CN105887787A - Hydraulic pin hole type lifting system - Google Patents

Hydraulic pin hole type lifting system Download PDF

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Publication number
CN105887787A
CN105887787A CN201610367689.0A CN201610367689A CN105887787A CN 105887787 A CN105887787 A CN 105887787A CN 201610367689 A CN201610367689 A CN 201610367689A CN 105887787 A CN105887787 A CN 105887787A
Authority
CN
China
Prior art keywords
pin
lifting
auxiliary
hoist cylinder
jacking system
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
CN201610367689.0A
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Chinese (zh)
Inventor
车畅
吴富生
施海滨
李林
周可可
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.)
Shanghai Zhenghua Heavy Industries Co Ltd
Original Assignee
Shanghai Zhenghua Heavy Industries 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 Shanghai Zhenghua Heavy Industries Co Ltd filed Critical Shanghai Zhenghua Heavy Industries Co Ltd
Priority to CN201610367689.0A priority Critical patent/CN105887787A/en
Publication of CN105887787A publication Critical patent/CN105887787A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B17/00Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/04Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
    • E02B17/06Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for immobilising, e.g. using wedges or clamping rings
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B17/00Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/04Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
    • E02B17/08Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering
    • E02B17/0809Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering the equipment being hydraulically actuated

Abstract

The present invention provides a hydraulic pin hole type lifting system. The hydraulic pin hole type lifting system is applicable to water platforms. A water platform consists of a platform main body and spud legs with pin holes. The hydraulic pin hole type lifting system comprises a plurality of lifting mechanism sets. Each lifting mechanism set is matched with a spud leg. Each lifting mechanism set consists of a lifting frame, a guide device, a guide frame, a main lifting gear and an auxiliary lifting gear. The lifting frame is fixedly disposed on the platform main body. The guide device is disposed on the lifting frame; the guide device is matched with the spud legs; and the spud legs can go up and down along the guide device. The guide frame is disposed on the lifting frame. The main lifting gear and the auxiliary lifting gear are disposed on the guide frame and positioned in the lifting frame, wherein the main lifting gear consists of a main lifting oil cylinder and a high-position dwell pin mechanism with high-position plug pins, and the auxiliary lifting gear consist of an auxiliary lifting oil cylinder and a low-position dwell pin mechanism with low-position plug pins. The hydraulic pin hole type lifting system provided by the present invention has a high lifting speed and a strong lifting capability.

