CN104632071A - Coal mine gas-liquid linkage drilling rig - Google Patents
Coal mine gas-liquid linkage drilling rig Download PDFInfo
- Publication number
- CN104632071A CN104632071A CN201510061087.8A CN201510061087A CN104632071A CN 104632071 A CN104632071 A CN 104632071A CN 201510061087 A CN201510061087 A CN 201510061087A CN 104632071 A CN104632071 A CN 104632071A
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- Prior art keywords
- assembly
- gas
- column
- fixed
- water tank
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
Abstract
The invention discloses a coal mine gas-liquid linkage drilling rig which comprises a main machine assembly and a gas-liquid system. The gas-liquid system controls the main machine assembly and is connected with the main machine assembly. The main machine assembly comprises a main machine, an auxiliary support and a stand column assembly. The main machine is used for drilling and is fixed on the stand column assembly. One end of the auxiliary support is hinged to the main machine, and the other end of the auxiliary support is fixed on a stand column through a hinged base. The main machine, the auxiliary support and the stand column assembly constitute a triangular stable structure. The gas-liquid system comprises a water tank, a pneumatic booster pump, an operation table and a gas-liquid pipeline. The main machine, the stand column assembly, the water tank and the operation table are connected through the gas-liquid pipeline, and the pneumatic booster pump is connected to the middle of the gas-liquid pipeline. According to the coal mine gas-liquid linkage drilling rig, compressed air is used for driving the pneumatic booster pump to inject water into the stand column, supporting is provided, and automatic pressure supplement can be achieved. The compressed air is used for pressing water in the water tank into an oil cylinder, fast forwarding and fast reversing of the oil cylinder are achieved, and the drilling efficiency is improved. The coal mine gas-liquid linkage drilling rig is low in weight, simple in structure, convenient to move and suitable for rock layers of various hardnesses.
Description
Technical field
The present invention relates to the gas-liquid linked rig in a kind of colliery, belong to coal mine machinery equipment field.
Background technology
In prior art, colliery is visited water spy gas and is mainly used hydraulic drill rig and pneumatic drilling machine.
The first, hydraulic drill rig mechanism is more complicated, mainly comprises main frame and hydraulic power unit.Total quality is larger, needs electric power to provide power, needs cable long in tow during work, very inconvenient at underground moving, dangerous.Further, power is from motor-driven hydraulic pumps, and need hydraulic oil medium to transmit power, drilling cost is high, and hydraulic oil, can to environment once reveal.
The second, pneumatic drilling machine, propulsive force is little, runs into hard rock, does not reach the drilling depth of requirement.During propelling, noise is large, is unfavorable for workers ' health.Direct employing air driven pump provides propelling rollback, and not only air consumption is large, can not realize the fast forwarding and fast rewinding of little load or zero load; And pneumatic column pressure is little, mechanical type column can not automatic compensation, and the column supported when drilling exists potential safety hazard.
Summary of the invention
The technical issues that need to address of the present invention be to provide a kind of lightweight, structure simple, conveniently moving, safe and reliable, be applicable to the gas-liquid linked rig in colliery of all kinds of hardness rock stratum.
For solving the problem, the technical solution used in the present invention is:
The gas-liquid linked rig in a kind of colliery, comprise main frame assembly and control and connect the gas-liquid systems of main frame assembly, described main frame assembly comprises main frame, secondaryly supports, column assembly, main frame is used for boring, is fixed on column assembly, and the secondary one end that supports is hinged on main frame, the other end is fixed on column assembly by hinged seat, described main frame, secondary support, column assembly forms triangle rock-steady structure; Described gas-liquid systems comprises water tank, Pneumatic booster pump, operating desk, gas-liquid pipeline, is connected between described main frame, column assembly, water tank, operating desk by gas-liquid pipeline, and described Pneumatic booster pump is connected in the middle of gas-liquid pipeline.
