CN107905255A - The automatic connecting node of underground engineering assembled bow member and mechanized construction method - Google Patents

The automatic connecting node of underground engineering assembled bow member and mechanized construction method Download PDF

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Publication number
CN107905255A
CN107905255A CN201711174663.5A CN201711174663A CN107905255A CN 107905255 A CN107905255 A CN 107905255A CN 201711174663 A CN201711174663 A CN 201711174663A CN 107905255 A CN107905255 A CN 107905255A
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CN
China
Prior art keywords
bow member
node
connecting plate
pin
assembled
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.)
Pending
Application number
CN201711174663.5A
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Chinese (zh)
Inventor
李术才
周勇
王�琦
左志武
江贝
高雪池
孙会彬
龙厚胜
于恒昌
胡艳秋
秦乾
周磊生
鹿伟
王爱涛
张超
孔军
许硕
侯伟
刘博宏
毛淑婷
栾英成
陈元培
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Tian Qin Engineering Technology Co ltd
Shandong University
Shandong High Speed Group Co Ltd
Original Assignee
Qilu Transportation Development Group Co Ltd
Shandong Sky Engineering Technology Co Ltd
Shandong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qilu Transportation Development Group Co Ltd, Shandong Sky Engineering Technology Co Ltd, Shandong University filed Critical Qilu Transportation Development Group Co Ltd
Priority to CN201711174663.5A priority Critical patent/CN107905255A/en
Publication of CN107905255A publication Critical patent/CN107905255A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D29/00Independent underground or underwater structures; Retaining walls
    • E02D29/045Underground structures, e.g. tunnels or galleries, built in the open air or by methods involving disturbance of the ground surface all along the location line; Methods of making them

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  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (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)
  • Lining And Supports For Tunnels (AREA)

Abstract

The invention discloses a kind of automatic connecting node of underground engineering assembled bow member and mechanized construction method, including assembled attachment device and guiding pressure-bearing attachment device in two adjacent sections bow member is respectively welded, assembled attachment device and guiding pressure-bearing attachment device are attached by axis pin rotating mechanism.Three row's through holes are set inside connecting plate, guide extension device is configured in hole, by internal restoring spring, power transmission pin front end is stretched out outside hole.Be oriented to pressure-bearing attachment device around pin framework rotate when, guide plate extrudes power transmission pin, restoring spring compresses, after fixed connecting plate and connecting plate are bonded, power transmission pin is ejected and engaged with guide plate pin shaft hole, node locking is linked together, finally by bolt connecting mechanism, improves node strength and stability.Node structure of the present invention is simple, its relatively low processing technology of processing cost is simple, welded and installed fast and easy, and applied widely.

