CN210797563U - Offshore engineering underwater measurement leveling control system - Google Patents
Offshore engineering underwater measurement leveling control system Download PDFInfo
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- CN210797563U CN210797563U CN201920911732.4U CN201920911732U CN210797563U CN 210797563 U CN210797563 U CN 210797563U CN 201920911732 U CN201920911732 U CN 201920911732U CN 210797563 U CN210797563 U CN 210797563U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The utility model discloses an offshore engineering underwater measurement leveling control system, which comprises a leveling machine frame, a supporting leg and a printer head fixed on the leveling machine frame, an underwater repeater and an overwater PLC controller, wherein the supporting leg is provided with a hydraulic lifting device, the leveling machine frame is provided with a pressure sensor, a GPS receiver and an attitude instrument, the upper end of the supporting leg is provided with a stroke sensor, the leveling machine frame is provided with a first driving part for driving the printer head to reciprocate along the Y-axis direction of the leveling machine frame, the printer head is provided with an altimeter and a second driving part for driving the printer head to reciprocate along the X-axis direction of the leveling machine frame, the overwater PLC controller is respectively in communication connection with the pressure sensor, the GPS receiver, the attitude instrument, the altimeter, the stroke sensor, the first driving part, the second driving part and the hydraulic controller, and the hydraulic lifting device on the supporting leg is connected with the, can implement underwater continuous automatic leveling, greatly reduce diving work and improve working efficiency.
Description
Technical Field
The utility model relates to an underwater topography measures technical field, in particular to offshore engineering underwater surveying flattening control system.
Background
In the underwater topography measuring technology, a plurality of immersed tube method tunnels under current construction all use traditional underwater leveling systems in immersed tube control process, and enter underwater by a large number of divers, and underwater leveling is carried out by laying leveling guide rails and filling broken stones manually. Though once the input cost is low, intensity of labour is big, the safe risk is big, the efficiency of construction is low though artifical flattening under water, can't ensure construction safety under water. Present bed frame mounting platform needs artifical adjustment, because artifical underwater operation receives the restriction of depth of water pressure, and the manual work difficulty, the effective activity time of dive flattening is short, and the operating efficiency is low, and intensity of labour is big, can not be effective accurate measure the location, wastes time and energy.
Therefore, at present, the problem of underwater leveling by manually laying a leveling guide rail and manually filling broken stones is solved by an underwater automatic leveling equipment technology, and the underwater automatic leveling equipment is particularly applied to the field of tunnel engineering, gravity wharf engineering and other ocean engineering requiring basic processing.
Chinese utility model patent CN201867196U, announced a survey positioning system for underwater leveling machine in 2011, 06, 15, the system includes a survey positioning system for leveling ship, a survey positioning system for leveling machine and a microprocessor unit, and accurately determines the plane position, elevation, horizontal attitude of underwater leveling machine during working and the actual elevation of bed surface during acceptance through equipment such as GPS, tilt sensor, position sensor, depth finder, etc.; meanwhile, the position and the posture of the leveling ship are positioned, and the functions of design and management of an operation zone, acquisition of equipment data, real-time calculation, real-time display, limit-difference out-of-limit early warning and alarming, data storage, data playback and the like are performed through the micro-processing unit.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an offshore engineering underwater measurement flattening control system, for construction under water provides the safety guarantee, effective control is simultaneously the accurate displacement of flattening position, flattening height and whole device under water, realizes that the digit is visual, for construction under water provides technical guarantee, realizes simultaneously that the diver is unmanned or the diver that seldom gets into under water, from the source greatly reduced diver's safe risk.
