CN110962992B - A rotary anchoring device based on suction barrel foundation penetration - Google Patents
A rotary anchoring device based on suction barrel foundation penetration Download PDFInfo
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- CN110962992B CN110962992B CN201911095332.1A CN201911095332A CN110962992B CN 110962992 B CN110962992 B CN 110962992B CN 201911095332 A CN201911095332 A CN 201911095332A CN 110962992 B CN110962992 B CN 110962992B
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- 230000035515 penetration Effects 0.000 title claims abstract description 16
- 238000004873 anchoring Methods 0.000 title claims description 19
- 238000010276 construction Methods 0.000 claims description 17
- 239000002689 soil Substances 0.000 abstract description 14
- 230000009471 action Effects 0.000 abstract description 4
- 230000000149 penetrating effect Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000009364 mariculture Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000196171 Hydrodictyon reticulatum Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
- B63B21/27—Anchors securing to bed by suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/38—Anchors pivoting when in use
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Foundations (AREA)
Abstract
本发明公开了一种基于吸力式桶形基础贯入的旋转式锚泊装置，包括圆桶基础及与之外壁相配合的圆弧板，圆桶基础呈筒状，其外壁上设置一对旋转轴；圆弧板上设置一对与旋转轴匹配的套筒，圆弧板靠近下部设置系泊孔；圆弧板上部连接一个圆环板，圆环板下部与连接圆弧板相对位置设有向下的止转板；圆弧板可绕旋转轴发生旋转，圆弧板高度高于圆桶基础，圆弧板两端分别超出圆桶基础的上下端面。本发明沉贯至设计深度后，通过对锚链施加拉力使圆弧板相对于圆桶基础发生旋转，旋转至最大幅度时止转板将抵住圆桶基础的外壁，锚链荷载作用点较大距离的偏离圆桶基础本体，圆桶基础沿锚链方向能兜住较大体积的海床土体，从而大大提高了其抗拔承载力。
The present invention discloses a rotary mooring device based on the penetration of a suction-type barrel foundation, comprising a barrel foundation and an arc plate matched with the outer wall, the barrel foundation is cylindrical, and a pair of rotating shafts are arranged on its outer wall; a pair of sleeves matching the rotating shafts are arranged on the arc plate, and a mooring hole is arranged near the lower part of the arc plate; a circular ring plate is connected to the upper part of the arc plate, and a downward anti-rotation plate is arranged at the lower part of the circular ring plate relative to the connected circular arc plate; the arc plate can rotate around the rotating shaft, the height of the arc plate is higher than the barrel foundation, and the two ends of the arc plate exceed the upper and lower end surfaces of the barrel foundation respectively. After the present invention is sunk to the designed depth, the arc plate is rotated relative to the barrel foundation by applying tension to the anchor chain, and the anti-rotation plate will resist the outer wall of the barrel foundation when it rotates to the maximum amplitude, and the anchor chain load action point deviates from the barrel foundation body by a large distance, and the barrel foundation can hold a large volume of seabed soil along the anchor chain direction, thereby greatly improving its pull-out bearing capacity.
Description
Technical Field
The invention relates to the technical field of anchoring of ocean floating platforms or deep water net cages, in particular to a rotary anchoring device based on suction type barrel-shaped foundation penetration.
Background
The barrel-shaped foundation is a reverse-buckling large-diameter steel barrel with an opening bottom end and a closed top end. When in installation, firstly, part of the barrel body is inserted into the soil by means of the self weight of the barrel body in a preset sea area to form a closed space, and then gas or liquid between the barrel body and the soil body is pumped out, so that the pressure difference is formed in the barrel body, and the barrel body is gradually pressed into the seabed to a preset depth to finish the installation. At present, the anchoring foundation which can be constructed by using the barrel-shaped foundation mainly comprises a buried suction anchor (embedded suction anchor) and a suction penetration type flat anchor (Suction embedded plate anchor). But the pullout resistance of these two anchors tends to be limited.
