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CN114156787A - Submarine cable protection implementation method for single-pile foundation - Google Patents

Submarine cable protection implementation method for single-pile foundation Download PDF

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Publication number
CN114156787A
CN114156787A CN202111412009.XA CN202111412009A CN114156787A CN 114156787 A CN114156787 A CN 114156787A CN 202111412009 A CN202111412009 A CN 202111412009A CN 114156787 A CN114156787 A CN 114156787A
Authority
CN
China
Prior art keywords
submarine cable
cable protection
protection device
pile foundation
section
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.)
Pending
Application number
CN202111412009.XA
Other languages
Chinese (zh)
Inventor
朱嵘华
张美阳
田振亚
徐清富
孙香
陆承立
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.)
Yangjiang Hongdehaishang Wind Power Technology Co ltd
Original Assignee
Yangjiang Hongdehaishang Wind Power Technology Co ltd
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 Yangjiang Hongdehaishang Wind Power Technology Co ltd filed Critical Yangjiang Hongdehaishang Wind Power Technology Co ltd
Priority to CN202111412009.XA priority Critical patent/CN114156787A/en
Publication of CN114156787A publication Critical patent/CN114156787A/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • H02G1/08Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
    • H02G1/083Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using lines, e.g. needles, rods or tapes
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00Foundations as substructures
    • E02D27/10Deep foundations
    • E02D27/12Pile foundations
    • E02D27/16Foundations formed of separate piles
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00Foundations as substructures
    • E02D27/32Foundations for special purposes
    • E02D27/52Submerged foundations, i.e. submerged in open water
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G9/00Installations of electric cables or lines in or on the ground or water

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Electric Cable Installation (AREA)

Abstract

The invention discloses a submarine cable protection implementation method for a single-pile foundation, which implements submarine cable protection through a submarine cable protection device, wherein the submarine cable protection device comprises a traction assembly, a front anti-bending section, a buckle functional module and a rear anti-bending section, the buckle functional module is arranged at the matching part of the front anti-bending section and the rear anti-bending section, and the method comprises the following specific steps: firstly, assembling a submarine cable protection device, installing a steel wire rope on a traction assembly, starting a traction device until a buckle assembly is activated, and further realizing that the submarine cable protection device is installed on a single-pile foundation, continuously dragging the submarine cable protection device to separate the traction assembly from the submarine cable protection device, and moving the submarine cable to the direction of the traction device along with the traction assembly. By the method, the submarine cable is protected from external force in the installation process of the whole submarine cable protection device, secondary damage of the submarine cable in the installation process is effectively protected, and convenience is provided for later maintenance.