In order to solve the technical problem, the utility model discloses a technical scheme does:
an offshore engineering underwater measurement leveling control system comprises a leveling machine frame, a plurality of supporting legs fixed on the leveling machine frame, a printer head, an underwater repeater and a water PLC controller which are installed on the leveling machine frame, wherein each supporting leg is provided with a hydraulic lifting device, the leveling machine frame is provided with a pressure sensor, a GPS receiver and an attitude instrument, the upper end of each supporting leg is provided with a stroke sensor, the leveling machine frame is provided with a guide rail and a first driving part along the Y-axis direction, the first driving part drives the printer head to move on the guide rail in a reciprocating manner, the printer head is provided with an altimeter and a second driving part, the second driving part drives the printer head to move in a reciprocating manner along the X-axis direction of the leveling machine frame, and the water PLC controller is respectively in communication connection with the pressure sensor, the GPS receiver, the attitude instrument, the altimeter and the stroke sensor through the underwater repeater, the water PLC is in communication connection with the hydraulic controller, the hydraulic controller is connected with each hydraulic lifting device on the supporting leg, and the water PLC is in communication connection with the first driving part and the second driving part respectively.
Preferably, the leveling machine frame comprises a square base frame formed by fixedly connecting two first longitudinal beams which are parallel to each other and two first cross beams which are parallel to each other, a guide rail beam on the upper surfaces of the two longitudinal beams, a supporting platform which is fixed at the intersection of the longitudinal beams and the cross beams and extends upwards, and a measuring rod which is fixed on the supporting platform and extends upwards out of the water surface, the top surface of the measuring rod is fixed by the GPS receiver, and the pressure sensor is fixed on the top surface of the supporting platform.
Preferably, the supporting leg comprises a supporting palm and a hydraulic jack, the hydraulic lifting device is the hydraulic jack, the hydraulic jack is connected with the supporting palm through a universal joint, and the stroke sensor is fixed on the top surface of the hydraulic jack.
Preferably, the printer head is including removing the crane span structure, walking dolly and walking flattening fill, remove the crane span structure and include the square crane span structure that two second crossbeams that are parallel to each other and two second longerons fixed connection that are parallel to each other formed, the second longeron sets up on the guide rail roof beam, remove the crane span structure and remove along guide rail roof beam direction through first drive division, the walking dolly is established on the second crossbeam, the walking dolly passes through the second drive division and removes along second crossbeam direction, and walking flattening fill one end is fixed in the bottom surface of walking dolly, and the other end passes the clearance downwardly extending of two second crossbeams.
Preferably, the printer head further comprises a water surface feeding hopper, a through hole is formed in the travelling trolley in the vertical direction, a sleeve is connected to a hole in the top of the travelling leveling hopper and penetrates through the moving space to be matched with the through hole, the extending end of the sleeve on the through hole is connected with the water surface feeding hopper through a feeding hose, and the water surface feeding hopper is arranged on the water surface auxiliary ship or floats on the water surface through a floating body of the water surface feeding hopper.
Preferably, the sleeve on the walking leveling bucket is welded in a through hole in the walking trolley to form a whole, the height meter is arranged on the walking leveling bucket and is in communication connection with the overwater PLC through an underwater repeater.
Preferably, the moving wheels arranged below the moving bridge frame are synchronously driven through a gear transmission mechanism, a plurality of walking wheels are arranged at the bottom of the walking trolley, a track matched with the walking wheels is arranged on the moving bridge frame, and the walking trolley drives the walking wheels to synchronously move on the track through a chain belt transmission mechanism.
Preferably, the upper surfaces of the two ends of the guide rail beam are provided with first limiting devices, the first limiting devices are provided with first limiting sensors, the intersection of the upper surface of the second longitudinal beam and the second cross beam is provided with second limiting devices, the second limiting devices are provided with second limiting sensors, and the first limiting sensors and the second limiting sensors are in communication connection with the overwater PLC through underwater repeaters.
The utility model discloses offshore engineering underwater surveying flattening control system adopts the evener frame, fixes a plurality of supporting legs on the evener frame, install the printer head on the evener frame, repeater and PLC controller on water under water, the state information of a plurality of sensor transmission evener frames on the evener frame is through the PLC controller on water under water for the repeater, the PLC controller on water adjusts the supporting leg through data analysis output control volume after that, so that the evener frame is in the leveling state, then come flattening construction material with the X axle and the Y axle direction of evener frame through the printer head on the evener frame, thereby realize that the all-round flattening under water is printed. The utility model discloses offshore engineering underwater surveying flattening control system can implement automatic flattening in succession under water fast, and the dive work that has significantly reduced has improved work efficiency, has increased the safety guarantee.
