CN112722900A - Hydraulic compensation method for loading and load-adjusting of large-scale structure - Google Patents

Hydraulic compensation method for loading and load-adjusting of large-scale structure Download PDF

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Publication number
CN112722900A
CN112722900A CN202011543221.5A CN202011543221A CN112722900A CN 112722900 A CN112722900 A CN 112722900A CN 202011543221 A CN202011543221 A CN 202011543221A CN 112722900 A CN112722900 A CN 112722900A
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wharf
hydraulic cylinder
ship
scale structure
height
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张子波
章青
蒋晗
邵鹏松
姚旭
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Tianjin University
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Tianjin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/60—Loading or unloading ships
    • B65G67/603—Loading or unloading ships using devices specially adapted for articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/22—Horizontal loading or unloading platforms

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The invention discloses a hydraulic compensation method for loading and load adjustment of a large-scale structure. The method is used as a supplement of a ballast water load regulation method, and the level of a large-scale structure in the whole ship loading process is ensured by real-time load regulation of a hydraulic system arranged between the large-scale structure and a transportation barge, so that the safety of ship loading operation is improved. Meanwhile, hydraulic load regulation is carried for ballast water, the reaction speed is high, and real-time regulation can be realized. The specific adjustment method is as follows: a synchronous jacking hydraulic cylinder group is arranged between the supporting leg of the large-scale structure and the sliding shoe. The total station measures the height difference hi (i is 1, 2, 3 …) between each leg and a reference marker post with the height H on the shore, and feeds the height difference back to the hydraulic control system. And the hydraulic control system controls each synchronous jacking hydraulic cylinder group to perform height compensation with the height of hi (i is 1, 2, 3 …), so that the level of the large structure in the whole ship loading process is ensured.

Description

Hydraulic compensation method for loading and load-adjusting of large-scale structure
Technical Field
The invention relates to a hydraulic compensation method for shipping and load adjusting of a large structure, and belongs to the field of installation and transportation of large structures.
Background
With the trend of upsizing the offshore oil platform, the overall weight of the offshore oil platform is heavier and heavier, and the maximum total weight of the offshore oil platform reaches 3 ten thousand tons. The method for loading large-scale offshore oil platforms by sliding large-scale structures is commonly adopted in the patent CN 101362557A. However, this method has two disadvantages. The method realizes the shipment of large-scale structures by a method of ballast water step-by-step load adjustment. This approach can only ensure that the barge deck is level with the quay at the control nodes between steps, thus ensuring the level of the large structure at the control nodes, which is not guaranteed during the skidding process of each step. The non-horizontal state of the large structure at any time during the shipping operation brings a risk to the shipping. The safest shipment is the process of keeping large structures level throughout the shipment. And secondly, the method realizes loading and load regulation completely by a mode of regulating the water quantity of the ballast tank. The load adjusting speed of the load adjusting mode for adjusting the water quantity of the load-adjusting ballast tank is slow, the height difference between the wharf plane and the deck surface of the barge cannot be compensated in time, and the level of a large-scale structure cannot be guaranteed.
Disclosure of Invention
The invention provides a hydraulic compensation method for loading and adjusting large-scale structures. The method is used as a supplement of a ballast water load regulation method, and the level of a large-scale structure in the whole ship loading process is ensured through real-time load regulation of a hydraulic system arranged between the large-scale structure and a transportation barge of the large-scale structure.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the barge realizes load regulation of control nodes between ship steps through the existing ballast water step-by-step load regulation technology. During the sliding process of each step of the large structure, the position of the legs of the large structure on the barge is changed, so that the barge deck is not level with the wharf, and the large structure is inclined. A hydraulic compensation method for loading and adjusting large-scale structures on ships ensures that the large-scale structures are always accurately leveled in the process of slipping in each step.
Two parallel slideways are arranged on the wharf, and the two slideways on the barge are in collinear parallel butt joint with the slideways on the wharf. The skid shoes with the same number as the support legs of the large-scale structure are arranged on the slide way, a synchronous jacking hydraulic cylinder group is placed on the upper surface of each skid shoe, and a plurality of hydraulic cylinders in the synchronous jacking hydraulic cylinder group support one support leg of the large-scale structure together. A plurality of hydraulic cylinders of the synchronous jacking hydraulic cylinder group supply oil through coaxial hydraulic pumps, and the output displacement can be ensured to be completely the same.
A reference marker post is arranged on the wharf plane. The wharf plane is taken as a zero horizontal plane, and the height of the reference rod is H.
