CN106759349B - A kind of jacket basis fine positioning and temporary locking systems - Google Patents
A kind of jacket basis fine positioning and temporary locking systems Download PDFInfo
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- CN106759349B CN106759349B CN201611237586.9A CN201611237586A CN106759349B CN 106759349 B CN106759349 B CN 106759349B CN 201611237586 A CN201611237586 A CN 201611237586A CN 106759349 B CN106759349 B CN 106759349B
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000009897 systematic effect Effects 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 239000003921 oil Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/42—Foundations for poles, masts or chimneys
- E02D27/425—Foundations for poles, masts or chimneys specially adapted for wind motors masts
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of jacket basis fine positioning and temporary locking systems, comprising: plane gauging system, several plane regulating hydraulic cylinders, several vertical adjustment hydraulic cylinders, and regulation and control system, plane measure the levelness in systematic survey jacket top flange face；Several plane regulating hydraulic cylinders are removably placed on jacket supporting leg, and along jacket supporting leg circumferencial direction horizontal distribution, and correspond to the lateral wall of the steel-pipe pile matched with jacket supporting leg；Several vertical adjustment hydraulic cylinders are removably placed on jacket supporting leg, and are distributed vertically along jacket supporting leg circumferencial direction, and correspond to the top of the steel-pipe pile matched with jacket supporting leg；Regulation and control system controls respectively connects several plane regulating hydraulic cylinders and several vertical adjustment hydraulic cylinders, and connect with plane measurement system data.This system, which can be realized, carries out accurate plane positioning to jacket；At the same time, additionally it is possible to temporary locking be carried out to jacket, the precision and reliability of plane positioning are further ensured that, to meet construction requirement.
Description
Technical field
The present invention relates to offshore wind turbine construction technologies, and in particular to jacket installation technology in offshore wind turbine.
Background technique
China Seas and vicinity area is vast, and estimated wind energy resources are 3 times of land wind energy resources up to 7.5 hundred million kilowatts, sea
Upper wind power plant becomes the emphasis of future development.In order to further push Chinese wind power plant from now on gradually to deep-sea, big type
The planning requirement of direction large-scale development, Shanghai Harbor offshore wind farm demonstrate a phase project by by the manufacture of Shanghai City prosperity,
The advantages such as technology, human resources, plan take the lead in fan foundation structure design, the technical research of novel fan type and manufacture, newly
Deep exploration, innovation and practice are made in the construction of type fan foundation structure and large fan mounting technique etc..
But research for the key construction technology of novel jacket frame foundation structure form and with there is presently no
Mature engineering experience can be used for reference, for the pile foundation process for sinking and precision controlling, conduit on novel jacket structure basis
Frame manufacture craft and the key technologies such as quality control, jacket installation and leveling technology and annular consolidation grouting technique must carry out
The innovation and exploration of technique and technology.
Since the minimum clearance between single jacket spud leg and basic pile foundation is not less than 5cm, in addition when jacket installation
It is smoothly in place to must assure that all jacket spud legs synchronize, therefore jacket basis is compared with concrete bearing platform type foundation construction, it is right
Pile foundation process for sinking and plane and vertical precision control require very high.This kind of engineering jacket basis pile foundation construction requirement stake top
Plan-position deviation≤52mm, pile body perpendicularity deviation≤1/200；And conventional process for sinking precision can only control: stake top
Plan-position deviation≤250mm, pile body verticality≤1/100 are unable to satisfy demand.Furthermore due to by marine severe construction item
Top flange face high-precision requirement after the influence of part and jacket installation (horizontal gradient error is within 2.5mm), it can be seen that
A kind of scheme that can ensure that jacket installation is smoothly implemented and effectively control levels precision is provided, is this field urgent need to resolve
The technical issues of.
Summary of the invention
Aiming at the problem that plane and vertical control precision are unable to satisfy demand during existing jacket installation, one is needed
The high-precision jacket plane of kind and vertical control program.
For this purpose, technical problem to be solved by the invention is to provide a kind of jacket basis fine positioning and temporary locking systems
System, it is ensured that plane and vertical control precision are met the requirements during jacket installation.