Description

Submarine cable protection implementation method for single-pile foundation
Technical Field
The invention belongs to the technical field of offshore wind power engineering, and particularly relates to a submarine cable protection implementation method for a single-pile foundation.
Background
With the rapid development of the offshore wind power industry in China, offshore wind resources are developed continuously, and the offshore wind power industry gradually develops towards the deep sea at present.
The traditional submarine cable protection installation suitable for the single-pile foundation of the shallow water area is mainly installed through a steel structure J-shaped pipe on an external sleeve cage, along with the increase of water depth, the height of the steel structure J-shaped pipe externally arranged on the sleeve cage is required to be larger and larger, so that the height of the whole sleeve cage is increased, in addition, as the installation section of the J-shaped pipe needs to be ensured to have certain supporting strength, the strength of the sleeve cage is enhanced, the weight of the whole sleeve cage structure is finally increased, the manufacturing cost of the sleeve cage is increased, meanwhile, the overhigh sleeve cage structure or J-shaped pipe structure causes certain difficulty for the whole transportation and installation of the structure, certain potential safety hazards are also increased, meanwhile, the expense for transportation and installation is also increased to a certain extent, in order to further optimize the single-pile sleeve cage structure, save the steel consumption, and reduce the difficulty and the cost for the transportation and the installation of the sleeve cage, the patent provides a novel submarine cable protection method for the single-pile foundation, the submarine cable protection method can be realized only by opening holes at reasonable positions of the single piles.
Disclosure of Invention
In order to further optimize the structure of the single-pile sleeve cage, save the steel consumption and reduce the difficulty and cost of the transportation and installation of the sleeve cage, the invention provides the technical scheme of the submarine cable protection realizing method for the single-pile foundation, which can realize the installation of the submarine cable protection device only by opening a hole on the single-pile foundation and without a J-shaped steel pipe on the traditional sleeve cage.
The submarine cable protection implementation method for the single-pile foundation is characterized in that submarine cable protection is implemented through a submarine cable protection device, the submarine cable protection device comprises a traction assembly, a front anti-bending section, a buckle functional module and a rear anti-bending section, the buckle functional module is arranged at the matching position of the front anti-bending section and the rear anti-bending section, and the method comprises the following specific steps:
s1: sequentially connecting the traction assembly, the front bending-proof section, the buckle functional module and the rear bending-proof section to assemble the submarine cable protection device;
s2: connecting the front end of the traction assembly with a second steel wire rope, connecting the second steel wire rope with the traction equipment after the second steel wire rope passes through a preformed hole of the single-pile foundation, connecting the rear end of the traction assembly with a first steel wire rope, and connecting the first steel wire rope with the submarine cable after the first steel wire rope passes through the submarine cable protection device;
s3: starting towing equipment to enable the submarine cable protection device and the submarine cable to penetrate through a preformed hole of the single-pile foundation;
s4: under the continuous action of the towing equipment, the submarine cable protection device and the submarine cable continue to move forwards until a limit stop ring at the rear end of the buckle activation functional part abuts against the single-pile foundation, and the buckle assembly is activated to protrude out of the surface of the submarine cable protection device, so that the submarine cable protection device is installed on the single-pile foundation;
s5: after the submarine cable protection device is installed, the towing equipment continues to operate until a positioning pin in the towing assembly fails, the towing assembly is separated from the submarine cable protection device, and the submarine cable moves towards the towing equipment along with the towing assembly.
Furthermore, during installation, the diameter of the selected limiting baffle ring is larger than the diameter of the preformed hole of the single pile foundation, so that the buckle activating functional part cannot penetrate through the preformed hole.
Further, a barb element is arranged on the rear anti-bending section, a barb is arranged on the backward extending section of the limit stop ring, and after the clamping component is activated in S4, the barb element breaks through the barb to enter the backward extending section under the action of tensile force.
Furthermore, surface sealing elements are arranged on the rear anti-bending section and/or the limiting baffle ring to prevent seawater or rainwater or steam from directly contacting with the rear anti-bending section.
Furthermore, a plurality of groups of buckle components are arranged at the front end of the buckle activation function part.
Further, in the failure condition of the locating pin in the step S5, the pulling force of the towing device is larger than the set load of the locating pin, and when the failure condition occurs, the first hinge limiting plate rotates around the rotation center pin and is disengaged from the notch.
Furthermore, the first hinge limiting plate is separated from the front anti-bending section, so that the traction joint is separated from the front anti-bending section, and the traction equipment continues to drag until the submarine cable passes through the submarine cable protection device and then is installed on the machine position.
Furthermore, reinforced steel wires or high-strength fiber materials are arranged in the front anti-bending section and the rear anti-bending section, and high polymer materials resistant to seawater corrosion are poured or embedded on the inner surface and the outer surface of the front anti-bending section and the rear anti-bending section.
Compared with the prior art, the invention has the following advantages:
the invention provides a novel submarine cable protection scheme for a single-pile foundation, which can be adopted only by forming holes with corresponding sizes at specified positions above the mud surface of the single-pile foundation without other additional auxiliary components such as J-shaped pipes and the like, is convenient to install and can not cause secondary damage to the submarine cable in the installation process.
The structure of the reverse buckle that the device adopted can effectively fix submarine cable protection device on the single pile basis on the one hand, and on the other hand, this buckle has the function of withdrawing, makes things convenient for submarine cable protection device self dismantlement and maintenance.
Drawings
FIG. 1 is a flow chart of a method of implementing the present invention;