Description

A kind of hydraulic pin cellular type jacking system
Technical field
The present invention relates to pier lifting technology field, particularly relate to a kind of hydraulic pin cellular type jacking system.
Background technology
Jack-up unit or engineering ship are mainly made up of platform/hull, spud leg, jacking system and life building etc.. This kind of jack-up unit or engineering ship operationally, utilize this jacking system platform/hull is risen to sea with On, and rely on the supported standing of spud leg to carry out operation in seabed;After operation completes, decline platform/hull to sea, Again spud leg is pulled up, afterwards can towage to next job position.Wherein in order to drive platform/hull and spud leg it Between the system of relative motion be referred to as jacking system.Jacking system mainly has pinion and-rack and hydraulic pin cellular type.Gear Teeth bar type up-down lifetime of system is shorter, is poorly suitable for the occasion needing frequently to lift, therefore jack-up unit or work Journey boats and ships commonly used hydraulic pin cellular type jacking system.
Hydraulic pin cellular type jacking system is generally made up of hoist cylinder, latch, elevating mechanism etc..It typically has Following characteristics:
1. elevating mechanism is connected with platform/hull by hoist cylinder, and is acted on the pin-and-hole on spud leg by latch, Lifting or spud leg under platform/hull floating state at spud leg standing state lower platform/hull is realized with this Lifting.
2. jacking system is in addition to by lifting load, also suffers from pile driving pressure, holding power and pile pulling power etc..At platform / hull job state, platform/hull need to keep quiet vertical motionless.
In current prior art scheme, generally use single set lowering or hoisting gear and consolidate only with frame for movement flat Platform/hull.The subject matter of this scheme is that system lift capability is little, and the ballast time is longer;Platform/hull easily produces Raw inclination, has influence on the rigidity of structure of platform/hull and the work efficiency of jacking system.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of hydraulic pin cellular type jacking system, and its rising or falling speed is fast, Lift capability is strong.
For solving above-mentioned technical problem, the present invention provides a kind of hydraulic pin cellular type jacking system, it is adaptable to waterborne flat Platform, described pier includes that platform body and the spud leg with pin-and-hole, described hydraulic pin cellular type jacking system include Organize elevating mechanism more, often organize described elevating mechanism and each described spud leg coordinates, often organize described elevating mechanism and include:
Lifting frame, is fixedly installed on described platform body;
Guider, is arranged on described lifting frame, and described guider coordinates with described spud leg, described stake Lower limb can lift along described guider;
Leading truck, is arranged on described lifting frame;
Main lowering or hoisting gear, coordinates with described leading truck and is arranged in described lifting frame, including main hoist cylinder With the high-order steady pin mechanism with high-order latch, described high-order latch can coordinate fixing with described pin-and-hole, described master The upper end of hoist cylinder is connected with described high-order steady pin mechanism, and its lower end is connected with described platform body;
Auxiliary lowering or hoisting gear, coordinates with described leading truck and is arranged in described lifting frame, including auxiliary hoist cylinder With the low level steady pin mechanism with low level latch, described low level latch can coordinate fixing with described pin-and-hole, described auxiliary The upper end of hoist cylinder is connected with described low level steady pin mechanism, and its lower end is connected with described platform body.
According to one embodiment of present invention, described pier is jack-up unit or engineering ship.
According to one embodiment of present invention, the cross section of described spud leg is rounded or square.
According to one embodiment of present invention, described pin-and-hole ovalize.
According to one embodiment of present invention, the described elevating mechanism of many groups can each work alone or work asynchronously.
According to one embodiment of present invention, the described main lowering or hoisting gear of described elevating mechanism and described auxiliary liter are often organized Falling unit can each work alone or work asynchronously.
According to one embodiment of present invention, when described high-order latch coordinates fixing with described pin-and-hole, described master Hoist cylinder can keep oil cylinder working-pressure;When described low level latch coordinates fixing with described pin-and-hole, described auxiliary lifting oil Cylinder can keep oil cylinder working-pressure.
According to one embodiment of present invention, the described main lowering or hoisting gear often organizing described elevating mechanism includes multiple institute Stating main hoist cylinder, multiple described oil cylinders are distributed in the periphery of described spud leg;Often organize the described auxiliary of described elevating mechanism Lowering or hoisting gear includes multiple described auxiliary hoist cylinder, and multiple described auxiliary hoist cylinders are distributed in the periphery of described spud leg.
A kind of hydraulic pin cellular type jacking system that the present invention provides, it is achieved to jack-up unit or the liter of engineering ship Fall, rising or falling speed is fast, and lift capability is strong.
Accompanying drawing explanation
It is that they are included and constitute of the application in order to provide further understanding of the invention including accompanying drawing Point, accompanying drawing shows embodiments of the invention, and plays the effect explaining the principle of the invention together with this specification. In accompanying drawing:
Fig. 1 schematically illustrates the structural representation of one group of elevating mechanism of one embodiment of the present of invention.
Fig. 2 is the schematic diagram overlooking direction of Fig. 1.
Detailed description of the invention
