CN103912272A - Heading machine - Google Patents
Heading machine Download PDFInfo
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- CN103912272A CN103912272A CN201210595063.7A CN201210595063A CN103912272A CN 103912272 A CN103912272 A CN 103912272A CN 201210595063 A CN201210595063 A CN 201210595063A CN 103912272 A CN103912272 A CN 103912272A
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Abstract
The invention provides a heading machine. The heading machine comprises a machine body, a travelling mechanism arranged below the machine body, a cutting mechanism arranged in front of the machine body, a loading mechanism, a conveying mechanism and a rock-drilling mechanism, wherein the loading mechanism and the conveying mechanism work together with the cutting mechanism to convey crushed materials, and the rock-drilling mechanism works together with the cutting mechanism to carry out rock-drilling operation. Compared with a conventional heading machine, the heading machine provided by the invention is additionally provided with the rock-drilling mechanism, namely achieves a rock-drilling function. When the heading machine is utilized to work, the cutting mechanism and the rock-drilling mechanism can be replaced and utilized according to the rock hardness and joint development condition, for example, firstly intensive holes are drilled in hard rock so as to destroy a rock mass structure, then the cutting mechanism is utilized to cut, and rapid crushing and continuous heading of various rock masses are realized; and when the heading machine is used for drilling roadway attached rock bolt holes, multi-angle hole-drilling is achieved through changing angels of the cutting mechanism and the rock-drilling mechanism. The heading machine provided by the invention is safe and reliable, abrasion of cutting teeth is reduced, a clamping stagnation phenomenon does not easily appear, and the operation efficiency is improved.
Description
Technical field
The present invention relates to a kind of development machine, particularly relate to a kind of development machine with rock drilling function.
Background technology
Along with expanding economy, various tunnelling engineerings are more and more.
Such as, along with the increase of coal demand, mine total amount is also along with increase, and tunnelling accounts for very important position in the construction in colliery with in producing, and particularly, in new mine construction, stone drifting engineering quantity accounts for 40% left and right of whole project.In mine main, account for 25% left and right of whole project.
For another example, in fields such as railway, urban subway tunnel and highway constructions, need tunneling in all kinds rock and stratum.
In above-mentioned tunnelling engineering, for middle soft rock, can adopt the cutting mechanism of development machine directly to realize driving, for the driving in half coal hard rock and total rock tunnel, because domestic hard rock mole is not yet very ripe, therefore mostly adopt the method for big gun pick.Safety in production has at present become one of most important major issue of tunnelling industry, and big gun pick has strict service condition, even will be limited to use.
On the other hand, in development machine actual job, for the reduction of erection time, often centering hardness rock adopts low speed to cut sanction, the mode of driving by force, so, has greatly increased development machine pick consumption, and has easily produced the stuck phenomenon of swivel head, once stuck, take out difficulty, will have a strong impact on the duration.
