WO2021109360A1 - 一种用于专用卸扣的水下拆装模块 - Google Patents

一种用于专用卸扣的水下拆装模块 Download PDF

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Publication number
WO2021109360A1
WO2021109360A1 PCT/CN2020/080292 CN2020080292W WO2021109360A1 WO 2021109360 A1 WO2021109360 A1 WO 2021109360A1 CN 2020080292 W CN2020080292 W CN 2020080292W WO 2021109360 A1 WO2021109360 A1 WO 2021109360A1
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WIPO (PCT)
Prior art keywords
pin
nut
rov
slider
disassembly
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PCT/CN2020/080292
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English (en)
French (fr)
Inventor
陶兴
许泓波
董鑫
陶安祥
陶良凤
张卫新
李剑
邵云亮
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江苏亚星锚链股份有限公司
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Application filed by 江苏亚星锚链股份有限公司 filed Critical 江苏亚星锚链股份有限公司
Publication of WO2021109360A1 publication Critical patent/WO2021109360A1/zh
Priority to ZA2022/07334A priority Critical patent/ZA202207334B/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B63B2021/203—Mooring cables or ropes, hawsers, or the like; Adaptations thereof

Definitions

  • the invention relates to an accessory connected to a mooring chain of a deep-sea oil platform, in particular to an underwater disassembly and assembly module for a special ROV-H shackle
  • the mooring accessories used for underwater installation on deep-sea oil platforms have the technical characteristics of high strength and toughness, and their appearance and internal quality should meet the relevant requirements of classification societies.
  • the mooring device of the deep-sea oil platform due to the excessive sea depth, it is no longer practical to install the link joints by artificial diving, and the installation of the chain requires the use of a special engineering ship, which requires a long working hours and expensive rent. The overall cost is extremely high.
  • the deep-sea robot ROV can be used to install such connectors directly underwater. Therefore, it is necessary to simplify the installation method of the connection accessories and also need to be easy to disassemble.
  • the purpose of the present invention is to solve the above technical problems and provide an underwater disassembly and assembly module for special shackles.
  • an underwater disassembly and assembly module for special shackles including a horizontal pin disassembly and assembly module, and a nut disassembly and assembly module, characterized in that: the horizontal pin disassembly and assembly module includes a horizontal pin Sleeve, ROV cross pin handle, cross pin stop pin, ROV cross pin stop pin, cross pin, ball bearing; the cross pin disassembly module is arranged on the right side of the shackle body, and the flange plate of the cross pin sleeve is screwed Connected to the shackle body, a horizontal pin is arranged in the horizontal pin sleeve, a number of ball bearings are arranged on the horizontal pin, a ROV horizontal pin handle is arranged on the horizontal pin extension rod, and the ball bearing is arranged on the horizontal pin extension rod and the horizontal pin
  • the cross pin passes through the shackle body; the bottom of the cross pin sleeve is provided with
  • the horizontal pin in the horizontal pin removal module passes through the shackle body and is connected to the nut in the nut removal module.
  • the ROV horizontal pin handle, the ROV horizontal pin stop pin, the ROV nut handle, the ROV slider stop pin, and the ROV slider handle are arranged in a T-shape or circular ring shape that is convenient for the robot to grip.
  • the sliders are set as slider A and slider B, and ROV slider stop pins are arranged between slider A and slider B.
  • the slider A, the slider B and the ROV slider stop pin are connected together by screws.
  • the horizontal pin stop pin and the nut stop pin are arranged as a plurality of stop pins or stop blocks.
  • the invention has a novel structure and ensures that the ROV robot can realize the function of underwater disassembly and assembly. While meeting the requirements of connection performance and use performance, the assembly and disassembly are also more convenient.
  • the underwater installation operation can be completed only by simple push, pull and rotation. High use value, and can be reused and mass produced.
  • Figure 1 is a schematic diagram of the front view of the present invention
  • Figure 2 is a schematic diagram of the left side view of the present invention.
  • Figure 3 is a schematic diagram of the right side view of the present invention.
