CN214524328U - Semi-submersible type immersed tube transporting and installing integrated ship - Google Patents
Semi-submersible type immersed tube transporting and installing integrated ship Download PDFInfo
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- CN214524328U CN214524328U CN202120852963.XU CN202120852963U CN214524328U CN 214524328 U CN214524328 U CN 214524328U CN 202120852963 U CN202120852963 U CN 202120852963U CN 214524328 U CN214524328 U CN 214524328U
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Abstract
The utility model discloses an integrative ship of semi-submerged formula immersed tube transportation installation, this integrative ship includes: the two floating body structures are symmetrically arranged relative to the reference plane and are arranged in parallel, and the upper parts or the top surfaces of the two floating body structures are connected through the deck structure; the two supporting mechanisms are respectively arranged on the opposite sides of the two floating body structures and are symmetrically arranged relative to the reference plane, and the supporting mechanisms are arranged at the lower part or the bottom of the floating body structures; each racking mechanism further comprises: the driving component is used for driving the supporting component to lean against or extend out of the floating body structure where the supporting component is located. The integrated ship can reduce the draught after the ship body bears the immersed tube, and can realize the immersed tube transportation of a shallow water channel.
Description
Technical Field
The utility model belongs to the technical field of tunnel construction under water, concretely relates to semi-submerged formula immersed tube transportation installation integral ship.
Background
The immersed tube tunnel is the current river-crossing and sea-crossing tunnel at home and abroad, the super engineering HongZhu Australia bridge is successfully built, the leap development of the immersed tube tunnel engineering in China is promoted, and the super engineering construction of deep medium channels, large connecting bay submarine tunnels and the like is successively developed after the HongZhu Australia bridge engineering.
The immersed tube section transportation installation in immersed tube tunnel needs special equipment, but, adopts conventional immersed tube transportation equipment to transport the immersed tube to the dive zone time, and the transport environment can't reach the draft requirement behind the transporting equipment bearing the immersed tube, leads to the immersed tube transportation of the unable shallow water district of realizing of conventional transporting equipment, in order to improve the efficiency of construction, reduces construction cost, needs research and development one kind can realize the transporting equipment of the immersed tube transportation of shallow water channel.
Disclosure of Invention
Not enough to prior art, the utility model provides a semi-submerged formula immersed tube transportation installation integral ship. This integrative ship can reduce the draught after the hull bears the weight of the immersed tube, can realize the immersed tube transportation of shallow water channel, reduces the volume of dredging of channel, can effectual reduction construction cost, improves efficiency of construction and economic benefits.
In order to achieve the above object, the utility model discloses a technical scheme be:
the utility model discloses an integrative ship of semi-submerged formula immersed tube transportation installation, include:
a deck structure, a plurality of deck structures,
the two floating body structures can carry water under pressure, a vertical plane where the central line in the length direction of the integrated ship is located serves as a reference plane, the two floating body structures are symmetrically arranged relative to the reference plane and are arranged in parallel, and the upper parts or the top surfaces of the two floating body structures are connected through the deck structure; and
the two supporting mechanisms are respectively arranged at the opposite sides of the two floating body structures and are symmetrically arranged relative to the reference plane, and the supporting mechanisms are arranged at the lower part or the bottom of the floating body structures; each of the racking mechanisms further comprising:
at least two support assemblies;
the driving component is used for driving the supporting component to lean against or extend out of the floating body structure where the supporting component is located, when the supporting component extends out of the floating body structure, the supporting component can be supported on the bottom surface of the immersed tube, and a space above the supporting component, below the deck structure and between the floating body structures forms a carrying space for containing the immersed tube.
In some of these embodiments, the support assembly further comprises:
the top surface of the supporting leg is used for supporting the immersed tube; and
the rotating shaft is vertically arranged and is used for rotatably connecting the supporting leg and the floating body structure;
the driving assemblies are arranged in one-to-one correspondence with the supporting legs to drive the supporting legs to rotate around the central axis of the rotating shaft.
