CN111501756A - Pile-embracing jacket and construction method thereof - Google Patents

Pile-embracing jacket and construction method thereof Download PDF

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Publication number
CN111501756A
CN111501756A CN202010475167.9A CN202010475167A CN111501756A CN 111501756 A CN111501756 A CN 111501756A CN 202010475167 A CN202010475167 A CN 202010475167A CN 111501756 A CN111501756 A CN 111501756A
Authority
CN
China
Prior art keywords
pile
jacket
ring beam
main body
embracing
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
CN202010475167.9A
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Chinese (zh)
Inventor
周锋
杜浩楠
陆剑庆
陈小飞
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.)
Jiangsu Hengtong Lande Marine Engineering Co Ltd
Original Assignee
Jiangsu Hengtong Lande Marine Engineering Co Ltd
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 Jiangsu Hengtong Lande Marine Engineering Co Ltd filed Critical Jiangsu Hengtong Lande Marine Engineering Co Ltd
Priority to CN202010475167.9A priority Critical patent/CN111501756A/en
Publication of CN111501756A publication Critical patent/CN111501756A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02DFOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/04Guide devices; Guide frames

Abstract

The invention discloses an embracing pile jacket and a construction method thereof, wherein the embracing pile jacket comprises a jacket main body and a embracing pile device connected to the jacket main body, the embracing pile jacket further comprises an auxiliary pile matched and connected with the jacket main body in a sliding way and a jacket leveling device connected between the auxiliary pile and the jacket main body, the jacket leveling device comprises a ring beam, a bolt component connected to the ring beam and a second oil cylinder driving the ring beam to lift, the auxiliary pile is inserted into the ring beam, and the bolt component can be connected with the ring beam and the auxiliary pile. Before the pile is driven, can use bolt subassembly to connect ring beam and auxiliary pile earlier, then through the relative position of second hydro-cylinder adjustment jacket main part and auxiliary pile to the levelness of adjustment jacket main part guarantees the position precision and the straightness that hangs down of foundation pile when being favorable to the later stage pile.

