A separable device and system for underwater ROV operation

Abstract

This application relates to the field of underwater salvage technology and provides a detachable device and system for underwater ROV operation. The detachable device includes: a frame structure comprising a bottom frame, a top plate, and two opposing side support frames; the top plate has a connection port for connecting the ROV; two buoyancy blocks are respectively disposed on opposite sides of the bottom frame; each buoyancy block includes a first protrusion protruding towards the central axis of the frame structure and covering the side support frames; a release assembly includes an operating component and a release component; the release component is disposed on the top plate, and the operating component is disposed on the release component and can rotate relative to the release component to control the release component to switch between a first state and a second state. In the first state, the bottom of the release component is open; in the second state, the bottom of the release component is closed. This detachable device is compact and lightweight, suitable for the deployment and recovery of various detachable units, significantly improving ROV operation efficiency and safety.

Description

Technical Field

[0001] This application relates to the field of underwater salvage technology, and in particular to a detachable device and system for underwater ROV operation. Background Technology

[0002] To facilitate the understanding and research of the seabed, seabed observation technology is currently commonly used. Typically, the main base station of a seabed observation network is deployed as a whole and is usually recovered after its service life. This is often accomplished using shipborne deployment equipment and remotely operated vehicles (ROVs). However, the latest design for the main base station of a seabed observation network incorporates detachable units, allowing for recovery, maintenance, and re-deployment during service.

[0003] Currently, there are devices that can recover the main base station. All structural components are designed for specific purposes, resulting in low versatility and applicability, as well as poor economic efficiency. At the same time, the overall design is bulky and has a large underwater weight, which is not conducive to the adjustment, positioning, and operation of the ROV.

[0004] Therefore, there is an urgent need for a lightweight and versatile recycling and deployment device. Summary of the Invention

[0005] This application provides a separable device and system for underwater ROV operation. The separable device is compact and lightweight, and is suitable for the deployment and recovery of various separable units, significantly improving the efficiency and safety of ROV operations.

[0006] The first aspect of this application provides a detachable device for underwater ROV operation, with two ports symmetrically arranged about the central axis of a frame structure. It includes: a frame structure comprising a bottom frame, a top plate, and two opposing side support frames; the side support frames, bottom frame, and top plate enclose a receiving cavity; the top plate has a connection port for connecting the ROV; two buoyancy blocks, respectively disposed on opposite sides of the bottom frame; each buoyancy block includes a first protrusion protruding towards the central axis of the frame structure and covering the side support frames; and a release assembly located within the receiving cavity; the release assembly includes an operating component and a release component; the release component is disposed on the top plate, and the operating component is rotatably disposed on the release component, the operating component controlling the release component to switch between a first state and a second state; wherein, in the first state, the bottom of the release component is open, and the release component can be used to grasp the detachable unit; in the second state, the bottom of the release component is closed, and the release component can be used to lock the detachable unit.

[0007] In some feasible implementations, the first protrusion forms a first guide slope and a second guide slope along the protrusion direction; both the first guide slope and the second guide slope are inclined toward the direction close to the central axis; the first protrusion is provided with a mounting groove, which is located between the first guide slope and the second guide slope, and the mounting groove is used to install the top plate, and the connection port is located in the mounting groove.

[0008] In some feasible implementations, the width of the top plate is smaller than the width of the bottom frame; the side support frame has a structure that is narrower at the top and wider at the bottom.

[0009] In some feasible implementations, the unhooking component includes a base; the central axis of the base coincides with the central axis of the frame structure, and the installation angle of the base is 30°-60°, which is the angle between the length direction of the base and the length direction of the top plate.

[0010] In some feasible implementations, the base is installed at a 45° angle.

[0011] In some feasible implementations, the unhooking device includes a main connecting rod, a first auxiliary connecting rod, and a second auxiliary connecting rod; the main connecting rod is rotatably mounted on the base; the first and second auxiliary connecting rods are rotatably mounted on one side of the main connecting rod; one end of the first auxiliary connecting rod is connected to an operating component, and the other end is connected to the second auxiliary connecting rod; wherein, in a first state, the bottom of the main connecting rod is separated from the second auxiliary connecting rod; in a second state, the bottom of the main connecting rod is closed with the second auxiliary connecting rod.

[0012] In some feasible implementations, the base includes a first mounting plate and two opposing second mounting plates; one side of the first mounting plate is disposed on the top plate, and the other side is connected to the second mounting plate; the main connecting rod is rotatably disposed between the two second mounting plates; the disengagement assembly further includes: a first limiting member and a second limiting member; both the first limiting member and the second limiting member are disposed on the two second mounting plates, and the first limiting member and the second limiting member are disposed on both sides of the main connecting rod and located on the movement path of the main connecting rod, the first limiting member and the second limiting member are used to limit the rotation angle of the main connecting rod.

[0013] In some feasible implementations, the operating component is a V-shaped handle, with the operating end of the V-shaped handle bent towards the unhooking component.

[0014] In some feasible implementations, the detachable device for underwater ROV operation also includes a safety pin assembly disposed on the unhooking member; in a second state, the safety pin assembly is used to lock the unhooking member.

[0015] In some feasible implementations, the safety pin assembly includes a base, a mounting housing, and a safety pin; the base is fixed to the main connecting rod; the mounting housing is disposed on the base and is opposite to the first auxiliary connecting rod; the mounting housing has a sliding channel, and the safety pin is slidably disposed in the sliding channel; the first auxiliary connecting rod has a through hole, and in the second state, one end of the safety pin can slide out of the sliding channel and slide into the through hole.

[0016] In some feasible implementations, the safety pin assembly further includes a third limiting member and a fourth limiting member; the third limiting member and the fourth limiting member are respectively disposed on the mounting housing, and the third limiting member and the fourth limiting member are spaced apart along the sliding direction of the safety pin; one end of the third limiting member extends into the sliding channel, and the third limiting member is used to limit the movement distance of the safety pin along the first direction; one end of the fourth limiting member extends into the sliding channel, and the fourth limiting member is used to limit the movement distance of the safety pin along the second direction; the first direction and the second direction are opposite to each other.