In some of these embodiments, the shaft end is coupled to the float structure by a bearing, the drive assembly further comprising:
the body of the hydraulic motor is fixedly arranged on the floating body structure, and the driving shaft is vertically arranged;
the first gear is coaxially arranged with the driving shaft and is sleeved and fixed on the driving shaft; and
and the second gear is coaxially arranged with the rotating shaft and is sleeved and fixed on the rotating shaft, and the second gear is meshed with the first gear.
In some embodiments, the sidewall of the floating body structure is provided with a receiving groove, the receiving groove is arranged in one-to-one correspondence with the supporting legs, the rotating shaft is located in the receiving groove, and the supporting legs can rotate along with the rotating shaft into the receiving groove.
In some embodiments, a sealed electronic bin for mounting the driving assembly is arranged in the floating body structure, and the sealed electronic bin and the driving assembly are arranged in a one-to-one correspondence manner.
In some of these embodiments, the support leg further comprises:
the mounting seat is fixedly mounted on the side wall of the rotating shaft; and
and the cylinder bottom is fixedly arranged on the top surface of the mounting seat, and the piston rod is vertically and upwards arranged.
In some embodiments, a backing plate is fixedly mounted on the top surface of the piston rod.
In some of these embodiments, the backing plate is a rubber plate.
In some of these embodiments, the deck structure is fixedly connected to the buoyant structure by a detachable truss connection.
In some of these embodiments, the truss connection structure includes an upper connector plate structure coupled to the deck structure, a truss structure, and a lower connector plate structure coupled to the buoyant structure.
In some of these embodiments, a cavity structure is provided within the buoyant structure, and a ballast water system is installed in the buoyant structure to control submerging and surfacing of the buoyant structure by controlling ballast water volume within the cavity structure.
In some of these embodiments, a cable system is provided on the deck structure for reinforcing a immersed tube and the integral vessel connection.
Compared with the prior art, the utility model discloses an advantage lies in with positive effect: a semi-submersible immersed tube transporting and installing integrated ship is provided. This integrative ship can reduce the draught after the hull bears the weight of the immersed tube, can realize the immersed tube transportation of shallow water channel, reduces the volume of dredging of channel, can effectual reduction construction cost, improves efficiency of construction and economic benefits. Specifically, the method comprises the following steps:
1. an organic whole ship has the semi-submerged function, and at the transportation immersed tube in-process, utilizes an organic whole ship can provide great buoyancy, and the immersed tube can be lifted to bearing mechanism, can reduce the holistic draft of an organic whole ship and immersed tube in the transportation, satisfies the transportation requirement of shallow water channel, and the volume of dredging of greatly reduced channel practices thrift construction cost.
2. Supporting legs of the supporting mechanism are provided with a jack structure to support the immersed tube, and the leveling can be realized by adjusting the telescopic piston rods of jacks of a plurality of supporting legs, so that the stress of the bottom surface of the immersed tube and all the supporting legs is uniform, and the immersed tube or equipment damage caused by the nonuniform local stress is avoided.
3. The truss connection structure is adopted to connect the floating body structure and the deck structure, so that the two floating body structures and the deck structure are easy to disassemble and assemble, the ship body is convenient to transform, the width of the ship body is changed, the truss connection structure is suitable for transportation and installation of immersed pipes with different sizes, and the application value of the integrated ship is improved.
Drawings
Fig. 1 is a schematic bottom view of the structure of the integrated ship of the present invention;
FIG. 2 is a schematic structural view of the state of the immersed tube for integrated ship transportation according to the present invention;
FIG. 3 is a schematic view of a single-sided structure of the integrated ship of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic cross-sectional view of the integrated ship of the present invention;
fig. 6 is an enlarged view of a portion B of fig. 5.