FIG. 2 is a schematic view of the assembly of the submarine cable protection device according to the present invention;
FIG. 3 is a diagram illustrating the effect of the submarine cable protection device according to the present invention after installation;
FIG. 4 is a schematic view of the draft assembly of the present invention;
FIG. 5 is a schematic structural diagram of a buckle function module according to the present invention;
FIG. 6 is a cross-sectional view of the assembled buckle prior to activation;
FIG. 7 is a cross-sectional view of the assembled snap-fit activation.
Detailed Description
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 7, a submarine cable protection implementation method for a single-pile foundation implements submarine cable protection through a submarine cable protection device, the submarine cable protection device includes a traction assembly 1, a front bending-proof section 2, a buckle functional module 3 and a rear bending-proof section 4, the buckle functional module 3 is arranged at the matching position of the front bending-proof section 2 and the rear bending-proof section 4, and the method includes the following specific steps:
s1: sequentially connecting a traction assembly 1, a front bending-proof section 2, a buckle functional module 3 and a rear bending-proof section 4 to assemble a submarine cable protection device;
s2: connecting the front end of a traction assembly 1 with a second steel wire rope 19, connecting the second steel wire rope 19 with a traction device after penetrating through a preformed hole of a single-pile foundation, connecting the rear end of the traction assembly 1 with a first steel wire rope 15, and connecting the first steel wire rope 15 with a submarine cable after penetrating through a submarine cable protection device;
s3: starting towing equipment to enable the submarine cable protection device and the submarine cable to penetrate through a preformed hole of the single-pile foundation;
s4: under the continuous action of the towing equipment, the submarine cable protection device and the submarine cable continue to move forwards until the limit stop ring 341 at the rear end of the buckle activation function part 34 abuts against the single-pile foundation, and the buckle assembly is activated to protrude from the surface of the submarine cable protection device, so that the submarine cable protection device is installed on the single-pile foundation;
s5: after the submarine cable protection device is installed, the towing equipment continues to operate until the positioning pin in the towing assembly 1 fails, the towing assembly is separated from the submarine cable protection device, and the submarine cable moves towards the towing equipment along with the towing assembly.
During installation, the diameter of the selected limit stop ring 341 is larger than the diameter of the prepared hole of the single pile foundation, so that the buckle activation function piece 34 cannot pass through the prepared hole.
The barb member 35 is provided on the backward bending prevention section 4, and the barb 342 is provided on the backward extension 343 of the retainer ring 341, and after the snap assembly is activated at S4, the barb member 35 breaks through the barb 342 into the backward extension 343 by the tensile force. A surface sealing member 36 is provided on the rear bending prevention section 4 and/or the stopper ring 341 to prevent seawater or rainwater or steam from directly contacting the rear bending prevention section 4.
Multiple sets of snap assemblies are provided at the front end of the snap activation function 34.
The failure condition of the dowel pin 16 in step S5 is that the towing apparatus pulling force is larger than the set load of the dowel pin 16, and when the failure condition occurs, the first hinge restriction plate 12 rotates about the rotation center pin 17 to be disengaged from the card slot 201. The first hinge limiting plate 12 is separated to separate the traction joint 11 from the front bending-proof section 2, and the dragging equipment continues to drag until the submarine cable 6 passes through the submarine cable protection device and then is installed on the machine position.
Specifically, the structure of the submarine cable protection device is further described. Buckle functional module 3 sets up in leading cooperation department of preventing curved section 2 and the 4 sections of postposition and preventing curved section, buckle functional module 3 includes buckle activation function piece 34, the front end of buckle activation function piece 34 is provided with buckle subassembly, the rear end is provided with spacing fender ring 341, under the effect of traction, buckle functional module 3 passes single pile basis 5, buckle functional module 3 is at the in-process of antedisplacement, when spacing fender ring 341 cooperates with the 5 rear side limits of single pile basis, buckle activation function piece 34 activation buckle subassembly, make buckle subassembly activity, can cooperate with the 5 front side joint of single pile basis, thereby realize installing submarine cable protection device on single pile basis 5. The snap assembly is provided with multiple sets of rings arranged at the front end of the snap activation function 34.
The catch assembly includes a catch 31 and a catch rotation center pin 32, and the catch 31 is articulated at the front end of a catch activation function 34 by the catch rotation center pin 32. The front end of the rear bending-proof section 4 is provided with a step 401, the step 401 is in interference fit with the buckle 31 in an initial state, and in the forward moving process of the rear bending-proof section 4, the buckle 31 is driven to rotate around the buckle rotation central pin 32 through the step 401, so that the buckle 31 protrudes out of the surface of the submarine cable protection device.
The backward extension section 343 of the limit stop ring 341 is provided with a barb 342, the rear bending-proof section 4 is provided with a barb piece 35 matched with the barb, in an initial state, the barb piece 35 is in interference fit with the rear end of the barb 342, and in the forward moving process of the rear bending-proof section 4, the barb piece 35 breaks through the barb 342 and enters the backward extension section 343. A surface seal 36 is arranged on the outside of the rearward extension 343, and the surface seal 36 is arranged on the stop collar 341 and/or the rear bending prevention section 4.
The front end of the front anti-bending section 2 is provided with a traction assembly 1 which comprises a first hinge limiting plate 12, a second hinge limiting plate 13, a positioning pin 16 and a rotating center pin 17, the first hinge limiting plate 12 is arranged on the second hinge limiting plate 13 through the rotating center pin 17 to form a limiting assembly, the front end of the front anti-bending section 2 is provided with a clamping groove 201, and the limiting assembly is clamped in the clamping groove 201.
The traction assembly 1 further comprises a traction joint 11, the traction joint 11 is mounted on the front bending-proof section 2 through a limiting assembly, a through hole 1101 is formed in the front end of the traction joint 11, and one end of a second hinge limiting plate 13 penetrates through the through hole 1101; the second hinge limiting plate 13 is provided with a positioning pin 16, and the relative positions of the two groups of limiting plates are locked and fixed through the positioning pin 16.
