CN115189319B - Underwater cable clamping and position marking system and operation method - Google Patents
Underwater cable clamping and position marking system and operation method Download PDFInfo
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- CN115189319B CN115189319B CN202210806438.3A CN202210806438A CN115189319B CN 115189319 B CN115189319 B CN 115189319B CN 202210806438 A CN202210806438 A CN 202210806438A CN 115189319 B CN115189319 B CN 115189319B
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- underwater cable
- sleeve
- oil cylinder
- clamping
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
An underwater cable clamping and position marking system and an operation method thereof comprise two parts of an underwater cable clamping and position marking device and a water surface buoy, wherein the underwater cable clamping and position marking device comprises an actuating mechanism and a clamping mechanism; the adoption of the pop-up steel ball structure not only realizes the reliable fastening connection of the clamping mechanism and the actuating mechanism, but also does not cause obstruction when the clamping mechanism is separated from the actuating mechanism, thereby smoothly completing the separation action of the clamping mechanism and the actuating mechanism; the clamping mechanism can still keep a good clamping state when the diameter of the underwater cable is changed, and is suitable for the condition that the diameter of the underwater cable is changed due to the temperature change of the seawater; the acoustic signal generator is tightly connected with the underwater cable through the clamping mechanism, and even if the position of the underwater cable changes due to various reasons, the actual position of the cable at the position can be accurately marked; the device is provided with only one driving oil cylinder, has simple structure, can not cause excessive burden on the ROV, and the actuating mechanism can be repeatedly used.
Description
Technical Field
The invention relates to the technical field of underwater cable handling, in particular to an underwater cable clamping and position marking system and an operation method.
Background
The underwater cable has wide application in the fields of underwater communication, power transmission, submarine observation networks and the like, is usually laid on the seabed and even buried below a seabed sediment layer, but due to factors such as seawater flow, biological activity, vegetation growth, landform change and the like, after the laying is completed for a period of time, the laying position of the underwater cable is changed or the landform of the buried cable is changed. Unlike cables laid on land, workers cannot directly inspect underwater cables, which generally need to be remotely controlled by ROVs, which generally use sonar detection to find underwater cables, the cables are relatively thin, so that the positions of the cables are difficult to find when the cables need to be overhauled, replaced, sheared and the like.
Disclosure of Invention
The applicant has aimed at the above-mentioned drawbacks of the prior art in production and has provided a system and a method of operation for gripping and position marking of an underwater cable, whereby after the laying of the underwater cable is completed, the device is carried by the ROV and arranged at a critical node of the underwater cable, the device being fixed to the underwater cable by means of a clamping mechanism and the position of the cable being marked by means of an acoustic signal generator inside the device.
The technical scheme adopted by the invention is as follows:
the underwater cable clamping and position marking system comprises two parts, namely an underwater cable clamping and position marking device and a water surface buoy, wherein the underwater cable clamping and position marking device comprises an actuating mechanism and a clamping mechanism;
the actuating mechanism has the structure that: the device comprises a base, wherein one end of the base is connected with an oil cylinder through an end face flange, the oil cylinder and a piston rod of the oil cylinder extend into the base, a groove is formed in the piston rod of the oil cylinder, a first spring and a steel ball are arranged in the groove, the steel ball is pressed on the surface of an inner cylinder of the base under the action of the first spring, a cylindrical groove is formed in the base, and a second spring is arranged in the corresponding cylindrical groove of the base;
the left support frame is fixed outside the base;
the structure of the clamping mechanism is as follows: the device comprises a support sleeve, wherein a seal cabin is arranged in the support sleeve in a matched manner, the seal cabin can linearly move in the support sleeve in an unlocking state, an energy supply module is arranged in the right end of the seal cabin, and a left V-shaped block is fixed at the end part of the right end of the seal cabin;
the left end of the sealed cabin is connected with a piston rod of the oil cylinder, a lock sleeve is arranged in the left end of the sealed cabin, and a third spring is arranged between the inside of the lock sleeve and the sealed cabin;
the support sleeve is provided with a notch, and the lock pin is arranged in the notch of the support sleeve and is pressed on the outer cylindrical surface of the lock sleeve under the action of the second spring;
the right side of the supporting sleeve is internally fixed with a right side V-shaped block, and the right side V-shaped block is arranged opposite to the left side V-shaped block;
the outside of support sleeve is fixed right support frame, fixed acoustic signal generator between right support frame and the left support frame, acoustic signal generator and energy supply module pass through watertight cable connection.
