CN110106924A - Pile driving process tubular pole soil plug height monitoring device and monitoring method - Google Patents
Pile driving process tubular pole soil plug height monitoring device and monitoring method Download PDFInfo
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- CN110106924A CN110106924A CN201910303686.4A CN201910303686A CN110106924A CN 110106924 A CN110106924 A CN 110106924A CN 201910303686 A CN201910303686 A CN 201910303686A CN 110106924 A CN110106924 A CN 110106924A
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- fixed pulley
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- 239000002689 soil Substances 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000012544 monitoring process Methods 0.000 title claims abstract description 27
- 238000012806 monitoring device Methods 0.000 title claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 3
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- Engineering & Computer Science (AREA)
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- 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 provides a kind of pile driving process tubular pole soil plug height monitoring device and monitoring methods, comprising: first band encoder fixed pulley, second band encoder fixed pulley, first electrical hoist, second electrical hoist, encoder acquisition and hoist engine control all-in-one machine, computer, first wirerope, second wirerope, first fixed pulley, second fixed pulley, first support, second support and heavy ball, data information is simultaneously sent to encoder acquisition and hoist engine control all-in-one machine by first band encoder fixed pulley and the second circle number with encoder fixed pulley record own rotation, the circle number of rotation is acquired and is transmitted to computer and is converted into wirerope folding and unfolding length by encoder acquisition and hoist engine control all-in-one machine, and control the length folding and unfolding wirerope that the first electrical hoist and the second electrical hoist are obtained according to conversion.The problems such as apparatus and method of the present invention solves existing soil plug height measuring device and method is difficult to be suitable for marine pile sinking operating condition, security risk is high.
Description
Technical field
The present invention relates to ocean geotechnical engineering and pile foundation engineering technique fields, more particularly to one kind to be used for pile driving process pipe
The device and method of stake soil plug height real-time monitoring.
Background technique
Steel-pipe pile, concrete tubular pile are a kind of common pile foundation forms, in opening, outs open tubular pole pile driving process
In, a part of pile-end soil enters in stake, forms soil plug.Black-out effect caused by tubular pole is filled in due to soil influences its pile driving process
Significantly, key effect is equally played for the load-carrying properties of tubular pole after pile sinking.Therefore, the forming process of soil plug in tubular pole is studied
(soil plug height is with stake embedded depth changing rule) is for tubular pole pile sinking feasibility prediction, pile sinking parameter selection and bearer properties
Analysis is of great significance.
Existing soil plug height measurement method can be divided into two kinds: after stopping one is piling, directly measure soil in tubular pole mouth
Plug depth is to calculate soil plug height；Another kind is directly to measure soil plug depth in terms of by placing lining rope in tubular pole side-wall hole
Calculate soil plug height.Since pile driving process is usually continuous, first method can not obtain the soil plug height in pile driving process and become
Change situation, second method can be used for monitoring in principle the soil plug height change in pile driving process, but near side-wall hole
It measuring and reading needs preparatory construction of platform, the degree of automation is low, while security risk is higher, at sea drive piles, especially with
It is difficult to operate when sash weight injection.
With the utilization of continually developing of marine resources, overlength, Big Pipe Pile will be applied more in ocean engineering, for
The research of tubular pole soil plug problem will be more necessary, a kind of dress being applicable to marine tubular pole pile driving process soil plug height real-time monitoring
It sets and method needs to propose.
Summary of the invention
The purpose of the present invention is to provide one kind can be applied to engineering site, simple and convenient easy-operating real-time monitoring soil plug
The device and method of height, with effectively solve existing soil plug height measuring device and method be difficult to be suitable for marine pile sinking operating condition,
The problems such as security risk is high.
