EP0018891B1 - Véhicule sous-marin de dragage et de remontée de minéraux à grande profondeur - Google Patents

Véhicule sous-marin de dragage et de remontée de minéraux à grande profondeur Download PDF

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Publication number
EP0018891B1
EP0018891B1 EP80400553A EP80400553A EP0018891B1 EP 0018891 B1 EP0018891 B1 EP 0018891B1 EP 80400553 A EP80400553 A EP 80400553A EP 80400553 A EP80400553 A EP 80400553A EP 0018891 B1 EP0018891 B1 EP 0018891B1
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EP
European Patent Office
Prior art keywords
vehicle
dredging
conveyor
assembly
bins
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP80400553A
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German (de)
English (en)
French (fr)
Other versions
EP0018891A1 (fr
Inventor
Pierre Lemercier
Henri Ligozat
Paul Marchal
Jean-Pierre Moreau
Jean Vertut
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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Publication date
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Publication of EP0018891A1 publication Critical patent/EP0018891A1/fr
Application granted granted Critical
Publication of EP0018891B1 publication Critical patent/EP0018891B1/fr
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/026—Travelling-gear, e.g. associated with slewing gears for moving on the underwater bottom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/08—Dredgers; Soil-shifting machines mechanically-driven with digging elements on an endless chain
    • E02F3/081—Dredgers; Soil-shifting machines mechanically-driven with digging elements on an endless chain mounted on floating substructures
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/006—Dredgers or soil-shifting machines for special purposes adapted for working ground under water not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/005—Equipment for conveying or separating excavated material conveying material from the underwater bottom
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C50/00—Obtaining minerals from underwater, not otherwise provided for

