CN101871222A - Method for controlling motion of mast oil cylinder of revolving drilling rig and system - Google Patents
Method for controlling motion of mast oil cylinder of revolving drilling rig and system Download PDFInfo
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- CN101871222A CN101871222A CN 201010213695 CN201010213695A CN101871222A CN 101871222 A CN101871222 A CN 101871222A CN 201010213695 CN201010213695 CN 201010213695 CN 201010213695 A CN201010213695 A CN 201010213695A CN 101871222 A CN101871222 A CN 101871222A
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- 238000005553 drilling Methods 0.000 title claims abstract description 108
- 230000033001 locomotion Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000010276 construction Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000013329 compounding Methods 0.000 description 2
- 125000000174 L-prolyl group Chemical group [H]N1C([H])([H])C([H])([H])C([H])([H])[C@@]1([H])C(*)=O 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The invention discloses a method for controlling the motion of a mast oil cylinder of a revolving drilling rig, which comprises the following steps: obtaining the amplitude change angle and the mast angle of a revolving drilling rig; comparing the mast angle with a preset mast safe angle, and comparing the amplitude change angle with a preset amplitude change safe angle; and controlling the mast oil cylinder of the revolving drilling rig to stop moving, and controlling the motion of the amplitude change of the revolving drilling rig when the mast angle exceeds the preset mast safe angle and the amplitude change angle exceeds the preset amplitude change safe angle. By controlling the mast oil cylinder to stop moving if the mast angle is detected to exceed the preset mast safe angle and the amplitude change angle is detected to exceed the preset amplitude change safe angle when the revolving drilling rig inversely erects the mast, the invention prevents the mast from colliding a cab; and by controlling the motion of the amplitude change, the invention restarts the motion of the mast oil cylinder till that the amplitude change angle returns to the preset amplitude change safe angle. Due to the operation process, the revolving drilling rig can be operated by a single person to inversely erect the mast.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly, relate to a kind of method for controlling motion of mast oil cylinder of revolving drilling rig and system.
Background technology
Rotary drilling rig is the construction machinery of pore-forming operation in a kind of suitable building foundation engineering, mainly is suitable for soil layer constructions such as sand, cohesive soil, slity soil, is used widely in multiple foundation basic constructions such as castinplace pile, diaphragm wall, underpin.
Concrete, the handstand mast process of rotary drilling rig generally needs two people's compounding practices, whether one people watches the overhang of two mast oil cylinders consistent outside driver's cabin, and whether it might collide driver's cabin, and another people operates mast according to the commander of the people outside the driver's cabin in driver's cabin.When two people cooperate when not enough, probably take place because of the inconsistent situation that causes mast oil cylinder to break driver's cabin of mast left and right sides oil cylinder overhang.So, be badly in need of a kind of mast oil cylinder kinetic control system at present, be used to protect the driver's cabin of rotary drilling rig, even so that one man operation's mast the accident that driver's cabin is broken by mast oil cylinder can not take place yet.
Summary of the invention
In view of this, the invention provides a kind of method for controlling motion of mast oil cylinder of revolving drilling rig and system,,, realize the handstand mast process of one man operation's rotary drilling rig to protect the driver's cabin of this rotary drilling rig with by the described mast oil cylinder of revolving drilling rig motion of control.
For achieving the above object, the technical scheme of proposition is as follows:
A kind of method for controlling motion of mast oil cylinder of revolving drilling rig comprises:
Obtain the change angle and the mast angle of described rotary drilling rig;
Compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint;
When described mast angle outside default mast security standpoint scope, and described change angle controls described mast oil cylinder of revolving drilling rig stop motion outside default luffing security standpoint scope the time, and controls described rotary drilling rig luffing action;
When the described change angle that gets access in described default luffing security standpoint scope, control the motion of described mast oil cylinder of revolving drilling rig.
Preferably, when described mast angle outside default mast security standpoint scope, and described change angle also comprises and carries out alarm outside default luffing security standpoint scope the time.
Preferably, the mode of alarm is: one or combination arbitrarily among indicator lamp flicker, literal demonstration and the chimes of doom three that rings.
A kind of mast oil cylinder of revolving drilling rig kinetic control system comprises:
Be arranged at first checkout gear that detects this mast angle on the described rotary drilling rig mast;
Be arranged at second checkout gear that detects this rotary drilling rig change angle on the described rotary drilling rig;
With described first checkout gear and the controller that second checkout gear links to each other, be used to compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint; When described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, sending controling instruction is controlled described mast oil cylinder of revolving drilling rig stop motion, and sending controling instruction drives described rotary drilling rig luffing action, when the described change angle that gets access in described default luffing security standpoint scope, sending controling instruction is controlled the motion of described mast oil cylinder of revolving drilling rig.
