KR20140107760A - Underwater robot guide device - Google Patents

Underwater robot guide device Download PDF

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Publication number
KR20140107760A
KR20140107760A KR1020130021687A KR20130021687A KR20140107760A KR 20140107760 A KR20140107760 A KR 20140107760A KR 1020130021687 A KR1020130021687 A KR 1020130021687A KR 20130021687 A KR20130021687 A KR 20130021687A KR 20140107760 A KR20140107760 A KR 20140107760A
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KR
South Korea
Prior art keywords
rail
underwater robot
cradle
underwater
guide device
Prior art date
Application number
KR1020130021687A
Other languages
Korean (ko)
Inventor
옥창명
임승준
윤종현
이동현
Original Assignee
삼성중공업 주식회사
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Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to KR1020130021687A priority Critical patent/KR20140107760A/en
Publication of KR20140107760A publication Critical patent/KR20140107760A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/0007—Equipment or details not covered by groups E21B15/00 - E21B40/00 for underwater installations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Robotics (AREA)
  • Toys (AREA)

Abstract

According to an embodiment of the present invention, a guide device for an underwater robot is provided.
A guide device for an underwater robot according to an embodiment of the present invention includes a main body coupled to an underwater structure, at least one first rail part formed along an underwater structure on one side of the main body, A second rail portion surrounding at least a portion of the structure, and a mount coupled to the underwater robot at one side and moving along the second rail portion.

Description

Description of the Related Art Underwater robot guide device

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide device for an underwater robot, and more particularly, to a guide device for an underwater robot, which is coupled to the outside of an underwater structure to guide the movement of the underwater robot, To a guide device of a robot.

In general, an underwater structure such as a BOP (Blowout Preventer) is used to prevent high-pressure high pressure from land surface of a submarine when drilling a natural resource, . The BOP is operated by a remotely operated underwater robot, such as a ROV (Remotely Operated Vehicle), to shut off abnormal high pressure. These ROVs are cabled to the ship to provide the necessary power and assist in the operation of the BOP as the seabed moves.

On the other hand, underwater robots move from the sea floor and work, so it is difficult to control the position. Particularly, when working in an environment where a lot of external force such as algae is applied, it is difficult to control the position of the underwater robot and a problem that a lot of electric power is consumed to maintain a proper working posture occurs. In addition, when a sophisticated operation is required, there is a problem that the time required for controlling the position of the robot in the water is long and the working time is prolonged.

An object of the present invention is to provide a guide device for an underwater robot which is coupled to the outside of an underwater structure to guide the movement of the underwater robot and enable stable operation even when an external force such as algae is applied to the underwater robot will be.

The technical objects of the present invention are not limited to the technical matters mentioned above, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an underwater robot guiding apparatus comprising: a main body coupled to an underwater structure; at least one first main part formed along the underwater structure on one side of the main body; A second rail part moving along the first rail part and surrounding at least a part of the underwater structure, and a cradle coupled to the underwater robot on one side and moving along the second rail part.

The cradle and the second rail may be coupled to each other by a convex-concave coupling, one side of which is protruded and the other of which receives the convex and concave sides.

The first rail portion may be disposed in a vertical direction along the underwater structure, and the second rail portion may be formed in a ring shape to surround the underwater structure.

A fixing part slidably coupled to the first rail and a connection part connecting the fixing part and the second rail part.

And a first driving part formed on the fixing part and moving the fixing part along the first rail part.

And a second driving unit formed on the cradle and moving the cradle along the second rail.

The cradle may further include a coupling portion to which the underwater robot is coupled.

The cradle may further include a magnetic force coupling portion having a magnetic force on one side.

And a sensor unit attached to one side of the cradle to recognize the position of the cradle, wherein the sensor unit measures a distance between the cradle and the underwater structure to recognize the position of the cradle, 1 position and the second rail, and recognizes the position of the cradle.

And a marking unit capable of photographing the at least one of the underwater structure, the main body, the first rail, and the second rail at the sensor unit.

According to the present invention, by providing a guide device of an underwater robot on the outside of an underwater structure, even if an external force such as a bird or the like acts on the underwater robot, the work can be stably performed. In addition, it is possible to precisely control the position of the underwater robot, which can shorten the time consumed in controlling the position of the underwater robot, thereby reducing the total working time and power consumption.