Therefore, the suction penetrating type anchoring foundation structure based on the barrel-shaped foundation is required to be innovatively designed, so that the suction penetrating type anchoring foundation structure has larger pulling-resistant bearing capacity and is convenient to construct.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a rotary anchoring device based on penetration of a suction type barrel-shaped foundation, wherein an arc plate of a mooring anchor chain can rotate, so that the anchor chain is deviated from a barrel foundation body by a larger distance, and the barrel foundation can bag a larger volume of seabed soil body along the direction of the anchor chain, thereby greatly improving the pulling-resistant bearing capacity of the barrel foundation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The rotary anchoring device based on penetration of the suction type barrel-shaped foundation is characterized by comprising a barrel-shaped foundation and an arc plate matched with the outer wall, wherein the barrel-shaped foundation is cylindrical, and two sides of the middle upper part of the outer wall of the barrel-shaped foundation are provided with a pair of rotary shafts;
The two side walls of the arc plate extend towards the foundation direction of the drum to be cone-shaped, a pair of sleeves matched with the rotating shaft are arranged near the cone tip, and mooring holes are formed in the lower part of the arc plate;
The upper part of the circular arc plate is connected with a circular ring plate, and a downward rotation stopping plate is arranged at the opposite position of the lower part of the circular ring plate and the connecting circular arc plate;
after the arc plate is sleeved into two rotating shafts on the barrel foundation based on the two sleeves, the arc plate can rotate around the rotating shafts, the height of the arc plate is higher than that of the barrel foundation, and two ends of the arc plate respectively exceed the upper end face and the lower end face of the barrel foundation.
The rotary anchoring device based on suction type barrel-shaped foundation penetration is characterized in that the inner diameters and the outer diameters of the arc plate, the annular plate and the rotation stopping plate are equal.
The rotary anchoring device based on suction type barrel-shaped foundation penetration is characterized in that the outer diameter of the rotary shaft is smaller than the inner diameter of the sleeve.
The rotary anchoring device based on suction type barrel-shaped foundation penetration is characterized in that the inner diameter and the outer diameter of the barrel-shaped foundation are respectively equal to the inner diameter and the outer diameter of the barrel-shaped foundation, and the arc diameter of the concave surface of the arc plate is larger than the outer diameter of the barrel-shaped foundation.
The rotary anchoring device based on penetration of the suction type barrel-shaped foundation is characterized in that an anchor chain is moored on a mooring hole during construction, the barrel-shaped foundation is fixedly connected to the lower end of the barrel-shaped foundation, and a circular plate is sleeved on the periphery of the barrel-shaped foundation.
Compared with the prior art, the invention has the advantages that:
1. The arc plate, the annular plate and the rotation stopping plate are enclosed on the outer sides of the barrel foundation and the barrel foundation during construction, the area of the plumb direction of the arc plate, the annular plate and the rotation stopping plate in the sinking and penetrating process is the cross section area of the annular plate, the area is very small, the resistance of soil body to the arc plate, the annular plate and the rotation stopping plate is very small, the influence on the sinking and penetrating resistance of the whole device after the arc plate, the annular plate and the rotation stopping plate are increased is very small, and the arc plate, the annular plate and the rotation stopping plate are basically indistinguishable from the construction of the traditional barrel foundation;
2. After the barrel foundation is submerged to the designed depth, the arc plate rotates relative to the barrel foundation by applying tension to the anchor chain, and the rotation stopping plate props against the outer wall of the barrel foundation when rotating to the maximum amplitude, at the moment, the anchor chain load acting point deviates from the barrel foundation body by a larger distance, the barrel foundation is in an eccentric tension state, and the barrel foundation can pack a larger volume of seabed soil body along the direction of the anchor chain, so that the pulling-resistant bearing capacity of the barrel foundation is greatly improved;
3. the invention has simple structure, convenient manufacture and construction and lower cost, and can provide larger anchoring force for the offshore floating platform, the mariculture net cage and the like.
Drawings
Fig. 1 is a top view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a three-dimensional schematic of the present invention.
Fig. 4 is a schematic three-dimensional view of the present invention.
Fig. 5 is a three-dimensional schematic view of the arc plate structure of the present invention.
Fig. 6 is a three-dimensional schematic of the barrel foundation of the present invention.
FIG. 7 is a schematic view of the drum base of the present invention rotated by a certain angle.
FIG. 8 is a schematic view of the invention in construction relying on the gravity of the barrel foundation to sink into contact with the seabed.
FIG. 9 is a schematic cross-sectional view of the present invention assembled with a barrel foundation during construction.
FIG. 10 is a schematic view of the invention based on a barrel foundation penetrating the seabed.
Fig. 11 is a schematic drawing of the barrel foundation of the present invention with the barrel foundation removed.
Fig. 12 is a diagram of an operation state of the present invention.
