CN102658470B - Installation tool for recyclable jaw connectors - Google Patents
Installation tool for recyclable jaw connectors Download PDFInfo
- Publication number
- CN102658470B CN102658470B CN201210171615.1A CN201210171615A CN102658470B CN 102658470 B CN102658470 B CN 102658470B CN 201210171615 A CN201210171615 A CN 201210171615A CN 102658470 B CN102658470 B CN 102658470B
- Authority
- CN
- China
- Prior art keywords
- several
- hydraulic cylinder
- hydraulic
- frame structure
- hoisting
- 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
Links
Images
Landscapes
- Earth Drilling (AREA)
Abstract
The invention discloses an installation tool for recyclable jaw connectors, which comprises a frame structure, a drive structure, a lifting structure and a plurality of hydraulic locking mechanisms, wherein the drive structure is installed in the middle of the frame structure, the lifting structure is installed in the frame structure, the lifting structure is connected with the drive structure through the plurality of hydraulic locking mechanisms, the plurality of hydraulic locking mechanisms are installed at the lower half part of the frame structure, and the plurality of hydraulic locking mechanisms are arranged in the frame structure and annularly distributed. According to the invention, joints of jaw connectors can be conveyed into water to complete connection; and at different moments of connection, the locking and unlocking between the installation tool and a pipe joint can be completed through the actions of the installation tool, thereby realizing the recovery of recyclable jaw connectors.
Description
Technical field
The present invention relates to pipeline fastening means, relate in particular to a kind of can realization submarine pipeline is connected and the erecting tools of recuperable recoverable claw connector fast.Belong to Offshore Engineering field.
Background technology
Undersea pipe-laying is the important component part that oil-gas field development is built, and the outer aspect such as defeated of exploitation, production and product to offshore oil and gas field plays a very important role.Need to adopt different connectors and interconnection technique to the connection between various submarine pipelines and fixation means.As: interconnecting between manifold, production tree, end of line set facility (PLET) is all by connector, jumping pipe, stream pipe to be connected on these fixation means.Therefore, the connection of highly effective and safe is an important technology in subsea production system.
At present, to the connection between various submarine pipelines and fixation means, conventionally adopt following connected mode:
(1) the mode that bolt flange formula connects: this kind of mode is in the time that bolt flange connects, must guarantee the installation accuracy of multiple bolts (generally at least 8) at flange upper bolt hole, and connect for deep underwater pipes, owing to transmitting image by underwater robot, action adjustment is observed and done to on-the-spot installation situation, installation accuracy is declined greatly, then require whole connected system must reduce for the requirement of installation accuracy, this has just greatly limited bolt flange connection and has connected for deep underwater pipes.Therefore, the mode that existing bolt and flange form connect is not only suitable for the depth of water and is restricted, and connects time-consuming.
(2) the mode that adopts claw connector to connect: claw connector belongs to a kind of typical deep water jockey fast, wherein, is provided with claw structure, as adapter connector.Because it has abandoned bolt connection, the accurate contraposition under deepwater environment of bolt and complicated pretension action are avoided completely, can between various submarine pipelines and fixation means, connect, and replace bolt group to provide pretightning force for flange by the structure that driving ring presses down claw, avoid bolt to connect the difficult problem that multiple holes are accurately aimed at, thereby greatly reduced the installation accuracy requirement to flange; Shorten the underwater operation time, be more suitable for the flange in environment in deep water and connect; And hydraulic-driven stable action, avoids the damaged in collision to vitals, has improved the security of docking operation; Therefore, only have the aligning requirements of pipeline when it is installed under water, installation action is simple, and installation period is shorter, belongs to typical interconnection technique fast.
Whether retain under water the drive units such as hydraulic cylinder according to claw connector, claw connector can be divided into recoverable and recoverable not.After recoverable connector does not provide sealing force realization to seal by drive unit under water, be still retained under water, therefore, operating cost is higher, and is faced with the danger that under permanent load, drive unit lost efficacy.And recoverable claw connector, owing to can it being reclaimed, recycling, therefore, has reduced operating cost.