H＝H1+H2+H3×0.5
H1 is the height of the slide; h2 is the slipper height; h3 is the stroke of synchronous lifting hydraulic cylinder group.
The compensation process of the hydraulic compensation method for loading and adjusting the large-scale structure comprises the following steps:
step one, when the skid shoes of the supporting legs of the large-scale structure are completely positioned on the shore, the synchronous lifting hydraulic cylinder groups of the supporting legs synchronously lift the large-scale structure to the height H of the reference marker post, and the large-scale structure is kept horizontal. The towing mechanism starts to tow and the large structure starts to slide towards the barge.
And step two, carrying out primary ballast water load adjustment when the front ends of the skid shoes of the row of support legs of the large-scale structure, which are parallel to the edge of the wharf and are closest to the barge, in the support legs of the large-scale structure on the shore are flush with the edge of the wharf. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And in the sliding process from the front end of the sliding shoe leaving the wharf slideway to the rear end of the sliding shoe leaving the wharf slideway, the pressure of each hydraulic cylinder of the synchronous jacking hydraulic cylinder group on the sliding shoe on the ship is ensured to be the same through ballast water regulation. And (5) after the tail end of the sliding shoe leaves the wharf slideway, switching to the third step.
Step three, the distance of each forward sliding step of the large-scale structure is l0. And carrying out ballast water load adjustment once every time the water slides forward by one step. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And after the load adjustment is finished, performing the next step of slipping.
In the process of slipping at each step, the compensation process of the synchronous jacking hydraulic cylinder group on the ship is as follows:
and the total station on the wharf measures the horizontal height difference hi (i is 1, 2, 3 …) between the bottom surface of the i-number support leg on the ship and the reference marker post with the height H on the wharf in real time, and feeds the hi back to the hydraulic control system of the synchronous jacking hydraulic cylinder group under the i-number support leg. And the hydraulic control system controls the synchronous jacking hydraulic cylinder set to compensate the height hi.
And the compensation of the synchronous lifting hydraulic cylinder group on the ship starts from the tail end of the sliding shoe corresponding to the synchronous lifting hydraulic cylinder group to leave the wharf slideway until the ship loading is finished.
And if the front end of the skid shoe of the row of the support legs of the large-scale structure, which are parallel to the wharf edge and are closest to the barge, is flush with the wharf edge in the gliding process, namely the row of the support legs is about to get on the ship, returning to the step two.
And if the large structure is slipped to the designated position of the barge, turning to step four.
And step four, carrying out primary ballast water load transfer, wherein after the ballast water load transfer, the wharf plane is required to be flush with the deck of the barge, and the jacking heights of all the synchronous jacking hydraulic cylinder groups on the ship and under the ship are H. And after the load adjustment is finished, synchronously descending all the synchronous jacking hydraulic cylinder groups to the bottom end of the stroke, and finishing the sliding ship loading operation.
Advantageous effects
The invention provides a hydraulic compensation method for loading and adjusting large-scale structures. The method has the beneficial effects that: the method can ensure that the whole load adjusting process keeps the level of a large-sized structure, and the safety of the ship loading operation is improved. And secondly, hydraulic load regulation is carried relative to ballast water load regulation, the reaction speed is high, and real-time regulation can be realized.
Drawings
FIG. 1 is a shipping operation diagram of a large structure;
FIG. 2 is a top view of a large structure shipping operation;
fig. 3 is a partial view of the simultaneous lift hydraulic cylinder bank below the outriggers.
Detailed Description
The method of the present invention is further described below with reference to the following detailed description and accompanying drawings.
The barge realizes load regulation of control nodes between ship steps through the existing ballast water step-by-step load regulation technology. During the sliding process of each step of the large structure, the position of the legs of the large structure on the barge is changed, so that the barge deck is not level with the wharf, and the large structure is inclined. The hydraulic compensation method for loading and adjusting the large-scale structure guarantees that the large-scale structure is always accurately leveled in the sliding process of each step through the following steps.
Take a large structure with 2 x 3 legs as an example for shipping.
Two parallel slideways 4 are arranged on the wharf 1, and two slideways 5 on the barge 2 are in collinear parallel butt joint with the slideways on the wharf. The skid shoes (comprising the skid shoes 8-1, 8-2, 8-3, 8-4, 8-5 and 8-6) with the same number as the support legs of the large structure 3 are arranged on the slide way, a synchronous lifting hydraulic cylinder group (comprising the synchronous lifting hydraulic cylinder groups 7-1, 7-2, 7-3, 7-4, 7-5 and 7-6) is arranged on the upper surface of each skid shoe, and a plurality of hydraulic cylinders in the synchronous lifting hydraulic cylinder group support one support leg (comprising the support legs 6-1, 6-2, 6-3, 6-4, 6-5 and 6-6) of the large structure 3 together. A plurality of hydraulic cylinders of the synchronous jacking hydraulic cylinder group supply oil through coaxial hydraulic pumps, and the output displacement can be ensured to be completely the same.
