CN106149720A - A kind of highway barrier hydraulic pile driver - Google Patents
A kind of highway barrier hydraulic pile driver Download PDFInfo
- Publication number
- CN106149720A CN106149720A CN201610742821.1A CN201610742821A CN106149720A CN 106149720 A CN106149720 A CN 106149720A CN 201610742821 A CN201610742821 A CN 201610742821A CN 106149720 A CN106149720 A CN 106149720A
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- Prior art keywords
- hinge
- hinged
- swing arm
- oil cylinder
- wheel
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
- E02D7/10—Power-driven drivers with pressure-actuated hammer, i.e. the pressure fluid acting directly on the hammer structure
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/02—Placing by driving
- E02D7/06—Power-driven drivers
- E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
- E02D7/16—Scaffolds or supports for drivers
- E02D7/165—Scaffolds or supports for drivers of variable length, e.g. foldable or telescopic
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- 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 present invention relates to a kind of highway barrier hydraulic pile driver, including pile frame, for supporting the wheel chassis of pile frame, hinge-type balladeur train that hydraulic hammer, drive hydraulic hammer slide on pile frame and being arranged on wheel chassis for driving pile frame telescoping mechanism of longitudinal and transverse-swinging adjustment in horizontal plane；Described pile frame includes connecting plate, swing arm, upper rail, lower guideway, swing arm oil cylinder and guide rail cylinder；One end of described swing arm and the upper end thereof of connecting plate, the other end are hinged with hinge-type balladeur train；The upper end of described lower guideway is hinged with upper rail, lower end is hinged with telescoping mechanism, and described hinge-type balladeur train coordinates slip with lower guideway；The upper end thereof of described swing arm oil cylinder at the middle part of swing arm, the lower end of described swing arm oil cylinder and the lower end of connecting plate be hinged on telescoping mechanism jointly；The upper end thereof of described guide rail cylinder is hinged with telescoping mechanism in upper rail upper and lower end lower end, to drive upper rail and lower guideway lifting.
Description
Technical field
The present invention relates to piling machine apparatus field, be specifically related to a kind of highway barrier hydraulic pile driver.
Background technology
According to China's condition of construction, the shortest with the interim time leaving guardrail construction at expressway construction, the duration
Require tight, it requires that piling machine has higher working performance.Domestic existing highway barrier piling machine, can based on drop hammer type
To be divided into vehicular and self-propelled two kinds.Vehicular piling machine with Xiandai Traffic Apparatus Co., Ltd., Shenyang City produce with Isuzu Motors
It is representative for chassis piling machine.Self-propelled hydraulic piling machine mainly has: Xuzhou eight reaches highway engineering machine facility maker and produces
YDBZ-180 type self-propelled hydraulic piling machine, Xiandai Traffic Apparatus Co., Ltd., Shenyang City produce self-propelled piling machine.
The work efficiency of these machineries embodies a concentrated reflection of the kinestate of the process of dropping hammer, and free falling body state is that it is the most efficient
The rate limit, and exist owing to chassis is light, during drop impact pile body, piling machine produces significant shock, and precision of dropping hammer is low, causes construction
Quality Down.The most existing piling machine there is also in the low problem of automaticity, makes a general survey of domestic and international project Administration & Mechanical Development, right
For Highway Construction Machinery, improving automaticity, lower labor strength, improving construction quality etc. is all its Developing Tendency
Gesture.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of highway barrier hydraulic pile driver, its piling location degree of accuracy
High, take that stake rate is low, mobility good, automaticity is high, can efficiently realize highway barrier pile driving construction task, and it is low to take into account some
The functions such as broken, local compacting, the punching of intensity.
