WO2023096597A1 - A remote-controlled underwater device - Google Patents

A remote-controlled underwater device Download PDF

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Publication number
WO2023096597A1
WO2023096597A1 PCT/TR2021/051309 TR2021051309W WO2023096597A1 WO 2023096597 A1 WO2023096597 A1 WO 2023096597A1 TR 2021051309 W TR2021051309 W TR 2021051309W WO 2023096597 A1 WO2023096597 A1 WO 2023096597A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
remote
load
frame
underwater device
Prior art date
Application number
PCT/TR2021/051309
Other languages
French (fr)
Inventor
Aykut BASKURT
Original Assignee
Sirius Deniz Insaati Ve Gemi Kurtarma Limited Sirketi
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sirius Deniz Insaati Ve Gemi Kurtarma Limited Sirketi filed Critical Sirius Deniz Insaati Ve Gemi Kurtarma Limited Sirketi
Priority to PCT/TR2021/051309 priority Critical patent/WO2023096597A1/en
Publication of WO2023096597A1 publication Critical patent/WO2023096597A1/en

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
    • B66C1/16—Slings with load-engaging platforms or frameworks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/009—Wind propelled vessels comprising arrangements, installations or devices specially adapted therefor, other than wind propulsion arrangements, installations, or devices, such as sails, running rigging, or the like, and other than sailboards or the like or related equipment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12—Laying or reclaiming pipes on or under water
    • F16L1/20—Accessories therefor, e.g. floats, weights
    • F16L1/202—Accessories therefor, e.g. floats, weights fixed on or to vessels
    • F16L1/207—Pipe handling apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/26—Repairing or joining pipes on or under water

