when convenient for conveying, recycling;By the design of absorption type cavity, in the feelings for not increasing the additional weight of pedestal itself
Under condition, using light absorption type cavity, cooperate half-duplex channel pipe in communication can be when pedestal is fixed by extraneous auxiliary
Installation equipment such as water pump is helped, diver or ROV are cooperated, is realized to carrying out pouring into high pressure water process in adsorbent chamber, by mud from suction
Pedestal is adsorbed under the active force of seawater pressure and is fixed so that the cavity wall of adsorbent chamber is fallen into sea bed by attached intracavitary discharge
On sea bed surface, and entire adsorbent chamber is made to be adsorbed on sea bed surface, to reach stable and firm fixed operation, fixed operation
After the completion, equipment is removed, the tube channel with unidirectional valve deck keeps tight lock sealing state;The pedestal inclined-plane of Base body bottom is set
The structure design of the chamfered edge of meter and absorption type cavity, can easily facilitate absorption type cavity and connect in adsorption process to sea bed
Contacting surface, flat trapezoidal structure can generate so that adsorbent chamber is integrally in the big plate-like put upside down and be more conducive to suction-operated
The construction of generation also can effectively keep long-term adsorption, the effective permanence and stability for improving adsorption process;When
When needing to recycle Base body, unidirectional valve deck to be filled the water can be removed or be unscrewed, passes through tube channel to suction by external equipment
Attached formula inside cavity injection high pressure water or high pressure gas, to increase the pressure inside adsorbent chamber, to be greater than seawater to its pressure,
The feature operation of effect is desorbed to realize, so as to convenient and quick, is efficiently completed the recovery operation to pedestal;When
During actual use or installation pedestal, due to the bumps on sea bed surface, caused by Base body it is not stable enough, need to adjust
When integral basis sitting posture state, high pressure water can also be injected from the tube channel for needing to adjust its height side by external equipment, led to
It crosses high-pressure water body to break up, go out mud or sundries under the position, to reach adjustment pedestal posture, it is made to level off to level.
When needing to be connected with each other to multiple pedestals, when increasing pedestal area, the outer concatenation structure at Base body edge can be passed through
Realize the interconnection of multiple pedestals, or steady come the sea bed for enhancing pedestal by connecting reinforcement measure, counterweight pressing block outside outer concatenation structure
It is qualitative, such as external connection cement briquetting.
Beneficial effects of the present invention: based on the distinctive the above results of the present invention and function, sea bed absorption provided by the invention
Formula pedestal is light-weight, small in size, can reduce difficulty of construction, is able to achieve water using the non-Engineering ship such as marine engineering service ship
Lower rapid construction target, to achieve the purpose that rapid construction and drop expense;Not only construction is quick, moreover it is possible to generate and be higher than pedestal certainly
The shadow of the effects of adsorption of body self weight, provides more stable, firm pedestal fixed effect, can be lower than bathycurrent power
It rings, reduces pedestal and shift a possibility that being displaced;Structure design through the invention, can realization effective, quickly, inexpensive
The purpose of pedestal pose adjustment is also able to achieve quick reclaimer operation, by dismountable unidirectional valve deck, can effectively be simply done
Extraction work, effectively improves applicability and ease for use of the invention.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of sea bed absorption type pedestal convenient for recycling;
Fig. 2 is a kind of the schematic diagram of the section structure of sea bed absorption type pedestal convenient for recycling;
Fig. 3 is a kind of present invention looks up structural representation of sea bed absorption type pedestal convenient for recycling;
Fig. 4 is a kind of overlooking structure diagram of sea bed absorption type pedestal convenient for recycling;
Fig. 5 is the structural schematic diagram that absorption type cavity is circular sea bed absorption type pedestal;
Fig. 6 is the perspective view that merging sea bed absorption type pedestal is hung in embodiment 2;
Fig. 7 is the schematic illustration that the mud that embodiment 2 is discharged inside adsorbent chamber by excretory duct completes absorption;
