EP2532790A1 - Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin - Google Patents

Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin Download PDF

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Publication number
EP2532790A1
EP2532790A1 EP11004784A EP11004784A EP2532790A1 EP 2532790 A1 EP2532790 A1 EP 2532790A1 EP 11004784 A EP11004784 A EP 11004784A EP 11004784 A EP11004784 A EP 11004784A EP 2532790 A1 EP2532790 A1 EP 2532790A1
Authority
EP
European Patent Office
Prior art keywords
foundation element
underwater foundation
underwater
adjusting
adjusting head
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.)
Granted
Application number
EP11004784A
Other languages
German (de)
English (en)
Other versions
EP2532790B1 (fr
Inventor
Simon Paulus
Christoph Schwanz
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.)
Bauer Spezialtiefbau GmbH
Original Assignee
Bauer Spezialtiefbau GmbH
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 Bauer Spezialtiefbau GmbH filed Critical Bauer Spezialtiefbau GmbH
Priority to EP11004784.2A priority Critical patent/EP2532790B1/fr
Priority to DK11004784.2T priority patent/DK2532790T3/da
Priority to PL11004784T priority patent/PL2532790T3/pl
Priority to CA2776569A priority patent/CA2776569C/fr
Priority to AU2012202883A priority patent/AU2012202883B2/en
Priority to KR1020120060240A priority patent/KR101458607B1/ko
Priority to US13/492,523 priority patent/US8801334B2/en
Priority to CN201210187720.4A priority patent/CN102817362B/zh
Publication of EP2532790A1 publication Critical patent/EP2532790A1/fr
Application granted granted Critical
Publication of EP2532790B1 publication Critical patent/EP2532790B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/04—Guide devices; Guide frames
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00—Foundations as substructures
    • E02D27/32—Foundations for special purposes
    • E02D27/42—Foundations for poles, masts or chimneys
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00—Foundations as substructures
    • E02D27/32—Foundations for special purposes
    • E02D27/52—Submerged foundations, i.e. submerged in open water
    • 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
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/08—Underwater guide bases, e.g. drilling templates; Levelling thereof

