CN110241784B - Mooring device for providing omni-directional restoring force - Google Patents
Mooring device for providing omni-directional restoring force Download PDFInfo
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- CN110241784B CN110241784B CN201910687078.8A CN201910687078A CN110241784B CN 110241784 B CN110241784 B CN 110241784B CN 201910687078 A CN201910687078 A CN 201910687078A CN 110241784 B CN110241784 B CN 110241784B
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- platform
- wharf
- cable
- chain wheel
- roller
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- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000013016 damping Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 239000013013 elastic material Substances 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005489 elastic deformation Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/04—Structures or apparatus for, or methods of, protecting banks, coasts, or harbours
- E02B3/06—Moles; Piers; Quays; Quay walls; Groynes; Breakwaters ; Wave dissipating walls; Quay equipment
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Abstract
A mooring device for providing omni-directional restoring force is characterized in that a supporting frame is arranged on a wharf, two free cable guide rollers are arranged at the corresponding positions of the lower side of the upper transverse supporting frame and the upper part of the wharf vertically, a damping cable guide chain wheel mechanism is arranged in the middle of the supporting frame vertical to the wharf, a mooring rope is wound between the two free cable guide rollers, the mooring rope is fixed on a platform arm, the platform arm is connected with a platform, springs are respectively connected to two ends of the mooring rope, and the other ends of the two springs are connected with chains wound on the damping cable guide chain wheel. According to the application, the elastic deformation of the spring provides a return force in all directions for the moored platform, so that the motion response of the platform is controlled in a certain range, and the platform can be adjusted according to the slow change of the vertical inner position of the platform caused by the change of the tide level, thereby meeting the requirement of the change of the tide level; in extreme cases, the platform mooring may be safely and quickly released as desired.
Description
Technical Field
The application relates to the technical field of mooring.
Background
Mooring refers to a system or process that uses mooring equipment to safely hold vessels, buoys, platforms, etc., on anchors or submerged blocks, shore or moored buoys, including moored docks, trestle berths, piles, moored buoys, and moored vessels alongside other vessels, etc. In ports with water flow, top flow mooring is generally selected; in a still water port without water flow, when the wind power exceeds 4 levels, top wind mooring should be selected as much as possible.
The traditional mooring devices are used for directly tying a ship, a platform and the like on a wharf or other equipment through mooring ropes, and the mooring mode is difficult to keep the stability of the ship or the platform and the like under the condition of sea conditions such as tide level change or high wind and waves and the like, and especially for a platform (such as a nuclear reactor platform) with high stability requirements, the stability requirements of the platform can not be met.
Disclosure of Invention
In order to ensure the stability of mooring of equipment such as ships, platforms and the like, the application provides a mooring device for providing omni-directional restoring force.
The technical scheme adopted by the application for achieving the purpose is as follows: a mooring device for providing omni-directional restoring force is characterized in that a supporting frame 12 is arranged on a wharf 13, two free cable guide rollers 3 are arranged at positions, corresponding to the upper parts of the wharf 13, of the lower side of the upper transverse supporting frame 12, a damping cable guide chain wheel mechanism 7 is arranged in the middle of the longitudinal supporting frame 12 perpendicular to the wharf 13, a cable 9 is wound between the two free cable guide rollers 3, the cable 9 is connected to a platform arm 11, the platform arm 11 is fixed on a platform 1, two ends of the cable 9 are respectively connected with springs 14, and the other ends of the two springs 14 are connected with a chain 8 wound on the damping cable guide chain wheel 7.
The outside of the two springs 14 is provided with a spring sleeve 5, and the end part of the two spring sleeves 5 on the chain 8 is provided with a chain stopper 6.
Two anti-collision cable guide bases 4 are correspondingly arranged on the lower side of the upper transverse supporting frame 12 and the upper portion of the wharf 13 in the vertical direction of the cable 9, each anti-collision cable guide base 4 is composed of supporting legs 4-3 and a base surface 4-2, the lower ends of the supporting legs 4-3 are fixed on the upper transverse supporting frame 12 or the wharf 13, the base surfaces 4-2 are arranged on the upper portions of the supporting legs 4-3, limiting holes 4-1 for penetrating the cable 9 are formed in the middle of the base surfaces 4-2, and elastic materials are arranged on the upper surfaces of the base surfaces 4-2.
