CN111021400A - Split type anchoring foundation based on torpedo anchor penetration - Google Patents

Split type anchoring foundation based on torpedo anchor penetration Download PDF

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Publication number
CN111021400A
CN111021400A CN201911095407.6A CN201911095407A CN111021400A CN 111021400 A CN111021400 A CN 111021400A CN 201911095407 A CN201911095407 A CN 201911095407A CN 111021400 A CN111021400 A CN 111021400A
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China
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semicircular arc
arc plate
shell
wing
wing plates
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CN201911095407.6A
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CN111021400B (en
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刘洁群
何立新
沈亦军
高玲玲
龙夏
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Hefei University
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Hefei University
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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00Foundations as substructures
    • E02D27/32Foundations for special purposes
    • E02D27/52Submerged foundations, i.e. submerged in open water
    • E02D27/525Submerged foundations, i.e. submerged in open water using elements penetrating the underwater ground
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00Foundations as substructures
    • E02D27/32Foundations for special purposes
    • E02D27/50Anchored foundations
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D31/00Protective arrangements for foundations or foundation structures; Ground foundation measures for protecting the soil or the subsoil water, e.g. preventing or counteracting oil pollution
    • E02D31/10Protective arrangements for foundations or foundation structures; Ground foundation measures for protecting the soil or the subsoil water, e.g. preventing or counteracting oil pollution against soil pressure or hydraulic pressure
    • E02D31/12Protective arrangements for foundations or foundation structures; Ground foundation measures for protecting the soil or the subsoil water, e.g. preventing or counteracting oil pollution against soil pressure or hydraulic pressure against upward hydraulic pressure

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Hydrology & Water Resources (AREA)
  • Piles And Underground Anchors (AREA)

Abstract

The invention discloses a split anchoring foundation based on torpedo anchor penetration, which comprises an upper part structure and a lower part structure; the lower structure is formed by welding a lower shell and wing plates, the lower end of the lower shell is a cylinder body, the rest are semicircular arc plates, the two wing plates are welded on the two sides of the semicircular arc plates and welded with a pair of sleeves, and the third wing plate is welded on the outer side of the semicircular arc plate; the upper structure is formed by welding an upper shell and wing plates, the upper end of the upper shell is a cylinder body, the rest of the upper shell is a semicircular arc plate, the two wing plates are welded on the two sides of the semicircular arc plate, the third wing plate is welded on the outer side of the semicircular arc plate, and a pair of rotating shafts is arranged on the outer side of the cylinder body at the upper end; the rotating shaft of the upper structure is inserted into the sleeve of the lower structure, and the two parts can rotate around the rotating shaft. The lifted anchoring foundation is penetrated into the seabed based on the torpedo anchor, the construction is convenient and fast, and the construction time is short; the two parts of structures rotate and are restrained under the action of the tension of the anchor chain, and the partial wing plates can hold the soil body of the seabed, so that the uplift bearing capacity is improved.