Description

The automatic connecting node of underground engineering assembled bow member and mechanized construction method
Technical field
The present invention relates to a kind of automatic connecting node of underground engineering assembled bow member and mechanized construction method.
Background technology
Since the 21th century, with the continuous development in city and being continuously increased for population, land transportation is increasingly crowded, hair Exhibition underground engineering has become very urgent.In recent years, China's underground engineering construction is quickly grown, and it is highly visible to achieve some Achievement, occupies world's underground engineering construction scale and construction speed big country forefront.Due to China's underground engineering construction scale and Speed of application is grown rapidly, its construction efficiency and safety problem etc. is also required more and more stringenter.At present, China's underground engineering Supporting generally uses steel arch-shelf, and traditional live manually installed mode, installation process are still used when carrying out supporting operation Middle to need a large amount of workers prolonged high intensity construction operation of non-support space progress at the scene, its security and construction efficiency are got over Raise difficult questions to meet the construction requirement under current underground engineering fast development, limit the further development of underground engineering construction, therefore The motorization assembly of bow member becomes the inexorable trend of underground engineering support construction technology development.It is traditional under this background condition Bow member node connection mode needs to be correspondingly improved to coordinate the mechanized construction of live bow member.
Traditional bow member connection mode is primarily present following deficiency:
(1) construction worker's quantity is more needed for, and labor intensity is big.Traditional bow member connection method can not coordinate carry out mechanization Construction, therefore when carrying out in-site installation, it is necessary to a large amount of worker's coordinative constructions.
(2) long construction period, speed are slow, and security is low.In bow member connection procedure, worker need to be grown in non-support space The construction of time, security are difficult to ensure that, and traditional bow member connection method is time-consuming and laborious, construction speed is seriously lagged.
The content of the invention
The present invention is to solve the above-mentioned problems, it is proposed that a kind of automatic connecting node of underground engineering assembled bow member and machinery Change construction method, the present invention can effectively coordinate bow member motorization assembly to construct, and largely improve speed of application, shorten Construction period has simultaneously ensured worker's working security.
To achieve these goals, the present invention adopts the following technical scheme that:
A kind of automatic connecting node of underground engineering assembled bow member proposed by the present invention, including be respectively welded in two adjacent sections The guiding pressure-bearing attachment device and assembled attachment device of bow member, the guiding pressure-bearing attachment device is by fixed connecting plate and guiding Plate forms, and the fixed connecting plate is used to connect a single-unit bow member, and the guide plate is welded in the both sides of fixed connecting plate; Form a groove profile shape structure;The assembled attachment device is made of guide extension device and connecting plate, and the connecting plate is used In connecting another single-unit bow member, its inside sets three row's through holes;The connecting plate passes through rotating member and the fixation Connecting plate is connected;0~360 ° of the rotation angle of the rotating member;The described guide extension device connection connecting plate with Guide plate.
Further, the connecting plate is equipped with least two through holes, is respectively guide extension when setting three Device installation through-hole, be bolted through hole, axis pin rotating through hole.
Further, the guide plate upper end is the skew back sliding surface in arc-shaped, and is opened up and connecting plate in guide plate The corresponding through hole of three exhausting holes.
Further, the guide extension device includes two power transmission pins, a locating part and restoring spring, two power transmissions The pin head segment of pin is hemispherical, and main body is that columned structure pin tail is the cup dolly that diameter is more than pin head segment, two Spring eye is equipped with a cup dolly;The locating part is fixed therein the front end of a power transmission pin, plays fixing force transfer pin, The restoring spring both ends are separately fixed in the spring eye of two power transmission pins.
Further, the spring eye is opened in both sides power transmission pin cup dolly bottom face middle part respectively, described Spring eye top is cone, and main body is cylinder.
Further, guide extension device makes power transmission pin front end stretch out outside hole, the guiding is held by internal restoring spring Pressure attachment device around axis pin rotates when, guide plate extruding power transmission pin, restoring spring compression, when fixed connecting plate and connecting plate fitting Afterwards, power transmission plunger is ejected and latched in guide plate through hole, and node locking is linked together.
When through hole is more than three, one or more is arranged to be bolted through hole, is being bolted Configuration bolt connecting mechanism is to improve node stability and bow member ultimate strength in through hole, and the bolt connecting mechanism is by high-strength spiral shell Bolt is formed with nut.
