| 摘要 |
The present invention relates to a shared actuation system for positioning tools on any interface of valves submerged in an oil production station located in a submarine structure, such as a manifold. The system comprises a device for connecting the submarine structure, besides a device for connecting at least one structural element, all being interconnected by rotary joints, providing at least two degrees of freedom to a distal end of the elements of the structure in which an actuation tool is located, for interaction with the valve interfaces in the submarine structure, the structural elements being additionally connected to a velical element. |