In order to achieve the above object, the present invention provides a kind of pile driving process tubular pole soil plug height monitoring devices comprising:
First band encoder fixed pulley, the second band encoder fixed pulley, the first electrical hoist, the second electrical hoist, encoder are adopted
Collection and hoist engine control all-in-one machine, computer, the first wirerope, the second wirerope, the first fixed pulley, the second fixed pulley, first
Bracket, second support and heavy ball,
The monitoring platform that first band encoder fixed pulley, second are erected at the same outside of tubular pole to be measured with encoder fixed pulley
Same vertical plane in and antenna height it is identical；First fixed pulley and the second fixed pulley are respectively arranged at the preformed hole of tubular pole to be measured
Hole wall medial and lateral and setting height it is identical；Heavy ball natural lowering mud face, heavy ball and first in managing in the stake holes of tubular pole to be measured
Wirerope and the second wirerope are connected；It is fixed that first wirerope successively bypasses the first fixed pulley, the second fixed pulley, first band encoder
It is connect after pulley with the first electrical hoist；Second wirerope successively bypasses the first fixed pulley, the second fixed pulley, the second band coding
It is connect after device fixed pulley with the second electrical hoist；It is first band encoder fixed pulley, the second band encoder fixed pulley, first electronic
Hoist engine, the equal circuit connection of the second electrical hoist to encoder acquire and hoist engine controls all-in-one machine, encoder acquisition and volume
It raises machine control all-in-one machine to connect with computer, first band encoder fixed pulley and the second band encoder fixed pulley record own rotation
Circle number and by data information be sent to encoder acquisition and hoist engine control all-in-one machine, encoder acquisition and hoist engine control one
The circle number of rotation is acquired and is transmitted to computer by body machine is converted into wirerope folding and unfolding length, and control the first electrical hoist and
The length folding and unfolding wirerope that second electrical hoist is obtained according to conversion.
Specifically, first fixed pulley, the second fixed pulley pass through first support respectively and second support installation is solid
Due to tubular pole preformed hole hole wall to be measured.
It is preferred that the acquisition of the first electrical hoist, the second electrical hoist, encoder and hoist engine control one
Machine, computer are placed on the monitoring platform.
Another object of the present invention is to provide a kind of methods for monitoring pile driving process tubular pole soil plug height.
To achieve the goals above, the present invention provides a kind of pile driving process tubular pole soil plug height monitoring methods comprising
Following steps:
Before S1, piling start, assembles the pile driving process tubular pole soil plug height as described in claims 1 to 3 is any and monitor dress
It sets, controls first hoist and second hoist folding and unfolding, the first wirerope and the second wirerope is made to be maintained at tensioned state, according to
It is not wound into the wirerope total length of hoist engine and determines with encoder fixed pulley to steel wire rope of windlass length computation band encoder
Pulley to heavy ball rope capacity as initial length；
S2, following data is measured and recorded: the horizontal distance l of first band encoder fixed pulley and tubular pole to be measured1, the second band
The horizontal distance l of encoder fixed pulley and tubular pole to be measured2, the second fixed pulley and tubular pole preformed hole hole wall horizontal distance l to be measured3, the
One fixed pulley and tubular pole preformed hole hole wall horizontal distance l to be measured4, first band encoder fixed pulley and monitoring platform vertical range h3,
Monitoring platform and mud face vertical range dW, the first fixed pulley and tubular pole top vertical range LP to be measured1, tubular pole length LP to be measured；
S3, position data record finish, and by encoder tanks, prepare piling；
S4, start to drive piles, open-end pipe pile is squeezed into soil, and soil plug is formed, and heavy ball is acquired and rolled up by encoder after being elevated
It raises machine control all-in-one machine and computer controls the first electrical hoist and the second electrical hoist winding wirerope and records winding
Initial length is subtracted winding length by length, and as current first band encoder fixed pulley and the second band encoder fixed pulley are extremely
The rope capacity y of heavy ball1And y2；The height for acquiring the first fixed pulley to heavy ball is h1And first top block to first band compile
The vertical range of code device fixed pulley is h2,
b1=(l1-l3)2, b2=(l2-l3)2, b1=(y1-y2)2；
S5, the soil plug height and tubular pole embedded depth for calculating current time: soil plug height=LP-LP1-h1, tubular pole buries depth
Spend LP-LP1-h2-h3-dW。
The beneficial effects of the present invention are:
Compared with prior art, the present invention can monitor soil in tubular pole pile driving process real-time, quickly and fill in highly with stake embedded depth
Situation of change, have the advantages that applied widely, easy to operate, high degree of automation, security risk are small.
Detailed description of the invention
Fig. 1 is pile driving process tubular pole soil plug height monitoring device overall schematic of the present invention.
Fig. 2 is each parameter value schematic diagram of pile driving process tubular pole soil plug height monitoring device of the present invention.
1. first band encoder fixed pulley, 2. second band encoder fixed pulleys, 3. first electrical hoists, 4. second is electronic
Hoist engine, 5. conducting wires, the acquisition of 6. encoders and hoist engine control all-in-one machine, 7. computers, 8. first wirerope, 9. second steel wires
Rope, 10. first fixed pulleys, 11. second fixed pulleys, 12. first supports, 13. second supports, 14. heavy ball, 15. monitoring platforms,
16. tubular pole, 17. soil plugs, 18. mud faces,
l1First band encoder fixed pulley 1 and 16 horizontal distance of tubular pole, l2The second band encoder fixed pulley 2 and tubular pole 16
Horizontal distance, c1The second fixed pulley 11 and 1 distance of first band encoder fixed pulley, c2The second fixed pulley 11 and the second band encode
2 distance of device fixed pulley, l3The second fixed pulley 11 and 16 horizontal distance of tubular pole, l4The first fixed pulley 10 and 16 horizontal distance of tubular pole,
h1The first fixed pulley 10 and 14 vertical range of heavy ball, h2The first fixed pulley 10 and 1 vertical range of first band encoder fixed pulley,
h3First band encoder fixed pulley 1 and 15 vertical range of monitoring platform, dWMonitoring platform 15 and 18 vertical range of mud face, LP1.
