CN103470181A - Rock drilling device propulsion one-way delay response method and device for realizing method - Google Patents
Rock drilling device propulsion one-way delay response method and device for realizing method Download PDFInfo
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- CN103470181A CN103470181A CN201310436780XA CN201310436780A CN103470181A CN 103470181 A CN103470181 A CN 103470181A CN 201310436780X A CN201310436780X A CN 201310436780XA CN 201310436780 A CN201310436780 A CN 201310436780A CN 103470181 A CN103470181 A CN 103470181A
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- 238000005553 drilling Methods 0.000 title claims abstract description 101
- 239000011435 rock Substances 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004044 response Effects 0.000 title claims abstract description 22
- 230000001141 propulsive effect Effects 0.000 claims description 103
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000009527 percussion Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008014 freezing Effects 0.000 description 7
- 238000007710 freezing Methods 0.000 description 7
- 230000036962 time dependent Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000010410 layer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a rock drilling device propulsion one-way delay response method. A rock drilling device comprises a propulsion guide device, a propulsion control module and a drilling tool. The method comprises the following steps of (1) monitoring the torque of a rotating device by a rotation controlling module; (2) determining the loading state of the drilling tool according to the change of the torque; (3) when the drilling tool enters a load state from a non-load state, controlling a propulsion generating device to slowly increase the propulsion to the drilling tool. The invention also discloses the rock drilling device for realizing the rock drilling device propulsion one-way delay response method. The problems that the drilling tool is jammed and the drilling tool is repeatedly jammed reversely are solved, a rock drilling machine is guaranteed to normally drill, the rock drilling speed, the drilling precision and the production efficiency are increased, the damage to the rock drilling machine and the drilling tool is reduced, and the rock drilling cost is greatly reduced.
Description
Technical field
The present invention relates to the hammer drill control field, relate in particular to a kind of rock drilling device propulsive force one-way latency response method, the invention still further relates to a kind of device of realizing the method.
Background technology
Impact, propelling, revolution and deslagging are four basic links of hammer drill boring work, its mainly by advancing guiding device, propulsive force generating means, rotation control module, advance control module, impulsive control module, hammer drill and drilling tool, described hammer drill to comprise that again whirligig and percussion mechanism realize the boring action.Advance guiding device to play the guiding role when boring, the propulsive force generating means produces the propulsive force acted on hammer drill, thereby drilling tool is closely contacted with hole bed rock stone, percussion mechanism produces intermittent ballistic work, by the intermittent impinging earth strata of drilling tool, be new roch layer interface when meanwhile whirligig can produce rotation torque and makes drilling tool continuous rotary in boring procedure that impacted next time, thereby complete the rock drilling action.Slag-draining device is by being used water under high pressure or compressed air that fragmented rock is cleared up outside aperture.
General, the output torque of whirligig is controlled the size of propulsive force generating means propulsive force in the mode of inverse ratio.The relation that the propulsive force of the output torque of whirligig and propulsive force generating means is directly proportional.The size that efficient rock drilling process is the propulsive force by controlling the propulsive force generating means keeps the substantially constant of whirligig moment of torsion.When bore operation, operating personnel can set maximum propulsive force.In actual application, the operating pressure that can also control the propelling pressure whirligig of propulsive force generating means by the operating pressure of whirligig is set with maximum functional preset value and anti-sticking preset value, when rotation pressure surpasses the maximum functional preset value, actual propulsive force starts to reduce (now maximum propulsive force setting value is constant, and just maximum value does not reach setting value) from maximum value.Under normal circumstances, once propulsive force reduces, the operating pressure of whirligig just starts to reduce.Rock drilling system returns normal operation condition.
Yet also there is following problem in inhomogeneous due to formation conditions in actual borehole environment:
When drilling tool from cavity, soft rock, interlayer (non-loaded) be while striking hard rock (load is arranged), the propelling pressure generation step of propulsive force generating means, rotate accordingly pressure and step (rotation pressure surpasses the maximum functional preset value) also can occur and reach the bit freezing preset value.Advance the step of pressure can cause drilling tool normally not creep into and to rotate, thereby bit freezing occurs, advance guiding device directly to become fallback state by (creeping into) state that advances, generally claim this situation to be called " anti-card ".In advancing the guiding device fallback procedures, rock stratum reduces until disappear gradually to the constraint of drilling tool, thereby also make to rotate pressure, reduce, when rotation pressure is less than the anti-sticking preset value, the operating pressure of whirligig is controlled the propulsive force generating means and is again become forward travel state by fallback state.
