CN106442133B - Ocean engineering flexible pipe cable stretch bending combined experimental device and experimental method - Google Patents
Ocean engineering flexible pipe cable stretch bending combined experimental device and experimental method Download PDFInfo
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- CN106442133B CN106442133B CN201610879362.1A CN201610879362A CN106442133B CN 106442133 B CN106442133 B CN 106442133B CN 201610879362 A CN201610879362 A CN 201610879362A CN 106442133 B CN106442133 B CN 106442133B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0017—Tensile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0023—Bending
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
- G01N2203/0073—Fatigue
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/026—Specifications of the specimen
- G01N2203/0262—Shape of the specimen
- G01N2203/0274—Tubular or ring-shaped specimens
Abstract
The invention discloses a marine engineering flexible pipe cable stretch bending combined experimental device and an experimental method. The experimental device fully combines the advantages of four-point bending and axial stretching experimental equipment, so that the pipe cable is only subjected to pure bending load and stretching load in the middle section, and the stretch bending combined load under an ideal state is realized.
Description
Technical Field
The invention relates to the field of ocean engineering flexible pipe cable experiments, in particular to an ocean engineering flexible pipe cable stretch bending combined experimental device and an experimental method.
Background
The sea oil gas resources in China are rich in reserves, and most of the reserves are distributed in deep sea areas such as south China sea. And sea cables, umbilical cables, flexible pipelines and the like are equipment which is not opened or is not needed in deep sea oil and gas exploitation. Such equipment may be collectively referred to as marine compliant umbilicals, the structure of which is typically composed of corresponding functional and reinforcing components such as armor wires and the like. According to different engineering requirements, a pipe cable with corresponding functions is selected; the submarine cable is mainly responsible for providing electric energy for submarine oil extraction equipment, the umbilical cable mainly provides related functions such as electric power and signal transmission between the water floating body and submarine equipment, and the flexible pipeline is mainly responsible for oil and gas transmission between the equipment. Marine flexible pipe cables are typically subjected to a combined tensile and bending load during installation or in-place conditions. Because the flexible pipe cable is of a complex spiral winding structure, the mutual friction behavior between the components under the bending load is obviously influenced by the tensile force, and the mechanical behavior of the pipe cable characterization is very complex. Meanwhile, due to the action of wind wave current and the reciprocating motion of the platform in a complex marine environment, the pipe cable connected to the floating body can show repeated bending behavior, so that fatigue damage is generated, and the fatigue damage is caused. Fatigue is directly related to the service life of the cable, and a Miner fatigue damage accumulation method based on a material S-N curve is generally adopted in the calculation of the fatigue life of the marine structure. Moreover, the service life of the cable is one of the most concerned performance parameters of various large manufacturers and design institutions, so that the research on the fatigue problem of the cable is an important link which cannot be ignored in the cable design flow.
For the above problems, it is often difficult for the theoretical and numerical methods to accurately describe the actual behavior of the umbilical under the combined load. Therefore, in order to study the tensile bending combination behavior of the pipe cable in detail, and the fatigue failure mechanism and the response of the structure after failure, a tensile bending combination simulation experiment is required to be carried out on the marine flexible pipe cable dangerous section through a test method. Therefore, the design rule is extracted through the experimental result, the damage probability in the use process of the pipe cable is reduced, and the pipe cable is monitored in time to ensure the service life of the whole pipe cable. The stretch bending combined test of the flexible pipe cable is the most important test for the practical application condition of the flexible pipe cable, and because the domestic flexible pipe cable research is still in a starting state and has no relevant experimental experience, a complete experimental device is needed to test and verify the flexible pipe cable. And further, the mechanical behavior characteristics and fatigue failure mechanisms of the pipe and the cable are researched, so that the key technology of the stretch bending or fatigue test of the dynamic vertical pipe/cable is mastered, and meanwhile, the design of relevant performance parameters (rigidity, strength and fatigue) of the pipe and the cable is verified.
Disclosure of Invention
According to the technical problems, the experimental device and the experimental method for the stretch bending combination of the ocean engineering flexible pipe cable are provided. According to the actual working condition, the ocean flexible pipe cable is stretched and repeatedly bent within a certain bending radius range by adopting a load equivalent method. The repeated bending test equipment is required to include a stretching equipment and equipment for applying bending moment to make it undergo reciprocating periodic bending deformation. In addition, the experimental procedure requires the configuration of measurement devices, such as strain gauges or sensors, etc., in order to extract parameter indicators (intermediate or direct physical quantities) related to the repeated bending process of the umbilical. The tube cable stretch bending combined experimental procedure generally comprises the following steps: sampling, fixing, laying out sheets, loading, measuring and post-processing modes are developed. Before the experiment starts, a corresponding test scheme is formulated, a pipe cable sample is selected, then the pipe cable to be tested is fixed on a test frame, strain gauge arrangement is carried out at a test position according to the experiment requirement, and the strain gauge arrangement is connected to data acquisition equipment. And starting the loading equipment after the operation is ensured to be correct, and simultaneously collecting related data in real time. And finally, analyzing and processing the obtained data to form a perfect experimental report.