Description

Pile-embracing jacket and construction method thereof
Technical Field
The invention relates to a piling technology, in particular to a pile-embracing jacket and a construction method thereof.
Background
With the continuous improvement of the technical level, the utilization capacity of sea resources is greatly enhanced, and the technologies of installing a working platform on the sea to exploit oil and gas or utilize wind energy on the sea to generate electricity and the like are more mature. At present, the construction of a foundation pile of a working platform cannot be separated from a jacket, the jacket usually comprises a jacket main body and one or more pile grippers connected to the jacket main body, during construction, the jacket main body is transported to the position near a foundation pile installation station by using a transport ship, the jacket is positioned to the installation station by a floating crane and is submerged into the sea, then the foundation pile is lifted into the pile grippers, the foundation pile is driven into mud by using a pile hammer, and in the pile driving process, the position precision, the perpendicularity and the like of the foundation pile need to be controlled by the pile grippers on the jacket. However, in the prior art, a structure for adjusting the levelness of the jacket itself is not provided, so that the levelness of the jacket main body itself is difficult to guarantee, the position precision and the verticality of the foundation pile are further influenced, and the construction result of the foundation pile is difficult to meet the design requirement.
Disclosure of Invention
The invention aims to provide a pile-embracing jacket and a construction method thereof, aiming at overcoming the defects in the prior art, the pile-embracing jacket can adjust the levelness of a jacket main body, and the position precision and the verticality of a foundation pile are improved.
In order to achieve the above purpose, in one aspect, the present invention provides a pile-embracing jacket, which includes a jacket main body and a pile-embracing device connected to the jacket main body, the pile-embracing jacket further includes an auxiliary pile slidably coupled to the jacket main body, and a jacket leveling device connected between the auxiliary pile and the jacket main body, the jacket leveling device includes a ring beam, a plug pin assembly connected to the ring beam, and a second cylinder driving the ring beam to ascend and descend, the auxiliary pile is inserted into the ring beam, and the plug pin assembly can connect the ring beam and the auxiliary pile.
Furthermore, the bolt assembly comprises a third oil cylinder connected to the ring beam and a bolt driven by the third oil cylinder, a pin hole matched and connected with the bolt is formed in the auxiliary pile, and the third oil cylinder can drive the bolt to be inserted into the pin hole.
Furthermore, the ring beam is provided with an opening for the auxiliary pile to pass through and a guide hole communicated with the ring beam, and the bolt is matched and connected in the guide hole.
Further, the pile-embracing jacket further comprises a locking assembly connected between the jacket body and the ring beam, and the locking assembly is adjustable in length.
Further, the locking assembly comprises a first connecting rod connected to the jacket body, a second connecting rod connected to the ring beam, and a threaded sleeve in threaded connection with both the first connecting rod and the second connecting rod.
Further, the jacket main body comprises an anti-sinking buoyancy tank positioned at the bottom, and the anti-sinking buoyancy tank is provided with a flow guide hole.
Further, the jacket main body comprises a first platform and a second platform which are arranged at an upper interval and a lower interval, the pile embracing device comprises a plurality of pile embracing devices connected to the first platform and the second platform, and the pile embracing devices on the first platform and the second platform are correspondingly arranged.
Further, the pile embracing device further comprises a telescopic arm connected between the jacket main body and the pile embracing device, and the telescopic arm is rotatably connected with the jacket main body.
Further, hold stake device including connect in a plurality of pneumatic cylinders on the pile gripper and with the gyro wheel that the pneumatic cylinder links to each other, the pneumatic cylinder can drive the gyro wheel supports tightly foundation pile.
On the other hand, the invention also provides a construction method of the pile-embracing jacket, which comprises the following steps:
s1, adjusting the relative position of pile grippers of each pile gripper according to the distance between foundation piles;
s2, hoisting the jacket main body to an installation station;
s3, hoisting auxiliary piles into the ring beam and the jacket main body, and connecting the auxiliary piles with the ring beam;
s4, measuring the levelness of the jacket main body, and driving the ring beam and the auxiliary pile to move relative to the jacket main body by controlling the telescopic length of a second oil cylinder according to the measuring result so as to adjust the levelness of the jacket main body;