First fixed pulley 10 pushes up vertical range, 16 length of LP. tubular pole with tubular pole 16.
Specific embodiment
In order to be more clear intuitive understanding to the technical features, objects and effects of the invention, it is detailed now to compare attached drawing
Illustrate a specific embodiment of the invention.
As shown in Figure 1, in pile driving process tubular pole soil plug height monitoring device first band encoder fixed pulley 1 of the present invention,
Two band encoder fixed pulleys 2, the first electrical hoist 3, the second electrical hoist 4, encoder acquisition and hoist engine control one
Machine 6, computer 7, the first wirerope 8, the second wirerope 9, the first fixed pulley 10, the second fixed pulley 11, first support 12, second
Bracket 13 and heavy ball 14, etc..
It is provided with monitoring platform on the outside of tubular pole to be measured, first band encoder fixed pulley 1, the second band are mounted on monitoring platform
Encoder fixed pulley 2, the first electrical hoist 3, the second electrical hoist 4, encoder acquisition and hoist engine control all-in-one machine 6,
Computer 7.First band encoder fixed pulley the 1, second band encoder fixed pulley 2 is located at the identical vertical plane in tubular pole the same side to be measured
It is interior, and the two antenna height is identical.The preformed hole hole wall medial and lateral of tubular pole to be measured are respectively fixed with first support 12, second
Frame 13, the first fixed pulley 10 and the second fixed pulley 11 are mounted on by first support 12 and second support 13 to test tube respectively
Stake preformed hole hole wall, and it is identical that height is arranged.Natural lowering mud face, the heavy ball 14 in managing in the stake holes of tubular pole to be measured of heavy ball 14
It is connected with the first wirerope and the second wirerope；First wirerope successively bypasses the first fixed pulley 10, the second fixed pulley 11, first
It is connect after band encoder fixed pulley 1 with the first electrical hoist 3；It is fixed that second wirerope successively bypasses the first fixed pulley 10, second
It is connect after pulley the 11, second band encoder fixed pulley 2 with the second electrical hoist 4；First band encoder fixed pulley 1, the second band
Encoder fixed pulley 2, the first electrical hoist 3, the equal circuit connection of the second electrical hoist 4 to encoder acquires and hoist engine control
All-in-one machine 6 processed, encoder acquisition and hoist engine control all-in-one machine 6 are connect with computer 7, first band encoder fixed pulley and second
Data information is simultaneously sent to encoder acquisition and hoist engine control one by the circle number with encoder fixed pulley record own rotation
The circle number of rotation is acquired and is transmitted to computer and is converted into wirerope folding and unfolding by machine, encoder acquisition and hoist engine control all-in-one machine
Length, and control the length folding and unfolding wirerope that the first electrical hoist and the second electrical hoist are obtained according to conversion.
Monitoring method of the invention, comprising the following steps:
Before S1, piling start, assembles above-mentioned pile driving process tubular pole soil plug height monitoring device: first band encoder is slided surely
Wheel the 1, second band encoder fixed pulley 2 is erected on monitoring platform 15, and passes through conducting wire 5 and encoder acquisition and hoist engine respectively
All-in-one machine 6 is controlled to connect；First electrical hoist 3, the second electrical hoist 4 is by conducting wire 5 and encoder acquires and hoist engine
All-in-one machine 6 is controlled to connect；Encoder acquisition and hoist engine control all-in-one machine 6 are connect by conducting wire 5 with computer 7；First is determined
Pulley 10, the second fixed pulley 11 are mounted on the inside and outside wall of 16 preformed hole of tubular pole by first support 12, second support 13 respectively
On；Heavy ball 14 is connect with the first wirerope 8,9 one end of the second wirerope, is placed in 16 preformed hole of tubular pole and natural lowering is extremely managed
Interior mud face；Two wirerope successively bypass the first fixed pulley 10, the second fixed pulley 11 jointly, then encode respectively around first band
The 1, second band encoder fixed pulley 2 of device fixed pulley is simultaneously connect with the first electrical hoist 3, the second electrical hoist 4 respectively.Control
Hoist engine folding and unfolding makes two wirerope be maintained at tensioned state.According to the wirerope total length for not being wound into hoist engine and with volume
Rope capacity of the code device fixed pulley to steel wire rope of windlass length computation with encoder fixed pulley to heavy ball is as initial length.