With detailed reference to accompanying drawing, embodiments of the invention are described now.In the case of any possible, all Accompanying drawing will use identical labelling to represent same or analogous part.Although additionally, the present invention being made Term be to select from public term, but some arts mentioned in description of the invention Language is probably what applicant was selected by his or her judgement, and its detailed meanings is in the dependent part of description herein Explanation in point.Additionally, require not only by the actual terms used, and it is also to by each term The meaning contained is to understand the present invention.
Fig. 1 schematically illustrates the structural representation of one group of elevating mechanism of one embodiment of the present of invention.Fig. 2 It it is the schematic diagram overlooking direction of Fig. 1.As it can be seen, a kind of hydraulic pin cellular type jacking system is applicable to pier, Here pier refers to jack-up unit or engineering ship.This pier includes platform body 10, Fig. 1 It is diagrammatically only by single spud leg 1 and the structure of platform body 10, spud leg 1 has been provided with pin-and-hole 11.Hydraulic pin cellular type One Main Function of jacking system is to be promoted or decline spud leg 1 by elevating mechanism, to adjust spud leg 1 peace Relative position between playscript with stage directions body 10 so that pier can rise to more than the water surface and carries out operation preparation or pack up Spud leg prepares mobile pier to next one operating position,
Connecting described, often group elevating mechanism includes lifting frame 3, guider 2, leading truck 12, main lifting dress Put and auxiliary lowering or hoisting gear.Wherein, lifting frame 3 is fixedly installed on platform body 10.Guider 2 is arranged On lifting frame 3, guider 2 coordinates with spud leg 1, and spud leg 1 can lift along guider 2.If The effect putting guider 2 is to prevent spud leg 1 from lifting skew occur, to promote the stability of pier.
Leading truck 12 is arranged on lifting frame 3.Main lowering or hoisting gear and auxiliary lowering or hoisting gear coordinate with leading truck 12 And be arranged in lifting frame 3.Leading truck 12 is used for being that main lowering or hoisting gear and auxiliary lowering or hoisting gear provide and guide and prevent Only it rotates.
Wherein, main lowering or hoisting gear includes main hoist cylinder 8 and the high-order steady pin mechanism 4 with high-order latch 6, High-order latch 6 can coordinate fixing with pin-and-hole 11.The upper end of main hoist cylinder 8 is connected with high-order steady pin mechanism 4, The lower end of main hoist cylinder 8 is connected with platform body 10.Auxiliary lowering or hoisting gear includes auxiliary hoist cylinder 9 and with low The low level steady pin mechanism 5 of position latch 7, low level latch 7 can coordinate with pin-and-hole 11 to be fixed.Auxiliary hoist cylinder 9 Upper end be connected with low level steady pin mechanism 5, the lower end of auxiliary hoist cylinder 9 is connected with platform body 10.When low After position latch 7 separates with pin-and-hole 11, main hoist cylinder 8 adjusts spud leg by contraction or the expansion of its piston rod Relative position between 1 with platform body 10.Similar with main hoist cylinder 8, when high-order latch 6 and pin-and-hole 11 After separation, auxiliary hoist cylinder 9 can adjust spud leg 1 and platform body by the contraction of its piston rod or expansion Relative position between 10, is hereinafter described in detail the work process of elevating mechanism.
Further, owing to pier is jack-up unit or engineering ship, platform body 10 here is permissible Refer to the hull of engineering ship.
It is preferred that spud leg 1 can be cylindrical or cuboid, its cross section is rounded or square.
It is preferred that pin-and-hole 11 ovalize of spud leg 1, it is simple to patch solid with high-order latch 6 or low level latch 7 Fixed.
It is preferred that many groups elevating mechanism of hydraulic pin cellular type jacking system can each work alone or work asynchronously.
On the other hand, as in figure 2 it is shown, the main lowering or hoisting gear often organizing elevating mechanism includes multiple main hoist cylinder 8, The upper end of multiple main hoist cylinders 8 is connected with high-order steady pin mechanism 4, and high-order steady pin mechanism 4 ringwise, overlaps Being located on spud leg 1, multiple main hoist cylinders 8 are distributed in the periphery of spud leg 1.Same, often organize elevating mechanism Auxiliary lowering or hoisting gear also includes multiple auxiliary hoist cylinder 9, the upper end of multiple auxiliary hoist cylinders 9 and low level steady pin mechanism 5 connect, and low level steady pin mechanism 5 ringwise, is set on spud leg 1, and multiple auxiliary hoist cylinders 9 are distributed in stake The periphery of lower limb 1.The elevating mechanism of Fig. 2 signal has 6 main hoist cylinders 8 and 6 auxiliary hoist cylinders 9 form. Fig. 1 has been diagrammatically only by with a main hoist cylinder 8 and the elevating mechanism of an auxiliary hoist cylinder 9.
It is preferred that go back to Fig. 1, when high-order latch 6 coordinates fixing with pin-and-hole 11, main hoist cylinder 8 can be protected Hold oil cylinder working-pressure;When low level latch 7 coordinates fixing with pin-and-hole 11, auxiliary hoist cylinder 9 can keep oil cylinder working-pressure. Fix when high-order latch 6 coordinates fixing and/or low level latch 6 to coordinate with pin-and-hole 11 with pin-and-hole 11, i.e. platform Body 10 is in frame for movement fixed form and stablizes.Now, main hoist cylinder 8 and/or auxiliary hoist cylinder 9 To be in holding oil cylinder working-pressure state, there is supporting role, with frame for movement cooperatively support platform body 10 Weight, promote platform body 10 maintenance level, structural strength is high, and security of system is higher.Which is to adopt The support pattern of platform body 10 is realized by machinery and hydraulic pressure double locking mode.