Fig. 8 is that embodiment 2 passes through the schematic illustration inside tube channel injection high pressure water progress adsorbent chamber;
Wherein: 1 Base body, 2 underwater equipments, 3 absorption type cavitys, 4 cavity walls, 5 adsorbent chambers, 6 tube channels, 7 unidirectional valve decks,
8 pedestal inclined-planes, 9 chamfered edges, 10 antiskid plates, 11 outer concatenation structures, 12 counterweight pressing blocks, 13 excretory ducts.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Embodiment 1: as shown in Fig. 1~Fig. 6, a kind of sea bed absorption type pedestal convenient for recycling, including Base body 1, peace
Underwater equipment 2 in Base body 1, Base body 1 are plank frame, are equipped with and extend downwardly along 1 bottom of Base body
Absorption type cavity 3, the absorption type cavity 3 includes the cavity wall 4 along the distribution of 1 bottom margin of Base body, during cavity wall 4 surrounds
Portion forms adsorbent chamber 5, offers at least four tube channels 6 for being connected to adsorbent chamber 5 by four orientation in the Base body 1,
And it is opened in the excretory duct 13 that adsorbent chamber is connected in Base body 1, the excretory duct 13 has the bonnet of activity opening and closing, leads to
Detachable or adjustable elastic valve deck is installed on deferent 6.Base body 1 is square plank frame, and size is about 3000mm
(length) × 3000mm (width) × 800mm (height) or Base body 1 are the structures such as cuboid or cylindrical body, ellipsoid, with reinforcing bar and
Concrete casting forms;The size of adsorbent chamber 5 is about 2500mm (length) × 2500mm (width) × 400mm (height) square structure,
The tube channel 6 of pedestal is four, is respectively distributed to the adsorbent chamber formed on four apex angles of pedestal plate face and with absorption type cavity 3
The connection of 5 spaces, the tube channel 6 are opened in respectively on four angle positions of Base body 1, and the valve deck is unidirectional valve deck
7, unidirectional valve deck 7 is mounted in the tube channel 6 of 1 front surface side of Base body.Unidirectional valve deck 7 makes tube channel 6 relative to suction
Can only go out for attached chamber 5 cannot be into, i.e., can only therefrom extract the water silt etc. in adsorbent chamber 5, the sea of 1 top of Base body
Water can not be entered in adsorbent chamber 5 by unidirectional valve deck 7, be convenient for absorption type, and directly docking external equipment carries out adsorption operations.It is i.e. logical
Absorption type cavity 3 is crossed to carry out to the fixed placement of Base body 1, make its it is stable be adsorbed on sea bed, compact structure, absorption
Effect stability, weight is light and handy, reduces difficulty of construction, is able to achieve using the non-Engineering ship such as marine engineering service ship underwater fast
Speed construction target, to achieve the purpose that rapid construction and drop expense;The tube channel 6 is opened in the four of Base body 1 respectively
On a angle position, quantity can be three, it is five, even more, but require the quadrangle for being distributed in 1 face of Base body or
Edge;
Preferably, the trapezoidal shape in section of the Base body 1 and part of bottom margin inwardly is equipped with upward inclination
Pedestal inclined-plane 8, the absorption type cavity 3, which is located at 1 bottom part down of Base body and edge, has acclivitous chamfered edge 9,
8 surrounding of pedestal inclined-plane covers the chamfered edge 9.Pedestal inclined-plane 8 makes the bottom space of Base body 1 be in expand downwards
Expansion space can be good at wrapping up and accommodating equally there is the absorption type cavity 3 of chamfered edge 9 to be disposed below, can be effective
Fixation absorption type cavity 3, reinforce the contact surface product between the two, better interaction force be provided, 1 lower section of Base body
Absorption type cavity 3 chamfered edge 9 bottom size it is close with pedestal lower dimension leave processing antiskid plate 10 space,
Cavity and sea bed contact area are greater than 6 square metres.
Preferably, several antiskid plates 10 extended downwardly are distributed in the bottom margin of the Base body 1.It is anti-skidding
For plate 10 having a size of 300mm (length) × 20mm (width) × 500mm (height) steel plate, the adjacent spaces of antiskid plate 10 are about 1m or so,
Using welding manner, and it is welded with reinforcing rib, it can support base weight in air;The stability hung when facilitating arrangement, recycling,
It after antiskid plate 10 is arranged on sea bed, is inserted into the soft mud on sea bed surface, further strengthens the steady of Base body 1
It is qualitative.