A reference marker post is arranged on the wharf plane. The wharf plane is taken as a zero horizontal plane, and the height of the reference rod is H.
H＝H1+H2+H3×0.5
H1 is the height of the slide; h2 is the slipper height; h3 is the stroke of synchronous lifting hydraulic cylinder group.
The compensation process of the hydraulic compensation method for loading and adjusting the large-scale structure is as follows:
step one, when the skid shoes of the supporting legs of the large-scale structure are completely positioned on the shore, the synchronous lifting hydraulic cylinder groups of the supporting legs synchronously lift the large-scale structure 3 to the height H of the reference marker post, and the large-scale structure 3 is kept horizontal. The towing mechanism starts to tow and the large structure starts to slide towards the barge.
And step two, carrying out primary ballast water load adjustment when the front ends of the skid shoes (namely the skid shoes 8-1 and 8-2) of the row of landing legs (namely the landing legs 6-1 and 6-2) of the large structure 3 which are positioned on the shore and are parallel to the edge of the wharf and are closest to the barge are flush with the edge of the wharf. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. In the sliding process from the front end of the sliding shoes (namely the sliding shoes 8-1 and 8-2) leaving the wharf slideway to the rear end of the sliding shoes (namely the sliding shoes 8-1 and 8-2) leaving the wharf slideway, the pressure of each hydraulic cylinder of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-1 and 7-2) on the sliding shoes (namely the sliding shoes 8-1 and 8-2) on board is ensured to be the same through ballast water regulation. And (3) the tail end of the sliding shoe (namely the sliding shoes 8-1 and 8-2) leaves the wharf slideway, and the step three is carried out.
Step three, the distance of each forward sliding step of the large-scale structure is l0. And carrying out ballast water load adjustment once every time the water slides forward by one step. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And after the load adjustment is finished, performing the next step of slipping.
In the process of slipping at each step, the compensation process of the synchronous jacking hydraulic cylinder group on the ship is as follows:
and the total station on the wharf measures the horizontal height difference H1 and H2 between the bottom surface of the landing leg (namely, the landing legs 6-1 and 6-2) on the ship and the reference marker post with the height H on the wharf in real time, and feeds back H1 and H2 to the hydraulic control system of the synchronous jacking hydraulic cylinder groups (namely, the synchronous jacking hydraulic cylinder groups 7-1 and 7-2) under the landing legs 6-1 and 6-2. The hydraulic control system controls the synchronous jacking hydraulic cylinder groups 7-1 and 7-2 to respectively compensate for the heights h1 and h 2.
The compensation of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-1 and 7-2) on the ship is started from the tail ends of the sliding shoes corresponding to the synchronous lifting hydraulic cylinder groups to leave the wharf slideway until the ship loading is finished.
And if the front ends of the skid shoes (namely the skid shoes 8-3 and 8-4) of the row of the support legs of the large-scale structure which are parallel to the wharf edge and are closest to the barge in the shore are flush with the wharf edge in the gliding process, namely the row of the support legs is going to be loaded on the ship, returning to the second step.
And step two, carrying out primary ballast water load regulation when the front ends of the skid shoes (namely the skid shoes 8-3 and 8-4) of the landing legs (namely the landing legs 6-3, 6-4, 6-5 and 6-6) of the row of landing legs (namely the landing legs 6-3 and 6-4) of the large structure 3 which are positioned on the shore are parallel to the edge of the wharf and are closest to the barge are level with the edge of the wharf. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. In the sliding process from the front end of the sliding shoes (namely the sliding shoes 8-3 and 8-4) leaving the wharf slideway to the rear end of the sliding shoes (namely the sliding shoes 8-3 and 8-4) leaving the wharf slideway, the pressure of each hydraulic cylinder of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-3 and 7-4) on the sliding shoes (namely the sliding shoes 8-3 and 8-4) on the ship is ensured to be the same through ballast water load regulation. And (3) the tail end of the sliding shoe (namely the sliding shoes 8-3 and 8-4) leaves the wharf slideway, and the step three is carried out.
