CN113153153A - Deepwater hard rock crushing device and using method thereof - Google Patents
Deepwater hard rock crushing device and using method thereof Download PDFInfo
- Publication number
- CN113153153A CN113153153A CN202110269859.2A CN202110269859A CN113153153A CN 113153153 A CN113153153 A CN 113153153A CN 202110269859 A CN202110269859 A CN 202110269859A CN 113153153 A CN113153153 A CN 113153153A
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- 239000011435 rock Substances 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims description 23
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000003921 oil Substances 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 6
- 238000005422 blasting Methods 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 239000003643 water by type Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
- E21B7/132—Underwater drilling from underwater buoyant support
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B1/00—Percussion drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/02—Supports for the drilling machine, e.g. derricks or masts specially adapted for underwater drilling
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
According to the deepwater hard rock crushing device and the using method thereof, the operation platform is connected with the rock crushing device in a flexible connection mode, the operation depth of the rock crushing device is adjusted by retracting and releasing an armored steel cable, the rock crushing operation in water areas with different depths can be met, the rock crushing device can adjust the rock crushing operation angle through a hydraulic oil cylinder according to the gradient angle of an operation area, the rock crushing operation under different gradients is met, and the crushing auxiliary device takes a hydraulic impact hammer as the operation device, so that the high-hardness rock crushing requirement can be met, and the environmental requirement is met.
Description
Technical Field
The invention relates to the field of underwater rock breaking construction, in particular to a deepwater hard rock breaking device and a using method thereof.
Background
With the development of economic society of China, the construction of offshore engineering is continuously increased, and in the construction process of offshore engineering, due to the complex underwater environment, the construction depth of partial water areas is deep, the hardness of rocks is high, and the underwater hard rock is broken to become a main difficult problem in construction.
Aiming at underwater rock breaking operation, the main rock breaking means is blasting by explosives at present, the method has the advantages of simplicity, high operation efficiency and the like, but the method is seriously damaged on marine ecological environment, and blasting can also influence other parts of engineering, and can be applied to water areas without environmental requirements, but the method generally has higher environmental requirements at home and abroad at present, does not allow underwater blasting, and cannot meet the construction requirements.
Therefore, the invention of a device and a method for deep-water hard rock breaking is urgently needed to meet the actual production needs.
Disclosure of Invention
The invention provides a deepwater hard rock crushing device and a using method thereof.
According to one aspect of the invention, the deep water hard rock crushing device is connected with an operation platform through an armored pipe cable and comprises a protective frame, a lifting mechanism and a hydraulic impact hammer, wherein the protective frame is connected with the operation platform through a steel cable, an ultra-short base line transponder is arranged at the top of the protective frame, the lifting mechanism comprises a connecting frame, a lifting cylinder, a sliding rail and a connecting slide block, the sliding rail is arranged on the protective frame through the connecting frame, the connecting slide block is connected with the sliding rail in a sliding mode, the bottom of the lifting cylinder is fixedly connected with the connecting frame, a telescopic rod of the lifting cylinder is connected with the hydraulic impact hammer through a connecting plate, and the connecting slide block is fixedly connected with the hydraulic impact hammer; the protection frame is further provided with a sealing box, a controller and a sensor connected with the controller are arranged in the sealing box, the lifting cylinder is connected with the controller, and the controller is connected with the operation platform through the armored pipe cable.
On the basis of the scheme, preferably, the protective frame is further provided with an ultrasonic detector for detecting a ground ring of a rock breaking operation area, and the ultrasonic detector is connected with the operation platform through the armored pipe cable.
On the basis of the scheme, the sensor preferably comprises an inclination angle sensor, a displacement sensor and a pressure sensor.
On the basis of the scheme, the armored pipe cable comprises an armored layer, a hydraulic oil pipe connected with the lifting cylinder, an auxiliary oil pipe and a cable, wherein the hydraulic oil pipe, the auxiliary oil pipe and the cable are embedded in the armored layer, and the controller is connected with the operation platform through the cable.
On the basis of the scheme, the protection frame is preferably of a rectangular frame-shaped structure, the lifting frame is detachably arranged on the inner side surface of the protection frame, hydraulic oil cylinders are respectively arranged at four corners of the bottom of the protection frame, and the hydraulic oil cylinders are connected with the operation platform through the armored pipe cables.