Description

Split type anchoring foundation based on torpedo anchor penetration
Technical Field
The invention relates to the technical field of anchoring of deep-sea floating platforms or deep-water net cages, in particular to a split anchoring foundation based on torpedo anchor penetration.
Background
The fish-thunder anchor is one kind of dynamic force penetrating anchor, and has cylindrical shape, hollow inside, capacity of being filled with high density material, such as concrete, waste metal, etc. to increase self weight and lower anchor center of gravity for maintaining its stability, and conic lower end for easy penetration into seabed soil. The torpedo anchor is fast and convenient to install, does not need any external force during installation, only needs to be vertically released at a position which is high enough away from the seabed so that the torpedo anchor falls down by the gravity of the torpedo anchor, and penetrates through the seabed to a certain depth by the huge inertia force caused by high acceleration when the torpedo anchor collides with the seabed. The release height is usually such that a final collision velocity of 17m/s is reached at a distance of 30m from the seabed, a penetration depth of about 7m, and above 30m/s at 150m, a penetration depth of about 20 m.
Therefore, the torpedo anchor has the characteristics of simple structure, reusability, low manufacturing cost and convenience in installation, and is very suitable for the offshore construction environment. If the advantages can be utilized, the torpedo anchor is changed into a construction tool, and the progress and development of the marine anchoring foundation construction technology are certainly promoted. Therefore, there is a need to develop a new anchoring foundation type based on torpedo anchor penetration construction to promote the technical progress of the anchoring foundation of ocean engineering.
Disclosure of Invention
The invention aims to make up the defects of the prior art, and provides a split anchoring foundation based on torpedo anchor penetration, which consists of two parts capable of rotating mutually, wherein after a fishbone anchor without tail wings is penetrated into a seabed, the two parts can rotate relatively under the action of the tension of an anchor chain, and the wing plates can hold a certain amount of seabed soil, so that a larger anchoring force can be provided.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
subdivision formula anchoring basis based on torpedo anchor penetrates, its characterized in that: comprises an upper structure and a lower structure which can be mutually rotated; the lower structure is formed by connecting a lower shell and three wing plates, one section of the lower end of the lower shell is a cylinder, the upper end of the cylinder is connected with a semicircular arc plate with equal diameter, the two wing plates are symmetrically fixed on two sides of the semicircular arc plate, a pair of sleeves are symmetrically welded on the outer walls of the two wing plates close to the top end, and the third wing plate is welded in the vertical middle of the outer wall of the semicircular arc plate;
the upper structure is formed by connecting an upper shell and three wing plates, one section of the upper end of the upper shell is a cylinder, the lower end of the cylinder is connected with a semicircular arc plate with equal diameter, the two wing plates are symmetrically fixed on two sides of the semicircular arc plate, the third wing plate is fixed in the vertical middle part outside the semicircular arc plate, a mooring hole is formed in the lower part of the third wing plate, and the outer wall of the upper shell is provided with a pair of rotating shafts matched with the sleeve; when the device is assembled, the rotating shaft of the upper structure is inserted into the sleeve of the lower structure, and the upper structure and the lower structure can rotate around the rotating shaft.
The split anchoring foundation based on torpedo anchor penetration is characterized in that: the inner diameter and the outer diameter of the lower shell are respectively equal to the inner diameter and the outer diameter of the upper shell.
The split anchoring foundation based on torpedo anchor penetration is characterized in that: when the upper structure and the lower structure are mutually clung to each other, the semicircular arc plate of the upper shell and the semicircular arc plate of the lower shell can be in close contact to form a circular tube shape, and the wing plates on two sides of the semicircular arc plate of the upper shell and the wing plates on two sides of the semicircular arc plate of the lower shell are also in close contact with each other.
The split anchoring foundation based on torpedo anchor penetration is characterized in that: when the upper structure and the lower structure rotate to the maximum angle, the upper part of the outer wall of the upper shell props against the wing plate in the vertical middle part of the outer wall of the semicircular arc plate of the lower shell, and the mutual rotation angle of the upper structure and the lower structure is not more than 90 degrees.
Compared with the prior art, the invention has the following advantages:
(1) the invention is constructed and penetrated into the seabed based on the wingless torpedo anchor, the larger self weight of the torpedo anchor can penetrate the anchoring foundation into the deeper seabed, the installation is convenient, the construction time is short, and the invention is very suitable for the offshore construction environment;
(2) when the invention is used for construction, the wing plates on the two sides of the upper structure and the lower structure are in close contact with each other, the exposed surface area is relatively small (about reduced by 50%), and the frictional resistance with the seabed soil body during penetration construction is greatly reduced;
(3) after the anchor foundation is penetrated into the seabed, the upper part structure and the lower part structure rotate and are restrained mutually under the action of the tension of the anchor chain, so that the whole anchor foundation is in complex contact with the seabed soil body, part of wing plates can hold a certain amount of seabed soil body, the friction force between the anchor foundation and the seabed soil body is increased, and the uplift bearing capacity is improved;
(4) the invention is formed by welding the steel plate and the sleeve, has simple structure, convenient manufacture and relatively low manufacturing cost.
