EP4053012B1 - Système de démontage intégré et procédé de démontage pour construction en mer de grandes dimensions - Google Patents

Système de démontage intégré et procédé de démontage pour construction en mer de grandes dimensions Download PDF

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Publication number
EP4053012B1
EP4053012B1 EP20910667.3A EP20910667A EP4053012B1 EP 4053012 B1 EP4053012 B1 EP 4053012B1 EP 20910667 A EP20910667 A EP 20910667A EP 4053012 B1 EP4053012 B1 EP 4053012B1
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EP
European Patent Office
Prior art keywords
semi
lifting arms
lifting
submersible vessel
offshore structure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20910667.3A
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German (de)
English (en)
Other versions
EP4053012A1 (fr
EP4053012A4 (fr
Inventor
Jianying BAO
Xianfu ZHAO
Bing Yu
Yadong Li
Yuanhui SUN
Xiquan Liu
Yunfeng Li
Peng XIN
Tao Lv
Xiaohui LV
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Marine Energy Co Ltd
Shandong Offshore Equipment Co Ltd
Shandong Offshore Research Institute Co Ltd
Original Assignee
Shandong Marine Energy Co Ltd
Shandong Offshore Equipment Co Ltd
Shandong Offshore Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201922435538.6U external-priority patent/CN211364878U/zh
Priority claimed from CN201911394244.1A external-priority patent/CN111038662A/zh
Application filed by Shandong Marine Energy Co Ltd, Shandong Offshore Equipment Co Ltd, Shandong Offshore Research Institute Co Ltd filed Critical Shandong Marine Energy Co Ltd
Publication of EP4053012A1 publication Critical patent/EP4053012A1/fr
Publication of EP4053012A4 publication Critical patent/EP4053012A4/fr
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Publication of EP4053012B1 publication Critical patent/EP4053012B1/fr
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B75/00Building or assembling floating offshore structures, e.g. semi-submersible platforms, SPAR platforms or wind turbine platforms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/006Emptying the contents of sunken, stranded, or disabled vessels, e.g. by engaging the vessel; Underwater collecting of buoyant contents, such as liquid, particulate or gaseous contents, escaping from sunken vessels, e.g. using funnels, or tents for recovery of escaping hydrocarbons