Detailed Description
The present invention is specifically described below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
It should be noted that in the description of the present invention, the terms "inside", "outside", "upper", "lower", "left", "right", "front", "rear", etc. indicate the positional relationship based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example (b):
as shown in fig. 1 to 6, a semi-submersible type immersed tube transporting and installing integrated ship comprises a deck structure 2, a pipe ship connecting structure for connecting the integrated ship and an immersed tube 10, two floating body structures 1 arranged in parallel, and two bearing mechanisms; the two supporting mechanisms are respectively arranged at the opposite sides of the floating body structure 1; the floating body structures 1 can pressurize water to control the floating body structures to submerge and ascend, a vertical plane where a central line in the length direction of the integrated ship is located serves as a reference plane, the two floating body structures 1 are symmetrically arranged relative to the reference plane, the top surfaces (or the upper parts) of the two floating body structures 1 are connected through the deck structures 2, sinking pipe installation equipment can be installed on the deck structures 2, as shown in fig. 1, the two supporting mechanisms are symmetrically arranged relative to the reference plane, and the supporting mechanisms are arranged at the lower parts (or the bottom parts) of the floating body structures 1; the structure of each racking mechanism includes: at least two supporting components to and be used for driving the supporting component and paste (as shown in the left side of figure 1) or stretch out (keep away from promptly, as shown in the right side of figure 1) its place body structure 1's drive component, when the supporting component pastes body structure 1, the interval is greater than immersed tube 10 width between the supporting component on two body structures 1, do not influence the integrative ship submergence of immersed tube 10 top, when the supporting component stretches out body structure 1, the supporting component of two body structures 1 can bear immersed tube 10 bottom surface simultaneously, at this moment, the supporting component top, deck structure 2 below and the space between two body structures constitute the delivery space who is used for holding the immersed tube.
The construction process for transporting and installing the immersed tube by adopting the integrated ship comprises the following steps:
s1: after prefabrication of the immersed tube 10 is completed, the immersed tube 10 is in place and is stranded to the position of the submerged pit;
s2: after the immersed tube 10 is in place, moving the integrated ship to a designated position to enable the integrated ship to span above the immersed tube 10;
s3: ballast water is injected into the floating body structures 1 of the integrated ship, so that the two floating body structures 1 synchronously submerge to ensure that the integrated ship structures submerge stably, and the supporting component is in a state of being attached to the floating body structures 1 in the submerging process; stopping submergence until the top surface of the support component is lower than the bottom surface of the immersed tube 10;
s4: the driving component drives the supporting component to extend out of the floating body structure 1, so that the supporting component is positioned below the bottom surface of the immersed tube 10;
s5: the two floating body structures 1 synchronously drain water and float upwards to enable the integrated ship to float upwards stably, the top surface of the supporting component gradually contacts and is stressed with the bottom surface of the immersed tube 10 to bear the immersed tube 10, the integrated ship continuously floats upwards until the integrated ship and the immersed tube 10 structure integrally meet the channel draught requirement, and the floating body structures 1 stop draining water;
s6: dragging the integral ship through a tugboat, wherein the integral ship drives the immersed tube 10 to synchronously move through the friction force between the support assembly and the immersed tube so as to transport the immersed tube 10 to a sinking installation position;
s7: after the integrated ship carrying the immersed tube 10 is in place and anchored, ballast water is injected into a floating body structure 10 of the integrated ship, so that the integrated ship carries the immersed tube 10 to synchronously and stably submerge, when the integrated ship submerges until the acting force between the support assembly and the immersed tube 10 is zero (namely, the buoyancy force borne by the immersed tube 10 is equal to the gravity), the integrated ship continues submerging in a short distance to ensure that the support assembly is completely separated from the bottom surface of the immersed tube 10, water injection submerging is stopped, the connection between the integrated ship and the immersed tube 10 is released, and the drive assembly drives the support assembly to contract and cling to the position of the floating body structure 1;
s8: two body structure 2 synchronous drainage come-ups make the steady come-up of integrative ship to normal position after, the adjustment anchor rope, and the hank moves integrative ship, through the cable system (the cable system can be for setting up equipment on deck structure 2 in advance, also can be for reaching the peripheral hardware that assembles again behind the installation position) drive immersed tube 10 and move to treating the mounted position, adjustment immersed tube 10 ballast volume and cable system, steadily transfer immersed tube 10, accomplish immersed tube 10 construction.