Preferably, can between connecting plate and fixed connecting plate configuration node intensifying device, i.e., in three row's through hole of connecting plate Between and fixed connecting plate opposite position at open up bolt hole, high-strength bolt and nut are installed.
The invention also provides have a kind of bow member for including attachment device noted earlier.
It is as follows using the automatic connecting node mechanized construction method of assembled bow member, step:
(1) bow member examination is assembled:According to shelf's design on arch bridge contour line, each section bow member is subjected to examination assembly in ground grading, will be saved Point is respectively welded on two adjacent sections bow member, and each section bow member is formed entirety by connecting axis pin.
(2) bow member folds:By node caliper arrangement, assembling type node can be opened, according to bow member folded form, utilizes machine The lifting of tool hand is rotated around Activity On the Node axis pin, is folded to shelf's design on arch bridge form.
The node clamp are made of plier, the pincers cheek and handle three parts, and plier inwardly stretches out, and main body is cylindric, head Portion is hemispherical, and diameter is identical with power transmission plunger diameter.Node not damaged opening is can be not only used for, also solves the problem that node is oriented to and stretches Compression apparatus is unable to the problem of normal use.
(3) bow member mechanization is installed:When bow member is installed, it is lifted to using bow member among manipulator snatch and requires position and consolidate Fixed motionless, auxiliary manipulator coordinates expansion both sides bow member, and bow member node automatic fastening is in place.
(4) bolt connecting device is installed:Bow member operates trolley or artificial trolley after installation is complete, by bow member personnel and will save The bolt connecting mechanism of point is attached fixation, improves assembling type node intensity and long-time stability, ensures construction safety.
Advantages of the present invention is:
(1) node structure is simple, its relatively low processing technology of processing cost is simple, welded and installed fast and easy, and the present invention In attachment device be mostly active pin shaft and node connecting plate, assembling is flexible;
(2) method for substituting in the past traditional manpower installation connection, is assembled by bow member mechanized construction, high degree Labor intensity is reduced, reduces site operation personnel amount, and machinery instead of worker and operation carried out in non-support space, Improve the security of construction;
(3) node engaging fast and easy, accelerates speed of application, using the attachment device, can effectively improve live bow member Assembled speed is connected, shortens construction period, reduces construction cost.
(4) it is applied widely.The nodal connection device is not only suitable for new confined concrete bow member, is also applied for routine I-steel, H profile steel etc..
(5) different joint forms are applied for different surrounding rock strength grade, it is alternative more, and every kind of joint form is all Maximum capacity can be played under various wall rock conditions, improves engineering total quality.
Brief description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its explanation are used to explain the application, do not form the improper restriction to the application.
Fig. 1 (a) is assembling type node Automatic Link Establishment (non-bolted joint) schematic diagram;
Fig. 1 (b) (is bolted) schematic diagram for assembling type node Automatic Link Establishment
Fig. 2 (a), 2 (b) are preferred fit formula joint form top view and side view
Fig. 3 (a), Fig. 3 (b) are guiding pressure-bearing attachment device main view and side view;
Fig. 4 (a), Fig. 4 (b) are assembled attachment device (non-bolted joint) main view and top view;
Fig. 5 (a), Fig. 5 (b) (are bolted) main view and top view for assembled attachment device;
Fig. 6 is rotating pin structure diagram;
Fig. 7 is guide extension apparatus structure schematic diagram;
Fig. 8 (a), Fig. 8 (b) are bolt connecting mechanism schematic diagram;
Fig. 9 is node clamp schematic diagram.
Wherein, 1- fixed connecting plates, 2- connecting plates, 3- axis pin rotating mechanisms, 4- bow members, 5- guide plates, 6- guide extensions Device, 7- power transmission pins, 8- stop nuts, 9- restoring springs, 10- spring eyes, 11- lateral slidings face, 12- through holes, 13- bayonet locks Hole, 14- rotating pins, 15- thread segments, 16- telescopic spring sections, 17- plunger sections, 18- node intensifying devices, 19- are bolted Mechanism, 20- guide extension device installation through-holes, 21- are bolted through hole, 22- axis pin rotating through hole, 23- high-strength bolts, 24- High-strength nut, 25- assembled attachment devices, 26- guiding pressure-bearing attachment devices, 27- node clamp, 28- pliers, the 29- pincers cheeks, 30- handles.
Embodiment
It is noted that described further below is all illustrative, it is intended to provides further instruction to the application.It is unless another Indicate, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, traditional bow member connection mode is primarily present following deficiency:
(1) construction worker's quantity is more needed for, and labor intensity is big.Traditional bow member connection method can not coordinate carry out mechanization Construction, therefore when carrying out in-site installation, it is necessary to a large amount of worker's coordinative constructions.
(2) long construction period, speed are slow, and security is low.In bow member connection procedure, worker need to be grown in non-support space The construction of time, security are difficult to ensure that, and traditional bow member connection method is time-consuming and laborious, construction speed is seriously lagged, in order to Technical problem as above is solved, present applicant proposes a kind of automatic connecting node of underground engineering assembled bow member and mechanized construction Method.