  • an underwater disassembly and assembly module for special shackles including a horizontal pin disassembly and assembly module 2, a nut disassembly and assembly module 3, characterized in that: the horizontal pin disassembly and assembly module 2 includes a horizontal pin sleeve 2 -1, ROV cross pin handle 2-2, cross pin stop pin 2-3, ROV cross pin stop pin 2-4, cross pin 2-5, ball bearing 2-6; cross pin disassembly module 2 is set in the shackle On the right side of the body 1, the flange plate of the cross pin sleeve 2-1 is connected to the shackle body 1 by screws.
  • the cross pin sleeve 2-1 is provided with a cross pin 2-5 and a cross pin 2-5.
  • the cross pin 2-5 extension rod is equipped with ROV cross pin handle 2-2, the ball bearing 2-6 is set on the cross pin 2-5, the extension rod is connected to the end of the cross pin 2-5
  • the cross pin 2-5 passes through the shackle body 1;
  • the bottom of the cross pin sleeve 2-1 is provided with a ROV cross pin stop pin 2-4, and the mouth of the cross pin sleeve 2-1 is provided with Cross pin stop pin 2-3;
  • the nut disassembly module 3 includes nut 3-1, ROV nut handle 3-2, nut sleeve 3-3, nut stop pin 3-4, guide 3-5, ROV sliding Block stop pin 3-6, slider 3-7, ROV slider handle 3-8, nut stop pin 3-9;
  • the nut disassembly and assembly module 3 is arranged on the left side of the shackle body 1, and the nut
  • the horizontal pin 2-5 in the horizontal pin disassembly module 2 passes through the shackle body 1 and is connected to the nut 3-1 in the nut disassembly module 3.
  • the ROV horizontal pin handle 2-2, the ROV horizontal pin stop pin 2-4, the ROV nut handle 3-2, the ROV slider stop pin 3-6, and the ROV slider handle 3-8 are set to facilitate the gripping of the robot T-shaped or circular ring.
  • the sliders 3-7 are set as slider A and slider B, and ROV slider stop pins 3-6 are arranged between slider A and slider B.
  • the slider A, the slider B and the ROV slider stop pins 3-6 are connected together by screws.
  • the said horizontal pin stop pin 2-3 and the nut stop pin 3-9 are arranged as several stop pins or stop blocks.
  • the horizontal pin sleeve 2-1 in the horizontal pin disassembly module 2 is mainly used to allow the horizontal pins 2-5 to be inserted and withdrawn smoothly, avoiding the need to align the horizontal pins after all the horizontal pins are pulled out.
  • the horizontal pins A stop pin or block is installed at the mouth of the sleeve to prevent the horizontal pin from slipping out of the horizontal pin sleeve.
  • the horizontal pin stop pin should be screwed in to prevent interference caused by the sliding of the horizontal pin when the chain is installed.
  • the present invention also designs a horizontal pin sliding device, that is, a ring of ball bearings 2-6 is added at the place where the end of the horizontal pin is connected with the extension rod, and the horizontal pin is pushed in.
  • the sliding friction is transformed into rolling friction, which greatly reduces the thrust required for installation, thereby ensuring that the ROV robot can complete the installation task of the horizontal pin underwater.
  • the nut sleeve in the nut disassembly module 3 is mainly used to allow the nut to be inserted and withdrawn smoothly.
  • the nut sleeve has a stop or pin at the mouth to prevent the nut from slipping out of the nut sleeve.
  • the present invention also designs a nut stop pin slider insertion device that is convenient for the ROV robot operation.
  • the device includes a guide rail 3-5, a nut Stop pin 3-4, slider 3-7, ROV slider stop pin 3-6, ROV slider handle 3-8, when ROV robot works, the ROV robot rotates out ROV slider stop pin 3-6, at this time
  • the slider 3-7 is in the active state, then grasp the ROV slider handle 3-8, and push the nut stop pin 3-4 along the guide 3-5 until the nut stop pin is inserted into the nut 3-1 and the cross pin 2-5 Complete the tightening of the nut 3-1 in the reserved small hole.