Further, described main frame comprises gas motor and feed cylinder, described column assembly comprises column, upright post main is hydraulic cylinder, described water tank comprises A, B, C tri-separate water tanks, described operating desk comprises reversing valve complement, air inlet pipe assembly, reversing valve complement comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two, compressed air sends into Pneumatic booster pump one through air inlet pipe assembly one tunnel, control this Pneumatic booster pump one work, this Pneumatic booster pump one is connected in the liquid line of C water tank in column and water tank, for giving column injection liquid setting-out, gas motor is sent into through hand-operated direction valve one in one tunnel, drive gas motor revolution punching, A water tank or the B water tank of water tank is sent into through hand-operated direction valve two in one tunnel, send into Pneumatic booster pump two simultaneously, when compressed air sends into A water tank, compressed air by the water of A water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder to advance, when compressed air sends into B water tank, compressed air by the water of B water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder to retreat, when compressed air propulsive force is not enough, Pneumatic booster pump two Automatic-boosting, drive feed cylinder to advance or retreat.
Further, described main frame comprises rail assembly, gyrator assembly, fairlead assembly and chain, described rail assembly comprises guide rail bracket, drive wheel assemblies, fixed wheel, feed cylinder, two fixed wheels are fixed on the two ends of guide rail bracket, one end of drive wheel assemblies and feed cylinder links together and is placed in guide rail bracket, and described gyrator assembly comprises base plate and is fixed on the motor assembly on base plate, the rotary reducer that motor assembly comprises gas motor and is connected on gas motor output shaft; Described gyrator assembly is slidably connected by the guide rail bracket on base plate and rail assembly, fairlead assembly is fixed on the guide rail bracket one end on rail assembly, totally two, described chain, article one, one end is fixed on base plate one end of gyrator assembly, the other end walks around fixed wheel, a driving wheel of drive wheel assemblies is fixed on guide rail bracket, another one end is fixed on the base plate other end of gyrator assembly, and the other end walks around fixed wheel, another driving wheel of drive wheel assemblies is fixed on guide rail bracket.
Further, described column assembly, comprises column, pulley mechanism, guide rail adapter sleeve assembly, linkage, and described pulley mechanism is fixed on column top, and guide rail adapter sleeve assembly is fixed on column by linkage, and described column is hydraulic cylinder type column.
Further, described Pneumatic booster pump comprises the pump housing, water feeding one-way valve assembly, go out water one-way valve assembly, water feeding one-way valve body assembly delivery port is connected to pump housing water inlet, water outlet check valve body assembly water inlet is connected to pump housing water outlet, and water outlet check valve body assembly delivery port connects gas-liquid pipeline.
Further, described operating desk comprises operation stand and is fixed on the reversing valve complement on operation stand, and strainer, oily cylinder, air inlet pipe assembly, described reversing valve complement comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two.
The beneficial effect adopting technique scheme to produce is:
The present invention adopts compressed air to drive Pneumatic booster pump that water is injected column, provides support, and can automatic compensation; Adopt compressed air to enter in feed cylinder by the hydraulic pressure in water tank, realize the fast forwarding and fast rewinding of oil cylinder, improve the efficiency of drilling of rig; When feed cylinder load is larger, Pneumatic booster pump automatic operation, provides water under high pressure to drive feed cylinder, provides large propelling pulling force, the present invention is lightweight, structure is simple, conveniently moving, safe and reliable, be applicable to all kinds of hardness rock stratum, do not use hydraulic oil, there is no environment pollution, hydraulic pressure water is adopted to advance, noise is little, and air consumption is little, automatically can adapt to load.