Definitions

  • the invention relates to a remotely controlled underwater device with a carrier platform.
  • Pipes are submerged into water with the help of various pipe support platforms, considering the terrain. Especially in uneven waters, it is very important to monitor the process from the submergence of the pipes to the completion of their installation and weighing underwater.
  • various underwater cameras or sensors for monitoring during installation has become widespread in order to ensure stable installation of pipeline systems.
  • WO2020142637 discloses with downlink of pipeline sections. It is a method of assembling a pipeline at a seabed location comprises landing a connection tool on the seabed over a free end portion of a first pipeline section already placed on the seabed. The connection tool is locked to the free end portion of the first pipeline section, a lower end of a second pipeline section is connected to the connection tool via an initiation line. While applying tension to the initiation line against reaction force of the connection tool, at least a lower end portion of the second pipeline section is landed on the seabed with the lower end facing a free end of the first pipeline section. The lower end of the second pipeline section is then pulled into mechanical engagement with the free end of the first pipeline section. BRIEF DESCRIPTION OF THE INVENTION
  • the object of the invention is to develop a remotely controlled underwater device with a carrier platform that allows for the alignment and connection of pipes carrying loads with a camera, providing loading during submergence and unloading during floating, and enabling remote monitoring with a remote terminal, as well as remote control of weighing underwater.
  • the invention is configured as a metallic structure in the form of a carrier platform that allows the submersion of a load into water, ensures water drainage during floating, and provides an underwater weighing system, in order to achieve the mentioned goals.
  • the carrier platform includes a remote control module connected to a field terminal that provides signal transmission, and a supporting upper frame on which the platform cables are connected.
  • It also includes a lower frame that is connected to the upper frame from below to provide support, a suspension beam that connects the upper and lower frames and enables load suspension, one or more holding legs that are connected to the suspension beam and hold the load, lateral beams that are connected to the upper and lower frames from their lateral edges to provide support, and platform bunkers that are connected to the lower frame from its lower edges and allow weight to be added to the platform during submersion.
  • the invention includes an axially movable suspension beam that is adjusted to engage with the load and is controlled remotely by the control module.
  • a submersible load such as a pipe can be loaded onto the platform, floated on the water with drainage, and controlled remotely with an underwater weighing system.
  • a scale that can be controlled remotely is provided, in which a immersed load, for example a pipe, is loaded onto the platform, and water is discharged from the platform in floatation.
  • the suspension beam comprises a connected radial frame at a front end and a rear end.
  • the radial load connection connected to the platform is at an inclined angle.
  • platform ropes are attached to a rope frame.
  • a connection line is obtained that enables the carrier platform to be portable over the platform frame.
  • a preferred embodiment of the invention includes one or more cameras to be connected on its radial frame. Thus, it is possible to view and record the axial movement of the radial load provided by the suspension beams.
  • the rope frame is attached to an anchor rope.
  • the carrier platform is portable with a load carrier that can be connected to the anchor rope.
  • each camera is set up to be connected to the terminal via the remote control module.
  • the axial movement of the radial load is monitored by a terminal with wireless connection to the carrier platform.
  • the carrier platform connected to the anchor rope is set to be submerged or floated by a crane.
  • the carrier platform can be transported, immersed and floated by a crane, which is a load carrier connected to the anchor rope.
  • a preferred embodiment of the invention is set to follow the connection of the load by aligning it to another load under water from the terminal connected to each camera.
  • Figure 1 is a schematic illustration of a remote-controlled underwater weighbridge, which is the subject of the invention.
  • Figure 2 is the continuation of the schematic illustration of a remote controlled underwater weighbridge according to the invention.
  • FIG. 1 a remote controlled underwater device, which is the subject of the invention, is shown schematically.
  • Figure 2 is the continuation of the schematic representation of a remote-controlled underwater weighbridge that is the subject of the invention.
  • a remote- controlled underwater device has a carrier platform (10) that is submerged under water and provides an underwater device.
  • the carrier platform (10) is designed as a metallic construction.
  • a load (20) is loaded on the carrier platform (10) in underwater immersion, and water is discharged from the carrier platform (10) in flotation.
  • the loaded load (20) here is a metallic pipe that is weighed under water.
  • the carrier platform (10) can take, for example, 4000, 3000, 2000 diameter CRP steel pipes up to 36 meters; It can hold a pipe weighing 80 tons and can load up to a total load of 300 tons.
  • a remote control module (11) that provides mutual signal transmission with a terminal (12) in the field with wireless communication technology.
  • a platform upper frame (13) to which the platform ropes (49) are connected, for example a platform upper frame (13) of 12.
  • Platform ropes (49) are connected to a rope frame (48).
  • the rope frame (48) is also connected to an anchor rope (47). In this way, the platform can be portable with a load carrier that can be connected to the anchor rope.
  • platform bunkers (32) which are connected to the lower platform frame (14) from its lower side edges and which add weight to the platform (10) when immersed under water.
  • the platform bunkers (32) not only protect the platform (10) from the sides, but also increase the weight of the platform (10) by adding weights such as gravel, sand and the like.
  • platform bunkers provide the task of receiving/holding 63 m3 of crushed stone into their own bunkers (32).
  • the platform bunkers (32) can ensure that the platform (10) floats on the water by discharging the added weights, which can be opened from the sides, to the underwater floor when the mutual loads are connected.
  • a suspension beam (16) on the carrier platform (10) which is connected through the gap between the platform upper frame (13) and the platform lower frame (14) and ensures the suspension of the load (20).
  • the suspension beam (16) is hinged to be axially moving in a guide bearing (15) by being driven by the remote control module (11 ) and engaged with the load (20).
  • the radial frame (34) includes one or more cameras (36) connected at the free edges on it. For example, by connecting 3 cameras (36) on the connected radial frame at the front end of the platform (10), viewing and recording can be made from 3 different angles with the axial movement of the suspension beam (16).
  • each camera (36) connected to the radial frame is connected to the terminal (12) via wireless communication technology via the remote control module (11). With the cameras connected to the radial frame, for example, very precise mounting can be made with the 3 cameras on it. In this case, it has ensured that the radial load (20), that is, the axial movement tracking of the pipe, can be done with the terminal (12) wirelessly connected to the carrier platform (10).
  • following the feet (23) (24) (27) (28) up and down and the pipe to the right-left or back and forth over the water in mm can be done with each camera (36) on the radial frame (34).
  • the anchor rope (47) connected to the rope frame (48) on the carrier platform (10) is connected to a winch rope (44) that is attached and removed from the free ends of a winch anchor 46.
  • the winch rope (44) is also attached to a winch arm (42).
  • the crane arm (42) is connected to a crane (40).
  • the carrier platform (10) is arranged in accordance with a predetermined configuration standard to be submerged or floated by a winch (40) connected to the anchor rope (47).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)