But this kind of recoverable claw connector, owing to there is no special recovery instrument, brings difficulty to recovery operation.Under this realistic situation, design the present invention.
Summary of the invention
Main purpose of the present invention is to overcome the above-mentioned shortcoming that prior art exists, and a kind of erecting tools of recoverable claw connector is provided, and it can be sent in water by the joint of claw connector and complete connection; And connect not in the same time, complete locking and the release of erecting tools itself and pipe joint by the action of self, realized the recovery to recoverable claw connector.
The object of the invention is to be realized by following technical scheme:
A kind of erecting tools of recoverable claw connector, it is characterized in that: comprise frame structure, drives structure, hoisting structure and several hydraulic locking mechanism, wherein, drives structure is installed on the middle part of frame structure, hoisting structure is installed on frame structure inside, and hoisting structure is connected with drives structure by several hydraulic cylinders, and several hydraulic locking mechanisms are installed on frame structure Lower Half, several hydraulic locking mechanisms is arranged on the inside of frame structure, and circularizes distribution.
Described frame structure comprises: top disc, the guide cone body that is positioned at bottom, the several columns that are positioned at middle part and underwater robot manipulation plate, wherein, between top disc and guide cone body, connect as one by several columns, and form profile and the load support structure of whole connector; Underwater robot manipulation plate and top disc are fixed as one.
Described drives structure comprises: the disc of two drivings, the disc of two drivings is: upper supporting disk and lower carrier, between upper supporting disk and lower carrier, pass by several columns, and the opening direction that maintenance is identical with top disc and guide cone body, several hydraulic locking mechanisms are evenly distributed on upper supporting disk and lower carrier inside; Two discs are formed and coordinate with the lead of frame structure by guiding column sleeve, are fixedly connected with hydraulic means above disc.
Described hydraulic means comprises: several soft landing hydraulic cylinders and several driving hydraulic cylinder, and soft landing hydraulic cylinder and top disc are fixed together, and cylinder bar and the upper supporting disk of soft landing hydraulic cylinder are fixed, and drive hydraulic cylinder and lower carrier to fix; Drive the upper and lower both sides of hydraulic cylinder to stretch out hydraulic cylinder rod, wherein, the hoisting ring in upper hydraulic cylinder rod and hoisting structure is fixed, and lower hydraulic cylinder rod is fixed through hydraulic cylinder piston rod hole and the lower tray of upper supporting disk.
Described hydraulic locking mechanism comprises: array mechanical locking device, several catch bar and several mechanical location-plate, mechanical locking device annular spread is on guide cone body, several catch bars and several mechanical location-plate are arranged on upper supporting disk respectively, and are uniformly distributed ringwise.
Described mechanical locking device is 120 ° of annular spread on guide cone body, and this mechanical locking device comprises: several latch segments and several seat that is locked, it is inner that latch segment is arranged on the seat that is locked.
Described latch segment holder is frame structure.
The bottom of described guide cone body is provided with bell, and reinforcement is installed on bell.
Described hoisting structure comprises: hoisting ring, this hoisting ring links together with the several upper cylinder half bars that are arranged on driving hydraulic cylinder by the several holes that are arranged on suspension ring bottom.
Beneficial effect of the present invention: the present invention is owing to adopting technique scheme, and it can be sent in water by the joint of claw connector and complete connection; And connect not in the same time, complete locking and the release of erecting tools itself and pipe joint by the action of self, realized the recovery to recoverable claw connector.
Accompanying drawing explanation:
Fig. 1 is that structure master of the present invention looks schematic diagram.
Fig. 1 b is that the present invention coordinates schematic diagram with claw joint.
Fig. 2 is top disc structural representation of the present invention.
Fig. 3 is upper supporting disk structural representation of the present invention.
Fig. 4 is the upper and lower carrier of the present invention and pipe joint assembly structure schematic diagram.