Definitions

  • the present invention relates to an underwater vehicle for dredging and raising minerals based on the seabed at great depth.
  • the dredging of minerals and in particular polymetallic nodules and their ascent from a great depth are generally envisaged by two distinct machines: on the one hand, the dredging machine generally placed at the bottom of a long pipe and a device hydraulic allowing the collected minerals to flow back up to a surface support.
  • This pneumatic energy dredging and nodule submarine submarine has few guidance options during its descent or during its movement on the seabed. Furthermore, the pneumatic energy stored on these dredging machines is necessary both for the dredging itself and for the ascent of the materials collected on the bottom and the energy efficiency is very poor.
  • the holder's FR-A-2 377 522 describes another process in which the energy necessary for precise maneuvering of the vehicle and for dredging on the seabed is stored in the machines in known form, for example in electric form but where the energy required to lower and raise the vehicle is provided in the form of potential energy. More specifically, it is produced by a slight excess of ballast allowing the descent. This ballast is gradually released as dredging and the excess ballast remaining after dredging is released at the end of the operation to make the machine light to allow its ascent. This ascent and descent can be precisely guided by the hydrodynamic shape of the underwater vehicle, which behaves like a “glider” under the excess apparent weight necessary for the descent or under the excess of buoyancy necessary for the ascent.
  • This process has the advantage of allowing a significant saving of energy in all the phases of the operation of collecting and raising the nodules. Only propellants supplied with energy for advancing on the seabed operate for a significant period of time, while auxiliary maneuvering thrusters are little used (only for precise maneuvers for landing on the seabed and / or rendezvous you when you return to the surface).
  • the present invention specifically relates to an improved underwater vehicle for collecting and lifting materials (in particular nodules) which overcomes the drawbacks mentioned above.
  • the dredging and ascent device, object of the present invention applies more particularly to the process which has just been mentioned and relates to a vehicle ensuring the descent and ascent in the form of potential energy transformed into longitudinal propulsion at l using the external hydrodynamic forms of the vehicle causing it to hover on both the descent and the ascent, having the essential function of moving in contact with the seabed using main propellants powered by an energy stored at the same time as this last energy actuates dredging mechanisms located at the front of said vehicle and over its entire frontal width, the support and propulsion on the bottom being produced by said main cylindrical rotary thrusters comprising propeller threads placed on either side other side of the vehicle per unit or pair.
  • Payload is understood to mean the lifted load, which differs re for the machines according to the invention the least possible of the necessary ballast load lowered and the difference between the two constituting the potential energy.
  • charge is meant here apparent weight in water.
  • the underwater vehicle for the collection and ascent of materials resting on a deep seabed which is of the type comprising a load-bearing structure, elements for collecting materials, silos for storage of the materials collected and / or of ballast material, means of transfer between said collection elements and said silos; and main thrusters for advancing said vehicle over the seabed, is characterized in that said carrying structure is made of a buoyancy material, said structure having the shape of a ring having a plane of longitudinal symmetry and defining the bow , the rear and the sides of said vehicle and thus providing a central free space, the external face of said structure providing the hull of said vehicle, said storage silos being arranged in the central free space and fixed to said supporting structure and arranged in the plane of said transfer means, said pickup elements being arranged in front of and below said bow, said main propellants being fixed on the underside of said supporting structure.
  • said supporting structure is produced by side by side association of modular elements made of a buoyancy material, said modular elements being joined together, by assembly elements working in traction, the lateral face external of each modular element defining the corresponding portion of the hull.
  • the pickup elements are arranged side by side and occupy substantially the entire width of the vehicle; said storage silos are arranged along at least two lines parallel to the longitudinal plane of symmetry of said vehicle and placed symmetrically with respect to this plane, each line occupying substantially the entire length of said central free space; and said transfer means consist of a first set of conveyors moving in the direction of the length of the vehicle, each conveyor of the first set being associated with a pick-up element, a second set of conveyors constituted by at least two conveyors symmetrical with respect to to said longitudinal plane and capable of bringing towards said longitudinal plane the materials transferred by the conveyors of the first set, and a third set of conveyors consisting of at least two conveyors arranged parallel to the longitudinal plane of symmetry and passing over the upper opening of the silos of said lines and allowing the gravity dumping of said materials into said silos.