  • the ROV slider stop pin 3-6 is mainly used to prevent the nut stop pin 3-4 from falling when the nut is not in place, causing damage or interference.
  • ROV horizontal pin stop pin 2-4 on land is unscrewed and rotated 90 degrees to fix it in the open state.
  • 2-4 rotate 90 degrees in reverse and screw it into the groove of the horizontal pin 2-5.
  • the operator uses the crane to lift the lower end of the upper chain connected with the ROV-H shackle, and position the ROV-H shackle on the deep-sea oil platform. After the chain link is installed in place, operate the ROV robot to unscrew the ROV cross pin stop pin 2-4.
  • the operator uses a crane to lift the lower end of the upper chain connected with the ROV-H shackle, and position the ROV-H shackle on the deep-sea oil platform.
  • the ROV robot After the chain link on the horizontal pin is installed in place, operate the ROV robot to grab the ROV nut Tighten the nut 3-1 with the handle 3-2, the ROV robot unscrews the ROV slider stop pin 3-6 and then rotates 90 degrees to fix it, use the ROV slider handle 3-8 to push the nut stop pin 3-4 into the horizontal pin hole , And finally rotate the ROV slider stop pin 3-6 by 90 degrees and screw it into the locking slider 3-7 to complete the installation.
  • the invention has a wide application range. In addition to being suitable for H-shaped shackles, it can also be used for other underwater connection shackles with horizontal pins, such as D-shaped shackles, end shackles, Y-shaped shackles, etc.; it is also suitable for various types of shackles.
  • Cross pins with cross-sectional shapes include oval cross pins, round cross pins, and pear-shaped cross pins, and their principles are basically the same.
