CN109883759A - A kind of seabed grabbing arrangement and seabed are grabbed bucket system - Google Patents
A kind of seabed grabbing arrangement and seabed are grabbed bucket system Download PDFInfo
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- CN109883759A CN109883759A CN201910246487.4A CN201910246487A CN109883759A CN 109883759 A CN109883759 A CN 109883759A CN 201910246487 A CN201910246487 A CN 201910246487A CN 109883759 A CN109883759 A CN 109883759A
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Abstract
A kind of seabed grabbing arrangement, including electrical ontology, propeller, drawing article, grab bucket mechanism, control mechanism and camera shooting mechanism；Propeller is installed on electrical ontology；The both ends of drawing article are connected with electrical ontology and grab bucket mechanism respectively；Camera shooting mechanism includes being respectively arranged on flash lamp and camera assembly at the top of the grab bucket of electrical ontology opposite end；Control mechanism is set on electrical ontology.Above-mentioned seabed grabbing arrangement, electrical ontology can be driven to rotate by propeller, drive the rotation of grab bucket mechanism, so as to carry out operation control to sampling area, grab bucket top flash lamp takes pictures to grab bucket mechanism ambient enviroment by being cooperated with camera assembly, can also monitor in real time at a distance from relaxation tension to drawing article and electrical ontology and mechanism of grabbing bucket.There is situations such as overturning, hit, is stuck to effectively reduce grab bucket mechanism, improves the sampling efficiency and success rate of grab bucket mechanism.In addition, also providing a kind of seabed grab bucket system containing above-mentioned seabed grabbing arrangement.
Description
Technical field
The present invention relates to sea floor sampling equipment technical field more particularly to a kind of seabed grabbing arrangement and seabed grab bucket systems
System.
Background technique
With the development of marine technology, marine resources such as manganese nodule, cobalt crusts, combustible ice, sulfide etc. are for modern society
It can develop with huge attraction, other such as marine rock samples, bottom sediment are raw for geoscience research and ocean
Object research is of great significance, and the marine rock method of sampling is few at present, wherein be most common method by grab bucket trawlnet, by
In trawlnet is destroyed to seabed larger, situations such as being easy to appear loss, gradually abandon uses, most of grab bucket is put by wirerope
Under, for that can collect marine rock sample, there are huge unknown numbers, and especially under complicated sea-floor relief, grab bucket is turned over
Situations such as turning, hitting, is stuck, so that the sampling success rate of grab bucket greatly reduces.
Summary of the invention
In consideration of it, it is necessary to provide a kind of seabed grabbing arrangement that can improve sampling efficiency and success rate and seabed grab bucket systems
System.
A kind of seabed grabbing arrangement, including electrical ontology, propeller, drawing article, grab bucket mechanism, control mechanism and video camera
Structure；
The propeller is installed on the electrical ontology；
One end of the drawing article is connected with the electrical ontology, and the other end of the drawing article and the grab bucket mechanism connect
It connects；
The camera shooting mechanism includes being respectively arranged on flash lamp and camera shooting group at the top of the grab bucket of the electrical ontology opposite end
Part；
The control mechanism is set on the electrical ontology, the grab bucket mechanism, the camera assembly and grab bucket top
Portion's flash lamp is connected with the control mechanism.
In one embodiment, the grab bucket mechanism includes grabbing units, laser locator, shines in bucket in video camera and bucket
Bright lamp, video camera and the bucket intraoral illumination lamp are set on the grabbing units in the laser locator, the bucket, described to swash
In light-seeking device, the bucket video camera with the bucket intraoral illumination lamp is equal connects with the control mechanism.
In one embodiment, the camera assembly includes being installed on the external camera of described electrical ontology one end and outer
Portion's video camera.
In one embodiment, the grabbing units include grab bucket ontology, handgrip component and hydraulic system；
The grab bucket ontology is fixedly connected with the drawing article far from one end of the electrical ontology；
The handgrip component includes the first handgrip and the second handgrip, and first handgrip and second handgrip are set to institute
It states on grab bucket ontology；
The hydraulic system is for driving first handgrip and the second handgrip to open or close；
The quantity of the laser locator is two, and described two laser locator Parallel Symmetrics are installed on the grab bucket originally
The two sides in internal portion；
Video camera and the bucket intraoral illumination lamp are installed on the inside of the grab bucket ontology in the bucket.