Definitions

  • the present disclosure relates to an integrated disassembling and assembling system for a large offshore structure and a disassembling and assembling method, and belongs to the technical field of ocean engineering.
  • a blocked hoisting method and a single-vessel float-over method are usually used to disassemble or assemble these facilities.
  • the blocked hoisting method requires offshore overall docking and system debugging, which take a long time.
  • offshore debugging costs are far higher than onshore debugging costs.
  • the single-vessel float-over method has a great limitation on an ultra-large offshore platform exceeding 10,000 tons. First, weight of the ultra-large offshore platform is limited by loading capacity of a single vessel. Second, applicability of the single-vessel float-over method is limited by a platform span, a support structure, space, and the like.
  • the present disclosure provides an integrated disassembling and assembling system for a large offshore structure and a disassembling and assembling system to implement lifting jointly through fast de-ballasting for an entire vessel and fast lifting of hydraulic systems of lifting arms, such that an entire disassembling process takes a short time and has high efficiency.
  • the system and process according to the invention are described in claims 1 and 8.
  • the integrated disassembling and assembling system for a large offshore structure includes a semi-submersible vessel I, a semi-submersible vessel II, multiple lifting arms I, multiple lifting arms II, and an offshore structure.
  • a support I and a support II for the lifting arms I are mounted on the semi-submersible vessel I through bolts.
  • a support I and a support II for the lifting arms II are mounted on the semi-submersible vessel II through bolts.
  • the lifting arms I are arranged on the semi-submersible vessel I in parallel.
  • the lifting arms II are arranged on the semi-submersible vessel II in parallel.
  • the lifting arms I and the lifting arms II are provided with a lifting system having a three-way motion compensation function.
  • the lifting system is provided with locking mechanisms for the lifting arms I and the lifting arms II. Before lifting, the locking mechanisms lock the lifting arms I and the lifting arms II are in a front-back direction and a left-right direction; then, a lifting mechanism may lift the offshore structure up.
  • the lifting system having the three-way motion compensation function further include a mobile cart I and a mobile cart II.
  • a bottom at a front end of each of the lifting arms I/lifting arms II is mounted at an upper end of the mobile cart I.
  • a rear end of each of the lifting arms I/lifting arms II is mounted at an upper end of the mobile cart II.
  • a lower end of the mobile cart I is mounted on the support I.
  • a lower end of the mobile cart II is mounted on the support II.
  • the support I and the support II are respectively fixed on the semi-submersible vessel I and the semi-submersible vessel II.
  • the lifting mechanism for driving a lifted object to move up and down is hinged to the front end of each of the lifting arms I/lifting arms II.
  • a road wheel set and a road wheel are mounted on each of the mobile cart I and the mobile cart II.
  • the road wheel set is mounted on rails that are of the lifting arms I/lifting arms II and are used for limiting up-down movement of a main arm.
  • the road wheel is mounted on a rail of the support I or the support II.
  • the lifting arms I/lifting arms II move left and right through the road wheel set, and move front and back through the road wheel.
  • a locking mechanism meshed with a fixing rack of each of the lifting arms I/lifting arms II is mounted at the upper end of the mobile cart I; a locking mechanism meshed with a fixing rack of the support I is mounted at the lower end of the mobile cart I.
  • each of the locking mechanisms includes a locking rack whose section takes the shape of an inverted trapezoid.
  • the locking rack is disposed on a side of the fixing rack.
  • Two adjustment hydraulic cylinders are hinged to a bottom of the locking rack.
  • a structure defined by the adjustment hydraulic cylinders has a certain included angle and takes the shape of inverted V.
  • Two locking sliders are movably disposed on a left side and a right side of the locking rack.
  • Each of the locking sliders slides uni-directionally along a slide rail and is provided with an inclined surface matched with the locking rack.
  • the adjustment hydraulic cylinders push the locking rack into the fixing rack; the locking rack and the fixing rack are meshed with each other.
  • the inclined surfaces of the two locking sliders are fitted with inclined surfaces of the locking rack.
  • a dynamic positioning (DP) system is provided on each of the semi-submersible vessel I and the semi-submersible vessel II that are respectively disposed on two sides of the offshore structure.
  • DP dynamic positioning
  • the lifting mechanism is static relative to the offshore structure before the DP systems having a positioning function and the lifting arms having a compensation function jointly implement lifting.
  • the integrated disassembling and assembling system further includes a semi-submersible vessel III.
  • the lifting arms of the semi-submersible vessel I and the semi-submersible vessel II act simultaneously to unload the offshore structure to the semi-submersible vessel III.
  • controllable cabins are provided on each of the semi-submersible vessel I and the semi-submersible vessel II, and a waterline of each of the cabins is controlled by a pneumatic pump.
  • the cabins include a bottom cabin, as well as a middle cabin, a left cabin, and a right cabin that are disposed above the bottom cabin; each of the left cabin and the right cabin includes a high-position cabin and a low-position cabin.
  • the disassembling and assembling method for the integrated disassembling and assembling system for a large offshore structure in the present disclosure may include the following steps:
  • an integrated disassembling and assembling system for a large offshore structure includes a semi-submersible vessel I 1, a semi-submersible vessel II 3, multiple lifting arms I 2, multiple lifting arms II 4, and an offshore structure 5, where a support 16 and a support II 7 for the lifting arms I 2 are mounted on the semi-submersible vessel I 1 through bolts.
  • a support I 6 and a support II 7 for the lifting arms II 4 are mounted on the semi-submersible vessel II 3 through bolts.