In order to solve the above technical problem, the present invention provides jacket basis fine positioning and temporary locking systems include:
Plane gauging system, the levelness in plane measurement systematic survey jacket top flange face；
Several plane regulating hydraulic cylinders, several plane regulating hydraulic cylinders are removably placed in jacket supporting leg
On, and along jacket supporting leg circumferencial direction horizontal distribution, and correspond to the lateral wall of the steel-pipe pile matched with jacket supporting leg；
Several vertical adjustment hydraulic cylinders, several vertical adjustment hydraulic cylinders are removably placed in jacket supporting leg
On, and be distributed vertically along jacket supporting leg circumferencial direction, and correspond to the top of the steel-pipe pile matched with jacket supporting leg；
Regulation and control system, the regulation and control system control several plane regulating hydraulic cylinders of connection and several perpendicular respectively
It is connect to adjusting hydraulic cylinder, and with plane measurement system data.
In the present system, the plane gauging system is laser planeness measuring system, mainly includes laser emitter, visits
Survey target and data processing terminal.
In the present system, several plane regulating hydraulic cylinders are equally spaced.
In the present system, plane regulating hydraulic cylinder is equipped with pressurizer and pressure sensor.
In the present system, several vertical adjustment hydraulic cylinders are equally spaced.
In the present system, vertical adjustment hydraulic cylinder is equipped with pressurizer and pressure sensor.
In the present system, the regulation and control system includes control valve group, hydraulic power unit and control system, the control
Valve group is separately connected several plane regulating hydraulic cylinders and several vertical adjustment hydraulic cylinders, the control system by control valve group
System controls control valve group and hydraulic power unit respectively.
The present invention provides jacket basis fine positioning and temporary locking systems and can be realized and carry out accurate plane to jacket
Positioning；At the same time, additionally it is possible to temporary locking is carried out to jacket, is further ensured that the precision and reliability of plane positioning, with
Meet construction requirement.
Furthermore this system overall structure is simple, it is easy to accomplish, can moral conduct it is strong, have stronger practicability.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is jacket structure schematic diagram in present example；
Fig. 2 is the composition schematic diagram of jacket basis fine positioning and temporary locking systems in present example.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to Fig. 1 which shows the structural schematic diagram of supporting leg interpolation type jacket 200.When such jacket installation, need
The supporting leg 210 of bottom will be assigned into the steel-pipe pile 200 as basic pile foundation.
This example provides a kind of jacket basis essence in order to position during the installation process to jacket precise plane
Positioning and temporary locking systems, which can carry out precise plane positioning to jacket, and realize interim locking.
Referring to fig. 2, the jacket basis fine positioning and temporary locking systems 100 that this example provides mainly include that plane is measured
System 110, several plane regulating hydraulic cylinders 120, several vertical adjustment hydraulic cylinders 130 and regulation and control system 140.
Wherein, plane gauging system 110 is used to measure the levelness in jacket top flange face, is used for plane positioning control
System.
The preferred laser planeness measuring system of plane gauging system 110, the system mainly include laser emitter, detection
Target and data processing terminal, it is corresponding to be arranged on jacket top flange face, to measure jacket top flange face
Levelness.
Several plane regulating hydraulic cylinders 120 in this system, for realizing the temporary locking to jacket.For this purpose, if
Dry plane regulating hydraulic cylinder 120 is removably placed on jacket supporting leg, and several 120 edges of plane regulating hydraulic cylinder
The distribution of jacket supporting leg circumferencial direction, each plane regulating hydraulic cylinder 120 are in a horizontal state setting, and the piston rod of oil cylinder and
The lateral wall for the steel-pipe pile that jacket supporting leg matches is corresponding, i.e., so that each plane regulating hydraulic cylinder 120 is perpendicular to steel
The lateral wall of tubular pole.
Several plane regulating hydraulic cylinders 120 being arranged such, the cylinder body and jacket of each plane regulating hydraulic cylinder
Supporting leg is fixedly connected, and thus piston rod thereon passes through piston rod from surrounding top perpendicular to the lateral wall of support steel-pipe pile respectively
The lateral wall of steel-pipe pile is supportted, realizes and fixes, then realize and jacket is temporarily fixed on steel-pipe pile.