The technical solution used in the present invention is as follows:
A kind of highway barrier hydraulic pile driver, including pile frame, for supporting the wheel chassis of pile frame, hydraulic hammer, drive hydraulic hammer
On pile frame slide hinge-type balladeur train and be arranged on wheel chassis for drive pile frame in horizontal plane longitudinal and transverse-swinging adjust
Telescoping mechanism；
Described pile frame includes connecting plate, swing arm, upper rail, lower guideway, swing arm oil cylinder and guide rail cylinder；
One end of described swing arm and the upper end thereof of connecting plate, the other end are hinged with hinge-type balladeur train；
The upper end of described lower guideway is hinged with upper rail, lower end is hinged with telescoping mechanism, and described hinge-type balladeur train is joined with lower guideway
Close and slide；
The upper end thereof of described swing arm oil cylinder at the middle part of swing arm, the described lower end of swing arm oil cylinder cuts with scissors jointly with the lower end of connecting plate
It is connected on telescoping mechanism；
The upper end thereof of described guide rail cylinder is hinged with telescoping mechanism in upper rail upper and lower end lower end, with drive upper rail and under
Lifting rail.
Above-mentioned highway barrier hydraulic pile driver, described wheel chassis, including the underframe being welded into by rectangular tube, described underframe
Be respectively provided on two sides with the near front wheel, off-front wheel, left rear wheel and off hind wheel, the front portion of described underframe is provided with crossbeam, described crossbeam lead to
Crossing the walking beam that hinge has cross section to be U-shaped, one end of described walking beam is fixing with the near front wheel to be connected, the other end and off-front wheel
Fixing connection is so that the swingable guarantee of underframe is steady；Described left rear wheel and off hind wheel are respectively by fluid motor-driven.
Above-mentioned highway barrier hydraulic pile driver, described telescoping mechanism includes that the two ends expansion bracket hinged with the longeron of underframe props up
Seat, the expansion bracket, the longitudinally adjusted oil cylinder that are installed in expansion bracket bearing and laterally adjust oil cylinder, described longitudinally adjusted oil cylinder drives
Expansion bracket bearing realizes longitudinally adjusted with longeron hinged place for spot wobble, described in laterally adjust oil cylinder and drive expansion bracket flexible
In frame bearing, mobile realization laterally adjusts.
Above-mentioned highway barrier hydraulic pile driver, described underframe is additionally provided with driving the near front wheel or/and what off-front wheel turned to
Transfer.
Above-mentioned highway barrier hydraulic pile driver, described hinge-type balladeur train includes the first hinge being provided with hydraulic hammer and with
The second hinge that one hinge is hinged, for both being connected fastening with bolt time equivalent between the first hinge and the second hinge；
The back side of described second hinge vertically sets and coordinates the chute realizing sliding with lower guideway.
Above-mentioned highway barrier hydraulic pile driver, described first hinge is installed with the support for fixative hammer,
Being provided with on described support for for locking the jam plate of hydraulic hammer position under off working state, the second hinge is provided with and locks
The location-plate that plate coordinates.
The invention have the benefit that
1, can adjust and keep pile frame perpendicularity, improve piling location precision, taking that stake rate is low, mobility good: during due to construction
The vertical and horizontal gradient that chassis exists, pile frame can swing in machine and transverse direction, in order to pile frame is under any working condition
Can be adjusted to plumb position, piling precision is high, it is low to take stake rate；Pile frame itself has support guardrail pile body and guides for hydraulic hammer
Function, the upright height of pile frame there are about about 3.5 meters, and center of gravity height causes riding stability poor, therefore pile frame is designed as rising and falling
Structure, it is ensured that good mobility, first holds up pile frame when transport condition to duty and rises hydraulic hammer, can construct.
2, automaticity is high, can quick and precisely find the function of stake position accurately: complete machine utilizes hydraulic system and electric-control system, can
Use mechanical-electrical-hydraulic integration control, improve automaticity；After having beaten a pile, complete machine can sail to according to default Exact Travelling
The position of next, is moved at two degree of freedom laterally or longitudinally to control pile frame by detection means measure hydraulic hammer position
Adjust hydraulic hammer to upright position, it is achieved quick and precisely look for fixed pile, save manual labor, further increase positioning precision.