Preferably, on the basis of the scheme, the bottom of the protection frame is provided with a flange structure, the hydraulic oil cylinder is arranged on the protection frame through the flange structure, and a pressure sensor and a displacement sensor are arranged in the hydraulic oil cylinder.
The method for using the deep water hard rock crushing device comprises the following steps:
step A1, moving the working platform to a specified position, controlling a steel cable and an armored pipe cable to stretch, lowering the protective frame to the specified position, and acquiring the lowering position and the terrain through a sensor and an ultra-short baseline transponder in the lowering process;
a2, acquiring the distance between the fender bracket and the seabed through an ultrasonic detector, and controlling the extension of a hydraulic oil cylinder at the bottom of the fender bracket to enable the fender bracket to land;
step A3, acquiring inclination angle, pressure and displacement data of a protection frame through a sensor, and adjusting the angle of a hydraulic impact hammer by controlling the extension and contraction of a hydraulic oil cylinder at the bottom of the protection frame;
and step A4, driving the hydraulic impact hammer to hammer the hard rock until the design depth.
According to the deepwater hard rock crushing device and the using method thereof, the operation platform is connected with the rock crushing device in a flexible connection mode, the operation depth of the rock crushing device is adjusted through the steel cable, the rock crushing operation in water areas with different depths can be met, the rock crushing device can adjust the rock crushing operation angle through the hydraulic oil cylinder according to the gradient angle of the operation area, the rock crushing operation under different gradients is met, and the crushing auxiliary device takes the hydraulic impact hammer as the operation device, so that the high-hardness rock crushing requirement can be met, and the environmental requirement is met.
Drawings
Fig. 1 is an overall structural view of a deep water hard rock crushing apparatus of the present invention;
FIG. 2 is an overall structural view of the lifting mechanism of the present invention;
fig. 3 is a schematic structural view of an armored tube cable according to the present invention.
FIG. 4 is a block diagram of the control system of the present invention;
fig. 5 is a flow chart of the use of the deep water hard rock breaking device.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1 in combination with fig. 2 and 3, the deepwater hard rock breaking device of the present invention is connected to an operation platform 1 through an armored pipe cable 2, wherein the deepwater hard rock breaking device of the present invention includes a protection frame 4, a lifting mechanism 8 and a hydraulic impact hammer 9, the protection frame 4 is connected to the operation platform 1 through a steel cable 3, and an ultra-short baseline transponder 6 for positioning the protection frame 4 is disposed at the top of the protection frame 4.
The lifting mechanism 8 comprises a connecting frame 11, a lifting cylinder 13, a sliding rail 17 and a connecting slide block, wherein the sliding rail 17 is arranged on the protective frame 4 through the connecting frame 11, the connecting slide block is connected with the sliding rail 17 in a sliding manner, the bottom of the lifting cylinder 13 is fixedly connected with the connecting frame 11 through an end flange, a telescopic rod of the lifting cylinder 13 is connected with the hydraulic impact hammer 9 through a connecting plate 14, as shown in fig. 2, wherein the connecting slide block comprises an upper slide block 12 and a lower slide block 15, the hydraulic impact hammer 9 is fixedly connected with the upper slide block 12 and the lower slide block 15, the connecting plate 14 is arranged between the upper slide block 12 and the lower slide block 15, the connecting plate 14 is fixedly connected with the hydraulic impact hammer 9, and when the telescopic rod of the lifting cylinder 13 is contracted, the connecting plate 14 can be driven to move up and down, so that the hydraulic impact hammer 9 is driven to move up and down relative to the connecting frame 11, and the aim of hammering and breaking is achieved.
The protection frame 4 is further provided with a sealing box 7, the sealing box 7 is subjected to anticorrosion treatment, the sealing box 7 is internally provided with a controller 101 and a sensor connected with the controller 101, the lifting cylinder 13 is connected with the controller 101, and the controller 101 is connected with the operation platform 1 through the armored pipe cable 2.
When the deep water hard rock crushing device is placed down in seawater, the winch on the operation platform 1 can be used for being matched with the steel cable 3 and the armored pipe cable 2 to be folded and unfolded, so that the armored pipe cable 2 is synchronously placed down when the protective frame 4 is placed down, and the use of the armored pipe cable 2 is prevented from being influenced by stress.
