CN111056469A - Towing winch system and working method thereof - Google Patents
Towing winch system and working method thereof Download PDFInfo
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- CN111056469A CN111056469A CN201911418515.2A CN201911418515A CN111056469A CN 111056469 A CN111056469 A CN 111056469A CN 201911418515 A CN201911418515 A CN 201911418515A CN 111056469 A CN111056469 A CN 111056469A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004804 winding Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000004873 anchoring Methods 0.000 claims abstract description 10
- 241000251730 Chondrichthyes Species 0.000 claims description 10
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
The invention provides a towing winch system and a working method thereof, wherein the system comprises a rack, a double-cable-containing drum for towing, hoisting and anchoring, a motor for providing power for the rotation of the double-cable-containing drum, an automatic cable arrangement device and an auxiliary device for assisting the operation of towing a winch; the double-cable-containing drum, the motor and the automatic cable arrangement device are arranged on the rack; wherein the double-cable-containing drum comprises an upper drum and a lower drum which are arranged in a high-low manner; the motor drives the double-cable-accommodating drum through the speed reducing mechanism and the clutch; the automatic cable arrangement device comprises a first cable arrangement device arranged in front of the upper winding drum and a second cable arrangement device arranged in front of the lower winding drum. The variable-frequency electric power station is driven by the variable-frequency motor, has a compact structure and small occupied space, saves deck resources, integrates functions of dragging and anchoring, reduces equipment acquisition cost, has a constant tension control function, and improves the safety of severe weather operation.
Description
Technical Field
The invention relates to the field of deep and open sea multipurpose working ship towing, in particular to a towing winch system and a working method thereof.
Background
With the further development of offshore oil and natural gas resources, the multifunctional working ship for providing various services for corresponding ocean engineering is also greatly developed, and the towing winch equipped on the multifunctional working ship can be used for towing various non-self-propelled ocean engineering working ships, dispatching ocean platforms, towing ocean engineering devices and the like. In addition, the deep and far sea large-scale towing winch equipment can be used for towing large-scale marine engineering equipment, large-scale transport ships, large ships and warships and the like in sea damage or danger, is a key configuration of a large-scale deepwater three-purpose rescue workboat, can be used for anchoring operation in the ultra-deep water, and can also be used for assisting marine engineering construction in the ultra-deep water, such as arrangement of floating platforms.
The traditional towing winch is mainly driven by hydraulic pressure, the control precision is poor, the tension of the towing cable cannot be accurately controlled, the hydraulic driving efficiency is low, the total transmission efficiency is only about 50%, and a large amount of energy is wasted. Meanwhile, a large amount of deck space is occupied when a hydraulic system is installed, the space reserved for operation of the winch is small, the risk of oil leakage exists, frequent maintenance is needed, and great noise and vibration are generated when the hydraulic towing winch works, so that great influence is caused on normal rest of crews. In addition, the existing emergency release clutch adopts a jaw clutch, and the quick disengagement of the winding drum cannot be realized under the stress condition.
Disclosure of Invention
According to the traditional towing winch provided by the invention, the control precision is poor, accurate control on the towing cable tension cannot be realized, the hydraulic driving efficiency is low, a large amount of energy is wasted, a large amount of deck space is occupied, the space reserved for winch operation is small, the risk of oil leakage exists, frequent maintenance is required, great noise and vibration are generated during work, the normal rest of a shipman is influenced, the rapid separation of a winding drum cannot be realized, and the like.
The technical means adopted by the invention are as follows:
a drag winch system comprising: the system comprises a rack, a double-cable-containing drum, a motor, an automatic cable arrangement device and an auxiliary device, wherein the double-cable-containing drum is used for dragging and anchoring, the motor is used for providing power for the rotation of the double-cable-containing drum, and the auxiliary device is used for assisting the operation of a dragging winch; the double-cable-containing drum, the motor and the automatic cable arrangement device are arranged on the rack; the double-cable-containing drum comprises an upper drum and a lower drum which are arranged in a high-low mode, the upper drum is a towing drum, a main towing cable is wound on the upper drum, the lower drum is an anchoring drum, and a standby towing cable is wound on the lower drum; the motor drives the double-cable-accommodating drum through the speed reducing mechanism and the clutch; the automatic cable arrangement device comprises a first cable arrangement device arranged in front of the upper winding drum and a second cable arrangement device arranged in front of the lower winding drum.
Further, the auxiliary device comprises a towing cable retaining pile, a shark jaw and a tail roller; the winch, the shark pincers, the towing cable retaining pile and the tail roller are sequentially arranged along the center line of the ship.