[0017] In some feasible implementations, the safety pin has a color ring, the color of which is different from the color of other parts of the safety pin; the color ring is located on the side of the safety pin opposite to the first connecting rod; when the end of the safety pin is inserted into the first connecting rod, the color ring is located inside the sliding channel; when the end of the safety pin is removed from the first connecting rod, the color ring is located outside the sliding channel.

[0018] In some feasible implementations, the bottom frame is provided with a second protrusion and multiple water-permeable holes; the second protrusion protrudes along the side of the bottom frame in a direction away from the receiving cavity; the multiple water-permeable holes are evenly distributed on the bottom frame.

[0019] In some feasible implementations, there are two connection ports, which are symmetrically arranged about the central axis of the frame structure.

[0020] In some feasible implementations, the detachable device for underwater ROV operation also includes: a first handle and a second handle; the first handle is located on one side of the buoyancy block away from the support frame; the second handle is located on the top plate and between the two connection ports, and the first operating end of the second handle and the unhooking assembly are respectively located on both sides of the top plate.

[0021] In some feasible implementations, the first handle includes a grip and a connecting rod; the connecting rod is inserted into the buoyancy block, with one end of the connecting rod connected to the grip and the other end connected to the side support frame.

[0022] In some feasible implementations, the buoyancy block is made of glass microspheres; the bottom frame is made of plastic; and the side support frame, top plate, and unhooking assembly are all made of duplex stainless steel.

[0023] The detachable device for underwater ROV operation provided in the first aspect of this application effectively solves the problems of bulky structure, complex operation, and poor stability of traditional devices during underwater operations. Through the coordinated design of the frame structure and buoyancy blocks, a weak buoyancy design is achieved, reducing the overall weight and optimizing underwater attitude control to ensure stability during operation. The release assembly adopts a purely mechanical control method, relying on the ROV's direct action on the operating components to achieve state switching, improving reliability and adaptability. Especially in deep-water environments, locking and releasing can be completed without relying on external power, reducing the risk of failure. The entire device has a compact structure and rapid response, suitable for the deployment and recovery of various detachable units, significantly improving ROV operation efficiency and safety.

[0024] The second aspect of this application provides a detachable system for underwater ROV operation, including an ROV, a detachable unit, a connecting assembly, and a detachable device; the connecting assembly includes a connecting plate and a connecting pin; the connecting plate is connected to the ROV, one end of the connecting pin is connected to the connecting plate, and the other end is adapted to a connecting port; the ROV can take and put the detachable unit in and out through the detachable device.

[0025] The separable system for underwater ROV operation provided in the second aspect of this application adopts the separable device for underwater ROV operation provided in the first aspect, and its beneficial technical effects can be found in the first aspect. Attached Figure Description

[0026] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is an exploded view of a detachable device for underwater ROV operation provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the structure of a detachable device for underwater ROV operation provided in an embodiment of this application;

[0029] Figure 3 This is a simplified installation diagram of a release mechanism assembly provided in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of the structure of a decoupling assembly provided in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the structure of a release element provided in an embodiment of this application;

[0032] Figure 6This application provides a schematic diagram of the structure of a disengaging component in its first state according to an embodiment;

[0033] Figure 7 This is a schematic diagram of a combination of a release assembly and a safety pin assembly provided in an embodiment of this application;

[0034] Figure 8 This is a schematic diagram of the structure of a safety pin assembly provided in an embodiment of this application;

[0035] Figure 9 This is a schematic diagram of the limiting structure of a third limiting member and a fourth limiting member provided in an embodiment of this application;

[0036] Figure 10 This is a schematic diagram of a safety pin in a pulled-out state provided in an embodiment of this application;

[0037] Figure 11 This is a schematic diagram of the structure of a separable system for underwater ROV operation provided in an embodiment of this application.

[0038] Illustration markings:

[0039] 1-Separable device for underwater ROV operation;

[0040] 10-Frame structure; 101-Bottom frame; 1011-Second protrusion; 1012-Water-permeable hole;

[0041] 102-Top plate; 1021-Connection port; 103-Side support frame; 10a-Receiving cavity;

[0042] 20-Buoyancy block; 201-First protrusion; 202-Body; 2021-First guide ramp; 2022-Second guide ramp; 2023-Mounting groove;

[0043] 30 - Unhooking assembly;

[0044] 301-Operating component; 301a-First operating end;

[0045] 302-Unhooking component; 3021-Base; 3021a-First mounting plate; 3021b-Second mounting plate; 3022-Main connecting rod; 3023-First auxiliary connecting rod; 3023a-Through hole; 3024-Second auxiliary connecting rod; 303-First limiting component; 304-Second limiting component; z1-Rotating shaft;

[0046] 40-Safety pin assembly;

[0047] 401-Base; 402-Mounting housing; 403-Safety pin; 403a-Color ring; 4031-Locking end; 4032-Second operating end; 404-Third limiting element; 405-Fourth limiting element; 40a-Side cover plate;

[0048] 50-First handle; 501-Grip part; 502-Connecting rod;

[0049] 60 - Second handle;

[0050] 2-Separable system for underwater ROV operation; 21-ROV; 22-Separable unit; 23-Connecting assembly; 23a-Connecting plate; 23b-Connecting pin; b1-Shaft; b2-Locking claw. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0052] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0053] Furthermore, in this application, directional terms such as "upper," "lower," "inner," and "outer" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.

[0054] Figure 1 This is an exploded view of a detachable device for underwater ROV operation provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a detachable device for underwater ROV operation provided in an embodiment of this application.

[0055] Combination Figure 1 and Figure 2 As shown in the embodiment of this application, a separable device 1 for underwater ROV operation is provided. The separable device 1 for underwater ROV operation is used for the recovery and deployment of separable units by the ROV, and includes a frame structure 10, a buoyancy block 20 and a detachment assembly 30.

[0056] The frame structure 10 includes a bottom frame 101, a top plate 102, and two opposing side support frames 103. The bottom frame 101 is rectangular. The side support frames 103, bottom frame 101, and top plate 102 enclose a receiving cavity 10a, which communicates with the external environment. Both the side support frames 103 and bottom frame 101 are frame structures, thereby reducing the underwater resistance of the detachable device 1 after it is placed in the water, facilitating subsequent operations. The bottom frame 101, top plate 102, side support frames 103, and buoyancy block 20 can all be fixedly connected with screws to ensure overall stability and connection strength.