Step three, the distance of each forward sliding step of the large-scale structure is l0. And carrying out ballast water load adjustment once every time the water slides forward by one step. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And after the load adjustment is finished, performing the next step of slipping.
In the process of slipping at each step, the compensation process of the synchronous jacking hydraulic cylinder group on the ship is as follows:
the total station on the wharf measures the horizontal height difference H1, H2, H3 and H4 between the bottom surface of the landing leg (namely the landing legs 6-1, 6-2, 6-3 and 6-4) on the ship and a reference marker post with the height H on the wharf in real time, and feeds back H1, H2, H3 and H4 to the hydraulic control system of the synchronous jacking hydraulic cylinder groups (namely the synchronous jacking hydraulic cylinder groups 7-1, 7-2, 7-3 and 7-4) under the landing legs 6-1, 6-2, 6-3 and 6-4. The hydraulic control system controls the synchronous jacking hydraulic cylinder groups 7-1, 7-2, 7-3 and 7-4 to respectively compensate for the heights h1, h2, h3 and h 4.
The compensation of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-1, 7-2, 7-3 and 7-4) on the ship is started from the tail ends of the skid shoes corresponding to the synchronous lifting hydraulic cylinder groups to leave the wharf slideway until the loading is finished.
If the front ends of the skid shoes (namely, the skid shoes 8-5 and 8-6) of the row of the support legs of the large-scale structure which are parallel to the wharf edge and are closest to the barge in the shore are flush with the wharf edge in the gliding process, namely the row of the support legs is going to be loaded on the ship, the step II is returned.
And step two, carrying out primary ballast water load regulation when the front ends of the skid shoes (namely the skid shoes 8-5 and 8-6) of the landing legs (namely the landing legs 6-5 and 6-6) of the large structure 3 which are positioned on the shore, are parallel to the edge of the wharf and are closest to one row of landing legs (namely the landing legs 6-5 and 6-6) of the barge are flush with the edge of the wharf. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. During the sliding process from the front end of the skid shoes (namely the skid shoes 8-5 and 8-6) leaving the dock slipway to the rear end of the skid shoes (namely the skid shoes 8-5 and 8-6) leaving the dock slipway, the pressure of each hydraulic cylinder of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-5 and 7-6) on the skid shoes (namely the skid shoes 8-5 and 8-6) on board is ensured to be the same through ballast water load regulation. And (3) the tail end of the sliding shoe (namely the sliding shoes 8-5 and 8-6) leaves the wharf slideway, and the step three is carried out.
Step three, the distance of each forward sliding step of the large-scale structure is l0. And carrying out ballast water load adjustment once every time the water slides forward by one step. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And after the load adjustment is finished, performing the next step of slipping.
In the process of slipping at each step, the compensation process of the synchronous jacking hydraulic cylinder group on the ship is as follows:
the total station on the wharf measures the horizontal height difference H1, H2, H3, H4, H5 and H6 between the bottom surface of the landing leg (namely the landing leg 6-1, 6-2, 6-3, 6-4, 6-5 and 6-6) on the ship and a reference marker post with the height H on the wharf in real time, and feeds back H1, H2, H3, H4, H5 and H6 to the hydraulic control system of the synchronous jacking hydraulic cylinder groups (namely the synchronous jacking hydraulic cylinder groups 7-1, 7-2, 7-3, 7-4, 7-5 and 7-6) under the landing leg 6-1, 6-2, 6-3, 6-4, 6-5 and 6-6). The hydraulic control system controls the synchronous jacking hydraulic cylinder groups 7-1, 7-2, 7-3, 7-4, 7-5 and 7-6 to respectively compensate for the heights of h1, h2, h3, h4, h5 and h 6.
The compensation of the synchronous lifting hydraulic cylinder groups (namely the synchronous lifting hydraulic cylinder groups 7-1, 7-2, 7-3, 7-4, 7-5 and 7-6) on the ship is started from the tail ends of the skid shoes corresponding to the synchronous lifting hydraulic cylinder groups to leave the wharf slideway until the ship loading is finished.
And if the large structure is slipped to the designated position of the barge, turning to step four.
And step four, carrying out primary ballast water load transfer, wherein after the ballast water load transfer, the wharf plane is required to be flush with the deck of the barge, and the jacking heights of all the synchronous jacking hydraulic cylinder groups on the ship and under the ship are H. And after the load adjustment is finished, synchronously descending all the synchronous jacking hydraulic cylinder groups to the bottom end of the stroke, and finishing the sliding ship loading operation.