The invention adopts the following technical means:
a marine engineering flexible pipe cable stretch bending combined experimental device, which comprises a fixed rotating joint, a four-point bending truss device and an axial stretching device,
the four-point bending truss device comprises an actuator I, a connecting frame, a quadrilateral frame I and a quadrilateral frame II, wherein the connecting frame is in a quadrangular pyramid shape, the bottom surface of the connecting frame is rectangular, the orthographic projection of the top point of the connecting frame on the bottom surface of the connecting frame coincides with the center of the bottom surface of the connecting frame, threaded rods parallel to the straight line of the axis of the connecting frame are respectively arranged at the four top points of the bottom surface of the connecting frame, the top points of the quadrilateral frame I are respectively fixedly connected with the connecting frame through the threaded rods, the top points of the quadrilateral frame II are respectively connected with the connecting frame in a sliding manner through the threaded rods, a nut matched with the threaded rods is arranged on one side of the quadrilateral frame II, the top point of the connecting frame is provided with the output end of the actuator I, the output direction of the actuator I and the axis of the connecting frame are positioned on the same straight line,
the axial stretching device comprises a movable rotary joint, a fixed track plate and an actuator II, wherein the movable rotary joint is arranged opposite to the fixed rotary joint, the connecting line of the fixed rotary joint and the movable rotary joint is perpendicular to the straight line where the axis of the connecting frame is positioned,
concave rollers are arranged on the supporting rods of the quadrangular frame I and the quadrangular frame II which are arranged along the connecting line direction,
the quadrilateral frame I and the quadrilateral frame II are parallel to the bottom surface of the connecting frame,
the joint rotating planes of the fixed rotating joint and the movable rotating joint are positioned in the same plane, the straight line of the axis of the connecting frame is positioned in the plane,
the fixed track board is equipped with two and makes the movable swivel joint is followed the gliding guiding hole of line direction, movable swivel joint pass through the spliced pole with the guiding hole is connected, movable swivel joint keep away from one side of fixed swivel joint with the output of actuator II is connected.
The concave surface of the concave roller is arc-shaped, and the curvature radius is 500mm.
The invention also discloses a marine engineering flexible pipe cable stretch bending combined experimental method, which comprises the following steps:
s1, designing an experimental device as described above;
s2, connecting one end of a pipe cable with the fixed rotating joint through a pipe cable joint, and connecting the other end of the pipe cable with the movable rotating joint through a pipe cable joint after passing through the quadrangular frame I and the quadrangular frame II;
s3, adjusting the position of the movable rotary joint to enable the axis of the pipe cable to coincide with the connecting line, adjusting the four-point bending truss device to be positioned at the middle section of the pipe cable, and adjusting the position of the nut according to the diameter of the pipe cable to ensure that the actuator I can be stably loaded;
s4, eight openings I for accommodating the strain gauge are uniformly formed in the circumferential direction of a pure bending section of the pipe cable, a plurality of openings II for accommodating the strain gauge are formed in the middle position of the pure bending section towards two sides along the bus direction of the pipe cable, the openings II are denser nearer to the middle position, the strain gauge is adhered to an armored steel wire inside the pipe cable through glue, one end of a flat cable connected with the strain gauge is fixed on the pipe cable through adhesive tape, and the other end of the flat cable is connected with an acquisition system, so that stress-strain data real-time transmission is realized;
s5, arranging displacement meters at the middle points above the pure bending section of the pipe cable and near the two ends (the distances among the three points are equal), and enabling the ejector pins of the displacement meters to be perpendicular to the axial direction of the pipe cable through checking of the level gauge. Therefore, the vertical displacement of the pipe/cable along with the moment after bending deformation can be accurately measured, and the curvature change value can be conveniently obtained through later conversion;
s6, after the measuring device is arranged, driving the pipe cable to be loaded to a preset tensile force along the axial direction through the actuator II and keeping the force unchanged, then driving the actuator I to be loaded in a small-amplitude bending deformation manner along the axial direction of the vertical pipe cable, analyzing the acquired curve of the strain change along with time, completing the initial debugging of the whole testing system, and carrying out experiments in groups after the testing requirement is met;
and S7, setting the reciprocating running speed of the actuator I, and obviously and simultaneously bearing stretching and bending actions along with the continuous increase of the load, recording the data change condition of each displacement meter and each strain gauge, so that the later study of the mechanical behavior of the pipe cable under the stretch bending combined load is facilitated.
