CN110469746A - A kind of submarine pipeline apparatus for work - Google Patents
A kind of submarine pipeline apparatus for work Download PDFInfo
- Publication number
- CN110469746A CN110469746A CN201910800503.XA CN201910800503A CN110469746A CN 110469746 A CN110469746 A CN 110469746A CN 201910800503 A CN201910800503 A CN 201910800503A CN 110469746 A CN110469746 A CN 110469746A
- Authority
- CN
- China
- Prior art keywords
- kayak body
- kayak
- submarine pipeline
- propeller
- work
- 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.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/16—Coating by application of fluent materials, e.g. painting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The present invention provides a kind of submarine pipeline apparatus for work, comprising: preceding kayak body, rear kayak body and walking mechanism；Walking mechanism is arranged between the preceding kayak body and rear kayak body, forward and backward propeller is respectively equipped in preceding kayak body and rear kayak body, the rear end of rear kayak body is equipped with rear propeller.Drifting along and posture in water for apparatus for work is controlled by forward and backward propeller, pass through moving forward and backward for rear propeller control apparatus for work, after reaching tube inlet port, propeller advances into tube body afterwards, driving wheel is driven to walk along tube wall by the waterproof machine of walking mechanism, travel distance, convenient working control can effectively be controlled.Using this apparatus for work, intraductal operation is dived beneath the water or even pierced without operating personnel, the tubular body of small-bore class can also be detected easily or operation, and working efficiency is improved, it is convenient that periodically underwater tubulose amount of substance state is detected and repaired, it is ensured that underwater tube is safe and reliable.
Description
Technical field
The present invention relates to a kind of underwater working device, especially a kind of submarine pipeline apparatus for work.
Background technique
Under water, it as seabed can have some tubes, needs to carry out some Underwater Weldings or inspection inside these tubes
It the operation such as looks into, is at present to enter in pipe to operate by human body for heavy caliber tube, underwater environment is plus narrow in pipe
Space causes operation very difficult, and there are security risks, root inside small-bore tube can not be carried out, only
It can be reinforced from outside, tubular body state also can not detect or carry out other operations.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the object of the present invention is to provide a kind of submarine pipeline apparatus for work.
In order to achieve the above objectives, the technical solution adopted by the present invention to solve the technical problems is: a kind of submarine pipeline work
Industry device, comprising:
Preceding kayak body, intermediate position are equipped with the front propeller for generating driving force of drifting along；
Kayak body afterwards, intermediate position are equipped with the rear screw shaft for generating driving force of drifting along；
Walking mechanism is arranged between the preceding kayak body and rear kayak body, and the walking mechanism includes the intermediate body of rod, therefrom
Between the body of rod tiltedly extend outwardly and in circumference at equally distributed three group of first nutted rod and the second nutted rod, every group first tensioning
Bar and the second nutted rod are staggered, and the head of first nutted rod is equipped with waterproof machine, the shaft of the waterproof machine
The head of upper installation driving wheel, second nutted rod is equipped with driven wheel；
Propeller afterwards is mounted on the rear end of rear kayak body, is used to generate advance and retreat driving force；Working mechanism is mounted on
The front end of the preceding kayak body.
Using technical solution of the present invention, drifting along and posture in water for apparatus for work is controlled by forward and backward propeller, is led to
Later propeller control apparatus for work moves forward and backward, and after reaching tube inlet port, rear propeller advances into tube body
Afterwards, it drives driving wheel to walk along tube wall by the waterproof machine of walking mechanism, can effectively control travel distance, convenient working control
System.Using apparatus for work of the present invention, intraductal operation is dived beneath the water or even pierced without operating personnel, for the tube body of small-bore class
Inside can also easily detect or operation, improves working efficiency.Can periodically underwater tubulose amount of substance state be detected and be repaired
It is multiple, it is ensured that underwater tube is safe and reliable.
Further, power supply device and control circuit board, the power supply device are equipped in the preceding kayak body and rear kayak body
Electric energy is provided for the front propeller, rear screw shaft, waterproof machine, rear propeller and Working mechanism.
Further, gyroscope is designed in the preceding kayak body and rear kayak body.
Using the above preferred scheme, facilitate real-time control apparatus for work posture.
Further, monitoring device is equipped in preceding kayak body or rear kayak body, the monitoring device includes water-proof CCD camera, prevents
Water power cylinder and universal damping ball and socket joint, the water-proof CCD camera and water-proof torch are mounted at the top of the universal damping ball and socket joint
On bracket, telescoping mechanism is additionally provided with below the universal damping ball and socket joint.
Using the above preferred scheme, aquatic work personnel is facilitated to be monitored apparatus for work.
Further, the preceding kayak body front end is equipped with rotating mechanism, and the shaft of the rotating mechanism is equipped with multiple be used for
The interface of different type Working mechanism is installed.