In a kind of typical embodiment of the application, as shown in Fig. 1 (a), Fig. 1 (b), Fig. 2 (a), Fig. 2 (b), a kind of ground The automatic connecting node of lower engineering assembled bow member, it is characterised in that:Including the guiding pressure-bearing in two adjacent sections bow member is respectively welded Attachment device 26 and assembled attachment device 25, the assembled attachment device and guiding pressure-bearing attachment device are rotated by axis pin Mechanism 3 is attached.;
As shown in Fig. 3 (a), Fig. 3 (b), the guiding pressure-bearing attachment device 26 is made of fixed connecting plate 1 and guide plate 5, Guide plate 5 is welded in the both sides of fixed connecting plate;The fixed connecting plate 1 is used to connect a single-unit bow member, the guiding Plate 5 is welded in the both sides of fixed connecting plate 1;Form a groove profile shape structure;5 upper end of guide plate is to be slided in the skew back of arc-shaped Face 11, and opened up and the corresponding through hole 12 of three exhausting hole of connecting plate in guide plate.
As shown in Fig. 4 (a), Fig. 4 (b), the assembled attachment device 25 is made of guide extension device 6 and connecting plate 2, Three row's through holes are set inside the connecting plate;The connecting plate is used to connect another single-unit bow member, three rows of its internal setting Through hole;The three rows connecting plate through hole is respectively guide extension device installation through-hole 20, is bolted through hole 21, axis pin rotation Turn through hole 22.The connecting plate is connected by rotating pin with the fixed connecting plate;The rotation of the rotating pin 0~360 ° of angle;The guide extension device connection connecting plate and guide plate.The axis pin rotating mechanism 3 is by leading Collectively formed to plate 5, rotating pin 14 and connecting plate 2;The guide plate and connecting plate are rotated around rotary pin shaft, rotation angle 0 ~360 °.
As shown in fig. 7, the guide extension device 6 includes two power transmission pins, 7, stop nuts 8 and a playback bullet Spring 9, the upper end of each power transmission pin 7 is hemispherical, the structure of body cylindrical shape, and rear end is more than the circle of plunger section for diameter Base, the stop nut 8 are fixed therein the head of a power transmission pin, play fixing force transfer pin.
The restoring spring 9 of the guide extension device 6 is positioned in spring eye 10, and the spring eye is opened in two respectively Power transmission pin cup dolly bottom face middle part, it is cone to open up spring eye top, and main body is cylinder.
Further, guide extension device 6 makes 7 front end of power transmission pin stretch out outside hole by internal restoring spring 9, described to lead To pressure-bearing attachment device 26 around axis pin rotate when, guide plate 5 extrude power transmission pin, restoring spring compression, when fixed connecting plate 1 and even After fishplate bar 2 is bonded, power transmission plunger is ejected and latched in guide plate through hole 12, and node locking is linked together.
Described be bolted in through hole 21 configures bolt connecting mechanism 19 to improve node stability and bow member ultimate strength, Shown in the bolt connecting mechanism such as Fig. 8 (a), Fig. 8 (b), it is made of high-strength bolt 23 and nut 24.
Preferably, can between connecting plate 2 and fixed connecting plate 1 configuration node intensifying device 18, i.e., passed through in three row of connecting plate Bolt hole is opened up between through hole and at fixed connecting plate opposite position, high-strength bolt and nut are installed.
The invention also discloses a kind of bow member of the Automatic Link Establishment equipped with above-mentioned assembled connecting node, bow member includes Multi-segmental, is connected by Automatic Link Establishment between adjacent segment.
The invention also discloses the automatic connecting node mechanized construction method of underground engineering assembled bow member, including following step Suddenly:
(1) bow member examination is assembled:According to shelf's design on arch bridge contour line, each section bow member is subjected to examination assembly in ground grading, will be saved Point is respectively welded on two adjacent sections bow member, and each section bow member is formed entirety by connecting axis pin.
(2) bow member folds:By node caliper arrangement, assembling type node can be opened, according to bow member folded form, utilizes machine The lifting of tool hand is rotated around Activity On the Node axis pin, is folded to shelf's design on arch bridge form.
As shown in figure 9, the node clamp 27 are made of plier 28, the pincers cheek 29 and 30 three parts of handle, plier 28 is inside Stretch out, main body is cylindric, and head is hemispherical, and 7 diameters of diameter and power transmission pin are identical.Node not damaged is can be not only used for beat Open, also solve the problem that node guide extension device 6 is unable to the problem of normal use.
(3) bow member mechanization is installed:When bow member is installed, it is lifted to using bow member among manipulator snatch and requires position and consolidate Fixed motionless, auxiliary manipulator coordinates expansion both sides bow member, and bow member node automatic fastening is in place.
(4) bolt connecting device is installed:Bow member operates trolley or artificial trolley after installation is complete, by bow member personnel and will save Point bolt device is attached fixation, improves assembling type node intensity and long-time stability, ensures construction safety.
The foregoing is merely the preferred embodiment of the application, the application is not limited to, for the skill of this area For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.