The roller support 3-3 of the free cable guiding roller 3 is arranged on the lower side of the upper transverse support 12 or the wharf 13, the roller is arranged on the upper portion of the roller support 3-3, the roller groove 3-1 is formed in the middle of the circumference of the roller, the jumper wire preventing baffle 3-2 is arranged on the outer side of the roller on the upper portion of the roller support 3-3, and a groove corresponding to the position of the roller groove 3-1 is formed in the inner side of the jumper wire preventing baffle 3-2.
The damping guide cable sprocket mechanism 7 comprises a sprocket support 7-5 fixed on a longitudinal vertical support 12, a sprocket 7-6 is installed on the sprocket support 7-5, a transmission shaft 7-4 is installed through the sprocket support 7-5, a clutch 7-3, a reduction gearbox 7-2 and an electronic inertial sensor 7-7 are sequentially installed on the transmission shaft 7-4 on one side of the sprocket support 7-5 from inside to outside, and a clutch 7-3, a reduction gearbox 7-2 and a driving motor 7-1 are sequentially installed on the transmission shaft 7-4 on the other side of the sprocket support 7-5 from inside to outside.
The cable 9 is located at the upper part and the lower part of the platform arm 11 and is connected with the platform arm 11 through the link joint 10, the link joint 10 is of an inverted U-shaped groove structure, connecting holes 10-1 are formed in two side edges of the inverted U-shaped groove, holes corresponding to the connecting holes 10-1 are formed in the platform arm 11, and the link joint 10 penetrates through the platform arm holes and the connecting holes 10-1 through connecting rods to be fixedly installed.
A fender 2 is arranged between the side surface of the wharf 13 and the platform 1 and the wharf 13.
According to the mooring device for providing the omni-directional restoring force, the elastic deformation of the spring provides the omni-directional restoring force for the moored platform, so that the motion response of the platform is controlled in a certain range, the slow change of the vertical position of the platform caused by the change of the tide level can be adjusted, and the requirement of the change of the tide level is met; in extreme cases, the platform mooring may be safely and quickly released as desired.
Drawings
Fig. 1 is a front view of a mooring device according to the present application providing omni-directional restoring force.
Fig. 2 is a block diagram of a free-form mooring roller of a mooring device providing omni-directional restoring force according to the present application.
Fig. 3 is a block diagram of an anti-collision cable guide base of a mooring device providing omni-directional restoring force according to the present application.
Fig. 4 is a block diagram of a damped cable guide sprocket mechanism of a mooring device providing omni-directional restoring force in accordance with the present application.
Fig. 5 is a block diagram of a link joint of a mooring device providing omni-directional restoring force according to the present application.
In the figure: 1. platform, 2, fender, 3, free cable guiding roller, 3-1, roller groove, 3-2, jumper preventing baffle, 3-3, roller support, 4, anticollision cable guiding base, 4-1, spacing hole, 4-2, base face, 4-3, landing leg, 5, spring sleeve, 6, chain stopper, 7, damping cable guiding sprocket mechanism, 7-1, driving motor, 7-2, reduction gearbox, 7-3, clutch, 7-4, transmission shaft, 7-5, sprocket support, 7-6, sprocket, 7-7, electronic inertia induction sensor, 8, chain, 9, cable, 10, link joint, 10-1, connecting hole, 10-2, groove, 11, platform arm, 12, support frame, 13, wharf, 14, spring.
Detailed Description
According to the mooring device for providing the omni-directional restoring force, as shown in fig. 1, a supporting frame 12 is arranged on a wharf 13, two free guide cable idler wheels 3 are arranged at the positions, corresponding to the upper parts vertically, of the upper part of the supporting frame 12 transversely, of the supporting frame 12 vertically to the wharf 13, a damping guide cable chain wheel mechanism 7 is arranged in the middle of the supporting frame 12 vertically, cables 9 are wound between the two free guide cable idler wheels 3, the cables 9 are connected to a platform arm 11, the platform arm 11 is fixed on a platform 1, one ends of the two sections of cables 9 are respectively connected with the platform arm 11 through a link joint 10, the other ends of the two sections of cables 9 are respectively connected with one ends of springs 14, the other ends of the two springs 14 are connected with a chain 8 wound on the damping guide cable chain wheel 7, spring sleeves 5 are arranged outside the two springs 8, chain stoppers 6 are arranged at the ends of the two spring sleeves 5, and a fender 2 is arranged between the side surface of the wharf 13 and the platform 1 and the wharf 13.