  • This vehicle comprises a support structure 2 having the shape of a ring, it comprises a front part 2a forming a bow, a rear part 2b and two lateral uprights or sides 2c and 2d.
  • this support structure 2 is constituted by a buoyancy material resistant to the great pressures that the vehicle is brought to bear. It is important to observe that the structure 2 constitutes, by its external face, the hull of the vehicle. In this buoyancy material are provided a certain number of orifices making it possible to accommodate auxiliary thrusters of the vehicle to allow the maneuvers of the latter.
  • pickup elements 14 At the front part of the carrying structure 2, there are pickup elements 14 arranged side by side. They are all identical and occupy the entire width of the vehicle. These pick-up elements 14 may correspond to those which have already been described in French patent application no. 7,729,460. Preferably, they are made up as will be described in connection with FIGS. 5a and 5b.
  • nodule storage silos arranged in two alignments parallel to the longitudinal plane of symmetry of the vehicle. These vertical silos are referenced 16, 16a ... 16n and for the other line 16 ', 16'a ... 16'n. In front of these two silo alignments, there are silos referenced 18 and 18 ', the operation of which will be explained later.
  • the transfer of the nodules sampled by the pick-up members 14 as far as the storage silos 16, 16 ′ is carried out by three sets of conveyors. Firstly there is a first series of conveyors 20, each of these con- ⁇ voyeurs being associated with a pickup element 14. These conveyors 20 transfer the material in a plane parallel to the longitudinal plane. On either side of the plane of symmetry, half of the conveyors discharge into one of the conveyors 22 and 22 '. These two conveyors transfer the material in a plane perpendicular to the plane of symmetry of the vehicle. Each of the conveyors 22 collects the nodules entrained by the corresponding half of the conveyors 20.
  • the nodules transferred by these two conveyors 22 are conveyed to a third assembly constituted by two conveyors 24 and 24 ′ which transfer the nodules from the conveyors 22 into the silos 16, 16 '. It can be seen that the upper part of the conveyor 24 or 24 'passes above the silos 16 and the silos 16' respectively.
  • the structure of these conveyors and in particular that of the conveyors 24 and 24 ' will be described in more detail later.
  • the electrical energy required to power the various propellers as well as, for example, the drive motors of the conveyors and other ancillary members which will be described later, is provided by two sets of batteries such as 26 mounted symmetrically on either side of the longitudinal plane of the vehicle.
  • these batteries are slidably mounted in a slide structure 28 integral with the lower chassis 10.
  • a screw-nut system actuated by a motor 32 makes it possible to move the battery assembly 26 in the longitudinal direction of the vehicle. specify later, this allows to adjust the longitudinal attitude of the vehicle.
  • this support structure constituting at the same time the hull and the buoyancy body.
  • this support structure comprises a front part 2a forming a bow, a rear zone 2b which preferably is provided with fins 2'b and 2 "b and two longitudinal beams or sides 2c and 2d.
  • these structures are modular, as best seen in Fig. 2.
  • Each of these four elements is made up of an assembly of modular elements with the general reference 40. These modular elements have in their contact face, that is a part projecting 42, or a hollow part 42 '.
  • the various modular elements 40 constituting one of the four elements 2a to 2d are held together by horizontal tie rods 44 and 46.
  • each modular element 40 serves to secure the four parts of the of course, the profile of each modular element 40 is adapted to the external shape of the hull to be produced and to the internal recesses to create the internal space in which the storage silos are placed and the conveyors.
  • some of these modular elements 40 have bores which allow in particular the installation of various propellants.
  • FIG. 2c there is shown schematically the connection between these various elements of the support structure 2 and the assembly frame 10. This connection is also made by tie rods which are then vertical and which bear the reference 48, these tie rods being fixed to their lower end on the chassis 10.
  • the chassis 10 essentially assembles the main propellants with Archimedes screw 12, the storage silos 16 and 16 'between them and the assembly on the supporting structure 2.
  • Each modular element 40 of the support structure which at the same time constitutes the buoyancy element can advantageously be made of an agglomerated material resistant to pressure. This material may consist of hollow glass spherules between which spheres of larger diameter may agglomerate. Each modular element can be molded. It should be added that to avoid, due to the tie rods, the introduction of excessive stress concentrations, it is possible to apply between the surfaces in contact suitable volumes of elastomer distributing the stresses.