  • the lifting arms I 2 are arranged on the semi-submersible vessel I 1 in parallel; the lifting arms II 4 are arranged on the semi-submersible vessel II 3 in parallel.
  • the lifting arms I 2 and the lifting arms II 4 are provided with a lifting system having a three-way motion compensation function.
  • the lifting system is provided with locking mechanisms for the lifting arms I 2 and the lifting arms II 4. Before lifting, the locking mechanisms lock the lifting arms I 2 and the lifting arms II 4 in a front-back direction and a left-right direction, and then, a lifting mechanism 8 lifts the offshore structure 5 up.
  • the lifting system having the three-way motion compensation function further includes a mobile cart 110 and a mobile cart II 11, where a bottom at a front end of each of the lifting arms I 2/lifting arms II 4 is mounted at an upper end of the mobile cart I 10.
  • a rear end of each of the lifting arms I 2/lifting arms II 4 is mounted at an upper end of the mobile cart II 11.
  • a lower end of the mobile cart I 10 is mounted on the support 16.
  • a lower end of the mobile cart II 11 is mounted on the support II 7.
  • the support I 6 and the support II 7 are respectively fixed on the semi-submersible vessel I 1 and the semi-submersible vessel II 3.
  • the lifting mechanism 8 for driving a lifted object to move up and down is hinged to the front end of each of the lifting arms I 2/lifting arms II 4.
  • a road wheel set and a road wheel are mounted on each of the mobile cart 110 and the mobile cart II 11.
  • the road wheel set is mounted on rails that are on the lifting arms I 2/lifting arms II 4 and are used for limiting up-down movement of a main arm.
  • the road wheel is mounted on a rail of the support 16 or the support II 7.
  • the lifting arms I 2/lifting arms II 4 move left and right through the road wheel set and move front and back through the road wheel.
  • a locking mechanism meshed with a fixing rack 13 of each of the lifting arms I 2/lifting arms II 4 is mounted at the upper end of the mobile cart I 10.
  • a locking mechanism meshed with a fixing rack 13 of the support I 6 is mounted at the lower end of the mobile cart 110.
  • each of the locking mechanisms includes a locking rack 12 whose section takes the shape of an inverted trapezoid, where the locking rack 12 is disposed on a side of the fixing rack 13.
  • Two adjustment hydraulic cylinders 14 are hinged to a bottom of the locking rack 12.
  • a structure defined by the adjustment hydraulic cylinders has a certain included angle and takes the shape of inverted V.
  • Two locking sliders 15 are movably disposed on a left side and a right side of the locking rack 12.
  • Each of the locking sliders 15 slides uni-directionally along a slide rail and is provided with an inclined surface matched with the locking rack 12.
  • the adjustment hydraulic cylinders 14 push the locking rack 12 into the fixing rack 13; the locking rack 12 and the fixing rack 13 are meshed with each other.
  • the inclined surfaces of the two locking sliders 15 are fitted with inclined surfaces of the locking rack 12.
  • a dynamic positioning (DP) system is provided on each of the semi-submersible vessel I 1 and the semi-submersible vessel II 3 that are respectively disposed on two sides of the offshore structure 5.
  • the lifting mechanism 8 is static relative to the offshore structure 5 before the DP systems having a positioning function and the lifting arms having a compensation function jointly implement lifting.
  • the integrated disassembling and assembling system further includes a semi-submersible vessel III 9.
  • the lifting arms of the semi-submersible vessel I 1 and the semi-submersible vessel II 3 act simultaneously to unload the offshore structure 5 to the semi-submersible vessel III 9.
  • Multiple controllable cabins are provided on each of the semi-submersible vessel I 1 and the semi-submersible vessel II 3, and a waterline of each of the cabins is controlled by a pneumatic pump.
  • the cabins include a bottom cabin, as well as a middle cabin, a left cabin, and a right cabin that are disposed above the bottom cabin; each of the left cabin and the right cabin includes a high-position cabin and a low-position cabin.
  • a process of using the system is as follows: To disassemble the offshore structure 5, the semi-submersible vessel I 1 and the semi-submersible vessel II 3 approach the offshore structure 5 from two sides. The two semi-submersible vessels are positioned relative to the offshore structure 5 by using the DP systems of the semi-submersible vessels. The lifting arms I 2 and the lifting arms II 4 reach a lifting point of the offshore structure 5 through front-back and left-right movements. Because the positioning function of the DP systems of the semi-submersible vessels is insufficient to make the offshore structure 5 static, a three-way compensation function of the lifting arms needs to be enabled at this time.
  • the semi-submersible vessel I 1 and the semi-submersible vessel II 3 are de-ballasted, such that 5% of the load of the offshore structure is transferred to the lifting arms and the semi-submersible vessels.
  • the locking mechanisms lock the lifting arms I 2 and lifting arms II 4 in the front-back direction and the left-right direction; and then, the lifting mechanism 8 lifts the offshore structure 5 up fast.
  • the semi-submersible vessel I 1 and the semi-submersible vessel II 3 carry the offshore structure 5 and move synchronously to leave a supporting position of the offshore structure 5.
  • the semi-submersible vessel III 9 moves to a position between the semi-submersible vessel I 1 and the semi-submersible vessel II 3; and then, the lifting arms of the semi-submersible vessel I 1 and the semi-submersible vessel II 3 synchronously unload, to the semi-submersible vessel III 9, the offshore structure 5 that has been disassembled.
  • the semi-submersible vessel III 9 carrying the offshore structure 5 moves to a wharf and slides ashore.
  • An objective of the present disclosure is to provide an integrated disassembling and assembling method for a large offshore structure 5, which can implement disassembling or assembling of offshore structures 5, such as a jacket platform, a pile group platform, or a column leg platform, and is particularly suitable for disassembling or assembling an ultra-large platform block that exceeds one ton.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Wind Motors (AREA)
  • Ship Loading And Unloading (AREA)