Summary of the invention
The invention provides a kind of development machine, adopt big gun pick dangerous to solve in prior art for the driving in half coal hard rock and total rock tunnel, tunnel by force that pick consumption is large, easy stuck problem.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of development machine is provided, comprise body, be located at described body below walking mechanism, be located at the cutting mechanism in described body front, for coordinating described cutting mechanism to carry out loader mechanism and the conveying mechanism of particle conveying, wherein, described development machine also comprises the rock body for coordinating described cutting mechanism to carry out rock drilling, and described rock body comprises:
Rock drilling unit;
Advance arm unit, described rock drilling unit is located on described propelling arm unit; And
Turning arm unit, one end of described turning arm unit is installed on described cutting mechanism or described body, and the other end of described turning arm unit is rotatably connected with described propelling arm unit;
Wherein, described propelling arm unit comprises:
Propelling track;
Rock drilling cellular installation plate, is located on described propelling track; And
Transmission mechanism, is located on described propelling track, for driving described rock drilling cellular installation plate to move back and forth on described propelling track;
Wherein, described turning arm unit comprises:
The first Connection Block, the first end of described the first Connection Block is provided with the first articulated section, and the second end of described the first Connection Block is provided with the second articulated section;
Telescopic oil cylinder, the cylinder barrel end of described telescopic oil cylinder is provided with described mount pad, and the cylinder rod end of described telescopic oil cylinder is fixedly connected with the second end of described the first Connection Block, and described telescopic oil cylinder is for regulating propelling and the withdrawal of described propelling track;
The second Connection Block, the first side of described the second Connection Block is provided with superposed the 3rd articulated section and is positioned at the 4th articulated section of bottom, and described the 4th articulated section is articulated with described the second articulated section;
Pitching oil cylinder, the cylinder barrel end of described pitching oil cylinder is articulated with described the first articulated section, and the cylinder rod end of described pitching oil cylinder is articulated with described the 3rd articulated section, and described pitching oil cylinder is for regulating the luffing angle of described propelling track;
Rotary motor, described rotary motor is fixedly connected with the second side of described the second Connection Block;
Turning arm, described turning arm comprises first axis of rotation coaxial with described rotary motor and second axis of rotation vertical with described the first axis of rotation; And
Levelling oil cylinder, the cylinder rod end of described levelling oil cylinder is articulated with described the second axis of rotation, and the cylinder barrel end of described levelling oil cylinder is articulated with described propelling track, and described levelling oil cylinder is for finely tuning the angle of described propelling track.
According to one preferred embodiment of the present invention, described rock body is two covers, is installed on the left and right sides or the upper and lower both sides of described cutting mechanism.
According to one preferred embodiment of the present invention, described rock body is a set of, is installed on top, bottom, left part or the right part of described cutting mechanism.
According to one preferred embodiment of the present invention, described rock body is two covers, is installed on the left and right sides of described body.
According to one preferred embodiment of the present invention, described rock body is provided with mount pad, described cutting mechanism or described body are provided with connecting hole, and described rock body wears described mount pad by connector and described connecting hole is installed on described cutting mechanism or described body.
According to one preferred embodiment of the present invention, described connecting hole is screwed hole, and described connector is screw.
According to one preferred embodiment of the present invention, the type of belt drive of described transmission mechanism comprises worm drive, chain transmission and gear drive.
The invention has the beneficial effects as follows: the situation that is different from prior art, development machine provided by the invention is installed in addition with rock body on existing development machine, increased rock drilling function, while utilizing development machine work provided by the invention, can utilize cutting mechanism and rock body according to formation hardness and the replacing of joints development situation, for example on ragstone, first cut a hole dense holes and destroy rock mass structure, then utilize cutting mechanism cutting, realize the quick crashing of all kinds of rock mass and tunnel continuously, in the time that cutter bores tunnel payment bolthole, can realize multi-angle drilling by the angle that changes cutting mechanism and rock body, development machine provided by the invention is safe and reliable, the wearing and tearing of pick are reduced, be not prone to stuck situation, improve operating efficiency.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the partial side TV structure schematic diagram of the development machine of the preferred embodiment of the present invention;
Fig. 2 is the development machine plan structure schematic diagram shown in Fig. 1;
Fig. 3 is the Zoom Side TV structure schematic diagram of the hammer drill of the development machine shown in Fig. 1; And
Fig. 4 is the amplification plan structure schematic diagram of the hammer drill of the development machine shown in Fig. 1.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
See also Fig. 1 and Fig. 2, wherein, Fig. 1 is the partial side TV structure schematic diagram of the development machine of the preferred embodiment of the present invention; Fig. 2 is the development machine plan structure schematic diagram shown in Fig. 1.
As depicted in figs. 1 and 2, the invention provides a kind of development machine 10, this development machine 10 comprises body 100, walking mechanism 200, cutting mechanism 300, loader mechanism 400 and conveying mechanism (scheming not shown) and rock body 500.
Wherein, walking mechanism 200 is located at body 100 belows, cutting mechanism 300 is located at body 100 fronts, loader mechanism 400 is located at the front lower place of body 100, the particle producing while work for loading cutting mechanism 300, conveying mechanism is located at the middle below of body 100, between walking mechanism 200, the particle loading for delivery of loader mechanism 400, rock body 500 is for coordinating cutting mechanism 300 to carry out rock drilling work.