Accompanying drawing explanation
Fig. 1 is gas-liquid systems workflow diagram of the present invention;
Fig. 2 is main frame assembly structure schematic diagram of the present invention;
Fig. 3 is main machine structure schematic diagram of the present invention;
Fig. 4 is rail assembly structural representation of the present invention;
Fig. 5 is gyrator structures schematic diagram of the present invention;
Fig. 6 is motor assembly structural representation of the present invention;
Fig. 7 is column assembly structural representation of the present invention;
Fig. 8 is Pneumatic booster pump structural representation of the present invention;
Fig. 9 is operating desk structural representation of the present invention;
Figure 10 is cisten mechanism schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, invention is described in further detail:
The present invention is to provide the gas-liquid linked rig in a kind of colliery, and solve colliery spy water spy gas hydraulic drill rig mechanism more complicated, fault rate is high, mobile inconvenient, contaminated environment; Pneumatic drilling machine, propulsive force is little, runs into hard rock, does not reach the drilling depth of requirement, and noise is large, is unfavorable for workers ' health.Pneumatic column pressure is little, and mechanical type column can not automatic compensation, and the column supported when drilling exists the problem of potential safety hazard.
As shown in Fig. 2 ~ 10, the present invention includes main frame assembly 3 and control and connect the gas-liquid systems of main frame assembly, described main frame assembly 3 comprises main frame 4, secondary support 6, column assembly 5, described main frame is the principal organ for holing, be fixed on column assembly 5, secondary support 6 is for supporting main frame 4, its one end is hinged on main frame 4, the other end is fixed on column assembly 5 by hinged seat, described main frame 4, secondary support 6, column assembly 5 three forms triangle rock-steady structure, by adjusting the secondary permanent position of support 6 on column assembly 5, the angle of main frame can be adjusted, thus the bore angle of adjustment rig, described gas-liquid systems comprises water tank 100, Pneumatic booster pump 2, operating desk 1, gas-liquid pipeline, is connected between described main frame 4, column assembly 5, water tank 100, operating desk 1 by gas-liquid pipeline, and described Pneumatic booster pump 2 is connected in the middle of gas-liquid pipeline.
As shown in Fig. 1 ~ 10, described main frame 4 comprises gas motor 18 and feed cylinder 12, described column assembly 5 comprises column 20, column 20 main body is hydraulic cylinder, described water tank 100 comprises A, B, C tri-separate water tanks, described operating desk 1 comprises reversing valve complement 26, air inlet pipe assembly 28, reversing valve complement 26 comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two, compressed air sends into Pneumatic booster pump one through air inlet pipe assembly 28 1 tunnel, control this Pneumatic booster pump one work, this Pneumatic booster pump one is connected in the liquid line of C water tank in column and water tank, for giving column injection liquid setting-out, gas motor is sent into through hand-operated direction valve one in one tunnel, drive gas motor revolution punching, A water tank or the B water tank of water tank is sent into through hand-operated direction valve two in one tunnel, send into Pneumatic booster pump two simultaneously, when compressed air sends into A water tank, compressed air by the water of A water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder to advance, when compressed air sends into B water tank, compressed air by the water of B water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder to retreat, when compressed air propulsive force is not enough, Pneumatic booster pump two Automatic-boosting, drive feed cylinder to advance or retreat.
As figures 2-6, described main frame 4 comprises rail assembly 8, gyrator assembly 7, fairlead assembly 10 and chain 9, described rail assembly 8 comprises guide rail bracket 14, drive wheel assemblies 13, fixed wheel 11, feed cylinder 12, two fixed wheels 11 are fixed on the two ends of guide rail bracket 14, one end of drive wheel assemblies 13 and feed cylinder 12 links together and is placed in guide rail bracket 14, and described gyrator assembly 7 comprises base plate 15 and is fixed on the motor assembly 16 on base plate 15, and motor assembly 16 comprises gas motor 18 and is connected to the rotary reducer 17 on gas motor 18 output shaft, described gyrator assembly 7 is slidably connected by base plate 15 and the guide rail bracket 14 on rail assembly 8, fairlead assembly 10 is fixed on guide rail bracket 14 one end on rail assembly 8, described chain 9 has two, wherein one end of one is fixed on base plate 15 one end of gyrator assembly 7, the other end walks around fixed wheel 11 (in Fig. 4 left side), a driving wheel of drive wheel assemblies 13 is fixed on guide rail bracket 14, another one end is fixed on base plate 15 other end of gyrator assembly 7, the other end walks around fixed wheel 11 (in Fig. 4 right side), another driving wheel of drive wheel assemblies 13 is fixed on guide rail bracket 14.