Fig. 3 is propulsive force in prior art, the time dependent schematic diagram of rotation torque, as shown in Figure 2,1. during the stage, due to non-loaded on drilling tool, with rock, do not contact yet, approximate by " cavity " state when therefore drilling tool advances again, the propulsive force generating means is operation forward at a high speed in non-loaded situation.The, 2. during the stage, when drilling tool strikes hard rock again, advance pressure that step is raise, advance the step of pressure also to cause the step of rotation pressure, advance the step of pressure to be easy to reach the anti-sticking preset value and cause drilling tool normally not creep into and to rotate.3. stage of after bit freezing the occurs, and advances guiding device to become fallback state by (creeping into) state that advances.If do not control, the anti-process of blocking can repeat, again " anti-card ".
The anti-card of bit freezing and repetition can affect the work of normally creeping into, reduction cutting rate and the production efficiency of hammer drill, also can produce expendable infringement to hammer drill and drilling tool, and shortened its actual life, needs often to change drilling tool and hammer drill maintenance.The frequent replacing of drilling tool and hammer drill safeguard and will certainly make Drilling cost increase, and advances the step of the pressure straightness accuracy that also can cause holing to produce deviation simultaneously.In order to solve this technical problem, in prior art, usually adopt the maximum fltting speed of restriction to avoid advancing the step of pressure, fltting speed etc. is controlled when entering hard rock or entering cavity (soft rock) by hard rock by cavity (soft rock) at drilling tool, thereby reached the purpose that prevents bit freezing.But such system arranges often more complicated, and cost is higher, same fltting speed can not be applicable to the work of creeping under the different rock-layers situation.When formation conditions changes, need at any time the fltting speed different according to the formation conditions fast setting, the operation more complicated, and in most cases only have veteran operating personnel to be competent at.
Summary of the invention
In view of the problems referred to above that prior art exists, the object of the present invention is to provide the anti-card problem of a kind of bit freezing that can effectively solve hammer drill and repetition and protect the propulsive force one-way latency response method of rock drilling device.
To achieve these goals, a kind of rock drilling device propulsive force one-way latency response method provided by the invention, this device comprises propelling guiding device, propulsive force generating means, rotation control module, advances control module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, and the method includes the steps of:
1) by described rotation control module monitor described whirligig moment of torsion size with determine the rotation pressure size;
2) determined the load condition of described drilling tool by the size variation of described rotation pressure: when the size of described rotation pressure occurs to increase, judge that described drilling tool has entered load condition by no-load condition; When the size generation step of described rotation pressure reduces, judge that described drilling tool is by there being load condition to enter no-load condition;
3), when described drilling tool has entered load condition by no-load condition, control described propulsive force generating means and described drilling tool is applied to the propulsive force of slow increase.
Said in present specification " step " is that the moment acute variation occurs exponential quantity.And, according to general knowledge, pressure is directly proportional to the size of the power that produces this pressure.Similarly, in the application when determine advancing pressure, according to propulsive force just advance pressure also can increase this basic principle while increasing.
As preferably, described propulsive force has a maximum preset value, when described propulsive force reaches this maximum preset value, stops slowly increasing described propulsive force and normally holing according to the propulsive force of this maximum preset value.
As preferably, when described drilling tool, when having load condition to enter no-load condition, control described propelling guiding device described drilling tool is applied to the instantaneous propulsive force reduced.According to the variation of propulsive force, select suitable ballistic work change programme, increase the protection to hammer drill.
Another object of the present invention is to provide a kind of rock drilling device of realizing above-mentioned propulsive force time delay response method.
To achieve these goals, a kind of rock drilling device of realizing above-mentioned propulsive force time delay response method provided by the invention, comprise the propelling guiding device, the propulsive force generating means, the rotation control module, advance control module, the impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, described propelling guiding device for playing the guiding role when holing, described propulsive force generating means is for generation of the propulsive force acted on described hammer drill, described propulsive force generating means has a propelling control module of being controlled by rotation pressure, described propelling control module and described propulsive force generating means form the propelling loop, wherein, also comprise that one for when described drilling tool has entered load condition by no-load condition, control described propulsive force generating means applies the propulsive force of slow increase time delay responding device to described drilling tool, described time delay responding device is arranged on described propulsive force generating means and connects into described propelling loop.