s5, hoisting the foundation pile into the pile gripper;
s6, adjusting the verticality of the foundation pile by controlling the extending distance of a third oil cylinder of the pile gripper;
and S7, driving the foundation pile into the seabed.
Compared with the prior art, the invention has the advantages that:
1. the pile embracing jacket is provided with an auxiliary pile and a jacket leveling device, the jacket leveling device comprises a ring beam, a bolt assembly and a second oil cylinder for driving the ring beam to lift, the auxiliary pile is inserted in the ring beam and the jacket main body, the bolt assembly can be used for connecting the ring beam and the auxiliary pile before piling, and then the relative position of the jacket main body and the auxiliary pile is adjusted through the second oil cylinder, so that the levelness of the jacket main body is adjusted, and the position accuracy and the verticality of a foundation pile are ensured during later-stage piling;
2. the pile embracing jacket comprises two layers of pile embracing devices which are arranged at intervals up and down, wherein a third oil cylinder which is arranged in the radial direction and a roller driven by the third oil cylinder are arranged in each pile embracing device, and the third oil cylinder can drive the roller to abut against a foundation pile, so that the perpendicularity of the foundation pile can be conveniently adjusted through the two layers of pile embracing devices, and the effect is better;
the pile embracing jacket also comprises a locking device with adjustable length, so that the ring beam can be prevented from toppling, and the ring beam can be kept horizontal when the auxiliary pile is inserted into the ring beam, thereby facilitating the installation of the auxiliary pile.
Drawings
Fig. 1 is a schematic structural view of a pile embracing jacket according to the present invention.
Fig. 2 is a plan view of the anti-settling buoyancy tank of the present invention.
Fig. 3 is a top view of a pile embracing jacket according to the present invention.
Fig. 4 is a schematic structural view of a pile embracing device according to the present invention.
FIG. 5 is a schematic view of a rectangular tube according to the present invention.
Fig. 6 is a schematic structural view of the hydraulic cylinder driving the roller to tightly press the foundation pile.
Fig. 7 is an enlarged view of a portion I in fig. 1.
Detailed Description
The present invention will be described in further non-limiting detail with reference to the following preferred embodiments and accompanying drawings.
As shown in fig. 1, a pile-embracing jacket corresponding to a preferred embodiment of the present invention includes a jacket main body 1, a pile-embracing means 2, a jacket leveling means 3, and an auxiliary pile 4.
The jacket main body 1 comprises a first platform 10, a second platform 11 and an anti-sinking buoyancy tank 13 which are arranged at intervals up and down, wherein the first platform 10 and the second platform 11 are of box-type beam truss type structures and are connected through a steel structure framework 14 between the first platform 10 and the second platform 11 and between the second platform 11 and the anti-sinking buoyancy tank 13. The anti-sinking buoyancy tank 13 is large in stress area and small in unit area pressure, can provide certain buoyancy, can prevent the pile-embracing jacket from entering mud too deeply, and can be used for conveniently hoisting the jacket main body 1 during subsequent hoisting on the one hand and conveniently leveling the jacket main body 1 in the subsequent process on the other hand. As shown in fig. 2, the anti-settling buoyancy tank 13 is provided with flow guide holes 130 penetrating through the top surface and the bottom surface of the anti-settling buoyancy tank, and the flow guide holes 130 can break vacuum to prevent the anti-settling buoyancy tank 13 from losing buoyancy after contacting the mud surface and sucking on the mud surface.
The pile gripper 2 is used to grip and position the foundation pile 5 so that the foundation pile 5 can be driven into the seabed accurately. As shown in fig. 3, the pile embracing devices 2 may be provided in plurality according to the number of the foundation piles 5, in this embodiment, 4 groups of pile embracing devices 2 are provided on the first platform 10 and the second platform 11, and 4 groups of pile embracing devices 2 are uniformly distributed on the corresponding platforms.
Referring to fig. 4, the pile embracing device 2 comprises a telescopic arm 20 rotatably connected with the jacket body 1 and a pile embracing means 21 connected to the telescopic arm 20. The positions of the pile grippers 21 on the first platform 10 and the second platform 11 correspond to each other so that the foundation piles 5 can be vertically arranged in the pile grippers 21 of the two-story platform.