Claims (8)

  1. Système d'assemblage et de désassemblage intégré pour une large structure offshore, comprenant
    un navire semi-submersible I (1),
    un navire semi-submersible II (3),
    plusieurs bras de levage I (2), plusieurs bras de levage II (4), et
    une structure offshore (5), caractérisé en ce que
    un support I (6) et un support II (7) pour les bras de levage I (2) sont montés sur le navire semi-submersible I (1) au moyen de boulons ;
    un support I (6) et un support II (7) pour les bras de levage II (4) sont montés sur le navire semi-submersible II (3) au moyen de boulons ;
    les bras de levage I (2) sont disposés en parallèle sur le navire semi-submersible I (1) ,
    les bras de levage II (4) sont disposés en parallèle sur le navire semi-submersible II (3) ,
    les bras de levage I (2) et les bras de levage II (4) sont pourvus d'un système de levage ayant une fonction de compensation de mouvement dans trois directions ;
    le système de levage est pourvu de mécanismes de verrouillage ;
    avant le levage, les mécanismes de verrouillage sont configurés pour verrouiller les bras de levage I (2) et les bras de levage II (4) dans un sens avant-arrière et un sens gauche-droite, et un mécanisme de levage (8) est configuré pour lever la structure offshore (5) ;
    le système de levage ayant la fonction de compensation de mouvement dans trois directions comprenant en outre
    un chariot mobile I (10) et
    un chariot mobile II (11) ;
    un fond à une extrémité avant de chacun des bras de levage I (2) et des bras de levage II (4) est monté sur une extrémité supérieure du chariot mobile I (10) ;
    une extrémité arrière de chacun des bras de levage I (2) et des bras de levage II (4) est monté sur une extrémité supérieure du chariot mobile II (11) ;
    une extrémité inférieure du chariot mobile I (10) est montée sur le support I (6) ;
    une extrémité inférieure du chariot mobile II (11) est montée sur le support II (7) ;
    le support I (6) et le support II (7) sont fixés respectivement au navire semi-submersible I (1) et le navire semi-submersible II (3) ; et
    le mécanisme de levage (8) est configuré pour entraîner un objet levé à se déplacer de haut en bas et est fixé de manière articulée à l'extrémité avant de chacun des bras de levage I (2) et des bras de levage II (4) ;
    un ensemble de roue porteuse et une roue porteuse sont montés sur chacun du chariot mobile I (10) et du chariot mobile II (11) ;
    l'ensemble de roue porteuse est monté sur des rails des bras de levage I (2) et des bras de levage II (4) et les rails sont configurés pour limiter le mouvement de haut en bas d'un bras principal ;
    la roue porteuse est montée sur un rail du support I (6) ou du support II (7) ; et les bras de levage I (2) et les bras de levage II (4) se déplacent de gauche à droite au moyen de ensemble de roue porteuse et se déplacent de haut en bas à travers la roue porteuse ; et
    un mécanisme de verrouillage engrené avec une crémaillère de fixation (13) de chacun des bras de levage I (2) et des bras de levage II (4) est monté sur l'extrémité supérieure du chariot mobile I (10) ; et
    un mécanisme de verrouillage engrené avec une crémaillère de fixation (13) du support I (6) est monté sur l'extrémité inférieure du chariot mobile I (10).
  2. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 1, caractérisé en ce que
    chacun des mécanismes de verrouillage comprend un support de verrouillage (12) ayant la forme d'un trapèze inversé ;
    le support de verrouillage (12) est disposé sur un côté de la crémaillère de fixation (13) ;
    deux cylindres hydrauliques d'ajustement (14) sont fixés de manière articulée sur un fond du support de verrouillage (12) ;
    une structure définie par les cylindres hydrauliques d'ajustement présente un certain angle inclus et prend la forme d'un V inversé ;
    deux curseurs de verrouillage (15) sont disposés de manière mobile sur un côté gauche et un côté droit du support de verrouillage (12) ;
    chacun des curseurs de verrouillage (15) glisse de manière unidirectionnelle le long d'une glissière, et est pourvu d'une surface inclinée correspondant au support de verrouillage (12) ;