Preferably, also comprise the warning device that links to each other with described controller, be used for when described mast angle outside default mast security standpoint scope, and described change angle carries out alarm outside default luffing security standpoint scope the time.
Preferably, described first checkout gear is the mast obliquity sensor.
Preferably, described second checkout gear is a limit switch behind swing arm angular transducer or the luffing.
Preferably, described warning device is display, indicator lamp or buzzer.
A kind of mast oil cylinder of revolving drilling rig motion controller comprises:
Acquiring unit is used to obtain the change angle and the mast angle of described rotary drilling rig;
Computing unit is used to compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint;
Control module, be used for working as described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, sending controling instruction is controlling described mast oil cylinder of revolving drilling rig stop motion, and sending controling instruction is to control described rotary drilling rig luffing action; When the described change angle that gets access in described default luffing security standpoint scope, sending controling instruction is controlled the motion of described mast oil cylinder of revolving drilling rig.
From above-mentioned technical scheme as can be seen, in the method for controlling motion of mast oil cylinder of revolving drilling rig disclosed by the invention, described default mast security standpoint has defined the handstand mast operation that rotary drilling rig carries out, when mast oil cylinder can not collide driver's cabin, and the angular range of mast; When described default luffing security standpoint has defined the handstand mast operation that rotary drilling rig carries out, when mast entered mast oil cylinder and might collide the angular range of driver's cabin, the movement angle scope of rotary drilling rig luffing was so that mast oil cylinder can not collide driver's cabin; When detecting the mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, the stop motion of control mast oil cylinder of revolving drilling rig, avoid mast to collide driver's cabin, and, the action of control rotary drilling rig luffing in change angle is got back to described default luffing security standpoint scope, is just restarted described mast oil cylinder action.Through the operation of said process, realize the handstand mast process of one man operation's rotary drilling rig.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of the disclosed a kind of method for controlling motion of mast oil cylinder of revolving drilling rig of the embodiment of the invention;
Fig. 2 is the structural representation of the disclosed a kind of mast oil cylinder of revolving drilling rig kinetic control system of the embodiment of the invention;
Fig. 3 is the structural representation of the disclosed a kind of mast oil cylinder of revolving drilling rig kinetic control system of another embodiment of the present invention;
Fig. 4 is the structural representation of the disclosed a kind of mast oil cylinder of revolving drilling rig motion controller of the embodiment of the invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
The embodiment of the invention discloses a kind of method for controlling motion of mast oil cylinder of revolving drilling rig and system,,, realize the handstand mast process of one man operation's rotary drilling rig to protect the driver's cabin of this rotary drilling rig with by the described mast oil cylinder of revolving drilling rig motion of control.
Below respectively method for controlling motion of mast oil cylinder of revolving drilling rig and system are described by two embodiment:
As shown in Figure 1, described method for controlling motion of mast oil cylinder of revolving drilling rig comprises:
Step S11, the change angle that obtains described rotary drilling rig and mast angle;
Step S12, compare described mast angle and default mast security standpoint respectively, and, described change angle and default luffing security standpoint;
Concrete, default mast security standpoint is meant: when the handstand mast that rotary drilling rig carries out is operated, and when mast oil cylinder can not collide driver's cabin, the angular range of mast.Its computational process is as follows: at first put down luffing to extreme lower position, this position is the easiest position that makes mast oil cylinder collide driver's cabin; Respectively along front, rear, left and right four direction action mast, judge in which angular range then, also can not collide driver's cabin during the mast oil cylinder action, its computational process can also obtain by mechanical Pro/E simulation.
Default luffing security standpoint is meant: when the handstand mast that rotary drilling rig carries out is operated, when mast entered mast oil cylinder and might collide the angular range of driver's cabin, the movement angle scope of rotary drilling rig luffing was so that mast oil cylinder can not collide driver's cabin.Its computational process is as follows: promote luffing to high angle, action mast to its right oil cylinder stretch out maximum, left oil cylinder stretch out minimum, at this moment, the deviation angle of mast is 5 °, transfer luffing, judge not collide under the condition of driver's cabin at mast oil cylinder, its transfer angle.