For plane regulating hydraulic cylinder 120 particular number depending on actual needs, to guarantee temporary locking
Stability, this example preferred planar is adjusted to be equally spaced between hydraulic cylinder 120, and but it is not limited to this, equally may be used as needed
Using other schemes.
Each plane regulating hydraulic cylinder 120 is preferably fixed on jacket supporting leg by 2 bolts in placement, by
This facilitates the installation and removal of oil cylinder.
It, can with guarantee the operation of each hydraulic cylinder in addition, each plane regulating hydraulic cylinder 120 is equipped with pressurizer
By property and stability, then guarantee the reliability and stability of whole system.
Further, it is additionally provided with pressure sensor on each plane regulating hydraulic cylinder 120, so that control system is real-time
The operating pressure of each plane regulating hydraulic cylinder is solved, timely reliable field data is provided for system control, is further ensured that
The reliability and stability of whole system.
Several vertical adjustment hydraulic cylinders 130 in this system, for realizing the precise plane positioning to jacket.For
This, several vertical adjustment hydraulic cylinders 130 are removably placed on jacket supporting leg, and several vertical adjustment hydraulic cylinders
130 are distributed along jacket supporting leg circumferencial direction, the setting of each vertical adjustment hydraulic cylinder 130 state in a vertical shape, and the work of oil cylinder
Stopper rod is corresponding with the top end face for the steel-pipe pile that jacket supporting leg matches, i.e., so that each vertical adjustment hydraulic cylinder 130
Perpendicular to the top end face of steel-pipe pile.
Several vertical adjustment hydraulic cylinders 130 being arranged such, the cylinder body and jacket of each vertical adjustment hydraulic cylinder
Supporting leg is fixedly connected, and thus piston rod thereon passes through piston rod from surrounding perpendicular to the top end face of support steel-pipe pile respectively
The top end face of steel-pipe pile is shored, realizes position and state of the adjustment jacket relative to steel-pipe pile, then realizes that jacket exists
Accurate plane positioning on steel-pipe pile.
For vertical adjustment hydraulic cylinder 130 particular number depending on actual needs, to guarantee temporary locking
Stability is equally spaced between the preferred vertical adjustment hydraulic cylinder 130 of this example, and but it is not limited to this, equally may be used as needed
Using other schemes.
Each vertical adjustment hydraulic cylinder 130 is preferably fixed on jacket supporting leg by 2 bolts in placement, by
This facilitates the installation and removal of oil cylinder.
It, can with guarantee the operation of each hydraulic cylinder in addition, each vertical adjustment hydraulic cylinder 130 is equipped with pressurizer
By property and stability, then guarantee the reliability and stability of whole system.
Further, it is additionally provided with pressure sensor on each vertical adjustment hydraulic cylinder 130, so that control system is real-time
The operating pressure of each vertical adjustment hydraulic cylinder 130 is solved, timely reliable field data is provided for system control, further mentions
The precision of high plane positioning and the reliability and stability for guaranteeing whole system.
Regulation and control system 140 in this system is used for the measurement data according to plane gauging system 110, if automatic synchronization
Dry vertical adjustment hydraulic cylinder 130 cooperates with several plane regulating hydraulic cylinders 120, and the fine plane for being automatically performed jacket is fixed
Position and temporary locking.
The regulation and control system 140 mainly includes control valve group 141, hydraulic power unit 142 and control system 143.
Wherein, control valve group 141 controls each hydraulic cylinder in connection system respectively, for controlling to adjust each hydraulic oil
The drive actions of cylinder realize single action or linkage between hydraulic cylinder.
Hydraulic power unit 142 is connected to each hydraulic cylinder in system by control valve group 141, is each hydraulic oil in system
Power source needed for cylinder offer movement.
Control system 143 is data processing and control centre in whole system, controls control valve group 141 and hydraulic respectively
Pumping plant 142, and with 110 data connection of plane gauging system.
