CN114086925A - Electro-hydraulic combined type underwater control device in shallow water environment - Google Patents
Electro-hydraulic combined type underwater control device in shallow water environment Download PDFInfo
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- CN114086925A CN114086925A CN202111337504.9A CN202111337504A CN114086925A CN 114086925 A CN114086925 A CN 114086925A CN 202111337504 A CN202111337504 A CN 202111337504A CN 114086925 A CN114086925 A CN 114086925A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000013307 optical fiber Substances 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 19
- 238000003032 molecular docking Methods 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 12
- 150000001875 compounds Chemical class 0.000 claims description 8
- 238000002788 crimping Methods 0.000 claims description 3
- 239000012452 mother liquor Substances 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 12
- 239000000306 component Substances 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 10
- -1 regions Substances 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003208 petroleum Substances 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 229920002545 silicone oil Polymers 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/12—Methods or apparatus for controlling the flow of the obtained fluid to or in wells
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/02—Couplings; joints
- E21B17/028—Electrical or electro-magnetic connections
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to an electro-hydraulic combined type underwater control device in a shallow water environment, which is characterized by comprising a shell, an SCM (single chip microcomputer) main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a support frame and an SEM (scanning electron microscope) cylinder; the hydraulic system and the support frame are arranged in the shell; the support frame is provided with two SEM barrels, through holes for electric connectors to extend into are formed in the bottoms of the two SEM barrels, and an electric connector and an optical fiber connector are arranged at the top of each SEM barrel; the top of the shell is provided with a plurality of ROV interfaces at intervals, and the bottom of the shell is provided with the first butt-joint locking mechanism; the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the second butt joint locking mechanism matched with the first butt joint locking mechanism is arranged on the first butt joint disc.
Description
Technical Field
The invention relates to an electro-hydraulic combined type underwater control device in a shallow water environment, and belongs to the field of marine petroleum engineering.
Background
In the exploration and development process of the marine oil and gas field, the operations of petroleum yield control, separation treatment, transportation and the like are all completed through the underwater production system and are all controlled through the underwater control system. The underwater control module is one of control core components of the underwater production system, adopts a modular design, is integrally installed, and can be recycled and reused. The underwater control module receives a control instruction sent by the water surface, controls and monitors the underwater production system, and the connection between the underwater control module and the umbilical cable and the actuator of the underwater production system is realized through a hydraulic connector and an electrical connector.
The ocean oil and gas reserves are abundant, the exploitation of the ocean oil and gas is developed for a long time, the exploitation mode is continuously improved, but from the world, the national index of refraction which really has the ocean oil and gas exploration and can be developed independently is countable, and most of manufacturers of the ocean oil and gas exploration underwater production system concentrate on Europe, America and other developed countries. The underwater control system is developed and changed from a full-hydraulic type underwater control system to an electro-hydraulic combined type underwater control system to a full-electric type underwater control system, and the electro-hydraulic combined type underwater control system still dominates in the exploitation of ocean oil at present.
The development and development of the Chinese underwater production system still belong to the starting stage, the related methods are not mature enough, and the enlargement of the research design of an underwater production System Control Module (SCM) has important significance for improving the development capability of the marine oil and gas field. Most of marine oil and gas exploration and production in China are concentrated in shallow sea areas such as Bohai sea, east sea, south sea and the like, a plurality of mining devices depend on imports, existing underwater control modules are mostly suitable for deep sea areas, high requirements are provided for various used original components, manufacturing cost is high, the underwater control modules suitable for the shallow sea areas are relatively short, and most of the existing underwater control modules in the prior art are assisted by underwater remote control robots in the installation process.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an electro-hydraulic hybrid underwater control device for shallow water environment, which has low cost and does not need the assistance of an underwater remote control robot.