Claims (10)

1. a kind of automatic connecting node of underground engineering assembled bow member, it is characterised in that encircle including being respectively welded in two adjacent sections The guiding pressure-bearing attachment device and assembled attachment device of frame, the guiding pressure-bearing attachment device is by fixed connecting plate and guide plate Composition, the fixed connecting plate are used to connect a single-unit bow member, and the guide plate is welded in the both sides of fixed connecting plate, shape Into a groove profile shape structure;The assembled attachment device is made of guide extension device and connecting plate, and the connecting plate is used for Connect another single-unit bow member;The connecting plate is connected by rotating member with the fixed connecting plate;The guiding is stretched Compression apparatus the connection connecting plate and guide plate.
2. the automatic connecting node of underground engineering assembled bow member as claimed in claim 1, it is characterised in that the connecting plate It is equipped with least two through holes.
3. such as the automatic connecting node of claim 2 underground engineering assembled bow member, it is characterised in that the guide plate upper end be in The skew back sliding surface of arc-shaped, and opened up and the corresponding through hole of connecting plate through hole in guide plate.
4. such as the automatic connecting node of claim 2 underground engineering assembled bow member, it is characterised in that the guide extension device bag Two power transmission pins, a locating part and a restoring spring are included, the pin head segment of two power transmission pins is hemispherical, and main body is cylinder The structure pin tail of shape is more than the cup dolly of pin head segment for diameter, and spring eye is equipped with two cup dollies;It is described spacing Part is fixed therein the front end of a power transmission pin, plays fixing force transfer pin, and the restoring spring both ends are separately fixed at two In the spring eye of a power transmission pin.
5. such as the automatic connecting node of claim 4 underground engineering assembled bow member, it is characterised in that the spring eye opens up respectively In both sides power transmission pin cup dolly bottom face middle part, the spring eye top is cone, and main body is cylinder.
6. such as the automatic connecting node of claim 4 underground engineering assembled bow member, it is characterised in that guide extension device passes through interior Portion's restoring spring, make power transmission pin front end stretch out hole outside, it is described guiding pressure-bearing attachment device around axis pin rotates when, guide plate extruding biography Power pin, restoring spring compression, after fixed connecting plate and connecting plate fitting, power transmission plunger ejects and latches in guide plate through hole It is interior, node locking is linked together.
7. such as the automatic connecting node of claim 2 underground engineering assembled bow member, it is characterised in that when through hole is more than three When, one or more is arranged to be bolted through hole, bolt connecting mechanism is configured to carry being bolted in through hole High node stability and bow member ultimate strength, the bolt connecting mechanism are made of high-strength bolt and nut.
8. such as the automatic connecting node of claim 2 underground engineering assembled bow member, it is characterised in that in the connecting plate and admittedly Determine configuration node intensifying device between connecting plate, i.e., open up bolt between connecting plate through hole and at fixed connecting plate opposite position Hole, installs high-strength bolt and nut.
9. a kind of bow member, including multiple segments, it is characterised in that any described by claim 1-8 between adjacent segment It is connected with formula node Automatic Link Establishment.
10. utilize the automatic connecting node mechanized construction method of assembled bow member described in claim 1-8, it is characterised in that Step is as follows:
(1) bow member examination is assembled:According to shelf's design on arch bridge contour line, each section bow member is subjected to examination assembly in ground grading, by assembled Node Automatic Link Establishment is respectively welded on two adjacent sections bow member, and each section bow member is formed entirety by connecting axis pin;
(2) bow member folds:By node caliper arrangement, assembling type node can be opened, according to bow member folded form, utilizes manipulator Lifting is rotated around Activity On the Node axis pin, is folded to shelf's design on arch bridge form;
(3) bow member mechanization is installed:When bow member is installed, it is lifted to using bow member among manipulator snatch and requires position and fix not Dynamic, auxiliary manipulator coordinates expansion both sides bow member, and bow member node automatic fastening is in place;
(4) bolt connecting device is installed:Bow member operates trolley or artificial trolley by node after installation is complete, by bow member personnel Bolt connecting mechanism is attached fixation.
CN201711174663.5A 2017-11-22 2017-11-22 The automatic connecting node of underground engineering assembled bow member and mechanized construction method Pending CN107905255A (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111007578A (en) * 2019-12-06 2020-04-14 山东滨莱高速公路有限公司 Comprehensive detection method and system for roadbed karst and goaf