Step S13, when described mast angle outside default mast security standpoint scope, and described change angle controls described mast oil cylinder of revolving drilling rig stop motion outside default luffing security standpoint scope the time, and controls described rotary drilling rig luffing action;
Step S14, when the described change angle that gets access in described default luffing security standpoint scope, control the motion of described mast oil cylinder of revolving drilling rig.
As shown in Figure 2, described mast oil cylinder of revolving drilling rig kinetic control system comprises: first checkout gear 101, second checkout gear 102 and controller 103, wherein:
All, be used to obtain mast angle and change angle, compare described mast angle and default mast security standpoint with first checkout gear 101 and the controller 103 that second checkout gear 102 links to each other, and, described change angle and default luffing security standpoint; When described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, controller 103 sending controling instructions are controlled described mast oil cylinder of revolving drilling rig stop motion, and sending controling instruction drives described rotary drilling rig luffing action; When the described change angle that gets access in described default luffing security standpoint scope, sending controling instruction is controlled the motion of described mast oil cylinder of revolving drilling rig.
Below in conjunction with described mast oil cylinder of revolving drilling rig kinetic control system control procedure is described:
Concrete, this method for controlling motion of mast oil cylinder of revolving drilling rig is applied in the described rotary drilling rig handstand mast process, mast oil cylinder motion and then the action of drive mast, at this moment, first checkout gear 101 and second checkout gear 102 detect the change angle and the mast angle of described rotary drilling rig respectively in real time, and send it to controller 103, controller 103 described mast angle of comparison and default mast security standpoints, judge to detect the mast angle that obtains whether outside default mast security standpoint, if not, then do not carry out any operation, described mast oil cylinder continues motion, if, compare described change angle and default luffing security standpoint again, when described change angle is outside default luffing security standpoint, controller 103 sending controling instructions, the stop motion of control mast oil cylinder, be about to export to the failure of current of this rotary drilling rig hydraulic proportion valve, simultaneously, controller 103 also sends control instruction, can directly control described rotary drilling rig luffing action, make its lifting; In addition, controller 103 all right sending controling instructions are to the display unit of described rotary drilling rig, and alert promotes described rotary drilling rig luffing operation.
In the time of in change angle is got back to default luffing security standpoint scope, controller 103 sending controling instructions restart mast oil cylinder, make its motion, and sending controling instruction is controlled described rotary drilling rig luffing and stopped action.
In order to reduce the frequency of the change angle that detects described rotary drilling rig, reduce the workload of controller 103, all right, have only first checkout gear 101 to detect described rotary drilling rig mast angle in real time, and send it to controller 103, controller 103 described mast angle of comparison and default mast security standpoints, when judge detecting the mast angle that obtains outside default mast security standpoint the time, controller 103 sending controling instruction to the second checkout gears 102, make it detect the change angle of described rotary drilling rig, and receive the change angle that it returns, controller 103 described change angle of comparison and default luffing security standpoints, when judging that also described change angle is outside default luffing security standpoint, controller 103 sending controling instructions are controlled the mast oil cylinder stop motion respectively, control described rotary drilling rig luffing action.
In the disclosed method for controlling motion of mast oil cylinder of revolving drilling rig of the foregoing description, in order to improve operating personnel's concern power, when described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, comprise also and carry out alarm that this alarm operates in the change angle that gets access to just to be stopped in described default luffing security standpoint scope.
Concrete, the alarm mode can be glimmered for indicator lamp, literal shows or the chimes of doom of ringing, and also can be combination arbitrarily among the above-mentioned three.
At this moment, as shown in Figure 3, this mast oil cylinder of revolving drilling rig kinetic control system also comprises: the warning device 104 that links to each other with controller 103, when controller 103 judges that the mast angle that gets access to is outside default mast security standpoint scope, and the change angle that gets access to is outside default luffing security standpoint scope the time, controller 103 sending controling instructions control warning device 104 is reported to the police, be that the change angle that obtains of controller 103 is in described default luffing security standpoint scope, controller 103 sends halt instruction, and warning device 104 stops to report to the police.
This warning device can be equipment such as indicator lamp, buzzer or display.
Concrete, in the disclosed mast oil cylinder of revolving drilling rig kinetic control system of the embodiment of the invention, first detecting unit 101 can be the mast obliquity sensor, it can detect the angle of rotary drilling rig mast in real time, and sends it to controller 103; Second checkout gear 102 can be limit switch behind swing arm angular transducer or the luffing, it detects this rotary drilling rig change angle and sends it to controller 103, limit switch is except detecting the change angle behind the described luffing, can also make after the luffing action stops, making its braking, avoid occurring the action that maloperation makes luffing.After controller 103 receives mast angle and change angle, the follow-up work of carrying out, identical with the disclosed content of the foregoing description, repeat no more herein.