S8, if the device is used for testing the repeated bending fatigue behavior of the test tube cable in a stretched state, the experiment is repeatedly circulated until the specified repeated bending times are reached.
The invention has the following advantages:
1) The experimental device fully combines the advantages of four-point bending and axial stretching experimental equipment, so that the pipe cable is only subjected to pure bending load and stretching load in the middle section, and the stretch bending combined load in an ideal state is realized;
2) For the cables with different lengths and diameters, the distance between the quadrangular frame I and the quadrangular frame II can be adjusted through nuts, so that the flexibility is excellent;
3) The experimental device is concise, and realizes the combined action of stretching and repeated bending by taking the actuator as a power source. In addition, the two can be mutually independent, and the application of respective loads can be effectively controlled. Meanwhile, random transformation of the loading sequence can be realized according to engineering and design requirements;
4) The four-point bending adopts a truss structure, is simple and portable, saves materials, and effectively reduces the weight of the whole structure on the premise of ensuring the whole rigidity and strength;
5) In the bending process of the pipe cable, the concave roller can rotate, so that the influence of rolling friction between the concave roller and the pipe cable on the experiment is negligible;
6) The upper and lower parts of the pipe cable are provided with concave rollers, so that the pipe cable can be repeatedly bent up and down, and compared with the prior device, the pipe cable can be bent in one direction, the practical working condition can be simulated, and the stretch bending mechanical behavior characteristics and fatigue performance of the pipe cable can be tested;
7) In the whole bending process, the four-point bending truss device can be guaranteed not to deform, so that the bending moment applied to the pipe cable sample can be always guaranteed to be unchanged, and the later data processing is convenient;
8) The concave surface of the concave roller is arc-shaped, the curvature radius is 500mm, and the cross-section radius of most of the existing pipe cables can be covered. Therefore, the concave surface of the concave roller has good adaptability to the cross section of the pipe.
9) The experimental device has multifunction and detachability, and can respectively carry out four-point bending experiments and axial stretching experiments without mutual influence, so that one machine is three-purpose. Based on the reasons, the invention can be widely popularized in the fields of ocean engineering flexible pipe cable experiments and the like.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural diagram of a marine engineering flexible pipe cable stretch bending combined experimental device in an embodiment of the invention.
Figure 2 is a front view of a four-point curved truss apparatus in accordance with embodiments of the invention.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a top view of fig. 2.
Detailed Description
Example 1
As shown in fig. 1-4, the marine engineering flexible pipe cable stretch bending combined experimental device comprises a fixed rotary joint 1, a four-point bending truss device 2 and an axial stretching device 3,
the four-point bending truss device 2 comprises an actuator I4, a connecting frame 5, a quadrilateral frame I6 and a quadrilateral frame II 7, wherein the connecting frame 5 is in a quadrangular pyramid shape, the bottom surface of the connecting frame 5 is in a rectangle shape, the orthographic projection of the vertex of the connecting frame 5 on the bottom surface of the connecting frame 5 coincides with the center of the bottom surface of the connecting frame 5, four vertexes of the bottom surface of the connecting frame 5 are respectively provided with a threaded rod 8 which is parallel to the straight line where the axis of the connecting frame 5 is located, the vertexes of the quadrilateral frame I6 are respectively fixedly connected with the connecting frame 5 through the threaded rods 8, the vertexes of the quadrilateral frame II 7 are respectively in sliding connection with the connecting frame 5 through the threaded rods 8, one side of the quadrilateral frame II 7, which is far away from the quadrilateral frame I6, is provided with a nut 9 which is matched with the threaded rods 8, the vertexes of the connecting frame 5 are provided with the output ends of the threaded rods I4, the output directions of the actuators I4 and the axes of the connecting frame 5 are positioned on the same straight line,
the axial stretching device 3 comprises a movable rotary joint 10, a fixed track plate 11 and an actuator II 12 which are arranged opposite to the fixed rotary joint 1, the connecting line of the fixed rotary joint 1 and the movable rotary joint 10 is perpendicular to the straight line where the axis of the connecting frame 5 is positioned,
both the quadrangular frame I6 and the quadrangular frame II 7 are parallel to the bottom surface of the connecting frame 5,
the joint rotation planes of the fixed rotary joint 1 and the movable rotary joint 10 are positioned in the same plane, and the straight line of the axis of the connecting frame 5 is positioned in the plane,
the fixed track plate 11 is provided with two guide holes 14 for enabling the movable rotary joint 10 to slide along the connecting line direction, the movable rotary joint 10 is connected with the guide holes 14 through a connecting column 15, and one side of the movable rotary joint 10 away from the fixed rotary joint 1 is connected with the output end of the actuator II 12.