1 is a perspective view of a guide device for an underwater robot according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view of the second rail and the cradle of Fig. 1 taken along line AA.
3 is a perspective view showing a state in which an underwater robot is coupled to the cradle of FIG.
4 is a front view showing a state where the sensor unit recognizes the position of the cradle.
5 and 6 are operation diagrams for explaining the operation process of the guide device of the underwater robot.
7 is a perspective view of a guide device of an underwater robot according to another embodiment of the present invention.
Fig. 8 is a cross-sectional view of the first rail portion of Fig. 7 taken along line BB. Fig.
Fig. 9 is a sectional view of the second rail portion of Fig. 7 taken along the CC line. Fig.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as 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. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, a guide device for an underwater robot according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6. FIG.

FIG. 1 is a perspective view of a guide device for an underwater robot according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of the second rail and the holder of FIG. 1 taken along line AA, FIG. 4 is a front view showing a state where the sensor unit recognizes the position of the cradle. FIG.

The guide device 1 of the underwater robot according to an embodiment of the present invention is a device for guiding the movement of the underwater robot 50 such as ROV and can be used outside the underwater structure 100 such as BOP. The guiding device 1 of the underwater robot can guide the movement of the underwater robot 50 outside the underwater structure 100 and the underwater robot 50 can perform the operation stably even if an external force such as algae acts . In addition, control is possible so that the underwater robot 50 can reach the correct working position.

Hereinafter, the guide device 1 of the underwater robot will be described in detail with reference to Figs. 1 to 4. Fig.

A guide device (1) for a submersible robot according to the present invention comprises a main body (10), a first rail part (20) coupled to one side of the main body (10) 2 rail part 30, and a holder 40 moving along the second rail part 30.

The main body 10 is coupled to the underwater structure 100 and may be formed as a plate-shaped member having a constant thickness. The body 10 may be coupled through at least one of an upper portion and a lower portion of the underwater structure 100. However, the present invention is not limited to the structure in which the main body 10 is formed as a plate-like member or the through-water structure 100, and the shape and the coupling structure of the main body 10 can be variously modified. For example, the body 10 may be directly coupled to at least one of the upper and lower ends of the underwater structure 100. At least one first rail (20) is coupled to one side of the body (10).

The first rail part 20 is formed along the underwater structure 100 and may be formed as a bar-shaped member extending in the longitudinal direction. The first rail part 20 may be arranged vertically along the underwater structure 100 and may be disposed on the front and rear surfaces of the underwater structure 100, respectively. The first rail portions 20 arranged in pairs may be spaced apart from each other and formed parallel to each other. A fixing portion 21 is coupled to one side of the first rail portion 20.

The fixing part 21 is coupled to the first rail part 20 and slidably moves, and may be formed as a cylindrical or polygonal tubular member. The inner side of the fixing part 21 is engaged with the outer side of the first rail part 20 and slides along the first rail part 20 to move up or down. The fixing portion 21 can be moved by receiving a necessary power by a propeller (not shown) formed on one side of the underwater robot 50 or a propeller (not shown) formed on one side of the fixing portion 21 . The propeller is provided with a propeller so that the fixing part 21 can be slidably moved along the first rail part 20 by rotation of the propeller.

Meanwhile, the second rail part 30 may be formed on the outer side of the underwater structure 100. The second rail (30) surrounds at least a part of the underwater structure (100) and can move up and down along the first rail (20). The second rail 30 may be formed in a ring shape to completely enclose the underwater structure 100. However, the second rail 30 is not limited to being formed in a ring shape, and the shape of the second rail 30 may be variously modified. For example, the second rail 30 may be formed in a C shape with one side opened. The second rail part (30) is connected to the fixing part (21) by the connecting part (22).

The connection part 22 connects the fixing part 21 and the second rail part 30 and can be formed in the form of a rod having a predetermined length. One end of the connecting portion 22 is coupled to the outside of the fixing portion 21 and the other end is coupled to the inside of the second rail 30. The connection part 22 is formed so that the second rail part 30 can move up and down along the fixing part 21. [

A mount 40 can be coupled to one side of the second rail 30. The holder 40 is coupled with the underwater robot 50 and can be formed as a plate-like member on which the underwater robot 50 can be mounted. The holder 40 can be moved along the second rail 30 to move the underwater robot 50 to a desired working position. For example, when the working position of the underwater robot 50 is the back surface of the underwater structure 100, the cradle 40 rotates along the second ledge 30 to move the underwater robot 50 to a desired working position . When the working position is the upper part of the underwater structure 100, the underwater robot 50 can be moved to the working position by moving the securing part 21 and raising the second railing 30 and the stand 40 have. The power required for the movement of the platform 40 can be supplied by the propeller provided in the underwater robot 50. The cradle 40 can be coupled with the second rail 30 in a concave / convex manner.