The traction assembly 1 is further provided with a first shackle 14, a first steel wire rope 15 and a second shackle 18 for connecting the submarine cable, and a second steel wire rope 19 for connecting an external traction device, the first shackle 14 and the second shackle 18 are respectively arranged at two ends of the second hinge limiting plate 13, the first steel wire rope 15 is connected to the first shackle 14, the second steel wire rope 19 is connected to the second shackle 18, the second steel wire rope 19 is connected with an external towing device, and the first steel wire rope 15 penetrates through the submarine cable protection device to be connected with the submarine cable 6 to be installed.
Traction assembly 1, leading section 2 of preventing bending, buckle functional module 3 and rearmounted section 4 of preventing bending are cylindrical cavity structure respectively, and inside sets up reinforcing steel wire or high-strength fiber material, and the interior external surface pouring or inlay resistant sea water corrosion's macromolecular material.
The front bending-proof section 2 is arranged to prevent the overbending of the submarine cable protection device and the submarine cable 6 in the installation process, and the overbending protection in the installation process is achieved.
When the submarine cable protection device is used, the submarine cable is not subjected to external force in the installation process of the whole submarine cable protection device, the secondary damage of the submarine cable in the installation process is effectively protected, and convenience is provided for later maintenance.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. The submarine cable protection implementation method for the single-pile foundation is characterized in that submarine cable protection is implemented through a submarine cable protection device, the submarine cable protection device comprises a traction assembly (1), a front anti-bending section (2), a buckle functional module (3) and a rear anti-bending section (4), the buckle functional module (3) is arranged at the matching position of the front anti-bending section (2) and the rear anti-bending section (4), and the method comprises the following specific steps:
s1: sequentially connecting a traction assembly (1), a front anti-bending section (2), a buckle functional module (3) and a rear anti-bending section (4) to assemble a submarine cable protection device;
s2: the front end of a traction assembly (1) is connected with a second steel wire rope (19), the second steel wire rope (19) penetrates through a preformed hole of a single-pile foundation and then is connected with a traction device, the rear end of the traction assembly (1) is connected with a first steel wire rope (15), and the first steel wire rope (15) penetrates through a submarine cable protection device and is connected with a submarine cable;
s3: starting towing equipment to enable the submarine cable protection device and the submarine cable to penetrate through a preformed hole of the single-pile foundation;
s4: under the continuous action of the towing equipment, the submarine cable protection device and the submarine cable continue to move forwards until a limit stop ring (341) at the rear end of the buckle activation functional part (34) abuts against the single-pile foundation, and the buckle assembly is activated to protrude from the surface of the submarine cable protection device, so that the submarine cable protection device is installed on the single-pile foundation;
s5: after the submarine cable protection device is installed, the towing equipment continues to operate until a positioning pin in the towing assembly (1) fails, the towing assembly is separated from the submarine cable protection device, and the submarine cable moves towards the towing equipment along with the towing assembly.
2. A method for realizing sea cable protection for mono-pile foundations according to claim 1, characterized in that the diameter of the retainer ring (341) is chosen to be larger than the diameter of the prepared hole of the mono-pile foundation when installed, so that the snap-on activation function (34) cannot pass through the prepared hole.
3. A method for realizing the protection of a submarine cable used for a mono-pile foundation according to claim 1, wherein a barb element (35) is provided on the backward bending prevention section (4), and a barb (342) is provided on the backward extension section (343) of the retainer ring (341), and after the snap-in assembly is activated in S4, the barb element (35) breaks through the barb (342) into the backward extension section (343) under the action of a pulling force.
4. Submarine cable protection realization method for mono-pile foundation according to claim 3 characterized by that surface seals (36) are placed on the post-bend prevention section (4) and/or the limit stop ring (341) to prevent sea water or rain or water vapor from directly contacting the post-bend prevention section (4).
5. A submarine cable protection implementation method for mono-pile foundations according to claim 1, characterized in that multiple sets of snap-on assemblies are provided at the front end of the snap-on activation function (34).
6. The method for protecting a submarine cable used for a mono-pile foundation according to claim 1, wherein the failure condition of the positioning pin (16) in step S5 is that the pulling force of the towing equipment is greater than the set load of the positioning pin (16), and when the failure condition occurs, the first hinge limiting plate (12) rotates around the rotation center pin (17) and is disengaged from the clamping groove (201).
7. A method for protecting a submarine cable according to claim 6, wherein the first hinge limiting plate (12) is detached to separate the towing joint (11) from the front bend-preventing section (2), and the towing equipment continues to tow until the submarine cable (6) is installed at the machine location after passing through the submarine cable protecting device.
8. A submarine cable protection implementation method for mono-pile foundations according to claim 1, characterized in that the pre-bending prevention section (2) is provided to prevent the submarine cable protection device and the submarine cable (6) from being over-bent during installation, so as to implement the over-bending protection during installation.
9. The method for protecting a submarine cable used for a mono-pile foundation according to claim 1, wherein the front bending-proof section (2) and the rear bending-proof section (4) are internally provided with reinforcing steel wires or high-strength fiber materials, and the inner and outer surfaces are poured or embedded with seawater corrosion-resistant polymer materials.
CN202111412009.XA 2021-11-25 2021-11-25 Submarine cable protection implementation method for single-pile foundation Pending CN114156787A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111412009.XA CN114156787A (en) 2021-11-25 2021-11-25 Submarine cable protection implementation method for single-pile foundation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111412009.XA CN114156787A (en) 2021-11-25 2021-11-25 Submarine cable protection implementation method for single-pile foundation