S2, following data is measured and recorded with ruler: first band encoder fixed pulley 1 and 16 horizontal distance l of tubular pole1, the
Two band encoder fixed pulleys 2 and 16 horizontal distance l of tubular pole2, the second fixed pulley 11 and 16 horizontal distance l of tubular pole3, the first fixed pulley
10 and 16 horizontal distance l of tubular pole4, first band encoder fixed pulley 1 and 15 vertical range h of monitoring platform3, monitoring platform 15 and mud
18 vertical range d of faceW, the first fixed pulley 10 and tubular pole 16 push up vertical range LP1, 16 length LP of tubular pole.
S3, position data record finish, and by encoder tanks, prepare piling.
S4, start to drive piles, tubular pole 16 is squeezed into soil, forms soil plug 17, heavy ball 14 is elevated.It is acquired and is rolled up by encoder
It raises machine control all-in-one machine 6 and computer 7 controls electrical hoist winding wirerope and records winding length, initial length is subtracted
Wind length, the as rope capacity currently with encoder fixed pulley to heavy ball.The first, second band of note encoder fixed pulley is extremely
The rope capacity of heavy ball is respectively y1、y2.The height of first fixed pulley 12 to heavy ball 14 is h1And first top block 12 to
The vertical range of first band encoder fixed pulley 1 is h2It can calculate as follows:
b1=(l1-l3)2, b2=(l2-l3)2, b1=(y1-y2)2。
S5,17 height of soil plug and 16 embedded depth of tubular pole for calculating current time:
Soil plug height=LP-LP1-h1,
Tubular pole embedded depth LP-LP1-h2-h3-dW。
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (4)
1. a kind of pile driving process tubular pole soil plug height monitoring device, characterized by comprising: first band encoder fixed pulley, second
Band encoder fixed pulley, the first electrical hoist, the second electrical hoist, encoder acquisition and hoist engine control all-in-one machine, meter
Calculation machine, the first wirerope, the second wirerope, the first fixed pulley, the second fixed pulley, first support, second support and heavy ball,
First band encoder fixed pulley, second with encoder fixed pulley be erected at the same outside of tubular pole to be measured monitoring platform it is same
In one vertical plane and antenna height is identical；First fixed pulley and the second fixed pulley are respectively arranged at the preformed hole hole wall of tubular pole to be measured
Medial and lateral and setting height it is identical；Heavy ball natural lowering mud face, heavy ball and first steel wire in managing in the stake holes of tubular pole to be measured
Rope and the second wirerope are connected；First wirerope successively bypasses the first fixed pulley, the second fixed pulley, first band encoder fixed pulley
It is connect afterwards with the first electrical hoist；It is fixed that second wirerope successively bypasses the first fixed pulley, the second fixed pulley, the second band encoder
It is connect after pulley with the second electrical hoist；First band encoder fixed pulley, the second band encoder fixed pulley, the first electronic elevator
Machine, the equal circuit connection of the second electrical hoist to encoder acquire and hoist engine controls all-in-one machine, encoder acquisition and hoist engine
Control all-in-one machine is connect with computer, first band encoder fixed pulley and the second circle with encoder fixed pulley record own rotation
Data information is simultaneously sent to encoder acquisition and hoist engine control all-in-one machine, encoder acquisition and hoist engine control all-in-one machine by number
The circle number of rotation is acquired and is transmitted to computer and is converted into wirerope folding and unfolding length, and controls the first electrical hoist and second
The length folding and unfolding wirerope that electrical hoist is obtained according to conversion.
2. pile driving process tubular pole soil plug height monitoring device according to claim 1, which is characterized in that described first is fixed sliding
Wheel, the second fixed pulley passes through first support respectively and second support is mounted on tubular pole preformed hole hole wall to be measured.
3. pile driving process tubular pole soil plug height monitoring device according to claim 1, which is characterized in that the first electronic elevator
Machine, the second electrical hoist, encoder acquisition and hoist engine control all-in-one machine, computer are placed on the monitoring platform.