As shown in fig. 2, a roller support 3-3 of the free cable guiding roller 3 is mounted on the lower side of an upper transverse bracket 12 or a wharf 13, a roller is mounted on the upper portion of the roller support 3-3, a roller groove 3-1 is formed in the middle of the circumference of the roller, a jumper wire preventing baffle 3-2 is arranged on the outer side of the roller on the upper portion of the roller support 3-3, a groove corresponding to the position of the roller groove 3-1 is formed in the inner side of the jumper wire preventing baffle 3-2, and a cable 9 is prevented from being separated from the roller groove 3-1.
Two anti-collision cable guide bases 4 are correspondingly arranged on the lower side of the upper transverse supporting frame 12 and the upper portion of the wharf 13 in the vertical direction of the cable 9, each anti-collision cable guide base 4 is composed of supporting legs 4-3 and a base surface 4-2, the lower ends of the supporting legs 4-3 are fixed on the upper transverse supporting frame 12 or the wharf 13, the upper portions of the supporting legs 4-3 are provided with the base surfaces 4-2, limiting holes 4-1 used for penetrating the cable 9 are formed in the middle of the base surfaces 4-2, the upper surfaces of the base surfaces 4-2 of the anti-collision cable guide bases 4 are made of elastic materials, impact of the platform arms 11 during movement can be buffered, the middle of each anti-collision cable guide base is provided with the limiting holes 4-1, horizontal movement of the cable 9 can be controlled, and the structure of each anti-collision cable guide base 4 is shown in fig. 3.
As shown in FIG. 4, the damping guide cable sprocket mechanism 7 comprises a sprocket support 7-5 fixed on a vertical support 12, a sprocket 7-6 is mounted on the sprocket support 7-5, a transmission shaft 7-4 is mounted through the sprocket support 7-5, a clutch 7-3, a reduction gearbox 7-2 and an electronic inertial sensor 7-7 are sequentially mounted on the transmission shaft 7-4 on one side of the sprocket support 7-5 from inside to outside, and a clutch 7-3, a reduction gearbox 7-2 and a driving motor 7-1 are sequentially mounted on the transmission shaft 7-4 on the other side of the sprocket support 7-5 from inside to outside. The inertia control mechanism comprises an electronic inertia induction sensor 7-7, a reduction gear box 7-2 and a clutch 7-3 which are positioned on the same side of the electronic inertia induction sensor, and the inertia control mechanism is connected with a chain wheel 7-6 through a transmission shaft 7-4, so that the chain wheel can be locked when the rotation (acceleration) speed of the chain wheel 7-6 is overlarge; the driving mechanism comprises a driving motor 7-1, a reduction gear box 7-2 and a clutch 7-3 which are positioned on the same side, and the driving motor, the reduction gear box and the clutch are independently operated through a transmission shaft 7-4 and the rotation of a controllable chain wheel, and the driving mechanism and the clutch are not mutually interfered.
The upper and lower parts of the cable 9, which are positioned on the platform arm 11, are respectively connected with the platform arm 11 through the link joint 10, the link joint 10 is of an inverted U-shaped groove structure as shown in fig. 5, the two side edges of the inverted U-shaped groove are provided with connecting holes 10-1, the platform arm 11 is provided with holes corresponding to the connecting holes 10-1, and the link joint 10 penetrates through the platform arm holes and the connecting holes 10-1 through connecting rods to be fixedly installed. The link joint 10 is a quick disconnect joint that can quickly disconnect the platform arm 11 from the mooring system.
The working process comprises the following steps:
(1) Under the condition of no large wind and wave: the clutch 7-3 in the inertia sensing mechanism of the damping guide cable sprocket mechanism 7 is connected, the inertia sensing mechanism is communicated with the sprocket 7-6, and the clutch 7-3 in the driving mechanism is separated. The springs in the spring sleeves 5 are not stretched, the whole system can do linear motion through the rotation of the two free guide cable rollers 3 and the damping guide cable chain wheel mechanisms 7, so that the vertical position of the link joint 10 on the platform arm 11 (which can be called as the balance position of the mooring system, when the system does not provide restoring force, only one balance position of each mooring unit is in space under each tide level) is changed, so that when the tethered platform 1 slowly and integrally ascends and descends due to the change of the tide level, the vertical position of the platform arm 11 is changed, the position of the platform 1 is driven to be adjusted, the vertical position of the balance position of the mooring device can be correspondingly changed, no extra load is caused on the mooring system, and the mooring system can adapt to the change of the tide level.
