EP4080012B1 - Machine de construction pour le génie civil spécial - Google Patents

Machine de construction pour le génie civil spécial Download PDF

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Publication number
EP4080012B1
EP4080012B1 EP21169978.0A EP21169978A EP4080012B1 EP 4080012 B1 EP4080012 B1 EP 4080012B1 EP 21169978 A EP21169978 A EP 21169978A EP 4080012 B1 EP4080012 B1 EP 4080012B1
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EP
European Patent Office
Prior art keywords
construction machine
machine according
carriage
auxiliary carriage
drive
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.)
Active
Application number
EP21169978.0A
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German (de)
English (en)
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EP4080012A1 (fr
Inventor
Christian Heichel
Tobias Schmidt
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.)
ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
Original Assignee
ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
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.)
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Publication date
Application filed by ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH filed Critical ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
Priority to EP21169978.0A priority Critical patent/EP4080012B1/fr
Priority to FIEP21169978.0T priority patent/FI4080012T3/fi
Priority to US17/692,323 priority patent/US12037860B2/en
Publication of EP4080012A1 publication Critical patent/EP4080012A1/fr
Application granted granted Critical
Publication of EP4080012B1 publication Critical patent/EP4080012B1/fr
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Classifications

    • 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
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling
    • E21B3/022—Top drives
    • 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
    • E21B7/003—Drilling with mechanical conveying means
    • E21B7/005—Drilling with mechanical conveying means with helical conveying means
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D11/00—Methods or apparatus specially adapted for both placing and removing sheet pile bulkheads, piles, or mould-pipes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/22—Placing by screwing down
    • 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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods

Definitions

  • the invention relates to a construction machine for special foundation engineering, with a leader on which a feed carriage is guided, which has a holder for a working device, in particular a drilling or piling device, according to the preamble of patent claim 1.
  • Construction machines of the above type are used in particular to accommodate a drilling or piling device.
  • a drilling device carried by the feed carriage is usually used in such a way that the drill pipe and the auger are first connected to the drill drive and brought into position.
  • the drill pipe is sunk in advance.
  • the amount of advance depends on the respective soil conditions. In heavy soils, this is minimal, as the resistance is reduced by freeing the drill pipe from the drilling material.
  • the auger is attached to the end of a Kelly drill rod, also known as a Kelly bar.
  • the Kelly bar consists of several drill rods that are inserted into one another and are equipped with driver bars for torque transmission.
  • the auger is screwed into the ground inside the pipe, and its spiral fills with drilling material.
  • the auger is filled with drilling material, it is pulled out of the drill pipe and the drilling material is thrown off. To do this, the auger is repeatedly accelerated and then stopped.
  • the Kelly bar is telescoped. This process is repeated until the desired drilling depth is reached. In this way, boreholes can be created that are many times deeper than the length of the leader.
  • Kelly drilling is characterized by various discontinuous work steps. For example, a pipe section must be picked up manually again and again or two pipes must be placed on top of each other.
  • a pile driver that is picked up by the feed carriage of the construction machine also requires a similarly high level of cognitive performance from the operator. For example, when erecting a sheet pile wall, the pile driver must pick up the corresponding sheet piles that are several meters long in a defined position in order to insert them into the subsoil in a defined manner. Here, too, it is difficult to support the operator with assistance systems.
  • the invention aims to remedy this situation.
  • the invention is based on the object of providing a construction machine for special foundation engineering to accommodate a drilling or piling device, which enables simplified operation. According to the invention, this object is achieved by a construction machine with the features of the characterizing part of patent claim 1.
  • the following prior art documents are relevant to the invention: US 8 646 546 B2 , RU 2 717 550 C1 , EN 10 2007 043045 A1 .
  • the invention provides a construction machine for special foundation engineering for accommodating a drilling or piling device, which enables simplified operation. Due to the fact that an auxiliary carriage is arranged on the leader, which can be moved along the leader via a second drive, with at least one actuator and/or one sensor being arranged on the auxiliary carriage, a Sensory or actuator support is provided for the operator.
  • the auxiliary carriage is preferably guided on the leader.
  • an auxiliary carriage is understood to mean a carriage that can be moved along the leader and does not contribute directly to the drilling or piling process and in particular does not apply any feed force to a working device.
  • the auxiliary carriage is thus distinguished from the feed carriage, which accommodates a working device and applies a feed force to it during the working process.
  • an actuator is a component that, when a signal is applied, carries out a defined movement relative to the auxiliary carriage on which the component is arranged.
  • the signal can be an electrical, hydraulic, pneumatic or mechanical signal.
  • the defined movement can, for example, be the extension or positioning of an arm.
  • the auxiliary carriage is movable relative to the feed carriage. This enables the auxiliary carriage to be positioned with the at least one actuator and/or sensor arranged on it relative to the work device.
  • the auxiliary carriage is preferably movable independently of the feed carriage.
  • the second drive is connected to a cable winch which can be driven via the second drive and whose cable is connected to the auxiliary carriage.
  • the auxiliary carriage is provided with at least one, preferably two winches, the cables of which are connected to the feed carriage, whereby the auxiliary carriage is positioned independently of the feed carriage.
  • the second drive is formed by an electric motor.
  • This provides a very well controllable and also inexpensive Drive is arranged, which enables precise positioning of the auxiliary carriage.
  • the auxiliary carriage can be easily connected to the construction machine, as no hydraulic lines or supply valves are required.
  • the second drive and the cable winch are preferably arranged on the feed carriage.
  • At least one imaging sensor and/or at least one distance sensor is arranged on the auxiliary carriage. This enables continuous detection of the position of a tool or a pile, in particular a pipe or a sheet pile.
  • two distance sensors are arranged, which are positioned at a defined angle to the auxiliary carriage and form a first sensor unit.
  • a second sensor unit is arranged on the auxiliary carriage at a distance from the first sensor unit, which in turn is formed by two distance sensors positioned at a defined angle to the auxiliary carriage.
  • at least one of the distance sensors is an ultrasonic sensor and/or one of the distance sensors is a lidar sensor.
  • At least one sensor is connected to the machine control and/or the operating terminal of the construction machine. This enables the use of the detected relative position of a picked up pipe or a picked up sheet pile for assisted or automatic corrections of the position by the operator or by the machine control.