Fig. 4 b is the upper and lower carrier of the present invention and pipe joint assembly structure cutaway view.
Fig. 5 is guide cone physique structure schematic diagram of the present invention.
Fig. 6 is hoisting ring structural representation of the present invention.
Fig. 7 is mechanical locking device schematic diagram of the present invention.
Major label description in figure:
1. hoisting ring, 2. top disc, 3. soft landing hydraulic cylinder, 4. upper supporting disk, 4a. upper supporting disk hydraulic locking mechanism, 41. pressed on ring legholes, 42. hydraulic locking mechanisms, 43. hydraulic cylinder piston rod holes, 44. mechanical location-plate fixing holes, 5. descend carrier, carrier hydraulic locking mechanism under 5a., 6. guide cone body, 61. guide cone body legholes, 62. reinforcements, 63. bells, 7. mechanical locking device, 71. latch segments 71, 72 seats that are locked, 8. catch bar, 9. column, 10. mechanical location-plate, 11. drive hydraulic cylinder, 12. manipulation plates, 13. pipe joints, 131 hangers, 132 suspension ring tops, neck in 133, 134 suspension ring bottoms, 21. apical ring legholes, 22. soft landing hydraulic cylinder installing holes.
The specific embodiment
As shown in Fig. 1-Fig. 7, the present invention includes: frame structure, drives structure, hoisting structure and several hydraulic locking mechanism, wherein, frame structure is as profile and the load support of whole connector erecting tools, drives structure is by establishing pressed on ring leghole 41 thereon, and be connected to the middle part of frame structure through several columns 9, and form and coordinate with the lead that is located at frame structure by being located at from guiding column sleeve with it, hoisting structure is installed on the inside of frame structure, and hoisting structure is connected with drives structure by several driving hydraulic cylinders 11, several hydraulic locking mechanisms are installed in the guiding cone 6 that is positioned at frame structure Lower Half, several identical hydraulic locking mechanisms are arranged on the inside of the guide cone body 6 in frame structure, and circularize distribution.
Frame structure comprises: top disc 2, the guide cone body 6 that is positioned at bottom, the several columns 9 that are positioned at middle part and underwater robot manipulation plate 12, between the top disc 2 of the present embodiment and guide cone body 6, pass through three root posts 9, and connect as one through the apical ring leghole 21 being located in top disc 2, three root post 9 lower ends are connected with guide cone body 6 through guide cone body leghole 61, thereby form the external frame structure of whole connector; Underwater robot manipulation plate 12 is bolted mode with top disc 2 and is fixed as one, and top disc 2 is provided with soft landing hydraulic cylinder installing hole 22, is positioned on the bell 63 of guide cone body 6 bottoms and reinforcement 62 is installed with proof strength.6 effects of guide cone body are in the aligning location of connection initial stage for whole device, and column 9, as supporting construction, meanwhile, is also the track of drives structure motion.
Drives structure comprises: the disc of two drivings, that is: upper supporting disk 4 and lower carrier 5, two discs are formed and coordinate with the lead of frame structure by guiding column sleeve, and two discs can move freely along lead.Above disc, be fixedly connected with hydraulic means, that is: several soft landing hydraulic cylinders 3 and several driving hydraulic cylinder 11, between upper supporting disk 4 and lower carrier 5, pass by three root posts 9, and the opening direction that maintenance is identical with top disc 2 and guide cone body 6, soft landing hydraulic cylinder 3 is bolted mode and top disc 2 is fixed together, the cylinder bar of soft landing hydraulic cylinder 3 and upper supporting disk 4 are fixing, drive hydraulic cylinder 11 fixing with lower carrier 5, drive on hydraulic cylinder 11, hydraulic cylinder rod is stretched out in lower both sides, wherein, hoisting ring 1 in upper hydraulic cylinder rod and hoisting structure is fixing, lower hydraulic cylinder rod is fixing with lower tray 5 through the hydraulic cylinder piston rod hole 43 of upper tray 4, on the outer surface of upper supporting disk 4, be evenly distributed with several mechanical location-plate fixing holes 44, upper supporting disk 4 inner annular are uniformly distributed several hydraulic locking mechanisms 42, equally, be evenly distributed with several lower carrier hydraulic locking mechanism 5a in lower carrier 5 inside also annular.