4. a kind of pile driving process tubular pole soil plug height monitoring method, which comprises the following steps:
Before S1, piling start, the pile driving process tubular pole soil plug height monitoring device as described in claims 1 to 3 is any, control are assembled
First hoist and second hoist folding and unfolding processed makes the first wirerope and the second wirerope be maintained at tensioned state, according to not receiving
Involve in the wirerope total length of hoist engine and with encoder fixed pulley to steel wire rope of windlass length computation band encoder fixed pulley
To heavy ball rope capacity as initial length；
S2, following data is measured and recorded: the horizontal distance l of first band encoder fixed pulley and tubular pole to be measured1, the second band coding
The horizontal distance l of device fixed pulley and tubular pole to be measured2, the second fixed pulley and tubular pole preformed hole hole wall horizontal distance l to be measured3, first is fixed
Pulley and tubular pole preformed hole hole wall horizontal distance l to be measured4, first band encoder fixed pulley and monitoring platform vertical range h3, monitoring
Platform and mud face vertical range dW, the first fixed pulley and tubular pole top vertical range LP to be measured1, tubular pole length LP to be measured；
S3, position data record finish, and by encoder tanks, prepare piling；
S4, start to drive piles, open-end pipe pile is squeezed into soil, forms soil plug, heavy ball acquires after being elevated by encoder and hoist engine
Control all-in-one machine and computer control the first electrical hoist and the second electrical hoist winding wirerope and record winding length,
Initial length is subtracted into winding length, as current first band encoder fixed pulley and second is with encoder fixed pulley to heavy ball
Rope capacity y1And y2；The height for acquiring the first fixed pulley to heavy ball is h1And first top block it is fixed to first band encoder
The vertical range of pulley is h2,
b1=(l1-l3)2, b2=(l2-l3)2, b1=(y1-y2)2；
S5, the soil plug height and tubular pole embedded depth for calculating current time: soil plug height=LP-LP1-h1, tubular pole embedded depth
LP-LP1-h2-h3-dw。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303686.4A CN110106924B (en) | 2019-04-16 | 2019-04-16 | Pile soil plug height monitoring device and method in pile sinking process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303686.4A CN110106924B (en) | 2019-04-16 | 2019-04-16 | Pile soil plug height monitoring device and method in pile sinking process |
Publications (2)
| Publication Number | Publication Date |
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| CN110106924A true CN110106924A (en) | 2019-08-09 |
| CN110106924B CN110106924B (en) | 2024-04-02 |
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| CN201910303686.4A Active CN110106924B (en) | 2019-04-16 | 2019-04-16 | Pile soil plug height monitoring device and method in pile sinking process |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113466228A (en) * | 2021-06-28 | 2021-10-01 | 水利部交通运输部国家能源局南京水利科学研究院 | Method for detecting quality of lower part of mud surface of in-service pipe pile |
| CN114991144A (en) * | 2022-07-08 | 2022-09-02 | 邵良荣 | Automatic construction equipment for carrier pile |
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| CN102587423A (en) * | 2012-03-02 | 2012-07-18 | 中国石油大学(华东) | Depth testing device for driven type soil plugs of steel pipe piles of ocean platforms |
| CN206223261U (en) * | 2016-07-27 | 2017-06-06 | 博广环保技术股份有限公司 | Novel material position detecting system |
| CN207295797U (en) * | 2017-10-24 | 2018-05-01 | 阳光学院 | Driving into type steel-pipe pile soil plug depth measurement device |
| CN210315693U (en) * | 2019-04-16 | 2020-04-14 | 中交四航工程研究院有限公司 | Pile sinking process pipe pile soil plug height monitoring device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006097398A (en) * | 2004-09-30 | 2006-04-13 | Ube Concrete Kogyo Kk | Depth measuring device for pile driver |
| CN102587423A (en) * | 2012-03-02 | 2012-07-18 | 中国石油大学(华东) | Depth testing device for driven type soil plugs of steel pipe piles of ocean platforms |
| CN206223261U (en) * | 2016-07-27 | 2017-06-06 | 博广环保技术股份有限公司 | Novel material position detecting system |
| CN207295797U (en) * | 2017-10-24 | 2018-05-01 | 阳光学院 | Driving into type steel-pipe pile soil plug depth measurement device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113466228A (en) * | 2021-06-28 | 2021-10-01 | 水利部交通运输部国家能源局南京水利科学研究院 | Method for detecting quality of lower part of mud surface of in-service pipe pile |
| CN114991144A (en) * | 2022-07-08 | 2022-09-02 | 邵良荣 | Automatic construction equipment for carrier pile |
| CN114991144B (en) * | 2022-07-08 | 2023-12-08 | 邵良荣 | Carrier pile automatic construction equipment |
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|---|---|
| CN110106924B (en) | 2024-04-02 |
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