The further technical scheme is as follows:
the cross section of the sealed cabin is of a convex structure.
The left end of the sealed cabin is a hollow cylindrical sleeve, a rectangular groove is formed in the outer side of the cylindrical sleeve, and the right end of the sealed cabin is a sealed cavity for installing an energy supply module.
The diameter of the cylindrical sleeve is smaller than the diameter of the sealing cavity.
The cylindrical sleeve of the sealed cabin is internally provided with a lock sleeve, and the left end face of the lock sleeve is tightly pressed on the piston rod of the oil cylinder under the action of the spring III.
The right V-shaped block and the left V-shaped block have the same structure.
And an underwater cable is arranged between the right V-shaped block and the left V-shaped block.
The base is provided with a cylindrical hole for installing a first spring and a steel ball.
A method of operating an underwater cable gripping and position marking system comprising the steps of:
the first step: laying underwater cables;
and a second step of: after the underwater cable is laid, carrying the underwater cable clamping and position marking device to move to a target node position of the underwater cable by an ROV, and placing the underwater cable on the underwater cable;
and a third step of: the oil cylinder works, and a piston rod of the oil cylinder is controlled to extend to drive the left V-shaped block and the right V-shaped block to clamp the underwater cable;
fourth step: the oil cylinder continues to work, and the piston rod of the oil cylinder is controlled to extend continuously, so that the actuating mechanism is separated from the clamping mechanism;
fifth step: the clamping mechanism clamps the underwater cable and sends signals in real time through the acoustic signal generator;
sixth step: a plurality of underwater cable clamping and position marking devices are arranged at key nodes of the cable through an ROV, a water surface buoy is arranged on the water surface, and the acoustic signal receivers periodically receive real-time signals sent by the acoustic signal generators, so that the position information of the key nodes of the underwater cable is obtained.
The beneficial effects of the invention are as follows:
the invention has compact and reasonable structure and convenient operation, adopts the pop-up steel ball structure to realize the reliable fastening connection of the clamping mechanism and the actuating mechanism, and can not cause obstruction when the clamping mechanism is separated from the actuating mechanism, thereby smoothly completing the separation action of the clamping mechanism and the actuating mechanism; the clamping mechanism can still keep a good clamping state when the diameter of the underwater cable is changed, and is particularly suitable for the condition that the diameter of the underwater cable is changed due to the temperature change of the seawater; the acoustic signal generator is tightly connected with the underwater cable through the clamping mechanism, and even if the position of the underwater cable changes due to various reasons, the actual position of the cable at the position can be accurately marked; the device is provided with only one driving oil cylinder, has simple structure, can not cause excessive burden on the ROV, and the actuating mechanism can be repeatedly used. The underwater cable clamping and position marking system forms a one-to-many signal transmission mode through a water surface buoy and a plurality of underwater cable clamping and position marking devices, so that the position information of a key node of a long cable can be obtained through the water surface buoy. Through the position information of the key nodes of the plurality of cables, the position of the cable can be simulated more accurately, and therefore the whole position information of the cable is mastered.
The invention is mainly used for clamping the underwater target cable and marking the position of the cable, and provides position information for cable overhaul, replacement, shearing and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a view in the direction a of fig. 1.
Fig. 3 is a schematic structural view of the present invention in a fastened state.
Fig. 4 is a schematic view of the cable in the clamped state according to the present invention.
Fig. 5 is a schematic view of the structure of the present invention in a separated state.
Fig. 6 is a schematic diagram of the underwater cable clamping and position marking system of the present invention.