Drawings
FIG. 1 is a top view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a first three-dimensional schematic diagram of the present invention.
FIG. 5 is a second three-dimensional schematic diagram of the present invention.
Fig. 6 is a first three-dimensional schematic diagram of the lower structure of the present invention.
FIG. 7 is a second three-dimensional schematic view of the substructure of the present invention.
Fig. 8 is a first three-dimensional schematic diagram of the superstructure of the present invention.
Fig. 9 is a second three-dimensional schematic view of the superstructure of the present invention.
Fig. 10 is a schematic view showing the mutual rotation of the upper structure and the lower structure according to the present invention.
FIG. 11 is a second schematic view showing the mutual rotation of the upper structure and the lower structure according to the present invention.
Fig. 12 is a schematic three-dimensional structure of the torpedo anchor for construction according to the present invention.
Fig. 13 is a cross-sectional view of fig. 12 in accordance with the present invention.
FIG. 14 is an assembly view of the present invention during construction.
FIG. 15 is a schematic view of the present invention with the lifting and anchoring foundation above the seabed during construction.
Fig. 16 is a schematic view of the present invention based on penetration of a torpedo anchor into the seabed.
FIG. 17 is a schematic view of the basic attitude of the fish torpedo with the torpedo anchors removed.
FIG. 18 is a diagram of the operation of the mooring foundation of the present invention.
Description of reference numerals: 1. a wing plate; 2. a sleeve; 3. a rotating shaft; 4. an upper housing; 5. a lower housing; 6. a mooring hole; 7. an anchor body; 8. an anchor head; 9. a tip; 10. a boom; 11. a filler; 12. an anchor chain; 13. constructing a rope; A. a sea bed surface.
Detailed Description
The present invention will be described with reference to the accompanying drawings.
1-18, a split mooring foundation based on torpedo anchor penetration, comprising an upper structure and a lower structure which can be assembled to rotate with respect to each other; the lower structure is formed by welding a lower shell 5 and three wing plates 1, one section of the lower end of the lower shell 5 is a cylinder, the rest part of the lower shell is a semicircular arc plate, the two wing plates 1 are symmetrically welded on two sides of the semicircular arc plate, a pair of sleeves 2 are symmetrically welded on the upper parts of the two wing plates 1, and the third wing plate 1 is welded on the outer side of the vertical middle part of the semicircular arc plate; the upper structure is formed by welding an upper shell 4 and three wing plates 1, one section of the upper end of the upper shell 4 is a cylinder, the rest part of the upper shell is a semicircular arc plate, the two wing plates 1 are symmetrically welded on two sides of the semicircular arc plate, the third wing plate 1 is welded on the outer side of the vertical middle part of the semicircular arc plate, a mooring hole 6 is arranged at the lower part of the third wing plate 1, and a pair of rotating shafts 3 matched with the sleeve 2 is symmetrically arranged on the outer side of the cylinder at the upper end of the upper shell 4; when assembled, the rotation axis 3 of the upper structure is inserted into the sleeve 2 of the lower structure, and the upper structure and the lower structure can rotate around the rotation axis 3.
The above-mentioned terms of orientation such as "upper", "lower", "outside", "upper" and the like are determined based on the attitude of the lifted anchoring base at the time of construction. The anchoring base is suspended above the seabed during construction and is in plumb state, as shown in fig. 15. In this posture, the specific direction of each directional word is determined, and directional words mentioned elsewhere in the specification are also estimated according to this posture. The above-described orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience of description and simplicity of description, but are not intended to indicate or imply that the referred devices or components must have a specific orientation, configuration and operation and therefore should not be construed as limiting the present invention.
Fig. 1-5 show the overall schematic diagram of the combined structure of the upper and lower parts (the posture during construction) of the lifted anchoring base.
The lower structure is formed by welding a lower shell 5 and three wing plates 1, one section of the lower end of the lower shell 5 is a cylinder body, the rest part of the lower shell is a semicircular arc plate, the two wing plates 1 are symmetrically welded on two sides of the semicircular arc plate, a pair of sleeves 2 are symmetrically welded on the upper parts of the two wing plates 1, and the third wing plate 1 is welded on the outer side of the vertical middle part of the semicircular arc plate, as shown in fig. 6 and 7. It can be seen that the lower housing 5 is in fact a hollow cylinder in its entirety, with only a portion of the semicircular arc being cut out.
The upper structure is formed by welding an upper shell 4 and three wing plates 1, one section of the upper end of the upper shell 4 is a cylinder, the rest part is a semicircular arc plate, the two wing plates 1 are symmetrically welded on two sides of the semicircular arc plate, the third wing plate 1 is welded on the outer side of the vertical middle part of the semicircular arc plate, a mooring hole 6 is arranged at the lower part of the third wing plate 1, a pair of rotating shafts 3 matched with the sleeve 2 is symmetrically arranged on the outer side of the cylinder at the upper end of the upper shell 4, and the rotating shafts are shown in fig. 8 and 9. It can be seen that the upper housing 4 is in fact a hollow cylinder in its entirety, with only a portion of the semicircular arc being cut out.
The inner diameter and the outer diameter of the lower case 5 are equal to those of the upper case 4, respectively.
When the assembled upper structure and the assembled lower structure are attached to each other, the semicircular arc plate of the upper shell 4 and the semicircular arc plate of the lower shell 5 can be in close contact to form a circular tube shape, and the wing plates 1 on two sides of the semicircular arc plate of the upper shell 4 and the wing plates 1 on two sides of the semicircular arc plate of the lower shell 5 are also in close contact with each other, as shown in fig. 4 and 5.