Wherein, body 100, walking mechanism 200, cutting mechanism 300, loader mechanism 400 and conveying mechanism and prior art are roughly the same, its concrete structure does not repeat them here, the difference of the present invention and prior art is, development machine 10 provided by the invention has additional rock body 500, on the basis of the cut function of existing development machine, increase rock drilling function, made development machine 10 can realize the quick crashing of all kinds of rock mass and driving continuously.
In one embodiment of the invention, rock body 500 can be two covers, symmetry is installed on the left and right sides of cutting mechanism 300, example as shown in Figure 2, rock body 500 can be installed on by the first mount pad 501 and the second mount pad 502 left and right sides of cutting mechanism 300, form both arms rock drilling, certainly, rock body 500 also can be installed on the both sides up and down of cutting mechanism 300.
In another example of the present invention, rock body 500 can be a set of, is installed on top, bottom, left part or the right part of cutting mechanism 300, forms single armed rock drilling.
In another example of the present invention, rock body 500 can be two covers, is installed on the left and right sides of body 100, forms both arms rock drilling.
Certainly, rock body 500 is not limited to this with mounting means and the installation site of cutting mill structure 300, and above-described mounting means and installation site are not construed as limiting the invention.
See also Fig. 3 and Fig. 4, wherein, Fig. 3 is the Zoom Side TV structure schematic diagram of the hammer drill of the development machine shown in Fig. 1; Fig. 4 is the amplification plan structure schematic diagram of the hammer drill of the development machine shown in Fig. 1.
As shown in Figure 3 and Figure 4, rock body 500 is provided with the first mount pad 501 and the second mount pad 502, accordingly, cutting mechanism 300 or body 100 are provided with connecting hole, and rock body 500 wears the first mount pad 501, the second mount pad 502 and connecting hole by connector and is installed on cutting mechanism 300 or body 100.In a preferred embodiment, connecting hole is screwed hole, and connector is screw, and rock body 500 is installed on cutting mechanism 300 or body 100 by screw.
Particularly, rock body 500 comprises rock drilling unit 510, advances arm unit and turning arm unit.
Wherein, rock drilling unit 510 can be the known hydraulic gate of ability skill technician, and the drill bit head diameter of hydraulic gate can be 65mm to 200mm.
Rock drilling unit 510 is located at and is advanced on arm unit, advances arm unit further to comprise propelling track 520, rock drilling cellular installation plate 530 and transmission mechanism 540.
Rock drilling cellular installation plate 530 is located on propelling track 520, rock drilling unit 510 is located on rock drilling cellular installation plate 530, transmission mechanism 540 is located on propelling track 520, for driving rock drilling cellular installation plate 530 to move back and forth on propelling track 520, the type of belt drive of transmission mechanism 540 can comprise and well known to a person skilled in the art worm drive, chain transmission and gear drive etc.
One end of turning arm unit is installed on cutting mechanism 300 or body 100 by fixtures such as screws, and the other end of turning arm unit is rotatably connected with advancing arm unit.
Particularly, turning arm unit comprises the first Connection Block 550, telescopic oil cylinder 560, the second Connection Block 570, pitching oil cylinder 580, rotary motor 590, turning arm 600 and levelling oil cylinder 610.
Wherein, the second end that the first end of the second articulated section 550 is provided with 552, the second articulated sections 550, the first articulated section is provided with the second articulated section 554.
The cylinder barrel end of telescopic oil cylinder 560 is provided with the first mount pad 501 and the second mount pad 502, and the cylinder rod end of telescopic oil cylinder 560 is fixedly connected with the second end of the second articulated section 554, and telescopic oil cylinder 560 is for regulating propelling and the withdrawal of propelling track 520.
The first side of the second Connection Block 570 is provided with superposed the 3rd articulated section 572 and is articulated with the second articulated section 554 with 574, the four articulated sections 574, the 4th articulated section that are positioned at bottom.