  • the supporting structure and therefore the entire vehicle can make it possible to constitute very large volumes.
  • the width of the vehicle can reach 12 meters, the length 30 meters and the height 7.50 meters.
  • the various essentially heavy and / or mechanical elements which have just been mentioned are, thanks to the annular arrangement of the support structure, distributed in such a way that the large masses are not placed too low in this structure.
  • the batteries 26 may be placed below the carrying structure as described or depending on the distribution of the masses, placed above the longitudinal beams 2c and 2d. With the exception of the batteries 26 (which represent approximately 50 tonnes out of the 800 tonnes of the loaded vehicle), if these are placed in the upper part, it can be seen that all of the heavy elements are disposed below the load-bearing structure and permanently exerts traction on the modules 40 of the load-bearing structure constituting the hull.
  • This conveyor is preferably constituted by two parallel belts (only the belt 24a being visible) on which pivoting buckets such as 24b are mounted.
  • the layout of the conveyor 24 includes a loading phase 50, a loading phase with horizontal displacement 52, a descent phase 54 and a return phase 56. These different phases are defined by return pulleys 58a, 58b, and 58c and by a drive wheel 58d actuated by a motor (not shown).
  • each bucket 24b is provided on its external face with a rod 62 carrying at its free end a roller 64.
  • an inclined ramp 66 is mounted parallel to the path of the conveyor 24. This ramp is arranged so that the roller 64 which is supported on the ramp 66, maintains the bucket 24b in a horizontal position ensuring the retention of the nodules.
  • This ramp 66 beyond the pulley 58a continues with a horizontal ramp 68 which ensures that, when the roller 64 is supported on this ramp 68, the buckets are kept in the horizontal position.
  • the ramp 68 has a recess 70 connected to the ramp 68 by inclined portions 76, 76 '.
  • Each storage silo 16, 16a ... and 16 ', 16'a ... has two movable ramp portions 74 on which two inclined flaps 72 and 72' are fixed.
  • the two ramp portions 74 and the flaps 72 and 72 ′ form between them a silo filling orifice.
  • the two ramp portions 74 are integral with guide rods 77 held in guides 77 '.
  • the flaps 72 are fixed to the guides 77 through windows 75 made in the wall of the silo.
  • the ramp portions 74 are in the low position and connected to the ramp 68 by inclined planes 76. Consequently, when the bucket 24b arrives at the level of the first unfilled silo , the roller 64 comes into contact with the inclined portions 76 and the movable ramp 74 and this causes the tilting of the bucket 24b which pours into the silo.
  • the inclined flaps 72 are raised by filling the silo with nodules, so that the portion of the guide ramp 74 arrives in alignment with the rest of the guide ramp 68.
  • the descent and ascent of the vehicle are caused by a play on the apparent weight thereof, this apparent weight being adjusted by a ballast consisting of sterile ore housed or extracted from storage silos.
  • a ballast consisting of sterile ore housed or extracted from storage silos.
  • the silos 16 have at their bottom a bottom 80.
  • the silo is extended by a tube 82 arranged perpendicular to the longitudinal plane of symmetry of the vehicle.
  • An Archimedes screw 84 is housed above the bottom 80 and continues in line 82.
  • This screw is driven by a motor 86 fixed to the end of the screw, as seen in FIG. 4.
  • the bottom 80 and the tubing 82 are provided with orifices 88 which allow the sterile material to escape to cause load shedding.
  • These orifices 88 are arranged in such a way that the weight-bearing sterile symbolized by the references A is spread substantially over half of the width of the vehicle, thereby achieving good distribution of the weight-relieved sterile.
  • the waste rock can come from the treatment of nodules and is in the form of a high density mud.
  • the silo 16 has at its upper part a pipe 90 for loading in sterile and towards its bottom, there is provided in each silo 16 or 16 'a pipe 92 for injecting water to transform the compacted mud into a fluidized mud which can be evacuated and distributed by Archimedes 84 screws.
  • load shedding can be ordered separately for each silo.
  • the picking up of the nodules on the seabed is done via a number of individual pickup elements 14 which occupy substantially the entire width of the vehicle.
  • the seabed may have local inequalities, it is advantageous to provide pick-up elements which can adapt to these inequalities as precisely as possible. Indeed, to ensure a pickup rate, it is necessary that all of the pickup elements conform to the profile of the seabed.
  • Figs. 5a and 5b a preferred embodiment of the pickup elements 14.
  • Each element 14 is mounted on a cardan joint at the lower end of two rods 100.
  • the rods are slidably mounted relative to the support structure 2 by means of a number of guide rollers such as 102.
  • a buoyancy element 104 is fixed to the upper end of the rods 100.
  • the rods 100 are connected by a cross member 106 in which a fork 108 is pivotally mounted about the axis XX '.
  • the ends 108a and 108b of the fork 108 are pivotally mounted in the sides 110a and 110b of the body 110 of the pickup element 14.