  • the ROV robot only needs to operate a few steps: rotate the ROV cross pin stop pin, push the ROV cross pin handle, rotate the ROV slider stop pin, push the ROV slider handle, and rotate the ROV nut handle to complete the installation.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

一种用于专用卸扣的水下拆装模块，包括横销拆装模块（2）、螺母拆装模块（3），横销拆装模块（2）包括横销套筒（2-1）、ROV横销把手（2-2）、横销挡销（2-3）、ROV横销止动销（2-4）、横销（2-5）、滚珠轴承（2-6）；螺母拆装模块（3）包括螺母（3-1）、ROV螺母把手（3-2）、螺母套筒（3-3）、螺母止动销（3-4）、导轨（3-5）、ROV滑块止动销（3-6）、滑块（3-7）、ROV滑块把手（3-8）、螺母挡销（3-9）；本结构确保ROV机器人实现水下拆装的功能，在满足连接性能以及使用性能要求的同时，装卸也更为便捷，仅靠简单的推拉和旋转即可完成水下安装作业，并能重复使用。

Description

一种用于专用卸扣的水下拆装模块 技术领域
本发明涉及深海石油平台系泊链连接的附件，特别是涉及一种用于专用ROV-H卸扣的水下拆装模块
背景技术
用于深海石油平台上的水下安装的系泊附附件具备高强度、强韧性的技术特征，其外型和内部质量应满足船级社的相关要求。在深海石油平台的系泊装置中，由于海水深度过大，人工潜水安装链节的连接件已不现实，而将链条提上来进行安装需要使用专门的工程船且工时较长，且租金贵，综合成本极高。此时可以使用深海机器人ROV对此类连接件直接在水下进行安装，因此需要简化连接附件的安装方式，同时也需要易于拆卸。由于水下机器人本身的操作精度和摄像头分辨率都受到限制，另外考虑到海中的能见度低以及水流、浪涌等因素干扰，在岸上能够实现的操作在水下往往难度成倍提升，因此需要尽可能地简化每个操作步骤，提前考虑到每个可能影响到作业的因素，设计一种专门的水下作业模块确保ROV机器人能够实现卸扣的水下拆装。
发明内容
本发明的目的是要解决上述技术问题，提供一种用于专用卸扣的水下拆装模块。
本发明的目的是这样实现的：一种用于专用卸扣的水下拆装模块，包括横销拆装模块、螺母拆装模块，其特征在于：所述的横销拆装模块包括横销套筒、ROV横销把手、横销挡销、ROV横销止动销、横销、滚珠轴承；横销拆装模块设置在卸扣本体右侧，所述横销套筒的法兰板通过螺钉连接在卸扣本体上，横销套筒内设置有横销，横销上设置有若干个滚珠轴承，横销延长杆上设置有ROV横销把手，滚珠轴承设置在横销延长杆与横销末端连接处的台阶面上；横销穿过卸扣本体；所述横销套筒底部设置有ROV横销止动销，横销套筒口部设置有横销挡销；所述的螺母拆装模块包括螺母、ROV螺母把手、螺母套筒、螺母止动销、导轨、ROV滑块止动销、滑块、ROV滑块把手、螺母挡销；所述的螺母拆卸装模块设置在卸扣本体左侧，所述的螺母套筒的底板通过螺钉连接在卸扣本体上，螺母套筒内设置有螺母，螺母上设置有ROV螺母把手，螺母套筒口部设置有螺母挡销，螺母套筒底板正面设置有导轨，导轨上设置有滑块，滑块内设置有螺母止动销，滑块正 面设置有ROV滑块把手；所述的导轨侧面设置有ROV滑块止动销。
优选的：所述的横销拆卸模块中横销穿过卸扣本体与螺母拆卸模块中的螺母连接在一起。
优选的：所述的ROV横销把手、ROV横销止动销、ROV螺母把手、ROV滑块止动销、ROV滑块把手设置为便于机器人握紧的T形或圆环形。
优选的：所述的滑块设置为滑块A和滑块B，滑块A和滑块B之间设置有ROV滑块止动销。
优选的：所述的滑块A、滑块B和ROV滑块止动销通过螺钉连接在一起。
优选的：所述的横销挡销和螺母挡销设置为若干个挡销或挡块。
本发明结构新颖，确保ROV机器人实现水下拆装的功能，在满足连接性能以及使用性能要求的同时，装卸也更为便捷，仅靠简单的推拉和旋转即可完成水下安装作业，具有很高的使用价值，并能重复使用，批量生产。
附图说明
图1为本发明主视图示意图；
图2为本发明左视图示意图；
图3为本发明右视图示意图；