[0057] The top plate 102 is provided with a connection port 1021, which is used to connect to the ROV.

[0058] It is worth noting that in the frame structure 10 provided in this application embodiment, since the top plate 102 is connected to the ROV, a certain load-bearing strength is required to ensure the connection is stable. Therefore, the top plate 102 adopts a plate structure rather than a frame structure, while the other parts, such as the bottom frame 101 and the side support frame 103, adopt a frame structure. Under the premise of ensuring structural strength, the overall weight can be reduced and the underwater resistance can be lowered.

[0059] In some feasible implementations, there are two connection ports 1021, which are symmetrically arranged about the central axis of the frame structure 10. This ensures balanced force distribution when the detachable device 1 for underwater ROV operation provided in this embodiment is connected to the ROV, improving movement stability in the underwater environment and avoiding attitude tilting or control difficulties caused by off-center loading. Furthermore, the connection ports 1021 are standard ports certified by the International Organization for Standardization (ISO), offering strong versatility.

[0060] Two buoyancy blocks 20 are respectively set on opposite sides of the bottom frame 101. The buoyancy blocks 20 are made of lightweight materials, which can reduce the overall weight and have good buoyancy underwater. They can effectively balance the attitude of the detachable device 1 of the underwater ROV operation in the water and prevent it from tilting or overturning.

[0061] The buoyancy block 20 includes a first protrusion 201 and a body 202. The body 202 is connected to the bottom frame 101 and the side support frame 103 respectively to ensure the connection strength between the buoyancy block 20 and the frame structure 10. Specifically, the body 202 is fixedly connected to the bottom frame 101 and the side support frame 103 with screws to ensure connection stability and connection strength.

[0062] The first protrusion 201 is located at the top of the main body 202 and protrudes towards the central axis of the frame structure 10, covering the upper edge of the side support frame 103 and enhancing the connection stability of the overall structure. In this way, the first protrusion 201 not only improves the connection reliability between the buoyancy block 20 and the frame structure 10, but also effectively disperses stress under water flow impact, preventing excessive local stress from causing structural damage. The buoyancy block 20 is an integral structure.

[0063] In some feasible implementations, the buoyancy block 20 is made of glass microspheres. Glass microspheres are lightweight, have low density, high pressure resistance, and good corrosion resistance, and can provide stable buoyancy in deep water environments for a long time.

[0064] The unhooking assembly 30 is located inside the receiving cavity 10a; the unhooking assembly 30 includes an operating member 301 and an unhooking member 302; the unhooking member 302 is disposed on the top plate 102, specifically on the bottom surface of the top plate 102, that is, on the side facing the receiving cavity 10a; the operating member 301 is disposed on the unhooking member 302 and can rotate relative to the unhooking member 302, and can control the unhooking member 302 to switch between a first state and a second state.

[0065] In the first state, the bottom of the release element 302 is open, allowing it to grasp the detachable unit. In the second state, the bottom of the release element 302 is closed, locking the detachable unit inside and preventing it from accidentally falling off during retrieval or deployment. During the retrieval or deployment of the detachable unit, the operating element 301 can be directly controlled by the ROV. This allows for mechanical switching of the release assembly 30 without the need for electric or hydraulic drive, simplifying operation.

[0066] The detachable device 1 for underwater ROV operation provided in this application effectively solves the problems of bulky structure, complex operation, and poor stability of traditional devices during underwater operations. Through the collaborative design of the frame structure 10 and the buoyancy block 20, a weak buoyancy design is achieved, reducing the overall weight and optimizing underwater attitude control to ensure stability during operation. The unhooking component 30 adopts a purely mechanical control method, relying on the ROV's direct action on the operating component 301 to achieve state switching, improving reliability and adaptability. Especially in deep-water environments, locking and releasing can be completed without relying on external energy, reducing the risk of failure. This detachable device for underwater ROV operation is compact, responsive, and suitable for the deployment and recovery of various detachable units, significantly improving ROV operation efficiency and safety.

[0067] In some feasible ways, the overall weight of the detachable device 1 for underwater ROV operation provided in this application embodiment is only 20 kg, which facilitates the carrying and positioning adjustment of the ROV.

[0068] In some feasible implementations, the first protrusion 201 forms a first guide slope 2021 and a second guide slope 2022 along the protrusion direction; both the first guide slope 2021 and the second guide slope 2022 are inclined toward the direction close to the central axis.

[0069] In other words, the first protrusion 201 can be understood as a triangular structure, with the apex of the triangle facing the central axis of the frame structure 10. By setting a guide ramp 2021 and a second guide ramp 2022, the water flow can be guided to transition smoothly along the ramp, reducing the generation of eddies and thus reducing hydrodynamic resistance.

[0070] The first protrusion 201 is provided with a mounting groove 2023, which is located between the first guide slope 2021 and the second guide slope 2022. The mounting groove 2023 is used to install the top plate 102, and the connection port 1021 is located inside the mounting groove 2023.

[0071] In this way, the mounting grooves 2023 on the two opposing first protrusions 201 can jointly clamp the two sides of the top plate 102, realizing the rapid positioning and fixing of the top plate 102. The inner wall of the mounting groove 2023 is in close contact with the outer surface of the top plate 102. With the guiding effect of the first guide slope 2021 and the second guide slope 2022, the flow guiding effect of the slope further improves the stability of the structural connection.

[0072] In some feasible implementations, the width of the top plate 102 is smaller than the width of the bottom frame 101. That is, the first guide ramp 2021 and the second guide ramp 2022 are located on both sides of the length of the top plate 102, and the first guide ramp 2021 and the second guide ramp 2022 converge inward to connect with the relatively smaller top plate 102. In this way, after the separable device 1 for underwater ROV operation is submerged, the upper structure of the entire device is relatively small, effectively reducing the water-facing area and reducing the impact of water flow on the stability of the device.

[0073] Specifically, the side support frame 103 has a structure that is narrower at the top and wider at the bottom, and it tapers upward and inward from the bottom frame 101 to form a trapezoidal structure that gradually narrows, which enhances stability after entering the water and reduces resistance disturbance.