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Publication number Priority date Publication date Assignee Title
CN2258809Y (en) * 1996-07-12 1997-08-06 张平 Universal electric tool
JP2007231993A (en) * 2006-02-28 2007-09-13 Nsk Ltd Telescopic shaft
CN203122296U (en) * 2013-03-22 2013-08-14 余姚市汇丰电器有限公司 Telescopic suction pipe of dust collector
CN103615454A (en) * 2013-12-16 2014-03-05 上海昭程整流子科技有限公司 Elastic deformation locating pin
CN106096211A (en) * 2016-07-08 2016-11-09 山东大学 A kind of underground engineering confined concrete support system method for designing
CN106759374A (en) * 2016-11-23 2017-05-31 山东大学 Assembled underground engineering support bow member node Automatic Link Establishment and construction method
CN207582499U (en) * 2017-11-22 2018-07-06 山东大学 The automatic connecting node of underground engineering assembled arch

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2258809Y (en) * 1996-07-12 1997-08-06 张平 Universal electric tool
JP2007231993A (en) * 2006-02-28 2007-09-13 Nsk Ltd Telescopic shaft
CN203122296U (en) * 2013-03-22 2013-08-14 余姚市汇丰电器有限公司 Telescopic suction pipe of dust collector
CN103615454A (en) * 2013-12-16 2014-03-05 上海昭程整流子科技有限公司 Elastic deformation locating pin
CN106096211A (en) * 2016-07-08 2016-11-09 山东大学 A kind of underground engineering confined concrete support system method for designing
CN106759374A (en) * 2016-11-23 2017-05-31 山东大学 Assembled underground engineering support bow member node Automatic Link Establishment and construction method
CN207582499U (en) * 2017-11-22 2018-07-06 山东大学 The automatic connecting node of underground engineering assembled arch

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111007578A (en) * 2019-12-06 2020-04-14 山东滨莱高速公路有限公司 Comprehensive detection method and system for roadbed karst and goaf

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