As preferably, described propulsive force has a maximum preset value, when described time delay responding device reaches this maximum preset value in described propulsive force, stops slowly increasing described propulsive force and normally holing according to the propulsive force of this maximum preset value.
As preferably, described time delay responding device is hydraulic accumulator or is a hydraulic control module or an electrical control module.
Rock drilling device propulsive force one-way latency response method of the present invention and realize that the device of the method has following beneficial effect:
(1) when drilling tool by the cavity (no-load condition) strike hard rock (load condition is arranged), the time delay responding device can make to advance pressure steadily to be increased to slowly maximum value, now rotating pressure will steadily slowly recover, this process can be called " secondary perforate ", it is advantageous that, solved the problem of the anti-card of bit freezing and repetition, guarantee that hammer drill normally creeps into work, improved cutting rate, borehole accuracy and production efficiency, reduced the infringement to hammer drill and drilling tool, Drilling cost is reduced greatly;
(2) when " anti-card ", disappear, or drilling tool (by hard rock) advances the rapid step of pressure to reduce while entering cavity or soft rock, rate of penetration does not limit, and can improve drilling efficiency;
(3) the present invention does not need, according to the rock stratum situation, fltting speed is carried out to fast setting, and control mode is simple to operation.
The accompanying drawing explanation
The flow chart that Fig. 1 is rock drilling device propulsive force one-way latency response method of the present invention.
The principle schematic that Fig. 2 is rock drilling device propulsive force one-way latency response method of the present invention.
Fig. 3 is propulsive force in prior art, the time dependent schematic diagram of rotation torque.
Fig. 4 is for having adopted propulsive force after propulsive force one-way latency response method of the present invention, the time dependent schematic diagram of rotation torque.
Fig. 5 is that rock drilling device of the present invention forms schematic diagram.
Main Reference numeral:
1, advance guiding device, 2, the propulsive force generating means, 202, advance control module, 3, hammer drill, 301, percussion mechanism, 302, whirligig, 303, the impulsive control module, 304, the rotation control module, 4, drilling tool, 5, the time delay responding device, 6, the pressure oil feedway.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described in detail.
As shown in Fig. 5 and Fig. 2, the rock drilling device of realizing propulsive force time delay response method of the present invention, comprise and advance guiding device 1, propulsive force generating means 2, hammer drill 3 and drilling tool 4, described propelling guiding device 1 for playing the guiding role when holing, described propulsive force generating means 2 is for generation of the propulsive force acted on described hammer drill 3, described propulsive force generating means 2 has a propelling control module 202 of being controlled by rotation pressure, and described propelling control module 202 forms and advances loop with described propulsive force generating means 2; Wherein, also comprise that one for when described drilling tool has entered load condition by no-load condition, control the time delay responding device 5 that 1 pair of described drilling tool 4 of described propelling guiding device applies the propulsive force of slow increase, described time delay responding device 5 is arranged on described propulsive force generating means 2 and connects into described propelling loop.As mentioned above, advance guiding device 1 to play the guiding role when boring, 2 generations of propulsive force generating means act on the propulsive force on hammer drill 3, thereby drilling tool 4 is closely contacted with hole bed rock stone, the percussion mechanism 301 be arranged on described hammer drill 3 produces intermittent ballistic work, by the intermittent impinging earth strata of drilling tool 4, meanwhile the whirligig on hammer drill 3 302 can produce rotation torque and make drilling tool 4 continuous rotary in boring procedure, thereby completes the rock drilling action.Rotation control module 304 in the present invention is for the rotation torque of monitoring whirligig 302 and applying to drilling tool 4 and control the size that advances control module 202 propulsive forces, corresponding size, the direction of control module 202 for the propelling pressure of monitoring propulsive force generating means 2 that advance, pressure oil feeding mechanism 6 is for providing bore operation required pressure oil.
Figure 1 shows that rock drilling device propulsive force one-way latency response method of the present invention, as shown in Figure 1, the method includes the steps of:
1) size of the moment of torsion by the described whirligig 302 of described rotation control module 304 monitoring is to determine the size (S1) of rotation pressure;
2) determine the load condition (S2) of described drilling tool 4 according to the size variation of described rotation pressure by rotation control module 304: when the size of described rotation pressure occurs to increase, judge that described drilling tool has entered load condition by no-load condition; When the size generation step of described rotation pressure reduces, judge that described drilling tool is by there being load condition to enter no-load condition;
3), when described drilling tool 4 has entered load condition (hard rock) by no-load condition (cavity or soft rock), control the propulsive force that 1 pair of described drilling tool 4 of described propelling guiding device applies slow increase.