The jacket body 1 is provided with a rotating shaft 15, and one end of the telescopic arm 20 is provided with a shaft sleeve 202 matched and connected with the rotating shaft 15, so that the telescopic arm 20 can rotate around the rotating shaft 15, and the angle of the telescopic arm 20 can be adjusted. The telescopic arm 20 is formed by connecting a plurality of rectangular pipe bodies 200, as shown in fig. 5, two ends of each rectangular pipe body 200 are provided with a connecting flange 201, adjacent rectangular pipe bodies 200 are connected with each other through the connecting flanges 201, and the length of the telescopic arm 20 can be adjusted by increasing or decreasing the number of the rectangular pipe bodies 200, so as to adjust the extending length of the pile embracing device 21. After the distance and angle of the telescopic arm 20 are adjusted, the reinforcing plate can be welded to fix the current position, so that the whole telescopic arm is firmer, and the precision is guaranteed.
The pile embracing device 21 comprises a base 210 connected with the telescopic arm 20, two embracing arms 211 symmetrically arranged on the base 210 and a first oil cylinder 212 connected between the base 210 and the embracing arms 211. The arm 211 and the base 210 are rotatably connected, the cylinder body of the first oil cylinder 212 is connected to the base 210, the piston rod of the first oil cylinder 212 is connected to the arm 211, and after the first oil cylinder 212 extends out, the two arms 211 are folded to form a cavity 2110 for accommodating the foundation pile 5; conversely, when the first oil cylinder 212 retracts, the two embracing arms 211 are opened.
With further reference to fig. 6, the pile gripper 21 further comprises a plurality of hydraulic cylinders 213 arranged radially on the arms 211, the piston rods of the hydraulic cylinders 213 being connected with rollers 214. Two armful arms 211 at pile gripper 21 are foldd, and pneumatic cylinder 213 stretches out the back, and gyro wheel 214 supports foundation pile 5 tightly for foundation pile 5 can be fixed a position to gyro wheel 214, through the extension distance of controlling different pneumatic cylinders 213, can adjust the straightness that hangs down of foundation pile 5, makes foundation pile 5 can be reliable squeeze into the seabed, and simultaneously, when piling, gyro wheel 214 can rotate, does not influence foundation pile 5 downstream.
As shown in fig. 7, the jacket leveling device 3 includes a ring beam 30, a plurality of second cylinders 31 and locking assemblies 32 connected between the ring beam 30 and the jacket body 1, and a plurality of latch assemblies 33 connected to the ring beam 30.
The ring beam 30 is provided with an opening 300 for the auxiliary pile 4 to pass through, the ring beam 30 is further provided with a guide hole 301 communicated with the opening 300, the bolt assembly 33 comprises a third oil cylinder 330 connected to the ring beam 30 and a bolt 331 connected to a piston rod of the third oil cylinder 330, and the bolt 331 is slidably coupled in the guide hole 301. The auxiliary pile 4 is provided with a pin hole 40 matched with the bolt 331, and after the third cylinder 330 extends, the bolt 331 can extend into the pin hole 40, so that the ring beam 30 and the auxiliary pile 4 are fixed with each other.
The cylinder body of the second oil cylinder 31 is connected to the first platform 10, and the piston rod thereof is connected to the ring beam 30, in this embodiment, each ring beam 30 is connected to four second oil cylinders 31, and the lifting of the ring beam 30 can be controlled by controlling the extension and retraction of the second oil cylinders 31, so as to drive the auxiliary piles 4 connected to the ring beam 30 to move relative to the tubing hanger main body 1.
The locking assembly 32 includes a threaded sleeve 320, and a first connecting rod 321 and a second connecting rod 322 respectively screwed at two ends of the threaded sleeve 320, wherein the first connecting rod 321 is connected to the first platform 10, and the second connecting rod 322 is connected to the girt 30. The overall length of the locking assembly 32 can be adjusted by rotating the threaded sleeve 320. The locking assembly 32 is used for fixing the ring beam 30 when the auxiliary pile 4 is not installed, preventing the ring beam 30 from toppling over, and also can keep the ring beam 30 horizontal by adjusting the locking assembly 32 when the auxiliary pile 4 is installed, thereby facilitating the insertion of the auxiliary pile 4.
Through holes 12 (reference numbers are shown in fig. 2) are formed in the first platform 10, the second platform 11 and the anti-sinking buoyancy tank 13, through which the auxiliary piles 4 are inserted, so that the auxiliary piles 4 can penetrate through the jacket body 1 from above and downwards and be inserted into the seabed mud. In this embodiment, the number of the auxiliary piles 4 is four, which enables the jacket main body 1 to be stably supported, and correspondingly, the number of the through holes 12 is four.