It is preferred that often organize the main lowering or hoisting gear of elevating mechanism and auxiliary lowering or hoisting gear can each work alone or synchronize work Make.The most main hoist cylinder 8 and auxiliary hoist cylinder 9 are respectively provided with independent-lifting ability, when one of them lost efficacy, separately One still has elevating function, can guarantee that the properly functioning of jacking system, and system redundancy is high.When main lowering or hoisting gear When working asynchronously with auxiliary lowering or hoisting gear, its piling ability, tenability, double lift capability are only to have single lifting 2 times of the ability of oil cylinder, have that rising or falling speed is fast, lift capability strong, good stability and a work efficiency advantages of higher.
The spud leg illustrating hydraulic pin cellular type jacking system below in conjunction with Fig. 1 and Fig. 2 declines and platform body The running risen:
As it is shown in figure 1, high-order steady pin mechanism 4 coordinates solid by high-order latch 6 with the pin-and-hole 112 of spud leg 1 Calmly, low level steady pin mechanism 5 coordinates fixing by another pin-and-hole 114 of low level latch 7 and spud leg 1.Start working Time, low level latch 7 extracts from pin-and-hole 114, and main hoist cylinder 8 piston rod shrinks, and drives spud leg 1 to decline or flat Playscript with stage directions body 10 rises, and then low level latch 7 inserts pin-and-hole 113 and fixes;Then high-order latch 6 is from pin-and-hole 112 Extracting, the piston rod of main hoist cylinder 8 resets, until high-order latch 6 is inserted into pin-and-hole 111 and fixes, One stroke of hydraulic pin cellular type jacking system terminates.
Same, the running that spud leg 1 rises and platform body 10 declines can also be above-mentioned by being similar to Mode completes, and resets afterwards except that the piston rod of main hoist cylinder 8 can first be expanded.
Additionally, the specification of main hoist cylinder 8 in the present embodiment and auxiliary hoist cylinder 9 can be identical, The most main hoist cylinder 8 and auxiliary hoist cylinder 9 have same lift capability.During lifting, can be main lifting dress Put or the individually operated of auxiliary lowering or hoisting gear be defined as single hydraulic lifting, both simultaneously Operation Definition be Double-hydraulic lifting, Their specific implementation is as follows:
(1) under normal circumstances, main lowering or hoisting gear is used to hoistable platform body, and auxiliary lowering or hoisting gear is not involved in rising Fall, simply when high-order latch 6, low level latch 7 are when changing power, is used for bearing spud leg 1 or platform body 10 Weight.
(2) when main lowering or hoisting gear lost efficacy, auxiliary lowering or hoisting gear can be used to hoistable platform body 10 or spud leg 1, The function switching of the most main lowering or hoisting gear and auxiliary lowering or hoisting gear.
(3) when main lowering or hoisting gear and auxiliary lowering or hoisting gear are used for hoistable platform body 10 or spud leg 1 simultaneously, i.e. When realizing Double-hydraulic lifting, the lift capability of jacking system doubles.
Further, hydraulic pin cellular type jacking system can also realize " gently pressure ", " weight " and " gently pulling out ", The working method such as " heavily pull out ":
From the above mentioned, main lowering or hoisting gear and auxiliary lowering or hoisting gear both can single action, again linkages.When single hydraulic lifting, The most main lowering or hoisting gear or auxiliary lowering or hoisting gear stress, realize " gently pressure " and " gently pulling out " with this;During Double-hydraulic lifting, Main lowering or hoisting gear or the common stress of auxiliary lowering or hoisting gear, realize " weight " and " heavily pulling out " with this.Each pattern is specifically real As follows:
(1) " gently pressure " working method:
" gently pressure " is the gravity utilizing platform body 10 self, is realized each by single hydraulic lifting of jacking system The transfer of 1 power of spud leg, thus carry out piling.After " gently pressure " completes, the pile driving pressure of every spud leg 1 reaches it Specified lift capability.
(2) " weight " working method:
" weight " is the weight regulating platform body 10 by beating ballast water, and uses Double-hydraulic up-down mode Realize the transfer of each 1 power of spud leg, thus carry out piling.After " weight " completes, the piling of every spud leg 1 The maximum twice up to single hydraulic lifting ability of power.
(3) working method " is gently pulled out ":
" gently pulling out " is the buoyancy by platform body 10 self, uses single hydraulic lifting mode by platform body 10 It is down to extreme draft amount, it is achieved pile pulling from floading condition.
(4) working method " is heavily pulled out ":
When spud leg still can not be pulled up by " gently pulling out " it is necessary to two spud legs 1 being on diagonal are used double Hydraulic lifting, it is achieved " heavily pulling out ".
(5) working method " is supported ":
When platform body 10 is in " support " pattern, can be by regulating main hoist cylinder 8 or auxiliary hoist cylinder 9 so that when main hoist cylinder 8 or auxiliary hoist cylinder 9 are parked in optional position, high-order latch 6 and low level latch 7 All can insert pin-and-hole 11.The most main hoist cylinder 8 or auxiliary hoist cylinder 9 are in keeping pressure state, are used for The weight of support platform body 10, the maximum twice up to single lift capability of its holding power;It addition, when main lifting When the pressure of oil cylinder 8 or auxiliary hoist cylinder 9 makes zero, it carrys out support platform body 10 as mechanical component.
A kind of hydraulic pin cellular type jacking system that the present invention provides, its elevating mechanism uses main lowering or hoisting gear and auxiliary liter The Double-hydraulic elevating mechanism of falling unit, rising or falling speed is fast, and lift capability is strong;Main lowering or hoisting gear and auxiliary lowering or hoisting gear were both Can single action linkage again, can realize multiple modes of operation, system redundancy is high;Many group elevating mechanisms can work asynchronously, Good stability, safety is high.
Those skilled in the art can be obvious, the above-mentioned exemplary embodiment of the present invention can be carried out various amendment and Modification is without departing from the spirit and scope of the present invention.Will in appended right accordingly, it is intended to make the present invention cover Ask the modifications of the present invention in the range of book and equivalent arrangements thereof and modification.