2, the cradle 40 and the second rail 30 may have one side projected and the other side may be coupled to the cradle 40 to receive the cradle 40 and the cradle 40, It is possible to slide along the second rail 30 without detaching it.

2 (a), 2 (b) and 2 (c) are views for explaining an example of concave-convex coupling.

Referring to FIG. 2 (a), the second rail 30 and the holder 40 may be formed such that their ends are bent toward each other. The second rail part 30 may be formed such that one end is coupled to the connection part 22 and the other end is bent at a right angle toward the upper part and then bent at a right angle toward the inner part. The holder 40 may be formed in a shape in which one end portion is formed in a free end shape and the other end portion is bent at a right angle toward the lower portion and then bent at a right angle toward the outer side. The end of the second rail 30 and the end of the mount 40 are overlapped with each other so that the mount 40 can slide along the second rail 30. [

Referring to FIG. 2 (b), the end of the second rail 30 may protrude outward, and the end of the mount 40 may be recessed inward. One end of the second rail part 30 may be coupled to the connection part 22 and the other end may protrude to form a spherical shape. However, the end of the second rail 30 is not limited to the spherical shape, and the shape may be variously modified. For example, the second rail 30 may be formed in a polygonal shape at an end thereof. The holder 40 may have one end formed in a free end shape and the other end depressed to form a sphere inside. However, the inner side of the holder 40 is not limited to the spherical shape, and may be variously modified depending on the shape of the second rail 30. The end of the second rail 30 is received at the end of the mount 40 and the mount 40 can slide along the second rail 30. [

Referring to FIG. 2 (c), the end of the second rail 30 may be recessed inward, and the end of the rest 40 may protrude outward. One end of the second rail part 30 is coupled to the connection part 22, and the other end part is recessed, so that the inner side can be formed into a rectangular tube shape. The holder 40 may have one end formed in a free end shape and the other end protruded to be formed into a rectangular tube shape. The end of the holder 40 is received in the end of the second lever 30 and can slide along the second lever 30 without detaching the holder 40. [

Referring to FIG. 3, at least one engaging portion 41 may be formed on one side of the holder 40. The engaging portion 41 may be formed so that one side of the underwater robot 50 is protruded or indented by coupling the underwater robot 50 to the mount 40. One end of the engaging portion 41 is fixedly coupled to the upper end of the holder 40 and the other end of the engaging portion 41 is accommodated in the engaging groove 51 formed in the underwater robot 50. The engaging portion 41 is accommodated in the engaging groove 51 of the underwater robot 50 so that the underwater robot 50 is completely fixed to the mount 40. Therefore, even if an external force such as a bird or the like is applied, the underwater robot 50 can be fixed to the cradle 40 and can safely move or work. However, the present invention is not limited to the case where the engaging portion 41 is protrudingly coupled to the upper end of the cradle 40. For example, the engaging portion 41 may be formed in a shape recessed from the upper end of the holder 40. In the case where the engaging portion 41 is recessed, a protrusion is formed on one side of the underwater robot 50, and the protrusion is accommodated in the engaging portion 41, so that the underwater robot 50 is fixed to the holder 40.

At least one magnetic force coupling portion 42 may be formed on one side of the holder 40. The magnetic force coupling portion 42 can be accommodated in the holder 40 by coupling the underwater robot 50 to the holder 40 using a magnetic force. However, the magnetic force coupling part 42 is not limited to being formed inside the cradle 40, and the magnetic force coupling part 42 may be formed to protrude outside the cradle 40. The magnetic force coupling portion 42 is engaged with the magnetic force portion 52 formed in the underwater robot 50. The magnetic force portion 52 may be formed at a lower portion of the underwater robot 50 and may be disposed at a position corresponding to the magnetic force coupling portion 42.

The magnetic force coupling portion 42 and the magnetic force portion 52 are formed to have different polarities. Therefore, when the submersible robot 50 approaches the cradle 40, a force acts on the underwater robot 50 and the magnetic force coupling portion 42 and the magnetic force portion 52 are coupled to each other. The magnetic force coupling portions 42 may be provided on both sides of the center portion of the mount stand 40, respectively. When the plurality of magnetic force coupling portions 42 are arranged, the position of the underwater robot 50 can be controlled more precisely. At this time, the magnetic force coupling portions 42 may be disposed at different polarities, and the magnetic force portions 52 are also disposed at both sides to be coupled to the respective magnetic force coupling portions 42.