When superstructure and substructure after the equipment rotated to the biggest angle each other, superstructure upper housing 4's upper portion will contact, support the substructure and weld pterygoid lamina 1 in the vertical middle part outside of semicircle arc, make superstructure and substructure's mutual rotation angle be not more than 90.
The mutual rotation of the upper structure and the lower structure is shown in fig. 10 and 11.
When the anchoring foundation works, the positions of the sleeve 2 and the rotating shaft 3 generate larger stress concentration, and local reinforcement is carried out in the design to ensure that the strength of the anchoring foundation meets the requirement. The strength and rigidity of each component are enough that the components do not yield or fail under severe working conditions, and partial positions can be locally reinforced, and the details are not shown in the attached drawings.
Constructing the anchoring foundation by using a fish-stone anchor; the torpedo anchor comprises an anchor body 7, wherein the interior of the anchor body 7 is hollow, a conical anchor head 8 is arranged at the lower end of the anchor body 7, an end head 9 is arranged at the upper end of the anchor body 7, the outer diameter of the end head 9 is larger than that of the anchor body 7, and a suspender 10 is arranged inside the end head 9; the outer diameter of the anchor body 7 is smaller than the inner diameter of the upper shell 4, and the outer diameter of the end head 9 is larger than the outer diameter of the upper shell 4. The fish-stone anchor used in construction is shown in fig. 12 and 13.
The interior of the anchor body 7 is hollow, a filler 11 is filled in the hollow part, and the filler 11 can be made of high-density materials such as concrete, waste metal and the like, so that the self weight of the torpedo anchor is increased, the gravity center of the torpedo anchor is reduced, and the stability and the verticality of the torpedo anchor in the process of penetrating into a seabed are maintained.
The specific construction process of the invention comprises the following steps:
1) the anchor body 7 of the fishlike anchor without the tail wing passes through and is sleeved in the upper shell 4 and the lower shell 5, as shown in figure 14.
The lower end of the anchor body 7 extends downwardly beyond the lower end of the lower shell 5 of the substructure of the mooring foundation.
A steel cable 13 for construction is bound on a suspender 10 at the upper end of the fishmine anchor without a tail wing, one end of an anchor chain 12 is connected on a mooring hole 6 on a mooring foundation, and each anchor body 7 is tightly connected with the mooring foundation by using subsequent releasable auxiliary measures, so that the mooring foundation is ensured not to fall off when the anchor bodies 7 are lifted. The whole is suspended vertically above the seabed based on the smooth hoisting anchoring foundation of the construction lines 13, as shown in fig. 15.
2) The anchor chain 12 is lowered by a certain length to enable the anchor chain to be in a loose state and the influence on the rapid sinking of the anchoring foundation is reduced to the minimum, and then the construction rope 13 is released to enable the anchoring foundation to rapidly sink and penetrate into the seabed under the self-weight action of the torpedo anchor, as shown in figure 16.
The lifted anchoring foundation is constructed and penetrated into the seabed based on the wingless torpedo anchor, the anchoring foundation can be penetrated into the deeper seabed by the larger self weight of the torpedo anchor, the installation is convenient, the construction time is short, and the method is very suitable for the offshore construction environment.
When in construction, the wing plates on the two sides of the upper structure and the lower structure are in close contact with each other, the exposed surface area is relatively small (reduced by about 50%), and the frictional resistance with the seabed soil body during penetration construction is greatly reduced.
3) And (3) upwards tensioning the construction rope 13, wherein the subsequent releasable auxiliary measures are disabled and damaged in the tensioning process, so that the anchor body 7 is gradually separated from the upper shell 4 and the lower shell 5, and finally, each anchor body 7 is pulled up and removed. The attitude of the mooring foundation after the anchor body 7 is removed is shown in fig. 17, and the construction is finished. Subsequently, under the action of the tension of the anchor chain, the anchoring foundation deflects and displaces correspondingly, and a schematic diagram of the possible working state of the anchoring foundation is shown in fig. 18.
In order to facilitate the separation of the anchor body 7 from the upper shell 4 and the lower shell 5, a lubricant can be coated on the surface of the anchor body 7.
After the lifted anchoring foundation is penetrated into the seabed, the upper and lower structures rotate and are restrained mutually under the action of the tension of the anchor chain, so that the whole anchoring foundation is in complex contact with the seabed soil body, part of wing plates can hold a certain amount of seabed soil body, the friction force between the anchoring foundation and the seabed soil body is increased, and the uplift bearing capacity is improved.
The lifted anchoring foundation is formed by welding steel plates and sleeves, and has the advantages of simple structure, convenient manufacture and relatively low manufacturing cost.
The figures only show the conditions of partial shapes and partial connection modes of the anchoring foundation, according to the proposed thought, the shapes of the upper and lower part structures, the number and positions of the wing plates, the splitting mode of the sleeve and the connection modes of the parts can be changed to form other related types of split anchoring foundations based on the torpedo anchor penetration construction, which all belong to equivalent modifications and changes of the technology, and are not repeated herein.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
The present invention is not limited to the above embodiments, and various other equivalent modifications, substitutions and alterations can be made without departing from the basic technical concept of the invention as described above, according to the common technical knowledge and conventional means in the field.