Claims (8)

1. a hydraulic pin cellular type jacking system, it is adaptable to pier, described pier includes platform body With the spud leg with pin-and-hole, described hydraulic pin cellular type jacking system includes organizing elevating mechanism more, often organizes described elevator Structure and each described spud leg coordinate, and often organize described elevating mechanism and include:
Lifting frame, is fixedly installed on described platform body;
Guider, is arranged on described lifting frame, and described guider coordinates with described spud leg, described stake Lower limb can lift along described guider;
Leading truck, is arranged on described lifting frame and is positioned at described lifting frame;
Main lowering or hoisting gear, coordinates with described leading truck and is arranged in described lifting frame, including main hoist cylinder With the high-order steady pin mechanism with high-order latch, described high-order latch can coordinate fixing with described pin-and-hole, described master The upper end of hoist cylinder is connected with described high-order steady pin mechanism, and its lower end is connected with described platform body;
Auxiliary lowering or hoisting gear, coordinates with described leading truck and is arranged in described lifting frame, including auxiliary hoist cylinder With the low level steady pin mechanism with low level latch, described low level latch can coordinate fixing with described pin-and-hole, described auxiliary The upper end of hoist cylinder is connected with described low level steady pin mechanism, and its lower end is connected with described platform body.
2. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that described waterborne flat Platform is jack-up unit or engineering ship.
3. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that described spud leg Cross section is rounded or square.
4. hydraulic pin cellular type jacking system as claimed in claim 1 a kind of, it is characterised in that described pin-and-hole in Oval.
5. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that the described liter of many groups Descending mechanism can each work alone or work asynchronously.
6. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that often organize described liter Described main lowering or hoisting gear and the described auxiliary lowering or hoisting gear of descending mechanism can each work alone or work asynchronously.
7. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that when a described high position When latch coordinates fixing with described pin-and-hole, described main hoist cylinder can keep oil cylinder working-pressure;When described low level latch with When described pin-and-hole coordinates fixing, described auxiliary hoist cylinder can keep oil cylinder working-pressure.
8. a kind of hydraulic pin cellular type jacking system as claimed in claim 1, it is characterised in that often organize described liter The described main lowering or hoisting gear of descending mechanism includes multiple described main hoist cylinder, and multiple described oil cylinders are distributed in described spud leg Periphery;The described auxiliary lowering or hoisting gear often organizing described elevating mechanism includes multiple described auxiliary hoist cylinder, multiple described Auxiliary hoist cylinder is distributed in the periphery of described spud leg.
CN201610367689.0A 2016-05-30 2016-05-30 Hydraulic pin hole type lifting system Pending CN105887787A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106368200A (en) * 2016-08-25 2017-02-01 武汉船用机械有限责任公司 Hydraulic plug pin lifting system of self-elevating offshore platform
CN112031059A (en) * 2020-09-09 2020-12-04 湖南大学 Underwater dredging technology with cooperative operation of ship body and crawler traveling mechanism