The invention process also discloses a kind of mast oil cylinder of revolving drilling rig motion controller, as shown in Figure 4, comprising:
In sum, in method for controlling motion of mast oil cylinder of revolving drilling rig disclosed by the invention and the system, the operator is when standing upside down the mast operation, when the mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, the controlled stop motion of mast oil cylinder of revolving drilling rig meeting, like this, just avoid mast to collide driver's cabin, and, the same controlled action of rotary drilling rig luffing, its change angle is got back in the described default luffing security standpoint scope, at this moment, the operation of the described mast oil cylinder action that lifts restrictions makes it restart the work of proceeding, in this process, do not need other staff's compounding practice person work, realized one man operation's rotary drilling rig, finish the purpose of its handstand mast process.
Each embodiment adopts the mode of going forward one by one to describe in this manual, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (9)
1. a method for controlling motion of mast oil cylinder of revolving drilling rig is characterized in that, comprising:
Obtain the change angle and the mast angle of described rotary drilling rig;
Compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint;
When described mast angle outside default mast security standpoint scope, and described change angle controls described mast oil cylinder of revolving drilling rig stop motion outside default luffing security standpoint scope the time, and controls described rotary drilling rig luffing action;
When the described change angle that gets access in described default luffing security standpoint scope, control the motion of described mast oil cylinder of revolving drilling rig.
2. method according to claim 1 is characterized in that, when described mast angle outside default mast security standpoint scope, and described change angle also comprises and carries out alarm outside default luffing security standpoint scope the time.
3. method according to claim 2 is characterized in that, the mode of alarm is: one or combination arbitrarily among indicator lamp flicker, literal demonstration and the chimes of doom three that rings.
4. a mast oil cylinder of revolving drilling rig kinetic control system is characterized in that, comprising:
Be arranged at first checkout gear that detects this mast angle on the described rotary drilling rig mast;
Be arranged at second checkout gear that detects this rotary drilling rig change angle on the described rotary drilling rig;
With described first checkout gear and the controller that second checkout gear links to each other, be used to compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint; When described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, sending controling instruction is controlled described mast oil cylinder of revolving drilling rig stop motion, and sending controling instruction drives described rotary drilling rig luffing action, when the described change angle that gets access in described default luffing security standpoint scope, sending controling instruction is controlled the motion of described mast oil cylinder of revolving drilling rig.
5. system according to claim 4, it is characterized in that, also comprise the warning device that links to each other with described controller, be used for working as described mast angle outside default mast security standpoint scope, and described change angle carries out alarm outside default luffing security standpoint scope the time.
6. system according to claim 4 is characterized in that, described first checkout gear is the mast obliquity sensor.
7. system according to claim 4 is characterized in that, described second checkout gear is a limit switch behind swing arm angular transducer or the luffing.
8. system according to claim 5 is characterized in that, described warning device is display, indicator lamp or buzzer.