The reference numerals indicate 1, a barrel foundation, 2, a sleeve, 3, a rotating shaft, 4, an arc plate, 5, a circular ring plate, 6, a rotation stopping plate, 7, a mooring hole, 8, a barrel foundation, 9, an anchor chain, 10, a construction rope and A, a seabed surface.
Detailed Description
See the drawings.
A rotary anchoring device based on suction type barrel foundation penetration comprises a barrel foundation 1 and arc plates 4, wherein the barrel foundation 1 is cylindrical, two sides of the middle upper portion of the outer side are provided with a pair of rotating shafts 3, the arc plates 4 are arc-shaped steel plates, two side walls of each arc plate extend towards the barrel foundation to be conical, a pair of sleeves matched with the rotating shafts are arranged near the conical tip, mooring holes 7 are formed in the lower portion of each arc plate 4, the central angle of each arc plate 4 is 60-180 degrees, the upper portion of each arc plate 4 is connected with one annular plate 5, the lower portion of each annular plate 5 is symmetrically welded with a circular arc-shaped rotation stopping plate 6 connected with each arc plate 4, and the arc plates 4 can rotate around the rotating shafts 3 after being sleeved on the two rotating shafts 3 on the barrel foundation 1 based on the two sleeves 2.
The above-mentioned azimuth terms such as "outside", "lower", "upper middle", "both sides" and the like are determined based on the posture of the drum at the time of basic construction as shown in fig. 8. The azimuth words mentioned elsewhere in the specification are also estimated from this gesture. The above orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or components referred to must have a specific orientation, configuration and operation, and therefore should not be construed as limiting the present invention.
Fig. 1 to 4 show schematic structural diagrams of the basis of the drum.
The drum base 1 is cylindrical, and a pair of rotation shafts 3 are provided on both sides of the middle upper portion of the outer side as shown in fig. 6. Preferably, a pair of rotation shafts 3 are located on a diameter of the barrel foundation 7.
The inner diameter and the outer diameter of the arc plate 4, the annular plate 5 and the rotation stopping plate 6 are respectively equal, the appearance is similar to an 'F', and the whole body is in a symmetrical state, as shown in figure 5.
The outer diameter of the rotating shaft 3 is smaller than the inner diameter of the sleeve 2. After the circular arc plate 4 is sleeved into the two rotating shafts 3 on the barrel foundation 1 based on the two sleeves 2, the circular arc plate 4 can rotate around the rotating shafts 3, as shown in fig. 7. The rotation stop plate 6 will abut against the outer wall of the barrel foundation 1 when rotated to the maximum extent, so that the rotation extent of the circular arc plate 4 can be adjusted by changing the height of the rotation stop plate 6.
The barrel foundation is penetrated into the seabed by means of the suction barrel foundation 8, the inner diameter and the outer diameter of the barrel foundation 1 are respectively equal to the inner diameter and the outer diameter of the barrel foundation 8, and the circular arc diameter of the concave surface of the circular arc plate 4 is larger than the outer diameter of the barrel foundation 8.
During construction of the barrel foundation, the anchor chain 9 is moored on the mooring hole 7, the barrel foundation 1 is fixedly connected to the lower end of the barrel foundation 8, the annular plate 5 is sleeved on the periphery of the barrel foundation 8, the barrel foundation 1 is penetrated to the designed depth of the seabed by means of the barrel foundation 8, then the barrel foundation 8 is removed, and the barrel foundation is constructed by applying tension to the anchor chain 9 until a design value. The assembly of the proposed barrel foundation with the barrel foundation 8 is shown in fig. 8.
The barrel-shaped foundation is also called a suction pile (suction pile), which is a reverse-buckling large-diameter steel barrel with an opening bottom end and a closed top end, when the barrel-shaped foundation is installed, firstly, part of the barrel-shaped foundation is inserted into soil by the self weight of a barrel body in a preset sea area to form a closed space, and then extracting gas and liquid between the barrel and the soil body, so that the pressure difference is formed in the barrel, and the barrel is gradually pressed into the seabed to a preset depth to finish installation. The lifted barrel foundation is pressed into the seabed to a designed depth by means of the penetration of the suction barrel foundation.
The strength of each component meets the requirement of load action under various working conditions, and buckling and failure can not occur under severe working conditions. The rotation shaft 3 can generate larger stress concentration, and the stress concentration part should be reinforced by adopting auxiliary measures to avoid buckling and failure caused by larger stress concentration at the connection part.