Furthermore, tension sensors for monitoring the tension of the cable in real time are arranged on the main towing cable and the standby towing cable; and length sensors for measuring the paying-out length of the cable are arranged on the upper winding drum and the lower winding drum.
Furthermore, the upper winding drum is connected with the main towing cable through a rope clamp, and a first anchor chain wheel is arranged on the side edge of the upper winding drum; the lower winding drum is connected with the standby towing cable through the rope clamp, and a second anchor chain wheel is arranged on the side edge of the lower winding drum.
Further, the automatic cable arrangement device is a cam cable arrangement mechanism, a lead screw cable arrangement mechanism or a hydraulic cylinder cable arrangement mechanism.
Further, the clutch is an internal friction clutch.
The invention also provides a working method of the towing winch system based on any one of the above, which comprises the following steps: when towing operation is carried out, the cable blocking piles are in a lifting state and used for blocking the main towing cable from shaking left and right greatly, the influence on the ship state is reduced, the towing winch is connected with towed objects such as an ocean platform and the like through the main towing cable and bears corresponding load loads, and the effects of rope winding, rope unwinding and cable rope storage are achieved according to use requirements; when the tension between the towing winch and the towed object changes due to factors such as wind waves and the like, the control system changes the rotating speed of the motor through the frequency converter to drive the double-cable reel to automatically reel and reel the cable rope, and controls the tension within a certain range, so that the safety of towing is ensured; after the towing is finished, when the cable releasing operation is carried out, the shark pincers are used for clamping the cable, the operation danger caused by the influence of wind waves is reduced, and the working strength of sailors is reduced.
Further, the method also comprises the following steps: in the dragging process, when the towed object sinks or a normal power source fails, the control system controls the clutch to disengage, the cable rope is quickly released, and the safety of the winch is guaranteed.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts the double-capacity cable drum arranged in high and low positions, has compact structure, integrates the functions of dragging and anchoring, and reduces the equipment acquisition cost.
2. The invention adopts the variable frequency motor for driving, can provide larger torque, meets the heavy load working condition, occupies small space, saves deck resources, and has higher efficiency and small maintenance burden.
3. The invention has the constant tension control function and increases the safety of severe weather operation.
For the above reasons, the present invention can be widely applied to the fields of ocean operations and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a front view of the towing winch of the present invention.
FIG. 2 is a side view of the towing winch of the present invention.
FIG. 3 is a schematic layout of the drag winch system of the present invention.
Wherein: 1. the device comprises a frame, 2, a braking device, 3, an upper winding drum, 4, a first cable arrangement device, 5, a lower winding drum, 6, a second cable arrangement device, 7, a motor, 8, a clutch, 9, a speed reduction mechanism, 10, a first anchor chain wheel, 11, a second anchor chain wheel, 12, a main towing cable, 13, a standby towing cable, 14, shark pincers, 15, a towing cable retaining pile, 16, a tail roller, 17, a multipurpose working ship, 18 and a towed object.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-3, the invention provides a towing winch system equipped on a multipurpose work ship, which comprises a frame 1, and a double-cable-containing drum, a motor 7 and an automatic cable arrangement device which are arranged on the frame 1. The motor 7 drives the double-capacity cable drum to rotate through the speed reducing mechanism 9 and the clutch 8, the motor 7 is controlled by the frequency converter, and preferably, the motor is a permanent magnet motor.
The double-capacity cable drum is used for dragging and anchoring, preferably adopts high-low arrangement, and has a more compact structure, the double-capacity cable drum comprises an upper drum 3 and a lower drum 5, and a braking device 2 is arranged on the side edge of the upper drum 3. Go up reel 3 and be the reel that tows, tow reel is last to be twined main tow-cable 12, and lower reel 5 is for playing the anchor reel, and when last reel 3 trouble, lower reel 5 can be the reel that tows simultaneously, guarantees that the operation is incessant twine spare tow-cable 13 on playing anchor reel 5. The first cable arrangement device 4 is positioned in front of the upper winding drum 3, and the second cable arrangement device 6 is positioned in front of the lower winding drum 5. A tension sensor is arranged on the winch towing cable 12, and the tension of the cable 12 is monitored in real time and fed back to the control system; the drum is fitted with sensors to measure the payout length of the cable 12 and prevent the cable 12 from exceeding a limit payout length.
The towing cable 12 is connected with the winding drum 3 through a rope clamp, the breaking strength of the rope clamp is low, and the bearing capacity of the rope clamp is about 15% of the breaking load of the towing cable, so that the towing cable 12 can be smoothly separated from the winding drum 3 during emergency release, and the winch is protected from being damaged during emergency release of the towing cable.