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JP2015037925A (en) * 2013-07-18 2015-02-26 半蔵 門脇 Self-elevating working barge
CN105442518A (en) * 2015-12-22 2016-03-30 西伯瀚(上海)海洋装备科技有限公司 Lifting device for truss-type hydraulic bolt
CN205776139U (en) * 2016-05-30 2016-12-07 上海振华重工(集团)股份有限公司 A kind of hydraulic pin cellular type jacking system

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Publication number Priority date Publication date Assignee Title
CN102787590A (en) * 2011-05-17 2012-11-21 中国石油化工集团公司 Hydraulic lifting pile righting guide device for offshore jack-up platform
CN202783707U (en) * 2012-08-23 2013-03-13 南通迪施有限公司 Hydraulic lifting system
CN103215935A (en) * 2013-04-17 2013-07-24 武汉船用机械有限责任公司 Hydraulic lifting device
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106368200A (en) * 2016-08-25 2017-02-01 武汉船用机械有限责任公司 Hydraulic plug pin lifting system of self-elevating offshore platform
CN112031059A (en) * 2020-09-09 2020-12-04 湖南大学 Underwater dredging technology with cooperative operation of ship body and crawler traveling mechanism
CN112031059B (en) * 2020-09-09 2022-02-08 湖南大学 Underwater dredging technology with cooperative operation of ship body and crawler traveling mechanism

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Application publication date: 20160824