Both the heave of the platform 1 caused by the change in the tide level and the mooring mechanism movement are slow, the damping fairlead sprocket mechanism 7 in the mooring system can rotate slowly. When instantaneous external load such as gusts acts on the platform, the platform and the mooring mechanism generate movement with larger acceleration, and an inertial mechanism attached to the damping cable guiding chain wheel mechanism 7 locks the chain wheel 7-6 so that the chain wheel 7-6 cannot rotate. At this point the mooring system equilibrium position is fixed and the movement of the platform will drive the extension of the springs 14 in the spring sleeve 5, thereby providing a restoring force against this accidental load.
(2) In case of heavy stormy waves (storm surge): the damping guide cable sprocket mechanism 7 is connected with a clutch 7-3 in the driving mechanism, the driving mechanism is communicated with the sprocket 7.6, and the clutch 7.3 in the inertia induction mechanism is separated.
When a short term severe sea condition is encountered, the chain 8 is caught by the chain stopper 6, thereby locking the mooring system equilibrium position, and the spring in the spring sleeve 5 begins to expand and contract, providing a return force in all directions to the platform.
When subjected to severe sea conditions for a prolonged period of time, sea water tide level may vary greatly due to storm surge or the like. In order to avoid platform inclination and extra load caused by the locking of the equilibrium position of the mooring system, the mooring system can be adjusted according to the tide level change information, and the adjustment process is as follows: the damping cable guide chain wheel mechanism 7 is controlled by a driving mechanism, the chain stopper 6 locks the chain 8, the driving mechanism controls the chain wheel 7-6 in the damping cable guide chain wheel mechanism 7 to rotate, and the balance position of the mooring system is adjusted according to the detected average water level. After adjustment in place, the chain stopper 6 is locked again, continuing to provide the restoring force in the manner described above.
The present application has been described in terms of embodiments, and it will be appreciated by those of skill in the art that various changes can be made to the features and embodiments, or equivalents can be substituted, without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. A mooring device providing omni-directional restoring force, characterized by: the support frame (12) is arranged on the wharf (13), two free cable guide rollers (3) are arranged at the lower side of the upper transverse support frame (12) and at the vertical corresponding position of the upper part of the wharf (13), a damping cable guide chain wheel mechanism (7) is arranged in the middle of the longitudinal support frame (12) vertical to the wharf (13), a cable (9) is wound between the two free cable guide rollers (3), the cable (9) is connected to the platform arm (11), the platform arm (11) is fixed on the platform (1), two ends of the cable (9) are respectively connected with a spring (14), the other ends of the two springs (14) are connected with a chain (8) wound on the damping cable guide chain wheel mechanism (7), the damping cable guide chain wheel mechanism (7) comprises a chain wheel support (7-5) fixed on the longitudinal vertical support frame (12), a chain wheel (7-6) is arranged on the chain wheel support (7-5), a transmission shaft (7-4) penetrating through the chain wheel support (7-5) is arranged, a clutch (7-3), a speed reducer (7-2) and an inertia sensor (7-7) are sequentially arranged on one side of the chain wheel support (7-5) from inside to outside, the clutch (7-3), the reduction gear box (7-2) and the driving motor (7-1) are sequentially arranged on the transmission shaft (7-4) at the other side of the chain wheel support (7-5) from inside to outside.
2. A mooring device providing omni-directional restoring force according to claim 1, characterized in that: the outside of the two springs (14) is provided with a spring sleeve (5), and the end parts of the two spring sleeves (5) on the chain (8) are provided with chain stoppers (6).
3. A mooring device providing omni-directional restoring force according to claim 1, characterized in that: two anti-collision cable guide bases (4) are correspondingly arranged on the lower side of the upper transverse supporting frame (12) and the upper portion of the wharf (13) in the vertical direction of the cable (9), each anti-collision cable guide base (4) consists of supporting legs (4-3) and a base surface (4-2), the lower ends of the supporting legs (4-3) are fixed on the upper transverse supporting frame (12) or the wharf (13), the base surfaces (4-2) are arranged on the upper portions of the supporting legs (4-3), limiting holes (4-1) used for penetrating the cable (9) are formed in the middle of the base surfaces (4-2), and elastic materials are arranged on the upper surfaces of the base surfaces (4-2).