Using the above preferred scheme, apparatus for work versatility is improved, corresponding Working mechanism is installed according to different demands
Equipment.
Further, the Working mechanism includes weld seam detection head and under-water welding connector, and the two is mounted side by side on rotation simultaneously
On the interface of rotation mechanism shaft.
Using the above preferred scheme, convenient to find pipe inside weld under water automatically and welded by under-water welding connector
Operation.
Further, the Working mechanism is coating detector, is mounted on the interface of rotating mechanism shaft.
Using the above preferred scheme, it can be convenient and pipe coating in tube detected, periodic monitoring coating quality.
Further, the Working mechanism is grinding head, is mounted on the interface of rotating mechanism shaft.
Using the above preferred scheme, inboard wall of tube body rusty stain is removed by grinding head, in order to which stablizing for repair coating is attached
.
Further, the Working mechanism is spray head, and spraying host matched with spray head is mounted on the preceding kayak body
It is internal.
Using the above preferred scheme, convenient that coating spraying reparation is being carried out to underwater tube inner wall.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the present invention；
Fig. 2 is the structural schematic diagram of monitoring device of the present invention.
The title of number and corresponding component represented by letter in figure:
Kayak body before 11-；12- front propeller；Kayak body after 13-；14- rear screw shaft；The body of rod among 15-；16- first is tensioned
Bar；The second nutted rod of 17-；18- waterproof machine；19- driving wheel；20- driven wheel；Propeller after 21-；22- Working mechanism；23-
Rotating mechanism；41- water-proof CCD camera；42- water-proof torch；The universal damping ball and socket joint of 43-；44- telescoping mechanism.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, 2, a kind of submarine pipeline apparatus for work, comprising:
Preceding kayak body 11, intermediate position are equipped with the front propeller 12 for generating driving force of drifting along；
Kayak body 13 afterwards, intermediate position are equipped with the rear screw shaft 14 for generating driving force of drifting along；
Walking mechanism, be arranged between preceding kayak body 11 and rear kayak body 13, the walking mechanism include the intermediate body of rod 15, from
The intermediate body of rod 15 tiltedly extends outwardly and in circumference at equally distributed three group of first nutted rod 16 and the second nutted rod 17, and every group
First nutted rod 16 and the second nutted rod 17 are staggered, and the head of the first nutted rod 16 is equipped with waterproof machine 18, anti-water power
Driving wheel 19 is installed, the head of the second nutted rod 17 is equipped with driven wheel 20 in the shaft of machine 18；
Propeller 21 afterwards are mounted on the rear end of rear kayak body 13, are used to generate advance and retreat driving force；
Working mechanism 22, the front end of kayak body 11 before being mounted on.
Beneficial effect by adopting the above technical scheme is: controlling apparatus for work by front propeller 12, rear screw shaft 14
It drifts along and posture in water, moving forward and backward for apparatus for work is controlled by rear propeller 21, reach tube inlet port
Afterwards, after rear propeller 21 advances into tube body, driving wheel 19 is driven to walk along tube wall by the waterproof machine 18 of walking mechanism, it can
Effectively to control travel distance, convenient working control.Using apparatus for work of the present invention, dives beneath the water without operating personnel and even bore
Enter intraductal operation, the tubular body of small-bore class can also be detected easily or operation, improves working efficiency.It can be periodically to water
Lower tubulose amount of substance state is detected and is repaired, it is ensured that underwater tube is safe and reliable.
In other embodiments of the invention, power supply device and control electricity are equipped in preceding kayak body 11 and rear kayak body 13
Road plate, the power supply device are that front propeller 12, rear screw shaft 14, waterproof machine 18, rear propeller 21 and Working mechanism 22 mention
For electric energy.Gyroscope is designed in preceding kayak body 11 and rear kayak body 13.Beneficial effect by adopting the above technical scheme is: convenient real-time
Control apparatus for work posture.
As shown in Fig. 2, being equipped with monitoring in other embodiments of the invention in preceding kayak body 11 or rear kayak body 13 and setting
Standby, the monitoring device includes water-proof CCD camera 41, water-proof torch 42 and universal damping ball and socket joint 43, water-proof CCD camera 41 and anti-
Water power cylinder 42 is mounted on the bracket at universal 43 top of damping ball and socket joint, and the lower section of universal damping ball and socket joint 43 is additionally provided with telescopic machine
Structure 44.Beneficial effect by adopting the above technical scheme is: aquatic work personnel being facilitated to be monitored apparatus for work.
In other embodiments of the invention, preceding 11 front end of kayak body is equipped with rotating mechanism 23, and rotating mechanism 23 turns
Axis is equipped with multiple for installing the interface of different type Working mechanism.Beneficial effect by adopting the above technical scheme is: improving
Apparatus for work versatility installs corresponding Working mechanism equipment according to different demands.