Wherein: 1. an actuating mechanism; 2. a clamping mechanism; 3. a water surface buoy; 4. an underwater cable;
101. an oil cylinder; 102. a base; 103. a first spring; 104. steel balls; 105. a second spring; 106. a left support frame;
10201. a cylindrical hole; 10202. a cylindrical groove;
201. sealing the cabin; 202. a lock sleeve; 203. a third spring; 204. a locking pin; 205. a support sleeve; 206. left V-block; 207. right V-block; 208. a right support frame; 209. an energy supply module; 210. an acoustic signal generator; 211. a watertight cable;
20101. rectangular grooves; 20102. sealing the cavity;
20201. a groove;
301. an acoustic signal receiver.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 6, the underwater cable clamping and position marking system of the present embodiment includes two parts, namely an underwater cable clamping and position marking device and a water surface buoy 3, wherein the underwater cable clamping and position marking device includes two parts, namely an actuating mechanism 1 and a clamping mechanism 2;
the structure of the actuating mechanism 1 is as follows: the hydraulic cylinder comprises a base 102, wherein one end of the base 102 is connected with an oil cylinder 101 through an end face flange, the oil cylinder 101 and a piston rod of the oil cylinder 101 extend into the base 102, a groove is formed in the piston rod of the oil cylinder 101, a first spring 103 and a steel ball 104 are arranged in the groove, the steel ball 104 is pressed on the inner cylindrical surface of the base 102 under the action of the first spring 103, a cylindrical groove 10202 is formed in the base 102, and a second spring 105 is arranged in the corresponding cylindrical groove 10202 of the base 102;
a left support frame 106 is fixed to the outer part of the base 102;
the structure of the clamping mechanism 2 is as follows: the device comprises a support sleeve 205, wherein a sealed cabin 201 is mounted in the support sleeve 205 in a matched manner, the sealed cabin 201 can linearly move in the support sleeve 205 in an unlocking state, an energy supply module 209 is mounted in the right end of the sealed cabin 201, and a left V-shaped block 206 is fixed at the right end of the sealed cabin 201;
the left end of the sealed cabin 201 is connected with a piston rod of the oil cylinder 101, a lock sleeve 202 is arranged in the left end of the sealed cabin 201, and a third spring 203 is arranged between the inside of the lock sleeve 202 and the sealed cabin 201;
the support sleeve 205 is notched, and the lock pin 204 is installed in the notch of the support sleeve 205 and is pressed on the outer cylindrical surface of the lock sleeve 202 under the action of the spring No. two 105;
the right side of the support sleeve 205 is internally fixed with a right side V-shaped block 207, and the right side V-shaped block 207 is arranged opposite to the left side V-shaped block 206;
the right support frame 208 is fixed to the outside of the support sleeve 205, and the acoustic signal generator 210 is fixed between the right support frame 208 and the left support frame 106, and the acoustic signal generator 210 and the energy supply module 209 are connected through a watertight cable 211.
The sleeve 202 is formed with a slot 20201.
The cross section of the capsule 201 is in a convex shape.
The left end of the sealed cabin 201 is a hollow cylindrical sleeve, a rectangular groove 20101 is formed in the outer side of the cylindrical sleeve, and the right end of the sealed cabin 201 is a sealed cavity 20102 for installing the energy supply module 209.
The diameter of the cylindrical sleeve is smaller than the diameter of the seal cavity 20102.
The lock sleeve 202 is installed inside the cylindrical sleeve of the sealed cabin 201, and the left end face of the lock sleeve 202 is pressed against the piston rod of the oil cylinder 101 under the action of the spring No. three 203.
The right V-block 207 is identical in structure to the left V-block 206.
The submarine cable 4 is placed between the right V-block 207 and the left V-block 206.
The base 102 is provided with a cylindrical hole 10201 for mounting a first spring 103 and a steel ball 104.