In one embodiment, the grab bucket mechanism further include grab bucket front flash lamp and grab bucket front camera, it is described
Grab bucket front flash lamp and the grab bucket front camera are installed on one end of the grab bucket ontology.
It in one embodiment, further include altimeter, the altimeter is installed on the electrical ontology equipped with the camera shooting
One end of component.
It in one embodiment, further include armouring watertight cable, winch, electrical control cabinet and monitoring large screen, the armouring
One end of watertight cable is connected with the electrical ontology, and the other end of the armouring watertight cable is connected with the winch, described electrical
Control cabinet is connected with the winch with the monitoring large screen respectively.
It in one embodiment, further include sonar, the sonar is installed on electrical ontology and is equipped with the camera assembly
One end.
It in one embodiment, further include system parameter instrument board, system mode video camera and instrument board headlamp, it is described
System parameter instrument board is connected with the control mechanism, and the parameter of the control mechanism is shown in the system parameter instrument board
Show, the system mode video camera and the instrument board headlamp are arranged in face of the system parameter instrument board.
A kind of seabed grab bucket system, the above-mentioned seabed grab bucket being connect including ship for offshore operation and with the ship for offshore operation
Equipment.
Above-mentioned seabed grabbing arrangement can drive electrical ontology to rotate by propeller, and electrical ontology passes through drawing article band
The rotation of dynamic grab bucket mechanism effectively selects sampling area so as to carry out operation control to sampling area, improves sampling efficiency.
Flash lamp with camera assembly by being cooperated to grab bucket mechanism ambient enviroment at the top of the grab bucket of the electrical ontology opposite end
It takes pictures, improves sampling efficiency.Camera assembly can also relaxation tension to drawing article and electrical ontology and grab claw
The distance of structure is monitored in real time.There is situations such as overturning, hit, is stuck to effectively reduce grab bucket mechanism, improves grab claw
The sampling efficiency and success rate of structure.
Above-mentioned seabed grab bucket system, ship for offshore operation are able to drive grab bucket mechanism and move to suitable position, control grab bucket
Mechanism is sampled in suitable place, and carries out effective monitoring to mining environment, moreover it is possible to effectively prevent handgrip mechanism and palisades
Collision, overturning, improve sampling efficiency and success rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the seabed grabbing arrangement of an embodiment；
Fig. 2 shows for the position of the system parameter instrument board of an embodiment, system mode video camera and instrument board headlamp
It is intended to；
Fig. 3 is the structural schematic diagram of the grab bucket mechanism of an embodiment.
Specific embodiment
In order to be more clear the objectives, technical solutions, and advantages of the present invention, with reference to the accompanying drawings and embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.It is described in the present invention to be fixedly connected, including be directly fixedly connected and fix indirectly.
The seabed grab bucket system of one embodiment, including ship for offshore operation (not shown) and the sea being connect with ship for offshore operation
Bottom grabbing arrangement.
Referring to FIG. 1, the seabed grabbing arrangement of an embodiment, including electrical ontology 1, propeller 2, drawing article 4, grab bucket
Mechanism, control mechanism and camera shooting mechanism.
Propeller 2 is installed on electrical ontology 1.
One end of drawing article 4 and electrical ontology 1 connect, and the other end of drawing article 4 is connected with grab bucket mechanism.
Camera shooting mechanism includes being respectively arranged on flash lamp 27 and camera assembly at the top of the grab bucket of electrical 1 opposite end of ontology.
For control mechanism on electrical ontology 1, flash lamp 27 is equal at the top of grab bucket mechanism, camera assembly and grab bucket and controls machine
Structure connection.
Above-mentioned seabed grabbing arrangement can drive electrical ontology 1 to rotate by propeller 2, and electrical ontology 1 passes through drawing article
4 drive the rotation of grab bucket mechanism effectively to select sampling area so as to carry out operation control to sampling area, improve sampling effect
Rate.Flash lamp 27 with camera assembly by being cooperated to grab bucket mechanism week at the top of the grab bucket of 1 opposite end of electrical ontology
Collarette border is taken pictures, and sampling efficiency is improved.Camera assembly can also relaxation tension and electrical ontology 1 to drawing article 4
It is monitored in real time at a distance from grab bucket mechanism.There is situations such as overturning, hit, is stuck to effectively reduce grab bucket mechanism, mentions
Height grab bucket mechanism is sampled into power.