Abstract

A remote-controlled underwater device comprising a carrier platform (10) on which a load (20) is loaded for submersion underwater; a remote control module (11) connected to the carrier platform (10); a platform top frame (13) located on the carrier platform (10); a platform bottom frame (14) connected to the platform top frame (13) to provide bottom support to the top frame; a suspended beam (16) connected between the top frame (13) and the bottom frame (14) to suspend the load (20); one or more support legs (18) connected to the suspended beam (16) to hold the load (20); side beams (30) connected between the top frame (13) and the bottom frame (14) to provide lateral support; a remotely controlled underwater cantilever with platform bunkers (32) connected to the bottom frame (14) at its lower edges to add weight during submersion, wherein the suspended beam (16) is axially movable and adjustable by the remote control module (11) to engage the load (20); and a front leg assembly (22) has a hydraulic adjustable first front leg (23) and a second front leg (24) connected to the carrier platform (10) at each of its four corners, and a rear leg assembly (26) has a first rear leg (27) and a second rear leg (28) connected to the carrier platform (10).

Description

A REMOTE-CONTROLLED UNDERWATER DEVICE
TECHNICAL FIELD
The invention relates to a remotely controlled underwater device with a carrier platform.
BACKGROUND OF THE ART
With the development of technology today, the importance of installing pipeline systems underwater has increased. Therefore, a network consisting of pipeline systems passing under water has emerged in many parts of the world for the transportation of crude oil, raw water, drinking water, and natural gas. When considering all pipeline systems underwater, many difficulties are encountered in the design, production, and installation stages. Especially the challenges brought by natural geography make the installation of pipeline systems under water even more difficult. When installing a pipeline system under water, pipes that have been welded together or pipes that are connected with clamps by aligning them can be used.
Another important aspect of pipeline installation under water is the submergence of pipes that will be used in the construction of the pipeline system. Pipes are submerged into water with the help of various pipe support platforms, considering the terrain. Especially in uneven waters, it is very important to monitor the process from the submergence of the pipes to the completion of their installation and weighing underwater. Nowadays, the use of various underwater cameras or sensors for monitoring during installation has become widespread in order to ensure stable installation of pipeline systems.
WO2020142637 discloses with downlink of pipeline sections. It is a method of assembling a pipeline at a seabed location comprises landing a connection tool on the seabed over a free end portion of a first pipeline section already placed on the seabed. The connection tool is locked to the free end portion of the first pipeline section, a lower end of a second pipeline section is connected to the connection tool via an initiation line. While applying tension to the initiation line against reaction force of the connection tool, at least a lower end portion of the second pipeline section is landed on the seabed with the lower end facing a free end of the first pipeline section. The lower end of the second pipeline section is then pulled into mechanical engagement with the free end of the first pipeline section. BRIEF DESCRIPTION OF THE INVENTION
The object of the invention is to develop a remotely controlled underwater device with a carrier platform that allows for the alignment and connection of pipes carrying loads with a camera, providing loading during submergence and unloading during floating, and enabling remote monitoring with a remote terminal, as well as remote control of weighing underwater.
In order to achieve the aforementioned objectives, The invention is configured as a metallic structure in the form of a carrier platform that allows the submersion of a load into water, ensures water drainage during floating, and provides an underwater weighing system, in order to achieve the mentioned goals. The carrier platform includes a remote control module connected to a field terminal that provides signal transmission, and a supporting upper frame on which the platform cables are connected. It also includes a lower frame that is connected to the upper frame from below to provide support, a suspension beam that connects the upper and lower frames and enables load suspension, one or more holding legs that are connected to the suspension beam and hold the load, lateral beams that are connected to the upper and lower frames from their lateral edges to provide support, and