    les cylindres hydrauliques d'ajustement (14) poussent le support de verrouillage (12) dans la crémaillère de fixation (13) ;
    le support de verrouillage (12) et la crémaillère de fixation (13) sont engrenés l'un avec l'autre ;
    les deux curseurs de verrouillage (15) s'approchent au support de verrouillage (12) ; et
    les surfaces inclinées des deux curseurs de verrouillage (15) sont configurées pour correspondre à des surfaces inclinées du support de verrouillage (12).
  3. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 1, caractérisé en ce que
    un système de positionnement dynamique (PD) est fourni sur chacun du navire semi-submersible I (1) et du navire semi-submersible II (3) qui sont respectivement disposés sur deux côtés de la structure offshore (5).
  4. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 3, caractérisé en ce que le mécanisme de levage (8) est statique par rapport à la structure offshore (5) avant que les systèmes PD effectuant une fonction de positionnement et les bras de levage effectuant une fonction de compensation ne mettent conjointement en oeuvre le levage.
  5. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 1, caractérisé en ce que le système d'assemblage et de désassemblage intégré comprend en outre
    un navire semi-submersible III (9) ; et
    les bras de levage du navire semi-submersible I (1) et du navire semi-submersible II (3) sont configurés pour agir simultanément pour décharger la structure offshore (5) sur le navire semi-submersible III (9).
  6. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 1, caractérisé en ce que
    des cabines contrôlables sont fournies sur chacun du navire semi-submersible I (1) et du navire semi-submersible II (3) ; et
    une ligne de flottaison de chacune des cabines contrôlables est contrôlée par une pompe pneumatique.
  7. Système d'assemblage et de désassemblage intégré pour une large structure offshore selon la revendication 6, caractérisé en ce que les cabines contrôlables comprennent une cabine de fond, une cabine centrale, une cabine gauche et une cabine droite, la cabine centrale, la cabine gauche et la cabine droite étant disposées au-dessus de la cabine de fond ;
    et chacune de la cabine gauche et de la cabine droite comprend une cabine de position haute et une cabine de position basse.
  8. Procédé d'assemblage et de désassemblage basé sur le système d'assemblage et de désassemblage intégré pour une large structure offshore selon l'une quelconque des revendications 1 à 7, caractérisé en ce qu'il comprend les étapes suivantes :
    étape 1 : avant le levage conjoint, le lestage du navire semi-submersible I (1) et du navire semi-submersible II (3) afin d'atteindre une ligne de flottaison spécifiée ;
    étape 2 : lorsque le levage conjoint commence, le délestage rapide du navire semi-submersible I (1) et le navire semi-submersible II (3) en utilisant la pompe pneumatique, de sorte que 90 % du poids de la structure offshore (5) puisse être supporté sans modifier la ligne de flottaison d'un navire entier ;
    étape 3 : pendant le levage conjoint, le levage instantané de la structure offshore (5) à une hauteur spécifiée en utilisant les bras de levage I (2) et les bras de levage II (4) du navire semi-submersible I (1) et du navire semi-submersible II (3), l'eau de lestage étant transférée des cabines de position haute aux cabines de position basse sous l'action d'une force aérodynamique et de la gravite de l'eau à ce moment, pour mettre à niveau la structure offshore (5) et le navire entier ; et
    étape 4 : le transfert rapide de l'eau de lestage des cabines de position haute aux cabines de position basse lors du déchargement de la structure offshore (5) afin de maintenir le navire entier à niveau.
EP20910667.3A 2019-12-30 2020-12-14 Système de démontage intégré et procédé de démontage pour construction en mer de grandes dimensions Active EP4053012B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201922435538.6U CN211364878U (zh) 2019-12-30 2019-12-30 大型海上结构物一体化拆装系统
CN201911394244.1A CN111038662A (zh) 2019-12-30 2019-12-30 大型海上结构物一体化拆装系统及拆装方法
PCT/CN2020/136068 WO2021135903A1 (fr) 2019-12-30 2020-12-14 Système de démontage intégré et procédé de démontage pour construction en mer de grandes dimensions