3, quickly guarantee the quality Automatic piling: conducted oneself with dignity by hydraulic hammer during piling and the power that the impulses principle of hydraulic hammer realizes quickly
Pile sinking, it is to avoid the off plumb phenomenon of moment pile frame beaten by conventional drop hammer pile driver in hammering, thus ensure that the matter of pile sinking
Amount；Double acting pile hammer is used to improve work efficiency further.
4, walking beam makes body chassis held stationary when walking, and chassis rectangular tube is welded into, and arranges in front end
Front steering device, simple in construction is convenient.
5, being arranged on hinge structure by hydraulic hammer, during work, hinge is folded position, and during inoperative, two hinges are for opening
State is to reduce the fuselage width of piling machine, and stabilizes body nodal point, it is not necessary to dismounting hydraulic hammer piling machine can grow away from
From movement, be greatly saved man-hour, further alleviate manual labor, improve efficiency of construction.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention；
Fig. 2 is the schematic top plan view of the embodiment of the present invention；
Fig. 3 is embodiment of the present invention upper rail schematic diagram；
Fig. 4 is embodiment of the present invention lower guideway schematic diagram；
Fig. 5 is wheel chassis structural representation in the embodiment of the present invention；
Fig. 6 is embodiment of the present invention expansion bracket bearing schematic diagram；
Fig. 7 is embodiment of the present invention expansion bracket schematic diagram；
Fig. 8 is embodiment of the present invention hinge-type balladeur train schematic diagram；
Fig. 9 is that embodiment of the present invention hinge-type balladeur train uses view；
Figure 10 is embodiment of the present invention hydraulic hammer schematic diagram.
In figure: 1 be pile frame, 11 for connecting plate, 12 for swing arm, 13 for upper rail, 14 for lower guideway, 15 swing arm oil cylinders, 16
For guide rail cylinder,
2 be wheel chassis, 21 be underframe, 22 be the near front wheel, 23 be off-front wheel, 24 be left rear wheel, 25 be off hind wheel, 26 for turning to
Pull bar, 27 be walking beam, 28 be bearing pin, 29 be hydraulic motor, 211 for crossbeam,
3 be hydraulic hammer, 31 be drill steel, 32 for pricker cap,
4 be hinge-type balladeur train, 46 be chute, 48 be hinge hole, 49 be hydraulic hammer support, 451 be location-plate, 491 for jam plate,
5 be telescoping mechanism, 52 be expansion bracket bearing, 53 be expansion bracket, 54 be longitudinally adjusted oil cylinder, 55 for laterally adjusting oil cylinder,
521 be bracing frame, 522 for longitudinally adjusted oil cylinder otic placode, 523 for cannelure beam, 531 for guide rail cylinder otic placode, 532 for swing arm oil
Cylinder otic placode, 533 for longitudinal beam, 534 for laterally adjust oil cylinder otic placode, 535 be the hinged otic placode of lower guideway.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further explained.
The highway barrier hydraulic pile driver of the present invention, including pile frame 1, for supporting the wheel chassis 2 of pile frame 1, hydraulic hammer
3, drive the hinge-type balladeur train 4 that slides on pile frame 1 of hydraulic hammer 3 and be arranged on wheel chassis 2 for driving pile frame 1 in level
The telescoping mechanism 5 that in face, longitudinal and transverse-swinging adjusts；In conjunction with Figure 10, described hydraulic hammer 3 includes drill steel 31 and pricker cap 32；Described flexible
Guide rail cylinder otic placode 531, swing arm oil cylinder otic placode 532 and lower guideway articulated slab 535 is set in mechanism 5；
Described pile frame 1 includes connecting plate 11, swing arm 12, upper rail 13, lower guideway 14, swing arm oil cylinder 15 and guide rail cylinder 16；
One end of described swing arm 12 and the upper end thereof of connecting plate 11, the other end are hinged at the hinge hole 48 of hinge-type balladeur train 4；
The upper end of described lower guideway 14 is hinged with upper rail 13, lower end is hinged with lower guideway articulated slab 535, described hinge-type balladeur train
4 coordinate slip by chute 46 with lower guideway 14；
The upper end thereof of described swing arm oil cylinder 15 at the middle part of swing arm 12, the lower end of described swing arm oil cylinder 15 and connecting plate 11 times
End is the most hinged with swing arm oil cylinder otic placode 532；
The upper end thereof of described guide rail cylinder 16 on upper rail 13 with drive upper rail 13 and lower guideway 14 lifts, lower end with lead
Cylinder of rail otic placode 531 is hinged.