The concave surface of the concave roller 13 is arc-shaped, and the curvature radius is 500mm.
Example 2
A marine engineering flexible pipe cable stretch bending combined experimental method comprises the following steps:
s1, designing an experimental device as described in the embodiment 1;
s2, connecting one end of a pipe cable 16 with the fixed rotary joint 1 through a pipe cable joint, and connecting the other end of the pipe cable 16 with the movable rotary joint 10 through the pipe cable joint after passing through the quadrangular frame I6 and the quadrangular frame II 7;
s3, adjusting the position of the movable rotary joint 10 to enable the axis of the pipe cable 16 to coincide with the connecting line, adjusting the four-point bending truss device 2 to be positioned at the middle section of the pipe cable 16, and adjusting the position of the nut 9 according to the diameter of the pipe cable 16 to ensure that the actuator I4 can be stably loaded;
s4, opening eight openings I for accommodating strain gauges are uniformly formed in the circumferential direction of a pure bending section of the cable 16, a plurality of openings II for accommodating the strain gauges are formed in the middle position of the pure bending section towards two sides along the direction of a bus of the cable, the openings II are denser closer to the middle position, the strain gauges are adhered to armored steel wires inside the cable 16 through glue, one end of a flat cable connected with the strain gauges is fixed on the cable 16 through adhesive tape, and the other end of the flat cable is connected with an acquisition system, so that real-time transmission of stress strain data is realized;
s5, arranging displacement meters at the middle points above the pure bending section of the cable 16 and near the two ends (the distances among the three points are equal), and enabling the ejector pins of the displacement meters to be perpendicular to the axial direction of the cable 16 through checking of the level gauge. Therefore, the vertical displacement of the pipe cable body 16 along with the moment after bending deformation can be accurately measured, and the curvature change value can be conveniently obtained through later conversion;
s6, after the measuring device is arranged, the actuator II 12 is used for driving the pipeline 16 to load to a preset tensile force along the axial direction and keeping the force unchanged, then the actuator I4 is driven to load the pipeline 16 along the axial direction of the vertical pipeline 16 in a small-amplitude bending deformation mode, the acquired curve of the strain change along with time is analyzed, the initial debugging of the whole testing system is completed, and after the testing requirement is met, experiments are carried out in groups;
and S7, setting the reciprocating running speed of the actuator I, wherein the pipe cable 16 can obviously bear the stretching and bending actions simultaneously along with the continuous increase of the load, and recording the data change condition of each displacement meter and the strain gauge, so that the later study of the mechanical behavior of the pipe cable under the stretch bending combined load is facilitated.
S8, if the device is used for testing the repeated bending fatigue behavior of the test cable 16 in a stretched state, the experiment is repeatedly circulated until the specified repeated bending times are reached.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The utility model provides a marine engineering compliance pipe cable stretch bending combination experimental apparatus which characterized in that: comprises a fixed rotating joint, a four-point bending truss device and an axial stretching device,
the four-point bending truss device comprises an actuator I, a connecting frame, a quadrilateral frame I and a quadrilateral frame II, wherein the connecting frame is in a quadrangular pyramid shape, the bottom surface of the connecting frame is rectangular, the orthographic projection of the top point of the connecting frame on the bottom surface of the connecting frame coincides with the center of the bottom surface of the connecting frame, threaded rods parallel to the straight line of the axis of the connecting frame are respectively arranged at the four top points of the bottom surface of the connecting frame, the top points of the quadrilateral frame I are respectively fixedly connected with the connecting frame through the threaded rods, the top points of the quadrilateral frame II are respectively connected with the connecting frame in a sliding manner through the threaded rods, a nut matched with the threaded rods is arranged on one side of the quadrilateral frame II, the top point of the connecting frame is provided with the output end of the actuator I, the output direction of the actuator I and the axis of the connecting frame are positioned on the same straight line,
the axial stretching device comprises a movable rotary joint, a fixed track plate and an actuator II, wherein the movable rotary joint is arranged opposite to the fixed rotary joint, the connecting line of the fixed rotary joint and the movable rotary joint is perpendicular to the straight line where the axis of the connecting frame is positioned,
concave rollers are arranged on the supporting rods of the quadrangular frame I and the quadrangular frame II which are arranged along the connecting line direction,