In the embodiment shown in fig. 1, the quantity of propeller 2 is two, and two propellers 2 are installed on electrical ontology 1
On both ends.Two propellers 2 are symmetrically distributed, and the rotation of electrical ontology 1 may be implemented by controlling propeller 2.
By the rotation of electrical ontology 1, the rotation of grab bucket mechanism can control.Pass through the appearance being arranged in electrical ontology 1
State sensor detection grab bucket direction, then cooperate the propeller 2 in grab bucket mechanism, pass through the posture court of 2 pairs of propeller mechanisms of grabbing bucket
To being adjusted, the direction for remaining grab bucket mechanism is consistent with the direction of ship for offshore operation.
In one embodiment, camera assembly includes that the external camera 11 for being installed on electrical 1 one end of ontology and outside are taken the photograph
Camera 12.External camera 11 is high definition camera.External camera 12 is high-definition camera.Wherein, 12 court of external camera
It is arranged to drawing article 4.
External camera 11 is installed on electrical 1 front of ontology, and straight down, shooting grab bucket mechanism front ambient enviroment shines
Piece.With a certain distance from external camera 11 is installed from grab bucket top flash lamp 27 and had, the two is toward the same region in seabed and court
To grab bucket mechanism, environmental area, front.
Grab bucket top flash lamp 27 and external camera 12 are separately mounted to electrical 1 rear and front end position of ontology, guarantee it
Between have certain intervals position.External camera 12 is arranged towards drawing article 4.The lamp cooperation high definition that is always on of grab bucket flash lamp 27 is taken the photograph
Camera 12 is to the relaxation tension of STAINLESS STEEL CHAINS 4, and carries out at a distance from lower part grab bucket ontology 6 to electrical ontology 1 real-time
Monitoring.High-definition camera 12 and high definition camera 11 can also carry out grab bucket mechanism bottom part ring border and grab bucket mechanism direction of advance
Real time monitoring.
In one embodiment, referring to FIG. 3, grab bucket mechanism includes grabbing units, laser locator 16, struggle against interior video camera
17 and bucket intraoral illumination lamp 18.Video camera 17 and bucket intraoral illumination lamp 18 are set on grab claw structure in laser locator 16, bucket.Laser
Locator 16, the interior video camera 17 that struggles against are connected with control mechanism with bucket intraoral illumination lamp 18.It can see that by video camera 17 in struggling against
Laser locator 16 determines that grab bucket mechanism declines sampling area by reflected spot, to mention in the reflected spot of seabed bottom
The sampling efficiency and success rate of height grab bucket mechanism.
In one embodiment, grabbing units include grab bucket ontology 6, handgrip component 8 and hydraulic system.
Grab bucket ontology 6 is fixedly connected with drawing article 4 far from one end of electrical ontology 1.
Handgrip component 8 includes the first handgrip and the second handgrip, and the first handgrip and the second handgrip are set on grab bucket ontology 6.
Hydraulic system is for driving the first handgrip and the second handgrip to open or close.
Specifically, the quantity of laser locator 16 is two, two 16 Parallel Symmetrics of laser locator are installed on grab bucket originally
Two sides inside body 6.The direction of laser locator 16 is that straight down, can see that laser locator by video camera 17 in struggling against
16 seabed bottom reflected spot, pass through reflected spot determine grab bucket decline sampling area.
Specifically, video camera 17 and bucket intraoral illumination lamp 18 are installed on the inside of grab bucket ontology 6 in struggling against.17 He of video camera in struggling against
The direction of bucket intraoral illumination lamp 18 can see handgrip group before the closing of handgrip component 8 straight down, by video camera 17 in struggling against
The seabed situation of 8 bottom of part, after handgrip component 8 is closed, it can be seen that 8 inner sample situation of handgrip component.
Mechanism of grabbing bucket further includes crushing teeth 9.First handgrip one end and the second handgrip far from handgrip ontology 6 are far from handgrip
One end of ontology 6 is welded with crushing teeth 9.Crushing teeth 9 is used for fractured rock sample.The material of crushing teeth 9 is hard alloy.It is broken
Broken tooth 9 can be replaced after wearing.