The control system 143 can be specifically made of the PC machine for being mounted with Control System Software, and but it is not limited to this, according to need
Can also be using other scheme.The control system 143 obtains the level that entire jacket is in from plane gauging system 110
State, and plane positioning data are formed accordingly, then control corresponding control valve group 141 based on the plane positioning data, come with this
It controls corresponding vertical adjustment hydraulic cylinder and carries out plane positioning movement；Simultaneously during the plane positioning, plane measurement system
System 110 goes back the horizontality that the entire jacket of real-time metrics is in, and by the real-time data transmission to control system 143, controls
System 143 then adjusts corresponding plane positioning data in real time according to the data, and it is hydraulic further to adjust corresponding vertical adjustment
Oil cylinder carries out plane positioning movement, shows closed-loop control by the continual real-time metrics and adjustment in real time, effectively keeps tie
Face positioning accuracy.
Accordingly, this programme is further illustrated below by way of a specific application example.
Jacket is carried out based on above-mentioned jacket basis fine positioning and temporary locking systems scheme in this application example
Precise plane is positioned and is fixed temporarily.
Plane positioning instrument and hydraulic system are mainly used in this application example, wherein plane positioning instrument is used for conduit
The horizontal degree measurement of top of the trellis flange face, and hydraulic system is used to complete the plane positioning of jacket and is fixed temporarily.
Wherein, plane positioning instrument is specially SP-2 laser planeness measuring system, SP-2 laser planeness measurement system
System is mainly made of T310 laser emitter, R310 detection target and DU310 portable notebook.
Hydraulic system uses underwater hydraulic system in this application example, is the key that carry out jacket plane positioning.Specifically
To have 2 sets of hydraulic systems: plane positioning hydraulic system and temporary locking hydraulic system in each jacket supporting leg upper design, often
A hydraulic system is fixed on jacket by steel construction.
On this basis, this example passes through SP-2 laser planeness measuring system first and completes to jacket top flange face
Horizontal degree measurement control.After jacket is tentatively completed (such as Fig. 1), water is carried out using SP-2 laser planeness measuring system
Pingdu measurement control work.The levelness for measuring jacket top flange face, makes laser using the level meter built in laser
Level is mounted on detection target in one reference point, and up and down adjustment makes it detect lasing area.It is clear that target will be detected in reference point
Zero, be moved on the surface it is more any other, will generate one measurement levelness, detection target will show relatively
In the deviation of the measurement point of reference point, with the levelness of this monitoring catheter top of the trellis flange face.
Furthermore enter the fine plane positioning of jacket.The fine plane positioning of jacket with jacket structure by being connected
Plane positioning hydraulic system and SP-2 laser planeness measuring system synergistic effect.The hydraulic oil of steel pipe stake top will be supported on
Cylinder shores steel pipe pile lining, at the same time SP2 laser plane measuring system monitoring level degree, controls in plane positioning hydraulic system
Vertical direction hydraulic cylinder, which shores jacket, makes top flange face reach requirement levelness.
Finally, being fixed temporarily after Level tune completion into jacket.Jacket is fixed temporarily by temporary locking
Hydraulic system is completed, using horizontally hydraulic cylinder work shores and carries out conduit on jacket in temporary locking hydraulic system
The temporary locking of frame and steel-pipe pile.