the quadrilateral frame I and the quadrilateral frame II are parallel to the bottom surface of the connecting frame,
the joint rotating planes of the fixed rotating joint and the movable rotating joint are positioned in the same plane, the straight line of the axis of the connecting frame is positioned in the plane,
the fixed track plate is provided with two guide holes for enabling the movable rotary joint to slide along the connecting line direction, the movable rotary joint is connected with the guide holes through a connecting column, and one side of the movable rotary joint, which is far away from the fixed rotary joint, is connected with the output end of the actuator II;
a marine engineering flexible pipe cable stretch bending combined experimental method adopting a marine engineering flexible pipe cable stretch bending combined experimental device comprises the following steps:
s1, designing the ocean engineering flexible pipe cable stretch bending combined experimental device;
s2, connecting one end of a pipe cable with the fixed rotating joint through a pipe cable joint, and connecting the other end of the pipe cable with the movable rotating joint through a pipe cable joint after passing through the quadrangular frame I and the quadrangular frame II;
s3, adjusting the position of the movable rotary joint to enable the axis of the pipe cable to coincide with the connecting line, adjusting the four-point bending truss device to be positioned at the middle section of the pipe cable, and adjusting the position of the nut according to the diameter of the pipe cable to ensure that the actuator I can be stably loaded;
s4, eight openings I for accommodating the strain gauge are uniformly formed in the circumferential direction of a pure bending section of the pipe cable, a plurality of openings II for accommodating the strain gauge are formed in the middle position of the pure bending section towards two sides along the bus direction of the pipe cable, the openings II are denser nearer to the middle position, the strain gauge is adhered to an armored steel wire inside the pipe cable through glue, one end of a flat cable connected with the strain gauge is fixed on the pipe cable through adhesive tape, and the other end of the flat cable is connected with an acquisition system, so that stress-strain data real-time transmission is realized;
s5, arranging displacement meters at the middle points above the pure bending sections of the pipe cables and near the two ends, and enabling the ejector pins of the displacement meters to be perpendicular to the axial direction of the pipe cables through checking of the level gauge;
s6, after the measuring device is arranged, driving the pipe cable to be loaded to a preset tensile force along the axial direction through the actuator II and keeping the force unchanged, then driving the actuator I to be loaded in a small-amplitude bending deformation manner along the axial direction of the vertical pipe cable, analyzing the acquired curve of the strain change along with time, completing the initial debugging of the whole testing system, and carrying out experiments in groups after the testing requirement is met;
s7, setting the reciprocating running speed of the actuator I, and along with the continuous increase of the load, obviously bearing the stretching and bending actions of the pipe cable at the same time, and recording the data change condition of each displacement meter and the strain gauge;
s8, if the device is used for testing the repeated bending fatigue behavior of the test tube cable in a stretched state, the experiment is repeatedly circulated until the specified repeated bending times are reached.
2. The ocean engineering flexible pipe and cable stretch bending combined experimental device according to claim 1, wherein the experimental device is characterized in that: the concave surface of the concave roller is arc-shaped, and the curvature radius is 500mm.
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| CN106885735A (en) * | 2017-04-19 | 2017-06-23 | 青岛海检检测有限公司 | Umbilical cables stretch bending mechanics composite test device |
| CN107328656B (en) * | 2017-05-22 | 2020-01-07 | 浙江大学宁波理工学院 | A testing arrangement for multinomial capability test of umbilical cable |
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| CN107192606B (en) * | 2017-07-20 | 2023-06-16 | 大连理工大学 | Marine flexible pipe cable stretching, compressing and bending combined experimental device |
| CN107356385B (en) * | 2017-08-23 | 2023-05-23 | 大连理工大学 | Novel marine flexible pipeline stretch bending and press bending combined experiment device |
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| CN109696361B (en) * | 2019-02-14 | 2021-04-20 | 西南石油大学 | Stretch bending fatigue testing machine for simulating deep sea environment |
| CN110718123B (en) * | 2019-10-10 | 2021-05-25 | 常州大学 | Non-metal rod piece stretch bending combined deformation experiment platform |
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| CN111257133B (en) * | 2020-02-26 | 2021-01-05 | 西安交通大学 | Composite detection device for stretching and bending |
| CN111426564B (en) * | 2020-04-16 | 2022-04-29 | 天津大学 | Pipeline complex load loading test device |
| CN111426547B (en) * | 2020-04-23 | 2022-09-23 | 中国船舶科学研究中心 | Flexible pipeline bending coupling nondestructive loading test device and use method thereof |
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