Publications (3)

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EP4053012A1 EP4053012A1 (fr) 2022-09-07
EP4053012A4 EP4053012A4 (fr) 2023-01-18
EP4053012B1 true EP4053012B1 (fr) 2024-02-21

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Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100162935A1 (en) * 2006-12-13 2010-07-01 Jon Khachaturian Marine Lifting Apparatus
CN203473191U (zh) * 2013-06-04 2014-03-12 中国人民解放军总后勤部军事交通运输研究所 用于浅水浮体双锚对拉定位的辅助装置
CN105151239A (zh) * 2015-05-19 2015-12-16 中国海洋石油总公司 用于双船浮托整体拆除海上平台上部组块的船侧支撑结构
CN105035260B (zh) * 2015-05-19 2017-06-16 中国海洋石油总公司 利用双船浮托整体拆除海上弃置平台上部组块的方法
US20210078840A1 (en) * 2017-03-31 2021-03-18 Johan F. Andresen A lifting device
CN109799519A (zh) * 2019-02-27 2019-05-24 上海交通大学 一种双船吊装拆除海上平台用光学定位机构
CN110155273B (zh) * 2019-05-23 2020-10-09 大连海事大学 立式双驳抬撬钢绞线液压同步提升沉船打捞系统
CN211364878U (zh) * 2019-12-30 2020-08-28 山东海洋能源有限公司 大型海上结构物一体化拆装系统
CN111038662A (zh) * 2019-12-30 2020-04-21 山东海洋能源有限公司 大型海上结构物一体化拆装系统及拆装方法

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WO2021135903A1 (fr) 2021-07-08
EP4053012A1 (fr) 2022-09-07
EP4053012A4 (fr) 2023-01-18

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