The protection frame 4 is also provided with an ultrasonic detector for detecting a ground ring in a rock breaking operation area, the ultrasonic detector is connected with the operation platform 1 through the armored pipe cable 2, and in the using process, the distance between the protection frame 4 and seabed hard rock can be obtained through the ultrasonic detector, the underwater topography of an operation water area is preliminarily detected, so that the soft landing of the protection frame 4 is controlled, and the influence of shaking on the precision of other parts on the protection frame 4 is prevented.
The sensor comprises an inclination angle sensor 106, a displacement sensor 105 and a pressure sensor 104, the inclination angle of the protective frame 4 after landing can be obtained through the inclination angle sensor 106, a pressure value is obtained through the pressure sensor 104, and the pressure sensor 105 is combined to be arranged on the supporting leg of each hydraulic oil cylinder 103 so as to measure the stretching amount and the external load of the supporting leg oil cylinder.
The seal box 7 is also provided with a hydraulic multi-way valve 102, the multi-way valve 102 is used for controlling the lifting cylinder 13 and the hydraulic oil cylinder 103, the total flow input and output port of the multi-way valve 102 is connected with oil inlet and return pipelines of each oil cylinder in the armored cable, each valve corresponds to one oil cylinder, and the multi-way valve 102 receives an instruction of the controller 101 to perform reversing action and controls the telescopic motion of the oil cylinders.
The armored pipe cable 2 comprises an armor layer 18, a hydraulic oil pipe 19 connected with a lifting cylinder 13, an auxiliary oil pipe 20 and a cable 21, wherein the hydraulic oil pipe 19, the auxiliary oil pipe 20 and the cable 21 are embedded in the armor layer 18, and a controller 101 is connected with the operation platform 1 through the cable 21.
When the device is used, the controller 101 receives data of the inclination angle sensor 106, the displacement sensor 105 and the pressure sensor 104, transmits data with the operation platform 1 through the cable 21 in the armored cable, receives an operation instruction of the operation platform 1, and performs leveling control, specific inclination angle state control, rock breaking, drill rod pulling control by lifting the hydraulic impact hammer 9 and the like according to the control instruction and in combination with the state of the deep water hard rock crushing device.
The cross section of the protection frame 4 is in a rectangular frame structure, and the lifting frame is detachably arranged on the inner side surface of the protection frame 4, so that the hydraulic impact hammer 9 is positioned in the middle of the protection frame 4, and the hydraulic impact hammer 9 and other parts are prevented from being damaged by impurities on the seabed.
It is worth to be noted that the protection frame 4 of the invention is formed by welding square tube section bars and is sealed. And four corners of the bottom of the protective frame 4 are respectively provided with a hydraulic oil cylinder 103, and the hydraulic oil cylinders 103 are connected with the operation platform 1 through the armored pipe cable 2. Through the design of hydraulic cylinder 103 to realize the soft landing of fender bracket 4 in the seabed to when hydraulic impact hammer 9 assaults, can be through the flexible of hydraulic cylinder 103, in order to realize the replenishment to drilling displacement, when making its broken hard rock, the operation is more stable.
Preferably, the bottom of the protection frame 4 is provided with a flange structure, the hydraulic oil cylinder 103 is arranged on the protection frame 4 through the flange structure, and the hydraulic oil cylinder 103 is internally provided with a pressure sensor 104 and a displacement sensor 105. The real-time monitoring of the expansion and contraction amount and the external load of the hydraulic oil cylinder 103 can be realized through the pressure sensor 104 and the displacement sensor 105.
As shown in fig. 5, the method of the present invention for using the deep water hard rock breaking device as above comprises the following steps:
step A1, the operation platform 1 moves to a designated position, the steel cable 3 and the armored pipe cable 2 are controlled to extend, the protective frame 4 is lowered to the designated position, and in the lowering process, the lowering position and the terrain are obtained through the sensor and the ultra-short baseline transponder 6;
step A2, acquiring the distance between the protective frame 4 and the seabed through an ultrasonic detector, and controlling the hydraulic oil cylinder 103 at the bottom of the protective frame 4 to stretch and contract to enable the protective frame 4 to land;
step A3, acquiring inclination angle, pressure and displacement data of the protection frame 4 through a sensor, and adjusting the angle of the hydraulic impact hammer 9 by controlling the extension and contraction of a hydraulic oil cylinder 103 at the bottom of the protection frame 4;
and step A4, driving the hydraulic impact hammer 9 to hammer the hard rock until the design depth.