Drawings
FIG. 1 is a block diagram of the working principle of the underwater leveling control system for offshore engineering of the present invention;
FIG. 2 is a schematic structural diagram of the underwater leveling control system for offshore engineering according to the present invention;
in the figure, 1-a flattening machine frame, 11-a pressure sensor, 12-a GPS receiver, 13-an attitude instrument, 14-a square base frame, 141-a first longitudinal beam, 142-a first cross beam, 15-a guide rail beam, 16-a supporting platform, 17-a measuring rod, 2-a supporting leg, 21-a stroke sensor, 22-a supporting palm, 23-a hydraulic jack, 24-a universal joint, 3-a printer head, 31-a movable bridge frame, 311-a second longitudinal beam, 3111-a movable wheel, 312-a second cross beam, 32-a traveling trolley, 321-a traveling wheel, 33-a traveling flattening bucket, 34-a water surface bucket, 35-a feeding hose, 36-an altimeter, 37-a first driving part, 38-a second driving part, 4-an underwater repeater, a feeding device, 5-an overwater PLC controller, 6-a hydraulic controller, 7-a first limiter, 71-a first limiter sensor, 8-a second limiter, 81-a first limiter sensor and 9-a PC.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in figure 1 and figure 2, an offshore engineering underwater measurement leveling control system comprises a leveling machine frame 1, a plurality of supporting legs 22 on the leveling machine frame 1, a printer head 3 installed on the leveling machine frame 1, an underwater repeater 4 and a water PLC (programmable logic controller) 5, each supporting leg 2 is provided with a hydraulic lifting device, the leveling machine frame 1 is provided with a pressure sensor 11, a GPS (global positioning system) receiver 12 and an attitude instrument 13, the upper end of the supporting leg 2 is provided with a stroke sensor 21, the leveling machine frame 1 is provided with a first driving part 37, the first driving part 37 drives the printer head 3 to reciprocate along the Y-axis direction of the leveling machine frame, the printer 2 is provided with a height meter and a second driving part 38, the second driving part 38 drives the printer head 3 to reciprocate along the X-axis direction of the leveling machine frame, the water PLC 5 respectively drives the pressure sensor 11, the underwater repeater 4 and the hydraulic lifting device to move along the Y-axis direction of the, The GPS receiver 12, the attitude indicator 13, the altimeter and the stroke sensor 21 are in communication connection, the water PLC 5 is in communication connection with a hydraulic controller, the hydraulic controller 6 is connected with a hydraulic lifting device on each supporting leg 2, and the water PLC 5 is in communication connection with the first driving part 37 and the second driving part 38 respectively.
The flattening machine frame 1 comprises a square base frame 14 formed by fixedly connecting two first longitudinal beams 141 parallel to each other and two first cross beams 142 parallel to each other, a guide rail beam 15 on the upper surfaces of the two longitudinal beams, a supporting table 16 fixed at the intersection of the longitudinal beams and the cross beams and extending upwards, and a measuring rod 17 fixed on the supporting table 16 and extending upwards out of the water surface, wherein the top surface of the measuring rod 17 is fixed by a GPS receiver 12, and the pressure sensor 11 is fixed on the top surface of the supporting table.
The supporting leg 2 comprises a supporting palm 22 and a hydraulic jack 23, the hydraulic lifting device is the hydraulic jack 23, the hydraulic jack 23 is connected with the supporting palm 22 through a universal joint 24, and the stroke sensor 21 is fixed on the top surface of the hydraulic jack 23.