Above-mentioned highway barrier hydraulic pile driver, described wheel chassis 2, including the underframe 21 being welded into by rectangular tube, described
Underframe 21 be respectively provided on two sides with the near front wheel 22, off-front wheel 23, left rear wheel 24 and off hind wheel 25, it is characterised in that: described underframe
The front portion of 21 is provided with crossbeam 211, and described crossbeam 211 is hinged with the walking beam 27 that cross section is U-shaped, described walking beam by bearing pin 28
One end of 27 and the near front wheel 22 be fixing to be connected, the other end is fixed with off-front wheel 23 and is connected so that the swingable guarantee of underframe 21 is steady；
Described left rear wheel 24 and off hind wheel 25 are driven by hydraulic motor 29 respectively.
Described telescoping mechanism 5 includes expansion bracket bearing 52 hinged between two ends bracing frame 521 and underframe 21 longeron, card dress
Expansion bracket 53, longitudinally adjusted oil cylinder 54 in cannelure beam 523 and laterally adjust oil cylinder 55, described longitudinally adjusted oil cylinder 54 with
Longitudinally adjusted oil cylinder otic placode 522 is hinged to drive expansion bracket bearing 52 to realize longitudinally adjusted with longeron hinged place for a spot wobble,
Described laterally adjust oil cylinder 55 with to laterally adjust oil cylinder otic placode 534 hinged to drive longitudinal beam 533 to move in cannelure beam 523
Realization laterally adjusts.
Above-mentioned highway barrier hydraulic pile driver, described underframe 11 is additionally provided with drive the near front wheel 22 turn to turn to dress
Putting, the near front wheel 22 is provided for turning to the reductor of driving, being connected between the near front wheel 22 with off-front wheel 23 has steering linkage 26
So that two front-wheels synchronize to turn to.
Above-mentioned highway barrier hydraulic pile driver, described hinge-type balladeur train 4 includes the first hinge 41 He being provided with hydraulic hammer 3
Second hinge 42 hinged with the first hinge 41, can be with bolt by twice between the first hinge 1 and the second hinge 42 for converting into
Person connects fastening；The back side of described second hinge 2 vertically sets and coordinates the chute 46 realizing sliding with lower guideway 14.
In conjunction with Fig. 9, above-mentioned highway barrier hydraulic pile driver, described first hinge 1 is installed with for fixed hydraulic
The support 49 of hammer 3, described support 49 is provided with for for locking the jam plate 491 of hydraulic hammer 3 position, institute under off working state
Second hinge 42 is provided with the location-plate 451 coordinated with jam plate 491.
The present invention uses modular combination, can combine the highway barrier hydraulic pile being configured to several functions as required
Machine, it is simple to mechanical-electrical-hydraulic integration controls；Pile frame 1 can swing in machine and transverse direction, and piling precision is high, it is low to take stake rate；；Chassis
Use rectangle pipe material welding, simple in construction with upper/lower guide, simplify process for machining and manufacturing, reduce manufacturing cost；At the bottom of four-wheel
Dish 2 front end arranges walking beam 27 and transfer, makes the degree of balance on complete machine even running more flexible adjustment chassis, stability
Good, improve piling efficiency and construction quality, hydraulic hammer sliding carriage design becomes hinge articulated manner, can shorten device body during carrying
Width, removes the labor intensity of dismounting hydraulic hammer, more hommization from.