在图中：1.卸扣本体；2.横销拆卸模块；2-1.横销套筒；2-2.ROV横销把手；2-3.横销挡销；2-4.ROV横销止动销；2-5.横销；2-6.滚珠轴承；3.螺母拆卸模块；3-1.螺母；3-2.ROV螺母把手；3-3.螺母套筒；3-4.螺母止动销；3-5.导轨；3-6.ROV滑块止动销；3-7.滑块；3-8.ROV滑块把手；3-9.螺母挡销。
具体实施方式
下面结合附图对本发明作进一步说明：
图中：一种用于专用卸扣的水下拆装模块，包括横销拆装模块2、螺母拆装模块3，其特征在于：所述的横销拆装模块2包括横销套筒2-1、ROV横销把手2-2、横销挡销2-3、ROV横销止动销2-4、横销2-5、滚珠轴承2-6；横销拆装模块2设置在卸扣本体1右侧，所述横销套筒2-1的法兰板通过螺钉连接在卸扣本体1上，横销套筒2-1内设置有横销2-5，横销2-5上设置有若干个滚珠轴承2-6，横销2-5延长杆上设置有ROV横销把手2-2，滚珠轴承2-6设置在横销2-5 延长杆与横销2-5末端连接处的台阶面上；横销2-5穿过卸扣本体1；所述横销套筒2-1底部设置有ROV横销止动销2-4，横销套筒2-1口部设置有横销挡销2-3；所述的螺母拆装模块3包括螺母3-1、ROV螺母把手3-2、螺母套筒3-3、螺母止动销3-4、导轨3-5、ROV滑块止动销3-6、滑块3-7、ROV滑块把手3-8、螺母挡销3-9；所述的螺母拆卸装模块3设置在卸扣本体1左侧，所述的螺母套筒3-3的底板通过螺钉连接在卸扣本体1上，螺母套筒3-3内设置有螺母3-1，螺母3-1上设置有ROV螺母把手3-2，螺母套筒3-3口部设置有螺母挡销3-9，螺母套筒3-3底板正面设置有导轨3-5，导轨3-5上设置有滑块3-7，滑块3-7内设置有螺母止动销3-4，滑块3-7正面设置有ROV滑块把手3-8；所述的导轨3-5侧面设置有ROV滑块止动销3-6。所述的横销拆卸模块2中横销2-5穿过卸扣本体1与螺母拆卸模块3中的螺母3-1连接在一起。所述的ROV横销把手2-2、ROV横销止动销2-4、ROV螺母把手3-2、ROV滑块止动销3-6、ROV滑块把手3-8设置为便于机器人握紧的T形或圆环形。所述的滑块3-7设置为滑块A和滑块B，滑块A和滑块B之间设置有ROV滑块止动销3-6。所述的滑块A、滑块B和ROV滑块止动销3-6通过螺钉连接在一起。所述的横销挡销2-3和螺母挡销3-9设置为若干个挡销或挡块。
具体实施时，横销拆装模块2中横销套筒2-1主要用于让横销2-5能够顺利插入和退出，避免出现横销全部拔出后需要对准的问题，同时横销套筒口部装有挡销或挡块，防止横销滑出横销套筒。横销插入和退出到指定位置时，应旋入横销止动销，防止在安装链条的时候横销滑动造成干扰。另外，考虑到水下作业时，ROV机器人施加的推力有限，且受到海水腐蚀后横销套筒和专用卸扣摩擦力进一步加大。因此为了保证横销能够顺利安装到位，本发明还设计了一种横销滑动装置，即在横销末端与延长杆相连的地方增加了一圈滚珠轴承2-6，将横销推入时的滑动摩擦转变为滚动摩擦，极大了降低了安装所需要的推力，从而确保ROV机器人能够在水下完成横销的安装任务。螺母拆装模块3中螺母套筒主要用于让螺母能够顺利插入和退出，同时螺母套筒口部带有挡块或挡销，防止螺母滑出螺母套筒。螺母3-1通过ROV螺母把手旋紧后，需要使用螺母止动销3-4固定。考虑到螺母止动销比较细小，ROV机器人的操作手难以握住并执行插入动作，本发明还设计了一种便于ROV机器人作业的螺母止动销滑块插入装置，该装置包括导 轨3-5、螺母止动销3-4、滑块3-7、ROV滑块止动销3-6，ROV滑块把手3-8,ROV机器人作业时，由ROV机器人旋出ROV滑块止动销3-6，此时滑块3-7处于活动状态，再抓持ROV滑块把手3-8，沿着导轨3-5推动螺母止动销3-4，直至螺母止动销插入螺母3-1和横销2-5上预留的小孔内，完成螺母3-1的紧固。ROV滑块止动销3-6主要是为了防止螺母止动销3-4在螺母未旋转到位时落下造成破坏或干扰。