Auxiliary pile 4 and jacket levelling device 3 can cooperate the levelness of adjusting jacket main part 1 to make the position of foundation pile 5 more accurate, the straightness that hangs down is better. Specifically, after the plug 331 is inserted into the auxiliary piles 4, the locking assembly 32 is removed, and then the relative position of each auxiliary pile 4 and the jacket body 1 can be controlled by controlling the expansion and contraction amount of the corresponding second oil cylinder 31 at the four auxiliary piles 4, so as to change the levelness of the jacket body 1.
The construction method of the pile-embracing jacket comprises the following steps:
s1, adjusting the relative position of each pile gripper 21 according to the set distance between the foundation piles 5 to enable the relative position to correspond to the position of each foundation pile 5, and meeting the position and size requirements required by construction. The position of each pile gripper 21 can be adjusted by adjusting the length and angle of the telescopic arm 20.
S2, transporting the jacket main body 1 to the position near a foundation pile installation station through a transport ship, and hoisting the jacket main body 1 to the installation station through a floating crane, wherein the anti-sinking buoyancy tank 13 is arranged at the bottom of the jacket main body 1, so that the jacket main body 1 can fall on a silt layer;
s3, hoisting 4 auxiliary piles 4 into the jacket main body 1, enabling the bottoms of the auxiliary piles 4 to fall to the seabed, then releasing the locking assemblies 32 on the ring beams 30, enabling the second oil cylinders 31 to act, enabling the bolts 331 to align with the pin holes 40 in the auxiliary piles 4, and driving the bolts 331 to be inserted into the pin holes 40 through the third oil cylinders 330 after alignment;
s4, measuring the levelness of the jacket main body 1, and driving 4 auxiliary piles 4 to adjust the vertical position by controlling the telescopic length of the second oil cylinder 31 according to the measuring result, so that the levelness of the jacket main body is adjusted;
s5, opening the pile embracing devices 21 through the hydraulic cylinders 213, hoisting each foundation pile 4 into the corresponding pile embracing device 21 through the floating crane, closing the pile embracing devices 21 through the hydraulic cylinders 213, and after closing, fixing two embracing arms 211 of the pile embracing devices 21 through pin shafts or other mechanisms to prevent the pile embracing devices from opening during piling;
s6, measuring the state of the foundation pile 5 through a total station, and finely adjusting the verticality of the foundation pile 5 by controlling the extending distance of the third oil cylinder 330 to enable the verticality to meet the requirement;
s7, hoisting a pile feeder and a pile driving hammer to the top of the foundation pile 5 in sequence by using a floating crane, starting to drive the pile, monitoring the verticality of the foundation pile 5 in real time and adjusting in the pile driving process, respectively opening an upper layer of pile gripper 21 and a lower layer of pile gripper 21 according to the position of the pile feeder, and ensuring the passage of the pile feeder and the pile driving hammer until the pile driving is finished;
s8, after the pile driving is finished, the second oil cylinder 31 extends out, the ring beam 30 is driven to move upwards, and the auxiliary pile 4 is pulled to a loose layer of a mud surface.
At this point, the construction of the foundation pile 5 is completed, and the floating crane can hoist the pile-embracing jacket to the next installation station to continue to install the foundation pile 5.
The invention at least comprises the following advantages:
1. the pile embracing jacket is provided with an auxiliary pile and a jacket leveling device, the jacket leveling device comprises a ring beam, a bolt assembly and a second oil cylinder for driving the ring beam to lift, the auxiliary pile is inserted in the ring beam and the jacket main body, the bolt assembly can be used for connecting the ring beam and the auxiliary pile before piling, and then the relative position of the jacket main body and the auxiliary pile is adjusted through the second oil cylinder, so that the levelness of the jacket main body is adjusted, and the position accuracy and the verticality of a foundation pile are ensured during later-stage piling;
2. the pile embracing jacket comprises two layers of pile embracing devices which are arranged at intervals up and down, wherein a third oil cylinder which is arranged in the radial direction and a roller driven by the third oil cylinder are arranged in each pile embracing device, and the third oil cylinder can drive the roller to abut against a foundation pile, so that the perpendicularity of the foundation pile can be conveniently adjusted through the two layers of pile embracing devices, and the effect is better;
the pile embracing jacket also comprises a locking device with adjustable length, so that the ring beam can be prevented from toppling, and the ring beam can be kept horizontal when the auxiliary pile is inserted into the ring beam, thereby facilitating the installation of the auxiliary pile.
It should be noted that the above-mentioned preferred embodiments are merely illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (10)