In one embodiment, hydraulic system includes hydraulic mechanism 3, fluid pressure line 5 and hydraulic cylinder 7, and hydraulic mechanism 3 is installed
In on electrical ontology 1, hydraulic cylinder 7 is connected with the first handgrip, the second handgrip, and fluid pressure line 5 connects hydraulic mechanism 3 and hydraulic cylinder 7.
The opening and closing of hydraulic cylinder 7, can control the first handgrip and the second handgrip opens and closes.Hydraulic system is for driving first
Handgrip and the second handgrip open or close in one embodiment, by fast between fluid pressure line 5 and hydraulic mechanism 3, hydraulic cylinder 7
Quick coupling is attached, easy disassembly.
In one embodiment, referring to FIG. 3, grab bucket mechanism further includes grab bucket front flash lamp 19 and grab bucket front camera
Machine 20, grab bucket front flash lamp 19 and front camera 20 of grabbing bucket are installed on the front of grab bucket ontology 6.Grab bucket front camera 20
For monitoring the front environment of grab bucket ontology 6.
In one embodiment, seabed grabbing arrangement further includes altimeter 10, and altimeter 10 is installed on electrical ontology 1 and is equipped with
One end of camera assembly.Altimeter 10, can be with when mechanism of grabbing bucket is close apart from seabed for measuring grab bucket mechanism terrain clearance
Reduce the decrease speed of grab bucket mechanism.
In one embodiment, seabed grabbing arrangement further includes armouring watertight cable 21, winch 22, electrical control cabinet 23 and prison
Control large screen 24.One end of armouring watertight cable 21 and electrical ontology 1 connect, and the other end and winch 22 of armouring watertight cable 21 connect
It connects, electrical control cabinet 23 is connected with winch 22 and monitoring large screen 24 respectively.Grab bucket mechanism is transported to by ship for offshore operation
Predetermined operation region is transferred seabed grabbing arrangement to seabed by winch 22 and armouring watertight cable 21, passes through armouring watertight cable
21 send the energy on ship and control system to grab used in water mechanism, and underwater vision signal and system data are passed in real time
It send into electrical control cabinet 23, monitor video signal is projected to monitoring large screen 24 by electrical control cabinet 23 and is shown.
In one embodiment, seabed grabbing arrangement further includes sonar (not shown), and sonar is installed on electrical ontology 1 and installs
There is one end of camera assembly.The direction of sonar horizontally forward, monitors distance of the grab bucket mechanism apart from palisades.Wall surface grab bucket mechanism with
Palisades are hit.Wherein in avoidance, manipulation winch 22 promotes grab bucket mechanism over subaqueous rock, to guarantee for grab bucket mechanism
Mechanism of grabbing bucket safety.
In the present embodiment, drawing article 4 is STAINLESS STEEL CHAINS.4 length of STAINLESS STEEL CHAINS can be according to being actually adjusted, most
Long length can allow the gantry crane being installed on lash ship realization to lay under water.In other embodiments, drawing article 4 can also be with
It can be used for the attachment connected for other unlike materials such as wirerope or nylon rope.In actual operation, drawing article 4 can basis
Practical situation is selected.
In one embodiment, control mechanism includes electrical system and compensation system 13 and electric pipeline.Electrical system and
Compensation system 13 by electric pipeline and grab bucket ontology 6 in laser locator 16, struggle against in video camera 17, bucket intraoral illumination lamp 18,
Flash lamp 19 and grab bucket front camera 20 are communicated and are connected.In the embodiment shown in fig. 1, electric pipeline and hydraulic
Pipeline is set together, marked as 5.Electrical system and compensation system 13 are that seabed grabbing arrangement control and data signal acquisition
Component is taken the photograph for controlling hydraulic system 3, headlamp 26, altimeter 10, external camera 11, external camera 12, system mode
Camera 15, laser locator 16, the interior video camera 17 that struggles against, bucket intraoral illumination lamp 18, flash lamp 19, grab bucket front camera 20, instrument
The opening and closing of disk headlamp 26 and grab bucket top flash lamp 27, and acquire transmission vision signal therein and other data letter
Number.