The printer head 3 comprises a movable bridge frame 31, a traveling trolley 32 and a traveling leveling bucket 33, wherein the movable bridge frame 31 comprises a square bridge frame formed by fixedly connecting two second longitudinal beams 311 which are parallel to each other and two second cross beams 312 which are parallel to each other, the second longitudinal beams 311 are arranged on the guide rail beam 15, the movable bridge frame 31 moves along the direction of the guide rail beam 15 through a first driving part 37, the traveling trolley 32 is erected on the second cross beams 312, the traveling trolley 32 moves along the direction of the second cross beams 312 through a second driving part 38, one end of the traveling leveling bucket 33 is fixed on the bottom surface of the traveling trolley 32, and the other end of the traveling leveling bucket 33 penetrates through a gap between the two second cross beams 312 and extends downwards.
As shown in fig. 2, four pressure sensors 11 corresponding to four supporting platforms 16 on the frame 1 of the leveler feed back the water depth and the inclination, a GPS receiver 12 on a measuring rod 17 displays the position and the elevation of the entire base frame in real time, four stroke sensors 21 on four supporting legs 2 feed back the stroke of a hydraulic jack 23, and an attitude indicator 13 on the frame of the leveler feeds back the plane state of the frame of the leveler.
Wherein, a first guide rail (not shown) is arranged on the guide rail beam 15, and a moving wheel 3111 moving on the first guide rail is arranged on the second longitudinal beam 311; be equipped with second guide rail (not shown in the figure) on the second crossbeam 312, the walking dolly 32 is equipped with the walking wheel 321 of motion on the second guide rail, remove crane span structure 31 and remove (promptly) along first guide rail direction through first drive division 37, the Y axle direction of flattening machine frame, the walking dolly 32 erects on second crossbeam 312, the walking dolly 32 passes through second drive division 38 and removes (promptly) along second guide rail direction (the X axle direction of flattening machine frame 1), and the bottom surface at walking dolly 32 is fixed to walking flattening fill 33 one end, and the other end passes two second crossbeam 312 downwardly extending. The moving wheels arranged below the moving bridge frame 31 are synchronously driven through a gear transmission mechanism, and the walking trolley 32 drives the walking wheels to synchronously move on the track through a chain belt transmission mechanism. The second driving part 38 is a chain belt transmission mechanism, the chain belt transmission mechanism comprises a traveling motor, a traveling speed reducer, a large chain wheel and a small chain wheel, the traveling motor and the traveling speed reducer are fixed on the body of the traveling trolley 32, an input shaft of the traveling speed reducer is connected with an output shaft of the traveling motor, the output shaft is coaxially connected with the small chain wheel, the large chain wheel is coaxially connected with a group of driving traveling wheels, and the large chain wheel is connected with the small chain wheel through a chain; the chain belt transmission mechanism further comprises a transmission chain on the outer side of the walking wheel, and one driving walking wheel of the walking trolley 32 is connected with the adjacent driven walking wheel through the transmission chain on the outer side of the walking wheel.
The requirement of this application can be satisfied as long as the gear drive that can realize synchronous motion all can on the market, and the drive mode that adopts when removing crane span structure 31 and moving on the bed frame in addition can also adopt chain belt drive to drive except gear drive, removes crane span structure 31 and drives sprocket chain drive by motor drive speed reducer, relies on the chain to make and remove crane span structure 31 and advance and retreat to the traction drive removal wheel of bed frame. In other ways on the market, the walking trolley 32 can synchronously move on the bridge beam in a stable manner, so that the requirements of the application can be met, and the details are not repeated.
The printer head 3 further includes a water surface supply hopper 34, a through hole is formed in the traveling trolley 32 in the vertical direction, a sleeve is connected to a hole in the top of the traveling leveling hopper 33, the sleeve penetrates through the moving space to be matched with the through hole, the extending end of the sleeve on the through hole is connected with the water surface supply hopper through a supply hose 35, and the water surface supply hopper 34 is arranged on the water surface auxiliary ship or floats on the water surface through a floating body. The supply hose 35 effectively buffers the vibration between the printer and the water supply hopper 34, and the system is safer and more stable.
The sleeve welding on the walking flattening bucket 33 forms a whole in the perforating hole in the walking dolly 32, walking flattening bucket 33 is inside hollow trapezium structure and uncovered downwards, the altimeter is established on walking flattening bucket 33, altimeter and PLC controller communication connection on water. The downward trapezoidal structure of walking flattening fill 33 uncovered guarantees that the material falls smoothly and can be fine fill up the inside of unevenness in the bed frame to accomplish construction material's flattening and print in effective range.