In order to achieve the purpose, the invention adopts the following technical scheme: an electro-hydraulic combined type underwater control device in a shallow water environment comprises a shell, an SCM main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a supporting frame and an SEM cylinder;
the hydraulic system and the support frame are arranged in the shell; the support frame is provided with two SEM barrels, through holes for electric connectors to extend into are formed in the bottoms of the two SEM barrels, and an electric connector and an optical fiber connector are arranged at the top of each SEM barrel; the top of the shell is provided with a plurality of ROV interfaces at intervals, and the bottom of the shell is provided with the first butt-joint locking mechanism;
the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the first butt joint disc is provided with a second butt joint locking mechanism used for being matched with the first butt joint locking mechanism.
Preferably, the first butt locking mechanism comprises a locking shaft, a main shaft sleeve, a locking block, a mother hydraulic joint, a mother electric joint and a guide pin;
the locking shaft is fixedly arranged at the center of the bottom of the shell, the main shaft sleeve is sleeved outside the locking shaft, and the locking block is arranged on the main shaft sleeve; the mother hydraulic joint and the mother electric joint are respectively and fixedly arranged on two sides of the bottom of the shell, and the guide pin is further arranged on one side of the bottom of the shell.
Preferably, the second butt locking mechanism comprises a positioning sleeve, a positioning ring, a male hydraulic joint, a male electric joint and a positioning hole;
the positioning sleeve matched with the spindle sleeve is fixedly arranged at the center of the first butting disc, and the positioning ring matched with the locking block is arranged in the positioning sleeve; the male hydraulic connector and the male electric connector are respectively fixedly arranged on two sides of the first butting disc and are used for being matched with the corresponding mother liquor crimping connector and the corresponding female electric connector; one side of the first butt joint disc is further provided with the positioning hole used for being matched with the guide pin.
Preferably, a sealing housing is sleeved on the top of the hydraulic system, an opening for the support frame to pass through is formed in the top of the sealing housing, and a through hole for the electric connector to extend into is formed in the top of the sealing housing.
Preferably, the housing comprises a second docking tray, a protective cover and a top plate;
the second butt joint disc is fixedly connected with the bottom of the protective cover, and the top of the protective cover is fixedly connected with the top plate.
Preferably, the support frame comprises a strut and a brace plate;
the bottom of the supporting rod is fixedly arranged at the center of the top of the second butt joint disc, a plurality of supporting plates are arranged on the outer side of the supporting rod in a parallel and spaced mode and sleeved with the supporting plates, and openings used for clamping the SEM cylinder are formed in two sides of each supporting plate.
Preferably, corresponding to the position of the opening, two sides of each bracket plate are provided with clips for fixing the SEM cylinder.
Preferably, the top of the sealing shell is provided with a boss for placing the SEM cylinder.
Preferably, the top center of the outer shell is also provided with a hanging ring.
Preferably, both sides of the first docking plate are further provided with a limit screw rod for supporting the SCM main body respectively.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention has the advantages that the first butt-joint locking mechanism and the second butt-joint locking mechanism are arranged, so that the hydraulic joint and the electric joint on the underwater equipment where the shell and the first butt-joint disc are positioned can be in butt joint in a rapid and automatic butt joint mode, the butt-joint locking mechanism is locked in a guide pin and locking block mode, the structure is simple, the positioning is accurate, and the reliability is high.
2. Because the pressure of the shallow water environment is relatively low, the invention is provided with the sealing shell to cover partial elements of the hydraulic system, such as the electro-hydraulic directional valve, the pressure sensor and the like, so that the parts are prevented from being immersed in silicon oil and not bearing the pressure caused by water depth, the corresponding common hydraulic element can be selected for the hydraulic system, the cost is greatly reduced, meanwhile, the invention also has the function of simplifying other structures, and the invention is suitable for the marine shallow water oil and gas field exploitation operation environment.
3. The sealing shell is provided with the boss, the SEM cylinder is arranged on the boss of the sealing shell, the corresponding positions of the sealing shell and the SEM cylinder are provided with the through holes for the electric connectors to extend into, the SEM cylinder and transmission lines such as electric connection lines of elements such as an electro-hydraulic reversing valve and the like in the sealing shell can be connected through the through holes, the number of joints outside the SCM can be reduced, and the device can be widely applied to the field of marine petroleum engineering.