Preferably, outer concatenation structure 11 is installed on the front surface surrounding edge of the Base body 1.The outer cascade of pedestal
Structure 11 is flexible coupling for multiple pedestals, and expanding pedestal and sea bed contact area or outer connecting structure enhances pedestal stability, outside
Connection structure is processed with erosion-resisting glass-reinforced plastic material, has multiple outer tie points, is embedded in pedestal and is distributed in pedestal not ipsilateral
Top facilitates connection.Pedestal needed after laying cascade expand base mounting surface product, multiple pedestals can be laid, with underwater ROV into
The underwater attended operation water of row can be diver when shallow, connection passes through outer concatenation structure 11 with cut-and-dried macromolecular fibre rope
Connection.The counterweight pressing block 12 placed on 1 surrounding sea bed of Base body is connected and installed in the outer concatenation structure 11.Into
One step reinforces underwater pedestal stability, and the cement briquetting that can be connected by cordage is realized, cement briquetting is for underwater base admittedly
Or isolation, cement briquetting are the multiple cement blocks connected by flexible strand.
Underwater equipment 2 on pedestal can be laid with pedestal, can also be installed after pedestal is laid, and can according to need carry out water
Lower constructing operation, underwater operation can be diver or underwater ROV.If underwater equipment 2 needs to protect, it can also increase equipment guarantor
Shield, equipment protection cover protect sanitation ontology for mask.
For extra large 30 meters deeply, for 4 square metres of absorption type pedestal area, water pump is placed on seagoing vessel, downward by pipeline
Be connected to tube channel, docking be responsible for by diver, docking it is outer must after, inject high pressure water simultaneously to tube channel, high pressure water enters suction
It is attached intracavitary, mud scum is rushed, and is discharged in the presence of hydraulic pressure with water body flow from excretory duct 13, the mud scum inside adsorbent chamber
After discharge, four walls and absorption cavity wall of pedestal are wrapped up by the sea bed mud scum of surrounding, reach adsorption effect, base-plates surface is by 120T
Pressure effect, close excretory duct 13, closing passage pipe, pedestal can be good at realizing stable adsorption effect.
Embodiment 2: a kind of absorption for the sea bed absorption type pedestal that embodiment 1 is recorded, recovery method, as shown in Figure 7, Figure 8,
The following steps are included:
S1, Base body 1 is hung and sits bottom sea bed to predetermined position point;After pedestal processes, pass through waterborne vessel lifting rope
The structure that hangs in suspension hook connection Base body 1 is hung into water, until predetermined position;
S2, the bonnet for opening excretory duct 13, after the valve deck of tube channel 6 is connect with external device (ED), by tube channel 6 to suction
Inject high-pressure water body inside attached chamber 5, by inside adsorbent chamber 5, the sea bed mud of lower section blow afloat, and excluded from excretory duct 13, close
Valve closing cap, stops injection high pressure water, and the stabilization of absorption type cavity 3 is adsorbed on sea bed surface;
When S3, recycling pedestal, high pressure water or high pressure gas are injected to the intracavitary portion of attached formula by tube channel 6, make adsorbent chamber 5,
Base body 1 is detached from sea bed absorption in the case where internal high pressure, recycles Base body.High pressure can be connected in four check-valve ports
Water pipe or part shut, rest part connect high-pressure water pipe, be added by way valve passageway into 5 body of adsorbent chamber high pressure water or
High pressure gas makes pedestal from sea bed solution De contamination, realizes pedestal recycling.
It after step S2 completes absorption, needs to be adjusted pedestal posture, the step of posture is adjusted includes:
It is removed in several tube channels 6 from the unidirectional valve deck 7 of the tube channel 6 where the higher one end of relative altitude, and in channel
High pressure water is added into adsorbent chamber 5 in pipe 6, by high pressure water by the region where mud or sundries blowout base bottom, reaches base
The adjustment of sitting posture state.In the step of posture is adjusted, the unidirectional valve deck 7 of the tube channel 6 of non-added high pressure water is disassembly
Or releasing orientation.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (10)
1. a kind of sea bed absorption type pedestal convenient for recycling, including Base body (1), be mounted on it is underwater on Base body (1)
Equipment (2), which is characterized in that Base body (1) is plank frame, is equipped with the suction extended downwardly along Base body (1) bottom
Attached formula cavity (3), the absorption type cavity (3) include the cavity wall (4) along the distribution of Base body (1) bottom margin, and cavity wall (4) is enclosed
Around middle part form adsorbent chamber (5), offering at least four by four orientation on the Base body (1) is connected to adsorbent chamber
(5) tube channel (6), and it is opened in the excretory duct that adsorbent chamber is connected on Base body (1), the excretory duct has activity
The bonnet of opening and closing is equipped with detachable or adjustable elastic valve deck in tube channel (6).