As shown in Figure 6, hoisting structure comprises: hoisting ring 1, the top of hoisting ring 1 is provided with hanger 131 for lifting by crane through hawser, suspension ring top 132 and middle neck 133 adopt welding manner to link together with hanger 131, and hoisting ring 13 links together with the several upper cylinder half bars that are arranged on driving hydraulic cylinder 11 by the several holes that are arranged on suspension ring bottom 134; The upper cylinder half bar of the driving hydraulic cylinder 11 of the present embodiment is three.
Hydraulic locking mechanism comprises: array mechanical locking device 7, several catch bar 8 and several mechanical location-plate 10, and mechanical locking device 7 is arranged on guide cone body 6, and the mechanical locking device 7 of the present embodiment is three groups, and catch bar 8, mechanical location-plate 10 are three.Three groups of mechanical locking devices 7 are 120 ° of annulars and are uniformly distributed on guide cone body 6, and three catch bars 8 and three mechanical location-plates 10 are arranged on respectively on upper supporting disk 4, and on carrier 4, are 120 ° of annulars and are uniformly distributed.
Array mechanical locking device 7 comprises: several latch segments 71 and several seat 72 that is locked, latch segment holder is the frame structure that four block plates are welded into, latch segment 71 is arranged on seat 72 inside that are locked, and mechanical locking device 7 distributes ringwise on guide cone body 6.
When use, adopt following steps:
(1) first, the top of hoisting structure is connected with rope by hoisting ring 1, rope is transferred and is reclaimed for of the present invention by lifting body.Lift by crane by cable and hoisting ring 1, the pipe joint 13 that the present invention is carried is put under water fast, observe by underwater robot (ROV), in the time of 1 to 2 meter of the present invention and submarine pipe joint vertical range, stop transferring fast, slowly transfer subsequently, the upside down funnel profile and the submarine pipe joint coarse alignment that utilize guide cone body 6, be placed on the present invention on submarine pipe joint.
(2) promote upper supporting disk 4, the lower carrier 5 on driving mechanism by soft landing hydraulic cylinder 3, carry pipe joint 13 and dock with submarine pipe joint; Meanwhile, mechanical locking device 7 is locked, and prevents erecting tools and submarine pipe joint accidental separation; Subsequently, lower carrier 5 is driving under the promotion of hydraulic cylinder 11, presses down the driving ring of pipe joint 13 inside, drives claw to realize the sealing that is connected of pipe joint 13 and submarine pipe joint.
(3) the lower carrier hydraulic locking mechanism 5a on upper supporting disk 4, lower carrier 5, upper supporting disk hydraulic locking mechanism 4a release, stay pipe joint 13 on submarine pipe joint.Then, lifting cable traction erecting tools, completes the withdrawal work of erecting tools.
The above, it is only preferred embodiment of the present invention, not the present invention is done to any pro forma restriction, any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all still belong in the scope of technical solution of the present invention.
Claims (5)
1. the erecting tools of a recoverable claw connector, it is characterized in that: comprise frame structure, drives structure, hoisting structure and several hydraulic locking mechanism, wherein, drives structure is installed on the middle part of frame structure, hoisting structure is installed on frame structure inside, and hoisting structure is connected with drives structure by several hydraulic cylinders, and several hydraulic locking mechanisms are installed on frame structure Lower Half, several hydraulic locking mechanisms is arranged on the inside of frame structure, and circularizes distribution; This frame structure comprises: top disc, the guide cone body that is positioned at bottom, the several columns that are positioned at middle part and underwater robot manipulation plate, wherein, between top disc and guide cone body, connect as one by several columns, and form profile and the load support structure of whole connector; Underwater robot manipulation plate and top disc are fixed as one; This hydraulic locking mechanism comprises: array mechanical locking device, several catch bar and several mechanical location-plate, mechanical locking device annular spread is on guide cone body, several catch bars and several mechanical location-plate are arranged on upper supporting disk respectively, and are uniformly distributed ringwise; This mechanical locking device is 120 ° of annular spread on guide cone body, and this mechanical locking device comprises: several latch segments and several seat that is locked, and it is inner that latch segment is arranged on the seat that is locked; This hoisting structure comprises: hoisting ring, this hoisting ring links together with the several upper cylinder half bars that are arranged on driving hydraulic cylinder by the several holes that are arranged on suspension ring bottom.