platform bunkers that are connected to the lower frame from its lower edges and allow weight to be added to the platform during submersion. Additionally, the invention includes an axially movable suspension beam that is adjusted to engage with the load and is controlled remotely by the control module. It also includes a front leg assembly consisting of a hydraulic adjustable first front leg and a second front leg, and a rear leg assembly consisting of a first rear leg and a second rear leg, both of which are hydraulically operated and connected to the carrier platform at its four corners. Thus, a submersible load such as a pipe can be loaded onto the platform, floated on the water with drainage, and controlled remotely with an underwater weighing system. Thus, a scale that can be controlled remotely is provided, in which a immersed load, for example a pipe, is loaded onto the platform, and water is discharged from the platform in floatation.
In a preferred embodiment of the invention, the suspension beam comprises a connected radial frame at a front end and a rear end. Thus, from the front and rear ends of the carrier platform, it can be determined whether the radial load connection connected to the platform is at an inclined angle. In a preferred embodiment of the invention, platform ropes are attached to a rope frame. Thus, a connection line is obtained that enables the carrier platform to be portable over the platform frame.
A preferred embodiment of the invention includes one or more cameras to be connected on its radial frame. Thus, it is possible to view and record the axial movement of the radial load provided by the suspension beams.
In a preferred embodiment of the invention, the rope frame is attached to an anchor rope. Thus, it is ensured that the carrier platform is portable with a load carrier that can be connected to the anchor rope.
In a preferred embodiment of the invention, each camera is set up to be connected to the terminal via the remote control module. Thus, the axial movement of the radial load is monitored by a terminal with wireless connection to the carrier platform.
In a preferred embodiment of the invention, the carrier platform connected to the anchor rope is set to be submerged or floated by a crane. Thus, the carrier platform can be transported, immersed and floated by a crane, which is a load carrier connected to the anchor rope.
A preferred embodiment of the invention is set to follow the connection of the load by aligning it to another load under water from the terminal connected to each camera. Thus, it is ensured that the pipes can be connected to each other in a stable manner by monitoring the connection of the pipes with loads by aligning them with each other via a remote terminal.
BRIEF DESCRIPTION OF THE FIGURES
Figure 1 is a schematic illustration of a remote-controlled underwater weighbridge, which is the subject of the invention.
Figure 2 is the continuation of the schematic illustration of a remote controlled underwater weighbridge according to the invention.
DETAILED DESCRIPTION OF THE INVENTION
In this detailed explanation, the invention is explained without any limitation and only with reference to examples to better explain the subject matter. In Figure 1 , a remote controlled underwater device, which is the subject of the invention, is shown schematically. Figure 2 is the continuation of the schematic representation of a remote-controlled underwater weighbridge that is the subject of the invention. A remote- controlled underwater device has a carrier platform (10) that is submerged under water and provides an underwater device. The carrier platform (10) is designed as a metallic construction. In addition, a load (20) is loaded on the carrier platform (10) in underwater immersion, and water is discharged from the carrier platform (10) in flotation. The loaded load (20) here is a metallic pipe that is weighed under water. The carrier platform (10) can take, for example, 4000, 3000, 2000 diameter CRP steel pipes up to 36 meters; It can hold a pipe weighing 80 tons and can load up to a total load of 300 tons. On the carrier platform (10), there is a remote control module (11) that provides mutual signal transmission with a terminal (12) in the field with wireless communication technology. Also, on the carrier platform (10), there is a platform upper frame (13) to which the platform ropes (49) are connected, for example a platform upper frame (13) of 12. Platform ropes (49) are connected to a rope frame (48). The rope frame (48) is also connected to an anchor rope (47). In this way, the platform can be portable with a load carrier that can be connected to the anchor rope. The platform upper frame (13), on the other hand, is connected in such a way that there is a certain gap between a platform subframe (14) that provides support to the upper frame