  • the output signals of the at least one sensor can be used in a position control that controls both the kinematics via which the leader is connected to the carrier device and the feed carriage in order to cause a pipe to move parallel to the ground.
  • an imaging sensor arranged on the auxiliary carriage is connected to a monitor. This enables the operator to visually record the relative position of a picked-up pipe or sheet pile.
  • the auxiliary carriage has at least one actuator which comprises a pivotable and/or extendable arm which can be controlled via a control unit arranged on the construction machine.
  • a control unit arranged on the construction machine.
  • the arranged control unit can be connected, for example, to an operating lever which can be operated by the operator.
  • Automatic control of the arm by the control is also possible, which is preferably connected to the sensors arranged on the auxiliary carriage for this purpose.
  • the pivotable and/or extendable arm can be connected to a drive, in particular to an electric motor, which is connected to the control and via which the arm can be moved.
  • a manipulator in particular a gripper and/or a screwing tool and/or a drill bit cleaning tool, is arranged on the arm of at least one actuator. This enables defined manipulation of the object picked up by the working device.
  • the arm is connected to a hydraulically or electrically operated swivel motor or cylinder, via which it can be swiveled.
  • the swivel motor or cylinder preferably has a self-locking mechanism. This ensures that the arm remains stable in a swiveled position.
  • a reading device and/or a writing device for contactless data acquisition and/or data storage is arranged on the auxiliary carriage.
  • This enables the acquisition of data attached to the object to be picked up by the work device, for example in the form of a barcode, an RFID chip or another contactless readable identifier.
  • operating times can be saved on an RFID chip using a writing device. This allows work equipment and pipes to be recorded and provided with a work history.
  • the construction machine comprises a control device which is connected to the drive of the feed carriage and the drive of the auxiliary carriage and which comprises a memory module in which at least one movement sequence of the auxiliary carriage and its actuators is stored.
  • control device is connected to at least one sensor of the auxiliary carriage and is set up in such a way that a movement of the auxiliary carriage and/or at least one actuator takes place depending on the sensor signals detected.
  • algorithms can be stored in the control device which initiate a movement of the auxiliary carriage or an extension of a drilling screw cleaning device depending on the positions of the auger or a pipe detected by the sensors, a target position, for example the start of the drilling spiral or a connection position with a drill pipe to be accommodated.
  • the construction machine chosen as an example is designed as a rotary drilling rig and consists essentially of a carrier device 1, which is connected in a known manner via a kinematics to a leader 2, on which a feed carriage 3 is arranged so as to be movable, to which a drilling device 5 is attached.
  • the basic structure of such a rotary drilling rig is generally known and, for example, also in the DE 195 14 288 A1 described.
  • the drilling device 5 comprises a drilling drive 51 which is attached to the feed carriage 3 and which has a pressure pipe 52.
  • the drilling drive 51 accommodates a Kelly bar 53 which extends through the pressure pipe 52 and which can be rotated via the drilling drive 51.
  • a drilling auger 54 is attached to the end of the Kelly bar 53.
  • An auxiliary carriage 4 is guided to the leader 2 at a distance from the feed carriage 3.
  • Two cables 41 are attached to the auxiliary carriage 4, which are received by a cable winch (not shown) that is connected to an electric motor (not shown) that can be used to drive the cable winch.
  • the cable winch and electric motor are arranged in a drive housing 31 that is attached to the feed carriage 3 (see FIG. Figures 7 and 8 ). By winding or unwinding the ropes 41, a movement of the auxiliary carriage 4 guided on the leader 2 is effected independently of the feed carriage 3 relative to it.
  • the electric motor is fed by an accumulator, which in the embodiment is also arranged in the drive housing 31,
  • auxiliary carriage 4 can be easily connected to the construction machine since no hydraulic lines and supply valves are required.
  • Two sensor units 42 are arranged on the auxiliary carriage 4 at a distance from one another in the longitudinal direction of the leader 2, each of which comprises two distance sensors 43 arranged at a distance from one another in the transverse direction of the auxiliary carriage 4, whereby four distance sensors 43 are arranged, which are positioned at the corners of an imaginary rectangle.
  • the distance sensors 43 are designed as ultrasonic sensors.
  • other, preferably contactless distance sensors can also be arranged, such as optical, inductive or capacitive sensors. Contacting distance sensors such as feeler levers or measuring pins can also be used.
  • four identical distance sensors 43 are arranged. Different sensors can also be arranged, with identical sensors preferably being used in pairs.
  • a sensor unit 42 is advantageously equipped with identical sensors.
  • a sensor unit can also have three or more sensors. Not all sensor units have to have the same number of sensors. Both distance sensors and imaging sensors can be arranged.
  • the distance sensors 43 are connected via electrical lines to a computer unit (not shown) arranged in the drive housing 31, whose power supply is provided by the accumulator.
  • the lines serve both to supply power to the distance sensors 43 and to transmit signals from the distance sensors 43 to the computer unit.