[0074] In one specific implementation, the side support frame 103 is a trapezoidal structure, with the top edge of the trapezoidal structure connected to the top plate 102, the bottom edge connected to the bottom frame 101, and the two sides set on the buoyancy block 20.

[0075] Alternatively, in another specific implementation, such as Figure 1As shown, the side support frame 103 has an arc-shaped structure, including a top edge connected to the top plate 102, and two side edges set on the buoyancy block 20 with their bottom surfaces connected to the bottom frame 101. Unlike the previous embodiment, in this implementation, the arc-shaped structure is a bottom-edge-less structure. This eliminates the bottom edge while ensuring effective connection between the side support frame 103 and the top plate 102, buoyancy block 20, and bottom frame 101, thus reducing overall weight and improving ease of operation.

[0076] Continue to combine Figure 1 and Figure 2 As shown, in some feasible implementations, the bottom frame 101 is provided with a second protrusion 1011 and a plurality of water-permeable holes 1012.

[0077] The second protrusion 1011 protrudes along the side of the bottom frame 101 in a direction away from the receiving cavity 10a. Specifically, the separable unit is provided with a recessed groove (not shown in the figure), and the structural shape of the second protrusion 1011 is adapted to the recessed groove. By setting the second protrusion 1011 to cooperate with the recessed groove, the bottom frame 101 and the separable unit can be accurately docked and positioned, and the structural strength of the bottom frame 101 can also be improved.

[0078] Multiple water-permeable holes 1012 are evenly distributed on the bottom frame 101, so that when the water flows into the separable device 1 of the underwater ROV operation, it can pass through the bottom frame 101 evenly, effectively reducing resistance and thus maintaining stability.

[0079] The second protrusion 1011 can be circular in shape, which is convenient for adjustment and can achieve precise positioning with the separable unit; the second protrusion 1011 can also be provided with water-permeable holes 1012 to further enhance the water permeability of the bottom frame 101.

[0080] Figure 3 This is a simplified installation diagram of a release mechanism assembly provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a decoupling component provided in an embodiment of this application.

[0081] Combination Figure 3 and Figure 4 As shown, in some feasible implementations, the unhooking component 302 includes a base 3021; ​​the base 3021 is located on the back of the top plate 102, and the central axis of the base 3021 coincides with the central axis of the frame structure 10, to ensure the symmetry and balance of the unhooking action and avoid jamming or failure due to off-center loading.

[0082] Furthermore, the installation angle of the base 3021 is 30°-60°, which is the angle between the length direction of the base 3021 and the length direction of the top plate 102.

[0083] With the inclined base 3021, the operating component 301 will not be obstructed by the top plate 102 along the direction of gravity. In this way, when the ROV operates the operating component 301, the operating path can be kept unobstructed, avoiding operation failure or decrease in accuracy due to structural obstruction.

[0084] For example, the mounting angle θ of the base 3021 can be one of 30°, 35°, 40°, 45°, 50°, 55° or 60°, or other values ​​between 30° and 60°.

[0085] In one specific implementation, the mounting angle θ of the base 3021 is 45°.

[0086] Figure 5 This is a schematic diagram of the structure of a release element provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a detachment component in the first state according to an embodiment of this application.

[0087] Combination Figure 4 , Figure 5 and Figure 6 As shown, in one specific implementation, the unhooking component 302 includes a main connecting rod 3022, a first auxiliary connecting rod 3023, and a second auxiliary connecting rod 3024. In other words, the unhooking component 302 is a multi-link structure. This multi-link structure's coordinated design improves the reliability of the unhooking action when the ROV applies operating force.

[0088] Specifically, the main connecting rod 3022 is rotatably mounted on the base 3021; ​​the first auxiliary connecting rod 3023 and the second auxiliary connecting rod 3024 are rotatably mounted on one side of the main connecting rod 3022; one end of the first auxiliary connecting rod 3023 is connected to the operating component 301, and the other end is connected to the second auxiliary connecting rod 3024.

[0089] In the first state, the bottom of the main connecting rod 3022 is separated from the second auxiliary connecting rod 3024; in the second state, the bottom of the main connecting rod 3022 is closed with the second auxiliary connecting rod 3024. Both the bottom of the second auxiliary connecting rod 3024 and the bottom of the main connecting rod 3022 may be provided with arc-shaped grooves. In the second state, the arc-shaped grooves of the second auxiliary connecting rod 3024 and the arc-shaped grooves of the main connecting rod 3022 form a complete annular groove for locking the separable unit.

[0090] During the operation of the release mechanism 302, the first auxiliary link 3023 can rotate relative to the second auxiliary link 3024 and the main link 3022, and the second auxiliary link 3024 can also rotate relative to the first auxiliary link 3023 and the main link 3022. Through the coordinated rotation of the above-mentioned multi-link, the release mechanism 302 can achieve smooth transition and rapid response when subjected to force.

[0091] In one example, during the transition from the second state to the first state, the ROV's manipulator can press down on the operating member 301. This force is transmitted to the first auxiliary link 3023, causing both the first auxiliary link 3023 and the second auxiliary link 3024 to rotate relative to the main link 3022. This causes the bottom of the second auxiliary link 3024 to separate from the main link 3022, thus transitioning to the first state. During the transition from the first state to the second state, the ROV's manipulator can pull up on the operating member 301, causing the first auxiliary link 3023 and the second auxiliary link 3024 to rotate relative to the main link 3022. This causes the bottom of the second auxiliary link 3024 to gradually move closer to the bottom of the main link 3022, thus transitioning to the second state.

[0092] It should be emphasized that in the above example, the movement direction of the operating component 301 is along the direction of gravity. In other examples, the movement direction of the operating component 301 can also be along the horizontal or inclined direction, which can be adjusted according to the operating space and working posture of the ROV robot.

[0093] See also Figure 4 and Figure 6 As shown, the base 3021 includes a first mounting plate 3021a and two opposing second mounting plates 3021b; one side of the first mounting plate 3021a is disposed on the top plate 102, and the other side is connected to the second mounting plates 3021b. That is to say, the base 3021 is saddle-shaped and has an internal mounting space.