from below, for example, a platform subframe (14) of 14. There are also platform bunkers (32) which are connected to the lower platform frame (14) from its lower side edges and which add weight to the platform (10) when immersed under water. The platform bunkers (32) not only protect the platform (10) from the sides, but also increase the weight of the platform (10) by adding weights such as gravel, sand and the like. In another example, platform bunkers provide the task of receiving/holding 63 m3 of crushed stone into their own bunkers (32). The platform bunkers (32) can ensure that the platform (10) floats on the water by discharging the added weights, which can be opened from the sides, to the underwater floor when the mutual loads are connected. In addition, there is a suspension beam (16) on the carrier platform (10), which is connected through the gap between the platform upper frame (13) and the platform lower frame (14) and ensures the suspension of the load (20). The suspension beam (16) is hinged to be axially moving in a guide bearing (15) by being driven by the remote control module (11 ) and engaged with the load (20). There are one or more holder legs (18) connected to the suspension beam (16) to hold the load (20) under it. There is also a radial frame (34) connected at a front end and a rear end of the suspension beam (16). The radial frame (34) includes one or more cameras (36) connected at the free edges on it. For example, by connecting 3 cameras (36) on the connected radial frame at the front end of the platform (10), viewing and recording can be made from 3 different angles with the axial movement of the suspension beam (16). In addition, each camera (36) connected to the radial frame is connected to the terminal (12) via wireless communication technology via the remote control module (11). With the cameras connected to the radial frame, for example, very precise mounting can be made with the 3 cameras on it. In this case, it has ensured that the radial load (20), that is, the axial movement tracking of the pipe, can be done with the terminal (12) wirelessly connected to the carrier platform (10). In addition, it is possible to monitor the connection of the load (20) to another load (20) by aligning it under water from the terminal (12) connected to each camera (36). In this way, it is ensured that the pipes (20) can be connected to each other in a stable manner by following the connection of the pipes with the loads by aligning them with each other via the wireless terminal (12). This link tracking can be done, for example, under water up to 50 meters. In addition, on the carrier platform (10), side beams (30) that provide support from the side edges of the platform upper frame (13) and the platform lower frame (14) are connected. On the platform (10), there is a front foot assembly (22) consisting of a hydraulically operated, adjustable first front foot (23) and a second front foot (24) to be connected at the four corners of the carrier platform (10). In addition, there is a rear leg assembly (26) on the platform (10), consisting of a hydraulically operated, adjustable first rear leg (27) and a second rear leg (28), to be connected at the four corners of the carrier platform (10). The feet (23) (24) (27) (28) and the platform (10) on the carrier platform, for example, on land and -50 meters below the sea, with the hydraulic feet (23) (24) (27) (28) self-lifting and hydraulic It is also capable of turning left and right with pistons. In the present invention, for example, following the feet (23) (24) (27) (28) up and down and the pipe to the right-left or back and forth over the water in mm can be done with each camera (36) on the radial frame (34). In addition, in the present invention, for example, when the feet (23) (24) (27) (28) move up and down, in the pipe (20) to the right-left or back and forth, the pressure in the pistons can be observed above the water. The anchor rope (47) connected to the rope frame (48) on the carrier platform (10) is connected to a winch rope (44) that is attached and removed from the free ends of a winch anchor 46. The winch rope (44) is also attached to a winch arm (42). The crane arm (42) is connected to a crane (40). The carrier platform (10) is arranged in accordance with a predetermined configuration standard to be submerged or floated by a winch (40) connected to the anchor rope (47).
REFERENCE NUMBERS
10 Carrier platform
11 Remote control module
12 Terminal
13 Platform upper frame 14 Platform subframe
15 Guide bearing
16 Suspension beam
18 Holder feet
20 Pipe
22 Front foot assembly
23 First forelimb
24 Second foreleg
26 Rear foot assembly
27 First hind leg
28 Second hind leg
30 Side beams
32 Platform bunker
34 Radial frame
36 Camera
40 Crane
42 Crane arm
44 Winch rope
46 Winch anchor
47 Anchor rope
48 Rope frame
49 Platform anchor rope