  • the lines are integrated in the cables 41.
  • the computer unit has a wireless transmitting and receiving unit, via which it is connected to a control unit arranged in the carrier device. When an imaging sensor is arranged, the computer unit is connected via the wireless The transmitting and receiving unit is also connected to a monitor, which graphically displays the transmitted image signals.
  • the computer unit (not shown) arranged in the drive housing 31 can also be used to control the electric motor to which it is connected.
  • the electric motor can be controlled by the control unit arranged in the carrier device 1 via wireless initiation of the computer unit.
  • the electric motor can also be connected directly - wirelessly or via cables - to the control of the carrier device 1 or a separate control unit. It is also possible to send the signals from the distance sensors 43 wirelessly or via cables directly to a computer unit arranged in the carrier device 1.
  • the arrangement of a computer unit in the drive housing 31 is therefore not absolutely necessary.
  • the arrangement of the cable winch and/or the electric motor in a drive housing 31 is also not absolutely necessary. These can also be attached directly to the feed carriage. It is also possible to arrange the cable winch on the auxiliary carriage 4, with the cable 41 taken up by the cable winch being attached to the feed carriage 3.
  • the construction machine designed as a rotary drilling rig is shown in three states when receiving a drill pipe 6 for connection to the pressure pipe 52 of the drilling drive 51.
  • the drill pipe 6 is in the borehole, the pressure pipe 52 of the drill drive 51 is outside the borehole axis.
  • the auxiliary carriage 4 with the sensor units 42 arranged on it is positioned at the level of the connection point at the end of the pressure pipe 52.
  • the distance to the pressure pipe 52 detected by the distance sensors 43 of the upper sensor unit 42 is significantly smaller here than the distance to the drill pipe 6 detected by the distance sensors 43 of the lower sensor unit 42.
  • the horizontal offset of the pressure pipe 52 to the drill pipe 6 is also detected by the distance sensors 43.
  • the signals of the distance sensors 43 are transmitted via the computer unit to the control in the carrier device 1. Based on the continuously supplied sensor signals, the control calculates the necessary movement sequences for positioning the pressure pipe 52 on the drill pipe 6.
  • the leader 2 with the drilling drive 51 attached to the feed carriage 3 is positioned in such a way that the pressure pipe 52 is located in the borehole axis.
  • the pressure pipe 52 was brought closer to the drill pipe 6.
  • the auxiliary carriage 4 with the sensor units 42 arranged on it is again positioned at the height of the connection point.
  • the distance to the pressure pipe 52 detected by the distance sensors 43 of the upper sensor unit 42 now corresponds to the distance to the drill pipe 6 detected by the distance sensors 43 of the lower sensor unit 42.
  • the pressure pipe 52 can be positioned on the drill pipe 6 by moving the feed carriage 3 along the leader 2, as shown in Figure 3 is shown.
  • This process can be visually monitored by the operator via an optionally additional imaging sensor, such as a camera, which is connected to a monitor arranged in the cabin of the carrier device 1.
  • an actuator in the form of an actuating arm or a gripper can be arranged on the auxiliary carriage 4, via which the bolts can be inserted - or removed during disassembly.
  • This actuator can be actuated either remotely by the operator from the cabin of the carrier device 1 or automatically via a control device set up for this purpose.
  • an image sensor in particular in the form of a camera, can be arranged on the auxiliary carriage 4, which is connected to a monitor arranged in the cabin of the carrier device 1.
  • an actuator in the form of a drill spiral cleaning tool 7 is arranged on the auxiliary carriage.
  • the drill spiral cleaning tool 7 comprises a cylindrically designed cleaning arm 71, to which a scraping angle 72 is attached and which is held by a quiver 73 of a holding device 74, which is pivotably mounted on the auxiliary carriage 4 via an axis 75.
  • the cleaning arm 71 does not necessarily have to be cylindrical - it can also be cuboid-shaped or designed in another suitable way. Furthermore, the cleaning arm does not necessarily have to be held by a quiver. It can also be attached directly to the holding device 74.
  • the pivot axis of the cleaning arm 71 is directed transversely to the direction of travel of the auxiliary carriage 4.
  • the holding device 74 is connected to a pivot drive, via which it can pivot about the axis 75.
  • the pivot drive is formed by a hydraulically operated steep thread pivot motor.
  • an electric motor can also be arranged.
  • the pivot drive should have a self-locking mechanism.
  • a hydraulic pivot motor - in this case, for example, a steep thread pivot motor - this can be implemented by a load holding valve.
  • the cleaning arm 71 is pivoted approximately orthogonally to the guide carriage 4 and is shown in this position in engagement with the drilling spiral of the auger 54.
  • the cleaning arm 71 rests with the scraping angle 72 on the upper end of the drilling spiral.
  • the scraping angle 72 slides along the drilling spiral, whereby adhering earth material is removed from the auger 54.
  • the cleaning arm 71 has completely passed through the drilling spiral and the auger has been pulled out of the drill pipe 6 beyond the cleaning arm 71.
  • the cleaning arm 71 is pivoted from the working position to the rest position, as in Figure 11 is shown. In this position, the cleaning arm 71 is pivoted downwards and positioned parallel to the guide carriage 4.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Earth Drilling (AREA)