The side of the upper winding drum 3 is provided with a first anchor chain wheel 10, and the side of the lower winding drum 5 is provided with a second anchor chain wheel 11, so that the winch can be used for anchoring, and further integrates the functions of a winch.
The automatic cable arrangement device comprises a first cable arrangement device 4 and a second cable arrangement device 6, a cam cable arrangement mechanism, a lead screw cable arrangement mechanism or a hydraulic cylinder cable arrangement mechanism can be selected, and the winch can enable the cable to be wound on the winding drum neatly and compactly through periodic reciprocating motion of the cable arrangement mechanism, so that the phenomena of disordered winding, mutual extrusion and the like of the cable during double-layer or multi-layer winding are avoided, and the winch can be ensured to be capable of smoothly winding and unwinding.
The auxiliary device comprises a towing cable retaining pile 15, a shark jaw 14 and a tail roller 16; the towing cable retaining pile 15 is arranged at the rear part of the towing winch and is opposite to the center of the roller, and the net distance between the inner sides of two vertical retaining piles is not more than the length of a winding drum of the towing winch, so that the left-right swing of the main towing cable 12 is within the length range of the winding drum under any towing condition, and the towing winch is ensured to safely receive and release the main towing cable 12; the tail roller 16 rotates as the main streamer 12 moves over the tail roller 16, reducing sliding friction and thereby reducing wear on the cable 12 or chain.
The clutch 8 is an internal friction clutch capable of realizing quick disengagement, so that the reel is disengaged to meet the requirement of emergency release.
The winch is arranged on the main deck close to the position behind the midpoint of the ship length and meeting the specification requirement, so that the cargo area is enlarged; the winch, the shark jaw 14, the towing cable retaining pile 15 and the tail roller 16 are sequentially arranged on the center line of the ship from head to tail.
In another aspect, the present invention further provides a working method of the above drag winch system, including the following steps:
when the towing operation is carried out, the towing winch is connected with towed objects 17 such as an ocean platform and the like through the main towing cable 12, bears corresponding load loads, and plays the roles of rope withdrawing, rope releasing and cable storing; during towing operation, the fender pile 15 is in a raised state to prevent the main towing cable 12 from swaying left and right to a large extent, thereby reducing the influence on the state of the ship.
When the tension between the towing winch and the towed object 17 changes due to factors such as wind waves and the like, the control system changes the rotating speed of the motor 7 through the frequency converter to drive the winding drum 3 to automatically wind and unwind the cable 12, and controls the tension within a certain range, thereby ensuring the safety of towing; when the cable on the drum only has 60 meters left, the alarm is given, and when the cable has 50 meters left, the vehicle is stopped.
After the towing is finished, the shark jaw 14 is used for clamping the mooring rope 12 when the releasing operation is carried out, so that the operation danger caused by the influence of wind waves is reduced, and the working strength of the crew is reduced.
When the towed object 18 sinks or the normal power source fails during towing, the control system controls the clutch 8 to disengage, the cable 12 is rapidly released, and the safety of the winch is ensured.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A drag winch system, comprising: the system comprises a rack (1), a double-cable-containing drum, a motor (7), an automatic cable arrangement device and an auxiliary device, wherein the double-cable-containing drum is used for dragging and anchoring, the motor (7) is used for providing power for the rotation of the double-cable-containing drum, and the auxiliary device is used for assisting the operation of a dragging winch; the double-cable-containing drum, the motor (7) and the automatic cable arrangement device are arranged on the rack (1);
the double-cable-containing drum comprises an upper drum (3) and a lower drum (5) which are arranged in a high-low mode, the upper drum (3) is a towing drum, a main towing cable (12) is wound on the upper drum, and the lower drum (5) is an anchoring drum, and a standby towing cable (13) is wound on the lower drum;
the motor (7) drives the double-cable-accommodating winding drum through the speed reducing mechanism (9) and the clutch (8);
the automatic cable arrangement device comprises a first cable arrangement device (4) arranged in front of the upper winding drum (3) and a second cable arrangement device (6) arranged in front of the lower winding drum (5).
2. The tow winch system according to claim 1, wherein the auxiliary devices comprise a streamer fender pile (15), shark jaw (14), tail drum (16); the winch, the shark pincers (14), the towing cable retaining pile (15) and the tail roller (16) are sequentially arranged along the center line of the ship.
3. The tow winch system according to claim 1, wherein the main (12) and the auxiliary (13) streamers are fitted with tension sensors for real-time monitoring of cable tension; and length sensors for measuring the paying-out length of the cable are arranged on the upper winding drum (3) and the lower winding drum (5).