[0094] The main connecting rod 3022 is rotatably disposed between two second mounting plates 3021b; the unhooking assembly 30 further includes: a first limiting member 303 and a second limiting member 304; the first limiting member 303 and the second limiting member 304 are both disposed on the two second mounting plates 3021b, and the first limiting member 303 and the second limiting member 304 are disposed on both sides of the main connecting rod 3022 and located on the movement path of the main connecting rod 3022, the first limiting member 303 and the second limiting member 304 are used to limit the rotation angle of the main connecting rod 3022.

[0095] Specifically, the main connecting rod 3022 can be positioned between the two second mounting plates 3021b via a pivot z1. During the operation of the disengagement component 302, the main connecting rod 3022 can rotate around the pivot z1 between the two second mounting plates 3021b. During rotation, the main connecting rod 3022 can rotate along direction F1 to separate the bottom of the main connecting rod 3022 and the second auxiliary connecting rod 3024. The main connecting rod 3022 can also rotate along direction F2 to bring the bottom of the second auxiliary connecting rod 3024 closer to the bottom of the main connecting rod 3022, thereby forming a closed annular groove to lock the separable unit. Directions F1 and F2 are opposite directions.

[0096] The first limiting member 303 can be disposed on the rotation path of the main connecting rod 3022 along the F1 direction, and the second limiting member 304 can be disposed on the rotation path of the main connecting rod 3022 along the F2 direction. Thus, when the main connecting rod 3022 rotates to the first limited position (not shown in the figure) along the F1 direction, the main connecting rod 3022 is blocked by the first limiting member 303 to achieve a limiting position. At this time, the bottom of the second auxiliary connecting rod 3024 is completely separated from the bottom of the main connecting rod 3022, and the disengaging member 302 is in the first state. When the main connecting rod 3022 rotates to the second limited position (not shown in the figure) along the F2 direction, the main connecting rod 3022 is blocked by the second limiting member 304 to achieve a limiting position. At this time, the bottom of the second auxiliary connecting rod 3024 is tightly fitted with the bottom of the main connecting rod 3022, forming a closed annular groove, and the disengaging member 302 is in the second state. The rotation angle of the main connecting rod 3022 is precisely controlled by the first limiting member 303 and the second limiting member 304 to ensure stability during the state switching process and improve the safety and repeatability of underwater docking and separation operations.

[0097] In one specific implementation, the first limiting member 303 and the second limiting member 304 can be the same, and both are positioning shoulder screws to simplify the limiting operation.

[0098] Figure 7 This is a schematic diagram of a combination of a release component and a safety pin component provided in an embodiment of this application.

[0099] See Figure 7 As shown, in some feasible implementations, to further ensure the reliability of the unhooking process and prevent the risk of separation between the main connecting rod 3022 and the bottom of the second auxiliary connecting rod 3024 due to abnormal conditions or accidental contact, the detachable device 1 for underwater ROV operation also includes a safety pin assembly 40, which is detachably connected between the main connecting rod 3022 and the first auxiliary connecting rod 3023. The safety pin assembly 40 locks the unhooking member 302 when it is in the second state.

[0100] Figure 8 This is a schematic diagram of the structure of a safety pin assembly provided in an embodiment of this application. Wherein, Figure 8 Figure (a) shows a schematic diagram of the structure of the safety pin assembly 40 when it is in the locked state; Figure 8 Figure (b) shows a schematic diagram of the structure of the safety pin assembly 40 when it is in the unlocked state.

[0101] Combination Figure 6 , Figure 7 and Figure 8 As shown, the safety pin assembly 40 includes a base 401, a mounting housing 402, and a safety pin 403.

[0102] The base 401 can be fixed to the main connecting rod 3022 with screws. The mounting housing 402 is disposed on the base 401 and is opposite to the first auxiliary connecting rod 3023. That is, the base 401 and the mounting housing 402 are respectively opposite to the main connecting rod 3022 and the first auxiliary connecting rod 3023.

[0103] The mounting housing 402 is provided with a sliding channel (not shown in the figure). The sliding channel is opened inside the mounting housing 402 along the axial direction and passes through the mounting housing 402. The sliding channel is used to accommodate the safety pin 403, which can reciprocate along the axial direction within the sliding channel.

[0104] Specifically, the first connecting rod 3023 is provided with a through hole 3023a. In the second state, one end of the safety pin 403 can slide out of the sliding channel and slide into the through hole 3023a.

[0105] Understandably, in the second state of the release element 302, the locking end 4031 of the safety pin 403 is aligned with the through hole 3023a, and the safety pin 403 can be inserted into the through hole 3023a. After the safety pin 403 is inserted into the through hole 3023a, the locking end 4031 of the safety pin 403 can lock the relative position of the main connecting rod 3022 and the first auxiliary connecting rod 3023, so that the first auxiliary connecting rod 3023 and the main connecting rod 3022 cannot rotate relative to each other, thereby ensuring that the release element 302 is stably in the second state and preventing accidental release due to water flow disturbance or external force.

[0106] The sliding channel can be formed directly through the hollow mounting housing 402, or it can be formed inside the mounting housing 402. This application does not limit the specific form of the sliding channel.

[0107] Continue to combine Figure 7 and Figure 8 As shown, in some feasible implementations, the safety pin assembly 40 also includes a side cover plate 40a, and the safety pin 403 also includes a second operating end 4032.

[0108] The side cover plate 40a can be fixed to the mounting housing 402 with screws. The side cover plate 40a is used to close the sliding channel. The safety pin 403 passes through the side cover plate 40a. The side cover plate 40a is fixedly connected to the mounting housing 402 to ensure the stability and reliability of the safety pin 403 in the underwater environment and to prevent impurities from entering the sliding channel and affecting the normal operation of the safety pin 403.

[0109] The second operating end 4032 and the locking end 4031 are two opposite ends of the safety pin 403. The second operating end 4032 is located on the side opposite to the main connecting rod 3022, which facilitates the ROV's gripping. Under the gripping of the ROV, the second operating end 4032 can drive the locking end 4031 to insert or remove from the first auxiliary connecting rod 3023. The second operating end 4032 has a protruding structure to facilitate the ROV's gripping.