The upper surfaces of two ends of the guide rail beam 15 are provided with first limiting devices 7, the first limiting sensors 71 are arranged on the first limiting devices 7, the second limiting devices 8 are arranged at the intersection positions of the upper surfaces of the second longitudinal beams 311 and the second cross beams 312, the second limiting sensors 81 are arranged on the second limiting devices 8, and the first limiting sensors 71 and the second limiting sensors 81 are in communication connection with the water PLC controller 5 through the underwater repeater 4. The arrangement of the first limiting stopper 7 and the second limiting stopper 8 ensures that when accidents or overload occur, the first limiting stopper 7 can well limit the movement of the movable bridge frame 31 only in the leveling machine frame 1, and the second limiting stopper 8 can well limit the movement of the walking trolley 32 only in the movable bridge frame 31, so that the safety and the stability are improved.
The hydraulic station provides a power source for a hydraulic control system, the hydraulic station is connected with a hydraulic controller 6 through a high-pressure oil pipe with a quick connector, and the PC is in communication connection with the overwater PLC 5. The signal that 4 repeaters sent each sensor under water transmits to PLC controller 5 on water together, thereby PLC controller 5 output action instruction on water gives hydraulic controller 6 the height of adjusting the supporting leg, thereby PLC controller 5 output action instruction on water gives first drive division 37 and second drive division 38, thereby it realizes the flattening to print with walking dolly 32 all around movement under water to drive the removal crane span structure 31 of printer head 3 through first drive division 37 and second drive division 38.
The working principle is as follows: firstly, transmitting sensor data on a leveling machine frame 1 to an overwater PLC (programmable logic controller) 5 through an underwater repeater 4, inputting boundary conditions of various construction working conditions to the overwater PLC 5 through a PC (personal computer) 9, sending an instruction to a hydraulic controller 6 by the overwater PLC 5 through data analysis, and controlling supporting legs 2 on two sides of the leveling machine frame 1 by the hydraulic controller 6 to adjust the leveling machine frame 1 to achieve a leveling state; then, when the leveling machine frame 1 is in a leveling state, transmitting data such as elevation, leveling position, leveling thickness and the like to the overwater PLC controller 5, obtaining the height to be leveled and the expected consumption of construction materials through data analysis and calculation, and enabling the construction materials to enter a square base frame of the leveling machine frame 1 from a water surface feeding hopper 34, a feeding hose and a walking leveling hopper 33; finally, the above-water PLC 5 sends a leveling printing command, and the first driving unit 37 and the second driving unit 38 drive the mobile bridge 31 and the traveling carriage 32 to travel, so that the leveling bucket 33 moves underwater in all directions to achieve underwater leveling printing.
The utility model discloses offshore engineering underwater surveying flattening control system adopts the evener frame, fixes a plurality of supporting legs on the evener frame, install the printer head on the evener frame, repeater and PLC controller on water under water, the state information of a plurality of sensor transmission evener frames on the evener frame is through the PLC controller on water under water for the repeater, the PLC controller on water adjusts the supporting leg through data analysis output control volume after that, so that the evener frame is in the leveling state, then come flattening construction material with the X axle and the Y axle direction of evener frame through the printer head on the evener frame, thereby realize that the all-round flattening under water is printed. The utility model discloses offshore engineering underwater surveying flattening control system can implement automatic flattening in succession under water fast, and the dive work that has significantly reduced has improved work efficiency, has increased the safety guarantee.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.
Claims (8)
1. An offshore engineering underwater survey flattening control system characterized in that: the automatic leveling device comprises a leveling machine frame, a plurality of supporting legs fixed on the leveling machine frame, a printer head, an underwater repeater and a water PLC controller, wherein the printer head, the underwater repeater and the water PLC controller are installed on the leveling machine frame;
the water PLC is in communication connection with the hydraulic controller, the hydraulic controller is connected with each hydraulic lifting device on the supporting leg, and the water PLC is in communication connection with the first driving part and the second driving part respectively.