In the present invention, propulsive force has a maximum preset value, advances pressure also to have the maximum preset value simultaneously.Fig. 4 is for having adopted propulsive force after propulsive force one-way latency response method of the present invention, the time dependent schematic diagram of rotation torque, as shown in Figure 4, when advancing pressure to be the standby value, judge that drilling tool 4 enters cavity, in no-load condition (in Fig. 4 zone 1. express propulsive force also unchanged); And when the size of described rotation pressure occurs to increase, judge that described drilling tool 4 has entered load condition (hard rock) by non-loaded (cavity) state, 2. the zone of expressing in Fig. 4 has passed through gradual processing, so the situation of rising appears in propulsive force, and step does not occur; When the described propulsive force of judgement reaches this maximum preset value, delayed response device 5 stops slowly increasing described propulsive force and normally holing according to the propulsive force of this maximum preset value, and the zone in corresponding diagram 4 3.; And when the size generation step of described rotation pressure reduces, judge that described drilling tool 4 is by there being load condition (hard rock) to enter no-load condition (cavity or soft rock), advance the time delay responding device 5 arranged on loop to be controlled, but do not affect, do not advance the step of pressure to reduce, propulsive force occurs can be worth instantaneous reducing (S4) from maximum preset to the propulsive force of device 2, propulsive force instantaneous reduces to make to rotate control module 304 responses, and the rotation torque that causes whirligig 302 is instantaneous reducing also.Zone in corresponding diagram 4 4..
Concrete, described time delay responding device 5 of the present invention can or be a hydraulic control module or an electrical control module for hydraulic accumulator.
The above is only the description of the preferred embodiment of invention; should be understood that; finiteness due to literal expression; and objectively have unlimited concrete structure; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a rock drilling device propulsive force one-way latency response method, this rock drilling device comprises propelling guiding device, propulsive force generating means, rotation control module, advances control module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism,, the method includes the steps of:
1) by described rotation control module monitor described whirligig moment of torsion size with determine the rotation pressure size;
2) determined the load condition of described drilling tool by the size variation of described rotation pressure: when the size of described rotation pressure occurs to increase, judge that described drilling tool has entered load condition by no-load condition; When the size generation step of described rotation pressure reduces, judge that described drilling tool is by there being load condition to enter no-load condition;
3), when described drilling tool has entered load condition by no-load condition, control described propulsive force generating means and described drilling tool is applied to the propulsive force of slow increase.
2. rock drilling device propulsive force one-way latency response method as claimed in claim 1, it is characterized in that, described propulsive force has a maximum preset value, when described propulsive force reaches this maximum preset value, stop slowly increasing described propulsive force and normally holing according to the propulsive force of this maximum preset value.
3. rock drilling device propulsive force one-way latency response method as claimed in claim 1, is characterized in that, when described drilling tool, when having load condition to enter no-load condition, controls described propulsive force generating means described drilling tool is applied to the instantaneous propulsive force reduced.
4. a rock drilling device of realizing the described rock drilling device propulsive force of claim 1 to 4 any one time delay response method, comprise the propelling guiding device, the propulsive force generating means, the rotation control module, advance control module, the impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, described propelling guiding device for playing the guiding role when holing, described propulsive force generating means is for generation of the propulsive force acted on described hammer drill, described propulsive force generating means has a propelling control module of being controlled by rotation pressure, described propelling control module and described propulsive force generating means form the propelling loop, wherein, also comprise that one for when described drilling tool load condition changes, control described propulsive force generating means applies the propulsive force of unidirectional slow increase time delay responding device to described drilling tool, described time delay responding device is arranged on described propulsive force generating means and connects into described propelling loop.
5. rock drilling device as claimed in claim 4, it is characterized in that, described propulsive force has a maximum preset value, when described time delay responding device reaches this maximum preset value in described propulsive force, stops slowly increasing described propulsive force and normally holing according to the propulsive force of this maximum preset value.
6. rock drilling device as claimed in claim 4, is characterized in that, described time delay responding device is a hydraulic control module or an electrical control module.