The operation method of the underwater cable clamping and position marking system of the embodiment comprises the following operation steps:
the first step: laying an underwater cable 4;
and a second step of: after the underwater cable 4 is laid, carrying the underwater cable clamping and position marking device to move to a target node position of the underwater cable by an ROV, and placing the underwater cable 4;
and a third step of: the oil cylinder 101 works, and the piston rod of the oil cylinder 101 is controlled to extend to drive the left V-shaped block 206 and the right V-shaped block 207 to clamp the underwater cable 4;
fourth step: the oil cylinder 101 continues to work, and the piston rod of the oil cylinder 101 is controlled to extend continuously, so that the actuating mechanism 1 is separated from the clamping mechanism 2;
fifth step: the clamping mechanism 2 clamps the underwater cable 4 and transmits a signal in real time through the acoustic signal generator 210;
sixth step: a plurality of underwater cable clamping and position marking devices are arranged at key nodes of the underwater cable 4 through an ROV, a water surface buoy 3 is arranged on the water surface, and the acoustic signal receiver 301 periodically receives real-time signals sent by the acoustic signal generators 210, so that the position information of the key nodes of the underwater cable 4 is obtained.
The specific structure and functions of the invention are as follows:
the device mainly comprises an underwater cable clamping position marking device and a water surface buoy 3, and the underwater cable clamping and position marking device consists of an actuating mechanism 1 and a clamping mechanism 2.
The actuating mechanism 1 mainly comprises an oil cylinder 101, a base 102, a first spring 103, a steel ball 104, a second spring 105 and a left supporting frame 106.
The clamping mechanism 2 mainly comprises a sealed cabin 201, a lock sleeve 202, a spring number three 203, a lock pin 204, a support sleeve 205, a left V-shaped block 206, a right V-shaped block 207, a right support bracket 208, an energy supply module 209, an acoustic signal generator 210 and a watertight cable 211.
An acoustic signal receiver 301 is installed at the bottom of the surface buoy 3.
As shown in fig. 1 and 2, an oil cylinder 101 is connected with a base 102 through an end surface flange, a first spring 103 and a steel ball 104 are arranged in corresponding grooves of a piston rod of the oil cylinder 101, and the steel ball 104 is pressed on the inner cylindrical surface of the base 102 under the action of the first spring 103; the second spring 105 is arranged in a corresponding groove of the base 102; left support frame 106 is fixedly mounted to base 102.
The capsule 201 is mounted inside the support sleeve 205 and is linearly movable inside the support sleeve 205 in an unlocked state. As shown in fig. 5, the left end of the sealed cabin 201 is a cylindrical sleeve, a rectangular groove 20101 is formed on the outer side of the cylindrical sleeve, and the right end of the sealed cabin 201 is a sealed cavity 20102 for installing the energy supply module 209. The lock sleeve 202 is installed inside the cylindrical sleeve of the sealed cabin 201, and the left end face of the lock sleeve 202 is pressed against the piston rod of the oil cylinder 101 under the action of the spring No. three 203. The locking pin 204 is mounted in a corresponding groove of the support sleeve 205 and is pressed against the outer cylindrical surface of the lock sleeve 202 by the No. two spring 105. A left V-block 206 is mounted at the right end of the capsule 201, and a right V-block 207 is mounted on the right structure of the support sleeve 205; the right support frame 208 is fixedly mounted on the support sleeve 205; the acoustic signal generator 210 is fixed by the left support frame 106 and the right support frame 208, and the acoustic signal generator 210 and the power supply module 209 are connected by a watertight cable 211.
FIG. 3 shows the device in a fastened state, wherein the upper portion of the locking pin 204 is in contact with the cylindrical groove 10202 of the base 102, so that the support sleeve 205 is connected with the base 102; the piston rod of the oil cylinder 101 is in a contracted state, the steel balls 104 are in contact with the left side surface of the rectangular groove 20101, and the sealed cabin 201 is pressed on the supporting sleeve 205, so that the supporting sleeve 205, the sealed cabin 201 and the base 102 are tightly connected, and the supporting sleeve 205 and the sealed cabin 201 are prevented from falling off from the base 102 due to external interference. The device is mounted on the ROV by the base 102 and the device is placed on the submarine cable 4 by the ROV with the submarine cable 4 between the left side V-block 206 and the right side V-block 207.