The cylinder barrel end of pitching oil cylinder 580 is articulated with the first articulated section 552, and the cylinder rod end of pitching oil cylinder 580 is articulated with the 3rd articulated section 572, and pitching oil cylinder 580 is for regulating the luffing angle of propelling track 520.In the present embodiment, pitching oil cylinder 580 can be two, and in the time that pitching oil cylinder 580 extends, propelling track 520 deflects down, and in the time that pitching oil cylinder 580 shortens, propelling track 520 upward deflects.
Rotary motor 590 is fixedly connected with the second side of the second Connection Block 570.
Turning arm 600 comprises first axis of rotation 602 coaxial with rotary motor 590 and second axis of rotation 604 vertical with the first axis of rotation 602, while using development machine 10 provided by the invention to work, because turning arm 600 comprises orthogonal the first axis of rotation 602 and the second axis of rotation 604, propelling track 520 can be respectively rotated taking the first axis of rotation 602 and the second axis of rotation 604 as rotating shaft.
The cylinder rod end of levelling oil cylinder 610 is articulated with the second axis of rotation 604, and the cylinder barrel end of levelling oil cylinder 610 is articulated with propelling track 520, and levelling oil cylinder 610 is for finely tuning the angle of propelling track 520.
While using development machine 10 provided by the invention to work, in the time of formation hardness f≤3, can directly adopt the cutting mechanism 300 cutting rock drivings of development machine 10;
In the time of formation hardness 3 < f < 6, can first adopt rock body 500 to punching, the pitch-row of punchinging > 80mm, then adopts cutting mechanism 300 cutting rock drivings;
In the time that formation hardness is greater than 6, can first adopt rock body 500 to punching, the pitch-row≤80mm that punchinges, then adopts cutting mechanism 300 cutting rock drivings, and the distance between its mesopore is according to formation hardness adjustment, and hardness is larger, and pitch-row is less.
In the time that attached bolthole is propped up in cutter brill tunnel, can stretch out and withdrawal by the flexible entirety that realizes rock body 500 of controlling telescopic oil cylinder 560; By controlling the flexible of pitching oil cylinder 580, adjustable rock drilling unit 510 drillhole heights and angle; Can realize propelling track 520 and be rotated for rotating shaft taking the first axis of rotation 602 and the second axis of rotation 604 respectively, adjusting rock drilling unit 510 drillhole heights and angle by controlling the revolution of rotary motor 590; Align the flexible contracting of oil cylinder 610 by control, can further finely tune the bore angle of rock drilling unit 510.
In sum, those skilled in the art easily understand, development machine 10 provided by the invention is installed in addition with rock body 500 on existing development machine 10, increased rock drilling function, while utilizing development machine 10 provided by the invention to work, can utilize cutting mechanism 300 and rock body 500 according to formation hardness and the replacing of joints development situation, for example on ragstone, first cut a hole dense holes and destroy rock mass structure, then utilize cutting mechanism 300 to cut, realize the quick crashing of all kinds of rock mass and tunnel continuously, in the time that cutter bores tunnel payment bolthole, can realize multi-angle drilling by the angle that changes cutting mechanism 300 and rock body 500, development machine 10 provided by the invention is safe and reliable, the wearing and tearing of pick are reduced, be not prone to stuck situation, improve operating efficiency, be applicable to the heading of all kinds of rock laneways, anchor pole props up attached, coal mining and tunnel, the various municipal constructions such as subway.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes manual of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (7)