2. the erecting tools of recoverable claw connector according to claim 1, it is characterized in that: described drives structure comprises: the disc of two drivings, the disc of two drivings is: upper supporting disk and lower carrier, between upper supporting disk and lower carrier, pass by several columns, and the opening direction that maintenance is identical with top disc and guide cone body, several hydraulic locking mechanisms are evenly distributed on upper supporting disk and lower carrier inside; Two discs are formed and coordinate with the lead of frame structure by guiding column sleeve, are fixedly connected with hydraulic means above disc.
3. the erecting tools of recoverable claw connector according to claim 2, it is characterized in that: described hydraulic means comprises: several soft landing hydraulic cylinders and several driving hydraulic cylinder, soft landing hydraulic cylinder and top disc are fixed together, cylinder bar and the upper supporting disk of soft landing hydraulic cylinder are fixed, and drive hydraulic cylinder and lower carrier to fix; Drive the upper and lower both sides of hydraulic cylinder to stretch out hydraulic cylinder rod, wherein, the hoisting ring in upper hydraulic cylinder rod and hoisting structure is fixed, and lower hydraulic cylinder rod is fixed through hydraulic cylinder piston rod hole and the lower tray of upper supporting disk.
4. the erecting tools of recoverable claw connector according to claim 1, is characterized in that: described latch segment holder is frame structure.
5. the erecting tools of recoverable claw connector according to claim 1 and 2, is characterized in that: the bottom of described guide cone body is provided with bell, and reinforcement is installed on bell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210171615.1A CN102658470B (en) | 2012-05-29 | 2012-05-29 | Installation tool for recyclable jaw connectors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210171615.1A CN102658470B (en) | 2012-05-29 | 2012-05-29 | Installation tool for recyclable jaw connectors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102658470A CN102658470A (en) | 2012-09-12 |
| CN102658470B true CN102658470B (en) | 2014-06-04 |
Family
ID=46768123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210171615.1A Active CN102658470B (en) | 2012-05-29 | 2012-05-29 | Installation tool for recyclable jaw connectors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102658470B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104343423B (en) * | 2013-07-26 | 2017-02-15 | 中国海洋石油总公司 | Anti-loose mechanism of underwater connector |
| CN105443084A (en) * | 2015-11-25 | 2016-03-30 | 中国海洋石油总公司 | Installation tool of clamping jaw type connectors |
| CN106744541B (en) * | 2016-11-30 | 2018-08-17 | 哈尔滨工程大学 | A kind of decentralization recovery apparatus of underwater throttle valve |
| CN107724983B (en) * | 2017-11-22 | 2019-12-24 | 宝鸡石油机械有限责任公司 | Hydraulic control type underwater Christmas tree taking and delivering tool capable of being released in emergency |
| CN109386651B (en) * | 2018-09-05 | 2023-12-08 | 哈尔滨工程大学 | Emergency recovery device for pipeline |
| CN110553097A (en) * | 2019-09-05 | 2019-12-10 | 西南石油大学 | jaw type automatic connecting machine tool for deep sea pipeline |
| CN114290267A (en) * | 2022-02-14 | 2022-04-08 | 福建合盈机械有限公司 | Clamping locking device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4708376A (en) * | 1986-01-31 | 1987-11-24 | Vetco Gray Inc. | Hydraulic collet-type connector |