Drawings
FIG. 1 is a schematic view of one side of the subsea control device of the present invention;
FIG. 2 is a schematic view of the other side of the subsea control device of the present invention;
FIG. 3 is a schematic view of the underside of the subsea control device of the present invention;
FIG. 4 is a schematic top side view of the subsea control device of the present invention;
FIG. 5 is a partial cross-sectional view of the body of the subsea control device of the present invention;
FIG. 6 is a schematic view of a portion of the subsea control device of the present invention;
FIG. 7 is a schematic view of a sealed housing arrangement of the subsea control device of the present invention;
FIG. 8 is a top view of FIG. 7;
fig. 9 is a schematic structural diagram of a butt joint locking mechanism of the underwater control device.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The shallow water environment electro-hydraulic combined type underwater control device is suitable for the exploitation operation environment of ocean shallow water oil and gas fields, and partial elements of a hydraulic system, such as an electro-hydraulic reversing valve, a pressure sensor and the like, can be covered by a sealing shell due to relatively low pressure of the shallow water environment, so that the shallow water environment electro-hydraulic combined type underwater control device is prevented from being immersed in silicon oil.
As shown in fig. 1 and fig. 3, the electro-hydraulic compound type underwater control device for shallow water environment provided by the invention comprises a housing 1, an SCM (underwater control module) main body 2, a first docking tray 3, a first docking locking mechanism 4, a second docking locking mechanism 5 and a limit screw 6, wherein the SCM main body 2 comprises a hydraulic system 21, a support frame 22, a seal housing 23, an SEM cylinder 24, an electrical connector 25 and an optical fiber connector 26.
As shown in fig. 1, 2, 4 and 5, a hydraulic system 21 and a support frame 22 are arranged in the housing 1, a sealing housing 23 is sleeved on the top of the hydraulic system 21, the sealing housing 23 is used for sealing parts such as an electro-hydraulic directional valve 211 and a pressure sensor of the hydraulic system 21, and an opening through which the support frame 22 passes is opened on the top of the sealing housing 23. The supporting frame 22 is provided with two SEM cylinders 24, and the top of the sealing housing 23 and the bottoms of the two SEM cylinders 24 are both provided with through holes for the electric connector 7 to extend into. The top of each SEM cylinder 24 is provided with an electrical connector 25 and an optical fibre connector 26. The top of shell 1 is provided with a plurality of ROV interfaces 11 at interval, and the top center of shell 1 is provided with rings 12, and the bottom of shell 1 is provided with first butt joint locking mechanism 4.
As shown in fig. 3, 4 and 9, the first docking tray 3 is fixedly arranged on the underwater equipment. The first docking tray 3 is provided with a second docking locking mechanism 5 for cooperating with the first docking locking mechanism 4, corresponding to the bottom of the housing 1. Two sides of the first butt joint disc 3 are respectively provided with a limiting screw rod 6 for supporting the SCM main body 2 after the SCM main body 2 reaches a preset position.
In a preferred embodiment, the housing 1 comprises a second docking tray 13, a protective cover 14 and a top plate 15, wherein the protective cover 14 is of a cylindrical structure. The second butt joint disk 13 is fixedly connected with the bottom of the protective cover 14 through a circular flange, and the top of the protective cover 14 is fixedly connected with the top plate 15.
In a preferred embodiment, as shown in fig. 6, the support frame 22 includes struts 221 and bracket plates 222. The bottom of branch 221 passes through flange and the fixed top center that sets up at second butt joint dish 13 of bolt, and the parallel interval in the outside of branch 221 sets up the cover and is equipped with a plurality of mounting panels 222, and the arc opening has all been seted up to the both sides of each mounting panel 222 for the card establishes SEM barrel 24. Corresponding to the position of the arc-shaped opening, two sides of each support plate 222 are provided with clips for circumferentially fixing the SEM cylinder 24.
In a preferred embodiment, as shown in fig. 7 and 8, the top of the sealed housing 23 is provided with a boss for placing the SEM cylinder 24, wherein the shape of the sealed housing 23 is determined according to the structure of the hydraulic system 21.