4. A mooring device providing omni-directional restoring force according to claim 1, characterized in that: the free cable guiding roller (3) is characterized in that a roller support (3-3) of the free cable guiding roller (3) is arranged on the lower side of a supporting frame (12) or a wharf (13) on the upper portion of the free cable guiding roller, a roller is arranged on the upper portion of the roller support (3-3), a roller groove (3-1) is formed in the middle of the circumference of the roller, a jumper wire preventing baffle (3-2) is arranged on the upper portion of the roller support (3-3) and a groove corresponding to the position of the roller groove (3-1) is formed in the inner side of the jumper wire preventing baffle (3-2).
5. A mooring device providing omni-directional restoring force according to claim 1, characterized in that: the cable (9) is located at the upper part and the lower part of the platform arm (11) and is connected with the platform arm (11) through the link joint (10), the link joint (10) is of an inverted U-shaped groove structure, connecting holes (10-1) are formed in two side edges of the inverted U-shaped groove, holes corresponding to the connecting holes (10-1) are formed in the platform arm (11), and the link joint (10) penetrates through the platform arm holes and the connecting holes (10-1) through connecting rods to be fixedly installed.
6. A mooring device providing omni-directional restoring force according to claim 1, characterized in that: a fender (2) is arranged between the side surface of the wharf (13) and the platform (1) and the wharf (13).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687078.8A CN110241784B (en) | 2019-07-29 | 2019-07-29 | Mooring device for providing omni-directional restoring force |
| PCT/CN2020/079599 WO2021017482A1 (en) | 2019-07-29 | 2020-03-17 | Mooring device capable of providing omnidirectional restoring force |
| US17/043,792 US20220025598A1 (en) | 2019-07-29 | 2020-03-17 | Mooring device capable of providing omnidirectional restoring force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687078.8A CN110241784B (en) | 2019-07-29 | 2019-07-29 | Mooring device for providing omni-directional restoring force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110241784A CN110241784A (en) | 2019-09-17 |
| CN110241784B true CN110241784B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910687078.8A Active CN110241784B (en) | 2019-07-29 | 2019-07-29 | Mooring device for providing omni-directional restoring force |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220025598A1 (en) * | 2019-07-29 | 2022-01-27 | Dalian University Of Technology | Mooring device capable of providing omnidirectional restoring force |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004024553A1 (en) * | 2002-09-11 | 2004-03-25 | Gordon Leslea C | Retractable mooring line device |
| CN204659966U (en) * | 2015-05-28 | 2015-09-23 | 上海船舶研究设计院 | A kind of ship cable fender guard |
| CN205770008U (en) * | 2016-02-01 | 2016-12-07 | 曲晓晖 | A kind of floating thing mooring antivibrator |
| CN106945786A (en) * | 2016-01-07 | 2017-07-14 | 欧洲智能有限责任公司 | The mooring unit of mooring ship |
| CN108394516A (en) * | 2018-05-08 | 2018-08-14 | 江苏兴洋船舶设备制造有限公司 | A kind of mooring fairlead |
| CN210827339U (en) * | 2019-07-29 | 2020-06-23 | 大连理工大学 | Mooring device providing omnidirectional restoring force |
-
2019
- 2019-07-29 CN CN201910687078.8A patent/CN110241784B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004024553A1 (en) * | 2002-09-11 | 2004-03-25 | Gordon Leslea C | Retractable mooring line device |
| CN204659966U (en) * | 2015-05-28 | 2015-09-23 | 上海船舶研究设计院 | A kind of ship cable fender guard |
| CN106945786A (en) * | 2016-01-07 | 2017-07-14 | 欧洲智能有限责任公司 | The mooring unit of mooring ship |
| CN205770008U (en) * | 2016-02-01 | 2016-12-07 | 曲晓晖 | A kind of floating thing mooring antivibrator |
| CN108394516A (en) * | 2018-05-08 | 2018-08-14 | 江苏兴洋船舶设备制造有限公司 | A kind of mooring fairlead |
| CN210827339U (en) * | 2019-07-29 | 2020-06-23 | 大连理工大学 | Mooring device providing omnidirectional restoring force |
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| CN110241784A (en) | 2019-09-17 |
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