具体安装方式,横销拆装模块：陆地上ROV横销止动销2-4旋出后旋转90度固定为开启状态，用ROV横销把手2-2拉出横销，将ROV横销止动销2-4反向旋转90度旋入横销2-5的凹槽内。操作人员使用行车吊起连有ROV-H卸扣的上部链下端，并将ROV-H卸扣定位放置到深海石油平台上，待链环安装到位后，操作ROV机器人旋出ROV横销止动销2-4，通过ROV横销把手2-2推入横销2-5，待横销穿过链环插到卸扣本体1底部后，再将ROV横销止动销旋入。螺母拆装模块：陆地上ROV滑块止动销3-6旋出后旋转90度固定为开启状态，用ROV滑块把手3-8拉出螺母止动销3-4，再将ROV滑块止动销3-6反向旋转90度旋入锁紧滑块3-7，然后用ROV螺母把手3-2松开螺母3-1。操作人员使用行车吊起连有ROV-H卸扣的上部链下端，并将ROV-H卸扣定位放置到深海石油平台上，待横销上链环安装到位后，操作ROV机器人抓住ROV螺母把手3-2拧紧螺母3-1，ROV机器人旋出ROV滑块止动销3-6后旋转90度固定，用ROV滑块把手3-8推入螺母止动销3-4，至横销孔中，最后再将ROV滑块止动销3-6反向旋转90度旋入锁紧滑块3-7，完成安装。
本发明应用范围广，除了适用于H型卸扣，亦可用于其他带横销的水下连接卸扣，如D型卸扣、末端卸扣、Y型卸扣等等；同时适用于各种截面形状的横销，包括椭圆形横销、圆形横销、梨形横销，其原理基本相同。ROV机器人仅需要操作几个步骤：旋转ROV横销止动销、推ROV横销把手、旋转ROV滑块止动销、推ROV滑块把手、旋转ROV螺母把手即可完成安装。

Claims (6)

  1. 一种用于专用卸扣的水下拆装模块，包括横销拆装模块(2)、螺母拆装模块(3)，其特征在于：所述的横销拆装模块(2)包括横销套筒(2-1)、ROV横销把手(2-2)、横销挡销(2-3)、ROV横销止动销(2-4)、横销(2-5)、滚珠轴承(2-6)；横销拆装模块(2)设置在卸扣本体(1)右侧，所述横销套筒(2-1)的法兰板通过螺钉连接在卸扣本体(1)上，横销套筒(2-1)内设置有横销(2-5)，横销(2-5)上设置有若干个滚珠轴承(2-6)，横销(2-5)延长杆上设置有ROV横销把手(2-2)，滚珠轴承(2-6)设置在横销(2-5)延长杆与横销(2-5)末端连接处的台阶面上；横销(2-5)穿过卸扣本体(1)；所述横销套筒(2-1)底部设置有ROV横销止动销(2-4)，横销套筒(2-1)口部设置有横销挡销(2-3)；所述的螺母拆装模块(3)包括螺母(3-1)、ROV螺母把手(3-2)、螺母套筒(3-3)、螺母止动销(3-4)、导轨(3-5)、ROV滑块止动销(3-6)、滑块(3-7)、ROV滑块把手(3-8)、螺母挡销(3-9)；所述的螺母拆卸装模块(3)设置在卸扣本体(1)左侧，所述的螺母套筒(3-3)的底板通过螺钉连接在卸扣本体(1)上，螺母套筒(3-3)内设置有螺母(3-1)，螺母(3-1)上设置有ROV螺母把手(3-2)，螺母套筒(3-3)口部设置有螺母挡销(3-9)，螺母套筒(3-3)底板正面设置有导轨(3-5)，导轨(3-5)上设置有滑块(3-7)，滑块(3-7)内设置有螺母止动销(3-4)，滑块(3-7)正面设置有ROV滑块把手(3-8)；所述的导轨(3-5)侧面设置有ROV滑块止动销(3-6)。
  2. 根据权利要求1所述的一种用于专用卸扣的水下拆装模块，其特征在于：所述的横销拆卸模块(2)中横销(2-5)穿过卸扣本体(1)与螺母拆卸模块(3)中的螺母(3-1)连接在一起。
  3. 根据权利要求1或2所述的一种用于专用卸扣的水下拆装模块，其特征在于：所述的ROV横销把手(2-2)、ROV横销止动销(2-4)、ROV螺母把手(3-2)、ROV滑块止动销(3-6)、ROV滑块把手(3-8)设置为便于机器人握紧的T形或圆环形。
  4. 根据权利要求1或2所述的一种用于专用卸扣的水下拆装模块，其特征在于：所述的滑块(3-7)设置为滑块A和滑块B，滑块A和滑块B之间设置有ROV滑块止动销(3-6)。
  5. 根据权利要求4所述的一种用于专用卸扣的水下拆装模块，其特征在于：所述的滑块A、滑块B和ROV滑块止动销(3-6)通过螺钉连接在一起。
  6. 根据权利要求1所述的一种用于专用卸扣的水下拆装模块，其特征在于：所述的横销挡销(2-3)和螺母挡销(3-9)设置为若干个挡销或挡块。
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