2. sea bed absorption type pedestal according to claim 1, which is characterized in that the section of the Base body (1) is in ladder
Shape and the part of bottom margin inwardly are equipped with acclivitous pedestal inclined-plane (8), and the absorption type cavity (3) is located at pedestal
Main body (1) bottom part down and edge have acclivitous chamfered edge (9), and pedestal inclined-plane (8) surrounding covers the inclined-plane
Side (9).
3. sea bed absorption type pedestal according to claim 2, which is characterized in that the tube channel (6) is opened in base respectively
On four angle positions of seat main body (1), and the valve deck is unidirectional valve deck (7).
4. sea bed absorption type pedestal according to claim 2, which is characterized in that the bottom margin of the Base body (1)
Several antiskid plates (10) extended downwardly are distributed with.
5. sea bed absorption type pedestal according to claim 4, which is characterized in that the positive table of the Base body (1)
Outer concatenation structure (11) are installed on the surrounding edge of face.
6. sea bed absorption type pedestal according to claim 5, which is characterized in that connect peace on the outer concatenation structure (11)
Equipped with the counterweight pressing block (12) placed on Base body (1) surrounding sea bed.
7. a kind of absorption of the sea bed absorption type pedestal as described in above-mentioned any one claim, recovery method, feature exist
In the following steps are included:
S1, Base body (1) is hung and sits bottom sea bed to predetermined position point;
S2, the bonnet for opening excretory duct, after the valve deck of tube channel (6) is connect with external device (ED), by tube channel (6) to absorption
High-pressure water body is injected inside chamber (5), internal, lower section sea bed mud is blown afloat by adsorbent chamber (5), and is excluded from excretory duct, is closed
Valve closing cap, stops injection high pressure water, and absorption type cavity (3) stabilization is adsorbed on sea bed surface;
When S3, recycling pedestal, high pressure water or high pressure gas are injected to the intracavitary portion of attached formula by tube channel (6), make adsorbent chamber (5),
Base body (1) is detached from sea bed absorption in the case where internal high pressure, recycles Base body.
8. the absorption of sea bed absorption type pedestal according to claim 7, recovery method, which is characterized in that in step S3, row
Let out the bonnet of pipe, the valve deck of the tube channel (6) of non-implanted high pressure water or high pressure gas is closing or locking state.
9. the absorption of sea bed absorption type pedestal according to claim 7, recovery method need after step S2 completes absorption
Pedestal posture is adjusted, the step of posture is adjusted include: by several tube channels (6) from relatively high
The valve deck removal of the tube channel (6) where higher one end is spent, and high pressure water is added into adsorbent chamber (5) in tube channel (6), is led to
Cross high pressure water by mud or sundries blow it is flat, blow shifting, realize the adjustment of pedestal posture.
10. the absorption of sea bed absorption type pedestal according to claim 9, recovery method, the step that the posture is adjusted
In rapid, the bonnet of excretory duct, non-added high pressure water the unidirectional valve deck (7) of tube channel (6) be to open or releasing orientation.
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CN111022002A (en) * | 2019-12-31 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Wellhead environment simulation platform device and simulation method for deepwater oil and gas production system |
CN111022002B (en) * | 2019-12-31 | 2024-04-16 | 中国船舶重工集团公司七五0试验场 | Wellhead environment simulation platform device and simulation method for deep water oil and gas production system |
CN111516834A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Seabed raise dust and silt suppression device |
CN112523252A (en) * | 2020-11-18 | 2021-03-19 | 河海大学 | Recyclable seabed anti-sinking plate suitable for uneven seabed and installation and use method |
CN112455631A (en) * | 2020-11-24 | 2021-03-09 | 浙江大学 | Matrix type sensor arrangement device and method suitable for deep sea detection |
CN116039835A (en) * | 2023-02-09 | 2023-05-02 | 深海技术科学太湖实验室 | Mechanical shock-resistant anti-adsorption deep sea submersible vehicle bottom-sitting device |
CN116039835B (en) * | 2023-02-09 | 2024-01-26 | 深海技术科学太湖实验室 | Mechanical shock-resistant anti-adsorption deep sea submersible vehicle bottom-sitting device |
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Application publication date: 20190416 |