  • the body 110 has a rear bottom 112 and a front bottom 114 separated by a recess. In this recess, there is a rake 116 for collecting nodules which is inclined.
  • the body 110 comprises at the front a hull 118 connected to the bottom 114.
  • known mechanical or hydrodynamic means drive the nodules N towards the lower part of the conveyor 20 associated with the pickup element.
  • N 'a nodule is shown placed in a bucket 20a of the conveyor 20.
  • a roller 122 over which the conveyor 20 passes is mounted rotating in parts 124 integral with the lower end of the rods 100.
  • the conveyor 20 also passes over deflection rollers 126, 128 and 130 mounted to rotate relative to the rods 100.
  • One of these rollers drives the conveyor 20 and is associated with a motor (not shown).
  • a pickup element 14 is as follows. Thanks to the sliding possibilities of the rods 100 relative to the support structure 2 and thanks to the cardan assembly of the pick-up elements 14 relative to the rods 100, the rakes 116 and the surfaces 114 and 112 conform to the surface of the sea floor.
  • the buoyancy element 104 makes it possible to compensate for the apparent weight of the pick-up element with its conveyor, in order to adapt the contact pressure to a suitable value on the sediments of the seabed. In fact, they tolerate only a very low unit load to allow proper sliding of the "sled" formed by the body 110 of the pickup element.
  • the bearing area 112 (behind the dredging area) completes the ground support provided by the front bearing area 114. This bearing surface allows, during dredging, to tolerate a certain weight apparent from the dredging assembly via the universal joint.
  • each pickup element may have a width of the order of one meter, and the vehicle comprises twelve identical assemblies, six of them being associated with the conveyor 22 and the other six with the conveyor 22 '.
  • some of the storage silos are filled with sterile material as follows: silos 16a to 16n and 16'a to 16'n are filled with sterile material as well as silo 18 until any weight of the vehicle measurable by dynamometry of its reactions on the surface station. The balance weight is adjusted using the last silos located near the center of gravity, silo 16 remaining empty. The extreme silo is then filled before 18 ', the excess weight of which will cause the vehicle to descend.
  • the adjustment of the position of the accumulator assemblies makes it possible to adjust the attitude for the descent.
  • the descent path can be adjusted by the vertical auxiliary thrusters. Before landing, the recoil of the batteries and a possible partial emptying of the extreme front silo restore the horizontal attitude and the shape with high C z ensures the soft landing, and the thrusters are started.
  • the dredging elements are lowered using lifting and lowering devices (not shown in fig. 5b) which allow in particular to reassemble the pickup elements during vertical movements of the vehicle to improve the hydrodynamics and dredging is carried out at the same time.
  • the behavior of the pickup elements 14 has already been described. It should however be noted that, in the event of a non-functioning pick-up element, the rake 116 may turn over, which does not prevent the element from sliding on the surface of the non-picked nodules. Thus, the failure of a pickup element only results in a loss of production, but not the stopping of the vehicle.
  • the nodules are driven by the conveyors 20 and brought back by the conveyors 22 and 22 'at the entrance to the main conveyors 24 and 24'.
  • These conveyors successively fill the empty silos as explained in connection with FIGS. 3a and 3c.
  • the sterile silage for ballasting of the silos is emptied, to allow filling with nodules. This emptying is ensured by Archimedes' screws.
  • the apparent weight of the vehicle is kept at a substantially constant value.
  • the ballast of the silos is emptied before 18 and 18 ', which on the one hand ensures an apparent negative weight allowing the vehicle to rise and on the other hand, achieves the desired positive attitude gain of the vehicle for the ascent.
  • This tilting can be completed by moving the accumulator assemblies 26 backwards.
  • the supporting structure also constitutes the buoyancy element and the hull of the vehicle necessary for its "leveling", the accumulators also play the role of balancing mass to ensure the longitudinal attitude of the vehicle for the descent and ascent.
  • the storage silos are used both for ballast and for storing nodules.
  • the vehicle allows a maximum load of nodules compared to its “empty” weight.
  • the collection elements ensure efficient collection of nodules, even if the seabed has an irregular profile.
  • the means for transferring the nodules to the storage silos ensure complete filling thereof, without creating transverse imbalance of the vehicle, despite statistical variations in the density of the nodules on the seabed traveled by the vehicle.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)
EP80400553A 1979-04-27 1980-04-23 Véhicule sous-marin de dragage et de remontée de minéraux à grande profondeur Expired EP0018891B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7910776A FR2455162A1 (fr) 1979-04-27 1979-04-27 Vehicule sous-marin de dragage et de remontee de mineraux a grande profondeur
FR7910776 1979-04-27