The construction process of the invention is described in detail as follows:
1. assembling a barrel foundation;
The barrel foundation 1 is fixedly connected to the bottom of the barrel foundation 8, and the annular plate 5 is sleeved around the barrel foundation 8, as shown in fig. 8. A cross-sectional view of the connection of the barrel foundation 1 and the barrel foundation 8 is shown in fig. 9.
2. The barrel-shaped foundation sinks by self weight to contact the seabed;
One end of the anchor chain 9 is moored on the mooring hole 7, the barrel-shaped foundation 8 is connected with a construction rope 10, the barrel-shaped foundation 8 is lifted based on the construction rope 10 to enter sea water and be in a plumb state, and the barrel-shaped foundation 8 is gradually lowered to be sunk under the action of dead weight to contact with the seabed and be pressed into the seabed for a certain depth, as shown in fig. 8.
Generally, the barrel-shaped foundation 8 is pressed into the seabed by a certain depth under the action of dead weight, so that the bottom of the barrel-shaped foundation 8 is sealed by the seabed soil body, a closed space is formed inside the barrel-shaped foundation, and necessary conditions are provided for forming negative pressure for the subsequent air extraction.
3. Extracting negative pressure to enable the barrel-shaped foundation to penetrate into the seabed to the designed depth;
The top of the barrel-shaped foundation 8 is provided with a water (gas) inlet and outlet valve, a connecting pipe is fixedly connected with the water (gas) inlet and outlet valve, air in the barrel-shaped foundation 8 is pumped out through the connecting pipe to form an internal and external pressure difference, so that the barrel-shaped foundation is penetrated into a seabed soil body, and finally the barrel-shaped foundation 1 at the bottom of the barrel-shaped foundation is pressed into the seabed soil body to a designed depth, as shown in fig. 10.
The arc plate, the annular plate and the rotation stopping plate are surrounded on the outer sides of the barrel foundation and the barrel foundation during construction, the area of the plumb direction of the arc plate, the annular plate and the rotation stopping plate in the sinking and penetrating process is the cross section area of the annular plate, the area is very small, the resistance of soil body to the arc plate, the annular plate and the rotation stopping plate is very small, and the influence on the sinking and penetrating resistance of the whole device is very small after the arc plate, the annular plate and the rotation stopping plate are increased, so that the arc plate, the annular plate and the rotation stopping plate are basically indistinguishable from the construction of the traditional barrel foundation.
4. Removing the barrel foundation;
After the barrel foundation 8 is pressed into the seabed to the designed depth, the inside of the barrel foundation 8 is inflated through the connecting pipe, so that the barrel foundation 8 gradually floats upwards, and finally the barrel foundation 8 is lifted and removed. After the barrel foundation 8 is removed, only the circular arc plate and barrel foundation 1 remain in the seabed soil mass, as shown in fig. 11.
In order to facilitate the separation of the barrel foundation 8 and the circular arc plate 4, lubricant can be smeared on the inner sides of the circular arc plate 4, the circular ring plate 5 and the rotation stopping plate 6.
5. Stretching the anchor chain to make the barrel the foundation meets the design requirement.
The arc plate 4 rotates by applying tension to the anchor chain 9 until the tension of the anchor chain 9 reaches a design value, and the construction is finished.
The circular arc plate rotates relative to the barrel foundation by applying tension to the anchor chain, the rotation stopping plate props against the outer wall of the barrel foundation when rotating to the maximum amplitude, the anchor chain load acting point deviates from the barrel foundation body by a larger distance, the barrel foundation is in an eccentric tension state, and the barrel foundation can bag a larger-volume seabed soil body along the anchor chain direction, so that the pulling-resistant bearing capacity of the barrel foundation is greatly improved.
Figure 12 shows a possible working state of the basis of the proposed drum.
The barrel foundation with the arc plates has the advantages of simple structure, convenient manufacture and construction and lower cost, and can provide larger anchoring force for offshore floating platforms, mariculture net cages and the like.
The strength of each component and the joint should meet the use requirement, and buckling and failure do not occur under severe working conditions.
The drawings only show the partial shape and partial connection mode of the arc plates, and according to the proposed thought, the shape and mutual connection mode of the arc plates can be changed, or other auxiliary components are additionally arranged to form other related types of rotary barrel foundations, which belong to equivalent modification and change of the technology and are not repeated herein.