In one embodiment, referring to FIG. 2, seabed grabbing arrangement further includes system parameter instrument board 14, system mode
Video camera 15 and instrument board headlamp 26.System parameter instrument board 14 is connected with control mechanism, and the parameter of control mechanism is in system
Parameters Instrument dial plate 14 is shown that system mode video camera 15 and instrument board headlamp 26 are set in face of system parameter instrument board 14
It sets.System mode video camera 15 and instrument board headlamp 26 monitor system parameter instrument board 14 in real time.Seabed grab bucket is set
Standby oil system parameter is shown by mechanical-hydraulic table, and passes through system mode video camera 15 and instrument board headlamp
26 cooperations, monitor its state in real time, to reduce the use of pressure sensor, have saved cost, simplified system.
Electrical system and compensation system 13 and system parameter instrument board 14 connect.Hydraulic mechanism 3 also with system parameter instrument
Disk 14 connects, and oil liquid pressure value is shown by hydralic pressure gauge in 14 system parameter instrument boards.
The move mode of seabed grab bucket system is moved when being work by ship for offshore operation dragging, and ship for offshore operation is moved
Dynamic speed is slow.
At work, seabed grab bucket system is transferred grab bucket mechanism to seabed by winch 22, and electrical ontology 1 passes through armouring
The connection of watertight cable 21 is hung on grab bucket ontology 6, observes STAINLESS STEEL CHAINS 4 by the high-definition camera 12 on electrical ontology 1
Whether loosen, when STAINLESS STEEL CHAINS 4 has loosened, and the heave of electrical ontology 1 cannot influence grab bucket ontology 6, closes grab bucket
Hydraulic cylinder 7, grabs sample.
Wherein at work, electrical ontology 1 is connect by armouring watertight cable 21 with ship for offshore operation, armouring for grab bucket mechanism
Watertight cable 21 is constantly in tension, grab bucket ontology 6 bottom, STAINLESS STEEL CHAINS 4 loosen.
When not collecting sample or undesirable sample, need to re-start marine rock sampling, operation
Process is as follows:
First by the attitude transducer in electrical system and compensation system 13, control propeller 2 is slowly rotated, so that extra large
Bottom grabbing arrangement is towards unanimously, slowly Europe equipment is caught in mobile operation on the sea ship, dragging seabed with the navigation of operation on the sea ship
Slowly advance, by external camera 11 and the real time monitoring grab bucket 6 front area environment of ontology of external camera 12, when conforming to
When the sample asked enters the pickup area that 16 reflected spot of laser locator determines, the control decentralization grab bucket of winch 22 mechanism carries out mesh
Mark regional aim crawl.
Above-mentioned seabed grab bucket system can control grab bucket mechanism and be sampled in suitable place, be carried out to mining environment
Effective monitoring, moreover it is possible to effectively prevent collision, the overturning of handgrip mechanism and palisades, and can also be fixed by laser to sea floor sampling area
Position device 16 is effectively differentiated, and sampling success rate is improved.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without departing from the principles of the invention, several improvements and modifications can also be made, these improvements and modifications also should be regarded as this hair
Bright protection scope.
Claims (10)
1. a kind of seabed grabbing arrangement, which is characterized in that including electrical ontology, propeller, drawing article, grab bucket mechanism, control machine
Structure and camera shooting mechanism；
The propeller is installed on the electrical ontology；
One end of the drawing article is connected with the electrical ontology, and the other end of the drawing article is connected with the grab bucket mechanism；
The camera shooting mechanism includes being respectively arranged on flash lamp and camera assembly at the top of the grab bucket of the electrical ontology opposite end；
The control mechanism is set on the electrical ontology, is dodged at the top of the grab bucket mechanism, the camera assembly and the grab bucket
Light lamp is connected with the control mechanism.
2. seabed grabbing arrangement as described in claim 1, which is characterized in that the camera assembly is described electrical including being installed on
The external camera and external camera of ontology one end.
3. seabed grabbing arrangement as described in claim 1, which is characterized in that the grab bucket mechanism includes grabbing units, laser
Video camera and the intraoral illumination lamp that struggles against in locator, bucket, video camera and the bucket intraoral illumination lamp are equal in the laser locator, the bucket
On the grabbing units, video camera and the equal and described control of bucket intraoral illumination lamp in the laser locator, the bucket
Mechanism connection.