Fig. 4 shows a cable clamping state of the device, on the basis of the fastening connection state, a piston rod of the oil cylinder 101 is extended, and the steel balls 104 are ejected out of the cylindrical hole 10201 of the base 102, so that the lock sleeve 202 is released; as the piston rod further extends, the sealed cabin 201 moves rightwards under the thrust of the piston rod until the lock pin 204 is pressed into the corresponding groove 20201 of the lock sleeve 202, so that the support sleeve 205 is separated from the base 102, and the support sleeve 205 is connected with the lock sleeve 202; in the process, the sealed cabin 201 moves rightwards on the third spring 203, and the left V-shaped block 206 is pressed against the underwater cable 4.
Fig. 5 shows the mechanism in a separated state, on the basis of the cable clamping state, the ROV is controlled to move away from the underwater cable 4, and the steel balls 104 are ejected, so that the separation movement of the sealed cabin 201 and the piston rod of the oil cylinder 101 is not blocked, and the smooth separation of the actuating mechanism 1 and the clamping mechanism 2 is ensured. At the same time, the left support frame 106 and the right support frame 208 are separated, so that the acoustic signal generator 210 is released, and the acoustic signal generator 210 is released to assume a vertically upward floating state under the action of self-buoyancy. The actuating mechanism 1 is then retrieved with the ROV and the clamping mechanism 2 is secured to the subsea cable 4.
In the actual working process:
as shown in fig. 3, after the underwater cable is laid, the ROV carries the underwater cable gripping and position marking device to the target node location of the underwater cable, placing the device on the cable.
As shown in fig. 4, the piston rod of the control cylinder 101 is extended so that the left V-block 206 and the right V-block 207 clamp the underwater cable 4.
As shown in fig. 5, the piston rod of the control cylinder 101 is further extended to separate the actuating mechanism 1 from the clamping mechanism 2; the clamping mechanism 2 clamps the underwater cable 4 and transmits a signal in real time through the acoustic signal generator 210.
As shown in fig. 6, a plurality of underwater cable clamping and position marking devices are arranged at key nodes of the underwater cable 4 through an ROV, a water surface buoy 3 is arranged at the water surface, and the acoustic signal receiver 301 periodically receives real-time signals sent by each acoustic signal generator 210, so that the position information of the key nodes of the underwater cable 4 is obtained.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (9)
1. An underwater cable clamping and position marking system characterized by: the underwater cable clamping and position marking device comprises an actuating mechanism (1) and a clamping mechanism (2);
the actuating mechanism (1) has the structure that: the hydraulic oil cylinder comprises a base (102), wherein one end of the base (102) is connected with an oil cylinder (101) through an end face flange, the oil cylinder (101) and a piston rod of the oil cylinder (101) extend into the base (102), a groove is formed in the piston rod of the oil cylinder (101), a first spring (103) and a steel ball (104) are arranged in the groove, the steel ball (104) is tightly pressed on the inner cylindrical surface of the base (102) under the action of the first spring (103), a cylindrical groove (10202) is formed in the base (102), and a second spring (105) is arranged in the corresponding cylindrical groove (10202) of the base (102);
a left supporting frame (106) is fixed outside the base (102);
the structure of the clamping mechanism (2) is as follows: the anti-theft device comprises a support sleeve (205), wherein a seal cabin (201) is installed in the support sleeve (205) in a matched mode, the seal cabin (201) can linearly move in the support sleeve (205) in an unlocking state, an energy supply module (209) is installed in the right end of the seal cabin (201), and a left V-shaped block (206) is fixed at the end part of the right end of the seal cabin (201);
the left end of the sealed cabin (201) is connected with a piston rod of the oil cylinder (101), a lock sleeve (202) is arranged in the left end of the sealed cabin (201), and a third spring (203) is arranged between the inside of the lock sleeve (202) and the sealed cabin (201);
the supporting sleeve (205) is provided with a notch, and the lock pin (204) is arranged in the notch of the supporting sleeve (205) and is pressed on the outer cylindrical surface of the lock sleeve (202) under the action of the second spring (105);
a right V-shaped block (207) is fixed inside the right side of the supporting sleeve (205), and the right V-shaped block (207) is arranged opposite to the left V-shaped block (206);
the right support frame (208) is fixed outside the support sleeve (205), an acoustic signal generator (210) is fixed between the right support frame (208) and the left support frame (106), and the acoustic signal generator (210) and the energy supply module (209) are connected through a watertight cable (211);
the lock sleeve (202) is provided with a groove (20201).