In other embodiments of the invention, Working mechanism 22 includes weld seam detection head and under-water welding connector, the two
It is mounted side by side on the interface of rotating mechanism shaft simultaneously.Beneficial effect by adopting the above technical scheme is: convenient automatically in water
Lower searching pipe inside weld is simultaneously subjected to by under-water welding connector.
In other embodiments of the invention, Working mechanism 22 is coating detector, is mounted on rotating mechanism and turns
On the interface of axis.Beneficial effect by adopting the above technical scheme is: can be convenient and detects to pipe coating in tube, periodically
Monitor coating quality.
In other embodiments of the invention, Working mechanism 22 is grinding head, is mounted on rotating mechanism shaft
On interface.Beneficial effect by adopting the above technical scheme is: inboard wall of tube body rusty stain is removed by grinding head, in order to repair coating
Stablize attachment.
In other embodiments of the invention, Working mechanism 22 is spray head, spraying host matched with spray head
It is mounted on inside the preceding kayak body.Beneficial effect by adopting the above technical scheme is: convenient to carry out to underwater tube inner wall
Coating spraying reparation.
Before the Working mechanism for detecting or welding for pipe internal coating, plumb joint and measuring head are mounted in outside kayak body
Side, it can be placed into inside preceding kayak body or rear kayak body for other ancillary equipments such as welding or Coating measurement such as control system.
When with matched large scale equipment, such as electric welding machine, welding wire feeder can be placed on the canoe for floating on the water surface, be filled
When setting pipeline operations under water, the necessaries on canoe play booster action.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow ordinary skill people
Member can understand the contents of the present invention and be implemented, it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (9)
1. a kind of submarine pipeline apparatus for work characterized by comprising
Preceding kayak body, intermediate position are equipped with the front propeller for generating driving force of drifting along；
Kayak body afterwards, intermediate position are equipped with the rear screw shaft for generating driving force of drifting along；
Walking mechanism is arranged between the preceding kayak body and rear kayak body, and the walking mechanism includes the intermediate body of rod, from intermediate bar
Body tiltedly extends outwardly and in circumference at equally distributed three group of first nutted rod and the second nutted rod, every group of first nutted rod and
Second nutted rod is staggered, and the head of first nutted rod is equipped with waterproof machine, pacifies in the shaft of the waterproof machine
Driving wheel is filled, the head of second nutted rod is equipped with driven wheel；
Propeller afterwards is mounted on the rear end of rear kayak body, is used to generate advance and retreat driving force；
Working mechanism is mounted on the front end of the preceding kayak body.
2. submarine pipeline apparatus for work according to claim 1, which is characterized in that be all provided in the preceding kayak body and rear kayak body
There are power supply device and control circuit board, the power supply device is the front propeller, rear screw shaft, waterproof machine, rear propeller
Electric energy is provided with Working mechanism.
3. submarine pipeline apparatus for work according to claim 2, which is characterized in that all set in the preceding kayak body and rear kayak body
There is gyroscope.
4. submarine pipeline apparatus for work according to claim 1, which is characterized in that be equipped with prison in preceding kayak body or rear kayak body
Equipment is controlled, the monitoring device includes water-proof CCD camera, water-proof torch and universal damping ball and socket joint, the water-proof CCD camera and anti-
Water power cylinder is mounted on the bracket at the top of the universal damping ball and socket joint, is additionally provided with below the universal damping ball and socket joint flexible
Mechanism.
5. submarine pipeline apparatus for work according to claim 1, which is characterized in that the preceding kayak body front end is equipped with whirler
Structure, the shaft of the rotating mechanism are equipped with multiple for installing the interface of different type Working mechanism.
6. submarine pipeline apparatus for work according to claim 5, which is characterized in that the Working mechanism includes weld seam detection
Head and under-water welding connector, the two are mounted side by side on the interface of rotating mechanism shaft simultaneously.
7. submarine pipeline apparatus for work according to claim 5, which is characterized in that the Working mechanism is coating detection
Head is mounted on the interface of rotating mechanism shaft.
8. submarine pipeline apparatus for work according to claim 5, which is characterized in that the Working mechanism is grinding head,
It is mounted on the interface of rotating mechanism shaft.