[0110] See also Figure 7 As shown, in some feasible implementations, the operating component 301 is a V-shaped handle, with the first operating end 301a of the V-shaped handle bent towards the release component 302. This bending design of the V-shaped handle allows it to be closer to the release component 302 during operation, shortening the distance the ROV travels during operation of the V-shaped handle and the second operating end 4032, thereby improving operational accuracy and efficiency, and simplifying the operation process.

[0111] In one specific implementation, the first operating end 301a may also be provided with a connecting hole, through which the buoyancy ball can be attached to the first operating end 301a. When performing an upward lifting operation on the first operating end 301a, it can be achieved directly by pulling the buoyancy ball.

[0112] Continue to combine Figure 7 and Figure 8 As shown, in some feasible implementations, the safety pin assembly 40 further includes a third limiting member 404 and a fourth limiting member 405; the third limiting member 404 and the fourth limiting member 405 are respectively disposed on the mounting housing 402, and the third limiting member 404 and the fourth limiting member 405 are spaced apart along the sliding direction of the safety pin 403; one end of the third limiting member 404 extends into the sliding channel, and the third limiting member 404 is used to limit the movement distance of the safety pin 403 along the first direction F3; one end of the fourth limiting member 405 extends into the sliding channel, and the fourth limiting member 405 is used to limit the movement distance of the safety pin 403 along the second direction F4; the first direction F3 and the second direction F4 are opposite to each other.

[0113] By setting the third limiting member 404 and the fourth limiting member 405, the safety pin 403 can be accurately positioned during its movement, thus preventing excessive displacement of the safety pin 403 during the sliding process.

[0114] In one specific implementation, the third limiting element 404 and the fourth limiting element 405 can be M8 plungers. The limiting method of M8 plungers is simple and reliable, effectively reduces production costs, and is easy to maintain and replace later. It is suitable for long-term stable operation in complex deep-sea working conditions.

[0115] Figure 9This is a schematic diagram of a limiting structure for a third limiting member and a fourth limiting member provided in an embodiment of this application; wherein, Figure 9 Image (a) shows a schematic diagram of the safety pin 403 in the unlocked state, in contrast to... Figure 8 The state shown in (b) corresponds to the state shown in the middle; Figure 9 (b) is a schematic diagram showing the safety pin 403 in the locked state, and... Figure 8 The state shown in (a) corresponds to the state shown in the middle.

[0116] In other feasible implementations, the third limiting member 404 and the fourth limiting member 405 can be configured as ordinary columnar structures and fixed to the mounting housing 402 by interference fit or threaded connection. In this implementation, a safety pin 403 with a specific structure can be provided to accommodate the limiting operation of the third limiting member 404 and the fourth limiting member 405.

[0117] In this implementation, the safety pin 403 may be provided with a first clearance portion and a second clearance portion. Vertically, a third limiting member 404 is located within the first clearance portion, and a fourth limiting member 405 is located within the second clearance portion. During the movement of the safety pin 403 along the first direction F3, the distance between the bottom of the third limiting member 404 and the first stop arm a1 of the first clearance portion gradually decreases until it shortens to zero. At this point, the bottom of the third limiting member 404 abuts against the first stop arm a1, thus restricting the safety pin 403 from continuing to move in the first direction F3. At this time, the locking end 4031 is fully inserted into the through hole 3023a, achieving reliable locking of the main connecting rod 3022 and the first auxiliary connecting rod 3023. Figure 9 The state shown in (a) is similar; when the safety pin 403 moves in the second direction F4, the fourth limiting member 405 contacts the second stop arm a2 in the second clearance part, preventing it from dislodging and ensuring the reliability of the safety pin 403, as shown in (a). Figure 9 The state shown in (b) is as follows.

[0118] It needs to be emphasized that, Figure 9 The diagram shows one configuration of the third limiting member 404 and the fourth limiting member 405. In other feasible implementations, the third limiting member 404 and the fourth limiting member 405 may also adopt other limiting forms.

[0119] See also Figure 8 As shown in (b), the safety pin 403 is provided with a color ring 403a, the color of which is different from the color of other parts of the safety pin 403; the color ring 403a is located on the side of the safety pin 403 away from the first auxiliary connecting rod 3023. That is to say, the color ring 403a is located on the side closer to the second operating end 4032.

[0120] Specifically, when the end of the safety pin 403 is inserted into the first auxiliary link 3023, the color ring 403a is located inside the sliding channel; when the end of the safety pin 403 is removed from the first auxiliary link 3023, the color ring 403a is located outside the sliding channel.

[0121] Thus, the state of the safety pin 403 can be determined by observing whether the color ring 403a is exposed outside the sliding channel. When the color ring 403a is fully visible, it indicates that the safety pin 403 is in the fully pulled-out state, and the main connecting rod 3022 and the first auxiliary connecting rod 3023 are not locked. Figure 8 (b) and Figure 9 As shown in Figure (a); when the color ring 403a is completely hidden within the sliding channel, it indicates that the safety pin 403 has been fully inserted and locked. Figure 8 (a) and Figure 9 The state is shown in (b). This design significantly improves operational safety and maintenance convenience through visual cues, indicating whether the safety pin 403 is properly inserted or removed, effectively avoiding assembly risks caused by misjudgment.

[0122] The color ring 403a can be red, providing a striking red warning that the safety pin 403 is in the pulled-out state, enhancing visibility. Specifically, during the ROV's operation of the safety pin 403, the lighting system will be activated to ensure clear visibility of the work area; the red color ring 403a will be highly visible under illumination, making it easy to observe.

[0123] See also Figure 1 and Figure 2 As shown, the detachable device 1 for underwater ROV operation also includes a first handle 50 and a second handle 60.

[0124] The first handle 50 is located on one side of the buoyancy block 20 away from the side support frame 103. There are two first handles 50, located on both sides of the entire device, which makes it easy for the ROV to grab from either the left or right direction or grab simultaneously, improving the convenience and stability of operation.

[0125] In some feasible implementations, the first handle 50 includes a gripping part 501 and a connecting rod 502; the gripping part 501 facilitates the ROV's grasping.

[0126] The connecting rod 502 is inserted into the buoyancy block 20. One end of the connecting rod 502 is connected to the grip part 501, and the other end is connected to the side support frame 103. In this way, by setting the first handle 50 to have the connecting rod 502, the overall stability between the first handle 50, the buoyancy block 20 and the side support frame 103 can be improved, and the detachment due to external forces can be prevented.