The drawings are for illustrative purposes only and should not be construed as limiting the present patent, and certain components of the drawings may be omitted, enlarged or reduced in order to better illustrate the present embodiment, and do not represent the actual product size, and it may be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted, that the same or similar reference numerals correspond to the same or similar components, and that the terms describing the positional relationship in the drawings are for illustrative purposes only and should not be construed as limiting the present patent.
The present invention is not limited to the above-described embodiments, and according to the above-described matters, the present invention may be modified, replaced or altered in various equivalent ways without departing from the basic technical spirit of the present invention, all of which fall within the scope of the present invention, according to the general technical knowledge and conventional means in the art.
Claims (3)
1. The rotary anchoring device based on penetration of the suction type barrel-shaped foundation is characterized by comprising a barrel-shaped foundation and an arc plate matched with the outer wall, wherein the barrel-shaped foundation is cylindrical, and two sides of the middle upper part of the outer wall of the barrel-shaped foundation are provided with a pair of rotary shafts;
The two side walls of the arc plate extend towards the foundation direction of the drum to be cone-shaped, a pair of sleeves matched with the rotating shaft are arranged near the cone tip, and mooring holes are formed in the lower part of the arc plate;
The upper part of the circular arc plate is connected with a circular ring plate, and a downward rotation stopping plate is arranged at the opposite position of the lower part of the circular ring plate and the connecting circular arc plate;
after the arc plate is sleeved into two rotating shafts on the barrel foundation based on the two sleeves, the arc plate can rotate around the rotating shafts, the height of the arc plate is higher than that of the barrel foundation, and two ends of the arc plate respectively exceed the upper end face and the lower end face of the barrel foundation;
the inner diameter and the outer diameter of the arc plate, the annular plate and the rotation stopping plate are equal;
the outer diameter of the rotating shaft is smaller than the inner diameter of the sleeve.
2. The rotary anchoring device based on suction type barrel foundation penetration of claim 1, wherein the inner diameter and the outer diameter of the barrel foundation are respectively equal to the inner diameter and the outer diameter of the barrel foundation, and the arc diameter of the concave surface of the arc plate is larger than the outer diameter of the barrel foundation.
3. The rotary anchoring device based on penetration of suction type barrel-shaped foundation according to claim 1, wherein the anchor chain is moored on the mooring hole during construction, the barrel-shaped foundation is fixedly connected to the lower end of the barrel-shaped foundation, and the annular plate is sleeved on the periphery of the barrel-shaped foundation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095332.1A CN110962992B (en) | 2019-11-11 | 2019-11-11 | A rotary anchoring device based on suction barrel foundation penetration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095332.1A CN110962992B (en) | 2019-11-11 | 2019-11-11 | A rotary anchoring device based on suction barrel foundation penetration |
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| Publication Number | Publication Date |
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| CN110962992A CN110962992A (en) | 2020-04-07 |
| CN110962992B true CN110962992B (en) | 2025-03-25 |
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| CN201911095332.1A Active CN110962992B (en) | 2019-11-11 | 2019-11-11 | A rotary anchoring device based on suction barrel foundation penetration |
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| CN113734357B (en) * | 2021-08-12 | 2023-03-24 | 中国石油大学(华东) | Self-spinning penetration type suction anchor foundation for anchoring floating type marine structure and penetration method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211308897U (en) * | 2019-11-11 | 2020-08-21 | 安徽建筑大学 | A rotary mooring device based on suction barrel penetration |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO311624B1 (en) * | 1997-05-21 | 2001-12-17 | Norsk Hydro As | Device for anchor down of seabed |
| CN102556284B (en) * | 2012-03-02 | 2014-04-16 | 中国石油大学(华东) | Suction penetrating arc-shaped plate anchor, mounting tool for same and construction method for same |
| KR101568002B1 (en) * | 2014-03-07 | 2015-11-10 | 한국해양과학기술원 | Embedded Vertical Loaded Anchor |
| KR101722179B1 (en) * | 2015-07-21 | 2017-03-31 | 삼성중공업 주식회사 | anchor |
| CN108316338B (en) * | 2018-04-04 | 2020-01-24 | 合肥学院 | A suction penetration type arc steel anchor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211308897U (en) * | 2019-11-11 | 2020-08-21 | 安徽建筑大学 | A rotary mooring device based on suction barrel penetration |
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