Claims (4)

1. The utility model provides a subdivision formula anchor foundation based on torpedo anchor penetrates which characterized in that: comprises an upper structure and a lower structure which can be mutually rotated; the lower structure is formed by connecting a lower shell and three wing plates, one section of the lower end of the lower shell is a cylinder, the upper end of the cylinder is connected with a semicircular arc plate with equal diameter, the two wing plates are symmetrically fixed on two sides of the semicircular arc plate, a pair of sleeves are symmetrically welded on the outer walls of the two wing plates close to the top end, and the third wing plate is welded in the vertical middle of the outer wall of the semicircular arc plate;
the upper structure is formed by connecting an upper shell and three wing plates, one section of the upper end of the upper shell is a cylinder, the lower end of the cylinder is connected with a semicircular arc plate with equal diameter, the two wing plates are symmetrically fixed on two sides of the semicircular arc plate, the third wing plate is fixed in the vertical middle part outside the semicircular arc plate, a mooring hole is formed in the lower part of the third wing plate, and the outer wall of the upper shell is provided with a pair of rotating shafts matched with the sleeve; when the device is assembled, the rotating shaft of the upper structure is inserted into the sleeve of the lower structure, and the upper structure and the lower structure can rotate around the rotating shaft.
2. The split mooring foundation based on torpedo anchor penetration of claim 1, wherein: the inner diameter and the outer diameter of the lower shell are respectively equal to the inner diameter and the outer diameter of the upper shell.
3. The split mooring foundation based on torpedo anchor penetration of claim 1, wherein: when the upper structure and the lower structure are mutually clung to each other, the semicircular arc plate of the upper shell and the semicircular arc plate of the lower shell can be in close contact to form a circular tube shape, and the wing plates on two sides of the semicircular arc plate of the upper shell and the wing plates on two sides of the semicircular arc plate of the lower shell are also in close contact with each other.
4. The split mooring foundation based on torpedo anchor penetration of claim 1, wherein: when the upper structure and the lower structure rotate to the maximum angle, the upper part of the outer wall of the upper shell props against the wing plate in the vertical middle part of the outer wall of the semicircular arc plate of the lower shell, and the mutual rotation angle of the upper structure and the lower structure is not more than 90 degrees.
CN201911095407.6A 2019-11-11 2019-11-11 Split type anchoring foundation based on torpedo anchor penetration Active CN111021400B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115230872A (en) * 2022-06-07 2022-10-25 西南石油大学 Underwater robot self-propelled anchoring device and method