Claims (17)

  1. Engin de chantier pour travaux spéciaux de génie civil, avec un mât (2) sur lequel est guidé un chariot d'avance (3) qui présente un logement pour un outil de forage ou de battage et est relié à un premier entraînement par le biais duquel il peut être déplacé le long du mât (2), caractérisé en ce qu'un chariot auxiliaire supplémentaire (4) qui peut être déplacé le long du mât (2) par le biais d'un deuxième entraînement est disposé sur le mât (2), sachant qu'au moins un actionneur et/ou au moins un capteur est/sont disposé(s) sur le chariot auxiliaire supplémentaire (4), sachant que le chariot auxiliaire ne contribue pas directement au processus de forage et de battage et n'exerce en particulier aucune force d'avance sur un outillage.
  2. Engin de chantier selon la revendication 1, caractérisé en ce que le chariot auxiliaire (4) peut être déplacé par rapport au chariot d'avance (3) par le biais du deuxième entraînement.
  3. Engin de chantier selon la revendication 1 ou 2, caractérisé en ce que le chariot auxiliaire (4) peut être déplacé par le biais du deuxième entraînement indépendamment du chariot d'avance (3).
  4. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce que le deuxième entraînement est formé par un moteur électrique.
  5. Engin de chantier selon la revendication 4, caractérisé en ce que le deuxième entraînement est relié à un treuil qui peut être entraîné par le biais du deuxième entraînement et dont le câble (41) est relié au chariot auxiliaire (4).
  6. Engin de chantier selon la revendication 4 ou 5, caractérisé en ce que le deuxième entraînement et le treuil sont disposés sur le chariot d'avance ( 3).
  7. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce qu'au moins un capteur d'imagerie et/ou au moins un capteur de distance (43) est/sont disposé(s) sur le chariot auxiliaire (4).
  8. Engin de chantier selon la revendication 7, caractérisé en ce que deux capteurs de distance (43) qui sont en contact avec le chariot auxiliaire (4) dans un angle défini et font partie d'une première unité de capteur (42) sont en place.
  9. Engin de chantier selon la revendication 7, caractérisé en ce que, parallèlement et à distance de la première unité de capteur (42), une deuxième unité de capteur (42) qui, de son côté, comprend deux capteurs de distance (43) en contact avec le chariot auxiliaire dans un angle défini, est disposée sur le chariot auxiliaire (4).
  10. Engin de chantier selon l'une des revendications 7 à 9, caractérisé en ce qu'au moins un des capteurs de distance est un capteur à ultrasons et/ou qu'au moins un des capteurs de distance est un capteur lidar.
  11. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce qu'au moins un des capteurs est relié à la commande de l'engin et/ou à un terminal de commande de l'engin de chantier.
  12. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce que le chariot auxiliaire présente un moins un actionneur qui comprend un bras pivotant et/ou télescopique et peut être activé par le biais d'une unité de commande en place.
  13. Engin de chantier selon la revendication 12, caractérisé en ce qu'un manipulateur, en particulier un grappin et/ou un outil de vissage et/ou un outil de nettoyage d'hélice de forage (7) est disposé sur le bras d'au moins un actionneur.
  14. Engin de chantier selon la revendication 12 ou 13, caractérisé en ce que le bras est relié à un moteur pivotant ou bien à un vérin hydraulique ou électrique par le biais duquel il peut pivoter et qui présente de préférence un blocage automatique.
  15. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce qu'un dispositif de lecture et/ou un dispositif d'écriture pour la saisie de données et/ou l'enregistrement de données sans contact est/sont disposé(s) sur le chariot auxiliaire (4).
  16. Engin de chantier selon l'une des revendications précédentes, caractérisé en ce qu'il comprend un dispositif de commande qui est relié à l'entraînement du chariot d'avance (3) et à l'entraînement du chariot auxiliaire (4) et comprend un module mémoire dans lequel au moins une séquence de mouvements du chariot auxiliaire (4) et d'au moins un actionneur en place est enregistrée.
  17. Engin de chantier selon la revendication 16, caractérisé en ce que le dispositif de commande est relié à au moins un capteur du chariot auxiliaire (4) et est configuré de telle manière qu'en fonction des signaux de capteurs saisis un mouvement est effectué par le chariot auxiliaire (4) et/ou au moins un actionneur.
EP21169978.0A 2021-04-22 2021-04-22 Machine de construction pour le génie civil spécial Active EP4080012B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21169978.0A EP4080012B1 (fr) 2021-04-22 2021-04-22 Machine de construction pour le génie civil spécial
FIEP21169978.0T FI4080012T3 (fi) 2021-04-22 2021-04-22 Erikoistuneen maa- ja vesirakennusalan rakennuskone
US17/692,323 US12037860B2 (en) 2021-04-22 2022-03-11 Construction machine for special civil engineering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21169978.0A EP4080012B1 (fr) 2021-04-22 2021-04-22 Machine de construction pour le génie civil spécial

Publications (2)

Publication Number Publication Date
EP4080012A1 EP4080012A1 (fr) 2022-10-26
EP4080012B1 true EP4080012B1 (fr) 2024-05-22

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US (1) US12037860B2 (fr)
EP (1) EP4080012B1 (fr)
FI (1) FI4080012T3 (fr)

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RU2717550C1 (ru) * 2018-12-28 2020-03-24 Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." (СГТУ имени Гагарина Ю.А.) Оборудование для возведения буронабивных свай

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US12037860B2 (en) 2024-07-16
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