| CN101285541A (en) * | 2008-05-23 | 2008-10-15 | 哈尔滨工程大学 | Remote control submarine pipeline coupler |
| CN101290082A (en) * | 2008-05-23 | 2008-10-22 | 哈尔滨工程大学 | Hydraulic claw type pipeline coupler |
-
2012
- 2012-05-29 CN CN201210171615.1A patent/CN102658470B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4708376A (en) * | 1986-01-31 | 1987-11-24 | Vetco Gray Inc. | Hydraulic collet-type connector |
| CN101285541A (en) * | 2008-05-23 | 2008-10-15 | 哈尔滨工程大学 | Remote control submarine pipeline coupler |
| CN101290082A (en) * | 2008-05-23 | 2008-10-22 | 哈尔滨工程大学 | Hydraulic claw type pipeline coupler |
Non-Patent Citations (4)
| Title |
|---|
| 关俊锋.卡爪式深海管道自动连接机具技术研究.《工学硕土学位论文》.2008,正文第14，20-23，38页及图2.2,2.12,3.1,3.16. |
| 卡爪式深海管道自动连接机具技术研究;关俊锋;《工学硕土学位论文》;20081231;正文第14，20-23，38页及图2.2,2.12,3.1,3.16 * |
| 深水管道初对准与连接技术的分析与研究;王文明;《工学硕土学位论文》;20081231;正文18，27-31，44页及图3.2，3.4，4.2 * |
| 王文明.深水管道初对准与连接技术的分析与研究.《工学硕土学位论文》.2008,正文18，27-31，44页及图3.2，3.4，4.2. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102658470A (en) | 2012-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102658470B (en) | Installation tool for recyclable jaw connectors | |
| CN105064958B (en) | Vertical polylinker band fishing net protection subsea manifold | |
| EP3014141B1 (en) | Foundations for subsea pipeline accessories | |
| AU2001250690B2 (en) | A method for connection of underwater pipelines and a tool for such connection | |
| US9028173B2 (en) | Sub-sea apparatus and operating method | |
| CN104011317A (en) | A floating offshore facility and a method for drilling a well | |
| CN103953309B (en) | Umbilical cable terminal redundant type underwater distribution unit | |
| CN103510927B (en) | Horizontal sleeve type connector for deep water manifold | |
| US8939702B2 (en) | Sub-sea apparatus and operating method | |
| CN102235548B (en) | Installation device for deepwater stand pipes and underwater facilities | |
| CN102431891A (en) | Pipeline spreader | |
| CN105443084A (en) | Installation tool of clamping jaw type connectors | |
| CN106369236A (en) | Vertical clamp type connector for underwater manifold | |
| CN203625889U (en) | Hanging cage structure for large-diameter hole drilling cast pile reinforcement cage hanging | |
| WO2019218040A1 (en) | Subsea modularized equipment, subsea distribution equipment, subsea distribution equipment assembly and repair | |
| CN106741755A (en) | The running tool of subsea control modules | |
| CN103292092A (en) | Underwater vertical socket-type connector | |
| US8960300B2 (en) | Remote subsea connection equipment | |
| CN110682254B (en) | Sea pipe plugging pipe clamp installation device | |
| CN103291254B (en) | Horizontal sleeve type connector for deep water manifold | |
| KR101498217B1 (en) | Method of vertical lifting type for waste pipe line retrieval | |
| CN201581830U (en) | Hydraulic expansion arm two half butting type rise chuck | |
| CN205297360U (en) | Derrick and derrick unit | |
| CN103953296A (en) | Modular energy storage type offshore oil platform hydraulic workover rig | |
| US20090026765A1 (en) | Connector Jumper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Co-patentee after: Offshore Oil Engineering Co., Ltd. Patentee after: China Offshore Oil Group Co., Ltd. Co-patentee after: Harbin Engineering Univ. Address before: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Co-patentee before: Offshore Oil Engineering Co., Ltd. Patentee before: China National Offshore Oil Corporation Co-patentee before: Harbin Engineering Univ. |