The integral ship is provided with two larger floating body structures 1, the integral ship can have a semi-submersible function by pressurizing water through the floating body structures 1, the integral ship can provide larger buoyancy in the process of transporting the immersed tube, the supporting mechanism of the integral ship can lift the immersed tube 10, the draught depth of the integral ship and the immersed tube 10 in the transportation process can be reduced, the transportation requirement of a shallow water channel is met, the dredging amount of the channel is greatly reduced, and the construction cost is saved; meanwhile, the deck structure 2 can be provided with equipment required by immersed tube installation construction, namely the integrated ship can have the function of an immersed tube installation ship, can replace the installation ship, reduces the installation investment, improves the operation efficiency and has higher economic benefit.
Wherein, drive assembly and supporting component one-to-one set up, the structure of supporting component can be as shown in fig. 4 and fig. 6, includes: a supporting leg with a top surface for supporting the immersed tube 10 and a vertically arranged rotating shaft 4; the rotating shaft 4 is used for rotatably connecting the supporting legs and the floating body structure 1, and the driving assemblies are arranged corresponding to the supporting legs one to one so as to drive the supporting legs to rotate around the central axis of the rotating shaft 4. The concrete structure of supporting leg includes: a mount pad 5 of fixed mounting on 4 lateral walls of pivot to and a jack 3 of cylinder bottom fixed mounting in the top surface of mount pad 5, the piston rod of jack 3 sets up vertically upwards, and the piston rod pole head is used for the bearing immersed tube. With the structure, in step S5, the leveling can be realized by adjusting the extension and contraction of the piston rods of the jacks 3 of the plurality of supporting legs, so as to ensure that the bottom surface of the immersed tube and all the supporting legs are uniformly stressed and avoid damage to the immersed tube or equipment caused by nonuniform local stress.
Specifically, a backing plate 31 is fixedly mounted on the top surface of the piston rod of the jack 3, and the backing plate 31 is a rubber plate. The contact between the backing plate 31 and the immersed tube 10 to be transported can increase the friction force required by floating transportation and improve the stability in the transportation process.
Specifically, the end of the rotating shaft 4 is connected to the floating body structure 1 through a bearing, and the driving assembly structure can be as shown in fig. 4 and 6, and includes: the hydraulic motor 7 of the vertical setting of drive shaft establishes and fixes the first gear 8 in the hydraulic motor 7 drive shaft to and the second gear 9 with first gear 8 looks meshing, and hydraulic motor 7 body fixed mounting is on body structure 1, and first gear 8 sets up with hydraulic motor 7's drive shaft is coaxial, and second gear 9 sets up with pivot 4 is coaxial, and the cover is established and is fixed in pivot 4, in order to realize the transmission of hydraulic motor 7 and supporting leg. Adopt above-mentioned structure, the interval is greater than immersed tube 10 width between the supporting leg on two body structure 1 as when the supporting leg of 7 drive supporting legs of hydraulic motor changes to the state shown on the left side of figure 1 (the supporting leg pastes body structure 1 promptly), the supporting leg can not make a sound the integrative ship submergence of immersed tube 10 top, hydraulic motor 7 drive supporting leg changes to the supporting subassembly of two body structure 1 when the state shown as figure 1 right side (the supporting leg stretches out body structure 1 promptly, when perpendicular with its lateral wall) can bear immersed tube 10 bottom surfaces simultaneously, reduce its required buoyancy of transportation by superficial with lifting immersed tube 10 steadily.
Specifically, as shown in fig. 4, the sidewall of the floating structure 1 is provided with a receiving groove 11, the receiving groove 11 is arranged corresponding to the supporting legs one by one, the rotating shaft 4 is located in the receiving groove 11, and the supporting legs can rotate along with the rotating shaft 4 to be received in the receiving groove 11 (i.e. the supporting legs are located in the receiving groove 11 when they are close to the floating structure 1). In order to facilitate the installation of the driving assembly and protect the driving assembly, as shown in fig. 6, a sealed electronic cabin 12 for installing the driving assembly is arranged in the floating body structure 1, and the sealed electronic cabin 12 and the driving assembly are arranged in a one-to-one correspondence manner.
Specifically, a cavity structure 13 is arranged in the floating body structure 1, and a ballast water system is arranged on the floating body structure 1 and controls submerging and floating of the floating body structure 1 by controlling the ballast water amount in the cavity structure 13.