Referring to FIG. 4, the sensor unit 43 may be attached to one side of the holder 40. The sensor unit 43 recognizes the position of the cradle 40 and can be protruded to the outside of the cradle 40 or received and coupled to the inside of the cradle 40. The sensor unit 43 may measure the distance from the underwater structure 100 to recognize the position of the mount 40 or to measure the position of the underwater structure 100, the main body 10, the first rail 20, The position of the cradle 40 can be recognized by capturing at least one image of the cradle 30. It is possible to move the cradle 40 in the up, down, left, or right direction by comparing the distance with the underwater structure 100 measured by the sensor unit 43 or the captured image with the existing data information. By moving the cradle 40 based on the data information, the underwater robot 50 can reach the working position precisely. The marking portion I may be formed on at least one of the underwater structure 100, the main body 10, the first rail portion 20 and the second rail portion 30. The marking section I can be photographed by the sensor section 43 so that the underwater robot 50 can reach the correct working position by matching the information photographed by the sensor section 43 with the existing data information .

Hereinafter, the operation of the guide device 1 of the underwater robot will be described in more detail with reference to Figs. 5 and 6. Fig.

5 and 6 are operation diagrams for explaining the operation process of the guide device of the underwater robot.

The guide device 1 of the underwater robot according to an embodiment of the present invention is installed outside the underwater structure 100 and can guide the movement of the underwater robot 50. Even if an external force acts, So that the work can be performed stably. In addition, the sensor unit 43 and the marking unit I are provided, so that the underwater robot 50 can reach the correct working position.

First, referring to FIG. 5, when the working position is located below the underwater structure 100, the holder 40 is lowered.

To lower the holder 40, the fixing portion 21 coupled to the first rail 20 is lowered. The fixed portion 21 receives power by a propeller provided in the underwater robot 50 and slides along the first rail 20 to descend. The connecting portion 22 and the second rail 30 also descend by the fixing portion 21 and the cradle 40 coupled with the second rail 30 also descends. When the cradle 40 descends and the underwater robot 50 approaches the working position, the sensor unit 43 is operated. The position of the cradle 40 is adjusted by comparing the distance to the underwater structure 100 measured by the sensor unit 43 or the photographed image with data information. In addition, the data portion is matched with the marking portion (I) picked up by the sensor portion (43), and the underwater robot (50) reaches the correct working position. The underwater robot 50 reaching the working position assists the operation of the underwater structure 100.

6, when the working position is located on the rear surface of the underwater structure 100, the holder 40 is rotated.

The end of the cradle 40 and the end of the second cradle 30 are concave and convex to each other so that the cradle 40 can slide along the second rail 30. The cradle 40 is powered by a propeller provided in the underwater robot 50 and performs sliding movement along the second rail 30. When the cradle 40 rotates to approach the working position, the position of the cradle 40 is adjusted by comparing the information measured by the sensor unit 43 with existing data information. Further, the marking section I photographed by the sensor section 43 is made to coincide with the data information, and the underwater robot 50 reaches a desired working position. The underwater robot 50 reaches the working position and assists the operation of the underwater structure 100.

Hereinafter, a guide device 1 for an underwater robot according to another embodiment of the present invention will be described in detail with reference to Figs. 7 to 9. Fig.

7 is a perspective view of a guide device for a submersible robot according to another embodiment of the present invention, FIG. 8 is a sectional view of the first rail portion of FIG. 7 taken along line BB, FIG. 9 is a cross- Fig.

The guide device 1 of the underwater robot according to another embodiment of the present invention has the first drive part 31 and the second drive part 34 formed in the fixing part 21 and the mount 40. [ The guide device 1 of the underwater robot according to another embodiment of the present invention may be modified such that the first drive part 31 is formed on the fixing part 21 and the second drive part 34 is formed on the mount 40 Is substantially the same as the above-described embodiment. Therefore, the description will be focused on, but unless otherwise noted, the description of the remaining components is replaced by the foregoing.

7 and 8, the first rail 20 may be formed in the form of a rack gear tooth. At least one side surface of the first rail part 20 is formed in the form of a rack gear tooth, and the rack gear teeth can be formed to extend in the longitudinal direction of the first rail part 20. The first rail part 20 is formed as a pair on the front surface and the rear surface of the underwater structure 100, and the first rail part 20 arranged in pairs may be arranged in parallel with a predetermined spacing. The fixing part 21 coupled to the first rail part 20 may have a first driving part 31 formed therein and may be raised or lowered along the first rail part 20.