9. a mast oil cylinder of revolving drilling rig motion controller is characterized in that, comprising:
Acquiring unit is used to obtain the change angle and the mast angle of described rotary drilling rig;
Computing unit is used to compare described mast angle and default mast security standpoint, and, described change angle and default luffing security standpoint;
Control module, be used for working as described mast angle outside default mast security standpoint scope, and described change angle is outside default luffing security standpoint scope the time, sending controling instruction is controlling described mast oil cylinder of revolving drilling rig stop motion, and sending controling instruction is to control described rotary drilling rig luffing action; When the described change angle that gets access in described default luffing security standpoint scope, sending controling instruction is controlled the motion of described mast oil cylinder of revolving drilling rig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102136953A CN101871222B (en) | 2010-06-21 | 2010-06-21 | Method for controlling motion of mast oil cylinder of revolving drilling rig and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102136953A CN101871222B (en) | 2010-06-21 | 2010-06-21 | Method for controlling motion of mast oil cylinder of revolving drilling rig and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101871222A true CN101871222A (en) | 2010-10-27 |
| CN101871222B CN101871222B (en) | 2012-02-29 |
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| CN2010102136953A Expired - Fee Related CN101871222B (en) | 2010-06-21 | 2010-06-21 | Method for controlling motion of mast oil cylinder of revolving drilling rig and system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102465694A (en) * | 2010-11-05 | 2012-05-23 | 日立建机(中国)有限公司 | Automatic reset system of rotary drilling rig |
| WO2012171415A1 (en) * | 2011-06-14 | 2012-12-20 | 湖南三一智能控制设备有限公司 | Control method for reducing oil consumption of engine of excavator |
| CN103061672A (en) * | 2011-10-19 | 2013-04-24 | 包尔机械有限公司 | Construction device |
| CN103362492A (en) * | 2013-06-26 | 2013-10-23 | 北京市三一重机有限公司 | Method and system for controlling seating of rotary drilling rig mast |
| CN103742125A (en) * | 2013-12-30 | 2014-04-23 | 北京市三一重机有限公司 | Rotary drilling rig and safety control system and method thereof |
| CN110173214A (en) * | 2019-06-28 | 2019-08-27 | 北京三一智造科技有限公司 | Display device for gestures and rotary drilling rig |
| CN112065288A (en) * | 2020-09-10 | 2020-12-11 | 上海中联重科桩工机械有限公司 | Mast verticality adjusting method and system and rotary drilling rig |
| CN112377097A (en) * | 2020-11-11 | 2021-02-19 | 苏州星恒通导航技术有限公司 | Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof |
| CN118423388A (en) * | 2024-07-02 | 2024-08-02 | 国网江西省电力有限公司建设分公司 | Wheel-step type rotary drilling rig braking device |
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| CN2789400Y (en) * | 2004-11-23 | 2006-06-21 | 北京市三一重机有限公司 | Rotary digging driller mast |
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| US20010006120A1 (en) * | 1999-12-03 | 2001-07-05 | Osamu Miyamoto | Multiple air hammer apparatus and excavating direction correcting method therefor |
| CN2789400Y (en) * | 2004-11-23 | 2006-06-21 | 北京市三一重机有限公司 | Rotary digging driller mast |
| CN2795434Y (en) * | 2005-03-03 | 2006-07-12 | 徐州东明机械制造有限公司 | Variable amplitude link rod mechanism of rotary digging and drilling machine movable arm |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102465694A (en) * | 2010-11-05 | 2012-05-23 | 日立建机(中国)有限公司 | Automatic reset system of rotary drilling rig |
| WO2012171415A1 (en) * | 2011-06-14 | 2012-12-20 | 湖南三一智能控制设备有限公司 | Control method for reducing oil consumption of engine of excavator |
| CN103061672B (en) * | 2011-10-19 | 2015-05-13 | 包尔机械有限公司 | Construction device |
| CN103061672A (en) * | 2011-10-19 | 2013-04-24 | 包尔机械有限公司 | Construction device |
| CN103362492B (en) * | 2013-06-26 | 2016-08-10 | 北京市三一重机有限公司 | Control method that rotary digging driller mast is taken a seat and control system |
| CN103362492A (en) * | 2013-06-26 | 2013-10-23 | 北京市三一重机有限公司 | Method and system for controlling seating of rotary drilling rig mast |
| CN103742125A (en) * | 2013-12-30 | 2014-04-23 | 北京市三一重机有限公司 | Rotary drilling rig and safety control system and method thereof |
| CN103742125B (en) * | 2013-12-30 | 2017-01-25 | 北京市三一重机有限公司 | Rotary drilling rig and safety control system and method thereof |
| CN110173214A (en) * | 2019-06-28 | 2019-08-27 | 北京三一智造科技有限公司 | Display device for gestures and rotary drilling rig |
| CN110173214B (en) * | 2019-06-28 | 2020-12-11 | 北京三一智造科技有限公司 | Posture display device and rotary drilling rig |
| CN112065288A (en) * | 2020-09-10 | 2020-12-11 | 上海中联重科桩工机械有限公司 | Mast verticality adjusting method and system and rotary drilling rig |
| CN112377097A (en) * | 2020-11-11 | 2021-02-19 | 苏州星恒通导航技术有限公司 | Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof |
| CN118423388A (en) * | 2024-07-02 | 2024-08-02 | 国网江西省电力有限公司建设分公司 | Wheel-step type rotary drilling rig braking device |
| CN118423388B (en) * | 2024-07-02 | 2024-09-03 | 国网江西省电力有限公司建设分公司 | Wheel-step type rotary drilling rig braking device |
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| Publication number | Publication date |
|---|---|
| CN101871222B (en) | 2012-02-29 |
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