In a preferred embodiment, as shown in fig. 1, 2, 3 and 9, the first butt lock mechanism 4 includes a lock shaft 41, a spindle sleeve 42, a lock block 43, a female hydraulic joint 44, a female electrical joint 45 and a guide pin 46. The locking shaft 41 is fixedly arranged at the center of the bottom of the shell 1, a main shaft sleeve 42 is sleeved outside the locking shaft 41, and a locking block 43 is arranged on the main shaft sleeve 42. The mother hydraulic connector 44 and the mother electric connector 45 are respectively fixedly arranged at two sides of the bottom of the shell 1, and one side of the bottom of the shell 1 is also provided with a guide pin 46.
In a preferred embodiment, as shown in fig. 1, 2, 3 and 9, the second docking latch mechanism 5 includes a locator sleeve 51, a locator ring 52, a male hydraulic connector 53, a male electrical connector 54 and a locator aperture. The positioning sleeve 51 is fixedly arranged at the center of the first butt joint disc 3, a positioning ring 52 is arranged in the positioning sleeve 51, the positioning sleeve 51 is used for being matched with the spindle sleeve 42, and the positioning ring 52 is used for being matched with the locking block 43. The male hydraulic connector 53 and the male electrical connector 54 are respectively fixedly arranged on two sides of the first butting disk 3 and are used for being matched with the corresponding mother liquor crimping connector 44 and the female electrical connector 45. One side of the first docking tray 3 is also provided with a locating hole for cooperating with the guide pin 46.
The installation process of the electro-hydraulic combined type underwater control device in the shallow water environment is described in detail through specific embodiments as follows:
1) a first docking tray 3 is mounted on the subsea equipment.
2) The hydraulic system 21 is mounted on top of the second docking tray 13.
3) The seal housing 23 is mounted to the second docking plate 13 by a fastener such as a bolt, and a part of the components of the hydraulic system 21 is housed without the components sealed therein coming into contact with the silicone oil.
4) The support frame 22 is installed at the top center of the second docking plate 13 by means of flanges and bolts, and at the same time, the SEM cylinder 24 is installed at a proper position of the support frame 22 such that the bottom through hole of the SEM cylinder 24 corresponds to the top through hole of the hermetic case 23.
5) And fixedly arranging a protective cover 14 on the second butt joint disk 13 through a circular flange, installing a top plate 15 on the top of the protective cover 14, and installing a hanging ring 12 and a plurality of ROV interfaces 11 on the top plate 15.
6) When the SCM main body 2 needs to be installed and butted with the first butting disc 3, the guide pin 46, the positioning hole, the main shaft sleeve 42 and the positioning sleeve 51 are matched to realize the guide positioning of the SCM main body 2 and the first butting disc 3, the female hydraulic connector 44 and the female electrical connector 45 which are arranged at the bottom of the SCM main body 2 are automatically and quickly connected with the male hydraulic connector 53 and the male electrical connector 54 which are arranged on the first butting disc 3, after the SCM main body 2 reaches a preset position, the SCM main body 2 is supported by the limiting screw rod 6, and meanwhile, a diver pushes the locking shaft 41 to axially move, so that the locking block 43 and the positioning ring 52 are matched to realize locking.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. The electro-hydraulic combined type underwater control device for the shallow water environment is characterized by comprising a shell, an SCM main body, a first butt joint disc, a first butt joint locking mechanism and a second butt joint locking mechanism, wherein the SCM main body comprises a hydraulic system, a supporting frame and an SEM cylinder;
the hydraulic system and the support frame are arranged in the shell; the support frame is provided with two SEM barrels, through holes for electric connectors to extend into are formed in the bottoms of the two SEM barrels, and an electric connector and an optical fiber connector are arranged at the top of each SEM barrel; the top of the shell is provided with a plurality of ROV interfaces at intervals, and the bottom of the shell is provided with the first butt-joint locking mechanism;
the first butt joint disc is fixedly arranged on the underwater equipment and corresponds to the bottom of the shell, and the first butt joint disc is provided with a second butt joint locking mechanism used for being matched with the first butt joint locking mechanism.