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Publication number Priority date Publication date Assignee Title
US20080141922A1 (en) * 2006-12-13 2008-06-19 Edmund Muehlner Folding torpedo anchor for marine moorings
KR20150105079A (en) * 2014-03-07 2015-09-16 한국해양과학기술원 Embedded Vertical Loaded Anchor
US20150322643A1 (en) * 2014-05-06 2015-11-12 Vicente Luis Chrestia Anchor for underpinning and retaining walls
CN108316338A (en) * 2018-04-04 2018-07-24 合肥学院 A kind of suction penetration type arc steel anchor
CN108528635A (en) * 2018-04-04 2018-09-14 合肥学院 A kind of suction penetration type semicircle combination anchor
CN108528638A (en) * 2018-04-04 2018-09-14 合肥学院 A kind of arc-shaped combination anchor of the suction penetration type with wing plate
CN108860472A (en) * 2018-06-29 2018-11-23 合肥学院 It is a kind of to be segmented the torpedo anchor being formed by connecting

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080141922A1 (en) * 2006-12-13 2008-06-19 Edmund Muehlner Folding torpedo anchor for marine moorings
KR20150105079A (en) * 2014-03-07 2015-09-16 한국해양과학기술원 Embedded Vertical Loaded Anchor
US20150322643A1 (en) * 2014-05-06 2015-11-12 Vicente Luis Chrestia Anchor for underpinning and retaining walls
CN108316338A (en) * 2018-04-04 2018-07-24 合肥学院 A kind of suction penetration type arc steel anchor
CN108528635A (en) * 2018-04-04 2018-09-14 合肥学院 A kind of suction penetration type semicircle combination anchor
CN108528638A (en) * 2018-04-04 2018-09-14 合肥学院 A kind of arc-shaped combination anchor of the suction penetration type with wing plate
CN108860472A (en) * 2018-06-29 2018-11-23 合肥学院 It is a kind of to be segmented the torpedo anchor being formed by connecting

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115230872A (en) * 2022-06-07 2022-10-25 西南石油大学 Underwater robot self-propelled anchoring device and method

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