Publications (1)

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CN114156787A true CN114156787A (en) 2022-03-08

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017211815A1 (en) * 2016-06-09 2017-12-14 Seaproof Solutions As Foundation interface device
CN108599080A (en) * 2018-05-30 2018-09-28 中天海洋系统有限公司 A kind of fixture hangnail type extra large cable protective device and its application
WO2018234763A1 (en) * 2017-06-21 2018-12-27 C-Ling Limited Pull-in head assembly
CN109436240A (en) * 2018-12-20 2019-03-08 中国船舶重工集团公司七五0试验场 A kind of underwater robot recycling cone rod-type docking traction mechanism
WO2019150088A1 (en) * 2018-01-30 2019-08-08 First Subsea Limited Mounting device for an elongate flexible member
CN110190573A (en) * 2019-07-09 2019-08-30 苏州希倍优海洋工程装备有限公司 A kind of sea cable protective device
CN210889924U (en) * 2019-11-04 2020-06-30 江阴久盛科技有限公司 Self-unhooking traction device for submarine cable perforation protection device
CN112615338A (en) * 2020-12-18 2021-04-06 陈金龙 Slide rail barb type submarine cable protection device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017211815A1 (en) * 2016-06-09 2017-12-14 Seaproof Solutions As Foundation interface device
WO2018234763A1 (en) * 2017-06-21 2018-12-27 C-Ling Limited Pull-in head assembly
WO2019150088A1 (en) * 2018-01-30 2019-08-08 First Subsea Limited Mounting device for an elongate flexible member
CN108599080A (en) * 2018-05-30 2018-09-28 中天海洋系统有限公司 A kind of fixture hangnail type extra large cable protective device and its application
CN109436240A (en) * 2018-12-20 2019-03-08 中国船舶重工集团公司七五0试验场 A kind of underwater robot recycling cone rod-type docking traction mechanism
CN110190573A (en) * 2019-07-09 2019-08-30 苏州希倍优海洋工程装备有限公司 A kind of sea cable protective device
CN210889924U (en) * 2019-11-04 2020-06-30 江阴久盛科技有限公司 Self-unhooking traction device for submarine cable perforation protection device
CN112615338A (en) * 2020-12-18 2021-04-06 陈金龙 Slide rail barb type submarine cable protection device

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