Specifically, the pipe-vessel connecting structure can adopt any existing structure capable of realizing connection of the reinforced immersed pipe and the integrated vessel, and can be set into a cable system.
Specifically, the rotating shaft 4 and the mounting seat 5 are made of steel.
Specifically, the deck structure 2 is fixedly connected with the buoyant structure 1 through a detachable truss connection structure 6. The truss connection structure 6 is adopted to enable the two floating body structures 1 and the deck structure 2 to be easily disassembled and assembled, so that the ship body is convenient to transform, the width of the ship body is changed, the transportation and installation of the immersed pipes 10 with different sizes are adapted, and the application value of the integrated ship is improved.
Specifically, as shown in fig. 3, the truss connection structure 6 includes an upper connection plate structure 61, a truss structure 62, and a lower connection plate structure 63, wherein the upper connection plate structure 61 is connected to the deck structure 2, and the lower connection plate structure 63 is connected to the buoyant structure 1.
In particular, the integrated ship further comprises a cable system provided on the deck structure 2, wherein the cable system is used for reinforcing the connection between the immersed tube and the integrated ship in step S5, and is used for immersed tube installation construction in step S8.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiment into equivalent changes and apply to other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical matters of the present invention will still fall within the protection scope of the technical solution of the present invention.
Claims (9)
1. A semi-submersible immersed tube transportation and installation integrated ship is characterized by comprising:
a deck structure, a plurality of deck structures,
the two floating body structures can carry water under pressure, a vertical plane where the central line in the length direction of the integrated ship is located serves as a reference plane, the two floating body structures are symmetrically arranged relative to the reference plane and are arranged in parallel, and the upper parts or the top surfaces of the two floating body structures are connected through the deck structure; and
the two supporting mechanisms are respectively arranged at the opposite sides of the two floating body structures and are symmetrically arranged relative to the reference plane, and the supporting mechanisms are arranged at the lower part or the bottom of the floating body structures; each of the racking mechanisms further comprising:
at least two support assemblies; and
the driving component is used for driving the supporting component to lean against or extend out of the floating body structure where the supporting component is located, when the supporting component extends out of the floating body structure, the supporting component can be supported on the bottom surface of the immersed tube, and a space above the supporting component, below the deck structure and between the floating body structures forms a carrying space for containing the immersed tube.
2. The semi-submersible immersed tube transport and installation integrated vessel as recited in claim 1, wherein said support assembly further comprises:
the top surface of the supporting leg is used for supporting the immersed tube; and
the rotating shaft is vertically arranged and is used for rotatably connecting the supporting leg and the floating body structure;
the driving assemblies are arranged in one-to-one correspondence with the supporting legs to drive the supporting legs to rotate around the central axis of the rotating shaft.
3. The semi-submersible immersed tube transport and installation integrated ship as claimed in claim 2, wherein the rotating shaft end is connected to the floating body structure through a bearing, the driving assembly further comprising:
the body of the hydraulic motor is fixedly arranged on the floating body structure, and the driving shaft is vertically arranged;
the first gear is coaxially arranged with the driving shaft and is sleeved and fixed on the driving shaft; and
and the second gear is coaxially arranged with the rotating shaft and is sleeved and fixed on the rotating shaft, and the second gear is meshed with the first gear.
4. The semi-submersible type immersed tube transporting and installing integrated ship as claimed in claim 3, wherein the side wall of the floating body structure is provided with a receiving groove, the receiving groove is arranged in one-to-one correspondence with the supporting legs, the rotating shaft is positioned in the receiving groove, and the supporting legs can rotate along with the rotating shaft into the receiving groove; and a sealed electronic bin for mounting the driving assembly is arranged in the floating body structure, and the sealed electronic bin and the driving assembly are arranged in a one-to-one correspondence manner.
5. A semi-submersible immersed tube transport and installation integrated vessel according to claim 4, further comprising a cable system provided on said deck structure for reinforcing the immersed tube and said integrated vessel connection.