9. submarine pipeline apparatus for work according to claim 5, which is characterized in that the Working mechanism is spray head, with
The matched spraying host of spray head is mounted on inside the preceding kayak body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800503.XA CN110469746A (en) | 2019-08-27 | 2019-08-27 | A kind of submarine pipeline apparatus for work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800503.XA CN110469746A (en) | 2019-08-27 | 2019-08-27 | A kind of submarine pipeline apparatus for work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110469746A true CN110469746A (en) | 2019-11-19 |
Family
ID=68512530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910800503.XA Pending CN110469746A (en) | 2019-08-27 | 2019-08-27 | A kind of submarine pipeline apparatus for work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110469746A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672293A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Multi-dimensional detection amphibious operation pipeline robot |
| CN203601547U (en) * | 2013-08-07 | 2014-05-21 | 天津昊野科技有限公司 | Underwater robot |
| CN204795302U (en) * | 2015-07-13 | 2015-11-18 | 广州敏视数码科技有限公司 | Vehicle -mounted camera |
| CN205686594U (en) * | 2016-04-09 | 2016-11-16 | 浙江工业职业技术学院 | Water pollution monitors evidence obtaining robot |
| CN206684625U (en) * | 2017-04-27 | 2017-11-28 | 宿迁学院 | A kind of novel computer camera |
| CN208015849U (en) * | 2018-03-12 | 2018-10-26 | 上海云碁计算机系统有限公司 | A kind of camera of computer |
| CN108869949A (en) * | 2018-08-22 | 2018-11-23 | 南通理工学院 | A kind of detection of pipe internal coating and auto-mending robot |
| CN109050845A (en) * | 2018-08-14 | 2018-12-21 | 深圳鳍源科技有限公司 | Underwater propulsion unit, underwater operation equipment and its control method for movement |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
| CN208862974U (en) * | 2018-12-04 | 2019-05-14 | 深圳飞思通科技有限公司 | A kind of mobile monitoring camera |
-
2019
- 2019-08-27 CN CN201910800503.XA patent/CN110469746A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203601547U (en) * | 2013-08-07 | 2014-05-21 | 天津昊野科技有限公司 | Underwater robot |
| CN103672293A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Multi-dimensional detection amphibious operation pipeline robot |
| CN204795302U (en) * | 2015-07-13 | 2015-11-18 | 广州敏视数码科技有限公司 | Vehicle -mounted camera |
| CN205686594U (en) * | 2016-04-09 | 2016-11-16 | 浙江工业职业技术学院 | Water pollution monitors evidence obtaining robot |
| CN206684625U (en) * | 2017-04-27 | 2017-11-28 | 宿迁学院 | A kind of novel computer camera |
| CN208015849U (en) * | 2018-03-12 | 2018-10-26 | 上海云碁计算机系统有限公司 | A kind of camera of computer |
| CN109050845A (en) * | 2018-08-14 | 2018-12-21 | 深圳鳍源科技有限公司 | Underwater propulsion unit, underwater operation equipment and its control method for movement |
| CN108869949A (en) * | 2018-08-22 | 2018-11-23 | 南通理工学院 | A kind of detection of pipe internal coating and auto-mending robot |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
| CN208862974U (en) * | 2018-12-04 | 2019-05-14 | 深圳飞思通科技有限公司 | A kind of mobile monitoring camera |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109483568B (en) | Automatic flaw detection, carbon planing and welding robot for outer wall of pipeline | |
| KR20190047706A (en) | Underwater Vehicles and Inspection Methods | |
| CN105344670B (en) | Submerged pipeline cleaning device | |
| WO2020082821A1 (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| CN109733570B (en) | Wheeled walking-propeller propelling type underwater cleaning robot | |
| CN203743732U (en) | In-pipe walking support mechanism | |
| CN103785923A (en) | Local dry-method underwater welding robot based on ROV | |
| CN109488836B (en) | Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline | |
| CN108468862A (en) | A kind of underwater robot for submarine pipeline Magnetic memory testing | |
| JP2024027130A (en) | Equipment for working on structures | |
| CN103302396B (en) | A kind of underwater robot friction welding system and welding method thereof | |
| CN108375625B (en) | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method | |
| WO2018119415A1 (en) | Marine riser cleaning and inspection process | |
| CN114408137A (en) | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system | |
| CN113386930A (en) | Underwater robot applied to pier maintenance and maintenance method thereof | |
| CN110469746A (en) | A kind of submarine pipeline apparatus for work | |
| EP3947822A1 (en) | A device for moving along a cylindrical structure and its use, and a method for working a cylindrical structure | |
| CN109094761B (en) | A kind of propeller underwater cleaning device | |
| CN112858308B (en) | Disease underwater detection device for water pipeline in operation period | |
| CN103697926B (en) | The marine target direction positioning action device that deck in ship structure bulwark supports | |
| CN112758287A (en) | Underwater remote control detection and disposal operation equipment and construction method thereof | |
| KR101441496B1 (en) | Hydraulic status measuring apparatus for underwater robot equipped hydraulic system | |
| KR101316106B1 (en) | Underwater installation system and method for tube of submerged floating tunnel | |
| CN109647647B (en) | Novel coating device for seabed long oil pipe | |
| CN210850281U (en) | High-water-flow long-distance duct detection robot 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191119 |
|
| RJ01 | Rejection of invention patent application after publication |