1. a development machine, comprise body, be located at described body below walking mechanism, be located at the cutting mechanism in described body front, for coordinating described cutting mechanism to carry out loader mechanism and the conveying mechanism of particle conveying, it is characterized in that, described development machine also comprises the rock body for coordinating described cutting mechanism to carry out rock drilling, and described rock body comprises:
Rock drilling unit;
Advance arm unit, described rock drilling unit is located on described propelling arm unit; And
Turning arm unit, one end of described turning arm unit is installed on described cutting mechanism or described body, and the other end of described turning arm unit is rotatably connected with described propelling arm unit;
Wherein, described propelling arm unit comprises:
Propelling track;
Rock drilling cellular installation plate, is located on described propelling track; And
Transmission mechanism, is located on described propelling track, for driving described rock drilling cellular installation plate to move back and forth on described propelling track;
Wherein, described turning arm unit comprises:
The first Connection Block, the first end of described the first Connection Block is provided with the first articulated section, and the second end of described the first Connection Block is provided with the second articulated section;
Telescopic oil cylinder, the cylinder barrel end of described telescopic oil cylinder is provided with described mount pad, and the cylinder rod end of described telescopic oil cylinder is fixedly connected with the second end of described the first Connection Block, and described telescopic oil cylinder is for regulating propelling and the withdrawal of described propelling track;
The second Connection Block, the first side of described the second Connection Block is provided with superposed the 3rd articulated section and is positioned at the 4th articulated section of bottom, and described the 4th articulated section is articulated with described the second articulated section;
Pitching oil cylinder, the cylinder barrel end of described pitching oil cylinder is articulated with described the first articulated section, and the cylinder rod end of described pitching oil cylinder is articulated with described the 3rd articulated section, and described pitching oil cylinder is for regulating the luffing angle of described propelling track;
Rotary motor, described rotary motor is fixedly connected with the second side of described the second Connection Block;
Turning arm, described turning arm comprises first axis of rotation coaxial with described rotary motor and second axis of rotation vertical with described the first axis of rotation; And
Levelling oil cylinder, the cylinder rod end of described levelling oil cylinder is articulated with described the second axis of rotation, and the cylinder barrel end of described levelling oil cylinder is articulated with described propelling track, and described levelling oil cylinder is for finely tuning the angle of described propelling track.
2. development machine according to claim 1, is characterized in that, described rock body is two covers, is installed on the left and right sides or the upper and lower both sides of described cutting mechanism.
3. development machine according to claim 1, is characterized in that, described rock body is a set of, is installed on top, bottom, left part or the right part of described cutting mechanism.
4. development machine according to claim 1, is characterized in that, described rock body is two covers, is installed on the left and right sides of described body.
5. according to the development machine described in any one in claim 1 to 4, it is characterized in that, described rock body is provided with mount pad, described cutting mechanism or described body are provided with connecting hole, and described rock body wears described mount pad by connector and described connecting hole is installed on described cutting mechanism or described body.
6. development machine according to claim 5, is characterized in that, described connecting hole is screwed hole, and described connector is screw.
7. development machine according to claim 5, is characterized in that, the type of belt drive of described transmission mechanism comprises worm drive, chain transmission and gear drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210595063.7A CN103912272A (en) | 2012-12-28 | 2012-12-28 | Heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210595063.7A CN103912272A (en) | 2012-12-28 | 2012-12-28 | Heading machine |