Publications (2)

Publication Number Publication Date
EP0018891A1 EP0018891A1 (fr) 1980-11-12
EP0018891B1 true EP0018891B1 (fr) 1983-03-16

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ID=9224844

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80400553A Expired EP0018891B1 (fr) 1979-04-27 1980-04-23 Véhicule sous-marin de dragage et de remontée de minéraux à grande profondeur

Country Status (7)

Country Link
US (1) US4357764A (enrdf_load_stackoverflow)
EP (1) EP0018891B1 (enrdf_load_stackoverflow)
JP (1) JPS5634892A (enrdf_load_stackoverflow)
CA (1) CA1156689A (enrdf_load_stackoverflow)
DE (1) DE3062322D1 (enrdf_load_stackoverflow)
FR (1) FR2455162A1 (enrdf_load_stackoverflow)
NO (1) NO154894C (enrdf_load_stackoverflow)

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WO2001092650A1 (en) * 2000-05-31 2001-12-06 Soil Machine Dynamics Limited Underwater earth moving machine
WO2021165920A1 (en) * 2020-02-20 2021-08-26 Deeptech Nv Deep-sea mining vehicle

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WO2001092649A1 (en) * 2000-05-31 2001-12-06 Soil Machine Dynamics Limited Underwater remotely operated vehicle
US20090126238A1 (en) * 2005-06-17 2009-05-21 Michael Platt Top Loading Wedge with Adjustably Engageable Bottom Apparatus and Method
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US8997678B2 (en) 2012-02-10 2015-04-07 Lockheed Martin Corporation Underwater load-carrier
US9174713B2 (en) * 2012-11-02 2015-11-03 Raytheon Company Unmanned underwater vehicle
GB2535494B (en) * 2015-02-18 2018-04-11 Acergy France SAS Lowering buoyant structures in water
WO2023167990A1 (en) 2022-03-03 2023-09-07 Mcnamara Roger P Deep-ocean polymetallic nodule collector
CN116771351B (zh) * 2023-08-23 2023-11-14 青岛海洋地质研究所 适用于海洋天然气水合物开采的爬行装置

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FR2377521A1 (fr) * 1977-01-18 1978-08-11 Commissariat Energie Atomique Vehicule preleveur de nodules sur un fond marin
FR2377522A1 (fr) * 1977-01-18 1978-08-11 Commissariat Energie Atomique Vehicule de nodules sur un fond marin
FR2389533B1 (enrdf_load_stackoverflow) * 1977-05-04 1980-02-22 Nal Expl Oceans Centre
FR2404734A1 (fr) * 1977-09-30 1979-04-27 Commissariat Energie Atomique Dispositif preleveur de corps sur un fond recouvert d'eau
US4280288A (en) * 1978-09-25 1981-07-28 Commissariat A L'energie Atomique Modular draging unit for collecting solid bodies on an underwater bed
US4232903A (en) * 1978-12-28 1980-11-11 Lockheed Missiles & Space Co., Inc. Ocean mining system and process

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0084811A3 (en) * 1982-01-23 1984-10-24 Zf-Herion-Systemtechnik Gmbh Apparatus for working under water
WO2001092650A1 (en) * 2000-05-31 2001-12-06 Soil Machine Dynamics Limited Underwater earth moving machine
WO2021165920A1 (en) * 2020-02-20 2021-08-26 Deeptech Nv Deep-sea mining vehicle
BE1028074B1 (nl) * 2020-02-20 2021-09-20 Deeptech Nv Diepzeemijnbouwvoertuig

Also Published As

Publication number Publication date
NO154894B (no) 1986-09-29
EP0018891A1 (fr) 1980-11-12
FR2455162A1 (fr) 1980-11-21
CA1156689A (fr) 1983-11-08
JPS5634892A (en) 1981-04-07
FR2455162B1 (enrdf_load_stackoverflow) 1983-05-06
JPS6242119B2 (enrdf_load_stackoverflow) 1987-09-07
US4357764A (en) 1982-11-09
NO801097L (no) 1980-10-28
NO154894C (no) 1987-01-07
DE3062322D1 (en) 1983-04-21

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