Claims

1- A remote-controlled underwater device comprising a carrier platform (10) configured as a metallic construction in such a way that a load (20) is loaded in submersion, water is discharged in flotation and provides a bit under water; a remote control module (11 ) located on the carrier platform (10) and associated with a terminal (12) in the field for signal transmission; a platform upper frame (13) located on the carrier platform (10) and to which the platform ropes (49) are connected; a platform subframe (14) connected to the platform upper frame (13) and supporting the upper frame from below; a suspension beam (16) passing between the platform upper frame (13) and the platform lower frame (14) and connected in such a way as to provide the load (20) suspension; one or more holding legs (18) connected to hold the load (20) in the suspension beam (16); side beams (30) connected to the platform upper frame (13) and the platform lower frame (14) by providing support from their side edges; characterized in that an adjustable suspension beam (16) that moves axially and engages the load (20) in a manner controlled by the remote control module (11); a front leg assembly (22) having a first front leg (23) and a second front leg (24), which are hydraulically operated and adjustable and connected at the four corners of the carrier platform (10); and a rear leg assembly (26) having a first rear leg (27) and a second rear leg (28).
2- A remote-controlled underwater device according to claim 1 , wherein the suspension beam (16) includes a connected radial frame (34) at one front end and one rear end.
3- A remote-controlled underwater device according to claim 1 , wherein the platform ropes (49) are configured to be connected to a rope frame (48).
4- A remote-controlled underwater device according to claim 2, wherein it contains one or more cameras (36) to be connected on its radial frame (34).
5- A remote-controlled underwater device according to claim 3, wherein the rope frame (48) is configured to be connected to an anchor rope (47).
6- A remote-controlled underwater device according to Claim 4, wherein set to be connected to the terminal (12) via the remote-control module (11) of each camera (36).
7 7- A remote-controlled underwater device according to claim 5, wherein the carrier platform (10) connected to the anchor rope (47) is set to be immersed or floated in water with a crane (40). 8- A remote-controlled underwater device according to claim 6, wherein follow the alignment of the load (20) to another load (20) underwater from the terminal (12) connected to each camera (36).
8
PCT/TR2021/051309 2021-11-29 2021-11-29 A remote-controlled underwater device WO2023096597A1 (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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US5437517A (en) * 1993-02-22 1995-08-01 Snamprogetti S.P.A. Method for automatically repairing underwater pipelines, particularly suitable for great depths, and the relative apparatus
US5934832A (en) * 1997-07-18 1999-08-10 Baugh; Benton F. Pipeline recovery apparatus
US6439807B1 (en) * 1997-04-24 2002-08-27 Allseas Group S.A. Method and apparatus for underwater connection of pipe pieces and bolt therefor
WO2014091474A1 (en) * 2012-12-13 2014-06-19 Shlomo Kline Pipeline lifting and supporting apparatus for maintenance and restoration purposes
WO2016049646A1 (en) * 2014-09-26 2016-03-31 Actuant Corporation Pipe repair apparatus and method
CN214146810U (en) * 2020-11-20 2021-09-07 中船华南船舶机械有限公司 Installation equipment for submarine pipeline

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WO2014091474A1 (en) * 2012-12-13 2014-06-19 Shlomo Kline Pipeline lifting and supporting apparatus for maintenance and restoration purposes
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CN214146810U (en) * 2020-11-20 2021-09-07 中船华南船舶机械有限公司 Installation equipment for submarine pipeline

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