Referring to fig. 4, in the control system of the deep water hard rock crushing device, a controller 101 receives data from a pressure sensor 104, a displacement sensor 105, an inclination angle sensor 106 and an ultrasonic sensor 107, and receives a control instruction with an industrial control computer 100 of a working platform 1 through a CAN bus, so as to control a lifting cylinder 13 and a hydraulic cylinder 103 of the deep water hard rock crushing device, the work of a hydraulic impact hammer 9 is controlled through the industrial control computer 100 on the working platform 1, and the system has two control modes of manual operation and automatic operation, wherein the automatic operation is the control of the system according to state information and combined with a built-in program, and the manual operation is directly controlled through a manual button or a handle, so that the deep water hard rock crushing device is more flexible and convenient to operate and use.
The working principle of the deep water hard rock crushing device provided by the invention comprises the following parts:
Further, a controller 101 in the deep water hard rock crushing device performs leveling or specific attitude control according to the instruction of an industrial personal computer 100 of the operation platform 1 and the data of the inclination angle, the pressure and the displacement sensor 105 of the protective frame 4, and a steel cable needs to be continuously stressed in the adjusting process, so that the deep water hard rock crushing device is prevented from being tipped over.
After the pose of the auxiliary device is determined, the controller 101 receives an instruction of an industrial personal computer 100 of the operation platform 1, controls the lifting cylinder 13 to retract inwards, loosens the connecting plate 14 of the hydraulic impact hammer 9, and enables the hydraulic impact hammer 9 to move downwards along the sliding rail 17 of the lifting mechanism 8 until the drill rod of the hydraulic impact hammer is jacked to the rock surface to be broken.
Then, the hydraulic impact hammer 9 is operated on the operation platform 1 to start to break rock, in the operation process, the rock breaking depth of the hydraulic impact hammer 9 is calculated according to the displacement sensor 105, after the hydraulic impact hammer 9 stops working after reaching a set position, the lifting oil cylinder extends outwards, the hydraulic impact hammer 9 is connected with the lifting slide block 14 to lift the hydraulic impact hammer 9 to pull out drill rods, and after the drill rods are pulled out, the hydraulic support mechanism recovers to the original state.
And further, according to the setting of an engineering task, the auxiliary device is moved to the next rock breaking position to carry out the rock breaking circular work.
According to the deepwater hard rock crushing device and the using method thereof, the operation platform 1 is connected with the rock crushing device in a flexible connection mode, the operation depth of the rock crushing device is adjusted by retracting and releasing an armored steel cable, the rock crushing operation in water areas with different depths can be met, the rock crushing device can adjust the rock crushing operation angle through the hydraulic oil cylinder 103 according to the gradient angle of an operation area, the rock crushing operation under different gradients is met, and the crushing auxiliary device takes the hydraulic impact hammer 9 as the operation device, so that the requirement for crushing high-hardness rocks can be met, and the environmental requirement is met.
Finally, the method of the present application is only a preferred embodiment and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A deepwater hard rock crushing device is connected with an operation platform through an armored pipe cable and is characterized by comprising a protective frame, a lifting mechanism and a hydraulic impact hammer, wherein the protective frame is connected with the operation platform through a steel cable, an ultra-short baseline transponder is arranged at the top of the protective frame, the lifting mechanism comprises a connecting frame, a lifting cylinder, a sliding rail and a connecting slide block, the sliding rail is arranged on the protective frame through the connecting frame, the connecting slide block is connected with the sliding rail in a sliding mode, the bottom of the lifting cylinder is fixedly connected with the connecting frame, a telescopic rod of the lifting cylinder is connected with the hydraulic impact hammer through a connecting plate, and the connecting slide block is fixedly connected with the hydraulic impact hammer; the protection frame is further provided with a sealing box, a controller and a sensor connected with the controller are arranged in the sealing box, the lifting cylinder is connected with the controller, and the controller is connected with the operation platform through the armored pipe cable.
2. The deep water hard rock breaking device according to claim 1, wherein the fender bracket is further provided with an ultrasonic detector for detecting a ground ring of a rock breaking operation area, and the ultrasonic detector is connected with the operation platform through the armored pipe cable.