As shown in Figure 7, described column assembly 5, comprises column 20, pulley mechanism 19, guide rail adapter sleeve assembly 22, linkage 21, described pulley mechanism 19 is fixed on column 20 top, and guide rail adapter sleeve assembly 22 is fixed on column 20 by linkage 21, and described column 20 is hydraulic cylinder type column.Described pulley mechanism 19 is connected by wire rope with linkage 21, constitutes the lifting appliance of a main frame 4.Main frame 4 can be risen to a height (in lift stroke) needed by this lifting appliance, reduce the working strength of workman.
As shown in Figure 8, described Pneumatic booster pump 2 comprises the pump housing 24, water feeding one-way valve assembly 25, go out water one-way valve assembly 23, water feeding one-way valve body assembly 25 delivery port is connected to the pump housing 24 water inlet, water outlet check valve body assembly 23 water inlet is connected to the pump housing 24 water outlet, and water outlet check valve body assembly 23 delivery port connects gas-liquid pipeline.
As shown in Figure 9, described operating desk 1 comprises operation stand 27 and is fixed on the reversing valve complement 26 on operation stand 27, strainer 29, oil cylinder 30, air inlet pipe assembly 28, described reversing valve complement 26 comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two.
Operating principle
The present invention utilizes water and compressed air, achieves and visits water, visits creeping into of gas hole.As shown in Figure 2, after opening total air inlet stop valve, Pneumatic booster pump one works, and injects column oil cylinder, realize holding out against of column by after the water supercharging in C water tank, Pneumatic booster pump can realize 10 times to the fixing supercharging of air pressure, when reaching pressure balance, booster pump quits work, and automatically opens during pressure drop, realize automatic compensation, firm supporting is reliable; When needs mobile column, be discharged in tunnel by tee ball valve by the water in column, column piston rod moves down under gravity, and column is regained.Pull the handle of hand-operated direction valve one, compressed air is by reversing valve complement CD-ROM drive motor forward backward rotation.Pull the handle of hand-operated direction valve two to the right, compressed air enters A water tank by reversing valve complement, enter Pneumatic booster pump two through shuttle valve one simultaneously, the hydraulic pressure of A water tank goes out by compressed air, water is by shuttle valve two, then by arriving the P3 mouth of Pneumatic reversal valve one after 2 one way valves of Pneumatic booster pump two, Pneumatic reversal valve one realizes commutation by the Stress control of the gas circuit of the A1 mouth of hand-operated direction valve two, now the A3 mouth of Pneumatic reversal valve communicates with P3 mouth, B3 mouth communicates with T3 mouth, press water enters in feed cylinder A chamber, oil cylinder pushing drive wheel assemblies, drive wheel assemblies is by the feeding of chain drive gyrator assembly, the water in B chamber passes through B3, T3 reaches the P4 mouth of air operated reversing valve two, Pneumatic reversal valve two realizes commutation by the Stress control of the gas circuit of the A1 mouth of hand-operated direction valve two, now the A4 mouth of Pneumatic reversal valve two communicates with P4 mouth, B4 mouth cuts extremely, the water in B chamber passes through P4, A4 mouth flows in B water tank.Pull the handle of hand-operated direction valve two left, compressed air enters B water tank by reversing valve complement, , enter Pneumatic booster pump two through shuttle valve one simultaneously, the hydraulic pressure of B district water tank goes out by compressed air, water is by shuttle valve two, then by arriving the P3 mouth of Pneumatic reversal valve one after two one way valves of Pneumatic booster pump, Pneumatic reversal valve one realizes commutation by the Stress control of the gas circuit of the B1 mouth of hand-operated direction valve two, now the B3 mouth of Pneumatic reversal valve one communicates with P3 mouth, A3 mouth communicates with T3 mouth, press water enters and feeds in oil cylinder B chamber, oil cylinder pushing drive wheel assemblies, drive wheel assemblies is by chain drive gyrator assembly fast fallback, the water in A chamber passes through A3, T3 reaches the P4 mouth of air operated reversing valve two, gas control control reversal valve two realizes commutation by the Stress control of the gas circuit of the B1 mouth of hand-operated direction valve two, now the B4 mouth of Pneumatic reversal valve two communicates with P4 mouth, A4 mouth cuts extremely, the water in B chamber passes through P4, B4 mouth flows in A water tank.When rig advances load to increase, when air pressure cannot drive and feed oil cylinder, Pneumatic booster pump two is started working automatically, for feed cylinder provides water under high pressure, overcomes load.