2. An underwater cable gripping and position marking system as in claim 1 wherein: the cross section of the sealed cabin (201) is of a convex structure.
3. An underwater cable gripping and position marking system as in claim 1 wherein: the left end of the sealed cabin (201) is a hollow cylindrical sleeve, a rectangular groove (20101) is formed in the outer side of the cylindrical sleeve, and the right end of the sealed cabin (201) is a sealed cavity (20102) for installing an energy supply module (209).
4. A subsea cable gripping and position marking system according to claim 3, wherein: the diameter of the cylindrical sleeve is smaller than the diameter of the sealed cavity (20102).
5. A subsea cable gripping and position marking system according to claim 3, wherein: the lock sleeve (202) is arranged in the cylindrical sleeve of the sealed cabin (201), and the left end face of the lock sleeve (202) is pressed on the piston rod of the oil cylinder (101) under the action of the third spring (203).
6. An underwater cable gripping and position marking system as in claim 1 wherein: the right V-shaped block (207) has the same structure as the left V-shaped block (206).
7. An underwater cable gripping and position marking system as in claim 1 wherein: an underwater cable (4) is placed between the right V-shaped block (207) and the left V-shaped block (206).
8. An underwater cable gripping and position marking system as in claim 1 wherein: the base (102) is provided with a cylindrical hole (10201) for installing a first spring (103) and a steel ball (104).
9. A method of operating the subsea cable gripping and position marking system of claim 1, wherein: the method comprises the following operation steps:
the first step: laying an underwater cable (4);
and a second step of: after the underwater cable (4) is laid, carrying the underwater cable clamping and position marking device to move to a target node position of the underwater cable through the ROV, and placing the underwater cable (4);
and a third step of: the oil cylinder (101) works, and a piston rod of the oil cylinder (101) is controlled to extend to drive the left V-shaped block (206) and the right V-shaped block (207) to clamp the underwater cable (4);
fourth step: the oil cylinder (101) continues to work, and a piston rod of the oil cylinder (101) is controlled to extend continuously, so that the actuating mechanism (1) is separated from the clamping mechanism (2);
fifth step: the clamping mechanism (2) clamps the underwater cable (4) and sends signals in real time through the acoustic signal generator (210);
sixth step: a plurality of underwater cable clamping and position marking devices are arranged at key nodes of the cable (4) through an ROV, a water surface buoy (3) is arranged on the water surface, and the acoustic signal receivers (301) periodically receive real-time signals sent by the acoustic signal generators (210) so as to obtain the position information of the key nodes of the underwater cable (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210806438.3A CN115189319B (en) | 2022-07-08 | 2022-07-08 | Underwater cable clamping and position marking system and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210806438.3A CN115189319B (en) | 2022-07-08 | 2022-07-08 | Underwater cable clamping and position marking system and operation method |
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| Publication Number | Publication Date |
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| CN115189319A CN115189319A (en) | 2022-10-14 |
| CN115189319B true CN115189319B (en) | 2023-06-13 |
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| CN202210806438.3A Active CN115189319B (en) | 2022-07-08 | 2022-07-08 | Underwater cable clamping and position marking system and operation method |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0600445D0 (en) * | 2006-01-11 | 2006-02-15 | Ocean Cable Technologies Ltd | Cable Gripper |
| CN108539667B (en) * | 2018-04-25 | 2020-08-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | ROV underwater cable laying device and operation method thereof |
| CN109515649A (en) * | 2018-09-29 | 2019-03-26 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship |
| CN109616956A (en) * | 2018-11-01 | 2019-04-12 | 国网浙江省电力有限公司 | There is cable remote underwater robot to the cruising inspection system and its operational method of submarine cable |
| CN209200276U (en) * | 2018-11-26 | 2019-08-02 | 中国科学院沈阳自动化研究所 | A kind of deep-sea underwater mating/separator for submersible |
| CN209804998U (en) * | 2019-01-17 | 2019-12-17 | 杭州航天电子技术有限公司 | Prevent short circuit underwater separation mechanism |
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