3. The deep water hard rock breaking device of claim 1, wherein the sensors include a tilt sensor, a displacement sensor and a pressure sensor.
4. The deep water hard rock crushing device according to claim 3, wherein the armored pipe cable comprises an armored layer, a hydraulic oil pipe connected with the lifting cylinder, an auxiliary oil pipe and a cable, the hydraulic oil pipe, the auxiliary oil pipe and the cable are embedded in the armored layer, and the controller is connected with the operation platform through the cable.
5. The deep water hard rock crushing device of claim 1, wherein the protective frame is of a rectangular frame-shaped structure in cross section, the lifting frame is detachably mounted on the inner side face of the protective frame, hydraulic oil cylinders are mounted at four corners of the bottom of the protective frame respectively, and the hydraulic oil cylinders are connected with the operation platform through the armored pipe cable.
6. The deep water hard rock crushing device as claimed in claim 5, wherein a flange structure is arranged at the bottom of the protection frame, the hydraulic oil cylinder is arranged on the protection frame through the flange structure, and a pressure sensor and a displacement sensor are arranged in the hydraulic oil cylinder.
7. A method of using the deep water hard rock breaking device of claim 1, comprising the steps of:
step A1, moving the working platform to a specified position, controlling a steel cable and an armored pipe cable to stretch, lowering the protective frame to the specified position, and acquiring the lowering position and the terrain through a sensor and an ultra-short baseline transponder in the lowering process;
a2, acquiring the distance between the fender bracket and the seabed through an ultrasonic detector, and controlling the extension of a hydraulic oil cylinder at the bottom of the fender bracket to enable the fender bracket to land;
step A3, acquiring inclination angle, pressure and displacement data of a protection frame through a sensor, and adjusting the angle of a hydraulic impact hammer by controlling the extension and contraction of a hydraulic oil cylinder at the bottom of the protection frame;
and step A4, driving the hydraulic impact hammer to hammer the hard rock until the design depth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269859.2A CN113153153A (en) | 2021-03-12 | 2021-03-12 | Deepwater hard rock crushing device and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269859.2A CN113153153A (en) | 2021-03-12 | 2021-03-12 | Deepwater hard rock crushing device and using method thereof |
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| CN113153153A true CN113153153A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110269859.2A Pending CN113153153A (en) | 2021-03-12 | 2021-03-12 | Deepwater hard rock crushing device and using method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115288221A (en) * | 2022-08-19 | 2022-11-04 | 中交广州航道局有限公司 | Accurate positioning system of hydraulic impact hammer |
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| JP2001200540A (en) * | 2000-01-19 | 2001-07-27 | Suichu Kaihatsu Kk | Underwater base rock crushing machine |
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| WO2012123431A1 (en) * | 2011-03-11 | 2012-09-20 | Mclaughlin & Harvey Limited | A system and method for the installation of underwater foundations |
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| CN106441995A (en) * | 2016-10-28 | 2017-02-22 | 中国科学院烟台海岸带研究所 | Underwater deep sediment cylindrical collection device |
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| CN111733912A (en) * | 2020-07-07 | 2020-10-02 | 天津市精研工程机械传动有限公司 | Underwater trencher with multiple stranding cages and step structure arrangement |
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2021
- 2021-03-12 CN CN202110269859.2A patent/CN113153153A/en active Pending
Patent Citations (7)
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| JP2001200540A (en) * | 2000-01-19 | 2001-07-27 | Suichu Kaihatsu Kk | Underwater base rock crushing machine |
| KR20100129434A (en) * | 2009-06-01 | 2010-12-09 | 전남대학교산학협력단 | A deposit dredging machine using crane |
| WO2012123431A1 (en) * | 2011-03-11 | 2012-09-20 | Mclaughlin & Harvey Limited | A system and method for the installation of underwater foundations |
| US20190186225A1 (en) * | 2016-04-28 | 2019-06-20 | Furukawa Co., Ltd. | Undersea Mining Base, Mining Base Monitoring Device, and Chimney Avoidance Method For Seabed Deposit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024037120A1 (en) * | 2022-08-19 | 2024-02-22 | 中交广州航道局有限公司 | Precise positioning system for hydraulic impact hammer |
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