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| CN103912272A true CN103912272A (en) | 2014-07-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210595063.7A Pending CN103912272A (en) | 2012-12-28 | 2012-12-28 | Heading machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104295303A (en) * | 2014-09-29 | 2015-01-21 | 辽宁鑫众重工装备有限公司 | Rock drilling heading machine |
| CN104389617A (en) * | 2014-09-29 | 2015-03-04 | 辽宁鑫众重工装备有限公司 | Rock roadway tunneling method |
| CN104564096A (en) * | 2014-12-13 | 2015-04-29 | 中国煤炭科工集团太原研究院有限公司 | Digging, anchoring and drilling integrated hard rock tunneling machine |
| CN107355228A (en) * | 2017-07-14 | 2017-11-17 | 徐州徐工基础工程机械有限公司 | A kind of hard rock tunnel construction equipment and construction method |
| CN107420112A (en) * | 2017-08-25 | 2017-12-01 | 刘国勇 | Cleave arm universal adjusting device |
| CN108678765A (en) * | 2018-05-14 | 2018-10-19 | 贵州大学 | A kind of tunnel excavating gear facilitating rubble |
| CN108825256A (en) * | 2018-08-16 | 2018-11-16 | 中铁工程装备集团有限公司 | A kind of multi-arm type cantilever excavator and its construction method |
| CN112031805A (en) * | 2020-09-27 | 2020-12-04 | 中铁工程装备集团有限公司 | Cantilever excavator and excavation method thereof |
| CN114033410A (en) * | 2021-11-05 | 2022-02-11 | 江苏中机矿山设备有限公司 | Dual-purpose heading machine for cutting and cutting hard rock |
| CN114109430A (en) * | 2021-11-30 | 2022-03-01 | 中国矿业大学 | Dual-purpose heading machine for cutting and cutting hard rock |
| CN115355000A (en) * | 2022-10-19 | 2022-11-18 | 中国标准化研究院 | Cut equipment for mining |
| CN117506961A (en) * | 2024-01-04 | 2024-02-06 | 欧特威(江苏)机械科技有限公司 | Automatic replacing manipulator for cutting pick of heading machine and using method |
-
2012
- 2012-12-28 CN CN201210595063.7A patent/CN103912272A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104389617A (en) * | 2014-09-29 | 2015-03-04 | 辽宁鑫众重工装备有限公司 | Rock roadway tunneling method |
| CN104295303A (en) * | 2014-09-29 | 2015-01-21 | 辽宁鑫众重工装备有限公司 | Rock drilling heading machine |
| CN104564096A (en) * | 2014-12-13 | 2015-04-29 | 中国煤炭科工集团太原研究院有限公司 | Digging, anchoring and drilling integrated hard rock tunneling machine |
| CN107355228A (en) * | 2017-07-14 | 2017-11-17 | 徐州徐工基础工程机械有限公司 | A kind of hard rock tunnel construction equipment and construction method |
| CN107420112B (en) * | 2017-08-25 | 2023-09-29 | 中策永通电缆有限公司 | Universal adjusting device for splitting arm |
| CN107420112A (en) * | 2017-08-25 | 2017-12-01 | 刘国勇 | Cleave arm universal adjusting device |
| CN108678765A (en) * | 2018-05-14 | 2018-10-19 | 贵州大学 | A kind of tunnel excavating gear facilitating rubble |
| CN108825256A (en) * | 2018-08-16 | 2018-11-16 | 中铁工程装备集团有限公司 | A kind of multi-arm type cantilever excavator and its construction method |
| CN108825256B (en) * | 2018-08-16 | 2024-03-08 | 中铁工程装备集团有限公司 | Multi-arm cantilever tunneling machine and construction method thereof |
| CN112031805A (en) * | 2020-09-27 | 2020-12-04 | 中铁工程装备集团有限公司 | Cantilever excavator and excavation method thereof |
| CN112031805B (en) * | 2020-09-27 | 2022-03-04 | 中铁工程装备集团有限公司 | Cantilever excavator and excavation method thereof |
| CN114033410A (en) * | 2021-11-05 | 2022-02-11 | 江苏中机矿山设备有限公司 | Dual-purpose heading machine for cutting and cutting hard rock |
| CN114109430A (en) * | 2021-11-30 | 2022-03-01 | 中国矿业大学 | Dual-purpose heading machine for cutting and cutting hard rock |
| CN114109430B (en) * | 2021-11-30 | 2024-05-03 | 中国矿业大学 | Hard rock cutting dual-purpose entry driving machine |
| CN115355000B (en) * | 2022-10-19 | 2022-12-27 | 中国标准化研究院 | Cut equipment for mining |
| CN115355000A (en) * | 2022-10-19 | 2022-11-18 | 中国标准化研究院 | Cut equipment for mining |
| CN117506961A (en) * | 2024-01-04 | 2024-02-06 | 欧特威(江苏)机械科技有限公司 | Automatic replacing manipulator for cutting pick of heading machine and using method |
| CN117506961B (en) * | 2024-01-04 | 2024-03-08 | 欧特威(江苏)机械科技有限公司 | Automatic replacing manipulator for cutting pick of heading machine and using method |
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Application publication date: 20140709 |