4. seabed grabbing arrangement as claimed in claim 3, which is characterized in that the grabbing units include grab bucket ontology, handgrip
Component and hydraulic system；
The grab bucket ontology is fixedly connected with the drawing article far from one end of the electrical ontology；
The handgrip component includes the first handgrip and the second handgrip, and first handgrip and second handgrip are set to described grab
It struggles against on ontology；
The hydraulic system is for driving first handgrip and the second handgrip to open or close；
The quantity of the laser locator is two, and described two laser locator Parallel Symmetrics are installed in the grab bucket ontology
The two sides in portion；
Video camera and the bucket intraoral illumination lamp are installed on the inside of the grab bucket ontology in the bucket.
5. seabed grabbing arrangement as claimed in claim 4, which is characterized in that the grab bucket mechanism further includes the flash of light of grab bucket front
Lamp and grab bucket front camera, the grab bucket front flash lamp and the grab bucket front camera are installed on the grab bucket ontology
One end.
6. seabed grabbing arrangement as described in claim 1, which is characterized in that further include altimeter, the altimeter is installed on
The electrical ontology is equipped with one end of the camera assembly.
7. seabed grabbing arrangement as described in claim 1, which is characterized in that further include armouring watertight cable, winch, electrical control
Cabinet and monitoring large screen, one end of the armouring watertight cable are connected with the electrical ontology, the other end of the armouring watertight cable
It is connected with the winch, the electrical control cabinet is connected with the winch with the monitoring large screen respectively.
8. seabed grabbing arrangement as described in claim 1, which is characterized in that further include sonar, the sonar is installed on electrically
Ontology is equipped with one end of the camera assembly.
9. seabed grabbing arrangement as described in claim 1, which is characterized in that further include system parameter instrument board, system mode
Video camera and instrument board headlamp, the system parameter instrument board are connected with the control mechanism, the parameter of the control mechanism
It is shown in the system parameter instrument board, the system mode video camera and the instrument board headlamp face the system
The setting of Parameters Instrument dial plate.
The system 10. a kind of seabed is grabbed bucket, which is characterized in that connect including ship for offshore operation and with the ship for offshore operation as weighed
Benefit requires seabed grabbing arrangement described in any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910246487.4A CN109883759A (en) | 2019-03-29 | 2019-03-29 | A kind of seabed grabbing arrangement and seabed are grabbed bucket system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910246487.4A CN109883759A (en) | 2019-03-29 | 2019-03-29 | A kind of seabed grabbing arrangement and seabed are grabbed bucket system |
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| CN109883759A true CN109883759A (en) | 2019-06-14 |
Family
ID=66935038
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|---|---|---|---|
| CN201910246487.4A Pending CN109883759A (en) | 2019-03-29 | 2019-03-29 | A kind of seabed grabbing arrangement and seabed are grabbed bucket system |
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| CN (1) | CN109883759A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| KR102073722B1 (en) * | 2019-12-06 | 2020-03-02 | 주식회사 태영측량 | Real time marine dredging using Grab |
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| CN107870098A (en) * | 2017-10-30 | 2018-04-03 | 山东大学 | A kind of self-propelled ocean is visually grabbed bucket and its sampling ship |
| CN108680379A (en) * | 2018-08-02 | 2018-10-19 | 杭州瀚陆物探工程技术有限公司 | A kind of deep-sea Omni-mobile TV grab bucket |
| CN209858258U (en) * | 2019-03-29 | 2019-12-27 | 中国科学院深海科学与工程研究所 | Seabed grab bucket equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201670349U (en) * | 2010-06-01 | 2010-12-15 | 上海海事大学 | Huge submarine salvaging grab bucket |
| CN205742311U (en) * | 2016-01-25 | 2016-11-30 | 徐工集团工程机械股份有限公司 | Hydraulic grab and construction of diaphragm wall equipment |
| CN107870098A (en) * | 2017-10-30 | 2018-04-03 | 山东大学 | A kind of self-propelled ocean is visually grabbed bucket and its sampling ship |
| CN108680379A (en) * | 2018-08-02 | 2018-10-19 | 杭州瀚陆物探工程技术有限公司 | A kind of deep-sea Omni-mobile TV grab bucket |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| KR102073722B1 (en) * | 2019-12-06 | 2020-03-02 | 주식회사 태영측량 | Real time marine dredging using Grab |
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