Definitions

  • the invention relates to a method for creating an underwater foundation element in a body of water, in which a working platform for guiding a drilling tool is lowered to the bottom of the river, with the drilling tool a borehole is introduced into the river bottom and arranged a pile-shaped underwater foundation element in the borehole and anchored in it.
  • the invention relates to an underwater working arrangement for anchoring a pile-shaped underwater foundation element in the river bottom, with a retractable platform and arranged on the working platform receiving device for the underwater foundation element.
  • foundation elements can be anchored in a body of water underwater in a reliable way.
  • Such foundation elements serve, for example, for anchoring for offshore wind turbines or for turbines of tidal power plants in the sea.
  • the invention has for its object to provide a method for creating an underwater foundation element, with which such a foundation element can be created with high position accuracy. It is another object of the invention to provide an underwater work arrangement and an adjustment for this purpose.
  • the object is achieved on the one hand by a method having the features of claim 1.
  • the object is achieved by another by an adjusting head for an underwater foundation element with the features of claim 5.
  • An underwater work arrangement with the features of claim 1 solves the problem with respect to the work arrangement.
  • the inventive method is characterized in that a measuring unit is attached to the pile-shaped underwater foundation element, by which the position data of the pile-shaped underwater foundation element are determined and that depending on the determined position data by means of at least one adjusting device on the working platform, the position of the underwater foundation element is set before anchoring.
  • a basic idea of the invention is to attach a measuring unit directly to the underwater foundation element with which the position of the foundation element is determined. So there is no indirect position determination on the position of the working platform but a direct and thus very accurate position determination of the foundation element. Depending on the determined position data, the position of the underwater foundation element is then adjusted before anchoring by means of at least one adjusting device, in particular different hydraulic cylinders, on the working platform. As soon as the measuring unit indicates the desired exact position of the underwater foundation element, the Foundation element fixed in this position relative to the work platform and then anchored in the aquatic environment, in particular by introducing a curable suspension, in particular of concrete.
  • the measuring unit in principle, it is conceivable to provide the measuring unit as a lost measuring unit fixed to the foundation element. According to the invention, it is particularly economical that the measuring unit is releasably attached to an upper portion of the underwater foundation element and, after adjustment, released and removed again from the underwater foundation element. In this way, the measuring unit can be used multiple times, so that very high-quality, high-precision measuring instruments can be used for the measuring unit.
  • actuating forces are generated, which are transmitted via an adjusting head and / or a receiving device of the working platform on the underwater foundation element.
  • the adjusting head can be fastened in particular detachably on the upper side of the pile-shaped foundation element.
  • the adjusting head in this case has corresponding coupling elements, in particular driver, over which the adjusting devices can transmit their actuating forces, in particular a rotation about the longitudinal axis, defined to the foundation element.
  • Lateral position changes are preferably transmitted to the foundation element via an approximately drum-shaped receiving device, in which the pile-shaped foundation element is received and guided.
  • the receiving device is movably mounted on the base frame of the working platform and adjustable via adjusting devices. In this way, even very small changes in position of the underwater foundation element can be carried out exactly.
  • the adjusting device is controlled by a control device, which together with the measuring unit on is arranged the adjusting head.
  • the measurement results of the measuring unit can be transferred directly to the adjusting device, so that a fast and reliable adjustment of the underwater foundation element can take place in the riverbed.
  • an adjusting head for an underwater foundation element having a base frame, a connecting device for releasably connecting the adjusting head to the underwater foundation element, at least one measuring unit arranged on the base frame for determining position data of the underwater foundation element and a connection device for connection and holding the adjusting head to be arranged on a connecting line.
  • the adjusting head can be fixedly attached to the foundation element.
  • a centering device is provided with which the adjusting head is brought into a defined position on the foundation element.
  • the connecting device can have, for example, hydraulic tensioning clamps.
  • the adjusting head is connected via a connecting line with a supply ship.
  • a connection device is formed on the upper side of the adjusting head, which serves for connecting and holding the adjusting head to the connecting line.
  • hydraulic fluid and data lines are provided.
  • a good adjustment of the foundation element is achieved according to the invention in that at least one coupling element is provided for establishing a connection of the adjusting head with a submarine foundation element receiving working platform. In this way, an adjustment of the foundation element via the Justierkopf done.
  • the foundation element is seated on the bottom of the borehole, so that actuating forces can be transmitted in a particularly effective manner via the adjusting head arranged on the upper side of the foundation element.
  • the adjusting device may have one or more hydraulic cylinders, the piston directly act on the adjusting head.
  • a rigid connection with the working platform and in particular the drum-shaped receiving device of the working platform can be produced via the adjusting head.
  • an adjustment of the receiving device and / or the work platform can be done in total, such as provided with hydraulic cylinders riot feet of the platform at the bottom of the river.
  • connection device is designed to transmit electrical energy, hydraulic energy, control signals and / or fluid for anchoring the underwater foundation element in the riverbed.
  • the adjustment head not only provides an element for mechanical alignment of the foundation member, but provides a variety of functions, including measuring and passing curable liquid, such as cement slurry, into the tubular foundation pile for anchoring after alignment.
  • connection means comprises a passage for curable liquid to an inner cavity of a tubular underwater foundation element.
  • the object is achieved by a corresponding work arrangement, which is characterized in that at the underwater foundation element for determining position data, a prescribed adjustment head is mounted and that at least one adjusting device is provided, with which a position of the underwater foundation element is adjustable in the receiving device depending on the determined position data.