Claims (6)
1. a highway barrier hydraulic pile driver, it is characterised in that: include pile frame (1), be used for supporting the wheel chassis of pile frame (1)
(2), hydraulic hammer (3), drive hydraulic hammer (3) are gone up, at pile frame (1), the hinge-type balladeur train (4) slided and are arranged on wheel chassis (2)
On be used for driving pile frame (1) telescoping mechanism (5) that longitudinal and transverse-swinging adjusts in horizontal plane；
Described pile frame (1) includes connecting plate (11), swing arm (12), upper rail (13), lower guideway (14), swing arm oil cylinder (15) and leads
Cylinder of rail (16)；
One end of described swing arm (12) and the upper end thereof of connecting plate (11), the other end are hinged with hinge-type balladeur train (4)；
The upper end of described lower guideway (14) is hinged with upper rail (13), lower end is hinged with telescoping mechanism (5), described hinge-type balladeur train
(4) slip is coordinated with lower guideway (14)；
The upper end thereof of described swing arm oil cylinder (15) is at middle part, the lower end of described swing arm oil cylinder (15) and the connecting plate of swing arm (12)
(11) lower end is hinged on telescoping mechanism (5) jointly；
The upper end thereof of described guide rail cylinder (16) is hinged with telescoping mechanism (5) in upper rail (13) upper and lower end lower end, to drive
Upper rail (13) and lower guideway (14) lifting.
Highway barrier hydraulic pile driver the most according to claim 1, it is characterised in that: described wheel chassis (2), including by
The underframe (21) that rectangular tube is welded into, described underframe (21) be respectively provided on two sides with the near front wheel (22), off-front wheel (23), left rear wheel
And off hind wheel (25) (24), the front portion of described underframe (21) is provided with crossbeam (211), and described crossbeam (211) is cut with scissors by bearing pin (28)
Being connected to the walking beam (27) that cross section is U-shaped, one end of described walking beam (27) is fixing with the near front wheel (22) to be connected, the other end and the right side
Front-wheel (23) is fixing to be connected so that underframe (21) swingable guarantee is steady；Described left rear wheel (24) and off hind wheel (25) are respectively by liquid
Pressure motor (29) drives.
Highway barrier hydraulic pile driver the most according to claim 1, it is characterised in that: described telescoping mechanism (5) includes two
The end expansion bracket bearing (52) hinged with the longeron of underframe (21), the expansion bracket (53) being installed in expansion bracket bearing (52), vertical
To adjusting oil cylinder (54) and laterally adjusting oil cylinder (55), described longitudinally adjusted oil cylinder (54) drives expansion bracket bearing (52) with longeron
Hinged place realizes longitudinally adjusted for spot wobble, described in laterally adjust oil cylinder (55) and drive expansion bracket (53) at expansion bracket bearing
(12) in, mobile realization laterally adjusts.
Highway barrier hydraulic pile driver the most according to claim 2, it is characterised in that: described underframe is additionally provided with on (11)
Drive the near front wheel (22) or/and the transfer that turns to of off-front wheel (23).
5. according to the highway barrier hydraulic pile driver described in any one in claim 1-4, it is characterised in that: described hinge-type
The first hinge (41) that balladeur train (4) includes being provided with hydraulic hammer (3) and second hinge (42) hinged with the first hinge (41), when
For both being connected fastening with bolt time equivalent between first hinge (1) with the second hinge (42)；Described second hinge (2)
The back side vertically sets and coordinates the chute (46) realizing sliding with lower guideway (14).