7. rock drilling device as claimed in claim 4, is characterized in that, described time delay responding device is hydraulic accumulator.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436780.XA CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
| PCT/CN2014/087118 WO2015039629A1 (en) | 2013-09-23 | 2014-09-22 | Propulsive force one-way delayed response method for rock drilling apparatus and apparatus implementing same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436780.XA CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103470181A true CN103470181A (en) | 2013-12-25 |
| CN103470181B CN103470181B (en) | 2015-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310436780.XA Active CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
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| Country | Link |
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| CN (1) | CN103470181B (en) |
| WO (1) | WO2015039629A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103821451A (en) * | 2014-02-28 | 2014-05-28 | 金川集团股份有限公司 | Hydraulic control system of anti-clamping drill rod of rock drilling machine |
| WO2015039629A1 (en) * | 2013-09-23 | 2015-03-26 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Propulsive force one-way delayed response method for rock drilling apparatus and apparatus implementing same |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111720107B (en) * | 2020-06-29 | 2023-06-30 | 中国铁建重工集团股份有限公司 | Drill rod propulsion control system and method and drilling machine |
| CN118187808A (en) * | 2024-04-22 | 2024-06-14 | 江苏徐工国重实验室科技有限公司 | A drilling operation parameter automatic matching method, system and rock drilling trolley drilling system |
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| SE515204C2 (en) * | 1999-11-03 | 2001-06-25 | Atlas Copco Rock Drills Ab | Method and apparatus for controlling a rock drill |
| FI118306B (en) * | 2001-12-07 | 2007-09-28 | Sandvik Tamrock Oy | Methods and devices for controlling the operation of a rock drilling device |
| SE533986C2 (en) * | 2008-10-10 | 2011-03-22 | Atlas Copco Rock Drills Ab | Method device and drilling rig and computerized control system for controlling a rock drill when drilling in rock |
| CN202531014U (en) * | 2012-01-20 | 2012-11-14 | 中船重工中南装备有限责任公司 | Adjustable rock drilling control system of hydraulic rock drilling machine |
| CN202718623U (en) * | 2012-07-19 | 2013-02-06 | 山河智能装备股份有限公司 | Key drilling action single-pump hydraulic control loop of cutting drilling machine |
| CN102926657B (en) * | 2012-11-19 | 2015-08-05 | 无锡市京锡冶金液压机电有限公司 | Connect with rotary loop anti-chucking method in a kind of rock cutter machine hydraulic drive loop |
| CN102943644A (en) * | 2012-11-19 | 2013-02-27 | 无锡市京锡冶金液压机电有限公司 | Hydraulic anti-sticking method of rock drill propulsion loop |
| CN103470181B (en) * | 2013-09-23 | 2015-07-08 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Rock drilling device propulsion one-way delay response method and device for realizing method |
-
2013
- 2013-09-23 CN CN201310436780.XA patent/CN103470181B/en active Active
-
2014
- 2014-09-22 WO PCT/CN2014/087118 patent/WO2015039629A1/en not_active Ceased
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3185225A (en) * | 1962-05-04 | 1965-05-25 | Wolstan C Ginies Entpr Proprie | Feeding apparatus for down hole drilling device |
| GB1457493A (en) * | 1974-07-05 | 1976-12-01 | Koehring Co | Horizontal earth boring machine |
| CN201013351Y (en) * | 2007-01-29 | 2008-01-30 | 中国人民解放军63983部队 | Driller blocking-proof hydraulic equipment |
| CN102498261A (en) * | 2009-06-26 | 2012-06-13 | 阿特拉斯·科普柯凿岩设备有限公司 | Control system, rock drilling rig and control method |
| CN202867386U (en) * | 2012-11-14 | 2013-04-10 | 中煤科工集团重庆研究院 | Drill loader hydraulic anti-jamming control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015039629A1 (en) * | 2013-09-23 | 2015-03-26 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Propulsive force one-way delayed response method for rock drilling apparatus and apparatus implementing same |
| CN103821451A (en) * | 2014-02-28 | 2014-05-28 | 金川集团股份有限公司 | Hydraulic control system of anti-clamping drill rod of rock drilling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103470181B (en) | 2015-07-08 |
| WO2015039629A1 (en) | 2015-03-26 |
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Address after: 210038 Hengtai Road, Nanjing economic and Technological Development Zone, Nanjing, Jiangsu 2 Patentee after: An Bai Tuo (Nanjing) Construction Mine Equipment Co., Ltd. Address before: 210038 Hengtai Road, Xingang economic and Technological Development Zone, Nanjing, Jiangsu 2 Patentee before: Atlas Copco (Nanjing) Construction & Mining Equipment Ltd. |