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the gas-liquid linked rig in colliery, it is characterized in that: comprise main frame assembly (3) and control and connect the gas-liquid systems of main frame assembly (3), described main frame assembly comprises main frame (4), secondary support (6), column assembly (5), main frame (4) is for boring, be fixed on column assembly (5), secondary (6) one end that supports is hinged on main frame, the other end is fixed on column assembly (5) by hinged seat, described main frame (4), secondary support (6), column assembly (5) forms triangle rock-steady structure; Described gas-liquid systems comprises water tank (100), Pneumatic booster pump (2), operating desk (1), gas-liquid pipeline, described main frame (4), column assembly (5), water tank (100), operating desk are connected by gas-liquid pipeline between (1), and described Pneumatic booster pump (2) is connected in the middle of gas-liquid pipeline.
2. the gas-liquid linked rig in colliery according to claim 1, it is characterized in that described main frame (4) comprises gas motor (18) and feed cylinder (12), described column assembly (5) comprises column (20), column (20) main body is hydraulic cylinder, described water tank (100) comprises A, B, C tri-separate water tanks, described operating desk (1) comprises reversing valve complement (26), air inlet pipe assembly (28), reversing valve complement (26) comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two, compressed air sends into Pneumatic booster pump one through air inlet pipe assembly (28) tunnel, control this Pneumatic booster pump one work, this Pneumatic booster pump one is connected in the liquid line of C water tank in column (20) and water tank (100), for giving column (20) injection liquid setting-out, gas motor (18) is sent into through hand-operated direction valve one in one tunnel, drive gas motor (18) revolution punching, A water tank or the B water tank of water tank (100) is sent into through hand-operated direction valve in one tunnel, send into Pneumatic booster pump two simultaneously, when compressed air sends into A water tank, compressed air by the water of A water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder (12) to advance, when compressed air sends into B water tank, compressed air by the water of B water tank through Pneumatic reversal valve one, Pneumatic reversal valve two drives feed cylinder (12) to retreat, when compressed air propulsive force is not enough, Pneumatic booster pump two Automatic-boosting, drive feed cylinder (12) to advance or retreat.
3. the gas-liquid linked rig in colliery according to claim 1 and 2, it is characterized in that described main frame (4) comprises rail assembly (8), gyrator assembly (7), fairlead assembly (10) and chain (9), described rail assembly (8) comprises guide rail bracket (14), drive wheel assemblies (13), fixed wheel (11), feed cylinder (12), two fixed wheels (11) are fixed on the two ends of guide rail bracket (14), one end of drive wheel assemblies (13) and feed cylinder (12) links together and is placed in guide rail bracket, described gyrator assembly (7) comprises base plate (15) and is fixed on the motor assembly (16) on base plate (15), motor assembly (16) comprises gas motor (18) and is connected to the rotary reducer (17) on gas motor (18) output shaft, described gyrator assembly (7) is slidably connected by base plate (15) and the guide rail bracket (14) on rail assembly (8), fairlead assembly (10) is fixed on guide rail bracket (14) one end on rail assembly (8), totally two, described chain (9), article one, one end is fixed on base plate (15) one end of gyrator assembly (7), the other end walks around fixed wheel (11), a driving wheel of drive wheel assemblies (13) is fixed on guide rail bracket, another one end is fixed on base plate (15) other end of gyrator assembly (7), the other end walks around fixed wheel (11), another driving wheel of drive wheel assemblies (13) is fixed on guide rail bracket.