6. The semi-submersible immersed tube transport and installation integrated vessel as recited in claim 2, wherein said support legs further comprise:
the mounting seat is fixedly mounted on the side wall of the rotating shaft; and
and the cylinder bottom is fixedly arranged on the top surface of the mounting seat, and the piston rod is vertically and upwards arranged.
7. The semi-submersible immersed tube transporting and installing integrated ship as claimed in claim 6, wherein a backing plate is fixedly installed on the top surface of the piston rod, and the backing plate is a rubber plate.
8. The semi-submersible immersed tube transport and installation integrated ship as claimed in claim 1, wherein the deck structure is fixedly connected with the buoyant structure through a detachable truss connection structure, the truss connection structure comprises an upper connection plate structure, a truss structure and a lower connection plate structure, the upper connection plate structure is connected with the deck structure, and the lower connection plate structure is connected with the buoyant structure.
9. The semi-submersible immersed tube transporting and installing integrated ship as claimed in claim 1, wherein a cavity structure is arranged in the floating body structure, and a ballast water system is installed on the floating body structure and controls the submergence and the surfacing of the floating body structure by controlling the ballast water amount in the cavity structure.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120852963.XU CN214524328U (en) | 2021-04-23 | 2021-04-23 | Semi-submersible type immersed tube transporting and installing integrated ship |
| JP2022560475A JP7291302B2 (en) | 2021-04-23 | 2021-12-28 | Semi-submersible submersible box transport installation integrated ship and construction process |
| EP21909601.3A EP4098541B1 (en) | 2021-04-23 | 2021-12-28 | Semi-submersible-type immersed tube transportation and mounting integrated ship and construction process |
| PCT/CN2021/141976 WO2022135606A1 (en) | 2021-04-23 | 2021-12-28 | Semi-submersible-type immersed tube transportation and mounting integrated ship and construction process |
| US17/945,094 US11674283B2 (en) | 2021-04-23 | 2022-09-15 | Semi-submersible immersed tube transportation and installation integrated ship and construction process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120852963.XU CN214524328U (en) | 2021-04-23 | 2021-04-23 | Semi-submersible type immersed tube transporting and installing integrated ship |
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| CN214524328U true CN214524328U (en) | 2021-10-29 |
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| CN202120852963.XU Active CN214524328U (en) | 2021-04-23 | 2021-04-23 | Semi-submersible type immersed tube transporting and installing integrated ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135606A1 (en) * | 2021-04-23 | 2022-06-30 | 中交第一航务工程局有限公司 | Semi-submersible-type immersed tube transportation and mounting integrated ship and construction process |
| CN116729575A (en) * | 2023-06-13 | 2023-09-12 | 交通运输部天津水运工程科学研究所 | Towing system for longitudinal movement of pipe joint |
-
2021
- 2021-04-23 CN CN202120852963.XU patent/CN214524328U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135606A1 (en) * | 2021-04-23 | 2022-06-30 | 中交第一航务工程局有限公司 | Semi-submersible-type immersed tube transportation and mounting integrated ship and construction process |
| JP2023516218A (en) * | 2021-04-23 | 2023-04-18 | 中交第一航▲務▼工程局有限公司 | Semi-submersible submersible box transport installation integrated ship and construction process |
| US11674283B2 (en) | 2021-04-23 | 2023-06-13 | Cccc First Harbor Engineering Co., Ltd. | Semi-submersible immersed tube transportation and installation integrated ship and construction process |
| JP7291302B2 (en) | 2021-04-23 | 2023-06-14 | 中交第一航▲務▼工程局有限公司 | Semi-submersible submersible box transport installation integrated ship and construction process |
| EP4098541A4 (en) * | 2021-04-23 | 2023-08-16 | CCCC First Harbor Engineering Co., Ltd. | Semi-submersible-type immersed tube transportation and mounting integrated ship and construction process |
| CN116729575A (en) * | 2023-06-13 | 2023-09-12 | 交通运输部天津水运工程科学研究所 | Towing system for longitudinal movement of pipe joint |
| CN116729575B (en) * | 2023-06-13 | 2024-03-12 | 交通运输部天津水运工程科学研究所 | Towing system for longitudinal movement of pipe joint |
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