Claims (3)

1. Two parallel slideways are arranged on the wharf, and the two slideways on the barge are in collinear parallel butt joint with the slideways on the wharf. The skid shoes with the same number as the support legs of the large-scale structure are arranged on the slide way, a synchronous jacking hydraulic cylinder group is placed on the upper surface of each skid shoe, and a plurality of hydraulic cylinders in the synchronous jacking hydraulic cylinder group support one support leg of the large-scale structure together. A plurality of hydraulic cylinders of the synchronous jacking hydraulic cylinder group supply oil through coaxial hydraulic pumps, and the output displacement can be ensured to be completely the same.
2. A reference marker post is arranged on the wharf plane. The wharf plane is taken as a zero horizontal plane, and the height of the reference rod is H.
H＝H1+H2+H3×0.5
H1 is the height of the slide; h2 is the slipper height; h3 is the stroke of synchronous lifting hydraulic cylinder group.
3. The compensation process of the hydraulic compensation method for loading and adjusting the large-scale structure comprises the following steps:
step one, when the skid shoes of the supporting legs of the large-scale structure are completely positioned on the shore, the synchronous lifting hydraulic cylinder groups of the supporting legs synchronously lift the large-scale structure to the height H of the reference marker post, and the large-scale structure is kept horizontal. The towing mechanism starts to tow and the large structure starts to slide towards the barge.
And step two, carrying out primary ballast water load adjustment when the front ends of the skid shoes of the row of support legs of the large-scale structure, which are parallel to the edge of the wharf and are closest to the barge, in the support legs of the large-scale structure on the shore are flush with the edge of the wharf. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And in the sliding process from the front end of the sliding shoe leaving the wharf slideway to the rear end of the sliding shoe leaving the wharf slideway, the pressure of each hydraulic cylinder of the synchronous jacking hydraulic cylinder group on the sliding shoe on the ship is ensured to be the same through ballast water regulation. And (5) after the tail end of the sliding shoe leaves the wharf slideway, switching to the third step.
And step three, the distance of each step of forward sliding of the large-scale structure is l 0. And carrying out ballast water load adjustment once every time the water slides forward by one step. After the ballast water is regulated, the wharf plane is required to be flush with the deck of the barge, and the jacking height of all the synchronous jacking hydraulic cylinder groups on the ship is H. And after the load adjustment is finished, performing the next step of slipping.
In the process of slipping at each step, the compensation process of the synchronous jacking hydraulic cylinder group on the ship is as follows:
and the total station on the wharf measures the horizontal height difference hi (i is 1, 2, 3 …) between the bottom surface of the i-number support leg on the ship and the reference marker post with the height H on the wharf in real time, and feeds the hi back to the hydraulic control system of the synchronous jacking hydraulic cylinder group under the i-number support leg. And the hydraulic control system controls the synchronous jacking hydraulic cylinder set to compensate the height hi.
And the compensation of the synchronous lifting hydraulic cylinder group on the ship starts from the tail end of the sliding shoe corresponding to the synchronous lifting hydraulic cylinder group to leave the wharf slideway until the ship loading is finished.
And if the front end of the skid shoe of the row of the support legs of the large-scale structure, which are parallel to the wharf edge and are closest to the barge, is flush with the wharf edge in the gliding process, namely the row of the support legs is about to get on the ship, returning to the step two.
And if the large structure is slipped to the designated position of the barge, turning to step four.
And step four, carrying out primary ballast water load transfer, wherein after the ballast water load transfer, the wharf plane is required to be flush with the deck of the barge, and the jacking heights of all the synchronous jacking hydraulic cylinder groups on the ship and under the ship are H. And after the load adjustment is finished, synchronously descending all the synchronous jacking hydraulic cylinder groups to the bottom end of the stroke, and finishing the sliding ship loading operation.
CN202011543221.5A 2020-12-24 2020-12-24 Hydraulic compensation method for loading and load-adjusting of large-scale structure Pending CN112722900A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116692525A (en) * 2023-08-03 2023-09-05 南通泰胜蓝岛海洋工程有限公司 Sea wind pipe pile bidirectional transferring equipment and ship-on transferring method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116692525A (en) * 2023-08-03 2023-09-05 南通泰胜蓝岛海洋工程有限公司 Sea wind pipe pile bidirectional transferring equipment and ship-on transferring method thereof
CN116692525B (en) * 2023-08-03 2023-10-24 南通泰胜蓝岛海洋工程有限公司 Sea wind pipe pile bidirectional transferring equipment and ship-on transferring method thereof

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