4. the gas-liquid linked rig in colliery according to claim 1 and 2, it is characterized in that described column assembly (5), comprise column (20), pulley mechanism (19), guide rail adapter sleeve assembly (22), linkage (21), described pulley mechanism is fixed on column top, guide rail adapter sleeve assembly (22) is fixed on column (20) by linkage (21), and described column is hydraulic cylinder type column.
5. the gas-liquid linked rig in colliery according to claim 1, it is characterized in that described Pneumatic booster pump (2) comprises the pump housing (24), water feeding one-way valve assembly (25), go out water one-way valve assembly (23), water feeding one-way valve body assembly (25) delivery port is connected to the pump housing (24) water inlet, water outlet check valve body assembly (23) water inlet is connected to the pump housing (24) water outlet, and water outlet check valve body assembly (23) delivery port connects gas-liquid pipeline.
6. the gas-liquid linked rig in colliery according to claim 1 and 2, it is characterized in that the reversing valve complement (26) that described operating desk (1) comprises operation stand (27) and is fixed in operation stand (27), strainer (29), oil cylinder (30), air inlet pipe assembly (28), described reversing valve complement comprises hand-operated direction valve one, hand-operated direction valve two, Pneumatic reversal valve one, Pneumatic reversal valve two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510061087.8A CN104632071B (en) | 2015-02-05 | 2015-02-05 | The gas-liquid linked rig in colliery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510061087.8A CN104632071B (en) | 2015-02-05 | 2015-02-05 | The gas-liquid linked rig in colliery |
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| Publication Number | Publication Date |
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| CN104632071A true CN104632071A (en) | 2015-05-20 |
| CN104632071B CN104632071B (en) | 2016-10-12 |
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| CN201510061087.8A Active CN104632071B (en) | 2015-02-05 | 2015-02-05 | The gas-liquid linked rig in colliery |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106194003A (en) * | 2016-08-31 | 2016-12-07 | 拜城县众维煤业有限公司 | Racetrack pneumatic drilling machine |
| CN107503699A (en) * | 2017-10-20 | 2017-12-22 | 吕梁学院 | A kind of rock original position core drilling rig |
| CN108035713A (en) * | 2017-12-07 | 2018-05-15 | 辽宁工程技术大学 | A kind of fully-mechanized mining working, which is adopted, bores Unit erriger and application method |
| CN109458132A (en) * | 2018-11-30 | 2019-03-12 | 石家庄博安煤矿机械制造有限公司 | A kind of drill carriage and its control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106194003A (en) * | 2016-08-31 | 2016-12-07 | 拜城县众维煤业有限公司 | Racetrack pneumatic drilling machine |
| CN107503699A (en) * | 2017-10-20 | 2017-12-22 | 吕梁学院 | A kind of rock original position core drilling rig |
| CN108035713A (en) * | 2017-12-07 | 2018-05-15 | 辽宁工程技术大学 | A kind of fully-mechanized mining working, which is adopted, bores Unit erriger and application method |
| CN109458132A (en) * | 2018-11-30 | 2019-03-12 | 石家庄博安煤矿机械制造有限公司 | A kind of drill carriage and its control system |
| CN109458132B (en) * | 2018-11-30 | 2023-08-18 | 石家庄博安煤矿机械制造有限公司 | Drill carriage and control system thereof |
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| Publication number | Publication date |
|---|---|
| CN104632071B (en) | 2016-10-12 |
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