  • a preferred embodiment according to the invention is that is provided as an adjusting device a twisting device for rotating the pile-shaped underwater foundation element about a central axis, a lifting device for adjusting the underwater foundation element along the center axis and / or a tilting device for adjusting the underwater foundation element transverse to the center axis ,
  • the underwater foundation element can be accurately aligned while it continues is surrounded by a drum-shaped receiving device on the work platform.
  • the twisting device comprises a clamp, which is rotatable about the drilling axis by means of horizontally oriented actuating cylinder. The rotation is preferably transmitted to the adjusting head and thus the foundation element via the drum-shaped receiving device.
  • the drum-shaped receiving device also serves to guide the drilling tool during insertion of the borehole.
  • the receiving device can be adjusted.
  • the elements forming the inside of the drum-shaped receptacle may be changed from the drilling tool guide position so that there is sufficient margin for adjusting and locating the underwater foundation member within the drum-shaped receptacle.
  • a control device is provided for controlling at least one adjusting device.
  • Such a control device on the underwater working arrangement or on the adjusting head allows a high-precision alignment of the foundation element.
  • an underwater foundation element 10 in a body of water 5 is according to Fig. 1 lowered from a supply ship 6 platform 30 as an underwater working arrangement 20 on the seabed 5.
  • the underwater working assembly 20 is aligned horizontally.
  • a borehole is introduced into the waterbed 5 via an unillustrated drilling tool.
  • the tubular underwater foundation element 10 is inserted into a drum-shaped receiving device 32 and deposited in the well at the bottom of the hole, as well as in Fig. 4 is shown.
  • the underwater foundation element 10 is connected via a supply line 70, which is coupled via a connecting device 50 and an adjusting head 40 with the top of the underwater foundation pile 10, with a supply ship 6 on the sea surface 2.
  • the supply line 70 which comprises both a steel cable for holding the adjusting head 40 and other supply lines, is actuated via a winch 8 on the supply ship 6.
  • Via a control device 7 on the supply ship 6, the adjusting head 40 is controlled via the supply line 70 and the underwater working arrangement 20 via a connection 72 from the sea surface 2.
  • FIG Fig. 2 An embodiment of a working platform 30 according to the invention of the underwater working arrangement 20 is shown in FIG Fig. 2 shown.
  • an approximately triangular base frame 31 of the platform 30 is formed on which, not shown, uprising elements, in particular adjustable hydraulic cylinders, are arranged for placement on the bottom of the water 5.
  • uprising elements in particular adjustable hydraulic cylinders
  • the corner regions of the base frame 31 are fixedly connected to a plate-shaped stage head 24.
  • annular retaining elements 32 are arranged for the drum-shaped receiving device, not shown here.
  • a first hydraulically operated collet 34 is provided, which serves for producing a firm connection with the receiving device 32 for the inserted underwater foundation element 10.
  • a second collet 36 is also formed on the work platform 30, wherein the second collet 36 via three horizontally disposed torsion cylinder 62 for rotating the hydraulically tensioned receiving device 32 with the underwater foundation element 10 is actuated.
  • the three rotating cylinders 62 can also be actuated to form an adjusting device 60 so that they not only cause a rotation about a center axis 11, but also a desired tilting with respect to the center axis 11. In this way, an exact alignment of the underwater foundation element used 10 in the borehole in the river bottom 5 possible.
  • self-hardening liquid can then be introduced into the borehole for the final anchoring.
  • the underwater working arrangement 20 can then be completely detached from the anchored underwater foundation element 10 and removed again.
  • an adjustment head 40 is provided according to the invention, which closer in connection with the FIGS. 3 to 5 is described.
  • a conical pile head 12 is arranged, which is connected via a base 14 fixed to the cylindrical portion of the foundation element 10.
  • a projecting, plate-shaped sword 16 with three center holes 18 is arranged.
  • an adjusting head 40 placed and anchored in a defined position via a connecting device 44 only schematically shown fixed to the pile head 12.
  • the connecting device 44 has for this purpose not shown hydraulic actuating cylinder, with which centering pins engage in the centering holes 18 on the sword 16 and so produce a solid positive connection.
  • the adjusting head 40 has a plate-shaped base frame 42, which rests on the top of the pile head 12. At a top of the Base frame 42, a measuring unit 46 and a control device 48 are arranged.
  • the measuring unit 46 is equipped with a plurality of position sensors, so that they can determine an exact position of the underwater foundation element 10 and in particular deviations from the vertical. Via fixed coupling elements 54, an additional stable connection with the underwater working arrangement 20 can be established via the adjusting head 40.
  • the at least one adjusting device 60 on the underwater working arrangement 20 can be actuated via the control device 48 which is connected to the controller 7 on the supply ship 6 via the supply line 70, so that the position of the underwater -Gründungsimplantations 10 is changed relative to the platform 30.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Foundations (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
EP11004784.2A 2011-06-10 2011-06-10 Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin Active EP2532790B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP11004784.2A EP2532790B1 (fr) 2011-06-10 2011-06-10 Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin
DK11004784.2T DK2532790T3 (da) 2011-06-10 2011-06-10 Fremgangsmåde til fremstilling af et undervandsfunderingselement, justeringshoved til et undervandsfunderingselement og undervandsarbejdsindretning
PL11004784T PL2532790T3 (pl) 2011-06-10 2011-06-10 Sposób wytwarzania podwodnego elementu fundamentowego, nastawcza głowica dla podwodnego elementu fundamentowego i podwodny układ roboczy
CA2776569A CA2776569C (fr) 2011-06-10 2012-05-09 Methode de production d'un element de fondation sous l'eau, tete de reglage pour element de fondation sous l'eau et mode de fonctionnement sous l'eau
AU2012202883A AU2012202883B2 (en) 2011-06-10 2012-05-17 Method for producing an underwater foundation element, adjustment head for an underwater foundation element and underwater working arrangement
KR1020120060240A KR101458607B1 (ko) 2011-06-10 2012-06-05 수중 기초 요소를 생성하는 방법, 수중 기초 요소용 조정 헤드 및 수중 작업 장치
US13/492,523 US8801334B2 (en) 2011-06-10 2012-06-08 Method for producing an underwater foundation element, adjustment head for an underwater foundation element and underwater working arrangement
CN201210187720.4A CN102817362B (zh) 2011-06-10 2012-06-08 用于产生水下地基元件的方法、用于水下地基元件的调整头和水下工作布置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11004784.2A EP2532790B1 (fr) 2011-06-10 2011-06-10 Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin

Publications (2)

Publication Number Publication Date
EP2532790A1 true EP2532790A1 (fr) 2012-12-12
EP2532790B1 EP2532790B1 (fr) 2013-08-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP11004784.2A Active EP2532790B1 (fr) 2011-06-10 2011-06-10 Procédé de fabrication d'un élément de fondation sous-marin, tête d'ajustement pour un élément de fondation sous-marin et agencement de travail sous-marin

Country Status (8)

Country Link
US (1) US8801334B2 (fr)
EP (1) EP2532790B1 (fr)
KR (1) KR101458607B1 (fr)
CN (1) CN102817362B (fr)
AU (1) AU2012202883B2 (fr)
CA (1) CA2776569C (fr)
DK (1) DK2532790T3 (fr)
PL (1) PL2532790T3 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2010375C2 (en) * 2013-02-28 2014-09-01 Ihc Sea Steel Ltd Pile driving guide.
EP2784439A1 (fr) * 2013-03-27 2014-10-01 Menck GmbH Ensemble de capteurs servant à détecter l'orientation d'un pilot
WO2014204308A1 (fr) 2013-06-18 2014-12-24 Ihc Holland Ie B.V. Machine d'enfoncement de pieu
CN106988354A (zh) * 2017-04-17 2017-07-28 宁波工程学院 一种水下基桩避障维护机器人
US10968591B2 (en) 2016-09-30 2021-04-06 Ihc Iqip Uk Ltd. Pile guide comprising a base frame and a guide member

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2006477C2 (en) * 2011-03-28 2012-10-01 Ihc Holland Ie Bv Measurement system for a pile.
KR101462566B1 (ko) * 2013-03-29 2014-11-19 한국건설기술연구원 석션파일의 지반 관입을 이용한 수중파일의 수평하중 재하장치, 및 이를 이용한 수중파일의 수평저항력 측정방법
NL2014689B1 (en) * 2015-04-22 2017-01-18 Ihc Iqip Uk Ltd A pile guide for guiding a pile during submerged pile driving and a method of installing a pile in the sea bottom.
EP3330441B1 (fr) * 2016-12-02 2019-03-20 BAUER Maschinen GmbH Dispositif de réduction d'eau d'aval et procédé de réduction
NL2018072B1 (nl) 2016-12-23 2018-07-02 Carpdredging Ip B V Een rechthoekig frame
CN109944548B (zh) * 2019-02-23 2024-03-05 中国石油大学(华东) 海底钻机钻井系统及方法
CN113047290A (zh) * 2021-04-23 2021-06-29 北京三一智造科技有限公司 一种桩机的对孔方法、装置、桩机及可读存储介质
CN113187438A (zh) * 2021-05-28 2021-07-30 中国石油大学(北京) 深水表层导管的安装装置及安装方法

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US5244312A (en) * 1991-12-29 1993-09-14 Conoco Inc. Pile supported drilling template
US5667341A (en) * 1993-01-05 1997-09-16 Kuehn; Hans Apparatus for signal and data transmission for controlling and monitoring underwater pile drivers, cut-off equipment and similar work units
GB2316486A (en) * 1996-08-22 1998-02-25 Menck Gmbh Determining the penetration depth of supporting elements in a water bed
WO2010015799A2 (fr) * 2008-08-06 2010-02-11 Aws Ocean Energy Ltd Système de pieux
GB2469190A (en) 2009-04-01 2010-10-06 Marine Current Turbines Ltd Underwater installation of columns or piles
EP2322724A1 (fr) 2009-11-17 2011-05-18 BAUER Maschinen GmbH Installation de forage d'eau souterraine et procédé d'entrée d'un élément de fondation cylindrique au fond de l'eau