1. The utility model provides a pile-embracing jacket, its includes jacket main part (1) and pile-embracing device (2) of connection on jacket main part (1), its characterized in that: the pile-embracing jacket further comprises an auxiliary pile (4) matched and connected with the jacket main body (1) in a sliding mode and a jacket leveling device (3) connected between the auxiliary pile (4) and the jacket main body (1), wherein the jacket leveling device (3) comprises a ring beam (30), a bolt assembly (33) connected to the ring beam (30) and a second oil cylinder (31) driving the ring beam (30) to ascend and descend, the auxiliary pile (4) is inserted into the ring beam (30), and the bolt assembly (33) can be connected with the ring beam (30) and the auxiliary pile (4).
2. The pile jacket according to claim 1, wherein: the bolt assembly (33) comprises a third oil cylinder (330) connected to the ring beam (30) and a bolt (331) driven by the third oil cylinder (330), the auxiliary pile (4) is provided with a pin hole (40) matched and connected with the bolt (331), and the third oil cylinder (330) can drive the bolt (331) to be inserted into the pin hole (40).
3. The pile jacket according to claim 1, wherein: the ring beam (30) is provided with an opening (300) for the auxiliary pile (4) to pass through and a guide hole (301) communicated with the ring beam (30), and the bolt (331) is matched and connected in the guide hole (301).
4. The pile jacket according to claim 1, wherein: the jacket further comprises a locking assembly (32) connected between the jacket body (1) and the ring beam (30), wherein the locking assembly (32) is adjustable in length.
5. The pile jacket according to claim 4, wherein: the locking assembly (32) comprises a first connecting rod (321) connected to the jacket body (1), a second connecting rod (322) connected to the ring beam (30), and a threaded sleeve (320) in threaded connection with both the first connecting rod (321) and the second connecting rod (322).
6. The pile jacket according to claim 1, wherein: the jacket main body (1) comprises an anti-sinking buoyancy tank (13) located at the bottom, and the anti-sinking buoyancy tank (13) is provided with a flow guide hole (130).
7. A pile jacket according to any one of claims 1 to 6, characterised in that: jacket main part (1) is including first platform (10) and second platform (11) that the interval set up from top to bottom, hold stake device (2) including a plurality of connect in first platform (10) with hold stake ware (21) on second platform (11), hold stake ware (21) on first platform (10) with hold stake ware (21) on second platform (11) correspond the setting.
8. The pile jacket according to claim 7, wherein: the pile embracing device (2) further comprises a telescopic arm (20) connected between the jacket main body (1) and the pile embracing device (21), and the telescopic arm (20) is rotatably connected with the jacket main body (1).
9. The pile jacket according to claim 7, wherein: pile embracing device (2) including connect in a plurality of pneumatic cylinders (213) on pile embracing ware (21) and with gyro wheel (214) that pneumatic cylinder (213) link to each other, pneumatic cylinder (213) can drive gyro wheel (214) support tightly foundation pile (5).
10. A construction method of a pile jacket according to any one of claims 1 to 9, characterised in that it comprises the following steps:
s1, adjusting the relative positions of pile grippers (21) of all pile grippers (2) according to the distance between foundation piles (5);
s2, hoisting the jacket main body (1) to an installation station;
s3, hoisting an auxiliary pile (4) into the ring beam (30) and the jacket main body (1), and connecting the auxiliary pile (4) with the ring beam (30);
s4, measuring the levelness of the jacket main body (1), and driving the ring beam (30) and the auxiliary pile (4) to move relative to the jacket main body (1) by controlling the telescopic length of a second oil cylinder (31) according to the measuring result, so that the levelness of the jacket main body (1) is adjusted;
s5, hoisting the foundation pile (5) into the pile embracing device (21);
s6, adjusting the verticality of the foundation pile (5) by controlling the extending distance of a third oil cylinder (330) of the pile gripper (21);
and S7, driving the foundation pile (5) into the seabed.
CN202010475167.9A 2020-05-29 2020-05-29 Pile-embracing jacket and construction method thereof Pending CN111501756A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010475167.9A CN111501756A (en) 2020-05-29 2020-05-29 Pile-embracing jacket and construction method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010475167.9A CN111501756A (en) 2020-05-29 2020-05-29 Pile-embracing jacket and construction method thereof

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Publication Number Publication Date
CN111501756A true CN111501756A (en) 2020-08-07

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Application Number Title Priority Date Filing Date
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112832221A (en) * 2021-01-15 2021-05-25 江苏佳美海洋工程装备有限公司 Double-layer pile stabilizing platform with GPS
CN113931188A (en) * 2021-11-10 2022-01-14 天津大学 Pile gripper for monitoring perpendicularity of pile body through angle change of telescopic boom and operation method of pile gripper

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112832221A (en) * 2021-01-15 2021-05-25 江苏佳美海洋工程装备有限公司 Double-layer pile stabilizing platform with GPS
CN113931188A (en) * 2021-11-10 2022-01-14 天津大学 Pile gripper for monitoring perpendicularity of pile body through angle change of telescopic boom and operation method of pile gripper

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