The first driving unit 31 moves the fixing unit 21 in the vertical direction and may include at least one first driving gear 32 and a first driving module 33. The first driving gear 32 can be brought into engagement with the rack gear teeth of the first rail portion 20 to raise or lower the fixing portion 21. The first driving gear 32 is rotationally driven by the first driving module 33 coupled to the inside of the fixed portion 21 and transmits the driving force to the fixed portion 21. The fixing part 21 can be moved up and down along the first rail part 20 by the first driving part 31. [

Referring to FIGS. 7 and 9, the second rail 30 may be formed in the form of a rack gear tooth. The second rail 30 may be formed on one side in the form of a rack gear tooth, and the rack gear teeth may be formed on the upper end of the second rail 30. The second rail 30 is formed in a ring shape and can completely surround the underwater structure 100. The cradle 40 coupled to the second rail 30 may have a second driving unit 34 formed therein and may rotate along the second rail 30.

The second driving unit 34 may include at least one second driving gear 35 and a second driving module 36 to move the holder 40 in the left and right direction. The second driving gear 35 can be rotated in the left-right direction by engaging with the rack gear teeth of the second rail 30. The second drive gear 35 is rotationally driven by the second drive module 36 coupled to the inside of the mount 40 and transmits driving force to the mount 40. The holder 40 can be moved in the left-right direction along the second rail 30 by the second driving unit 34.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: Guide device of an underwater robot 10:
20: first rail part 21:
22: connection part 30: second rail part
31: first driving part 32: first driving gear
33: first driving module 34: second driving part
35: second drive gear 36: second drive module
40: cradle 41:
42: magnetic force coupling portion 43: sensor portion
I: Marking part 50: Underwater robot
51: engaging groove 52:
100: Underwater structure

Claims (10)

A body coupled to the underwater structure;
At least one first rail formed at one side of the body along the underwater structure;
A second rail portion moving along the first rail portion and surrounding at least a portion of the underwater structure; And
And a cradle coupled to the underwater robot on one side and moving along the second rail. The underwater robot guide device as set forth in claim 1, wherein the cradle and the second rail are coupled to each other so that one of the cradle and the second rail is slidably engaged with one side of the cradle and the other side of the cradle. The underwater robot guide device according to claim 1, wherein the first rail portion is disposed in a vertical direction along the underwater structure, and the second rail portion is formed in a ring shape to surround the underwater structure. The apparatus of claim 1, further comprising: a securing portion slidably coupled to the first rail; And
And a connecting portion connecting the fixing portion and the second rail portion. 5. The guide device according to claim 4, further comprising a first driving part formed on the fixed part and moving the fixed part along the first rail part. The underwater robot guide device according to claim 1, further comprising a second drive unit formed on the mount table and configured to move the mount table along the second rail unit. The underwater robot guide device as claimed in claim 1, wherein the cradle further comprises a coupling portion in which one side is protruded or recessed to couple the underwater robot. The underwater robot guide device according to claim 1, wherein the cradle further comprises a magnetic force coupling portion having a magnetic force on one side. The apparatus according to claim 1, further comprising a sensor unit attached to one side of the cradle to recognize a position of the cradle,
Wherein the sensor unit measures the distance to the underwater structure to recognize the position of the mount, or photographs at least one image of the underwater structure, the main body, the first and second rails, And a guide device for the underwater robot. The underwater robot guide device according to claim 9, further comprising a marking unit capable of photographing with the sensor unit on at least one of the underwater structure, the main body, the first and second rails, and the second rail.
KR1020130021687A 2013-02-28 2013-02-28 Underwater robot guide device KR20140107760A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110697009A (en) * 2019-10-24 2020-01-17 沈阳 Underwater robot orthotic devices that turns on one's side
WO2021190787A1 (en) * 2020-03-27 2021-09-30 Vetco Gray Scandinavia As Self-propelled valve actuator on a rail transport system for manifolds and subsea trees

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110697009A (en) * 2019-10-24 2020-01-17 沈阳 Underwater robot orthotic devices that turns on one's side
CN110697009B (en) * 2019-10-24 2020-09-18 飞马滨(北京)智能科技有限责任公司 Underwater robot orthotic devices that turns on one's side
WO2021190787A1 (en) * 2020-03-27 2021-09-30 Vetco Gray Scandinavia As Self-propelled valve actuator on a rail transport system for manifolds and subsea trees
GB2609334A (en) * 2020-03-27 2023-02-01 Vetco Gray Scandinavia As Self-propelled valve actuator on a rail transport system for manifolds and subsea trees

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