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FR2605657A1 (fr) * 1986-10-22 1988-04-29 Soletanche Procede pour la realisation d'un pieu dans le sol, machine de forage et dispositif pour la mise en oeuvre de ce procede
US6354767B1 (en) * 1997-08-28 2002-03-12 Fast Frames U.K. Limited Pile guide for supporting a pile as it is driven into a substrate and the method of using the same
CN1131356C (zh) * 2001-03-22 2003-12-17 上海交通大学 海底打桩装置
CN1676758A (zh) * 2004-04-02 2005-10-05 上海市基础工程公司 用于海上桥梁施工的导管架及导管架法平台施工工艺
JP2006207183A (ja) * 2005-01-26 2006-08-10 Hitachi Plant Technologies Ltd 建設資材の設置位置決め支援システム及び支援方法
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US4102147A (en) * 1975-10-13 1978-07-25 Hollandsche Beton Groep Nv Submersible positioning and guiding apparatus for pile driving
US5244312A (en) * 1991-12-29 1993-09-14 Conoco Inc. Pile supported drilling template
US5667341A (en) * 1993-01-05 1997-09-16 Kuehn; Hans Apparatus for signal and data transmission for controlling and monitoring underwater pile drivers, cut-off equipment and similar work units
GB2316486A (en) * 1996-08-22 1998-02-25 Menck Gmbh Determining the penetration depth of supporting elements in a water bed
WO2010015799A2 (fr) * 2008-08-06 2010-02-11 Aws Ocean Energy Ltd Système de pieux
GB2469190A (en) 2009-04-01 2010-10-06 Marine Current Turbines Ltd Underwater installation of columns or piles
EP2322724A1 (fr) 2009-11-17 2011-05-18 BAUER Maschinen GmbH Installation de forage d'eau souterraine et procédé d'entrée d'un élément de fondation cylindrique au fond de l'eau

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2014222598B2 (en) * 2013-02-28 2017-07-27 Iqip Holding B.V. Pile driving guide
WO2014131886A1 (fr) * 2013-02-28 2014-09-04 Ihc Sea Steel Ltd. Guide d'entraînement de pieu
US10443203B2 (en) 2013-02-28 2019-10-15 Ihc Iqip Uk Ltd. Pile driving guide
NL2010375C2 (en) * 2013-02-28 2014-09-01 Ihc Sea Steel Ltd Pile driving guide.
CN105102723B (zh) * 2013-02-28 2018-01-12 Ihc Iqip 英国有限公司 打桩引导装置
CN105102723A (zh) * 2013-02-28 2015-11-25 Ihciqip英国有限公司 打桩引导装置
WO2014154436A1 (fr) * 2013-03-27 2014-10-02 Menck Gmbh Système de capteurs de détermination de l'orientation d'un pieu
EP2784439A1 (fr) * 2013-03-27 2014-10-01 Menck GmbH Ensemble de capteurs servant à détecter l'orientation d'un pilot
KR20160021150A (ko) * 2013-06-18 2016-02-24 아이에이취시 홀랜드 아이이 비.브이. 파일 박기 머신
WO2014204308A1 (fr) 2013-06-18 2014-12-24 Ihc Holland Ie B.V. Machine d'enfoncement de pieu
US10458091B2 (en) 2013-06-18 2019-10-29 Ihc Holland Ie B.V. Pile driving machine
US10968591B2 (en) 2016-09-30 2021-04-06 Ihc Iqip Uk Ltd. Pile guide comprising a base frame and a guide member
CN106988354A (zh) * 2017-04-17 2017-07-28 宁波工程学院 一种水下基桩避障维护机器人

Also Published As

Publication number Publication date
CN102817362B (zh) 2016-02-10
AU2012202883B2 (en) 2014-04-24
AU2012202883A1 (en) 2013-01-10
KR101458607B1 (ko) 2014-11-07
CN102817362A (zh) 2012-12-12
DK2532790T3 (da) 2013-09-02
US8801334B2 (en) 2014-08-12
CA2776569A1 (fr) 2012-12-10
KR20120137249A (ko) 2012-12-20
EP2532790B1 (fr) 2013-08-21
US20120315097A1 (en) 2012-12-13
PL2532790T3 (pl) 2014-01-31
CA2776569C (fr) 2014-07-29

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