Therefore this fine positioning and temporary locking systems are suitable for the installation of supporting leg interpolation type jacket, the i.e. conduit
It is inserted in steel-pipe pile in the supporting leg of frame, and is suitable for the waterborne and Underwater Navigation operation of jacket installation, it is underwater for jacket
It positions especially suitable.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of jacket basis fine positioning and temporary locking systems, which is characterized in that the system comprises:
Plane gauging system, the levelness in plane measurement systematic survey jacket top flange face；
Several plane regulating hydraulic cylinders, several plane regulating hydraulic cylinders are removably placed on jacket supporting leg,
And along jacket supporting leg circumferencial direction horizontal distribution, each plane regulating hydraulic cylinder is in a horizontal state setting, and the work of oil cylinder
Stopper rod is corresponding with the lateral wall for the steel-pipe pile that jacket supporting leg matches, i.e., so that each plane regulating hydraulic cylinder perpendicular to
The lateral wall of steel-pipe pile, for realizing temporary locking to jacket；
Several vertical adjustment hydraulic cylinders, several vertical adjustment hydraulic cylinders are removably placed on jacket supporting leg,
And it is distributed vertically along jacket supporting leg circumferencial direction, each vertical adjustment hydraulic cylinder state setting in a vertical shape, and the work of oil cylinder
Stopper rod is corresponding with the top end face for the steel-pipe pile that jacket supporting leg matches, i.e., so that each vertical adjustment hydraulic cylinder is vertical
In the top end face of steel-pipe pile, for realizing precise plane positioning to jacket；
Regulation and control system, the regulation and control system controls respectively connects several plane regulating hydraulic cylinders and several vertical tune
Hydraulic cylinder is saved, and is connect with plane measurement system data, for the measurement data according to plane gauging system, if controlling first
Dry vertical adjustment hydraulic cylinder realizes precise plane positioning to jacket；Then, it after jacket plane positioning, controls several flat
Face adjusts hydraulic cylinder work and shores the temporary locking for carrying out jacket and steel-pipe pile on jacket.
2. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that described flat
Face gauging system is laser planeness measuring system, mainly includes laser emitter, detection target and data processing terminal.
3. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that if described
Dry plane regulating hydraulic cylinder is equally spaced.
4. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that plane tune
It saves hydraulic cylinder and is equipped with pressurizer and pressure sensor.
5. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that if described
Dry vertical adjustment hydraulic cylinder is equally spaced.
6. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that vertical to adjust
It saves hydraulic cylinder and is equipped with pressurizer and pressure sensor.
7. a kind of jacket basis fine positioning according to claim 1 and temporary locking systems, which is characterized in that the tune
Saving control system includes control valve group, hydraulic power unit and control system, and the control valve group is separately connected by control valve group
Several plane regulating hydraulic cylinders and several vertical adjustment hydraulic cylinders, the control system control control valve group and hydraulic respectively
Pumping plant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611237586.9A CN106759349B (en) | 2016-12-28 | 2016-12-28 | A kind of jacket basis fine positioning and temporary locking systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611237586.9A CN106759349B (en) | 2016-12-28 | 2016-12-28 | A kind of jacket basis fine positioning and temporary locking systems |
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| Publication Number | Publication Date |
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| CN106759349A CN106759349A (en) | 2017-05-31 |
| CN106759349B true CN106759349B (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611237586.9A Active CN106759349B (en) | 2016-12-28 | 2016-12-28 | A kind of jacket basis fine positioning and temporary locking systems |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111139859B (en) * | 2020-01-16 | 2021-08-27 | 董传强 | Outdoor auxiliary installation equipment for adjustable pump station and installation method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04281916A (en) * | 1991-03-06 | 1992-10-07 | Shimizu Corp | Base device for construction of main post |
| CN202298628U (en) * | 2011-10-24 | 2012-07-04 | 武汉地质勘察基础工程有限公司 | Automatic steel pipe column perpendicularity adjusting device using reverse construction method |
| CN203569584U (en) * | 2013-11-08 | 2014-04-30 | 广东明阳风电产业集团有限公司 | Jacket leveling mechanism for offshore wind generating set |
| CN206428698U (en) * | 2016-12-28 | 2017-08-22 | 中交第三航务工程局有限公司 | A kind of basic fine positioning of jacket and temporary locking device |
-
2016
- 2016-12-28 CN CN201611237586.9A patent/CN106759349B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04281916A (en) * | 1991-03-06 | 1992-10-07 | Shimizu Corp | Base device for construction of main post |
| CN202298628U (en) * | 2011-10-24 | 2012-07-04 | 武汉地质勘察基础工程有限公司 | Automatic steel pipe column perpendicularity adjusting device using reverse construction method |
| CN203569584U (en) * | 2013-11-08 | 2014-04-30 | 广东明阳风电产业集团有限公司 | Jacket leveling mechanism for offshore wind generating set |
| CN206428698U (en) * | 2016-12-28 | 2017-08-22 | 中交第三航务工程局有限公司 | A kind of basic fine positioning of jacket and temporary locking device |
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| CN106759349A (en) | 2017-05-31 |
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