4. The towing winch system according to claim 1 or 2, characterized in that the upper drum (3) is connected to the main streamer (12) by a rope clamp and is provided with a first anchor sprocket (10) on its side; the lower winding drum (5) is connected with a standby towing cable (13) through a rope clamp, and a second anchor chain wheel (11) is arranged on the side edge of the lower winding drum.
5. The tow winch system of claim 1 or 2, wherein the automatic cable routing device is a cam cable routing mechanism, a lead screw cable routing mechanism, or a hydraulic cylinder cable routing mechanism.
6. The tow winch system according to claim 1, characterized in that the clutch (8) is an internal friction clutch.
7. A method of operating a drag winch system according to claim 1, comprising the steps of:
when towing operation is carried out, the cable blocking pile (15) is in a lifting state and is used for blocking the main towing cable (12) from shaking left and right to reduce the influence on the state of the ship, the towing winch is connected with the towed object (18) through the main towing cable (12) and bears corresponding load, and the effects of rope winding, rope unwinding and rope storage are achieved according to the use requirement;
when the tension between the towing winch and the towed object (18) changes due to factors such as wind waves and the like, the control system changes the rotating speed of the motor (7) through the frequency converter to drive the double-cable reel to automatically reel and reel the cable rope, and controls the tension within a certain range, so that the safety of towing is ensured;
after the towing is finished, when the cable releasing operation is carried out, the shark pincers (14) are used for clamping the cable, so that the operation danger caused by the influence of wind waves is reduced, and the working strength of the crew is reduced.
8. The method of towing winch system operation of claim 7, further comprising the steps of:
in the dragging process, when the towed object (18) sinks or a normal power source fails, the control system controls the clutch (8) to be disengaged, the cable is quickly released, and the safety of the winch is guaranteed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911418515.2A CN111056469A (en) | 2019-12-31 | 2019-12-31 | Towing winch system and working method thereof |
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| CN201911418515.2A CN111056469A (en) | 2019-12-31 | 2019-12-31 | Towing winch system and working method thereof |
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| CN111747331A (en) * | 2020-07-06 | 2020-10-09 | 徐州淮煤矿山设备制造有限公司 | Double-drum driven hydraulic winch |
| CN113059965A (en) * | 2021-04-30 | 2021-07-02 | 浙江润华机电有限公司 | Running gear for external winch of automobile |
| CN114148933A (en) * | 2022-02-10 | 2022-03-08 | 新乡市起重设备厂有限责任公司 | Drum hoisting mechanism with emergency function for crane |
| CN115448194A (en) * | 2022-09-27 | 2022-12-09 | 中煤科工智能储装技术有限公司 | Winch dragging device capable of preventing steel wire rope from deflecting |
| CN117864307A (en) * | 2024-02-29 | 2024-04-12 | 湛江港（集团）股份有限公司 | Automatic brake control method and device for cable anchoring machine |
| CN118004914A (en) * | 2024-04-10 | 2024-05-10 | 江苏海泰海洋装备有限公司 | Tension winch with guide structure for ship |
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| CN111747331A (en) * | 2020-07-06 | 2020-10-09 | 徐州淮煤矿山设备制造有限公司 | Double-drum driven hydraulic winch |
| CN113059965A (en) * | 2021-04-30 | 2021-07-02 | 浙江润华机电有限公司 | Running gear for external winch of automobile |
| CN113059965B (en) * | 2021-04-30 | 2023-09-22 | 浙江润华机电有限公司 | Running gear for external winch of automobile |
| CN114148933A (en) * | 2022-02-10 | 2022-03-08 | 新乡市起重设备厂有限责任公司 | Drum hoisting mechanism with emergency function for crane |
| CN114148933B (en) * | 2022-02-10 | 2022-04-26 | 新乡市起重设备厂有限责任公司 | Drum hoisting mechanism with emergency function for crane |
| CN115448194A (en) * | 2022-09-27 | 2022-12-09 | 中煤科工智能储装技术有限公司 | Winch dragging device capable of preventing steel wire rope from deflecting |
| CN117864307A (en) * | 2024-02-29 | 2024-04-12 | 湛江港（集团）股份有限公司 | Automatic brake control method and device for cable anchoring machine |
| CN118004914A (en) * | 2024-04-10 | 2024-05-10 | 江苏海泰海洋装备有限公司 | Tension winch with guide structure for ship |
| CN118004914B (en) * | 2024-04-10 | 2024-06-11 | 江苏海泰海洋装备有限公司 | Tension winch with guide structure for ship |
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