2. The offshore construction underwater survey screed control system of claim 1, wherein: the leveling machine frame comprises a square base frame, guide rail beams, supporting platforms and measuring rods, wherein the square base frame is formed by fixedly connecting two first longitudinal beams which are parallel to each other and two first cross beams which are parallel to each other, the guide rail beams are arranged on the upper surfaces of the two longitudinal beams, the supporting platforms are fixed at the intersection positions of the longitudinal beams and the cross beams and extend upwards, the measuring rods are fixed on the supporting platforms and extend upwards out of the water surface, the top surfaces of the measuring rods are fixed by the GPS receivers, and the pressure sensors are fixed.
3. The offshore construction underwater survey screed control system of claim 1, wherein: the supporting leg comprises a supporting palm and a hydraulic jack, the hydraulic lifting device is the hydraulic jack, the hydraulic jack is connected with the supporting palm through a universal joint, and the stroke sensor is fixed on the top surface of the hydraulic jack.
4. The offshore construction subsea survey screed control system of claim 2, wherein: the printer head is including removing the crane span structure, walking dolly and walking flattening fill, remove the crane span structure and include the square crane span structure that two second crossbeams that are parallel to each other and two second longerons fixed connection that are parallel to each other formed, the second longeron sets up on the guide rail roof beam and along through first drive division guide rail roof beam direction removes, the walking dolly is established on the second crossbeam, the walking dolly passes through second drive division and removes along second crossbeam direction, and the bottom surface at the walking dolly is fixed to walking flattening fill one end, and the other end passes the clearance downwardly extending of two second crossbeams.
5. The offshore engineering subsea survey screed control system of claim 4, wherein: the printer head further comprises a water surface feeding hopper, a through hole is formed in the travelling trolley in the vertical direction, a sleeve is connected to the hole in the top of the travelling leveling hopper and penetrates through a moving space to be matched with the through hole, the extending end of the sleeve on the through hole is connected with the water surface feeding hopper through a feeding hose, and the water surface feeding hopper is arranged on a water surface auxiliary ship or floats on the water surface through a self floating body.
6. The offshore engineering subsea survey screed control system of claim 5, wherein: the sleeve on the walking leveling bucket is welded in a through hole in the walking trolley to form a whole, the height meter is arranged on the walking leveling bucket and is in communication connection with the overwater PLC through an underwater repeater.
7. The offshore engineering subsea survey screed control system of claim 4, wherein: the moving wheels arranged below the moving bridge frame are synchronously driven through a gear transmission mechanism, a plurality of walking wheels are arranged at the bottom of the walking trolley, a track matched with the walking wheels is arranged on the moving bridge frame, and the walking trolley drives the walking wheels through a chain belt transmission mechanism to synchronously move on the track.
8. The offshore engineering subsea survey screed control system of claim 4, wherein: the guide rail beam is characterized in that first limiting devices are arranged on the upper surfaces of two ends of the guide rail beam, first limiting sensors are arranged on the first limiting devices, second limiting devices are arranged at the intersection positions of the upper surfaces of the second longitudinal beams and the second cross beam, second limiting sensors are arranged on the second limiting devices, and the first limiting sensors and the second limiting sensors are in communication connection with the overwater PLC through underwater repeaters.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920911732.4U CN210797563U (en) | 2019-06-17 | 2019-06-17 | Offshore engineering underwater measurement leveling control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920911732.4U CN210797563U (en) | 2019-06-17 | 2019-06-17 | Offshore engineering underwater measurement leveling control system |
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| CN210797563U true CN210797563U (en) | 2020-06-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114718073A (en) * | 2022-06-09 | 2022-07-08 | 中国海洋大学 | Underwater riprap leveling device |
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2019
- 2019-06-17 CN CN201920911732.4U patent/CN210797563U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114718073A (en) * | 2022-06-09 | 2022-07-08 | 中国海洋大学 | Underwater riprap leveling device |
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Granted publication date: 20200619 Termination date: 20210617 |