[0127] The second handle 60 is disposed on the top plate 102 and located between the two connection ports 1021, and the second handle 60 and the second operating end 4032 of the unhooking assembly 30 are respectively located on both sides of the top plate 102.

[0128] The second handle 60 is used to facilitate the ROV's adjustment of the entire device's position, so as to facilitate the docking of the bottom frame 101 with the separable unit and improve operability.

[0129] In some feasible implementations, the gripping portions 501 of the second handle 60 and the first handle 50 can adopt the same structural design to reduce manufacturing costs and facilitate maintenance. The surfaces of the second handle 60 and the gripping portions 501 can be provided with anti-slip textures to enhance friction when the ROV is gripped, ensuring stable and reliable underwater operation. The first handle 50 and the second handle 60 are designed in accordance with ISO standards to facilitate the carrying of the ROV and adjustment during underwater positioning.

[0130] In some feasible implementations, the bottom frame 101 is made of plastic to reduce overall weight and improve corrosion resistance, adapting to long-term underwater operating environments. The side support frame 103, top plate 102, release assembly 30, and safety pin assembly 40 are all made of high-strength 2507 duplex stainless steel, ensuring structural strength and reliability under high loads and complex water flow environments. Simultaneously, the chloride ion corrosion resistance of high-strength 2507 duplex stainless steel effectively meets the long-term service requirements in seawater environments, ensuring the mechanical stability and service life of key components.

[0131] Corresponding to the aforementioned embodiments of separable devices for underwater ROV operation, this application also provides embodiments of separable systems for underwater ROV operation.

[0132] Figure 10 This is a simplified structural diagram of a separable system for underwater ROV operation provided in an embodiment of this application.

[0133] See Figure 10 As shown, the detachable system 2 for underwater ROV operation includes an ROV 21, a detachable unit 22, a connecting assembly 23, and a detachable device 1 for underwater ROV operation. The connecting assembly 23 includes a connecting plate 23a and a connecting pin 23b. The connecting plate 23a is connected to the ROV 21, and one end of the connecting pin 23b is connected to the connecting plate 23a, while the other end is adapted to the connecting port 1021. The ROV 21 can take off and put in the detachable unit 22 through the detachable device 1 for underwater ROV operation.

[0134] Before the ROV 21 grabs the separable unit 22, the connecting assembly 23 with the connecting pin 23b is first installed on the bottom of the ROV 21. Subsequently, the deployment and retrieval of the separable device 1 for underwater ROV operation are achieved through the cooperation of the connecting pin 23b and the connecting port 1021. Specifically, one end of the connecting pin 23b can be fixedly connected to the connecting plate 23a, such as by using screws.

[0135] Among them, the connecting pin 23b is a standard pin, which is convenient for docking with the connecting port 1021.

[0136] Figure 11 This is a schematic diagram of a connecting pin structure provided in an embodiment of this application. Figure 11 Figure (a) shows a schematic diagram of the structure with the connecting pin 23b in an unlocked state. Figure 11 Figure (a) shows a schematic diagram of the structure in which the connecting pin 23b is in the locked state.

[0137] See Figure 11 As shown in (a), the connecting pin 23b includes a shaft b1 and a locking claw b2 disposed on the shaft b1. In the unlocked state, the locking claw b2 is in a retracted state. In this state, the connecting pin 23b can extend into or move out of the connecting port 1021.

[0138] See Figure 11 As shown in (b), the connecting pin 23b is in a locked state. At this time, the locking claw b2 opens outward and engages with the bottom surface of the top plate 102, restricting the axial movement of the connecting pin 23b and realizing the locking of the detachable device for underwater ROV operation.

[0139] The detachable system 2 for underwater ROV operation provided in this application realizes the underwater deployment and retrieval functions of the detachable unit 22 of the observation network main base station; it can give full play to the characteristics of ROV 21, and through the ingenious design of the device, it simplifies the operation difficulty of ROV 21, reduces the difficulty of deployment and recovery of detachable unit 22, and improves the overall construction efficiency; it enables ROV 21 to be accurately and reliably connected to detachable unit 22, making the replacement and maintenance of detachable unit 22 simple, which can indirectly improve the overall lifespan of the underwater main base station of the observation network and save a lot of costs; the standardization of connection port 1021 and connection pin 23b is compatible with various types of ROV 21, and the requirements for ROV 21 are relatively low, which can reduce the overall deployment and recovery costs and improve the economic efficiency of using the main base station of the seabed observation network.

[0140] It should be noted that, upon considering the specification and practicing the application disclosed herein, those skilled in the art will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0141] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The true scope is indicated by this application.