2. The shallow water environment electro-hydraulic compound type underwater control device as claimed in claim 1, wherein the first butt-joint locking mechanism comprises a locking shaft, a main shaft sleeve, a locking block, a mother hydraulic joint, a mother electric joint and a guide pin;
the locking shaft is fixedly arranged at the center of the bottom of the shell, the main shaft sleeve is sleeved outside the locking shaft, and the locking block is arranged on the main shaft sleeve; the mother hydraulic joint and the mother electric joint are respectively and fixedly arranged on two sides of the bottom of the shell, and the guide pin is further arranged on one side of the bottom of the shell.
3. The electro-hydraulic compound underwater control device for shallow water environment as claimed in claim 2, wherein the second butt-joint locking mechanism comprises a positioning sleeve, a positioning ring, a male hydraulic joint, a male electric joint and a positioning hole;
the positioning sleeve matched with the spindle sleeve is fixedly arranged at the center of the first butting disc, and the positioning ring matched with the locking block is arranged in the positioning sleeve; the male hydraulic connector and the male electric connector are respectively fixedly arranged on two sides of the first butting disc and are used for being matched with the corresponding mother liquor crimping connector and the corresponding female electric connector; one side of the first butt joint disc is further provided with the positioning hole used for being matched with the guide pin.
4. The shallow water environment electro-hydraulic combined type underwater control device as claimed in claim 1, wherein a sealing shell is sleeved on the top of the hydraulic system, an opening for the support frame to pass through is formed in the top of the sealing shell, and a through hole for an electric connector to extend into is formed in the top of the sealing shell.
5. The shallow water environment electro-hydraulic compound type underwater control device as claimed in claim 1, wherein the housing includes a second docking tray, a protective cover and a top plate;
the second butt joint disc is fixedly connected with the bottom of the protective cover, and the top of the protective cover is fixedly connected with the top plate.
6. The shallow water environment electro-hydraulic compound type underwater control device as claimed in claim 5, wherein the support frame comprises a support rod and a support plate;
the bottom of the supporting rod is fixedly arranged at the center of the top of the second butt joint disc, a plurality of supporting plates are arranged on the outer side of the supporting rod in a parallel and spaced mode and sleeved with the supporting plates, and openings used for clamping the SEM cylinder are formed in two sides of each supporting plate.
7. The electro-hydraulic combined type underwater control device for the shallow water environment as claimed in claim 6, wherein corresponding to the position of the opening, two sides of each support plate are provided with clips for fixing the SEM cylinder.
8. The shallow water environment electro-hydraulic compound type underwater control device as claimed in any one of claims 1 to 7, wherein a boss for placing the SEM cylinder is arranged at the top of the sealing shell.
9. The shallow water environment electro-hydraulic compound type underwater control device as claimed in any one of claims 1 to 7, wherein a hanging ring is further arranged at the center of the top of the outer shell.
10. The shallow water environment electro-hydraulic compound type underwater control device as claimed in any one of claims 1 to 7, wherein two sides of the first docking plate are respectively provided with a limit screw for supporting the SCM main body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111337504.9A CN114086925B (en) | 2021-11-09 | 2021-11-09 | Electro-hydraulic composite underwater control device for shallow water environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111337504.9A CN114086925B (en) | 2021-11-09 | 2021-11-09 | Electro-hydraulic composite underwater control device for shallow water environment |
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| CN114086925B CN114086925B (en) | 2024-05-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114991718A (en) * | 2022-06-17 | 2022-09-02 | 中海石油(中国)有限公司 | Routing module operating system for seabed oil and gas operation |
| CN115118657A (en) * | 2022-06-17 | 2022-09-27 | 中海石油(中国)有限公司 | Routing module for seabed oil and gas operation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114991718A (en) * | 2022-06-17 | 2022-09-02 | 中海石油(中国)有限公司 | Routing module operating system for seabed oil and gas operation |
| CN115118657A (en) * | 2022-06-17 | 2022-09-27 | 中海石油(中国)有限公司 | Routing module for seabed oil and gas operation |
| CN115118657B (en) * | 2022-06-17 | 2024-01-30 | 中海石油(中国)有限公司 | Routing module for seabed oil and gas operation |
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