Highway barrier hydraulic pile driver the most according to claim 5, it is characterised in that: described first hinge (1) is upper fixing
Support (49) for fixative hammer (3) is installed, described support (49) is provided with for for locking off working state
The jam plate (491) of lower hydraulic hammer (3) position, the second hinge (42) be provided with the location-plate (451) coordinated with jam plate (491).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742821.1A CN106149720B (en) | 2016-08-29 | 2016-08-29 | A kind of highway barrier hydraulic pile driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742821.1A CN106149720B (en) | 2016-08-29 | 2016-08-29 | A kind of highway barrier hydraulic pile driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106149720A true CN106149720A (en) | 2016-11-23 |
| CN106149720B CN106149720B (en) | 2019-01-25 |
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ID=57343677
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610742821.1A Active CN106149720B (en) | 2016-08-29 | 2016-08-29 | A kind of highway barrier hydraulic pile driver |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108532600A (en) * | 2018-06-30 | 2018-09-14 | 徐州万盛工程设备有限公司 | A kind of highway barrier stake pile-driving and-pulling machine with drilling function |
| CN109024591A (en) * | 2018-07-20 | 2018-12-18 | 东莞市联洲知识产权运营管理有限公司 | A kind of piling machine hydraulic hammer slides support base |
| CN109024590A (en) * | 2018-07-20 | 2018-12-18 | 东莞市联洲知识产权运营管理有限公司 | Support base is slided in a kind of rotation transposition of hydraulic hammer |
| CN109137910A (en) * | 2018-09-21 | 2019-01-04 | 葛庆丰 | A kind of accurate piling machine driven piles on a large scale |
| CN109972617A (en) * | 2019-04-25 | 2019-07-05 | 广州大学 | A kind of vehicular highway barrier piling machine |
| CN110388178A (en) * | 2019-09-03 | 2019-10-29 | 四川蓝海智能装备制造有限公司 | A kind of piling drilling all-in-one machine |
| CN112575781A (en) * | 2020-12-18 | 2021-03-30 | 台州学院 | Bridge steel pipe pile accurate positioning construction device and construction method thereof |
| CN115125950A (en) * | 2022-09-01 | 2022-09-30 | 江苏兔创机械有限公司 | High-speed hydraulic hammer pile machine |
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| CN206052707U (en) * | 2016-08-29 | 2017-03-29 | 山东八达国际工程机械有限公司 | A kind of highway barrier hydraulic pile driver |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108532600A (en) * | 2018-06-30 | 2018-09-14 | 徐州万盛工程设备有限公司 | A kind of highway barrier stake pile-driving and-pulling machine with drilling function |
| CN108532600B (en) * | 2018-06-30 | 2023-09-12 | 徐州万盛工程设备有限公司 | Highway guardrail stake driving and pulling machine with drilling function |
| CN109024591A (en) * | 2018-07-20 | 2018-12-18 | 东莞市联洲知识产权运营管理有限公司 | A kind of piling machine hydraulic hammer slides support base |
| CN109024590A (en) * | 2018-07-20 | 2018-12-18 | 东莞市联洲知识产权运营管理有限公司 | Support base is slided in a kind of rotation transposition of hydraulic hammer |
| CN109137910A (en) * | 2018-09-21 | 2019-01-04 | 葛庆丰 | A kind of accurate piling machine driven piles on a large scale |
| CN109972617A (en) * | 2019-04-25 | 2019-07-05 | 广州大学 | A kind of vehicular highway barrier piling machine |
| CN110388178A (en) * | 2019-09-03 | 2019-10-29 | 四川蓝海智能装备制造有限公司 | A kind of piling drilling all-in-one machine |
| CN112575781A (en) * | 2020-12-18 | 2021-03-30 | 台州学院 | Bridge steel pipe pile accurate positioning construction device and construction method thereof |
| CN115125950A (en) * | 2022-09-01 | 2022-09-30 | 江苏兔创机械有限公司 | High-speed hydraulic hammer pile machine |
| CN115125950B (en) * | 2022-09-01 | 2022-11-18 | 江苏兔创机械有限公司 | High-speed hydraulic hammer pile machine |
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| Publication number | Publication date |
|---|---|
| CN106149720B (en) | 2019-01-25 |
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