Claims

1. A detachable device for underwater ROV operation, characterized in that, include: A frame structure (10) includes a bottom frame (101), a top plate (102), and two opposing side support frames (103); the bottom frame (101), the top plate (102), and the side support frames (103) enclose a receiving cavity (10a); the top plate (102) is provided with a connection port (1021) for connecting an ROV; Two buoyancy blocks (20) are respectively disposed on opposite sides of the bottom frame (101); the buoyancy block (20) includes a first protrusion (201), the first protrusion (201) protrudes toward the central axis of the frame structure (10), and the first protrusion (201) covers the side support frame (103). A disengagement assembly (30) is located within the receiving cavity (10a); the disengagement assembly (30) includes an operating member (301) and a disengagement member (302); the disengagement member (302) is disposed on the top plate (102), and the operating member (301) is rotatably disposed on the disengagement member (302), the operating member (301) being used to control the disengagement member (302) to switch between a first state and a second state; In the first state, the bottom of the release member (302) is open, and the release member (302) can be used to grasp the separable unit; in the second state, the bottom of the release member (302) is closed, and the release member (302) can be used to lock the separable unit. The unhooking component (302) includes a base (3021), a main connecting rod (3022), a first auxiliary connecting rod (3023), and a second auxiliary connecting rod (3024). The main connecting rod (3022) is rotatably disposed on the base (3021). The first auxiliary connecting rod (3023) and the second auxiliary connecting rod (3024) are rotatably disposed on one side of the main connecting rod (3022). One end of the first auxiliary connecting rod (3023) is connected to the operating component (301), and the other end is connected to the second auxiliary connecting rod (3024). In the first state, the bottom of the main connecting rod (3022) is separated from the second auxiliary connecting rod (3024). In the second state, the bottom of the main connecting rod (3022) is closed with the second auxiliary connecting rod (3024). A safety pin assembly (40) is disposed on the release member (302); in the second state, the safety pin assembly (40) is used to lock the release member (302); the safety pin assembly (40) includes a base (401), a mounting housing (402), and a safety pin (403); the base (401) is fixed to the main connecting rod (3022); the mounting housing (402) is disposed on the base (401) and is opposite to the first auxiliary connecting rod (3023); a sliding channel is provided in the mounting housing (402), and the safety pin (403) is slidably disposed in the sliding channel; the first auxiliary connecting rod (3023) is provided with a through hole (3023a), and in the second state, one end of the safety pin (403) can slide out of the sliding channel and slide into the through hole (3023a); The safety pin assembly (40) further includes a third limiting member (404) and a fourth limiting member (405); the third limiting member (404) and the fourth limiting member (405) are respectively disposed on the mounting housing (402), and the third limiting member (404) and the fourth limiting member (405) are spaced apart along the sliding direction of the safety pin (403); one end of the third limiting member (404) extends into the sliding channel, and the third limiting member (404) is used to limit the movement distance of the safety pin (403) along the first direction; one end of the fourth limiting member (405) extends into the sliding channel, and the fourth limiting member (405) is used to limit the movement distance of the safety pin (403) along the second direction; the first direction and the second direction are opposite to each other.

2. The separable device for underwater ROV operation according to claim 1, characterized in that, The first protrusion (201) forms a first guide slope (2021) and a second guide slope (2022) along the protrusion direction; both the first guide slope (2021) and the second guide slope (2022) are inclined toward the direction close to the central axis; The first protrusion (201) is provided with a mounting groove (2023), which is located between the first guide slope (2021) and the second guide slope (2022). The mounting groove (2023) is used to install the top plate (102), and the connection port (1021) is located in the mounting groove (2023).

3. The separable device for underwater ROV operation according to claim 2, characterized in that, The width of the top plate (102) is smaller than the width of the bottom frame (101); The side support frame (103) has a structure that is narrow at the top and wide at the bottom.

4. The detachable device for underwater ROV operation according to claim 1, characterized in that, The central axis of the base (3021) coincides with the central axis of the frame structure (10), and the installation angle of the base (3021) is 30°-60°, which is the angle between the length direction of the base (3021) and the length direction of the top plate (102).

5. The separable device for underwater ROV operation according to claim 4, characterized in that, The mounting angle of the base (3021) is 45°.

6. The separable device for underwater ROV operation according to claim 1, characterized in that, The base (3021) includes a first mounting plate (3021a) and two opposing second mounting plates (3021b). One side of the first mounting plate (3021a) is disposed on the top plate (102), and the other side is connected to the second mounting plate (3021b). The main connecting rod (3022) is rotatably disposed between the two second mounting plates (3021b); The unhooking assembly (30) also includes: a first limiting member (303) and a second limiting member (304); The first limiting member (303) and the second limiting member (304) are both disposed on the two second mounting plates (3021b), and the first limiting member (303) and the second limiting member (304) are disposed on both sides of the main connecting rod (3022) and located on the moving path of the main connecting rod (3022). The first limiting member (303) and the second limiting member (304) are used to limit the rotation angle of the main connecting rod (3022).

7. The separable device for underwater ROV operation according to claim 1, characterized in that, The operating component (301) is a V-shaped handle, and the first operating end (301a) of the V-shaped handle is bent toward the unhooking component (302).

8. The separable device for underwater ROV operation according to claim 1, characterized in that, The safety pin (403) is provided with a color ring (403a), the color of which is different from the color of other parts of the safety pin (403); the color ring (403a) is located on the side of the safety pin (403) away from the first auxiliary connecting rod (3023); When the first auxiliary connecting rod (3023) is inserted into the end of the safety pin (403), the color ring (403a) is located in the sliding channel; When the end of the safety pin (403) moves out of the first auxiliary link (3023), the color ring (403a) is located outside the sliding channel.

9. The separable device for underwater ROV operation according to claim 1, characterized in that, The bottom frame (101) is provided with a second protrusion (1011) and a plurality of water-permeable holes (1012). The second protrusion (1011) protrudes along the side of the bottom frame (101) in a direction away from the receiving cavity (10a); The multiple permeable holes (1012) are evenly distributed on the bottom frame (101).

10. The separable device for underwater ROV operation according to claim 1, characterized in that, The number of connection ports (1021) is two, and the two connection ports (1021) are symmetrical about the central axis of the frame structure (10).

11. The separable device for underwater ROV operation according to claim 1, characterized in that, Also includes: First handle (50) and second handle (60); The first handle (50) is located on the side of the buoyancy block (20) away from the side support frame (103); The second handle (60) is disposed on the top plate (102) and located between the two connection ports (1021), and the second handle (60) and the first operating end (301a) of the unhooking assembly (30) are respectively located on both sides of the top plate (102).

12. The separable device for underwater ROV operation according to claim 11, characterized in that, The first handle (50) includes a grip (501) and a connecting rod (502); The plug rod (502) is plugged into the buoyancy block (20), with one end of the plug rod (502) connected to the grip part (501) and the other end connected to the side support frame (103).

13. The separable device for underwater ROV operation according to any one of claims 1-12, characterized in that, The buoyancy block (20) is made of glass microspheres; The bottom frame (101) is made of plastic; The side support frame (103), the top plate (102), and the unhooking assembly (30) are all made of duplex stainless steel.

14. A separable system for underwater ROV operation, characterized in that, Includes ROV (21), separable unit (22), connecting assembly (23) and separable device (1) for underwater ROV operation as described in any one of claims 1-13; The connecting assembly (23) includes a connecting plate (23a) and a connecting pin (23b); The connecting plate (23a) is connected to the ROV (21), and one end of the connecting pin (23b) is connected to the connecting plate (23a), while the other end is adapted to the connecting port (1021). The ROV (21) uses the separable device (1) operated by the underwater ROV to pick up and put in the separable unit (22).

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